OpenRaiser/Intern-Atlas huggingface dataset:
LAV: Audio-Driven Dynamic Visual Generation with Neural Compression and StyleGAN2
Venue: arXiv cs.SD 2025
Year: 2025

This paper introduces LAV (Latent Audio-Visual), a system that integrates EnCodec's neural audio compression with StyleGAN2's generative capabilities to produce visually dynamic outputs driven by pre-recorded audio. Unlike previous works that rely on explicit feature mappings, LAV uses EnCodec embeddings as latent representations, directly transformed into StyleGAN2's style latent space via randomly initialized linear mapping. This approach preserves semantic richness in the transformation, enabling nuanced and semantically coherent audio-visual translations. The framework demonstrates the potential of using pretrained audio compression models for artistic and computational applications.
When Mitigations Backfire: Timing Channel Attacks and Defense for PRAC-Based RowHammer Mitigations
Venue: arXiv cs.CR 2025
Year: 2025

Per Row Activation Counting (PRAC) has emerged as a robust framework for mitigating RowHammer (RH) vulnerabilities in modern DRAM systems. However, we uncover a critical vulnerability: a timing channel introduced by the Alert Back-Off (ABO) protocol and Refresh Management (RFM) commands. We present PRACLeak, a novel attack that exploits these timing differences to leak sensitive information, such as secret keys from vulnerable AES implementations, by monitoring memory access latencies. To counter this, we propose Timing-Safe PRAC (TPRAC), a defense that eliminates PRAC-induced timing channels without compromising RH mitigation efficacy. TPRAC uses Timing-Based RFMs, issued periodically and independent of memory activity. It requires only a single-entry in-DRAM mitigation queue per DRAM bank and is compatible with existing DRAM standards. Our evaluations demonstrate that TPRAC closes timing channels while incurring only 3.4% performance overhead at the RH threshold of 1024.
A multi-head deep fusion model for recognition of cattle foraging events using sound and movement signals
Venue: arXiv cs.LG 2025
Year: 2025

Monitoring feeding behaviour is a relevant task for efficient herd management and the effective use of available resources in grazing cattle. The ability to automatically recognise animals' feeding activities through the identification of specific jaw movements allows for the improvement of diet formulation, as well as early detection of metabolic problems and symptoms of animal discomfort, among other benefits. The use of sensors to obtain signals for such monitoring has become popular in the last two decades. The most frequently employed sensors include accelerometers, microphones, and cameras, each with its own set of advantages and drawbacks. An unexplored aspect is the simultaneous use of multiple sensors with the aim of combining signals in order to enhance the precision of the estimations. In this direction, this work introduces a deep neural network based on the fusion of acoustic and inertial signals, composed of convolutional, recurrent, and dense layers. The main advantage of this model is the combination of signals through the automatic extraction of features independently from each of them. The model has emerged from an exploration and comparison of different neural network architectures proposed in this work, which carry out information fusion at different levels. Feature-level fusion has outperformed data and decision-level fusion by at least a 0.14 based on the F1-score metric. Moreover, a comparison with state-of-the-art machine learning methods is presented, including traditional and deep learning approaches. The proposed model yielded an F1-score value of 0.802, representing a 14% increase compared to previous methods. Finally, results from an ablation study and post-training quantization evaluation are also reported.
VolE: A Point-cloud Framework for Food 3D Reconstruction and Volume Estimation
Venue: arXiv cs.CV 2025
Year: 2025

Accurate food volume estimation is crucial for medical nutrition management and health monitoring applications, but current food volume estimation methods are often limited by mononuclear data, leveraging single-purpose hardware such as 3D scanners, gathering sensor-oriented information such as depth information, or relying on camera calibration using a reference object. In this paper, we present VolE, a novel framework that leverages mobile device-driven 3D reconstruction to estimate food volume. VolE captures images and camera locations in free motion to generate precise 3D models, thanks to AR-capable mobile devices. To achieve real-world measurement, VolE is a reference- and depth-free framework that leverages food video segmentation for food mask generation. We also introduce a new food dataset encompassing the challenging scenarios absent in the previous benchmarks. Our experiments demonstrate that VolE outperforms the existing volume estimation techniques across multiple datasets by achieving 2.22 % MAPE, highlighting its superior performance in food volume estimation.
Towards Safe Robot Foundation Models Using Inductive Biases
Venue: arXiv cs.RO 2025
Year: 2025

