OpenRaiser/Intern-Atlas huggingface dataset:
TGRPO :Fine-tuning Vision-Language-Action Model via Trajectory-wise Group Relative Policy Optimization
Venue: arXiv cs.RO 2025
Year: 2025

Visual-Language-Action (VLA) models have demonstrated strong cross-scenario generalization capabilities in various robotic tasks through large-scale pre-training and task-specific fine-tuning. However, their training paradigm mainly relies on manually collected successful demonstrations, making it difficult to adapt to complex environments when encountering out-of-distribution (OOD) scenarios or execution biases. While Reinforcement Learning (RL) provides a closed-loop optimization framework via active trial-and-error mechanism, it suffers from sparse rewards, high variance, and unstable optimization in long-horizon robotic tasks. To address these limitations, we propose Trajectory-based Group Relative Policy Optimization (TGRPO), an online RL-based training framework for VLA models. TGRPO leverages task analysis generated by a large language model to automatically construct dense reward functions, providing fine-grained feedback to accelerate convergence and improve credit assignment. The core of our method is a group-based strategy that samples and normalizes multiple trajectories in parallel, reducing variance through relative comparison. By integrating trajectory-level and step-level advantage estimation, TGRPO captures both global and local optimization signals without relying on a value network. Experiments on four task categories of the LIBERO benchmark demonstrate that TGRPO achieves an average success rate of 80.7\%, which is 4.2\% higher than that of Supervised Fine-Tuning (SFT) and outperforms other representative RL-based post-training methods.
Diffusion Models for Safety Validation of Autonomous Driving Systems
Venue: arXiv cs.RO 2025
Year: 2025

Safety validation of autonomous driving systems is extremely challenging due to the high risks and costs of real-world testing as well as the rarity and diversity of potential failures. To address these challenges, we train a denoising diffusion model to generate potential failure cases of an autonomous vehicle given any initial traffic state. Experiments on a four-way intersection problem show that in a variety of scenarios, the diffusion model can generate realistic failure samples while capturing a wide variety of potential failures. Our model does not require any external training dataset, can perform training and inference with modest computing resources, and does not assume any prior knowledge of the system under test, with applicability to safety validation for traffic intersections.
MOBODY: Model Based Off-Dynamics Offline Reinforcement Learning
Venue: arXiv cs.LG 2025
Year: 2025

We study off-dynamics offline reinforcement learning, where the goal is to learn a policy from offline source and limited target datasets with mismatched dynamics. Existing methods either penalize the reward or discard source transitions occurring in parts of the transition space with high dynamics shift. As a result, they optimize the policy using data from low-shift regions, limiting exploration of high-reward states in the target domain that do not fall within these regions. Consequently, such methods often fail when the dynamics shift is significant or the optimal trajectories lie outside the low-shift regions. To overcome this limitation, we propose MOBODY, a Model-Based Off-Dynamics Offline RL algorithm that optimizes a policy using learned target dynamics transitions to explore the target domain, rather than only being trained with the low dynamics-shift transitions. For the dynamics learning, built on the observation that achieving the same next state requires taking different actions in different domains, MOBODY employs separate action encoders for each domain to encode different actions to the shared latent space while sharing a unified representation of states and a common transition function. We further introduce a target Q-weighted behavior cloning loss in policy optimization to avoid out-of-distribution actions, which push the policy toward actions with high target-domain Q-values, rather than high source domain Q-values or uniformly imitating all actions in the offline dataset. We evaluate MOBODY on a wide range of MuJoCo and Adroit benchmarks, demonstrating that it outperforms state-of-the-art off-dynamics RL baselines as well as policy learning methods based on different dynamics learning baselines, with especially pronounced improvements in challenging scenarios where existing methods struggle.
ABC-FHE : A Resource-Efficient Accelerator Enabling Bootstrappable Parameters for Client-Side Fully Homomorphic Encryption
Venue: arXiv cs.AR 2025
Year: 2025

