OpenRaiser/Intern-Atlas huggingface dataset:
A Graph-Based Model for Vehicle-Centric Data Sharing Ecosystem
Venue: arXiv cs.SI 2025
Year: 2025

The development of technologies has prompted a paradigm shift in the automotive industry, with an increasing focus on connected services and autonomous driving capabilities. This transformation allows vehicles to collect and share vast amounts of vehicle-specific and personal data. While these technological advancements offer enhanced user experiences, they also raise privacy concerns. To understand the ecosystem of data collection and sharing in modern vehicles, we adopted the ontology 101 methodology to incorporate information extracted from different sources, including analysis of privacy policies using GPT-4, a small-scale systematic literature review, and an existing ontology, to develop a high-level conceptual graph-based model, aiming to get insights into how modern vehicles handle data exchange among different parties. This serves as a foundational model with the flexibility and scalability to further expand for modelling and analysing data sharing practices across diverse contexts. Two realistic examples were developed to demonstrate the usefulness and effectiveness of discovering insights into privacy regarding vehicle-related data sharing. We also recommend several future research directions, such as exploring advanced ontology languages for reasoning tasks, supporting topological analysis for discovering data privacy risks/concerns, and developing useful tools for comparative analysis, to strengthen the understanding of the vehicle-centric data sharing ecosystem.
A Third-Order Gaussian Process Trajectory Representation Framework with Closed-Form Kinematics for Continuous-Time Motion Estimation
Venue: arXiv cs.RO 2025
Year: 2025

In this paper, we propose a third-order, i.e., white-noise-on-jerk, Gaussian Process (GP) Trajectory Representation (TR) framework for continuous-time (CT) motion estimation (ME) tasks. Our framework features a unified trajectory representation that encapsulates the kinematic models of both $SO(3)\times\mathbb{R}^3$ and $SE(3)$ pose representations. This encapsulation strategy allows users to use the same implementation of measurement-based factors for either choice of pose representation, which facilitates experimentation and comparison to achieve the best model for the ME task. In addition, unique to our framework, we derive the kinematic models with the closed-form temporal derivatives of the local variable of $SO(3)$ and $SE(3)$, which so far has only been approximated based on the Taylor expansion in the literature. Our experiments show that these kinematic models can improve the estimation accuracy in high-speed scenarios. All analytical Jacobians of the interpolated states with respect to the support states of the trajectory representation, as well as the motion prior factors, are also provided for accelerated Gauss-Newton (GN) optimization. Our experiments demonstrate the efficacy and efficiency of the framework in various motion estimation tasks such as localization, calibration, and odometry, facilitating fast prototyping for ME researchers. We release the source code for the benefit of the community. Our project is available at https://github.com/brytsknguyen/gptr.
Securing Healthcare with Deep Learning: A CNN-Based Model for medical IoT Threat Detection
Venue: arXiv cs.CR 2025
Year: 2025

The increasing integration of the Internet of Medical Things (IoMT) into healthcare systems has significantly enhanced patient care but has also introduced critical cybersecurity challenges. This paper presents a novel approach based on Convolutional Neural Networks (CNNs) for detecting cyberattacks within IoMT environments. Unlike previous studies that predominantly utilized traditional machine learning (ML) models or simpler Deep Neural Networks (DNNs), the proposed model leverages the capabilities of CNNs to effectively analyze the temporal characteristics of network traffic data. Trained and evaluated on the CICIoMT2024 dataset, which comprises 18 distinct types of cyberattacks across a range of IoMT devices, the proposed CNN model demonstrates superior performance compared to previous state-of-the-art methods, achieving a perfect accuracy of 99% in binary, categorical, and multiclass classification tasks. This performance surpasses that of conventional ML models such as Logistic Regression, AdaBoost, DNNs, and Random Forests. These findings highlight the potential of CNNs to substantially improve IoMT cybersecurity, thereby ensuring the protection and integrity of connected healthcare systems.
VisualCoder: Guiding Large Language Models in Code Execution with Fine-grained Multimodal Chain-of-Thought Reasoning
Venue: arXiv cs.SE 2025
Year: 2025

