OpenRaiser/Intern-Atlas huggingface dataset:
Vidar: Embodied Video Diffusion Model for Generalist Manipulation
Venue: arXiv cs.LG 2025
Year: 2025

Scaling general-purpose manipulation to new robot embodiments remains challenging: each platform typically needs large, homogeneous demonstrations, and end-to-end pixel-to-action pipelines may degenerate under background and viewpoint shifts. Based on previous advances in video-based robot control, we present Vidar, consisting of an embodied video diffusion model as the generalizable prior and a masked inverse dynamics model (MIDM) as the adapter. We leverage a video diffusion model pre-trained at Internet scale, and further continuously pre-train it for the embodied domain using 750K multi-view trajectories collected from three real-world robot platforms. For this embodied pre-training, we introduce a unified observation space that jointly encodes robot, camera, task, and scene contexts. The MIDM module learns action-relevant pixel masks without dense labels, grounding the prior into the target embodiment's action space while suppressing distractors. With only 20 minutes of human demonstrations on an unseen robot (1% of typical data), Vidar outperforms state-of-the-art baselines and generalizes to unseen tasks, backgrounds, and camera layouts. Our results suggest a scalable recipe for "one prior, many embodiments": strong, inexpensive video priors together with minimal on-robot alignment.
Energy-Efficient RSMA-enabled Low-altitude MEC Optimization Via Generative AI-enhanced Deep Reinforcement Learning
Venue: arXiv cs.NI 2025
Year: 2025

The growing demand for low-latency computing in 6G is driving the use of UAV-based low-altitude mobile edge computing (MEC) systems. However, limited spectrum often leads to severe uplink interference among ground terminals (GTs). In this paper, we investigate a rate-splitting multiple access (RSMA)-enabled low-altitude MEC system, where a UAV-based edge server assists multiple GTs in concurrently offloading their tasks over a shared uplink. We formulate a joint optimization problem involving the UAV 3D trajectory, RSMA decoding order, task offloading decisions, and resource allocation, aiming to mitigate multi-user interference and maximize energy efficiency. Given the high dimensionality, non-convex nature, and dynamic characteristics of this optimization problem, we propose a generative AI-enhanced deep reinforcement learning (DRL) framework to solve it efficiently. Specifically, we embed a diffusion model into the actor network to generate high-quality action samples, improving exploration in hybrid action spaces and avoiding local optima. In addition, a priority-based RSMA decoding strategy is designed to facilitate efficient successive interference cancellation with low complexity. Simulation results demonstrate that the proposed method for low-altitude MEC systems outperforms baseline methods, and that integrating GDM with RSMA can achieve significantly improved energy efficiency performance.
MoCap2GT: A High-Precision Ground Truth Estimator for SLAM Benchmarking Based on Motion Capture and IMU Fusion
Venue: arXiv cs.RO 2025
Year: 2025

Marker-based optical motion capture (MoCap) systems are widely used to provide ground truth (GT) trajectories for benchmarking SLAM algorithms. However, the accuracy of MoCap-based GT trajectories is mainly affected by two factors: spatiotemporal calibration errors between the MoCap system and the device under test (DUT), and inherent MoCap jitter. Consequently, existing benchmarks focus primarily on absolute translation error, as accurate assessment of rotation and inter-frame errors remains challenging, hindering thorough SLAM evaluation. This paper proposes MoCap2GT, a joint optimization approach that integrates MoCap data and inertial measurement unit (IMU) measurements from the DUT for generating high-precision GT trajectories. MoCap2GT includes a robust state initializer to ensure global convergence, introduces a higher-order B-spline pose parameterization on the SE(3) manifold with variable time offset to effectively model MoCap factors, and employs a degeneracy-aware measurement rejection strategy to enhance estimation accuracy. Experimental results demonstrate that MoCap2GT outperforms existing methods and significantly contributes to precise SLAM benchmarking. The source code is available at https://anonymous.4open.science/r/mocap2gt (temporarily hosted anonymously for double-blind review).
Efficient Semi-External Breadth-First Search
Venue: arXiv cs.DS 2025
Year: 2025

