OpenRaiser/Intern-Atlas huggingface dataset:
Eliminating Exponential Key Growth in PRG-Based Distributed Point Functions
Venue: arXiv cs.CR 2025
Year: 2025

Distributed Point Functions (DPFs) enable sharing secret point functions across multiple parties, supporting privacy-preserving technologies such as Private Information Retrieval, and anonymous communications. While 2-party PRG-based schemes with logarithmic key sizes have been known for a decade, extending these solutions to multi-party settings has proven challenging. In particular, PRG-based multi-party DPFs have historically struggled with practicality due to key sizes growing exponentially with the number of parties and the field size. Our work addresses this efficiency bottleneck by optimizing the PRG-based multi-party DPF scheme of Boyle et al. (EUROCRYPT'15). By leveraging the honest-majority assumption, we eliminate the exponential factor present in this scheme. Our construction is the first PRG-based multi-party DPF scheme with practical key sizes, and provides key up to 3x smaller than the best known multi-party DPF. This work demonstrates that with careful optimization, PRG-based multi-party DPFs can achieve practical performances, and even obtain top performances.
"Your AI, My Shell": Demystifying Prompt Injection Attacks on Agentic AI Coding Editors
Venue: arXiv cs.CR 2025
Year: 2025

Agentic AI coding editors driven by large language models have recently become more popular due to their ability to improve developer productivity during software development. Modern editors such as Cursor are designed not just for code completion, but also with more system privileges for complex coding tasks (e.g., run commands in the terminal, access development environments, and interact with external systems). While this brings us closer to the "fully automated programming" dream, it also raises new security concerns. In this study, we present the first empirical analysis of prompt injection attacks targeting these high-privilege agentic AI coding editors. We show how attackers can remotely exploit these systems by poisoning external development resources with malicious instructions, effectively hijacking AI agents to run malicious commands, turning "your AI" into "attacker's shell". To perform this analysis, we implement AIShellJack, an automated testing framework for assessing prompt injection vulnerabilities in agentic AI coding editors. AIShellJack contains 314 unique attack payloads that cover 70 techniques from the MITRE ATT&CK framework. Using AIShellJack, we conduct a large-scale evaluation on GitHub Copilot and Cursor, and our evaluation results show that attack success rates can reach as high as 84% for executing malicious commands. Moreover, these attacks are proven effective across a wide range of objectives, ranging from initial access and system discovery to credential theft and data exfiltration.
Taxonomy of Comprehensive Safety for Clinical Agents
Venue: arXiv cs.CL 2025
Year: 2025

Safety is a paramount concern in clinical chatbot applications, where inaccurate or harmful responses can lead to serious consequences. Existing methods--such as guardrails and tool calling--often fall short in addressing the nuanced demands of the clinical domain. In this paper, we introduce TACOS (TAxonomy of COmprehensive Safety for Clinical Agents), a fine-grained, 21-class taxonomy that integrates safety filtering and tool selection into a single user intent classification step. TACOS is a taxonomy that can cover a wide spectrum of clinical and non-clinical queries, explicitly modeling varying safety thresholds and external tool dependencies. To validate our taxonomy, we curate a TACOS-annotated dataset and perform extensive experiments. Our results demonstrate the value of a new taxonomy specialized for clinical agent settings, and reveal useful insights about train data distribution and pretrained knowledge of base models.
High-Quality Sound Separation Across Diverse Categories via Visually-Guided Generative Modeling
Venue: arXiv cs.CV 2025
Year: 2025

