OpenRaiser/Intern-Atlas huggingface dataset:
SPOOF: Simple Pixel Operations for Out-of-Distribution Fooling
Venue: arXiv cs.CV 2025
Year: 2025

Deep neural networks (DNNs) excel across image recognition tasks, yet continue to exhibit overconfidence on inputs that bear no resemblance to natural images. Revisiting the "fooling images" work introduced by Nguyen et al. (2015), we re-implement both CPPN-based and direct-encoding-based evolutionary fooling attacks on modern architectures, including convolutional and transformer classifiers. Our re-implementation confirm that high-confidence fooling persists even in state-of-the-art networks, with transformer-based ViT-B/16 emerging as the most susceptible--achieving near-certain misclassifications with substantially fewer queries than convolution-based models. We then introduce SPOOF, a minimalist, consistent, and more efficient black-box attack generating high-confidence fooling images. Despite its simplicity, SPOOF generates unrecognizable fooling images with minimal pixel modifications and drastically reduced compute. Furthermore, retraining with fooling images as an additional class provides only partial resistance, as SPOOF continues to fool consistently with slightly higher query budgets--highlighting persistent fragility of modern deep classifiers.
REWW-ARM -- Remote Wire-Driven Mobile Robot: Design, Control, and Experimental Validation
Venue: arXiv cs.RO 2025
Year: 2025

Electronic devices are essential for robots but limit their usable environments. To overcome this, methods excluding electronics from the operating environment while retaining advanced electronic control and actuation have been explored. These include the remote hydraulic drive of electronics-free mobile robots, which offer high reachability, and long wire-driven robot arms with motors consolidated at the base, which offer high environmental resistance. To combine the advantages of both, this study proposes a new system, "Remote Wire Drive." As a proof-of-concept, we designed and developed the Remote Wire-Driven robot "REWW-ARM", which consists of the following components: 1) a novel power transmission mechanism, the "Remote Wire Transmission Mechanism" (RWTM), the key technology of the Remote Wire Drive; 2) an electronics-free distal mobile robot driven by it; and 3) a motor-unit that generates power and provides electronic closed-loop control based on state estimation via the RWTM. In this study, we evaluated the mechanical and control performance of REWW-ARM through several experiments, demonstrating its capability for locomotion, posture control, and object manipulation both on land and underwater. This suggests the potential for applying the Remote Wire-Driven system to various types of robots, thereby expanding their operational range.
Cascaded Tightly-Coupled Observer Design for Single-Range-Aided Inertial Navigation
Venue: arXiv cs.RO 2025
Year: 2025

This work introduces a single-range-aided navigation observer that reconstructs the full state of a rigid body using only an Inertial Measurement Unit (IMU), a body-frame vector measurement (e.g., magnetometer), and a distance measurement from a fixed anchor point. The design first formulates an extended linear time-varying (LTV) system to estimate body-frame position, body-frame velocity, and the gravity direction. The recovered gravity direction, combined with the body-frame vector measurement, is then used to reconstruct the full orientation on $\mathrm{SO}(3)$, resulting in a cascaded observer architecture. Almost Global Asymptotic Stability (AGAS) of the cascaded design is established under a uniform observability condition, ensuring robustness to sensor noise and trajectory variations. Simulation studies on three-dimensional trajectories demonstrate accurate estimation of position, velocity, and orientation, highlighting single-range aiding as a lightweight and effective modality for autonomous navigation.
GPU-GLMB: Assessing the Scalability of GPU-Accelerated Multi-Hypothesis Tracking
Venue: arXiv cs.CV 2025
Year: 2025

