OpenRaiser/Intern-Atlas huggingface dataset:
Code Aesthetics with Agentic Reward Feedback
Venue: arXiv cs.CL 2025
Year: 2025

Large Language Models (LLMs) have become valuable assistants for developers in code-related tasks. While LLMs excel at traditional programming tasks such as code generation and bug fixing, they struggle with visually-oriented coding tasks, often producing suboptimal aesthetics. In this paper, we introduce a new pipeline to enhance the aesthetic quality of LLM-generated code. We first construct AesCode-358K, a large-scale instruction-tuning dataset focused on code aesthetics. Next, we propose agentic reward feedback, a multi-agent system that evaluates executability, static aesthetics, and interactive aesthetics. Building on this, we develop GRPO-AR, which integrates these signals into the GRPO algorithm for joint optimization of functionality and code aesthetics. Finally, we develop OpenDesign, a benchmark for assessing code aesthetics. Experimental results show that combining supervised fine-tuning on AesCode-358K with reinforcement learning using agentic reward feedback significantly improves performance on OpenDesign and also enhances results on existing benchmarks such as PandasPlotBench. Notably, our AesCoder-4B surpasses GPT-4o and GPT-4.1, and achieves performance comparable to large open-source models with 480B-685B parameters, underscoring the effectiveness of our approach.
Precise Time Delay Measurement and Compensation for Tightly Coupled Underwater SINS/piUSBL Navigation
Venue: arXiv cs.RO 2025
Year: 2025

In multi-sensor systems, time synchronization between sensors is a significant challenge, and this issue is particularly pronounced in underwater integrated navigation systems incorporating acoustic positioning. Such systems are highly susceptible to time delay, which can significantly degrade accuracy when measurement and fusion moments are misaligned. To address this challenge, this paper introduces a tightly coupled navigation framework that integrates a passive inverted ultra-short baseline (piUSBL) acoustic positioning system, a strapdown inertial navigation system (SINS), and a depth gauge under precise time synchronization. The framework fuses azimuth and slant range from the piUSBL with depth data, thereby avoiding poor vertical-angle observability in planar arrays. A novel delay measurement strategy is introduced, combining synchronized timing with acoustic signal processing, which redefines delay-traditionally an unobservable error-into a quantifiable parameter, enabling explicit estimation of both acoustic propagation and system processing delays. Simulations and field experiments confirm the feasibility of the proposed method, with delay-compensated navigation reducing RMSE by 40.45% and maximum error by 32.55%. These findings show that precise delay measurement and compensation not only enhance underwater navigation accuracy but also establish a generalizable framework for acoustic positioning integration, offering valuable insights into time alignment and data fusion in latency-sensitive multi-sensor systems.
Towards Scaling Deep Neural Networks with Predictive Coding: Theory and Practice
Venue: arXiv cs.LG 2025
Year: 2025

Backpropagation (BP) is the standard algorithm for training the deep neural networks that power modern artificial intelligence including large language models. However, BP is energy inefficient and unlikely to be implemented by the brain. This thesis studies an alternative, potentially more efficient brain-inspired algorithm called predictive coding (PC). Unlike BP, PC networks (PCNs) perform inference by iterative equilibration of neuron activities before learning or weight updates. Recent work has suggested that this iterative inference procedure provides a range of benefits over BP, such as faster training. However, these advantages have not been consistently observed, the inference and learning dynamics of PCNs are still poorly understood, and deep PCNs remain practically untrainable. Here, we make significant progress towards scaling PCNs by taking a theoretical approach grounded in optimisation theory. First, we show that the learning dynamics of PC can be understood as an approximate trust-region method using second-order information, despite explicitly using only first-order local updates. Second, going beyond this approximation, we show that PC can in principle make use of arbitrarily higher-order information, such that for feedforward networks the effective landscape on which PC learns is far more benign and robust to vanishing gradients than the (mean squared error) loss landscape. Third, motivated by a study of the inference dynamics of PCNs, we propose a new parameterisation called "$μ$PC", which for the first time allows stable training of 100+ layer networks with little tuning and competitive performance on simple tasks. Overall, this thesis significantly advances our fundamental understanding of the inference and learning dynamics of PCNs, while highlighting the need for future research to focus on hardware co-design if PC is to compete with BP at scale.
GRAD: Real-Time Gated Recurrent Anomaly Detection in Autonomous Vehicle Sensors Using Reinforced EMA and Multi-Stage Sliding Window Techniques
Venue: arXiv cs.LG 2025
Year: 2025

