OpenRaiser/Intern-Atlas huggingface dataset:
Semantics-aware Predictive Inspection Path Planning
Venue: arXiv cs.RO 2025
Year: 2025

This paper presents a novel semantics-aware inspection path planning paradigm called "Semantics-aware Predictive Planning" (SPP). Industrial environments that require the inspection of specific objects or structures (called "semantics"), such as ballast water tanks inside ships, often present structured and repetitive spatial arrangements of the semantics of interest. Motivated by this, we first contribute an algorithm that identifies spatially repeating patterns of semantics - exact or inexact - in a semantic scene graph representation and makes predictions about the evolution of the graph in the unseen parts of the environment using these patterns. Furthermore, two inspection path planning strategies, tailored to ballast water tank inspection, that exploit these predictions are proposed. To assess the performance of the novel predictive planning paradigm, both simulation and experimental evaluations are performed. First, we conduct a simulation study comparing the method against relevant state-of-the-art techniques and further present tests showing its ability to handle imperfect patterns. Second, we deploy our method onboard a collision-tolerant aerial robot operating inside the ballast tanks of two real ships. The results, both in simulation and field experiments, demonstrate significant improvement over the state-of-the-art in terms of inspection time while maintaining equal or better semantic surface coverage. A set of videos describing the different parts of the method and the field deployments is available at https://tinyurl.com/spp-videos. The code for this work is made available at https://github.com/ntnu-arl/predictive_planning_ros.
Securing Traffic Sign Recognition Systems in Autonomous Vehicles
Venue: arXiv cs.CV 2025
Year: 2025

Deep Neural Networks (DNNs) are widely used for traffic sign recognition because they can automatically extract high-level features from images. These DNNs are trained on large-scale datasets obtained from unknown sources. Therefore, it is important to ensure that the models remain secure and are not compromised or poisoned during training. In this paper, we investigate the robustness of DNNs trained for traffic sign recognition. First, we perform the error-minimizing attacks on DNNs used for traffic sign recognition by adding imperceptible perturbations on training data. Then, we propose a data augmentation-based training method to mitigate the error-minimizing attacks. The proposed training method utilizes nonlinear transformations to disrupt the perturbations and improve the model robustness. We experiment with two well-known traffic sign datasets to demonstrate the severity of the attack and the effectiveness of our mitigation scheme. The error-minimizing attacks reduce the prediction accuracy of the DNNs from 99.90% to 10.6%. However, our mitigation scheme successfully restores the prediction accuracy to 96.05%. Moreover, our approach outperforms adversarial training in mitigating the error-minimizing attacks. Furthermore, we propose a detection model capable of identifying poisoned data even when the perturbations are imperceptible to human inspection. Our detection model achieves a success rate of over 99% in identifying the attack. This research highlights the need to employ advanced training methods for DNNs in traffic sign recognition systems to mitigate the effects of data poisoning attacks.
The Optimization Paradox in Clinical AI Multi-Agent Systems
Venue: arXiv cs.AI 2025
Year: 2025

Multi-agent artificial intelligence systems are increasingly deployed in clinical settings, yet the relationship between component-level optimization and system-wide performance remains poorly understood. We evaluated this relationship using 2,400 real patient cases from the MIMIC-CDM dataset across four abdominal pathologies (appendicitis, pancreatitis, cholecystitis, diverticulitis), decomposing clinical diagnosis into information gathering, interpretation, and differential diagnosis. We evaluated single agent systems (one model performing all tasks) against multi-agent systems (specialized models for each task) using comprehensive metrics spanning diagnostic outcomes, process adherence, and cost efficiency. Our results reveal a paradox: while multi-agent systems generally outperformed single agents, the component-optimized or Best of Breed system with superior components and excellent process metrics (85.5% information accuracy) significantly underperformed in diagnostic accuracy (67.7% vs. 77.4% for a top multi-agent system). This finding underscores that successful integration of AI in healthcare requires not just component level optimization but also attention to information flow and compatibility between agents. Our findings highlight the need for end to end system validation rather than relying on component metrics alone.
Interpretable Depression Detection from Social Media Text Using LLM-Derived Embeddings
Venue: arXiv cs.CL 2025
Year: 2025

Accurate and interpretable detection of depressive language in social media is useful for early interventions of mental health conditions, and has important implications for both clinical practice and broader public health efforts. In this paper, we investigate the performance of large language models (LLMs) and traditional machine learning classifiers across three classification tasks involving social media data: binary depression classification, depression severity classification, and differential diagnosis classification among depression, PTSD, and anxiety. Our study compares zero-shot LLMs with supervised classifiers trained on both conventional text embeddings and LLM-generated summary embeddings. Our experiments reveal that while zero-shot LLMs demonstrate strong generalization capabilities in binary classification, they struggle with fine-grained ordinal classifications. In contrast, classifiers trained on summary embeddings generated by LLMs demonstrate competitive, and in some cases superior, performance on the classification tasks, particularly when compared to models using traditional text embeddings. Our findings demonstrate the strengths of LLMs in mental health prediction, and suggest promising directions for better utilization of their zero-shot capabilities and context-aware summarization techniques.
BriefMe: A Legal NLP Benchmark for Assisting with Legal Briefs
Venue: arXiv cs.CL 2025
Year: 2025

