OpenRaiser/Intern-Atlas huggingface dataset:
WELLDOC property for words generated by morphisms
Venue: arXiv cs.DM 2026
Year: 2026

In this paper, we study an abelian-type property of infinite words called well distributed occurrences, or WELLDOC for short. An infinite word $w$ on a $d$-ary alphabet has the WELLDOC property if, for each factor $u$ of $w$, positive integer $m$, and vector $v\in \mathbb{N}^d$, there is an occurrence of $u$ such that the Parikh vector of the prefix of $w$ preceding such occurrence is congruent to $v$ modulo $m$. The Parikh vector of a finite word $v$ on an alphabet has its $i$-th component equal to the number of occurrences of the $i$-th letter in $v$. We provide a criterion of the WELLDOC property for words generated by morphisms.
Beyond Hungarian: Match-Free Supervision for End-to-End Object Detection
Venue: arXiv cs.CV 2026
Year: 2026

Recent DEtection TRansformer (DETR) based frameworks have achieved remarkable success in end-to-end object detection. However, the reliance on the Hungarian algorithm for bipartite matching between queries and ground truths introduces computational overhead and complicates the training dynamics. In this paper, we propose a novel matching-free training scheme for DETR-based detectors that eliminates the need for explicit heuristic matching. At the core of our approach is a dedicated Cross-Attention-based Query Selection (CAQS) module. Instead of discrete assignment, we utilize encoded ground-truth information to probe the decoder queries through a cross-attention mechanism. By minimizing the weighted error between the queried results and the ground truths, the model autonomously learns the implicit correspondences between object queries and specific targets. This learned relationship further provides supervision signals for the learning of queries. Experimental results demonstrate that our proposed method bypasses the traditional matching process, significantly enhancing training efficiency, reducing the matching latency by over 50\%, effectively eliminating the discrete matching bottleneck through differentiable correspondence learning, and also achieving superior performance compared to existing state-of-the-art methods.
AtomVLA: Scalable Post-Training for Robotic Manipulation via Predictive Latent World Models
Venue: arXiv cs.RO 2026
Year: 2026

Vision-Language-Action (VLA) models demonstrate remarkable potential for generalizable robotic manipulation. The execution of complex multi-step behaviors in VLA models can be improved by robust instruction grounding, a critical component for effective control. However, current paradigms predominantly rely on coarse, high-level task instructions during supervised fine-tuning. This instruction grounding gap leaves models without explicit intermediate guidance, leading to severe compounding errors in long-horizon tasks. Therefore, bridging this instruction gap and providing scalable post-training for VLA models is urgent. To tackle this problem, we propose \method, the first subtask-aware VLA framework integrated with a scalable offline post-training pipeline. Our framework leverages a large language model to decompose high-level demonstrations into fine-grained atomic subtasks. This approach utilizes a pretrained predictive world model to score candidate action chunks against subtask goals in the latent space, mitigating error accumulation while significantly improving long-horizon robustness. Furthermore, this approach enables highly efficient Group Relative Policy Optimization without the prohibitive expenses associated with online rollouts on physical robots. Extensive simulations validate that our AtomVLA maintains strong robustness under perturbations. When evaluated against fundamental baseline models, it achieves an average success rate of 97.0\% on the LIBERO benchmark and 48.0\% on the LIBERO-PRO benchmark. Finally, experiments conducted in the real world using the Galaxea R1 Lite platform confirm its broad applicability across diverse tasks, especially long-horizon tasks. All datasets, checkpoints, and code will be released to the public domain following the acceptance of this work for future research.
TUMSphere: Turning a University Curriculum into Playable VR Challenges
Venue: arXiv cs.HC 2026
Year: 2026