We propose DAVIS, a Diffusion-based Audio-VIsual Separation framework that solves the audio-visual sound source separation task through generative learning. Existing methods typically frame sound separation as a mask-based regression problem, achieving significant progress. However, they face limitations in capturing the complex data distribution required for high-quality separation of sounds from diverse categories. In contrast, DAVIS circumvents these issues by leveraging potent generative modeling paradigms, specifically Denoising Diffusion Probabilistic Models (DDPM) and the more recent Flow Matching (FM), integrated within a specialized Separation U-Net architecture. Our framework operates by synthesizing the desired separated sound spectrograms directly from a noise distribution, conditioned concurrently on the mixed audio input and associated visual information. The inherent nature of its generative objective makes DAVIS particularly adept at producing high-quality sound separations for diverse sound categories. We present comparative evaluations of DAVIS, encompassing both its DDPM and Flow Matching variants, against leading methods on the standard AVE and MUSIC datasets. The results affirm that both variants surpass existing approaches in separation quality, highlighting the efficacy of our generative framework for tackling the audio-visual source separation task.
Effect of Gait Design on Proprioceptive Sensing of Terrain Properties in a Quadrupedal Robot
Venue: arXiv cs.RO 2025
Year: 2025

In-situ robotic exploration is an important tool for advancing knowledge of geological processes that describe the Earth and other Planetary bodies. To inform and enhance operations for these roving laboratories, it is imperative to understand the terramechanical properties of their environments, especially for traversing on loose, deformable substrates. Recent research suggested that legged robots with direct-drive and low-gear ratio actuators can sensitively detect external forces, and therefore possess the potential to measure terrain properties with their legs during locomotion, providing unprecedented sampling speed and density while accessing terrains previously too risky to sample. This paper explores these ideas by investigating the impact of gait on proprioceptive terrain sensing accuracy, particularly comparing a sensing-oriented gait, Crawl N' Sense, with a locomotion-oriented gait, Trot-Walk. Each gait's ability to measure the strength and texture of deformable substrate is quantified as the robot locomotes over a laboratory transect consisting of a rigid surface, loose sand, and loose sand with synthetic surface crusts. Our results suggest that with both the sensing-oriented crawling gait and locomotion-oriented trot gait, the robot can measure a consistent difference in the strength (in terms of penetration resistance) between the low- and high-resistance substrates; however, the locomotion-oriented trot gait contains larger magnitude and variance in measurements. Furthermore, the slower crawl gait can detect brittle ruptures of the surface crusts with significantly higher accuracy than the faster trot gait. Our results offer new insights that inform legged robot "sensing during locomotion" gait design and planning for scouting the terrain and producing scientific measurements on other worlds to advance our understanding of their geology and formation.
Non-Linear Trajectory Modeling for Multi-Step Gradient Inversion Attacks in Federated Learning
Venue: arXiv cs.LG 2025
Year: 2025

Federated Learning (FL) enables collaborative training while preserving privacy, yet Gradient Inversion Attacks (GIAs) pose severe threats by reconstructing private data from shared gradients. In realistic FedAvg scenarios with multi-step updates, existing surrogate methods like SME rely on linear interpolation to approximate client trajectories for privacy leakage. However, we demonstrate that linear assumptions fundamentally underestimate SGD's nonlinear complexity, encountering irreducible approximation barriers in non-convex landscapes with only one-dimensional expressiveness. We propose Non-Linear Surrogate Model Extension (NL-SME), the first framework introducing learnable quadratic Bézier curves for trajectory modeling in GIAs against FL. NL-SME leverages $|w|+1$-dimensional control point parameterization combined with dvec scaling and regularization mechanisms to achieve superior approximation accuracy. Extensive experiments on CIFAR-100 and FEMNIST demonstrate NL-SME significantly outperforms baselines across all metrics, achieving 94\%--98\% performance gaps and order-of-magnitude improvements in cosine similarity loss while maintaining computational efficiency. This work exposes critical privacy vulnerabilities in FL's multi-step paradigm and provides insights for robust defense development.
Action-aware Dynamic Pruning for Efficient Vision-Language-Action Manipulation
Venue: arXiv cs.RO 2025
Year: 2025

