OpenRaiser/Intern-Atlas huggingface dataset:
Social Norm Reasoning in Multimodal Language Models: An Evaluation
Venue: arXiv cs.MA 2026
Year: 2026

In Multi-Agent Systems (MAS), agents are designed with social capabilities, allowing them to understand and reason about social concepts such as norms when interacting with others (e.g., inter-robot interactions). In Normative MAS (NorMAS), researchers study how norms develop, and how violations are detected and sanctioned. However, existing research in NorMAS use symbolic approaches (e.g., formal logic) for norm representation and reasoning whose application is limited to simplified environments. In contrast, Multimodal Large Language Models (MLLMs) present promising possibilities to develop software used by robots to identify and reason about norms in a wide variety of complex social situations embodied in text and images. However, prior work on norm reasoning have been limited to text-based scenarios. This paper investigates the norm reasoning competence of five MLLMs by evaluating their ability to answer norm-related questions based on thirty text-based and thirty image-based stories, and comparing their responses against humans. Our results show that MLLMs demonstrate superior performance in norm reasoning in text than in images. GPT-4o performs the best in both modalities offering the most promise for integration with MAS, followed by the free model Qwen-2.5VL. Additionally, all models find reasoning about complex norms challenging.
Hybrid Belief Reinforcement Learning for Efficient Coordinated Spatial Exploration
Venue: arXiv cs.LG 2026
Year: 2026

Coordinating multiple autonomous agents to explore and serve spatially heterogeneous demand requires jointly learning unknown spatial patterns and planning trajectories that maximize task performance. Pure model-based approaches provide structured uncertainty estimates but lack adaptive policy learning, while deep reinforcement learning often suffers from poor sample efficiency when spatial priors are absent. This paper presents a hybrid belief-reinforcement learning (HBRL) framework to address this gap. In the first phase, agents construct spatial beliefs using a Log-Gaussian Cox Process (LGCP) and execute information-driven trajectories guided by a Pathwise Mutual Information (PathMI) planner with multi-step lookahead. In the second phase, trajectory control is transferred to a Soft Actor-Critic (SAC) agent, warm-started through dual-channel knowledge transfer: belief state initialization supplies spatial uncertainty, and replay buffer seeding provides demonstration trajectories generated during LGCP exploration. A variance-normalized overlap penalty enables coordinated coverage through shared belief state, permitting cooperative sensing in high-uncertainty regions while discouraging redundant coverage in well-explored areas. The framework is evaluated on a multi-UAV wireless service provisioning task. Results show 10.8% higher cumulative reward and 38% faster convergence over baselines, with ablation studies confirming that dual-channel transfer outperforms either channel alone.
ARMOR: Robust and Efficient CNN-Based SAR ATR through Model-Hardware Co-Design
Venue: arXiv cs.AR 2026
Year: 2026

Convolutional Neural Networks (CNNs) have achieved state-of-the-art accuracy in Synthetic Aperture Radar (SAR) Automatic Target Recognition (ATR). However, their high computational cost, latency, and memory footprint make its deployment challenging on resource-constrained platforms such as small satellites. While adversarial robustness is critical for real-world SAR ATR, it is often overlooked in system-level optimizations. Achieving both robustness and inference efficiency requires a unified framework that considers adversarially trained models together with hardware constraints. We present a model-hardware co-design framework for CNN-based SAR ATR that integrates robustness-preserving model compression with FPGA accelerator design. The compression stage includes hardware-guided structured pruning, where a hardware performance model derived from the FPGA design predicts the pruning impact on latency and resource usage. This enables the generation of Pareto-optimal models that improve hardware efficiency under user-defined objectives, while maintaining adversarial robustness within a predefined tolerance. We design an FPGA accelerator with channel-aware Processing Element (PE) allocation that supports both fully pipelined streaming and temporal resource-reuse architectures. An automated design generation flow efficiently maps the compressed models to optimized FPGA implementations. Experiments on the widely used MSTAR and FUSAR-Ship datasets across three CNN architectures show that our framework produces models up to 18.3x smaller with 3.1x fewer MACs while preserving robustness. Our FPGA implementation achieves up to 68.1x (6.4x) lower inference latency and up to 169.7x (33.2x) better energy efficiency compared to CPU (GPU) baselines, demonstrating the effectiveness of the proposed co-design framework for robust and efficient SAR ATR on FPGA platforms.
Are You Comfortable Sharing It?: Leveraging Image Obfuscation Techniques to Enhance Sharing Privacy for Blind and Visually Impaired Users
Venue: arXiv cs.HC 2026
Year: 2026

