OpenRaiser/Intern-Atlas huggingface dataset:
Substrate-Timing-Independence for Meta-State Stability of Distributed Robotic Swarms
Venue: arXiv cs.RO 2025
Year: 2025

Emergent properties in distributed systems arise due to timing unpredictability; asynchronous state evolution within each sub-system may lead the macro-system to faulty meta-states. Empirical validation of correctness is often prohibitively expensive, as the size of the state-space is too large to be tractable. In robotic swarms this problem is exacerbated, when compared to software systems, by the variability of the implementation substrate across the design, or even the deployment, process. We present an approach for formally reasoning about the correctness of robotic swarm design in a substrate-timing-independent way. By leveraging concurrent process calculi (namely, Communicating Sequential Processes), we introduce a methodology that can automatically identify possible causes of faulty meta-states and correct such designs such that meta-states are consistently stable, even in the presence of timing variability due to substrate changes. We evaluate this approach on a robotic swarm with a clearly identified fault, realized in both simulation and reality. Results support the research hypothesis, showing that the swarm reaches an illegal meta-state before the correction is applied, but behaves consistently correctly after the correction. Our techniques are transferable across different design methodologies, contributing to the toolbox of formal methods for roboticists.
CommonForms: A Large, Diverse Dataset for Form Field Detection
Venue: arXiv cs.CV 2025
Year: 2025

This paper introduces CommonForms, a web-scale dataset for form field detection. It casts the problem of form field detection as object detection: given an image of a page, predict the location and type (Text Input, Choice Button, Signature) of form fields. The dataset is constructed by filtering Common Crawl to find PDFs that have fillable elements. Starting with 8 million documents, the filtering process is used to arrive at a final dataset of roughly 55k documents that have over 450k pages. Analysis shows that the dataset contains a diverse mixture of languages and domains; one third of the pages are non-English, and among the 14 classified domains, no domain makes up more than 25% of the dataset. In addition, this paper presents a family of form field detectors, FFDNet-Small and FFDNet-Large, which attain a very high average precision on the CommonForms test set. Each model cost less than $500 to train. Ablation results show that high-resolution inputs are crucial for high-quality form field detection, and that the cleaning process improves data efficiency over using all PDFs that have fillable fields in Common Crawl. A qualitative analysis shows that they outperform a popular, commercially available PDF reader that can prepare forms. Unlike the most popular commercially available solutions, FFDNet can predict checkboxes in addition to text and signature fields. This is, to our knowledge, the first large scale dataset released for form field detection, as well as the first open source models. The dataset, models, and code will be released at https://github.com/jbarrow/commonforms
Federated Learning with Ad-hoc Adapter Insertions: The Case of Soft-Embeddings for Training Classifier-as-Retriever
Venue: arXiv cs.LG 2025
Year: 2025

When existing retrieval-augmented generation (RAG) solutions are intended to be used for new knowledge domains, it is necessary to update their encoders, which are taken to be pretrained large language models (LLMs). However, fully finetuning these large models is compute- and memory-intensive, and even infeasible when deployed on resource-constrained edge devices. We propose a novel encoder architecture in this work that addresses this limitation by using a frozen small language model (SLM), which satisfies the memory constraints of edge devices, and inserting a small adapter network before the transformer blocks of the SLM. The trainable adapter takes the token embeddings of the new corpus and learns to produce enhanced soft embeddings for it, while requiring significantly less compute power to update than full fine-tuning. We further propose a novel retrieval mechanism by attaching a classifier head to the SLM encoder, which is trained to learn a similarity mapping of the input embeddings to their corresponding documents. Finally, to enable the online fine-tuning of both (i) the encoder soft embeddings and (ii) the classifier-as-retriever on edge devices, we adopt federated learning (FL) and differential privacy (DP) to achieve an efficient, privacy-preserving, and product-grade training solution. We conduct a theoretical analysis of our methodology, establishing convergence guarantees under mild assumptions on gradient variance when deployed for general smooth nonconvex loss functions. Through extensive numerical experiments, we demonstrate (i) the efficacy of obtaining soft embeddings to enhance the encoder, (ii) training a classifier to improve the retriever, and (iii) the role of FL in achieving speedup.
Trace Replay Simulation of MIT SuperCloud for Studying Optimal Sustainability Policies
Venue: arXiv cs.DC 2025
Year: 2025