A core part of legal work that has been under-explored in Legal NLP is the writing and editing of legal briefs. This requires not only a thorough understanding of the law of a jurisdiction, from judgments to statutes, but also the ability to make new arguments to try to expand the law in a new direction and make novel and creative arguments that are persuasive to judges. To capture and evaluate these legal skills in language models, we introduce BRIEFME, a new dataset focused on legal briefs. It contains three tasks for language models to assist legal professionals in writing briefs: argument summarization, argument completion, and case retrieval. In this work, we describe the creation of these tasks, analyze them, and show how current models perform. We see that today's large language models (LLMs) are already quite good at the summarization and guided completion tasks, even beating human-generated headings. Yet, they perform poorly on other tasks in our benchmark: realistic argument completion and retrieving relevant legal cases. We hope this dataset encourages more development in Legal NLP in ways that will specifically aid people in performing legal work.
QuantMCP: Grounding Large Language Models in Verifiable Financial Reality
Venue: arXiv cs.CE 2025
Year: 2025

Large Language Models (LLMs) hold immense promise for revolutionizing financial analysis and decision-making, yet their direct application is often hampered by issues of data hallucination and lack of access to real-time, verifiable financial information. This paper introduces QuantMCP, a novel framework designed to rigorously ground LLMs in financial reality. By leveraging the Model Context Protocol (MCP) for standardized and secure tool invocation, QuantMCP enables LLMs to accurately interface with a diverse array of Python-accessible financial data APIs (e.g., Wind, yfinance). Users can interact via natural language to precisely retrieve up-to-date financial data, thereby overcoming LLM's inherent limitations in factual data recall. More critically, once furnished with this verified, structured data, the LLM's analytical capabilities are unlocked, empowering it to perform sophisticated data interpretation, generate insights, and ultimately support more informed financial decision-making processes. QuantMCP provides a robust, extensible, and secure bridge between conversational AI and the complex world of financial data, aiming to enhance both the reliability and the analytical depth of LLM applications in finance.
Curriculum Reinforcement Learning from Easy to Hard Tasks Improves LLM Reasoning
Venue: arXiv cs.LG 2025
Year: 2025

We aim to improve the reasoning capabilities of language models via reinforcement learning (RL). Recent RL post-trained models like DeepSeek-R1 have demonstrated reasoning abilities on mathematical and coding tasks. However, prior studies suggest that using RL alone to improve reasoning on inherently difficult tasks is less effective. Here, we draw inspiration from curriculum learning and propose to schedule tasks from easy to hard (E2H), allowing LLMs to build reasoning skills gradually. Our method is termed E2H Reasoner. Empirically, we observe that, although easy tasks are important initially, fading them out through appropriate scheduling is essential in preventing overfitting. Theoretically, we establish convergence guarantees for E2H Reasoner within an approximate policy iteration framework. We derive finite-sample complexity bounds and show that when tasks are appropriately decomposed and conditioned, learning through curriculum stages requires fewer total samples than direct learning. Experiments across multiple domains show that E2H Reasoner significantly improves the reasoning ability of small LLMs (1.5B to 3B), which otherwise struggle when trained with vanilla RL alone, highlighting the effectiveness of our method. Our code can be found on https://github.com/divelab/E2H-Reasoning.
RoboCerebra: A Large-scale Benchmark for Long-horizon Robotic Manipulation Evaluation
Venue: arXiv cs.RO 2025
Year: 2025

Recent advances in vision-language models (VLMs) have enabled instruction-conditioned robotic systems with improved generalization. However, most existing work focuses on reactive System 1 policies, underutilizing VLMs' strengths in semantic reasoning and long-horizon planning. These System 2 capabilities-characterized by deliberative, goal-directed thinking-remain under explored due to the limited temporal scale and structural complexity of current benchmarks. To address this gap, we introduce RoboCerebra, a benchmark for evaluating high-level reasoning in long-horizon robotic manipulation. RoboCerebra includes: (1) a large-scale simulation dataset with extended task horizons and diverse subtask sequences in household environments; (2) a hierarchical framework combining a high-level VLM planner with a low-level vision-language-action (VLA) controller; and (3) an evaluation protocol targeting planning, reflection, and memory through structured System 1-System 2 interaction. The dataset is constructed via a top-down pipeline, where GPT generates task instructions and decomposes them into subtask sequences. Human operators execute the subtasks in simulation, yielding high-quality trajectories with dynamic object variations. Compared to prior benchmarks, RoboCerebra features significantly longer action sequences and denser annotations. We further benchmark state-of-the-art VLMs as System 2 modules and analyze their performance across key cognitive dimensions, advancing the development of more capable and generalizable robotic planners.
MarginSel : Max-Margin Demonstration Selection for LLMs
Venue: arXiv cs.LG 2025
Year: 2025

