OpenRaiser/Intern-Atlas huggingface dataset:
On Incentivizing Social Information Sharing Through Routing Games
Venue: arXiv cs.GT 2025
Year: 2025

Crowdsourcing services, such as Waze, leverage a mass of mobile users to learn massive point-of-interest (PoI) information while traveling and share it as a public good. Given that crowdsourced users mind their travel costs and possess various preferences over the PoI information along different paths, we formulate the problem as a novel non-atomic multi-path routing game with positive network externalities among users in social information sharing. In the absence of any incentive design, our price of anarchy (PoA) analysis shows that users' selfish routing on the path with the lowest cost will limit information diversity and lead to $PoA = 0$ with an arbitrarily large efficiency loss from the social optimum. This motivates us to design effective incentive mechanisms to remedy while upholding desirable properties such as individual rationality, incentive compatibility, and budget balance for practical users. Without requiring a specific user's path preference, we present a non-monetary mechanism called Adaptive Information Restriction (AIR) that reduces non-cooperative users' access to the public good as an indirect penalty, which meets all the desirable properties. By meticulously adapting penalty fractions to the actual user flows along different paths, our AIR achieves non-trivial $PoA = \frac{1}{4}$ with low complexity $O(k\log k+\log m)$, where $k$ and $m$ denote the numbers of involved paths and user types, respectively. If the system can further enable pricing for users, we then propose a new monetary mechanism called Adaptive Side-Payment (ASP), which adaptively charges and rewards users according to their chosen paths, respectively. Our ASP mechanism successively achieves a $PoA = \frac{1}{2}$ with even reduced complexity $O(k\log k)$. Finally, our theoretical findings are well corroborated by our experimental results using a real-world public dataset.
Gaze-Informed Vision Transformers: Predicting Driving Decisions Under Uncertainty
Venue: arXiv cs.CV 2025
Year: 2025

Vision Transformers (ViT) have advanced computer vision, yet their efficacy in complex tasks like driving remains less explored. This study enhances ViT by integrating human eye gaze, captured via eye-tracking, to increase prediction accuracy in driving scenarios under uncertainty in both real-world and virtual reality scenarios. First, we establish the significance of human eye gaze in left-right driving decisions, as observed in both human subjects and a ViT model. By comparing the similarity between human fixation maps and ViT attention weights, we reveal the dynamics of overlap across individual heads and layers. This overlap demonstrates that fixation data can guide the model in distributing its attention weights more effectively. We introduce the fixation-attention intersection (FAX) loss, a novel loss function that significantly improves ViT performance under high uncertainty conditions. Our results show that ViT, when trained with FAX loss, aligns its attention with human gaze patterns. This gaze-informed approach has significant potential for driver behavior analysis, as well as broader applications in human-centered AI systems, extending ViT's use to complex visual environments.
The APX-hardness of the Traveling Tournament Problem
Venue: arXiv cs.DS 2025
Year: 2025

The Traveling Tournament Problem (TTP-$k$) is a well-known benchmark problem in sports scheduling, which asks us to design a double round-robin schedule such that each pair of teams plays one game in each other's home venue, no pair of teams plays each other on two consecutive days, each team plays at most $k$ consecutive home games or away games, and the total traveling distance of all the $n$ teams is minimized. TTP-$k$ allows a polynomial-time approximation scheme when $k=2$ and becomes APX-hard when $k\geq n-1$. In this paper, we reduce the gap by showing that TTP-$k$ is APX-hard for any fixed $k\geq3$.
Broadcast Channels with Heterogeneous Arrival and Decoding Deadlines: Second-Order Achievability
Venue: arXiv cs.IT 2025
Year: 2025

