OpenRaiser/Intern-Atlas huggingface dataset:
Reliable Vertical Ground Reaction Force Estimation with Smart Insole During Walking
Venue: arXiv cs.HC 2025
Year: 2025

The vertical ground reaction force (vGRF) and its characteristic weight acceptance and push-off peaks measured during walking are important for gait and biomechanical analysis. Current wearable vGRF estimation methods suffer from drifting errors or low generalization performances, limiting their practical application. This paper proposes a novel method for reliably estimating vGRF and its characteristic peaks using data collected from the smart insole, including inertial measurement unit data and the newly introduced center of the pressed sensor data. These data were fused with machine learning algorithms including artificial neural networks, random forest regression, and bi-directional long-short-term memory. The proposed method outperformed the state-of-the-art methods with the root mean squared error, normalized root mean squared error, and correlation coefficient of 0.024 body weight (BW), 1.79% BW, and 0.997 in intra-participant testing, and 0.044 BW, 3.22% BW, and 0.991 in inter-participant testing, respectively. The difference between the reference and estimated weight acceptance and push-off peak values are 0.022 BW and 0.017 BW with a delay of 1.4% and 1.8% of the gait cycle for the intra-participant testing and 0.044 BW and 0.025 BW with a delay of 1.5% and 2.3% of the gait cycle for the inter-participant testing. The results indicate that the proposed vGRF estimation method has the potential to achieve accurate vGRF measurement during walking in free living environments.
Towards the Pseudorandomness of Expander Random Walks for Read-Once ACC0 circuits
Venue: arXiv cs.CC 2025
Year: 2025

Expander graphs are among the most useful combinatorial objects in theoretical computer science. A line of work studies random walks on expander graphs for their pseudorandomness against various classes of test functions, including symmetric functions, read-only branching programs, permutation branching programs, and $\mathrm{AC}^0$ circuits. The promising results of pseudorandomness of expander random walks against $\mathrm{AC}^0$ circuits indicate a robustness of expander random walks beyond symmetric functions, motivating the question of whether expander random walks can fool more robust \emph{asymmetric} complexity classes, such as $\mathrm{ACC}^0$. In this work, we make progress towards this question by considering certain two-layered circuit compositions of $\mathrm{MOD}[k]$ gates, where we show that these family of circuits are fooled by expander random walks with total variation distance error $O(λ)$, where $λ$ is the second largest eigenvalue of the underlying expander graph. For $k\geq 3$, these circuits can be highly asymmetric with complicated Fourier characters. In this context, our work takes a step in the direction of fooling more complex asymmetric circuits. Separately, drawing from the learning-theory literature, we construct an explicit threshold circuit in the circuit family $\mathrm{TC}^0$, and show that it is \emph{not} fooled by expander random walk, providing an upper bound on the set of functions fooled by expander random walks.
Performance Optimization of Ratings-Based Reinforcement Learning
Venue: arXiv cs.LG 2025
Year: 2025

This paper explores multiple optimization methods to improve the performance of rating-based reinforcement learning (RbRL). RbRL, a method based on the idea of human ratings, has been developed to infer reward functions in reward-free environments for the subsequent policy learning via standard reinforcement learning, which requires the availability of reward functions. Specifically, RbRL minimizes the cross entropy loss that quantifies the differences between human ratings and estimated ratings derived from the inferred reward. Hence, a low loss means a high degree of consistency between human ratings and estimated ratings. Despite its simple form, RbRL has various hyperparameters and can be sensitive to various factors. Therefore, it is critical to provide comprehensive experiments to understand the impact of various hyperparameters on the performance of RbRL. This paper is a work in progress, providing users some general guidelines on how to select hyperparameters in RbRL.
Linearly Convergent Mixup Learning
Venue: arXiv cs.LG 2025
Year: 2025