Robotic manipulation with Vision-Language-Action models requires efficient inference over long-horizon multi-modal context, where attention to dense visual tokens dominates computational cost. Existing methods optimize inference speed by reducing visual redundancy within VLA models, but they overlook the varying redundancy across robotic manipulation stages. We observe that the visual token redundancy is higher in coarse manipulation phase than in fine-grained operations, and is strongly correlated with the action dynamic. Motivated by this observation, we propose \textbf{A}ction-aware \textbf{D}ynamic \textbf{P}runing (\textbf{ADP}), a multi-modal pruning framework that integrates text-driven token selection with action-aware trajectory gating. Our method introduces a gating mechanism that conditions the pruning signal on recent action trajectories, using past motion windows to adaptively adjust token retention ratios in accordance with dynamics, thereby balancing computational efficiency and perceptual precision across different manipulation stages. Extensive experiments on the LIBERO suites and diverse real-world scenarios demonstrate that our method significantly reduces FLOPs and action inference latency (\textit{e.g.} $1.35 \times$ speed up on OpenVLA-OFT) while maintaining competitive success rates (\textit{e.g.} 25.8\% improvements with OpenVLA) compared to baselines, thereby providing a simple plug-in path to efficient robot policies that advances the efficiency and performance frontier of robotic manipulation. Our project website is: \href{https://vla-adp.github.io/}{ADP.com}.
SK2Decompile: LLM-based Two-Phase Binary Decompilation from Skeleton to Skin
Venue: arXiv cs.SE 2025
Year: 2025

Large Language Models (LLMs) have emerged as a promising approach for binary decompilation. However, the existing LLM-based decompilers still are somewhat limited in effectively presenting a program's source-level structure with its original identifiers. To mitigate this, we introduce SK2Decompile, a novel two-phase approach to decompile from the skeleton (semantic structure) to the skin (identifier) of programs. Specifically, we first apply a Structure Recovery model to translate a program's binary code to an Intermediate Representation (IR) as deriving the program's "skeleton", i.e., preserving control flow and data structures while obfuscating all identifiers with generic placeholders. We also apply reinforcement learning to reward the model for producing program structures that adhere to the syntactic and semantic rules expected by compilers. Second, we apply an Identifier Naming model to produce meaningful identifiers which reflect actual program semantics as deriving the program's "skin". We train the Identifier Naming model with a separate reinforcement learning objective that rewards the semantic similarity between its predictions and the reference code. Such a two-phase decompilation process facilitates advancing the correctness and readability of decompilation independently. Our evaluations indicate that SK2Decompile, significantly outperforms the SOTA baselines, achieving 21.6% average re-executability rate gain over GPT-5-mini on the HumanEval dataset and 29.4% average R2I improvement over Idioms on the GitHub2025 benchmark.
Universal Legal Article Prediction via Tight Collaboration between Supervised Classification Model and LLM
Venue: arXiv cs.CL 2025
Year: 2025

Legal Article Prediction (LAP) is a critical task in legal text classification, leveraging natural language processing (NLP) techniques to automatically predict relevant legal articles based on the fact descriptions of cases. As a foundational step in legal decision-making, LAP plays a pivotal role in determining subsequent judgments, such as charges and penalties. Despite its importance, existing methods face significant challenges in addressing the complexities of LAP. Supervised classification models (SCMs), such as CNN and BERT, struggle to fully capture intricate fact patterns due to their inherent limitations. Conversely, large language models (LLMs), while excelling in generative tasks, perform suboptimally in predictive scenarios due to the abstract and ID-based nature of legal articles. Furthermore, the diversity of legal systems across jurisdictions exacerbates the issue, as most approaches are tailored to specific countries and lack broader applicability. To address these limitations, we propose Uni-LAP, a universal framework for legal article prediction that integrates the strengths of SCMs and LLMs through tight collaboration. Specifically, in Uni-LAP, the SCM is enhanced with a novel Top-K loss function to generate accurate candidate articles, while the LLM employs syllogism-inspired reasoning to refine the final predictions. We evaluated Uni-LAP on datasets from multiple jurisdictions, and empirical results demonstrate that our approach consistently outperforms existing baselines, showcasing its effectiveness and generalizability.
Multi-stage robust nonlinear model predictive control of a lower-limb exoskeleton robot
Venue: arXiv cs.RO 2025
Year: 2025

