OpenRaiser/Intern-Atlas huggingface dataset:
POPL-KF: A Pose-Only Geometric Representation-Based Kalman Filter for Point-Line-Based Visual-Inertial Odometry
Venue: arXiv cs.CV 2026
Year: 2026

Mainstream Visual-inertial odometry (VIO) systems rely on point features for motion estimation and localization. However, their performance degrades in challenging scenarios. Moreover, the localization accuracy of multi-state constraint Kalman filter (MSCKF)-based VIO systems suffers from linearization errors associated with feature 3D coordinates and delayed measurement updates. To improve the performance of VIO in challenging scenes, we first propose a pose-only geometric representation for line features. Building on this, we develop POPL-KF, a Kalman filter-based VIO system that employs a pose-only geometric representation for both point and line features. POPL-KF mitigates linearization errors by explicitly eliminating both point and line feature coordinates from the measurement equations, while enabling immediate update of visual measurements. We also design a unified base-frames selection algorithm for both point and line features to ensure optimal constraints on camera poses within the pose-only measurement model. To further improve line feature quality, a line feature filter based on image grid segmentation and bidirectional optical flow consistency is proposed. Our system is evaluated on public datasets and real-world experiments, demonstrating that POPL-KF outperforms the state-of-the-art (SOTA) filter-based methods (OpenVINS, PO-KF) and optimization-based methods (PL-VINS, EPLF-VINS), while maintaining real-time performance.
BrokenBind: Universal Modality Exploration beyond Dataset Boundaries
Venue: arXiv cs.LG 2026
Year: 2026

Multi-modal learning combines various modalities to provide a comprehensive understanding of real-world problems. A common strategy is to directly bind different modalities together in a specific joint embedding space. However, the capability of existing methods is restricted within the modalities presented in the given dataset, thus they are biased when generalizing to unpresented modalities in downstream tasks. As a result, due to such inflexibility, the viability of previous methods is seriously hindered by the cost of acquiring multi-modal datasets. In this paper, we introduce BrokenBind, which focuses on binding modalities that are presented from different datasets. To achieve this, BrokenBind simultaneously leverages multiple datasets containing the modalities of interest and one shared modality. Though the two datasets do not correspond to each other due to distribution mismatch, we can capture their relationship to generate pseudo embeddings to fill in the missing modalities of interest, enabling flexible and generalized multi-modal learning. Under our framework, any two modalities can be bound together, free from the dataset limitation, to achieve universal modality exploration. Further, to reveal the capability of our method, we study intensified scenarios where more than two datasets are needed for modality binding and show the effectiveness of BrokenBind in low-data regimes. Through extensive evaluation, we carefully justify the superiority of BrokenBind compared to well-known multi-modal baseline methods.
On the Plasticity and Stability for Post-Training Large Language Models
Venue: arXiv cs.LG 2026
Year: 2026

Training stability remains a critical bottleneck for Group Relative Policy Optimization (GRPO), often manifesting as a trade-off between reasoning plasticity and general capability retention. We identify a root cause as the geometric conflict between plasticity and stability gradients, which leads to destructive interference. Crucially, we argue that deterministic projection methods are suboptimal for GRPO as they overlook the intrinsic stochasticity of group-based gradient estimates. To address this, we propose Probabilistic Conflict Resolution (PCR), a Bayesian framework that models gradients as random variables. PCR dynamically arbitrates conflicts via an uncertainty-aware ``soft projection'' mechanism, optimizing the signal-to-noise ratio. Extensive experiments demonstrate that PCR significantly smooths the training trajectory and achieves superior performance in various reasoning tasks.
Improve Large Language Model Systems with User Logs
Venue: arXiv cs.CL 2026
Year: 2026

