OpenRaiser/Intern-Atlas huggingface dataset:
No More Blind Spots: Learning Vision-Based Omnidirectional Bipedal Locomotion for Challenging Terrain
Venue: arXiv cs.RO 2025
Year: 2025

Effective bipedal locomotion in dynamic environments, such as cluttered indoor spaces or uneven terrain, requires agile and adaptive movement in all directions. This necessitates omnidirectional terrain sensing and a controller capable of processing such input. We present a learning framework for vision-based omnidirectional bipedal locomotion, enabling seamless movement using depth images. A key challenge is the high computational cost of rendering omnidirectional depth images in simulation, making traditional sim-to-real reinforcement learning (RL) impractical. Our method combines a robust blind controller with a teacher policy that supervises a vision-based student policy, trained on noise-augmented terrain data to avoid rendering costs during RL and ensure robustness. We also introduce a data augmentation technique for supervised student training, accelerating training by up to 10 times compared to conventional methods. Our framework is validated through simulation and real-world tests, demonstrating effective omnidirectional locomotion with minimal reliance on expensive rendering. This is, to the best of our knowledge, the first demonstration of vision-based omnidirectional bipedal locomotion, showcasing its adaptability to diverse terrains.
CAMF: Collaborative Adversarial Multi-agent Framework for Machine Generated Text Detection
Venue: arXiv cs.CL 2025
Year: 2025

Detecting machine-generated text (MGT) from contemporary Large Language Models (LLMs) is increasingly crucial amid risks like disinformation and threats to academic integrity. Existing zero-shot detection paradigms, despite their practicality, often exhibit significant deficiencies. Key challenges include: (1) superficial analyses focused on limited textual attributes, and (2) a lack of investigation into consistency across linguistic dimensions such as style, semantics, and logic. To address these challenges, we introduce the \textbf{C}ollaborative \textbf{A}dversarial \textbf{M}ulti-agent \textbf{F}ramework (\textbf{CAMF}), a novel architecture using multiple LLM-based agents. CAMF employs specialized agents in a synergistic three-phase process: \emph{Multi-dimensional Linguistic Feature Extraction}, \emph{Adversarial Consistency Probing}, and \emph{Synthesized Judgment Aggregation}. This structured collaborative-adversarial process enables a deep analysis of subtle, cross-dimensional textual incongruities indicative of non-human origin. Empirical evaluations demonstrate CAMF's significant superiority over state-of-the-art zero-shot MGT detection techniques.
Finite Axiomatizability by Disjunctive Existential Rules
Venue: arXiv cs.LO 2025
Year: 2025

Rule-based languages lie at the core of several areas of central importance to databases and artificial intelligence such as deductive databases and knowledge representation and reasoning. Disjunctive existential rules (a.k.a. disjunctive tuple-generating dependencies in the database literature) form such a prominent rule-based language. The goal of this work is to pinpoint the expressive power of disjunctive existential rules in terms of insightful model-theoretic properties. More precisely, given a collection $\mathcal{C}$ of relational structures, we show that $\mathcal{C}$ is axiomatizable via a finite set $Σ$ of disjunctive existential rules (i.e., $\mathcal{C}$ is precisely the set of models of $Σ$) iff $\mathcal{C}$ enjoys certain model-theoretic properties. This is achieved by using the well-known property of criticality, a refined version of closure under direct products, and a novel property called diagrammatic compatibility that relies on the method of diagrams. We further establish analogous characterizations for the well-behaved classes of linear and guarded disjunctive existential rules by adopting refined versions of diagrammatic compatibility that consider the syntactic restrictions imposed by linearity and guardedness; this illustrates the robustness of diagrammatic compatibility. We finally exploit diagrammatic compatibility to rewrite a set of guarded disjunctive existential rules into an equivalent set that falls in the weaker class of linear disjunctive existential rules, if one exists.
Clean Code, Better Models: Enhancing LLM Performance with Smell-Cleaned Dataset
Venue: arXiv cs.SE 2025
Year: 2025

