OpenRaiser/Intern-Atlas huggingface dataset:
Model Predictive Control with Reference Learning for Soft Robotic Intracranial Pressure Waveform Modulation
Venue: arXiv cs.RO 2026
Year: 2026

This paper introduces a learning-based control framework for a soft robotic actuator system designed to modulate intracranial pressure (ICP) waveforms, which is essential for studying cerebrospinal fluid dynamics and pathological processes underlying neurological disorders. A two-layer framework is proposed to safely achieve a desired ICP waveform modulation. First, a model predictive controller (MPC) with a disturbance observer is used for offset-free tracking of the system's motor position reference trajectory under safety constraints. Second, to address the unknown nonlinear dependence of ICP on the motor position, we employ a Bayesian optimization (BO) algorithm used for online learning of a motor position reference trajectory that yields the desired ICP modulation. The framework is experimentally validated using a test bench with a brain phantom that replicates realistic ICP dynamics in vitro. Compared to a previously employed proportional-integral-derivative controller, the MPC reduces mean and maximum motor position reference tracking errors by 83 % and 73 %, respectively. In less than 20 iterations, the BO algorithm learns a motor position reference trajectory that yields an ICP waveform with the desired mean and amplitude.
Can Large Audio Language Models Understand Audio Well? Speech, Scene and Events Understanding Benchmark for LALMs
Venue: arXiv cs.SD 2026
Year: 2026

Recently, Large Audio Language Models (LALMs) have progressed rapidly, demonstrating their strong efficacy in universal audio understanding through cross-modal integration. To evaluate LALMs' audio understanding performance, researchers have proposed different benchmarks. However, key aspects for real-world interactions are underexplored in existing benchmarks, i.e., audio signals typically contain both speech and non-speech components, and energy levels of these components can vary significantly across different scenarios. Moreover, most benchmarks do not consider the joint understanding of speech, scene, and events within the same audio clip. In this work, we introduce SSEU-Bench, the first versatile audio understanding benchmark that explicitly accounts for energy differences between speech and non-speech audio, with both independent and joint understanding settings for speech, scene, and events. Furthermore, we demonstrate that some LALMs tend to underperform on certain tasks in a joint understanding setting. To address this issue, we introduce Chain-of-Thought, which effectively improves LALMs' joint audio understanding performance by decomposing complex tasks into simpler reasoning steps.
CogniAlign: Survivability-Grounded Multi-Agent Moral Reasoning for Safe and Transparent AI
Venue: arXiv cs.CY 2026
Year: 2026

The challenge of aligning artificial intelligence (AI) with human values persists due to the abstract and often conflicting nature of moral principles and the opacity of existing approaches. This paper introduces CogniAlign, a multi-agent deliberation framework based on naturalistic moral realism, that grounds moral reasoning in survivability, defined across individual and collective dimensions, and operationalizes it through structured deliberations among discipline-specific scientist agents. Each agent, representing neuroscience, psychology, sociology, and evolutionary biology, provides arguments and rebuttals that are synthesized by an arbiter into transparent and empirically anchored judgments. As a proof-of-concept study, we evaluate CogniAlign on classic and novel moral questions and compare its outputs against GPT-4o using a five-part ethical audit framework with the help of three experts. Results show that CogniAlign consistently outperforms the baseline across more than sixty moral questions, with average performance gains of 12.2 points in analytic quality, 31.2 points in decisiveness, and 15 points in depth of explanation. In the Heinz dilemma, for example, CogniAlign achieved an overall score of 79 compared to GPT-4o's 65.8, demonstrating a decisive advantage in handling moral reasoning. Through transparent and structured reasoning, CogniAlign demonstrates the feasibility of an auditable approach to AI alignment, though certain challenges still remain.
The Art of Saying "Maybe": A Conformal Lens for Uncertainty Benchmarking in VLMs
Venue: arXiv cs.AI 2026
Year: 2026

