OpenRaiser/Intern-Atlas huggingface dataset:
Safety Meets Speed: Accelerated Neural MPC with Safety Guarantees and No Retraining
Venue: arXiv cs.RO 2025
Year: 2025

While Model Predictive Control (MPC) enforces safety via constraints, its real-time execution can exceed embedded compute budgets. We propose a Barrier-integrated Adaptive Neural Model Predictive Control (BAN-MPC) framework that synergizes neural networks' fast computation with MPC's constraint-handling capability. To ensure strict safety, we replace traditional Euclidean distance with Control Barrier Functions (CBFs) for collision avoidance. We integrate an offline-learned neural value function into the optimization objective of a Short-horizon MPC, substantially reducing online computational complexity. Additionally, we use a second neural network to learn the sensitivity of the value function to system parameters, and adaptively adjust the neural value function based on this neural sensitivity when model parameters change, eliminating the need for retraining and reducing offline computation costs. The hardware in-the-loop (HIL) experiments on Jetson Nano show that BAN-MPC solves 200 times faster than traditional MPC, enabling collision-free navigation with control error below 5\% under model parameter variations within 15\%, making it an effective embedded MPC alternative.
Teaching AI Stepwise Diagnostic Reasoning with Report-Guided Chain-of-Thought Learning
Venue: arXiv cs.AI 2025
Year: 2025

This study presents DiagCoT, a multi-stage framework that applies supervised fine-tuning to general-purpose vision-language models (VLMs) to emulate radiologists' stepwise diagnostic reasoning using only free-text reports. DiagCoT combines contrastive image-report tuning for domain alignment, chain-of-thought supervision to capture inferential logic, and reinforcement tuning with clinical reward signals to enhance factual accuracy and fluency. On the MIMIC-CXR benchmark, DiagCoT improved zero-shot disease classification AUC from 0.52 to 0.76 (absolute gain of 0.24), pathology grounding mIoU from 0.08 to 0.31 (absolute gain of 0.23), and report generation BLEU from 0.11 to 0.33 (absolute gain of 0.22). It outperformed state-of-the-art models including LLaVA-Med and CXR-LLAVA on long-tailed diseases and external datasets. By converting unstructured clinical narratives into structured supervision, DiagCoT offers a scalable approach for developing interpretable and diagnostically competent AI systems for radiology.
Relational Algebras for Subset Selection and Optimisation
Venue: arXiv cs.DB 2025
Year: 2025

The database community lacks a unified relational query language for subset selection and optimisation queries, limiting both user expression and query optimiser reasoning about such problems. Decades of research (latterly under the rubric of prescriptive analytics) have produced powerful evaluation algorithms with incompatible, ad-hoc SQL extensions that specify and filter through distinct mechanisms. We present the first unified algebraic foundation for these queries, introducing relational exponentiation to complete the fundamental algebraic operations alongside union (addition) and cross product (multiplication). First, we extend relational algebra to complete domain relations-relations defined by characteristic functions rather than explicit extensions-achieving the expressiveness of NP-complete/hard problems, while simultaneously providing query safety for finite inputs. Second, we introduce solution sets, a higher-order relational algebra over sets of relations that naturally expresses search spaces as functions f: Base to Decision, yielding |Decision|^|Base| candidate relations. Third, we provide structure-preserving translation semantics from solution sets to standard relational algebra, enabling mechanical translation to existing evaluation algorithms. This framework achieves the expressiveness of the most powerful prior approaches while providing the theoretical clarity and compositional properties absent in previous work. We demonstrate the capabilities these algebras open up through a polymorphic SQL where standard clauses seamlessly express data management, subset selection, and optimisation queries within a single paradigm.
No Such Thing as Free Brain Time: For a Pigouvian Tax on Attention Capture
Venue: arXiv cs.SI 2025
Year: 2025