Safety is a critical requirement for the real-world deployment of robotic systems. Unfortunately, while current robot foundation models show promising generalization capabilities across a wide variety of tasks, they fail to address safety, an important aspect for ensuring long-term operation. Current robot foundation models assume that safe behavior should emerge by learning from a sufficiently large dataset of demonstrations. However, this approach has two clear major drawbacks. Firstly, there are no formal safety guarantees for a behavior cloning policy trained using supervised learning. Secondly, without explicit knowledge of any safety constraints, the policy may require an unreasonable number of additional demonstrations to even approximate the desired constrained behavior. To solve these key issues, we show how we can instead combine robot foundation models with geometric inductive biases using ATACOM, a safety layer placed after the foundation policy that ensures safe state transitions by enforcing action constraints. With this approach, we can ensure formal safety guarantees for generalist policies without providing extensive demonstrations of safe behavior, and without requiring any specific fine-tuning for safety. Our experiments show that our approach can be beneficial both for classical manipulation tasks, where we avoid unwanted collisions with irrelevant objects, and for dynamic tasks, such as the robot air hockey environment, where we can generate fast trajectories respecting complex tasks and joint space constraints.
Quad-LCD: Layered Control Decomposition Enables Actuator-Feasible Quadrotor Trajectory Planning
Venue: arXiv cs.RO 2025
Year: 2025

In this work, we specialize contributions from prior work on data-driven trajectory generation for a quadrotor system with motor saturation constraints. When motors saturate in quadrotor systems, there is an ``uncontrolled drift" of the vehicle that results in a crash. To tackle saturation, we apply a control decomposition and learn a tracking penalty from simulation data consisting of low, medium and high-cost reference trajectories. Our approach reduces crash rates by around $49\%$ compared to baselines on aggressive maneuvers in simulation. On the Crazyflie hardware platform, we demonstrate feasibility through experiments that lead to successful flights. Motivated by the growing interest in data-driven methods to quadrotor planning, we provide open-source lightweight code with an easy-to-use abstraction of hardware platforms.
Community Fact-Checks Do Not Break Follower Loyalty
Venue: arXiv cs.SI 2025
Year: 2025

Major social media platforms increasingly adopt community-based fact-checking to address misinformation on their platforms. While previous research has largely focused on its effect on engagement (e.g., reposts, likes), an understanding of how fact-checking affects a user's follower base is missing. In this study, we employ quasi-experimental methods to causally assess whether users lose followers after their posts are corrected via community fact-checks. Based on time-series data on follower counts for N=3516 community fact-checked posts from X, we find that community fact-checks do not lead to meaningful declines in the follower counts of users who post misleading content. This suggests that followers of spreaders of misleading posts tend to remain loyal and do not view community fact-checks as a sufficient reason to disengage. Our findings underscore the need for complementary interventions to more effectively disincentivize the production of misinformation on social media.
Inferring Driving Maps by Deep Learning-based Trail Map Extraction
Venue: arXiv cs.CV 2025
Year: 2025

