OpenRaiser/Intern-Atlas huggingface dataset:
Geometric Data-Driven Multi-Jet Locomotion Inspired by Salps
Venue: arXiv cs.RO 2025
Year: 2025

Salps are marine animals consisting of chains of jellyfish-like units. Their efficient underwater locomotion by coordinating multi-jet propulsion has aroused great interest in robotics. This paper presents a geometric mechanics framework for salp-inspired robots. We study a new type of geometric mechanics models inspired by salps, in which control inputs are not restricted to the shape axes, analyze nonlinear controllability, and develop motion planning and feedback control methods. We introduce the "LandSalp" robot, which serves as a physical realization of the reduced-order, drag-dominated model of salp swimming, enabling controlled evaluation of locomotion strategies without many confounding factors of underwater experiments. We extend least-squares- and inverse-dynamics-based system identification to learn the Riemannian metric of the drag-dominated model from experimental data using Lie group differentiation. With about three minutes of data, we identify an accurate model of LandSalp. Simulation and hardware experiments demonstrate omnidirectional locomotion, shape regulation, and bending maneuvers, providing a principled pathway toward more capable salp-inspired robots.
Contrastive Speaker-Aware Learning for Multi-party Dialogue Generation with LLMs
Venue: arXiv cs.CL 2025
Year: 2025

Multi-party dialogue generation presents significant challenges due to the complex interplay of multiple speakers and interwoven conversational threads. Traditional approaches often fall short in capturing these complexities, particularly when relying on manually annotated dialogue relations. This paper introduces Speaker-Attentive LLM (SA-LLM), a novel generative model that leverages pre-trained Large Language Models (LLMs) and a speaker-aware contrastive learning strategy to address these challenges. SA-LLM incorporates a speaker-attributed input encoding and a contrastive learning objective to implicitly learn contextual coherence and speaker roles without explicit relation annotations. Extensive experiments on the Ubuntu IRC and Movie Dialogues datasets demonstrate that SA-LLM significantly outperforms state-of-the-art baselines in automatic and human evaluations, achieving superior performance in fluency, coherence, informativeness, and response diversity. Ablation studies and detailed error analyses further validate the effectiveness of the proposed speaker-attentive training approach, highlighting its robustness across different speaker roles and context lengths. The results underscore the potential of SA-LLM as a powerful and annotation-free solution for high-quality multi-party dialogue generation.
Keypoint Semantic Integration for Improved Feature Matching in Outdoor Agricultural Environments
Venue: arXiv cs.CV 2025
Year: 2025

Robust robot navigation in outdoor environments requires accurate perception systems capable of handling visual challenges such as repetitive structures and changing appearances. Visual feature matching is crucial to vision-based pipelines but remains particularly challenging in natural outdoor settings due to perceptual aliasing. We address this issue in vineyards, where repetitive vine trunks and other natural elements generate ambiguous descriptors that hinder reliable feature matching. We hypothesise that semantic information tied to keypoint positions can alleviate perceptual aliasing by enhancing keypoint descriptor distinctiveness. To this end, we introduce a keypoint semantic integration technique that improves the descriptors in semantically meaningful regions within the image, enabling more accurate differentiation even among visually similar local features. We validate this approach in two vineyard perception tasks: (i) relative pose estimation and (ii) visual localisation. Across all tested keypoint types and descriptors, our method improves matching accuracy by 12.6%, demonstrating its effectiveness over multiple months in challenging vineyard conditions.
EvalTree: Profiling Language Model Weaknesses via Hierarchical Capability Trees
Venue: arXiv cs.CL 2025
Year: 2025