Learning in the reproducing kernel Hilbert space (RKHS) such as the support vector machine has been recognized as a promising technique. It continues to be highly effective and competitive in numerous prediction tasks, particularly in settings where there is a shortage of training data or computational limitations exist. These methods are especially valued for their ability to work with small datasets and their interpretability. To address the issue of limited training data, mixup data augmentation, widely used in deep learning, has remained challenging to apply to learning in RKHS due to the generation of intermediate class labels. Although gradient descent methods handle these labels effectively, dual optimization approaches are typically not directly applicable. In this study, we present two novel algorithms that extend to a broader range of binary classification models. Unlike gradient-based approaches, our algorithms do not require hyperparameters like learning rates, simplifying their implementation and optimization. Both the number of iterations to converge and the computational cost per iteration scale linearly with respect to the dataset size. The numerical experiments demonstrate that our algorithms achieve faster convergence to the optimal solution compared to gradient descent approaches, and that mixup data augmentation consistently improves the predictive performance across various loss functions.
How Far are App Secrets from Being Stolen? A Case Study on Android
Venue: arXiv cs.CR 2025
Year: 2025

Android apps can hold secret strings of themselves such as cloud service credentials or encryption keys. Leakage of such secret strings can induce unprecedented consequences like monetary losses or leakage of user private information. In practice, various security issues were reported because many apps failed to protect their secrets. However, little is known about the types, usages, exploitability, and consequences of app secret leakage issues. While a large body of literature has been devoted to studying user private information leakage, there is no systematic study characterizing app secret leakage issues. How far are Android app secrets from being stolen? To bridge this gap, we conducted the first systematic study to characterize app secret leakage issues in Android apps based on 575 potential app secrets sampled from 14,665 popular Android apps on Google Play. We summarized the common categories of leaked app secrets, assessed their security impacts and disclosed app bad practices in storing app secrets. We devised a text mining strategy using regular expressions and demonstrated that numerous app secrets can be easily stolen, even from the highly popular Android apps on Google. In a follow-up study, we harvested 3,711 distinct exploitable app secrets through automatic analysis. Our findings highlight the prevalence of this problem and call for greater attention to app secret protection.
3UR-LLM: An End-to-End Multimodal Large Language Model for 3D Scene Understanding
Venue: arXiv cs.CV 2025
Year: 2025

Multi-modal Large Language Models (MLLMs) exhibit impressive capabilities in 2D tasks, yet encounter challenges in discerning the spatial positions, interrelations, and causal logic in scenes when transitioning from 2D to 3D representations. We find that the limitations mainly lie in: i) the high annotation cost restricting the scale-up of volumes of 3D scene data, and ii) the lack of a straightforward and effective way to perceive 3D information which results in prolonged training durations and complicates the streamlined framework. To this end, we develop pipeline based on open-source 2D MLLMs and LLMs to generate high-quality 3D-text pairs and construct 3DS-160K , to enhance the pre-training process. Leveraging this high-quality pre-training data, we introduce the 3UR-LLM model, an end-to-end 3D MLLM designed for precise interpretation of 3D scenes, showcasing exceptional capability in navigating the complexities of the physical world. 3UR-LLM directly receives 3D point cloud as input and project 3D features fused with text instructions into a manageable set of tokens. Considering the computation burden derived from these hybrid tokens, we design a 3D compressor module to cohesively compress the 3D spatial cues and textual narrative. 3UR-LLM achieves promising performance with respect to the previous SOTAs, for instance, 3UR-LLM exceeds its counterparts by 7.1\% CIDEr on ScanQA, while utilizing fewer training resources. The code and model weights for 3UR-LLM and the 3DS-160K benchmark are available at 3UR-LLM.
A Driver Advisory System Based on Large Language Model for High-speed Train
Venue: arXiv cs.AI 2025
Year: 2025

