OpenRaiser/Intern-Atlas huggingface dataset:
AgentSight: System-Level Observability for AI Agents Using eBPF
Venue: arXiv cs.OS 2025
Year: 2025

Modern software infrastructure increasingly relies on LLM agents for development and maintenance, such as Claude Code and Gemini-cli. However, these AI agents differ fundamentally from traditional deterministic software, posing a significant challenge to conventional monitoring and debugging. This creates a critical semantic gap: existing tools observe either an agent's high-level intent (via LLM prompts) or its low-level actions (e.g., system calls), but cannot correlate these two views. This blindness makes it difficult to distinguish between benign operations, malicious attacks, and costly failures. We introduce AgentSight, an AgentOps observability framework that bridges this semantic gap using a hybrid approach. Our approach, boundary tracing, monitors agents from outside their application code at stable system interfaces using eBPF. AgentSight intercepts TLS-encrypted LLM traffic to extract semantic intent, monitors kernel events to observe system-wide effects, and causally correlates these two streams across process boundaries using a real-time engine and secondary LLM analysis. This instrumentation-free technique is framework-agnostic, resilient to rapid API changes, and incurs less than 3% performance overhead. Our evaluation shows AgentSight detects prompt injection attacks, identifies resource-wasting reasoning loops, and reveals hidden coordination bottlenecks in multi-agent systems. AgentSight is released as an open-source project at https://github.com/agent-sight/agentsight.
Considering Spatial Structure of the Road Network in Pavement Deterioration Modeling
Venue: arXiv cs.LG 2025
Year: 2025

Pavement deterioration modeling is important in providing information regarding the future state of the road network and in determining the needs of preventive maintenance or rehabilitation treatments. This research incorporated spatial dependence of road network into pavement deterioration modeling through a graph neural network (GNN). The key motivation of using a GNN for pavement performance modeling is the ability to easily and directly exploit the rich structural information in the network. This paper explored if considering spatial structure of the road network will improve the prediction performance of the deterioration models. The data used in this research comprises a large pavement condition data set with more than a half million observations taken from the Pavement Management Information System (PMIS) maintained by the Texas Department of Transportation. The promising comparison results indicates that pavement deterioration prediction models perform better when spatial relationship is considered.
Context-Adaptive Multi-Prompt Embedding with Large Language Models for Vision-Language Alignment
Venue: arXiv cs.LG 2025
Year: 2025

We propose Context-Adaptive Multi-Prompt Embedding, a novel approach to enrich semantic representations in vision-language contrastive learning. Unlike standard CLIP-style models that rely on a single text embedding, our method introduces multiple structured prompts, each containing a distinct adaptive token that captures diverse semantic aspects of the input text. We leverage a pretrained LLM as the text encoder within the CLIP framework, processing all prompts jointly in a single forward pass. The resulting prompt embeddings are combined into a unified text representation, enabling semantically richer alignment with visual features. To further promote semantic diversity and representation quality, we incorporate a diversity regularization loss and a negation-aware loss, encouraging specialization across prompts and improving contrastive discrimination. Our method achieves consistent improvements on both image-text and video-text retrieval benchmarks.
When are two algorithms the same? Towards addressing Hilbert's 24th problem
Venue: arXiv cs.LO 2025
Year: 2025

The informal question of when two theorem proofs are "essentially the same" goes back to David Hilbert, who considered adding it (or something largely equivalent) to his famous list of open problems, but eventually decided to leave it out. Given that the notion of a formal proof is closely related to that of a (computer) program, i.e. a recursive function, it may be useful to ask the same question with regard to programs instead. Here we propose a minimalistic approach to this question within Recursion Theory, building heavily on the use of Kolmogorov Complexity.
Uncertainty Sets for Distributionally Robust Bandits Using Structural Equation Models
Venue: arXiv cs.LG 2025
Year: 2025

Distributionally robust evaluation estimates the worst-case expected return over an uncertainty set of possible covariate and reward distributions, and distributionally robust learning finds a policy that maximizes that worst-case return across that uncertainty set. Unfortunately, current methods for distributionally robust evaluation and learning create overly conservative evaluations and policies. In this work, we propose a practical bandit evaluation and learning algorithm that tailors the uncertainty set to specific problems using mathematical programs constrained by structural equation models. Further, we show how conditional independence testing can be used to detect shifted variables for modeling. We find that the structural equation model (SEM) approach gives more accurate evaluations and learns lower-variance policies than traditional approaches, particularly for large shifts. Further, the SEM approach learns an optimal policy, assuming the model is sufficiently well-specified.
Co-designing Zoomorphic Robot Concepts for Animal Welfare Education
Venue: arXiv cs.RO 2025
Year: 2025