An ideal model evaluation should achieve two goals: identifying where the model fails and providing actionable improvement guidance. Toward these goals for language model (LM) evaluations, we formulate the problem of generating a weakness profile, a set of weaknesses expressed in natural language, given an LM's performance on every individual instance in a benchmark. We introduce a suite of quantitative assessments to compare different weakness profiling methods. We also introduce a weakness profiling method EvalTree. EvalTree constructs a capability tree where each node represents a capability described in natural language and is linked to a subset of benchmark instances that specifically evaluate this capability; it then extracts nodes where the LM performs poorly to generate a weakness profile. On the MATH and WildChat benchmarks, we show that EvalTree outperforms baseline weakness profiling methods by identifying weaknesses more precisely and comprehensively. Weakness profiling further enables weakness-guided data collection, and training data collection guided by EvalTree-identified weaknesses improves LM performance more than other data collection strategies. We also show how EvalTree exposes flaws in Chatbot Arena's human-voter-based evaluation practice. To facilitate future work, we provide an interface that allows practitioners to interactively explore the capability trees built by EvalTree.
Enhancing Large Language Models for Hardware Verification: A Novel SystemVerilog Assertion Dataset
Venue: arXiv cs.LG 2025
Year: 2025

Hardware verification is crucial in modern SoC design, consuming around 70% of development time. SystemVerilog assertions ensure correct functionality. However, existing industrial practices rely on manual efforts for assertion generation, which becomes increasingly untenable as hardware systems become complex. Recent research shows that Large Language Models (LLMs) can automate this process. However, proprietary SOTA models like GPT-4o often generate inaccurate assertions and require expensive licenses, while smaller open-source LLMs need fine-tuning to manage HDL code complexities. To address these issues, we introduce **VERT**, an open-source dataset designed to enhance SystemVerilog assertion generation using LLMs. VERT enables researchers in academia and industry to fine-tune open-source models, outperforming larger proprietary ones in both accuracy and efficiency while ensuring data privacy through local fine-tuning and eliminating costly licenses. The dataset is curated by systematically augmenting variables from open-source HDL repositories to generate synthetic code snippets paired with corresponding assertions. Experimental results demonstrate that fine-tuned models like Deepseek Coder 6.7B and Llama 3.1 8B outperform GPT-4o, achieving up to 96.88% improvement over base models and 24.14% over GPT-4o on platforms including OpenTitan, CVA6, OpenPiton and Pulpissimo. VERT is available at https://github.com/AnandMenon12/VERT.
Toward a Corpus Study of the Dynamic Gradual Type
Venue: arXiv cs.PL 2025
Year: 2025

Gradually-typed languages feature a dynamic type that supports implicit coercions, greatly weakening the type system but making types easier to adopt. Understanding how developers use this dynamic type is a critical question for the design of useful and usable type systems. This paper reports on an in-progress corpus study of the dynamic type in Python, targeting 221 GitHub projects that use the mypy type checker. The study reveals eight patterns-of-use for the dynamic type, which have implications for future refinements of the mypy type system and for tool support to encourage precise type annotations.
Extragradient Preference Optimization (EGPO): Beyond Last-Iterate Convergence for Nash Learning from Human Feedback
Venue: arXiv cs.LG 2025
Year: 2025

Reinforcement learning from human feedback (RLHF) has become essential for improving language model capabilities, but traditional approaches rely on the assumption that human preferences follow a transitive Bradley-Terry model. This assumption fails to capture the non-transitive nature of populational human preferences. Nash learning from human feedback (NLHF), targeting non-transitive preferences, is a problem of computing the Nash equilibrium (NE) of the two-player constant-sum game defined by the human preference. We introduce Extragradient preference optimization (EGPO), a novel algorithm for NLHF achieving last-iterate linear convergence to the NE of KL-regularized games and polynomial convergence to the NE of original games, while being robust to noise. Unlike previous approaches that rely on nested optimization, we derive an equivalent implementation using gradients of an online variant of the identity preference optimization (IPO) loss, enabling more faithful implementation for neural networks. Our empirical evaluations demonstrate EGPO's superior performance over baseline methods when training for the same number of epochs, as measured by pairwise win-rates using the ground truth preference. These results validate both the theoretical strengths and practical advantages of EGPO for language model alignment with non-transitive human preferences.
Multiplayer Information Asymmetric Contextual Bandits
Venue: arXiv cs.LG 2025
Year: 2025