Scaling training data and model parameters has long driven progress in large language models (LLMs), but this paradigm is increasingly constrained by the scarcity of high-quality data and diminishing returns from rising computational costs. As a result, recent work is increasing the focus on continual learning from real-world deployment, where user interaction logs provide a rich source of authentic human feedback and procedural knowledge. However, learning from user logs is challenging due to their unstructured and noisy nature. Vanilla LLM systems often struggle to distinguish useful feedback signals from noisy user behavior, and the disparity between user log collection and model optimization (e.g., the off-policy optimization problem) further strengthens the problem. To this end, we propose UNO (User log-driveN Optimization), a unified framework for improving LLM systems (LLMsys) with user logs. UNO first distills logs into semi-structured rules and preference pairs, then employs query-and-feedback-driven clustering to manage data heterogeneity, and finally quantifies the cognitive gap between the model's prior knowledge and the log data. This assessment guides the LLMsys to adaptively filter out noisy feedback and construct different modules for primary and reflective experiences extracted from user logs, thereby improving future responses. Extensive experiments show that UNO achieves state-of-the-art effectiveness and efficiency, significantly outperforming Retrieval Augmented Generation (RAG) and memory-based baselines. We have open-sourced our code at https://github.com/bebr2/UNO .
JADE: Expert-Grounded Dynamic Evaluation for Open-Ended Professional Tasks
Venue: arXiv cs.AI 2026
Year: 2026

Evaluating agentic AI on open-ended professional tasks faces a fundamental dilemma between rigor and flexibility. Static rubrics provide rigorous, reproducible assessment but fail to accommodate diverse valid response strategies, while LLM-as-a-judge approaches adapt to individual responses yet suffer from instability and bias. Human experts address this dilemma by combining domain-grounded principles with dynamic, claim-level assessment. Inspired by this process, we propose JADE, a two-layer evaluation framework. Layer 1 encodes expert knowledge as a predefined set of evaluation skills, providing stable evaluation criteria. Layer 2 performs report-specific, claim-level evaluation to flexibly assess diverse reasoning strategies, with evidence-dependency gating to invalidate conclusions built on refuted claims. Experiments on BizBench show that JADE improves evaluation stability and reveals critical agent failure modes missed by holistic LLM-based evaluators. We further demonstrate strong alignment with expert-authored rubrics and effective transfer to a medical-domain benchmark, validating JADE across professional domains. Our code is publicly available at https://github.com/smiling-world/JADE.
Simulating Word Suggestion Usage in Mobile Typing to Guide Intelligent Text Entry Design
Venue: arXiv cs.HC 2026
Year: 2026

Intelligent text entry (ITE) methods, such as word suggestions, are widely used in mobile typing, yet improving ITE systems is challenging because the cognitive mechanisms behind suggestion use remain poorly understood, and evaluating new systems often requires long-term user studies to account for behavioral adaptation. We present WSTypist, a reinforcement learning-based model that simulates how typists integrate word suggestions into typing. It builds on recent hierarchical control models of typing, but focuses on the cognitive mechanisms that underlie the high-level decision-making for effectively integrating word suggestions into manual typing: assessing efficiency gains, considering orthographic uncertainties, and including personal reliance on AI support. Our evaluations show that WSTypist simulates diverse human-like suggestion-use strategies, reproduces individual differences, and generalizes across different systems. Importantly, we demonstrate on four design cases how computational rationality models can be used to inform what-if analyses during the design process, by simulating how users might adapt to changes in the UI or in the algorithmic support, reducing the need for long-term user studies.
DualMap: Enabling Both Cache Affinity and Load Balancing for Distributed LLM Serving
Venue: arXiv cs.DC 2026
Year: 2026