Much recent research on multi-target tracking has focused on multi-hypothesis approaches leveraging random finite sets. Of particular interest are labeled random finite set methods that maintain temporally coherent labels for each object. While these methods enjoy important theoretical properties as closed-form solutions to the multi-target Bayes filter, the maintenance of multiple hypotheses under the standard measurement model is highly computationally expensive, even when hypothesis pruning approximations are applied. In this work, we focus on the Generalized Labeled Multi-Bernoulli (GLMB) filter as an example of this class of methods. We investigate a variant of the filter that allows multiple detections per object from the same sensor, a critical capability when deploying tracking in the context of distributed networks of machine learning-based virtual sensors. We show that this breaks the inter-detection dependencies in the filter updates of the standard GLMB filter, allowing updates with significantly improved parallel scalability and enabling efficient deployment on GPU hardware. We report the results of a preliminary analysis of a GPU-accelerated implementation of our proposed GLMB tracker, with a focus on run time scalability with respect to the number of objects and the maximum number of retained hypotheses.
LOCUS: A System and Method for Low-Cost Customization for Universal Specialization
Venue: arXiv cs.CL 2025
Year: 2025

We present LOCUS (LOw-cost Customization for Universal Specialization), a pipeline that consumes few-shot data to streamline the construction and training of NLP models through targeted retrieval, synthetic data generation, and parameter-efficient tuning. With only a small number of labeled examples, LOCUS discovers pertinent data in a broad repository, synthesizes additional training samples via in-context data generation, and fine-tunes models using either full or low-rank (LoRA) parameter adaptation. Our approach targets named entity recognition (NER) and text classification (TC) benchmarks, consistently outperforming strong baselines (including GPT-4o) while substantially lowering costs and model sizes. Our resultant memory-optimized models retain 99% of fully fine-tuned accuracy while using barely 5% of the memory footprint, also beating GPT-4o on several benchmarks with less than 1% of its parameters.
CFCEval: Evaluating Security Aspects in Code Generated by Large Language Models
Venue: arXiv cs.SE 2025
Year: 2025

Code-focused Large Language Models (LLMs), such as CodeX and Star-Coder, have demonstrated remarkable capabilities in enhancing developer productivity through context-aware code generation. However, evaluating the quality and security of LLM-generated code remains a significant challenge. Existing evaluation protocols for Code LLMs lack both methodological rigor and comprehensive scope. A key limitation is dataset bias, which arises from unintentional overlap between training and testing data. Furthermore, while CodeBLEU, a BLEU-based metric, is widely used to assess code similarity, it suffers from critical shortcomings, including imprecise tokenization, structural limitations, and low reference diversity. To address these challenges, we introduce CFCEval, a novel framework for evaluating the quality and security of code generated by LLMs. CFCEval mitigates dataset bias by creating a new benchmark, MLVBench, and incorporates ELRM, a new metric designed to assess the relevance between reference code and generated code. CFCEval evaluates generated code across four dimensions: programming quality, vulnerability-fixing capability, post-transformation fixing capability, and relevance. Our experiments show that CFCEval not only captures both quality and security aspects of generated code more effectively but also that its ELRM aligns more closely with human judgments than CodeBLEU, thus paving the way for future advancements in Code LLMs evaluation.
NexusFlow: Unifying Disparate Tasks under Partial Supervision via Invertible Flow Networks
Venue: arXiv cs.CV 2025
Year: 2025

Partially Supervised Multi-Task Learning (PS-MTL) aims to leverage knowledge across tasks when annotations are incomplete. Existing approaches, however, have largely focused on the simpler setting of homogeneous, dense prediction tasks, leaving the more realistic challenge of learning from structurally diverse tasks unexplored. To this end, we introduce NexusFlow, a novel, lightweight, and plug-and-play framework effective in both settings. NexusFlow introduces a set of surrogate networks with invertible coupling layers to align the latent feature distributions of tasks, creating a unified representation that enables effective knowledge transfer. The coupling layers are bijective, preserving information while mapping features into a shared canonical space. This invertibility avoids representational collapse and enables alignment across structurally different tasks without reducing expressive capacity. We first evaluate NexusFlow on the core challenge of domain-partitioned autonomous driving, where dense map reconstruction and sparse multi-object tracking are supervised in different geographic regions, creating both structural disparity and a strong domain gap. NexusFlow sets a new state-of-the-art result on nuScenes, outperforming strong partially supervised baselines. To demonstrate generality, we further test NexusFlow on NYUv2 using three homogeneous dense prediction tasks, segmentation, depth, and surface normals, as a representative N-task PS-MTL scenario. NexusFlow yields consistent gains across all tasks, confirming its broad applicability.
Learning Without Time-Based Embodiment Resets in Soft-Actor Critic
Venue: arXiv cs.LG 2025
Year: 2025

