OpenRaiser/Intern-Atlas huggingface dataset:
Zero-shot Whole-Body Manipulation with a Large-Scale Soft Robotic Torso via Guided Reinforcement Learning
Venue: arXiv cs.RO 2025
Year: 2025

Whole-body manipulation is a powerful yet underexplored approach that enables robots to interact with large, heavy, or awkward objects using more than just their end-effectors. Soft robots, with their inherent passive compliance, are particularly well-suited for such contact-rich manipulation tasks, but their uncertainties in kinematics and dynamics pose significant challenges for simulation and control. In this work, we address this challenge with a simulation that can run up to 350x real time on a single thread in MuJoCo and provide a detailed analysis of the critical tradeoffs between speed and accuracy for this simulation. Using this framework, we demonstrate a successful zero-shot sim-to-real transfer of a learned whole-body manipulation policy, achieving an 88% success rate on the Baloo hardware platform. We show that guiding RL with a simple motion primitive is critical to this success where standard reward shaping methods struggled to produce a stable and successful policy for whole-body manipulation. Furthermore, our analysis reveals that the learned policy does not simply mimic the motion primitive. It exhibits beneficial reactive behavior, such as re-grasping and perturbation recovery. We analyze and contrast this learned policy against an open-loop baseline to show that the policy can also exhibit aggressive over-corrections under perturbation. To our knowledge, this is the first demonstration of forceful, six-DoF whole-body manipulation using two continuum soft arms on a large-scale platform (10 kg payloads), with zero-shot policy transfer.
A Hierarchical Structure-Enhanced Personalized Recommendation Model for Traditional Chinese Medicine Formulas Based on KG Diffusion Guidance
Venue: arXiv cs.AI 2025
Year: 2025

Artificial intelligence technology plays a crucial role in recommending prescriptions for traditional Chinese medicine (TCM). Previous studies have made significant progress by focusing on the symptom-herb relationship in prescriptions. However, several limitations hinder model performance: (i) Insufficient attention to patient-personalized information such as age, BMI, and medical history, which hampers accurate identification of syndrome and reduces efficacy. (ii) The typical long-tailed distribution of herb data introduces training biases and affects generalization ability. (iii) The oversight of the 'monarch, minister, assistant and envoy' compatibility among herbs increases the risk of toxicity or side effects, opposing the 'treatment based on syndrome differentiation' principle in clinical TCM. Therefore, we propose a novel hierarchical structure-enhanced personalized recommendation model for TCM formulas based on knowledge graph diffusion guidance, namely TCM-HEDPR. Specifically, we pre-train symptom representations using patient-personalized prompt sequences and apply prompt-oriented contrastive learning for data augmentation. Furthermore, we employ a KG-guided homogeneous graph diffusion method integrated with a self-attention mechanism to globally capture the non-linear symptom-herb relationship. Lastly, we design a heterogeneous graph hierarchical network to integrate herbal dispensing relationships with implicit syndromes, guiding the prescription generation process at a fine-grained level and mitigating the long-tailed herb data distribution problem. Extensive experiments on two public datasets and one clinical dataset demonstrate the effectiveness of TCM-HEDPR. In addition, we incorporate insights from modern medicine and network pharmacology to evaluate the recommended prescriptions comprehensively. It can provide a new paradigm for the recommendation of modern TCM.
RAVEN: Resilient Aerial Navigation via Open-Set Semantic Memory and Behavior Adaptation
Venue: arXiv cs.RO 2025
Year: 2025

Aerial outdoor semantic navigation requires robots to explore large, unstructured environments to locate target objects. Recent advances in semantic navigation have demonstrated open-set object-goal navigation in indoor settings, but these methods remain limited by constrained spatial ranges and structured layouts, making them unsuitable for long-range outdoor search. While outdoor semantic navigation approaches exist, they either rely on reactive policies based on current observations, which tend to produce short-sighted behaviors, or precompute scene graphs offline for navigation, limiting adaptability to online deployment. We present RAVEN, a 3D memory-based, behavior tree framework for aerial semantic navigation in unstructured outdoor environments. It (1) uses a spatially consistent semantic voxel-ray map as persistent memory, enabling long-horizon planning and avoiding purely reactive behaviors, (2) combines short-range voxel search and long-range ray search to scale to large environments, (3) leverages a large vision-language model to suggest auxiliary cues, mitigating sparsity of outdoor targets. These components are coordinated by a behavior tree, which adaptively switches behaviors for robust operation. We evaluate RAVEN in 10 photorealistic outdoor simulation environments over 100 semantic tasks, encompassing single-object search, multi-class, multi-instance navigation and sequential task changes. Results show RAVEN outperforms baselines by 85.25% in simulation and demonstrate its real-world applicability through deployment on an aerial robot in outdoor field tests.
VividFace: High-Quality and Efficient One-Step Diffusion For Video Face Enhancement
Venue: arXiv cs.CV 2025
Year: 2025