The Large Language Models (LLMs) have demonstrated great potential in code-related tasks. However, most research focuses on improving the output quality of LLMs (e.g., correctness), and less attention has been paid to the LLM input (e.g., the training code quality). Given that code smells are widely existed in practice and can negatively impact software maintainability and readability, this study takes the first systematic research to assess and improve dataset quality in terms of code smells. In this work, we first conduct a preliminary study to explore the presence of code smells in a popular benchmark dataset (i.e., CodeSearchNet-Python}) and evaluate the output of several popular LLMs (i.e., DeepSeek-Coder, CodeLlama, and MagiCoder), revealing that code smell issues extensively exist in LLM's input (e.g., benchmark dataset) and output (e.g., generated code). We then conduct our systematic research by taking three main steps: Firstly, we propose an LLM-based code smell cleaning tool, named SmellCC, which automatically refactors and removes code smells. To evaluate the correctness of the code refactoring, we construct a test set of 50 repositories sourced from the CodeSearchNet-Python benchmark for functional testing. Then we apply our curated smell-cleaned dataset to fine-tune two LLMs (i.e., DeepSeek-V2 and Qwen-Coder) to explore their potential for generating high-quality code. Thirdly, we investigate the impact of code smells on two downstream tasks: code completion and code search. Lastly, we derive several actionable implications for software engineering researchers and industry practitioners from our findings.
Persistence is All You Need -- A Topological Lens on Microstructural Characterization
Venue: arXiv cs.CE 2025
Year: 2025

The microstructure critically governs the properties of materials used in energy and chemical engineering technologies, from catalysts and filters to thermal insulators and sensors. Therefore, accurate design is based on quantitative descriptors of microstructural features. Here we show that eight key descriptors can be extracted by a single workflow that fuses computational topology with assembly-learning-based regression. First, 1312 synthetic three-dimensional microstructures were generated and evaluated using established algorithms, and a labeled data set of ground-truth parameters was built. Converting every structure into a persistence image allowed us to train a deep neural network that predicts the eight descriptors. In an independent test set, the model achieved on average R^2 ~ 0.84 and Pearson r ~ 0.92, demonstrating both precision and generality. The approach provides a unified and scalable tool for rapid characterization of functional porous materials.
How Much Can a Behavior-Preserving Changeset Be Decomposed into Refactoring Operations?
Venue: arXiv cs.SE 2025
Year: 2025

Developers sometimes mix behavior-preserving modifications, such as refactorings, with behavior-altering modifications, such as feature additions. Several approaches have been proposed to support understanding such modifications by separating them into those two parts. Such refactoring-aware approaches are expected to be particularly effective when the behavior-preserving parts can be decomposed into a sequence of more primitive behavior-preserving operations, such as refactorings, but this has not been explored. In this paper, as an initial validation, we quantify how much of the behavior-preserving modifications can be decomposed into refactoring operations using a dataset of functionally-equivalent method pairs. As a result, when using an existing refactoring detector, only 33.9% of the changes could be identified as refactoring operations. In contrast, when including 67 newly defined functionally-equivalent operations, the coverage increased by over 128%. Further investigation into the remaining unexplained differences was conducted, suggesting improvement opportunities.
Learning Wisdom from Errors: Promoting LLM's Continual Relation Learning through Exploiting Error Cases
Venue: arXiv cs.CL 2025
Year: 2025

Continual Relation Extraction (CRE) aims to continually learn new emerging relations while avoiding catastrophic forgetting. Existing CRE methods mainly use memory replay and contrastive learning to mitigate catastrophic forgetting. However, these methods do not attach importance to the error cases that can reveal the model's cognitive biases more effectively. To address this issue, we propose an instruction-based continual contrastive tuning approach for Large Language Models (LLMs) in CRE. Different from existing CRE methods that typically handle the training and memory data in a unified manner, this approach splits the training and memory data of each task into two parts respectively based on the correctness of the initial responses and treats them differently through dual-task fine-tuning. In addition, leveraging the advantages of LLM's instruction-following ability, we propose a novel instruction-based contrastive tuning strategy for LLM to continuously correct current cognitive biases with the guidance of previous data in an instruction-tuning manner, which mitigates the gap between old and new relations in a more suitable way for LLMs. We experimentally evaluate our model on TACRED and FewRel, and the results show that our model achieves new state-of-the-art CRE performance with significant improvements, demonstrating the importance of specializing in exploiting error cases.
VARAN: Variational Inference for Self-Supervised Speech Models Fine-Tuning on Downstream Tasks
Venue: arXiv cs.LG 2025
Year: 2025

