OpenRaiser/Intern-Atlas huggingface dataset:
HiCrowd: Hierarchical Crowd Flow Alignment for Dense Human Environments
Venue: arXiv cs.RO 2026
Year: 2026

Navigating through dense human crowds remains a significant challenge for mobile robots. A key issue is the freezing robot problem, where the robot struggles to find safe motions and becomes stuck within the crowd. To address this, we propose HiCrowd, a hierarchical framework that integrates reinforcement learning (RL) with model predictive control (MPC). HiCrowd leverages surrounding pedestrian motion as guidance, enabling the robot to align with compatible crowd flows. A high-level RL policy generates a follow point to align the robot with a suitable pedestrian group, while a low-level MPC safely tracks this guidance with short horizon planning. The method combines long-term crowd aware decision making with safe short-term execution. We evaluate HiCrowd against reactive and learning-based baselines in offline setting (replaying recorded human trajectories) and online setting (human trajectories are updated to react to the robot in simulation). Experiments on a real-world dataset and a synthetic crowd dataset show that our method outperforms in navigation efficiency and safety, while reducing freezing behaviors. Our results suggest that leveraging human motion as guidance, rather than treating humans solely as dynamic obstacles, provides a powerful principle for safe and efficient robot navigation in crowds.
ADCA: Attention-Driven Multi-Party Collusion Attack in Federated Self-Supervised Learning
Venue: arXiv cs.CR 2026
Year: 2026

Federated Self-Supervised Learning (FSSL) integrates the privacy advantages of distributed training with the capability of self-supervised learning to leverage unlabeled data, showing strong potential across applications. However, recent studies have shown that FSSL is also vulnerable to backdoor attacks. Existing attacks are limited by their trigger design, which typically employs a global, uniform trigger that is easily detected, gets diluted during aggregation, and lacks robustness in heterogeneous client environments. To address these challenges, we propose the Attention-Driven multi-party Collusion Attack (ADCA). During local pre-training, malicious clients decompose the global trigger to find optimal local patterns. Subsequently, these malicious clients collude to form a malicious coalition and establish a collaborative optimization mechanism within it. In this mechanism, each submits its model updates, and an attention mechanism dynamically aggregates them to explore the best cooperative strategy. The resulting aggregated parameters serve as the initial state for the next round of training within the coalition, thereby effectively mitigating the dilution of backdoor information by benign updates. Experiments on multiple FSSL scenarios and four datasets show that ADCA significantly outperforms existing methods in Attack Success Rate (ASR) and persistence, proving its effectiveness and robustness.
AI chatbots versus human healthcare professionals: a systematic review and meta-analysis of empathy in patient care
Venue: arXiv cs.HC 2026
Year: 2026

Background: Empathy is widely recognized for improving patient outcomes, including reduced pain and anxiety and improved satisfaction, and its absence can cause harm. Meanwhile, use of artificial intelligence (AI)-based chatbots in healthcare is rapidly expanding, with one in five general practitioners using generative AI to assist with tasks such as writing letters. Some studies suggest AI chatbots can outperform human healthcare professionals (HCPs) in empathy, though findings are mixed and lack synthesis. Sources of data: We searched multiple databases for studies comparing AI chatbots using large language models with human HCPs on empathy measures. We assessed risk of bias with ROBINS-I and synthesized findings using random-effects meta-analysis where feasible, whilst avoiding double counting. Areas of agreement: We identified 15 studies (2023-2024). Thirteen studies reported statistically significantly higher empathy ratings for AI, with only two studies situated in dermatology favouring human responses. Of the 15 studies, 13 provided extractable data and were suitable for pooling. Meta-analysis of those 13 studies, all utilising ChatGPT-3.5/4, showed a standardized mean difference of 0.87 (95% CI, 0.54-1.20) favouring AI (P < .00001), roughly equivalent to a two-point increase on a 10-point scale. Areas of controversy: Studies relied on text-based assessments that overlook non-verbal cues and evaluated empathy through proxy raters. Growing points: Our findings indicate that, in text-only scenarios, AI chatbots are frequently perceived as more empathic than human HCPs. Areas timely for developing research: Future research should validate these findings with direct patient evaluations and assess whether emerging voice-enabled AI systems can deliver similar empathic advantages.
UniSurg: A Video-Native Foundation Model for Universal Understanding of Surgical Videos
Venue: arXiv cs.CV 2026
Year: 2026

