# Research Papers — 2026-03 · bundle page 63 of 243 > Full-text markdown of papers #3101–3150 of 12123 published in 2026-03, newest first. AI-readable mirrors of the full 12123-paper 2026-03 archive (50 papers per file). Canonical page: https://aipod.dev/papers/archive/2026-03/page/63 [← Previous bundle](https://aipod.dev/papers/archive/2026-03/page/62.md) [Next bundle →](https://aipod.dev/papers/archive/2026-03/page/64.md) ### Language Models Can Explain Visual Features via Steering Authors: Javier Ferrando, Enrique Lopez-Cuena, Pablo Agustin Martin-Torres, Daniel Hinjos, Anna Arias-Duart, Dario Garcia-Gasulla Published: 2026-03-23 Categories: cs.CV, cs.AI arXiv: https://arxiv.org/abs/2603.22593v2 Sparse Autoencoders uncover thousands of features in vision models, yet explaining these features without requiring human intervention remains an open challenge. While previous work has proposed generating correlation-based explanations based on top activating input examples, we present a fundamentally different alternative based on causal interventions. We leverage the structure of Vision-Language Models and steer individual SAE features in the vision encoder after providing an empty image. Then, we prompt the language model to explain what it ``sees'', effectively eliciting the visual concept represented by each feature. Results show that Steering offers an scalable alternative that complements traditional approaches based on input examples, serving as a new axis for automated interpretability in vision models. Moreover, the quality of explanations improves consistently with the scale of the language model, highlighting our method as a promising direction for future research. Finally, we propose Steering-informed Top-k, a hybrid approach that combines the strengths of causal interventions and input-based approaches to achieve state-of-the-art explanation quality without additional computational cost. --- ### Precision-Varying Prediction (PVP): Robustifying ASR systems against adversarial attacks Authors: Matías Pizarro, Raghavan Narasimhan, Jonas Killian, Asja Fischer Published: 2026-03-23 Categories: cs.LG, cs.CR, eess.AS arXiv: https://arxiv.org/abs/2603.22590v2 With the increasing deployment of automated and agentic systems, ensuring the adversarial robustness of automatic speech recognition (ASR) models has become highly relevant. We observe that changing the precision of an ASR model during inference reduces the likelihood of adversarial attacks to succeed. We take advantage of this fact to make models more robust simply by randomly sampling the precision during prediction. Moreover, this insight can be turned into an adversarial example detection strategy by implementing a simple Gaussian classifier that thresholds the differences between outputs of models run with different precision. To further enhance security boundaries, we combine the approach with an existing uncertainty-based defense mechanism, which forces adaptive adversaries to introduce highly perceptible noise to bypass detection. An experimental analysis across various ASR models, languages, and attack types demonstrates a significant increase in adversarial robustness, competitive detection capabilities, and resistance to adaptive threats. --- ### flexvec: SQL Vector Retrieval with Programmatic Embedding Modulation Authors: Damian Delmas Published: 2026-03-23 Categories: cs.IR, cs.AI, cs.DB arXiv: https://arxiv.org/abs/2603.22587v1 As AI agents become the primary consumers of retrieval APIs, there is an opportunity to expose more of the retrieval pipeline to the caller. flexvec is a retrieval kernel that exposes the embedding matrix and score array as a programmable surface, allowing arithmetic operations on both before selection. We refer to composing operations on this surface at query time as Programmatic Embedding Modulation (PEM). This paper describes a set of such operations and integrates them into a SQL interface via a query materializer that facilitates composable query primitives. On a production corpus of 240,000 chunks, three composed modulations execute in 19 ms end-to-end on a desktop CPU without approximate indexing. At one million chunks, the same operations execute in 82 ms. --- ### A Foundation Model for Instruction-Conditioned In-Context Time Series Tasks Authors: Anish Saha, Konstantin Shmakov Published: 2026-03-23 Categories: cs.LG arXiv: https://arxiv.org/abs/2603.22586v4 In-context learning (ICL) enables task adaptation at inference time by conditioning on demonstrations rather than updating model parameters. Although recent time-series foundation models incorporate contextual conditioning, retrieval, or example-based prompting, they typically rely on implicit positional structure or task-specific objectives rather than explicit instruction-conditioned input-output demonstrations. We introduce iAmTime, a time-series foundation model trained with instruction-conditioned amortized meta-learning to infer tasks directly from example demonstrations. iAmTime represents each episode as a structured prompt over historical context and future-known variables using specialized semantic tokens that attend to designated time-series regions, exchange information across demonstrations, and inject task information into the query representation. The model combines a Hierarchical Multi-Scope Transformer Encoder, which captures temporal and covariate dynamics while inferring latent task structure from demonstrated input-output mappings, with a Task-Conditioned Patch Decoder, which adapts decoding through expert-based routing. We train iAmTime on large-scale real and synthetic corpora using supervised and self-supervised instruction-conditioned tasks, including forecasting, imputation, reconstruction, classification, anomaly detection, and source de-mixing. Across diverse domains, frequencies, and horizons, iAmTime improves zero-shot adaptation over strong time-series foundation baselines on probabilistic and point forecasting benchmarks, while achieving competitive or superior performance on four non-forecasting tasks. --- ### A Foundation Model for Instruction-Conditioned In-Context Time Series Tasks Authors: Anish Saha, Konstantin Shmakov Published: 2026-03-23 Categories: cs.LG arXiv: https://arxiv.org/abs/2603.22586v3 In-context learning (ICL) enables task adaptation at inference time by conditioning on demonstrations rather than updating model parameters. Although recent time-series foundation models incorporate contextual conditioning, retrieval, or example-based prompting, they typically rely on implicit positional structure or task-specific objectives rather than explicit instruction-conditioned input-output demonstrations. We introduce iAmTime, a time-series foundation model trained with instruction-conditioned amortized meta-learning to infer tasks directly from example demonstrations. iAmTime represents each episode as a structured prompt over historical context and future-known variables using specialized semantic tokens that attend to designated time-series regions, exchange information across demonstrations, and inject task information into the query representation. The model combines a Hierarchical Multi-Scope Transformer Encoder, which captures temporal and covariate dynamics while inferring latent task structure from demonstrated input-output mappings, with a Task-Conditioned Patch Decoder, which adapts decoding through expert-based routing. We train iAmTime on large-scale real and synthetic corpora using supervised and self-supervised instruction-conditioned tasks, including forecasting, imputation, reconstruction, classification, anomaly detection, and source de-mixing. Across diverse domains, frequencies, and horizons, iAmTime improves zero-shot adaptation over strong time-series foundation baselines on probabilistic and point forecasting benchmarks, while achieving competitive performance on non-forecasting tasks such as classification. --- ### A vision-language model and platform for temporally mapping surgery from video Authors: Dani Kiyasseh Published: 2026-03-23 Categories: cs.CV, cs.RO arXiv: https://arxiv.org/abs/2603.22583v1 Mapping surgery is fundamental to developing operative guidelines and enabling autonomous robotic surgery. Recent advances in artificial intelligence (AI) have shown promise in mapping the behaviour of surgeons from videos, yet current models remain narrow in scope, capturing limited behavioural components within single procedures, and offer limited translational value, as they remain inaccessible to practising surgeons. Here we introduce Halsted, a vision-language model trained on the Halsted Surgical Atlas (HSA), one of the most comprehensive annotated video libraries grown through an iterative self-labelling framework and encompassing over 650,000 videos across eight surgical specialties. To facilitate benchmarking, we publicly release HSA-27k, a subset of the Halsted Surgical Atlas. Halsted surpasses previous state-of-the-art models in mapping surgical activity while offering greater comprehensiveness and computational efficiency. To bridge the longstanding translational gap of surgical AI, we develop the Halsted web platform (https://halstedhealth.ai/) to provide surgeons anywhere in the world with the previously-unavailable capability of automatically mapping their own procedures within minutes. By standardizing unstructured surgical video data and making these capabilities directly accessible to surgeons, our work brings surgical AI closer to clinical deployment and helps pave the way toward autonomous robotic surgery. --- ### Lie to Me: How Faithful Is Chain-of-Thought Reasoning in Reasoning Models? Authors: Richard J. Young Published: 2026-03-23 Categories: cs.CL, cs.AI arXiv: https://arxiv.org/abs/2603.22582v1 Chain-of-thought (CoT) reasoning has been proposed as a transparency mechanism for large language models in safety-critical deployments, yet its effectiveness depends on faithfulness (whether models accurately verbalize the factors that actually influence their outputs), a property that prior evaluations have examined in only two proprietary models, finding acknowledgment rates as low as 25% for Claude 3.7 Sonnet and 39% for DeepSeek-R1. To extend this evaluation across the open-weight ecosystem, this study tests 12 open-weight reasoning models spanning 9 architectural families (7B-685B parameters) on 498 multiple-choice questions from MMLU and GPQA Diamond, injecting six categories of reasoning hints (sycophancy, consistency, visual pattern, metadata, grader hacking, and unethical information) and measuring the rate at which models acknowledge hint influence in their CoT when hints successfully alter answers. Across 41,832 inference runs, overall faithfulness rates range from 39.7% (Seed-1.6-Flash) to 89.9% (DeepSeek-V3.2-Speciale) across