OpenRaiser/Intern-Atlas huggingface dataset:
A Comprehensive Survey with Critical Analysis for Deepfake Speech Detection
Venue: arXiv cs.SD 2025
Year: 2025

Thanks to advancements in deep learning, speech generation systems now power a variety of real-world applications, such as text-to-speech for individuals with speech disorders, voice chatbots in call centers, cross-linguistic speech translation, etc. While these systems can autonomously generate human-like speech and replicate specific voices, they also pose risks when misused for malicious purposes. This motivates the research community to develop models for detecting synthesized speech (e.g., fake speech) generated by deep-learning-based models, referred to as the Deepfake Speech Detection task. As the Deepfake Speech Detection task has emerged in recent years, there are not many survey papers proposed for this task. Additionally, existing surveys for the Deepfake Speech Detection task tend to summarize techniques used to construct a Deepfake Speech Detection system rather than providing a thorough analysis. This gap motivated us to conduct a comprehensive survey, providing a critical analysis of the challenges and developments in Deepfake Speech Detection. Our survey is innovatively structured, offering an in-depth analysis of current challenge competitions, public datasets, and the deep-learning techniques that provide enhanced solutions to address existing challenges in the field. From our analysis, we propose hypotheses on leveraging and combining specific deep learning techniques to improve the effectiveness of Deepfake Speech Detection systems. Beyond conducting a survey, we perform extensive experiments to validate these hypotheses and propose a highly competitive model for the task of Deepfake Speech Detection. Given the analysis and the experimental results, we finally indicate potential and promising research directions for the Deepfake Speech Detection task.
RAMBO: Enhancing RAG-based Repository-Level Method Body Completion
Venue: arXiv cs.SE 2025
Year: 2025

Code completion is essential in software development, helping developers by predicting code snippets based on context. Among completion tasks, Method Body Completion (MBC) is particularly challenging as it involves generating complete method bodies based on their signatures and context. This task becomes significantly harder in large repositories, where method bodies must integrate repositoryspecific elements such as custom APIs, inter-module dependencies, and project-specific conventions. In this paper, we introduce RAMBO, a novel RAG-based approach for repository-level MBC. Instead of retrieving similar method bodies, RAMBO identifies essential repository-specific elements, such as classes, methods, and variables/fields, and their relevant usages. By incorporating these elements and their relevant usages into the code generation process, RAMBO ensures more accurate and contextually relevant method bodies. Our experimental results with leading code LLMs across 40 Java projects show that RAMBO significantly outperformed the state-of-the-art repository-level MBC approaches, with the improvements of up to 46% in BLEU, 57% in CodeBLEU, 36% in Compilation Rate, and up to 3X in Exact Match. Notably, RAMBO surpassed RepoCoder Oracle method by up to 12% in Exact Match, setting a new benchmark for repository-level MBC.
MaterialFusion: Enhancing Inverse Rendering with Material Diffusion Priors
Venue: arXiv cs.CV 2025
Year: 2025

Recent works in inverse rendering have shown promise in using multi-view images of an object to recover shape, albedo, and materials. However, the recovered components often fail to render accurately under new lighting conditions due to the intrinsic challenge of disentangling albedo and material properties from input images. To address this challenge, we introduce MaterialFusion, an enhanced conventional 3D inverse rendering pipeline that incorporates a 2D prior on texture and material properties. We present StableMaterial, a 2D diffusion model prior that refines multi-lit data to estimate the most likely albedo and material from given input appearances. This model is trained on albedo, material, and relit image data derived from a curated dataset of approximately ~12K artist-designed synthetic Blender objects called BlenderVault. we incorporate this diffusion prior with an inverse rendering framework where we use score distillation sampling (SDS) to guide the optimization of the albedo and materials, improving relighting performance in comparison with previous work. We validate MaterialFusion's relighting performance on 4 datasets of synthetic and real objects under diverse illumination conditions, showing our diffusion-aided approach significantly improves the appearance of reconstructed objects under novel lighting conditions. We intend to publicly release our BlenderVault dataset to support further research in this field.
Ads that Talk Back: Implications and Perceptions of Injecting Personalized Advertising into LLM Chatbots
Venue: arXiv cs.HC 2025
Year: 2025

