OpenRaiser/Intern-Atlas huggingface dataset:
ACE-F: A Cross Embodiment Foldable System with Force Feedback for Dexterous Teleoperation
Venue: arXiv cs.RO 2025
Year: 2025

Teleoperation systems are essential for efficiently collecting diverse and high-quality robot demonstration data, especially for complex, contact-rich tasks. However, current teleoperation platforms typically lack integrated force feedback, cross-embodiment generalization, and portable, user-friendly designs, limiting their practical deployment. To address these limitations, we introduce ACE-F, a cross embodiment foldable teleoperation system with integrated force feedback. Our approach leverages inverse kinematics (IK) combined with a carefully designed human-robot interface (HRI), enabling users to capture precise and high-quality demonstrations effortlessly. We further propose a generalized soft-controller pipeline integrating PD control and inverse dynamics to ensure robot safety and precise motion control across diverse robotic embodiments. Critically, to achieve cross-embodiment generalization of force feedback without additional sensors, we innovatively interpret end-effector positional deviations as virtual force signals, which enhance data collection and enable applications in imitation learning. Extensive teleoperation experiments confirm that ACE-F significantly simplifies the control of various robot embodiments, making dexterous manipulation tasks as intuitive as operating a computer mouse. The system is open-sourced at: https://acefoldable.github.io/
Exploring Time-Step Size in Reinforcement Learning for Sepsis Treatment
Venue: arXiv cs.LG 2025
Year: 2025

Existing studies on reinforcement learning (RL) for sepsis management have mostly followed an established problem setup, in which patient data are aggregated into 4-hour time steps. Although concerns have been raised regarding the coarseness of this time-step size, which might distort patient dynamics and lead to suboptimal treatment policies, the extent to which this is a problem in practice remains unexplored. In this work, we conducted empirical experiments for a controlled comparison of four time-step sizes ($Δt\!=\!1,2,4,8$ h) on this domain, following an identical offline RL pipeline. To enable a fair comparison across time-step sizes, we designed action re-mapping methods that allow for evaluation of policies on datasets with different time-step sizes, and conducted cross-$Δt$ model selections under two policy learning setups. Our goal was to quantify how time-step size influences state representation learning, behavior cloning, policy training, and off-policy evaluation. Our results show that performance trends across $Δt$ vary as learning setups change, while policies learned at finer time-step sizes ($Δt = 1$ h and $2$ h) using a static behavior policy achieve the overall best performance and stability. Our work highlights time-step size as a core design choice in offline RL for healthcare and provides evidence supporting alternatives beyond the conventional 4-hour setup.
Application of machine learning for infrastructure reconstruction programs management
Venue: arXiv cs.SE 2025
Year: 2025

The purpose of this article is to describe an adaptive decision-making support model aimed at improving the efficiency of engineering infrastructure reconstruction program management in the context of developing the architecture and work breakdown structure of programs. As part of the study, the existing adaptive program management tools are analyzed, the use of infrastructure systems modelling tools is justified for program architecture and WBS creation. Existing models and modelling methods are viewed, and machine learning and artificial neural networks are selected for the model. The main components of the model are defined, which include a set of decision-maker preferences, decision-making tasks, sets of input data, and applied software components of the model. To support decision-making, the adaptive model applies the method of system modeling and predicting the value of the objective function at a given system configuration. Prediction is done using machine learning methods based on a dataset consisting of historical data related to existing engineering systems. The work describes the components of the redistribution of varied model parameters, which modify the model dataset based on the selected object type, which allows adapting the decision-making process to the existing program implementation goals. The functional composition done in Microsoft Azure Machine Learning Studio is described. The neural network parameters and evaluation results are given. The application of the developed adaptive model is possible in the management of programs for the reconstruction of such engineering systems as systems of heat, gas, electricity supply, water supply, and drainage, etc.
Securing the Model Context Protocol (MCP): Risks, Controls, and Governance
Venue: arXiv cs.CR 2025
Year: 2025