Animal welfare education could greatly benefit from customized robots to help children learn about animals and their behavior, and thereby promote positive, safe child-animal interactions. To this end, we ran Participatory Design workshops with animal welfare educators and children to identify key requirements for zoomorphic robots from their perspectives. Our findings encompass a zoomorphic robot's appearance, behavior, and features, as well as concepts for a narrative surrounding the robot. Through comparing and contrasting the two groups, we find the importance of: negative reactions to undesirable behavior from children; using the facial features and tail to provide cues signaling an animal's internal state; and a natural, furry appearance and texture. We also contribute some novel activities for Participatory Design with children, including branching storyboards inspired by thematic apperception tests and interactive narratives, and reflect on some of the key design challenges of achieving consensus between the groups, despite much overlap in their design concepts.
GrandJury: A Collaborative Machine Learning Model Evaluation Protocol for Dynamic Quality Rubrics
Venue: arXiv cs.LG 2025
Year: 2025

Generative Machine Learning models have become central to modern systems, powering applications in creative writing, summarization, multi-hop reasoning, and context-aware dialogue. These models underpin large-scale AI assistants, workflow automation, and autonomous decision-making. In such domains, acceptable response is rarely absolute or static, but plural and highly context-dependent. Yet standard evaluation regimes still rely on static, benchmark-style tests, incentivizing optimization toward leaderboard scores rather than alignment with dynamic user needs or evolving realities. GrandJury introduces a formal evaluation protocol combining time-decayed aggregation, complete traceability, with the support of dynamic, transparent task rubric attribution, and multi-rater human judgment. Together, these elements enable pluralistic, accountable evaluation that captures evolving consensus and surfaces disagreement. We provide an open-source implementation (grandjury PyPI package) and a public collection of Large Language Model (LLM) inference outputs to illustrate the need and method. GrandJury provides a new paradigm for AI practitioners when evaluating machine learning outputs without absolute ground truth.
Documenting Patterns of Exoticism of Marginalized Populations within Text-to-Image Generators
Venue: arXiv cs.CY 2025
Year: 2025

A significant majority of AI fairness research studying the harmful outcomes of GAI tools have overlooked non-Western communities and contexts, necessitating a stronger coverage in this vein. We extend our previous work on exoticism (Ghosh et al., 2024) of 'Global South' countries from across the world, as depicted by GAI tools. We analyze generated images of individuals from 13 countries -- India, Bangladesh, Papua New Guinea, Egypt, Ethiopia, Tunisia, Sudan, Libya, Venezuela, Colombia, Indonesia, Honduras, and Mexico -- performing everyday activities (such as being at home, going to work, getting groceries, etc.), as opposed to images for the same activities being performed by persons from 3 'Global North' countries -- USA, UK, Australia. While outputs for 'Global North' demonstrate a difference across images and people clad in activity-appropriate attire, individuals from 'Global South' countries are depicted in similar attire irrespective of the performed activity, indicative of a pattern of exoticism where attire or other cultural features are overamplified at the cost of accuracy. We further show qualitatively-analyzed case studies that demonstrate how exoticism is not simply performed upon 'Global South' countries but also upon marginalized populations even in Western contexts, as we observe a similar exoticization of Indigenous populations in the 'Global North', and doubly upon marginalized populations within 'Global South' countries. We document implications for harm-aware usage patterns of such tools, and steps towards designing better GAI tools through community-centered endeavors.
Robot builds a robot's brain: AI generated drone command and control station hosted in the sky
Venue: arXiv cs.RO 2025
Year: 2025

Advances in artificial intelligence (AI) including large language models (LLMs) and hybrid reasoning models present an opportunity to reimagine how autonomous robots such as drones are designed, developed, and validated. Here, we demonstrate a fully AI-generated drone control system: with minimal human input, an artificial intelligence (AI) model authored all the code for a real-time, self-hosted drone command and control platform, which was deployed and demonstrated on a real drone in flight as well as a simulated virtual drone in the cloud. The system enables real-time mapping, flight telemetry, autonomous mission planning and execution, and safety protocolsall orchestrated through a web interface hosted directly on the drone itself. Not a single line of code was written by a human. We quantitatively benchmark system performance, code complexity, and development speed against prior, human-coded architectures, finding that AI-generated code can deliver functionally complete command-and-control stacks at orders-of-magnitude faster development cycles, though with identifiable current limitations related to specific model context window and reasoning depth. Our analysis uncovers the practical boundaries of AI-driven robot control code generation at current model scales, as well as emergent strengths and failure modes in AI-generated robotics code. This work sets a precedent for the autonomous creation of robot control systems and, more broadly, suggests a new paradigm for robotics engineeringone in which future robots may be largely co-designed, developed, and verified by artificial intelligence. In this initial work, a robot built a robot's brain.
Towards Robust Image Denoising with Scale Equivariance
Venue: arXiv cs.CV 2025
Year: 2025

