OpenRaiser/Intern-Atlas huggingface dataset:
Learning from 10 Demos: Generalisable and Sample-Efficient Policy Learning with Oriented Affordance Frames
Venue: arXiv cs.RO 2025
Year: 2025

Imitation learning has unlocked the potential for robots to exhibit highly dexterous behaviours. However, it still struggles with long-horizon, multi-object tasks due to poor sample efficiency and limited generalisation. Existing methods require a substantial number of demonstrations to cover possible task variations, making them costly and often impractical for real-world deployment. We address this challenge by introducing oriented affordance frames, a structured representation for state and action spaces that improves spatial and intra-category generalisation and enables policies to be learned efficiently from only 10 demonstrations. More importantly, we show how this abstraction allows for compositional generalisation of independently trained sub-policies to solve long-horizon, multi-object tasks. To seamlessly transition between sub-policies, we introduce the notion of self-progress prediction, which we directly derive from the duration of the training demonstrations. We validate our method across three real-world tasks, each requiring multi-step, multi-object interactions. Despite the small dataset, our policies generalise robustly to unseen object appearances, geometries, and spatial arrangements, achieving high success rates without reliance on exhaustive training data. Video demonstration can be found on our project page: https://affordance-policy.github.io/.
FragNet: A Graph Neural Network for Molecular Property Prediction with Four Levels of Interpretability
Venue: arXiv cs.LG 2025
Year: 2025

Molecular property prediction is essential in a variety of contemporary scientific fields, such as drug development and designing energy storage materials. Although there are many machine learning models available for this purpose, those that achieve high accuracy while also offering interpretability of predictions are uncommon. We present a graph neural network that not only matches the prediction accuracies of leading models but also provides insights on four levels of molecular substructures. This model helps identify which atoms, bonds, molecular fragments, and connections between fragments are significant for predicting a specific molecular property. Understanding the importance of connections between fragments is particularly valuable for molecules with substructures that do not connect through standard bonds. The model additionally can quantify the impact of specific fragments on the prediction, allowing the identification of fragments that may improve or degrade a property value. These interpretable features are essential for deriving scientific insights from the model's learned relationships between molecular structures and properties.
On A Scale From 1 to 5: Quantifying Hallucination in Faithfulness Evaluation
Venue: arXiv cs.CL 2025
Year: 2025

Hallucination has been a popular topic in natural language generation (NLG). In real-world applications, unfaithful content can result in poor data quality or loss of trust from end users. Thus, it is crucial to fact-check before adopting NLG for production usage, which can be expensive if done manually. In this paper, we investigate automated faithfulness evaluation in guided NLG. We developed a rubric template and used large language models (LLMs) to score the generation on quantifiable scales. We compared popular LLMs as well as widely adopted natural language inference (NLI) models in scoring quality and sensitivity. In addition, we developed methods for the generation of synthetic unfaithful data, as well as heuristics to quantify the percentage of hallucination. Our results on 4 travel-domain industry dataset show that GPT-4 can provide accurate judgement and explanation of whether a source and a generation are factually consistent. Furthermore, we found that tuning NLI models on synthetic data can improve performance. Lastly, we present insights on the latency and cost of deploying such a system.
Transfer Learning on Multi-Dimensional Data: A Novel Approach to Neural Network-Based Surrogate Modeling
Venue: arXiv cs.LG 2025
Year: 2025

The development of efficient surrogates for partial differential equations (PDEs) is a critical step towards scalable modeling of complex, multiscale systems-of-systems. Convolutional neural networks (CNNs) have gained popularity as the basis for such surrogate models due to their success in capturing high-dimensional input-output mappings and the negligible cost of a forward pass. However, the high cost of generating training data -- typically via classical numerical solvers -- raises the question of whether these models are worth pursuing over more straightforward alternatives with well-established theoretical foundations, such as Monte Carlo methods. To reduce the cost of data generation, we propose training a CNN surrogate model on a mixture of numerical solutions to both the $d$-dimensional problem and its ($d-1$)-dimensional approximation, taking advantage of the efficiency savings guaranteed by the curse of dimensionality. We demonstrate our approach on a multiphase flow test problem, using transfer learning to train a dense fully-convolutional encoder-decoder CNN on the two classes of data. Numerical results from a sample uncertainty quantification task demonstrate that our surrogate model outperforms Monte Carlo with several times the data generation budget.
VisAnatomy: An SVG Chart Corpus with Fine-Grained Semantic Labels
Venue: arXiv cs.HC 2025
Year: 2025