Traditional university orientation formats struggle to convey the intellectual substance of STEM curricula, particularly in disciplines where core competencies, such as algorithmic thinking and formal reasoning, are inherently abstract. This paper presents TUMSphere, a serious virtual reality (VR) application built as an interactive digital twin of the TUM Bildungscampus Heilbronn, in which six curriculum-mapped mini-games translate foundational Information Engineering topics into hands-on VR challenges. The mini-games, covering introductory programming, hardware debugging, code completion, graph traversal, shortest-path optimization, and relational database querying, follow a graduated difficulty progression that mirrors the real semesters' structure of the degree. We describe the pedagogical rationale, the VR interaction mechanics, and nine cross-cutting design considerations that guided development. A within-subjects pilot study (N = 18) using pre-/post-knowledge tests, the System Usability Scale, a User Engagement Scale adaptation, and the Simulator Sickness Questionnaire yielded a statistically significant knowledge gain (p < 0.001, r = 0.86), good usability (SUS M = 76.4), high engagement (M = 4.21/5), and negligible simulator sickness (SSQ M = 7.1). Task performance logs confirmed the intended difficulty gradient across mini-games. These results suggest that embedding authentic academic challenges in an explorable VR campus is a viable and extensible approach to gamified STEM outreach.
Sliding Cubes in Parallel
Venue: arXiv cs.CG 2026
Year: 2026

We study the classic sliding cube model for programmable matter under parallel reconfiguration in three dimensions, providing novel algorithmic and surprising complexity results in addition to generalizing the best known bounds from two to three dimensions. In general, the problem asks for reconfiguration sequences between two connected configurations of $n$ indistinguishable unit cube modules under connectivity constraints; a connected backbone must exist at all times. The makespan of a reconfiguration sequence is the number of parallel moves performed. We show that deciding the existence of such a sequence is NP-hard, even for constant makespan and if the two input configurations have constant-size symmetric difference, solving an open question in [Akitaya et al., ESA 25]. In particular, deciding whether the optimal makespan is 1 or 2 is NP-hard. We also show log-APX-hardness of the problem in sequential and parallel models, strengthening the APX-hardness claim in [Akitaya et al., SWAT 22]. Finally, we outline an asymptotically worst-case optimal input-sensitive algorithm for reconfiguration. The produced sequence has length that depends on the bounding box of the input configurations which, in the worst case, results in a $O(n)$ makespan.
The Neural Compass: Probabilistic Relative Feature Fields for Robotic Search
Venue: arXiv cs.RO 2026
Year: 2026

Object co-occurrences provide a key cue for finding objects successfully and efficiently in unfamiliar environments. Typically, one looks for cups in kitchens and views fridges as evidence of being in a kitchen. Such priors have also been exploited in artificial agents, but they are typically learned from explicitly labeled data or queried from language models. It is still unclear whether these relations can be learned implicitly from unlabeled observations alone. In this work, we address this problem and propose ProReFF, a feature field model trained to predict relative distributions of features obtained from pre-trained vision language models. In addition, we introduce a learning-based strategy that enables training from unlabeled and potentially contradictory data by aligning inconsistent observations into a coherent relative distribution. For the downstream object search task, we propose an agent that leverages predicted feature distributions as a semantic prior to guide exploration toward regions with a high likelihood of containing the object. We present extensive evaluations demonstrating that ProReFF captures meaningful relative feature distributions in natural scenes and provides insight into the impact of our proposed alignment step. We further evaluate the performance of our search agent in 100 challenges in the Matterport3D simulator, comparing with feature-based baselines and human participants. The proposed agent is 20% more efficient than the strongest baseline and achieves up to 80% of human performance.
mmGAT: Pose Estimation by Graph Attention with Mutual Features from mmWave Radar Point Cloud
Venue: arXiv cs.CV 2026
Year: 2026

Pose estimation and human action recognition (HAR) are pivotal technologies spanning various domains. While the image-based pose estimation and HAR are widely admired for their superior performance, they lack in privacy protection and suboptimal performance in low-light and dark environments. This paper exploits the capabilities of millimeter-wave (mmWave) radar technology for human pose estimation by processing radar data with Graph Neural Network (GNN) architecture, coupled with the attention mechanism. Our goal is to capture the finer details of the radar point cloud to improve the pose estimation performance. To this end, we present a unique feature extraction technique that exploits the full potential of the GNN processing method for pose estimation. Our model mmGAT demonstrates remarkable performance on two publicly available benchmark mmWave datasets and establishes new state of the art results in most scenarios in terms of human pose estimation. Our approach achieves a noteworthy reduction of pose estimation mean per joint position error (MPJPE) by 35.6% and PA-MPJPE by 14.1% from the current state of the art benchmark within this domain.
Fusion of Monostatic and Bistatic Sensing for ISAC-Enabled Low-Altitude Environment Mapping
Venue: arXiv cs.IT 2026
Year: 2026

