OpenRaiser/Intern-Atlas huggingface dataset:
Are Vision LLMs Road-Ready? A Comprehensive Benchmark for Safety-Critical Driving Video Understanding
Venue: arXiv cs.CV 2025
Year: 2025

Vision Large Language Models (VLLMs) have demonstrated impressive capabilities in general visual tasks such as image captioning and visual question answering. However, their effectiveness in specialized, safety-critical domains like autonomous driving remains largely unexplored. Autonomous driving systems require sophisticated scene understanding in complex environments, yet existing multimodal benchmarks primarily focus on normal driving conditions, failing to adequately assess VLLMs' performance in safety-critical scenarios. To address this, we introduce DVBench, a pioneering benchmark designed to evaluate the performance of VLLMs in understanding safety-critical driving videos. Built around a hierarchical ability taxonomy that aligns with widely adopted frameworks for describing driving scenarios used in assessing highly automated driving systems, DVBench features 10,000 multiple-choice questions with human-annotated ground-truth answers, enabling a comprehensive evaluation of VLLMs' capabilities in perception and reasoning. Experiments on 14 SOTA VLLMs, ranging from 0.5B to 72B parameters, reveal significant performance gaps, with no model achieving over 40% accuracy, highlighting critical limitations in understanding complex driving scenarios. To probe adaptability, we fine-tuned selected models using domain-specific data from DVBench, achieving accuracy gains ranging from 5.24 to 10.94 percentage points, with relative improvements of up to 43.59%. This improvement underscores the necessity of targeted adaptation to bridge the gap between general-purpose VLLMs and mission-critical driving applications. DVBench establishes an essential evaluation framework and research roadmap for developing VLLMs that meet the safety and robustness requirements for real-world autonomous systems. We released the benchmark toolbox and the fine-tuned model at: https://github.com/tong-zeng/DVBench.git.
Haptic-based Complementary Filter for Rigid Body Rotations
Venue: arXiv cs.RO 2025
Year: 2025

The non-commutative nature of 3D rotations poses well-known challenges in generalizing planar problems to three-dimensional ones, even more so in contact-rich tasks where haptic information (i.e., forces/torques) is involved. In this sense, not all learning-based algorithms that are currently available generalize to 3D orientation estimation. Non-linear filters defined on $\mathbf{\mathbb{SO}(3)}$ are widely used with inertial measurement sensors; however, none of them have been used with haptic measurements. This paper presents a unique complementary filtering framework that interprets the geometric shape of objects in the form of superquadrics, exploits the symmetry of $\mathbf{\mathbb{SO}(3)}$, and uses force and vision sensors as measurements to provide an estimate of orientation. The framework's robustness and almost global stability are substantiated by a set of experiments on a dual-arm robotic setup.
Toward the Axiomatization of Intelligence: Structure, Time, and Existence
Venue: arXiv cs.AI 2025
Year: 2025

This study aims to construct an axiomatic definition of intelligence within a meta-framework that defines the method of definition, addressing intelligence as an inherently naive and polysemous concept. Initially, we formalize a set-theoretic representation of the universe as the domain wherein intelligence exists and characterize intelligence as a structure that involves temporal evolution and interaction with other sets. Starting from a naive definition of intelligence as "an entity possessing structures for externally inputting, internally processing, and externally outputting information or matter," we axiomatically reformulate it within this set-theoretical depiction of the universe. Applying this axiomatic definition, we compare and interpret three examples -- Hebbian non-optimized neural networks (NNs), backpropagation-optimized NNs, and biological reflexive systems -- in terms of their intelligence, structural properties, and biological plausibility. Furthermore, by extending our definition into a categorical framework, we introduce two categories, "Time Category" and "Intelligence Category," along with the functorial relationships between them, demonstrating the potential to represent changes and mimicry relationships among intelligent systems abstractly. Additionally, since intelligence, as defined herein, functions effectively only when accompanied by temporal interactions, we introduce the concept of "activity" and explore how activity-based conditions influence classifications and interpretations of intelligence. Finally, we suggest that our definitional methodology is not limited to intelligence alone, but can be similarly applied to other concepts, such as consciousness and emotion, advocating for their formal reinterpretation through the same procedural steps: defining a universal representation, selecting naive definitions, and axiomatic formalization.
RoboOcc: Enhancing the Geometric and Semantic Scene Understanding for Robots
Venue: arXiv cs.RO 2025
Year: 2025

