OpenRaiser/Intern-Atlas huggingface dataset:
Enhancing Unregistered Hyperspectral Image Super-Resolution via Unmixing-based Abundance Fusion Learning
Venue: arXiv cs.CV 2026
Year: 2026

Unregistered hyperspectral image (HSI) super-resolution (SR) typically aims to enhance a low-resolution HSI using an unregistered high-resolution reference image. In this paper, we propose an unmixing-based fusion framework that decouples spatial-spectral information to simultaneously mitigate the impact of unregistered fusion and enhance the learnability of SR models. Specifically, we first utilize singular value decomposition for initial spectral unmixing, preserving the original endmembers while dedicating the subsequent network to enhancing the initial abundance map. To leverage the spatial texture of the unregistered reference, we introduce a coarse-to-fine deformable aggregation module, which first estimates a pixel-level flow and a similarity map using a coarse pyramid predictor. It further performs fine sub-pixel refinement to achieve deformable aggregation of the reference features. The aggregative features are then refined via a series of spatial-channel abundance cross-attention blocks. Furthermore, a spatial-channel modulated fusion module is presented to merge encoder-decoder features using dynamic gating weights, yielding a high-quality, high-resolution HSI. Experimental results on simulated and real datasets confirm that our proposed method achieves state-of-the-art super-resolution performance. The code will be available at https://github.com/yingkai-zhang/UAFL.
Unified Structural-Hydrodynamic Modeling of Underwater Underactuated Mechanisms and Soft Robots
Venue: arXiv cs.RO 2026
Year: 2026

Underwater robots are widely deployed for ocean exploration and manipulation. Underactuated mechanisms are particularly advantageous in aquatic environments, as reducing actuator count lowers the risk of motor leakage while introducing inherent mechanical compliance. However, accurate modeling of underwater underactuated and soft robotic systems remains challenging because it requires identifying a high-dimensional set of internal structural and external hydrodynamic parameters. In this work, we propose a trajectory-driven global optimization framework for unified structural-hydrodynamic modeling of underwater multibody systems. Inspired by the Covariance Matrix Adaptation Evolution Strategy (CMA-ES), the proposed approach simultaneously identifies coupled internal elastic, damping, and distributed hydrodynamic parameters through trajectory-level matching between simulation and experimental motion. This enables high-fidelity reproduction of both underactuated mechanisms and compliant soft robotic systems in underwater environments. We first validate the framework on a link-by-link underactuated multibody mechanism, demonstrating accurate identification of distributed hydrodynamic coefficients, with a normalized end effector position error below 5% across multiple trajectories, varying initial conditions, and both active-passive and fully passive configurations. The identified modeling strategy is then transferred to a single octopus-inspired soft arm, showing strong real-to-sim consistency without manual retuning. Finally, eight identified arms are assembled into a swimming octopus robot, where the unified parameter set enables realistic whole body behavior without additional parameter calibration. These results demonstrate the scalability and transferability of the proposed structural-hydrodynamic modeling framework across underwater underactuated and soft robotic systems.
ELLMob: Event-Driven Human Mobility Generation with Self-Aligned LLM Framework
Venue: arXiv cs.LG 2026
Year: 2026

Human mobility generation aims to synthesize plausible trajectory data, which is widely used in urban system research. While Large Language Model-based methods excel at generating routine trajectories, they struggle to capture deviated mobility during large-scale societal events. This limitation stems from two critical gaps: (1) the absence of event-annotated mobility datasets for design and evaluation, and (2) the inability of current frameworks to reconcile competitions between users' habitual patterns and event-imposed constraints when making trajectory decisions. This work addresses these gaps with a twofold contribution. First, we construct the first event-annotated mobility dataset covering three major events: Typhoon Hagibis, COVID-19, and the Tokyo 2021 Olympics. Second, we propose ELLMob, a self-aligned LLM framework that first extracts competing rationales between habitual patterns and event constraints, based on Fuzzy-Trace Theory, and then iteratively aligns them to generate trajectories that are both habitually grounded and event-responsive. Extensive experiments show that ELLMob wins state-of-the-art baselines across all events, demonstrating its effectiveness. Our codes and datasets are available at https://github.com/deepkashiwa20/ELLMob.
Decomposition-Driven Multi-Table Retrieval and Reasoning for Numerical Question Answering
Venue: arXiv cs.DB 2026
Year: 2026