Driven by the rapid growth of the low-altitude economy, integrated sensing and communication (ISAC) technologies are essential to meet the stringent demands for reliable connectivity and situational awareness. Within this context, multipath-based simultaneous localization and mapping has emerged as a promising approach by leveraging radio frequency (RF) multipath to reconstruct environment maps alongside agent localization. Nevertheless, existing studies largely confine themselves to bistatic non-line-of-sight links and assume purely specular reflections from smooth surfaces, overlooking the monostatic sensing capability inherent in ISAC systems and the diffuse scattering effects induced by non-ideal outdoor building facades. To address these limitations, this paper presents the first Bayesian multipath-based environment mapping framework for ISAC that integrates monostatic and bistatic measurements under non-ideal surface propagation. We establish geometric relationships linking both sensing modes to a common reflective surface, enabling their association with the same physical feature for data-level fusion. Building on this formulation, we design two complementary Bayesian frameworks with corresponding factor-graph representations, allowing flexible adaptation to different scene requirements. The effectiveness of the proposed approach is validated through synthetic RF data, demonstrating that the fusion of monostatic and bistatic links consistently yields environment maps with higher accuracy, greater robustness and faster convergence than single-link baselines.
Impact of Connectivity on Laplacian Representations in Reinforcement Learning
Venue: arXiv cs.LG 2026
Year: 2026

Learning compact state representations in Markov Decision Processes (MDPs) has proven crucial for addressing the curse of dimensionality in large-scale reinforcement learning (RL) problems. Existing principled approaches leverage structural priors on the MDP by constructing state representations as linear combinations of the state-graph Laplacian eigenvectors. When the transition graph is unknown or the state space is prohibitively large, the graph spectral features can be estimated directly via sample trajectories. In this work, we prove an upper bound on the approximation error of linear value function approximation under the learned spectral features. We show how this error scales with the algebraic connectivity of the state-graph, grounding the approximation quality in the topological structure of the MDP. We further bound the error introduced by the eigenvector estimation itself, leading to an end-to-end error decomposition across the representation learning pipeline. Additionally, our expression of the Laplacian operator for the RL setting, although equivalent to existing ones, prevents some common misunderstandings, of which we show some examples from the literature. Our results hold for general (non-uniform) policies without any assumptions on the symmetry of the induced transition kernel. We validate our theoretical findings with numerical simulations on gridworld environments.
RetroAgent: From Solving to Evolving via Retrospective Dual Intrinsic Feedback
Venue: arXiv cs.AI 2026
Year: 2026

Standard reinforcement learning (RL) for large language model (LLM)-based agents typically optimizes extrinsic task-success rewards, prioritizing one-off task solving over continual adaptation. As a result, agents may converge to suboptimal policies due to limited exploration, and accumulated experience remains implicitly stored in model parameters, hindering efficient experiential learning. Inspired by humans' capacity for retrospective self-improvement, we introduce RetroAgent, an online RL framework that enables agents to master complex interactive environments not only by solving, but also by evolving under the joint guidance of extrinsic task-success rewards and retrospective dual intrinsic feedback. Concretely, RetroAgent features a hindsight self-reflection mechanism that produces: (1) intrinsic numerical feedback, which tracks incremental subtask completion relative to prior attempts to reward promising exploration; and (2) intrinsic language feedback, which distills reusable lessons into a memory buffer retrieved via our proposed Similarity & Utility-Aware Upper Confidence Bound (SimUtil-UCB) strategy, jointly balancing relevance, utility, and exploration. Extensive experiments across four challenging agentic tasks show that RetroAgent achieves state-of-the-art (SOTA) performance, substantially outperforming RL fine-tuning, memory-augmented RL, exploration-guided RL, and meta-RL methods -- e.g., exceeding Group Relative Policy Optimization (GRPO)-trained agents by +18.3% on ALFWorld, +15.4% on WebShop, +27.1% on Sokoban, and +8.9% on MineSweeper -- while maintaining strong test-time adaptation and out-of-distribution generalization.
Trust via Reputation of Conviction
Venue: arXiv cs.AI 2026
Year: 2026