The rapid growth of AI supercomputing is creating unprecedented power demands, with next-generation GPU datacenters requiring hundreds of megawatts and producing fast, large swings in consumption. To address the resulting challenges for utilities and system operators, we extend ExaDigiT, an open-source digital twin framework for modeling power, cooling, and scheduling of supercomputers. Originally developed for replaying traces from leadership-class HPC systems, ExaDigiT now incorporates heterogeneity, multi-tenancy, and cloud-scale workloads. In this work, we focus on trace replay and rescheduling of jobs on the MIT SuperCloud TX-GAIA system to enable reinforcement learning (RL)-based experimentation with sustainability policies. The RAPS module provides a simulation environment with detailed power and performance statistics, supporting the study of scheduling strategies, incentive structures, and hardware/software prototyping. Preliminary RL experiments using Proximal Policy Optimization demonstrate the feasibility of learning energy-aware scheduling decisions, highlighting ExaDigiT's potential as a platform for exploring optimal policies to improve throughput, efficiency, and sustainability.
mmExpert: Integrating Large Language Models for Comprehensive mmWave Data Synthesis and Understanding
Venue: arXiv cs.LG 2025
Year: 2025

Millimeter-wave (mmWave) sensing technology holds significant value in human-centric applications, yet the high costs associated with data acquisition and annotation limit its widespread adoption in our daily lives. Concurrently, the rapid evolution of large language models (LLMs) has opened up opportunities for addressing complex human needs. This paper presents mmExpert, an innovative mmWave understanding framework consisting of a data generation flywheel that leverages LLMs to automate the generation of synthetic mmWave radar datasets for specific application scenarios, thereby training models capable of zero-shot generalization in real-world environments. Extensive experiments demonstrate that the data synthesized by mmExpert significantly enhances the performance of downstream models and facilitates the successful deployment of large models for mmWave understanding.
AIPsychoBench: Understanding the Psychometric Differences between LLMs and Humans
Venue: arXiv cs.CL 2025
Year: 2025

Large Language Models (LLMs) with hundreds of billions of parameters have exhibited human-like intelligence by learning from vast amounts of internet-scale data. However, the uninterpretability of large-scale neural networks raises concerns about the reliability of LLM. Studies have attempted to assess the psychometric properties of LLMs by borrowing concepts from human psychology to enhance their interpretability, but they fail to account for the fundamental differences between LLMs and humans. This results in high rejection rates when human scales are reused directly. Furthermore, these scales do not support the measurement of LLM psychological property variations in different languages. This paper introduces AIPsychoBench, a specialized benchmark tailored to assess the psychological properties of LLM. It uses a lightweight role-playing prompt to bypass LLM alignment, improving the average effective response rate from 70.12% to 90.40%. Meanwhile, the average biases are only 3.3% (positive) and 2.1% (negative), which are significantly lower than the biases of 9.8% and 6.9%, respectively, caused by traditional jailbreak prompts. Furthermore, among the total of 112 psychometric subcategories, the score deviations for seven languages compared to English ranged from 5% to 20.2% in 43 subcategories, providing the first comprehensive evidence of the linguistic impact on the psychometrics of LLM.
ChemOrch: Empowering LLMs with Chemical Intelligence via Synthetic Instructions
Venue: arXiv cs.CL 2025
Year: 2025

Empowering large language models (LLMs) with chemical intelligence remains a challenge due to the scarcity of high-quality, domain-specific instruction-response datasets and the misalignment of existing synthetic data generation pipelines with the inherently hierarchical and rule-governed structure of chemical information. To address this, we propose ChemOrch, a framework that synthesizes chemically grounded instruction-response pairs through a two-stage process: task-controlled instruction generation and tool-aware response construction. ChemOrch enables controllable diversity and levels of difficulty for the generated tasks, and ensures response precision through tool planning and distillation, and tool-based self-repair mechanisms. The effectiveness of ChemOrch is evaluated based on: 1) the high quality of generated instruction data, demonstrating superior diversity and strong alignment with chemical constraints; 2) the reliable generation of evaluation tasks that more effectively reveal LLM weaknesses in chemistry; and 3) the significant improvement of LLM chemistry capabilities when the generated instruction data are used for fine-tuning. Our work thus represents a critical step toward scalable and verifiable chemical intelligence in LLMs.
A Novel Metric for Detecting Memorization in Generative Models for Brain MRI Synthesis
Venue: arXiv cs.CV 2025
Year: 2025

Deep generative models have emerged as a transformative tool in medical imaging, offering substantial potential for synthetic data generation. However, recent empirical studies highlight a critical vulnerability: these models can memorize sensitive training data, posing significant risks of unauthorized patient information disclosure. Detecting memorization in generative models remains particularly challenging, necessitating scalable methods capable of identifying training data leakage across large sets of generated samples. In this work, we propose DeepSSIM, a novel self-supervised metric for quantifying memorization in generative models. DeepSSIM is trained to: i) project images into a learned embedding space and ii) force the cosine similarity between embeddings to match the ground-truth SSIM (Structural Similarity Index) scores computed in the image space. To capture domain-specific anatomical features, training incorporates structure-preserving augmentations, allowing DeepSSIM to estimate similarity reliably without requiring precise spatial alignment. We evaluate DeepSSIM in a case study involving synthetic brain MRI data generated by a Latent Diffusion Model (LDM) trained under memorization-prone conditions, using 2,195 MRI scans from two publicly available datasets (IXI and CoRR). Compared to state-of-the-art memorization metrics, DeepSSIM achieves superior performance, improving F1 scores by an average of +52.03% over the best existing method. Code and data of our approach are publicly available at the following link: https://github.com/brAIn-science/DeepSSIM.
A New Class of Analog Precoding for Multi-Antenna Multi-User Communications over High-Frequency Bands
Venue: arXiv cs.IT 2025
Year: 2025