Vision-Language Models (VLMs) have achieved remarkable progress in complex visual understanding across scientific and reasoning tasks. While performance benchmarking has advanced our understanding of these capabilities, the critical dimension of uncertainty quantification has received insufficient attention. Therefore, unlike prior conformal prediction studies that focused on limited settings, we conduct a comprehensive uncertainty benchmarking study, evaluating 18 state-of-the-art VLMs (open and closed-source) across 6 multimodal datasets with 3 distinct scoring functions. For closed-source models lacking token-level logprob access, we develop and validate instruction-guided likelihood proxies. Our findings demonstrate that larger models consistently exhibit better uncertainty quantification; models that know more also know better what they don't know. More certain models achieve higher accuracy, while mathematical and reasoning tasks elicit poorer uncertainty performance across all models compared to other domains. This work establishes a foundation for reliable uncertainty evaluation in multimodal systems.
VEGA: Electric Vehicle Navigation Agent via Physics-Informed Neural Operator and Proximal Policy Optimization
Venue: arXiv cs.RO 2026
Year: 2026

We present VEGA, a vehicle-adaptive energy-aware routing system for electric vehicles (EVs) that integrates physics-informed parameter estimation with RL-based charge-aware path planning. VEGA consists of two copupled modules: (1) a physics-informed neural operator (PINO) that estimates vehicle-specific physical parameters-drag, rolling resistance, mass, motor and regenerative-braking efficiencies, and auxiliary load-from short windows of onboard speed and acceleration data; (2) a Proximal Policy Optimization (PPO) agent that navigates a charger-annotated road graph, jointly selecting routes and charging stops under state-of-charge constraints. The agent is initialized via behavior cloning from an A* teacher and fine-tuned with cirriculum-guided PPO on the full U.S. highway network with Tesla Supercharger locations. On a cross-country San Francisco-to-New York route (~4,860km), VEGA produces a feasible 20-stop plan with 56.12h total trip time and minimum SoC 11.41%. Against the controlled Energy-aware A* baseline, the distance and driving-time gaps are small (-8.49km and +0.37h), while inference is >20x faster. The learned policy generalizes without retraining to road networks in France and Japan.
THOR: Tool-Integrated Hierarchical Optimization via RL for Mathematical Reasoning
Venue: arXiv cs.AI 2026
Year: 2026

Large Language Models (LLMs) have made remarkable progress in mathematical reasoning, but still continue to struggle with high-precision tasks like numerical computation and formal symbolic manipulation. Integrating external tools has emerged as a promising approach to bridge this gap. Despite recent advances, existing methods struggle with three key challenges: constructing tool-integrated reasoning data, performing fine-grained optimization, and enhancing inference. To overcome these limitations, we propose THOR (Tool-Integrated Hierarchical Optimization via RL). First, we introduce TIRGen, a multi-agent based pipeline for constructing high-quality datasets of tool-integrated reasoning paths, aligning with the policy and generalizing well across diverse models. Second, to perform fine-grained hierarchical optimization, we introduce an RL strategy that jointly optimizes for both episode-level problem solving and step-level code generation. This is motivated by our key insight that the success of an intermediate tool call is a strong predictor of the final answer's correctness. Finally, THOR incorporates a self-correction mechanism that leverages immediate tool feedback to dynamically revise erroneous reasoning paths during inference. Our approach demonstrates strong generalization across diverse models, performing effectively in both reasoning and non-reasoning models. It further achieves state-of-the-art performance for models of a similar scale on multiple mathematical benchmarks, while also delivering consistent improvements on code benchmarks. Our code will be publicly available at https://github.com/JingMog/THOR.
Interleaving Natural Language Prompting with Code Editing for Solving Programming Tasks with Generative AI Models
Venue: arXiv cs.CY 2026
Year: 2026

