OpenRaiser/Intern-Atlas huggingface dataset:
Physics-based deep kernel learning for parameter estimation in high dimensional PDEs
Venue: arXiv cs.CE 2025
Year: 2025

Inferring parameters of high-dimensional partial differential equations (PDEs) poses significant computational and inferential challenges, primarily due to the curse of dimensionality and the inherent limitations of traditional numerical methods. This paper introduces a novel two-stage Bayesian framework that synergistically integrates training, physics-based deep kernel learning (DKL) with Hamiltonian Monte Carlo (HMC) to robustly infer unknown PDE parameters and quantify their uncertainties from sparse, exact observations. The first stage leverages physics-based DKL to train a surrogate model, which jointly yields an optimized neural network feature extractor and robust initial estimates for the PDE parameters. In the second stage, with the neural network weights fixed, HMC is employed within a full Bayesian framework to efficiently sample the joint posterior distribution of the kernel hyperparameters and the PDE parameters. Numerical experiments on canonical and high-dimensional inverse PDE problems demonstrate that our framework accurately estimates parameters, provides reliable uncertainty estimates, and effectively addresses challenges of data sparsity and model complexity, offering a robust and scalable tool for diverse scientific and engineering applications.
Constraint-Consistent Control of Task-Based and Kinematic RCM Constraints for Surgical Robots
Venue: arXiv cs.RO 2025
Year: 2025

Robotic-assisted minimally invasive surgery (RAMIS) requires precise enforcement of the remote center of motion (RCM) constraint to ensure safe tool manipulation through a trocar. Achieving this constraint under dynamic and interactive conditions remains challenging, as existing control methods either lack robustness at the torque level or do not guarantee consistent RCM constraint satisfaction. This paper proposes a constraint-consistent torque controller that treats the RCM as a rheonomic holonomic constraint and embeds it into a projection-based inverse-dynamics framework. The method unifies task-level and kinematic formulations, enabling accurate tool-tip tracking while maintaining smooth and efficient torque behavior. The controller is validated both in simulation and on a RAMIS training platform, and is benchmarked against state-of-the-art approaches. Results show improved RCM constraint satisfaction, reduced required torque, and robust performance by improving joint torque smoothness through the consistency formulation under clinically relevant scenarios, including spiral trajectories, variable insertion depths, moving trocars, and human interaction. These findings demonstrate the potential of constraint-consistent torque control to enhance safety and reliability in surgical robotics. The project page is available at: https://rcmpc-cube.github.io
Online Bayesian Risk-Averse Reinforcement Learning
Venue: arXiv cs.LG 2025
Year: 2025

In this paper, we study the Bayesian risk-averse formulation in reinforcement learning (RL). To address the epistemic uncertainty due to a lack of data, we adopt the Bayesian Risk Markov Decision Process (BRMDP) to account for the parameter uncertainty of the unknown underlying model. We derive the asymptotic normality that characterizes the difference between the Bayesian risk value function and the original value function under the true unknown distribution. The results indicate that the Bayesian risk-averse approach tends to pessimistically underestimate the original value function. This discrepancy increases with stronger risk aversion and decreases as more data become available. We then utilize this adaptive property in the setting of online RL as well as online contextual multi-arm bandits (CMAB), a special case of online RL. We provide two procedures using posterior sampling for both the general RL problem and the CMAB problem. We establish a sub-linear regret bound, with the regret defined as the conventional regret for both the RL and CMAB settings. Additionally, we establish a sub-linear regret bound for the CMAB setting with the regret defined as the Bayesian risk regret. Finally, we conduct numerical experiments to demonstrate the effectiveness of the proposed algorithm in addressing epistemic uncertainty and verifying the theoretical properties.
Metric Equational Theories
Venue: arXiv cs.LO 2025
Year: 2025

