OpenRaiser/Intern-Atlas huggingface dataset:
DAVSP: Safety Alignment for Large Vision-Language Models via Deep Aligned Visual Safety Prompt
Venue: arXiv cs.CR 2025
Year: 2025

Large Vision-Language Models (LVLMs) have achieved impressive progress across various applications but remain vulnerable to malicious queries that exploit the visual modality. Existing alignment approaches typically fail to resist malicious queries while preserving utility on benign ones effectively. To address these challenges, we propose Deep Aligned Visual Safety Prompt (DAVSP), which is built upon two key innovations. First, we introduce the Visual Safety Prompt, which appends a trainable padding region around the input image. It preserves visual features and expands the optimization space. Second, we propose Deep Alignment, a novel approach to train the visual safety prompt through supervision in the model's activation space. It enhances the inherent ability of LVLMs to perceive malicious queries, achieving deeper alignment than prior works. Extensive experiments across five benchmarks on two representative LVLMs demonstrate that DAVSP effectively resists malicious queries while preserving benign input utility. Furthermore, DAVSP exhibits great cross-model generation ability. Ablation studies further reveal that both the Visual Safety Prompt and Deep Alignment are essential components, jointly contributing to its overall effectiveness. The code is publicly available at https://github.com/zhangyitonggg/DAVSP.
Bipedal Balance Control with Whole-body Musculoskeletal Standing and Falling Simulations
Venue: arXiv cs.RO 2025
Year: 2025

Balance control is important for human and bipedal robotic systems. While dynamic balance during locomotion has received considerable attention, quantitative understanding of static balance and falling remains limited. This work presents a hierarchical control pipeline for simulating human balance via a comprehensive whole-body musculoskeletal system. We identified spatiotemporal dynamics of balancing during stable standing, revealed the impact of muscle injury on balancing behavior, and generated fall contact patterns that aligned with clinical data. Furthermore, our simulated hip exoskeleton assistance demonstrated improvement in balance maintenance and reduced muscle effort under perturbation. This work offers unique muscle-level insights into human balance dynamics that are challenging to capture experimentally. It could provide a foundation for developing targeted interventions for individuals with balance impairments and support the advancement of humanoid robotic systems.
Scoop-and-Toss: Dynamic Object Collection for Quadrupedal Systems
Venue: arXiv cs.RO 2025
Year: 2025

Quadruped robots have made significant advances in locomotion, extending their capabilities from controlled environments to real-world applications. Beyond movement, recent work has explored loco-manipulation using the legs to perform tasks such as pressing buttons or opening doors. While these efforts demonstrate the feasibility of leg-based manipulation, most have focused on relatively static tasks. In this work, we propose a framework that enables quadruped robots to collect objects without additional actuators by leveraging the agility of their legs. By attaching a simple scoop-like add-on to one leg, the robot can scoop objects and toss them into a collection tray mounted on its back. Our method employs a hierarchical policy structure comprising two expert policies-one for scooping and tossing, and one for approaching object positions-and a meta-policy that dynamically switches between them. The expert policies are trained separately, followed by meta-policy training for coordinated multi-object collection. This approach demonstrates how quadruped legs can be effectively utilized for dynamic object manipulation, expanding their role beyond locomotion.
MAGMaR Shared Task System Description: Video Retrieval with OmniEmbed
Venue: arXiv cs.IR 2025
Year: 2025

Effective video retrieval remains challenging due to the complexity of integrating visual, auditory, and textual modalities. In this paper, we explore unified retrieval methods using OmniEmbed, a powerful multimodal embedding model from the Tevatron 2.0 toolkit, in the context of the MAGMaR shared task. Evaluated on the comprehensive MultiVENT 2.0 dataset, OmniEmbed generates unified embeddings for text, images, audio, and video, enabling robust multimodal retrieval. By finetuning OmniEmbed with the combined multimodal data--visual frames, audio tracks, and textual descriptions provided in MultiVENT 2.0, we achieve substantial improvements in complex, multilingual video retrieval tasks. Our submission achieved the highest score on the MAGMaR shared task leaderboard among public submissions as of May 20th, 2025, highlighting the practical effectiveness of our unified multimodal retrieval approach. Model checkpoint in this work is opensourced.
Exploiting Control-flow Enforcement Technology for Sound and Precise Static Binary Disassembly
Venue: arXiv cs.AR 2025
Year: 2025

