OpenRaiser/Intern-Atlas huggingface dataset:
DINOSTAR: Deep Iterative Neural Object Detector Self-Supervised Training for Roadside LiDAR Applications
Venue: arXiv cs.CV 2025
Year: 2025

Recent advancements in deep-learning methods for object detection in point-cloud data have enabled numerous roadside applications, fostering improvements in transportation safety and management. However, the intricate nature of point-cloud data poses significant challenges for human-supervised labeling, resulting in substantial expenditures of time and capital. This paper addresses the issue by developing an end-to-end, scalable, and self-supervised framework for training deep object detectors tailored for roadside point-cloud data. The proposed framework leverages self-supervised, statistically modeled teachers to train off-the-shelf deep object detectors, thus circumventing the need for human supervision. The teacher models follow fine-tuned set standard practices of background filtering, object clustering, bounding-box fitting, and classification to generate noisy labels. It is presented that by training the student model over the combined noisy annotations from multitude of teachers enhances its capacity to discern background/foreground more effectively and forces it to learn diverse point-cloud-representations for object categories of interest. The evaluations, involving publicly available roadside datasets and state-of-art deep object detectors, demonstrate that the proposed framework achieves comparable performance to deep object detectors trained on human-annotated labels, despite not utilizing such human-annotations in its training process.
Evidence on the Regularisation Properties of Maximum-Entropy Reinforcement Learning
Venue: arXiv cs.LG 2025
Year: 2025

The generalisation and robustness properties of policies learnt through Maximum-Entropy Reinforcement Learning are investigated on chaotic dynamical systems with Gaussian noise on the observable. First, the robustness under noise contamination of the agent's observation of entropy regularised policies is observed. Second, notions of statistical learning theory, such as complexity measures on the learnt model, are borrowed to explain and predict the phenomenon. Results show the existence of a relationship between entropy-regularised policy optimisation and robustness to noise, which can be described by the chosen complexity measures.
Histoires Morales: A French Dataset for Assessing Moral Alignment
Venue: arXiv cs.CL 2025
Year: 2025

Aligning language models with human values is crucial, especially as they become more integrated into everyday life. While models are often adapted to user preferences, it is equally important to ensure they align with moral norms and behaviours in real-world social situations. Despite significant progress in languages like English and Chinese, French has seen little attention in this area, leaving a gap in understanding how LLMs handle moral reasoning in this language. To address this gap, we introduce Histoires Morales, a French dataset derived from Moral Stories, created through translation and subsequently refined with the assistance of native speakers to guarantee grammatical accuracy and adaptation to the French cultural context. We also rely on annotations of the moral values within the dataset to ensure their alignment with French norms. Histoires Morales covers a wide range of social situations, including differences in tipping practices, expressions of honesty in relationships, and responsibilities toward animals. To foster future research, we also conduct preliminary experiments on the alignment of multilingual models on French and English data and the robustness of the alignment. We find that while LLMs are generally aligned with human moral norms by default, they can be easily influenced with user-preference optimization for both moral and immoral data.
Enhancements to P4TG: Protocols, Performance, and Automation
Venue: arXiv cs.NI 2025
Year: 2025

P4TG is a hardware-based traffic generator (TG) running on the Intel Tofino 1 ASIC and was programmed using the programming language P4. In its initial version, P4TG could generate up to 10x100 Gb/s of traffic and directly measure rates, packet loss, and other metrics in the data plane. Many researchers and industrial partners requested new features to be incorporated into P4TG since its publication in 2023. With the recently added features, P4TG supports the generation of packets encapsulated with a customizable VLAN, QinQ, VxLAN, MPLS, and SRv6 header. Further, generation of IPv6 traffic is added and P4TG is ported to the Intel Tofino 2 platform enabling a generation capability of up to 10x400 Gb/s. The improvement in user experience focuses on ease of operation. Features like automated ARP replies, improved visualization, report generation, and automated testing based on the IMIX distribution and RFC 2544 are added. Future work on P4TG includes NDP to facilitate IPv6 traffic, and a NETCONF integration to further ease the configuration.
Benchmarking Randomized Optimization Algorithms on Binary, Permutation, and Combinatorial Problem Landscapes
Venue: arXiv cs.NE 2025
Year: 2025

In this paper, we evaluate the performance of four randomized optimization algorithms: Randomized Hill Climbing (RHC), Simulated Annealing (SA), Genetic Algorithms (GA), and MIMIC (Mutual Information Maximizing Input Clustering), across three distinct types of problems: binary, permutation, and combinatorial. We systematically compare these algorithms using a set of benchmark fitness functions that highlight the specific challenges and requirements of each problem category. Our study analyzes each algorithm's effectiveness based on key performance metrics, including solution quality, convergence speed, computational cost, and robustness. Results show that while MIMIC and GA excel in producing high-quality solutions for binary and combinatorial problems, their computational demands vary significantly. RHC and SA, while computationally less expensive, demonstrate limited performance in complex problem landscapes. The findings offer valuable insights into the trade-offs between different optimization strategies and provide practical guidance for selecting the appropriate algorithm based on the type of problems, accuracy requirements, and computational constraints.
Fair Quantitative Games
Venue: arXiv cs.GT 2025
Year: 2025