Breadth-first search (BFS) is known as a basic search strategy for learning graph properties. As the scales of graph databases have increased tremendously in recent years, large-scale graphs G are often disk-resident. Obtaining the BFS results of G in semi-external memory model is inevitable, because the in-memory BFS algorithm has to maintain the entire G in the main memory, and external BFS algorithms consume high computational costs. As a good trade-off between the internal and external memory models, semi-external memory model assumes that the main memory can at least reside a spanning tree of G. Nevertheless, the semi-external BFS problem is still an open issue due to its difficulty. Therefore, this paper presents a comprehensive study for processing BFS in semi-external memory model. After discussing the naive solutions based on the basic framework of semi-external graph algorithms, this paper presents an efficient algorithm, named EP-BFS, with a small minimum memory space requirement, which is an important factor for evaluating semi-external algorithms. Extensive experiments are conducted on both real and synthetic large-scale graphs, where graph WDC-2014 contains over 1.7 billion nodes, and graph eu-2015 has over 91 billion edges. Experimental results confirm that EP-BFS can achieve up to 10 times faster.
Making Language Model a Hierarchical Classifier
Venue: arXiv cs.CL 2025
Year: 2025

Decoder-only language models, such as GPT and LLaMA, generally decode on the last layer. Motivated by human's hierarchical thinking capability, we propose that a hierarchical decoder architecture could be built with different layers decoding texts simultaneously. Due to limited time and computationally resources, we choose to adapt a pretrained language model into this form of hierarchical decoder. Language heads of the last layer are copied to different selected intermediate layers, and fine-tuned with different task inputs. By thorough experiments, we validate that these selective intermediate layers could be adapted to speak meaningful and reasonable contents, and this paradigm of hierarchical decoder can obtain state-of-the-art performances on multiple tasks such as hierarchical text classification, classification-guided generation, and hierarchical text generation. HdLM outperforms all baselines on WoS, DBpedia, ESconv, EmpatheticDialogues, and several cognitive tests. We also provide thorough theoretical analysis to validate the convergence and computational savings of our methodology. This study suggests the possibility of a generalized hierarchical reasoner, pretraining from scratch.
The Goldilocks zone of governing technology: Leveraging uncertainty for responsible quantum practices
Venue: arXiv cs.CY 2025
Year: 2025

Emerging technologies challenge conventional governance approaches, especially when uncertainty is not a temporary obstacle but a foundational feature as in quantum computing. This paper reframes uncertainty from a governance liability to a generative force, using the paradigms of quantum mechanics to propose adaptive, probabilistic frameworks for responsible innovation. We identify three interdependent layers of uncertainty--physical, technical, and societal--central to the evolution of quantum technologies. The proposed Quantum Risk Simulator (QRS) serves as a conceptual example, an imaginative blueprint rather than a prescriptive tool, meant to illustrate how probabilistic reasoning could guide dynamic, uncertainty-based governance. By foregrounding epistemic and ontological ambiguity, and drawing analogies from cognitive neuroscience and predictive processing, we suggest a new model of governance aligned with the probabilistic essence of quantum systems. This model, we argue, is especially promising for the European Union as a third way between laissez-faire innovation and state-led control, offering a flexible yet responsible pathway for regulating quantum and other frontier technologies.
FedGA: A Fair Federated Learning Framework Based on the Gini Coefficient
Venue: arXiv cs.LG 2025
Year: 2025

Fairness has emerged as one of the key challenges in federated learning. In horizontal federated settings, data heterogeneity often leads to substantial performance disparities across clients, raising concerns about equitable model behavior. To address this issue, we propose FedGA, a fairness-aware federated learning algorithm. We first employ the Gini coefficient to measure the performance disparity among clients. Based on this, we establish a relationship between the Gini coefficient $G$ and the update scale of the global model ${U_s}$, and use this relationship to adaptively determine the timing of fairness intervention. Subsequently, we dynamically adjust the aggregation weights according to the system's real-time fairness status, enabling the global model to better incorporate information from clients with relatively poor performance.We conduct extensive experiments on the Office-Caltech-10, CIFAR-10, and Synthetic datasets. The results show that FedGA effectively improves fairness metrics such as variance and the Gini coefficient, while maintaining strong overall performance, demonstrating the effectiveness of our approach.
Exploiting Constraint Reasoning to Build Graphical Explanations for Mixed-Integer Linear Programming
Venue: arXiv cs.AI 2025
Year: 2025

