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arXiv2026

CR-VLA-Force: Learning Control-aware Compliance VLA Model for Robust Contact-rich Robotic Manipulation

Integrating visuomotor policies or Vision-Language-Action (VLA) models with force/torque (F/T) perception has demonstrated significant progress in imitation learning for robotic manipulation. However, existing force-aware VLA models frequently exhibit limited capability in precise force tracking and rapid successive adjustments. This deficiency stems from the limitations of action-chunk execution strategies and the substantial latency between perception and real-time control. Such limitations can lead to task failures and safety risks, particularly when the execution of an action chunk exerts excessive interaction forces without timely adjustment. To overcome this challenge, we propose the Control-aware Compliance VLA (CC-VLA) framework for reactive control. The CC-VLA model employs a multimodal mixture-of-experts (MoE) to encode force signal sequences and vision-language fused feature. Furthermore, it utilizes a multi-stage training strategy to ensure robust perception within the visual-semantic space and effective force perception under sparse sampling conditions. Additionally, a VLA-guided adaptive compliance controller is designed to facilitate precise position tracking during contact-free motion and optimal force-position tracking for contact-rich tasks. To facilitate high-precision F/T data acquisition, we also implement an adversaria shared teleoperation strategy for contact-rich demonstrations that bolsters system safety and interactivity. Extensive real-world experiments demonstrate that CC-VLA significantly improves success rates in challenging force-perception tasks and enhances force-control precision, while providing multi-level safety and robustness under the tested partial-OOD pose-shift settings.

cs.RO↗

arXiv2026

Stay Seated: Learning Omnidirectional Humanoid Locomotion on a Passive Mobile Chair with Casters

Humanoid robots with quasi-direct-drive actuators continuously generate joint torque while standing, whereas seated humans delegate weight support to chairs during desk work. As a first step toward seated loco-manipulation, we study omnidirectional seated locomotion on a passive mobile chair, requiring unfixed pelvis-seat contact and intermittent foot-floor propulsion of the robot-chair system. We extend a standard standing velocity-tracking environment with a passive-chair model, seated-state rewards, critic-only chair observations, and task-tailored contact settings. The policy is learned without motion-imitation rewards; its actor uses only proprioception and velocity commands, without contact sensing or chair states. In random-command evaluation, the policies tracked omnidirectional commands through nearly all 20-s rollouts, and the best seated policies could outperform the Standing policy in velocity tracking. Across four training seeds, a $2^3$ full-factorial comparison of symmetry regularization (SY), foot-slip regularization (FS), and command curriculum (CC) showed that FS reduced CoT but increased tracking error and that some FS-only policies converged to stationary local optima. Combining FS with either SY or CC avoided this failure without retuning FS, while SY improved bilateral leg symmetry during longitudinal motion. Direction-resolved analysis showed CoT ordered backward $<$ lateral $\ll$ forward, with planted-leg extension in backward and lateral motion and knee flexion following heel contact in forward motion. The learned policy achieved zero-shot sim-to-real transfer to a Unitree G1 and generated omnidirectional seated locomotion.

cs.RO↗

arXiv2024

Convergence of a Ramshaw-Mesina Iteration

In 1991 Ramshaw and Mesina introduced a clever synthesis of penalty methods and artificial compression methods. Its form makes it an interesting option to replace the pressure update in the Uzawa iteration. The result, for the Stokes problem, is \begin{equation} \left\{ \begin{array} [c]{cc} Step\ 1: & -\triangle u^{n+1}+\nabla p^{n}=f(x),\ {\rm in}\ Ω,\ u^{n+1}|_{\partialΩ}=0,\\ Step\ 2: & p^{n+1}-p^{n}+β\nabla\cdot(u^{n+1}-u^{n})+α^{2}\nabla\cdot u^{n+1}=0. \end{array} \right. \end{equation} For saddle point problems, including Stokes, this iteration converges under a condition similar to the one required for Uzawa iteration.

math.NA↗

arXiv2026

SnapScope: A Platform for City-Scale Collection and Exploration of Public Snap Map Data

