OpenRaiser/Intern-Atlas huggingface dataset:
Explicit and Effectively Symmetric Schemes for Neural SDEs
Venue: arXiv cs.LG 2025
Year: 2025

Backpropagation through (neural) SDE solvers is traditionally approached in two ways: discretise-then-optimise, which offers accurate gradients but incurs prohibitive memory costs due to storing the full computational graph (even when mitigated by checkpointing); and optimise-then-discretise, which achieves constant memory cost by solving an auxiliary backward SDE, but suffers from slower evaluation and gradient approximation errors. Algebraically reversible solvers promise both memory efficiency and gradient accuracy, yet existing methods such as the Reversible Heun scheme are often unstable under complex models and large step sizes. We address these limitations by introducing a novel class of stable, near-reversible Runge--Kutta schemes for neural SDEs. These Explicit and Effectively Symmetric (EES) schemes retain the benefits of reversible solvers while overcoming their instability, enabling memory-efficient training without severe restrictions on step size or model complexity. Through numerical experiments, we demonstrate the superior stability and reliability of our schemes, establishing them as a practical foundation for scalable and accurate training of neural SDEs.
Latent Activation Editing: Inference-Time Refinement of Learned Policies for Safer Multirobot Navigation
Venue: arXiv cs.RO 2025
Year: 2025

Reinforcement learning has enabled significant progress in complex domains such as coordinating and navigating multiple quadrotors. However, even well-trained policies remain vulnerable to collisions in obstacle-rich environments. Addressing these infrequent but critical safety failures through retraining or fine-tuning is costly and risks degrading previously learned skills. Inspired by activation steering in large language models and latent editing in computer vision, we introduce a framework for inference-time Latent Activation Editing (LAE) that refines the behavior of pre-trained policies without modifying their weights or architecture. The framework operates in two stages: (i) an online classifier monitors intermediate activations to detect states associated with undesired behaviors, and (ii) an activation editing module that selectively modifies flagged activations to shift the policy towards safer regimes. In this work, we focus on improving safety in multi-quadrotor navigation. We hypothesize that amplifying a policy's internal perception of risk can induce safer behaviors. We instantiate this idea through a latent collision world model trained to predict future pre-collision activations, thereby prompting earlier and more cautious avoidance responses. Extensive simulations and real-world Crazyflie experiments demonstrate that LAE achieves statistically significant reduction in collisions (nearly 90% fewer cumulative collisions compared to the unedited baseline) and substantially increases the fraction of collision-free trajectories, while preserving task completion. More broadly, our results establish LAE as a lightweight paradigm, feasible on resource-constrained hardware, for post-deployment refinement of learned robot policies.
Learning Terrain-Specialized Policies for Adaptive Locomotion in Challenging Environments
Venue: arXiv cs.RO 2025
Year: 2025

Legged robots must exhibit robust and agile locomotion across diverse, unstructured terrains, a challenge exacerbated under blind locomotion settings where terrain information is unavailable. This work introduces a hierarchical reinforcement learning framework that leverages terrain-specialized policies and curriculum learning to enhance agility and tracking performance in complex environments. We validated our method on simulation, where our approach outperforms a generalist policy by up to 16% in success rate and achieves lower tracking errors as the velocity target increases, particularly on low-friction and discontinuous terrains, demonstrating superior adaptability and robustness across mixed-terrain scenarios.
A Framework for Rapidly Developing and Deploying Protection Against Large Language Model Attacks
Venue: arXiv cs.CR 2025
Year: 2025

The widespread adoption of Large Language Models (LLMs) has revolutionized AI deployment, enabling autonomous and semi-autonomous applications across industries through intuitive language interfaces and continuous improvements in model development. However, the attendant increase in autonomy and expansion of access permissions among AI applications also make these systems compelling targets for malicious attacks. Their inherent susceptibility to security flaws necessitates robust defenses, yet no known approaches can prevent zero-day or novel attacks against LLMs. This places AI protection systems in a category similar to established malware protection systems: rather than providing guaranteed immunity, they minimize risk through enhanced observability, multi-layered defense, and rapid threat response, supported by a threat intelligence function designed specifically for AI-related threats. Prior work on LLM protection has largely evaluated individual detection models rather than end-to-end systems designed for continuous, rapid adaptation to a changing threat landscape. We present a production-grade defense system rooted in established malware detection and threat intelligence practices. Our platform integrates three components: a threat intelligence system that turns emerging threats into protections; a data platform that aggregates and enriches information while providing observability, monitoring, and ML operations; and a release platform enabling safe, rapid detection updates without disrupting customer workflows. Together, these components deliver layered protection against evolving LLM threats while generating training data for continuous model improvement and deploying updates without interrupting production.
Building Tailored Speech Recognizers for Japanese Speaking Assessment
Venue: arXiv cs.CL 2025
Year: 2025