Rewriting x86_64 binaries-whether for security hardening, dynamic instrumentation, or performance profiling is notoriously difficult due to variable-length instructions, interleaved code and data, and indirect jumps to arbitrary byte offsets. Existing solutions (e.g., "superset disassembly") ensure soundness but incur significant overhead and produce large rewritten binaries, especially for on-the-fly instrumentation. This paper addresses these challenges by introducing the Time Variance Authority (TVA), which leverages Intel's Control-Flow Enforcement Technology (CET). By recognizing endbr64 as the only valid indirect jump target, TVA prunes spurious disassembly paths while preserving soundness and emulates CET constraints on processors lacking native CET support, effectively mitigating ROP/JOP exploits without new hardware. We implement TVA by modernizing the Multiverse rewriter for 64-bit Linux. Our evaluation on SPEC CPU2017 and real-world applications shows that TVA-guided rewriting achieves up to 1.3x faster instrumentation time. These results underscore TVA's feasibility as a high-performance, uprobes-free alternative for robust x86_64 binary analysis and rewriting.
Mitigating Spurious Correlations in LLMs via Causality-Aware Post-Training
Venue: arXiv cs.LG 2025
Year: 2025

While large language models (LLMs) have demonstrated remarkable capabilities in language modeling, recent studies reveal that they often fail on out-of-distribution (OOD) samples due to spurious correlations acquired during pre-training. Here, we aim to mitigate such spurious correlations through causality-aware post-training (CAPT). By decomposing a biased prediction into two unbiased steps, known as \textit{event estimation} and \textit{event intervention}, we reduce LLMs' pre-training biases without incurring additional fine-tuning biases, thus enhancing the model's generalization ability. Experiments on the formal causal inference benchmark CLadder and the logical reasoning dataset PrOntoQA show that 3B-scale language models fine-tuned with CAPT can outperform both traditional SFT and larger LLMs on in-distribution (ID) and OOD tasks using only 100 ID fine-tuning samples, demonstrating the effectiveness and sample efficiency of CAPT.
Design of an innovative robotic surgical instrument for circular stapling
Venue: arXiv cs.RO 2025
Year: 2025

Esophageal cancer remains a highly aggressive malignancy with low survival rates, requiring advanced surgical interventions like esophagectomy. Traditional manual techniques, including circular staplers, face challenges such as limited precision, prolonged recovery times, and complications like leaks and tissue misalignment. This paper presents a novel robotic circular stapler designed to enhance the dexterity in confined spaces, improve tissue alignment, and reduce post-operative risks. Integrated with a cognitive robot that serves as a surgeon's assistant, the surgical stapler uses three actuators to perform anvil motion, cutter/stapler motion and allows a 75-degree bending of the cartridge (distal tip). Kinematic analysis is used to compute the stapler tip's position, ensuring synchronization with a robotic system.
NDCG-Consistent Softmax Approximation with Accelerated Convergence
Venue: arXiv cs.LG 2025
Year: 2025

Ranking tasks constitute fundamental components of extreme similarity learning frameworks, where extremely large corpora of objects are modeled through relative similarity relationships adhering to predefined ordinal structures. Among various ranking surrogates, Softmax (SM) Loss has been widely adopted due to its natural capability to handle listwise ranking via global negative comparisons, along with its flexibility across diverse application scenarios. However, despite its effectiveness, SM Loss often suffers from significant computational overhead and scalability limitations when applied to large-scale object spaces. To address this challenge, we propose novel loss formulations that align directly with ranking metrics: the Ranking-Generalizable \textbf{squared} (RG$^2$) Loss and the Ranking-Generalizable interactive (RG$^\times$) Loss, both derived through Taylor expansions of the SM Loss. Notably, RG$^2$ reveals the intrinsic mechanisms underlying weighted squared losses (WSL) in ranking methods and uncovers fundamental connections between sampling-based and non-sampling-based loss paradigms. Furthermore, we integrate the proposed RG losses with the highly efficient Alternating Least Squares (ALS) optimization method, providing both generalization guarantees and convergence rate analyses. Empirical evaluations on real-world datasets demonstrate that our approach achieves comparable or superior ranking performance relative to SM Loss, while significantly accelerating convergence. This framework offers the similarity learning community both theoretical insights and practically efficient tools, with methodologies applicable to a broad range of tasks where balancing ranking quality and computational efficiency is essential.
Open-Set Domain Generalization through Spectral-Spatial Uncertainty Disentanglement for Hyperspectral Image Classification
Venue: arXiv cs.CV 2025
Year: 2025