Single-player contextual bandits are a well-studied problem in reinforcement learning that has seen applications in various fields such as advertising, healthcare, and finance. In light of the recent work on \emph{information asymmetric} bandits \cite{chang2022online, chang2023online}, we propose a novel multiplayer information asymmetric contextual bandit framework where there are multiple players each with their own set of actions. At every round, they observe the same context vectors and simultaneously take an action from their own set of actions, giving rise to a joint action. However, upon taking this action the players are subjected to information asymmetry in (1) actions and/or (2) rewards. We designed an algorithm \texttt{LinUCB} by modifying the classical single-player algorithm \texttt{LinUCB} in \cite{chu2011contextual} to achieve the optimal regret $O(\sqrt{T})$ when only one kind of asymmetry is present. We then propose a novel algorithm \texttt{ETC} that is built on explore-then-commit principles to achieve the same optimal regret when both types of asymmetry are present.
Gradient-guided Attention Map Editing: Towards Efficient Contextual Hallucination Mitigation
Venue: arXiv cs.CL 2025
Year: 2025

In tasks like summarization and open-book question answering (QA), Large Language Models (LLMs) often encounter "contextual hallucination", where they produce irrelevant or incorrect responses despite having access to accurate source information. This typically occurs because these models tend to prioritize self-generated content over the input context, causing them to disregard pertinent details. To address this challenge, we introduce a novel method called "Guided Attention Map Editing" (GAME), which dynamically adjusts attention maps to improve contextual relevance. During inference, GAME employs a trained classifier to identify attention maps prone to inducing hallucinations and executes targeted interventions. These interventions, guided by gradient-informed "edit directions'', strategically redistribute attention weights across various heads to effectively reduce hallucination. Comprehensive evaluations on challenging summarization and open-book QA tasks show that GAME consistently reduces hallucinations across a variety of open-source models. Specifically, GAME reduces hallucinations by 10% in the XSum summarization task while achieving a 7X speed-up in computational efficiency compared to the state-of-the-art baselines.
Large Language Models-Aided Program Debloating
Venue: arXiv cs.SE 2025
Year: 2025

As software grows in complexity to accommodate diverse features and platforms, software bloating has emerged as a significant challenge, adversely affecting performance and security. However, existing approaches inadequately address the dual objectives of debloating: maintaining functionality by preserving essential features and enhancing security by reducing security issues. Specifically, current software debloating techniques often rely on input-based analysis, using user inputs as proxies for the specifications of desired features. However, these approaches frequently overfit provided inputs, leading to functionality loss and potential security vulnerabilities. To address these limitations, we propose LEADER, a program debloating framework enhanced by Large Language Models (LLMs), which leverages their semantic understanding, generative capabilities, and decision-making strengths. LEADER mainly consists of two modules: (1) a documentation-guided test augmentation module designed to preserve functionality, which leverages LLMs to comprehend program documentation and generates sufficient tests to cover the desired features comprehensively, and (2) a multi-advisor-aided program debloating module that employs a neuro-symbolic pipeline to ensure that the security of the software can be perceived during debloating. This module combines debloating and security advisors for analysis and employs an LLM as a decision-maker to eliminate undesired code securely. Extensive evaluations on widely used benchmarks demonstrate the efficacy of LEADER. These results demonstrate that LEADER surpasses the state-of-the-art tool CovA in functionality and security. These results underscore the potential of LEADER to set a new standard in program debloating by effectively balancing functionality and security.
Quantitative Analysis of Deeply Quantized Tiny Neural Networks Robust to Adversarial Attacks
Venue: arXiv cs.LG 2025
Year: 2025

