OpenRaiser/Intern-Atlas huggingface dataset:
Proportionality in Thumbs Up and Down Voting
Venue: arXiv cs.GT 2025
Year: 2025

Consider the decision-making setting where agents elect a panel by expressing both positive and negative preferences. Prominently, in constitutional AI, citizens democratically select a slate of ethical preferences on which a foundation model is to be trained. There, in practice, agents may both approve and disapprove of different ethical principles. Proportionality has been well-studied in computational social choice for approval ballots, but its meaning remains unclear when negative sentiments are also considered. In this work, we propose two conceptually distinct approaches to interpret proportionality in the presence of up and down votes. The first approach treats the satisfaction from electing candidates and the impact of vetoing them as comparable, leading to combined proportionality guarantees. The second approach considers veto power separately, introducing guarantees distinct from traditional proportionality. We formalize axioms for each perspective and examine their satisfiability by suitable adaptations of Phragmén's rule, Proportional Approval Voting rule and the Method of Equal Shares.
TactStyle: Generating Tactile Textures with Generative AI for Digital Fabrication
Venue: arXiv cs.HC 2025
Year: 2025

Recent work in Generative AI enables the stylization of 3D models based on image prompts. However, these methods do not incorporate tactile information, leading to designs that lack the expected tactile properties. We present TactStyle, a system that allows creators to stylize 3D models with images while incorporating the expected tactile properties. TactStyle accomplishes this using a modified image-generation model fine-tuned to generate heightfields for given surface textures. By optimizing 3D model surfaces to embody a generated texture, TactStyle creates models that match the desired style and replicate the tactile experience. We utilize a large-scale dataset of textures to train our texture generation model. In a psychophysical experiment, we evaluate the tactile qualities of a set of 3D-printed original textures and TactStyle's generated textures. Our results show that TactStyle successfully generates a wide range of tactile features from a single image input, enabling a novel approach to haptic design.
Pretrained Embeddings as a Behavior Specification Mechanism
Venue: arXiv cs.AI 2025
Year: 2025

We propose an approach to formally specifying the behavioral properties of systems that rely on a perception model for interactions with the physical world. The key idea is to introduce embeddings -- mathematical representations of a real-world concept -- as a first-class construct in a specification language, where properties are expressed in terms of distances between a pair of ideal and observed embeddings. To realize this approach, we propose a new type of temporal logic called Embedding Temporal Logic (ETL), and describe how it can be used to express a wider range of properties about AI-enabled systems than previously possible. We demonstrate the applicability of ETL through a preliminary evaluation involving planning tasks in robots that are driven by foundation models; the results are promising, showing that embedding-based specifications can be used to steer a system towards desirable behaviors.
Sustainable AI: Mathematical Foundations of Spiking Neural Networks
Venue: arXiv cs.NE 2025
Year: 2025

Deep learning's success comes with growing energy demands, raising concerns about the long-term sustainability of the field. Spiking neural networks, inspired by biological neurons, offer a promising alternative with potential computational and energy-efficiency gains. This article examines the computational properties of spiking networks through the lens of learning theory, focusing on expressivity, training, and generalization, as well as energy-efficient implementations while comparing them to artificial neural networks. By categorizing spiking models based on time representation and information encoding, we highlight their strengths, challenges, and potential as an alternative computational paradigm.
A Lightweight and Secure Deep Learning Model for Privacy-Preserving Federated Learning in Intelligent Enterprises
Venue: arXiv cs.CR 2025
Year: 2025

The ever growing Internet of Things (IoT) connections drive a new type of organization, the Intelligent Enterprise. In intelligent enterprises, machine learning based models are adopted to extract insights from data. Due to the efficiency and privacy challenges of these traditional models, a new federated learning (FL) paradigm has emerged. In FL, multiple enterprises can jointly train a model to update a final model. However, firstly, FL trained models usually perform worse than centralized models, especially when enterprises training data is non-IID (Independent and Identically Distributed). Second, due to the centrality of FL and the untrustworthiness of local enterprises, traditional FL solutions are vulnerable to poisoning and inference attacks and violate privacy. Thirdly, the continuous transfer of parameters between enterprises and servers increases communication costs. To this end, the FedAnil+ model is proposed, a novel, lightweight, and secure Federated Deep Learning Model that includes three main phases. In the first phase, the goal is to solve the data type distribution skew challenge. Addressing privacy concerns against poisoning and inference attacks is covered in the second phase. Finally, to alleviate the communication overhead, a novel compression approach is proposed that significantly reduces the size of the updates. The experiment results validate that FedAnil+ is secure against inference and poisoning attacks with better accuracy. In addition, it shows improvements over existing approaches in terms of model accuracy (13%, 16%, and 26%), communication cost (17%, 21%, and 25%), and computation cost (7%, 9%, and 11%).
Interactive Debugging and Steering of Multi-Agent AI Systems
Venue: arXiv cs.MA 2025
Year: 2025

