OpenRaiser/Intern-Atlas huggingface dataset:
Stability Analysis of Deep Reinforcement Learning for Multi-Agent Inspection in a Terrestrial Testbed
Venue: arXiv cs.RO 2025
Year: 2025

The design and deployment of autonomous systems for space missions require robust solutions to navigate strict reliability constraints, extended operational duration, and communication challenges. This study evaluates the stability and performance of a hierarchical deep reinforcement learning (DRL) framework designed for multi-agent satellite inspection tasks. The proposed framework integrates a high-level guidance policy with a low-level motion controller, enabling scalable task allocation and efficient trajectory execution. Experiments conducted on the Local Intelligent Network of Collaborative Satellites (LINCS) testbed assess the framework's performance under varying levels of fidelity, from simulated environments to a cyber-physical testbed. Key metrics, including task completion rate, distance traveled, and fuel consumption, highlight the framework's robustness and adaptability despite real-world uncertainties such as sensor noise, dynamic perturbations, and runtime assurance (RTA) constraints. The results demonstrate that the hierarchical controller effectively bridges the sim-to-real gap, maintaining high task completion rates while adapting to the complexities of real-world environments. These findings validate the framework's potential for enabling autonomous satellite operations in future space missions.
Adaptive Attacks Break Defenses Against Indirect Prompt Injection Attacks on LLM Agents
Venue: arXiv cs.CR 2025
Year: 2025

Large Language Model (LLM) agents exhibit remarkable performance across diverse applications by using external tools to interact with environments. However, integrating external tools introduces security risks, such as indirect prompt injection (IPI) attacks. Despite defenses designed for IPI attacks, their robustness remains questionable due to insufficient testing against adaptive attacks. In this paper, we evaluate eight different defenses and bypass all of them using adaptive attacks, consistently achieving an attack success rate of over 50%. This reveals critical vulnerabilities in current defenses. Our research underscores the need for adaptive attack evaluation when designing defenses to ensure robustness and reliability. The code is available at https://github.com/uiuc-kang-lab/AdaptiveAttackAgent.
Systematic Review of Cybersecurity in Banking: Evolution from Pre-Industry 4.0 to Post-Industry 4.0 in Artificial Intelligence, Blockchain, Policies and Practice
Venue: arXiv cs.CR 2025
Year: 2025

Throughout the history from pre-industry 4.0 to post-industry 4.0, cybersecurity at banks has undergone significant changes. Pre-industry 4.0 cyber security at banks relied on individual security methods that were highly manual and had low accuracy. When moving to post-industry 4.0, cybersecurity at banks had a major turning point with security methods that combined different technologies such as Artificial Intelligence (AI), Blockchain, IoT, automating necessary processes and significantly increasing the defence layer for banks. However, along with the development of new technologies, the current challenge of cybersecurity at banks lies in scalability, high costs and resources in both money and time for R&D of defence methods along with the threat of high-tech cybercriminals growing and expanding. This report goes from introducing the importance of cybersecurity at banks, analyzing their management, operational and business objectives, evaluating pre-industry 4.0 technologies used for cybersecurity at banks to assessing post-industry 4.0 technologies focusing on Artificial Intelligence and Blockchain, discussing current policies and practices and ending with discussing key advantages and challenges for 4.0 technologies and recommendations for further developing cybersecurity at banks.
Transforming Cyber Defense: Harnessing Agentic and Frontier AI for Proactive, Ethical Threat Intelligence
Venue: arXiv cs.CR 2025
Year: 2025

In an era marked by unprecedented digital complexity, the cybersecurity landscape is evolving at a breakneck pace, challenging traditional defense paradigms. Advanced Persistent Threats (APTs) reveal inherent vulnerabilities in conventional security measures and underscore the urgent need for continuous, adaptive, and proactive strategies that seamlessly integrate human insight with cutting edge AI technologies. This manuscript explores how the convergence of agentic AI and Frontier AI is transforming cybersecurity by reimagining frameworks such as the cyber kill chain, enhancing threat intelligence processes, and embedding robust ethical governance within automated response systems. Drawing on real-world data and forward looking perspectives, we examine the roles of real time monitoring, automated incident response, and perpetual learning in forging a resilient, dynamic defense ecosystem. Our vision is to harmonize technological innovation with unwavering ethical oversight, ensuring that future AI driven security solutions uphold core human values of fairness, transparency, and accountability while effectively countering emerging cyber threats.
PaliGemma-CXR: A Multi-task Multimodal Model for TB Chest X-ray Interpretation
Venue: arXiv cs.CV 2025
Year: 2025