In our age of digital platforms, human attention has become a scarce and highly valuable resource, rivalrous, tradable, and increasingly subject to market dynamics. This article explores the commodification of attention within the framework of the attention economy, arguing that attention should be understood as a common good threatened by over-exploitation. Drawing from philosophical, economic, and legal perspectives, we first conceptualize attention not only as an individual cognitive process but as a collective and infrastructural phenomenon susceptible to enclosure by digital intermediaries. We then identify and analyze negative externalities of the attention economy, particularly those stemming from excessive screen time: diminished individual agency, adverse health outcomes, and societal and political harms, including democratic erosion and inequality. These harms are largely unpriced by market actors and constitute a significant market failure. In response, among a spectrum of public policy tools ranging from informational campaigns to outright restrictions, we propose a Pigouvian tax on attention capture as a promising regulatory instrument to internalize the externalities and, in particular, the social cost of compulsive digital engagement. Such a tax would incentivize structural changes in platform design while preserving user autonomy. By reclaiming attention as a shared resource vital to human agency, health, and democracy, this article contributes a novel economic and policy lens to the debate on digital regulation. Ultimately, this article advocates for a paradigm shift: from treating attention as a private, monetizable asset to protecting it as a collective resource vital for humanity.
Explained, yet misunderstood: How AI Literacy shapes HR Managers' interpretation of User Interfaces in Recruiting Recommender Systems
Venue: arXiv cs.HC 2025
Year: 2025

AI-based recommender systems increasingly influence recruitment decisions. Thus, transparency and responsible adoption in Human Resource Management (HRM) are critical. This study examines how HR managers' AI literacy influences their subjective perception and objective understanding of explainable AI (XAI) elements in recruiting recommender dashboards. In an online experiment, 410 German-based HR managers compared baseline dashboards to versions enriched with three XAI styles: important features, counterfactuals, and model criteria. Our results show that the dashboards used in practice do not explain AI results and even keep AI elements opaque. However, while adding XAI features improves subjective perceptions of helpfulness and trust among users with moderate or high AI literacy, it does not increase their objective understanding. It may even reduce accurate understanding, especially with complex explanations. Only overlays of important features significantly aided the interpretations of high-literacy users. Our findings highlight that the benefits of XAI in recruitment depend on users' AI literacy, emphasizing the need for tailored explanation strategies and targeted literacy training in HRM to ensure fair, transparent, and effective adoption of AI.
MORSE: Multi-Objective Reinforcement Learning via Strategy Evolution for Supply Chain Optimization
Venue: arXiv cs.AI 2025
Year: 2025

In supply chain management, decision-making often involves balancing multiple conflicting objectives, such as cost reduction, service level improvement, and environmental sustainability. Traditional multi-objective optimization methods, such as linear programming and evolutionary algorithms, struggle to adapt in real-time to the dynamic nature of supply chains. In this paper, we propose an approach that combines Reinforcement Learning (RL) and Multi-Objective Evolutionary Algorithms (MOEAs) to address these challenges for dynamic multi-objective optimization under uncertainty. Our method leverages MOEAs to search the parameter space of policy neural networks, generating a Pareto front of policies. This provides decision-makers with a diverse population of policies that can be dynamically switched based on the current system objectives, ensuring flexibility and adaptability in real-time decision-making. We also introduce Conditional Value-at-Risk (CVaR) to incorporate risk-sensitive decision-making, enhancing resilience in uncertain environments. We demonstrate the effectiveness of our approach through case studies, showcasing its ability to respond to supply chain dynamics and outperforming state-of-the-art methods in an inventory management case study. The proposed strategy not only improves decision-making efficiency but also offers a more robust framework for managing uncertainty and optimizing performance in supply chains.
TIDE: Achieving Balanced Subject-Driven Image Generation via Target-Instructed Diffusion Enhancement
Venue: arXiv cs.CV 2025
Year: 2025