Following the recent push for trustworthy AI, there has been an increasing interest in developing contrastive explanation techniques for optimisation, especially concerning the solution of specific decision-making processes formalised as MILPs. Along these lines, we propose X-MILP, a domain-agnostic approach for building contrastive explanations for MILPs based on constraint reasoning techniques. First, we show how to encode the queries a user makes about the solution of an MILP problem as additional constraints. Then, we determine the reasons that constitute the answer to the user's query by computing the Irreducible Infeasible Subsystem (IIS) of the newly obtained set of constraints. Finally, we represent our explanation as a "graph of reasons" constructed from the IIS, which helps the user understand the structure among the reasons that answer their query. We test our method on instances of well-known optimisation problems to evaluate the empirical hardness of computing explanations.
Measuring CEX-DEX Extracted Value and Searcher Profitability: The Darkest of the MEV Dark Forest
Venue: arXiv cs.CR 2025
Year: 2025

This paper provides a comprehensive empirical analysis of the economics and dynamics behind arbitrages between centralized and decentralized exchanges (CEX-DEX) on Ethereum. We refine heuristics to identify arbitrage transactions from on-chain data and introduce a robust empirical framework to estimate arbitrage revenue without knowing traders' actual behaviors on CEX. Leveraging an extensive dataset spanning 19 months from August 2023 to March 2025, we estimate a total of 233.8M USD extracted by 19 major CEX-DEX searchers from 7,203,560 identified CEX-DEX arbitrages. Our analysis reveals increasing centralization trends as three searchers captured three-quarters of both volume and extracted value. We also demonstrate that searchers' profitability is tied to their integration level with block builders and uncover exclusive searcher-builder relationships and their market impact. Finally, we correct the previously underestimated profitability of block builders who vertically integrate with a searcher. These insights illuminate the darkest corner of the MEV landscape and highlight the critical implications of CEX-DEX arbitrages for Ethereum's decentralization.
MAD-Spear: A Conformity-Driven Prompt Injection Attack on Multi-Agent Debate Systems
Venue: arXiv cs.CR 2025
Year: 2025

Multi-agent debate (MAD) systems leverage collaborative interactions among large language models (LLMs) agents to improve reasoning capabilities. While recent studies have focused on increasing the accuracy and scalability of MAD systems, their security vulnerabilities have received limited attention. In this work, we introduce MAD-Spear, a targeted prompt injection attack that compromises a small subset of agents but significantly disrupts the overall MAD process. Manipulated agents produce multiple plausible yet incorrect responses, exploiting LLMs' conformity tendencies to propagate misinformation and degrade consensus quality. Furthermore, the attack can be composed with other strategies, such as communication attacks, to further amplify its impact by increasing the exposure of agents to incorrect responses. To assess MAD's resilience under attack, we propose a formal definition of MAD fault-tolerance and develop a comprehensive evaluation framework that jointly considers accuracy, consensus efficiency, and scalability. Extensive experiments on five benchmark datasets with varying difficulty levels demonstrate that MAD-Spear consistently outperforms the baseline attack in degrading system performance. Additionally, we observe that agent diversity substantially improves MAD performance in mathematical reasoning tasks, which challenges prior work suggesting that agent diversity has minimal impact on performance. These findings highlight the urgent need to improve the security in MAD design.
What Can Robots Teach Us About Trust and Reliance? An interdisciplinary dialogue between Social Sciences and Social Robotics
Venue: arXiv cs.RO 2025
Year: 2025