Tuberculosis (TB) is a infectious global health challenge. Chest X-rays are a standard method for TB screening, yet many countries face a critical shortage of radiologists capable of interpreting these images. Machine learning offers an alternative, as it can automate tasks such as disease diagnosis, and report generation. However, traditional approaches rely on task-specific models, which cannot utilize the interdependence between tasks. Building a multi-task model capable of performing multiple tasks poses additional challenges such as scarcity of multimodal data, dataset imbalance, and negative transfer. To address these challenges, we propose PaliGemma-CXR, a multi-task multimodal model capable of performing TB diagnosis, object detection, segmentation, report generation, and VQA. Starting with a dataset of chest X-ray images annotated with TB diagnosis labels and segmentation masks, we curated a multimodal dataset to support additional tasks. By finetuning PaliGemma on this dataset and sampling data using ratios of the inverse of the size of task datasets, we achieved the following results across all tasks: 90.32% accuracy on TB diagnosis and 98.95% on close-ended VQA, 41.3 BLEU score on report generation, and a mAP of 19.4 and 16.0 on object detection and segmentation, respectively. These results demonstrate that PaliGemma-CXR effectively leverages the interdependence between multiple image interpretation tasks to enhance performance.
A Survey of Uncertainty Estimation Methods on Large Language Models
Venue: arXiv cs.CL 2025
Year: 2025

Large language models (LLMs) have demonstrated remarkable capabilities across various tasks. However, these models could offer biased, hallucinated, or non-factual responses camouflaged by their fluency and realistic appearance. Uncertainty estimation is the key method to address this challenge. While research efforts in uncertainty estimation are ramping up, there is a lack of comprehensive and dedicated surveys on LLM uncertainty estimation. This survey presents four major avenues of LLM uncertainty estimation. Furthermore, we perform extensive experimental evaluations across multiple methods and datasets. At last, we provide critical and promising future directions for LLM uncertainty estimation.
Foundation-Model-Boosted Multimodal Learning for fMRI-based Neuropathic Pain Drug Response Prediction
Venue: arXiv cs.LG 2025
Year: 2025

Neuropathic pain, affecting up to 10% of adults, remains difficult to treat due to limited therapeutic efficacy and tolerability. Although resting-state functional MRI (rs-fMRI) is a promising non-invasive measurement of brain biomarkers to predict drug response in therapeutic development, the complexity of fMRI demands machine learning models with substantial capacity. However, extreme data scarcity in neuropathic pain research limits the application of high-capacity models. To address the challenge of data scarcity, we propose FMM$_{TC}$, a Foundation-Model-boosted Multimodal learning framework for fMRI-based neuropathic pain drug response prediction, which leverages both internal multimodal information in pain-specific data and external knowledge from large pain-agnostic data. Specifically, to maximize the value of limited pain-specific data, FMM$_{TC}$ integrates complementary information from two rs-fMRI modalities: Time series and functional Connectivity. FMM$_{TC}$ is further boosted by an fMRI foundation model with its external knowledge from extensive pain-agnostic fMRI datasets enriching limited pain-specific information. Evaluations with an in-house dataset and a public dataset from OpenNeuro demonstrate FMM$_{TC}$'s superior representation ability, generalizability, and cross-dataset adaptability over existing unimodal fMRI models that only consider one of the rs-fMRI modalities. The ablation study validates the effectiveness of multimodal learning and foundation-model-powered external knowledge transfer in FMM$_{TC}$. An integrated gradient-based interpretation study explains how FMM$_{TC}$'s cross-dataset dynamic behaviors enhance its adaptability. In conclusion, FMM$_{TC}$ boosts clinical trials in neuropathic pain therapeutic development by accurately predicting drug responses to improve the participant stratification efficiency.
DeepRetrieval: Hacking Real Search Engines and Retrievers with Large Language Models via Reinforcement Learning
Venue: arXiv cs.IR 2025
Year: 2025

Information retrieval systems are crucial for enabling effective access to large document collections. Recent approaches have leveraged Large Language Models (LLMs) to enhance retrieval performance through query augmentation, but often rely on expensive supervised learning or distillation techniques that require significant computational resources and hand-labeled data. We introduce DeepRetrieval, a reinforcement learning (RL) approach that trains LLMs for query generation through trial and error without supervised data (reference query). Using retrieval metrics as rewards, our system generates queries that maximize retrieval performance. DeepRetrieval outperforms leading methods on literature search with 65.07% (vs. previous SOTA 24.68%) recall for publication search and 63.18% (vs. previous SOTA 32.11%) recall for trial search using real-world search engines. DeepRetrieval also dominates in evidence-seeking retrieval, classic information retrieval and SQL database search. With only 3B parameters, it outperforms industry-leading models like GPT-4o and Claude-3.5-Sonnet on 11/13 datasets. These results demonstrate that our RL approach offers a more efficient and effective paradigm for information retrieval. Our data and code are available at: https://github.com/pat-jj/DeepRetrieval.
CoSMoEs: Compact Sparse Mixture of Experts
Venue: arXiv cs.LG 2025
Year: 2025