In this paper, we study the problem of numerical multi-table question answering (MTQA) over large-scale table collections (e.g., online data repositories). This task is essential in many analytical applications. Existing MTQA solutions, such as text-to-SQL or open-domain MTQA methods, are designed for databases and struggle when applied to large-scale table collections. The key limitations include: (1) Limited support for complex table relationships; (2) Ineffective retrieval of relevant tables at scale; (3) Inaccurate answer generation. To overcome these limitations, we propose DMRAL, a Decomposition-driven Multi-table Retrieval and Answering framework for MTQA over large-scale table collections, which consists of: (1) constructing a table relationship graph to capture complex relationships among tables; (2) Table-Aligned Question Decomposer and Coverage-Aware Retriever, which jointly enable the effective identification of relevant tables from large-scale corpora by enhancing the question decomposition quality and maximizing the question coverage of retrieved tables; and (3) Sub-question Guided Reasoner, which produces correct answers by progressively generating and refining the reasoning program based on sub-questions. Experiments on two MTQA datasets demonstrate that DMRAL significantly outperforms existing state-of-the-art MTQA methods, with an average improvement of 24% in table retrieval and 55% in answer accuracy.
ZK-ACE: Identity-Centric Zero-Knowledge Authorization for Post-Quantum Blockchain Systems
Venue: arXiv cs.CR 2026
Year: 2026

Post-quantum signature schemes introduce kilobyte-scale authorization artifacts when applied directly to blockchain transaction validation. A widely considered mitigation is to verify post-quantum signatures inside zero-knowledge circuits and publish only succinct proofs on-chain. However, this approach preserves the signature-centric authorization model, merely relocating the verification cost, and embeds expensive high-dimensional lattice arithmetic into prover circuits.We present ZK-ACE (Zero-Knowledge Authorization for Cryptographic Entities), an authorization layer that replaces transaction-carried signature objects entirely with identity-bound zero-knowledge authorization statements. Rather than proving the correctness of a specific post-quantum signature, the prover demonstrates in zero knowledge that a transaction is authorized by an identity consistent with an on-chain commitment and bound replay state. The construction assumes a deterministic identity derivation primitive (DIDP) as a black box and uses a compact identity commitment as the primary on-chain identity anchor, supplemented by per-transaction replay-prevention state. We formalize ZK-ACE with explicit game-based security definitions for authorization soundness, replay resistance, substitution resistance, and cross-domain separation. We present a complete circuit constraint specification, define two replay-prevention models, and provide reduction-based security proofs under standard assumptions (knowledge soundness, collision resistance, and DIDP identity-root recovery hardness). A structural, protocol-level data accounting demonstrates an order-of-magnitude reduction in consensus-visible authorization data relative to direct post-quantum signature deployment. The design supports batch aggregation and recursive proof composition, and is compatible with account-abstraction and rollup-based deployment architectures.
MJ1: Multimodal Judgment via Grounded Verification
Venue: arXiv cs.LG 2026
Year: 2026

Multimodal judges struggle to ground decisions in visual evidence. We present MJ1, a multimodal judge trained with reinforcement learning that enforces visual grounding through a structured grounded verification chain (observations $\rightarrow$ claims $\rightarrow$ verification $\rightarrow$ evaluation $\rightarrow$ scoring) and a counterfactual consistency reward that penalizes position bias. Even without training, our mechanism improves base-model accuracy on MMRB2 by +3.8 points on Image Editing and +1.7 on Multimodal Reasoning. After training, MJ1, with only 3B active parameters, achieves 77.0% accuracy on MMRB2 and surpasses orders-of-magnitude larger models like Gemini-3-Pro. These results show that grounded verification and consistency-based training substantially improve multimodal judgment without increasing model scale.
Aero-Promptness: Drag-Aware Aerodynamic Manipulability for Propeller-driven Vehicles
Venue: arXiv cs.RO 2026
Year: 2026