With the rapid development of China high-speed railway, drivers face increasingly significant technical challenges during operations, such as fault handling. Currently, drivers depend on the onboard mechanic when facing technical issues, for instance, traction loss or sensor faults. This dependency can hinder effective operation, even lead to accidents, while waiting for faults to be addressed. To enhance the accuracy and explainability of actions during fault handling, an Intelligent Driver Advisory System (IDAS) framework based on a large language model (LLM) named IDAS-LLM, is introduced. Initially, domain-fine-tuning of the LLM is performed using a constructed railway knowledge question-and-answer dataset to improve answer accuracy in railway-related questions. Subsequently, integration of the Retrieval-augmented Generation (RAG) architecture is pursued for system design to enhance the explainability of generated responses. Comparative experiments are conducted using the constructed railway driving knowledge assessment dataset. Results indicate that domain-fine-tuned LLMs show an improvement in answer accuracy by an average of 10%, outperforming some current mainstream LLMs. Additionally, the inclusion of the RAG framework increases the average recall rate of question-and-answer sessions by about 4%. Finally, the fault handling capability of IDAS-LLM is demonstrated through simulations of real operational scenarios, proving that the proposed framework has practical application prospects.
Governing AI Agents
Venue: arXiv cs.AI 2025
Year: 2025

The field of AI is undergoing a fundamental transition from generative models that can produce synthetic content to artificial agents that can plan and execute complex tasks with only limited human involvement. Companies that pioneered the development of language models have now built AI agents that can independently navigate the internet, perform a wide range of online tasks, and increasingly serve as AI personal assistants and virtual coworkers. The opportunities presented by this new technology are tremendous, as are the associated risks. Fortunately, there exist robust analytic frameworks for confronting many of these challenges, namely, the economic theory of principal-agent problems and the common law doctrine of agency relationships. Drawing on these frameworks, this Article makes three contributions. First, it uses agency law and theory to identify and characterize problems arising from AI agents, including issues of information asymmetry, discretionary authority, and loyalty. Second, it illustrates the limitations of conventional solutions to agency problems: incentive design, monitoring, and enforcement might not be effective for governing AI agents that make uninterpretable decisions and operate at unprecedented speed and scale. Third, the Article explores the implications of agency law and theory for designing and regulating AI agents, arguing that new technical and legal infrastructure is needed to support governance principles of inclusivity, visibility, and liability.
Differentially Private Distance Query with Asymmetric Noise
Venue: arXiv cs.CR 2025
Year: 2025

With the growth of online social services, social information graphs are becoming increasingly complex. Privacy issues related to analyzing or publishing on social graphs are also becoming increasingly serious. Since the shortest paths play an important role in graphs, privately publishing the shortest paths or distances has attracted the attention of researchers. Differential privacy (DP) is an excellent standard for preserving privacy. However, existing works to answer the distance query with the guarantee of DP were almost based on the weight private graph assumption, not on the paths themselves. In this paper, we consider edges as privacy and propose distance publishing mechanisms based on edge DP. To address the issue of utility damage caused by large global sensitivities, we revisit studies related to asymmetric neighborhoods in DP with the observation that the distance query is monotonic in asymmetric neighborhoods. We formally give the definition of asymmetric neighborhoods and propose Individual Asymmetric Differential Privacy with higher privacy guarantees in combination with smooth sensitivity. Then, we introduce two methods to efficiently compute the smooth sensitivity of distance queries in asymmetric neighborhoods. Finally, we validate our scheme using both real-world and synthetic datasets, which can reduce the error to $0.0862$.
SkipClick: Combining Quick Responses and Low-Level Features for Interactive Segmentation in Winter Sports Contexts
Venue: arXiv cs.CV 2025
Year: 2025

In this paper, we present a novel architecture for interactive segmentation in winter sports contexts. The field of interactive segmentation deals with the prediction of high-quality segmentation masks by informing the network about the objects position with the help of user guidance. In our case the guidance consists of click prompts. For this task, we first present a baseline architecture which is specifically geared towards quickly responding after each click. Afterwards, we motivate and describe a number of architectural modifications which improve the performance when tasked with segmenting winter sports equipment on the WSESeg dataset. With regards to the average NoC@85 metric on the WSESeg classes, we outperform SAM and HQ-SAM by 2.336 and 7.946 clicks, respectively. When applied to the HQSeg-44k dataset, our system delivers state-of-the-art results with a NoC@90 of 6.00 and NoC@95 of 9.89. In addition to that, we test our model on a novel dataset containing masks for humans during skiing.
TriAdaptLoRA: Brain-Inspired Triangular Adaptive Low-Rank Adaptation for Parameter-Efficient Fine-Tuning
Venue: arXiv cs.CL 2025
Year: 2025