People with Blind Visual Impairments (BVI) face unique challenges when sharing images, as these may accidentally contain sensitive or inappropriate content. In many instances, they are unaware of the potential risks associated with sharing such content, which can compromise their privacy and interpersonal relationships. To address this issue, we investigated image filtering techniques that could help BVI users manage sensitive content before sharing with various audiences, including family, friends, or strangers. We conducted a study with 20 BVI participants, evaluating different filters applied to images varying in sensitivity, such as personal moments or embarrassing shots. Results indicated that pixelation was the least preferred method, while preferences for other filters varied depending on image type and sharing context. Additionally, participants reported greater comfort when sharing filtered versus unfiltered images across audiences. Based on the results, we offer a set of design guidelines to enhance the image-sharing experience for BVI individuals.
Why Are Linear RNNs More Parallelizable?
Venue: arXiv cs.LG 2026
Year: 2026

The community is increasingly exploring linear RNNs (LRNNs) as language models, motivated by their expressive power and parallelizability. While prior work establishes the expressivity benefits of LRNNs over transformers, it is unclear what makes LRNNs -- but not traditional, nonlinear RNNs -- as easy to parallelize in practice as transformers. We answer this question by providing a tight connection between types of RNNs and standard complexity classes. We show that LRNNs can be viewed as log-depth (bounded fan-in) arithmetic circuits, which represents only a slight depth overhead relative to log-depth boolean circuits that transformers admit. Furthermore, we show that nonlinear RNNs can solve $\mathsf{L}$-complete problems (and even $\mathsf{P}$-complete ones, under polynomial precision), revealing a fundamental barrier to parallelizing them as efficiently as transformers. Our theory also identifies fine-grained expressivity differences between recent popular LRNN variants: permutation-diagonal LRNNs are $\mathsf{NC}^1$-complete whereas diagonal-plus-low-rank LRNNs are more expressive ($\mathsf{PNC}^1$-complete). We provide further insight by associating each type of RNN with a corresponding automata-theoretic model that it can simulate. Together, our results reveal fundamental tradeoffs between nonlinear RNNs and different variants of LRNNs, providing a foundation for designing LLM architectures that achieve an optimal balance between expressivity and parallelism.
RAGTrack: Language-aware RGBT Tracking with Retrieval-Augmented Generation
Venue: arXiv cs.CV 2026
Year: 2026

RGB-Thermal (RGBT) tracking aims to achieve robust object localization across diverse environmental conditions by fusing visible and thermal infrared modalities. However, existing RGBT trackers rely solely on initial-frame visual information for target modeling, failing to adapt to appearance variations due to the absence of language guidance. Furthermore, current methods suffer from redundant search regions and heterogeneous modality gaps, causing background distraction. To address these issues, we first introduce textual descriptions into RGBT tracking benchmarks. This is accomplished through a pipeline that leverages Multi-modal Large Language Models (MLLMs) to automatically produce texual annotations. Afterwards, we propose RAGTrack, a novel Retrieval-Augmented Generation framework for robust RGBT tracking. To this end, we introduce a Multi-modal Transformer Encoder (MTE) for unified visual-language modeling. Then, we design an Adaptive Token Fusion (ATF) to select target-relevant tokens and perform channel exchanges based on cross-modal correlations, mitigating search redundancies and modality gaps. Finally, we propose a Context-aware Reasoning Module (CRM) to maintain a dynamic knowledge base and employ a Retrieval-Augmented Generation (RAG) to enable temporal linguistic reasoning for robust target modeling. Extensive experiments on four RGBT benchmarks demonstrate that our framework achieves state-of-the-art performance across various challenging scenarios. The source code is available https://github.com/IdolLab/RAGTrack.
CoRe-BT: A Multimodal Radiology-Pathology-Text Benchmark for Robust Brain Tumor Typing
Venue: arXiv cs.CV 2026
Year: 2026