model families, with consistency hints (35.5%) and sycophancy hints (53.9%) exhibiting the lowest acknowledgment rates. Training methodology and model family predict faithfulness more strongly than parameter count, and keyword-based analysis reveals a striking gap between thinking-token acknowledgment (approximately 87.5%) and answer-text acknowledgment (approximately 28.6%), suggesting that models internally recognize hint influence but systematically suppress this acknowledgment in their outputs. These findings carry direct implications for the viability of CoT monitoring as a safety mechanism and suggest that faithfulness is not a fixed property of reasoning models but varies systematically with architecture, training method, and the nature of the influencing cue. --- ### STRIATUM-CTF: A Protocol-Driven Agentic Framework for General-Purpose CTF Solving Authors: James Hugglestone, Samuel Jacob Chacko, Dawson Stoller, Ryan Schmidt, Xiuwen Liu Published: 2026-03-23 Categories: cs.CR, cs.AI, cs.MA arXiv: https://arxiv.org/abs/2603.22577v1 Large Language Models (LLMs) have demonstrated potential in code generation, yet they struggle with the multi-step, stateful reasoning required for offensive cybersecurity operations. Existing research often relies on static benchmarks that fail to capture the dynamic nature of real-world vulnerabilities. In this work, we introduce STRIATUM-CTF (A Search-based Test-time Reasoning Inference Agent for Tactical Utility Maximization in Cybersecurity), a modular agentic framework built upon the Model Context Protocol (MCP). By standardizing tool interfaces for system introspection, decompilation, and runtime debugging, STRIATUM-CTF enables the agent to maintain a coherent context window across extended exploit trajectories. We validate this approach not merely on synthetic datasets, but in a live competitive environment. Our system participated in a university-hosted Capture-the-Flag (CTF) competition in late 2025, where it operated autonomously to identify and exploit vulnerabilities in real-time. STRIATUM-CTF secured First Place, outperforming 21 human teams and demonstrating strong adaptability in a dynamic problem-solving setting. We analyze the agent's decision-making logs to show how MCP-based tool abstraction significantly reduces hallucination compared to naive prompting strategies. These results suggest that standardized context protocols are a critical path toward robust autonomous cyber-reasoning systems. --- ### CAPITU: A Benchmark for Evaluating Instruction-Following in Brazilian Portuguese with Literary Context Authors: Giovana Kerche Bonás, Roseval Malaquias Junior, Marcos Piau, Thiago Laitz, Thales Sales Almeida, Hugo Abonizio, Celio Larcher, Ramon Pires, Rodrigo Nogueira Published: 2026-03-23 Categories: cs.CL arXiv: https://arxiv.org/abs/2603.22576v1 We introduce CAPITU, a benchmark for evaluating instruction-following capabilities of Large Language Models (LLMs) in Brazilian Portuguese. Unlike existing benchmarks that focus on English or use generic prompts, CAPITU contextualizes all tasks within eight canonical works of Brazilian literature, combining verifiable instruction constraints with culturally-grounded content. The benchmark comprises 59 instruction types organized into seven categories, all designed to be automatically verifiable without requiring LLM judges or human evaluation. Instruction types include Portuguese-specific linguistic constraints (word termination patterns like -ando/-endo/-indo, -inho/-inha, -mente) and structural requirements. We evaluate 18 state-of-the-art models across single-turn and multi-turn settings. Our results show that frontier reasoning models achieve strong performance (GPT-5.2 with reasoning: 98.5% strict accuracy), while Portuguese-specialized models offer competitive cost-efficiency (Sabiazinho-4: 87.0% at \$0.13 vs Claude-Haiku-4.5: 73.5% at \$1.12). Multi-turn evaluation reveals significant variation in constraint persistence, with conversation-level accuracy ranging from 60% to 96% across models. We identify specific challenges in morphological constraints, exact counting, and constraint persistence degradation across turns. We release the complete benchmark, evaluation code, and baseline results to facilitate research on instruction-following in Portuguese. --- ### FullCircle: Effortless 3D Reconstruction from Casual 360$^\circ$ Captures Authors: Yalda Foroutan, Ipek Oztas, Daniel Rebain, Aysegul Dundar, Kwang Moo Yi, Lily Goli, Andrea Tagliasacchi Published: 2026-03-23 Categories: cs.CV arXiv: https://arxiv.org/abs/2603.22572v1 Radiance fields have emerged as powerful tools for 3D scene reconstruction. However, casual capture remains challenging due to the narrow field of view of perspective cameras, which limits viewpoint coverage and feature correspondences necessary for reliable camera calibration and reconstruction. While commercially available 360$^\circ$ cameras offer significantly broader coverage than perspective cameras for the same capture effort, existing 360$^\circ$ reconstruction methods require special capture protocols and pre-processing steps that undermine the promise of radiance fields: effortless workflows to capture and reconstruct 3D scenes. We propose a practical pipeline for reconstructing 3D scenes directly from raw 360$^\circ$ camera captures. We require no special capture protocols or pre-processing, and exhibit robustness to a prevalent source of reconstruction errors: the human operator that is visible in all 360$^\circ$ imagery. To facilitate evaluation, we introduce a multi-tiered dataset of scenes captured as raw dual-fisheye images, establishing a benchmark for robust casual 360$^\circ$ reconstruction. Our method significantly outperforms not only vanilla 3DGS for 360$^\circ$ cameras but also robust perspective baselines when perspective cameras are simulated from the same capture, demonstrating the advantages of 360$^\circ$ capture for casual reconstruction. Additional results are available at: https://theialab.github.io/fullcircle --- ### CanViT: Toward Active-Vision Foundation Models Authors: Yohaï-Eliel Berreby, Sabrina Du, Audrey Durand, B. Suresh Krishna Published: 2026-03-23 Categories: cs.CV arXiv: https://arxiv.org/abs/2603.22570v2 Active computer vision promises efficient, biologically plausible perception through sequential, localized glimpses, but lacks scalable general-purpose architectures and pretraining pipelines, leaving Active-Vision Foundation Models (AVFMs) underexplored. We introduce CanViT, the first task- and policy-agnostic AVFM. CanViT uses scene-relative RoPE to bind a retinotopic Vision Transformer backbone and a spatiotopic scene-wide latent workspace, the canvas. Efficient interaction with this high-capacity working memory is supported by Canvas Attention, a novel asymmetric cross-attention mechanism. We decouple thinking (backbone-level) and memory (canvas-level), eliminating canvas-side self-attention and fully-connected layers to achieve fast sequential inference and scalability to high output resolutions. We propose a label-free active vision pretraining scheme, policy-agnostic passive-to-active dense latent distillation: reconstructing scene-wide DINOv3 embeddings from sequences of low-resolution glimpses with randomized locations, zoom levels, and lengths. We pretrain CanViT-B from a random initialization on 13.2 million ImageNet-21k scenes--an order of magnitude more than previous active models--and 1 billion random glimpses, in 166 hours on a single H100. On ADE20K segmentation, a frozen CanViT-B achieves 38.5% mIoU in a single low-resolution glimpse, outperforming the best active model's 27.6% with 20x fewer inference FLOPs as well as its FLOP- or input-matched DINOv3 teacher. Given additional glimpses, CanViT-B reaches 45.9% ADE20K mIoU. On ImageNet-1k classification, CanViT-B also sets a new active-vision state of the art, with 84.5% top-1 accuracy after fine-tuning. CanViT generalizes to longer rollouts, larger scenes, and new policies. Our work narrows the wide gap between passive and active computer vision, demonstrating the potential of task- and policy-agnostic AVFM pretraining. --- ### Reddit After Roe: A Computational Analysis of Abortion Narratives and Barriers in the Wake of Dobbs Authors: Aria Pessianzadeh, Alex H. Poole, Rezvaneh Rezapour Published: 2026-03-23 Categories: cs.CL arXiv: https://arxiv.org/abs/2603.22566v1 The 2022 U.S. Supreme Court decision in Dobbs v. Jackson Women's Health Organization reshaped the reproductive rights landscape, introducing new uncertainty and barriers to abortion access. We present a large-scale computational analysis of abortion discourse on Reddit, examining how barriers to access are articulated across information-seeking and information-sharing behaviors, different stages of abortion (before, during, after), and three phases of the Dobbs decision in 2022. Drawing on more than 17,000 posts from four abortion-related subreddits, we employed a multi-step pipeline to classify posts by information type, abortion stage, barrier category, and expressed emotions. Using a codebook of eight barrier types, including legal, financial, emotional, and social obstacles, we analyzed their associations with emotions and information behaviors. Topic modeling of model-generated barrier rationales further revealed how discourse evolved in response to shifting legal and cultural contexts. Our findings show that emotional and psychological barriers consistently dominate abortion narratives online, with emotions such as nervousness, confusion, fear, and sadness prevalent across discourse. By linking information behaviors, barriers, emotions, and temporal dynamics, this study provides a multi-dimensional account of how abortion is navigated in online communities. --- ### MIOFlow 2.0: A unified framework for inferring cellular stochastic dynamics from single cell and spatial transcriptomics data Authors: Xingzhi Sun, João Felipe Rocha, Brett Phelan, Dhananjay Bhaskar, Guillaume Huguet, Yanlei Zhang, Alexander Tong, Ke Xu, Oluwadamilola Fasina, Mark Gerstein, Natalia Ivanova, Christine L. Chaffer et al. Published: 2026-03-23 Categories: cs.LG arXiv: https://arxiv.org/abs/2603.22564v2 Understanding cellular trajectories via time-resolved single-cell transcriptomics is vital for studying development, regeneration, and disease. A key challenge is inferring continuous trajectories from discrete snapshots. Biological complexity stems from stochastic cell fate decisions, temporal proliferation changes, and spatial environmental influences. Current methods often use deterministic interpolations treating cells in isolation, failing to capture the probabilistic branching, population shifts, and niche-dependent signaling driving real biological processes. We introduce Manifold Interpolating