High-definition (HD) maps offer extensive and accurate environmental information about the driving scene, making them a crucial and essential element for planning within autonomous driving systems. To avoid extensive efforts from manual labeling, methods for automating the map creation have emerged. Recent trends have moved from offline mapping to online mapping, ensuring availability and actuality of the utilized maps. While the performance has increased in recent years, online mapping still faces challenges regarding temporal consistency, sensor occlusion, runtime, and generalization. We propose a novel offline mapping approach that integrates trails - informal routes used by drivers - into the map creation process. Our method aggregates trail data from the ego vehicle and other traffic participants to construct a comprehensive global map using transformer-based deep learning models. Unlike traditional offline mapping, our approach enables continuous updates while remaining sensor-agnostic, facilitating efficient data transfer. Our method demonstrates superior performance compared to state-of-the-art online mapping approaches, achieving improved generalization to previously unseen environments and sensor configurations. We validate our approach on two benchmark datasets, highlighting its robustness and applicability in autonomous driving systems.
SpecOffload: Unlocking Latent GPU Capacity for LLM Inference on Resource-Constrained Devices
Venue: arXiv cs.LG 2025
Year: 2025

Efficient LLM inference on resource-constrained devices presents significant challenges in compute and memory utilization. Due to limited GPU memory, existing systems offload model weights to CPU memory, incurring substantial I/O overhead between the CPU and GPU. This leads to two major inefficiencies: (1) GPU cores are underutilized, often remaining idle while waiting for data to be loaded; and (2) GPU memory has low impact on performance, as reducing its capacity has minimal effect on overall throughput.In this paper, we propose SpecOffload, a high-throughput inference engine that embeds speculative decoding into offloading. Our key idea is to unlock latent GPU resources for storing and executing a draft model used for speculative decoding, thus accelerating inference at near-zero additional cost. To support this, we carefully orchestrate the interleaved execution of target and draft models in speculative decoding within the offloading pipeline, and propose a planner to manage tensor placement and select optimal parameters. Compared to the best baseline, SpecOffload improves GPU core utilization by 4.49x and boosts inference throughput by 2.54x. Our code is available at https://github.com/MobiSense/SpecOffload-public .
StoryReasoning Dataset: Using Chain-of-Thought for Scene Understanding and Grounded Story Generation
Venue: arXiv cs.CV 2025
Year: 2025

Visual storytelling systems struggle to maintain character identity across frames and link actions to appropriate subjects, frequently leading to referential hallucinations. These issues can be addressed through grounding of characters, objects, and other entities on the visual elements. We propose StoryReasoning, a dataset containing 4,178 stories derived from 52,016 movie images, with both structured scene analyses and grounded stories. Each story maintains character and object consistency across frames while explicitly modeling multi-frame relationships through structured tabular representations. Our approach features cross-frame object re-identification using visual similarity and face recognition, chain-of-thought reasoning for explicit narrative modeling, and a grounding scheme that links textual elements to visual entities across multiple frames. We establish baseline performance by fine-tuning Qwen2.5-VL 7B, creating Qwen Storyteller, which performs end-to-end object detection, re-identification, and landmark detection while maintaining consistent object references throughout the story. Evaluation demonstrates a reduction from 4.06 to 3.56 (-12.3%) hallucinations on average per story and an improvement in creativity from 2.58 to 3.38 (+31.0%) when compared to a non-fine-tuned model.
SOS: A Shuffle Order Strategy for Data Augmentation in Industrial Human Activity Recognition
Venue: arXiv cs.HC 2025
Year: 2025

In the realm of Human Activity Recognition (HAR), obtaining high quality and variance data is still a persistent challenge due to high costs and the inherent variability of real-world activities. This study introduces a generation dataset by deep learning approaches (Attention Autoencoder and conditional Generative Adversarial Networks). Another problem that data heterogeneity is a critical challenge, one of the solutions is to shuffle the data to homogenize the distribution. Experimental results demonstrate that the random sequence strategy significantly improves classification performance, achieving an accuracy of up to 0.70 $\pm$ 0.03 and a macro F1 score of 0.64 $\pm$ 0.01. For that, disrupting temporal dependencies through random sequence reordering compels the model to focus on instantaneous recognition, thereby improving robustness against activity transitions. This approach not only broadens the effective training dataset but also offers promising avenues for enhancing HAR systems in complex, real-world scenarios.
Private Transformer Inference in MLaaS: A Survey
Venue: arXiv cs.CR 2025
Year: 2025