Accurate brain tumor typing requires integrating heterogeneous clinical evidence, including magnetic resonance imaging (MRI), histopathology, and pathology reports, which are often incomplete at the time of diagnosis. We introduce CoRe-BT, a cross-modal radiology-pathology-text benchmark for brain tumor typing, designed to study robust multimodal learning under missing modality conditions. The dataset comprises 310 patients with multi-sequence brain MRI (T1, T1c, T2, FLAIR), including 95 cases with paired H&E-stained whole-slide pathology images and pathology reports. All cases are annotated with tumor type and grade, and MRI volumes include expert-annotated tumor masks, enabling both region-aware modeling and auxiliary learning tasks. Tumors are categorized into six clinically relevant classes capturing the heterogeneity of common and rare glioma subtypes. We evaluate tumor typing under variable modality availability by comparing MRI-only models with multimodal approaches that incorporate pathology information when present. Baseline experiments demonstrate the feasibility of multimodal fusion and highlight complementary modality contributions across clinically relevant typing tasks. CoRe-BT provides a grounded testbed for advancing multimodal glioma typing and representation learning in realistic scenarios with incomplete clinical data.
Scrambler: Mixed Boolean Arithmetic Obfuscation Tool Using E-graph and Equality Expansion
Venue: arXiv cs.CR 2026
Year: 2026

We propose Scrambler, and e-graph-based MBA obfuscation tool using Equality Expansion to efficiently generate complex and diverse expressions with equivalence guaranteed by construction. Experiments show Scrambler improves existing tools in expressiveness and complexity.
Touch2Insert: Zero-Shot Peg Insertion by Touching Intersections of Peg and Hole
Venue: arXiv cs.RO 2026
Year: 2026

Reliable insertion of industrial connectors remains a central challenge in robotics, requiring sub-millimeter precision under uncertainty and often without full visual access. Vision-based approaches struggle with occlusion and limited generalization, while learning-based policies frequently fail to transfer to unseen geometries. To address these limitations, we leverage tactile sensing, which captures local surface geometry at the point of contact and thus provides reliable information even under occlusion and across novel connector shapes. Building on this capability, we present \emph{Touch2Insert}, a tactile-based framework for arbitrary peg insertion. Our method reconstructs cross-sectional geometry from high-resolution tactile images and estimates the relative pose of the hole with respect to the peg in a zero-shot manner. By aligning reconstructed shapes through registration, the framework enables insertion from a single contact without task-specific training. To evaluate its performance, we conducted experiments with three diverse connectors in both simulation and real-robot settings. The results indicate that Touch2Insert achieved sub-millimeter pose estimation accuracy for all connectors in simulation, and attained an average success rate of 86.7\% on the real robot, thereby confirming the robustness and generalizability of tactile sensing for real-world robotic connector insertion.
Goal-Driven Risk Assessment for LLM-Powered Systems: A Healthcare Case Study
Venue: arXiv cs.CR 2026
Year: 2026

While incorporating LLMs into systems offers significant benefits in critical application areas such as healthcare, new security challenges emerge due to the potential cyber kill chain cycles that combine adversarial model, prompt injection and conventional cyber attacks. Threat modeling methods enable the system designers to identify potential cyber threats and the relevant mitigations during the early stages of development. Although the cyber security community has extensive experience in applying these methods to software-based systems, the elicited threats are usually abstract and vague, limiting their effectiveness for conducting proper likelihood and impact assessments for risk prioritization, especially in complex systems with novel attacks surfaces, such as those involving LLMs. In this study, we propose a structured, goal driven risk assessment approach that contextualizes the threats with detailed attack vectors, preconditions, and attack paths through the use of attack trees. We demonstrate the proposed approach on a case study with an LLM agent-based healthcare system. This study harmonizes the state-of-the-art attacks to LLMs with conventional ones and presents possible attack paths applicable to similar systems. By providing a structured risk assessment, this study makes a significant contribution to the literature and advances the secure-by-design practices in LLM-based systems.
Image-based Prompt Injection: Hijacking Multimodal LLMs through Visually Embedded Adversarial Instructions
Venue: arXiv cs.CV 2026
Year: 2026