This paper proposes appropriate sound and complete proof systems for algebraic structures over metric spaces by combining the development of Quantitative Equational Theories (QET) with the Enriched Lawvere Theories. We extend QETs to Metric Equational Theories (METs) where operations no longer have finite sets as arities (as in QETs and the general theory of universal algebras), but arities are now drawn from countable metric spaces. This extension is inspired by the theory of Enriched Lawvere Theories, which suggests that the arities of operations should be the lambda-presentable objects of the underlying lambda-accessible category. In this setting, the validity of terms in METs can no longer be guaranteed independently of the validity of equations, as is the case with QET. We solve this problem, and adapt the sound and complete proof system for QETs to these more general METs, taking advantage of the specific structure of metric spaces.
The Cybersecurity of a Humanoid Robot
Venue: arXiv cs.CR 2025
Year: 2025

The rapid advancement of humanoid robotics presents unprecedented cybersecurity challenges that existing theoretical frameworks fail to adequately address. This report presents a comprehensive security assessment of a production humanoid robot platform, bridging the gap between abstract security models and operational vulnerabilities. Through systematic static analysis, runtime observation, and cryptographic examination, we uncovered a complex security landscape characterized by both sophisticated defensive mechanisms and critical vulnerabilities. Our findings reveal a dual-layer proprietary encryption system (designated FMX') that, while innovative in design, suffers from fundamental implementation flaws including the use of static cryptographic keys that enable offline configuration decryption. More significantly, we documented persistent telemetry connections transmitting detailed robot state information--including audio, visual, spatial, and actuator data--to external servers without explicit user consent or notification mechanisms. We operationalized a Cybersecurity AI agent on the Unitree G1 to map and prepare exploitation of its manufacturer's cloud infrastructure, illustrating how a compromised humanoid can escalate from covert data collection to active counter-offensive operations. We argue that securing humanoid robots requires a paradigm shift toward Cybersecurity AI (CAI) frameworks that can adapt to the unique challenges of physical-cyber convergence. This work contributes empirical evidence for developing robust security standards as humanoid robots transition from research curiosities to operational systems in critical domains.
CLAW: A Vision-Language-Action Framework for Weight-Aware Robotic Grasping
Venue: arXiv cs.RO 2025
Year: 2025

Vision-language-action (VLA) models have recently emerged as a promising paradigm for robotic control, enabling end-to-end policies that ground natural language instructions into visuomotor actions. However, current VLAs often struggle to satisfy precise task constraints, such as stopping based on numeric thresholds, since their observation-to-action mappings are implicitly shaped by training data and lack explicit mechanisms for condition monitoring. In this work, we propose CLAW (CLIP-Language-Action for Weight), a framework that decouples condition evaluation from action generation. CLAW leverages a fine-tuned CLIP model as a lightweight prompt generator, which continuously monitors the digital readout of a scale and produces discrete directives based on task-specific weight thresholds. These prompts are then consumed by $π_0$, a flow-based VLA policy, which integrates the prompts with multi-view camera observations to produce continuous robot actions. This design enables CLAW to combine symbolic weight reasoning with high-frequency visuomotor control. We validate CLAW on three experimental setups: single-object grasping and mixed-object tasks requiring dual-arm manipulation. Across all conditions, CLAW reliably executes weight-aware behaviors and outperforms both raw-$π_0$ and fine-tuned $π_0$ models. We have uploaded the videos as supplementary materials.
The meaning of prompts and the prompts of meaning: Semiotic reflections and modelling
Venue: arXiv cs.CL 2025
Year: 2025

This paper explores prompts and prompting in large language models (LLMs) as dynamic semiotic phenomena, drawing on Peirce's triadic model of signs, his nine sign types, and the Dynacom model of communication. The aim is to reconceptualize prompting not as a technical input mechanism but as a communicative and epistemic act involving an iterative process of sign formation, interpretation, and refinement. The theoretical foundation rests on Peirce's semiotics, particularly the interplay between representamen, object, and interpretant, and the typological richness of signs: qualisign, sinsign, legisign; icon, index, symbol; rheme, dicent, argument - alongside the interpretant triad captured in the Dynacom model. Analytically, the paper positions the LLM as a semiotic resource that generates interpretants in response to user prompts, thereby participating in meaning-making within shared universes of discourse. The findings suggest that prompting is a semiotic and communicative process that redefines how knowledge is organized, searched, interpreted, and co-constructed in digital environments. This perspective invites a reimagining of the theoretical and methodological foundations of knowledge organization and information seeking in the age of computational semiosis
LLM-JEPA: Large Language Models Meet Joint Embedding Predictive Architectures
Venue: arXiv cs.CL 2025
Year: 2025

