OpenRaiser/Intern-Atlas huggingface dataset:
Predicting Human Mobility in Disasters via LLM-Enhanced Cross-City Learning
Venue: arXiv cs.LG 2025
Year: 2025

The vulnerability of cities to natural disasters has increased with urbanization and climate change, making it more important to predict human mobility in the disaster scenarios for downstream tasks including location-based early disaster warning and pre-allocating rescue resources, etc. However, existing human mobility prediction models are mainly designed for normal scenarios, and fail to adapt to disaster scenarios due to the shift of human mobility patterns under disaster. To address this issue, we introduce \textbf{DisasterMobLLM}, a mobility prediction framework for disaster scenarios that can be integrated into existing deep mobility prediction methods by leveraging LLMs to model the mobility intention and transferring the common knowledge of how different disasters affect mobility intentions between cities. This framework utilizes a RAG-Enhanced Intention Predictor to forecast the next intention, refines it with an LLM-based Intention Refiner, and then maps the intention to an exact location using an Intention-Modulated Location Predictor. Extensive experiments illustrate that DisasterMobLLM can achieve a 32.8\% improvement in terms of Acc@1 and a 35.0\% improvement in terms of the F1-score of predicting immobility compared to the baselines. The code is available at https://github.com/tsinghua-fib-lab/DisasterMobLLM.
Leveraging Sparse LiDAR for RAFT-Stereo: A Depth Pre-Fill Perspective
Venue: arXiv cs.CV 2025
Year: 2025

We investigate LiDAR guidance within the RAFT-Stereo framework, aiming to improve stereo matching accuracy by injecting precise LiDAR depth into the initial disparity map. We find that the effectiveness of LiDAR guidance drastically degrades when the LiDAR points become sparse (e.g., a few hundred points per frame), and we offer a novel explanation from a signal processing perspective. This insight leads to a surprisingly simple solution that enables LiDAR-guided RAFT-Stereo to thrive: pre-filling the sparse initial disparity map with interpolation. Interestingly, we find that pre-filling is also effective when injecting LiDAR depth into image features via early fusion, but for a fundamentally different reason, necessitating a distinct pre-filling approach. By combining both solutions, the proposed Guided RAFT-Stereo (GRAFT-Stereo) significantly outperforms existing LiDAR-guided methods under sparse LiDAR conditions across various datasets. We hope this study inspires more effective LiDAR-guided stereo methods.
A Unified Framework for Interactive Visual Graph Matching via Attribute-Structure Synchronization
Venue: arXiv cs.IR 2025
Year: 2025

In traditional graph retrieval tools, graph matching is commonly used to retrieve desired graphs from extensive graph datasets according to their structural similarities. However, in real applications, graph nodes have numerous attributes which also contain valuable information for evaluating similarities between graphs. Thus, to achieve superior graph matching results, it is crucial for graph retrieval tools to make full use of the attribute information in addition to structural information. We propose a novel framework for interactive visual graph matching. In the proposed framework, an attribute-structure synchronization method is developed for representing structural and attribute features in a unified embedding space based on Canonical Correlation Analysis (CCA). To support fast and interactive matching, \revise{our method} provides users with intuitive visual query interfaces for traversing, filtering and searching for the target graph in the embedding space conveniently. With the designed interfaces, the users can also specify a new target graph with desired structural and semantic features. Besides, evaluation views are designed for easy validation and interpretation of the matching results. Case studies and quantitative comparisons on real-world datasets have demonstrated the superiorities of our proposed framework in graph matching and large graph exploration.
HydraMamba: Multi-Head State Space Model for Global Point Cloud Learning
Venue: arXiv cs.CV 2025
Year: 2025

