OpenRaiser/Intern-Atlas huggingface dataset:
FRAPPE: Infusing World Modeling into Generalist Policies via Multiple Future Representation Alignment
Venue: arXiv cs.RO 2026
Year: 2026

Enabling VLA models to predict environmental dynamics, known as world modeling, has been recognized as essential for improving robotic reasoning and generalization. However, current approaches face two main issues: 1. The training objective forces models to over-emphasize pixel-level reconstruction, which constrains semantic learning and generalization 2. Reliance on predicted future observations during inference often leads to error accumulation. To address these challenges, we introduce Future Representation Alignment via Parallel Progressive Expansion (FRAPPE). Our method adopts a two-stage fine-tuning strategy: In the mid-training phase, the model learns to predict the latent representations of future observations; In the post-training phase, we expand the computational workload in parallel and align the representation simultaneously with multiple different visual foundation models. By significantly improving fine-tuning efficiency and reducing dependence on action-annotated data, FRAPPE provides a scalable and data-efficient pathway to enhance world-awareness in generalist robotic policies. Experiments on the RoboTwin benchmark and real-world tasks demonstrate that FRAPPE outperforms state-of-the-art approaches and shows strong generalization in long-horizon and unseen scenarios.
Representation Collapse in Machine Translation Through the Lens of Angular Dispersion
Venue: arXiv cs.CL 2026
Year: 2026

Modern neural translation models based on the Transformer architecture are known for their high performance, particularly when trained on high-resource datasets. A standard next-token prediction training strategy, while widely adopted in practice, may lead to overlooked artifacts such as representation collapse. Previous works have shown that this problem is especially pronounced in the representation of the deeper Transformer layers, where it often fails to efficiently utilize the geometric space. Representation collapse is even more evident in end-to-end training of continuous-output neural machine translation, where the trivial solution would be to set all vectors to the same value. In this work, we analyze the dynamics of representation collapse at different levels of discrete and continuous NMT transformers throughout training. We incorporate an existing regularization method based on angular dispersion and demonstrate empirically that it not only mitigates collapse but also improves translation quality. Furthermore, we show that quantized models exhibit similar collapse behavior and that the benefits of regularization are preserved even after quantization.
Socio-Technical Well-Being of Quantum Software Communities: An Overview on Community Smells
Venue: arXiv cs.SE 2026
Year: 2026

Quantum computing has gained significant attention due to its potential to solve computational problems beyond the capabilities of classical computers. With major corporations and academic institutions investing in quantum hardware and software, there has been a rise in the development of quantum-enabled systems, particularly within open-source communities. However, despite the promising nature of quantum technologies, these communities face critical socio-technical challenges, including the emergence of socio-technical anti-patterns known as community smells. These anti-patterns, prevalent in open-source environments, have the potential to negatively impact both product quality and community health by introducing technical debt and amplifying architectural and code smells. Despite the importance of these socio-technical factors, there remains a scarcity of research investigating their influence within quantum open-source communities. This work aims to address this gap by providing a first step in analyzing the socio-technical well-being of quantum communities through a cross-sectional study. By understanding the socio-technical dynamics at play, it is expected that foundational knowledge can be established to mitigate the risks associated with community smells and ensure the long-term sustainability of open-source quantum initiatives.
Partial Optimality in the Preordering Problem
Venue: arXiv cs.DM 2026
Year: 2026

Preordering is a generalization of clustering and partial ordering with applications in bioinformatics and social network analysis. Given a finite set $V$ and a value $c_{ab} \in \mathbb{R}$ for every ordered pair $ab$ of elements of $V$, the preordering problem asks for a preorder $\lesssim$ on $V$ that maximizes the sum of the values of those pairs $ab$ for which $a \lesssim b$. Building on the state of the art in solving this NP-hard problem partially, we contribute new partial optimality conditions and efficient algorithms for deciding these conditions. In experiments with real and synthetic data, these new conditions increase, in particular, the fraction of pairs $ab$ for which it is decided efficiently that $a \not\lesssim b$ in an optimal preorder.
Astra: AI Safety, Trust, & Risk Assessment
Venue: arXiv cs.CY 2026
Year: 2026