Optimal-Transport Flow (MIOFlow) 2.0. This framework learns biologically informed cellular trajectories by integrating manifold learning, optimal transport, and neural differential equations. It models three core processes: (1) stochasticity and branching via Neural Stochastic Differential Equations; (2) non-conservative population changes using a learned growth-rate model initialized with unbalanced optimal transport; and (3) environmental influence through a joint latent space unifying gene expression with spatial features like local cell type composition and signaling. By operating in a PHATE-distance matching autoencoder latent space, MIOFlow 2.0 ensures trajectories respect the data's intrinsic geometry. Empirical comparisons show expressive trajectory learning via neural differential equations outperforms existing generative models, including simulation-free flow matching. Validated on synthetic datasets, embryoid body differentiation, and spatially resolved axolotl brain regeneration, MIOFlow 2.0 improves trajectory accuracy and reveals hidden drivers of cellular transitions, like specific signaling niches. MIOFlow 2.0 thus bridges single-cell and spatial transcriptomics to uncover tissue-scale trajectories. --- ### Privacy-Preserving Reinforcement Learning from Human Feedback via Decoupled Reward Modeling Authors: Young Hyun Cho, Will Wei Sun Published: 2026-03-23 Categories: stat.ML, cs.LG arXiv: https://arxiv.org/abs/2603.22563v1 Preference-based fine-tuning has become an important component in training large language models, and the data used at this stage may contain sensitive user information. A central question is how to design a differentially private pipeline that is well suited to the distinct structure of reinforcement learning from human feedback. We propose a privacy-preserving framework that imposes differential privacy only on reward learning and derives the final policy from the resulting private reward model. Theoretically, we study the suboptimality gap and show that privacy contributes an additional additive term beyond the usual non-private statistical error. We also establish a minimax lower bound and show that the dominant term changes with sample size and privacy level, which in turn characterizes regimes in which the upper bound is rate-optimal up to logarithmic factors. Empirically, synthetic experiments confirm the scaling predicted by the theory, and experiments on the Anthropic HH-RLHF dataset using the Gemma-2B-IT model show stronger private alignment performance than existing differentially private baseline methods across privacy budgets. --- ### AI Mental Models: Learned Intuition and Deliberation in a Bounded Neural Architecture Authors: Laurence Anthony Published: 2026-03-23 Categories: cs.AI arXiv: https://arxiv.org/abs/2603.22561v1 This paper asks whether a bounded neural architecture can exhibit a meaningful division of labor between intuition and deliberation on a classic 64-item syllogistic reasoning benchmark. More broadly, the benchmark is relevant to ongoing debates about world models and multi-stage reasoning in AI. It provides a controlled setting for testing whether a learned system can develop structured internal computation rather than only one-shot associative prediction. Experiment 1 evaluates a direct neural baseline for predicting full 9-way human response distributions under 5-fold cross-validation. Experiment 2 introduces a bounded dual-path architecture with separate intuition and deliberation pathways, motivated by computational mental-model theory (Khemlani & Johnson-Laird, 2022). Under cross-validation, bounded intuition reaches an aggregate correlation of r = 0.7272, whereas bounded deliberation reaches r = 0.8152, and the deliberation advantage is significant across folds (p = 0.0101). The largest held-out gains occur for NVC, Eca, and Oca, suggesting improved handling of rejection responses and c-a conclusions. A canonical 80:20 interpretability run and a five-seed stability sweep further indicate that the deliberation pathway develops sparse, differentiated internal structure, including an Oac-leaning state, a dominant workhorse state, and several weakly used or unused states whose exact indices vary across runs. These findings are consistent with reasoning-like internal organization under bounded conditions, while stopping short of any claim that the model reproduces full sequential processes of model construction, counterexample search, and conclusion revision. --- ### Maximum Entropy Relaxation of Multi-Way Cardinality Constraints for Synthetic Population Generation Authors: François Pachet, Jean-Daniel Zucker Published: 2026-03-23 Categories: cs.AI arXiv: https://arxiv.org/abs/2603.22558v2 Generating synthetic populations from aggregate statistics is a core component of microsimulation, agent-based modeling, policy analysis, and privacy-preserving data release. Beyond classical census marginals, many applications require matching heterogeneous unary, binary, and ternary constraints derived from surveys, expert knowledge, or automatically extracted descriptions. Constructing populations that satisfy such multi-way constraints simultaneously poses a significant computational challenge. We consider populations where each individual is described by categorical attributes and the target is a collection of global frequency constraints over attribute combinations. Exact formulations scale poorly as the number and arity of constraints increase, especially when the constraints are numerous and overlapping. Grounded in methods from statistical physics, we propose a maximum-entropy relaxation of this problem. Multi-way cardinality constraints are matched in expectation rather than exactly, yielding an exponential-family distribution over complete population assignments and a convex optimization problem over Lagrange multipliers. We evaluate the approach on NPORS-derived scaling benchmarks with 4 to 40 attributes and compare it primarily against generalized raking. The results show that MaxEnt becomes increasingly advantageous as the number of attributes and ternary interactions grows, while raking remains competitive on smaller, lower-arity instances. --- ### Generalized multi-object classification and tracking with sparse feature resonator networks Authors: Lazar Supic, Alec Mullen, E. Paxon Frady Published: 2026-03-23 Categories: cs.CV arXiv: https://arxiv.org/abs/2603.22539v1 In visual scene understanding tasks, it is essential to capture both invariant and equivariant structure. While neural networks are frequently trained to achieve invariance to transformations such as translation, this often comes at the cost of losing access to equivariant information - e.g., the precise location of an object. Moreover, invariance is not naturally guaranteed through supervised learning alone, and many architectures generalize poorly to input transformations not encountered during training. Here, we take an approach based on analysis-by-synthesis and factoring using resonator networks. A generative model describes the construction of simple scenes containing MNIST digits and their transformations, like color and position. The resonator network inverts the generative model, and provides both invariant and equivariant information about particular objects. Sparse features learned from training data act as a basis set to provide flexibility in representing variable shapes of objects, allowing the resonator network to handle previously unseen digit shapes from the test set. The modular structure provides a shape module which contains information about the object shape with translation factored out, allowing a simple classifier to operate on centered digits. The classification layer is trained solely on centered data, requiring much less training data, and the network as a whole can identify objects with arbitrary translations without data augmentation. The natural attention-like mechanism of the resonator network also allows for analysis of scenes with multiple objects, where the network dynamics selects and centers only one object at a time. Further, the specific position information of a particular object can be extracted from the translation module, and we show that the resonator can be designed to track multiple moving objects with precision of a few pixels. --- ### UrbanVGGT: Scalable Sidewalk Width Estimation from Street View Images Authors: Kaizhen Tan, Fan Zhang Published: 2026-03-23 Categories: cs.CV arXiv: https://arxiv.org/abs/2603.22531v2 Sidewalk width is an important indicator of pedestrian accessibility, comfort, and network quality, yet large-scale width data remain scarce in most cities. Existing approaches typically rely on costly field surveys, high-resolution overhead imagery, or simplified geometric assumptions that limit scalability or introduce systematic error. To address this gap, we present UrbanVGGT, a measurement pipeline for estimating metric sidewalk width from a single street-view image. The method combines semantic segmentation, feed-forward 3D reconstruction, adaptive ground-plane fitting, camera-height-based scale calibration, and directional width measurement on the recovered plane. On a ground-truth benchmark from Washington, D.C., UrbanVGGT achieves a mean absolute error of 0.252 m, with 95.5% of estimates within 0.50 m of the reference width. Ablation experiments show that metric scale calibration is the most critical component, and controlled comparisons with alternative geometry backbones support the effectiveness of the overall design. As a feasibility demonstration, we further apply the pipeline to three cities and generate SV-SideWidth, a prototype sidewalk-width dataset covering 527 OpenStreetMap street segments. The results indicate that street-view imagery can support scalable generation of candidate sidewalk-width attributes, while broader cross-city validation and local ground-truth auditing remain necessary before deployment as authoritative planning data. --- ### UrbanVGGT: Scalable Sidewalk Width Estimation from Street View Images Authors: Kaizhen Tan, Fan Zhang Published: 2026-03-23 Categories: cs.CV arXiv: https://arxiv.org/abs/2603.22531v1 Sidewalk width is an important indicator of pedestrian accessibility, comfort, and network quality, yet large-scale width data remain scarce in most cities. Existing approaches typically rely on costly field surveys, high-resolution overhead imagery, or simplified geometric assumptions that limit scalability or introduce systematic error. To address this gap, we present UrbanVGGT, a measurement pipeline for estimating metric sidewalk width from a single street-view image. The method combines semantic segmentation, feed-forward 3D reconstruction, adaptive ground-plane fitting, camera-height-based scale calibration, and directional width