3D occupancy prediction enables the robots to obtain spatial fine-grained geometry and semantics of the surrounding scene, and has become an essential task for embodied perception. Existing methods based on 3D Gaussians instead of dense voxels do not effectively exploit the geometry and opacity properties of Gaussians, which limits the network's estimation of complex environments and also limits the description of the scene by 3D Gaussians. In this paper, we propose a 3D occupancy prediction method which enhances the geometric and semantic scene understanding for robots, dubbed RoboOcc. It utilizes the Opacity-guided Self-Encoder (OSE) to alleviate the semantic ambiguity of overlapping Gaussians and the Geometry-aware Cross-Encoder (GCE) to accomplish the fine-grained geometric modeling of the surrounding scene. We conduct extensive experiments on Occ-ScanNet and EmbodiedOcc-ScanNet datasets, and our RoboOcc achieves state-of the-art performance in both local and global camera settings. Further, in ablation studies of Gaussian parameters, the proposed RoboOcc outperforms the state-of-the-art methods by a large margin of (8.47, 6.27) in IoU and mIoU metric, respectively. The codes will be released soon.
Talk is Not Always Cheap: Promoting Wireless Sensing Models with Text Prompts
Venue: arXiv cs.CV 2025
Year: 2025

Wireless signal-based human sensing technologies, such as WiFi, millimeter-wave (mmWave) radar, and Radio Frequency Identification (RFID), enable the detection and interpretation of human presence, posture, and activities, thereby providing critical support for applications in public security, healthcare, and smart environments. These technologies exhibit notable advantages due to their non-contact operation and environmental adaptability; however, existing systems often fail to leverage the textual information inherent in datasets. To address this, we propose an innovative text-enhanced wireless sensing framework, WiTalk, that seamlessly integrates semantic knowledge through three hierarchical prompt strategies-label-only, brief description, and detailed action description-without requiring architectural modifications or incurring additional data costs. We rigorously validate this framework across three public benchmark datasets: XRF55 for human action recognition (HAR), and WiFiTAL and XRFV2 for WiFi temporal action localization (TAL). Experimental results demonstrate significant performance improvements: on XRF55, accuracy for WiFi, RFID, and mmWave increases by 3.9%, 2.59%, and 0.46%, respectively; on WiFiTAL, the average performance of WiFiTAD improves by 4.98%; and on XRFV2, the mean average precision gains across various methods range from 4.02% to 13.68%. Our codes have been included in https://github.com/yangzhenkui/WiTalk.
AI Literacy Education for Older Adults: Motivations, Challenges and Preferences
Venue: arXiv cs.HC 2025
Year: 2025

As Artificial Intelligence (AI) becomes increasingly integrated into older adults' daily lives, equipping them with the knowledge and skills to understand and use AI is crucial. However, most research on AI literacy education has focused on students and children, leaving a gap in understanding the unique needs of older adults when learning about AI. To address this, we surveyed 103 older adults aged 50 and above (Mean = 64, SD = 7). Results revealed that they found it important and were motivated to learn about AI because they wish to harness the benefits and avoid the dangers of AI, seeing it as necessary to cope in the future. However, they expressed learning challenges such as difficulties in understanding and not knowing how to start learning AI. Particularly, a strong preference for hands-on learning was indicated. We discussed design opportunities to support AI literacy education for older adults.
A Framework for Benchmarking and Aligning Task-Planning Safety in LLM-Based Embodied Agents
Venue: arXiv cs.AI 2025
Year: 2025