This paper argues that existing global AI safety frameworks exhibit contextual blindness towards India's unique socio-technical landscape. With a population of 1.5 billion and a massive informal economy, India's AI integration faces specific challenges such as caste-based discrimination, linguistic exclusion of vernacular speakers, and infrastructure failures in low-connectivity rural zones, that are frequently overlooked by Western, market-centric narratives. We introduce ASTRA, an empirically grounded AI Safety Risk Database designed to categorize risks through a bottom-up, inductive process. Unlike general taxonomies, ASTRA defines AI Safety Risks specifically as hazards stemming from design flaws such as skewed training sets or lack of guardrails that can be mitigated through technical iteration or architectural changes. This framework employs a tripartite causal taxonomy to evaluate risks based on their implementation timing (development, deployment, or usage), the responsible entity (the system or the user), and the nature of the intent (unintentional vs. intentional). Central to the research is a domain-agnostic ontology that organizes 37 leaf-level risk classes into two primary meta-categories: Social Risks and Frontier/Socio-Structural Risks. By focusing initial efforts on the Education and Financial Lending sectors, the paper establishes a scalable foundation for a "living" regulatory utility intended to evolve alongside India's expanding AI ecosystem.
MDP Planning as Policy Inference
Venue: arXiv cs.LG 2026
Year: 2026

We cast episodic Markov decision process (MDP) planning as Bayesian inference over _policies_. A policy is treated as the latent variable and is assigned an unnormalized probability of optimality that is monotone in its expected return, yielding a posterior distribution whose modes coincide with return-maximizing solutions while posterior dispersion represents uncertainty over optimal behavior. To approximate this posterior in discrete domains, we adapt variational sequential Monte Carlo (VSMC) to inference over deterministic policies under stochastic dynamics, introducing a sweep that enforces policy consistency across revisited states and couples transition randomness across particles to avoid confounding from simulator noise. Acting is performed by posterior predictive sampling, which induces a stochastic control policy through a Thompson-sampling interpretation rather than entropy regularization. Across grid worlds, Blackjack, Triangle Tireworld, and Academic Advising, we analyze the structure of inferred policy distributions and compare the resulting behavior to discrete Soft Actor-Critic, highlighting qualitative and statistical differences that arise from policy-level uncertainty.
Contact-Anchored Proprioceptive Odometry for Quadruped Robots
Venue: arXiv cs.RO 2026
Year: 2026

Reliable odometry for legged robots without cameras or LiDAR remains challenging due to IMU drift and noisy joint velocity sensing. This paper presents a purely proprioceptive state estimator that uses only IMU and motor measurements to jointly estimate body pose and velocity, with a unified formulation applicable to biped, quadruped, and wheel-legged robots. The key idea is to treat each contacting leg as a kinematic anchor: joint-torque--based foot wrench estimation selects reliable contacts, and the corresponding footfall positions provide intermittent world-frame constraints that suppress long-term drift. To prevent elevation drift during extended traversal, we introduce a lightweight height clustering and time-decay correction that snaps newly recorded footfall heights to previously observed support planes. To improve foot velocity observations under encoder quantization, we apply an inverse-kinematics cubature Kalman filter that directly filters foot-end velocities from joint angles and velocities. The implementation further mitigates yaw drift through multi-contact geometric consistency and degrades gracefully to a kinematics-derived heading reference when IMU yaw constraints are unavailable or unreliable. We evaluate the method on four quadruped platforms (three Astrall robots and a Unitree Go2 EDU) using closed-loop trajectories. On Astrall point-foot robot~A, a $\sim$200\,m horizontal loop and a $\sim$15\,m vertical loop return with 0.1638\,m and 0.219\,m error, respectively; on wheel-legged robot~B, the corresponding errors are 0.2264\,m and 0.199\,m. On wheel-legged robot~C, a $\sim$700\,m horizontal loop yields 7.68\,m error and a $\sim$20\,m vertical loop yields 0.540\,m error. Unitree Go2 EDU closes a $\sim$120\,m horizontal loop with 2.2138\,m error and a $\sim$8\,m vertical loop with less than 0.1\,m vertical error. github.com/ShineMinxing/Ros2Go2Estimator.git
Improving LLM-based Recommendation with Self-Hard Negatives from Intermediate Layers
Venue: arXiv cs.IR 2026
Year: 2026