measurement on the recovered plane. On a ground-truth benchmark from Washington, D.C., UrbanVGGT achieves a mean absolute error of 0.252 m, with 95.5% of estimates within 0.50 m of the reference width. Ablation experiments show that metric scale calibration is the most critical component, and controlled comparisons with alternative geometry backbones support the effectiveness of the overall design. As a feasibility demonstration, we further apply the pipeline to three cities and generate SV-SideWidth, a prototype sidewalk-width dataset covering 527 OpenStreetMap street segments. The results indicate that street-view imagery can support scalable generation of candidate sidewalk-width attributes, while broader cross-city validation and local ground-truth auditing remain necessary before deployment as authoritative planning data. --- ### Multimodal Training to Unimodal Deployment: Leveraging Unstructured Data During Training to Optimize Structured Data Only Deployment Authors: Zigui Wang, Minghui Sun, Jiang Shu, Matthew M. Engelhard, Lauren Franz, Benjamin A. Goldstein Published: 2026-03-23 Categories: cs.LG arXiv: https://arxiv.org/abs/2603.22530v1 Unstructured Electronic Health Record (EHR) data, such as clinical notes, contain clinical contextual observations that are not directly reflected in structured data fields. This additional information can substantially improve model learning. However, due to their unstructured nature, these data are often unavailable or impractical to use when deploying a model. We introduce a multimodal learning framework that leverages unstructured EHR data during training while producing a model that can be deployed using only structured EHR data. Using a cohort of 3,466 children evaluated for late talking, we generated note embeddings with BioClinicalBERT and encoded structured embeddings from demographics and medical codes. A note-based teacher model and a structured-only student model were jointly trained using contrastive learning and contrastive knowledge distillation loss, producing a strong classifier (AUROC = 0.985). Our proposed model reached an AUROC of 0.705, outperforming the structured-only baseline of 0.656. These results demonstrate that incorporating unstructured data during training enhances the model's capacity to identify task-relevant information within structured EHR data, enabling a deployable structured-only phenotype model. --- ### Ego2Web: A Web Agent Benchmark Grounded in Egocentric Videos Authors: Shoubin Yu, Lei Shu, Antoine Yang, Yao Fu, Srinivas Sunkara, Maria Wang, Jindong Chen, Mohit Bansal, Boqing Gong Published: 2026-03-23 Categories: cs.CV, cs.AI, cs.CL arXiv: https://arxiv.org/abs/2603.22529v1 Multimodal AI agents are increasingly automating complex real-world workflows that involve online web execution. However, current web-agent benchmarks suffer from a critical limitation: they focus entirely on web-based interaction and perception, lacking grounding in the user's real-world physical surroundings. This limitation prevents evaluation in crucial scenarios, such as when an agent must use egocentric visual perception (e.g., via AR glasses) to recognize an object in the user's surroundings and then complete a related task online. To address this gap, we introduce Ego2Web, the first benchmark designed to bridge egocentric video perception and web agent execution. Ego2Web pairs real-world first-person video recordings with web tasks that require visual understanding, web task planning, and interaction in an online environment for successful completion. We utilize an automatic data-generation pipeline combined with human verification and refinement to curate well-constructed, high-quality video-task pairs across diverse web task types, including e-commerce, media retrieval, knowledge lookup, etc. To facilitate accurate and scalable evaluation for our benchmark, we also develop a novel LLM-as-a-Judge automatic evaluation method, Ego2WebJudge, which achieves approximately 84% agreement with human judgment, substantially higher than existing evaluation methods. Experiments with diverse SoTA agents on our Ego2Web show that their performance is weak, with substantial headroom across all task categories. We also conduct a comprehensive ablation study on task design, highlighting the necessity of accurate video understanding in the proposed task and the limitations of current agents. We hope Ego2Web can be a critical new resource for developing truly capable AI assistants that can seamlessly see, understand, and act across the physical and digital worlds. --- ### GraphRAG for Engineering Diagrams: ChatP&ID Enables LLM Interaction with P&IDs Authors: Achmad Anggawirya Alimin, Artur M. Schweidtmann Published: 2026-03-23 Categories: cs.IR, cs.AI arXiv: https://arxiv.org/abs/2603.22528v1 Large Language Models (LLMs) combined with Retrieval-Augmented Generation (RAG) and knowledge graphs offer new opportunities for interacting with engineering diagrams such as Piping and Instrumentation Diagrams (P&IDs). However, directly processing raw images or smart P&ID files with LLMs is often costly, inefficient, and prone to hallucinations. This work introduces ChatP&ID, an agentic framework that enables grounded and cost-effective natural-language interaction with P&IDs using Graph Retrieval-Augmented Generation (GraphRAG), a paradigm we refer to as GraphRAG for engineering diagrams. Smart P&IDs encoded in the DEXPI standard are transformed into structured knowledge graphs, which serve as the basis for graph-based retrieval and reasoning by LLM agents. This approach enables reliable querying of engineering diagrams while significantly reducing computational cost. Benchmarking across commercial LLM APIs (OpenAI, Anthropic) demonstrates that graph-based representations improve accuracy by 18% over raw image inputs and reduce token costs by 85% compared to directly ingesting smart P&ID files. While small open-source models still struggle to interpret knowledge graph formats and structured engineering data, integrating them with VectorRAG and PathRAG improves response accuracy by up to 40%. Notably, GPT-5-mini combined with ContextRAG achieves 91% accuracy at a cost of only $0.004 per task. The resulting ChatP&ID interface enables intuitive natural-language interaction with complex engineering diagrams and lays the groundwork for AI-assisted process engineering tasks such as Hazard and Operability Studies (HAZOP) and multi-agent analysis. --- ### Learning Sidewalk Autopilot from Multi-Scale Imitation with Corrective Behavior Expansion Authors: Honglin He, Yukai Ma, Brad Squicciarini, Wayne Wu, Bolei Zhou Published: 2026-03-23 Categories: cs.RO, cs.CV arXiv: https://arxiv.org/abs/2603.22527v1 Sidewalk micromobility is a promising solution for last-mile transportation, but current learning-based control methods struggle in complex urban environments. Imitation learning (IL) learns policies from human demonstrations, yet its reliance on fixed offline data often leads to compounding errors, limited robustness, and poor generalization. To address these challenges, we propose a framework that advances IL through corrective behavior expansion and multi-scale imitation learning. On the data side, we augment teleoperation datasets with diverse corrective behaviors and sensor augmentations to enable the policy to learn to recover from its own mistakes. On the model side, we introduce a multi-scale IL architecture that captures both short-horizon interactive behaviors and long-horizon goal-directed intentions via horizon-based trajectory clustering and hierarchical supervision. Real-world experiments show that our approach significantly improves robustness and generalization in diverse sidewalk scenarios. --- ### Adversarial Vulnerabilities in Neural Operator Digital Twins: Gradient-Free Attacks on Nuclear Thermal-Hydraulic Surrogates Authors: Samrendra Roy, Kazuma Kobayashi, Souvik Chakraborty, Rizwan-uddin, Syed Bahauddin Alam Published: 2026-03-23 Categories: cs.LG, cs.CR arXiv: https://arxiv.org/abs/2603.22525v1 Operator learning models are rapidly emerging as the predictive core of digital twins for nuclear and energy systems, promising real-time field reconstruction from sparse sensor measurements. Yet their robustness to adversarial perturbations remains uncharacterized, a critical gap for deployment in safety-critical systems. Here we show that neural operators are acutely vulnerable to extremely sparse (fewer than 1% of inputs), physically plausible perturbations that exploit their sensitivity to boundary conditions. Using gradient-free differential evolution across four operator architectures, we demonstrate that minimal modifications trigger catastrophic prediction failures, increasing relative $L_2$ error from $\sim$1.5% (validated accuracy) to 37-63% while remaining completely undetectable by standard validation metrics. Notably, 100% of successful single-point attacks pass z-score anomaly detection. We introduce the effective perturbation dimension $d_{\text{eff}}$, a Jacobian-based diagnostic that, together with sensitivity magnitude, yields a two-factor vulnerability model explaining why architectures with extreme sensitivity concentration (POD-DeepONet, $d_{\text{eff}} \approx 1$) are not necessarily the most exploitable, since low-rank output projections cap maximum error, while moderate concentration with sufficient amplification (S-DeepONet, $d_{\text{eff}} \approx 4$) produces the highest attack success. Gradient-free search outperforms gradient-based alternatives (PGD) on architectures with gradient pathologies, while random perturbations of equal magnitude achieve near-zero success rates, confirming that the discovered vulnerabilities are structural. Our findings expose a previously overlooked attack surface in operator learning models and establish that these models require robustness guarantees beyond standard validation before deployment. --- ### LLMON: An LLM-native Markup Language to Leverage Structure and Semantics at the LLM Interface Authors: Michael Hind, Basel Shbita, Bo Wu, Farhan Ahmed, Chad DeLuca, Nathan Fulton, David Cox, Dan Gutfreund Published: 2026-03-23 Categories: cs.SE, cs.AI, cs.PL arXiv: https://arxiv.org/abs/2603.22519v2 Textual Large Language Models (LLMs) provide a simple and familiar interface: a string of text is used for both input and output. However, the information conveyed to an LLM often has a richer structure and semantics, which is not conveyed in a string. For example, most prompts contain both instructions ("Summarize this paper into a paragraph") and data (the paper to summarize), but these are usually not distinguished when passed to the model. This can lead to model confusion and security risks, such as prompt injection attacks. This work addresses this shortcoming by introducing an