Sparse Mixture of Expert (MoE) models are popular foundational architectures at large scale, however, under-explored at smaller sizes. Here, we show how to enable Compact Sparse Mixture of Experts (CoSMoEs) for on-device inference. Specifically, we tackle the three main on-device dimensions: Quality, Memory and Latency. Along the quality axis, we show that in a fair evaluation (removing confounding factors) MoE architectures outperform FLOP-aligned dense models at on-device scale. We introduce weight-decomposed experts, further improving the MoE model performance. Regarding model memory and latency, we significantly improve model offloading efficiency and, in turn, reduce model inference latency.
Robotic Automation in Apparel Manufacturing: A Novel Approach to Fabric Handling and Sewing
Venue: arXiv cs.RO 2025
Year: 2025

Sewing garments using robots has consistently posed a research challenge due to the inherent complexities in fabric manipulation. In this paper, we introduce an intelligent robotic automation system designed to address this issue. By employing a patented technique that temporarily stiffens garments, we eliminate the traditional necessity for fabric modeling. Our methodological approach is rooted in a meticulously designed three-stage pipeline: first, an accurate pose estimation of the cut fabric pieces; second, a procedure to temporarily join fabric pieces; and third, a closed-loop visual servoing technique for the sewing process. Demonstrating versatility across various fabric types, our approach has been successfully validated in practical settings, notably with cotton material at the Bluewater Defense production line and denim material at Levi's research facility. The techniques described in this paper integrate robotic mechanisms with traditional sewing machines, devising a real-time sewing algorithm, and providing hands-on validation through a collaborative robot setup.
Decoupling Content and Expression: Two-Dimensional Detection of AI-Generated Text
Venue: arXiv cs.CL 2025
Year: 2025

The wide usage of LLMs raises critical requirements on detecting AI participation in texts. Existing studies investigate these detections in scattered contexts, leaving a systematic and unified approach unexplored. In this paper, we present HART, a hierarchical framework of AI risk levels, each corresponding to a detection task. To address these tasks, we propose a novel 2D Detection Method, decoupling a text into content and language expression. Our findings show that content is resistant to surface-level changes, which can serve as a key feature for detection. Experiments demonstrate that 2D method significantly outperforms existing detectors, achieving an AUROC improvement from 0.705 to 0.849 for level-2 detection and from 0.807 to 0.886 for RAID. We release our data and code at https://github.com/baoguangsheng/truth-mirror.
On the time complexity of finding a well-spread perfect matching in bridgeless cubic graphs
Venue: arXiv cs.DS 2025
Year: 2025

We present an algorithm for finding a perfect matching in a $3$-edge-connected cubic graph that intersects every $3$-edge cut in exactly one edge. Specifically, we propose an algorithm with a time complexity of $O(n \log^4 n)$, which significantly improves upon the previously known $O(n^3)$-time algorithms for the same problem. The technique we use for the improvement is efficient use of cactus model of 3-edge cuts. As an application, we use our algorithm to compute embeddings of $3$-edge-connected cubic graphs with limited number of singular edges (i.e., edges that are twice in the boundary of one face) in $O(n \log^4 n)$ time; this application contributes to the study of the well-known Cycle Double Cover conjecture.
NeuroLit Navigator: A Neurosymbolic Approach to Scholarly Article Searches for Systematic Reviews
Venue: arXiv cs.CY 2025
Year: 2025

The introduction of Large Language Models (LLMs) has significantly impacted various fields, including education, for example, by enabling the creation of personalized learning materials. However, their use in Systematic Reviews (SRs) reveals limitations such as restricted access to specialized vocabularies, lack of domain-specific reasoning, and a tendency to generate inaccurate information. Existing SR tools often rely on traditional NLP methods and fail to address these issues adequately. To overcome these challenges, we developed the ``NeuroLit Navigator,'' a system that combines domain-specific LLMs with structured knowledge sources like Medical Subject Headings (MeSH) and the Unified Medical Language System (UMLS). This integration enhances query formulation, expands search vocabularies, and deepens search scopes, enabling more precise searches. Deployed in multiple universities and tested by over a dozen librarians, the NeuroLit Navigator has reduced the time required for initial literature searches by 90\%. Despite this efficiency, the initial set of articles retrieved can vary in relevance and quality. Nonetheless, the system has greatly improved the reproducibility of search results, demonstrating its potential to support librarians in the SR process.
Maintaining Plasticity in Reinforcement Learning: A Cost-Aware Framework for Aerial Robot Control in Non-stationary Environments
Venue: arXiv cs.RO 2025
Year: 2025