Chart corpora, which comprise data visualizations and their semantic labels, are crucial for advancing visualization research. However, the labels in most existing corpora are high-level (e.g., chart types), hindering their utility for broader applications in the era of AI. In this paper, we contribute VISANATOMY, a corpus containing 942 real-world SVG charts produced by over 50 tools, encompassing 40 chart types and featuring structural and stylistic design variations. Each chart is augmented with multi-level fine-grained labels on its semantic components, including each graphical element's type, role, and position, hierarchical groupings of elements, group layouts, and visual encodings. In total, VISANATOMY provides labels for more than 383k graphical elements. We demonstrate the richness of the semantic labels by comparing VISANATOMY with existing corpora. We illustrate its usefulness through four applications: semantic role inference for SVG elements, chart semantic decomposition, chart type classification, and content navigation for accessibility. Finally, we discuss research opportunities to further improve VISANATOMY.
Selfdual skew cyclic codes
Venue: arXiv cs.IT 2025
Year: 2025

Given a finite extension $K/F$ of degree $r$ of a finite field $F$, we enumerate all selfdual skew cyclic codes in the Ore quotient ring $K[X;\text{Frob}]/(X^{rk}-1)$ for any positive integer $k$ coprime to the characteristic $p$ (separable case). We also provide an enumeration algorithm when $k$ is a power of $p$ (purely inseparable case), at the cost of some redundancies. Our approach is based on an explicit bijection between skew cyclic codes, on the one hand, and certain families of $F$-linear subspaces of some extensions of $K$. Finally, we report on an implementation in SageMath.
Reconstruction of Differentially Private Text Sanitization via Large Language Models
Venue: arXiv cs.CR 2025
Year: 2025

Differential privacy (DP) is the de facto privacy standard against privacy leakage attacks, including many recently discovered ones against large language models (LLMs). However, we discovered that LLMs could reconstruct the altered/removed privacy from given DP-sanitized prompts. We propose two attacks (black-box and white-box) based on the accessibility to LLMs and show that LLMs could connect the pair of DP-sanitized text and the corresponding private training data of LLMs by giving sample text pairs as instructions (in the black-box attacks) or fine-tuning data (in the white-box attacks). To illustrate our findings, we conduct comprehensive experiments on modern LLMs (e.g., LLaMA-2, LLaMA-3, ChatGPT-3.5, ChatGPT-4, ChatGPT-4o, Claude-3, Claude-3.5, OPT, GPT-Neo, GPT-J, Gemma-2, and Pythia) using commonly used datasets (such as WikiMIA, Pile-CC, and Pile-Wiki) against both word-level and sentence-level DP. The experimental results show promising recovery rates, e.g., the black-box attacks against the word-level DP over WikiMIA dataset gave 72.18% on LLaMA-2 (70B), 82.39% on LLaMA-3 (70B), 75.35% on Gemma-2, 91.2% on ChatGPT-4o, and 94.01% on Claude-3.5 (Sonnet). More urgently, this study indicates that these well-known LLMs have emerged as a new security risk for existing DP text sanitization approaches in the current environment.
Retrieval-Reasoning Large Language Model-based Synthetic Clinical Trial Generation
Venue: arXiv cs.CL 2025
Year: 2025