Subject-driven image generation (SDIG) aims to manipulate specific subjects within images while adhering to textual instructions, a task crucial for advancing text-to-image diffusion models. SDIG requires reconciling the tension between maintaining subject identity and complying with dynamic edit instructions, a challenge inadequately addressed by existing methods. In this paper, we introduce the Target-Instructed Diffusion Enhancing (TIDE) framework, which resolves this tension through target supervision and preference learning without test-time fine-tuning. TIDE pioneers target-supervised triplet alignment, modelling subject adaptation dynamics using a (reference image, instruction, target images) triplet. This approach leverages the Direct Subject Diffusion (DSD) objective, training the model with paired "winning" (balanced preservation-compliance) and "losing" (distorted) targets, systematically generated and evaluated via quantitative metrics. This enables implicit reward modelling for optimal preservation-compliance balance. Experimental results on standard benchmarks demonstrate TIDE's superior performance in generating subject-faithful outputs while maintaining instruction compliance, outperforming baseline methods across multiple quantitative metrics. TIDE's versatility is further evidenced by its successful application to diverse tasks, including structural-conditioned generation, image-to-image generation, and text-image interpolation. Our code is available at https://github.com/KomJay520/TIDE.
An AI system to help scientists write expert-level empirical software
Venue: arXiv cs.AI 2025
Year: 2025

The cycle of scientific discovery is frequently bottlenecked by the slow, manual creation of software to support computational experiments. To address this, we present an AI system that creates expert-level scientific software whose goal is to maximize a quality metric. The system uses a Large Language Model (LLM) and Tree Search (TS) to systematically improve the quality metric and intelligently navigate the large space of possible solutions. The system achieves expert-level results when it explores and integrates complex research ideas from external sources. The effectiveness of tree search is demonstrated across a wide range of benchmarks. In bioinformatics, it discovered 40 novel methods for single-cell data analysis that outperformed the top human-developed methods on a public leaderboard. In epidemiology, it generated 14 models that outperformed the CDC ensemble and all other individual models for forecasting COVID-19 hospitalizations. Our method also produced state-of-the-art software for geospatial analysis, neural activity prediction in zebrafish, time series forecasting and numerical solution of integrals. By devising and implementing novel solutions to diverse tasks, the system represents a significant step towards accelerating scientific progress.
When Code Crosses Borders: A Security-Centric Study of LLM-based Code Translation
Venue: arXiv cs.CR 2025
Year: 2025

Code translation is crucial for cross-language codebase migration, and large language models (LLMs) have emerged as a promising technique to automate this process. However, the security implications of using LLMs for code translation remain largely unexplored, as existing evaluations primarily focus on syntactic and functional correctness. To bridge this gap, we conduct a security-centric empirical study to investigate the risks of vulnerabilities being introduced or preserved during LLM-based translation. Our study involves a rigorous evaluation of five state-of-the-art LLMs on a curated dataset of 720 security-related code samples across four programming languages (Java, PHP, C, C++) and nine Common Weakness Enumeration (CWE) categories. The results reveal significant security degradation, with 28.6\% to 45\% of translations introducing new vulnerabilities. Web-related flaws, particularly in input validation, proved most challenging for LLMs. Furthermore, we identify and categorize the root causes of these vulnerable translations into a taxonomy of five major error types. Based on our findings, we develop and evaluate a Retrieval-Augmented Generation (RAG)-based mitigation strategy, which successfully reduces the vulnerability introduction rate by 32.8\%. Our study provides the first large-scale evidence of serious security risks in LLM-based code translation and demonstrates the potential of knowledge-enhanced prompting to mitigate them.
Five Blind Men and the Internet: Towards an Understanding of Internet Traffic
Venue: arXiv cs.NI 2025
Year: 2025

The Internet, the world's largest and most pervasive network, lacks a transparent, granular view of its traffic patterns, volumes, and growth trends, hindering the networking community's understanding of its dynamics. This paper leverages publicly available Internet Exchange Point traffic statistics to address this gap, presenting a comprehensive two-year study (2023-2024) from 472 IXPs worldwide, capturing approximately 300 Tbps of peak daily aggregate traffic by late 2024. Our analysis reveals a 49.2% global traffic increase (24.5% annualized), uncovers regionally distinct diurnal patterns and event-driven anomalies, and demonstrates stable utilization rates, reflecting predictable infrastructure scaling. By analyzing biases and confirming high self-similarity, we establish IXP traffic as a robust proxy for overall Internet growth and usage behavior. With transparent, replicable data--covering 87% of the worldwide IXP port capacity--and plans to release our dataset, this study offers a verifiable foundation for long-term Internet traffic monitoring. In particular, our findings shed light on the interplay between network design and function, providing an accessible framework for researchers and operators to explore the Internet's evolving ecosystem.
LAMDAS: LLM as an Implicit Classifier for Domain-specific Data Selection
Venue: arXiv cs.CL 2025
Year: 2025

