OpenRaiser/Intern-Atlas huggingface dataset:
MiGumi: Making Tightly Coupled Integral Joints Millable
Venue: arXiv cs.GR 2025
Year: 2025

Traditional integral wood joints, despite their strength, durability, and elegance, remain rare in modern workflows due to the cost and difficulty of manual fabrication. CNC milling offers a scalable alternative, but directly milling traditional joints often fails to produce functional results because milling induces geometric deviations, such as rounded inner corners, that alter the target geometries of the parts. Since joints rely on tightly fitting surfaces, such deviations introduce gaps or overlaps that undermine fit or block assembly. We propose to overcome this problem by (1) designing a language that represent millable geometry, and (2) co-optimizing part geometries to restore coupling. We introduce Millable Extrusion Geometry (MXG), a language for representing geometry as the outcome of milling operations performed with flat-end drill bits. MXG represents each operation as a subtractive extrusion volume defined by a tool direction and drill radius. This parameterization enables the modeling of artifact-free geometry under an idealized zero-radius drill bit, matching traditional joint designs. Increasing the radius then reveals milling-induced deviations, which compromise the integrity of the joint. To restore coupling, we formalize tight coupling in terms of both surface proximity and proximity constraints on the mill-bit paths associated with mating surfaces. We then derive two tractable, differentiable losses that enable efficient optimization of joint geometry. We evaluate our method on 30 traditional joint designs, demonstrating that it produces CNC-compatible, tightly fitting joints that approximates the original geometry. By reinterpreting traditional joints for CNC workflows, we continue the evolution of this heritage craft and help ensure its relevance in future making practices.
SHIELD: Classifier-Guided Prompting for Robust and Safer LVLMs
Venue: arXiv cs.CL 2025
Year: 2025

Large Vision-Language Models (LVLMs) unlock powerful multimodal reasoning but also expand the attack surface, particularly through adversarial inputs that conceal harmful goals in benign prompts. We propose SHIELD, a lightweight, model-agnostic preprocessing framework that couples fine-grained safety classification with category-specific guidance and explicit actions (Block, Reframe, Forward). Unlike binary moderators, SHIELD composes tailored safety prompts that enforce nuanced refusals or safe redirection without retraining. Across five benchmarks and five representative LVLMs, SHIELD consistently lowers jailbreak and non-following rates while preserving utility. Our method is plug-and-play, incurs negligible overhead, and is easily extendable to new attack types -- serving as a practical safety patch for both weakly and strongly aligned LVLMs.
StressTransfer: Stress-Aware Speech-to-Speech Translation with Emphasis Preservation
Venue: arXiv cs.CL 2025
Year: 2025

We propose a stress-aware speech-to-speech translation (S2ST) system that preserves word-level emphasis by leveraging LLMs for cross-lingual emphasis conversion. Our method translates source-language stress into target-language tags that guide a controllable TTS model. To overcome data scarcity, we developed a pipeline to automatically generate aligned training data and introduce the "LLM-as-Judge" for evaluation. Experiments show our approach substantially outperforms baselines in preserving emphasis while maintaining comparable translation quality, speaker intent, and naturalness. Our work highlights the importance of prosody in translation and provides an effective, data-efficient solution for preserving paralinguistic cues in S2ST.
Movable and Reconfigurable Antennas for 6G: Unlocking Electromagnetic-Domain Design and Optimization
Venue: arXiv cs.IT 2025
Year: 2025

The growing demands of 6G mobile communication networks necessitate advanced antenna technologies. Movable antennas (MAs) and reconfigurable antennas (RAs) enable dynamic control over antenna's position, orientation, radiation, polarization, and frequency response, introducing rich electromagnetic-domain degrees of freedom for the design and performance enhancement of wireless systems. This article overviews their application scenarios, hardware architectures, and design methods. Field test and simulation results highlight their performance benefits over conventional fixed/non-reconfigurable antennas.
BanaServe: Unified KV Cache and Dynamic Module Migration for Balancing Disaggregated LLM Serving in AI Infrastructure
Venue: arXiv cs.DC 2025
Year: 2025

