OpenRaiser/Intern-Atlas huggingface dataset:
Preempting Text Sanitization Utility in Resource-Constrained Privacy-Preserving LLM Interactions
Venue: arXiv cs.CR 2025
Year: 2025

Interactions with online Large Language Models raise privacy issues where providers can gather sensitive information about users and their companies from the prompts. While textual prompts can be sanitized using Differential Privacy, we show that it is difficult to anticipate the performance of an LLM on such sanitized prompt. Poor performance has clear monetary consequences for LLM services charging on a pay-per-use model as well as great amount of computing resources wasted. To this end, we propose a middleware architecture leveraging a Small Language Model to predict the utility of a given sanitized prompt before it is sent to the LLM. We experimented on a summarization task and a translation task to show that our architecture helps prevent such resource waste for up to 20% of the prompts. During our study, we also reproduced experiments from one of the most cited paper on text sanitization using DP and show that a potential performance-driven implementation choice dramatically changes the output while not being explicitly acknowledged in the paper.
SeqProFT: Sequence-only Protein Property Prediction with LoRA Finetuning
Venue: arXiv cs.LG 2025
Year: 2025

Protein language models (PLMs) have demonstrated remarkable capabilities in learning relationships between protein sequences and functions. However, finetuning these large models requires substantial computational resources, often with suboptimal task-specific results. This study investigates how parameter-efficient finetuning via LoRA can enhance protein property prediction while significantly reducing computational demands. By applying LoRA to ESM-2 and ESM-C models of varying sizes and evaluating 10 diverse protein property prediction tasks, we demonstrate that smaller models with LoRA adaptation can match or exceed the performance of larger models without adaptation. Additionally, we integrate contact map information through a multi-head attention mechanism, improving model comprehension of structural features. Our systematic analysis reveals that LoRA finetuning enables faster convergence, better performance, and more efficient resource utilization, providing practical guidance for protein research applications in resource-constrained environments. The code is available at https://github.com/jiankliu/SeqProFT.
Performance evaluation of a ROS2 based Automated Driving System
Venue: arXiv cs.RO 2025
Year: 2025

Automated driving is currently a prominent area of scientific work. In the future, highly automated driving and new Advanced Driver Assistance Systems will become reality. While Advanced Driver Assistance Systems and automated driving functions for certain domains are already commercially available, ubiquitous automated driving in complex scenarios remains a subject of ongoing research. Contrarily to single-purpose Electronic Control Units, the software for automated driving is often executed on high performance PCs. The Robot Operating System 2 (ROS2) is commonly used to connect components in an automated driving system. Due to the time critical nature of automated driving systems, the performance of the framework is especially important. In this paper, a thorough performance evaluation of ROS2 is conducted, both in terms of timeliness and error rate. The results show that ROS2 is a suitable framework for automated driving systems.
TrojanRobot: Physical-world Backdoor Attacks Against VLM-based Robotic Manipulation
Venue: arXiv cs.RO 2025
Year: 2025

Robotic manipulation in the physical world is increasingly empowered by \textit{large language models} (LLMs) and \textit{vision-language models} (VLMs), leveraging their understanding and perception capabilities. Recently, various attacks against such robotic policies have been proposed, with backdoor attacks drawing considerable attention for their high stealth and strong persistence capabilities. However, existing backdoor efforts are limited to simulators and suffer from physical-world realization. To address this, we propose \textit{TrojanRobot}, a highly stealthy and broadly effective robotic backdoor attack in the physical world. Specifically, we introduce a module-poisoning approach by embedding a backdoor module into the modular robotic policy, enabling backdoor control over the policy's visual perception module thereby backdooring the entire robotic policy. Our vanilla implementation leverages a backdoor-finetuned VLM to serve as the backdoor module. To enhance its generalization in physical environments, we propose a prime implementation, leveraging the LVLM-as-a-backdoor paradigm and developing three types of prime attacks, \ie, \textit{permutation}, \textit{stagnation}, and \textit{intentional} attacks, thus achieving finer-grained backdoors. Extensive experiments on the UR3e manipulator with 18 task instructions using robotic policies based on four VLMs demonstrate the broad effectiveness and physical-world stealth of TrojanRobot. Our attack's video demonstrations are available via a github link https://trojanrobot.github.io.
Drowning in Documents: Consequences of Scaling Reranker Inference
Venue: arXiv cs.IR 2025
Year: 2025