Snapchat's Snap Map is an ephemeral stream of geotagged public video and image stories, but the platform provides no documented API, no prior work describes a reproducible system for collecting this data at city scale, and no tool exists for managing and exploring the collected data interactively. We present SnapScope, an integrated platform that pairs a back-end collection pipeline with a web-based front end for scraper management, interactive data exploration, side-by-side neighborhood comparison, and data export. We deploy the platform over Riyadh, Saudi Arabia, collecting 515,364 unique public snaps across 23 days on a 1 km grid of 2,740 query points. A saturation probe over 21 consecutive runs shows that 94.8% of returned observations are duplicates of already-stored records. We provide a privacy-safe aggregate dataset under CC BY 4.0. The platform is city-agnostic and redeployable by substituting grid coordinates and boundary polygons.

cs.SI↗

arXiv2026

Inducing Permutation Invariant Priors in Bayesian Optimization for Carbon Capture and Storage Applications

Bayesian Optimization is an iterative method, tailored to optimizing expensive black box objective functions. Surrogate models like Gaussian Processes, which are the gold standard in Bayesian Optimization, can be inefficient for inputs with permutation symmetries, as the most common kernels employed are better suited for vector inputs rather than unordered sets of items. Motivated by this issue, we turn to permutation invariant Bayesian Optimization for well placement in Carbon Capture and Storage projects. The high fidelity black box simulator is instructed to operate wells under group control, giving rise to permutation symmetries within injector and producer groups that cannot be exploited with standard GP kernels. In this work, our main contribution is a novel Gaussian Process kernel (GP-Perm) that encodes permutation invariance by comparing sets through a stable divergence between their induced empirical representations, and can be combined with standard kernels for additional vector-valued inputs. As a learned invariant baseline, we also consider a Deep Kernel Learning model (DKL-DS) using the Deep Sets architecture to learn a permutation-invariant embedding. We evaluate the proposed methodology across 8 use cases, comprising seven synthetic benchmarks and one realistic CCS case study (Johansen formation)

cs.LG↗

arXiv2026

Breaking Cycles for Scalable Fair Ordering in Blockchain Systems

In blockchain systems, transaction order directly determines financial outcomes: unfair ordering enables front-running and sandwich attacks that have extracted over \$686M from Ethereum users. Current fair-ordering protocols aggregate pairwise receive-order evidence from replicas. Under contention or adversarial manipulation, however, Condorcet cycles force them into global strongly connected component (SCC) condensation, causing delays, coarse batches, and scaling failures. We present FlashOrder, a deterministic fair-ordering engine that localizes cyclic ambiguity before it propagates across the batch. FlashOrder embeds pairwise preferences into one-dimensional canonical positions, clusters nearby transactions with a partition hypergraph, and performs hierarchical inter- and intra-cluster serialization, replacing batch-wide SCC condensation with localized sorting and aggregation. Evaluated against Themis (CCS '23) and Rashnu (VLDB '24) on a libhotstuff-based prototype, FlashOrder achieves up to 10.5$\times$ higher throughput than Themis and 4.8$\times$ higher than Rashnu, with the latency gap widening as network scales. In controlled adversarial simulation, it reduces maximum rank displacement by 88.7\%, and under Condorcet attacks it sustains 12.0$\times$ and 9.7$\times$ higher throughput than Themis and Rashnu on average. These results show that localizing cyclic ambiguity yields stronger fairness at substantially higher throughput.

cs.DC↗

arXiv2026

Detecting Multiple Semantic Concerns in Tangled Code Commits

Code commits in a version control system (e.g., Git) should be atomic, i.e., focused on a single goal, such as adding a feature or fixing a bug. In practice, however, developers often bundle multiple concerns into tangled commits, obscuring intent and complicating maintenance. Recent studies have used Conventional Commits Specification (CCS) and Language Models (LMs) to capture commit intent, demonstrating that Small Language Models (SLMs) can approach the performance of Large Language Models (LLMs) while maintaining efficiency and privacy within local infrastructure. However, they do not address tangled commits involving multiple concerns, leaving the feasibility of using LMs for multi-concern detection unresolved. In this paper, we frame multi-concern detection in tangled commits as a multi-label classification problem and construct a controlled dataset of artificially tangled commits based on real-world data. We then present an empirical study using SLMs to detect multiple semantic concerns in tangled commits, examining the effects of fine-tuning, concern count, commit-message inclusion, and header-preserving truncation under practical token-budget limits. Our results show that a fine-tuned 27B-parameter SLM outperforms a state-of-the-art LLM across all concern counts. In particular, including commit messages improves detection accuracy by up to 31% (in terms of Hamming Loss) with negligible latency overhead, establishing them as important semantic cues.

