OpenRaiser/Intern-Atlas huggingface dataset:
NLP Verification: Towards a General Methodology for Certifying Robustness
Venue: arXiv cs.CL 2025
Year: 2025

Machine Learning (ML) has exhibited substantial success in the field of Natural Language Processing (NLP). For example large language models have empirically proven to be capable of producing text of high complexity and cohesion. However, they are prone to inaccuracies and hallucinations. As these systems are increasingly integrated into real-world applications, ensuring their safety and reliability becomes a primary concern. There are safety critical contexts where such models must be robust to variability or attack, and give guarantees over their output. Computer Vision had pioneered the use of formal verification of neural networks for such scenarios and developed common verification standards and pipelines, leveraging precise formal reasoning about geometric properties of data manifolds. In contrast, NLP verification methods have only recently appeared in the literature. While presenting sophisticated algorithms, these papers have not yet crystallised into a common methodology. They are often light on the pragmatical issues of NLP verification and the area remains fragmented. In this paper, we attempt to distil and evaluate general components of an NLP verification pipeline, that emerges from the progress in the field to date. Our contributions are two-fold. Firstly, we propose a general methodology to analyse the effect of the embedding gap, a problem that refers to the discrepancy between verification of geometric subspaces and the semantic meaning of sentences, which the geometric subspaces are supposed to represent. We propose a number of practical NLP methods that can help to quantify the effects of the embedding gap. Secondly, we give a general method for training and verification of neural networks that leverages a more precise geometric estimation of semantic similarity of sentences in the embedding space and helps to overcome the effects of the embedding gap in practice.
Fast and reliable uncertainty quantification with neural network ensembles for industrial image classification
Venue: arXiv cs.LG 2025
Year: 2025

Image classification with neural networks (NNs) is widely used in industrial processes, situations where the model likely encounters unknown objects during deployment, i.e., out-of-distribution (OOD) data. Worryingly, NNs tend to make confident yet incorrect predictions when confronted with OOD data. To increase the models' reliability, they should quantify the uncertainty in their own predictions, communicating when the output should (not) be trusted. Deep ensembles, composed of multiple independent NNs, have been shown to perform strongly but are computationally expensive. Recent research has proposed more efficient NN ensembles, namely the snapshot, batch, and multi-input multi-output ensemble. This study investigates the predictive and uncertainty performance of efficient NN ensembles in the context of image classification for industrial processes. It is the first to provide a comprehensive comparison and it proposes a novel Diversity Quality metric to quantify the ensembles' performance on the in-distribution and OOD sets in one single metric. The results highlight the batch ensemble as a cost-effective and competitive alternative to the deep ensemble. It matches the deep ensemble in both uncertainty and accuracy while exhibiting considerable savings in training time, test time, and memory storage.
Collaborative Aquatic Positioning System Utilising Multi-beam Sonar and Depth Sensors
Venue: arXiv cs.RO 2025
Year: 2025

Accurate positioning of underwater robots in confined environments is crucial for inspection and mapping tasks and is also a prerequisite for autonomous operations. Presently, there are no positioning systems available that are suited for real-world use in confined underwater environments, unconstrained by environmental lighting and water turbidity levels, and have sufficient accuracy for reliable and repeatable navigation. This shortage presents a significant barrier to enhancing the capabilities of remotely operated vehicles (ROVs) in such scenarios. This paper introduces an innovative positioning system for ROVs operating in confined, cluttered underwater settings, achieved through the collaboration of an omnidirectional surface vehicle and an underwater ROV. A mathematical formulation based on the available sensors is proposed and evaluated. Experimental results from both a high-fidelity simulation environment and a mock-up of an industrial tank provide a proof of principle for the system and demonstrate its practical deployability in real-world scenarios. Unlike many previous approaches, the system does not rely on fixed infrastructure or tracking of features in the environment and can cover large enclosed areas without additional equipment.
First Passage Percolation with Queried Hints
Venue: arXiv cs.DS 2025
Year: 2025