This paper presents methods for building speech recognizers tailored for Japanese speaking assessment tasks. Specifically, we build a speech recognizer that outputs phonemic labels with accent markers. Although Japanese is resource-rich, there is only a small amount of data for training models to produce accurate phonemic transcriptions that include accent marks. We propose two methods to mitigate data sparsity. First, a multitask training scheme introduces auxiliary loss functions to estimate orthographic text labels and pitch patterns of the input signal, so that utterances with only orthographic annotations can be leveraged in training. The second fuses two estimators, one over phonetic alphabet strings, and the other over text token sequences. To combine these estimates we develop an algorithm based on the finite-state transducer framework. Our results indicate that the use of multitask learning and fusion is effective for building an accurate phonemic recognizer. We show that this approach is advantageous compared to the use of generic multilingual recognizers. The relative advantages of the proposed methods were also compared. Our proposed methods reduced the average of mora-label error rates from 12.3% to 7.1% over the CSJ core evaluation sets.
A Deep Transfer Learning-Based Low-overhead Beam Prediction in Vehicle Communications
Venue: arXiv cs.IT 2025
Year: 2025

Existing transfer learning-based beam prediction approaches primarily rely on simple fine-tuning. When there is a significant difference in data distribution between the target domain and the source domain, simple fine-tuning limits the model's performance in the target domain. To tackle this problem, we propose a transfer learning-based beam prediction method that combines fine-tuning with domain adaptation. We integrate a domain classifier into fine-tuning the pre-trained model. The model extracts domain-invariant features in adversarial training with domain classifier, which can enhance model performance in the target domain. Simulation results demonstrate that the proposed transfer learning-based beam prediction method achieves better achievable rate performance than the pure fine-tuning method in the target domain, and close to those when the training is done from scratch on the target domain.
Incorporating Human-Inspired Ankle Characteristics in a Forced-Oscillation-Based Reduced-Order Model for Walking
Venue: arXiv cs.RO 2025
Year: 2025

This paper extends the forced-oscillation-based reduced-order model of walking to a model with ankles and feet. A human-inspired paradigm was designed for the ankle dynamics, which results in improved gait characteristics compared to the point-foot model. In addition, it was shown that while the proposed model can stabilize against large errors in initial conditions through combination of foot placement and ankle strategies, the model is able to stabilize against small perturbations without relying on the foot placement control and solely through the designed proprioceptive ankle scheme. This novel property, which is also observed in humans, can help in better understanding of anthropomorphic walking and its stabilization mechanisms.
RuN: Residual Policy for Natural Humanoid Locomotion
Venue: arXiv cs.RO 2025
Year: 2025

Enabling humanoid robots to achieve natural and dynamic locomotion across a wide range of speeds, including smooth transitions from walking to running, presents a significant challenge. Existing deep reinforcement learning methods typically require the policy to directly track a reference motion, forcing a single policy to simultaneously learn motion imitation, velocity tracking, and stability maintenance. To address this, we introduce RuN, a novel decoupled residual learning framework. RuN decomposes the control task by pairing a pre-trained Conditional Motion Generator, which provides a kinematically natural motion prior, with a reinforcement learning policy that learns a lightweight residual correction to handle dynamical interactions. Experiments in simulation and reality on the Unitree G1 humanoid robot demonstrate that RuN achieves stable, natural gaits and smooth walk-run transitions across a broad velocity range (0-2.5 m/s), outperforming state-of-the-art methods in both training efficiency and final performance.
DENet: Dual-Path Edge Network with Global-Local Attention for Infrared Small Target Detection
Venue: arXiv cs.CV 2025
Year: 2025

Infrared small target detection is crucial for remote sensing applications like disaster warning and maritime surveillance. However, due to the lack of distinctive texture and morphological features, infrared small targets are highly susceptible to blending into cluttered and noisy backgrounds. A fundamental challenge in designing deep models for this task lies in the inherent conflict between capturing high-resolution spatial details for minute targets and extracting robust semantic context for larger targets, often leading to feature misalignment and suboptimal performance. Existing methods often rely on fixed gradient operators or simplistic attention mechanisms, which are inadequate for accurately extracting target edges under low contrast and high noise. In this paper, we propose a novel Dual-Path Edge Network that explicitly addresses this challenge by decoupling edge enhancement and semantic modeling into two complementary processing paths. The first path employs a Bidirectional Interaction Module, which uses both Local Self-Attention and Global Self-Attention to capture multi-scale local and global feature dependencies. The global attention mechanism, based on a Transformer architecture, integrates long-range semantic relationships and contextual information, ensuring robust scene understanding. The second path introduces the Multi-Edge Refiner, which enhances fine-grained edge details using cascaded Taylor finite difference operators at multiple scales. This mathematical approach, along with an attention-driven gating mechanism, enables precise edge localization and feature enhancement for targets of varying sizes, while effectively suppressing noise. Our method provides a promising solution for precise infrared small target detection and localization, combining structural semantics and edge refinement in a unified framework.
Building Information Models to Robot-Ready Site Digital Twins (BIM2RDT): An Agentic AI Safety-First Framework
Venue: arXiv cs.RO 2025
Year: 2025