As robots find their way into more and more aspects of everyday life, questions around trust are becoming increasingly important. What does it mean to trust a robot? And how should we think about trust in relationships that involve both humans and non-human agents? While the field of Human-Robot Interaction (HRI) has made trust a central topic, the concept is often approached in fragmented ways. At the same time, established work in sociology, where trust has long been a key theme, is rarely brought into conversation with developments in robotics. This article argues that we need a more interdisciplinary approach. By drawing on insights from both social sciences and social robotics, we explore how trust is shaped, tested and made visible. Our goal is to open up a dialogue between disciplines and help build a more grounded and adaptable framework for understanding trust in the evolving world of human-robot interaction.
iReDev: A Knowledge-Driven Multi-Agent Framework for Intelligent Requirements Development
Venue: arXiv cs.SE 2025
Year: 2025

Requirements development is a critical phase as it is responsible for providing a clear understanding of what stakeholders need. It involves collaboration among stakeholders to extract explicit requirements and address potential conflicts, which is time-consuming and labor-intensive. Recently, multi-agent systems for software development have attracted much attention. However, existing research provides limited support for requirements development and overlooks the injection of human knowledge into agents and the human-agent collaboration. % To address these issues, this paper proposes a knowledge-driven multi-agent framework for intelligent requirement development, named iReDev. iReDev features: iReDev consists of six knowledge-driven agents to support the entire requirements development. They collaboratively perform various tasks to produce a software requirements specification. iReDev focuses on integrating human knowledge for agents, enabling them to simulate real-world stakeholders. iReDev uses an event-driven communication mechanism based on an artifact pool. Agents continuously monitor the pool and autonomously trigger the next action based on its changes, enabling iReDev to handle new requirements quickly. iReDev introduces a human-in-the-loop mechanism to support human-agent collaboration, ensuring that the generated artifacts align with the expectations of stakeholders. We evaluated the generated artifacts and results show that iReDev outperforms existing baselines in multiple aspects. We further envision three key directions and hope this work can facilitate the development of intelligent requirements development.
DiffOSeg: Omni Medical Image Segmentation via Multi-Expert Collaboration Diffusion Model
Venue: arXiv cs.CV 2025
Year: 2025

Annotation variability remains a substantial challenge in medical image segmentation, stemming from ambiguous imaging boundaries and diverse clinical expertise. Traditional deep learning methods producing single deterministic segmentation predictions often fail to capture these annotator biases. Although recent studies have explored multi-rater segmentation, existing methods typically focus on a single perspective -- either generating a probabilistic ``gold standard'' consensus or preserving expert-specific preferences -- thus struggling to provide a more omni view. In this study, we propose DiffOSeg, a two-stage diffusion-based framework, which aims to simultaneously achieve both consensus-driven (combining all experts' opinions) and preference-driven (reflecting experts' individual assessments) segmentation. Stage I establishes population consensus through a probabilistic consensus strategy, while Stage II captures expert-specific preference via adaptive prompts. Demonstrated on two public datasets (LIDC-IDRI and NPC-170), our model outperforms existing state-of-the-art methods across all evaluated metrics. Source code is available at https://github.com/string-ellipses/DiffOSeg .
ZipMPC: Compressed Context-Dependent MPC Cost via Imitation Learning
Venue: arXiv cs.RO 2025
Year: 2025

The computational burden of model predictive control (MPC) limits its application on real-time systems, such as robots, and often requires the use of short prediction horizons. This not only affects the control performance, but also increases the difficulty of designing MPC cost functions that reflect the desired long-term objective. This paper proposes ZipMPC, a method that imitates a long-horizon MPC behaviour by learning a compressed and context-dependent cost function for a short-horizon MPC. It improves performance over alternative methods, such as approximate explicit MPC and automatic cost parameter tuning, in particular in terms of i) optimizing the long term objective; ii) maintaining computational costs comparable to a short-horizon MPC; iii) ensuring constraint satisfaction; and iv) generalizing control behaviour to environments not observed during training. For this purpose, ZipMPC leverages the concept of differentiable MPC with neural networks to propagate gradients of the imitation loss through the MPC optimization. We validate our proposed method in simulation and real-world experiments on autonomous racing. ZipMPC consistently completes laps faster than selected baselines, achieving lap times close to the long-horizon MPC baseline. In challenging scenarios where the short-horizon MPC baseline fails to complete a lap, ZipMPC is able to do so. In particular, these performance gains are also observed on tracks unseen during training.
SemCSE: Semantic Contrastive Sentence Embeddings Using LLM-Generated Summaries For Scientific Abstracts
Venue: arXiv cs.CL 2025
Year: 2025