We examine two-player games over finite weighted graphs with quantitative (mean-payoff or energy) objective, where one of the players additionally needs to satisfy a fairness objective. The specific fairness we consider is called 'strong transition fairness', given by a subset of edges of one of the players, which asks the player to take fair edges infinitely often if their source nodes are visited infinitely often. We show that when fairness is imposed on player 1, these games fall within the class of previously studied omega-regular mean-payoff and energy games. On the other hand, when the fairness is on player 2, to the best of our knowledge, these games have not been previously studied. We provide gadget-based algorithms for fair mean-payoff games where fairness is imposed on either player, and for fair energy games where the fairness is imposed on player 1. For all variants of fair mean-payoff and fair energy (under unknown initial credit) games, we give pseudo-polynomial algorithms to compute the winning regions of both players. Additionally, we analyze the strategy complexities required for these games. Our work is the first to extend the study of strong transition fairness, as well as gadget-based approaches, to the quantitative setting. We thereby demonstrate that the simplicity of strong transition fairness, as well as the applicability of gadget-based techniques, can be leveraged beyond the omega-regular domain.
ViT-2SPN: Vision Transformer-based Dual-Stream Self-Supervised Pretraining Networks for Retinal OCT Classification
Venue: arXiv cs.CV 2025
Year: 2025

Optical Coherence Tomography (OCT) is a non-invasive imaging modality essential for diagnosing various eye diseases. Despite its clinical significance, developing OCT-based diagnostic tools faces challenges, such as limited public datasets, sparse annotations, and privacy concerns. Although deep learning has made progress in automating OCT analysis, these challenges remain unresolved. To address these limitations, we introduce the Vision Transformer-based Dual-Stream Self-Supervised Pretraining Network (ViT-2SPN), a novel framework designed to enhance feature extraction and improve diagnostic accuracy. ViT-2SPN employs a three-stage workflow: Supervised Pretraining, Self-Supervised Pretraining (SSP), and Supervised Fine-Tuning. The pretraining phase leverages the OCTMNIST dataset (97,477 unlabeled images across four disease classes) with data augmentation to create dual-augmented views. A Vision Transformer (ViT-Base) backbone extracts features, while a negative cosine similarity loss aligns feature representations. Pretraining is conducted over 50 epochs with a learning rate of 0.0001 and momentum of 0.999. Fine-tuning is performed on a stratified 5.129% subset of OCTMNIST using 10-fold cross-validation. ViT-2SPN achieves a mean AUC of 0.93, accuracy of 0.77, precision of 0.81, recall of 0.75, and an F1 score of 0.76, outperforming existing SSP-based methods.
Rust Barefoot Runtime (RBFRT): Fast Runtime Control for the Intel Tofino
Venue: arXiv cs.NI 2025
Year: 2025

Data plane programming enables the programmability of network devices with domain-specific programming languages, like P4. One commonly used P4-programmable hardware target is the Intel Tofino switching ASIC. The runtime behavior of an implemented P4 program on Tofino can be configured with shell scripts or a Python library from Barefoot provided with the Tofino. Both are limited in their capabilities and usability. This paper introduces the Rust Barefoot Runtime (RBFRT), a Rust-based control plane library. The RBFRT provides a fast and memory-safe interface to configure the Intel Tofino. We showed that the RBFRT achieves a higher insertion rate for MAT entries and has a shorter response time compared to the Python library.
Tailored Truths: Optimizing LLM Persuasion with Personalization and Fabricated Statistics
Venue: arXiv cs.CL 2025
Year: 2025

Large Language Models (LLMs) are becoming increasingly persuasive, demonstrating the ability to personalize arguments in conversation with humans by leveraging their personal data. This may have serious impacts on the scale and effectiveness of disinformation campaigns. We studied the persuasiveness of LLMs in a debate setting by having humans $(n=33)$ engage with LLM-generated arguments intended to change the human's opinion. We quantified the LLM's effect by measuring human agreement with the debate's hypothesis pre- and post-debate and analyzing both the magnitude of opinion change, as well as the likelihood of an update in the LLM's direction. We compare persuasiveness across established persuasion strategies, including personalized arguments informed by user demographics and personality, appeal to fabricated statistics, and a mixed strategy utilizing both personalized arguments and fabricated statistics. We found that static arguments generated by humans and GPT-4o-mini have comparable persuasive power. However, the LLM outperformed static human-written arguments when leveraging the mixed strategy in an interactive debate setting. This approach had a $\mathbf{51\%}$ chance of persuading participants to modify their initial position, compared to $\mathbf{32\%}$ for the static human-written arguments. Our results highlight the concerning potential for LLMs to enable inexpensive and persuasive large-scale disinformation campaigns.
Data-Informed Model Complexity Metric for Optimizing Symbolic Regression Models
Venue: arXiv cs.LG 2025
Year: 2025