Reinforcement learning (RL) has demonstrated the ability to maintain the plasticity of the policy throughout short-term training in aerial robot control. However, these policies have been shown to loss of plasticity when extended to long-term learning in non-stationary environments. For example, the standard proximal policy optimization (PPO) policy is observed to collapse in long-term training settings and lead to significant control performance degradation. To address this problem, this work proposes a cost-aware framework that uses a retrospective cost mechanism (RECOM) to balance rewards and losses in RL training with a non-stationary environment. Using a cost gradient relation between rewards and losses, our framework dynamically updates the learning rate to actively train the control policy in a disturbed wind environment. Our experimental results show that our framework learned a policy for the hovering task without policy collapse in variable wind conditions and has a successful result of 11.29% less dormant units than L2 regularization with PPO.
Passivity-Centric Safe Reinforcement Learning for Contact-Rich Robotic Tasks
Venue: arXiv cs.RO 2025
Year: 2025

Reinforcement learning (RL) has achieved remarkable success in various robotic tasks; however, its deployment in real-world scenarios, particularly in contact-rich environments, often overlooks critical safety and stability aspects. Policies without passivity guarantees can result in system instability, posing risks to robots, their environments, and human operators. In this work, we investigate the limitations of traditional RL policies when deployed in contact-rich tasks and explore the combination of energy-based passive control with safe RL in both training and deployment to answer these challenges. Firstly, we reveal the discovery that standard RL policy does not satisfy stability in contact-rich scenarios. Secondly, we introduce a \textit{passivity-aware} RL policy training with energy-based constraints in our safe RL formulation. Lastly, a passivity filter is exerted on the policy output for \textit{passivity-ensured} control during deployment. We conduct comparative studies on a contact-rich robotic maze exploration task, evaluating the effects of learning passivity-aware policies and the importance of passivity-ensured control. The experiments demonstrate that a passivity-agnostic RL policy easily violates energy constraints in deployment, even though it achieves high task completion in training. The results show that our proposed approach guarantees control stability through passivity filtering and improves the energy efficiency through passivity-aware training. A video of real-world experiments is available as supplementary material. We also release the checkpoint model and offline data for pre-training at \href{https://huggingface.co/Anonymous998/passiveRL/tree/main}{Hugging Face}.
Energy-Efficient Edge Inference in Integrated Sensing, Communication, and Computation Networks
Venue: arXiv cs.IT 2025
Year: 2025

Task-oriented integrated sensing, communication, and computation (ISCC) is a key technology for achieving low-latency edge inference and enabling efficient implementation of artificial intelligence (AI) in industrial cyber-physical systems (ICPS). However, the constrained energy supply at edge devices has emerged as a critical bottleneck. In this paper, we propose a novel energy-efficient ISCC framework for AI inference at resource-constrained edge devices, where adjustable split inference, model pruning, and feature quantization are jointly designed to adapt to diverse task requirements. A joint resource allocation design problem for the proposed ISCC framework is formulated to minimize the energy consumption under stringent inference accuracy and latency constraints. To address the challenge of characterizing inference accuracy, we derive an explicit approximation for it by analyzing the impact of sensing, communication, and computation processes on the inference performance. Building upon the analytical results, we propose an iterative algorithm employing alternating optimization to solve the resource allocation problem. In each subproblem, the optimal solutions are available by respectively applying a golden section search method and checking the Karush-Kuhn-Tucker (KKT) conditions, thereby ensuring the convergence to a local optimum of the original problem. Numerical results demonstrate the effectiveness of the proposed ISCC design, showing a significant reduction in energy consumption of up to 40% compared to existing methods, particularly in low-latency scenarios.
FLStore: Efficient Federated Learning Storage for non-training workloads
Venue: arXiv cs.LG 2025
Year: 2025

Federated Learning (FL) is an approach for privacy-preserving Machine Learning (ML), enabling model training across multiple clients without centralized data collection. With an aggregator server coordinating training, aggregating model updates, and storing metadata across rounds. In addition to training, a substantial part of FL systems are the non-training workloads such as scheduling, personalization, clustering, debugging, and incentivization. Most existing systems rely on the aggregator to handle non-training workloads and use cloud services for data storage. This results in high latency and increased costs as non-training workloads rely on large volumes of metadata, including weight parameters from client updates, hyperparameters, and aggregated updates across rounds, making the situation even worse. We propose FLStore, a serverless framework for efficient FL non-training workloads and storage. FLStore unifies the data and compute planes on a serverless cache, enabling locality-aware execution via tailored caching policies to reduce latency and costs. Per our evaluations, compared to cloud object store based aggregator server FLStore reduces per request average latency by 71% and costs by 92.45%, with peak improvements of 99.7% and 98.8%, respectively. Compared to an in-memory cloud cache based aggregator server, FLStore reduces average latency by 64.6% and costs by 98.83%, with peak improvements of 98.8% and 99.6%, respectively. FLStore integrates seamlessly with existing FL frameworks with minimal modifications, while also being fault-tolerant and highly scalable.