In LLM serving, reusing the KV cache of prompts across requests is critical for reducing TTFT and serving costs. Cache-affinity scheduling, which co-locates requests with the same prompt prefix to maximize KV cache reuse, often conflicts with load-balancing scheduling that distributes requests evenly across compute instances. Existing schedulers fail to reconcile this trade-off as they operate within a single mapping space, typically applying cache-affinity routing to a subset of requests and load-balanced routing to the rest, without a unified solution to achieve both goals. To address this limitation, we propose DualMap, a dual-mapping scheduling strategy for distributed LLM serving that achieves both cache affinity and load balancing. Its key idea is to map each request to two candidate instances via two independent hash functions based on the request prompt, then intelligently select the better candidate based on current system states. This design increases the likelihood that requests with shared prefixes are co-located, while evenly dispersing distinct prefixes across the cluster via ``the power of two choices''. To make DualMap robust under dynamic and skewed real-world workloads, we incorporate three techniques: 1) SLO-aware request routing, which prioritizes cache affinity but switches to load-aware scheduling when TTFT exceeds the SLO, enhancing load balance without sacrificing cache reuse; 2) hotspot-aware rebalancing, which dynamically migrates requests from overloaded to underloaded instances, mitigating hotspots and rebalancing the system; 3) lightweight dual-hash-ring scaling, which leverages a dual-hash-ring mapping to support fast and low-overhead instance scaling without costly global remapping. Experiments on real-world workloads show that DualMap improves effective request capacity by up to 2.25$\times$ under the same TTFT SLO constraints compared with SOTA work.
Fast Makespan Minimization via Short ILPs
Venue: arXiv cs.DS 2026
Year: 2026

Short integer linear programs are programs with a relatively small number of constraints. We show how recent improvements on the running-times of solvers for such programs can be used to obtain fast pseudo-polynomial time algorithms for makespan minimization on a fixed number of parallel machines, and other related variants. The running times of our algorithms are all of the form $\widetilde{O}(p^{O(1)}_{\max}+n)$ or $\widetilde{O}(p^{O(1)}_{\max} \cdot n)$, where $p_{\max}$ is the maximum processing time in the input. These improve upon the time complexity of previously known algorithms for moderate values of $p_{\max}$.
Live Knowledge Tracing: Real-Time Adaptation using Tabular Foundation Models
Venue: arXiv cs.LG 2026
Year: 2026

Deep knowledge tracing models have achieved significant breakthroughs in modeling student learning trajectories. However, these architectures require substantial training time and are prone to overfitting on datasets with short sequences. In this paper, we explore a new paradigm for knowledge tracing by leveraging tabular foundation models (TFMs). Unlike traditional methods that require offline training on a fixed training set, our approach performs real-time ''live'' knowledge tracing in an online way. The core of our method lies in a two-way attention mechanism: while attention knowledge tracing models only attend across earlier time steps, TFMs simultaneously attend across both time steps and interactions of other students in the training set. They align testing sequences with relevant training sequences at inference time, therefore skipping the training step entirely. We demonstrate, using several datasets of increasing size, that our method achieves competitive predictive performance with up to 273x speedups, in a setting where more student interactions are observed over time.
Degradation of Feature Space in Continual Learning
Venue: arXiv cs.LG 2026
Year: 2026

Centralized training is the standard paradigm in deep learning, enabling models to learn from a unified dataset in a single location. In such setup, isotropic feature distributions naturally arise as a mean to support well-structured and generalizable representations. In contrast, continual learning operates on streaming and non-stationary data, and trains models incrementally, inherently facing the well-known plasticity-stability dilemma. In such settings, learning dynamics tends to yield increasingly anisotropic feature space. This arises a fundamental question: should isotropy be enforced to achieve a better balance between stability and plasticity, and thereby mitigate catastrophic forgetting? In this paper, we investigate whether promoting feature-space isotropy can enhance representation quality in continual learning. Through experiments using contrastive continual learning techniques on CIFAR-10 and CIFAR-100 data, we find that isotropic regularization fails to improve, and can in fact degrade, model accuracy in continual settings. Our results highlight essential differences in feature geometry between centralized and continual learning, suggesting that isotropy, while beneficial in centralized setups, may not constitute an appropriate inductive bias for non-stationary learning scenarios.
An Integer Linear Programming Approach to Geometrically Consistent Partial-Partial Shape Matching
Venue: arXiv cs.CV 2026
Year: 2026