The attention mechanism has become a dominant operator in point cloud learning, but its quadratic complexity leads to limited inter-point interactions, hindering long-range dependency modeling between objects. Due to excellent long-range modeling capability with linear complexity, the selective state space model (S6), as the core of Mamba, has been exploited in point cloud learning for long-range dependency interactions over the entire point cloud. Despite some significant progress, related works still suffer from imperfect point cloud serialization and lack of locality learning. To this end, we explore a state space model-based point cloud network termed HydraMamba to address the above challenges. Specifically, we design a shuffle serialization strategy, making unordered point sets better adapted to the causal nature of S6. Meanwhile, to overcome the deficiency of existing techniques in locality learning, we propose a ConvBiS6 layer, which is capable of capturing local geometries and global context dependencies synergistically. Besides, we propose MHS6 by extending the multi-head design to S6, further enhancing its modeling capability. HydraMamba achieves state-of-the-art results on various tasks at both object-level and scene-level. The code is available at https://github.com/Point-Cloud-Learning/HydraMamba.
JDATT: A Joint Distillation Framework for Atmospheric Turbulence Mitigation and Target Detection
Venue: arXiv cs.CV 2025
Year: 2025

Atmospheric turbulence (AT) introduces severe degradations, such as rippling, blur, and intensity fluctuations, that hinder both image quality and downstream vision tasks like target detection. While recent deep learning-based approaches have advanced AT mitigation using transformer and Mamba architectures, their high complexity and computational cost make them unsuitable for real-time applications, especially in resource-constrained settings such as remote surveillance. Moreover, the common practice of separating turbulence mitigation and object detection leads to inefficiencies and suboptimal performance. To address these challenges, we propose JDATT, a Joint Distillation framework for Atmospheric Turbulence mitigation and Target detection. JDATT integrates state-of-the-art AT mitigation and detection modules and introduces a unified knowledge distillation strategy that compresses both components while minimizing performance loss. We employ a hybrid distillation scheme: feature-level distillation via Channel-Wise Distillation (CWD) and Masked Generative Distillation (MGD), and output-level distillation via Kullback-Leibler divergence. Experiments on synthetic and real-world turbulence datasets demonstrate that JDATT achieves superior visual restoration and detection accuracy while significantly reducing model size and inference time, making it well-suited for real-time deployment.
Flora: Effortless Context Construction to Arbitrary Length and Scale
Venue: arXiv cs.CL 2025
Year: 2025

Effectively handling long contexts is challenging for Large Language Models (LLMs) due to the rarity of long texts, high computational demands, and substantial forgetting of short-context abilities. Recent approaches have attempted to construct long contexts for instruction tuning, but these methods often require LLMs or human interventions, which are both costly and limited in length and diversity. Also, the drop in short-context performances of present long-context LLMs remains significant. In this paper, we introduce Flora, an effortless (human/LLM-free) long-context construction strategy. Flora can markedly enhance the long-context performance of LLMs by arbitrarily assembling short instructions based on categories and instructing LLMs to generate responses based on long-context meta-instructions. This enables Flora to produce contexts of arbitrary length and scale with rich diversity, while only slightly compromising short-context performance. Experiments on Llama3-8B-Instruct and QwQ-32B show that LLMs enhanced by Flora excel in three long-context benchmarks while maintaining strong performances in short-context tasks. Our data-construction code is available at \href{https://github.com/txchen-USTC/Flora}{https://github.com/txchen-USTC/Flora}.
Smaller, Faster, Cheaper: Architectural Designs for Efficient Machine Learning
Venue: arXiv cs.CV 2025
Year: 2025

Major advancements in the capabilities of computer vision models have been primarily fueled by rapid expansion of datasets, model parameters, and computational budgets, leading to ever-increasing demands on computational infrastructure. However, as these models are deployed in increasingly diverse and resource-constrained environments, there is a pressing need for architectures that can deliver high performance while requiring fewer computational resources. This dissertation focuses on architectural principles through which models can achieve increased performance while reducing their computational demands. We discuss strides towards this goal through three directions. First, we focus on data ingress and egress, investigating how information may be passed into and retrieved from our core neural processing units. This ensures that our models make the most of available data, allowing smaller architectures to become more performant. Second, we investigate modifications to the core neural architecture, applied to restricted attention in vision transformers. This section explores how removing uniform context windows in restricted attention increases the expressivity of the underlying neural architecture. Third, we explore the natural structures of Normalizing Flows and how we can leverage these properties to better distill model knowledge. These contributions demonstrate that careful design of neural architectures can increase the efficiency of machine learning algorithms, allowing them to become smaller, faster, and cheaper.
From Few-Label to Zero-Label: An Approach for Cross-System Log-Based Anomaly Detection with Meta-Learning
Venue: arXiv cs.SE 2025
Year: 2025