The Model Context Protocol (MCP) replaces static, developer-controlled API integrations with more dynamic, user-driven agent systems, which also introduces new security risks. As MCP adoption grows across community servers and major platforms, organizations encounter threats that existing AI governance frameworks (such as NIST AI RMF and ISO/IEC 42001) do not yet cover in detail. We focus on three types of adversaries that take advantage of MCP s flexibility: content-injection attackers that embed malicious instructions into otherwise legitimate data; supply-chain attackers who distribute compromised servers; and agents who become unintentional adversaries by over-stepping their role. Based on early incidents and proof-of-concept attacks, we describe how MCP can increase the attack surface through data-driven exfiltration, tool poisoning, and cross-system privilege escalation. In response, we propose a set of practical controls, including per-user authentication with scoped authorization, provenance tracking across agent workflows, containerized sandboxing with input/output checks, inline policy enforcement with DLP and anomaly detection, and centralized governance using private registries or gateway layers. The aim is to help organizations ensure that unvetted code does not run outside a sandbox, tools are not used beyond their intended scope, data exfiltration attempts are detectable, and actions can be audited end-to-end. We close by outlining open research questions around verifiable registries, formal methods for these dynamic systems, and privacy-preserving agent operations.
Aragog: Just-in-Time Model Routing for Scalable Serving of Agentic Workflows
Venue: arXiv cs.DC 2025
Year: 2025

Agentic workflows have emerged as a powerful paradigm for solving complex, multi-stage tasks, but serving them at scale is computationally expensive given the many LLM inferences that each request must pass through. Configuration selection, or the cost-aware assignment of workflow agents to specific LLMs, can reduce these costs, but existing approaches bind configuration decisions before request execution, making them ill-suited for the heterogeneous and lengthy execution of workflows. Specifically, system loads can fluctuate rapidly and substantially during a request's lifetime, causing fixed configurations to quickly become suboptimal. We present Aragog, a system that progressively adapts a request's configuration throughout its execution to match runtime dynamics. To make this practical despite the massive space of workflow configurations, Aragog decouples the problem into two core elements -- a one-time routing step that identifies all accuracy-preserving configurations, and a cheap per-stage scheduler that selects among them using up-to-date system observations -- and introduces novel strategies to accelerate each. Across diverse workflows and model families, Aragog increases maximum serving throughput by 50.0--217.0\% and reduces median latency by 32.5--78.9\% at peak request rates, while maintaining accuracy comparable to the most expensive configurations.
Dataset Poisoning Attacks on Behavioral Cloning Policies
Venue: arXiv cs.LG 2025
Year: 2025

Behavior Cloning (BC) is a popular framework for training sequential decision policies from expert demonstrations via supervised learning. As these policies are increasingly being deployed in the real world, their robustness and potential vulnerabilities are an important concern. In this work, we perform the first analysis of the efficacy of clean-label backdoor attacks on BC policies. Our backdoor attacks poison a dataset of demonstrations by injecting a visual trigger to create a spurious correlation that can be exploited at test time. We evaluate how policy vulnerability scales with the fraction of poisoned data, the strength of the trigger, and the trigger type. We also introduce a novel entropy-based test-time trigger attack that substantially degrades policy performance by identifying critical states where test-time triggering of the backdoor is expected to be most effective at degrading performance. We empirically demonstrate that BC policies trained on even minimally poisoned datasets exhibit deceptively high, near-baseline task performance despite being highly vulnerable to backdoor trigger attacks during deployment. Our results underscore the urgent need for more research into the robustness of BC policies, particularly as large-scale datasets are increasingly used to train policies for real-world cyber-physical systems. Videos and code are available at https://sites.google.com/view/dataset-poisoning-in-bc.
The communication complexity of distributed estimation
Venue: arXiv cs.CC 2025
Year: 2025