LLM-native mark-up language, LLMON (LLM Object Notation, pronounced "Lemon"), that enables the structure and semantic metadata of the text to be communicated in a natural way to an LLM. This information can then be used during model training, model prompting, and inference implementation, leading to improvements in model accuracy, safety, and security. This is analogous to how programming language types can be used for many purposes, such as static checking, code generation, dynamic checking, and IDE highlighting. We discuss the general design requirements of an LLM-native markup language, introduce the LLMON markup language and show how it meets these design requirements, describe how the information contained in a LLMON artifact can benefit model training and inference implementation, and provide some preliminary empirical evidence of its value for both of these use cases. We also discuss broader issues and research opportunities that are enabled with an LLM-native approach. --- ### High Resolution Flood Extent Detection Using Deep Learning with Random Forest Derived Training Labels Authors: Azizbek Nuriddinov, Ebrahim Ahmadisharaf, Mohammad Reza Alizadeh Published: 2026-03-23 Categories: cs.CV, cs.AI arXiv: https://arxiv.org/abs/2603.22518v1 Validation of flood models, used to support risk mitigation strategies, remains challenging due to limited observations during extreme events. High-frequency, high-resolution optical imagery (~3 m), such as PlanetScope, offers new opportunities for flood mapping, although applications remain limited by cloud cover and the lack of labeled training data during disasters. To address this, we develop a flood mapping framework that integrates PlanetScope optical imagery with topographic features using machine learning (ML) and deep learning (DL) algorithms. A Random Forest model was applied to expert-annotated flood masks to generate training labels for DL models, U-Net. Two U-Net models with ResNet18 backbone were trained using optical imagery only (4 bands) and optical imagery combined with Height Above Nearest Drainage (HAND) and topographic slope (6 bands). Hurricane Ida (September 2021), which caused catastrophic flooding across the eastern United States, including the New York City metropolitan area, was used as an example to evaluate the framework. Results demonstrate that the U-Net model with topographic features achieved very close performance to the optical-only configuration (F1=0.92 and IoU=0.85 by both modeling scenarios), indicating that HAND and slope provide only marginal value to inundation extent detection. The proposed framework offers a scalable and label-efficient approach for mapping inundation extent that enables modeling under data-scarce flood scenarios. --- ### Generating and Evaluating Sustainable Procurement Criteria for the Swiss Public Sector using In-Context Prompting with Large Language Models Authors: Yingqiang Gao, Veton Matoshi, Luca Rolshoven, Tilia Ellendorff, Judith Binder, Jeremy Austin Jann, Gerold Schneider, Matthias Stürmer Published: 2026-03-23 Categories: cs.SE, cs.CL arXiv: https://arxiv.org/abs/2603.22513v1 Public procurement refers to the process by which public sector institutions, such as governments, municipalities, and publicly funded bodies, acquire goods and services. Swiss law requires the integration of ecological, social, and economic sustainability requirements into tender evaluations in the format of criteria that have to be fulfilled by a bidder. However, translating high-level sustainability regulations into concrete, verifiable, and sector-specific procurement criteria (such as selection criteria, award criteria, and technical specifications) remains a labor-intensive and error-prone manual task, requiring substantial domain expertise in several groups of goods and services and considerable manual effort. This paper presents a configurable, LLM-assisted pipeline that is presented as a software supporting the systematic generation and evaluation of sustainability-oriented procurement criteria catalogs for Switzerland. The system integrates in-context prompting, interchangeable LLM backends, and automated output validation to enable auditable criteria generation across different procurement sectors. As a proof of concept, we instantiate the pipeline using official sustainability guidelines published by the Swiss government and the European Commission, which are ingested as structured reference documents. We evaluate the system through a combination of automated quality checks, including an LLM-based evaluation component, and expert comparison against a manually curated gold standard. Our results demonstrate that the proposed pipeline can substantially reduce manual drafting effort while producing criteria catalogs that are consistent with official guidelines. We further discuss system limitations, failure modes, and design trade-offs observed during deployment, highlighting key considerations for integrating generative AI into public sector software workflows. --- ### Hebbian Attractor Networks for Robot Locomotion Authors: Alexander Dittrich, Fuda van Diggelen, Dario Floreano Published: 2026-03-23 Categories: cs.NE arXiv: https://arxiv.org/abs/2603.22512v1 Biological neural networks continuously adapt and modify themselves in response to experiences throughout their lifetime - a capability largely absent in artificial neural networks. Hebbian plasticity offers a promising path toward rapid adaptation in changing environments. Here, we introduce Hebbian Attractor Networks (HAN), a class of plastic neural networks in which local weight update normalization induces emergent attractor dynamics. Unlike prior approaches, HANs employ dual-timescale plasticity and temporal averaging of pre- and postsynaptic activations to induce either co-dynamic limit cycles or fixed-point weight attractors. Using simulated locomotion benchmarks, we gain insight into how Hebbian update frequency and activation averaging influence weight dynamics and control performance. Our results show that slower updates, combined with averaged pre- and postsynaptic activations, promote convergence to stable weight configurations, while faster updates yield oscillatory co-dynamic systems. We further demonstrate that these findings generalize to high-dimensional quadrupedal locomotion with a simulated Unitree Go1 robot. These results highlight how the timing of plasticity shapes neural dynamics in embodied systems, providing a principled characterization of the attractor regimes that emerge in self-modifying networks. --- ### Research Novelty in Information Systems Journals After ChatGPT: Differences Across Institutional Language Contexts Authors: Ali Safari, Sahar Babaei Published: 2026-03-23 Categories: cs.DL, cs.AI, cs.IR arXiv: https://arxiv.org/abs/2603.22510v3 Large language models are increasingly used in scholarly work, yet it remains unclear whether their productivity gains are accompanied by changes in research novelty. We examine how relative abstract-level semantic novelty in Information Systems journals changed after ChatGPT became widely available and whether this change differed across institutional language contexts. We analyze 13,847 articles published from 2020 to 2025 in 44 A* and A Information Systems journals. Using SPECTER2 representations of titles and abstracts, we measure each article's semantic distance from its nearest recent predecessors and estimate a comparative pre/post model. Articles whose first authors were affiliated with institutions in non-English-dominant countries show a 0.176 standard deviation larger post-2022 decline in relative semantic novelty than articles from English-dominant affiliations, equivalent to about 7 percentile points. The pattern is similar across several alternative specifications, although the balanced-author estimate is less precise. We interpret this finding through a tension in generative AI-supported knowledge work. GenAI can widen access to prior knowledge and support new combinations, but it can also make established frames easier to reproduce. Because individual LLM use is not observed, the result identifies a heterogeneous post-2022 shift rather than an effect of LLM adoption. The study extends research on LLMs and scholarly productivity by shifting attention from publication counts to the semantic positioning of published articles and by showing that post-2022 change differs across institutional contexts. --- ### Sketch2CT: Multimodal Diffusion for Structure-Aware 3D Medical Volume Generation Authors: Delin An, Chaoli Wang Published: 2026-03-23 Categories: cs.CV arXiv: https://arxiv.org/abs/2603.22509v1 Diffusion probabilistic models have demonstrated significant potential in generating high-quality, realistic medical images, providing a promising solution to the persistent challenge of data scarcity in the medical field. Nevertheless, producing 3D medical volumes with anatomically consistent structures under multimodal conditions remains a complex and unresolved problem. We introduce Sketch2CT, a multimodal diffusion framework for structure-aware 3D medical volume generation, jointly guided by a user-provided 2D sketch and a textual description that captures 3D geometric semantics. The framework initially generates 3D segmentation masks of the target organ from random noise, conditioned on both modalities. To effectively align and fuse these inputs, we propose two key modules that refine sketch features with localized textual cues and integrate global sketch-text representations. Built upon a capsule-attention backbone, these modules leverage the complementary strengths of sketches and text to produce anatomically accurate organ shapes. The synthesized segmentation masks subsequently guide a latent diffusion model for 3D CT volume synthesis, enabling realistic reconstruction of organ appearances that are consistent with user-defined sketches and descriptions. Extensive experiments on public CT datasets demonstrate that Sketch2CT achieves superior performance in generating multimodal medical volumes. Its controllable, low-cost generation pipeline enables principled, efficient augmentation of medical datasets. Code is available at https://github.com/adlsn/Sketch2CT. --- ### OrgForge-IT: A Verifiable Synthetic Benchmark for LLM-Based Insider Threat Detection Authors: Jeffrey Flynt Published: 2026-03-23 Categories: cs.CR, cs.LG arXiv: https://arxiv.org/abs/2603.22499v1 Synthetic insider threat benchmarks face a consistency problem: corpora generated without an external factual constraint cannot rule out cross-artifact contradictions. The CERT dataset -- the field's canonical benchmark -- is also static, lacks cross-surface correlation scenarios, and predates the LLM era. We present OrgForge-IT, a verifiable synthetic benchmark in which a deterministic