Fully autonomous teams of LLM-powered AI agents are emerging that collaborate to perform complex tasks for users. What challenges do developers face when trying to build and debug these AI agent teams? In formative interviews with five AI agent developers, we identify core challenges: difficulty reviewing long agent conversations to localize errors, lack of support in current tools for interactive debugging, and the need for tool support to iterate on agent configuration. Based on these needs, we developed an interactive multi-agent debugging tool, AGDebugger, with a UI for browsing and sending messages, the ability to edit and reset prior agent messages, and an overview visualization for navigating complex message histories. In a two-part user study with 14 participants, we identify common user strategies for steering agents and highlight the importance of interactive message resets for debugging. Our studies deepen understanding of interfaces for debugging increasingly important agentic workflows.
CorrA: Leveraging Large Language Models for Dynamic Obstacle Avoidance of Autonomous Vehicles
Venue: arXiv cs.RO 2025
Year: 2025

In this paper, we present Corridor-Agent (CorrA), a framework that integrates large language models (LLMs) with model predictive control (MPC) to address the challenges of dynamic obstacle avoidance in autonomous vehicles. Our approach leverages LLM reasoning ability to generate appropriate parameters for sigmoid-based boundary functions that define safe corridors around obstacles, effectively reducing the state-space of the controlled vehicle. The proposed framework adjusts these boundaries dynamically based on real-time vehicle data that guarantees collision-free trajectories while also ensuring both computational efficiency and trajectory optimality. The problem is formulated as an optimal control problem and solved with differential dynamic programming (DDP) for constrained optimization, and the proposed approach is embedded within an MPC framework. Extensive simulation and real-world experiments demonstrate that the proposed framework achieves superior performance in maintaining safety and efficiency in complex, dynamic environments compared to a baseline MPC approach.
Which Code Statements Implement Privacy Behaviors in Android Applications?
Venue: arXiv cs.SE 2025
Year: 2025

A "privacy behavior" in software is an action where the software uses personal information for a service or a feature, such as a website using location to provide content relevant to a user. Programmers are required by regulations or application stores to provide privacy notices and labels describing these privacy behaviors. Although many tools and research prototypes have been developed to help programmers generate these notices by analyzing the source code, these approaches are often fairly coarse-grained (i.e., at the level of whole methods or files, rather than at the statement level). But this is not necessarily how privacy behaviors exist in code. Privacy behaviors are embedded in specific statements in code. Current literature does not examine what statements programmers see as most important, how consistent these views are, or how to detect them. In this paper, we conduct an empirical study to examine which statements programmers view as most-related to privacy behaviors. We find that expression statements that make function calls are most associated with privacy behaviors, while the type of privacy label has little effect on the attributes of the selected statements. We then propose an approach to automatically detect these privacy-relevant statements by fine-tuning three large language models with the data from the study. We observe that the agreement between our approach and participants is comparable to or higher than an agreement between two participants. Our study and detection approach can help programmers understand which statements in code affect privacy in mobile applications.
Provable Benefits of Task-Specific Prompts for In-context Learning
Venue: arXiv cs.CL 2025
Year: 2025

The in-context learning capabilities of modern language models have motivated a deeper mathematical understanding of sequence models. A line of recent work has shown that linear attention models can emulate projected gradient descent iterations to implicitly learn the task vector from the data provided in the context window. In this work, we consider a novel setting where the global task distribution can be partitioned into a union of conditional task distributions. We then examine the use of task-specific prompts and prediction heads for learning the prior information associated with the conditional task distribution using a one-layer attention model. Our results on loss landscape show that task-specific prompts facilitate a covariance-mean decoupling where prompt-tuning explains the conditional mean of the distribution whereas the variance is learned/explained through in-context learning. Incorporating task-specific head further aids this process by entirely decoupling estimation of mean and variance components. This covariance-mean perspective similarly explains how jointly training prompt and attention weights can provably help over fine-tuning after pretraining.
Balancing Act: Trading Off Doppler Odometry and Map Registration for Efficient Lidar Localization
Venue: arXiv cs.RO 2025
Year: 2025