The use of exoskeleton robots is increasing due to the rising number of musculoskeletal injuries. However, their effectiveness depends heavily on the design of control systems. Designing robust controllers is challenging because of uncertainties in human-robot systems. Among various control strategies, Model Predictive Control (MPC) is a powerful approach due to its ability to handle constraints and optimize performance. Previous studies have used linearization-based methods to implement robust MPC on exoskeletons, but these can degrade performance due to nonlinearities in the robot's dynamics. To address this gap, this paper proposes a Robust Nonlinear Model Predictive Control (RNMPC) method, called multi-stage NMPC, to control a two-degree-of-freedom exoskeleton by solving a nonlinear optimization problem. This method uses multiple scenarios to represent system uncertainties. The study focuses on minimizing human-robot interaction forces during the swing phase, particularly when the robot carries unknown loads. Simulations and experimental tests show that the proposed method significantly improves robustness, outperforming non-robust NMPC. It achieves lower tracking errors and interaction forces under various uncertainties. For instance, when a 2 kg unknown payload is combined with external disturbances, the RMS values of thigh and shank interaction forces for multi-stage NMPC are reduced by 77 and 94 percent, respectively, compared to non-robust NMPC.
Self-Supervised Point Cloud Completion based on Multi-View Augmentations of Single Partial Point Cloud
Venue: arXiv cs.CV 2025
Year: 2025

Point cloud completion aims to reconstruct complete shapes from partial observations. Although current methods have achieved remarkable performance, they still have some limitations: Supervised methods heavily rely on ground truth, which limits their generalization to real-world datasets due to the synthetic-to-real domain gap. Unsupervised methods require complete point clouds to compose unpaired training data, and weakly-supervised methods need multi-view observations of the object. Existing self-supervised methods frequently produce unsatisfactory predictions due to the limited capabilities of their self-supervised signals. To overcome these challenges, we propose a novel self-supervised point cloud completion method. We design a set of novel self-supervised signals based on multi-view augmentations of the single partial point cloud. Additionally, to enhance the model's learning ability, we first incorporate Mamba into self-supervised point cloud completion task, encouraging the model to generate point clouds with better quality. Experiments on synthetic and real-world datasets demonstrate that our method achieves state-of-the-art results.
Collusion-Driven Impersonation Attack on Channel-Resistant RF Fingerprinting
Venue: arXiv cs.CR 2025
Year: 2025

Radio frequency fingerprint (RFF) is a promising device identification technology, with recent research shifting from robustness to security due to growing concerns over vulnerabilities. To date, while the security of RFF against basic spoofing such as MAC address tampering has been validated, its resilience to advanced mimicry remains unknown. To address this gap, we propose a collusion-driven impersonation attack that achieves RF-level mimicry, successfully breaking RFF identification systems across diverse environments. Specifically, the attacker synchronizes with a colluding receiver to match the centralized logarithmic power spectrum (CLPS) of the legitimate transmitter; once the colluder deems the CLPS identical, the victim receiver will also accept the forged fingerprint, completing RF-level spoofing. Given that the distribution of CLPS features is relatively concentrated and has a clear underlying structure, we design a spoofed signal generation network that integrates a variational autoencoder (VAE) with a multi-objective loss function to enhance the similarity and deceptive capability of the generated samples. We carry out extensive simulations, validating cross-channel attacks in environments that incorporate standard channel variations including additive white Gaussian noise (AWGN), multipath fading, and Doppler shift. The results indicate that the proposed attack scheme essentially maintains a success rate of over 95% under different channel conditions, revealing the effectiveness of this attack.
MinerU2.5: A Decoupled Vision-Language Model for Efficient High-Resolution Document Parsing
Venue: arXiv cs.CV 2025
Year: 2025

We introduce MinerU2.5, a 1.2B-parameter document parsing vision-language model that achieves state-of-the-art recognition accuracy while maintaining exceptional computational efficiency. Our approach employs a coarse-to-fine, two-stage parsing strategy that decouples global layout analysis from local content recognition. In the first stage, the model performs efficient layout analysis on downsampled images to identify structural elements, circumventing the computational overhead of processing high-resolution inputs. In the second stage, guided by the global layout, it performs targeted content recognition on native-resolution crops extracted from the original image, preserving fine-grained details in dense text, complex formulas, and tables. To support this strategy, we developed a comprehensive data engine that generates diverse, large-scale training corpora for both pretraining and fine-tuning. Ultimately, MinerU2.5 demonstrates strong document parsing ability, achieving state-of-the-art performance on multiple benchmarks, surpassing both general-purpose and domain-specific models across various recognition tasks, while maintaining significantly lower computational overhead.
Aerial Path Planning for Urban Geometry and Texture Co-Capture
Venue: arXiv cs.GR 2025
Year: 2025