Solving optimization problems leads to elegant and practical solutions in a wide variety of real-world applications. In many of those real-world applications, some of the information required to specify the relevant optimization problem is noisy, uncertain, and expensive to obtain. In this work, we study how much of that information needs to be queried in order to obtain an approximately optimal solution to the relevant problem. In particular, we focus on the shortest path problem in graphs with dynamic edge costs. We adopt the $\textit{first passage percolation}$ model from probability theory wherein a graph $G'$ is derived from a weighted base graph $G$ by multiplying each edge weight by an independently chosen random number in $[1, ρ]$. Mathematicians have studied this model extensively when $G$ is a $d$-dimensional grid graph, but the behavior of shortest paths in this model is still poorly understood in general graphs. We make progress in this direction for a class of graphs that resemble real-world road networks. Specifically, we prove that if $G$ has a constant continuous doubling dimension, then for a given $s-t$ pair, we only need to probe the weights on $((ρ\log n )/ ε)^{O(1)}$ edges in $G'$ in order to obtain a $(1 + ε)$-approximation to the $s-t$ distance in $G'$. We also generalize the result to a correlated setting and demonstrate experimentally that probing improves accuracy in estimating $s-t$ distances.
A Probabilistic Approach for Model Alignment with Human Comparisons
Venue: arXiv cs.LG 2025
Year: 2025

A growing trend involves integrating human knowledge into learning frameworks, leveraging subtle human feedback to refine AI models. While these approaches have shown promising results in practice, the theoretical understanding of when and why such approaches are effective remains limited. This work takes steps toward developing a theoretical framework for analyzing the conditions under which human comparisons can enhance the traditional supervised learning process. Specifically, this paper studies the effective use of noisy-labeled data and human comparison data to address challenges arising from noisy environment and high-dimensional models. We propose a two-stage "Supervised Learning+Learning from Human Feedback" (SL+LHF) framework that connects machine learning with human feedback through a probabilistic bisection approach. The two-stage framework first learns low-dimensional representations from noisy-labeled data via an SL procedure and then uses human comparisons to improve the model alignment. To examine the efficacy of the alignment phase, we introduce a concept, termed the "label-noise-to-comparison-accuracy" (LNCA) ratio. This paper identifies from a theoretical perspective the conditions under which the "SL+LHF" framework outperforms the pure SL approach; we then leverage this LNCA ratio to highlight the advantage of incorporating human evaluators in reducing sample complexity. We validate that the LNCA ratio meets the proposed conditions for its use through a case study conducted via Amazon Mechanical Turk (MTurk).
An Accurate and Real-time Relative Pose Estimation from Triple Point-line Images by Decoupling Rotation and Translation
Venue: arXiv cs.RO 2025
Year: 2025

Line features are valid complements for point features in man-made environments. 3D-2D constraints provided by line features have been widely used in Visual Odometry (VO) and Structure-from-Motion (SfM) systems. However, how to accurately solve three-view relative motion only with 2D observations of points and lines in real time has not been fully explored. In this paper, we propose a novel three-view pose solver based on rotation-translation decoupled estimation. First, a high-precision rotation estimation method based on normal vector coplanarity constraints that consider the uncertainty of observations is proposed, which can be solved by Levenberg-Marquardt (LM) algorithm efficiently. Second, a robust linear translation constraint that minimizes the degree of the rotation components and feature observation components in equations is elaborately designed for estimating translations accurately. Experiments on synthetic data and real-world data show that the proposed approach improves both rotation and translation accuracy compared to the classical trifocal-tensor-based method and the state-of-the-art two-view algorithm in outdoor and indoor environments.
Advancing Quantum Software Engineering: A Vision of Hybrid Full-Stack Iterative Model
Venue: arXiv cs.SE 2025
Year: 2025