Recent advances in large language models (LLMs) have enabled the creation of highly effective chatbots. However, the compute costs of widely deploying LLMs have raised questions about profitability. Companies have proposed exploring ad-based revenue streams for monetizing LLMs, which could serve as the new de facto platform for advertising. This paper investigates the implications of personalizing LLM advertisements to individual users via a between-subjects experiment with 179 participants. We developed a chatbot that embeds personalized product advertisements within LLM responses, inspired by similar forays by AI companies. The evaluation of our benchmarks showed that ad injection only slightly impacted LLM performance, particularly response desirability. Results revealed that participants struggled to detect ads, and even preferred LLM responses with hidden advertisements. Rather than clicking on our advertising disclosure, participants tried changing their advertising settings using natural language queries. We created an advertising dataset and an open-source LLM, Phi-4-Ads, fine-tuned to serve ads and flexibly adapt to user preferences.
Beyond Humanoid Prosthetic Hands: Modular Terminal Devices That Improve User Performance
Venue: arXiv cs.RO 2025
Year: 2025

Despite decades of research and development, myoelectric prosthetic hands lack functionality and are often rejected by users. This lack in functionality can be partially attributed to the widely accepted anthropomorphic design ideology in the field; attempting to replicate human hand form and function despite severe limitations in control and sensing technology. Instead, prosthetic hands can be tailored to perform specific tasks without increasing complexity by shedding the constraints of anthropomorphism. In this paper, we develop and evaluate four open-source modular non-humanoid devices to perform the motion required to replicate human flicking motion and to twist a screwdriver, and the functionality required to pick and place flat objects and to cut paper. Experimental results from these devices demonstrate that, versus a humanoid prosthesis, non-humanoid prosthesis design dramatically improves task performance, reduces user compensatory movement, and reduces task load. Case studies with two end users demonstrate the translational benefits of this research. We found that special attention should be paid to monitoring end-user task load to ensure positive rehabilitation outcomes.
Intent Prediction-Driven Model Predictive Control for UAV Planning and Navigation in Dynamic Environments
Venue: arXiv cs.RO 2025
Year: 2025

Aerial robots can enhance construction site productivity by autonomously handling inspection and mapping tasks. However, ensuring safe navigation near human workers remains challenging. While navigation in static environments has been well studied, navigating dynamic environments remains open due to challenges in perception and planning. Payload limitations restrict the robots to using cameras with limited fields of view, resulting in unreliable perception and tracking during collision avoidance. Moreover, the rapidly changing conditions of dynamic environments can quickly make the generated optimal trajectory outdated.To address these challenges, this paper presents a comprehensive navigation framework that integrates perception, intent prediction, and planning. Our perception module detects and tracks dynamic obstacles efficiently and handles tracking loss and occlusion during collision avoidance. The proposed intent prediction module employs a Markov Decision Process (MDP) to forecast potential actions of dynamic obstacles with the possible future trajectories. Finally, a novel intent-based planning algorithm, leveraging model predictive control (MPC), is applied to generate navigation trajectories. Simulation and physical experiments demonstrate that our method improves the safety of navigation by achieving the fewest collisions compared to benchmarks.
Federated Large Language Models: Current Progress and Future Directions
Venue: arXiv cs.LG 2025
Year: 2025

Large language models are rapidly gaining popularity and have been widely adopted in real-world applications. While the quality of training data is essential, privacy concerns arise during data collection. Federated learning offers a solution by allowing multiple clients to collaboratively train LLMs without sharing local data. However, FL introduces new challenges, such as model convergence issues due to heterogeneous data and high communication costs. A comprehensive study is required to address these challenges and guide future research. This paper surveys Federated learning for LLMs (FedLLM), highlighting recent advances and future directions. We focus on two key aspects: fine-tuning and prompt learning in a federated setting, discussing existing work and associated research challenges. We finally propose potential directions for federated LLMs, including pre-training, federated agents, and LLMs for federated learning.
CHBench: A Chinese Dataset for Evaluating Health in Large Language Models
Venue: arXiv cs.CL 2025
Year: 2025

With the rapid development of large language models (LLMs), assessing their performance on health-related inquiries has become increasingly essential. The use of these models in real-world contexts-where misinformation can lead to serious consequences for individuals seeking medical advice and support-necessitates a rigorous focus on safety and trustworthiness. In this work, we introduce CHBench, the first comprehensive safety-oriented Chinese health-related benchmark designed to evaluate LLMs' capabilities in understanding and addressing physical and mental health issues with a safety perspective across diverse scenarios. CHBench comprises 6,493 entries on mental health and 2,999 entries on physical health, spanning a wide range of topics. Our extensive evaluations of four popular Chinese LLMs highlight significant gaps in their capacity to deliver safe and accurate health information, underscoring the urgent need for further advancements in this critical domain. The code is available at https://github.com/TracyGuo2001/CHBench.
Aperiodic monotiles: from geometry to groups
Venue: arXiv cs.DM 2025
Year: 2025