Rerankers, typically cross-encoders, are computationally intensive but are frequently used because they are widely assumed to outperform cheaper initial IR systems. We challenge this assumption by measuring reranker performance for full retrieval, not just re-scoring first-stage retrieval. To provide a more robust evaluation, we prioritize strong first-stage retrieval using modern dense embeddings and test rerankers on a variety of carefully chosen, challenging tasks, including internally curated datasets to avoid contamination, and out-of-domain ones. Our empirical results reveal a surprising trend: the best existing rerankers provide initial improvements when scoring progressively more documents, but their effectiveness gradually declines and can even degrade quality beyond a certain limit. We hope that our findings will spur future research to improve reranking.
RoboGSim: A Real2Sim2Real Robotic Gaussian Splatting Simulator
Venue: arXiv cs.RO 2025
Year: 2025

Efficient acquisition of real-world embodied data has been increasingly critical. However, large-scale demonstrations captured by remote operation tend to take extremely high costs and fail to scale up the data size in an efficient manner. Sampling the episodes under a simulated environment is a promising way for large-scale collection while existing simulators fail to high-fidelity modeling on texture and physics. To address these limitations, we introduce the RoboGSim, a real2sim2real robotic simulator, powered by 3D Gaussian Splatting and the physics engine. RoboGSim mainly includes four parts: Gaussian Reconstructor, Digital Twins Builder, Scene Composer, and Interactive Engine. It can synthesize the simulated data with novel views, objects, trajectories, and scenes. RoboGSim also provides an online, reproducible, and safe evaluation for different manipulation policies. The real2sim and sim2real transfer experiments show a high consistency in the texture and physics. We compared the test results of RoboGSim data and real robot data on both RoboGSim and real robot platforms. The experimental results show that the RoboGSim data model can achieve zero-shot performance on the real robot, with results comparable to real robot data. Additionally, in experiments with novel perspectives and novel scenes, the RoboGSim data model performed even better on the real robot than the real robot data model. This not only helps reduce the sim2real gap but also addresses the limitations of real robot data collection, such as its single-source and high cost. We hope RoboGSim serves as a closed-loop simulator for fair comparison on policy learning. More information can be found on our project page https://robogsim.github.io/.
DiHuR: Diffusion-Guided Generalizable Human Reconstruction
Venue: arXiv cs.CV 2025
Year: 2025

We introduce DiHuR, a novel Diffusion-guided model for generalizable Human 3D Reconstruction and view synthesis from sparse, minimally overlapping images. While existing generalizable human radiance fields excel at novel view synthesis, they often struggle with comprehensive 3D reconstruction. Similarly, directly optimizing implicit Signed Distance Function (SDF) fields from sparse-view images typically yields poor results due to limited overlap. To enhance 3D reconstruction quality, we propose using learnable tokens associated with SMPL vertices to aggregate sparse view features and then to guide SDF prediction. These tokens learn a generalizable prior across different identities in training datasets, leveraging the consistent projection of SMPL vertices onto similar semantic areas across various human identities. This consistency enables effective knowledge transfer to unseen identities during inference. Recognizing SMPL's limitations in capturing clothing details, we incorporate a diffusion model as an additional prior to fill in missing information, particularly for complex clothing geometries. Our method integrates two key priors in a coherent manner: the prior from generalizable feed-forward models and the 2D diffusion prior, and it requires only multi-view image training, without 3D supervision. DiHuR demonstrates superior performance in both within-dataset and cross-dataset generalization settings, as validated on THuman, ZJU-MoCap, and HuMMan datasets compared to existing methods.
Does Unlearning Truly Unlearn? A Black Box Evaluation of LLM Unlearning Methods
Venue: arXiv cs.CL 2025
Year: 2025