A standard assumption in the design of ultra-reliable low-latency communication systems is that the duration between message arrivals is larger than the number of channel uses before the decoding deadline. Nevertheless, this assumption fails when messages arrive rapidly and reliability constraints require that the number of channel uses exceed the time between arrivals. In this paper, we consider a broadcast setting in which a transmitter wishes to send two different messages to two receivers over Gaussian channels. Messages have different arrival times and decoding deadlines such that their transmission windows overlap. For this setting, we propose a coding scheme that exploits Marton's coding strategy. We derive rigorous bounds on the achievable rate regions. Those bounds can be easily employed in point-to-point settings with one or multiple parallel channels. In the point-to-point setting with one or multiple parallel channels, the proposed achievability scheme is consistent with the normal approximation. In the broadcast setting, our scheme agrees with Marton's strategy for sufficiently large numbers of channel uses and shows significant performance improvements over standard approaches based on time sharing for transmission of short packets.
End-to-End Driving via Self-Supervised Imitation Learning Using Camera and LiDAR Data
Venue: arXiv cs.RO 2025
Year: 2025

In autonomous driving, the end-to-end (E2E) driving approach that predicts vehicle control signals directly from sensor data is rapidly gaining attention. To learn a safe E2E driving system, one needs an extensive amount of driving data and human intervention. Vehicle control data is constructed by many hours of human driving, and it is challenging to construct large vehicle control datasets. Often, publicly available driving datasets are collected with limited driving scenes, and collecting vehicle control data is only available by vehicle manufacturers. To address these challenges, this letter proposes the first fully self-supervised learning framework, self-supervised imitation learning (SSIL), for E2E driving, based on the self-supervised regression learning (SSRL) framework.The proposed SSIL framework can learn E2E driving networks \emph{without} using driving command data or a pre-trained model. To construct pseudo steering angle data, proposed SSIL predicts a pseudo target from the vehicle's poses at the current and previous time points that are estimated with light detection and ranging sensors. In addition, we propose two E2E driving networks that predict driving commands depending on high-level instruction. Our numerical experiments with three different benchmark datasets demonstrate that the proposed SSIL framework achieves \emph{very} comparable E2E driving accuracy with the supervised learning counterpart. The proposed pseudo-label predictor outperformed an existing one using proportional integral derivative controller.
Steerable Conditional Diffusion for Out-of-Distribution Adaptation in Medical Image Reconstruction
Venue: arXiv cs.CV 2025
Year: 2025

Denoising diffusion models have emerged as the go-to generative framework for solving inverse problems in imaging. A critical concern regarding these models is their performance on out-of-distribution tasks, which remains an under-explored challenge. Using a diffusion model on an out-of-distribution dataset, realistic reconstructions can be generated, but with hallucinating image features that are uniquely present in the training dataset. To address this discrepancy during train-test time and improve reconstruction accuracy, we introduce a novel sampling framework called Steerable Conditional Diffusion. Specifically, this framework adapts the diffusion model, concurrently with image reconstruction, based solely on the information provided by the available measurement. Utilising our proposed method, we achieve substantial enhancements in out-of-distribution performance across diverse imaging modalities, advancing the robust deployment of denoising diffusion models in real-world applications.
Continual Learning for Generative Retrieval over Dynamic Corpora
Venue: arXiv cs.IR 2025
Year: 2025

Generative retrieval (GR) directly predicts the identifiers of relevant documents (i.e., docids) based on a parametric model. It has achieved solid performance on many ad-hoc retrieval tasks. So far, these tasks have assumed a static document collection. In many practical scenarios, however, document collections are dynamic, where new documents are continuously added to the corpus. The ability to incrementally index new documents while preserving the ability to answer queries with both previously and newly indexed relevant documents is vital to applying GR models. In this paper, we address this practical continual learning problem for GR. We put forward a novel Continual-LEarner for generatiVE Retrieval (CLEVER) model and make two major contributions to continual learning for GR: (i) To encode new documents into docids with low computational cost, we present Incremental Product Quantization, which updates a partial quantization codebook according to two adaptive thresholds; and (ii) To memorize new documents for querying without forgetting previous knowledge, we propose a memory-augmented learning mechanism, to form meaningful connections between old and new documents. Empirical results demonstrate the effectiveness and efficiency of the proposed model.
Explainable Graph Neural Architecture Search via Monte-Carlo Tree Search (Full version)
Venue: arXiv cs.LG 2025
Year: 2025