While foundation models have advanced surgical video analysis, current approaches rely predominantly on pixel-level reconstruction objectives that waste model capacity on low-level visual details - such as smoke, specular reflections, and fluid motion - rather than semantic structures essential for surgical understanding. We present UniSurg, a video-native foundation model that shifts the learning paradigm from pixel-level reconstruction to latent motion prediction. Built on the Video Joint Embedding Predictive Architecture (V-JEPA), UniSurg introduces three key technical innovations tailored to surgical videos: 1) motion-guided latent prediction to prioritize semantically meaningful regions, 2) spatiotemporal affinity self-distillation to enforce relational consistency, and 3) feature diversity regularization to prevent representation collapse in texture-sparse surgical scenes. To enable large-scale pretraining, we curate UniSurg-15M, the largest surgical video dataset to date, comprising 3,658 hours of video from 50 sources across 13 anatomical regions. Extensive experiments across 17 benchmarks demonstrate that UniSurg significantly outperforms state-of-the-art methods on surgical workflow recognition (+14.6% F1 on EgoSurgery, +10.3% on PitVis), action triplet recognition (39.54% mAP-IVT on CholecT50), skill assessment, polyp segmentation, and depth estimation. These results establish UniSurg as a new standard for universal, motion-oriented surgical video understanding.
One Size Does NOT Fit All: On the Importance of Physical Representations for Datalog Evaluation
Venue: arXiv cs.DB 2026
Year: 2026

Datalog is an increasingly popular recursive query language that is declarative by design, meaning its programs must be translated by an engine into the actual physical execution plan. When generating this plan, a central decision is how to physically represent all involved relations, an aspect in which existing Datalog engines are surprisingly restrictive and often resort to one-size-fits-all solutions. The reason for this is that the typical execution plan of a Datalog program not only performs a single type of operation against the physical representations, but a mixture of operations, such as insertions, lookups, and containment-checks. Further, the relevance of each operation type highly depends on the workload characteristics, which range from familiar properties such as the size, multiplicity, and arity of the individual relations to very specific Datalog properties, such as the "interweaving" of rules when relations occur multiple times, and in particular the recursiveness of the query which might generate new tuples on the fly during evaluation. This indicates that a variety of physical representations, each with its own strengths and weaknesses, is required to meet the specific needs of different workload situations. To evaluate this, we conduct an in-depth experimental study of the interplay between potentially suitable physical representations and seven dimensions of workload characteristics that vary across actual Datalog programs, revealing which properties actually matter. Based on these insights, we design an automatic selection mechanism that utilizes a set of decision trees to identify suitable physical representations for a given workload.
Tight Long-Term Tail Decay of (Clipped) SGD in Non-Convex Optimization
Venue: arXiv cs.LG 2026
Year: 2026