Predicting program behavior and reasoning about code execution remain significant challenges in software engineering, particularly for large language models (LLMs) designed for code analysis. While these models excel at understanding static syntax, they often struggle with dynamic reasoning tasks. We introduce VisualCoder, a simple yet effective approach that enhances code reasoning by integrating multimodal Chain-of-Thought (CoT) reasoning with a visual Control Flow Graph (CFG). By aligning code snippets with their corresponding CFGs, VisualCoder provides deeper insights into execution flows. We address challenges in multimodal CoT integration through a reference mechanism, ensuring consistency between code and its execution path, thereby improving performance in program behavior prediction, error detection, and output generation.
Tiny Learning-Based MPC for Multirotors: Solver-Aware Learning for Efficient Embedded Predictive Control
Venue: arXiv cs.RO 2025
Year: 2025

Tiny aerial robots hold great promise for applications such as environmental monitoring and search-and-rescue, yet face significant control challenges due to limited onboard computing power and nonlinear dynamics. Model Predictive Control (MPC) enables agile trajectory tracking and constraint handling but depends on an accurate dynamics model. While existing Learning-Based (LB) MPC methods, such as Gaussian Process (GP) MPC, enhance performance by learning residual dynamics, their high computational cost restricts onboard deployment on tiny robots. This paper introduces Tiny LB MPC, a co-designed MPC framework and optimization solver for resource-constrained micro multirotor platforms. The proposed approach achieves 100 Hz control on a Crazyflie 2.1 equipped with a Teensy 4.0 microcontroller, demonstrating a 43% average improvement in tracking performance over existing embedded MPC methods under model uncertainty, and achieving the first onboard implementation of LB MPC on a 53 g multirotor.
SceneComplete: Open-World 3D Scene Completion in Cluttered Real World Environments for Robot Manipulation
Venue: arXiv cs.RO 2025
Year: 2025

Careful robot manipulation in every-day cluttered environments requires an accurate understanding of the 3D scene, in order to grasp and place objects stably and reliably and to avoid colliding with other objects. In general, we must construct such a 3D interpretation of a complex scene based on limited input, such as a single RGB-D image. We describe SceneComplete, a system for constructing a complete, segmented, 3D model of a scene from a single view. SceneComplete is a novel pipeline for composing general-purpose pretrained perception modules (vision-language, segmentation, image-inpainting, image-to-3D, visual-descriptors and pose-estimation) to obtain highly accurate results. We demonstrate its accuracy and effectiveness with respect to ground-truth models in a large benchmark dataset and show that its accurate whole-object reconstruction enables robust grasp proposal generation, including for a dexterous hand. We release the code and additional results on our website.
Deep Convolutional Neural Networks on Multiclass Classification of Three-Dimensional Brain Images for Parkinson's Disease Stage Prediction
Venue: arXiv cs.LG 2025
Year: 2025

Parkinson's disease (PD), a degenerative disorder of the central nervous system, is commonly diagnosed using functional medical imaging techniques such as single-photon emission computed tomography (SPECT). In this study, we utilized two SPECT data sets (n = 634 and n = 202) from different hospitals to develop a model capable of accurately predicting PD stages, a multiclass classification task. We used the entire three-dimensional (3D) brain images as input and experimented with various model architectures. Initially, we treated the 3D images as sequences of two-dimensional (2D) slices and fed them sequentially into 2D convolutional neural network (CNN) models pretrained on ImageNet, averaging the outputs to obtain the final predicted stage. We also applied 3D CNN models pretrained on Kinetics-400. Additionally, we incorporated an attention mechanism to account for the varying importance of different slices in the prediction process. To further enhance model efficacy and robustness, we simultaneously trained the two data sets using weight sharing, a technique known as cotraining. Our results demonstrated that 2D models pretrained on ImageNet outperformed 3D models pretrained on Kinetics-400, and models utilizing the attention mechanism outperformed both 2D and 3D models. The cotraining technique proved effective in improving model performance when the cotraining data sets were sufficiently large.
Adversarial Attacks of Vision Tasks in the Past 10 Years: A Survey
Venue: arXiv cs.CV 2025
Year: 2025