Adapting large language models (LLMs) to specific domains often faces a critical bottleneck: the scarcity of high-quality, human-curated data. While large volumes of unchecked data are readily available, indiscriminately using them for fine-tuning risks introducing noise and degrading performance. Strategic data selection is thus crucial, requiring a method that is both accurate and efficient. Existing approaches, categorized as similarity-based and direct optimization methods, struggle to simultaneously achieve these goals. In this paper, we introduce LAMDAS (LLM As an iMplicit classifier for domain-specific DAta Selection), a novel approach that leverages the pre-trained LLM itself as an implicit classifier, thereby bypassing explicit feature engineering and computationally intensive optimization process. LAMDAS reframes data selection as a one-class classification problem, identifying candidate data that "belongs" to the target domain defined by a small reference dataset. Extensive experimental results demonstrate that LAMDAS not only exceeds the performance of full-data training using a fraction of the data but also outperforms nine state-of-the-art (SOTA) baselines under various scenarios. Furthermore, LAMDAS achieves the most compelling balance between performance gains and computational efficiency compared to all evaluated baselines.
SLiNT: Structure-aware Language Model with Injection and Contrastive Training for Knowledge Graph Completion
Venue: arXiv cs.CL 2025
Year: 2025

Link prediction in knowledge graphs requires integrating structural information and semantic context to infer missing entities. While large language models offer strong generative reasoning capabilities, their limited exploitation of structural signals often results in structural sparsity and semantic ambiguity, especially under incomplete or zero-shot settings. To address these challenges, we propose SLiNT (Structure-aware Language model with Injection and coNtrastive Training), a modular framework that injects knowledge-graph-derived structural context into a frozen LLM backbone with lightweight LoRA-based adaptation for robust link prediction. Specifically, Structure-Guided Neighborhood Enhancement (SGNE) retrieves pseudo-neighbors to enrich sparse entities and mitigate missing context; Dynamic Hard Contrastive Learning (DHCL) introduces fine-grained supervision by interpolating hard positives and negatives to resolve entity-level ambiguity; and Gradient-Decoupled Dual Injection (GDDI) performs token-level structure-aware intervention while preserving the core LLM parameters. Experiments on WN18RR and FB15k-237 show that SLiNT achieves superior or competitive performance compared with both embedding-based and generation-based baselines, demonstrating the effectiveness of structure-aware representation learning for scalable knowledge graph completion.
Mind Your Server: A Systematic Study of Parasitic Toolchain Attacks on the MCP Ecosystem
Venue: arXiv cs.CR 2025
Year: 2025

Large language models (LLMs) are increasingly integrated with external systems through the Model Context Protocol (MCP), which standardizes tool invocation and has rapidly become a backbone for LLM-powered applications. While this paradigm enhances functionality, it also introduces a fundamental security shift: LLMs transition from passive information processors to autonomous orchestrators of task-oriented toolchains, expanding the attack surface, elevating adversarial goals from manipulating single outputs to hijacking entire execution flows. In this paper, we reveal a new class of attacks, Parasitic Toolchain Attacks, instantiated as MCP Unintended Privacy Disclosure (MCP-UPD). These attacks require no direct victim interaction; instead, adversaries embed malicious instructions into external data sources that LLMs access during legitimate tasks. The malicious logic infiltrates the toolchain and unfolds in three phases: Parasitic Ingestion, Privacy Collection, and Privacy Disclosure, culminating in stealthy exfiltration of private data. Our root cause analysis reveals that MCP lacks both context-tool isolation and least-privilege enforcement, enabling adversarial instructions to propagate unchecked into sensitive tool invocations. To assess the severity, we design MCP-SEC and conduct the first large-scale security census of the MCP ecosystem, analyzing 12,230 tools across 1,360 servers. Our findings show that the MCP ecosystem is rife with exploitable gadgets and diverse attack methods, underscoring systemic risks in MCP platforms and the urgent need for defense mechanisms in LLM-integrated environments.
Co-Located VR with Hybrid SLAM-based HMD Tracking and Motion Capture Synchronization
Venue: arXiv cs.RO 2025
Year: 2025

