OpenRaiser/Intern-Atlas huggingface dataset:
Distilling Future Temporal Knowledge with Masked Feature Reconstruction for 3D Object Detection
Venue: arXiv cs.CV 2025
Year: 2025

Camera-based temporal 3D object detection has shown impressive results in autonomous driving, with offline models improving accuracy by using future frames. Knowledge distillation (KD) can be an appealing framework for transferring rich information from offline models to online models. However, existing KD methods overlook future frames, as they mainly focus on spatial feature distillation under strict frame alignment or on temporal relational distillation, thereby making it challenging for online models to effectively learn future knowledge. To this end, we propose a sparse query-based approach, Future Temporal Knowledge Distillation (FTKD), which effectively transfers future frame knowledge from an offline teacher model to an online student model. Specifically, we present a future-aware feature reconstruction strategy to encourage the student model to capture future features without strict frame alignment. In addition, we further introduce future-guided logit distillation to leverage the teacher's stable foreground and background context. FTKD is applied to two high-performing 3D object detection baselines, achieving up to 1.3 mAP and 1.3 NDS gains on the nuScenes dataset, as well as the most accurate velocity estimation, without increasing inference cost.
Learning Spatiotemporal Tubes for Temporal Reach-Avoid-Stay Tasks using Physics-Informed Neural Networks
Venue: arXiv cs.RO 2025
Year: 2025

This paper presents a Spatiotemporal Tube (STT)-based control framework for general control-affine MIMO nonlinear pure-feedback systems with unknown dynamics to satisfy prescribed time reach-avoid-stay tasks under external disturbances. The STT is defined as a time-varying ball, whose center and radius are jointly approximated by a Physics-Informed Neural Network (PINN). The constraints governing the STT are first formulated as loss functions of the PINN, and a training algorithm is proposed to minimize the overall violation. The PINN being trained on certain collocation points, we propose a Lipschitz-based validity condition to formally verify that the learned PINN satisfies the conditions over the continuous time horizon. Building on the learned STT representation, an approximation-free closed-form controller is defined to guarantee satisfaction of the T-RAS specification. Finally, the effectiveness and scalability of the framework are validated through two case studies involving a mobile robot and an aerial vehicle navigating through cluttered environments.
gHAWK: Local and Global Structure Encoding for Scalable Training of Graph Neural Networks on Knowledge Graphs
Venue: arXiv cs.LG 2025
Year: 2025

Knowledge Graphs (KGs) are a rich source of structured, heterogeneous data, powering a wide range of applications. A common approach to leverage this data is to train a graph neural network (GNN) on the KG. However, existing message-passing GNNs struggle to scale to large KGs because they rely on the iterative message passing process to learn the graph structure, which is inefficient, especially under mini-batch training, where a node sees only a partial view of its neighborhood. In this paper, we address this problem and present gHAWK, a novel and scalable GNN training framework for large KGs. The key idea is to precompute structural features for each node that capture its local and global structure before GNN training even begins. Specifically, gHAWK introduces a preprocessing step that computes: (a)~Bloom filters to compactly encode local neighborhood structure, and (b)~TransE embeddings to represent each node's global position in the graph. These features are then fused with any domain-specific features (e.g., text embeddings), producing a node feature vector that can be incorporated into any GNN technique. By augmenting message-passing training with structural priors, gHAWK significantly reduces memory usage, accelerates convergence, and improves model accuracy. Extensive experiments on large datasets from the Open Graph Benchmark (OGB) demonstrate that gHAWK achieves state-of-the-art accuracy and lower training time on both node property prediction and link prediction tasks, topping the OGB leaderboard for three graphs.
PAVAS: Physics-Aware Video-to-Audio Synthesis
Venue: arXiv cs.CV 2025
Year: 2025