With the advent of Large Vision-Language Models (LVLMs), new attack vectors, such as cognitive bias, prompt injection, and jailbreaking, have emerged. Understanding these attacks promotes system robustness improvement and neural networks demystification. However, existing surveys often target attack taxonomy and lack in-depth analysis like 1) unified insights into adversariality, transferability, and generalization; 2) detailed evaluations framework; 3) motivation-driven attack categorizations; and 4) an integrated perspective on both traditional and LVLM attacks. This article addresses these gaps by offering a thorough summary of traditional and LVLM adversarial attacks, emphasizing their connections and distinctions, and providing actionable insights for future research.
Topology optimization of contact-aided compliant mechanisms for tracing multi-kink paths
Venue: arXiv cs.CE 2025
Year: 2025

This paper presents a topology optimization approach to design 2D contact-aided compliant mechanisms (CCMs) that can trace the desired output paths with more than one kink while experiencing self and/or external contacts. Such CCMs can be used as mechanical compliant switches. Hexagonal elements are used to parameterize the design domain. Negative circular masks are employed to remove material beneath them and generate rigid contact surfaces. Each mask is assigned five design variables. The first three decide the location and radius of the mask, whereas the last two determine the presence of the contact surface and its radius. To ensure continuity in contacting surfaces' normal, we employ a boundary smoothing scheme. The augmented Lagrange multiplier method is employed to incorporate self and mutual contact. An objective is formulated using the Fourier shape descriptors with the permitted resource constraint. The hill-climber optimization technique is utilized to update the design variables. An in-house code is developed for the entire process. To demonstrate the method's efficacy, a CCM is optimized with a two-kink path. The desired and obtained paths are compared.
What Happened in LLMs Layers when Trained for Fast vs. Slow Thinking: A Gradient Perspective
Venue: arXiv cs.CL 2025
Year: 2025

What makes a difference in the post-training of LLMs? We investigate the training patterns of different layers in large language models (LLMs) through the lens of the gradient. We are specifically interested in how fast vs. slow thinking affects the layer-wise gradients, given the recent popularity of training LLMs on reasoning paths such as chain-of-thoughts (CoT) and process rewards. In our study, fast thinking without CoT leads to larger gradients and larger differences of gradients across layers than slow thinking (Detailed CoT), indicating the learning stability brought by the latter. Additionally, we study whether the gradient patterns can reflect the correctness of responses when training different LLMs using slow vs. fast thinking paths. The results show that the gradients of slow thinking can distinguish correct and irrelevant reasoning paths. As a comparison, we conduct similar gradient analyses on non-reasoning knowledge learning tasks, on which, however, trivially increasing the response length does not lead to similar behaviors of slow thinking. Our study strengthens fundamental understandings of LLM training and sheds novel insights on its efficiency and stability, which pave the way towards building a generalizable System-2 agent. Our code, data, and gradient statistics can be found in: https://github.com/MingLiiii/Layer_Gradient.
Syno: Structured Synthesis for Neural Operators
Venue: arXiv cs.LG 2025
Year: 2025