As the demand for privacy-preserving computation continues to grow, fully homomorphic encryption (FHE)-which enables continuous computation on encrypted data-has become a critical solution. However, its adoption is hindered by significant computational overhead, requiring 10000-fold more computation compared to plaintext processing. Recent advancements in FHE accelerators have successfully improved server-side performance, but client-side computations remain a bottleneck, particularly under bootstrappable parameter configurations, which involve combinations of encoding, encrypt, decoding, and decrypt for large-sized parameters. To address this challenge, we propose ABC-FHE, an area- and power-efficient FHE accelerator that supports bootstrappable parameters on the client side. ABC-FHE employs a streaming architecture to maximize performance density, minimize area usage, and reduce off-chip memory access. Key innovations include a reconfigurable Fourier engine capable of switching between NTT and FFT modes. Additionally, an on-chip pseudo-random number generator and a unified on-the-fly twiddle factor generator significantly reduce memory demands, while optimized task scheduling enhances the CKKS client-side processing, achieving reduced latency. Overall, ABC-FHE occupies a die area of 28.638 mm2 and consumes 5.654 W of power in 28 nm technology. It delivers significant performance improvements, achieving a 1112x speed-up in encoding and encryption execution time compared to a CPU, and 214x over the state-of-the-art client-side accelerator. For decoding and decryption, it achieves a 963x speed-up over the CPU and 82x over the state-of-the-art accelerator.
RHealthTwin: Towards Responsible and Multimodal Digital Twins for Personalized Well-being
Venue: arXiv cs.AI 2025
Year: 2025

The rise of large language models (LLMs) has created new possibilities for digital twins in healthcare. However, the deployment of such systems in consumer health contexts raises significant concerns related to hallucination, bias, lack of transparency, and ethical misuse. In response to recommendations from health authorities such as the World Health Organization (WHO), we propose Responsible Health Twin (RHealthTwin), a principled framework for building and governing AI-powered digital twins for well-being assistance. RHealthTwin processes multimodal inputs that guide a health-focused LLM to produce safe, relevant, and explainable responses. At the core of RHealthTwin is the Responsible Prompt Engine (RPE), which addresses the limitations of traditional LLM configuration. Conventionally, users input unstructured prompt and the system instruction to configure the LLM, which increases the risk of hallucination. In contrast, RPE extracts predefined slots dynamically to structure both inputs. This guides the language model to generate responses that are context aware, personalized, fair, reliable, and explainable for well-being assistance. The framework further adapts over time through a feedback loop that updates the prompt structure based on user satisfaction. We evaluate RHealthTwin across four consumer health domains including mental support, symptom triage, nutrition planning, and activity coaching. RPE achieves state-of-the-art results with BLEU = 0.41, ROUGE-L = 0.63, and BERTScore = 0.89 on benchmark datasets. Also, we achieve over 90% in ethical compliance and instruction-following metrics using LLM-as-judge evaluation, outperforming baseline strategies. We envision RHealthTwin as a forward-looking foundation for responsible LLM-based applications in health and well-being.
EtiCor++: Towards Understanding Etiquettical Bias in LLMs
Venue: arXiv cs.CL 2025
Year: 2025

In recent years, researchers have started analyzing the cultural sensitivity of LLMs. In this respect, Etiquettes have been an active area of research. Etiquettes are region-specific and are an essential part of the culture of a region; hence, it is imperative to make LLMs sensitive to etiquettes. However, there needs to be more resources in evaluating LLMs for their understanding and bias with regard to etiquettes. In this resource paper, we introduce EtiCor++, a corpus of etiquettes worldwide. We introduce different tasks for evaluating LLMs for knowledge about etiquettes across various regions. Further, we introduce various metrics for measuring bias in LLMs. Extensive experimentation with LLMs shows inherent bias towards certain regions.
CoQMoE: Co-Designed Quantization and Computation Orchestration for Mixture-of-Experts Vision Transformer on FPGA
Venue: arXiv cs.AR 2025
Year: 2025

