OpenRaiser/Intern-Atlas huggingface dataset:
CompetitorFormer: Competitor Transformer for 3D Instance Segmentation
Venue: arXiv cs.CV 2025
Year: 2025

Transformer-based methods have become the dominant approach for 3D instance segmentation. These methods predict instance masks via instance queries, ranking them by classification confidence and IoU scores to select the top prediction as the final outcome. However, it has been observed that the current models employ a fixed and higher number of queries than the instances present within a scene. In such instances, multiple queries predict the same instance, yet only a single query is ultimately optimized. The close scores of queries in the lower-level decoders make it challenging for the dominant query to distinguish itself rapidly, which ultimately impairs the model's accuracy and convergence efficiency. This phenomenon is referred to as inter-query competition. To address this challenge, we put forth a series of plug-and-play competition-oriented designs, collectively designated as the CompetitorFormer, with the aim of reducing competition and facilitating a dominant query. Experiments showed that integrating our designs with state-of-the-art frameworks consistently resulted in significant performance improvements in 3D instance segmentation across a range of datasets.
AnywhereDoor: Multi-Target Backdoor Attacks on Object Detection
Venue: arXiv cs.CR 2025
Year: 2025

As object detection becomes integral to many safety-critical applications, understanding its vulnerabilities is essential. Backdoor attacks, in particular, pose a serious threat by implanting hidden triggers in victim models, which adversaries can later exploit to induce malicious behaviors during inference. However, current understanding is limited to single-target attacks, where adversaries must define a fixed malicious behavior (target) before training, making inference-time adaptability impossible. Given the large output space of object detection (including object existence prediction, bounding box estimation, and classification), the feasibility of flexible, inference-time model control remains unexplored. This paper introduces AnywhereDoor, a multi-target backdoor attack for object detection. Once implanted, AnywhereDoor allows adversaries to make objects disappear, fabricate new ones, or mislabel them, either across all object classes or specific ones, offering an unprecedented degree of control. This flexibility is enabled by three key innovations: (i) objective disentanglement to scale the number of supported targets; (ii) trigger mosaicking to ensure robustness even against region-based detectors; and (iii) strategic batching to address object-level data imbalances that hinder manipulation. Extensive experiments demonstrate that AnywhereDoor grants attackers a high degree of control, improving attack success rates by 26% compared to adaptations of existing methods for such flexible control.
On the Sample Complexity of One Hidden Layer Networks with Equivariance, Locality and Weight Sharing
Venue: arXiv cs.LG 2025
Year: 2025

Weight sharing, equivariance, and local filters, as in convolutional neural networks, are believed to contribute to the sample efficiency of neural networks. However, it is not clear how each one of these design choices contributes to the generalization error. Through the lens of statistical learning theory, we aim to provide insight into this question by characterizing the relative impact of each choice on the sample complexity. We obtain lower and upper sample complexity bounds for a class of single hidden layer networks. For a large class of activation functions, the bounds depend merely on the norm of filters and are dimension-independent. We also provide bounds for max-pooling and an extension to multi-layer networks, both with mild dimension dependence. We provide a few takeaways from the theoretical results. It can be shown that depending on the weight-sharing mechanism, the non-equivariant weight-sharing can yield a similar generalization bound as the equivariant one. We show that locality has generalization benefits, however the uncertainty principle implies a trade-off between locality and expressivity. We conduct extensive experiments and highlight some consistent trends for these models.
Masala-CHAI: A Large-Scale SPICE Netlist Dataset for Analog Circuits by Harnessing AI
Venue: arXiv cs.AR 2025
Year: 2025