The desires for better prediction accuracy and higher execution performance in neural networks never end. Neural architecture search (NAS) and tensor compilers are two popular techniques to optimize these two goals, but they are both limited to composing or optimizing existing manually designed operators rather than coming up with completely new designs. In this work, we explore the less studied direction of neural operator synthesis, which aims to automatically and efficiently discover novel neural operators with better accuracy and/or speed. We develop an end-to-end framework Syno, to realize practical neural operator synthesis. Syno makes use of a novel set of fine-grained primitives defined on tensor dimensions, which ensure various desired properties to ease model training, and also enable expression canonicalization techniques to avoid redundant candidates during search. Syno further adopts a novel guided synthesis flow to obtain valid operators matched with the specified input/output dimension sizes, and leverages efficient stochastic tree search algorithms to quickly explore the design space. We demonstrate that Syno discovers better operators with average speedups of $1.37\times$ to $2.06\times$ on various hardware and compiler choices, while keeping less than 1% accuracy loss even on NAS-optimized models.
DetectRL: Benchmarking LLM-Generated Text Detection in Real-World Scenarios
Venue: arXiv cs.CL 2025
Year: 2025

Detecting text generated by large language models (LLMs) is of great recent interest. With zero-shot methods like DetectGPT, detection capabilities have reached impressive levels. However, the reliability of existing detectors in real-world applications remains underexplored. In this study, we present a new benchmark, DetectRL, highlighting that even state-of-the-art (SOTA) detection techniques still underperformed in this task. We collected human-written datasets from domains where LLMs are particularly prone to misuse. Using popular LLMs, we generated data that better aligns with real-world applications. Unlike previous studies, we employed heuristic rules to create adversarial LLM-generated text, simulating various prompts usages, human revisions like word substitutions, and writing noises like spelling mistakes. Our development of DetectRL reveals the strengths and limitations of current SOTA detectors. More importantly, we analyzed the potential impact of writing styles, model types, attack methods, the text lengths, and real-world human writing factors on different types of detectors. We believe DetectRL could serve as an effective benchmark for assessing detectors in real-world scenarios, evolving with advanced attack methods, thus providing more stressful evaluation to drive the development of more efficient detectors. Data and code are publicly available at: https://github.com/NLP2CT/DetectRL.
Neural Network Verification with PyRAT
Venue: arXiv cs.AI 2025
Year: 2025

As AI systems are becoming more and more popular and used in various critical domains (health, transport, energy, ...), the need to provide guarantees and trust of their safety is undeniable. To this end, we present PyRAT, a tool based on abstract interpretation to verify the safety and the robustness of neural networks. In this paper, we describe the different abstractions used by PyRAT to find the reachable states of a neural network starting from its input as well as the main features of the tool to provide fast and accurate analysis of neural networks. PyRAT has already been used in several collaborations to ensure safety guarantees, with its second place at the VNN-Comp 2024 showcasing its performance.
Envisioning Responsible Quantum Software Engineering and Quantum Artificial Intelligence
Venue: arXiv cs.SE 2025
Year: 2025

The convergence of Quantum Computing (QC), Quantum Software Engineering (QSE), and Artificial Intelligence (AI) presents transformative opportunities across various domains. However, existing methodologies inadequately address the ethical, security, and governance challenges arising from this technological shift. This paper highlights the urgent need for interdisciplinary collaboration to embed ethical principles into the development of Quantum AI (QAI) and QSE, ensuring transparency, inclusivity, and equitable global access. Without proactive governance, there is a risk of deepening digital inequalities and consolidating power among a select few. We call on the software engineering community to actively shape a future where responsible QSE and QAI are foundational for ethical, accountable, and socially beneficial technological progress.
TPC: Test-time Procrustes Calibration for Diffusion-based Human Image Animation
Venue: arXiv cs.CV 2025
Year: 2025