In 2023, two striking, nearly simultaneous, mathematical discoveries have excited their respective communities, one by Greenfeld and Tao, the other (the Hat tile) by Smith, Myers, Kaplan and Goodman-Strauss, which can both be summed up as the following: there exists a single tile that tiles, but not periodically (sometimes dubbed the einstein problem). The two settings and the tools are quite different (as emphasized by their almost disjoint bibliographies): one in euclidean geometry, the other in group theory. Both are highly nontrivial: in the first case, one allows complex shapes; in the second one, also the space to tile may be complex. We propose here a framework that embeds both of these problems. From any tile system in this general framework, with some natural additional conditions, we exhibit a construction to simulate it by a group-theoretical tiling. We illustrate our setting by transforming the Hat tile into a new aperiodic group monotile, and we describe the symmetries of both the geometrical Hat tilings and the group tilings we obtain.
An adequacy theorem between mixed powerdomains and probabilistic concurrency (extended version)
Venue: arXiv cs.LO 2025
Year: 2025

We present an adequacy theorem for a concurrent extension of probabilistic GCL. The underlying denotational semantics is based on the so-called mixed powerdomains, which combine non-determinism with probabilistic behaviour. The theorem itself is formulated via M. Smyth's idea of treating observable properties as open sets of a topological space. The proof hinges on a 'topological generalisation' of König's lemma in the setting of probabilistic programming (a result that is proved in the paper as well). One application of the theorem is that it entails semi-decidability w.r.t. whether a concurrent program satisfies an observable property (written in a certain form). This is related to M. Escardó's conjecture about semi-decidability w.r.t. may and must probabilistic testing.
Extending Stable and Popular Matching Algorithms from Bipartite to Arbitrary Instances
Venue: arXiv cs.DS 2025
Year: 2025

We consider stable and popular matching problems in arbitrary graphs, which are referred to as stable roommates instances. We extend the 3/2-approximation algorithm for the maximum size weakly stable matching problem to the roommates case, which solves a more than 20 year old open question of Irving and Manlove about the approximability of maximum size weakly stable matchings in roommates instances with ties [Irving and Manlove 2002] and has nice applications for the problem of matching residents to hospitals in the presence of couples. We also extend the algorithm that finds a maximum size popular matching in bipartite graphs in the case of strict preferences and the algorithm to find a popular matching among maximum weight matchings. While previous attempts to extend the idea of promoting the agents or duplicating the edges from bipartite instances to arbitrary ones failed, these results show that with the help of a simple observation, we can indeed bridge the gap and extend these algorithms
Tiny Robotics Dataset and Benchmark for Continual Object Detection
Venue: arXiv cs.RO 2025
Year: 2025

Detecting objects in mobile robotics is crucial for numerous applications, from autonomous navigation to inspection. However, robots often need to operate in different domains from those they were trained in, requiring them to adjust to these changes. Tiny mobile robots, subject to size, power, and computational constraints, encounter even more difficulties in running and adapting these algorithms. Such adaptability, though, is crucial for real-world deployment, where robots must operate effectively in dynamic and unpredictable settings. In this work, we introduce a novel benchmark to evaluate the continual learning capabilities of object detection systems in tiny robotic platforms. Our contributions include: (i) Tiny Robotics Object Detection~(TiROD), a comprehensive dataset collected using the onboard camera of a small mobile robot, designed to test object detectors across various domains and classes; (ii) a benchmark of different continual learning strategies on this dataset using NanoDet, a lightweight object detector. Our results highlight key challenges in developing robust and efficient continual learning strategies for object detectors in tiny robotics.
Robo-Platform: A Robotic System for Recording Sensors and Controlling Robots
Venue: arXiv cs.RO 2025
Year: 2025

Mobile smartphones compactly provide sensors such as cameras, IMUs, GNSS measurement units, and wireless and wired communication channels required for robotics projects. They are affordable, portable, and programmable, which makes them ideal for testing, data acquisition, controlling mobile robots, and many other robotic applications. A robotic system is proposed in this paper, consisting of an Android phone, a microcontroller board attached to the phone via USB, and a remote wireless controller station. In the data acquisition mode, the Android device can record a dataset of a diverse configuration of multiple cameras, IMUs, GNSS units, and external USB ADC channels in the rawest format used for, but not limited to, pose estimation and scene reconstruction applications. In robot control mode, the Android phone, a microcontroller board, and other peripherals constitute the mobile or stationary robotic system. This system is controlled using a remote server connected over Wi-Fi or Bluetooth. Experiments show that although the SLAM and AR applications can utilize the acquired data, the proposed system can pave the way for more advanced algorithms for processing these noisy and sporadic measurements. Moreover, the characteristics of the communication media are studied, and two example robotic projects, which involve controlling a toy car and a quadcopter, are included.
Pix2Next: Leveraging Vision Foundation Models for RGB to NIR Image Translation
Venue: arXiv cs.CV 2025
Year: 2025