We study an extension of the standard two-party communication model in which Alice and Bob hold probability distributions $p$ and $q$ over domains $X$ and $Y$, respectively. Their goal is to estimate \[ \mathbb{E}_{x \sim p,\, y \sim q}[f(x, y)] \] to within additive error $\varepsilon$ for a bounded function $f$, known to both parties. We refer to this as the distributed estimation problem. Special cases of this problem arise in a variety of areas including sketching, databases and learning. Our goal is to understand how the required communication scales with the communication complexity of $f$ and the error parameter $\varepsilon$. The random sampling approach -- estimating the mean by averaging $f$ over $O(1/\varepsilon^2)$ random samples -- requires $O(R(f)/\varepsilon^2)$ total communication, where $R(f)$ is the randomized communication complexity of $f$. We design a new debiasing protocol which improves the dependence on $1/\varepsilon$ to be linear instead of quadratic. Additionally we show better upper bounds for several special classes of functions, including the Equality and Greater-than functions. We introduce lower bound techniques based on spectral methods and discrepancy, and show the optimality of many of our protocols: the debiasing protocol is tight for general functions, and that our protocols for the equality and greater-than functions are also optimal. Furthermore, we show that among full-rank Boolean functions, Equality is essentially the easiest.
Probabilistic Wildfire Spread Prediction Using an Autoregressive Conditional Generative Adversarial Network
Venue: arXiv cs.LG 2025
Year: 2025

Climate change has intensified the frequency and severity of wildfires, making rapid and accurate prediction of fire spread essential for effective mitigation and response. Physics-based simulators such as FARSITE offer high-fidelity predictions but are computationally intensive, limiting their applicability in real-time decision-making, while existing deep learning models often yield overly smooth predictions that fail to capture the complex, nonlinear dynamics of wildfire propagation. This study proposes an autoregressive conditional generative adversarial network (CGAN) for probabilistic wildfire spread prediction. By formulating the prediction task as an autoregressive problem, the model learns sequential state transitions, ensuring long-term prediction stability. Experimental results demonstrate that the proposed CGAN-based model outperforms conventional deep learning models in both overall predictive accuracy and boundary delineation of fire perimeters. These results demonstrate that adversarial learning allows the model to capture the strong nonlinearity and uncertainty of wildfire spread, instead of simply fitting the pixel average. Furthermore, the autoregressive framework facilitates systematic temporal forecasting of wildfire evolution. The proposed CGAN-based autoregressive framework enhances both the accuracy and physical interpretability of wildfire spread prediction, offering a promising foundation for time-sensitive response and evacuation planning.
Semantic Anchors in In-Context Learning: Why Small LLMs Cannot Flip Their Labels
Venue: arXiv cs.CL 2025
Year: 2025

Can in-context learning (ICL) override pre-trained label semantics, or does it merely refine an existing semantic backbone? We address this question by treating LLMs as prompt-induced classifiers and contrasting their behavior under \emph{natural} demonstrations (with correct labels) and \emph{inverted} demonstrations (systematically flipping label meanings). We decompose ICL behavior into three alignment metrics (truth, prior, and prompt alignment) and introduce a semantic override rate, defined as correctness under flipped semantics. Across eight classification tasks and eight open-source LLMs (1--12B parameters), we find consistent evidence for a semantic anchor view. With natural demonstrations, ICL improves accuracy while maintaining strong prior alignment; most correct predictions coincide with zero-shot behavior, even when the prior is weak. With inverted demonstrations, models cannot learn coherent anti-semantic classifiers: prompt alignment increases only by sacrificing accuracy, and semantic override rates remain exactly zero in our few-shot 1--12B setting. Rather than flexibly remapping label meanings, ICL primarily adjusts how inputs project onto stable semantic directions learned during pre-training, clarifying fundamental limits of few-shot prompting and suggesting that overriding label semantics at these scales requires interventions beyond ICL. All code is available at: https://github.com/AnanthaPadmanaban-KrishnaKumar/semantic-anchors-icl.
CNN-LSTM Hybrid Architecture for Over-the-Air Automatic Modulation Classification Using SDR
Venue: arXiv cs.LG 2025
Year: 2025