Large Language Model (LLM) pretraining, finetuning, and evaluation rely on input-space reconstruction and generative capabilities. Yet, it has been observed in vision that embedding-space training objectives, e.g., with Joint Embedding Predictive Architectures (JEPAs), are far superior to their input-space counterpart. That mismatch in how training is achieved between language and vision opens up a natural question: {\em can language training methods learn a few tricks from the vision ones?} The lack of JEPA-style LLM is a testimony of the challenge in designing such objectives for language. In this work, we propose a first step in that direction where we develop LLM-JEPA, a JEPA based solution for LLMs applicable both to finetuning and pretraining. Thus far, LLM-JEPA is able to outperform the standard LLM training objectives by a significant margin across models, all while being robust to overfiting. Those findings are observed across numerous datasets (NL-RX, GSM8K, Spider, RottenTomatoes) and various models from the Llama3, OpenELM, Gemma2 and Olmo families. Code: https://github.com/rbalestr-lab/llm-jepa.
Hallucination Detection with the Internal Layers of LLMs
Venue: arXiv cs.CL 2025
Year: 2025

Large Language Models (LLMs) have succeeded in a variety of natural language processing tasks [Zha+25]. However, they have notable limitations. LLMs tend to generate hallucinations, a seemingly plausible yet factually unsupported output [Hua+24], which have serious real-world consequences [Kay23; Rum+24]. Recent work has shown that probing-based classifiers that utilize LLMs' internal representations can detect hallucinations [AM23; Bei+24; Bur+24; DYT24; Ji+24; SMZ24; Su+24]. This approach, since it does not involve model training, can enhance reliability without significantly increasing computational costs. Building upon this approach, this thesis proposed novel methods for hallucination detection using LLM internal representations and evaluated them across three benchmarks: TruthfulQA, HaluEval, and ReFact. Specifically, a new architecture that dynamically weights and combines internal LLM layers was developed to improve hallucination detection performance. Throughout extensive experiments, two key findings were obtained: First, the proposed approach was shown to achieve superior performance compared to traditional probing methods, though generalization across benchmarks and LLMs remains challenging. Second, these generalization limitations were demonstrated to be mitigated through cross-benchmark training and parameter freezing. While not consistently improving, both techniques yielded better performance on individual benchmarks and reduced performance degradation when transferred to other benchmarks. These findings open new avenues for improving LLM reliability through internal representation analysis.
Persuasive or Neutral? A Field Experiment on Generative AI in Online Travel Planning
Venue: arXiv cs.CL 2025
Year: 2025

Generative AI (GenAI) offers new opportunities for customer support in online travel agencies, yet little is known about how its design influences user engagement, purchase behavior, and user experience. We report results from a randomized field experiment in online travel itinerary planning, comparing GenAI that expressed (A) positive enthusiasm, (B) neutral expression, and (C) no tone instructions (control). Users in group A wrote significantly longer prompts than those in groups B and C. At the same time, users in groups A and B were more likely to purchase subscriptions of the webservice. We further analyze linguistic cues across experimental groups to explore differences in user experience and explain subscription purchases and affiliate link clicks based on these cues. Our findings provide implications for the design of persuasive and engaging GenAI interfaces in consumer-facing contexts and contribute to understanding how linguistic framing shapes user behavior in AI-mediated decision support.
Refining Syntactic Distinctions Using Decision Trees: A Paper on Postnominal 'That' in Complement vs. Relative Clauses
Venue: arXiv cs.CL 2025
Year: 2025