Video Face Enhancement (VFE) aims to restore high-quality facial regions from degraded video sequences, enabling a wide range of practical applications. Despite substantial progress in the field, current methods that primarily rely on video super-resolution and generative frameworks continue to face three fundamental challenges: (1) computational inefficiency caused by iterative multi-step denoising in diffusion models; (2) faithfully modeling intricate facial textures while preserving temporal consistency; and (3) limited model generalization due to the lack of high-quality face video training data. To address these challenges, we propose VividFace, a novel and efficient one-step diffusion framework for VFE. Built upon the pretrained WANX video generation model, VividFace reformulates the traditional multi-step diffusion process as a single-step flow matching paradigm that directly maps degraded inputs to high-quality outputs with significantly reduced inference time. To enhance facial detail recovery, we introduce a Joint Latent-Pixel Face-Focused Training strategy that constructs spatiotemporally aligned facial masks to guide optimization toward critical facial regions in both latent and pixel spaces. Furthermore, we develop an MLLM-driven automated filtering pipeline that produces MLLM-Face90, a meticulously curated high-quality face video dataset, ensuring models learn from photorealistic facial textures. Extensive experiments demonstrate that VividFace achieves superior performance in perceptual quality, identity preservation, and temporal consistency across both synthetic and real-world benchmarks. We will publicly release our code, models, and dataset to support future research.
PSG-Agent: Personality-Aware Safety Guardrail for LLM-based Agents
Venue: arXiv cs.AI 2025
Year: 2025

Effective guardrails are essential for safely deploying LLM-based agents in critical applications. Despite recent advances, existing guardrails suffer from two fundamental limitations: (i) they apply uniform guardrail policies to all users, ignoring that the same agent behavior can harm some users while being safe for others; (ii) they check each response in isolation, missing how risks evolve and accumulate across multiple interactions. To solve these issues, we propose PSG-Agent, a personalized and dynamic system for LLM-based agents. First, PSG-Agent creates personalized guardrails by mining the interaction history for stable traits and capturing real-time states from current queries, generating user-specific risk thresholds and protection strategies. Second, PSG-Agent implements continuous monitoring across the agent pipeline with specialized guards, including Plan Monitor, Tool Firewall, Response Guard, Memory Guardian, that track cross-turn risk accumulation and issue verifiable verdicts. Finally, we validate PSG-Agent in multiple scenarios including healthcare, finance, and daily life automation scenarios with diverse user profiles. It significantly outperform existing agent guardrails including LlamaGuard3 and AGrail, providing an executable and auditable path toward personalized safety for LLM-based agents.
Hardness and Algorithmic Results for Roman \{3\}-Domination
Venue: arXiv cs.CC 2025
Year: 2025

A Roman $\{3\}$-dominating function on a graph $G = (V, E)$ is a function $f: V \rightarrow \{0, 1, 2, 3\}$ such that for each vertex $u \in V$, if $f(u) = 0$ then $\sum_{v \in N(u)} f(v) \geq 3$ and if $f(u) = 1$ then $\sum_{v \in N(u)} f(v) \geq 2$. The weight of a Roman $\{3\}$-dominating function $f$ is $\sum_{u \in V} f(u)$. The objective of \rtd{} is to compute a Roman $\{3\}$-dominating function of minimum weight. The problem is known to be NP-complete on chordal graphs, star-convex bipartite graphs and comb-convex bipartite graphs. In this paper, we study the complexity of \rtd{} and show that the problem is NP-complete on split graphs. In addition, we prove that the problem is W[2]-hard parameterized by weight. On the positive front, we present a polynomial-time algorithm for block graphs, thereby resolving an open question posed by Chaudhary and Pradhan [Discrete Applied Mathematics, 2024].
Generalizable Speech Deepfake Detection via Information Bottleneck Enhanced Adversarial Alignment
Venue: arXiv cs.SD 2025
Year: 2025