Multimodal Large Language Models (MLLMs) integrate vision and text to power applications, but this integration introduces new vulnerabilities. We study Image-based Prompt Injection (IPI), a black-box attack in which adversarial instructions are embedded into natural images to override model behavior. Our end-to-end IPI pipeline incorporates segmentation-based region selection, adaptive font scaling, and background-aware rendering to conceal prompts from human perception while preserving model interpretability. Using the COCO dataset and GPT-4-turbo, we evaluate 12 adversarial prompt strategies and multiple embedding configurations. The results show that IPI can reliably manipulate the output of the model, with the most effective configuration achieving up to 64\% attack success under stealth constraints. These findings highlight IPI as a practical threat in black-box settings and underscore the need for defenses against multimodal prompt injection.
Machine Pareidolia: Protecting Facial Image with Emotional Editing
Venue: arXiv cs.CV 2026
Year: 2026

The proliferation of facial recognition (FR) systems has raised privacy concerns in the digital realm, as malicious uses of FR models pose a significant threat. Traditional countermeasures, such as makeup style transfer, have suffered from low transferability in black-box settings and limited applicability across various demographic groups, including males and individuals with darker skin tones. To address these challenges, we introduce a novel facial privacy protection method, dubbed \textbf{MAP}, a pioneering approach that employs human emotion modifications to disguise original identities as target identities in facial images. Our method uniquely fine-tunes a score network to learn dual objectives, target identity and human expression, which are jointly optimized through gradient projection to ensure convergence at a shared local optimum. Additionally, we enhance the perceptual quality of protected images by applying local smoothness regularization and optimizing the score matching loss within our network. Empirical experiments demonstrate that our innovative approach surpasses previous baselines, including noise-based, makeup-based, and freeform attribute methods, in both qualitative fidelity and quantitative metrics. Furthermore, MAP proves its effectiveness against an online FR API and shows advanced adaptability in uncommon photographic scenarios.
ORION: Intent-Aware Orchestration in Open RAN for SLA-Driven Network Management
Venue: arXiv cs.NI 2026
Year: 2026

The disaggregation of the Radio Access Network (RAN) introduces unprecedented flexibility but significant operational complexity, necessitating automated management frameworks. However, current Open RAN (O-RAN) orchestration relies on fragmented manual policies, lacking end-to-end intent assurance from high-level requirements to low-level configurations. In this paper, we propose ORION, an O-RAN compliant intent orchestration framework that integrates Large Language Models (LLMs) via the Model Context Protocol (MCP) to translate natural language intents into enforceable network policies. ORION leverages a hierarchical agent architecture, combining an MCP-based Service Management and Orchestration (SMO) layer for semantic translation with a Non-Real-Time RIC rApp and Near-Real-Time RIC xApp for closed-loop enforcement. Extensive evaluations using GPT-5, Gemini 3 Pro, and Claude Opus demonstrate a 100% policy generation success rate for high-capacity models, highlighting significant trade-offs in reasoning efficiency. We show that ORION reduces provisioning complexity by automating the complete intent lifecycle, from ingestion to E2-level enforcement, paving the way for autonomous 6G networks.
Can LLM Aid in Solving Constraints with Inductive Definitions?
Venue: arXiv cs.LO 2026
Year: 2026

Solving constraints involving inductive (aka recursive) definitions is challenging. State-of-the-art SMT/CHC solvers and first-order logic provers provide only limited support for solving such constraints, especially when they involve, e.g., abstract data types. In this work, we leverage structured prompts to elicit Large Language Models (LLMs) to generate auxiliary lemmas that are necessary for reasoning about these inductive definitions. We further propose a neuro-symbolic approach, which synergistically integrates LLMs with constraint solvers: the LLM iteratively generates conjectures, while the solver checks their validity and usefulness for proving the goal. We evaluate our approach on a diverse benchmark suite comprising constraints originating from algebrai data types and recurrence relations. The experimental results show that our approach can improve the state-of-the-art SMT and CHC solvers, solving considerably more (around 25%) proof tasks involving inductive definitions, demonstrating its efficacy.
A Stein Identity for q-Gaussians with Bounded Support
Venue: arXiv cs.LG 2026
Year: 2026