Open-set domain generalization (OSDG) tackles the dual challenge of recognizing unknown classes while simultaneously striving to generalize across unseen domains without using target data during training. In this article, an OSDG framework for hyperspectral image classification is proposed, centered on a new Spectral-Spatial Uncertainty Disentanglement mechanism. It has been designed to address the domain shift influencing both spectral, spatial and combined feature extraction pathways using evidential deep learning, after which the most reliable pathway for each sample is adaptively selected. The proposed framework is further integrated with frequency-domain feature extraction for domain-invariant representation learning, dual-channel residual networks for spectral-spatial feature extraction, and evidential deep learning based uncertainty quantification. Experiments conducted on three cross scene hyperspectral datasets, show that performance comparable to state-of-the-art domain adaptation methods can be achieved despite no access to target data, while high unknown-class rejection and known-class accuracy levels are maintained. The implementation will be available at github.com/amir-khb/UGOSDG upon acceptance.
Situated Bayes -- Feminist and Pluriversal Perspectives on Bayesian Knowledge
Venue: arXiv cs.CY 2025
Year: 2025

This is the introduction and lead article to the Situated Bayes special issue of Computational Culture. The article introduces Bayes' Theorem and aspects of its contemporary uses, for instance in machine learning. A mathematical discussion is developed alongside a consideration of Bayes Theorem in relation to critical theories of knowledge, specifically the discussion of situated knowledge in feminist theories of science, pluriversal knowledge in decolonial theory, and critical approaches to mathematics. We discuss whether there are possible resonances between Bayesian mapping of multiple functions and the idea of the subjective on the one hand and these theoretical propositions on the other and propose further lines of enquiry for future research. In closing the introduction, the contributions to the special issue are briefly described.
TinySplat: Feedforward Approach for Generating Compact 3D Scene Representation
Venue: arXiv cs.CV 2025
Year: 2025

The recent development of feedforward 3D Gaussian Splatting (3DGS) presents a new paradigm to reconstruct 3D scenes. Using neural networks trained on large-scale multi-view datasets, it can directly infer 3DGS representations from sparse input views. Although the feedforward approach achieves high reconstruction speed, it still suffers from the substantial storage cost of 3D Gaussians. Existing 3DGS compression methods relying on scene-wise optimization are not applicable due to architectural incompatibilities. To overcome this limitation, we propose TinySplat, a complete feedforward approach for generating compact 3D scene representations. Built upon standard feedforward 3DGS methods, TinySplat integrates a training-free compression framework that systematically eliminates key sources of redundancy. Specifically, we introduce View-Projection Transformation (VPT) to reduce geometric redundancy by projecting geometric parameters into a more compact space. We further present Visibility-Aware Basis Reduction (VABR), which mitigates perceptual redundancy by aligning feature energy along dominant viewing directions via basis transformation. Lastly, spatial redundancy is addressed through an off-the-shelf video codec. Comprehensive experimental results on multiple benchmark datasets demonstrate that TinySplat achieves over 100x compression for 3D Gaussian data generated by feedforward methods. Compared to the state-of-the-art compression approach, we achieve comparable quality with only 6% of the storage size. Meanwhile, our compression framework requires only 25% of the encoding time and 1% of the decoding time.
Revisit What You See: Disclose Language Prior in Vision Tokens for LVLM Decoding
Venue: arXiv cs.CV 2025
Year: 2025