We introduce a multi-user VR co-location framework that synchronizes users within a shared virtual environment aligned to physical space. Our approach combines a motion capture system with SLAM-based inside-out tracking to deliver smooth, high-framerate, low-latency performance. Previous methods either rely on continuous external tracking, which introduces latency and jitter, or on one-time calibration, which cannot correct drift over time. In contrast, our approach combines the responsiveness of local HMD SLAM tracking with the flexibility to realign to an external source when needed. It also supports real-time pose sharing across devices, ensuring consistent spatial alignment and engagement between users. Our evaluation demonstrates that our framework achieves the spatial accuracy required for natural multi-user interaction while offering improved comfort, scalability, and robustness over existing co-located VR solutions.
A Robust Approach for LiDAR-Inertial Odometry Without Sensor-Specific Modeling
Venue: arXiv cs.RO 2025
Year: 2025

Accurate odometry is a critical component in a robotic navigation stack, and subsequent modules such as planning and control often rely on an estimate of the robot's motion. Sensor-based odometry approaches should be robust across sensor types and deployable in different target domains, from solid-state LiDARs mounted on cars in urban-driving scenarios to spinning LiDARs on handheld packages used in unstructured natural environments. In this paper, we propose a robust LiDAR-inertial odometry system that does not rely on sensor-specific modeling. Sensor fusion techniques for LiDAR and inertial measurement unit (IMU) data typically integrate IMU data iteratively in a Kalman filter or use pre-integration in a factor graph framework, combined with LiDAR scan matching often exploiting some form of feature extraction. We propose an alternative strategy that only requires a simplified motion model for IMU integration and directly registers LiDAR scans in a scan-to-map approach. Our approach allows us to impose a novel regularization on the LiDAR registration, improving the overall odometry performance. We detail extensive experiments on a number of datasets covering a wide array of commonly used robotic sensors and platforms. We show that our approach works with the exact same configuration in all these scenarios, demonstrating its robustness. We have open-sourced our implementation so that the community can build further on our work and use it in their navigation stacks.
Information-Theoretic Bounds and Task-Centric Learning Complexity for Real-World Dynamic Nonlinear Systems
Venue: arXiv cs.LG 2025
Year: 2025

Dynamic nonlinear systems exhibit distortions arising from coupled static and dynamic effects. Their intertwined nature poses major challenges for data-driven modeling. This paper presents a theoretical framework grounded in structured decomposition, variance analysis, and task-centric complexity bounds. The framework employs a directional lower bound on interactions between measurable system components, extending orthogonality in inner product spaces to structurally asymmetric settings. This bound supports variance inequalities for decomposed systems. Key behavioral indicators are introduced along with a memory finiteness index. A rigorous power-based condition establishes a measurable link between finite memory in realizable systems and the First Law of Thermodynamics. This offers a more foundational perspective than classical bounds based on the Second Law. Building on this foundation, we formulate a `Behavioral Uncertainty Principle,' demonstrating that static and dynamic distortions cannot be minimized simultaneously. We identify that real-world systems seem to resist complete deterministic decomposition due to entangled static and dynamic effects. We also present two general-purpose theorems linking function variance to mean-squared Lipschitz continuity and learning complexity. This yields a model-agnostic, task-aware complexity metric, showing that lower-variance components are inherently easier to learn. These insights explain the empirical benefits of structured residual learning, including improved generalization, reduced parameter count, and lower training cost, as previously observed in power amplifier linearization experiments. The framework is broadly applicable and offers a scalable, theoretically grounded approach to modeling complex dynamic nonlinear systems.