This paper proposes Pix2Next, a novel image-to-image translation framework designed to address the challenge of generating high-quality Near-Infrared (NIR) images from RGB inputs. Our approach leverages a state-of-the-art Vision Foundation Model (VFM) within an encoder-decoder architecture, incorporating cross-attention mechanisms to enhance feature integration. This design captures detailed global representations and preserves essential spectral characteristics, treating RGB-to-NIR translation as more than a simple domain transfer problem. A multi-scale PatchGAN discriminator ensures realistic image generation at various detail levels, while carefully designed loss functions couple global context understanding with local feature preservation. We performed experiments on the RANUS dataset to demonstrate Pix2Next's advantages in quantitative metrics and visual quality, improving the FID score by 34.81% compared to existing methods. Furthermore, we demonstrate the practical utility of Pix2Next by showing improved performance on a downstream object detection task using generated NIR data to augment limited real NIR datasets. The proposed approach enables the scaling up of NIR datasets without additional data acquisition or annotation efforts, potentially accelerating advancements in NIR-based computer vision applications.
Offline and Distributional Reinforcement Learning for Radio Resource Management
Venue: arXiv cs.LG 2025
Year: 2025

Reinforcement learning (RL) has proved to have a promising role in future intelligent wireless networks. Online RL has been adopted for radio resource management (RRM), taking over traditional schemes. However, due to its reliance on online interaction with the environment, its role becomes limited in practical, real-world problems where online interaction is not feasible. In addition, traditional RL stands short in front of the uncertainties and risks in real-world stochastic environments. In this manner, we propose an offline and distributional RL scheme for the RRM problem, enabling offline training using a static dataset without any interaction with the environment and considering the sources of uncertainties using the distributions of the return. Simulation results demonstrate that the proposed scheme outperforms conventional resource management models. In addition, it is the only scheme that surpasses online RL with a 10 % gain over online RL.
Exploring Information-Theoretic Metrics Associated with Neural Collapse in Supervised Training
Venue: arXiv cs.LG 2025
Year: 2025

In this paper, we introduce matrix entropy as an analytical tool for studying supervised learning, investigating the information content of data representations and classification head vectors, as well as the dynamic interactions between them during the supervised learning process. Our experimental results reveal that matrix entropy effectively captures the variations in information content of data representations and classification head vectors as neural networks approach Neural Collapse during supervised training, while also serving as a robust metric for measuring similarity among data samples. Leveraging this property, we propose Cross-Model Alignment (CMA) loss to optimize the fine-tuning of pretrained models. To characterize the dynamics of neural networks nearing the Neural Collapse state, we introduce two novel metrics: the Matrix Mutual Information Ratio (MIR) and the Matrix Entropy Difference Ratio (HDR), which quantitatively assess the interactions between data representations and classification heads in supervised learning, with theoretical optimal values derived under the Neural Collapse state. Our experiments demonstrate that MIR and HDR effectively explain various phenomena in neural networks, including the dynamics of standard supervised training, linear mode connectivity. Moreover, we use MIR and HDR to analyze the dynamics of grokking, which is a fascinating phenomenon in supervised learning where a model unexpectedly exhibits generalization long after achieving training data fit.
On the role of Artificial Intelligence methods in modern force-controlled manufacturing robotic tasks
Venue: arXiv cs.RO 2025
Year: 2025

This position paper explores the integration of Artificial Intelligence (AI) into force-controlled robotic tasks within the scope of advanced manufacturing, a cornerstone of Industry 4.0. AI's role in enhancing robotic manipulators - key drivers in the Fourth Industrial Revolution - is rapidly leading to significant innovations in smart manufacturing. The objective of this article is to frame these innovations in practical force-controlled applications - e.g. deburring, polishing, and assembly tasks like peg-in-hole (PiH) - highlighting their necessity for maintaining high-quality production standards. By reporting on recent AI-based methodologies, this article contrasts them and identifies current challenges to be addressed in future research. The analysis concludes with a perspective on future research directions, emphasizing the need for common performance metrics to validate AI techniques, integration of various enhancements for performance optimization, and the importance of validating them in relevant scenarios. These future directions aim to provide consistency with already adopted approaches, so as to be compatible with manufacturing standards, increasing the relevance of AI-driven methods in both academic and industrial contexts.