In this study, we first tested the performance of the TreeTagger English model developed by Helmut Schmid with test files at our disposal, using this model to analyze relative clauses and noun complement clauses in English. We distinguished between the two uses of "that," both as a relative pronoun and as a complementizer. To achieve this, we employed an algorithm to reannotate a corpus that had originally been parsed using the Universal Dependency framework with the EWT Treebank. In the next phase, we proposed an improved model by retraining TreeTagger and compared the newly trained model with Schmid's baseline model. This process allowed us to fine-tune the model's performance to more accurately capture the subtle distinctions in the use of "that" as a complementizer and as a nominal. We also examined the impact of varying the training dataset size on TreeTagger's accuracy and assessed the representativeness of the EWT Treebank files for the structures under investigation. Additionally, we analyzed some of the linguistic and structural factors influencing the ability to effectively learn this distinction.
Context-Enhanced Granular Edit Representation for Efficient and Accurate ASR Post-editing
Venue: arXiv cs.CL 2025
Year: 2025

Despite ASR technology being full-scale adopted by industry and for large portions of the population, ASR systems often have errors that require editors to post-edit text quality. While LLMs are powerful post-editing tools, baseline full rewrite models have inference inefficiencies because they often generate the same redundant text over and over again. Compact edit representations have existed but often lack the efficacy and context required for optimal accuracy. This paper introduces CEGER (Context-Enhanced Granular Edit Representation), a compact edit representation that was generated for highly accurate, efficient ASR post-editing. CEGER allows LLMs to generate a sequence of structured, fine-grained, contextually rich commands to modify the original ASR output. A separate expansion module deterministically reconstructs the corrected text based on the commands. Extensive experiments on the LibriSpeech dataset that were conducted, CEGER achieves state-of-the-art accuracy, achieving the lowest word error rate (WER) versus full rewrite and prior compact representations.
Towards Robust Agentic CUDA Kernel Benchmarking, Verification, and Optimization
Venue: arXiv cs.SE 2025
Year: 2025

Recent advances in large language models (LLMs) demonstrate their effectiveness in scaling test-time compute for software engineering tasks. However, these approaches often focus on high-level solutions, with limited attention to optimizing low-level CUDA kernel implementations. Additionally, existing kernel generation benchmarks suffer from exploitable loopholes and insufficient diversity in testing conditions, hindering true generalization assessment. To address these limitations, we introduce robust-kbench, a new benchmark for rigorous evaluation of kernel performance and correctness across varied scenarios. Furthermore, we present a comprehensive agentic framework that automates CUDA kernel discovery, verification, and optimization. This pipeline enables frontier LLMs to translate torch code to CUDA kernels and iteratively improve their runtime within our robust evaluation setting. Our sequential workflow first translates PyTorch code into equivalent CUDA kernels. It then optimizes their runtime using a novel evolutionary meta-generation procedure tailored to the CUDA ecosystem, guided by LLM-based verifiers for correctness and efficient filtering. Evaluated on robust-kbench, our approach produces CUDA kernels outperforming torch implementations for practical applications, including forward and backward passes. It can fuse operations and deploy various runtime optimization strategies. The verifier workflow accurately classifies incorrect kernels, enhancing hardware verification efficiency.
SCoGen: Scenario-Centric Graph-Based Synthesis of Real-World Code Problems
Venue: arXiv cs.SE 2025
Year: 2025