Despite notable advances in image denoising, existing models often struggle to generalize beyond in-distribution noise patterns, particularly when confronted with out-of-distribution (OOD) conditions characterized by spatially variant noise. This generalization gap remains a fundamental yet underexplored challenge. In this work, we investigate \emph{scale equivariance} as a core inductive bias for improving OOD robustness. We argue that incorporating scale-equivariant structures enables models to better adapt from training on spatially uniform noise to inference on spatially non-uniform degradations. Building on this insight, we propose a robust blind denoising framework equipped with two key components: a Heterogeneous Normalization Module (HNM) and an Interactive Gating Module (IGM). HNM stabilizes feature distributions and dynamically corrects features under varying noise intensities, while IGM facilitates effective information modulation via gated interactions between signal and feature paths. Extensive evaluations demonstrate that our model consistently outperforms state-of-the-art methods on both synthetic and real-world benchmarks, especially under spatially heterogeneous noise. Code will be made publicly available.
Diffusion Models with Adaptive Negative Sampling Without External Resources
Venue: arXiv cs.CV 2025
Year: 2025

Diffusion models (DMs) have demonstrated an unparalleled ability to create diverse and high-fidelity images from text prompts. However, they are also well-known to vary substantially regarding both prompt adherence and quality. Negative prompting was introduced to improve prompt compliance by specifying what an image must not contain. Previous works have shown the existence of an ideal negative prompt that can maximize the odds of the positive prompt. In this work, we explore relations between negative prompting and classifier-free guidance (CFG) to develop a sampling procedure, {\it Adaptive Negative Sampling Without External Resources} (ANSWER), that accounts for both positive and negative conditions from a single prompt. This leverages the internal understanding of negation by the diffusion model to increase the odds of generating images faithful to the prompt. ANSWER is a training-free technique, applicable to any model that supports CFG, and allows for negative grounding of image concepts without an explicit negative prompts, which are lossy and incomplete. Experiments show that adding ANSWER to existing DMs outperforms the baselines on multiple benchmarks and is preferred by humans 2x more over the other methods.
MoExDA: Domain Adaptation for Edge-based Action Recognition
Venue: arXiv cs.CV 2025
Year: 2025

Modern action recognition models suffer from static bias, leading to reduced generalization performance. In this paper, we propose MoExDA, a lightweight domain adaptation between RGB and edge information using edge frames in addition to RGB frames to counter the static bias issue. Experiments demonstrate that the proposed method effectively suppresses static bias with a lower computational cost, allowing for more robust action recognition than previous approaches.
On the Fast Adaptation of Delayed Clients in Decentralized Federated Learning: A Centroid-Aligned Distillation Approach
Venue: arXiv cs.LG 2025
Year: 2025

Decentralized Federated Learning (DFL) struggles with the slow adaptation of late-joining delayed clients and high communication costs in asynchronous environments. These limitations significantly hinder overall performance. To address this, we propose DFedCAD, a novel framework for rapid adaptation via Centroid-Aligned Distillation. DFedCAD first employs Weighted Cluster Pruning (WCP) to compress models into representative centroids, drastically reducing communication overhead. It then enables delayed clients to intelligently weigh and align with peer knowledge using a novel structural distance metric and a differentiable k-means distillation module, facilitating efficient end-to-end knowledge transfer. Extensive experiments on CIFAR-10, CIFAR-100, and Tiny-ImageNet show that DFedCAD consistently achieves state-of-the-art performance, attaining the highest accuracy across all evaluated settings while reducing communication overhead by over 86%. Our framework provides a scalable and practical solution for efficient decentralized learning in dynamic, real-world scenarios.
The Geometry of Cortical Computation: Manifold Disentanglement and Predictive Dynamics in VCNet
Venue: arXiv cs.NE 2025
Year: 2025