Vision Transformers (ViTs) exhibit superior performance in computer vision tasks but face deployment challenges on resource-constrained devices due to high computational/memory demands. While Mixture-of-Experts Vision Transformers (MoE-ViTs) mitigate this through a scalable architecture with sub-linear computational growth, their hardware implementation on FPGAs remains constrained by resource limitations. This paper proposes a novel accelerator for efficiently implementing quantized MoE models on FPGAs through two key innovations: (1) A dual-stage quantization scheme combining precision-preserving complex quantizers with hardware-friendly simplified quantizers via scale reparameterization, with only 0.28 $\%$ accuracy loss compared to full precision; (2) A resource-aware accelerator architecture featuring latency-optimized streaming attention kernels and reusable linear operators, effectively balancing performance and resource consumption. Experimental results demonstrate that our accelerator achieves nearly 155 frames per second, a 5.35$\times$ improvement in throughput, and over $80\%$ energy reduction compared to state-of-the-art (SOTA) FPGA MoE accelerators, while maintaining $<1\%$ accuracy loss across vision benchmarks. Our implementation is available at https://github.com/DJ000011/CoQMoE.
CoMuMDR: Code-mixed Multi-modal Multi-domain corpus for Discourse paRsing in conversations
Venue: arXiv cs.CL 2025
Year: 2025

Discourse parsing is an important task useful for NLU applications such as summarization, machine comprehension, and emotion recognition. The current discourse parsing datasets based on conversations consists of written English dialogues restricted to a single domain. In this resource paper, we introduce CoMuMDR: Code-mixed Multi-modal Multi-domain corpus for Discourse paRsing in conversations. The corpus (code-mixed in Hindi and English) has both audio and transcribed text and is annotated with nine discourse relations. We experiment with various SoTA baseline models; the poor performance of SoTA models highlights the challenges of multi-domain code-mixed corpus, pointing towards the need for developing better models for such realistic settings.
NeurIPS 2024 ML4CFD Competition: Results and Retrospective Analysis
Venue: arXiv cs.LG 2025
Year: 2025

The integration of machine learning (ML) into the physical sciences is reshaping computational paradigms, offering the potential to accelerate demanding simulations such as computational fluid dynamics (CFD). Yet, persistent challenges in accuracy, generalization, and physical consistency hinder the practical deployment of ML models in scientific domains. To address these limitations and systematically benchmark progress, we organized the ML4CFD competition, centered on surrogate modeling for aerodynamic simulations over two-dimensional airfoils. The competition attracted over 240 teams, who were provided with a curated dataset generated via OpenFOAM and evaluated through a multi-criteria framework encompassing predictive accuracy, physical fidelity, computational efficiency, and out-of-distribution generalization. This retrospective analysis reviews the competition outcomes, highlighting several approaches that outperformed baselines under our global evaluation score. Notably, the top entry exceeded the performance of the original OpenFOAM solver on aggregate metrics, illustrating the promise of ML-based surrogates to outperform traditional solvers under tailored criteria. Drawing from these results, we analyze the key design principles of top submissions, assess the robustness of our evaluation framework, and offer guidance for future scientific ML challenges.
Guidelines for Gaze-based Neural Preliminary Diagnosis
Venue: arXiv cs.HC 2025
Year: 2025

Neural disorders refer to any condition affecting the nervous system and that influence how individuals perceive and interact with the world. Traditional neural diagnoses rely on cumbersome, time-consuming, or subjective methods, such as clinical interviews, behavioural observations, or medical imaging. Eye tracking is an attractive alternative because analysing eye movements, such as fixations and saccades, can provide more objective insights into brain function and cognitive processing by capturing non-verbal and unconscious responses. Despite its potential, existing gaze-based studies presented seemingly contradictory findings. They are dispersed across diverse fields, requiring further research to standardise protocols and expand their application, particularly as a preliminary indicator of neural processes for differential diagnosis. Therefore, this paper outlines the main agreed-upon findings and provides a systematisation of knowledge and key guidelines towards advancing gaze-based neural preliminary diagnosis.
TSRec: Enhancing Repeat-Aware Recommendation from a Temporal-Sequential Perspective
Venue: arXiv cs.IR 2025
Year: 2025