Masala-CHAI is a fully automated framework leveraging large language models (LLMs) to generate Simulation Programs with Integrated Circuit Emphasis (SPICE) netlists. It addresses a long-standing challenge in circuit design automation: automating netlist generation for analog circuits. Automating this workflow could accelerate the creation of fine-tuned LLMs for analog circuit design and verification. In this work, we identify key challenges in automated netlist generation and evaluate multimodal capabilities of state-of-the-art LLMs, particularly GPT-4, in addressing them. We propose a three-step workflow to overcome existing limitations: labeling analog circuits, prompt tuning, and netlist verification. This approach enables end-to-end SPICE netlist generation from circuit schematic images, tackling the persistent challenge of accurate netlist generation. We utilize Masala-CHAI to collect a corpus of 7,500 schematics that span varying complexities in 10 textbooks and benchmark various open source and proprietary LLMs. Models fine-tuned on Masala-CHAI when used in LLM-agentic frameworks such as AnalogCoder achieve a notable 46% improvement in Pass@1 scores. We open-source our dataset and code for community-driven development.
Learning Probabilistic Obstacle Spaces from Data-driven Uncertainty using Neural Networks
Venue: arXiv cs.RO 2025
Year: 2025

Identifying the obstacle space is crucial for path planning. However, generating an accurate obstacle space remains a significant challenge due to various sources of uncertainty, including motion, behavior, and perception limitations. Even though an autonomous system can operate with an inaccurate obstacle space by being over-conservative and using redundant sensors, a more accurate obstacle space generator can reduce both path planning costs and hardware costs. Existing generation methods that generate high-quality output are all computationally expensive. Traditional methods, such as filtering, sensor fusion and data-driven estimators, face significant computational challenges or require large amounts of data, which limits their applicability in realistic scenarios. In this paper, we propose leveraging neural networks, commonly used in imitation learning, to mimic expert methods for modeling uncertainty and generating confidence regions for obstacle positions, which we refer to as the probabilistic obstacle space. The network is trained using a multi-label, supervised learning approach. We adopt a fine-tuned convex approximation method as the expert to construct training datasets. After training, given only a small number of samples, the neural network can accurately replicate the probabilistic obstacle space while achieving substantially faster generation speed. Moreover, the resulting obstacle space is convex, making it more convenient for subsequent path planning.
GeMID: Generalizable Models for IoT Device Identification
Venue: arXiv cs.CR 2025
Year: 2025

With the proliferation of devices on the Internet of Things (IoT), ensuring their security has become paramount. Device identification (DI), which distinguishes IoT devices based on their traffic patterns, plays a crucial role in both differentiating devices and identifying vulnerable ones, closing a serious security gap. However, existing approaches to DI that build machine learning models often overlook the challenge of model generalizability across diverse network environments. In this study, we propose a novel framework to address this limitation and to evaluate the generalizability of DI models across data sets collected within different network environments. Our approach involves a two-step process: first, we develop a feature and model selection method that is more robust to generalization issues by using a genetic algorithm with external feedback and datasets from distinct environments to refine the selections. Second, the resulting DI models are then tested on further independent datasets to robustly assess their generalizability. We demonstrate the effectiveness of our method by empirically comparing it to alternatives, highlighting how fundamental limitations of commonly employed techniques such as sliding window and flow statistics limit their generalizability. Moreover, we show that statistical methods, widely used in the literature, are unreliable for device identification due to their dependence on network-specific characteristics rather than device-intrinsic properties, challenging the validity of a significant portion of existing research. Our findings advance research in IoT security and device identification, offering insight into improving model effectiveness and mitigating risks in IoT networks.
Exploring the Potential Role of Generative AI in the TRAPD Procedure for Survey Translation
Venue: arXiv cs.CL 2025
Year: 2025

