OpenRaiser/Intern-Atlas huggingface dataset:
Teleoperator-Aware and Safety-Critical Adaptive Nonlinear MPC for Shared Autonomy in Obstacle Avoidance of Legged Robots
Venue: arXiv cs.RO 2025
Year: 2025

Ensuring safe and effective collaboration between humans and autonomous legged robots is a fundamental challenge in shared autonomy, particularly for teleoperated systems navigating cluttered environments. Conventional shared-control approaches often rely on fixed blending strategies that fail to capture the dynamics of legged locomotion and may compromise safety. This paper presents a teleoperator-aware, safety-critical, adaptive nonlinear model predictive control (ANMPC) framework for shared autonomy of quadrupedal robots in obstacle-avoidance tasks. The framework employs a fixed arbitration weight between human and robot actions but enhances this scheme by modeling the human input with a noisily rational Boltzmann model, whose parameters are adapted online using a projected gradient descent (PGD) law from observed joystick commands. Safety is enforced through control barrier function (CBF) constraints integrated into a computationally efficient NMPC, ensuring forward invariance of safe sets despite uncertainty in human behavior. The control architecture is hierarchical: a high-level CBF-based ANMPC (10 Hz) generates blended human-robot velocity references, a mid-level dynamics-aware NMPC (60 Hz) enforces reduced-order single rigid body (SRB) dynamics to track these references, and a low-level nonlinear whole-body controller (500 Hz) imposes the full-order dynamics via quadratic programming to track the mid-level trajectories. Extensive numerical and hardware experiments, together with a user study, on a Unitree Go2 quadrupedal robot validate the framework, demonstrating real-time obstacle avoidance, online learning of human intent parameters, and safe teleoperator collaboration.
Multiscale 2-Mapper -- Exploratory Data Analysis Guided by the First Betti Number
Venue: arXiv cs.CG 2025
Year: 2025

The Mapper algorithm is a fundamental tool in exploratory topological data analysis for identifying connectivity and topological clustering in data. Derived from the nerve construction, Mapper graphs can contain additional information about clustering density when considering the higher-dimensional skeleta. To observe two-dimensional features, and capture one-dimensional topology, we construct 2-Mapper. A common issue in using Mapper algorithms is parameter choice. We develop tools to choose 2-Mapper parameters that reflect persistent Betti-1 information. Computationally, we study how cover choice affects 2-Mapper and analyze this through a computational Multiscale Mapper algorithm. We test our constructions on three-dimensional shape data, including the Klein bottle.
MMPB: It's Time for Multi-Modal Personalization
Venue: arXiv cs.CV 2025
Year: 2025

Visual personalization is essential in user-facing AI systems such as smart homes and healthcare, where aligning model behavior with user-centric concepts is critical. However, recent large Vision-Language Models (VLMs), despite their broad applicability, remain underexplored in their ability to adapt to individual users. In this paper, we introduce MMPB, the first extensive benchmark for evaluating VLMs on personalization. MMPB comprises 10k image-query pairs and includes 111 personalizable concepts across four categories: humans, animals, objects, and characters, with the human category enriched with preference-grounded queries. We structure personalization into three main task types, each highlighting a different key property of VLMs. Using 23 widely used VLMs including both open- and closed-source models, we evaluate personalization performance via a three-stage protocol: concept injection, multi-turn dialogue, and personalized querying. Our findings indicate that most VLMs (including some closed-source models) struggle with personalization, particularly in maintaining consistency over dialogue, handling user preferences, and adapting to visual cues. Our analysis reveals that the challenges in VLM personalization (such as refusal behaviors and long-context forgetting) highlight substantial room for improvement. By identifying these limitations and offering a scalable benchmark, MMPB offers valuable insights and a solid foundation for future research toward truly personalized multi-modal AI. Project Page: aidaslab.github.io/MMPB
Learning Temporal Saliency for Time Series Forecasting with Cross-Scale Attention
Venue: arXiv cs.CV 2025
Year: 2025