The fine-tuning of Large Language Models (LLMs) is pivotal for achieving optimal performance across diverse downstream tasks. However, while full fine-tuning delivers superior results, it entails significant computational and resource costs. Parameter-Efficient Fine-Tuning (PEFT) methods, such as LoRA, address these challenges by reducing the number of trainable parameters, but they often struggle with rank adjustment efficiency and task-specific adaptability. We propose Triangular Adaptive Low-Rank Adaptation (TriAdaptLoRA), a novel PEFT framework inspired by neuroscience principles, which dynamically optimizes the allocation of trainable parameters. TriAdaptLoRA introduces three key innovations: 1) a triangular split of transformation matrices into lower and upper triangular components to maximize parameter utilization, 2) a parameter importance metric based on normalized Frobenius norms for efficient adaptation, and 3) an adaptive rank-growth strategy governed by dynamic thresholds, allowing flexible parameter allocation across training steps. Experiments conducted on a variety of natural language understanding and generation tasks demonstrate that TriAdaptLoRA consistently outperforms existing PEFT methods. It achieves superior performance, enhanced stability, and reduced computational overhead, particularly under linear threshold-driven rank growth. These results highlight its efficacy as a scalable and resource-efficient solution for fine-tuning LLMs.
Building Symbiotic AI: Reviewing the AI Act for a Human-Centred, Principle-Based Framework
Venue: arXiv cs.HC 2025
Year: 2025

Artificial Intelligence (AI) spreads quickly as new technologies and services take over modern society. The need to regulate AI design, development, and use is strictly necessary to avoid unethical and potentially dangerous consequences to humans. The European Union (EU) has released a new legal framework, the AI Act, to regulate AI by undertaking a risk-based approach to safeguard humans during interaction. At the same time, researchers offer a new perspective on AI systems, commonly known as Human-Centred AI (HCAI), highlighting the need for a human-centred approach to their design. In this context, Symbiotic AI (a subtype of HCAI) promises to enhance human capabilities through a deeper and continuous collaboration between human intelligence and AI. This article presents the results of a Systematic Literature Review (SLR) that aims to identify principles that characterise the design and development of Symbiotic AI systems while considering humans as the core of the process. Through content analysis, four principles emerged from the review that must be applied to create Human-Centred AI systems that can establish a symbiotic relationship with humans. In addition, current trends and challenges were defined to indicate open questions that may guide future research for the development of SAI systems that comply with the AI Act.
Hybrid Action Based Reinforcement Learning for Multi-Objective Compatible Autonomous Driving
Venue: arXiv cs.RO 2025
Year: 2025

Reinforcement Learning (RL) has shown excellent performance in solving decision-making and control problems of autonomous driving, which is increasingly applied in diverse driving scenarios. However, driving is a multi-attribute problem, leading to challenges in achieving multi-objective compatibility for current RL methods, especially in both policy updating and policy execution. On the one hand, a single value evaluation network limits the policy updating in complex scenarios with coupled driving objectives. On the other hand, the common single-type action space structure limits driving flexibility or results in large behavior fluctuations during policy execution. To this end, we propose a Multi-objective Ensemble-Critic reinforcement learning method with Hybrid Parametrized Action for multi-objective compatible autonomous driving. Specifically, an advanced MORL architecture is constructed, in which the ensemble-critic focuses on different objectives through independent reward functions. The architecture integrates a hybrid parameterized action space structure, and the generated driving actions contain both abstract guidance that matches the hybrid road modality and concrete control commands. Additionally, an uncertainty-based exploration mechanism that supports hybrid actions is developed to learn multi-objective compatible policies more quickly. Experimental results demonstrate that, in both simulator-based and HighD dataset-based multi-lane highway scenarios, our method efficiently learns multi-objective compatible autonomous driving with respect to efficiency, action consistency, and safety.
Toward Interactive Multi-User Extended Reality Using Millimeter-Wave Networking
Venue: arXiv cs.NI 2025
Year: 2025