Large Language Models (LLMs) excel at few-shot learning via in-context learning (ICL). However, the effectiveness of ICL is often sensitive to the selection and ordering of demonstration examples. To address this, we present MarginSel: Max-Margin Demonstration Selection for LLMs, a two-step method that selects hard demonstration examples for the ICL prompt, adapting to each test instance. Our approach achieves 2-7% absolute improvement in F1-score across classification tasks, compared to a random selection of examples. We also provide theoretical insights and empirical evidence showing that MarginSel induces max-margin behavior in LLMs by effectively increasing the margin for hard examples, analogous to support vectors, thereby shifting the decision boundary in a beneficial direction.
Do Protein Transformers Have Biological Intelligence?
Venue: arXiv cs.LG 2025
Year: 2025

Deep neural networks, particularly Transformers, have been widely adopted for predicting the functional properties of proteins. In this work, we focus on exploring whether Protein Transformers can capture biological intelligence among protein sequences. To achieve our goal, we first introduce a protein function dataset, namely Protein-FN, providing over 9000 protein data with meaningful labels. Second, we devise a new Transformer architecture, namely Sequence Protein Transformers (SPT), for computationally efficient protein function predictions. Third, we develop a novel Explainable Artificial Intelligence (XAI) technique called Sequence Score, which can efficiently interpret the decision-making processes of protein models, thereby overcoming the difficulty of deciphering biological intelligence bided in Protein Transformers. Remarkably, even our smallest SPT-Tiny model, which contains only 5.4M parameters, demonstrates impressive predictive accuracy, achieving 94.3% on the Antibiotic Resistance (AR) dataset and 99.6% on the Protein-FN dataset, all accomplished by training from scratch. Besides, our Sequence Score technique helps reveal that our SPT models can discover several meaningful patterns underlying the sequence structures of protein data, with these patterns aligning closely with the domain knowledge in the biology community. We have officially released our Protein-FN dataset on Hugging Face Datasets https://huggingface.co/datasets/Protein-FN/Protein-FN. Our code is available at https://github.com/fudong03/BioIntelligence.
Ai-Driven Vulnerability Analysis in Smart Contracts: Trends, Challenges and Future Directions
Venue: arXiv cs.CR 2025
Year: 2025

Smart contracts, integral to blockchain ecosystems, enable decentralized applications to execute predefined operations without intermediaries. Their ability to enforce trustless interactions has made them a core component of platforms such as Ethereum. Vulnerabilities such as numerical overflows, reentrancy attacks, and improper access permissions have led to the loss of millions of dollars throughout the blockchain and smart contract sector. Traditional smart contract auditing techniques such as manual code reviews and formal verification face limitations in scalability, automation, and adaptability to evolving development patterns. As a result, AI-based solutions have emerged as a promising alternative, offering the ability to learn complex patterns, detect subtle flaws, and provide scalable security assurances. This paper examines novel AI-driven techniques for vulnerability detection in smart contracts, focusing on machine learning, deep learning, graph neural networks, and transformer-based models. This paper analyzes how each technique represents code, processes semantic information, and responds to real world vulnerability classes. We also compare their strengths and weaknesses in terms of accuracy, interpretability, computational overhead, and real time applicability. Lastly, it highlights open challenges and future opportunities for advancing this domain.
Employing Discrete Fourier Transform in Representational Learning
Venue: arXiv cs.NE 2025
Year: 2025

Image Representation learning via input reconstruction is a common technique in machine learning for generating representations that can be effectively utilized by arbitrary downstream tasks. A well-established approach is using autoencoders to extract latent representations at the network's compression point. These representations are valuable because they retain essential information necessary for reconstructing the original input from the compressed latent space. In this paper, we propose an alternative learning objective. Instead of using the raw input as the reconstruction target, we employ the Discrete Fourier Transform (DFT) of the input. The DFT provides meaningful global information at each frequency level, making individual frequency components useful as separate learning targets. When dealing with multidimensional input data, the DFT offers remarkable flexibility by enabling selective transformation across specific dimensions while preserving others in the computation. Moreover, certain types of input exhibit distinct patterns in their frequency distributions, where specific frequency components consistently contain most of the magnitude, allowing us to focus on a subset of frequencies rather than the entire spectrum. These characteristics position the DFT as a viable learning objective for representation learning and we validate our approach by achieving 52.8% top-1 accuracy on CIFAR-10 with ResNet-50 and outperforming the traditional autoencoder by 12.8 points under identical architectural configurations. Additionally, we demonstrate that training on only the lower-frequency components - those with the highest magnitudes yields results comparable to using the full frequency spectrum, with only minimal reductions in accuracy.
Caterpillar GNN: Replacing Message Passing with Efficient Aggregation
Venue: arXiv cs.LG 2025
Year: 2025