This paper explores and assesses in what ways generative AI can assist in translating survey instruments. Writing effective survey questions is a challenging and complex task, made even more difficult for surveys that will be translated and deployed in multiple linguistic and cultural settings. Translation errors can be detrimental, with known errors rendering data unusable for its intended purpose and undetected errors leading to incorrect conclusions. A growing number of institutions face this problem as surveys deployed by private and academic organizations globalize, and the success of their current efforts depends heavily on researchers' and translators' expertise and the amount of time each party has to contribute to the task. Thus, multilinguistic and multicultural surveys produced by teams with limited expertise, budgets, or time are at significant risk for translation-based errors in their data. We implement a zero-shot prompt experiment using ChatGPT to explore generative AI's ability to identify features of questions that might be difficult to translate to a linguistic audience other than the source language. We find that ChatGPT can provide meaningful feedback on translation issues, including common source survey language, inconsistent conceptualization, sensitivity and formality issues, and nonexistent concepts. In addition, we provide detailed information on the practicality of the approach, including accessing the necessary software, associated costs, and computational run times. Lastly, based on our findings, we propose avenues for future research that integrate AI into survey translation practices.
Union of Finitely Generated Congruences on Ground Term Algebra
Venue: arXiv cs.SC 2025
Year: 2025

We show that for any ground term equation systems $E$ and $F$, (1) the union of the generated congruences by $E$ and $F$ is a congruence on the ground term algebra if and only if there exists a ground term equation system $H$ such that the congruence generated by $H$ is equal to the union of the congruences generated by $E$ and $F$ if and only if the congruence generated by the union of $E $ and $F$ is equal to the union of the congruences generated by $E $ and $F$, and (2) it is decidable in square time whether the congruence generated by the union of $E$ and $F$ is equal to the union of the congruences generated by $E $ and $F$, where the size of the input is the number of occurrences of symbols in $E$ plus the number of occurrences of symbols in $F$.
Learned, Lagged, LLM-splained: LLM Responses to End User Security Questions
Venue: arXiv cs.CR 2025
Year: 2025

Answering end user security questions is challenging. While large language models (LLMs) like GPT, LLAMA, and Gemini are far from error-free, they have shown promise in answering a variety of questions outside of security. We studied LLM performance in the area of end user security by qualitatively evaluating 3 popular LLMs on 900 systematically collected end user security questions. While LLMs demonstrate broad generalist ``knowledge'' of end user security information, there are patterns of errors and limitations across LLMs consisting of stale and inaccurate answers, and indirect or unresponsive communication styles, all of which impacts the quality of information received. Based on these patterns, we suggest directions for model improvement and recommend user strategies for interacting with LLMs when seeking assistance with security.
Reranking partisan animosity in algorithmic social media feeds alters affective polarization
Venue: arXiv cs.CY 2025
Year: 2025

Today, social media platforms hold sole power to study the effects of feed ranking algorithms. We developed a platform-independent method that reranks participants' feeds in real-time and used this method to conduct a preregistered 10-day field experiment with 1,256 participants on X during the 2024 U.S. presidential campaign. Our experiment used a large language model to rerank posts that expressed antidemocratic attitudes and partisan animosity (AAPA). Decreasing or increasing AAPA exposure shifted out-party partisan animosity by two points on a 100-point feeling thermometer, with no detectable differences across party lines, providing causal evidence that exposure to AAPA content alters affective polarization. This work establishes a method to study feed algorithms without requiring platform cooperation, enabling independent evaluation of ranking interventions in naturalistic settings.
Comparative Analysis of Pooling Mechanisms in LLMs: A Sentiment Analysis Perspective
Venue: arXiv cs.CL 2025
Year: 2025

Large Language Models (LLMs) have revolutionized natural language processing (NLP) by delivering state-of-the-art performance across a variety of tasks. Among these, Transformer-based models like BERT and GPT rely on pooling layers to aggregate token-level embeddings into sentence-level representations. Common pooling mechanisms such as Mean, Max, and Weighted Sum play a pivotal role in this aggregation process. Despite their widespread use, the comparative performance of these strategies on different LLM architectures remains underexplored. To address this gap, this paper investigates the effects of these pooling mechanisms on two prominent LLM families -- BERT and GPT, in the context of sentence-level sentiment analysis. Comprehensive experiments reveal that each pooling mechanism exhibits unique strengths and weaknesses depending on the task's specific requirements. Our findings underline the importance of selecting pooling methods tailored to the demands of particular applications, prompting a re-evaluation of common assumptions regarding pooling operations. By offering actionable insights, this study contributes to the optimization of LLM-based models for downstream tasks.
Understanding LLM Embeddings for Regression
Venue: arXiv cs.LG 2025
Year: 2025