Recent advances in Video-to-Audio (V2A) generation have achieved impressive perceptual quality and temporal synchronization, yet most models remain appearance-driven, capturing visual-acoustic correlations without considering the physical factors that shape real-world sounds. We present Physics-Aware Video-to-Audio Synthesis (PAVAS), a method that incorporates physical reasoning into a latent diffusion-based V2A generation through the Physics-Driven Audio Adapter (Phy-Adapter). The adapter receives object-level physical parameters estimated by the Physical Parameter Estimator (PPE), which uses a Vision-Language Model (VLM) to infer the moving-object mass and a segmentation-based dynamic 3D reconstruction module to recover its motion trajectory for velocity computation. These physical cues enable the model to synthesize sounds that reflect underlying physical factors. To assess physical realism, we curate VGG-Impact, a benchmark focusing on object-object interactions, and introduce Audio-Physics Correlation Coefficient (APCC), an evaluation metric that measures consistency between physical and auditory attributes. Comprehensive experiments show that PAVAS produces physically plausible and perceptually coherent audio, outperforming existing V2A models in both quantitative and qualitative evaluations. Visit https://physics-aware-video-to-audio-synthesis.github.io for demo videos.
Systematization of Knowledge: Security and Safety in the Model Context Protocol Ecosystem
Venue: arXiv cs.CR 2025
Year: 2025

The Model Context Protocol (MCP) has emerged as the de facto standard for connecting Large Language Models (LLMs) to external data and tools, effectively functioning as the "USB-C for Agentic AI." While this decoupling of context and execution solves critical interoperability challenges, it introduces a profound new threat landscape where the boundary between epistemic errors (hallucinations) and security breaches (unauthorized actions) dissolves. This Systematization of Knowledge (SoK) aims to provide a comprehensive taxonomy of risks in the MCP ecosystem, distinguishing between adversarial security threats (e.g., indirect prompt injection, tool poisoning) and epistemic safety hazards (e.g., alignment failures in distributed tool delegation). We analyze the structural vulnerabilities of MCP primitives, specifically Resources, Prompts, and Tools, and demonstrate how "context" can be weaponized to trigger unauthorized operations in multi-agent environments. Furthermore, we survey state-of-the-art defenses, ranging from cryptographic provenance (ETDI) to runtime intent verification, and conclude with a roadmap for securing the transition from conversational chatbots to autonomous agentic operating systems.
Exposing and Defending Membership Leakage in Vulnerability Prediction Models
Venue: arXiv cs.CR 2025
Year: 2025

Neural models for vulnerability prediction (VP) have achieved impressive performance by learning from large-scale code repositories. However, their susceptibility to Membership Inference Attacks (MIAs), where adversaries aim to infer whether a particular code sample was used during training, poses serious privacy concerns. While MIA has been widely investigated in NLP and vision domains, its effects on security-critical code analysis tasks remain underexplored. In this work, we conduct the first comprehensive analysis of MIA on VP models, evaluating the attack success across various architectures (LSTM, BiGRU, and CodeBERT) and feature combinations, including embeddings, logits, loss, and confidence. Our threat model aligns with black-box and gray-box settings where prediction outputs are observable, allowing adversaries to infer membership by analyzing output discrepancies between training and non-training samples. The empirical findings reveal that logits and loss are the most informative and vulnerable outputs for membership leakage. Motivated by these observations, we propose a Noise-based Membership Inference Defense (NMID), which is a lightweight defense module that applies output masking and Gaussian noise injection to disrupt adversarial inference. Extensive experiments demonstrate that NMID significantly reduces MIA effectiveness, lowering the attack AUC from nearly 1.0 to below 0.65, while preserving the predictive utility of VP models. Our study highlights critical privacy risks in code analysis and offers actionable defense strategies for securing AI-powered software systems.
rSIM: Incentivizing Reasoning Capabilities of LLMs via Reinforced Strategy Injection
Venue: arXiv cs.AI 2025
Year: 2025