The study of tail behaviour of SGD-induced processes has been attracting a lot of interest, due to offering strong guarantees with respect to individual runs of an algorithm. While many works provide high-probability guarantees, quantifying the error rate for a fixed probability threshold, there is a lack of work directly studying the probability of failure, i.e., quantifying the tail decay rate for a fixed error threshold. Moreover, existing results are of finite-time nature, limiting their ability to capture the true long-term tail decay which is more informative for modern learning models, typically trained for millions of iterations. Our work closes these gaps, by studying the long-term tail decay of SGD-based methods through the lens of large deviations theory, establishing several strong results in the process. First, we provide an upper bound on the tails of the gradient norm-squared of the best iterate produced by (vanilla) SGD, for non-convex costs and bounded noise, with long-term decay at rate $e^{-t/\log(t)}$. Next, we relax the noise assumption by considering clipped SGD (c-SGD) under heavy-tailed noise with bounded moment of order $p \in (1,2]$, showing an upper bound with long-term decay at rate $e^{-t^{β_p}/\log(t)}$, where $β_p = \frac{4(p-1)}{3p-2}$ for $p \in (1,2)$ and $e^{-t/\log^2(t)}$ for $p = 2$. Finally, we provide lower bounds on the tail decay, at rate $e^{-t}$, showing that our rates for both SGD and c-SGD are tight, up to poly-logarithmic factors. Notably, our results demonstrate an order of magnitude faster long-term tail decay compared to existing work based on finite-time bounds, which show rates $e^{-\sqrt{t}}$ and $e^{-t^{β_p/2}}$, $p \in (1,2]$, for SGD and c-SGD, respectively. As such, we uncover regimes where the tails decay much faster than previously known, providing stronger long-term guarantees for individual runs.
GLASS: A Generative Recommender for Long-sequence Modeling via SID-Tier and Semantic Search
Venue: arXiv cs.IR 2026
Year: 2026

Leveraging long-term user behavioral patterns is a key trajectory for enhancing the accuracy of modern recommender systems. While generative recommender systems have emerged as a transformative paradigm, they face hurdles in effectively modeling extensive historical sequences. To address this challenge, we propose GLASS, a novel framework that integrates long-term user interests into the generative process via SID-Tier and Semantic Search. We first introduce SID-Tier, a module that maps long-term interactions into a unified interest vector to enhance the prediction of the initial SID token. Unlike traditional retrieval models that struggle with massive item spaces, SID-Tier leverages the compact nature of the semantic codebook to incorporate cross features between the user's long-term history and candidate semantic codes. Furthermore, we present semantic hard search, which utilizes generated coarse-grained semantic ID as dynamic keys to extract relevant historical behaviors, which are then fused via an adaptive gated fusion module to recalibrate the trajectory of subsequent fine-grained tokens. To address the inherent data sparsity in semantic hard search, we propose two strategies: semantic neighbor augmentation and codebook resizing. Extensive experiments on two large-scale real-world datasets, TAOBAO-MM and KuaiRec, demonstrate that GLASS outperforms state-of-the-art baselines, achieving significant gains in recommendation quality. Our codes are made publicly available to facilitate further research in generative recommendation.
Low-complexity Design for Beam Coverage in Near-field and Far-field: A Fourier Transform Approach
Venue: arXiv cs.IT 2026
Year: 2026

In this paper, we study efficient beam coverage design for multi-antenna systems in both far-field and near-field cases. To reduce the computational complexity of existing sampling-based optimization methods, we propose a new low-complexity yet efficient beam coverage design. To this end, we first formulate a general beam coverage optimization problem to maximize the worst-case beamforming gain over a target region. For the far-field case, we show that the beam coverage design can be viewed as a spatial-frequency filtering problem, where angular coverage can be achieved by weight-shaping in the antenna domain via an inverse FT, yielding an infinite-length weighting sequence. Under the constraint of a finite number of antennas, a surrogate scheme is proposed by directly truncating this sequence, which inevitably introduces a roll-off effect at the angular boundaries, yielding degraded worst-case beamforming gain. To address this issue, we characterize the finite-antenna-induced roll-off effect, based on which a roll-off-aware design with a protective zoom is developed to ensure a flat beamforming-gain profile within the target angular region. Next, we extend the proposed method to the near-field case. Specifically, by applying a first-order Taylor approximation to the near-field channel steering vector (CSV), the two-dimensional (2D) beam coverage design (in both angle and inverse-range) can be transformed into a 2D inverse FT, leading to a low-complexity beamforming design. Furthermore, an inherent near-field range defocusing effect is observed, indicating that sufficiently wide angular coverage results in range-insensitive beam steering. Finally, numerical results demonstrate that the proposed FT-based approach achieves a comparable worst-case beamforming performance with that of conventional sampling-based optimization methods while significantly reducing the computational complexity.
(Computer) Vision in Action: Comparing Remote Sighted Assistance and a Multimodal Voice Agent in Inspection Sequences
Venue: arXiv cs.HC 2026
Year: 2026