Large Vision-Language Models (LVLMs) achieve strong performance across multimodal tasks by integrating visual perception with language understanding. However, how vision information contributes to the model's decoding process remains under-explored, as reflected in frequent hallucinations. Through a series of analyses, we found that (i) vision tokens provide meaningful visual information even when hallucinations occur, and (ii) their semantics are encoded in the textual space and become explicit under appropriate vocabulary constraints. Building on these observations, we propose ReVisiT, a simple training-free decoding method that references vision tokens to guide text generation. Our approach leverages the semantic information embedded within vision tokens by projecting them into the text token distribution. Specifically, ReVisiT dynamically selects the most relevant vision token at each decoding step via context-aware constrained divergence minimization, and using its constrained projection to refine the output distribution to better incorporate visual semantics. Across five benchmarks on recent LVLMs, ReVisiT consistently enhances visual grounding with minimal computational overhead, and achieves competitive or superior results to state-of-the-art decoding baselines while reducing computational cost by up to $2\times$.
Beyond Personalization: Federated Recommendation with Calibration via Low-rank Decomposition
Venue: arXiv cs.CR 2025
Year: 2025

Federated recommendation (FR) is a promising paradigm to protect user privacy in recommender systems. Distinct from general federated scenarios, FR inherently needs to preserve client-specific parameters, i.e., user embeddings, for privacy and personalization. However, we empirically find that globally aggregated item embeddings can induce skew in user embeddings, resulting in suboptimal performance. To this end, we theoretically analyze the user embedding skew issue and propose Personalized Federated recommendation with Calibration via Low-Rank decomposition (PFedCLR). Specifically, PFedCLR introduces an integrated dual-function mechanism, implemented with a buffer matrix, to jointly calibrate local user embedding and personalize global item embeddings. To ensure efficiency, we employ a low-rank decomposition of the buffer matrix to reduce the model overhead. Furthermore, for privacy, we train and upload the local model before personalization, preventing the server from accessing sensitive information. Extensive experiments demonstrate that PFedCLR effectively mitigates user embedding skew and achieves a desirable trade-off among performance, efficiency, and privacy, outperforming state-of-the-art (SOTA) methods.
Athena: Enhancing Multimodal Reasoning with Data-efficient Process Reward Models
Venue: arXiv cs.LG 2025
Year: 2025

We present Athena-PRM, a multimodal process reward model (PRM) designed to evaluate the reward score for each step in solving complex reasoning problems. Developing high-performance PRMs typically demands significant time and financial investment, primarily due to the necessity for step-level annotations of reasoning steps. Conventional automated labeling methods, such as Monte Carlo estimation, often produce noisy labels and incur substantial computational costs. To efficiently generate high-quality process-labeled data, we propose leveraging prediction consistency between weak and strong completers as a criterion for identifying reliable process labels. Remarkably, Athena-PRM demonstrates outstanding effectiveness across various scenarios and benchmarks with just 5,000 samples. Furthermore, we also develop two effective strategies to improve the performance of PRMs: ORM initialization and up-sampling for negative data. We validate our approach in three specific scenarios: verification for test time scaling, direct evaluation of reasoning step correctness, and reward ranked fine-tuning. Our Athena-PRM consistently achieves superior performance across multiple benchmarks and scenarios. Notably, when using Qwen2.5-VL-7B as the policy model, Athena-PRM enhances performance by 10.2 points on WeMath and 7.1 points on MathVista for test time scaling. Furthermore, Athena-PRM sets the state-of-the-art (SoTA) results in VisualProcessBench and outperforms the previous SoTA by 3.9 F1-score, showcasing its robust capability to accurately assess the correctness of the reasoning step. Additionally, utilizing Athena-PRM as the reward model, we develop Athena-7B with reward ranked fine-tuning and outperforms baseline with a significant margin on five benchmarks.
Identity and Access Management for the Computing Continuum
Venue: arXiv cs.CR 2025
Year: 2025