Choosing models from a well-fitted evolved population that generalizes beyond training data is difficult. We introduce a pragmatic method to estimate model complexity using Hessian rank for post-processing selection. Complexity is approximated by averaging the model output Hessian rank across a few points (N=3), offering efficient and accurate rank estimates. This method aligns model selection with input data complexity, calculated using intrinsic dimensionality (ID) estimators. Using the StackGP system, we develop symbolic regression models for the Penn Machine Learning Benchmark and employ twelve scikit-dimension library methods to estimate ID, aligning model expressiveness with dataset ID. Our data-informed complexity metric finds the ideal complexity window, balancing model expressiveness and accuracy, enhancing generalizability without bias common in methods reliant on user-defined parameters, such as parsimony pressure in weight selection.
Fine-Grained 1-Day Vulnerability Detection in Binaries via Patch Code Localization
Venue: arXiv cs.CR 2025
Year: 2025

1-day vulnerabilities in binaries have become a major threat to software security. Patch presence test is one of the effective ways to detect the vulnerability. However, existing patch presence test works do not perform well in practical scenarios due to the interference from the various compilers and optimizations, patch-similar code blocks, and irrelevant functions in stripped binaries. In this paper, we propose a novel approach named PLocator, which leverages stable values from both the patch code and its context, extracted from the control flow graph, to accurately locate the real patch code in the target function, offering a practical solution for real-world vulnerability detection scenarios. To evaluate the effectiveness of PLocator, we collected 73 CVEs and constructed two comprehensive datasets ($Dataset_{-irr}$ and $Dataset_{+irr}$), comprising 1,090 and 27,250 test cases at four compilation optimization levels and two compilers with three different experiments, i.e., Same, XO (cross-optimizations), and XC (cross-compilers). The results demonstrate that PLocator achieves an average TPR of 88.2% and FPR of 12.9% in a short amount of time, outperforming state-of-the-art approaches by 26.7% and 63.5%, respectively, indicating that PLocator is more practical for the 1-day vulnerability detection task.
Human-Aligned Skill Discovery: Balancing Behaviour Exploration and Alignment
Venue: arXiv cs.LG 2025
Year: 2025

Unsupervised skill discovery in Reinforcement Learning aims to mimic humans' ability to autonomously discover diverse behaviors. However, existing methods are often unconstrained, making it difficult to find useful skills, especially in complex environments, where discovered skills are frequently unsafe or impractical. We address this issue by proposing Human-aligned Skill Discovery (HaSD), a framework that incorporates human feedback to discover safer, more aligned skills. HaSD simultaneously optimises skill diversity and alignment with human values. This approach ensures that alignment is maintained throughout the skill discovery process, eliminating the inefficiencies associated with exploring unaligned skills. We demonstrate its effectiveness in both 2D navigation and SafetyGymnasium environments, showing that HaSD discovers diverse, human-aligned skills that are safe and useful for downstream tasks. Finally, we extend HaSD by learning a range of configurable skills with varying degrees of diversity alignment trade-offs that could be useful in practical scenarios.
Bayesian BIM-Guided Construction Robot Navigation with NLP Safety Prompts in Dynamic Environments
Venue: arXiv cs.RO 2025
Year: 2025

Construction robotics increasingly relies on natural language processing for task execution, creating a need for robust methods to interpret commands in complex, dynamic environments. While existing research primarily focuses on what tasks robots should perform, less attention has been paid to how these tasks should be executed safely and efficiently. This paper presents a novel probabilistic framework that uses sentiment analysis from natural language commands to dynamically adjust robot navigation policies in construction environments. The framework leverages Building Information Modeling (BIM) data and natural language prompts to create adaptive navigation strategies that account for varying levels of environmental risk and uncertainty. We introduce an object-aware path planning approach that combines exponential potential fields with a grid-based representation of the environment, where the potential fields are dynamically adjusted based on the semantic analysis of user prompts. The framework employs Bayesian inference to consolidate multiple information sources: the static data from BIM, the semantic content of natural language commands, and the implied safety constraints from user prompts. We demonstrate our approach through experiments comparing three scenarios: baseline shortest-path planning, safety-oriented navigation, and risk-aware routing. Results show that our method successfully adapts path planning based on natural language sentiment, achieving a 50\% improvement in minimum distance to obstacles when safety is prioritized, while maintaining reasonable path lengths. Scenarios with contrasting prompts, such as "dangerous" and "safe", demonstrate the framework's ability to modify paths. This approach provides a flexible foundation for integrating human knowledge and safety considerations into construction robot navigation.
Formally Verifying a Transformation from MLTL Formulas to Regular Expressions
Venue: arXiv cs.LO 2025
Year: 2025