Neural speech synthesis techniques have enabled highly realistic speech deepfakes, posing major security risks. Speech deepfake detection is challenging due to distribution shifts across spoofing methods and variability in speakers, channels, and recording conditions. We explore learning shared discriminative features as a path to robust detection and propose Information Bottleneck enhanced Confidence-Aware Adversarial Network (IB-CAAN). Confidence-guided adversarial alignment adaptively suppresses attack-specific artifacts without erasing discriminative cues, while the information bottleneck removes nuisance variability to preserve transferable features. Experiments on ASVspoof 2019/2021, ASVspoof 5, and In-the-Wild demonstrate that IB-CAAN consistently outperforms baseline and achieves state-of-the-art performance on many benchmarks.
Reasoning Scaffolding: Distilling the Flow of Thought from LLMs
Venue: arXiv cs.AI 2025
Year: 2025

The prevailing approach to distilling reasoning from Large Language Models (LLMs)-behavioral cloning from textual rationales-is fundamentally limited. It teaches Small Language Models (SLMs) to mimic surface-level patterns rather than the underlying algorithmic structure of thought, resulting in a critical lack of logical robustness. We argue that instead of cloning text, distillation should transfer this algorithmic structure directly. We introduce Reasoning Scaffolding}, a framework that reframes reasoning as a structured generation process. Our method first abstracts the teacher's thought process into a sequence of discrete, interpretable semantic signals (e.g., Contrast, Addition) that act as a scaffold. The student model is then trained via a multi-task objective to both (1)predict the next semantic signal, anticipating the reasoning flow, and (2)generate the corresponding step, conditioned on that signal. This multi-task scheme acts as a powerful regularizer, compelling the student to internalize the computational patterns of coherent reasoning. On a suite of challenging reasoning benchmarks, our method significantly outperforms state-of-the-art distillation in both accuracy and logical consistency, providing a path towards creating smaller models that are genuine reasoners, not just fluent mimics.
MotionVerse: A Unified Multimodal Framework for Motion Comprehension, Generation and Editing
Venue: arXiv cs.CV 2025
Year: 2025

This paper proposes MotionVerse, a unified framework that harnesses the capabilities of Large Language Models (LLMs) to comprehend, generate, and edit human motion in both single-person and multi-person scenarios. To efficiently represent motion data, we employ a motion tokenizer with residual quantization, which converts continuous motion sequences into multi-stream discrete tokens. Furthermore, we introduce a \textit{Delay Parallel} Modeling strategy, which temporally staggers the encoding of residual token streams. This design enables LLMs to effectively capture inter-stream dependencies while maintaining computational efficiency comparable to single-stream modeling. Moreover, to alleviate modality interference between motion and language, we design a \textit{dual-tower architecture} with modality-specific parameters, ensuring stable integration of motion information for both comprehension and generation tasks. Comprehensive ablation studies demonstrate the effectiveness of each component in MotionVerse, and extensive experiments showcase its superior performance across a wide range of motion-relevant tasks.
EfficientMIL: Efficient Linear-Complexity MIL Method for WSI Classification
Venue: arXiv cs.CV 2025
Year: 2025

Whole slide images (WSIs) classification represents a fundamental challenge in computational pathology, where multiple instance learning (MIL) has emerged as the dominant paradigm. Current state-of-the-art (SOTA) MIL methods rely on attention mechanisms, achieving good performance but requiring substantial computational resources due to quadratic complexity when processing hundreds of thousands of patches. To address this computational bottleneck, we introduce EfficientMIL, a novel linear-complexity MIL approach for WSIs classification with the patches selection module Adaptive Patch Selector (APS) that we designed, replacing the quadratic-complexity self-attention mechanisms in Transformer-based MIL methods with efficient sequence models including RNN-based GRU, LSTM, and State Space Model (SSM) Mamba. EfficientMIL achieves significant computational efficiency improvements while outperforming other MIL methods across multiple histopathology datasets. On TCGA-Lung dataset, EfficientMIL-Mamba achieved AUC of 0.976 and accuracy of 0.933, while on CAMELYON16 dataset, EfficientMIL-GRU achieved AUC of 0.990 and accuracy of 0.975, surpassing previous state-of-the-art methods. Extensive experiments demonstrate that APS is also more effective for patches selection than conventional selection strategies.
Color-Pair Guided Robust Zero-Shot 6D Pose Estimation and Tracking of Cluttered Objects on Edge Devices
Venue: arXiv cs.CV 2025
Year: 2025