When creating new reinforcement learning tasks, practitioners often accelerate the learning process by incorporating into the task several accessory components, such as breaking the environment interaction into independent episodes and frequently resetting the environment. Although they can enable the learning of complex intelligent behaviors, such task accessories can result in unnatural task setups and hinder long-term performance in the real world. In this work, we explore the challenges of learning without episode terminations and robot embodiment resets using the Soft Actor-Critic (SAC) algorithm. To learn without terminations, we present a continuing version of the SAC algorithm and show that, with simple modifications to the reward functions of existing tasks, continuing SAC can perform as well as or better than episodic SAC while reducing the sensitivity of performance to the value of the discount rate $γ$. On a modified Gym Reacher task, we investigate possible explanations for the failure of continuing SAC when learning without embodiment resets. Our results suggest that embodiment resets help with exploration of the state space in the SAC algorithm, and removing embodiment resets can lead to poor exploration of the state space and failure of or significantly slower learning. Finally, on additional simulated tasks and a real-robot vision task, we show that increasing the entropy of the policy when performance trends worse or remains static is an effective intervention for recovering the performance lost due to not using embodiment resets.
TriaGS: Differentiable Triangulation-Guided Geometric Consistency for 3D Gaussian Splatting
Venue: arXiv cs.CV 2025
Year: 2025

3D Gaussian Splatting is crucial for real-time novel view synthesis due to its efficiency and ability to render photorealistic images. However, building a 3D Gaussian is guided solely by photometric loss, which can result in inconsistencies in reconstruction. This under-constrained process often results in "floater" artifacts and unstructured geometry, preventing the extraction of high-fidelity surfaces. To address this issue, our paper introduces a novel method that improves reconstruction by enforcing global geometry consistency through constrained multi-view triangulation. Our approach aims to achieve a consensus on 3D representation in the physical world by utilizing various estimated views. We optimize this process by penalizing the deviation of a rendered 3D point from a robust consensus point, which is re-triangulated from a bundle of neighboring views in a self-supervised fashion. We demonstrate the effectiveness of our method across multiple datasets, achieving state-of-the-art results. On the DTU dataset, our method attains a mean Chamfer Distance of 0.50 mm, outperforming comparable explicit methods. We will make our code open-source to facilitate community validation and ensure reproducibility.
Unleashing the Intrinsic Visual Representation Capability of Multimodal Large Language Models
Venue: arXiv cs.CV 2025
Year: 2025

Multimodal Large Language Models (MLLMs) have demonstrated remarkable proficiency in multimodal tasks. Despite their impressive performance, MLLMs suffer from the modality imbalance issue, where visual information is often underutilized compared to textual representations in deeper layers, leading to degraded visual performance or hallucinations. This issue stems from the predominant reliance on next-text-token-prediction during training, which fails to provide direct visual supervisory signals, resulting in progressive homogenization of visual representations throughout the layers. To this end, we propose Latent Visual Reconstruction (LaVer), a novel training framework that facilitates MLLMs in learning more discriminative visual representations via masked image modeling in the joint latent semantic space of LLM. Our method offers direct visual activation to MLLMs, which exhibit increased visual attention allocation, indicating enhanced utilization of visual information. Extensive experiments across diverse benchmarks prove the superiority of our approach in various scenarios, especially those requiring dense visual capabilities. Code of LaVer is available at https://github.com/Fir-lat/LaVer.
DaGRPO: Rectifying Gradient Conflict in Reasoning via Distinctiveness-Aware Group Relative Policy Optimization
Venue: arXiv cs.AI 2025
Year: 2025