The task of establishing correspondences between two 3D shapes is a long-standing challenge in computer vision. While numerous studies address full-full and partial-full 3D shape matching, only a limited number of works have explored the partial-partial setting, very likely due to its unique challenges: we must compute accurate correspondences while at the same time find the unknown overlapping region. Nevertheless, partial-partial 3D shape matching reflects the most realistic setting, as in many real-world cases, such as 3D scanning, shapes are only partially observable. In this work, we introduce the first integer linear programming approach specifically designed to address the distinctive challenges of partial-partial shape matching. Our method leverages geometric consistency as a strong prior, enabling both robust estimation of the overlapping region and computation of neighbourhood-preserving correspondences. We empirically demonstrate that our approach achieves high-quality matching results both in terms of matching error and smoothness. Moreover, we show that our method is more scalable than previous formalisms.
Type-Based Unsourced Federated Learning With Client Self-Selection
Venue: arXiv cs.IT 2026
Year: 2026

We address the client-selection problem in federated learning over wireless networks under data heterogeneity. Existing client-selection methods often rely on server-side knowledge of client-specific information, thus compromising privacy. To overcome this issue, we propose a client self-selection strategy based solely on the comparison between locally computed training losses and a centrally updated selection threshold. Furthermore, to support robust aggregation of clients' updates over wireless channels, we integrate this client self-selection strategy into the recently proposed type-based unsourced multiple-access framework over distributed multiple-input multiple-output (D-MIMO) networks. The resulting scheme is completely unsourced: the server does not need to know the identity of the clients. Moreover, no channel state information is required, neither at the clients nor at the server side. Simulation results conducted over a D-MIMO wireless network show that the proposed self-selection strategy matches the performance of a comparable state-of-the-art server-side selection method and consistently outperforms random client selection.
Scaling Speech Tokenizers with Diffusion Autoencoders
Venue: arXiv cs.SD 2026
Year: 2026

Speech tokenizers are foundational to speech language models, yet existing approaches face two major challenges: (1) balancing trade-offs between encoding semantics for understanding and acoustics for reconstruction, and (2) achieving low bit rates and low token rates. We propose Speech Diffusion Tokenizer (SiTok), a diffusion autoencoder that jointly learns semantic-rich representations through supervised learning and enables high-fidelity audio reconstruction with diffusion. We scale SiTok to 1.6B parameters and train it on 2 million hours of speech. Experiments show that SiTok outperforms strong baselines on understanding, reconstruction and generation tasks, at an extremely low token rate of $12.5$ Hz and a bit-rate of 200 bits-per-second.
The hidden risks of temporal resampling in clinical reinforcement learning
Venue: arXiv cs.LG 2026
Year: 2026

Offline reinforcement learning (ORL) has shown potential for improving decision-making in healthcare. However, contemporary research typically aggregates patient data into fixed time intervals, simplifying their mapping to standard ORL frameworks. The impact of these temporal manipulations on model safety and efficacy remains poorly understood. In this work, using both a gridworld navigation task and the UVA/Padova clinical diabetes simulator, we demonstrate that temporal resampling significantly degrades the performance of offline reinforcement learning algorithms during live deployment. We propose three mechanisms that drive this failure: (i) the generation of counterfactual trajectories, (ii) the distortion of temporal expectations, and (iii) the compounding of generalisation errors. Crucially, we find that standard off-policy evaluation metrics can fail to detect these drops in performance. Our findings reveal a fundamental risk in current healthcare ORL pipelines and emphasise the need for methods that explicitly handle the irregular timing of clinical decision-making.
Beyond Pairwise Distance: Cognitive Traversal Distance as a Holistic Measure of Scientific Novelty
Venue: arXiv cs.DL 2026
Year: 2026