Conventional methods for aggregating layers in fine-tuned self-supervised speech models, such as using the final layer or weighted sum, suffer from information bottlenecks and static feature weighting for all dataset examples. We propose VARAN, a framework that dynamically tailors layer aggregation to individual inputs. By employing layer-specialized probing heads and data-dependent weighting, VARAN adaptively prioritizes layer's features based on input. Evaluations on automatic speech recognition and speech emotion recognition tasks demonstrate VARAN's superior performance, particularly when using the LoRA fine-tuning technique. The framework resolves the trade-off between preserving layer-specific information and enabling flexible feature utilization, advancing efficient adaptation of self-supervised speech representations.
Mitigating Jailbreaks with Intent-Aware LLMs
Venue: arXiv cs.CR 2025
Year: 2025

Despite extensive safety-tuning, large language models (LLMs) remain vulnerable to jailbreak attacks via adversarially crafted instructions, reflecting a persistent trade-off between safety and task performance. In this work, we propose Intent-FT, a simple and lightweight fine-tuning approach that explicitly trains LLMs to infer the underlying intent of an instruction before responding. By fine-tuning on a targeted set of adversarial instructions, Intent-FT enables LLMs to generalize intent deduction to unseen attacks, thereby substantially improving their robustness. We comprehensively evaluate both parametric and non-parametric attacks across open-source and proprietary models, considering harmfulness from attacks, utility, over-refusal, and impact against white-box threats. Empirically, Intent-FT consistently mitigates all evaluated attack categories, with no single attack exceeding a 50\% success rate -- whereas existing defenses remain only partially effective. Importantly, our method preserves the model's general capabilities and reduces excessive refusals on benign instructions containing superficially harmful keywords. Furthermore, models trained with Intent-FT accurately identify hidden harmful intent in adversarial attacks, and these learned intentions can be effectively transferred to enhance vanilla model defenses. We publicly release our code at https://github.com/wj210/Intent_Jailbreak.
MAPF-World: Action World Model for Multi-Agent Path Finding
Venue: arXiv cs.AI 2025
Year: 2025

Multi-agent path finding (MAPF) is the problem of planning conflict-free paths from the designated start locations to goal positions for multiple agents. It underlies a variety of real-world tasks, including multi-robot coordination, robot-assisted logistics, and social navigation. Recent decentralized learnable solvers have shown great promise for large-scale MAPF, especially when leveraging foundation models and large datasets. However, these agents are reactive policy models and exhibit limited modeling of environmental temporal dynamics and inter-agent dependencies, resulting in performance degradation in complex, long-term planning scenarios. To address these limitations, we propose MAPF-World, an autoregressive action world model for MAPF that unifies situation understanding and action generation, guiding decisions beyond immediate local observations. It improves situational awareness by explicitly modeling environmental dynamics, including spatial features and temporal dependencies, through future state and actions prediction. By incorporating these predicted futures, MAPF-World enables more informed, coordinated, and far-sighted decision-making, especially in complex multi-agent settings. Furthermore, we augment MAPF benchmarks by introducing an automatic map generator grounded in real-world scenarios, capturing practical map layouts for training and evaluating MAPF solvers. Extensive experiments demonstrate that MAPF-World outperforms state-of-the-art learnable solvers, showcasing superior zero-shot generalization to out-of-distribution cases. Notably, MAPF-World is trained with a 96.5% smaller model size and 92% reduced data.
Enhancing 3D point accuracy of laser scanner through multi-stage convolutional neural network for applications in construction
Venue: arXiv cs.CV 2025
Year: 2025