Explainability in time series forecasting is essential for improving model transparency and supporting informed decision-making. In this work, we present CrossScaleNet, an innovative architecture that combines a patch-based cross-attention mechanism with multi-scale processing to achieve both high performance and enhanced temporal explainability. By embedding attention mechanisms into the training process, our model provides intrinsic explainability for temporal saliency, making its decision-making process more transparent. Traditional post-hoc methods for temporal saliency detection are computationally expensive, particularly when compared to feature importance detection. While ablation techniques may suffice for datasets with fewer features, identifying temporal saliency poses greater challenges due to its complexity. We validate CrossScaleNet on synthetic datasets with known saliency ground truth and on established public benchmarks, demonstrating the robustness of our method in identifying temporal saliency. Experiments on real-world datasets for forecasting task show that our approach consistently outperforms most transformer-based models, offering better explainability without sacrificing predictive accuracy. Our evaluations demonstrate superior performance in both temporal saliency detection and forecasting accuracy. Moreover, we highlight that existing models claiming explainability often fail to maintain strong performance on standard benchmarks. CrossScaleNet addresses this gap, offering a balanced approach that captures temporal saliency effectively while delivering state-of-the-art forecasting performance across datasets of varying complexity.
Parameterized Hardness of Zonotope Containment and Neural Network Verification
Venue: arXiv cs.CC 2025
Year: 2025

Neural networks with ReLU activations are a widely used model in machine learning. It is thus important to have a profound understanding of the properties of the functions computed by such networks. Recently, there has been increasing interest in the (parameterized) computational complexity of determining these properties. In this work, we close several gaps and resolve an open problem posted by Froese et al. [COLT '25] regarding the parameterized complexity of various problems related to network verification. In particular, we prove that deciding positivity (and thus surjectivity) of a function $f\colon\mathbb{R}^d\to\mathbb{R}$ computed by a 2-layer ReLU network is W[1]-hard when parameterized by $d$. This result also implies that zonotope (non-)containment is W[1]-hard with respect to $d$, a problem that is of independent interest in computational geometry, control theory, and robotics. Moreover, we show that approximating the maximum within any multiplicative factor in 2-layer ReLU networks, computing the $L_p$-Lipschitz constant for $p\in(0,\infty]$ in 2-layer networks, and approximating the $L_p$-Lipschitz constant in 3-layer networks are NP-hard and W[1]-hard with respect to $d$. Notably, our hardness results are the strongest known so far and imply that the naive enumeration-based methods for solving these fundamental problems are all essentially optimal under the Exponential Time Hypothesis.
"I Don't Think RAI Applies to My Model'' -- Engaging Non-champions with Sticky Stories for Responsible AI Work
Venue: arXiv cs.HC 2025
Year: 2025

Responsible AI (RAI) tools -- checklists, templates, and governance processes -- often engage RAI champions, individuals intrinsically motivated to advocate ethical practices, but fail to reach non-champions, who frequently dismiss them as bureaucratic tasks. To explore this gap, we shadowed meetings and interviewed data scientists at an organization, finding that practitioners perceived RAI as irrelevant to their work. Building on these insights and theoretical foundations, we derived design principles for engaging non-champions, and introduced sticky stories -- narratives of unexpected ML harms designed to be concrete, severe, surprising, diverse, and relevant, unlike widely circulated media to which practitioners are desensitized. Using a compound AI system, we generated and evaluated sticky stories through human and LLM assessments at scale, confirming they embodied the intended qualities. In a study with 29 practitioners, we found that, compared to regular stories, sticky stories significantly increased time spent on harm identification, broadened the range of harms recognized, and fostered deeper reflection.
ControlEvents: Controllable Synthesis of Event Camera Datawith Foundational Prior from Image Diffusion Models
Venue: arXiv cs.CV 2025
Year: 2025