Large language models (LLMs) have shown great promise in recommender systems, where supervised fine-tuning (SFT) is commonly used for adaptation. Subsequent studies further introduce preference learning to incorporate negative samples into the training process. However, existing methods rely on sequence-level, offline-generated negatives, making them less discriminative and informative when adapting LLMs to recommendation tasks with large negative item spaces. To address these challenges, we propose ILRec, a novel preference fine-tuning framework for LLM-based recommendation, leveraging self-hard negative signals extracted from intermediate layers to improve preference learning. Specifically, we identify self-hard negative tokens from intermediate layers as fine-grained negative supervision that dynamically reflects the model's preference learning process. To effectively integrate these signals into training, we design a two-stage framework comprising cross-layer preference optimization and cross-layer preference distillation, enabling the model to jointly discriminate informative negatives and enhance the quality of negative signals from intermediate layers. In addition, we introduce a lightweight collaborative filtering model to assign token-level rewards for negative signals, mitigating the risk of over-penalizing false negatives. Extensive experiments on three datasets demonstrate ILRec's effectiveness in enhancing the performance of LLM-based recommender systems.
3D-printed Soft Optical sensor with a Lens (SOLen) for light guidance in mechanosensing
Venue: arXiv cs.RO 2026
Year: 2026

Additive manufacturing is enabling soft robots with increasingly complex geometries, creating a demand for sensing solutions that remain compatible with single-material, one-step fabrication. Optical soft sensors are attractive for monolithic printing, but their performance is often degraded by uncontrolled light propagation (ambient coupling, leakage, scattering), while common miti- gation strategies typically require multimaterial interfaces. Here, we present an approach for 3D printed soft optical sensing (SOLen), in which a printed lens is placed in front of an emitter within a Y-shaped waveguide. The sensing mechanism relies on deformation-induced lens rotation and focal-spot translation, redistributing optical power between the two branches to generate a differential output that encodes both motion direction and amplitude. An acrylate polyurethane resin was modified with lauryl acrylate to improve compliance and optical transmittance, and single-layer optical characterization was used to derive wavelength-dependent refractive index and transmittance while minimizing DLP layer-related artifacts. The measured refractive index was used in simulations to design a lens profile for a target focal distance, which was then printed with sub-millimeter fidelity. Rotational tests demonstrated reproducible branch-selective signal switching over multiple cycles. These results establish a transferable material-to-optics workflow for soft optical sensors with lens with new functionalities for next-generation soft robots
The Runtime Dimension of Ethics in Self-Adaptive Systems
Venue: arXiv cs.SE 2026
Year: 2026

Self-adaptive systems increasingly operate in close interaction with humans, often sharing the same physical or virtual environments and making decisions with ethical implications at runtime. Current approaches typically encode ethics as fixed, rule-based constraints or as a single chosen ethical theory embedded at design time. This overlooks a fundamental property of human-system interaction settings: ethical preferences vary across individuals and groups, evolve with context, and may conflict, while still needing to remain within a legally and regulatorily defined hard-ethics envelope (e.g., safety and compliance constraints). This paper advocates a shift from static ethical rules to runtime ethical reasoning for self-adaptive systems, where ethical preferences are treated as runtime requirements that must be elicited, represented, and continuously revised as stakeholders and situations change. We argue that satisfying such requirements demands explicit ethics-based negotiation to manage ethical trade-offs among multiple humans who interact with, are represented by, or are affected by a system. We identify key challenges, ethical uncertainty, conflicts among ethical values (including human, societal, and environmental drivers), and multi-dimensional/multi-party/multi-driver negotiation, and outline research directions and questions toward ethically self-adaptive systems.
Fine-Grained Uncertainty Quantification for Long-Form Language Model Outputs: A Comparative Study
Venue: arXiv cs.CL 2026
Year: 2026