This paper introduces GRAD, a real-time anomaly detection method for autonomous vehicle sensors that integrates statistical analysis and deep learning to ensure the reliability of sensor data. The proposed approach combines the Reinforced Exponential Moving Average (REMA), which adapts smoothing factors and thresholding for outlier detection, with the Multi-Stage Sliding Window (MS-SW) technique for capturing both short- and long-term patterns. These features are processed using a lightweight Gated Recurrent Unit (GRU) model, which detects and classifies anomalies based on bias types, while a recovery module restores damaged sensor data to ensure continuous system operation. GRAD has a lightweight architecture consisting of two layers of GRU with a limited number of neurons that make it appropriate for real-time applications while maintaining high detection accuracy. The GRAD framework achieved remarkable performance in anomaly detection and classification. The model demonstrated an overall F1-score of 97.6% for abnormal data and 99.4% for normal data, signifying its high accuracy in distinguishing between normal and anomalous sensor data. Regarding the anomaly classification, GRAD successfully categorized different anomaly types with high precision, enabling the recovery module to accurately restore damaged sensor data. Relative to analogous studies, GRAD surpasses current models by attaining a balance between elevated detection accuracy and diminished computational expense. These results demonstrate GRAD's potential as a reliable and efficient solution for real-time anomaly detection in autonomous vehicle systems, guaranteeing safe vehicle operation with minimal computational overhead.
Transferable Deep Reinforcement Learning for Cross-Domain Navigation: from Farmland to the Moon
Venue: arXiv cs.RO 2025
Year: 2025

Autonomous navigation in unstructured environments is essential for field and planetary robotics, where robots must efficiently reach goals while avoiding obstacles under uncertain conditions. Conventional algorithmic approaches often require extensive environment-specific tuning, limiting scalability to new domains. Deep Reinforcement Learning (DRL) provides a data-driven alternative, allowing robots to acquire navigation strategies through direct interactions with their environment. This work investigates the feasibility of DRL policy generalization across visually and topographically distinct simulated domains, where policies are trained in terrestrial settings and validated in a zero-shot manner in extraterrestrial environments. A 3D simulation of an agricultural rover is developed and trained using Proximal Policy Optimization (PPO) to achieve goal-directed navigation and obstacle avoidance in farmland settings. The learned policy is then evaluated in a lunar-like simulated environment to assess transfer performance. The results indicate that policies trained under terrestrial conditions retain a high level of effectiveness, achieving close to 50\% success in lunar simulations without the need for additional training and fine-tuning. This underscores the potential of cross-domain DRL-based policy transfer as a promising approach to developing adaptable and efficient autonomous navigation for future planetary exploration missions, with the added benefit of minimizing retraining costs.
EMTSF:Extraordinary Mixture of SOTA Models for Time Series Forecasting
Venue: arXiv cs.CL 2025
Year: 2025

The immense success of the Transformer architecture in Natural Language Processing has led to its adoption in Time Se ries Forecasting (TSF), where superior performance has been shown. However, a recent important paper questioned their effectiveness by demonstrating that a simple single layer linear model outperforms Transformer-based models. This was soon shown to be not as valid, by a better transformer-based model termed PatchTST. More re cently, TimeLLM demonstrated even better results by repurposing a Large Language Model (LLM) for the TSF domain. Again, a follow up paper challenged this by demonstrating that removing the LLM component or replacing it with a basic attention layer in fact yields better performance. One of the challenges in forecasting is the fact that TSF data favors the more recent past, and is sometimes subject to unpredictable events. Based upon these recent insights in TSF, we propose a strong Mixture of Experts (MoE) framework. Our method combines the state-of-the-art (SOTA) models including xLSTM, en hanced Linear, PatchTST, and minGRU, among others. This set of complimentary and diverse models for TSF are integrated in a Trans former based MoE gating network. Our proposed model outperforms all existing TSF models on standard benchmarks, surpassing even the latest approaches based on MoE frameworks.
Adaptive Dual Prompting: Hierarchical Debiasing for Fairness-aware Graph Neural Networks
Venue: arXiv cs.LG 2025
Year: 2025