Robust 6D pose estimation of novel objects under challenging illumination remains a significant challenge, often requiring a trade-off between accurate initial pose estimation and efficient real-time tracking. We present a unified framework explicitly designed for efficient execution on edge devices, which synergizes a robust initial estimation module with a fast motion-based tracker. The key to our approach is a shared, lighting-invariant color-pair feature representation that forms a consistent foundation for both stages. For initial estimation, this feature facilitates robust registration between the live RGB-D view and the object's 3D mesh. For tracking, the same feature logic validates temporal correspondences, enabling a lightweight model to reliably regress the object's motion. Extensive experiments on benchmark datasets demonstrate that our integrated approach is both effective and robust, providing competitive pose estimation accuracy while maintaining high-fidelity tracking even through abrupt pose changes.
LLaVA-OneVision-1.5: Fully Open Framework for Democratized Multimodal Training
Venue: arXiv cs.CV 2025
Year: 2025

We present LLaVA-OneVision-1.5, a novel family of Large Multimodal Models (LMMs) that achieve state-of-the-art performance with significantly reduced computational and financial costs. Different from the existing works, LLaVA-OneVision-1.5 provides an open, efficient, and reproducible framework for building high-quality vision-language models entirely from scratch. The LLaVA-OneVision-1.5 release comprises three primary components: (1) Large-Scale Curated Datasets: We construct an 85M concept-balanced pretraining dataset LLaVA-OneVision-1.5-Mid-Traning and a meticulously curated 22M instruction dataset LLaVA-OneVision-1.5-Instruct. (2) Efficient Training Framework: We develop a complete end-to-end efficient training framework leveraging an offline parallel data packing strategy to facilitate the training of LLaVA-OneVision-1.5 within a $16,000 budget. (3) State-of-the-art Performance: Experimental results demonstrate that LLaVA-OneVision-1.5 yields exceptionally competitive performance across a broad range of downstream tasks. Specifically, LLaVA-OneVision-1.5-8B outperforms Qwen2.5-VL-7B on 18 of 27 benchmarks, and LLaVA-OneVision-1.5-4B surpasses Qwen2.5-VL-3B on all 27 benchmarks. (4) RL-based Post-training: We unlock the model's latent potential through a lightweight RL stage, effectively eliciting robust chain-of-thought reasoning to significantly boost performance on complex multimodal reasoning tasks.
Why Alignment Must Precede Distillation: A Minimal Working Explanation
Venue: arXiv cs.LG 2025
Year: 2025

For efficiency, preference alignment is often performed on compact, knowledge-distilled (KD) models. We argue this common practice introduces a significant limitation by overlooking a key property of the alignment's reference model: its distributional recall. We show that the standard KD -> Align workflow diminishes the model's capacity to align rare yet desirable behaviors, even under strong preference signals. We instead demonstrate that reversing the pipeline (i.e., Align -> KD) is essential: alignment must first be performed on a high-recall reference before distillation. Our contributions are threefold. First, we provide a minimal working explanation of how the reference model constrains preference alignment objectives at a fundamental level. Second, we validate this theory in a controllable Mixture-of-Gaussians experiment, where low-recall anchoring consistently results in suboptimal model performance. Finally, we demonstrate that the same phenomenon holds in LLM alignment with the SmolLM2 family: models aligned after KD fail to effectively align target behaviors, resulting in substantially lower reward and target precision. In contrast, our proposed Align -> KD pipeline robustly aligns these behaviors, yielding models with superior target-oriented metrics and lower variance. Together, these results establish reference-model recall as a first-order design choice in alignment, offering a clear principle: alignment must precede distillation.
MSD-KMamba: Bidirectional Spatial-Aware Multi-Modal 3D Brain Segmentation via Multi-scale Self-Distilled Fusion Strategy
Venue: arXiv cs.CV 2025
Year: 2025