Log anomaly detection plays a critical role in ensuring the stability and reliability of software systems. However, existing approaches rely on large amounts of labeled log data, which poses significant challenges in real-world applications. To address this issue, cross-system transfer has been identified as a key research direction. State-of-the-art cross-system approaches achieve promising performance with only a few labels from the target system. However, their reliance on labeled target logs makes them susceptible to the cold-start problem when labeled logs are insufficient. To overcome this limitation, we explore a novel yet underexplored setting: zero-label cross-system log anomaly detection, where the target system logs are entirely unlabeled. To this end, we propose FreeLog, a system-agnostic representation meta-learning method that eliminates the need for labeled target system logs, enabling cross-system log anomaly detection under zero-label conditions. Experimental results on three public log datasets demonstrate that FreeLog achieves performance comparable to state-of-the-art methods that rely on a small amount of labeled data from the target system.
FM-LC: A Hierarchical Framework for Urban Flood Mapping by Land Cover Identification Models
Venue: arXiv cs.CV 2025
Year: 2025

Urban flooding in arid regions poses severe risks to infrastructure and communities. Accurate, fine-scale mapping of flood extents and recovery trajectories is therefore essential for improving emergency response and resilience planning. However, arid environments often exhibit limited spectral contrast between water and adjacent surfaces, rapid hydrological dynamics, and highly heterogeneous urban land covers, which challenge traditional flood-mapping approaches. High-resolution, daily PlanetScope imagery provides the temporal and spatial detail needed. In this work, we introduce FM-LC, a hierarchical framework for Flood Mapping by Land Cover identification, for this challenging task. Through a three-stage process, it first uses an initial multi-class U-Net to segment imagery into water, vegetation, built area, and bare ground classes. We identify that this method has confusion between spectrally similar categories (e.g., water vs. vegetation). Second, by early checking, the class with the major misclassified area is flagged, and a lightweight binary expert segmentation model is trained to distinguish the flagged class from the rest. Third, a Bayesian smoothing step refines boundaries and removes spurious noise by leveraging nearby pixel information. We validate the framework on the April 2024 Dubai storm event, using pre- and post-rainfall PlanetScope composites. Experimental results demonstrate average F1-score improvements of up to 29% across all land-cover classes and notably sharper flood delineations, significantly outperforming conventional single-stage U-Net baselines.
Taking Language Embedded 3D Gaussian Splatting into the Wild
Venue: arXiv cs.GR 2025
Year: 2025

Recent advances in leveraging large-scale Internet photo collections for 3D reconstruction have enabled immersive virtual exploration of landmarks and historic sites worldwide. However, little attention has been given to the immersive understanding of architectural styles and structural knowledge, which remains largely confined to browsing static text-image pairs. Therefore, can we draw inspiration from 3D in-the-wild reconstruction techniques and use unconstrained photo collections to create an immersive approach for understanding the 3D structure of architectural components? To this end, we extend language embedded 3D Gaussian splatting (3DGS) and propose a novel framework for open-vocabulary scene understanding from unconstrained photo collections. Specifically, we first render multiple appearance images from the same viewpoint as the unconstrained image with the reconstructed radiance field, then extract multi-appearance CLIP features and two types of language feature uncertainty maps-transient and appearance uncertainty-derived from the multi-appearance features to guide the subsequent optimization process. Next, we propose a transient uncertainty-aware autoencoder, a multi-appearance language field 3DGS representation, and a post-ensemble strategy to effectively compress, learn, and fuse language features from multiple appearances. Finally, to quantitatively evaluate our method, we introduce PT-OVS, a new benchmark dataset for assessing open-vocabulary segmentation performance on unconstrained photo collections. Experimental results show that our method outperforms existing methods, delivering accurate open-vocabulary segmentation and enabling applications such as interactive roaming with open-vocabulary queries, architectural style pattern recognition, and 3D scene editing.
Feeling the Force: A Nuanced Physics-based Traversability Sensor for Navigation in Unstructured Vegetation
Venue: arXiv cs.RO 2025
Year: 2025