In recent years, pre-training Graph Neural Networks (GNNs) through self-supervised learning on unlabeled graph data has emerged as a widely adopted paradigm in graph learning. Although the paradigm is effective for pre-training powerful GNN models, the objective gap often exists between pre-training and downstream tasks. To bridge this gap, graph prompting adapts pre-trained GNN models to specific downstream tasks with extra learnable prompts while keeping the pre-trained GNN models frozen. As recent graph prompting methods largely focus on enhancing model utility on downstream tasks, they often overlook fairness concerns when designing prompts for adaptation. In fact, pre-trained GNN models will produce discriminative node representations across demographic subgroups, as downstream graph data inherently contains biases in both node attributes and graph structures. To address this issue, we propose an Adaptive Dual Prompting (ADPrompt) framework that enhances fairness for adapting pre-trained GNN models to downstream tasks. To mitigate attribute bias, we design an Adaptive Feature Rectification module that learns customized attribute prompts to suppress sensitive information at the input layer, reducing bias at the source. Afterward, we propose an Adaptive Message Calibration module that generates structure prompts at each layer, which adjust the message from neighboring nodes to enable dynamic and soft calibration of the information flow. Finally, ADPrompt jointly optimizes the two prompting modules to adapt the pre-trained GNN while enhancing fairness. We conduct extensive experiments on four datasets with four pre-training strategies to evaluate the performance of ADPrompt. The results demonstrate that our proposed ADPrompt outperforms seven baseline methods on node classification tasks.
VOLD: Reasoning Transfer from LLMs to Vision-Language Models via On-Policy Distillation
Venue: arXiv cs.CV 2025
Year: 2025

Training vision-language models (VLMs) for complex reasoning remains a challenging task, i.a. due to the scarcity of high-quality image-text reasoning data. Conversely, text-based reasoning resources are abundant and scalable, but it is still an open question how to leveraging them for VLM reasoning. To address this problem, we propose VOLD, a framework to transfer reasoning capabilities from text-only teacher models to VLM student models. To this end, VOLD combines reinforcement learning via Group Relative Policy Optimization (GRPO) with on-policy distillation, which allows the student reasoning traces to be guided by the teacher model, resulting in a significant gain over using GRPO alone. We further show that a cold-start alignment is essential for an effective transfer during the online training phase in this scenario and that without sufficient distributional alignment between teacher and student, on-policy distillation fails to provide meaningful guidance. We evaluate VOLD across diverse benchmarks including MMMU-Pro, MathVision, MathVista, and LogicVista, showing that VOLD outperforms the baseline model significantly and improves over the state of the art by a margin. Our ablation shows the importance of a cold-start alignment via SFT for on-policy distillation with a text-only teacher.
ISA-Bench: Benchmarking Instruction Sensitivity for Large Audio Language Models
Venue: arXiv cs.SD 2025
Year: 2025

Large Audio Language Models (LALMs), which couple acoustic perception with large language models (LLMs) to extract and understand diverse information from audio, have attracted intense interest from both academic and industrial communities. However, existing LALMs are highly sensitive to how instructions are phrased, affecting both (i) instruction-following rates and (ii) task performance. Yet, no existing benchmarks offer a systematic and comprehensive evaluation of this sensitivity. We introduce ISA-Bench, a dynamic benchmark evaluating instruction sensitivity for LALMs along three axes: instruction description, output format, and task composition. We assess recent open-source and proprietary LALMs using ISA-Bench, profiling both compliance and accuracy under controlled instruction variations. Experimental results reveal that even state-of-the-art LALMs suffer significant instruction sensitivity, leading to degraded performance on fundamental audio understanding tasks. To mitigate this issue, we fine-tune Qwen2-Audio on a specifically constructed complex instruction-variant dataset, achieving a marked improvement in instruction-following performance. However, this also induces nontrivial catastrophic forgetting: the model loses some previously mastered task capabilities when exposed to new instruction styles. Our benchmark provides a standardized basis for assessing and improving instruction sensitivity in LALMs, underscoring the need for instruction-robust audio understanding in real-world pipelines.
Reduced AI Acceptance After the Generative AI Boom: Evidence From a Two-Wave Survey Study
Venue: arXiv cs.AI 2025
Year: 2025

