OpenRaiser/Intern-Atlas huggingface dataset:
Dynamic Sub-region Search in Homogeneous Collections Using CLIP
Venue: arXiv cs.MM 2025
Year: 2025

Querying with text-image-based search engines in highly homogeneous domain-specific image collections is challenging for users, as they often struggle to provide descriptive text queries. For example, in an underwater domain, users can usually characterize entities only with abstract labels, such as corals and fish, which leads to low recall rates. Our work investigates whether recall can be improved by supplementing text queries with position information. Specifically, we explore dynamic image partitioning approaches that divide candidates into semantically meaningful regions of interest. Instead of querying entire images, users can specify regions they recognize. This enables the use of position constraints while preserving the semantic capabilities of multimodal models. We introduce and evaluate strategies for integrating position constraints into semantic search models and compare them against static partitioning approaches. Our evaluation highlights both the potential and the limitations of sub-region-based search methods using dynamic partitioning. Dynamic search models achieve up to double the retrieval performance compared to static partitioning approaches but are highly sensitive to perturbations in the specified query positions.
Tightly-Coupled LiDAR-IMU-Leg Odometry with Online Learned Leg Kinematics Incorporating Foot Tactile Information
Venue: arXiv cs.RO 2025
Year: 2025

In this letter, we present tightly coupled LiDAR-IMU-leg odometry, which is robust to challenging conditions such as featureless environments and deformable terrains. We developed an online learning-based leg kinematics model named the neural leg kinematics model, which incorporates tactile information (foot reaction force) to implicitly express the nonlinear dynamics between robot feet and the ground. Online training of this model enhances its adaptability to weight load changes of a robot (e.g., assuming delivery or transportation tasks) and terrain conditions. According to the \textit{neural adaptive leg odometry factor} and online uncertainty estimation of the leg kinematics model-based motion predictions, we jointly solve online training of this kinematics model and odometry estimation on a unified factor graph to retain the consistency of both. The proposed method was verified through real experiments using a quadruped robot in two challenging situations: 1) a sandy beach, representing an extremely featureless area with a deformable terrain, and 2) a campus, including multiple featureless areas and terrain types of asphalt, gravel (deformable terrain), and grass. Experimental results showed that our odometry estimation incorporating the \textit{neural leg kinematics model} outperforms state-of-the-art works. Our project page is available for further details: https://takuokawara.github.io/RAL2025_project_page/
Understanding the Performance and Power of LLM Inferencing on Edge Accelerators
Venue: arXiv cs.DC 2025
Year: 2025

Large Language Models (LLMs) have demonstrated exceptional benefits to a wide range of domains, for tasks as diverse as code generation and robot navigation. While LLMs are usually served from cloud data centers, mission-critical and privacy-sensitive applications may require local hosting of open LLM models. Given the large GPU memory footprint needed for LLMs, edge accelerators such as Nvidia Jetson Orin AGX with 64GB of shared GPU-CPU RAM are a compelling choice. However, the feasibility and performance of LLM inference on edge accelerators is under-explored. This study presents a detailed evaluation of LLM inference on the NVIDIA Jetson Orin AGX, on four SOTA models ranging from 2.7B to 32.8B parameters, such as Meta Llama3.1, Microsoft-Phi2, Deepseek-R1-Qwen. We investigate the impact of varying batch sizes, sequence lengths, and quantization levels on latency, throughput, and perplexity, and also explore various custom power modes on the Orin AGX to perform power and energy consumption analysis. Our findings offer interesting insights on the trade-offs between efficiency, inference speed and resource use, e.g., increasing the sequence length causes a decrease in token throughput and quantization causes smaller LLMs to be slower. These results can help optimize LLM serving on edge accelerators for practical applications.
AD^2-Bench: A Hierarchical CoT Benchmark for MLLM in Autonomous Driving under Adverse Conditions
Venue: arXiv cs.CV 2025
Year: 2025