Large language model unlearning aims to remove harmful information that LLMs have learnt to prevent their use for malicious purposes. LLMU and RMU have been proposed as two methods for LLM unlearning, achieving impressive results on unlearning benchmarks. We study in detail the impact of unlearning on LLM performance metrics using the WMDP dataset as well as a new biology dataset we create. We show that unlearning has a notable impact on general model capabilities, with the performance degradation being more significant in general for LLMU. We further test the robustness of the two methods and find that doing 5-shot prompting or rephrasing the question in simple ways can lead to an over ten-fold increase in accuracy on unlearning benchmarks. Finally, we show that training on unrelated data can almost completely recover pre-unlearning performance, demonstrating that these methods fail at truly unlearning. Our methodology serves as an evaluation framework for LLM unlearning methods. The code is available at: https://github.com/JaiDoshi/Knowledge-Erasure.
MMBind: Unleashing the Potential of Distributed and Heterogeneous Data for Multimodal Learning in IoT
Venue: arXiv cs.LG 2025
Year: 2025

Multimodal sensing systems are increasingly prevalent in various real-world applications. Most existing multimodal learning approaches heavily rely on training with a large amount of synchronized, complete multimodal data. However, such a setting is impractical in real-world IoT sensing applications where data is typically collected by distributed nodes with heterogeneous data modalities, and is also rarely labeled. In this paper, we propose MMBind, a new data binding approach for multimodal learning on distributed and heterogeneous IoT data. The key idea of MMBind is to construct a pseudo-paired multimodal dataset for model training by binding data from disparate sources and incomplete modalities through a sufficiently descriptive shared modality. We also propose a weighted contrastive learning approach to handle domain shifts among disparate data, coupled with an adaptive multimodal learning architecture capable of training models with heterogeneous modality combinations. Evaluations on ten real-world multimodal datasets highlight that MMBind outperforms state-of-the-art baselines under varying degrees of data incompleteness and domain shift, and holds promise for advancing multimodal foundation model training in IoT applications\footnote (The source code is available via https://github.com/nesl/multimodal-bind).
Towards Understanding the Impact of Data Bugs on Deep Learning Models in Software Engineering
Venue: arXiv cs.SE 2025
Year: 2025

Deep learning (DL) techniques have achieved significant success in various software engineering tasks (e.g., code completion by Copilot). However, DL systems are prone to bugs from many sources, including training data. Existing literature suggests that bugs in training data are highly prevalent, but little research has focused on understanding their impacts on the models used in software engineering tasks. In this paper, we address this research gap through a comprehensive empirical investigation focused on three types of data prevalent in software engineering tasks: code-based, text-based, and metric-based. Using state-of-the-art baselines, we compare the models trained on clean datasets with those trained on datasets with quality issues and without proper preprocessing. By analysing the gradients, weights, and biases from neural networks under training, we identify the symptoms of data quality and preprocessing issues. Our analysis reveals that quality issues in code data cause biased learning and gradient instability, whereas problems in text data lead to overfitting and poor generalisation of models. On the other hand, quality issues in metric data result in exploding gradients and model overfitting, and inadequate preprocessing exacerbates these effects across all three data types. Finally, we demonstrate the validity and generalizability of our findings using six new datasets. Our research provides a better understanding of the impact and symptoms of data bugs in software engineering datasets. Practitioners and researchers can leverage these findings to develop better monitoring systems and data-cleaning methods to help detect and resolve data bugs in deep learning systems.
AsynEIO: Asynchronous Monocular Event-Inertial Odometry Using Gaussian Process Regression
Venue: arXiv cs.RO 2025
Year: 2025