cs.SE↗

arXiv2026

Benchmark Contamination: A Taxonomy Organized by Defeated Mitigation

A benchmark score is a joint property of the model, the evaluation harness, the elicitation budget, the sampled population, and contamination status. Leaderboards publish the model and the score, so capability and leakage stay observationally equivalent. Existing taxonomies classify contamination for automated detection, not the question a reporter faces at publication: given the mitigations already applied, which validity threats remain open? We introduce a taxonomy organized by the mitigation each type defeats -- direct, derivative, temporal, distributional, and acquired -- spanning training-time and evaluation-time leakage. Holding out a private test set closes the first alone. The fifth is acquired during the evaluation itself; because it is a property of one run, it must be recorded with the reported score rather than with the benchmark release. We operationalize it as a four-field disclosure protocol in which "unknown" is a valid entry, released under CC BY 4.0 with a JSON Schema, a validator, and worked examples. Two coders external to the design team applied a pre-registered instrument to 41 documents. Per-variable linear-weighted $κ$ runs from 0.00 to 0.35 (median 0.21) over 29 main-pass documents against a single-coder test-retest ceiling of 0.84, collapsing under the class skew the registration anticipated; pooling raises it to 0.46 through chance correction rather than better agreement. Two variables fall below the prevalence-robust threshold registered in advance: strata reporting and the acquired type introduced here. Disagreement concentrates on when a variable applies rather than on what a document states. Elicitation budgets are reported in 13% of documents, and no document addresses all five types. The contribution is the taxonomy, the score-side artifact that follows from it, and a pre-registered measurement of instrument reliability and current disclosure.

cs.CR↗

arXiv2025

Security Science (SecSci), Basic Concepts and Mathematical Foundations

This textbook compiles the lecture notes from security courses taught at Oxford in the 2000s, at Royal Holloway in the 2010s, and currently in Hawaii. The early chapters are suitable for a first course in security. The middle chapters have been used in advanced courses. Towards the end there are also some research problems.

cs.CR↗

arXiv2026

Fully Distributed GNE Algorithms for Multi-Robot Placement without Consensus on Multipliers

Recent machine learning research has increasingly focused on equilibrium analysis in non-cooperative games rather than solely on optimal solutions. Many such problems involve shared constraints and can be formulated as Generalized Nash Equilibrium Problems (GNEPs). For strongly monotone games, existing methods compute consensus-based variational GNEs (v-GNEs) by exchanging Lagrange multipliers. We propose a fully distributed continuous-time algorithm for shared linear equality constraints that converges without multiplier exchange and reaches any GNE, reducing communication overhead and improving privacy. Discrete-time schemes are also provided, and the method is validated on a multi-robot placement task.

cs.LG↗

arXiv2026

TSExplorer: An interactive data annotation and exploration tool for time-series data

We present TSExplorer, a cross-platform tool for interactive annotation and exploration of time-series data. The tool enables users to inspect high-dimensional datasets through multiple complementary 2D visualizations derived from high-dimensional feature representations. TSExplorer is designed as a general-purpose research tool supporting a wide range of workflows, including exploratory data analysis, annotation of unlabeled or partially-labeled datasets, comparison of feature representations, and post-hoc inspection and refinement of existing labels with interactive visual feedback.

cs.HC↗

arXiv2026

Towards a universal language of concepts: A survey

Humans can learn and generalize novel concepts from sparse data because they express knowledge in rich structural formats. In this paper, we propose that programs are a strong candidate for universal representation of concepts. We review computational models of concept learning that use programs as their concept representation and evaluate their contribution toward a universal representational language.

cs.AI↗

arXiv2026

VIBE: Video Instruction-aligned Background music gEneration

Current video-to-music (V2M) models lack semantic control and fail to penalize instruction violations, largely due to their reliance on reconstruction objectives and the representational bottleneck of static cross-modal conditioning in Diffusion Autoregressive (DAR) architectures. To resolve this, we introduce VIBE, a novel text-and-video-to-music (T+V2M) generation model that leverages: (1) Conditioning Connection, a depth-wise cross-layer conditioning mechanism that dynamically bridges the planning and diffusion refinement heads and (2) a comprehensive reward modeling taxonomy, optimizing for both hard, verifiable constraints (e.g., tempo, key) and soft, subjective qualities (e.g., musicality, multimodal alignment) with a structured 5-stage training curriculum. Upon evaluation using audio-visual alignment, instruction following, and audio quality metrics, along with a subjective human evaluation study, we observe that VIBE demonstrates enhanced controllability and instruction adherence while performing comparably to most evaluated baselines on generation fidelity and multimodal alignment.