Automatic Modulation Classification (AMC) is a core technology for future wireless communication systems, enabling the identification of modulation schemes without prior knowledge. This capability is essential for applications in cognitive radio, spectrum monitoring, and intelligent communication networks. We propose an AMC system based on a hybrid Convolutional Neural Network (CNN) and Long Short-Term Memory (LSTM) architecture, integrated with a Software Defined Radio (SDR) platform. The proposed architecture leverages CNNs for spatial feature extraction and LSTMs for capturing temporal dependencies, enabling efficient handling of complex, time-varying communication signals. The system's practical ability was demonstrated by identifying over-the-air (OTA) signals from a custom-built FM transmitter alongside other modulation schemes. The system was trained on a hybrid dataset combining the RadioML2018 dataset with a custom-generated dataset, featuring samples at Signal-to-Noise Ratios (SNRs) from 0 to 30dB. System performance was evaluated using accuracy, precision, recall, F1 score, and the Area Under the Receiver Operating Characteristic Curve (AUC-ROC). The optimized model achieved 93.48% accuracy, 93.53% precision, 93.48% recall, and an F1 score of 93.45%. The AUC-ROC analysis confirmed the model's discriminative power, even in noisy conditions. This paper's experimental results validate the effectiveness of the hybrid CNN-LSTM architecture for AMC, suggesting its potential application in adaptive spectrum management and advanced cognitive radio systems.
CartoonSing: Unifying Human and Nonhuman Timbres in Singing Generation
Venue: arXiv cs.SD 2025
Year: 2025

Singing voice synthesis (SVS) and singing voice conversion (SVC) have achieved remarkable progress in generating natural-sounding human singing. However, existing systems are restricted to human timbres and have limited ability to synthesize voices outside the human range, which are increasingly demanded in creative applications such as video games, movies, and virtual characters. We introduce Non-Human Singing Generation (NHSG), covering non-human singing voice synthesis (NHSVS) and non-human singing voice conversion (NHSVC), as a novel machine learning task for generating musically coherent singing with non-human timbral characteristics. NHSG is particularly challenging due to the scarcity of non-human singing data, the lack of symbolic alignment, and the wide timbral gap between human and non-human voices. To address these challenges, we propose CartoonSing, a unified framework that integrates singing voice synthesis and conversion while bridging human and non-human singing generation. CartoonSing employs a two-stage pipeline: a score representation encoder trained with annotated human singing and a timbre-aware vocoder that reconstructs waveforms for both human and non-human audio. Experiments demonstrate that CartoonSing successfully generates non-human singing voices, generalizes to novel timbres, and extends conventional SVS and SVC toward creative, non-human singing generation.
Enhancing Burmese News Classification with Kolmogorov-Arnold Network Head Fine-tuning
Venue: arXiv cs.CL 2025
Year: 2025

In low-resource languages like Burmese, classification tasks often fine-tune only the final classification layer, keeping pre-trained encoder weights frozen. While Multi-Layer Perceptrons (MLPs) are commonly used, their fixed non-linearity can limit expressiveness and increase computational cost. This work explores Kolmogorov-Arnold Networks (KANs) as alternative classification heads, evaluating Fourier-based FourierKAN, Spline-based EfficientKAN, and Grid-based FasterKAN-across diverse embeddings including TF-IDF, fastText, and multilingual transformers (mBERT, Distil-mBERT). Experimental results show that KAN-based heads are competitive with or superior to MLPs. EfficientKAN with fastText achieved the highest F1-score (0.928), while FasterKAN offered the best trade-off between speed and accuracy. On transformer embeddings, EfficientKAN matched or slightly outperformed MLPs with mBERT (0.917 F1). These findings highlight KANs as expressive, efficient alternatives to MLPs for low-resource language classification.
MLPMoE: Zero-Shot Architectural Metamorphosis of Dense LLM MLPs into Static Mixture-of-Experts
Venue: arXiv cs.LG 2025
Year: 2025