Human image animation aims to generate a human motion video from the inputs of a reference human image and a target motion video. Current diffusion-based image animation systems exhibit high precision in transferring human identity into targeted motion, yet they still exhibit irregular quality in their outputs. Their optimal precision is achieved only when the physical compositions (i.e., scale and rotation) of the human shapes in the reference image and target pose frame are aligned. In the absence of such alignment, there is a noticeable decline in fidelity and consistency. Especially, in real-world environments, this compositional misalignment commonly occurs, posing significant challenges to the practical usage of current systems. To this end, we propose Test-time Procrustes Calibration (TPC), which enhances the robustness of diffusion-based image animation systems by maintaining optimal performance even when faced with compositional misalignment, effectively addressing real-world scenarios. The TPC provides a calibrated reference image for the diffusion model, enhancing its capability to understand the correspondence between human shapes in the reference and target images. Our method is simple and can be applied to any diffusion-based image animation system in a model-agnostic manner, improving the effectiveness at test time without additional training.
DECT-2020 NR Link Distance Performance in Varying Environments: Models and Measurements
Venue: arXiv cs.NI 2025
Year: 2025

Digital Enhanced Cordless Telecommunications 2020 New Radio (DECT-2020 NR) has garnered recognition as an alternative for cellular 5G technology in the internet of things industry. This paper presents a study centered around the analysis of the link distance performance in varying environments for DECT-2020 NR. The study extensively examines and analyzes received signal strength indicator and resulting path loss values in comparison with theoretical models, as well as packet success rates (SR) and signal-to-noise ratio against varying distances. The measurements show that with an SR of over 90%, an antenna height of 1.5 m, indoor link distances with a single device-to-device connection with 0 dBm transmission (TX) power can reach over 60 m in non-line-of-sight (NLOS) areas and up to 190 m in LOS areas with smaller -8 dBm TX power. Similarly, for outdoor use cases, link distances of over 600 m can be reached with +19 dBm TX power.
μP$^2$: Effective Sharpness Aware Minimization Requires Layerwise Perturbation Scaling
Venue: arXiv cs.LG 2025
Year: 2025

Sharpness Aware Minimization (SAM) enhances performance across various neural architectures and datasets. As models are continually scaled up to improve performance, a rigorous understanding of SAM's scaling behaviour is paramount. To this end, we study the infinite-width limit of neural networks trained with SAM, using the Tensor Programs framework. Our findings reveal that the dynamics of standard SAM effectively reduce to applying SAM solely in the last layer in wide neural networks, even with optimal hyperparameters. In contrast, we identify a stable parameterization with layerwise perturbation scaling, which we call $\textit{Maximal Update and Perturbation Parameterization}$ ($μ$P$^2$), that ensures all layers are both feature learning and effectively perturbed in the limit. Through experiments with MLPs, ResNets and Vision Transformers, we empirically demonstrate that $μ$P$^2$ achieves hyperparameter transfer of the joint optimum of learning rate and perturbation radius across model scales. Moreover, we provide an intuitive condition to derive $μ$P$^2$ for other perturbation rules like Adaptive SAM and SAM-ON, also ensuring balanced perturbation effects across all layers.
First, Learn What You Don't Know: Active Information Gathering for Driving at the Limits of Handling
Venue: arXiv cs.RO 2025
Year: 2025

Combining data-driven models that adapt online and model predictive control (MPC) has enabled effective control of nonlinear systems. However, when deployed on unstable systems, online adaptation may not be fast enough to ensure reliable simultaneous learning and control. For example, a controller on a vehicle executing highly dynamic maneuvers--such as drifting to avoid an obstacle--may push the vehicle's tires to their friction limits, destabilizing the vehicle and allowing modeling errors to quickly compound and cause a loss of control. To address this challenge, we present an active information gathering framework for identifying vehicle dynamics as quickly as possible. We propose an expressive vehicle dynamics model that leverages Bayesian last-layer meta-learning to enable rapid online adaptation. The model's uncertainty estimates are used to guide informative data collection and quickly improve the model prior to deployment. Dynamic drifting experiments on a Toyota Supra show that (i) the framework enables reliable control of a vehicle at the edge of stability, (ii) online adaptation alone may not suffice for zero-shot control and can lead to undesirable transient errors or spin-outs, and (iii) active data collection helps achieve reliable performance.