cs.SD↗

arXiv2026

MultiGhostBench: A Multilingual Benchmark for Long-Form LLM-Generated Text Attribution under Distribution Shifts

While existing work on LLM authorship attribution (AA) has made progress, available benchmarks remain limited, often focusing on English, controlled settings, or relatively outdated models, with the few multilingual studies considering only relatively short texts. We introduce MultiGhostBench, a multilingual benchmark comprising 928 books generated by five recent LLMs across six languages and three scripts, with an average length of approximately 59K words per book. The benchmark supports evaluation under domain, author, and language shifts. Evaluation of representative AA methods shows that no single method consistently performs best across settings, and performance generally degrades under distribution shifts. Transformer-based detectors can retain generator-related information across languages, although transfer effectiveness varies by language pair, whereas statistical and fingerprint-based detectors are more language-dependent. We envision MultiGhostBench as a valuable resource for the development and evaluation of robust AA methods. The dataset and code can be found at https://github.com/GrecoMT/MultiGhostBench.

cs.CL↗

arXiv2026

Aligning Agentic World Models via Knowledgeable Experience Learning

Current Large Language Models (LLMs) exhibit a critical modal disconnect: they possess vast semantic knowledge but lack the procedural grounding to respect the immutable laws of the physical world. Consequently, while these agents implicitly function as world models, their simulations often suffer from physical hallucinations-generating plans that are logically sound but physically unexecutable. Existing alignment strategies predominantly rely on resource-intensive training or fine-tuning, which attempt to compress dynamic environmental rules into static model parameters. However, such parametric encapsulation is inherently rigid, struggling to adapt to the open-ended variability of physical dynamics without continuous, costly retraining. To bridge this gap, we introduce WorldMind, a framework that autonomously constructs a symbolic World Knowledge Repository by synthesizing environmental feedback. Specifically, it unifies Process Experience to enforce physical feasibility via prediction errors and Goal Experience to guide task optimality through successful trajectories. Experiments on EB-ALFRED and EB-Habitat demonstrate that WorldMind achieves superior performance compared to baselines with remarkable cross-model and cross-environment transferability.

cs.CL↗

arXiv2026

CyrillicQA: The Influence of Phonetically Encoded Secret Language on LLM Performance

Due to the selection of their training data, large language models (LLMs) perform best on standard-language inputs from languages using the Latin alphabet with large speaker populations, while disadvantaging other language varieties. Nevertheless, they can also be a versatile tool for preserving precisely such endangered languages. But do they also possess the necessary creativity and capacity for abstraction to decode phonetically encoded language the same way humans do?

cs.CL↗

arXiv2026

A Non-Formulable Theorem: A Fundamental Limit of Finite Syntactic Systems and Its Consequences for Security and AI

For every coherent and sufficiently expressive finite syntactic system S, we prove the existence of at least one theorem that S cannot produce autonomously. The result is a metatheorem: it proves the existence of a theorem, and applies to every finite syntactic system - security mechanisms, AI systems, formal verifiers, legal systems, economic models, and the formal system in which it is itself proved.

cs.CR↗

arXiv2026

Visual Framing for News Stance Detection via Image Generation

Article-level news stance detection aims to identify the perspective of news articles toward social issues. Despite advances in stance detection and its importance for trustworthy media environments, news articles pose distinct challenges because their stances are often implicit, subtly conveyed through journalistic framing, and embedded in long, structurally complex texts. To address these challenges, we introduce VFStance, which leverages visual framing to make implicit stance cues more explicit via image generation. In evaluation experiments, we demonstrate the effectiveness of VFStance over existing methods and the contribution of visual framing to its performance. Finally, a controlled user study (N=200) in a snippet-based news consumption setting further demonstrates that VFStance can make stance signals visually salient and highlights its potential use beyond automated stance detection.

cs.CL↗