With the rise of large language models (LLMs) for flexibly processing information as strings, a natural application is regression, specifically by preprocessing string representations into LLM embeddings as downstream features for metric prediction. In this paper, we provide one of the first comprehensive investigations into embedding-based regression and demonstrate that LLM embeddings as features can be better for high-dimensional regression tasks than using traditional feature engineering. This regression performance can be explained in part due to LLM embeddings over numeric data inherently preserving Lipschitz continuity over the feature space. Furthermore, we quantify the contribution of different model effects, most notably model size and language understanding, which we find surprisingly do not always improve regression performance.
Subspace Collision: An Efficient and Accurate Framework for High-dimensional Approximate Nearest Neighbor Search
Venue: arXiv cs.DB 2025
Year: 2025

Approximate Nearest Neighbor (ANN) search in high-dimensional Euclidean spaces is a fundamental problem with a wide range of applications. However, there is currently no ANN method that performs well in both indexing and query answering performance, while providing rigorous theoretical guarantees for the quality of the answers. In this paper, we first design SC-score, a metric that we show follows the Pareto principle and can act as a proxy for the Euclidean distance between data points. Inspired by this, we propose a novel ANN search framework called Subspace Collision (SC), which can provide theoretical guarantees on the quality of its results. We further propose SuCo, which achieves efficient and accurate ANN search by designing a clustering-based lightweight index and query strategies for our proposed subspace collision framework. Extensive experiments on real-world datasets demonstrate that both the indexing and query answering performance of SuCo outperform state-of-the-art ANN methods that can provide theoretical guarantees, performing 1-2 orders of magnitude faster query answering with only up to one-tenth of the index memory footprint. Moreover, SuCo achieves top performance (best for hard datasets) even when compared to methods that do not provide theoretical guarantees. This paper was published in SIGMOD 2025.
Jovis: A Visualization Tool for PostgreSQL Query Optimizer
Venue: arXiv cs.DB 2025
Year: 2025

Query optimizers are essential components of relational database management systems that directly impact query performance as they transform input queries into efficient execution plans. While users can obtain the final execution plan using the EXPLAIN command and leverage existing visualization tools for intuitive understanding, the internal decision-making processes of query optimizers are hidden from users, making it difficult to understand how the plan is constructed. To address this challenge, we present Jovis, an interactive visualization tool designed to explore the query optimization process in PostgreSQL. Jovis provides a comprehensive view of the entire optimization workflow through tailored visualization for each optimization strategy. It also includes features that allow users to participate in optimization by providing hints, tuning parameters, and reusing prior optimization results. Jovis serves as both an educational tool for learners and a practical resource for database professionals, helping users understand and improve query optimization by guiding the optimizer to make better decisions or consider previously unexplored plans. The source code, data, and/or other artifacts have been made available at https://github.com/orgs/snu-jovis.
Dynamics-Aware Gaussian Splatting Streaming Towards Fast On-the-Fly 4D Reconstruction
Venue: arXiv cs.CV 2025
Year: 2025