The question of \emph{knowledge}, \emph{truth} and \emph{trust} is explored via a mathematical formulation of claims and sources. We define truth as the reproducibly perceived subset of knowledge, formalize sources as having both generative and discriminative roles, and develop a framework for reputation grounded in the \emph{conviction} -- the likelihood that a source's stance is vindicated by independent consensus. We argue that conviction, rather than correctness or faithfulness, is the principled basis for trust: it is regime-independent, rewards genuine contribution, and demands the transparent and self-sufficient perceptions that make external verification possible. We formalize reputation as the expected weighted signed conviction over a realm of claims, characterize its behavior across source-claim regimes, and identify continuous verification as both a theoretical necessity and a practical mechanism through which reputation accrues. The framework is applied to AI agents, which are identified as capable but error-prone sources for whom verifiable conviction and continuously accrued reputation constitute the only robust foundation for trust.
Drift-to-Action Controllers: Budgeted Interventions with Online Risk Certificates
Venue: arXiv cs.LG 2026
Year: 2026

Deployed machine learning systems face distribution drift, yet most monitoring pipelines stop at alarms and leave the response underspecified under labeling, compute, and latency constraints. We introduce Drift2Act, a drift-to-action controller that treats monitoring as constrained decision-making with explicit safety. Drift2Act combines a sensing layer that maps unlabeled monitoring signals to a belief over drift types with an active risk certificate that queries a small set of delayed labels from a recent window to produce an anytime-valid upper bound $U_t(δ)$ on current risk. The certificate gates operation: if $U_t(δ) \le τ$, the controller selects low-cost actions (e.g., recalibration or test-time adaptation); if $U_t(δ) > τ$, it activates abstain/handoff and escalates to rollback or retraining under cooldowns. In a realistic streaming protocol with label delay and explicit intervention costs, Drift2Act achieves near-zero safety violations and fast recovery at moderate cost on WILDS Camelyon17, DomainNet, and a controlled synthetic drift stream, outperforming alarm-only monitoring, adapt-always adaptation, schedule-based retraining, selective prediction alone, and an ablation without certification. Overall, online risk certification enables reliable drift response and reframes monitoring as decision-making with safety.
CARE-Edit: Condition-Aware Routing of Experts for Contextual Image Editing
Venue: arXiv cs.CV 2026
Year: 2026

Unified diffusion editors often rely on a fixed, shared backbone for diverse tasks, suffering from task interference and poor adaptation to heterogeneous demands (e.g., local vs global, semantic vs photometric). In particular, prevalent ControlNet and OmniControl variants combine multiple conditioning signals (e.g., text, mask, reference) via static concatenation or additive adapters which cannot dynamically prioritize or suppress conflicting modalities, thus resulting in artifacts like color bleeding across mask boundaries, identity or style drift, and unpredictable behavior under multi-condition inputs. To address this, we propose Condition-Aware Routing of Experts (CARE-Edit) that aligns model computation with specific editing competencies. At its core, a lightweight latent-attention router assigns encoded diffusion tokens to four specialized experts--Text, Mask, Reference, and Base--based on multi-modal conditions and diffusion timesteps: (i) a Mask Repaint module first refines coarse user-defined masks for precise spatial guidance; (ii) the router applies sparse top-K selection to dynamically allocate computation to the most relevant experts; (iii) a Latent Mixture module subsequently fuses expert outputs, coherently integrating semantic, spatial, and stylistic information to the base images. Experiments validate CARE-Edit's strong performance on contextual editing tasks, including erasure, replacement, text-driven edits, and style transfer. Empirical analysis further reveals task-specific behavior of specialized experts, showcasing the importance of dynamic, condition-aware processing to mitigate multi-condition conflicts.
Coverage-Guided Multi-Agent Harness Generation for Java Library Fuzzing
Venue: arXiv cs.SE 2026
Year: 2026