The number of graph neural network (GNN) architectures has increased rapidly due to the growing adoption of graph analysis. Although we use GNNs in wide application scenarios, it is a laborious task to design/select optimal GNN architectures in diverse graphs. To reduce human efforts, graph neural architecture search (Graph NAS) has been used to search for a sub-optimal GNN architecture that combines existing components. However, existing Graph NAS methods lack explainability to understand the reasons why the model architecture is selected because they use complex search space and neural models to select architecture. Therefore, we propose an explainable Graph NAS method, called ExGNAS, which consists of (i) a simple search space that can adapt to various graphs and (ii) a search algorithm with Monte-Carlo tree that makes the decision process explainable. The combination of our search space and algorithm achieves finding accurate GNN models and the important functions within the search space. We comprehensively evaluate ExGNAS compared with four state-of-the-art Graph NAS methods in twelve graphs. Our experimental results show that ExGNAS achieves high average accuracy and efficiency; improving accuracy up to 26.1% and reducing run time up to 88%. Furthermore, we show the effectiveness of explainability by questionnaire-based user study and architecture analysis.
Conti Inc.: Understanding the Internal Discussions of a large Ransomware-as-a-Service Operator with Machine Learning
Venue: arXiv cs.CR 2025
Year: 2025

Ransomware-as-a-service (RaaS) is increasing the scale and complexity of ransomware attacks. Understanding the internal operations behind RaaS has been a challenge due to the illegality of such activities. The recent chat leak of the Conti RaaS operator, one of the most infamous ransomware operators on the international scene, offers a key opportunity to better understand the inner workings of such organizations. This paper analyzes the main topic discussions in the Conti chat leak using machine learning techniques such as Natural Language Processing (NLP) and Latent Dirichlet Allocation (LDA), as well as visualization strategies. Five discussion topics are found: 1) Business, 2) Technical, 3) Internal tasking/Management, 4) Malware, and 5) Customer Service/Problem Solving. Moreover, the distribution of topics among Conti members shows that only 4% of individuals have specialized discussions while almost all individuals (96%) are all-rounders, meaning that their discussions revolve around the five topics. The results also indicate that a significant proportion of Conti discussions are non-tech related. This study thus highlights that running such large RaaS operations requires a workforce skilled beyond technical abilities, with individuals involved in various tasks, from management to customer service or problem solving. The discussion topics also show that the organization behind the Conti RaaS oper5086933ator shares similarities with a large firm. We conclude that, although RaaS represents an example of specialization in the cybercrime industry, only a few members are specialized in one topic, while the rest runs and coordinates the RaaS operation.
CARNet: Collaborative Adversarial Resilience for Robust Underwater Image Enhancement and Perception
Venue: arXiv cs.CV 2025
Year: 2025

Due to the uneven absorption of different light wavelengths in aquatic environments, underwater images suffer from low visibility and clear color deviations. With the advancement of autonomous underwater vehicles, extensive research has been conducted on learning-based underwater enhancement algorithms. These works can generate visually pleasing enhanced images and mitigate the adverse effects of degraded images on subsequent perception tasks. However, learning-based methods are susceptible to the inherent fragility of adversarial attacks, causing significant disruption in enhanced results. In this work, we introduce a collaborative adversarial resilience network, dubbed CARNet, for underwater image enhancement and subsequent detection tasks. Concretely, we first introduce an invertible network with strong perturbation-perceptual abilities to isolate attacks from underwater images, preventing interference with visual quality enhancement and perceptual tasks. Furthermore, an attack pattern discriminator is introduced to adaptively identify and eliminate various types of attacks. Additionally, we propose a bilevel attack optimization strategy to heighten the robustness of the network against different types of attacks under the collaborative adversarial training of vision-driven and perception-driven attacks. Extensive experiments demonstrate that the proposed method outputs visually appealing enhancement images and performs an average 6.71% higher detection mAP than state-of-the-art methods.
Inverse Dynamics Trajectory Optimization for Contact-Implicit Model Predictive Control
Venue: arXiv cs.RO 2025
Year: 2025