simulation engine maintains ground truth and language models generate only surface prose, making cross-artifact consistency an architectural guarantee. The corpus spans 51 simulated days, 2,904 telemetry records at a 96.4% noise rate, and four detection scenarios designed to defeat single-surface and single-day triage strategies across three threat classes and eight injectable behaviors. A ten-model leaderboard reveals several findings: (1) triage and verdict accuracy dissociate - eight models achieve identical triage F1=0.80 yet split between verdict F1=1.0 and 0.80; (2) baseline false-positive rate is a necessary companion to verdict F1, with models at identical verdict accuracy differing by two orders of magnitude on triage noise; (3) victim attribution in the vishing scenario separates tiers - Tier A models exonerate the compromised account holder while Tier B models detect the attack but misclassify the victim; (4) rigid multi-signal thresholds structurally exclude single-surface negligent insiders, demonstrating the necessity of parallel, threat-class-specific triage pipelines; and (5) agentic software-engineering training acts as a force multiplier for multi-day temporal correlation, but only when paired with frontier-level parameter scale. Finally, prompt sensitivity analysis reveals that unstructured prompts induce vocabulary hallucination, motivating a two-track scoring framework separating prompt adherence from reasoning capability. OrgForge-IT is open source under the MIT license. --- ### Rashid: A Cipher-Based Framework for Exploring In-Context Language Learning Authors: Niyati Bafna, Ryan Soh-Eun Shim, Barbara Plank, David Yarowsky, Hale Sirin Published: 2026-03-23 Categories: cs.CL arXiv: https://arxiv.org/abs/2603.22497v1 Where there is growing interest in in-context language learning (ICLL) for unseen languages with large language models, such languages usually suffer from the lack of NLP tools, data resources, and researcher expertise. This means that progress is difficult to assess, the field does not allow for cheap large-scale experimentation, and findings on ICLL are often limited to very few languages and tasks. In light of such limitations, we introduce a framework (Rashid), for studying ICLL wherein we reversibly cipher high-resource languages (HRLs) to construct truly unseen languages with access to a wide range of resources available for HRLs, unlocking previously impossible exploration of ICLL phenomena. We use our framework to assess current methods in the field with SOTA evaluation tools and manual analysis, explore the utility of potentially expensive resources in improving ICLL, and test ICLL strategies on rich downstream tasks beyond machine translation. These lines of exploration showcase the possibilities enabled by our framework, as well as providing actionable insights regarding current performance and future directions in ICLL. --- ### Tiny Inference-Time Scaling with Latent Verifiers Authors: Davide Bucciarelli, Evelyn Turri, Lorenzo Baraldi, Marcella Cornia, Lorenzo Baraldi, Rita Cucchiara Published: 2026-03-23 Categories: cs.CV, cs.AI, cs.MM arXiv: https://arxiv.org/abs/2603.22492v2 Inference-time scaling has emerged as an effective way to improve generative models at test time by using a verifier to score and select candidate outputs. A common choice is to employ Multimodal Large Language Models (MLLMs) as verifiers, which can improve performance but introduce substantial inference-time cost. Indeed, diffusion pipelines operate in an autoencoder latent space to reduce computation, yet MLLM verifiers still require decoding candidates to pixel space and re-encoding them into the visual embedding space, leading to redundant and costly operations. In this work, we propose Verifier on Hidden States (VHS), a verifier that operates directly on intermediate hidden representations of Diffusion Transformer (DiT) single-step generators. VHS analyzes generator features without decoding to pixel space, thereby reducing the per-candidate verification cost while improving or matching the performance of MLLM-based competitors. We show that, under tiny inference budgets with only a small number of candidates per prompt, VHS enables more efficient inference-time scaling reducing joint generation-and-verification time by 63.3%, compute FLOPs by 51% and VRAM usage by 14.5% with respect to a standard MLLM verifier, achieving a +2.7% improvement on GenEval at the same inference-time budget. --- ### Cognitive Training for Language Models: Towards General Capabilities via Cross-Entropy Games Authors: Clément Hongler, Franck Gabriel, Valentin Hartmann, Arthur Renard, Andrew Emil Published: 2026-03-23 Categories: math.OC, cs.AI arXiv: https://arxiv.org/abs/2603.22479v3 Defining a constructive process to build general capabilities for language models in an automatic manner is considered an open problem in artificial intelligence. Towards this, we consider the problem of building a curriculum of tasks that grows a model via relevant skill discovery. We provide a concrete framework for this task, using a family of tasks called Cross-Entropy Games, which we postulate is universal in a suitable sense. We show that if it is possible to grow the curriculum for relevant skill discovery by iterating a greedy optimization algorithm, then, under natural assumptions, there is essentially only one meta-objective possible (up to a few hyper-parameters). We call the resulting process cognitive training. We postulate that, given sufficiently capable language models as players and meta-samplers, cognitive training provides a principled way to relevant skill discovery; and hence to the extent general capabilities are achievable via greedy curriculum learning, cognitive training would be a solution. --- ### Component Ablation for Efficient Hybrid Language Model Architectures: Performance, Resilience, and Compression Implications Authors: Hector Borobia, Elies Seguí-Mas, Guillermina Tormo-Carbó Published: 2026-03-23 Categories: cs.CL, cs.AI, cs.LG arXiv: https://arxiv.org/abs/2603.22473v2 Hybrid language models combine softmax attention with linear-time sequence mechanisms such as state-space or linear-attention layers, but the functional contribution of each component type remains insufficiently characterized. We study component-level ablation in two sub-1B hybrid language models, Qwen3.5-0.8B and Falcon-H1-0.5B, using likelihood-based evaluation, downstream benchmarks, layer-wise interventions, random controls, and representation-level diagnostics. Across the tested models, removing either attention or the alternative sequence-processing pathway substantially degrades performance, indicating that both component types contribute to model behavior. Likelihood metrics are especially sensitive to the linear-attention or state-space pathway, while downstream benchmark degradation depends on task and architecture. Layer-wise ablations show that component importance is position-dependent, with the strongest effects concentrated in early or mid-network components rather than uniformly across depth. Random-removal controls further show that hybrid architectures and same-family Transformer baselines degrade differently under structural perturbation. These results suggest that component ablation is a useful diagnostic for understanding hybrid language model architectures. The findings provide evidence relevant to efficient model design, compression, robustness analysis, and deployment decisions in architectures that combine attention with alternative sequence-processing mechanisms. --- ### Wake Up to the Past: Using Memory to Model Fluid Wake Effects on Robots Authors: Luca Vendruscolo, Eduardo Sebastián, Amanda Prorok, Ajay Shankar Published: 2026-03-23 Categories: cs.RO, cs.LG, cs.MA arXiv: https://arxiv.org/abs/2603.22472v1 Autonomous aerial and aquatic robots that attain mobility by perturbing their medium, such as multicopters and torpedoes, produce wake effects that act as disturbances for adjacent robots. Wake effects are hard to model and predict due to the chaotic spatio-temporal dynamics of the fluid, entangled with the physical geometry of the robots and their complex motion patterns. Data-driven approaches using neural networks typically learn a memory-less function that maps the current states of the two robots to a force observed by the "sufferer" robot. Such models often perform poorly in agile scenarios: since the wake effect has a finite propagation time, the disturbance observed by a sufferer robot is some function of relative states in the past. In this work, we present an empirical study of the properties a wake-effect predictor must satisfy to accurately model the interactions between two robots mediated by a fluid. We explore seven data-driven models designed to capture the spatio-temporal evolution of fluid wake effects in four different media. This allows us to introspect the models and analyze the reasons why certain features enable improved accuracy in prediction across predictors and fluids. As experimental validation, we develop a planar rectilinear gantry for two spinning monocopters to test in real-world data with feedback control. The conclusion is that support of history of previous states as input and transport delay prediction substantially helps to learn an accurate wake-effect predictor. --- ### Stability-Preserving Online Adaptation of Neural Closed-loop Maps Authors: Danilo Saccani, Luca Furieri, Giancarlo Ferrari-Trecate Published: 2026-03-23 Categories: eess.SY, cs.AI, math.OC arXiv: https://arxiv.org/abs/2603.22469v1 The growing complexity of modern control tasks calls for controllers that can react online as objectives and disturbances change, while preserving closed-loop stability. Recent approaches for improving the performance of nonlinear systems while preserving closed-loop stability rely on time-invariant recurrent neural-network controllers, but offer no principled way to update the controller during operation. Most importantly, switching from one stabilizing policy to another can itself destabilize the closed-loop. We address this problem by introducing a stability-preserving update mechanism for nonlinear, neural-network-based controllers. Each controller is modeled as a causal operator with bounded $\ell_p$-gain, and we derive gain-based conditions under which the controller may be updated online. These conditions yield two practical update schemes, time-scheduled and state-triggered, that guarantee the closed-loop remains $\ell_p$-stable after any number of updates. Our analysis further shows that stability is decoupled from controller optimality, allowing approximate or early-stopped controller synthesis. We demonstrate the approach on nonlinear systems with time-varying objectives and disturbances, and show consistent performance