Reducing the memory footprint of Machine Learning (ML) models, especially Deep Neural Networks (DNNs), is imperative to facilitate their deployment on resource-constrained edge devices. However, a notable drawback of DNN models lies in their susceptibility to adversarial attacks, wherein minor input perturbations can deceive them. A primary challenge revolves around the development of accurate, resilient, and compact DNN models suitable for deployment on resource-constrained edge devices. This paper presents the outcomes of a compact DNN model that exhibits resilience against both black-box and white-box adversarial attacks. This work has achieved this resilience through training with the QKeras quantization-aware training framework. The study explores the potential of QKeras and an adversarial robustness technique, Jacobian Regularization (JR), to co-optimize the DNN architecture through per-layer JR methodology. As a result, this paper has devised a DNN model employing this co-optimization strategy based on Stochastic Ternary Quantization (STQ). Its performance was compared against existing DNN models in the face of various white-box and black-box attacks. The experimental findings revealed that, the proposed DNN model had small footprint and on average, it exhibited better performance than Quanos and DS-CNN MLCommons/TinyML (MLC/T) benchmarks when challenged with white-box and black-box attacks, respectively, on the CIFAR-10 image and Google Speech Commands audio datasets.
Effective and Efficient Jailbreaks of Black-Box LLMs with Cross-Behavior Attacks
Venue: arXiv cs.CR 2025
Year: 2025

Despite recent advancements in Large Language Models (LLMs) and their alignment, they can still be jailbroken, i.e., harmful and toxic content can be elicited from them. While existing red-teaming methods have shown promise in uncovering such vulnerabilities, these methods struggle with limited success and high computational and monetary costs. To address this, we propose a black-box Jailbreak method with Cross-Behavior attacks (JCB), that can automatically and efficiently find successful jailbreak prompts. JCB leverages successes from past behaviors to help jailbreak new behaviors, thereby significantly improving the attack efficiency. Moreover, JCB does not rely on time- and/or cost-intensive calls to auxiliary LLMs to discover/optimize the jailbreak prompts, making it highly efficient and scalable. Comprehensive experimental evaluations show that JCB significantly outperforms related baselines, requiring up to 94% fewer queries while still achieving 12.9% higher average attack success. JCB also achieves a notably high 37% attack success rate on Llama-2-7B, one of the most resilient LLMs, and shows promising zero-shot transferability across different LLMs.
Word2winners at SemEval-2025 Task 7: Multilingual and Crosslingual Fact-Checked Claim Retrieval
Venue: arXiv cs.CL 2025
Year: 2025

This paper describes our system for SemEval 2025 Task 7: Previously Fact-Checked Claim Retrieval. The task requires retrieving relevant fact-checks for a given input claim from the extensive, multilingual MultiClaim dataset, which comprises social media posts and fact-checks in several languages. To address this challenge, we first evaluated zero-shot performance using state-of-the-art English and multilingual retrieval models and then fine-tuned the most promising systems, leveraging machine translation to enhance crosslingual retrieval. Our best model achieved an accuracy of 85% on crosslingual data and 92% on monolingual data.
Aligning to What? Limits to RLHF Based Alignment
Venue: arXiv cs.CL 2025
Year: 2025

Reinforcement Learning from Human Feedback (RLHF) is increasingly used to align large language models (LLMs) with human preferences. However, the effectiveness of RLHF in addressing underlying biases remains unclear. This study investigates the relationship between RLHF and both covert and overt biases in LLMs, particularly focusing on biases against African Americans. We applied various RLHF techniques (DPO, ORPO, and RLOO) to Llama 3 8B and evaluated the covert and overt biases of the resulting models using matched-guise probing and explicit bias testing. We performed additional tests with DPO on different base models and datasets; among several implications, we found that SFT before RLHF calcifies model biases. Additionally, we extend the tools for measuring biases to multi-modal models. Through our experiments we collect evidence that indicates that current alignment techniques are inadequate for nebulous tasks such as mitigating covert biases, highlighting the need for capable datasets, data curating techniques, or alignment tools.
Incentive Analysis for Agent Participation in Federated Learning
Venue: arXiv cs.GT 2025
Year: 2025