Robots must make and break contact with the environment to perform useful tasks, but planning and control through contact remains a formidable challenge. In this work, we achieve real-time contact-implicit model predictive control with a surprisingly simple method: inverse dynamics trajectory optimization. While trajectory optimization with inverse dynamics is not new, we introduce a series of incremental innovations that collectively enable fast model predictive control on a variety of challenging manipulation and locomotion tasks. We implement these innovations in an open-source solver and present simulation examples to support the effectiveness of the proposed approach. Additionally, we demonstrate contact-implicit model predictive control on hardware at over 100 Hz for a 20-degree-of-freedom bi-manual manipulation task. Video and code are available at https://idto.github.io.
Efficiency is Not Enough: A Critical Perspective of Environmentally Sustainable AI
Venue: arXiv cs.LG 2025
Year: 2025

Artificial intelligence (AI) is currently spearheaded by machine learning (ML) methods such as deep learning which have accelerated progress on many tasks thought to be out of reach of AI. These recent ML methods are often compute hungry, energy intensive, and result in significant green house gas emissions, a known driver of anthropogenic climate change. Additionally, the platforms on which ML systems run are associated with environmental impacts that go beyond the energy consumption driven carbon emissions. The primary solution lionized by both industry and the ML community to improve the environmental sustainability of ML is to increase the compute and energy efficiency with which ML systems operate. In this perspective, we argue that it is time to look beyond efficiency in order to make ML more environmentally sustainable. We present three high-level discrepancies between the many variables that influence the efficiency of ML and the environmental sustainability of ML. Firstly, we discuss how compute efficiency does not imply energy efficiency or carbon efficiency. Second, we present the unexpected effects of efficiency on operational emissions throughout the ML model life cycle. And, finally, we explore the broader environmental impacts that are not accounted by efficiency. These discrepancies show as to why efficiency alone is not enough to remedy the adverse environmental impacts of ML. Instead, we argue for systems thinking as the next step towards holistically improving the environmental sustainability of ML.
Asynchronous Majority Dynamics on Binomial Random Graphs
Venue: arXiv cs.GT 2025
Year: 2025

We study information aggregation in networks when agents interact to learn a binary state of the world. Initially each agent privately observes an independent signal which is "correct" with probability $\frac{1}{2}+δ$ for some $δ> 0$. At each round, a node is selected uniformly at random to update their public opinion to match the majority of their neighbours (breaking ties in favour of their initial private signal). Our main result shows that for sparse and connected binomial random graphs $\mathcal G(n,p)$ the process stabilizes in a "correct" consensus in $\mathcal O(n\log^2 n/\log\log n)$ steps with high probability. In fact, when $\log n/n \ll p = o(1)$ the process terminates at time $\hat T = (1+o(1))n\log n$, where $\hat T$ is the first time when all nodes have been selected at least once. However, in dense binomial random graphs with $p=Ω(1)$, there is an information cascade where the process terminates in the "incorrect" consensus with probability bounded away from zero.
The Emergence of Chunking Structures with Hierarchical RNN
Venue: arXiv cs.CL 2025
Year: 2025

In Natural Language Processing (NLP), predicting linguistic structures, such as parsing and chunking, has mostly relied on manual annotations of syntactic structures. This paper introduces an unsupervised approach to chunking, a syntactic task that involves grouping words in a non-hierarchical manner. We present a Hierarchical Recurrent Neural Network (HRNN) designed to model word-to-chunk and chunk-to-sentence compositions. Our approach involves a two-stage training process: pretraining with an unsupervised parser and finetuning on downstream NLP tasks. Experiments on multiple datasets reveal a notable improvement of unsupervised chunking performance in both pretraining and finetuning stages. Interestingly, we observe that the emergence of the chunking structure is transient during the neural model's downstream-task training. This study contributes to the advancement of unsupervised syntactic structure discovery and opens avenues for further research in linguistic theory.
HiLM-D: Enhancing MLLMs with Multi-Scale High-Resolution Details for Autonomous Driving
Venue: arXiv cs.CV 2025
Year: 2025