This work introduces the Drag-Aware Aerodynamic Manipulability (DAAM), a geometric framework for control allocation in redundant multirotors. By equipping the propeller spin-rate space with a Riemannian metric based on the remaining symmetric acceleration capacity of each motor, the formulation explicitly accounts for motor torque limits and aerodynamic drag. Mapping this metric through the nonlinear thrust law to the generalized force space yields a state-dependent manipulability volume. The log-determinant of this volume acts as a natural barrier function, strictly penalizing drag-induced saturation and low-spin thrust loss. Optimizing this volume along the allocation fibers provides a redundancy resolution strategy inherently invariant to arbitrary coordinate scaling in the generalized-force space. Analytically, we prove that the resulting optimal allocations locally form smooth embedded manifolds, and we geometrically characterize the global jump discontinuities that inevitably arise from physical actuator limits and spin-rate sign transitions.
VSDiffusion: Taming Ill-Posed Shadow Generation via Visibility-Constrained Diffusion
Venue: arXiv cs.CV 2026
Year: 2026

Generating realistic cast shadows for inserted foreground objects is a crucial yet challenging problem in image composition, where maintaining geometric consistency of shadow and object in complex scenes remains difficult due to the ill-posed nature of shadow formation. To address this issue, we propose VSDiffusion, a visibility-constrained two-stage framework designed to narrow the solution space by incorporating visibility priors. In Stage I, we predict a coarse shadow mask to localize plausible shadow generated regions. And in Stage II, conditional diffusion is performed guided by lighting and depth cues estimated from the composite to generate accurate shadows. In VSDiffusion, we inject visibility priors through two complementary pathways. First, a visibility control branch with shadow-gated cross attention that provides multi-scale structural guidance. Then, a learned soft prior map that reweights training loss in error-prone regions to enhance geometric correction. Additionally, we also introduce high-frequency guided enhancement module to sharpen boundaries and improve texture interaction with the background. Experiments on widely used public DESOBAv2 dataset demonstrated that our proposed VSDiffusion can generate accurate shadow, and establishes new SOTA results across most evaluation metrics.
Speed3R: Sparse Feed-forward 3D Reconstruction Models
Venue: arXiv cs.CV 2026
Year: 2026

While recent feed-forward 3D reconstruction models accelerate 3D reconstruction by jointly inferring dense geometry and camera poses in a single pass, their reliance on dense attention imposes a quadratic complexity, creating a prohibitive computational bottleneck that severely limits inference speed. To resolve this, we introduce Speed3R, an end-to-end trainable model inspired by the core principle of Structure-from-Motion: that a sparse set of keypoints is sufficient for robust pose estimation. Speed3R features a dual-branch attention mechanism where a compression branch creates a coarse contextual prior to guide a selection branch, which performs fine-grained attention only on the most informative image tokens. This strategy mimics the efficiency of traditional keypoint matching, achieving a remarkable 12.4x inference speedup on 1000-view sequences, while introducing a minimal, controlled trade-off in geometric accuracy. Validated on standard benchmarks with both VGGT and $π^3$ backbones, our method delivers high-quality reconstructions at a fraction of computational cost, paving the way for efficient large-scale scene modeling.
Stabilized Fine-Tuning with LoRA in Federated Learning: Mitigating the Side Effect of Client Size and Rank via the Scaling Factor
Venue: arXiv cs.LG 2026
Year: 2026