In many applications, robots are increasingly deployed in unstructured and natural environments where they encounter various types of vegetation. Vegetation presents unique challenges as a traversable obstacle, where the mechanical properties of the plants can influence whether a robot can safely collide with and overcome the obstacle. A more nuanced approach is required to assess the safety and traversability of these obstacles, as collisions can sometimes be safe and necessary for navigating through dense or unavoidable vegetation. This paper introduces a novel sensor designed to directly measure the applied forces exerted by vegetation on a robot: by directly capturing the push-back forces, our sensor provides a detailed understanding of the interactions between the robot and its surroundings. We demonstrate the sensor's effectiveness through experimental validations, showcasing its ability to measure subtle force variations. This force-based approach provides a quantifiable metric that can inform navigation decisions and serve as a foundation for developing future learning algorithms.
Agentic Reinforced Policy Optimization
Venue: arXiv cs.LG 2025
Year: 2025

Large-scale reinforcement learning with verifiable rewards (RLVR) has demonstrated its effectiveness in harnessing the potential of large language models (LLMs) for single-turn reasoning tasks. In realistic reasoning scenarios, LLMs can often utilize external tools to assist in task-solving processes. However, current RL algorithms inadequately balance the models' intrinsic long-horizon reasoning capabilities and their proficiency in multi-turn tool interactions. To bridge this gap, we propose Agentic Reinforced Policy Optimization (ARPO), a novel agentic RL algorithm tailored for training multi-turn LLM-based agents. Through preliminary experiments, we observe that LLMs tend to exhibit highly uncertain behavior, characterized by an increase in the entropy distribution of generated tokens, immediately following interactions with external tools. Motivated by this observation, ARPO incorporates an entropy-based adaptive rollout mechanism, dynamically balancing global trajectory sampling and step-level sampling, thereby promoting exploration at steps with high uncertainty after tool usage. By integrating an advantage attribution estimation, ARPO enables LLMs to internalize advantage differences in stepwise tool-use interactions. Our experiments across 13 challenging benchmarks in computational reasoning, knowledge reasoning, and deep search domains demonstrate ARPO's superiority over trajectory-level RL algorithms. Remarkably, ARPO achieves improved performance using only half of the tool-use budget required by existing methods, offering a scalable solution for aligning LLM-based agents with real-time dynamic environments. Our code and datasets are released at https://github.com/dongguanting/ARPO
Efficient Self-Supervised Neuro-Analytic Visual Servoing for Real-time Quadrotor Control
Venue: arXiv cs.CV 2025
Year: 2025

This work introduces a self-supervised neuro-analytical, cost efficient, model for visual-based quadrotor control in which a small 1.7M parameters student ConvNet learns automatically from an analytical teacher, an improved image-based visual servoing (IBVS) controller. Our IBVS system solves numerical instabilities by reducing the classical visual servoing equations and enabling efficient stable image feature detection. Through knowledge distillation, the student model achieves 11x faster inference compared to the teacher IBVS pipeline, while demonstrating similar control accuracy at a significantly lower computational and memory cost. Our vision-only self-supervised neuro-analytic control, enables quadrotor orientation and movement without requiring explicit geometric models or fiducial markers. The proposed methodology leverages simulation-to-reality transfer learning and is validated on a small drone platform in GPS-denied indoor environments. Our key contributions include: (1) an analytical IBVS teacher that solves numerical instabilities inherent in classical approaches, (2) a two-stage segmentation pipeline combining YOLOv11 with a U-Net-based mask splitter for robust anterior-posterior vehicle segmentation to correctly estimate the orientation of the target, and (3) an efficient knowledge distillation dual-path system, which transfers geometric visual servoing capabilities from the analytical IBVS teacher to a compact and small student neural network that outperforms the teacher, while being suitable for real-time onboard deployment.
Trivial Trojans: How Minimal MCP Servers Enable Cross-Tool Exfiltration of Sensitive Data
Venue: arXiv cs.CR 2025
Year: 2025