Recent efforts to use natural language for interpretable driving focus mainly on planning, neglecting perception tasks. In this paper, we address this gap by introducing ROLISP (Risk Object Localization and Intention and Suggestion Prediction), which towards interpretable risk object detection and suggestion for ego car motions. Accurate ROLISP implementation requires extensive reasoning to identify critical traffic objects and infer their intentions, prompting us to explore the capabilities of multimodal large language models (MLLMs). However, the limited perception performance of CLIP-ViT vision encoders in existing MLLMs struggles with capturing essential visual perception information, e.g., high-resolution, multi-scale and visual-related inductive biases, which are important for autonomous driving. Addressing these challenges, we introduce HiLM-D, a resource-efficient framework that enhances visual information processing in MLLMs for ROLISP. Our method is motivated by the fact that the primary variations in autonomous driving scenarios are the motion trajectories rather than the semantic or appearance information (e.g., the shapes and colors) of objects. Hence, the visual process of HiLM-D is a two-stream framework: (i) a temporal reasoning stream, receiving low-resolution dynamic video content, to capture temporal semantics, and (ii) a spatial perception stream, receiving a single high-resolution frame, to capture holistic visual perception-related information. The spatial perception stream can be made very lightweight by a well-designed P-Adapter, which is lightweight, training-efficient, and easily integrated into existing MLLMs. Experiments on the DRAMA-ROLISP dataset show HiLM-D's significant improvements over current MLLMs, with a 3.7% in BLEU-4 for captioning and 8.7% in mIoU for detection.
MAPS$^2$: Multi-Robot Autonomous Motion Planning under Signal Temporal Logic Specifications
Venue: arXiv cs.RO 2025
Year: 2025

This article presents MAPS$^2$ : a distributed algorithm that allows multi-robot systems to deliver coupled tasks expressed as Signal Temporal Logic (STL) constraints. Classical control theoretical tools addressing STL constraints either adopt a limited fragment of the STL formula or require approximations of min/max operators, whereas works maximising robustness through optimisation-based methods often suffer from local minima, relaxing any completeness arguments due to the NP-hard nature of the problem. Endowed with probabilistic guarantees, MAPS$^2$ provides an anytime algorithm that iteratively improves the robots' trajectories. The algorithm selectively imposes spatial constraints by taking advantage of the temporal properties of the STL. The algorithm is distributed, in the sense that each robot calculates its trajectory by communicating only with its immediate neighbours as defined via a communication graph. We illustrate the efficiency of MAPS$^2$ by conducting extensive simulation and experimental studies, verifying the generation of STL satisfying trajectories.
REVERSIM: An Open-Source Environment for the Controlled Study of Human Aspects in Hardware Reverse Engineering
Venue: arXiv cs.CR 2025
Year: 2025

Hardware Reverse Engineering (HRE) is a technique for analyzing integrated circuits. Experts employ HRE for security-critical tasks, like detecting Trojans or intellectual property violations, relying not only on their experience and customized tools but also on their cognitive abilities. In this work, we introduce ReverSim, a software environment that models key HRE subprocesses and integrates standardized cognitive tests. ReverSim enables quantitative studies with easier-to-recruit non-experts to uncover cognitive factors relevant to HRE. We empirically evaluated ReverSim in three studies. Semi-structured interviews with 14 HRE professionals confirmed its comparability to real-world HRE processes. Two online user studies with 170 novices and intermediates revealed effective differentiation of participant performance across a spectrum of difficulties, and correlations between participants' cognitive processing speed and task performance. ReverSim is available as open-source software, providing a robust platform for controlled experiments to assess cognitive processes in HRE, potentially opening new avenues for hardware protection.