Most autonomous vehicles rely on accurate and efficient localization, which is achieved by comparing live sensor data to a preexisting map, to navigate their environment. Balancing the accuracy of localization with computational efficiency remains a significant challenge, as high-accuracy methods often come with higher computational costs. In this paper, we present two ways of improving lidar localization efficiency and study their impact on performance. First, we integrate a lightweight Doppler-based odometry method into a topometric localization pipeline and compare its performance against an iterative closest point (ICP)-based method. We highlight the trade-offs between these approaches: the Doppler estimator offers faster, lightweight updates, while ICP provides higher accuracy at the cost of increased computational load. Second, by controlling the frequency of localization updates and leveraging odometry estimates between them, we demonstrate that accurate localization can be maintained while optimizing for computational efficiency using either odometry method. Our experimental results show that localizing every 10 lidar frames strikes a favourable balance, achieving a localization accuracy below 0.05 meters in translation and below 0.1 degrees in orientation while reducing computational effort by over 30% in an ICP-based pipeline. We quantify the trade-off of accuracy to computational effort using over 100 kilometers of real-world driving data in different on-road environments.
HanDrawer: Leveraging Spatial Information to Render Realistic Hands Using a Conditional Diffusion Model in Single Stage
Venue: arXiv cs.CV 2025
Year: 2025

Although diffusion methods excel in text-to-image generation, generating accurate hand gestures remains a major challenge, resulting in severe artifacts, such as incorrect number of fingers or unnatural gestures. To enable the diffusion model to learn spatial information to improve the quality of the hands generated, we propose HanDrawer, a module to condition the hand generation process. Specifically, we apply graph convolutional layers to extract the endogenous spatial structure and physical constraints implicit in MANO hand mesh vertices. We then align and fuse these spatial features with other modalities via cross-attention. The spatially fused features are used to guide a single stage diffusion model denoising process for high quality generation of the hand region. To improve the accuracy of spatial feature fusion, we propose a Position-Preserving Zero Padding (PPZP) fusion strategy, which ensures that the features extracted by HanDrawer are fused into the region of interest in the relevant layers of the diffusion model. HanDrawer learns the entire image features while paying special attention to the hand region thanks to an additional hand reconstruction loss combined with the denoising loss. To accurately train and evaluate our approach, we perform careful cleansing and relabeling of the widely used HaGRID hand gesture dataset and obtain high quality multimodal data. Quantitative and qualitative analyses demonstrate the state-of-the-art performance of our method on the HaGRID dataset through multiple evaluation metrics. Source code and our enhanced dataset will be released publicly if the paper is accepted.
Four Principles for Physically Interpretable World Models
Venue: arXiv cs.LG 2025
Year: 2025

As autonomous systems are increasingly deployed in open and uncertain settings, there is a growing need for trustworthy world models that can reliably predict future high-dimensional observations. The learned latent representations in world models lack direct mapping to meaningful physical quantities and dynamics, limiting their utility and interpretability in downstream planning, control, and safety verification. In this paper, we argue for a fundamental shift from physically informed to physically interpretable world models - and crystallize four principles that leverage symbolic knowledge to achieve these ends: (1) functionally organizing the latent space according to the physical intent, (2) learning aligned invariant and equivariant representations of the physical world, (3) integrating multiple forms and strengths of supervision into a unified training process, and (4) partitioning generative outputs to support scalability and verifiability. We experimentally demonstrate the value of each principle on two benchmarks. This paper opens several intriguing research directions to achieve and capitalize on full physical interpretability in world models.
Leveraging Large Language Models for Enhanced Digital Twin Modeling: Trends, Methods, and Challenges
Venue: arXiv cs.ET 2025
Year: 2025

Digital twin technology is a transformative innovation driving the digital transformation and intelligent optimization of manufacturing systems. By integrating real-time data with computational models, digital twins enable continuous monitoring, simulation, prediction, and optimization, effectively bridging the gap between the physical and digital worlds. Recent advancements in communication, computing, and control technologies have accelerated the development and adoption of digital twins across various industries. However, significant challenges remain, including limited data for accurate system modeling, inefficiencies in system analysis, and a lack of explainability in the interactions between physical and digital systems. The rise of large language models (LLMs) offers new avenues to address these challenges. LLMs have shown exceptional capabilities across diverse domains, exhibiting strong generalization and emergent abilities that hold great potential for enhancing digital twins. This paper provides a comprehensive review of recent developments in LLMs and their applications to digital twin modeling. We propose a unified description-prediction-prescription framework to integrate digital twin modeling technologies and introduce a structured taxonomy to categorize LLM functionalities in these contexts. For each stage of application, we summarize the methodologies, identify key challenges, and explore potential future directions. To demonstrate the effectiveness of LLM-enhanced digital twins, we present an LLM-enhanced enterprise digital twin system, which enables automatic modeling and optimization of an enterprise. Finally, we discuss future opportunities and challenges in advancing LLM-enhanced digital twins, offering valuable insights for researchers and practitioners in related fields.
From Data to Uncertainty Sets: a Machine Learning Approach
Venue: arXiv cs.LG 2025
Year: 2025