Coverage-guided fuzzing has proven effective for software testing, but targeting library code requires specialized fuzz harnesses that translate fuzzer-generated inputs into valid API invocations. Manual harness creation is time-consuming and requires deep understanding of API semantics, initialization sequences, and exception handling contracts. We present a multi-agent architecture that automates fuzz harness generation for Java libraries through specialized LLM-powered agents. Five ReAct agents decompose the workflow into research, synthesis, compilation repair, coverage analysis, and refinement. Rather than preprocessing entire codebases, agents query documentation, source code, and callgraph information on demand through the Model Context Protocol, maintaining focused context while exploring complex dependencies. To enable effective refinement, we introduce method-targeted coverage that tracks coverage only during target method execution to isolate target behavior, and agent-guided termination that examines uncovered source code to distinguish productive refinement opportunities from diminishing returns. We evaluated our approach on seven target methods from six widely-deployed Java libraries totaling 115,000+ Maven dependents. Our generated harnesses achieve a median 26\% improvement over OSS-Fuzz baselines and outperform Jazzer AutoFuzz by 5\% in package-scope coverage. Generation costs average \$3.20 and 10 minutes per harness, making the approach practical for continuous fuzzing workflows. During a 12-hour fuzzing campaign, our generated harnesses discovered 3 bugs in projects that are already integrated into OSS-Fuzz, demonstrating the effectiveness of the generated harnesses.
StreamReady: Learning What to Answer and When in Long Streaming Videos
Venue: arXiv cs.CV 2026
Year: 2026

Streaming video understanding often involves time-sensitive scenarios where models need to answer exactly when the supporting visual evidence appears: answering before the evidence reflects speculation, answering after it has passed reduces real-time utility. To capture this behavior, we introduce a readiness-aware formulation of streaming video understanding with the Answer Readiness Score (ARS), a timing-aware objective with asymmetric early and late penalties. When combined with correctness, ARS defines an effective accuracy that measures not just whether a model is right, but whether it answers at the appropriate moment. Building on this formulation, we introduce StreamReady, a framework to unify temporal reasoning with on-time answering through a lightweight readiness mechanism that decides if sufficient evidence has been observed before responding. To evaluate this capability, we further introduce ProReady-QA, a benchmark with annotated answer evidence windows and proactive multi-turn questions across local and global contexts. StreamReady achieves superior performance on ProReady-QA, and consistently outperforms prior methods across eight additional streaming and offline long-video benchmarks, demonstrating robust and broadly generalizable video understanding capability.
Why No Consensus on Consensus? A Deep Dive into Blockchain Consensus Protocols
Venue: arXiv cs.CR 2026
Year: 2026

Blockchain technology has revolutionized the digital landscape, driving innovations across industries through its decentralized and transparent infrastructure. These networks are primarily categorized as public or private, based on user access permissions. Public blockchains are open to all and fully decentralized while private blockchains have restricted access to authorized participants only and they are usually centralized or partially decentralized. Consensus protocols are at the heart of blockchain networks, playing a pivotal role in maintaining security, ensuring consistency, and achieving agreement among distributed nodes. This paper provides a critical and unified analysis, including detailed workflows, that addresses the limita- tions of recent literature. Furthermore, this research investigates the strengths and limitations of each protocol, shedding light on their suitability for various applications, including financial transactions, supply chain management, healthcare, and beyond. A critical analysis of ongoing challenges, such as security vulnerabilities, scalability bottlenecks, and energy consumption is provided. Finally, the paper identifies key research gaps in the field, offering insights into potential areas for future work and emerging trends aimed at addressing these issues. This comprehensive analysis serves as a valuable resource for re- searchers, practitioners, and organizations seeking to understand the role of consensus protocols in shaping the future of blockchain technology.