Machine learning (ML) exhibits promise in the clinical domain. However, it is constrained by data scarcity and ethical considerations, as the generation of clinical trials presents significant challenges due to stringent privacy regulations, high costs, and the extended duration required for conducting studies with human participants. Despite the advancements of large language models (LLMs) in general generation tasks, their potential in facilitating the generation of synthetic clinical trials is under-explored. To address this gap, we introduce a novel Retrieval-Reasoning few-shot framework that leverages LLMs to generate artificial yet realistic and diverse clinical trials with binary success/failure labels. Experiments conducted on real clinical trials from the \url{ClinicalTrials.gov} database demonstrate that our synthetic data can effectively augment real datasets. Furthermore, by fine-tuning a pre-trained model as a binary classifier on synthetic clinical trial datasets, we demonstrate that this augmentation enhances model training for downstream tasks such as trial outcome prediction. Our findings suggest that LLMs for synthetic clinical trial generation hold promise for accelerating clinical research and upholding ethical standards for patient privacy. The code is publicly available at https://anonymous.4open.science/r/Retrieval_Reasoning_Clinical_Trial_Generation-3EC4.
MING: A Functional Approach to Learning Molecular Generative Models
Venue: arXiv cs.LG 2025
Year: 2025

Traditional molecule generation methods often rely on sequence- or graph-based representations, which can limit their expressive power or require complex permutation-equivariant architectures. This paper introduces a novel paradigm for learning molecule generative models based on functional representations. Specifically, we propose Molecular Implicit Neural Generation (MING), a diffusion-based model that learns molecular distributions in the function space. Unlike standard diffusion processes in the data space, MING employs a novel functional denoising probabilistic process, which jointly denoises information in both the function's input and output spaces by leveraging an expectation-maximization procedure for latent implicit neural representations of data. This approach enables a simple yet effective model design that accurately captures underlying function distributions. Experimental results on molecule-related datasets demonstrate MING's superior performance and ability to generate plausible molecular samples, surpassing state-of-the-art data-space methods while offering a more streamlined architecture and significantly faster generation times. The code is available at https://github.com/v18nguye/MING.
MedAide: Information Fusion and Anatomy of Medical Intents via LLM-based Agent Collaboration
Venue: arXiv cs.CL 2025
Year: 2025

In healthcare intelligence, the ability to fuse heterogeneous, multi-intent information from diverse clinical sources is fundamental to building reliable decision-making systems. Large Language Model (LLM)-driven information interaction systems currently showing potential promise in the healthcare domain. Nevertheless, they often suffer from information redundancy and coupling when dealing with complex medical intents, leading to severe hallucinations and performance bottlenecks. To this end, we propose MedAide, an LLM-based medical multi-agent collaboration framework designed to enable intent-aware information fusion and coordinated reasoning across specialized healthcare domains. Specifically, we introduce a regularization-guided module that combines syntactic constraints with retrieval augmented generation to decompose complex queries into structured representations, facilitating fine-grained clinical information fusion and intent resolution. Additionally, a dynamic intent prototype matching module is proposed to utilize dynamic prototype representation with a semantic similarity matching mechanism to achieve adaptive recognition and updating of the agent's intent in multi-round healthcare dialogues. Ultimately, we design a rotation agent collaboration mechanism that introduces dynamic role rotation and decision-level information fusion across specialized medical agents. Extensive experiments are conducted on four medical benchmarks with composite intents. Experimental results from automated metrics and expert doctor evaluations show that MedAide outperforms current LLMs and improves their medical proficiency and strategic reasoning.
Nash equilibria in scalar discrete-time linear quadratic games
Venue: arXiv cs.GT 2025
Year: 2025

An open problem in linear quadratic (LQ) games has been characterizing the Nash equilibria. This problem has renewed relevance given the surge of work on understanding the convergence of learning algorithms in dynamic games. This paper investigates scalar discrete-time infinite-horizon LQ games with two agents. Even in this arguably simple setting, there are no results for finding $\textit{all}$ Nash equilibria. By analyzing the best response map, we formulate a polynomial system of equations characterizing the linear feedback Nash equilibria. This enables us to bring in tools from algebraic geometry, particularly the Gröbner basis, to study the roots of this polynomial system. Consequently, we can not only compute all Nash equilibria numerically, but we can also characterize their number with explicit conditions. For instance, we prove that the LQ games under consideration admit at most three Nash equilibria. We further provide sufficient conditions for the existence of at most two Nash equilibria and sufficient conditions for the uniqueness of the Nash equilibrium. Our numerical experiments demonstrate the tightness of our bounds and showcase the increased complexity in settings with more than two agents.
Explanation-Preserving Augmentation for Semi-Supervised Graph Representation Learning
Venue: arXiv cs.LG 2025
Year: 2025