In recent years, event cameras have gained significant attention due to their bio-inspired properties, such as high temporal resolution and high dynamic range. However, obtaining large-scale labeled ground-truth data for event-based vision tasks remains challenging and costly. In this paper, we present ControlEvents, a diffusion-based generative model designed to synthesize high-quality event data guided by diverse control signals such as class text labels, 2D skeletons, and 3D body poses. Our key insight is to leverage the diffusion prior from foundation models, such as Stable Diffusion, enabling high-quality event data generation with minimal fine-tuning and limited labeled data. Our method streamlines the data generation process and significantly reduces the cost of producing labeled event datasets. We demonstrate the effectiveness of our approach by synthesizing event data for visual recognition, 2D skeleton estimation, and 3D body pose estimation. Our experiments show that the synthesized labeled event data enhances model performance in all tasks. Additionally, our approach can generate events based on unseen text labels during training, illustrating the powerful text-based generation capabilities inherited from foundation models.
Anti-Regulatory AI: How "AI Safety" is Leveraged Against Regulatory Oversight
Venue: arXiv cs.CY 2025
Year: 2025

AI companies increasingly develop and deploy privacy-enhancing technologies, bias-constraining measures, evaluation frameworks, and alignment techniques -- framing them as addressing concerns related to data privacy, algorithmic fairness, and AI safety. This paper examines the ulterior function of these technologies as mechanisms of legal influence. First, we examine how encryption, federated learning, and synthetic data -- presented as enhancing privacy and reducing bias -- can operate as mechanisms of avoidance with existing regulations in attempts to place data operations outside the scope of traditional regulatory frameworks. Second, we investigate how emerging AI safety practices including open-source model releases, evaluations, and alignment techniques can be used as mechanisms of change that direct regulatory focus towards industry-controlled voluntary standards and self-governance. We term this phenomenon "anti-regulatory AI" -- the deployment of ostensibly protective technologies that simultaneously shapes the terms of regulatory oversight. Our analysis additionally reveals how technologies' anti-regulatory functions are enabled through framing that legitimizes their deployment while obscuring their use as regulatory workarounds. This paper closes with a discussion of policy implications that centers on the consideration of business incentives that drive AI development and the role of technical expertise in assessing whether these technologies fulfill their purported protections.
Learning KAN-based Implicit Neural Representations for Deformable Image Registration
Venue: arXiv cs.CV 2025
Year: 2025

Deformable image registration (DIR) is a cornerstone of medical image analysis, enabling spatial alignment for tasks like comparative studies and multi-modal fusion. While learning-based methods (e.g., CNNs, transformers) offer fast inference, they often require large training datasets and struggle to match the precision of classical iterative approaches on some organ types and imaging modalities. Implicit neural representations (INRs) have emerged as a promising alternative, parameterizing deformations as continuous mappings from coordinates to displacement vectors. However, this comes at the cost of requiring instance-specific optimization, making computational efficiency and seed-dependent learning stability critical factors for these methods. In this work, we propose KAN-IDIR and RandKAN-IDIR, the first integration of Kolmogorov-Arnold Networks (KANs) into deformable image registration with implicit neural representations (INRs). Our proposed randomized basis sampling strategy reduces the required number of basis functions in KAN while maintaining registration quality, thereby significantly lowering computational costs. We evaluated our approach on three diverse datasets (lung CT, brain MRI, cardiac MRI) and compared it with competing instance-specific learning-based approaches, dataset-trained deep learning models, and classical registration approaches. KAN-IDIR and RandKAN-IDIR achieved the highest accuracy among INR-based methods across all evaluated modalities and anatomies, with minimal computational overhead and superior learning stability across multiple random seeds. Additionally, we discovered that our RandKAN-IDIR model with randomized basis sampling slightly outperforms the model with learnable basis function indices, while eliminating its additional training-time complexity.
Infusing Theory of Mind into Socially Intelligent LLM Agents
Venue: arXiv cs.CL 2025
Year: 2025