Mission-time Linear Temporal Logic (MLTL), a widely used subset of popular specification logics like STL and MTL, is often used to model and verify real world systems in safety-critical contexts. As the results of formal verification are only as trustworthy as their input specifications, the WEST tool was created to facilitate writing MLTL specifications. Accordingly, it is vital to demonstrate that WEST itself works correctly. To that end, we verify the WEST algorithm, which converts MLTL formulas to (logically equivalent) regular expressions, in the theorem prover Isabelle/HOL. Our top-level result establishes the correctness of the regular expression transformation; we then generate a code export from our verified development and use this to experimentally validate the existing WEST tool. To facilitate this, we develop some verified support for checking the equivalence of two regular expressions.
Large Language Models for Single-Step and Multi-Step Flight Trajectory Prediction
Venue: arXiv cs.AI 2025
Year: 2025

Flight trajectory prediction is a critical time series task in aviation. While deep learning methods have shown significant promise, the application of large language models (LLMs) to this domain remains underexplored. This study pioneers the use of LLMs for flight trajectory prediction by reframing it as a language modeling problem. Specifically, We extract features representing the aircraft's position and status from ADS-B flight data to construct a prompt-based dataset, where trajectory waypoints are converted into language tokens. The dataset is then employed to fine-tune LLMs, enabling them to learn complex spatiotemporal patterns for accurate predictions. Comprehensive experiments demonstrate that LLMs achieve notable performance improvements in both single-step and multi-step predictions compared to traditional methods, with LLaMA-3.1 model achieving the highest overall accuracy. However, the high inference latency of LLMs poses a challenge for real-time applications, underscoring the need for further research in this promising direction.
3DSES: an indoor Lidar point cloud segmentation dataset with real and pseudo-labels from a 3D model
Venue: arXiv cs.CV 2025
Year: 2025

Semantic segmentation of indoor point clouds has found various applications in the creation of digital twins for robotics, navigation and building information modeling (BIM). However, most existing datasets of labeled indoor point clouds have been acquired by photogrammetry. In contrast, Terrestrial Laser Scanning (TLS) can acquire dense sub-centimeter point clouds and has become the standard for surveyors. We present 3DSES (3D Segmentation of ESGT point clouds), a new dataset of indoor dense TLS colorized point clouds covering 427 m 2 of an engineering school. 3DSES has a unique double annotation format: semantic labels annotated at the point level alongside a full 3D CAD model of the building. We introduce a model-to-cloud algorithm for automated labeling of indoor point clouds using an existing 3D CAD model. 3DSES has 3 variants of various semantic and geometrical complexities. We show that our model-to-cloud alignment can produce pseudo-labels on our point clouds with a \> 95% accuracy, allowing us to train deep models with significant time savings compared to manual labeling. First baselines on 3DSES show the difficulties encountered by existing models when segmenting objects relevant to BIM, such as light and safety utilities. We show that segmentation accuracy can be improved by leveraging pseudo-labels and Lidar intensity, an information rarely considered in current datasets. Code and data will be open sourced.
Solving Urban Network Security Games: Learning Platform, Benchmark, and Challenge for AI Research
Venue: arXiv cs.AI 2025
Year: 2025

After the great achievement of solving two-player zero-sum games, more and more AI researchers focus on solving multiplayer games. To facilitate the development of designing efficient learning algorithms for solving multiplayer games, we propose a multiplayer game platform for solving Urban Network Security Games (\textbf{UNSG}) that model real-world scenarios. That is, preventing criminal activity is a highly significant responsibility assigned to police officers in cities, and police officers have to allocate their limited security resources to interdict the escaping criminal when a crime takes place in a city. This interaction between multiple police officers and the escaping criminal can be modeled as a UNSG. The variants of UNSGs can model different real-world settings, e.g., whether real-time information is available or not, and whether police officers can communicate or not. The main challenges of solving this game include the large size of the game and the co-existence of cooperation and competition. While previous efforts have been made to tackle UNSGs, they have been hampered by performance and scalability issues. Therefore, we propose an open-source UNSG platform (\textbf{GraphChase}) for designing efficient learning algorithms for solving UNSGs. Specifically, GraphChase offers a unified and flexible game environment for modeling various variants of UNSGs, supporting the development, testing, and benchmarking of algorithms. We believe that GraphChase not only facilitates the development of efficient algorithms for solving real-world problems but also paves the way for significant advancements in algorithmic development for solving general multiplayer games.