We propose a multi-stage convolutional neural network (MSCNN) based integrated method for reducing uncertainty of 3D point accuracy of lasar scanner (LS) in rough indoor rooms, providing more accurate spatial measurements for high-precision geometric model creation and renovation. Due to different equipment limitations and environmental factors, high-end and low-end LS have positional errors. Our approach pairs high-accuracy scanners (HAS) as references with corresponding low-accuracy scanners (LAS) of measurements in identical environments to quantify specific error patterns. By establishing a statistical relationship between measurement discrepancies and their spatial distribution, we develop a correction framework that combines traditional geometric processing with targeted neural network refinement. This method transforms the quantification of systematic errors into a supervised learning problem, allowing precise correction while preserving critical geometric features. Experimental results in our rough indoor rooms dataset show significant improvements in measurement accuracy, with mean square error (MSE) reductions exceeding 70% and peak signal-to-noise ratio (PSNR) improvements of approximately 6 decibels. This approach enables low-end devices to achieve measurement uncertainty levels approaching those of high-end devices without hardware modifications.
DE-VAE: Revealing Uncertainty in Parametric and Inverse Projections with Variational Autoencoders using Differential Entropy
Venue: arXiv cs.LG 2025
Year: 2025

Recently, autoencoders (AEs) have gained interest for creating parametric and invertible projections of multidimensional data. Parametric projections make it possible to embed new, unseen samples without recalculating the entire projection, while invertible projections allow the synthesis of new data instances. However, existing methods perform poorly when dealing with out-of-distribution samples in either the data or embedding space. Thus, we propose DE-VAE, an uncertainty-aware variational AE using differential entropy (DE) to improve the learned parametric and invertible projections. Given a fixed projection, we train DE-VAE to learn a mapping into 2D space and an inverse mapping back to the original space. We conduct quantitative and qualitative evaluations on four well-known datasets, using UMAP and t-SNE as baseline projection methods. Our findings show that DE-VAE can create parametric and inverse projections with comparable accuracy to other current AE-based approaches while enabling the analysis of embedding uncertainty.
KP-INR: A Dual-Branch Implicit Neural Representation Model for Cardiac Cine MRI Reconstruction
Venue: arXiv cs.CV 2025
Year: 2025

Cardiac Magnetic Resonance (CMR) imaging is a non-invasive method for assessing cardiac structure, function, and blood flow. Cine MRI extends this by capturing heart motion, providing detailed insights into cardiac mechanics. To reduce scan time and breath-hold discomfort, fast acquisition techniques have been utilized at the cost of lowering image quality. Recently, Implicit Neural Representation (INR) methods have shown promise in unsupervised reconstruction by learning coordinate-to-value mappings from undersampled data, enabling high-quality image recovery. However, current existing INR methods primarily focus on using coordinate-based positional embeddings to learn the mapping, while overlooking the feature representations of the target point and its neighboring context. In this work, we propose KP-INR, a dual-branch INR method operating in k-space for cardiac cine MRI reconstruction: one branch processes the positional embedding of k-space coordinates, while the other learns from local multi-scale k-space feature representations at those coordinates. By enabling cross-branch interaction and approximating the target k-space values from both branches, KP-INR can achieve strong performance on challenging Cartesian k-space data. Experiments on the CMRxRecon2024 dataset confirms its improved performance over baseline models and highlights its potential in this field.
Demystifying Foreground-Background Memorization in Diffusion Models
Venue: arXiv cs.CV 2025
Year: 2025

Diffusion models (DMs) memorize training images and can reproduce near-duplicates during generation. Current detection methods identify verbatim memorization but fail to capture two critical aspects: quantifying partial memorization occurring in small image regions, and memorization patterns beyond specific prompt-image pairs. To address these limitations, we propose Foreground Background Memorization (FB-Mem), a novel segmentation-based metric that classifies and quantifies memorized regions within generated images. Our method reveals that memorization is more pervasive than previously understood: (1) individual generations from single prompts may be linked to clusters of similar training images, revealing complex memorization patterns that extend beyond one-to-one correspondences; and (2) existing model-level mitigation methods, such as neuron deactivation and pruning, fail to eliminate local memorization, which persists particularly in foreground regions. Our work establishes an effective framework for measuring memorization in diffusion models, demonstrates the inadequacy of current mitigation approaches, and proposes a stronger mitigation method using a clustering approach.
Several Issues Regarding Data Governance in AGI
Venue: arXiv cs.CY 2025
Year: 2025