Modern computing students often rely on both natural-language prompting and manual code editing to solve programming tasks. Yet we still lack a clear understanding of how these two modes are combined in practice, and how their usage varies with task complexity and student ability. In this paper, we investigate this through a large-scale study in an introductory programming course, collecting 13,305 interactions from 355 students during a three-day lab activity. Our analysis shows that students primarily use prompting to generate initial solutions, and then often enter short edit-run loops to refine their code following a failed execution. Student reflections confirm that prompting is helpful for structuring solutions, editing is effective for making targeted corrections, while both are useful for learning. We find that manual editing becomes more frequent as task complexity increases, but most edits remain concise, with many affecting a single line of code. Higher-performing students tend to succeed using prompting alone, while lower-performing students rely more on edits. These findings highlight the role of manual editing as a deliberate last-mile repair strategy, complementing prompting in AI-assisted programming workflows.
GeoAware-VLA: Implicit Geometry Aware Vision-Language-Action Model
Venue: arXiv cs.RO 2026
Year: 2026

Vision-Language-Action (VLA) models often fail to generalize to unseen camera viewpoints, a limitation stemming from their difficulty in inferring robust 3D geometry from 2D images. We introduce GeoAware-VLA, a simple yet effective approach that enhances viewpoint invariance by integrating strong geometric priors into the vision backbone. Instead of training a visual encoder or relying on explicit 3D data, we leverage a frozen, pretrained geometric vision model as a feature extractor. A lightweight, trainable projection layer then adapts these geometrically-rich features for the policy decoder, relieving it of the burden of learning 3D consistency from scratch. Through extensive evaluations on the LIBERO and CALVIN benchmarks, we show that GeoAware-VLA preserves and even improves in-distribution performance while achieving substantial gains in zero-shot generalization to unseen camera poses, improving unseen-view success rates by an average of 35 percentage points on LIBERO and over 11 percentage points on CALVIN compared to their respective baselines. Crucially, these gains transfer to the physical world, where our model shows significant improvement on a real robotic platform. Our approach proves effective across both continuous and discrete action spaces, highlighting that robust geometric grounding is a key ingredient for building more generalizable robotic agents.
Bridging Past and Future: Distribution-Aware Alignment for Time Series Forecasting
Venue: arXiv cs.LG 2026
Year: 2026

Although contrastive and other representation-learning methods have long been explored in vision and NLP, their adoption in modern time series forecasters remains limited. We believe they hold strong promise for this domain. To unlock this potential, we explicitly align past and future representations, thereby bridging the distributional gap between input histories and future targets. To this end, we introduce TimeAlign, a lightweight, plug-and-play framework that establishes a new representation paradigm, distinct from contrastive learning, by aligning auxiliary features via a simple reconstruction task and feeding them back into any base forecaster. Extensive experiments across eight benchmarks verify its superior performance. Further studies indicate that the gains arise primarily from correcting frequency mismatches between historical inputs and future outputs. Additionally, we provide two theoretical justifications for how reconstruction improves forecasting generalization and how alignment increases the mutual information between learned representations and predicted targets. The code is available at https://github.com/TROUBADOUR000/TimeAlign.
A Simple and Efficient Jailbreak Method Exploiting LLMs' Helpfulness
Venue: arXiv cs.CR 2026
Year: 2026

This study reveals a critical safety blind spot in modern LLMs: learning-style queries, which closely resemble ordinary educational questions, can reliably elicit harmful responses. The learning-style queries are constructed by a novel reframing paradigm: HILL (Hiding Intention by Learning from LLMs). The deterministic, model-agnostic reframing framework is composed of 4 conceptual components: 1) key concept, 2) exploratory transformation, 3) detail-oriented inquiry, and optionally 4) hypotheticality. Further, new metrics are introduced to thoroughly evaluate the efficiency and harmfulness of jailbreak methods. Experiments on the AdvBench dataset across a wide range of models demonstrate HILL's strong generalizability. It achieves top attack success rates on the majority of models and across malicious categories while maintaining high efficiency with concise prompts. On the other hand, results of various defense methods show the robustness of HILL, with most defenses having mediocre effects or even increasing the attack success rates. In addition, the assessment of defenses on the constructed safe prompts reveals inherent limitations of LLMs' safety mechanisms and flaws in the defense methods. This work exposes significant vulnerabilities of safety measures against learning-style elicitation, highlighting a critical challenge of fulfilling both helpfulness and safety alignments.
Nudging the Somas: Exploring How Live-Configurable Mixed Reality Objects Shape Open-Ended Intercorporeal Movements
Venue: arXiv cs.HC 2026
Year: 2026