Large language models (LLMs) are post-trained through reinforcement learning (RL) to evolve into Reasoning Language Models (RLMs), where the hallmark of this advanced reasoning is ``aha'' moments when they start to perform strategies, such as self-reflection and deep thinking, within chain of thoughts (CoTs). Motivated by this, this paper proposes a novel reinforced strategy injection mechanism (rSIM), that enables any LLM to become an RLM by employing a small planner to guide the LLM's CoT through the adaptive injection of reasoning strategies. To achieve this, the planner (leader agent) is jointly trained with an LLM (follower agent) using multi-agent RL (MARL), based on a leader-follower framework and straightforward rule-based rewards. Experimental results show that rSIM enables Qwen2.5-0.5B to become an RLM and significantly outperform Qwen2.5-14B. Moreover, the planner is generalizable: it only needs to be trained once and can be applied as a plug-in to substantially improve the reasoning capabilities of existing LLMs. In addition, the planner supports continual learning across various tasks, allowing its planning abilities to gradually improve and generalize to a wider range of problems.
Bi^2MAC: Bimodal Bi-Adaptive Mask-Aware Convolution for Remote Sensing Pansharpening
Venue: arXiv cs.CV 2025
Year: 2025

Pansharpening aims to fuse a high-resolution panchromatic (PAN) image with a low-resolution multispectral (LRMS) image to generate a high-resolution multispectral image (HRMS). Conventional deep learning-based methods are inherently limited in their ability to adapt to regional heterogeneity within feature representations. Although various adaptive convolution methods have been proposed to address this limitation, they often suffer from excessive computational costs and a limited ability to capture heterogeneous regions in remote sensing images effectively. To overcome these challenges, we propose Bimodal Bi-Adaptive Mask-Aware Convolution (Bi^2MAC), which effectively exploits information from different types of regions while intelligently allocating computational resources. Specifically, we design a lightweight module to generate both soft and hard masks, which are used to modulate the input features preliminarily and to guide different types of regions into separate processing branches, respectively. Redundant features are directed to a compact branch for low-cost global processing. In contrast, heterogeneous features are routed to a focused branch that invests more computational resources for fine-grained modeling. Extensive experiments on multiple benchmark datasets demonstrate that Bi^2MAC achieves state-of-the-art (SOTA) performance while requiring substantially lower training time and parameter counts, and the minimal computational cost among adaptive convolution models.
On the Fundamental Tradeoff of Joint Communication and QCD: The Monostatic Case
Venue: arXiv cs.IT 2025
Year: 2025

This paper investigates the fundamental tradeoff between communication and quickest change detection (QCD) in integrated sensing and communication (ISAC) systems under a monostatic setup. We introduce a novel Joint Communication and quickest Change subblock coding Strategy (JCCS) that leverages feedback to adapt coding dynamically based on real-time state estimation. The achievable rate-delay region is characterized using state-dependent mutual information and KL divergence, providing a comprehensive framework for analyzing the interplay between communication performance and detection delay. Moreover, we provide a partial converse demonstrating the asymptotic optimality of the proposed detection algorithm within the JCCS framework. To illustrate the practical implications, we analyze binary and MIMO Gaussian channels, revealing insights into achieving optimal tradeoffs in ISAC system design.
A tight example for approximation ratio 5 for covering small cuts by the primal-dual method
Venue: arXiv cs.DS 2025
Year: 2025

In the Small Cuts Cover problem we seek to cover by a min-cost edge-set the set family of cuts of size/capacity $<k$ of a graph. Recently, Simmons showed that the primal-dual algorithm of Williamson, Goemans, Mihail, and Vazirani achieves approximation ratio $5$ for this problem, and asked whether this bound is tight. We will answer this question positively, by providing an example in which the ratio between the solution produced by the primal-dual algorithm and the optimum is arbitrarily close to $5$.
A Multivariate Bernoulli-Based Sampling Method for Multi-Label Data with Application to Meta-Research
Venue: arXiv cs.LG 2025
Year: 2025

Datasets may contain observations with multiple labels. If the labels are not mutually exclusive, and if the labels vary greatly in frequency, obtaining a sample that includes sufficient observations with scarcer labels to make inferences about those labels, and which deviates from the population frequencies in a known manner, creates challenges. In this paper, we consider a multivariate Bernoulli distribution as our underlying distribution of a multi-label problem. We present a novel sampling algorithm that takes label dependencies into account. It uses observed label frequencies to estimate multivariate Bernoulli distribution parameters and calculate weights for each label combination. This approach ensures the weighted sampling acquires target distribution characteristics while accounting for label dependencies. We applied this approach to a sample of research articles from Web of Science labeled with 64 biomedical topic categories. We aimed to preserve category frequency order, reduce frequency differences between most and least common categories, and account for category dependencies. This approach produced a more balanced sub-sample, enhancing the representation of minority categories.
Attention is All You Need to Defend Against Indirect Prompt Injection Attacks in LLMs
Venue: arXiv cs.CR 2025
Year: 2025