The adoption of cyber-physical systems and jobsite intelligence that connects design models, real-time site sensing, and autonomous field operations can dramatically enhance digital management in the construction industry. This paper introduces BIM2RDT (Building Information Models to Robot-Ready Site Digital Twins), an agentic artificial intelligence (AI) framework designed to transform static Building Information Modeling (BIM) into dynamic, robot-ready digital twins (DTs) that prioritize safety during execution. The framework bridges the gap between pre-existing BIM data and real-time site conditions by integrating three key data streams: geometric and semantic information from BIM models, activity data from IoT sensor networks, and visual-spatial data collected by robots during site traversal. The methodology introduces Semantic-Gravity ICP (SG-ICP), a point cloud registration algorithm that leverages large language model (LLM) reasoning. Unlike traditional methods, SG-ICP utilizes an LLM to infer object-specific, plausible orientation priors based on BIM semantics, improving alignment accuracy by avoiding convergence on local minima. This creates a feedback loop where robot-collected data updates the DT, which in turn optimizes paths for missions. The framework employs YOLOE object detection and Shi-Tomasi corner detection to identify and track construction elements while using BIM geometry as a priori maps. The framework also integrates real-time Hand-Arm Vibration (HAV) monitoring, mapping sensor-detected safety events to the digital twin using IFC standards for intervention. Experiments demonstrate SG-ICP's superiority over standard ICP, achieving RMSE reductions of 64.3%--88.3% in alignment across scenarios with occluded features, ensuring plausible orientations. HAV integration triggers warnings upon exceeding exposure limits, enhancing compliance with ISO 5349-1.
CE-GPPO: Coordinating Entropy via Gradient-Preserving Clipping Policy Optimization in Reinforcement Learning
Venue: arXiv cs.LG 2025
Year: 2025

Reinforcement learning (RL) has become a powerful paradigm for optimizing large language models (LLMs) to handle complex reasoning tasks. A core challenge in this process lies in managing policy entropy, which reflects the balance between exploration and exploitation during training. Existing methods, such as proximal policy optimization (PPO) and its variants, discard valuable gradient signals from low-probability tokens due to the clipping mechanism. We systematically analyze the entropy dynamics and reveal that these clipped tokens play a critical yet overlooked role in regulating entropy evolution. We propose \textbf{C}oordinating \textbf{E}ntropy via \textbf{G}radient-\textbf{P}reserving \textbf{P}olicy \textbf{O}ptimization (CE-GPPO), a novel algorithm that reintroduces gradients from clipped tokens in native PPO in a gentle and bounded manner. By controlling the magnitude of gradients from tokens outside the clipping interval, CE-GPPO is able to achieve an exploration-exploitation trade-off. We provide theoretical justification and empirical evidence showing that CE-GPPO effectively mitigates entropy instability. Extensive experiments on mathematical reasoning benchmarks show that CE-GPPO consistently outperforms strong baselines across different model scales.
Difference-Guided Reasoning: A Temporal-Spatial Framework for Large Language Models
Venue: arXiv cs.CE 2025
Year: 2025

Large Language Models (LLMs) are important tools for reasoning and problem-solving, while they often operate passively, answering questions without actively discovering new ones. This limitation reduces their ability to simulate human-like thinking, where noticing differences is a key trigger for reasoning. Thus, in this paper we propose a difference-guided reasoning framework, which enables LLMs to identify and act upon changes across time and space. The model formalizes differences through feature extraction, prioritizes the most impactful and latest changes, and links them to appropriate actions. We further extend the framework with mechanisms for abnormal behavior detection and the integration of external information from users or sensors, ensuring more reliable and grounded reasoning. Verification results show that prompting LLMs with differences improves focus on critical issues, leading to higher alignment with desired reasoning outcomes compared to direct prompting.
Robust, Observable, and Evolvable Agentic Systems Engineering: A Principled Framework Validated via the Fairy GUI Agent
Venue: arXiv cs.AI 2025
Year: 2025