Uncertainty quantification has emerged as an effective approach to closed-book hallucination detection for LLMs, but existing methods are largely designed for short-form outputs and do not generalize well to long-form generation. We introduce a taxonomy for fine-grained uncertainty quantification in long-form LLM outputs that distinguishes methods by design choices at three stages: response decomposition, unit-level scoring, and response-level aggregation. We formalize several families of consistency-based black-box scorers, providing generalizations and extensions of existing methods. In our experiments across multiple LLMs and datasets, we find 1) claim-response entailment consistently performs better or on par with more complex claim-level scorers, 2) claim-level scoring generally yields better results than sentence-level scoring, and 3) uncertainty-aware decoding is highly effective for improving the factuality of long-form outputs. Our framework clarifies relationships between prior methods, enables apples-to-apples comparisons, and provides practical guidance for selecting components for fine-grained UQ.
Preserving Historical Truth: Detecting Historical Revisionism in Large Language Models
Venue: arXiv cs.CY 2026
Year: 2026

Large language models (LLMs) are increasingly used as sources of historical information, motivating the need for scalable audits on contested events and politically charged narratives in settings that mirror real user interactions. We introduce \texttt{HistoricalMisinfo, a curated dataset of $500$ contested events from $45$ countries, each paired with a factual reference narrative and a documented revisionist reference narrative. To approximate real-world usage, we instantiate each event in $11$ prompt scenarios that reflect common communication settings (e.g., questions, textbooks, social posts, policy briefs). Using an LLM-as-a-judge protocol that compares model outputs to the two references, we evaluate LLMs varying across model architectures in two conditions: (i) neutral user prompts that ask for factually accurate information, and (ii) robustness prompts in which the user explicitly requests the revisionist version of the event. Under neutral prompts, models are generally closer to factual references, though the resulting scores should be interpreted as reference-alignment signals rather than definitive evidence of human-interpretable revisionism. Robustness prompting yields a strong and consistent effect: when the user requests the revisionist narrative, all evaluated models show sharply higher revisionism scores, indicating limited resistance or self-correction. HistoricalMisinfo provides a practical foundation for benchmarking robustness to revisionist framing and for guiding future work on more precise automatic evaluation of contested historical claims to ensure a sustainable integration of AI systems within society. Our code is available at https://github.com/francescortu/PreservingHistoricalTruth
Auditing Reciprocal Sentiment Alignment: Inversion Risk, Dialect Representation and Intent Misalignment in Transformers
Venue: arXiv cs.CL 2026
Year: 2026

The core theme of bidirectional alignment is ensuring that AI systems accurately understand human intent and that humans can trust AI behavior. However, this loop fractures significantly across language barriers. Our research addresses Cross-Lingual Sentiment Misalignment between Bengali and English by benchmarking four transformer architectures. We reveal severe safety and representational failures in current alignment paradigms. We demonstrate that compressed model (mDistilBERT) exhibits 28.7% "Sentiment Inversion Rate," fundamentally misinterpreting positive user intent as negative (or vice versa). Furthermore, we identify systemic nuances affecting human-AI trust, including "Asymmetric Empathy" where some models systematically dampen and others amplify the affective weight of Bengali text relative to its English counterpart. Finally, we reveal a "Modern Bias" in the regional model (IndicBERT), which shows a 57% increase in alignment error when processing formal (Sadhu) Bengali. We argue that equitable human-AI co-evolution requires pluralistic, culturally grounded alignment that respects language and dialectal diversity over universal compression, which fails to preserve the emotional fidelity required for reciprocal human-AI trust. We recommend that alignment benchmarks incorporate "Affective Stability" metrics that explicitly penalize polarity inversions in low-resource and dialectal contexts.
QuPAINT: Physics-Aware Instruction Tuning Approach to Quantum Material Discovery
Venue: arXiv cs.CV 2026
Year: 2026