We introduce SemCSE, an unsupervised method for learning semantic embeddings of scientific texts. Building on recent advances in contrastive learning for text embeddings, our approach leverages LLM-generated summaries of scientific abstracts to train a model that positions semantically related summaries closer together in the embedding space. This resulting objective ensures that the model captures the true semantic content of a text, in contrast to traditional citation-based approaches that do not necessarily reflect semantic similarity. To validate this, we propose a novel benchmark designed to assess a model's ability to understand and encode the semantic content of scientific texts, demonstrating that our method enforces a stronger semantic separation within the embedding space. Additionally, we evaluate SemCSE on the comprehensive SciRepEval benchmark for scientific text embeddings, where it achieves state-of-the-art performance among models of its size, thus highlighting the benefits of a semantically focused training approach.
Kernelization for $H$-Coloring
Venue: arXiv cs.DS 2025
Year: 2025

For a fixed graph $H$, the $H$-Coloring problem asks whether a given graph admits an edge-preserving function from its vertex set to that of $H$. A seminal theorem of Hell and Nešetřil asserts that the $H$-Coloring problem is NP-hard whenever $H$ is loopless and non-bipartite. A result of Jansen and Pieterse implies that for every graph $H$, the $H$-Coloring problem parameterized by the vertex cover number $k$ admits a kernel with $O(k^{Δ(H)})$ vertices and bit-size bounded by $O(k^{Δ(H)} \cdot \log k)$, where $Δ(H)$ denotes the maximum degree in $H$. For the case where $H$ is a complete graph on at least three vertices, this kernel size nearly matches conditional lower bounds established by Jansen and Kratsch and by Jansen and Pieterse. This paper presents new upper and lower bounds on the kernel size of $H$-Coloring problems parameterized by the vertex cover number. The upper bounds arise from two kernelization algorithms. The first is purely combinatorial, and its size is governed by a structural quantity of the graph $H$, called the non-adjacency witness number. As applications, we obtain kernels whose size is bounded by a fixed polynomial for natural classes of graphs $H$ with unbounded maximum degree. More strikingly, we show that for almost every graph $H$, the degree of the polynomial that bounds the size of our combinatorial kernel grows only logarithmically in $Δ(H)$. Our second kernel leverages linear-algebraic tools and involves the notion of faithful independent representations of graphs. It strengthens the general bound from prior work and, among other applications, yields near-optimal kernels for problems concerning the dimension of orthogonal graph representations over finite fields. We complement these results with conditional lower bounds, thereby nearly settling the kernel complexity of the problem for various target graphs $H$.
Secure Pinching Antenna-aided ISAC
Venue: arXiv cs.IT 2025
Year: 2025

In this letter, a pinching antenna (PA)-aided scheme for establishing a secure integrated sensing and communication system (ISAC) is investigated. The underlying system comprises a dual-functional radar communication (DFRC) base station (BS) linked to multiple waveguides to serve several downlink users while sensing a set of malicious targets in a given area. The PA-aided BS aims at preserving communication confidentiality with the legitimate users while being able to detect malicious targets. One objective of the proposed scheme is to optimize the PA locations, based on which an optimal design of the legitimate signal beamforming and artificial noise covariance matrices is provided to maximize the network's sensing performance, subject to secrecy and total power constraints. We demonstrate the efficacy of the proposed scheme through numerical examples and compare that against a traditional DFRC ISAC system with a uniform linear array of half-wavelength-spaced antennas. We show that the proposed scheme outperforms the baseline PA-aided scheme with equidistant PAs by $3$ dB in terms of illumination power, while it can provide gains of up to $30$ dB of the same metric against a traditional ISAC system with half-wavelength-space uniform linear arrays.