Chain-of-Thought (CoT) reasoning has emerged as a powerful approach to enhance the structured, multi-step decision-making capabilities of Multi-Modal Large Models (MLLMs), is particularly crucial for autonomous driving with adverse weather conditions and complex traffic environments. However, existing benchmarks have largely overlooked the need for rigorous evaluation of CoT processes in these specific and challenging scenarios. To address this critical gap, we introduce AD^2-Bench, the first Chain-of-Thought benchmark specifically designed for autonomous driving with adverse weather and complex scenes. AD^2-Bench is meticulously constructed to fulfill three key criteria: comprehensive data coverage across diverse adverse environments, fine-grained annotations that support multi-step reasoning, and a dedicated evaluation framework tailored for assessing CoT performance. The core contribution of AD^2-Bench is its extensive collection of over 5.4k high-quality, manually annotated CoT instances. Each intermediate reasoning step in these annotations is treated as an atomic unit with explicit ground truth, enabling unprecedented fine-grained analysis of MLLMs' inferential processes under text-level, point-level, and region-level visual prompts. Our comprehensive evaluation of state-of-the-art MLLMs on AD^2-Bench reveals accuracy below 60%, highlighting the benchmark's difficulty and the need to advance robust, interpretable end-to-end autonomous driving systems. AD^2-Bench thus provides a standardized evaluation platform, driving research forward by improving MLLMs' reasoning in autonomous driving, making it an invaluable resource.
The Rabin cryptosystem over number fields
Venue: arXiv cs.CR 2025
Year: 2025

We extend Rabin's cryptosystem to general number fields. We show that decryption of a random plaintext is as hard as the integer factorisation problem, provided the modulus in our scheme has been chosen carefully. We investigate the performance of our new cryptosystem in comparison with the classical Rabin scheme and a more recent version over the Gaussian integers.
Spectral Efficiency Maximization for DMA-enabled Multiuser MISO with Statistical CSI
Venue: arXiv cs.IT 2025
Year: 2025

Dynamic metasurface antennas (DMAs) offer the potential to achieve large-scale antenna arrays with low power consumption and reduced hardware costs, making them a promising technology for future communication systems. This paper investigates the spectral efficiency (SE) of DMA-enabled multiuser multiple-input single-output (MISO) systems in both uplink and downlink transmissions, using only statistical channel state information (CSI) to maximize the ergodic sum rate of multiple users. For the uplink system, we consider two decoding rules: minimum mean square error (MMSE) with and without successive interference cancellation (SIC). For both decoders, we derive closed-form surrogates to substitute the original expressions of ergodic sum rate and formulate tractable optimization problems for designing DMA weights. Then, a weighted MMSE (WMMSE)-based algorithm is proposed to maximize the ergodic sum rate. For the downlink system, we derive an approximate expression for the ergodic sum rate and formulate a hybrid analog/digital beamforming optimization problem that jointly optimizes the digital precoder and DMA weights. A penalty dual decomposition (PDD)-based algorithm is proposed by leveraging the fractional programming framework. Numerical results validate the accuracy of the derived surrogates and highlight the superiority of the proposed algorithms over baseline schemes. It is shown that these algorithms are effective across various DMA settings and are particularly well-suited for system design in fast time-varying channels.
MOORL: A Framework for Integrating Offline-Online Reinforcement Learning
Venue: arXiv cs.LG 2025
Year: 2025

Sample efficiency and exploration remain critical challenges in Deep Reinforcement Learning (DRL), particularly in complex domains. Offline RL, which enables agents to learn optimal policies from static, pre-collected datasets, has emerged as a promising alternative. However, offline RL is constrained by issues such as out-of-distribution (OOD) actions that limit policy performance and generalization. To overcome these limitations, we propose Meta Offline-Online Reinforcement Learning (MOORL), a hybrid framework that unifies offline and online RL for efficient and scalable learning. While previous hybrid methods rely on extensive design components and added computational complexity to utilize offline data effectively, MOORL introduces a meta-policy that seamlessly adapts across offline and online trajectories. This enables the agent to leverage offline data for robust initialization while utilizing online interactions to drive efficient exploration. Our theoretical analysis demonstrates that the hybrid approach enhances exploration by effectively combining the complementary strengths of offline and online data. Furthermore, we demonstrate that MOORL learns a stable Q-function without added complexity. Extensive experiments on 28 tasks from the D4RL and V-D4RL benchmarks validate its effectiveness, showing consistent improvements over state-of-the-art offline and hybrid RL baselines. With minimal computational overhead, MOORL achieves strong performance, underscoring its potential for practical applications in real-world scenarios.
Power Diagram Enhanced Adaptive Isosurface Extraction from Signed Distance Fields
Venue: arXiv cs.CG 2025
Year: 2025