Characterizing two-dimensional quantum materials from optical microscopy images is challenging due to the subtle layer-dependent contrast, limited labeled data, and significant variation across laboratories and imaging setups. Existing vision models struggle in this domain since they lack physical priors and cannot generalize to new materials or hardware conditions. This work presents a new physics-aware multimodal framework that addresses these limitations from both the data and model perspectives. We first present Synthia, a physics-based synthetic data generator that simulates realistic optical responses of quantum material flakes under thin-film interference. Synthia produces diverse and high-quality samples, helping reduce the dependence on expert manual annotation. We introduce QMat-Instruct, the first large-scale instruction dataset for quantum materials, comprising multimodal, physics-informed question-answer pairs designed to teach Multimodal Large Language Models (MLLMs) to understand the appearance and thickness of flakes. Then, we propose Physics-Aware Instruction Tuning (QuPAINT), a multimodal architecture that incorporates a Physics-Informed Attention module to fuse visual embeddings with optical priors, enabling more robust and discriminative flake representations. Finally, we establish QF-Bench, a comprehensive benchmark spanning multiple materials, substrates, and imaging settings, offering standardized protocols for fair and reproducible evaluation.
Tracing Copied Pixels and Regularizing Patch Affinity in Copy Detection
Venue: arXiv cs.CV 2026
Year: 2026

Image Copy Detection (ICD) aims to identify manipulated content between image pairs through robust feature representation learning. While self-supervised learning (SSL) has advanced ICD systems, existing view-level contrastive methods struggle with sophisticated edits due to insufficient fine-grained correspondence learning. We address this limitation by exploiting the inherent geometric traceability in edited content through two key innovations. First, we propose PixTrace - a pixel coordinate tracking module that maintains explicit spatial mappings across editing transformations. Second, we introduce CopyNCE, a geometrically-guided contrastive loss that regularizes patch affinity using overlap ratios derived from PixTrace's verified mappings. Our method bridges pixel-level traceability with patch-level similarity learning, suppressing supervision noise in SSL training. Extensive experiments demonstrate not only state-of-the-art performance (88.7% uAP / 83.9% RP90 for matcher, 72.6% uAP / 68.4% RP90 for descriptor on DISC21 dataset) but also better interpretability over existing methods.
Linear Convergence in Games with Delayed Feedback via Extra Prediction
Venue: arXiv cs.LG 2026
Year: 2026

Feedback delays are inevitable in real-world multi-agent learning. They are known to severely degrade performance, and the convergence rate under delayed feedback is still unclear, even for bilinear games. This paper derives the rate of linear convergence of Weighted Optimistic Gradient Descent-Ascent (WOGDA), which predicts future rewards with extra optimism, in unconstrained bilinear games. To analyze the algorithm, we interpret it as an approximation of the Extra Proximal Point (EPP), which is updated based on farther future rewards than the classical Proximal Point (PP). Our theorems show that standard optimism (predicting the next-step reward) achieves linear convergence to the equilibrium at a rate $\exp(-Θ(t/m^{5}))$ after $t$ iterations for delay $m$. Moreover, employing extra optimism (predicting farther future reward) tolerates a larger step size and significantly accelerates the rate to $\exp(-Θ(t/(m^{2}\log m)))$. Our experiments also show accelerated convergence driven by the extra optimism and are qualitatively consistent with our theorems. In summary, this paper validates that extra optimism is a promising countermeasure against performance degradation caused by feedback delays.