improvements over static and naive online baselines while guaranteeing stability. --- ### SPDE Methods for Nonparametric Bayesian Posterior Contraction and Laplace Approximation Authors: Enric Alberola-Boloix, Ioar Casado-Telletxea Published: 2026-03-23 Categories: stat.ML, cs.LG, math.ST arXiv: https://arxiv.org/abs/2603.22468v1 We derive posterior contraction rates (PCRs) and finite-sample Bernstein von Mises (BvM) results for non-parametric Bayesian models by extending the diffusion-based framework of Mou et al. (2024) to the infinite-dimensional setting. The posterior is represented as the invariant measure of a Langevin stochastic partial differential equation (SPDE) on a separable Hilbert space, which allows us to control posterior moments and obtain non-asymptotic concentration rates in Hilbert norms under various likelihood curvature and regularity conditions. We also establish a quantitative Laplace approximation for the posterior. The theory is illustrated in a nonparametric linear Gaussian inverse problem. --- ### Color When It Counts: Grayscale-Guided Online Triggering for Always-On Streaming Video Sensing Authors: Weitong Cai, Hang Zhang, Yukai Huang, Shitong Sun, Jiankang Deng, Songcen Xu, Jifei Song, Zhensong Zhang Published: 2026-03-23 Categories: cs.CV, cs.AI, cs.HC, cs.MM arXiv: https://arxiv.org/abs/2603.22466v1 Always-on sensing is essential for next-generation edge/wearable AI systems, yet continuous high-fidelity RGB video capture remains prohibitively expensive for resource-constrained mobile and edge platforms. We present a new paradigm for efficient streaming video understanding: grayscale-always, color-on-demand. Through preliminary studies, we discover that color is not always necessary. Sparse RGB frames suffice for comparable performance when temporal structure is preserved via continuous grayscale streams. Building on this insight, we propose ColorTrigger, an online training-free trigger that selectively activates color capture based on windowed grayscale affinity analysis. Designed for real-time edge deployment, ColorTrigger uses lightweight quadratic programming to detect chromatic redundancy causally, coupled with credit-budgeted control and dynamic token routing to jointly reduce sensing and inference costs. On streaming video understanding benchmarks, ColorTrigger achieves 91.6% of full-color baseline performance while using only 8.1% RGB frames, demonstrating substantial color redundancy in natural videos and enabling practical always-on video sensing on resource-constrained devices. --- ### A Theoretical Framework for Energy-Aware Gradient Pruning in Federated Learning Authors: Emmanouil M. Athanasakos Published: 2026-03-23 Categories: cs.LG, cs.DC, cs.IT, cs.NI, stat.ML arXiv: https://arxiv.org/abs/2603.22465v1 Federated Learning (FL) is constrained by the communication and energy limitations of decentralized edge devices. While gradient sparsification via Top-K magnitude pruning effectively reduces the communication payload, it remains inherently energy-agnostic. It assumes all parameter updates incur identical downstream transmission and memory-update costs, ignoring hardware realities. We formalize the pruning process as an energy-constrained projection problem that accounts for the hardware-level disparities between memory-intensive and compute-efficient operations during the post-backpropagation phase. We propose Cost-Weighted Magnitude Pruning (CWMP), a selection rule that prioritizes parameter updates based on their magnitude relative to their physical cost. We demonstrate that CWMP is the optimal greedy solution to this constrained projection and provide a probabilistic analysis of its global energy efficiency. Numerical results on a non-IID CIFAR-10 benchmark show that CWMP consistently establishes a superior performance-energy Pareto frontier compared to the Top-K baseline. --- ### LLM-guided headline rewriting for clickability enhancement without clickbait Authors: Yehudit Aperstein, Linoy Halifa, Sagiv Bar, Alexander Apartsin Published: 2026-03-23 Categories: cs.CL, cs.AI arXiv: https://arxiv.org/abs/2603.22459v1 Enhancing reader engagement while preserving informational fidelity is a central challenge in controllable text generation for news media. Optimizing news headlines for reader engagement is often conflated with clickbait, resulting in exaggerated or misleading phrasing that undermines editorial trust. We frame clickbait not as a separate stylistic category, but as an extreme outcome of disproportionate amplification of otherwise legitimate engagement cues. Based on this view, we formulate headline rewriting as a controllable generation problem, where specific engagement-oriented linguistic attributes are selectively strengthened under explicit constraints on semantic faithfulness and proportional emphasis. We present a guided headline rewriting framework built on a large language model (LLM) that uses the Future Discriminators for Generation (FUDGE) paradigm for inference-time control. The LLM is steered by two auxiliary guide models: (1) a clickbait scoring model that provides negative guidance to suppress excessive stylistic amplification, and (2) an engagement-attribute model that provides positive guidance aligned with target clickability objectives. Both guides are trained on neutral headlines drawn from a curated real-world news corpus. At the same time, clickbait variants are generated synthetically by rewriting these original headlines using an LLM under controlled activation of predefined engagement tactics. By adjusting guidance weights at inference time, the system generates headlines along a continuum from neutral paraphrases to more engaging yet editorially acceptable formulations. The proposed framework provides a principled approach for studying the trade-off between attractiveness, semantic preservation, and clickbait avoidance, and supports responsible LLM-based headline optimization in journalistic settings. --- ### MinerU-Diffusion: Rethinking Document OCR as Inverse Rendering via Diffusion Decoding Authors: Hejun Dong, Junbo Niu, Bin Wang, Weijun Zeng, Wentao Zhang, Conghui He Published: 2026-03-23 Categories: cs.CV arXiv: https://arxiv.org/abs/2603.22458v1 Optical character recognition (OCR) has evolved from line-level transcription to structured document parsing, requiring models to recover long-form sequences containing layout, tables, and formulas. Despite recent advances in vision-language models, most existing systems rely on autoregressive decoding, which introduces sequential latency and amplifies error propagation in long documents. In this work, we revisit document OCR from an inverse rendering perspective, arguing that left-to-right causal generation is an artifact of serialization rather than an intrinsic property of the task. Motivated by this insight, we propose MinerU-Diffusion, a unified diffusion-based framework that replaces autoregressive sequential decoding with parallel diffusion denoising under visual conditioning. MinerU-Diffusion employs a block-wise diffusion decoder and an uncertainty-driven curriculum learning strategy to enable stable training and efficient long-sequence inference. Extensive experiments demonstrate that MinerU-Diffusion consistently improves robustness while achieving up to 3.2x faster decoding compared to autoregressive baselines. Evaluations on the proposed Semantic Shuffle benchmark further confirm its reduced dependence on linguistic priors and stronger visual OCR capability. --- ### SkillRouter: Skill Routing for LLM Agents at Scale Authors: YanZhao Zheng, ZhenTao Zhang, Chao Ma, YuanQiang Yu, JiHuai Zhu, Yong Wu, Tianze Xu, Baohua Dong, Hangcheng Zhu, Ruohui Huang, Gang Yu Published: 2026-03-23 Categories: cs.LG arXiv: https://arxiv.org/abs/2603.22455v5 Reusable skills let LLM agents package task-specific procedures, tool affordances, and execution guidance into modular building blocks. As skill ecosystems grow to tens of thousands of entries, exposing every skill at inference time becomes infeasible. This creates a skill-routing problem: given a user task, the system must identify relevant skills before downstream planning or execution. Existing agent stacks often rely on progressive disclosure, exposing only skill names and descriptions while hiding the full implementation body. We examine this design choice on a SkillsBench-derived benchmark with approximately 80K candidate skills, targeting the practically important setting of large skill registries with heavy overlap. Across representative dense and reranking baselines on this setting, hiding the skill body causes a 37-44 percentage point drop in routing accuracy. Stronger controls show that the missing signal is body-resident rather than a simple length artifact: body-distilled descriptions recover part of the gap, but remain 7-21 points below direct all-field routing, while a metadata-only encoder trained with the same data remains 14.0 points below its all-field counterpart. Motivated by this finding, we present Skillrouter, a compact 1.2B body-aware retrieve-and-rerank pipeline. Skillrouter achieves 74.0% Hit@1 on our benchmark -- the strongest average top-1 routing performance among the baselines we evaluate -- while using 13$\times$ fewer parameters and running 5.8$\times$ faster than the strongest base pipeline. The ranking gains further generalize to a supplementary benchmark independently constructed from three skill sources. In a complementary end-to-end study across four coding agents, routing gains transfer to improved task success, with larger gains for more capable agents. --- ### XNote: Benchmarking Automated Community Notes Generation for Image-based Contextual Deception Authors: Jin Ma, Jingwen Yan, Mohammed Aldeen, Ethan Anderson, Taran Kavuru, Jinkyung Katie Park, Feng Luo, Long Cheng Published: 2026-03-23 Categories: cs.CL, cs.SI arXiv: https://arxiv.org/abs/2603.22453v2 Community Notes have emerged as an effective crowd-sourced mechanism for combating online deception on social media platforms. However, its reliance on human contributors limits both the timeliness and scalability. In this work, we study the automated Community Notes generation task for image-based contextual deception, where an authentic image is paired with misleading context (e.g., time, entity, and event). Unlike prior work that primarily focuses on deception detection (i.e., judging whether a post is true or false in a binary manner), automated Community Notes generation requires producing concise and grounded notes that help users recover the missing or corrected context. This problem remains underexplored due to the scarcity of datasets that support this task. To address this gap, we curate a real-world dataset, XNote, comprising X posts with associated Community Notes and external contexts, along