Extracting high-fidelity mesh surfaces from Signed Distance Fields has become a fundamental operation in geometry processing. Despite significant progress over the past decades, key challenges remain namely, how to automatically capture the intricate geometric and topological structures encoded in the zero level set of SDFs. In this paper, we present a novel isosurface extraction algorithm that introduces two key innovations: 1. An incrementally constructed power diagram through the addition of sample points, which enables repeated updates to the extracted surface via its dual regular Delaunay tetrahedralization; and 2. An adaptive point insertion strategy that identifies regions exhibiting the greatest discrepancy between the current mesh and the underlying continuous surface. As the teaser figure shows, our framework progressively refines the extracted mesh with minimal computational cost until it sufficiently approximates the underlying surface. Experimental results demonstrate that our approach outperforms sofa methods, particularly for models with intricate geometric variations and complex topologies.
Memorization in Language Models through the Lens of Intrinsic Dimension
Venue: arXiv cs.CL 2025
Year: 2025

Language Models (LMs) are prone to memorizing parts of their data during training and unintentionally emitting them at generation time, raising concerns about privacy leakage and disclosure of intellectual property. While previous research has identified properties such as context length, parameter size, and duplication frequency, as key drivers of unintended memorization, little is known about how the latent structure modulates this rate of memorization. We investigate the role of Intrinsic Dimension (ID), a geometric proxy for the structural complexity of a sequence in latent space, in modulating memorization. Our findings suggest that ID acts as a suppressive signal for memorization: compared to low-ID sequences, high-ID sequences are less likely to be memorized, particularly in overparameterized models and under sparse exposure. These findings highlight the interaction between scale, exposure, and complexity in shaping memorization.
SparseSSM: Efficient Selective Structured State Space Models Can Be Pruned in One-Shot
Venue: arXiv cs.LG 2025
Year: 2025

State-space language models such as Mamba match Transformer quality while permitting linear complexity inference, yet still comprise billions of parameters that hinder deployment. Existing one-shot pruning methods are tailored to attention blocks and fail to account for the time-shared and discretized state-transition matrix at the heart of the selective state-space module (SSM). In this paper, we introduce SparseSSM, the first training-free pruning framework that extends the classic optimal brain surgeon (OBS) framework to state space architectures. Our layer-wise algorithm (i) derives an approximate second-order saliency score that aggregates Hessian-trace information across time steps, (ii) incorporates a component sensitivity analysis to guide feed-forward network (FFN) pruning, which also sheds light on where redundancy resides in mamba architecture, (iii) can be easily extended to semi-structured and structured sparsity. Empirically, we prune 50% of SSM weights without fine-tuning and observe no zero-shot accuracy loss, achieving the current state-of-the-art pruning algorithm for Mamba-based LLMs.
Ties of Trust: a bowtie model to uncover trustor-trustee relationships in LLMs
Venue: arXiv cs.CY 2025
Year: 2025