Large Language Models (LLMs) exhibit substantial promise in enhancing task-planning capabilities within embodied agents due to their advanced reasoning and comprehension. However, the systemic safety of these agents remains an underexplored frontier. In this study, we present Safe-BeAl, an integrated framework for the measurement (SafePlan-Bench) and alignment (Safe-Align) of LLM-based embodied agents' behaviors. SafePlan-Bench establishes a comprehensive benchmark for evaluating task-planning safety, encompassing 2,027 daily tasks and corresponding environments distributed across 8 distinct hazard categories (e.g., Fire Hazard). Our empirical analysis reveals that even in the absence of adversarial inputs or malicious intent, LLM-based agents can exhibit unsafe behaviors. To mitigate these hazards, we propose Safe-Align, a method designed to integrate physical-world safety knowledge into LLM-based embodied agents while maintaining task-specific performance. Experiments across a variety of settings demonstrate that Safe-BeAl provides comprehensive safety validation, improving safety by 8.55 - 15.22%, compared to embodied agents based on GPT-4, while ensuring successful task completion.
A Byzantine Fault Tolerance Approach towards AI Safety
Venue: arXiv cs.DC 2025
Year: 2025

Ensuring that an AI system behaves reliably and as intended, especially in the presence of unexpected faults or adversarial conditions, is a complex challenge. Inspired by the field of Byzantine Fault Tolerance (BFT) from distributed computing, we explore a fault tolerance architecture for AI safety. By drawing an analogy between unreliable, corrupt, misbehaving or malicious AI artifacts and Byzantine nodes in a distributed system, we propose an architecture that leverages consensus mechanisms to enhance AI safety and reliability.
An LLM-enabled Multi-Agent Autonomous Mechatronics Design Framework
Venue: arXiv cs.RO 2025
Year: 2025

Existing LLM-enabled multi-agent frameworks are predominantly limited to digital or simulated environments and confined to narrowly focused knowledge domain, constraining their applicability to complex engineering tasks that require the design of physical embodiment, cross-disciplinary integration, and constraint-aware reasoning. This work proposes a multi-agent autonomous mechatronics design framework, integrating expertise across mechanical design, optimization, electronics, and software engineering to autonomously generate functional prototypes with minimal direct human design input. Operating primarily through a language-driven workflow, the framework incorporates structured human feedback to ensure robust performance under real-world constraints. To validate its capabilities, the framework is applied to a real-world challenge involving autonomous water-quality monitoring and sampling, where traditional methods are labor-intensive and ecologically disruptive. Leveraging the proposed system, a fully functional autonomous vessel was developed with optimized propulsion, cost-effective electronics, and advanced control. The design process was carried out by specialized agents, including a high-level planning agent responsible for problem abstraction and dedicated agents for structural, electronics, control, and software development. This approach demonstrates the potential of LLM-based multi-agent systems to automate real-world engineering workflows and reduce reliance on extensive domain expertise.
GLITTER: An AI-assisted Platform for Material-Grounded Asynchronous Discussion in Flipped Learning
Venue: arXiv cs.HC 2025
Year: 2025

Flipped classrooms promote active learning by having students engage with materials independently before class, allowing in-class time for collaborative problem-solving. During this pre-class phase, asynchronous online discussions help students build knowledge and clarify concepts with peers. However, it remains difficult to engage with temporally dispersed peer contributions, connect discussions with static learning materials, and prepare for in-class sessions based on their self-learning outcome. Our formative study identified cognitive challenges students encounter, including navigation barriers, reflection gaps, and contribution difficulty and anxiety. We present GLITTER, an AI-assisted discussion platform for pre-class learning in flipped classrooms. GLITTER helps students identify posts with shared conceptual dimensions, scaffold knowledge integration through conceptual blending, and enhance metacognition via personalized reflection reports. A lab study within subjects (n = 12) demonstrates that GLITTER improves discussion engagement, sparks new ideas, supports reflection, and increases preparedness for in-class activities.
Geometric Learning Dynamics
Venue: arXiv cs.LG 2025
Year: 2025