Scientific novelty is a critical construct in bibliometrics and is commonly measured by aggregating pairwise distances between the knowledge units underlying a paper. While prior work has refined how such distances are computed, less attention has been paid to how dyadic relations are aggregated to characterize novelty at the paper level. We address this limitation by introducing a network-based indicator, Cognitive Traversal Distance (CTD). Conceptualizing the historical literature as a weighted knowledge network, CTD is defined as the length of the shortest path required to connect all knowledge units associated with a paper. CTD provides a paper-level novelty measure that reflects the minimal structural distance needed to integrate multiple knowledge units, moving beyond mean- or quantile-based aggregation of pairwise distances. Using 27 million biomedical publications indexed by OpenAlex and Medical Subject Headings (MeSH) as standardized knowledge units, we evaluate CTD against expert-based novelty benchmarks from F1000Prime-recommended papers and Nobel Prize-winning publications. CTD consistently outperforms conventional aggregation-based indicators. We further show that MeSH-based CTD is less sensitive to novelty driven by the emergence of entirely new conceptual labels, clarifying its scope relative to recent text-based measures.
A Survey of Security Threats and Trust Management in Vehicular Ad Hoc Networks
Venue: arXiv cs.CR 2026
Year: 2026

This paper presents a survey of state-of-the-art trust models for Vehicular Ad Hoc Networks (VANETs). Trust management plays an essential role in isolating malicious insider attacks in VANETs which traditional security approaches fail to thwart. To this end, many trust models are presented; some of them only address trust management, while others address security and privacy aspects besides trust management. This paper first reviews, classifies, and summarizes state-of-the-art trust models, and then compares their achievements. From this literature survey, our reader will easily identify two broad classes of trust models that exist in literature, differing primarily in their evaluation point. For example, most trust models follow receiver-side trust evaluation and to the best of our knowledge, there is only one trust model for VANETs which evaluates trust at the sender-side unless a dispute arises. In the presence of a dispute, a Roadside Unit (RSU) rules on the validity of an event. In receiver-side trust models, each receiver becomes busy while computing the trust of a sender and its messages upon the messages' arrival. Conversely, in the sender-side class, receivers are free from any kind of computation as the trust is verified at the time the message is announced. Also, vehicles can quickly act on the information, such as taking a detour to an alternate route, as it supports fast decision-making. We provide a comparison between these two evaluation techniques using a sequence diagram. We then conclude the survey by suggesting future work for sender-side evaluation of trust in VANETs. Additionally, the challenges (real-time constraints and efficiency) are emphasized whilst considering the deployment of a trust model in VANETs
The challenge of generating and evolving real-life like synthetic test data without accessing real-world raw data -- a Systematic Review
Venue: arXiv cs.LG 2026
Year: 2026

Background: High-level system testing of applications that use data from e-Government services as input requires test data that is real-life-like but where the privacy of personal information is guaranteed. Applications with such strong requirement include information exchange between countries, medicine, banking, etc. This review aims to synthesize the current state-of-the-practice in this domain. Objectives: The objective of this Systematic Review is to identify existing approaches for creating and evolving synthetic test data without using real-life raw data. Methods: We followed well-known methodologies for conducting systematic literature reviews, including the ones from Kitchenham as well as guidelines for analysing the limitations of our review and its threats to validity. Results: A variety of methods and tools exist for creating privacy-preserving test data. Our search found 1,013 publications in IEEE Xplore, ACM Digital Library, and SCOPUS. We extracted data from 75 of those publications and identified 37 approaches that answer our research question partly. A common prerequisite for using these methods and tools is direct access to real-life data for data anonymization or synthetic test data generation. Nine existing synthetic test data generation approaches were identified that were closest to answering our research question. Nevertheless, further work would be needed to add the ability to evolve synthetic test data to the existing approaches. Conclusions: None of the publications really covered our requirements completely, only partially. Synthetic test data evolution is a field that has not received much attention from researchers but needs to be explored in Digital Government Solutions, especially since new legal regulations are being placed in force in many countries.