The Agentic Paradigm faces a significant Software Engineering Absence, yielding Agentic systems commonly lacking robustness, observability, and evolvability. To address these deficiencies, we propose a principled engineering framework comprising Runtime Goal Refinement (RGR), Observable Cognitive Architecture (OCA), and Evolutionary Memory Architecture (EMA). In this framework, RGR ensures robustness and intent alignment via knowledge-constrained refinement and human-in-the-loop clarification; OCA builds an observable and maintainable white-box architecture using component decoupling, logic layering, and state-control separation; and EMA employs an execution-evolution dual-loop for evolvability. We implemented and empirically validated Fairy, a mobile GUI agent based on this framework. On RealMobile-Eval, our novel benchmark for ambiguous and complex tasks, Fairy outperformed the best SoTA baseline in user requirement completion by 33.7%. Subsequent controlled experiments, human-subject studies, and ablation studies further confirmed that the RGR enhances refinement accuracy and prevents intent deviation; the OCA improves maintainability; and the EMA is crucial for long-term performance. This research provides empirically validated specifications and a practical blueprint for building reliable, observable, and evolvable Agentic AI systems.
CusEnhancer: A Zero-Shot Scene and Controllability Enhancement Method for Photo Customization via ResInversion
Venue: arXiv cs.CV 2025
Year: 2025

Recently remarkable progress has been made in synthesizing realistic human photos using text-to-image diffusion models. However, current approaches face degraded scenes, insufficient control, and suboptimal perceptual identity. We introduce CustomEnhancer, a novel framework to augment existing identity customization models. CustomEnhancer is a zero-shot enhancement pipeline that leverages face swapping techniques, pretrained diffusion model, to obtain additional representations in a zeroshot manner for encoding into personalized models. Through our proposed triple-flow fused PerGeneration approach, which identifies and combines two compatible counter-directional latent spaces to manipulate a pivotal space of personalized model, we unify the generation and reconstruction processes, realizing generation from three flows. Our pipeline also enables comprehensive training-free control over the generation process of personalized models, offering precise controlled personalization for them and eliminating the need for controller retraining for per-model. Besides, to address the high time complexity of null-text inversion (NTI), we introduce ResInversion, a novel inversion method that performs noise rectification via a pre-diffusion mechanism, reducing the inversion time by 129 times. Experiments demonstrate that CustomEnhancer reach SOTA results at scene diversity, identity fidelity, training-free controls, while also showing the efficiency of our ResInversion over NTI. The code will be made publicly available upon paper acceptance.
DAC-LoRA: Dynamic Adversarial Curriculum for Efficient and Robust Few-Shot Adaptation
Venue: arXiv cs.CV 2025
Year: 2025

Vision-Language Models (VLMs) are foundational to critical applications like autonomous driving, medical diagnosis, and content moderation. While Parameter-Efficient Fine-Tuning (PEFT) methods like LoRA enable their efficient adaptation to specialized tasks, these models remain vulnerable to adversarial attacks that can compromise safety-critical decisions. CLIP, the backbone for numerous downstream VLMs, is a high-value target whose vulnerabilities can cascade across the multimodal AI ecosystem. We propose Dynamic Adversarial Curriculum DAC-LoRA, a novel framework that integrates adversarial training into PEFT. The core principle of our method i.e. an intelligent curriculum of progressively challenging attack, is general and can potentially be applied to any iterative attack method. Guided by the First-Order Stationary Condition (FOSC) and a TRADES-inspired loss, DAC-LoRA achieves substantial improvements in adversarial robustness without significantly compromising clean accuracy. Our work presents an effective, lightweight, and broadly applicable method to demonstrate that the DAC-LoRA framework can be easily integrated into a standard PEFT pipeline to significantly enhance robustness.
Shaping Initial State Prevents Modality Competition in Multi-modal Fusion: A Two-stage Scheduling Framework via Fast Partial Information Decomposition
Venue: arXiv cs.LG 2025
Year: 2025

Multi-modal fusion often suffers from modality competition during joint training, where one modality dominates the learning process, leaving others under-optimized. Overlooking the critical impact of the model's initial state, most existing methods address this issue during the joint learning stage. In this study, we introduce a two-stage training framework to shape the initial states through unimodal training before the joint training. First, we propose the concept of Effective Competitive Strength (ECS) to quantify a modality's competitive strength. Our theoretical analysis further reveals that properly shaping the initial ECS by unimodal training achieves a provably tighter error bound. However, ECS is computationally intractable in deep neural networks. To bridge this gap, we develop a framework comprising two core components: a fine-grained computable diagnostic metric and an asynchronous training controller. For the metric, we first prove that mutual information(MI) is a principled proxy for ECS. Considering MI is induced by per-modality marginals and thus treats each modality in isolation, we further propose FastPID, a computationally efficient and differentiable solver for partial information decomposition, which decomposes the joint distribution's information into fine-grained measurements: modality-specific uniqueness, redundancy, and synergy. Guided by these measurements, our asynchronous controller dynamically balances modalities by monitoring uniqueness and locates the ideal initial state to start joint training by tracking peak synergy. Experiments on diverse benchmarks demonstrate that our method achieves state-of-the-art performance. Our work establishes that shaping the pre-fusion models' initial state is a powerful strategy that eases competition before it starts, reliably unlocking synergistic multi-modal fusion.