We present a unified geometric framework for modeling learning dynamics in physical, biological, and machine learning systems. The theory reveals three fundamental regimes, each emerging from the power-law relationship $g \propto κ^α$ between the metric tensor $g$ in the space of trainable variables and the noise covariance matrix $κ$. The quantum regime corresponds to $α= 1$ and describes Schrödinger-like dynamics that emerges from a discrete shift symmetry. The efficient learning regime corresponds to $α= \tfrac{1}{2}$ and describes very fast machine learning algorithms. The equilibration regime corresponds to $α= 0$ and describes classical models of biological evolution. We argue that the emergence of the intermediate regime $α= \tfrac{1}{2}$ is a key mechanism underlying the emergence of biological complexity.
A Combinatorial Theory of Dropout: Subnetworks, Graph Geometry, and Generalization
Venue: arXiv cs.LG 2025
Year: 2025

We propose a combinatorial and graph-theoretic theory of dropout by modeling training as a random walk over a high-dimensional graph of binary subnetworks. Each node represents a masked version of the network, and dropout induces stochastic traversal across this space. We define a subnetwork contribution score that quantifies generalization and show that it varies smoothly over the graph. Using tools from spectral graph theory, PAC-Bayes analysis, and combinatorics, we prove that generalizing subnetworks form large, connected, low-resistance clusters, and that their number grows exponentially with network width. This reveals dropout as a mechanism for sampling from a robust, structured ensemble of well-generalizing subnetworks with built-in redundancy. Extensive experiments validate every theoretical claim across diverse architectures. Together, our results offer a unified foundation for understanding dropout and suggest new directions for mask-guided regularization and subnetwork optimization.
Intent-Aware Authorization for Zero Trust CI/CD
Venue: arXiv cs.CR 2025
Year: 2025

This paper introduces intent-aware authorization for Zero Trust CI/CD systems. Identity establishes who is making the request, but additional signals are required to decide whether access should be granted. We describe a control loop architecture where policy engines such as OPA and Cedar evaluate runtime context, justification, and human approvals before issuing access credentials. The system builds on SPIFFE-based workload identity and credential brokers, and enables fine-grained, auditable authorization. This is the third paper in a series on Zero Trust CI/CD design patterns.
Automated Duplicate Bug Report Detection in Large Open Bug Repositories
Venue: arXiv cs.SE 2025
Year: 2025

Many users and contributors of large open-source projects report software defects or enhancement requests (known as bug reports) to the issue-tracking systems. However, they sometimes report issues that have already been reported. First, they may not have time to do sufficient research on existing bug reports. Second, they may not possess the right expertise in that specific area to realize that an existing bug report is essentially elaborating on the same matter, perhaps with a different wording. In this paper, we propose a novel approach based on machine learning methods that can automatically detect duplicate bug reports in an open bug repository based on the textual data in the reports. We present six alternative methods: Topic modeling, Gaussian Naive Bayes, deep learning, time-based organization, clustering, and summarization using a generative pre-trained transformer large language model. Additionally, we introduce a novel threshold-based approach for duplicate identification, in contrast to the conventional top-k selection method that has been widely used in the literature. Our approach demonstrates promising results across all the proposed methods, achieving accuracy rates ranging from the high 70%'s to the low 90%'s. We evaluated our methods on a public dataset of issues belonging to an Eclipse open-source project.
On Self-improving Token Embeddings
Venue: arXiv cs.CL 2025
Year: 2025

This article introduces a novel and fast method for refining pre-trained static word or, more generally, token embeddings. By incorporating the embeddings of neighboring tokens in text corpora, it continuously updates the representation of each token, including those without pre-assigned embeddings. This approach effectively addresses the out-of-vocabulary problem, too. Operating independently of large language models and shallow neural networks, it enables versatile applications such as corpus exploration, conceptual search, and word sense disambiguation. The method is designed to enhance token representations within topically homogeneous corpora, where the vocabulary is restricted to a specific domain, resulting in more meaningful embeddings compared to general-purpose pre-trained vectors. As an example, the methodology is applied to explore storm events and their impacts on infrastructure and communities using narratives from a subset of the NOAA Storm Events database. The article also demonstrates how the approach improves the representation of storm-related terms over time, providing valuable insights into the evolving nature of disaster narratives.
DONOD: Efficient and Generalizable Instruction Fine-Tuning for LLMs via Model-Intrinsic Dataset Pruning
Venue: arXiv cs.AI 2025
Year: 2025