Large Language Models (LLMs) have been integrated into many applications (e.g., web agents) to perform more sophisticated tasks. However, LLM-empowered applications are vulnerable to Indirect Prompt Injection (IPI) attacks, where instructions are injected via untrustworthy external data sources. This paper presents Rennervate, a defense framework to detect and prevent IPI attacks. Rennervate leverages attention features to detect the covert injection at a fine-grained token level, enabling precise sanitization that neutralizes IPI attacks while maintaining LLM functionalities. Specifically, the token-level detector is materialized with a 2-step attentive pooling mechanism, which aggregates attention heads and response tokens for IPI detection and sanitization. Moreover, we establish a fine-grained IPI dataset, FIPI, to be open-sourced to support further research. Extensive experiments verify that Rennervate outperforms 15 commercial and academic IPI defense methods, achieving high precision on 5 LLMs and 6 datasets. We also demonstrate that Rennervate is transferable to unseen attacks and robust against adaptive adversaries.
Measuring Computer Science Enthusiasm: A Questionnaire-Based Analysis of Age and Gender Effects on Students' Interest
Venue: arXiv cs.SE 2025
Year: 2025

This study offers new insights into students' interest in computer science (CS) education by disentangling the distinct effects of age and gender across a diverse adolescent sample. Grounded in the person-object theory of interest (POI), we conceptualize enthusiasm as a short-term, activating expression of interest that combines positive affect, perceived relevance, and intention to re-engage. Experiencing such enthusiasm can temporarily shift CS attitudes and strengthen future engagement intentions, making it a valuable lens for evaluating brief outreach activities. To capture these dynamics, we developed a theoretically grounded questionnaire for pre-post assessment of the enthusiasm potential of CS interventions. Using data from more than 400 students participating in online CS courses, we examined age- and gender-related patterns in enthusiasm. The findings challenge the prevailing belief that early exposure is the primary pathway to sustained interest in CS. Instead, we identify a marked decline in enthusiasm during early adolescence, particularly among girls, alongside substantial variability in interest trajectories across age groups. Crucially, our analyses reveal that age is a more decisive factor than gender in shaping interest development and uncover key developmental breakpoints. Despite starting with lower baseline attitudes, older students showed the largest positive changes following the intervention, suggesting that well-designed short activities can effectively re-activate interest even at later ages. Overall, the study highlights the need for a dynamic, age-sensitive framework for CS education in which instructional strategies are aligned with developmental trajectories.
ContextDrag: Precise Drag-Based Image Editing via Context-Preserving Token Injection and Position-Consistent Attention
Venue: arXiv cs.CV 2025
Year: 2025

Drag-based image editing aims to modify visual content followed by user-specified drag operations. Despite existing methods having made notable progress, they still fail to fully exploit the contextual information in the reference image, including fine-grained texture details, leading to edits with limited coherence and fidelity. To address this challenge, we introduce ContextDrag, a new paradigm for drag-based editing that leverages the strong contextual modeling capability of editing models, such as FLUX-Kontext. By incorporating VAE-encoded features from the reference image, ContextDrag can leverage rich contextual cues and preserve fine-grained details, without the need for finetuning or inversion. Specifically, ContextDrag introduced a novel Context-preserving Token Injection (CTI) that injects noise-free reference features into their correct destination locations via a Latent-space Reverse Mapping (LRM) algorithm. This strategy enables precise drag control while preserving consistency in both semantics and texture details. Second, ContextDrag adopts a novel Position-Consistent Attention (PCA), which positional re-encodes the reference tokens and applies overlap-aware masking to eliminate interference from irrelevant reference features. Extensive experiments on DragBench-SR and DragBench-DR demonstrate that our approach surpasses all existing SOTA methods. Code will be publicly available.
Prospect Theory in Physical Human-Robot Interaction: A Pilot Study of Probability Perception
Venue: arXiv cs.RO 2025
Year: 2025