Existing approaches of prescriptive analytics -- where inputs of an optimization model can be predicted by leveraging covariates in a machine learning model -- often attempt to optimize the mean value of an uncertain objective. However, when applied to uncertain constraints, these methods rarely work because satisfying a crucial constraint in expectation may result in a high probability of violation. To remedy this, we leverage robust optimization to protect a constraint against the uncertainty of a machine learning model's output. To do so, we design an uncertainty set based on the model's loss function. Intuitively, this approach attempts to minimize the uncertainty around a prediction. Extending guarantees from the robust optimization literature, we derive strong guarantees on the probability of violation. On synthetic computational experiments, our method requires uncertainty sets with radii up to one order of magnitude smaller than those of other approaches.
Understanding and Predicting Derailment in Toxic Conversations on GitHub
Venue: arXiv cs.SE 2025
Year: 2025

Software projects thrive on the involvement and contributions of individuals from different backgrounds. However, toxic language and negative interactions can hinder the participation and retention of contributors and alienate newcomers. Proactive moderation strategies aim to prevent toxicity from occurring by addressing conversations that have derailed from their intended purpose. This study aims to understand and predict conversational derailment leading to toxicity on GitHub. To facilitate this research, we curate a novel dataset comprising 202 toxic conversations from GitHub with annotated derailment points, along with 696 non-toxic conversations as a baseline. Based on this dataset, we identify unique characteristics of toxic conversations and derailment points, including linguistic markers such as second-person pronouns, negation terms, and tones of Bitter Frustration and Impatience, as well as patterns in conversational dynamics between project contributors and external participants. Leveraging these empirical observations, we propose a proactive moderation approach to automatically detect and address potentially harmful conversations before escalation. By utilizing modern LLMs, we develop a conversation trajectory summary technique that captures the evolution of discussions and identifies early signs of derailment. Our experiments demonstrate that LLM prompts tailored to provide summaries of GitHub conversations achieve 70% F1-Score in predicting conversational derailment, strongly improving over a set of baseline approaches.
DarkDeblur: Learning single-shot image deblurring in low-light condition
Venue: arXiv cs.CV 2025
Year: 2025

Single-shot image deblurring in a low-light condition is known to be a profoundly challenging image translation task. This study tackles the limitations of the low-light image deblurring with a learning-based approach and proposes a novel deep network named as DarkDeblurNet. The proposed DarkDeblur- Net comprises a dense-attention block and a contextual gating mechanism in a feature pyramid structure to leverage content awareness. The model additionally incorporates a multi-term objective function to perceive a plausible perceptual image quality while performing image deblurring in the low-light settings. The practicability of the proposed model has been verified by fusing it in numerous computer vision applications. Apart from that, this study introduces a benchmark dataset collected with actual hardware to assess the low-light image deblurring methods in a real-world setup. The experimental results illustrate that the proposed method can outperform the state-of-the-art methods in both synthesized and real-world data for single-shot image deblurring, even in challenging lighting environment.
Volume-Sorted Prediction Set: Efficient Conformal Prediction for Multi-Target Regression
Venue: arXiv cs.LG 2025
Year: 2025

We introduce Volume-Sorted Prediction Set (VSPS), a novel method for uncertainty quantification in multi-target regression that uses conditional normalizing flows with conformal calibration. This approach constructs flexible, non-convex predictive regions with guaranteed coverage probabilities, overcoming limitations of traditional methods. By learning a transformation where the conditional distribution of responses follows a known form, VSPS identifies dense regions in the original space using the Jacobian determinant. This enables the creation of prediction regions that adapt to the true underlying distribution, focusing on areas of high probability density. Experimental results demonstrate that VSPS produces smaller, more informative prediction regions while maintaining robust coverage guarantees, enhancing uncertainty modeling in complex, high-dimensional settings.
CrystalFramer: Rethinking the Role of Frames for SE(3)-Invariant Crystal Structure Modeling
Venue: arXiv cs.LG 2025
Year: 2025

Crystal structure modeling with graph neural networks is essential for various applications in materials informatics, and capturing SE(3)-invariant geometric features is a fundamental requirement for these networks. A straightforward approach is to model with orientation-standardized structures through structure-aligned coordinate systems, or"frames." However, unlike molecules, determining frames for crystal structures is challenging due to their infinite and highly symmetric nature. In particular, existing methods rely on a statically fixed frame for each structure, determined solely by its structural information, regardless of the task under consideration. Here, we rethink the role of frames, questioning whether such simplistic alignment with the structure is sufficient, and propose the concept of dynamic frames. While accommodating the infinite and symmetric nature of crystals, these frames provide each atom with a dynamic view of its local environment, focusing on actively interacting atoms. We demonstrate this concept by utilizing the attention mechanism in a recent transformer-based crystal encoder, resulting in a new architecture called CrystalFramer. Extensive experiments show that CrystalFramer outperforms conventional frames and existing crystal encoders in various crystal property prediction tasks.