This paper introduces a vision for Quantum Software Development lifecycle, proposing a hybrid full-stack iterative model that integrates quantum and classical computing. Addressing the current challenges in Quantum Computing (QC) such as the need for integrating diverse programming languages and managing the complexities of quantum-classical systems, this model is rooted in the principles of DevOps and continuous software engineering. It presents a comprehensive lifecycle for quantum software development, encompassing quantum-agnostic coding, testing, deployment, cloud computing services, orchestration, translation, execution, and interpretation phases. Each phase is designed to accommodate the unique demands of QC, enabling traditional software developers to engage with QC environments without needing in-depth QC expertise. The paper presents a detailed implementation roadmap, utilizing a range of existing tools and frameworks, thereby making quantum software development more accessible and efficient. The proposed model not only addresses current challenges in quantum software development but also makes a substantial contribution to the field of Quantum Software Engineering (QSE). By proposing a structured and accessible model, it sets the stage for further advancements and research in QSE, enhancing its practicality and relevance in a wide range of applications.
Beamforming Design for Semantic-Bit Coexisting Communication System
Venue: arXiv cs.IT 2025
Year: 2025

Semantic communication (SemCom) is emerging as a key technology for future sixth-generation (6G) systems. Unlike traditional bit-level communication (BitCom), SemCom directly optimizes performance at the semantic level, leading to superior communication efficiency. Nevertheless, the task-oriented nature of SemCom renders it challenging to completely replace BitCom. Consequently, it is desired to consider a semantic-bit coexisting communication system, where a base station (BS) serves SemCom users (sem-users) and BitCom users (bit-users) simultaneously. Such a system faces severe and heterogeneous inter-user interference. In this context, this paper provides a new semantic-bit coexisting communication framework and proposes a spatial beamforming scheme to accommodate both types of users. Specifically, we consider maximizing the semantic rate for semantic users while ensuring the quality-of-service (QoS) requirements for bit-users. Due to the intractability of obtaining the exact closed-form expression of the semantic rate, a data driven method is first applied to attain an approximated expression via data fitting. With the resulting complex transcendental function, majorization minimization (MM) is adopted to convert the original formulated problem into a multiple-ratio problem, which allows fractional programming (FP) to be used to further transform the problem into an inhomogeneous quadratically constrained quadratic programs (QCQP) problem. Solving the problem leads to a semi-closed form solution with undetermined Lagrangian factors that can be updated by a fixed point algorithm. Extensive simulation results demonstrate that the proposed beamforming scheme significantly outperforms conventional beamforming algorithms such as zero-forcing (ZF), maximum ratio transmission (MRT), and weighted minimum mean-square error (WMMSE).
Accelerating Model Predictive Control for Legged Robots through Distributed Optimization
Venue: arXiv cs.RO 2025
Year: 2025

This paper presents a novel approach to enhance Model Predictive Control (MPC) for legged robots through Distributed Optimization. Our method focuses on decomposing the robot dynamics into smaller, parallelizable subsystems, and utilizing the Alternating Direction Method of Multipliers (ADMM) to ensure consensus among them. Each subsystem is managed by its own Optimal Control Problem, with ADMM facilitating consistency between their optimizations. This approach not only decreases the computational time but also allows for effective scaling with more complex robot configurations, facilitating the integration of additional subsystems such as articulated arms on a quadruped robot. We demonstrate, through numerical evaluations, the convergence of our approach on two systems with increasing complexity. In addition, we showcase that our approach converges towards the same solution when compared to a state-of-the-art centralized whole-body MPC implementation. Moreover, we quantitatively compare the computational efficiency of our method to the centralized approach, revealing up to a 75% reduction in computational time. Overall, our approach offers a promising avenue for accelerating MPC solutions for legged robots, paving the way for more effective utilization of the computational performance of modern hardware.
Low-Cost Privacy-Preserving Decentralized Learning
Venue: arXiv cs.LG 2025
Year: 2025