Repeat consumption, such as repurchasing items and relistening songs, is a common scenario in daily life. To model repeat consumption, the repeat-aware recommendation has been proposed to predict which item will be re-interacted based on the user-item interactions. In this paper, we investigate various inherent characteristics to enhance the repeat-aware recommendation. Specifically, we explore these characteristics from two aspects: one is from the temporal aspect where we consider the time interval relationship in the user behavior sequence; the other is from the sequential aspect where we consider the sequential-level relationship in the user behavior sequence. And our intuition is that both the temporal pattern and sequential pattern will reflect users' intentions of repeat consumption. By utilizing these two patterns, a novel model called Temporal and Sequential repeat-aware Recommendation(TSRec for short) is proposed to enhance repeat-aware recommendation. TSRec has three main components: 1) User-specific Temporal Representation Module (UTRM), which encodes and extracts user historical repeat temporal information. 2)Item-specific Temporal Representation Module (ITRM), which incorporates item time interval information as side information to alleviate the data sparsity problem of user repeat behavior sequence. 3) Sequential Repeat-Aware Module (SRAM), which represents the similarity between the user's current and the last repeat sequences. Extensive experimental results on three public benchmarks demonstrate the superiority of TSRec over state-of-the-art methods. The implementation code is available https://anonymous.4open.science/r/TSRec-2306/.
Towards Provenance-Aware Earth Observation Workflows: the openEO Case Study
Venue: arXiv cs.DC 2025
Year: 2025

Capturing the history of operations and activities during a computational workflow is significantly important for Earth Observation (EO). The data provenance helps to collect the metadata that records the lineage of data products, providing information about how data are generated, transferred, manipulated, by whom all these operations are performed and through which processes, parameters, and datasets. This paper presents an approach to improve those aspects, by integrating the data provenance library yProv4WFs within openEO, a platform to let users connect to Earth Observation cloud back-ends in a simple and unified way. In addition, it is demonstrated how the integration of data provenance concepts across EO processing chains enables researchers and stakeholders to better understand the flow, the dependencies, and the transformations involved in analytical workflows.
Data-Efficient Challenges in Visual Inductive Priors: A Retrospective
Venue: arXiv cs.CV 2025
Year: 2025

Deep Learning requires large amounts of data to train models that work well. In data-deficient settings, performance can be degraded. We investigate which Deep Learning methods benefit training models in a data-deficient setting, by organizing the "VIPriors: Visual Inductive Priors for Data-Efficient Deep Learning" workshop series, featuring four editions of data-impaired challenges. These challenges address the problem of training deep learning models for computer vision tasks with limited data. Participants are limited to training models from scratch using a low number of training samples and are not allowed to use any form of transfer learning. We aim to stimulate the development of novel approaches that incorporate prior knowledge to improve the data efficiency of deep learning models. Successful challenge entries make use of large model ensembles that mix Transformers and CNNs, as well as heavy data augmentation. Novel prior knowledge-based methods contribute to success in some entries.
Evaluating Learned Indexes in LSM-tree Systems: Benchmarks,Insights and Design Choices
Venue: arXiv cs.DB 2025
Year: 2025