Extended Reality (XR) enables a plethora of novel interactive shared experiences. Ideally, users are allowed to roam around freely, while audiovisual content is delivered wirelessly to their Head-Mounted Displays (HMDs). Therefore, truly immersive experiences will require massive amounts of data, in the range of tens of gigabits per second, to be delivered reliably at extremely low latencies. We identify Millimeter-Wave (mmWave) communications, at frequencies between 24 and 300 GHz, as a key enabler for such experiences. In this article, we show how the mmWave state of the art does not yet achieve sufficient performance, and identify several key active research directions expected to eventually pave the way for extremely-high-quality mmWave-enabled interactive multi-user XR.
About the Rankin and Bergé-Martinet Constants from a Coding Theory View Point
Venue: arXiv cs.IT 2025
Year: 2025

The Rankin constant $γ_{n,l}$ measures the largest volume of the densest sublattice of rank $l$ of a lattice $Λ\in \RR^n$ over all such lattices of rank $n$. The Bergé-Martinet constant $γ'_{n,l}$ is a variation that takes into account the dual lattice. Exact values and bounds for both constants are mostly open in general. We consider the case of lattices built from linear codes, and look at bounds on $γ_{n,l}$ and $γ'_{n,l}$. In particular, we revisit known results for $n=3,4,5,8$ and give lower and upper bounds for the open cases $γ_{5,2},γ_{7,2}$ and $γ'_{5,2},γ'_{7,2}$.
Revisiting Birds Eye View Perception Models with Frozen Foundation Models: DINOv2 and Metric3Dv2
Venue: arXiv cs.CV 2025
Year: 2025

Birds Eye View perception models require extensive data to perform and generalize effectively. While traditional datasets often provide abundant driving scenes from diverse locations, this is not always the case. It is crucial to maximize the utility of the available training data. With the advent of large foundation models such as DINOv2 and Metric3Dv2, a pertinent question arises: can these models be integrated into existing model architectures to not only reduce the required training data but surpass the performance of current models? We choose two model architectures in the vehicle segmentation domain to alter: Lift-Splat-Shoot, and Simple-BEV. For Lift-Splat-Shoot, we explore the implementation of frozen DINOv2 for feature extraction and Metric3Dv2 for depth estimation, where we greatly exceed the baseline results by 7.4 IoU while utilizing only half the training data and iterations. Furthermore, we introduce an innovative application of Metric3Dv2's depth information as a PseudoLiDAR point cloud incorporated into the Simple-BEV architecture, replacing traditional LiDAR. This integration results in a +3 IoU improvement compared to the Camera-only model.
Bootstrapping Corner Cases: High-Resolution Inpainting for Safety Critical Detect and Avoid for Automated Flying
Venue: arXiv cs.CV 2025
Year: 2025

Modern machine learning techniques have shown tremendous potential, especially for object detection on camera images. For this reason, they are also used to enable safety-critical automated processes such as autonomous drone flights. We present a study on object detection for Detect and Avoid, a safety critical function for drones that detects air traffic during automated flights for safety reasons. An ill-posed problem is the generation of good and especially large data sets, since detection itself is the corner case. Most models suffer from limited ground truth in raw data, \eg recorded air traffic or frontal flight with a small aircraft. It often leads to poor and critical detection rates. We overcome this problem by using inpainting methods to bootstrap the dataset such that it explicitly contains the corner cases of the raw data. We provide an overview of inpainting methods and generative models and present an example pipeline given a small annotated dataset. We validate our method by generating a high-resolution dataset, which we make publicly available and present it to an independent object detector that was fully trained on real data.