Mixed Reality (MR) increasingly explores how virtual elements can shape physical behavior, yet how MR objects guide group movement remains underexplored. We address this gap by examining how virtual objects can nudge collective, co-located movement without relying on explicit instructions or choreography. We developed GravField, a research-through-design, co-located MR performance system where an "object jockey" live-configures virtual objects (e.g., ropes, springs, magnetic fields) with real-time, parameterized "digital physics" (e.g., weight, elasticity, force) to influence headset-wearing participants' movement, made perceptible through augmented visual and audio feedback serving as cognitive-somatic cues. Our bricolage analysis of the performances, based on video, interviews, soma trajectories, and field notes, indicates that these live nudges support emergent intercorporeal coordination and that ambiguity and real-time configuration sustain open-ended, exploratory engagement. Ultimately, our work offers empirical insights and design principles for MR systems that can guide group movement through embodied, felt dynamics while preserving participants' sense of agency.
Estimating Semantic Alphabet Size for LLM Uncertainty Quantification
Venue: arXiv cs.CL 2026
Year: 2026

Many black-box techniques for quantifying the uncertainty of large language models (LLMs) rely on repeated LLM sampling, which can be computationally expensive. Therefore, practical applicability demands reliable estimation from few samples. Semantic entropy (SE) is a popular sample-based uncertainty estimator with a discrete formulation attractive for the black-box setting. Recent extensions of SE exhibit improved LLM hallucination detection, but do so with less interpretable methods that admit additional hyperparameters. For this reason, we revisit the canonical discrete semantic entropy (DSE) estimator, finding that it underestimates the "true" semantic entropy, as expected from theory. We propose a modified semantic alphabet size estimator, and illustrate that using it to adjust DSE for sample coverage results in more accurate SE estimation in our setting of interest. Furthermore, we find that two semantic alphabet size estimators, including our proposed, flag incorrect LLM responses as well or better than many top-performing alternatives, with the added benefit of remaining highly interpretable.
Cross-Lingual F5-TTS: Towards Language-Agnostic Voice Cloning and Speech Synthesis
Venue: arXiv cs.SD 2026
Year: 2026

Flow-matching-based text-to-speech (TTS) models have shown high-quality speech synthesis. However, most current flow-matching-based TTS models still rely on reference transcripts corresponding to the audio prompt for synthesis. This dependency prevents cross-lingual voice cloning when audio prompt transcripts are unavailable, particularly for unseen languages. The key challenges for flow-matching-based TTS models to remove audio prompt transcripts are identifying word boundaries during training and determining appropriate duration during inference. In this paper, we introduce Cross-Lingual F5-TTS, a framework that enables cross-lingual voice cloning without audio prompt transcripts. Our method preprocesses audio prompts by forced alignment to obtain word boundaries, enabling direct synthesis from audio prompts while excluding transcripts during training. To address the duration modeling challenge, we train speaking rate predictors at different linguistic granularities to derive duration from speaker pace. Experiments show that our approach matches the performance of F5-TTS while enabling cross-lingual voice cloning.
1Q: First-Generation Wireless Systems Integrating Classical and Quantum Communication
Venue: arXiv cs.NI 2026
Year: 2026