Large Language Models (LLMs) are pivotal in natural language processing. The impracticality of full fine-tuning has prompted Parameter-Efficient Fine-Tuning (PEFT) methods like Low-Rank Adaptation (LoRA), optimizing low-rank matrices A and B. In distributed scenarios where privacy constraints necessitate Federated Learning (FL), however, the integration of LoRA is often unstable. Specifically, we identify that aggregating updates from multiple clients introduces statistical variance that scales with the client count, causing gradient collapse when using high-rank adapters. Existing scaling factor candidates, such as the one used by Rank-Stabilized LoRA, ignore the interaction caused by the aggregation process. To bridge this gap, this paper introduces Stabilized Federated LoRA (SFed-LoRA), a framework that theoretically characterizes the interaction between adapter rank and federated aggregation. We derive an optimal scaling factor designed to effectively mitigate the aggregation error accumulating across N clients. By correcting the scaling mismatch inherent in previous approaches, SFed-LoRA restores the efficacy of high-rank adaptation without altering the original model architecture or increasing inference latency. Extensive experiments in diverse tasks, model architectures, and heterogeneous data distributions are conducted to validate our results. We demonstrate that SFed-LoRA prevents high-rank collapse, and achieves significantly improved stability and faster convergence compared with state-of-the-art baselines for high-rank adaptation.
Enhancing Cross-View UAV Geolocalization via LVLM-Driven Relational Modeling
Venue: arXiv cs.CV 2026
Year: 2026

The primary objective of cross-view UAV geolocalization is to identify the exact spatial coordinates of drone-captured imagery by aligning it with extensive, geo-referenced satellite databases. Current approaches typically extract features independently from each perspective and rely on basic heuristics to compute similarity, thereby failing to explicitly capture the essential interactions between different views. To address this limitation, we introduce a novel, plug-and-play ranking architecture designed to explicitly perform joint relational modeling for improved UAV-to-satellite image matching. By harnessing the capabilities of a Large Vision-Language Model (LVLM), our framework effectively learns the deep visual-semantic correlations linking UAV and satellite imagery. Furthermore, we present a novel relational-aware loss function to optimize the training phase. By employing soft labels, this loss provides fine-grained supervision that avoids overly penalizing near-positive matches, ultimately boosting both the model's discriminative power and training stability. Comprehensive evaluations across various baseline architectures and standard benchmarks reveal that the proposed method substantially boosts the retrieval accuracy of existing models, yielding superior performance even under highly demanding conditions.
Evaluating Generative Models via One-Dimensional Code Distributions
Venue: arXiv cs.CV 2026
Year: 2026

Most evaluations of generative models rely on feature-distribution metrics such as FID, which operate on continuous recognition features that are explicitly trained to be invariant to appearance variations, and thus discard cues critical for perceptual quality. We instead evaluate models in the space of discrete visual tokens, where modern 1D image tokenizers compactly encode both semantic and perceptual information and quality manifests as predictable token statistics. We introduce Codebook Histogram Distance (CHD), a training-free distribution metric in token space, and Code Mixture Model Score (CMMS), a no-reference quality metric learned from synthetic degradations of token sequences. To stress-test metrics under broad distribution shifts, we further propose VisForm, a benchmark of 210K images spanning 62 visual forms and 12 generative models with expert annotations. Across AGIQA, HPDv2/3, and VisForm, our token-based metrics achieve state-of-the-art correlation with human judgments. We will release all code and datasets to facilitate future research, with the code publicly available at https://github.com/zexiJia/1d-Distance.
Synthetic Defect Image Generation for Power Line Insulator Inspection Using Multimodal Large Language Models
Venue: arXiv cs.CV 2026
Year: 2026

Utility companies increasingly rely on drone imagery for post-event and routine inspection, but training accurate defect-type classifiers remains difficult because defect examples are rare and inspection datasets are often limited or proprietary. We address this data-scarcity setting by using an off-the-shelf multimodal large language model (MLLM) as a training-free image generator to synthesize defect images from visual references and text prompts. Our pipeline increases diversity via dual-reference conditioning, improves label fidelity with lightweight human verification and prompt refinement, and filters the resulting synthetic pool using an embedding-based selection rule based on distances to class centroids computed from the real training split. We evaluate on ceramic insulator defect-type classification (shell vs. glaze) using a public dataset with a realistic low training-data regime (104 real training images; 152 validation; 308 test). Augmenting the 10% real training set with embedding-selected synthetic images improves test F1 score (harmonic mean of precision and recall) from 0.615 to 0.739 (20% relative), corresponding to an estimated 4--5x data-efficiency gain, and the gains persist with stronger backbone models and frozen-feature linear-probe baselines. These results suggest a practical, low-barrier path for improving defect recognition when collecting additional real defects is slow or infeasible.
MRDrive: An Open Source Mixed Reality Driving Simulator for Automotive User Research
Venue: arXiv cs.HC 2026
Year: 2026