Transformer models have revolutionized AI, powering applications like content generation and sentiment analysis. However, their deployment in Machine Learning as a Service (MLaaS) raises significant privacy concerns, primarily due to the centralized processing of sensitive user data. Private Transformer Inference (PTI) offers a solution by utilizing cryptographic techniques such as secure multi-party computation and homomorphic encryption, enabling inference while preserving both user data and model privacy. This paper reviews recent PTI advancements, highlighting state-of-the-art solutions and challenges. We also introduce a structured taxonomy and evaluation framework for PTI, focusing on balancing resource efficiency with privacy and bridging the gap between high-performance inference and data privacy.
J1: Incentivizing Thinking in LLM-as-a-Judge via Reinforcement Learning
Venue: arXiv cs.CL 2025
Year: 2025

The progress of AI is bottlenecked by the quality of evaluation, making powerful LLM-as-a-Judge models a core solution. The efficacy of these judges depends on their chain-of-thought reasoning, creating a critical need for methods that can effectively optimize this reasoning process. In this work, we introduce J1, a reinforcement learning framework for teaching LLM judges to think before making decisions. Our core contribution lies in converting all judgment tasks for non-verifiable and verifiable prompts into a unified format with verifiable rewards, enabling direct optimization of evaluation quality while mitigating positional bias. We then use RL to train thinking-judges at scales of 8B, 32B, and 70B and show that they obtain state-of-the-art performance across multiple benchmarks. In particular, J1-Qwen-32B, our multitasked pointwise and pairwise judge also outperforms o1-mini, o3, and a much larger 671B DeepSeek-R1 on some benchmarks, while only training on synthetic data. Through comprehensive ablations of pairwise, pointwise, and multitask J1 variants, we demonstrate the effectiveness of our approach across seed prompts, reward strategies, and training recipes. Qualitative analysis reveals that J1 develops systematic evaluation strategies, including dynamic criteria generation, reference answer creation, iterative self-correction of initial assessments, and feedback generation for low-quality responses.
AutoPentest: Enhancing Vulnerability Management With Autonomous LLM Agents
Venue: arXiv cs.CR 2025
Year: 2025

A recent area of increasing research is the use of Large Language Models (LLMs) in penetration testing, which promises to reduce costs and thus allow for higher frequency. We conduct a review of related work, identifying best practices and common evaluation issues. We then present AutoPentest, an application for performing black-box penetration tests with a high degree of autonomy. AutoPentest is based on the LLM GPT-4o from OpenAI and the LLM agent framework LangChain. It can perform complex multi-step tasks, augmented by external tools and knowledge bases. We conduct a study on three capture-the-flag style Hack The Box (HTB) machines, comparing our implementation AutoPentest with the baseline approach of manually using the ChatGPT-4o user interface. Both approaches are able to complete 15-25 % of the subtasks on the HTB machines, with AutoPentest slightly outperforming ChatGPT. We measure a total cost of \$96.20 US when using AutoPentest across all experiments, while a one-month subscription to ChatGPT Plus costs \$20. The results show that further implementation efforts and the use of more powerful LLMs released in the future are likely to make this a viable part of vulnerability management.
An Introduction to Discrete Variational Autoencoders
Venue: arXiv cs.LG 2025
Year: 2025

Variational Autoencoders (VAEs) are well-established as a principled approach to probabilistic unsupervised learning with neural networks. Typically, an encoder network defines the parameters of a Gaussian distributed latent space from which we can sample and pass realizations to a decoder network. This model is trained to reconstruct its inputs and is optimized through the evidence lower bound. In recent years, discrete latent spaces have grown in popularity, suggesting that they may be a natural choice for many data modalities (e.g. text). In this tutorial, we provide a rigorous, yet practical, introduction to discrete variational autoencoders -- specifically, VAEs in which the latent space is made up of latent variables that follow a categorical distribution. We assume only a basic mathematical background with which we carefully derive each step from first principles. From there, we develop a concrete training recipe and provide an example implementation, hosted at https://github.com/alanjeffares/discreteVAE.
Uniform Loss vs. Specialized Optimization: A Comparative Analysis in Multi-Task Learning
Venue: arXiv cs.LG 2025
Year: 2025