Ad-hoc instruction fine-tuning of large language models (LLMs) is widely adopted for domain-specific adaptation. While domain-specific supervised fine-tuning (SFT) is effective and efficient, it often weakens cross-domain generalization and struggles with noisy training data. To address these challenges, we propose DONOD, a lightweight model-intrinsic data pruning method. Our approach evaluates data using two model-parameter-based metrics: Delta of Norm (DON), which captures the cumulative influence on model weights, and Norm of Delta (NOD), which quantifies weight instability. Moreover, by employing the Technique for Order of Preference by Similarity to Ideal Solution (TOPSIS) algorithm, we effectively filter noisy, unlearnable, and generalization-harming samples without relying on auxiliary models during the SFT process. Experiments on mathematical tasks demonstrate that data selected by DONOD achieves superior fine-tuning efficiency and improved robustness against noisy data. By filtering out 70% of the whole dataset, we improve target-domain accuracy by 14.90% and cross-domain accuracy by 5.67%. Meanwhile, our selected data present superior cross-architecture generalization. Data pruned by smaller models (e.g., Llama 3.1-8B) generalize effectively on larger models (e.g., Llama 2-13B). Compared to existing related methodologies, DONOD demonstrates comparable or superior performance while remaining dataset-agnostic, enabling broader applicability. Code will be made publicly available.
Optimal Repurchasing Contract Design for Efficient Utilization of Computing Resources
Venue: arXiv cs.GT 2025
Year: 2025

The rapid advancement of AI and other emerging technologies has triggered exponential growth in computing resources demand. Faced with prohibitive infrastructure costs for large-scale computing clusters, users are increasingly resorting to leased computing resources from third-party providers. However, prevalent overestimation of operational requirements frequently leads to substantial underutilization of the computing resources. To mitigate such inefficiency, we propose a contract-based incentive framework for computing resources repurchasing. Comparing to auction mechanisms, our design enables providers to reclaim and reallocate surplus computing resources through market-driven incentives. Our framework operates in a multi-parameter environment where both clients' idle resource capacities and their unit valuations of retained resources are private information, posing a significant challenge to contract design. Two scenarios are considered based on whether all clients possess the same amount of idle resource capacity. By transforming the contract design problem into solving a mathematical program, we obtain the optimal contracts for each scenario, which can maximize the utility of computing resources providers while ensuring the requirements of incentive compatibility (IC) and individual rationality (IR). This innovative design not only provides an effective approach to reduce the inefficient utilization of computing resources, but also establishes a market-oriented paradigm for sustainable computing ecosystems.
IoT-AMLHP: Aligned Multimodal Learning of Header-Payload Representations for Resource-Efficient Malicious IoT Traffic Classification
Venue: arXiv cs.NI 2025
Year: 2025

Traffic classification is crucial for securing Internet of Things (IoT) networks. Deep learning-based methods can autonomously extract latent patterns from massive network traffic, demonstrating significant potential for IoT traffic classification tasks. However, the limited computational and spatial resources of IoT devices pose challenges for deploying more complex deep learning models. Existing methods rely heavily on either flow-level features or raw packet byte features. Flow-level features often require inspecting entire or most of the traffic flow, leading to excessive resource consumption, while raw packet byte features fail to distinguish between headers and payloads, overlooking semantic differences and introducing noise from feature misalignment. Therefore, this paper proposes IoT-AMLHP, an aligned multimodal learning framework for resource-efficient malicious IoT traffic classification. Firstly, the framework constructs a packet-wise header-payload representation by parsing packet headers and payload bytes, resulting in an aligned and standardized multimodal traffic representation that enhances the characterization of heterogeneous IoT traffic. Subsequently, the traffic representation is fed into a resource-efficient neural network comprising a multimodal feature extraction module and a multimodal fusion module. The extraction module employs efficient depthwise separable convolutions to capture multi-scale features from different modalities while maintaining a lightweight architecture. The fusion module adaptively captures complementary features from different modalities and effectively fuses multimodal features.