The rapid adoption of generative artificial intelligence (GenAI) technologies has led many organizations to integrate AI into their products and services, often without considering user preferences. Yet, public attitudes toward AI use, especially in impactful decision-making scenarios, are underexplored. Using a large-scale two-wave survey study (n_wave1=1514, n_wave2=1488) representative of the Swiss population, we examine shifts in public attitudes toward AI before and after the launch of ChatGPT. We find that the GenAI boom is significantly associated with reduced public acceptance of AI (see Figure 1) and increased demand for human oversight in various decision-making contexts. The proportion of respondents finding AI "not acceptable at all" increased from 23% to 30%, while support for human-only decision-making rose from 18% to 26%. These shifts have amplified existing social inequalities in terms of widened educational, linguistic, and gender gaps post-boom. Our findings challenge industry assumptions about public readiness for AI deployment and highlight the critical importance of aligning technological development with evolving public preferences.
FARMER: Flow AutoRegressive Transformer over Pixels
Venue: arXiv cs.CV 2025
Year: 2025

Directly modeling the explicit likelihood of the raw data distribution is key topic in the machine learning area, which achieves the scaling successes in Large Language Models by autoregressive modeling. However, continuous AR modeling over visual pixel data suffer from extremely long sequences and high-dimensional spaces. In this paper, we present FARMER, a novel end-to-end generative framework that unifies Normalizing Flows (NF) and Autoregressive (AR) models for tractable likelihood estimation and high-quality image synthesis directly from raw pixels. FARMER employs an invertible autoregressive flow to transform images into latent sequences, whose distribution is modeled implicitly by an autoregressive model. To address the redundancy and complexity in pixel-level modeling, we propose a self-supervised dimension reduction scheme that partitions NF latent channels into informative and redundant groups, enabling more effective and efficient AR modeling. Furthermore, we design a one-step distillation scheme to significantly accelerate inference speed and introduce a resampling-based classifier-free guidance algorithm to boost image generation quality. Extensive experiments demonstrate that FARMER achieves competitive performance compared to existing pixel-based generative models while providing exact likelihoods and scalable training.
Variational Masked Diffusion Models
Venue: arXiv cs.LG 2025
Year: 2025

Masked diffusion models have recently emerged as a flexible framework for discrete generative modeling. However, a key limitation of standard masked diffusion is its inability to effectively capture dependencies among tokens that are predicted concurrently, leading to degraded generation quality when dependencies among tokens are important. To explicitly model dependencies among tokens, we propose Variational Masked Diffusion (VMD), a framework that introduces latent variables into the masked diffusion process. Through controlled experiments on synthetic datasets, we demonstrate that VMD successfully learns dependencies that conventional masked diffusion fails to capture. We further validate the effectiveness of our approach on Sudoku puzzles and text datasets, where learning of dependencies among tokens improves global consistency. Across these domains, VMD enhances both generation quality and dependency awareness, highlighting the value of integrating variational inference into masked diffusion. Our code is available at: https://riccizz.github.io/VMD.
Adversarially-Aware Architecture Design for Robust Medical AI Systems
Venue: arXiv cs.LG 2025
Year: 2025