Despite their success, modern convolutional neural networks (CNNs) exhibit fundamental limitations, including data inefficiency, poor out-of-distribution generalization, and vulnerability to adversarial perturbations. These shortcomings can be traced to a lack of inductive biases that reflect the inherent geometric structure of the visual world. The primate visual system, in contrast, demonstrates superior efficiency and robustness, suggesting that its architectural and computational principles,which evolved to internalize these structures,may offer a blueprint for more capable artificial vision. This paper introduces Visual Cortex Network (VCNet), a novel neural network architecture whose design is informed by the macro-scale organization of the primate visual cortex. VCNet is framed as a geometric framework that emulates key biological mechanisms, including hierarchical processing across distinct cortical areas, dual-stream information segregation for learning disentangled representations, and top-down predictive feedback for representation refinement. We interpret these mechanisms through the lens of geometry and dynamical systems, positing that they guide the learning of structured, low-dimensional neural manifolds. We evaluate VCNet on two specialized benchmarks: the Spots-10 animal pattern dataset, which probes sensitivity to natural textures, and a light field image classification task, which requires processing higher-dimensional visual data. Our results show that VCNet achieves state-of-the-art accuracy of 92.1\% on Spots-10 and 74.4\% on the light field dataset, surpassing contemporary models of comparable size. This work demonstrates that integrating high-level neuroscientific principles, viewed through a geometric lens, can lead to more efficient and robust models, providing a promising direction for addressing long-standing challenges in machine learning.
Multi-Granularity Feature Calibration via VFM for Domain Generalized Semantic Segmentation
Venue: arXiv cs.CV 2025
Year: 2025

Domain Generalized Semantic Segmentation (DGSS) aims to improve the generalization ability of models across unseen domains without access to target data during training. Recent advances in DGSS have increasingly exploited vision foundation models (VFMs) via parameter-efficient fine-tuning strategies. However, most existing approaches concentrate on global feature fine-tuning, while overlooking hierarchical adaptation across feature levels, which is crucial for precise dense prediction. In this paper, we propose Multi-Granularity Feature Calibration (MGFC), a novel framework that performs coarse-to-fine alignment of VFM features to enhance robustness under domain shifts. Specifically, MGFC first calibrates coarse-grained features to capture global contextual semantics and scene-level structure. Then, it refines medium-grained features by promoting category-level feature discriminability. Finally, fine-grained features are calibrated through high-frequency spatial detail enhancement. By performing hierarchical and granularity-aware calibration, MGFC effectively transfers the generalization strengths of VFMs to the domain-specific task of DGSS. Extensive experiments on benchmark datasets demonstrate that our method outperforms state-of-the-art DGSS approaches, highlighting the effectiveness of multi-granularity adaptation for the semantic segmentation task of domain generalization.
Aerobatic maneuvers in insect-scale flapping-wing aerial robots via deep-learned robust tube model predictive control
Venue: arXiv cs.RO 2025
Year: 2025

Aerial insects exhibit highly agile maneuvers such as sharp braking, saccades, and body flips under disturbance. In contrast, insect-scale aerial robots are limited to tracking non-aggressive trajectories with small body acceleration. This performance gap is contributed by a combination of low robot inertia, fast dynamics, uncertainty in flapping-wing aerodynamics, and high susceptibility to environmental disturbance. Executing highly dynamic maneuvers requires the generation of aggressive flight trajectories that push against the hardware limit and a high-rate feedback controller that accounts for model and environmental uncertainty. Here, through designing a deep-learned robust tube model predictive controller, we showcase insect-like flight agility and robustness in a 750-millgram flapping-wing robot. Our model predictive controller can track aggressive flight trajectories under disturbance. To achieve a high feedback rate in a compute-constrained real-time system, we design imitation learning methods to train a two-layer, fully connected neural network, which resembles insect flight control architecture consisting of central nervous system and motor neurons. Our robot demonstrates insect-like saccade movements with lateral speed and acceleration of 197 centimeters per second and 11.7 meters per second square, representing 447$\%$ and 255$\%$ improvement over prior results. The robot can also perform saccade maneuvers under 160 centimeters per second wind disturbance and large command-to-force mapping errors. Furthermore, it performs 10 consecutive body flips in 11 seconds - the most challenging maneuver among sub-gram flyers. These results represent a milestone in achieving insect-scale flight agility and inspire future investigations on sensing and compute autonomy.
Hand-Eye Autonomous Delivery: Learning Humanoid Navigation, Locomotion and Reaching
Venue: arXiv cs.RO 2025
Year: 2025

We propose Hand-Eye Autonomous Delivery (HEAD), a framework that learns navigation, locomotion, and reaching skills for humanoids, directly from human motion and vision perception data. We take a modular approach where the high-level planner commands the target position and orientation of the hands and eyes of the humanoid, delivered by the low-level policy that controls the whole-body movements. Specifically, the low-level whole-body controller learns to track the three points (eyes, left hand, and right hand) from existing large-scale human motion capture data while high-level policy learns from human data collected by Aria glasses. Our modular approach decouples the ego-centric vision perception from physical actions, promoting efficient learning and scalability to novel scenes. We evaluate our method both in simulation and in the real-world, demonstrating humanoid's capabilities to navigate and reach in complex environments designed for humans.