Decentralized learning (DL) is an emerging paradigm of collaborative machine learning that enables nodes in a network to train models collectively without sharing their raw data or relying on a central server. This paper introduces Zip-DL, a privacy-aware DL algorithm that leverages correlated noise to achieve robust privacy against local adversaries while ensuring efficient convergence at low communication costs. By progressively neutralizing the noise added during distributed averaging, Zip-DL combines strong privacy guarantees with high model accuracy. Its design requires only one communication round per gradient descent iteration, significantly reducing communication overhead compared to competitors. We establish theoretical bounds on both convergence speed and privacy guarantees. Moreover, extensive experiments demonstrating Zip-DL's practical applicability make it outperform state-of-the-art methods in the accuracy vs. vulnerability trade-off. Specifically, Zip-DL (i) reduces membership-inference attack success rates by up to 35% compared to baseline DL, (ii) decreases attack efficacy by up to 13% compared to competitors offering similar utility, and (iii) achieves up to 59% higher accuracy to completely nullify a basic attack scenario, compared to a state-of-the-art privacy-preserving approach under the same threat model. These results position Zip-DL as a practical and efficient solution for privacy-preserving decentralized learning in real-world applications.
View-Consistent 3D Editing with Gaussian Splatting
Venue: arXiv cs.GR 2025
Year: 2025

The advent of 3D Gaussian Splatting (3DGS) has revolutionized 3D editing, offering efficient, high-fidelity rendering and enabling precise local manipulations. Currently, diffusion-based 2D editing models are harnessed to modify multi-view rendered images, which then guide the editing of 3DGS models. However, this approach faces a critical issue of multi-view inconsistency, where the guidance images exhibit significant discrepancies across views, leading to mode collapse and visual artifacts of 3DGS. To this end, we introduce View-consistent Editing (VcEdit), a novel framework that seamlessly incorporates 3DGS into image editing processes, ensuring multi-view consistency in edited guidance images and effectively mitigating mode collapse issues. VcEdit employs two innovative consistency modules: the Cross-attention Consistency Module and the Editing Consistency Module, both designed to reduce inconsistencies in edited images. By incorporating these consistency modules into an iterative pattern, VcEdit proficiently resolves the issue of multi-view inconsistency, facilitating high-quality 3DGS editing across a diverse range of scenes. Further video results are shown in http://vcedit.github.io.
AMReX and pyAMReX: Looking Beyond ECP
Venue: arXiv cs.DC 2025
Year: 2025

AMReX is a software framework for the development of block-structured mesh applications with adaptive mesh refinement (AMR). AMReX was initially developed and supported by the AMReX Co-Design Center as part of the U.S. DOE Exascale Computing Project, and is continuing to grow post-ECP. In addition to adding new functionality and performance improvements to the core AMReX framework, we have also developed a Python binding, pyAMReX, that provides a bridge between AMReX-based application codes and the data science ecosystem. pyAMReX provides zero-copy application GPU data access for AI/ML, in situ analysis and application coupling, and enables rapid, massively parallel prototyping. In this paper we review the overall functionality of AMReX and pyAMReX, focusing on new developments, new functionality, and optimizations of key operations. We also summarize capabilities of ECP projects that used AMReX and provide an overview of new, non-ECP applications.
Leveraging Large Language Models to Detect npm Malicious Packages
Venue: arXiv cs.CR 2025
Year: 2025