LSM-tree-based data stores are widely used in industry due to their exceptional performance. However, as data volumes grow, efficiently querying large-scale databases becomes increasingly challenging. To address this, recent studies attempted to integrate learned indexes into LSM-trees to enhance lookup performance, which has demonstrated promising improvements. Despite this, only a limited range of learned index types has been considered, and the strengths and weaknesses of different learned indexes remain unclear, making them difficult for practical use. To fill this gap, we provide a comprehensive and systematic benchmark to pursue an in-depth understanding of learned indexes in LSM-tree systems. In this work, we summarize the workflow of 8 existing learned indexes and analyze the associated theoretical cost. We also identify several key factors that significantly influence the performance of learned indexes and conclude them with a novel configuration space, including various index types, boundary positions, and granularity. Moreover, we implement different learned index designs on a unified platform to evaluate across various configurations. Surprisingly, our experiments reveal several unexpected insights, such as the marginal lookup enhancement when allocating a large memory budget to learned indexes and modest retraining overhead of learned indexes. Besides, we also offer practical guidelines to help developers intelligently select and tune learned indexes for custom use cases.
On the Ethics of Using LLMs for Offensive Security
Venue: arXiv cs.CR 2025
Year: 2025

Large Language Models (LLMs) have rapidly evolved over the past few years and are currently evaluated for their efficacy within the domain of offensive cyber-security. While initial forays showcase the potential of LLMs to enhance security research, they also raise critical ethical concerns regarding the dual-use of offensive security tooling. This paper analyzes a set of papers that leverage LLMs for offensive security, focusing on how ethical considerations are expressed and justified in their work. The goal is to assess the culture of AI in offensive security research regarding ethics communication, highlighting trends, best practices, and gaps in current discourse. We provide insights into how the academic community navigates the fine line between innovation and ethical responsibility. Particularly, our results show that 13 of 15 reviewed prototypes (86.6\%) mentioned ethical considerations and are thus aware of the potential dual-use of their research. Main motivation given for the research was allowing broader access to penetration-testing as well as preparing defenders for AI-guided attackers.
PhyBlock: A Progressive Benchmark for Physical Understanding and Planning via 3D Block Assembly
Venue: arXiv cs.RO 2025
Year: 2025

While vision-language models (VLMs) have demonstrated promising capabilities in reasoning and planning for embodied agents, their ability to comprehend physical phenomena, particularly within structured 3D environments, remains severely limited. To close this gap, we introduce PhyBlock, a progressive benchmark designed to assess VLMs on physical understanding and planning through robotic 3D block assembly tasks. PhyBlock integrates a novel four-level cognitive hierarchy assembly task alongside targeted Visual Question Answering (VQA) samples, collectively aimed at evaluating progressive spatial reasoning and fundamental physical comprehension, including object properties, spatial relationships, and holistic scene understanding. PhyBlock includes 2600 block tasks (400 assembly tasks, 2200 VQA tasks) and evaluates models across three key dimensions: partial completion, failure diagnosis, and planning robustness. We benchmark 21 state-of-the-art VLMs, highlighting their strengths and limitations in physically grounded, multi-step planning. Our empirical findings indicate that the performance of VLMs exhibits pronounced limitations in high-level planning and reasoning capabilities, leading to a notable decline in performance for the growing complexity of the tasks. Error analysis reveals persistent difficulties in spatial orientation and dependency reasoning. Surprisingly, chain-of-thought prompting offers minimal improvements, suggesting spatial tasks heavily rely on intuitive model comprehension. We position PhyBlock as a unified testbed to advance embodied reasoning, bridging vision-language understanding and real-world physical problem-solving.
Stop Misusing t-SNE and UMAP for Visual Analytics
Venue: arXiv cs.HC 2025
Year: 2025

Misuses of t-SNE and UMAP in visual analytics have become increasingly common. For example, although t-SNE and UMAP projections often do not faithfully reflect the original distances between clusters, practitioners frequently use them to investigate inter-cluster relationships. We investigate why this misuse occurs, and discuss methods to prevent it. To that end, we first review 136 papers to verify the prevalence of the misuse. We then interview researchers who have used dimensionality reduction (DR) to understand why such misuse occurs. Finally, we interview DR experts to examine why previous efforts failed to address the misuse. We find that the misuse of t-SNE and UMAP stems primarily from limited DR literacy among practitioners, and that existing attempts to address this issue have been ineffective. Based on these insights, we discuss potential paths forward, including the controversial but pragmatic option of automating the selection of optimal DR projections to prevent misleading analyses.