The rapid and unprecedented dominance of Artificial Intelligence (AI), particularly through Large Language Models (LLMs), has raised critical trust challenges in high-stakes domains like politics. Biased LLMs' decisions and misinformation undermine democratic processes, and existing trust models fail to address the intricacies of trust in LLMs. Currently, oversimplified, one-directional approaches have largely overlooked the many relationships between trustor (user) contextual factors (e.g. ideology, perceptions) and trustee (LLMs) systemic elements (e.g. scientists, tool's features). In this work, we introduce a bowtie model for holistically conceptualizing and formulating trust in LLMs, with a core component comprehensively exploring trust by tying its two sides, namely the trustor and the trustee, as well as their intricate relationships. We uncover these relationships within the proposed bowtie model and beyond to its sociotechnical ecosystem, through a mixed-methods explanatory study, that exploits a political discourse analysis tool (integrating ChatGPT), by exploring and responding to the next critical questions: 1) How do trustor's contextual factors influence trust-related actions? 2) How do these factors influence and interact with trustee systemic elements? 3) How does trust itself vary across trustee systemic elements? Our bowtie-based explanatory analysis reveals that past experiences and familiarity significantly shape trustor's trust-related actions; not all trustor contextual factors equally influence trustee systemic elements; and trustee's human-in-the-loop features enhance trust, while lack of transparency decreases it. Finally, this solid evidence is exploited to deliver recommendations, insights and pathways towards building robust trusting ecosystems in LLM-based solutions.
Translating a VDM Model of a Medical Device into Kapture
Venue: arXiv cs.SE 2025
Year: 2025

As the complexity of safety-critical medical devices increases, so does the need for clear, verifiable, software requirements. This paper explores the use of Kapture, a formal modelling tool developed by D-RisQ, to translate an existing formal VDM model of a medical implant for treating focal epilepsy called CANDO. The work was undertaken without prior experience in formal methods. The paper assess Kapture's usability, the challenges of formal modelling, and the effectiveness of the translated model. The result is a model in Kapture which covers over 90% of the original VDM model, and produces matching traces of results. While several issues were encountered during design and implementation, mainly due to the initial learning curve, this paper demonstrates that complex systems can be effectively modelled in Kapture by inexperienced users and highlights some difficulties in translating VDM specifications to Kapture.
Learning Efficient and Generalizable Graph Retriever for Knowledge-Graph Question Answering
Venue: arXiv cs.CL 2025
Year: 2025

Large Language Models (LLMs) have shown strong inductive reasoning ability across various domains, but their reliability is hindered by the outdated knowledge and hallucinations. Retrieval-Augmented Generation mitigates these issues by grounding LLMs with external knowledge; however, most existing RAG pipelines rely on unstructured text, limiting interpretability and structured reasoning. Knowledge graphs, which represent facts as relational triples, offer a more structured and compact alternative. Recent studies have explored integrating knowledge graphs with LLMs for knowledge graph question answering (KGQA), with a significant proportion adopting the retrieve-then-reasoning paradigm. In this framework, graph-based retrievers have demonstrated strong empirical performance, yet they still face challenges in generalization ability. In this work, we propose RAPL, a novel framework for efficient and effective graph retrieval in KGQA. RAPL addresses these limitations through three aspects: (1) a two-stage labeling strategy that combines heuristic signals with parametric models to provide causally grounded supervision; (2) a model-agnostic graph transformation approach to capture both intra- and inter-triple interactions, thereby enhancing representational capacity; and (3) a path-based reasoning strategy that facilitates learning from the injected rational knowledge, and supports downstream reasoner through structured inputs. Empirically, RAPL outperforms state-of-the-art methods by $2.66\%-20.34\%$, and significantly reduces the performance gap between smaller and more powerful LLM-based reasoners, as well as the gap under cross-dataset settings, highlighting its superior retrieval capability and generalizability. Codes are available at: https://github.com/tianyao-aka/RAPL.
Real-Time Network Traffic Forecasting with Missing Data: A Generative Model Approach
Venue: arXiv cs.NI 2025
Year: 2025