with annotations of topics and deceptive factors. We further benchmark a range of frontier large vision language models (LVLMs) on XNote, evaluating their performance on both deception detection and note generation tasks. We also compare against an end-to-end approach, SNIFFER, and a commercial tool, GPT-5. Our results highlight the challenges in automated Community Notes generation, underscoring the need for improved methods and metrics tailored for this task. --- ### Static Scene Reconstruction from Dynamic Egocentric Videos Authors: Qifei Cui, Patrick Chen Published: 2026-03-23 Categories: cs.CV, cs.GR arXiv: https://arxiv.org/abs/2603.22450v1 Egocentric videos present unique challenges for 3D reconstruction due to rapid camera motion and frequent dynamic interactions. State-of-the-art static reconstruction systems, such as MapAnything, often degrade in these settings, suffering from catastrophic trajectory drift and "ghost" geometry caused by moving hands. We bridge this gap by proposing a robust pipeline that adapts static reconstruction backbones to long-form egocentric video. Our approach introduces a mask-aware reconstruction mechanism that explicitly suppresses dynamic foreground in the attention layers, preventing hand artifacts from contaminating the static map. Furthermore, we employ a chunked reconstruction strategy with pose-graph stitching to ensure global consistency and eliminate long-term drift. Experiments on HD-EPIC and indoor drone datasets demonstrate that our pipeline significantly improves absolute trajectory error and yields visually clean static geometry compared to naive baselines, effectively extending the capability of foundation models to dynamic first-person scenes. --- ### Sparse but Critical: A Token-Level Analysis of Distributional Shifts in RLVR Fine-Tuning of LLMs Authors: Haoming Meng, Kexin Huang, Shaohang Wei, Chiyu Ma, Shuo Yang, Xue Wang, Guoyin Wang, Bolin Ding, Jingren Zhou Published: 2026-03-23 Categories: cs.CL, cs.AI, cs.LG arXiv: https://arxiv.org/abs/2603.22446v1 Reinforcement learning with verifiable rewards (RLVR) has significantly improved reasoning in large language models (LLMs), yet the token-level mechanisms underlying these improvements remain unclear. We present a systematic empirical study of RLVR's distributional effects organized around three main analyses: (1) token-level characterization of distributional shifts between base and RL models, (2) the impact of token-level distributional shifts on sequence-level reasoning performance through cross-sampling interventions, and (3) fine-grained mechanics of these shifts at the token level. We find that RL fine-tuning induces highly sparse and targeted changes, with only a small fraction of token distributions exhibiting meaningful divergence between the base and RL policies. We further characterize the structure and evolution of these shifts through analyses of token entropy, positional concentration, and reallocation of probability mass. To assess the functional importance of these sparse changes, we conduct cross-sampling experiments that selectively swap token choices between the base and RL models with varying intervention budgets. We show that inserting only a small fraction of RL-sampled tokens into base generations progressively recovers RL performance gains, while injecting a similarly small number of base token choices into otherwise RL-generated sequences collapses performance to base levels, isolating a small set of token-level decisions directly responsible for RLVR's performance gains. Finally, we explore divergence-weighted variants of the advantage signal as a diagnostic intervention, finding that they can yield improvements over baselines. Together, our results shed light on the distributional changes induced by RLVR and provide a fine-grained, token-level lens for understanding RLVR fine-tuning as a targeted refinement process. --- ### mmFHE: mmWave Sensing with End-to-End Fully Homomorphic Encryption Authors: Tanvir Ahmed, Yixuan Gao, Adnan Armouti, Rajalakshmi Nandakumar Published: 2026-03-23 Categories: cs.CR, cs.LG, eess.SP arXiv: https://arxiv.org/abs/2603.22437v2 We present mmFHE, the first system that executes the entire cloud-side mmWave sensing pipeline including the DSP and ML inference under fully homomorphic encryption (FHE). mmFHE encrypts range profiles on an edge device after lightweight plaintext preprocessing and executes the entire mmWave signal-processing and ML inference pipeline homomorphically on a semi-honest cloud that operates exclusively on ciphertexts. At the core of mmFHE is a library of seven composable, data-oblivious FHE kernels that replace standard DSP routines with fixed arithmetic circuits for different application-specific pipelines. We demonstrate this approach on two representative tasks: vital-sign monitoring and gesture recognition. We formally prove two cryptographic guarantees for any pipeline assembled from this library: input privacy and data obliviousness. These guarantees effectively neutralize various supervised and unsupervised privacy attacks on raw data, including re-identification and data-dependent privacy leakage. Evaluation on three public radar datasets shows that encryption introduces negligible error versus the plaintext pipeline, with 84.5% gesture accuracy (vs. 84.7%). End-to-end cloud GPU latency is 1.21 s per 10 s vital-sign window and 5.76 s per 3 s gesture window. These results establish the initial feasibility of end-to-end mmWave sensing under FHE on commodity hardware. --- ### mmFHE: mmWave Sensing with End-to-End Fully Homomorphic Encryption Authors: Tanvir Ahmed, Yixuan Gao, Adnan Armouti, Rajalakshmi Nandakumar Published: 2026-03-23 Categories: cs.CR, cs.LG, eess.SP arXiv: https://arxiv.org/abs/2603.22437v1 We present mmFHE, the first system that enables fully homomorphic encryption (FHE) for end-to-end mmWave radar sensing. mmFHE encrypts raw range profiles on a lightweight edge device and executes the entire mmWave signal-processing and ML inference pipeline homomorphically on an untrusted cloud that operates exclusively on ciphertexts. At the core of mmFHE is a library of seven composable, data-oblivious FHE kernels that replace standard DSP routines with fixed arithmetic circuits. These kernels can be flexibly composed into different application-specific pipelines. We demonstrate this approach on two representative tasks: vital-sign monitoring and gesture recognition. We formally prove two cryptographic guarantees for any pipeline assembled from this library: input privacy, the cloud learns nothing about the sensor data; and data obliviousness, the execution trace is identical on the cloud regardless of the data being processed. These guarantees effectively neutralize various supervised and unsupervised privacy attacks on raw data, including re-identification and data-dependent privacy leakage. Evaluation on three public radar datasets (270 vital-sign recordings, 600 gesture trials) shows that encryption introduces negligible error: HR/RR MAE <10^-3 bpm versus plaintext, and 84.5% gesture accuracy (vs. 84.7% plaintext) with end-to-end cloud GPU latency of 103s for a 10s vital-sign window and 37s for a 3s gesture window. These results show that privacy-preserving end-to-end mmWave sensing is feasible on commodity hardware today. --- ### CaP-X: A Framework for Benchmarking and Improving Coding Agents for Robot Manipulation Authors: Letian Fu, Justin Yu, Karim El-Refai, Ethan Kou, Haoru Xue, Huang Huang, Wenli Xiao, Guanzhi Wang, Dantong Niu, Fei-Fei Li, Guanya Shi, Jiajun Wu et al. Published: 2026-03-23 Categories: cs.RO, cs.AI arXiv: https://arxiv.org/abs/2603.22435v2 "Code-as-Policy" considers how executable code can complement data-intensive Vision-Language-Action (VLA) methods, yet their effectiveness as autonomous controllers for embodied manipulation remains underexplored. We present CaP-X, an open-access framework for systematically studying Code-as-Policy agents in robot manipulation. At its core is CaP-Gym, an interactive environment in which agents control robots by synthesizing and executing programs that compose perception and control primitives. Building on this foundation, CaP-Bench evaluates frontier language and vision-language models across varying levels of abstraction, interaction, and perceptual grounding. Across 12 models, CaP-Bench reveals a consistent trend: performance improves with human-crafted abstractions but degrades as these priors are removed, exposing a dependence on designer scaffolding. At the same time, we observe that this gap can be mitigated through scaling agentic test-time computation--through multi-turn interaction, structured execution feedback, visual differencing, automatic skill synthesis, and ensembled reasoning--substantially improves robustness even when agents operate over low-level primitives. These findings allow us to derive CaP-Agent0, a training-free framework that recovers human-level reliability on several manipulation tasks in simulation and on real embodiments. We further introduce CaP-RL, showing reinforcement learning with verifiable rewards improves success rates and transfers from sim2real with minimal gap. Together, CaP-X provides a principled, open-access platform for advancing embodied coding agents. --- ### Inference Time Policy Optimization for Offline RL with Differentiable World Models Authors: Rohan Deb, Stephen J. Wright, Arindam Banerjee Published: 2026-03-23 Categories: cs.LG arXiv: https://arxiv.org/abs/2603.22430v2 Offline Reinforcement Learning (RL) learns optimal policies from fixed datasets, training a policy once and deploying it at inference time without further refinement. Inspired by model predictive control (MPC), we introduce an inference time adaptation framework that utilizes a pretrained policy along with a learned world model. While existing world model and diffusion-planning methods use learned dynamics to generate imagined trajectories during training, or to sample candidate plans at inference time, they do not use inference-time information to *optimize* the policy parameters on the fly. In contrast, our design is a Differentiable World Model (DWM) pipeline that enables end-to-end gradient computation through imagined rollouts for inference time policy optimization (ITPO). We evaluate our algorithm on D4RL continuous-control benchmarks (MuJoCo locomotion tasks and AntMaze), and show that exploiting inference-time information to optimize the policy parameters yields consistent gains over strong offline RL baselines. Inference-time adaptation, however, is expensive: rollout generation and backpropagation dominate per-step compute. We study this tradeoff explicitly, showing that a suitable tilted version of one-step MeanFlow sampler recovers much of the gains at a fraction of the cost. ---