The computing continuum introduces new challenges for access control due to its dynamic, distributed, and heterogeneous nature. In this paper, we propose a Zero-Trust (ZT) access control solution that leverages decentralized identification and authentication mechanisms based on Decentralized Identifiers (DIDs) and Verifiable Credentials (VCs). Additionally, we employ Relationship-Based Access Control (ReBAC) to define policies that capture the evolving trust relationships inherent in the continuum. Through a proof-of-concept implementation, we demonstrate the feasibility and efficiency of our solution, highlighting its potential to enhance security and trust in decentralized environments.
TooBadRL: Trigger Optimization to Boost Effectiveness of Backdoor Attacks on Deep Reinforcement Learning
Venue: arXiv cs.CR 2025
Year: 2025

Deep reinforcement learning (DRL) has achieved remarkable success in a wide range of sequential decision-making applications, including robotics, healthcare, smart grids, and finance. Recent studies reveal that adversaries can implant backdoors into DRL agents during the training phase. These backdoors can later be activated by specific triggers during deployment, compelling the agent to execute targeted actions and potentially leading to severe consequences, such as drone crashes or vehicle collisions. However, existing backdoor attacks utilize simplistic and heuristic trigger configurations, overlooking the critical impact of trigger design on attack effectiveness. To address this gap, we introduce TooBadRL, the first framework to systematically optimize DRL backdoor triggers across three critical aspects: injection timing, trigger dimension, and manipulation magnitude. Specifically, we first introduce a performance-aware adaptive freezing mechanism to determine the injection timing during training. Then, we formulate trigger selection as an influence attribution problem and apply Shapley value analysis to identify the most influential trigger dimension for injection. Furthermore, we propose an adversarial input synthesis method to optimize the manipulation magnitude under environmental constraints. Extensive evaluations on three DRL algorithms and nine benchmark tasks demonstrate that TooBadRL outperforms five baseline methods in terms of attack success rate while only slightly affecting normal task performance. We further evaluate potential defense strategies from detection and mitigation perspectives. We open-source our code to facilitate reproducibility and further research.
From Symbolic to Neural and Back: Exploring Knowledge Graph-Large Language Model Synergies
Venue: arXiv cs.CL 2025
Year: 2025

Integrating structured knowledge from Knowledge Graphs (KGs) into Large Language Models (LLMs) enhances factual grounding and reasoning capabilities. This survey paper systematically examines the synergy between KGs and LLMs, categorizing existing approaches into two main groups: KG-enhanced LLMs, which improve reasoning, reduce hallucinations, and enable complex question answering; and LLM-augmented KGs, which facilitate KG construction, completion, and querying. Through comprehensive analysis, we identify critical gaps and highlight the mutual benefits of structured knowledge integration. Compared to existing surveys, our study uniquely emphasizes scalability, computational efficiency, and data quality. Finally, we propose future research directions, including neuro-symbolic integration, dynamic KG updating, data reliability, and ethical considerations, paving the way for intelligent systems capable of managing more complex real-world knowledge tasks.
Accelerating Large-Scale Regularized High-Order Tensor Recovery
Venue: arXiv cs.LG 2025
Year: 2025

Currently, existing tensor recovery methods fail to recognize the impact of tensor scale variations on their structural characteristics. Furthermore, existing studies face prohibitive computational costs when dealing with large-scale high-order tensor data. To alleviate these issue, assisted by the Krylov subspace iteration, block Lanczos bidiagonalization process, and random projection strategies, this article first devises two fast and accurate randomized algorithms for low-rank tensor approximation (LRTA) problem. Theoretical bounds on the accuracy of the approximation error estimate are established. Next, we develop a novel generalized nonconvex modeling framework tailored to large-scale tensor recovery, in which a new regularization paradigm is exploited to achieve insightful prior representation for large-scale tensors. On the basis of the above, we further investigate new unified nonconvex models and efficient optimization algorithms, respectively, for several typical high-order tensor recovery tasks in unquantized and quantized situations. To render the proposed algorithms practical and efficient for large-scale tensor data, the proposed randomized LRTA schemes are integrated into their central and time-intensive computations. Finally, we conduct extensive experiments on various large-scale tensors, whose results demonstrate the practicability, effectiveness and superiority of the proposed method in comparison with some state-of-the-art approaches.