Stein's identity is a fundamental tool in machine learning with applications in generative models, stochastic optimization, and other problems involving gradients of expectations under Gaussian distributions. Less attention has been paid to problems with non-Gaussian expectations. Here, we consider the class of bounded-support $q$-Gaussians and derive a new Stein identity leading to gradient estimators which have nearly identical forms to the Gaussian ones, and which are similarly easy to implement. We do this by extending the previous results of Landsman, Vanduffel, and Yao (2013) to prove new Bonnet- and Price-type theorems for q-Gaussians. We also simplify their forms by using escort distributions. Our experiments show that bounded-support distributions can reduce the variance of gradient estimators, which can potentially be useful for Bayesian deep learning and sharpness-aware minimization. Overall, our work simplifies the application of Stein's identity for an important class of non-Gaussian distributions.
MIND: Unified Inquiry and Diagnosis RL with Criteria Grounded Clinical Supports for Psychiatric Consultation
Venue: arXiv cs.CL 2026
Year: 2026

Large language models (LLMs) have advanced medical dialogue systems, yet psychiatric consultation poses substantially higher demands due to subjective ambiguity and comorbidity complexity: an agent must continuously extract psychopathological cues from incomplete and inconsistent patient reports in multi-turn interactions and perform rigorous differential diagnostic reasoning. However, existing methods face two fundamental challenges. First, without criteria-grounded clinical supports, they are prone to unsupported clinical assertions when symptoms are atypical or underspecified. Second, in multi-turn interactions, they struggle to mitigate inquiry drift (off-topic or low-yield questioning) and optimize questioning strategies. To address these challenges, we propose MIND, a unified inquiry--diagnosis reinforcement learning framework for psychiatric consultation. Specifically, we build a Criteria-Grounded Psychiatric Reasoning Bank (PRB) that summarizes dialogue context into clinical retrieval states, retrieves semantically similar reference consultations, and distills reusable criteria-grounded clinical supports to guide criteria-aligned inquiry and reasoning. Building on this foundation, MIND enforces explicit clinical reasoning with rubric-based process rewards to provide fine-grained supervision over intermediate decision steps, and incorporates a value-aware trajectory rectification mechanism to jointly improve information acquisition and diagnostic decision-making across turns. Extensive experiments demonstrate that MIND consistently outperforms strong baselines in diagnostic accuracy, empathetic interaction quality, interpretability, and generalization.
UrbanHuRo: A Two-Layer Human-Robot Collaboration Framework for the Joint Optimization of Heterogeneous Urban Services
Venue: arXiv cs.RO 2026
Year: 2026

In the vision of smart cities, technologies are being developed to enhance the efficiency of urban services and improve residents' quality of life. However, most existing research focuses on optimizing individual services in isolation, without adequately considering reciprocal interactions among heterogeneous urban services that could yield higher efficiency and improved resource utilization. For example, human couriers could collect traffic and air quality data along their delivery routes, while sensing robots could assist with on-demand delivery during peak hours, enhancing both sensing coverage and delivery efficiency. However, the joint optimization of different urban services is challenging due to potentially conflicting objectives and the need for real-time coordination in dynamic environments. In this paper, we propose UrbanHuRo, a two-layer human-robot collaboration framework for joint optimization of heterogeneous urban services, demonstrated through crowdsourced delivery and urban sensing. UrbanHuRo includes two key designs: (i) a scalable distributed MapReduce-based K-submodular maximization module for efficient order dispatch, and (ii) a deep submodular reward reinforcement learning algorithm for sensing route planning. Experimental evaluations on real-world datasets from a food delivery platform demonstrate that UrbanHuRo improves sensing coverage by 29.7% and courier income by 39.2% on average in most settings, while also significantly reducing the number of overdue orders.