Adversarial attacks pose a severe risk to AI systems used in healthcare, capable of misleading models into dangerous misclassifications that can delay treatments or cause misdiagnoses. These attacks, often imperceptible to human perception, threaten patient safety, particularly in underserved populations. Our study explores these vulnerabilities through empirical experimentation on a dermatological dataset, where adversarial methods significantly reduce classification accuracy. Through detailed threat modeling, experimental benchmarking, and model evaluation, we demonstrate both the severity of the threat and the partial success of defenses like adversarial training and distillation. Our results show that while defenses reduce attack success rates, they must be balanced against model performance on clean data. We conclude with a call for integrated technical, ethical, and policy-based approaches to build more resilient, equitable AI in healthcare.
NUM2EVENT: Interpretable Event Reasoning from Numerical time-series
Venue: arXiv cs.LG 2025
Year: 2025

Large language models (LLMs) have recently demonstrated impressive multimodal reasoning capabilities, yet their understanding of purely numerical time-series signals remains limited. Existing approaches mainly focus on forecasting or trend description, without uncovering the latent events that drive numerical changes or explaining the reasoning process behind them. In this work, we introduce the task of number-to-event reasoning and decoding, which aims to infer interpretable structured events from numerical inputs, even when current text is unavailable. To address the data scarcity and semantic alignment challenges, we propose a reasoning-aware framework that integrates an agent-guided event extractor (AGE), a marked multivariate Hawkes-based synthetic generator (EveDTS), and a two-stage fine-tuning pipeline combining a time-series encoder with a structured decoder. Our model explicitly reasons over numerical changes, generates intermediate explanations, and outputs structured event hypotheses. Experiments on multi-domain datasets show that our method substantially outperforms strong LLM baselines in event-level precision and recall. These results suggest a new direction for bridging quantitative reasoning and semantic understanding, enabling LLMs to explain and predict events directly from numerical dynamics.
Global YouTube Trending Dataset (2022-2025): Three Years of Platform-Curated, Cross-National Trends in Digital Culture
Venue: arXiv cs.SI 2025
Year: 2025

On July 1, 2025, YouTube retired its decade-long public "Trending" pages, ending platform-curated, non-personalized video discovery. The Trending list had long served as a vital lens into algorithmic influence, cultural diffusion, and crisis communication globally, offering a rare "ground-truth" reference to study global attention and cultural salience. We present a three-year archival dataset of YouTube Trending videos, collected from July 1, 2022, to June 30, 2025, with four daily snapshots for each of the 104 countries. The dataset includes 446,971 snapshots, each capturing up to 200 trending videos, encompassing 78.4 million video entries (726,627 unique videos) and associated metadata. Each record includes core identifiers (snapshot time, country, rank) and content metadata (video ID, channel ID, title, description, tags, publication date, category, channel name, language, live status, views, and comments). Unlike previous datasets with limited geographic scope or short timeframes, our non-personalized data provides exceptional cross-national and longitudinal coverage for studying digital culture, platform governance, and temporal dynamics in content popularity. We document the data collection methodology, schema design, coverage, descriptive statistics for both global and U.S. trending videos, and the ethical safeguards implemented throughout.
MCPGuard : Automatically Detecting Vulnerabilities in MCP Servers
Venue: arXiv cs.CR 2025
Year: 2025

The Model Context Protocol (MCP) has emerged as a standardized interface enabling seamless integration between Large Language Models (LLMs) and external data sources and tools. While MCP significantly reduces development complexity and enhances agent capabilities, its openness and extensibility introduce critical security vulnerabilities that threaten system trustworthiness and user data protection. This paper systematically analyzes the security landscape of MCP-based systems, identifying three principal threat categories: (1) agent hijacking attacks stemming from protocol design deficiencies; (2) traditional web vulnerabilities in MCP servers; and (3) supply chain security. To address these challenges, we comprehensively survey existing defense strategies, examining both proactive server-side scanning approaches, ranging from layered detection pipelines and agentic auditing frameworks to zero-trust registry systems, and runtime interaction monitoring solutions that provide continuous oversight and policy enforcement. Our analysis reveals that MCP security fundamentally represents a paradigm shift where the attack surface extends from traditional code execution to semantic interpretation of natural language metadata, necessitating novel defense mechanisms tailored to this unique threat model.