Self-supervised graph representation learning (GRL) typically generates paired graph augmentations from each graph to infer similar representations for augmentations of the same graph, but distinguishable representations for different graphs. While effective augmentation requires both semantics-preservation and data-perturbation, most existing GRL methods focus solely on data-perturbation, leading to suboptimal solutions. To fill the gap, in this paper, we propose a novel method, Explanation-Preserving Augmentation (EPA), which leverages graph explanation for semantics-preservation. EPA first uses a small number of labels to train a graph explainer, which infers the subgraphs that explain the graph's label. Then these explanations are used for generating semantics-preserving augmentations for boosting self-supervised GRL. Thus, the entire process, namely EPA-GRL, is semi-supervised. We demonstrate theoretically, using an analytical example, and through extensive experiments on a variety of benchmark datasets, that EPA-GRL outperforms the state-of-the-art (SOTA) GRL methods that use semantics-agnostic augmentations. The code is available at https://github.com/realMoana/EPA-GRL.
New Paradigm of Adversarial Training: Releasing Accuracy-Robustness Trade-Off via Dummy Class
Venue: arXiv cs.LG 2025
Year: 2025

Adversarial Training (AT) is one of the most effective methods to enhance the robustness of Deep Neural Networks (DNNs). However, existing AT methods suffer from an inherent accuracy-robustness trade-off. Previous works have studied this issue under the current AT paradigm, but still face over 10% accuracy reduction without significant robustness improvement over simple baselines such as PGD-AT. This inherent trade-off raises a question: Whether the current AT paradigm, which assumes to learn corresponding benign and adversarial samples as the same class, inappropriately mixes clean and robust objectives that may be essentially inconsistent. In fact, our empirical results show that up to 40% of CIFAR-10 adversarial samples always fail to satisfy such an assumption across various AT methods and robust models, explicitly indicating the room for improvement of the current AT paradigm. To relax from this overstrict assumption and the tension between clean and robust learning, in this work, we propose a new AT paradigm by introducing an additional dummy class for each original class, aiming to accommodate hard adversarial samples with shifted distribution after perturbation. The robustness w.r.t. these adversarial samples can be achieved by runtime recovery from the predicted dummy classes to the corresponding original ones, without conflicting with the clean objective on accuracy of benign samples. Finally, based on our new paradigm, we propose a novel DUmmy Classes-based Adversarial Training (DUCAT) method that concurrently improves accuracy and robustness in a plug-and-play manner only relevant to logits, loss, and a proposed two-hot soft label-based supervised signal. Our method outperforms state-of-the-art (SOTA) benchmarks, effectively releasing the current trade-off. The code is available at https://github.com/FlaAI/DUCAT.
Identifying Task Groupings for Multi-Task Learning Using Pointwise V-Usable Information
Venue: arXiv cs.CL 2025
Year: 2025

The success of multi-task learning can depend heavily on which tasks are grouped together. Naively grouping all tasks or a random set of tasks can result in negative transfer, with the multi-task models performing worse than single-task models. Though many efforts have been made to identify task groupings and to measure the relatedness among different tasks, it remains a challenging research topic to define a metric to identify the best task grouping out of a pool of many potential task combinations. We propose a metric of task relatedness based on task difficulty measured by pointwise V-usable information (PVI). PVI is a recently proposed metric to estimate how much usable information a dataset contains given a model. We hypothesize that tasks with not statistically different PVI estimates are similar enough to benefit from the joint learning process. We conduct comprehensive experiments to evaluate the feasibility of this metric for task grouping on 15 NLP datasets in the general, biomedical, and clinical domains. We compare the results of the joint learners against single learners, existing baseline methods, and recent large language models, including Llama 2 and GPT-4. The results show that by grouping tasks with similar PVI estimates, the joint learners yielded competitive results with fewer total parameters, with consistent performance across domains.
Not All Options Are Created Equal: Textual Option Weighting for Token-Efficient LLM-Based Knowledge Tracing
Venue: arXiv cs.CL 2025
Year: 2025