A network relying on a large antenna-array-aided base station is designed for delivering multiple information streams to multi-antenna users over high-frequency bands such as the millimeter-wave and sub-Terahertz bands. The state-of-the-art analog precoder (AP) dissipates excessive circuit power due to its reliance on a large number of phase shifters. To mitigate the power consumption, we propose a novel AP relying on a controlled number of phase shifters. Within this new AP framework, we design a hybrid precoder (HP) for maximizing the users' minimum throughput, which poses a computationally challenging problem of large-scale, nonsmooth mixed discrete-continuous log-determinant optimization. To tackle this challenge, we develop an algorithm which iterates through solving convex problems to generate a sequence of HPs that converges to the max-min solution. We also introduce a new framework of smooth optimization termed soft max-min throughput optimization. Additionally, we develop another algorithm, which iterates by evaluating closed-form expressions to generate a sequence of HPs that converges to the soft max-min solution. Simulation results reveal that the HP soft max-min solution approaches the Pareto-optimal solution constructed for simultaneously optimizing both the minimum throughput and sum-throughput. Explicitly, it achieves a minimum throughput similar to directly maximizing the users' minimum throughput and it also attains a sum-throughput similar to directly maximizing the sum-throughput.
KungfuBot2: Learning Versatile Motion Skills for Humanoid Whole-Body Control
Venue: arXiv cs.RO 2025
Year: 2025

Learning versatile whole-body skills by tracking various human motions is a fundamental step toward general-purpose humanoid robots. This task is particularly challenging because a single policy must master a broad repertoire of motion skills while ensuring stability over long-horizon sequences. To this end, we present VMS, a unified whole-body controller that enables humanoid robots to learn diverse and dynamic behaviors within a single policy. Our framework integrates a hybrid tracking objective that balances local motion fidelity with global trajectory consistency, and an Orthogonal Mixture-of-Experts (OMoE) architecture that encourages skill specialization while enhancing generalization across motions. A segment-level tracking reward is further introduced to relax rigid step-wise matching, enhancing robustness when handling global displacements and transient inaccuracies. We validate VMS extensively in both simulation and real-world experiments, demonstrating accurate imitation of dynamic skills, stable performance over minute-long sequences, and strong generalization to unseen motions. These results highlight the potential of VMS as a scalable foundation for versatile humanoid whole-body control. The project page is available at https://kungfubot2-humanoid.github.io.
NUMINA: A Natural Understanding Benchmark for Multi-dimensional Intelligence and Numerical Reasoning Abilities
Venue: arXiv cs.AI 2025
Year: 2025

Recent advancements in 2D multimodal large language models (MLLMs) have significantly improved performance in vision-language tasks. However, extending these capabilities to 3D environments remains a distinct challenge due to the complexity of spatial reasoning. Nevertheless, existing 3D benchmarks often lack fine-grained numerical reasoning task annotations, limiting MLLMs' ability to perform precise spatial measurements and complex numerical reasoning. To address this gap, we introduce NUMINA, the first Natural Understanding benchmark for Multi-dimensional Intelligence and Numerical reasoning Abilities to enhance multimodal indoor perceptual understanding. NUMINA features multi-scale annotations and various question-answer pairs, generated using NUMINA-Flow, an automated annotation pipeline that integrates LLM rewriting and rule-based self-verification. We evaluate the performance of various state-of-the-art LLMs on NUMINA following the Chat-Scene framework, demonstrating that current LLMs struggle with multimodal numerical reasoning, particularly in performing precise computations such as distance and volume estimation, highlighting the need for further advancements in 3D models. The dataset and source codes can be obtained from https://github.com/fengshun124/NUMINA.
$\boldsymbolλ$-Orthogonality Regularization for Compatible Representation Learning
Venue: arXiv cs.LG 2025
Year: 2025