The Model Context Protocol (MCP) represents a significant advancement in AI-tool integration, enabling seamless communication between AI agents and external services. However, this connectivity introduces novel attack vectors that remain largely unexplored. This paper demonstrates how unsophisticated threat actors, requiring only basic programming skills and free web tools, can exploit MCP's trust model to exfiltrate sensitive financial data. We present a proof-of-concept attack where a malicious weather MCP server, disguised as benign functionality, discovers and exploits legitimate banking tools to steal user account balances. The attack chain requires no advanced technical knowledge, server infrastructure, or monetary investment. The findings reveal a critical security gap in the emerging MCP ecosystem: while individual servers may appear trustworthy, their combination creates unexpected cross-server attack surfaces. Unlike traditional cybersecurity threats that assume sophisticated adversaries, our research shows that the barrier to entry for MCP-based attacks is alarmingly low. A threat actor with undergraduate-level Python knowledge can craft convincing social engineering attacks that exploit the implicit trust relationships MCP establishes between AI agents and tool providers. This work contributes to the nascent field of MCP security by demonstrating that current MCP implementations allow trivial cross-server attacks and proposing both immediate mitigations and protocol improvements to secure this emerging ecosystem.
Interpretable Open-Vocabulary Referring Object Detection with Reverse Contrast Attention
Venue: arXiv cs.CV 2025
Year: 2025

We propose Reverse Contrast Attention (RCA), a plug-in method that enhances object localization in vision-language transformers without retraining. RCA reweights final-layer attention by suppressing extremes and amplifying mid-level activations to let semantically relevant but subdued tokens guide predictions. We evaluate it on Open Vocabulary Referring Object Detection (OV-RefOD), introducing FitAP, a confidence-free average precision metric based on IoU and box area. RCA improves FitAP in 11 out of 15 open-source VLMs, with gains up to $+26.6\%$. Effectiveness aligns with attention sharpness and fusion timing; while late-fusion models benefit consistently, models like $\texttt{DeepSeek-VL2}$ also improve, pointing to capacity and disentanglement as key factors. RCA offers both interpretability and performance gains for multimodal transformers. Codes and dataset are available from https://github.com/earl-juanico/rca
CaliDrop: KV Cache Compression with Calibration
Venue: arXiv cs.CL 2025
Year: 2025

Large Language Models (LLMs) require substantial computational resources during generation. While the Key-Value (KV) cache significantly accelerates this process by storing attention intermediates, its memory footprint grows linearly with sequence length, batch size, and model size, creating a bottleneck in long-context scenarios. Various KV cache compression techniques, including token eviction, quantization, and low-rank projection, have been proposed to mitigate this bottleneck, often complementing each other. This paper focuses on enhancing token eviction strategies. Token eviction leverages the observation that the attention patterns are often sparse, allowing for the removal of less critical KV entries to save memory. However, this reduction usually comes at the cost of notable accuracy degradation, particularly under high compression ratios. To address this issue, we propose \textbf{CaliDrop}, a novel strategy that enhances token eviction through calibration. Our preliminary experiments show that queries at nearby positions exhibit high similarity. Building on this observation, CaliDrop performs speculative calibration on the discarded tokens to mitigate the accuracy loss caused by token eviction. Extensive experiments demonstrate that CaliDrop significantly improves the accuracy of existing token eviction methods.