We introduce the concept of 1Q, the first wireless generation of integrated classical and quantum communication. 1Q features quantum base stations (QBSs) that support entanglement distribution via free-space optical links alongside traditional radio communications. Key new components include quantum cells, quantum user equipment (QUEs), and hybrid resource allocation spanning classical time-frequency and quantum entanglement domains. Several application scenarios are discussed and illustrated through system design requirements for quantum key distribution, blind quantum computing, and distributed quantum sensing. A range of unique quantum constraints are identified, including decoherence timing, fidelity requirements, and the interplay between quantum and classical error probabilities. Protocol adaptations extend cellular connection management to incorporate entanglement generation, distribution, and handover procedures, expanding the Quantum Internet to the cellular wireless.
Robust Barycenters of Persistence Diagrams
Venue: arXiv cs.LG 2026
Year: 2026

This short paper presents a general approach for computing robust Wasserstein barycenters of persistence diagrams. The classical method consists in computing assignment arithmetic means after finding the optimal transport plans between the barycenter and the persistence diagrams. However, this procedure only works for the transportation cost related to the $q$-Wasserstein distance $W_q$ when $q=2$. We adapt an alternative fixed-point method to compute a barycenter diagram for generic transportation costs ($q > 1$), in particular those robust to outliers, $q \in (1,2)$. We show the utility of our work in two applications: \emph{(i)} the clustering of persistence diagrams on their metric space and \emph{(ii)} the dictionary encoding of persistence diagrams. In both scenarios, we demonstrate the added robustness to outliers provided by our generalized framework. Our Python implementation is available at this address: https://github.com/Keanu-Sisouk/RobustBarycenter .
DF-LLaVA: Unlocking MLLMs for Synthetic Image Detection via Knowledge Injection and Conflict-Driven Self-Reflection
Venue: arXiv cs.CV 2026
Year: 2026

With the increasing prevalence of synthetic images, evaluating image authenticity and locating forgeries accurately while maintaining human interpretability remains a challenging task. Existing detection models primarily focus on simple authenticity classification, ultimately providing only a forgery probability or binary judgment, which offers limited explanatory insights into image authenticity. Moreover, while MLLM-based detection methods can provide more interpretable results, they still lag behind expert models in terms of pure authenticity classification accuracy. To address this, we propose DF-LLaVA, a novel and effective framework that unlocks the intrinsic discrimination potential of MLLMs. Our approach first mines latent knowledge from the MLLM itself and then injects it into the model via fine-tuning. During inference, conflict signals arising from the model's predictions activate a self-reflection process, leading to the final refined responses. This framework allows LLaVA to achieve outstanding detection accuracy exceeding expert models while still maintaining the interpretability offered by MLLMs. Extensive experiments confirm the superiority of DF-LLaVA, achieving both high accuracy and explainability in synthetic image detection. Code is available online at: https://github.com/Eliot-Shen/DF-LLaVA.
FAWN: A MultiEncoder Fusion-Attention Wave Network for Integrated Sensing and Communication Indoor Scene Inference
Venue: arXiv cs.LG 2026
Year: 2026

The upcoming generations of wireless technologies promise an era where everything is interconnected and intelligent. As the need for intelligence grows, networks must learn to better understand the physical world. However, deploying dedicated hardware to perceive the environment is not always feasible, mainly due to costs and/or complexity. Integrated Sensing and Communication (ISAC) has made a step forward in addressing this challenge. Within ISAC, passive sensing emerges as a cost-effective solution that reuses wireless communications to sense the environment, without interfering with existing communications. Nevertheless, the majority of current solutions are limited to one technology (mostly Wi-Fi or 5G), constraining the maximum accuracy reachable. As different technologies work with different spectrums, we see a necessity in integrating more than one technology to augment the coverage area. Hence, we take the advantage of ISAC passive sensing, to present FAWN, a MultiEncoder Fusion-Attention Wave Network for ISAC indoor scene inference. FAWN is based on the original transformers architecture, to fuse information from Wi-Fi and 5G, making the network capable of understanding the physical world without interfering with the current communication. To test our solution, we have built a prototype and integrated it in a real scenario. Results show errors below 0.6 m around 84% of times.