Does human-AI assistance unfold in the same way as human-human assistance? This research explores what can be learned from the expertise of blind individuals and sighted volunteers to inform the design of multimodal voice agents and address the enduring challenge of proactivity. Drawing on granular analysis of two representative fragments from a larger corpus, we contrast the practices co-produced by an experienced human remote sighted assistant and a blind participant-as they collaborate to find a stain on a blanket over the phone-with those achieved when the same participant worked with a multimodal voice agent on the same task, a few moments earlier. This comparison enables us to specify precisely which fundamental proactive practices the agent did not enact in situ. We conclude that, so long as multimodal voice agents cannot produce environmentally occasioned vision-based actions, they will lack a key resource relied upon by human remote sighted assistants.
From Vision to Decision: Neuromorphic Control for Autonomous Navigation and Tracking
Venue: arXiv cs.RO 2026
Year: 2026

Robotic navigation has historically struggled to reconcile reactive, sensor-based control with the decisive capabilities of model-based planners. This duality becomes critical when the absence of a predominant option among goals leads to indecision, challenging reactive systems to break symmetries without computationally-intense planners. We propose a parsimonious neuromorphic control framework that bridges this gap for vision-guided navigation and tracking. Image pixels from an onboard camera are encoded as inputs to dynamic neuronal populations that directly transform visual target excitation into egocentric motion commands. A dynamic bifurcation mechanism resolves indecision by delaying commitment until a critical point induced by the environmental geometry. Inspired by recently proposed mechanistic models of animal cognition and opinion dynamics, the neuromorphic controller provides real-time autonomy with a minimal computational burden, a small number of interpretable parameters, and can be seamlessly integrated with application-specific image processing pipelines. We validate our approach in simulation environments as well as on an experimental quadrotor platform.
Mitigating Hallucination in Financial Retrieval-Augmented Generation via Fine-Grained Knowledge Verification
Venue: arXiv cs.AI 2026
Year: 2026

In financial Retrieval-Augmented Generation (RAG) systems, models frequently rely on retrieved documents to generate accurate responses due to the time-sensitive nature of the financial domain. While retrieved documents help address knowledge gaps, model-generated responses still suffer from hallucinations that contradict the retrieved information. To mitigate this inconsistency, we propose a Reinforcement Learning framework enhanced with Fine-grained Knowledge Verification (RLFKV). Our method decomposes financial responses into atomic knowledge units and assesses the correctness of each unit to compute the fine-grained faithful reward. This reward offers more precise optimization signals, thereby improving alignment with the retrieved documents. Additionally, to prevent reward hacking (e.g., overly concise replies), we incorporate an informativeness reward that encourages the policy model to retain at least as many knowledge units as the base model. Experiments conducted on the public Financial Data Description (FDD) task and our newly proposed FDD-ANT dataset demonstrate consistent improvements, confirming the effectiveness of our approach.
Muon in Associative Memory Learning: Training Dynamics and Scaling Laws
Venue: arXiv cs.LG 2026
Year: 2026

Muon updates matrix parameters via the matrix sign of the gradient and has shown strong empirical gains, yet its dynamics and scaling behavior remain unclear in theory. We study Muon in a linear associative memory model with softmax retrieval and a hierarchical frequency spectrum over query-answer pairs, with and without label noise. In this setting, we show that Gradient Descent (GD) learns frequency components at highly imbalanced rates, leading to slow convergence bottlenecked by low-frequency components. In contrast, the Muon optimizer mitigates this imbalance, leading to faster and more uniform progress. Specifically, in the noiseless case, Muon achieves an exponential speedup over GD; in the noisy case with a power-decay frequency spectrum, we derive Muon's optimization scaling law and demonstrate its superior scaling efficiency over GD. Furthermore, we show that Muon can be interpreted as an implicit matrix preconditioner arising from adaptive task alignment and block-symmetric gradient structure. In contrast, the preconditioner with coordinate-wise sign operator could match Muon under oracle access to unknown task representations, which is infeasible for SignGD in practice. Experiments on synthetic long-tail classification and LLaMA-style pre-training corroborate the theory.
CompactRAG: Reducing LLM Calls and Token Overhead in Multi-Hop Question Answering
Venue: arXiv cs.CL 2026
Year: 2026