The evolution of Large Language Models (LLMs) has catalyzed a paradigm shift from superficial instruction following to rigorous long-horizon reasoning. While Group Relative Policy Optimization (GRPO) has emerged as a pivotal mechanism for eliciting such post-training reasoning capabilities due to its exceptional performance, it remains plagued by significant training instability and poor sample efficiency. We theoretically identify the root cause of these issues as the lack of distinctiveness within on-policy rollouts: for routine queries, highly homogeneous samples induce destructive gradient conflicts; whereas for hard queries, the scarcity of valid positive samples results in ineffective optimization. To bridge this gap, we propose Distinctiveness-aware Group Relative Policy Optimization (DaGRPO). DaGRPO incorporates two core mechanisms: (1) Sequence-level Gradient Rectification, which utilizes fine-grained scoring to dynamically mask sample pairs with low distinctiveness, thereby eradicating gradient conflicts at the source; and (2) Off-policy Data Augmentation, which introduces high-quality anchors to recover training signals for challenging tasks. Extensive experiments across 9 mathematical reasoning and out-of-distribution (OOD) generalization benchmarks demonstrate that DaGRPO significantly surpasses existing SFT, GRPO, and hybrid baselines, achieving new state-of-the-art performance (e.g., a +4.7% average accuracy gain on math benchmarks). Furthermore, in-depth analysis confirms that DaGRPO effectively mitigates gradient explosion and accelerates the emergence of long-chain reasoning capabilities.
Spoofing-aware Prompt Learning for Unified Physical-Digital Facial Attack Detection
Venue: arXiv cs.CV 2025
Year: 2025

Real-world face recognition systems are vulnerable to both physical presentation attacks (PAs) and digital forgery attacks (DFs). We aim to achieve comprehensive protection of biometric data by implementing a unified physical-digital defense framework with advanced detection. Existing approaches primarily employ CLIP with regularization constraints to enhance model generalization across both tasks. However, these methods suffer from conflicting optimization directions between physical and digital attack detection under same category prompt spaces. To overcome this limitation, we propose a Spoofing-aware Prompt Learning for Unified Attack Detection (SPL-UAD) framework, which decouples optimization branches for physical and digital attacks in the prompt space. Specifically, we construct a learnable parallel prompt branch enhanced with adaptive Spoofing Context Prompt Generation, enabling independent control of optimization for each attack type. Furthermore, we design a Cues-awareness Augmentation that leverages the dual-prompt mechanism to generate challenging sample mining tasks on data, significantly enhancing the model's robustness against unseen attack types. Extensive experiments on the large-scale UniAttackDataPlus dataset demonstrate that the proposed method achieves significant performance improvements in unified attack detection tasks.
VG-Refiner: Towards Tool-Refined Referring Grounded Reasoning via Agentic Reinforcement Learning
Venue: arXiv cs.CV 2025
Year: 2025

Tool-integrated visual reasoning (TiVR) has demonstrated great potential in enhancing multimodal problem-solving. However, existing TiVR paradigms mainly focus on integrating various visual tools through reinforcement learning, while neglecting to design effective response mechanisms for handling unreliable or erroneous tool outputs. This limitation is particularly pronounced in referring and grounding tasks, where inaccurate detection tool predictions often mislead TiVR models into generating hallucinated reasoning. To address this issue, we propose the VG-Refiner, the first framework aiming at the tool-refined referring grounded reasoning. Technically, we introduce a two-stage think-rethink mechanism that enables the model to explicitly analyze and respond to tool feedback, along with a refinement reward that encourages effective correction in response to poor tool results. In addition, we propose two new metrics and establish fair evaluation protocols to systematically measure the refinement ability of current models. We adopt a small amount of task-specific data to enhance the refinement capability of VG-Refiner, achieving a significant improvement in accuracy and correction ability on referring and reasoning grounding benchmarks while preserving the general capabilities of the pretrained model.
VAD-Net: Multidimensional Facial Expression Recognition in Intelligent Education System
Venue: arXiv cs.CV 2025
Year: 2025