Theory of Mind (ToM)-an understanding of the mental states of others-is a key aspect of human social intelligence, yet, chatbots and LLM-based social agents do not typically integrate it. In this work, we demonstrate that LLMs that explicitly use ToM get better at dialogue, achieving goals more effectively. After showing that simply prompting models to generate mental states between dialogue turns already provides significant benefit, we further introduce ToMAgent (ToMA), a ToM-focused dialogue agent. ToMA is trained by pairing ToM with dialogue lookahead to produce mental states that are maximally useful for achieving dialogue goals. Experiments on the Sotopia interactive social evaluation benchmark demonstrate the effectiveness of our method over a range of baselines. Comprehensive analysis shows that ToMA exhibits more strategic, goal-oriented reasoning behaviors, which enable long-horizon adaptation, while maintaining better relationships with their partners. Our results suggest a step forward in integrating ToM for building socially intelligent LLM agents.
JE-IRT: A Geometric Lens on LLM Abilities through Joint Embedding Item Response Theory
Venue: arXiv cs.AI 2025
Year: 2025

Standard LLM evaluation practices compress diverse abilities into single scores, obscuring their inherently multidimensional nature. We present JE-IRT, a geometric item-response framework that embeds both LLMs and questions in a shared space. For question embeddings, the direction encodes semantics and the norm encodes difficulty, while correctness on each question is determined by the geometric interaction between the model and question embeddings. This geometry replaces a global ranking of LLMs with topical specialization and enables smooth variation across related questions. Building on this framework, our experimental results reveal that out-of-distribution behavior can be explained through directional alignment, and that larger norms consistently indicate harder questions. Moreover, JE-IRT naturally supports generalization: once the space is learned, new LLMs are added by fitting a single embedding. The learned space further reveals an LLM-internal taxonomy that only partially aligns with human-defined subject categories. JE-IRT thus establishes a unified and interpretable geometric lens that connects LLM abilities with the structure of questions, offering a distinctive perspective on model evaluation and generalization.
FedCF: Fair Federated Conformal Prediction
Venue: arXiv cs.LG 2025
Year: 2025

Conformal Prediction (CP) is a widely used technique for quantifying uncertainty in machine learning models. In its standard form, CP offers probabilistic guarantees on the coverage of the true label, but it is agnostic to sensitive attributes in the dataset. Several recent works have sought to incorporate fairness into CP by ensuring conditional coverage guarantees across different subgroups. One such method is Conformal Fairness (CF). In this work, we extend the CF framework to the Federated Learning setting and discuss how we can audit a federated model for fairness by analyzing the fairness-related gaps for different demographic groups. We empirically validate our framework by conducting experiments on several datasets spanning multiple domains, fully leveraging the exchangeability assumption.
MonoCon: A general framework for learning ultra-compact high-fidelity representations using monotonicity constraints
Venue: arXiv cs.LG 2025
Year: 2025

Learning high-quality, robust, efficient, and disentangled representations is a central challenge in artificial intelligence (AI). Deep metric learning frameworks tackle this challenge primarily using architectural and optimization constraints. Here, we introduce a third approach that instead relies on $\textit{functional}$ constraints. Specifically, we present MonoCon, a simple framework that uses a small monotonic multi-layer perceptron (MLP) head attached to any pre-trained encoder. Due to co-adaptation between encoder and head guided by contrastive loss and monotonicity constraints, MonoCon learns robust, disentangled, and highly compact embeddings at a practically negligible performance cost. On the CIFAR-100 image classification task, MonoCon yields representations that are nearly 9x more compact and 1.5x more robust than the fine-tuned encoder baseline, while retaining 99\% of the baseline's 5-NN classification accuracy. We also report a 3.4x more compact and 1.4x more robust representation on an SNLI sentence similarity task for a marginal reduction in the STSb score, establishing MonoCon as a general domain-agnostic framework. Crucially, these robust, ultra-compact representations learned via functional constraints offer a unified solution to critical challenges in disparate contexts ranging from edge computing to cloud-scale retrieval.
Efficient Cost Bounds with Linear Maps
Venue: arXiv cs.PL 2025
Year: 2025