Understanding how humans respond to uncertainty is critical for designing safe and effective physical human-robot interaction (pHRI), as physically working with robots introduces multiple sources of uncertainty, including trust, comfort, and perceived safety. Conventional pHRI control frameworks typically build on optimal control theory, which assumes that human actions minimize a cost function; however, human behavior under uncertainty often departs from such optimal patterns. To address this gap, additional understanding of human behavior under uncertainty is needed. This pilot study implemented a physically coupled target-reaching task in which the robot delivered assistance or disturbances with systematically varied probabilities (10\% to 90\%). Analysis of participants' force inputs and decision-making strategies revealed two distinct behavioral clusters: a "trade-off" group that modulated their physical responses according to disturbance likelihood, and an "always-compensate" group characterized by strong risk aversion irrespective of probability. These findings provide empirical evidence that human decision-making in pHRI is highly individualized and that the perception of probability can differ to its true value. Accordingly, the study highlights the need for more interpretable behavioral models, such as cumulative prospect theory (CPT), to more accurately capture these behaviors and inform the design of future adaptive robot controllers.
Disrupting Hierarchical Reasoning: Adversarial Protection for Geographic Privacy in Multimodal Reasoning Models
Venue: arXiv cs.CV 2025
Year: 2025

Multi-modal large reasoning models (MLRMs) pose significant privacy risks by inferring precise geographic locations from personal images through hierarchical chain-of-thought reasoning. Existing privacy protection techniques, primarily designed for perception-based models, prove ineffective against MLRMs' sophisticated multi-step reasoning processes that analyze environmental cues. We introduce \textbf{ReasonBreak}, a novel adversarial framework specifically designed to disrupt hierarchical reasoning in MLRMs through concept-aware perturbations. Our approach is founded on the key insight that effective disruption of geographic reasoning requires perturbations aligned with conceptual hierarchies rather than uniform noise. ReasonBreak strategically targets critical conceptual dependencies within reasoning chains, generating perturbations that invalidate specific inference steps and cascade through subsequent reasoning stages. To facilitate this approach, we contribute \textbf{GeoPrivacy-6K}, a comprehensive dataset comprising 6,341 ultra-high-resolution images ($\geq$2K) with hierarchical concept annotations. Extensive evaluation across seven state-of-the-art MLRMs (including GPT-o3, GPT-5, Gemini 2.5 Pro) demonstrates ReasonBreak's superior effectiveness, achieving a 14.4\% improvement in tract-level protection (33.8\% vs 19.4\%) and nearly doubling block-level protection (33.5\% vs 16.8\%). This work establishes a new paradigm for privacy protection against reasoning-based threats.
Analyzing Deviations from Monotonic Trends through Database Repair
Venue: arXiv cs.DB 2025
Year: 2025

Datasets often exhibit violations of expected monotonic trends - for example, higher education level correlating with higher average salary, newer homes being more expensive, or diabetes prevalence increasing with age. We address the problem of quantifying how far a dataset deviates from such trends. To this end, we introduce Aggregate Order Dependencies (AODs), an aggregation-centric extension of the previously studied order dependencies. An AOD specifies that the aggregated value of a target attribute (e.g., mean salary) should monotonically increase or decrease with the grouping attribute (e.g., education level). We formulate the AOD repair problem as finding the smallest set of tuples to delete from a table so that the given AOD is satisfied. We analyze the computational complexity of this problem and propose a general algorithmic template for solving it. We instantiate the template for common aggregation functions, introduce optimization techniques that substantially improve the runtime of the template instances, and develop efficient heuristic alternatives. Our experimental study, carried out on both real-world and synthetic datasets, demonstrates the practical efficiency of the algorithms and provides insight into the performance of the heuristics. We also present case studies that uncover and explain unexpected AOD violations using our framework.