The recent development of 3D Gaussian Splatting (3DGS) has led to great interest in 4D dynamic spatial reconstruction. Existing approaches mainly rely on full-length multi-view videos, while there has been limited exploration of online reconstruction methods that enable on-the-fly training and per-timestep streaming. Current 3DGS-based streaming methods treat the Gaussian primitives uniformly and constantly renew the densified Gaussians, thereby overlooking the difference between dynamic and static features as well as neglecting the temporal continuity in the scene. To address these limitations, we propose a novel three-stage pipeline for iterative streamable 4D dynamic spatial reconstruction. Our pipeline comprises a selective inheritance stage to preserve temporal continuity, a dynamics-aware shift stage to distinguish dynamic and static primitives and optimize their movements, and an error-guided densification stage to accommodate emerging objects. Our method achieves state-of-the-art performance in online 4D reconstruction, demonstrating the fastest on-the-fly training, superior representation quality, and real-time rendering capability. Project page: https://www.liuzhening.top/DASS
Application of AI to formal methods - an analysis of current trends
Venue: arXiv cs.LO 2025
Year: 2025

Context: With artificial intelligence (AI) being well established within the daily lives of research communities, we turn our gaze toward formal methods (FM). FM aim to provide sound and verifiable reasoning about problems in computer science. Objective: We conduct a systematic mapping study to overview the current landscape of research publications that apply AI to FM. We aim to identify how FM can benefit from AI techniques and highlight areas for further research. Our focus lies on the previous five years (2019-2023) of research. Method: Following the proposed guidelines for systematic mapping studies, we searched for relevant publications in four major databases, defined inclusion and exclusion criteria, and applied extensive snowballing to uncover potential additional sources. Results: This investigation results in 189 entries which we explored to find current trends and highlight research gaps. We find a strong focus on AI in the area of theorem proving while other subfields of FM are less represented. Conclusions: The mapping study provides a quantitative overview of the modern state of AI application in FM. The current trend of the field is yet to mature. Many primary studies focus on practical application, yet we identify a lack of theoretical groundwork, standard benchmarks, or case studies. Further, we identify issues regarding shared training data sets and standard benchmarks.
Preference Alignment for Diffusion Model via Explicit Denoised Distribution Estimation
Venue: arXiv cs.CV 2025
Year: 2025

Diffusion models have shown remarkable success in text-to-image generation, making preference alignment for these models increasingly important. The preference labels are typically available only at the terminal of denoising trajectories, which poses challenges in optimizing the intermediate denoising steps. In this paper, we propose to conduct Denoised Distribution Estimation (DDE) that explicitly connects intermediate steps to the terminal denoised distribution. Therefore, preference labels can be used for the entire trajectory optimization. To this end, we design two estimation strategies for our DDE. The first is stepwise estimation, which utilizes the conditional denoised distribution to estimate the model denoised distribution. The second is single-shot estimation, which converts the model output into the terminal denoised distribution via DDIM modeling. Analytically and empirically, we reveal that DDE equipped with two estimation strategies naturally derives a novel credit assignment scheme that prioritizes optimizing the middle part of the denoising trajectory. Extensive experiments demonstrate that our approach achieves superior performance, both quantitatively and qualitatively.
Enhancing Exploration with Diffusion Policies in Hybrid Off-Policy RL: Application to Non-Prehensile Manipulation
Venue: arXiv cs.RO 2025
Year: 2025

Learning diverse policies for non-prehensile manipulation is essential for improving skill transfer and generalization to out-of-distribution scenarios. In this work, we enhance exploration through a two-fold approach within a hybrid framework that tackles both discrete and continuous action spaces. First, we model the continuous motion parameter policy as a diffusion model, and second, we incorporate this into a maximum entropy reinforcement learning framework that unifies both the discrete and continuous components. The discrete action space, such as contact point selection, is optimized through Q-value function maximization, while the continuous part is guided by a diffusion-based policy. This hybrid approach leads to a principled objective, where the maximum entropy term is derived as a lower bound using structured variational inference. We propose the Hybrid Diffusion Policy algorithm (HyDo) and evaluate its performance on both simulation and zero-shot sim2real tasks. Our results show that HyDo encourages more diverse behavior policies, leading to significantly improved success rates across tasks - for example, increasing from 53% to 72% on a real-world 6D pose alignment task. Project page: https://leh2rng.github.io/hydo