Message-passing graph neural networks (MPGNNs) dominate modern graph learning. Typical efforts enhance MPGNN's expressive power by enriching the adjacency-based aggregation. In contrast, we introduce an efficient aggregation over walk incidence-based matrices that are constructed to deliberately trade off some expressivity for stronger and more structured inductive bias. Our approach allows for seamless scaling between classical message-passing and simpler methods based on walks. We rigorously characterize the expressive power at each intermediate step using homomorphism counts over a hierarchy of generalized caterpillar graphs. Based on this foundation, we propose Caterpillar GNNs, whose robust graph-level aggregation successfully tackles a benchmark specifically designed to challenge MPGNNs. Moreover, we demonstrate that, on real-world datasets, Caterpillar GNNs achieve comparable predictive performance while significantly reducing the number of nodes in the hidden layers of the computational graph.
Is Optimal Transport Necessary for Inverse Reinforcement Learning?
Venue: arXiv cs.LG 2025
Year: 2025

Inverse Reinforcement Learning (IRL) aims to recover a reward function from expert demonstrations. Recently, Optimal Transport (OT) methods have been successfully deployed to align trajectories and infer rewards. While OT-based methods have shown strong empirical results, they introduce algorithmic complexity, hyperparameter sensitivity, and require solving the OT optimization problems. In this work, we challenge the necessity of OT in IRL by proposing two simple, heuristic alternatives: (1) Minimum-Distance Reward, which assigns rewards based on the nearest expert state regardless of temporal order; and (2) Segment-Matching Reward, which incorporates lightweight temporal alignment by matching agent states to corresponding segments in the expert trajectory. These methods avoid optimization, exhibit linear-time complexity, and are easy to implement. Through extensive evaluations across 32 online and offline benchmarks with three reinforcement learning algorithms, we show that our simple rewards match or outperform recent OT-based approaches. Our findings suggest that the core benefits of OT may arise from basic proximity alignment rather than its optimal coupling formulation, advocating for reevaluation of complexity in future IRL design.
Label-semantics Aware Generative Approach for Domain-Agnostic Multilabel Classification
Venue: arXiv cs.CL 2025
Year: 2025

The explosion of textual data has made manual document classification increasingly challenging. To address this, we introduce a robust, efficient domain-agnostic generative model framework for multi-label text classification. Instead of treating labels as mere atomic symbols, our approach utilizes predefined label descriptions and is trained to generate these descriptions based on the input text. During inference, the generated descriptions are matched to the pre-defined labels using a finetuned sentence transformer. We integrate this with a dual-objective loss function, combining cross-entropy loss and cosine similarity of the generated sentences with the predefined target descriptions, ensuring both semantic alignment and accuracy. Our proposed model LAGAMC stands out for its parameter efficiency and versatility across diverse datasets, making it well-suited for practical applications. We demonstrate the effectiveness of our proposed model by achieving new state-of-the-art performances across all evaluated datasets, surpassing several strong baselines. We achieve improvements of 13.94% in Micro-F1 and 24.85% in Macro-F1 compared to the closest baseline across all datasets.
Identity Deepfake Threats to Biometric Authentication Systems: Public and Expert Perspectives
Venue: arXiv cs.HC 2025
Year: 2025

Generative AI (Gen-AI) deepfakes pose a rapidly evolving threat to biometric authentication, yet a significant gap exists between expert understanding of these risks and public perception. This disconnection creates critical vulnerabilities in systems trusted by millions. To bridge this gap, we conducted a comprehensive mixed-method study, surveying 408 professionals across key sectors and conducting in-depth interviews with 37 participants (25 experts, 12 general public [non-experts]). Our findings reveal a paradox: while the public increasingly relies on biometrics for convenience, experts express grave concerns about the spoofing of static modalities like face and voice recognition. We found significant demographic and sector-specific divides in awareness and trust, with finance professionals, for example, showing heightened skepticism. To systematically analyze these threats, we introduce a novel Deepfake Kill Chain model, adapted from Hutchins et al.'s cybersecurity frameworks to map the specific attack vectors used by malicious actors against biometric systems. Based on this model and our empirical findings, we propose a tri-layer mitigation framework that prioritizes dynamic biometric signals (e.g., eye movements), robust privacy-preserving data governance, and targeted educational initiatives. This work provides the first empirically grounded roadmap for defending against AI-generated identity threats by aligning technical safeguards with human-centered insights.