Large Language Models (LLMs) have recently emerged as promising tools for knowledge tracing (KT) due to their strong reasoning and generalization abilities. While recent LLM-based KT methods have proposed new prompt formats, they struggle to represent the full interaction histories of example learners within a single prompt during in-context learning (ICL), resulting in limited scalability and high computational cost under token constraints. In this work, we present \textit{LLM-based Option-weighted Knowledge Tracing (LOKT)}, a simple yet effective framework that encodes the interaction histories of example learners in context as \textit{textual categorical option weights (TCOW)}. TCOW are semantic labels (e.g., ``inadequate'') assigned to the options selected by learners when answering questions, enhancing the interpretability of LLMs. Experiments on multiple-choice datasets show that LOKT outperforms existing non-LLM and LLM-based KT models in both cold-start and warm-start settings. Moreover, LOKT enables scalable and cost-efficient inference, achieving strong performance even under strict token constraints. Our code is available at \href{https://anonymous.4open.science/r/LOKT_model-3233}{https://anonymous.4open.science/r/LOKT\_model-3233}.
BenchmarkCards: Standardized Documentation for Large Language Model Benchmarks
Venue: arXiv cs.CL 2025
Year: 2025

Large language models (LLMs) are powerful tools capable of handling diverse tasks. Comparing and selecting appropriate LLMs for specific tasks requires systematic evaluation methods, as models exhibit varying capabilities across different domains. However, finding suitable benchmarks is difficult given the many available options. This complexity not only increases the risk of benchmark misuse and misinterpretation but also demands substantial effort from LLM users, seeking the most suitable benchmarks for their specific needs. To address these issues, we introduce \texttt{BenchmarkCards}, an intuitive and validated documentation framework that standardizes critical benchmark attributes such as objectives, methodologies, data sources, and limitations. Through user studies involving benchmark creators and users, we show that \texttt{BenchmarkCards} can simplify benchmark selection and enhance transparency, facilitating informed decision-making in evaluating LLMs. Data & Code: https://github.com/SokolAnn/BenchmarkCards
Flex: End-to-End Text-Instructed Visual Navigation from Foundation Model Features
Venue: arXiv cs.RO 2025
Year: 2025

End-to-end learning directly maps sensory inputs to actions, creating highly integrated and efficient policies for complex robotics tasks. However, such models often struggle to generalize beyond their training scenarios, limiting adaptability to new environments, tasks, and concepts. In this work, we investigate the minimal data requirements and architectural adaptations necessary to achieve robust closed-loop performance with vision-based control policies under unseen text instructions and visual distribution shifts. Our findings are synthesized in Flex (Fly lexically), a framework that uses pre-trained Vision Language Models (VLMs) as frozen patch-wise feature extractors, generating spatially aware embeddings that integrate semantic and visual information. We demonstrate the effectiveness of this approach on a quadrotor fly-to-target task, where agents trained via behavior cloning on a small simulated dataset successfully generalize to real-world scenes with diverse novel goals and command formulations.
Latency-Aware Inter-domain Routing
Venue: arXiv cs.NI 2025
Year: 2025

Despite efforts from cloud and content providers to lower latency to acceptable levels for current and future services (e.g., augmented reality or cloud gaming), there are still opportunities for improvement. A major reason that traffic engineering efforts are challenged to lower latency is that the Internet's inter-domain routing protocol, the Border Gateway Protocol, is oblivious to any performance metric, and circuitous routing is still pervasive. In this work, we propose two implementation modifications that networks can leverage to make BGP latency-aware and reduce excessive latency inflation. These proposals, latency-proportional AS prepending and local preference neutralization, show promise towards providing a method for propagating abstract latency information with a reasonable increase in routing overhead.