Existing malicious code detection techniques demand the integration of multiple tools to detect different malware patterns, often suffering from high misclassification rates. Therefore, malicious code detection techniques could be enhanced by adopting advanced, more automated approaches to achieve high accuracy and a low misclassification rate. The goal of this study is to aid security analysts in detecting malicious packages by empirically studying the effectiveness of Large Language Models (LLMs) in detecting malicious code. We present SocketAI, a malicious code review workflow to detect malicious code. To evaluate the effectiveness of SocketAI, we leverage a benchmark dataset of 5,115 npm packages, of which 2,180 packages have malicious code. We conducted a baseline comparison of GPT-3 and GPT-4 models with the state-of-the-art CodeQL static analysis tool, using 39 custom CodeQL rules developed in prior research to detect malicious Javascript code. We also compare the effectiveness of static analysis as a pre-screener with SocketAI workflow, measuring the number of files that need to be analyzed. and the associated costs. Additionally, we performed a qualitative study to understand the types of malicious activities detected or missed by our workflow. Our baseline comparison demonstrates a 16% and 9% improvement over static analysis in precision and F1 scores, respectively. GPT-4 achieves higher accuracy with 99% precision and 97% F1 scores, while GPT-3 offers a more cost-effective balance at 91% precision and 94% F1 scores. Pre-screening files with a static analyzer reduces the number of files requiring LLM analysis by 77.9% and decreases costs by 60.9% for GPT-3 and 76.1% for GPT-4. Our qualitative analysis identified data theft, execution of arbitrary code, and suspicious domain categories as the top detected malicious packages.
Hiding and Recovering Knowledge in Text-to-Image Diffusion Models via Learnable Prompts
Venue: arXiv cs.LG 2025
Year: 2025

Diffusion models have demonstrated remarkable capability in generating high-quality visual content from textual descriptions. However, since these models are trained on large-scale internet data, they inevitably learn undesirable concepts, such as sensitive content, copyrighted material, and harmful or unethical elements. While previous works focus on permanently removing such concepts, this approach is often impractical, as it can degrade model performance and lead to irreversible loss of information. In this work, we introduce a novel concept-hiding approach that makes unwanted concepts inaccessible to public users while allowing controlled recovery when needed. Instead of erasing knowledge from the model entirely, we incorporate a learnable prompt into the cross-attention module, acting as a secure memory that suppresses the generation of hidden concepts unless a secret key is provided. This enables flexible access control -- ensuring that undesirable content cannot be easily generated while preserving the option to reinstate it under restricted conditions. Our method introduces a new paradigm where concept suppression and controlled recovery coexist, which was not feasible in prior works. We validate its effectiveness on the Stable Diffusion model, demonstrating that hiding concepts mitigate the risks of permanent removal while maintaining the model's overall capability.
Geometric Constraints in Deep Learning Frameworks: A Survey
Venue: arXiv cs.CV 2025
Year: 2025

Stereophotogrammetry is an established technique for scene understanding. Its origins go back to at least the 1800s when people first started to investigate using photographs to measure the physical properties of the world. Since then, thousands of approaches have been explored. The classic geometric technique of Shape from Stereo is built on using geometry to define constraints on scene and camera deep learning without any attempt to explicitly model the geometry. In this survey, we explore geometry-inspired deep learning-based frameworks. We compare and contrast geometry enforcing constraints integrated into deep learning frameworks for depth estimation and other closely related vision tasks. We present a new taxonomy for prevalent geometry enforcing constraints used in modern deep learning frameworks. We also present insightful observations and potential future research directions.
Securing Large Language Models: Threats, Vulnerabilities and Responsible Practices
Venue: arXiv cs.CR 2025
Year: 2025

Large language models (LLMs) have significantly transformed the landscape of Natural Language Processing (NLP). Their impact extends across a diverse spectrum of tasks, revolutionizing how we approach language understanding and generations. Nevertheless, alongside their remarkable utility, LLMs introduce critical security and risk considerations. These challenges warrant careful examination to ensure responsible deployment and safeguard against potential vulnerabilities. This research paper thoroughly investigates security and privacy concerns related to LLMs from five thematic perspectives: security and privacy concerns, vulnerabilities against adversarial attacks, potential harms caused by misuses of LLMs, mitigation strategies to address these challenges while identifying limitations of current strategies. Lastly, the paper recommends promising avenues for future research to enhance the security and risk management of LLMs.