The rapid advancement of artificial intelligence has positioned data governance as a critical concern for responsible AI development. While frameworks exist for conventional AI systems, the potential emergence of Artificial General Intelligence (AGI) presents unprecedented governance challenges. This paper examines data governance challenges specific to AGI, defined as systems capable of recursive self-improvement or self-replication. We identify seven key issues that differentiate AGI governance from current approaches. First, AGI may autonomously determine what data to collect and how to use it, potentially circumventing existing consent mechanisms. Second, these systems may make data retention decisions based on internal optimization criteria rather than human-established principles. Third, AGI-to-AGI data sharing could occur at speeds and complexities beyond human oversight. Fourth, recursive self-improvement creates unique provenance tracking challenges, as systems evolve both themselves and how they process data. Fifth, ownership of data and insights generated through self-improvement raises complex intellectual property questions. Sixth, self-replicating AGI distributed across jurisdictions would create unprecedented challenges for enforcing data protection laws. Finally, governance frameworks established during early AGI development may quickly become obsolete as systems evolve. We conclude that effective AGI data governance requires built-in constraints, continuous monitoring mechanisms, dynamic governance structures, international coordination, and multi-stakeholder involvement. Without forward-looking governance approaches specifically designed for systems with autonomous data capabilities, we risk creating AGI whose relationship with data evolves in ways that undermine human values and interests.
Scalable RF Simulation in Generative 4D Worlds
Venue: arXiv cs.CV 2025
Year: 2025

Radio Frequency (RF) sensing has emerged as a powerful, privacy-preserving alternative to vision-based methods for indoor perception tasks. However, collecting high-quality RF data in dynamic and diverse indoor environments remains a major challenge. To address this, we introduce WaveVerse, a prompt-based, scalable framework that simulates realistic RF signals from generated indoor scenes with human motions. WaveVerse introduces a language-guided 4D world generator, which includes a state-aware causal transformer for human motion generation conditioned on spatial constraints and texts, and a phase-coherent ray tracing simulator that enables the simulation of accurate and coherent RF signals. Experiments demonstrate the effectiveness of our approach in conditioned human motion generation and highlight how phase coherence is applied to beamforming and respiration monitoring. We further present two case studies in ML-based high-resolution imaging and human activity recognition, demonstrating that WaveVerse not only enables data generation for RF imaging for the first time, but also consistently achieves performance gain in both data-limited and data-adequate scenarios.
MAD: A Benchmark for Multi-Turn Audio Dialogue Fact-Checking
Venue: arXiv cs.SI 2025
Year: 2025

Despite the growing popularity of audio platforms, fact-checking spoken content remains significantly underdeveloped. Misinformation in speech often unfolds across multi-turn dialogues, shaped by speaker interactions, disfluencies, overlapping speech, and emotional tone-factors that complicate both claim detection and verification. Existing datasets fall short by focusing on isolated sentences or text transcripts, without modeling the conversational and acoustic complexity of spoken misinformation. We introduce MAD (Multi-turn Audio Dialogues), the first fact-checking dataset aligned with multi-turn spoken dialogues and corresponding audio. MAD captures how misinformation is introduced, contested, and reinforced through natural conversation. Each dialogue includes annotations for speaker turns, dialogue scenarios, information spread styles, sentence-level check-worthiness, and both sentence- and dialogue-level veracity. The dataset supports two core tasks: check-worthy claim detection and claim verification. Benchmarking shows that even strong pretrained models reach only 72-74% accuracy at the sentence level and 71-72% at the dialogue level in claim verification, underscoring MAD's difficulty. MAD offers a high-quality benchmark for advancing multimodal and conversational fact-checking, while also surfacing open challenges related to reasoning over speech and dialogue dynamics.