Retrieval systems rely on representations learned by increasingly powerful models. However, due to the high training cost and inconsistencies in learned representations, there is significant interest in facilitating communication between representations and ensuring compatibility across independently trained neural networks. In the literature, two primary approaches are commonly used to adapt different learned representations: affine transformations, which adapt well to specific distributions but can significantly alter the original representation, and orthogonal transformations, which preserve the original structure with strict geometric constraints but limit adaptability. A key challenge is adapting the latent spaces of updated models to align with those of previous models on downstream distributions while preserving the newly learned representation spaces. In this paper, we impose a relaxed orthogonality constraint, namely $λ$-Orthogonality regularization, while learning an affine transformation, to obtain distribution-specific adaptation while retaining the original learned representations. Extensive experiments across various architectures and datasets validate our approach, demonstrating that it preserves the model's zero-shot performance and ensures compatibility across model updates. Code available at: \href{https://github.com/miccunifi/lambda_orthogonality.git}{https://github.com/miccunifi/lambda\_orthogonality}.
Speech-to-See: End-to-End Speech-Driven Open-Set Object Detection
Venue: arXiv cs.SD 2025
Year: 2025

Audio grounding, or speech-driven open-set object detection, aims to localize and identify objects directly from speech, enabling generalization beyond predefined categories. This task is crucial for applications like human-robot interaction where textual input is impractical. However, progress in this domain faces a fundamental bottleneck from the scarcity of large-scale, paired audio-image data, and is further constrained by previous methods that rely on indirect, text-mediated pipelines. In this paper, we introduce Speech-to-See (Speech2See), an end-to-end approach built on a pre-training and fine-tuning paradigm. Specifically, in the pre-training stage, we design a Query-Guided Semantic Aggregation module that employs learnable queries to condense redundant speech embeddings into compact semantic representations. During fine-tuning, we incorporate a parameter-efficient Mixture-of-LoRA-Experts (MoLE) architecture to achieve deeper and more nuanced cross-modal adaptation. Extensive experiments show that Speech2See achieves robust and adaptable performance across multiple benchmarks, demonstrating its strong generalization ability and broad applicability.
Design and Development of an Intelligent LLM-based LDAP Honeypot
Venue: arXiv cs.CR 2025
Year: 2025

Cybersecurity threats continue to increase, with a growing number of previously unknown attacks each year targeting both large corporations and smaller entities. This scenario demands the implementation of advanced security measures, not only to mitigate damage but also to anticipate emerging attack trends. In this context, deception tools have become a key strategy, enabling the detection, deterrence, and deception of potential attackers while facilitating the collection of information about their tactics and methods. Among these tools, honeypots have proven their value, although they have traditionally been limited by rigidity and configuration complexity, hindering their adaptability to dynamic scenarios. The rise of artificial intelligence, and particularly general-purpose Large Language Models (LLMs), is driving the development of new deception solutions capable of offering greater adaptability and ease of use. This work proposes the design and implementation of an LLM-based honeypot to simulate an LDAP server, a critical protocol present in most organizations due to its central role in identity and access management. The proposed solution aims to provide a flexible and realistic tool capable of convincingly interacting with attackers, thereby contributing to early detection and threat analysis while enhancing the defensive capabilities of infrastructures against intrusions targeting this service.
Exploring AI Capabilities in Participatory Budgeting within Smart Cities: The Case of Sao Paulo
Venue: arXiv cs.CY 2025
Year: 2025

This research examines how Artificial Intelligence (AI) can improve participatory budgeting processes within smart cities. In response to challenges like declining civic participation and resource allocation conflicts, the study explores how online political participation can be improved by AI. It investigates the state capacity governments need to implement AI-enhanced participatory tools, considering technological dependencies and vulnerabilities. It analyzes technological and administrative structures, actors, interests, and strategies to understand the dynamics of online political participation technologies in the case of Sao Paulo, Brazil. The study contributes to understanding how technological advancements can reshape participatory budgeting processes. In a broader sense, the research highlights how AI can transform participatory institutions by offering new tools for citizens and also for government officials in charge of participatory processes within smart cities.
Interpretable Clinical Classification with Kolgomorov-Arnold Networks
Venue: arXiv cs.LG 2025
Year: 2025

Why should a clinician trust an Artificial Intelligence (AI) prediction? Despite the increasing accuracy of machine learning methods in medicine, the lack of transparency continues to hinder their adoption in clinical practice. In this work, we explore Kolmogorov-Arnold Networks (KANs) for clinical classification tasks on tabular data. In contrast to traditional neural networks, KANs are function-based architectures that offer intrinsic interpretability through transparent, symbolic representations. We introduce \emph{Logistic-KAN}, a flexible generalization of logistic regression, and \emph{Kolmogorov-Arnold Additive Model (KAAM)}, a simplified additive variant that delivers transparent, symbolic formulas. Unlike ``black-box'' models that require post-hoc explainability tools, our models support built-in patient-level insights, intuitive visualizations, and nearest-patient retrieval. Across multiple health datasets, our models match or outperform standard baselines, while remaining fully interpretable. These results position KANs as a promising step toward trustworthy AI that clinicians can understand, audit, and act upon. We release the code for reproducibility in \codeurl.