Significant advancements have been made in the capabilities of code large language models, leading to their rapid adoption and application across a wide range of domains. However, their further advancements are often constrained by the scarcity of real-world coding problems. To bridge this gap, we propose a novel framework for synthesizing code problems that emulate authentic real-world scenarios. This framework systematically integrates domain knowledge, domain skills, and coding skills, all of which are meticulously extracted from real-world programming-related datasets, including Stack Overflow and Kaggle. The extracted elements serve as the foundational building blocks for constructing code problems. To align the generated problems with practical applications, application scenarios are also mined from the aforementioned datasets. These scenarios are then utilized to construct a scenario-centric graph that interconnects domain knowledge, domain skills, and coding skills. Based on this structured representation, a sampling strategy on the graph is designed, which effectively controls the generation of a code problem with complexity and diversity, reflects real-world challenges. Experimental results demonstrate that the proposed method consistently achieves superior performance over state-of-the-art open-source large language models of varying sizes and functionalities, including both coders and general-purpose models, across a diverse set of real-world benchmarks.
From Capabilities to Performance: Evaluating Key Functional Properties of LLM Architectures in Penetration Testing
Venue: arXiv cs.AI 2025
Year: 2025

Large language models (LLMs) are increasingly used to automate or augment penetration testing, but their effectiveness and reliability across attack phases remain unclear. We present a comprehensive evaluation of multiple LLM-based agents, from single-agent to modular designs, across realistic penetration testing scenarios, measuring empirical performance and recurring failure patterns. We also isolate the impact of five core functional capabilities via targeted augmentations: Global Context Memory (GCM), Inter-Agent Messaging (IAM), Context-Conditioned Invocation (CCI), Adaptive Planning (AP), and Real-Time Monitoring (RTM). These interventions support, respectively: (i) context coherence and retention, (ii) inter-component coordination and state management, (iii) tool use accuracy and selective execution, (iv) multi-step strategic planning, error detection, and recovery, and (v) real-time dynamic responsiveness. Our results show that while some architectures natively exhibit subsets of these properties, targeted augmentations substantially improve modular agent performance, especially in complex, multi-step, and real-time penetration testing tasks.
Beyond Classification: Evaluating LLMs for Fine-Grained Automatic Malware Behavior Auditing
Venue: arXiv cs.CR 2025
Year: 2025

Automated malware classification has achieved strong detection performance. Yet, malware behavior auditing seeks causal and verifiable explanations of malicious activities -- essential not only to reveal what malware does but also to substantiate such claims with evidence. This task is challenging, as adversarial intent is often hidden within complex, framework-heavy applications, making manual auditing slow and costly. Large Language Models (LLMs) could help address this gap, but their auditing potential remains largely unexplored due to three limitations: (1) scarce fine-grained annotations for fair assessment; (2) abundant benign code obscuring malicious signals; and (3) unverifiable, hallucination-prone outputs undermining attribution credibility. To close this gap, we introduce MalEval, a comprehensive framework for fine-grained Android malware auditing, designed to evaluate how effectively LLMs support auditing under real-world constraints. MalEval provides expert-verified reports and an updated sensitive API list to mitigate ground truth scarcity and reduce noise via static reachability analysis. Function-level structural representations serve as intermediate attribution units for verifiable evaluation. Building on this, we define four analyst-aligned tasks -- function prioritization, evidence attribution, behavior synthesis, and sample discrimination -- together with domain-specific metrics and a unified workload-oriented score. We evaluate seven widely used LLMs on a curated dataset of recent malware and misclassified benign apps, offering the first systematic assessment of their auditing capabilities. MalEval reveals both promising potential and critical limitations across audit stages, providing a reproducible benchmark and foundation for future research on LLM-enhanced malware behavior auditing. MalEval is publicly available at https://github.com/ZhengXR930/MalEval.git
Overview of the TREC 2024 NeuCLIR Track
Venue: arXiv cs.IR 2025
Year: 2025

The principal goal of the TREC Neural Cross-Language Information Retrieval (NeuCLIR) track is to study the effect of neural approaches on cross-language information access. The track has created test collections containing Chinese, Persian, and Russian news stories and Chinese academic abstracts. NeuCLIR includes four task types: Cross-Language Information Retrieval (CLIR) from news, Multilingual Information Retrieval (MLIR) from news, Report Generation from news, and CLIR from technical documents. A total of 274 runs were submitted by five participating teams (and as baselines by the track coordinators) for eight tasks across these four task types. Task descriptions and the available results are presented.