Federated learning offers a decentralized approach to machine learning, where multiple agents collaboratively train a model while preserving data privacy. In this paper, we investigate the decision-making and equilibrium behavior in federated learning systems, where agents choose between participating in global training or conducting independent local training. The problem is first modeled as a stage game and then extended to a repeated game to analyze the long-term dynamics of agent participation. For the stage game, we characterize the participation patterns and identify Nash equilibrium, revealing how data heterogeneity influences the equilibrium behavior-specifically, agents with similar data qualities will participate in FL as a group. We also derive the optimal social welfare and show that it coincides with Nash equilibrium under mild assumptions. In the repeated game, we propose a privacy-preserving, computationally efficient myopic strategy. This strategy enables agents to make practical decisions under bounded rationality and converges to a neighborhood of Nash equilibrium of the stage game in finite time. By combining theoretical insights with practical strategy design, this work provides a realistic and effective framework for guiding and analyzing agent behaviors in federated learning systems.
Performance Evaluation of Threshold Signing Schemes in Cryptography
Venue: arXiv cs.CR 2025
Year: 2025

Threshold Signature Scheme (TSS) protocols have gained significant attention over the past ten years due to their widespread adoption in cryptocurrencies. The adoption is mainly boosted by Gennaro and Goldfedder's TSS protocol. Since then, various TSS protocols have been introduced with different features, such as security and performance, etc. Large organizations are using TSS protocols to protect many digital assets, such as cryptocurrency. However, the adoption of these TSS protocols requires an understanding of state-of-the-art research in threshold signing. This study describes the holistic view of TSS protocols, evaluates cutting-edge TSS protocols, highlights their characteristics, and compares them in terms of security and performance. The evaluation of these TSS protocols will help the researchers address real-world problems by considering the relevant merits of different TSS protocols.
StratIncon Detector: Analyzing Strategy Inconsistencies Between Real-Time Strategy and Preferred Professional Strategy in MOBA Esports
Venue: arXiv cs.HC 2025
Year: 2025

MOBA (Multiplayer Online Battle Arena) games require a delicate interplay of strategic planning and real-time decision-making, particularly in professional esports, where players exhibit varying levels of skill and strategic insight. While team strategies have been widely studied, analyzing inconsistencies in professional matches remains a significant challenge. The complexity lies in defining and quantifying the difference between real-time and preferred professional strategies, as well as understanding the disparities between them. Establishing direct causal links between specific strategic decisions and game outcomes also demands a comprehensive analysis of the entire match progression. To tackle these challenges, we present the StratIncon Detector, a visual analytics system designed to assist professional players and coaches in efficiently identifying strategic inconsistencies. The system detects real-time strategies, predicts preferred professional strategies, extracts relevant human factors, and uncovers their impact on subsequent game phases. Findings from a case study, a user study with 24 participants, and expert interviews suggest that, compared to traditional methods, the StratIncon Detector enables users to more comprehensively and efficiently identify inconsistencies, infer their causes, evaluate their effects on subsequent game outcomes, and gain deeper insights into team collaboration-ultimately enhancing future teamwork.
Causal-Ex: Causal Graph-based Micro and Macro Expression Spotting
Venue: arXiv cs.CV 2025
Year: 2025

Detecting concealed emotions within apparently normal expressions is crucial for identifying potential mental health issues and facilitating timely support and intervention. The task of spotting macro and micro-expressions involves predicting the emotional timeline within a video, accomplished by identifying the onset, apex, and offset frames of the displayed emotions. Utilizing foundational facial muscle movement cues, known as facial action units, boosts the accuracy. However, an overlooked challenge from previous research lies in the inadvertent integration of biases into the training model. These biases arising from datasets can spuriously link certain action unit movements to particular emotion classes. We tackle this issue by novel replacement of action unit adjacency information with the action unit causal graphs. This approach aims to identify and eliminate undesired spurious connections, retaining only unbiased information for classification. Our model, named Causal-Ex (Causal-based Expression spotting), employs a rapid causal inference algorithm to construct a causal graph of facial action units. This enables us to select causally relevant facial action units. Our work demonstrates improvement in overall F1-scores compared to state-of-the-art approaches with 0.388 on CAS(ME)^2 and 0.3701 on SAMM-Long Video datasets.