Numerous CNN-Transformer hybrid models rely on high-complexity global attention mechanisms to capture long-range dependencies, which introduces non-linear computational complexity and leads to significant resource consumption. Although knowledge distillation and sparse attention mechanisms can improve efficiency, they often fall short of delivering the high segmentation accuracy necessary for complex tasks. Balancing model performance with computational efficiency remains a critical challenge. In this work, we propose a novel 3D multi-modal image segmentation framework, termed MSD-KMamba, which integrates bidirectional spatial perception with multi-scale self-distillation. The bidirectional spatial aware branch effectively captures long-range spatial context dependencies across brain regions, while also incorporating a powerful nonlinear feature extraction mechanism that further enhances the model's ability to learn complex and heterogeneous patterns. In addition, the proposed multi-scale self-distilled fusion strategy strengthens hierarchical feature representations and improves the transfer of semantic information at different resolution levels. By jointly leveraging the bidirectional spatial perception branch and the multi-scale self-distilled fusion strategy, our framework effectively mitigates the bottleneck of quadratic computational complexity in volumetric segmentation, while simultaneously addressing the limitation of insufficient global perception. Extensive experiments on multiple standard benchmark datasets demonstrate that MSD-KMamba consistently outperforms state-of-the-art methods in segmentation accuracy, robustness, and generalization, while maintaining high computational efficiency and favorable scalability. The source code of MSD-KMamba is publicly available at https://github.com/daimao-zhang/MSD-KMamba.
A First Look at Privacy Risks of Android Task-executable Voice Assistant Applications
Venue: arXiv cs.CR 2025
Year: 2025

With the development of foundation AI technologies, task-executable voice assistants (VAs) have become more popular, enhancing user convenience and expanding device functionality. Android task-executable VAs are applications that are capable of understanding complex tasks and performing corresponding operations. Given their prevalence and great autonomy, there is no existing work examine the privacy risks within the voice assistants from the task-execution pattern in a holistic manner. To fill this research gap, this paper presents a user-centric comprehensive empirical study on privacy risks in Android task-executable VA applications. We collect ten mainstream VAs as our research target and analyze their operational characteristics. We then cross-check their privacy declarations across six sources, including privacy labels, policies, and manifest files, and our findings reveal widespread inconsistencies. Moreover, we uncover three significant privacy threat models: (1) privacy misdisclosure in mega apps, where integrated mini apps such as Alexa skills are inadequately represented; (2) privilege escalation via inter-application interactions, which exploit Android's communication mechanisms to bypass user consent; and (3) abuse of Google system applications, enabling apps to evade the declaration of dangerous permissions. Our study contributes actionable recommendations for practitioners and underscores broader relevance of these privacy risks to emerging autonomous AI agents.
Evaluating Program Semantics Reasoning with Type Inference in System F
Venue: arXiv cs.CL 2025
Year: 2025

Large Language Models (LLMs) are increasingly integrated into the software engineering ecosystem. Their test-time compute (TTC) reasoning capabilities show significant potential for understanding program logic and semantics beyond mere token recognition. However, current benchmarks for code reasoning lack a formal, program-centric deductive framework to ensure sound evaluation, and are incapable of assessing whether models genuinely reason about program semantics or merely exploit superficial associations between natural language and code tokens. To bridge this gap, we introduce TF-Bench, a benchmark designed to evaluate LLM reasoning based on type inference in System F, a task we refer to as program semantics reasoning. By employing verified transformations to remove semantically irrelevant natural language, we construct TF-Bench_pure, a purely semantics-driven variant of TF-Bench. Our analysis reveals substantial limitations in state-of-the-art LLMs, with the best-performing LLM (Claude-3.7-sonnet) achieving only 55.85% accuracy on TF-Bench_pure. Additionally, we propose two novel metrics to assess robustness and the effectiveness of test-time reasoning, underscoring critical limitations in current LLM capabilities and highlighting essential directions for future research.