Real-time network traffic forecasting is crucial for network management and early resource allocation. Existing network traffic forecasting approaches operate under the assumption that the network traffic data is fully observed. However, in practical scenarios, the collected data are often incomplete due to various human and natural factors. In this paper, we propose a generative model approach for real-time network traffic forecasting with missing data. Firstly, we model the network traffic forecasting task as a tensor completion problem. Secondly, we incorporate a pre-trained generative model to achieve the low-rank structure commonly associated with tensor completion. The generative model effectively captures the intrinsic low-rank structure of network traffic data during pre-training and enables the mapping from a compact latent representation to the tensor space. Thirdly, rather than directly optimizing the high-dimensional tensor, we optimize its latent representation, which simplifies the optimization process and enables real-time forecasting. We also establish a theoretical recovery guarantee that quantifies the error bound of the proposed approach. Experiments on real-world datasets demonstrate that our approach achieves accurate network traffic forecasting within 100 ms, with a mean absolute error (MAE) below 0.002, as validated on the Abilene dataset.
Empirical Quantification of Spurious Correlations in Malware Detection
Venue: arXiv cs.CR 2025
Year: 2025

End-to-end deep learning exhibits unmatched performance for detecting malware, but such an achievement is reached by exploiting spurious correlations -- features with high relevance at inference time, but known to be useless through domain knowledge. While previous work highlighted that deep networks mainly focus on metadata, none investigated the phenomenon further, without quantifying their impact on the decision. In this work, we deepen our understanding of how spurious correlation affects deep learning for malware detection by highlighting how much models rely on empty spaces left by the compiler, which diminishes the relevance of the compiled code. Through our seminal analysis on a small-scale balanced dataset, we introduce a ranking of two end-to-end models to better understand which is more suitable to be put in production.
Towards Practical Alzheimer's Disease Diagnosis: A Lightweight and Interpretable Spiking Neural Model
Venue: arXiv cs.CV 2025
Year: 2025

Early diagnosis of Alzheimer's Disease (AD), particularly at the mild cognitive impairment stage, is essential for timely intervention. However, this process faces significant barriers, including reliance on subjective assessments and the high cost of advanced imaging techniques. While deep learning offers automated solutions to improve diagnostic accuracy, its widespread adoption remains constrained due to high energy requirements and computational demands, particularly in resource-limited settings. Spiking neural networks (SNNs) provide a promising alternative, as their brain-inspired design is well-suited to model the sparse and event-driven patterns characteristic of neural degeneration in AD. These networks offer the potential for developing interpretable, energy-efficient diagnostic tools. Despite their advantages, existing SNNs often suffer from limited expressiveness and challenges in stable training, which reduce their effectiveness in handling complex medical tasks. To address these shortcomings, we introduce FasterSNN, a hybrid neural architecture that combines biologically inspired Leaky Integrate-and-Fire (LIF) neurons with region-adaptive convolution and multi-scale spiking attention mechanisms. This approach facilitates efficient, sparse processing of 3D MRI data while maintaining high diagnostic accuracy. Experimental results on benchmark datasets reveal that FasterSNN delivers competitive performance with significantly enhanced efficiency and training stability, highlighting its potential for practical application in AD screening. Our source code is available at https://github.com/wuchangw/FasterSNN.
Towards Multimodal Graph Large Language Model
Venue: arXiv cs.LG 2025
Year: 2025

Multi-modal graphs, which integrate diverse multi-modal features and relations, are ubiquitous in real-world applications. However, existing multi-modal graph learning methods are typically trained from scratch for specific graph data and tasks, failing to generalize across various multi-modal graph data and tasks. To bridge this gap, we explore the potential of Multi-modal Graph Large Language Models (MG-LLM) to unify and generalize across diverse multi-modal graph data and tasks. We propose a unified framework of multi-modal graph data, task, and model, discovering the inherent multi-granularity and multi-scale characteristics in multi-modal graphs. Specifically, we present five key desired characteristics for MG-LLM: 1) unified space for multi-modal structures and attributes, 2) capability of handling diverse multi-modal graph tasks, 3) multi-modal graph in-context learning, 4) multi-modal graph interaction with natural language, and 5) multi-modal graph reasoning. We then elaborate on the key challenges, review related works, and highlight promising future research directions towards realizing these ambitious characteristics. Finally, we summarize existing multi-modal graph datasets pertinent for model training. We believe this paper can contribute to the ongoing advancement of the research towards MG-LLM for generalization across multi-modal graph data and tasks.