Large Language Models (LLMs) are predominantly deployed as dense transformers, where every parameter in every feed-forward block is activated for every token. While architecturally simple, this is computationally inefficient, since inference costs scale linearly with parameter count. Recent upcycling methods such as MoEfication, CMoE, ToMoE, and MoORE reveal that much of the useful computation lives in sparse, semi-modular substructures inside dense feed-forward networks, but these approaches typically rely on clustering, activation profiling, singular value decomposition, or custom routing that requires calibration data. This paper introduces MLPMoE (MLP Mixture-of-Experts), a training-free, deterministic transformation that restructures the dense MLP in transformer blocks into a static, high-cardinality mixture of experts. The transformation uses simple tensor slicing and summation, reinterpreting the algebra of tensor parallelism as a topological conversion rather than a distributed training pattern. We further introduce Fractal Fade (differential branch sparsity) and Compensated Pruning (variance-preserving branch reduction) as lightweight mechanisms for structured sparsity. On Qwen2.5-0.5B-Instruct and DeepSeek-R1-Distill-Llama-8B, the zero-shot MLPMoE transform changes a proxy perplexity metric by less than 0.05 percent while keeping the parameter count effectively constant. On the 8B model, differential sparsity removes about 20 percent of MLP parameters while keeping perplexity within about 2 percent of the dense baseline. The method operates entirely post hoc on existing checkpoints and does not require gradients, calibration sets, or router training. Code is available at https://gist.github.com/iwallarm/fc2ef1eddf226ca7814f9e5e2ae9bad1
From Bits to Rounds: Parallel Decoding with Exploration for Diffusion Language Models
Venue: arXiv cs.LG 2025
Year: 2025

Diffusion Language Models (DLMs) have recently emerged as a strong alternative to autoregressive language models (LMs). DLMs offer comparable accuracy with faster inference speed via parallel decoding. However, standard DLM decoding strategies relying on high-confidence tokens encounter an inherent information-theoretic bottleneck that restricts decoding progress and ultimately slows generation. We demonstrate both theoretically and empirically that prioritizing high-confidence tokens is inherently inefficient. High-probability tokens carry negligible information and strictly relying on them limits the effective progress made in each decoding round. We prove that the number of decoding rounds must grow linearly with the sample's total information (negative log-likelihood) and inversely with the per-round information budget, establishing a bits-to-rounds principle. We also propose Explore-Then-Exploit (ETE), a training-free decoding strategy that maximizes information throughput and decoding efficiency. ETE combines cross-block decoding with targeted exploration of high-uncertainty tokens to reshape the conditional distribution and trigger cascades of confident predictions. Experiments verify our theoretical bounds and demonstrate that ETE consistently reduces the required number of decoding rounds compared to confidence-only baselines without compromising generation quality.
FaithFusion: Harmonizing Reconstruction and Generation via Pixel-wise Information Gain
Venue: arXiv cs.CV 2025
Year: 2025

In controllable driving-scene reconstruction and 3D scene generation, maintaining geometric fidelity while synthesizing visually plausible appearance under large viewpoint shifts is crucial. However, effective fusion of geometry-based 3DGS and appearance-driven diffusion models faces inherent challenges, as the absence of pixel-wise, 3D-consistent editing criteria often leads to over-restoration and geometric drift. To address these issues, we introduce \textbf{FaithFusion}, a 3DGS-diffusion fusion framework driven by pixel-wise Expected Information Gain (EIG). EIG acts as a unified policy for coherent spatio-temporal synthesis: it guides diffusion as a spatial prior to refine high-uncertainty regions, while its pixel-level weighting distills the edits back into 3DGS. The resulting plug-and-play system is free from extra prior conditions and structural modifications.Extensive experiments on the Waymo dataset demonstrate that our approach attains SOTA performance across NTA-IoU, NTL-IoU, and FID, maintaining an FID of 107.47 even at 6 meters lane shift. Our code is available at https://github.com/wangyuanbiubiubiu/FaithFusion.