Specialized Multi-Task Optimizers (SMTOs) balance task learning in Multi-Task Learning by addressing issues like conflicting gradients and differing gradient norms, which hinder equal-weighted task training. However, recent critiques suggest that equally weighted tasks can achieve competitive results compared to SMTOs, arguing that previous SMTO results were influenced by poor hyperparameter optimization and lack of regularization. In this work, we evaluate these claims through an extensive empirical evaluation of SMTOs, including some of the latest methods, on more complex multi-task problems to clarify this behavior. Our findings indicate that SMTOs perform well compared to uniform loss and that fixed weights can achieve competitive performance compared to SMTOs. Furthermore, we demonstrate why uniform loss perform similarly to SMTOs in some instances. The source code is available at https://github.com/Gabriel-SGama/UnitScal_vs_SMTOs.
A Unified and Scalable Membership Inference Method for Visual Self-supervised Encoder via Part-aware Capability
Venue: arXiv cs.CV 2025
Year: 2025

Self-supervised learning shows promise in harnessing extensive unlabeled data, but it also confronts significant privacy concerns, especially in vision. In this paper, we perform membership inference on visual self-supervised models in a more realistic setting: self-supervised training method and details are unknown for an adversary when attacking as he usually faces a black-box system in practice. In this setting, considering that self-supervised model could be trained by completely different self-supervised paradigms, e.g., masked image modeling and contrastive learning, with complex training details, we propose a unified membership inference method called PartCrop. It is motivated by the shared part-aware capability among models and stronger part response on the training data. Specifically, PartCrop crops parts of objects in an image to query responses within the image in representation space. We conduct extensive attacks on self-supervised models with different training protocols and structures using three widely used image datasets. The results verify the effectiveness and generalization of PartCrop. Moreover, to defend against PartCrop, we evaluate two common approaches, i.e., early stop and differential privacy, and propose a tailored method called shrinking crop scale range. The defense experiments indicate that all of them are effective. Finally, besides prototype testing on toy visual encoders and small-scale image datasets, we quantitatively study the impacts of scaling from both data and model aspects in a realistic scenario and propose a scalable PartCrop-v2 by introducing two structural improvements to PartCrop. Our code is at https://github.com/JiePKU/PartCrop.
NVSPolicy: Adaptive Novel-View Synthesis for Generalizable Language-Conditioned Policy Learning
Venue: arXiv cs.RO 2025
Year: 2025

Recent advances in deep generative models demonstrate unprecedented zero-shot generalization capabilities, offering great potential for robot manipulation in unstructured environments. Given a partial observation of a scene, deep generative models could generate the unseen regions and therefore provide more context, which enhances the capability of robots to generalize across unseen environments. However, due to the visual artifacts in generated images and inefficient integration of multi-modal features in policy learning, this direction remains an open challenge. We introduce NVSPolicy, a generalizable language-conditioned policy learning method that couples an adaptive novel-view synthesis module with a hierarchical policy network. Given an input image, NVSPolicy dynamically selects an informative viewpoint and synthesizes an adaptive novel-view image to enrich the visual context. To mitigate the impact of the imperfect synthesized images, we adopt a cycle-consistent VAE mechanism that disentangles the visual features into the semantic feature and the remaining feature. The two features are then fed into the hierarchical policy network respectively: the semantic feature informs the high-level meta-skill selection, and the remaining feature guides low-level action estimation. Moreover, we propose several practical mechanisms to make the proposed method efficient. Extensive experiments on CALVIN demonstrate the state-of-the-art performance of our method. Specifically, it achieves an average success rate of 90.4\% across all tasks, greatly outperforming the recent methods. Ablation studies confirm the significance of our adaptive novel-view synthesis paradigm. In addition, we evaluate NVSPolicy on a real-world robotic platform to demonstrate its practical applicability.