Large language models (LLMs) are increasingly deployed in AI infrastructure, driving the need for high throughput, resource efficient serving systems. Disaggregated LLM serving, which separates prompt prefill from auto-regressive decode, has emerged as a promising architecture by isolating their heterogeneous compute and memory demands. However, current disaggregated systems face three key limitations: (i) static resource allocation cannot adapt to highly dynamic workloads, causing over-provisioning that wastes resources or under-provisioning that violates service level objectives (SLOs); (ii) inherent load imbalance between prefill and decode stages, where prefill is compute-bound and decode is memory-bound, causes under-utilization in one tier while the other becomes a bottleneck; and (iii) prefix cache aware routing skews load distribution, as high cache hit rate prefill nodes attract disproportionately more requests, further degrading balance and efficiency. To address these issues, we present BanaServe, a dynamic orchestration framework that continuously rebalances computational and memory resources across prefill and decode instances while eliminating hotspots induced by cache. BanaServe introduces layer level weight migration, attention level Key Value Cache (KV Cache) migration, and Global KV Cache Store sharing with layer wise overlapped transmission, enabling both coarse grained (layer level) and fine grained (attention level) load redistribution with minimal latency overhead. These mechanisms allow routers to perform purely load aware scheduling, unconstrained by cache placement. Compared to vLLM, BanaServe achieves 1.2x-3.9x higher throughput with 3.9%-78.4% lower total processing time, and outperforms DistServe by 1.1x-2.8x in throughput with 1.4%-70.1% latency reduction.
Beyond Static LLM Policies: Imitation-Enhanced Reinforcement Learning for Recommendation
Venue: arXiv cs.IR 2025
Year: 2025

Recommender systems (RecSys) have become critical tools for enhancing user engagement by delivering personalized content across diverse digital platforms. Recent advancements in large language models (LLMs) demonstrate significant potential for improving RecSys, primarily due to their exceptional generalization capabilities and sophisticated contextual understanding, which facilitate the generation of flexible and interpretable recommendations. However, the direct deployment of LLMs as primary recommendation policies presents notable challenges, including persistent latency issues stemming from frequent API calls and inherent model limitations such as hallucinations and biases. To address these issues, this paper proposes a novel offline reinforcement learning (RL) framework that leverages imitation learning from LLM-generated trajectories. Specifically, inverse reinforcement learning is employed to extract robust reward models from LLM demonstrations. This approach negates the need for LLM fine-tuning, thereby substantially reducing computational overhead. Simultaneously, the RL policy is guided by the cumulative rewards derived from these demonstrations, effectively transferring the semantic insights captured by the LLM. Comprehensive experiments conducted on two benchmark datasets validate the effectiveness of the proposed method, demonstrating superior performance when compared against state-of-the-art RL-based and in-context learning baselines. The code can be found at https://github.com/ArronDZhang/IL-Rec.
EPIPTrack: Rethinking Prompt Modeling with Explicit and Implicit Prompts for Multi-Object Tracking
Venue: arXiv cs.CV 2025
Year: 2025

Multimodal semantic cues, such as textual descriptions, have shown strong potential in enhancing target perception for tracking. However, existing methods rely on static textual descriptions from large language models, which lack adaptability to real-time target state changes and prone to hallucinations. To address these challenges, we propose a unified multimodal vision-language tracking framework, named EPIPTrack, which leverages explicit and implicit prompts for dynamic target modeling and semantic alignment. Specifically, explicit prompts transform spatial motion information into natural language descriptions to provide spatiotemporal guidance. Implicit prompts combine pseudo-words with learnable descriptors to construct individualized knowledge representations capturing appearance attributes. Both prompts undergo dynamic adjustment via the CLIP text encoder to respond to changes in target state. Furthermore, we design a Discriminative Feature Augmentor to enhance visual and cross-modal representations. Extensive experiments on MOT17, MOT20, and DanceTrack demonstrate that EPIPTrack outperforms existing trackers in diverse scenarios, exhibiting robust adaptability and superior performance.
GRIDAI: Generating and Repairing Intrusion Detection Rules via Collaboration among Multiple LLM-based Agents
Venue: arXiv cs.CR 2025
Year: 2025