Event cameras, when combined with inertial sensors, show significant potential for motion estimation in challenging scenarios, such as high-speed maneuvers and low-light environments. There are many methods for producing such estimations, but most boil down to a synchronous discrete-time fusion problem. However, the asynchronous nature of event cameras and their unique fusion mechanism with inertial sensors remain underexplored. In this paper, we introduce a monocular event-inertial odometry method called AsynEIO, designed to fuse asynchronous event and inertial data within a unified Gaussian Process (GP) regression framework. Our approach incorporates an event-driven frontend that tracks feature trajectories directly from raw event streams at a high temporal resolution. These tracked feature trajectories, along with various inertial factors, are integrated into the same GP regression framework to enable asynchronous fusion. With deriving analytical residual Jacobians and noise models, our method constructs a factor graph that is iteratively optimized and pruned using a sliding-window optimizer. Comparative assessments highlight the performance of different inertial fusion strategies, suggesting optimal choices for varying conditions. Experimental results on both public datasets and our own event-inertial sequences indicate that AsynEIO outperforms existing methods, especially in high-speed and low-illumination scenarios.
The Innovative Distinctiveness of Prizewinners and their Networks
Venue: arXiv cs.DL 2025
Year: 2025

Science prizes purportedly reward innovation and explorations of new phenomena. Yet, in practice prizes may inadvertently divert resources from similarly impactful but less celebrated scholars. Despite this paradox, knowledge of how prizewinning relates to innovation is nascent even as prizes proliferate widely. Analyzing 2,460 worldwide prizes, we compared the innovativeness of over 23,000 prizewinners and matched non-prizewinners whose performance records were statistically equivalent up to the prize year. First, we find that prizewinners are more innovative. Their research is more likely to combine existing ideas in new ways, integrate a topic's historical and contemporary thinking, and incorporate interdisciplinary perspectives. Second, although prizewinners and matched non-prizewinners have statistically equivalent impact and productivity records up to the prize year, at about five years before the prize, prizewinners' papers become more innovative than their matched peers, a difference that widens each year, peaks during the prize year, and then persists for the remainder of their careers. Third, network embeddedness predicts unusual innovativeness. Compared to non-prizewinners, prizewinners' collaborations are shorter in duration, encompass wider exposure to unfamiliar topics, and involve coauthors whose networks minimally overlap with each other. The implications of the findings for the efficacy of reward systems and innovation in science are discussed.
CCIS-Diff: A Generative Model with Stable Diffusion Prior for Controlled Colonoscopy Image Synthesis
Venue: arXiv cs.CV 2025
Year: 2025

Colonoscopy is crucial for identifying adenomatous polyps and preventing colorectal cancer. However, developing robust models for polyp detection is challenging by the limited size and accessibility of existing colonoscopy datasets. While previous efforts have attempted to synthesize colonoscopy images, current methods suffer from instability and insufficient data diversity. Moreover, these approaches lack precise control over the generation process, resulting in images that fail to meet clinical quality standards. To address these challenges, we propose CCIS-DIFF, a Controlled generative model for high-quality Colonoscopy Image Synthesis based on a Diffusion architecture. Our method offers precise control over both the spatial attributes (polyp location and shape) and clinical characteristics of polyps that align with clinical descriptions. Specifically, we introduce a blur mask weighting strategy to seamlessly blend synthesized polyps with the colonic mucosa, and a text-aware attention mechanism to guide the generated images to reflect clinical characteristics. Notably, to achieve this, we construct a new multi-modal colonoscopy dataset that integrates images, mask annotations, and corresponding clinical text descriptions. Experimental results demonstrate that our method generates high-quality, diverse colonoscopy images with fine control over both spatial constraints and clinical consistency, offering valuable support for downstream segmentation and diagnostic tasks.
Combinational Backdoor Attack against Customized Text-to-Image Models
Venue: arXiv cs.CR 2025
Year: 2025