Retrieval-augmented generation (RAG) has become a key paradigm for knowledge-intensive question answering. However, existing multi-hop RAG systems remain inefficient, as they alternate between retrieval and reasoning at each step, resulting in repeated LLM calls, high token consumption, and unstable entity grounding across hops. We propose CompactRAG, a simple yet effective framework that decouples offline corpus restructuring from online reasoning. In the offline stage, an LLM reads the corpus once and converts it into an atomic QA knowledge base, which represents knowledge as minimal, fine-grained question-answer pairs. In the online stage, complex queries are decomposed and carefully rewritten to preserve entity consistency, and are resolved through dense retrieval followed by RoBERTa-based answer extraction. Notably, during inference, the LLM is invoked only twice in total - once for sub-question decomposition and once for final answer synthesis - regardless of the number of reasoning hops. Experiments on HotpotQA, 2WikiMultiHopQA, and MuSiQue demonstrate that CompactRAG achieves competitive accuracy while substantially reducing token consumption compared to iterative RAG baselines, highlighting a cost-efficient and practical approach to multi-hop reasoning over large knowledge corpora. The implementation is available at GitHub.
Balancing FP8 Computation Accuracy and Efficiency on Digital CIM via Shift-Aware On-the-fly Aligned-Mantissa Bitwidth Prediction
Venue: arXiv cs.AR 2026
Year: 2026

FP8 low-precision formats have gained significant adoption in Transformer inference and training. However, existing digital compute-in-memory (DCIM) architectures face challenges in supporting variable FP8 aligned-mantissa bitwidths, as unified alignment strategies and fixed-precision multiply-accumulate (MAC) units struggle to handle input data with diverse distributions. This work presents a flexible FP8 DCIM accelerator with three innovations: (1) a dynamic shift-aware bitwidth prediction (DSBP) with on-the-fly input prediction that adaptively adjusts weight (2/4/6/8b) and input (2$\sim$12b) aligned-mantissa precision; (2) a FIFO-based input alignment unit (FIAU) replacing complex barrel shifters with pointer-based control; and (3) a precision-scalable INT MAC array achieving flexible weight precision with minimal overhead. Implemented in 28nm CMOS with a 64$\times$96 CIM array, the design achieves 20.4 TFLOPS/W for fixed E5M7, demonstrating 2.8$\times$ higher FP8 efficiency than previous work while supporting all FP8 formats. Results on Llama-7b show that the DSBP achieves higher efficiency than fixed bitwidth mode at the same accuracy level on both BoolQ and Winogrande datasets, with configurable parameters enabling flexible accuracy-efficiency trade-offs.
LongR: Unleashing Long-Context Reasoning via Reinforcement Learning with Dense Utility Rewards
Venue: arXiv cs.CL 2026
Year: 2026

Reinforcement Learning has emerged as a key driver for LLM reasoning. This capability is equally pivotal in long-context scenarios--such as long-dialogue understanding and structured data analysis, where the challenge extends beyond consuming tokens to performing rigorous deduction. While existing efforts focus on data synthesis or architectural changes, recent work points out that relying solely on sparse, outcome-only rewards yields limited gains, as such coarse signals are often insufficient to effectively guide the complex long-context reasoning. To address this, we propose LongR, a unified framework that enhances long-context performance by integrating a dynamic "Think-and-Read" mechanism, which interleaves reasoning with document consultation, with a contextual density reward based on relative information gain to quantify the utility of the relevant documents. Empirically, LongR achieves a 9% gain on LongBench v2 and consistent improvements on RULER and InfiniteBench, demonstrating robust efficiency in navigating extensive contexts. Furthermore, LongR consistently enhances performance across diverse RL algorithms (e.g., DAPO, GSPO). Finally, we conduct in-depth analyses to investigate the impact of reasoning chain length on efficiency and the model's robustness against distractors.