Recent advances in image acquisition and scene reconstruction have enabled the generation of high-quality structural urban scene geometry, given sufficient site information. However, current capture techniques often overlook the crucial importance of texture quality, resulting in noticeable visual artifacts in the textured models. In this work, we introduce the urban geometry and texture co-capture problem under limited prior knowledge before a site visit. The only inputs are a 2D building contour map of the target area and a safe flying altitude above the buildings. We propose an innovative aerial path planning framework designed to co-capture images for reconstructing both structured geometry and high-fidelity textures. To evaluate and guide view planning, we introduce a comprehensive texture quality assessment system, including two novel metrics tailored for building facades. Firstly, our method generates high-quality vertical dipping views and horizontal planar views to effectively capture both geometric and textural details. A multi-objective optimization strategy is then proposed to jointly maximize texture fidelity, improve geometric accuracy, and minimize the cost associated with aerial views. Furthermore, we present a sequential path planning algorithm that accounts for texture consistency during image capture. Extensive experiments on large-scale synthetic and real-world urban datasets demonstrate that our approach effectively produces image sets suitable for concurrent geometric and texture reconstruction, enabling the creation of realistic, textured scene proxies at low operational cost.
A Tale of Two Experts: Cooperative Learning for Source-Free Unsupervised Domain Adaptation
Venue: arXiv cs.CV 2025
Year: 2025

Source-Free Unsupervised Domain Adaptation (SFUDA) addresses the realistic challenge of adapting a source-trained model to a target domain without access to the source data, driven by concerns over privacy and cost. Existing SFUDA methods either exploit only the source model's predictions or fine-tune large multimodal models, yet both neglect complementary insights and the latent structure of target data. In this paper, we propose the Experts Cooperative Learning (EXCL). EXCL contains the Dual Experts framework and Retrieval-Augmentation-Interaction optimization pipeline. The Dual Experts framework places a frozen source-domain model (augmented with Conv-Adapter) and a pretrained vision-language model (with a trainable text prompt) on equal footing to mine consensus knowledge from unlabeled target samples. To effectively train these plug-in modules under purely unsupervised conditions, we introduce Retrieval-Augmented-Interaction(RAIN), a three-stage pipeline that (1) collaboratively retrieves pseudo-source and complex target samples, (2) separately fine-tunes each expert on its respective sample set, and (3) enforces learning object consistency via a shared learning result. Extensive experiments on four benchmark datasets demonstrate that our approach matches state-of-the-art performance.
Safety Compliance: Rethinking LLM Safety Reasoning through the Lens of Compliance
Venue: arXiv cs.CL 2025
Year: 2025

The proliferation of Large Language Models (LLMs) has demonstrated remarkable capabilities, elevating the critical importance of LLM safety. However, existing safety methods rely on ad-hoc taxonomy and lack a rigorous, systematic protection, failing to ensure safety for the nuanced and complex behaviors of modern LLM systems. To address this problem, we solve LLM safety from legal compliance perspectives, named safety compliance. In this work, we posit relevant established legal frameworks as safety standards for defining and measuring safety compliance, including the EU AI Act and GDPR, which serve as core legal frameworks for AI safety and data security in Europe. To bridge the gap between LLM safety and legal compliance, we first develop a new benchmark for safety compliance by generating realistic LLM safety scenarios seeded with legal statutes. Subsequently, we align Qwen3-8B using Group Policy Optimization (GRPO) to construct a safety reasoner, Compliance Reasoner, which effectively aligns LLMs with legal standards to mitigate safety risks. Our comprehensive experiments demonstrate that the Compliance Reasoner achieves superior performance on the new benchmark, with average improvements of +10.45% for the EU AI Act and +11.85% for GDPR.