The Automatic Amortized Resource Analysis (AARA) derives program-execution cost bounds using types. To do so, AARA often makes use of cost-free types, which are critical for the composition of types and cost bounds. However, inferring cost-free types using the current state-of-the-art algorithm is expensive due to recursive dependence on additional cost-free types. Furthermore, that algorithm uses a heuristic only applicable to polynomial cost bounds, and not, e.g., exponential bounds. This paper presents a new approach to these problems by representing the cost-free types of a function in a new way: with a linear map, which can stand for infinitely many cost-free types. Such maps enable an algebraic flavor of reasoning about cost bounds (including non-polynomial bounds) via matrix inequalities. These inequalities can be solved with off-the-shelf linear-programming tools for many programs, so that types can always be efficiently checked and often be efficiently inferred. An experimental evaluation with a prototype implementation shows that-when it is applicable-the inference of linear maps is exponentially more efficient than the state-of-the-art algorithm.
Characterizing FaaS Workflows on Public Clouds: The Good, the Bad and the Ugly
Venue: arXiv cs.DC 2025
Year: 2025

Function-as-a-service (FaaS) is a popular serverless computing paradigm for developing event-driven functions that elastically scale on public clouds. FaaS workflows, such as AWS Step Functions and Azure Durable Functions, are composed from FaaS functions, like AWS Lambda and Azure Functions, to build practical applications. But, the complex interactions between functions in the workflow and the limited visibility into the internals of proprietary FaaS platforms are major impediments to gaining a deeper understanding of FaaS workflow platforms. While several works characterize FaaS platforms to derive such insights, there is a lack of a principled and rigorous study for FaaS workflow platforms, which have unique scaling, performance and costing behavior influenced by the platform design, dataflow and workloads. In this article, we perform extensive evaluations of three popular FaaS workflow platforms from AWS and Azure, running 25 micro-benchmark and application workflows over 132k invocations. Our detailed analysis confirms some conventional wisdom but also uncovers unique insights on the function execution, workflow orchestration, inter-function interactions, cold-start scaling and monetary costs. Our observations help developers better configure and program these platforms, set performance and scalability expectations, and identify research gaps on enhancing the platforms.
On the Sheafification of Higher-Order Message Passing
Venue: arXiv cs.LG 2025
Year: 2025

Recent work in Topological Deep Learning (TDL) seeks to generalize graph learning's preeminent $message \ passing$ paradigm to more complex relational structures: simplicial complexes, cell complexes, hypergraphs, and combinations thereof. Many approaches to such ${higher\text{-}order \ message \ passing}$ (HOMP) admit formulation in terms of nonlinear diffusion with the Hodge (combinatorial) Laplacian, a graded operator which carries an inductive bias that dimension-$k$ data features correlate with dimension-$k$ topological features encoded in the (singular) cohomology of the underlying domain. For $k=0$ this recovers the graph Laplacian and its well-studied homophily bias. In higher gradings, however, the Hodge Laplacian's bias is more opaque and potentially even degenerate. In this essay, we position sheaf theory as a natural and principled formalism for modifying the Hodge Laplacian's diffusion-mediated interface between local and global descriptors toward more expressive message passing. The sheaf Laplacian's inductive bias correlates dimension-$k$ data features with dimension-$k$ $sheaf$ cohomology, a data-aware generalization of singular cohomology. We will contextualize and novelly extend prior theory on sheaf diffusion in graph learning ($k=0$) in such a light -- and explore how it fails to generalize to $k>0$ -- before developing novel theory and practice for the higher-order setting. Our exposition is accompanied by a self-contained introduction shepherding sheaves from the abstract to the applied.