Recently, Text-to-Image (T2I) synthesis technology has made tremendous strides. Numerous representative T2I models have emerged and achieved promising application outcomes, such as DALL-E, Stable Diffusion, Imagen, etc. In practice, it has become increasingly popular for model developers to selectively adopt personalized pre-trained text encoders and conditional diffusion models from third-party platforms, integrating them together to build customized (personalized) T2I models. However, such an adoption approach is vulnerable to backdoor attacks. In this work, we propose a \textbf{C}ombinational \textbf{B}ackdoor \textbf{A}ttack against \textbf{C}ustomized \textbf{T2I} models (CBACT2I) targeting this application scenario. Different from previous backdoor attacks against T2I models, CBACT2I embeds the backdoor into the text encoder and the conditional diffusion model separately. The customized T2I model exhibits backdoor behaviors only when the backdoor text encoder is used in combination with the backdoor conditional diffusion model. These properties make CBACT2I more stealthy and controllable than prior backdoor attacks against T2I models. Extensive experiments demonstrate the high effectiveness of CBACT2I with different backdoor triggers and backdoor targets, the strong generality on different combinations of customized text encoders and diffusion models, as well as the high stealthiness against state-of-the-art backdoor detection methods.
Efficient terabyte-scale text compression via stable local consistency and parallel grammar processing
Venue: arXiv cs.DS 2025
Year: 2025

We present a highly parallelizable text compression algorithm that scales efficiently to terabyte-sized datasets. Our method builds on locally consistent grammars, a lightweight form of compression, combined with simple recompression techniques to achieve further space reductions. Locally consistent grammar algorithms are particularly suitable for scaling, as they need minimal satellite information to compact the text. We introduce a novel concept to enable parallelisation, stable local consistency. A grammar algorithm ALG is stable, if for any pattern $P$ occurring in a collection $\mathcal{T}=\{T_1, T_2, \ldots, T_k\}$, the instances $ALG(T_1), ALG(T_2), \ldots, ALG(T_k)$ independently produce cores for $P$ with the same topology. In a locally consistent grammar, the core of $P$ is a subset of nodes and edges in $\mathcal{T}$'s parse tree that remains the same in all the occurrences of $P$. This feature is important to achieve compression, but it only holds if ALG synchronises the parsing of the strings, for instance, by defining a common set of nonterminal symbols for them. Stability removes the need for synchronisation during the parsing phase. Consequently, we can run $ALG(T_1), ALG(T_2), \ldots, ALG(T_k)$ fully in parallel and then merge the resulting grammars into a single compressed output equivalent to $ALG(\mathcal{T})$. We implemented our ideas and tested them on massive datasets. Our results showed that our method could process a diverse collection of bacterial genomes (7.9 TB) in around nine hours, requiring 16 threads and 0.43 bits/symbol of working memory, producing a compressed representation 85 times smaller than the original input.
Eradicating Social Biases in Sentiment Analysis using Semantic Blinding and Semantic Propagation Graph Neural Networks
Venue: arXiv cs.CL 2025
Year: 2025

This paper introduces the Semantic Propagation Graph Neural Network (SProp GNN), a machine learning sentiment analysis (SA) architecture that relies exclusively on syntactic structures and word-level emotional cues to predict emotions in text. By semantically blinding the model to information about specific words, it is robust to social biases such as political or gender bias that have been plaguing previous machine learning-based SA systems. The SProp GNN shows performance superior to lexicon-based alternatives such as VADER (Valence Aware Dictionary and Sentiment Reasoner) and EmoAtlas on two different prediction tasks, and across two languages. Additionally, it approaches the accuracy of transformer-based models while significantly reducing bias in emotion prediction tasks. By offering improved explainability and reducing bias, the SProp GNN bridges the methodological gap between interpretable lexicon approaches and powerful, yet often opaque, deep learning models, offering a robust tool for fair and effective emotion analysis in understanding human behavior through text.
Meeting Future Mobile Traffic Needs by Peak-Throughput Design of Next-Gen RAN
Venue: arXiv cs.NI 2025
Year: 2025

Growing congestion in current mobile networks necessitates innovative solutions. This paper explores the potential of mmWave 5G networks in urban settings, focusing on Integrated Access and Backhaul (IAB) and the Smart Radio Environment (SRE). The mmWave traffic will be mainly made of short bursts to transfer large volumes of data and long idle periods where data are processed. This must change the way of designing mobile radio networks. To this extent, we propose network planning models leveraging the maximization of the achievable peak throughput. Results highlight the advantages of this approach during the network planning phase, providing insights into better accommodating the demands of mobile traffic without sacrificing the overall network capacity.