Designing and evaluating in-vehicle interfaces requires experimental platforms that combine ecological validity with experimental control. Driving simulators are widely used for this purpose. However, they face a fundamental trade-off: high-fidelity physical simulators are costly and difficult to adapt, while virtual reality simulators provide flexibility at the expense of physical interaction with the vehicle. In this work, we present MRDrive, an open mixed-reality driving simulator designed to support HCI research on in-vehicle interaction, attention, and explainability in manual and automated driving contexts. MRDrive enables drivers and passengers to interact with a real vehicle cabin while being fully immersed in a virtual driving environment. We demonstrate the capabilities of MRDrive through a small pilot study that illustrates how the simulator can be used to collect and analyze eye-tracking and touch interaction data in an automated driving scenario. MRDRive is available at: https://github.com/ciao-group/mrdrive
The AI Amplifier Effect: Defining Human-AI Intimacy and Romantic Relationships with Conversational AI
Venue: arXiv cs.HC 2026
Year: 2026

What does it mean to fall in love with something we know is virtual? The proliferation of conversational AI enables users to create customizable companions, fostering new intimate relationships that, while virtual, are perceived as authentic. However, public understanding of these bonds is limited, and platform policies regarding these interactions remain inconsistent. There is a pressing need for further HCI research to investigate: (a) the design affordances in AI that construct bonds and a sense of intimacy, (b) how such long-term engagement impacts users' real lives, and (c) how to balance user autonomy with platform regulation in the design of these systems without compromising users' well-being and experiences. This paper takes a step toward addressing these goals by providing a concrete definition of human AI intimacy based on in depth interviews with 30 users engaged in romantic relationships with AI companions. We elucidate the complexities of these relationships, from their formation to sustainability, and identify key features of the bonds formed. Notably, we introduce the AI Amplifier Effect, where the AI serves as a medium that intensifies the user's existing emotional state, leading to divergent positive, neutral, and negative impacts. We argue that designing for emotion must extend beyond technical affordances to encompass the essence of human affection. This paper's contributions aim to initiate a conversation and guide future research on human AI relationships within the HCI community.
From Reactive to Map-Based AI: Tuned Local LLMs for Semantic Zone Inference in Object-Goal Navigation
Venue: arXiv cs.CV 2026
Year: 2026

Object-Goal Navigation (ObjectNav) requires an agent to find and navigate to a target object category in unknown environments. While recent Large Language Model (LLM)-based agents exhibit zero-shot reasoning, they often rely on a "reactive" paradigm that lacks explicit spatial memory, leading to redundant exploration and myopic behaviors. To address these limitations, we propose a transition from reactive AI to "Map-Based AI" by integrating LLM-based semantic inference with a hybrid topological-grid mapping system. Our framework employs a fine-tuned Llama-2 model via Low-Rank Adaptation (LoRA) to infer semantic zone categories and target existence probabilities from verbalized object observations. In this study, a "zone" is defined as a functional area described by the set of observed objects, providing crucial semantic co-occurrence cues for finding the target. This semantic information is integrated into a topological graph, enabling the agent to prioritize high-probability areas and perform systematic exploration via Traveling Salesman Problem (TSP) optimization. Evaluations in the AI2-THOR simulator demonstrate that our approach significantly outperforms traditional frontier exploration and reactive LLM baselines, achieving a superior Success Rate (SR) and Success weighted by Path Length (SPL).