Current FER (Facial Expression Recognition) dataset is mostly labeled by emotion categories, such as happy, angry, sad, fear, disgust, surprise, and neutral which are limited in expressiveness. However, future affective computing requires more comprehensive and precise emotion metrics which could be measured by VAD(Valence-Arousal-Dominance) multidimension parameters. To address this, AffectNet has tried to add VA (Valence and Arousal) information, but still lacks D(Dominance). Thus, the research introduces VAD annotation on FER2013 dataset, takes the initiative to label D(Dominance) dimension. Then, to further improve network capacity, it enforces orthogonalized convolution on it, which extracts more diverse and expressive features and will finally increase the prediction accuracy. Experiment results show that D dimension could be measured but is difficult to obtain compared with V and A dimension no matter in manual annotation or regression network prediction. Secondly, the ablation test by introducing orthogonal convolution verifies that better VAD prediction could be obtained in the configuration of orthogonal convolution. Therefore, the research provides an initiative labelling for D dimension on FER dataset, and proposes a better prediction network for VAD prediction through orthogonal convolution. The newly built VAD annotated FER2013 dataset could act as a benchmark to measure VAD multidimensional emotions, while the orthogonalized regression network based on ResNet could act as the facial expression recognition baseline for VAD emotion prediction. The newly labeled dataset and implementation code is publicly available on https://github.com/YeeHoran/VAD-Net .
Finding a Maximum Common (Induced) Subgraph: Structural Parameters Revisited
Venue: arXiv cs.DS 2025
Year: 2025

We study the parameterized complexity of the problems of finding a maximum common (induced) subgraph of two given graphs. Since these problems generalize several NP-complete problems, they are intractable even when parameterized by strongly restricted structural parameters. Our contribution in this paper is to sharply complement the hardness of the problems by showing fixed-parameter tractable cases: both induced and non-induced problems parameterized by max-leaf number and by neighborhood diversity, and the induced problem parameterized by twin cover number. These results almost completely determine the complexity of the problems with respect to well-studied structural parameters. Also, the result on the twin cover number presents a rather rare example where the induced and non-induced cases have different complexity.
GENIUS: An Agentic AI Framework for Autonomous Design and Execution of Simulation Protocols
Venue: arXiv cs.AI 2025
Year: 2025

Predictive atomistic simulations have propelled materials discovery, yet routine setup and debugging still demand computer specialists. This know-how gap limits Integrated Computational Materials Engineering (ICME), where state-of-the-art codes exist but remain cumbersome for non-experts. We address this bottleneck with GENIUS, an AI-agentic workflow that fuses a smart Quantum ESPRESSO knowledge graph with a tiered hierarchy of large language models supervised by a finite-state error-recovery machine. Here we show that GENIUS translates free-form human-generated prompts into validated input files that run to completion on $\approx$80% of 295 diverse benchmarks, where 76% are autonomously repaired, with success decaying exponentially to a 7% baseline. Compared with LLM-only baselines, GENIUS halves inference costs and virtually eliminates hallucinations. The framework democratizes electronic-structure DFT simulations by intelligently automating protocol generation, validation, and repair, opening large-scale screening and accelerating ICME design loops across academia and industry worldwide.
UncertaintyZoo: A Unified Toolkit for Quantifying Predictive Uncertainty in Deep Learning Systems
Venue: arXiv cs.AI 2025
Year: 2025

Large language models(LLMs) are increasingly expanding their real-world applications across domains, e.g., question answering, autonomous driving, and automatic software development. Despite this achievement, LLMs, as data-driven systems, often make incorrect predictions, which can lead to potential losses in safety-critical scenarios. To address this issue and measure the confidence of model outputs, multiple uncertainty quantification(UQ) criteria have been proposed. However, even though important, there are limited tools to integrate these methods, hindering the practical usage of UQ methods and future research in this domain. To bridge this gap, in this paper, we introduce UncertaintyZoo, a unified toolkit that integrates 29 uncertainty quantification methods, covering five major categories under a standardized interface. Using UncertaintyZoo, we evaluate the usefulness of existing uncertainty quantification methods under the code vulnerability detection task on CodeBERT and ChatGLM3 models. The results demonstrate that UncertaintyZoo effectively reveals prediction uncertainty. The tool with a demonstration video is available on the project site https://github.com/Paddingbuta/UncertaintyZoo.