Rule-based network intrusion detection systems play a crucial role in the real-time detection of Web attacks. However, most existing works primarily focus on automatically generating detection rules for new attacks, often overlooking the relationships between new attacks and existing rules, which leads to significant redundancy within the ever-expanding ruleset. To address this issue, we propose GRIDAI, a novel end-to-end framework for the automated Generation and Repair of Intrusion Detection rules through collaboration among multiple LLM-based agents. Unlike traditional methods, GRIDAI first assesses the nature of incoming attack samples. If the sample represents a new attack type, it is used to generate a new rule. Otherwise, the sample is identified as a variant of an attack already covered by an existing rule and used to repair the rule by updating the corresponding signature, thereby enhancing its generalization capability. Additionally, to mitigate syntactic and semantic errors in rules caused by LLM hallucinations, we incorporate a tool-based real-time validation mechanism and a representative attack sample maintained for each rule, enabling fully automated rule generation and repair. Comprehensive experiments were conducted on a public dataset containing seven types of attacks and a private dataset with 43 attack types. The results demonstrate that GRIDAI accurately identifies the relationships between new attack samples and existing rules, efficiently generates and repairs rules to handle new attacks and variants, and effectively mitigates the impact of LLM hallucinations.
MMLongCite: A Benchmark for Evaluating Fidelity of Long-Context Vision-Language Models
Venue: arXiv cs.CV 2025
Year: 2025

The rapid advancement of large vision language models (LVLMs) has led to a significant expansion of their context windows. However, an extended context window does not guarantee the effective utilization of the context, posing a critical challenge for real-world applications. Current evaluations of such long-context faithfulness are predominantly focused on the text-only domain, while multimodal assessments remain limited to short contexts. To bridge this gap, we introduce MMLongCite, a comprehensive benchmark designed to evaluate the fidelity of LVLMs in long-context scenarios. MMLongCite comprises 8 distinct tasks spanning 6 context length intervals and incorporates diverse modalities, including text, images, and videos. Our evaluation of state-of-the-art LVLMs reveals their limited faithfulness in handling long multimodal contexts. Furthermore, we provide an in-depth analysis of how context length and the position of crucial content affect the faithfulness of these models.
DAMM-LOAM: Degeneracy Aware Multi-Metric LiDAR Odometry and Mapping
Venue: arXiv cs.RO 2025
Year: 2025

LiDAR Simultaneous Localization and Mapping (SLAM) systems are essential for enabling precise navigation and environmental reconstruction across various applications. Although current point-to-plane ICP algorithms perform effec- tively in structured, feature-rich environments, they struggle in scenarios with sparse features, repetitive geometric structures, and high-frequency motion. This leads to degeneracy in 6- DOF pose estimation. Most state-of-the-art algorithms address these challenges by incorporating additional sensing modalities, but LiDAR-only solutions continue to face limitations under such conditions. To address these issues, we propose a novel Degeneracy-Aware Multi-Metric LiDAR Odometry and Map- ping (DAMM-LOAM) module. Our system improves mapping accuracy through point cloud classification based on surface normals and neighborhood analysis. Points are classified into ground, walls, roof, edges, and non-planar points, enabling accurate correspondences. A Degeneracy-based weighted least squares-based ICP algorithm is then applied for accurate odom- etry estimation. Additionally, a Scan Context based back-end is implemented to support robust loop closures. DAMM-LOAM demonstrates significant improvements in odometry accuracy, especially in indoor environments such as long corridors
Federated Conditional Conformal Prediction via Generative Models
Venue: arXiv cs.LG 2025
Year: 2025

Conformal Prediction (CP) provides distribution-free uncertainty quantification by constructing prediction sets that guarantee coverage of the true labels. This reliability makes CP valuable for high-stakes federated learning scenarios such as multi-center healthcare. However, standard CP assumes i.i.d. data, which is violated in federated settings where client distributions differ substantially. Existing federated CP methods address this by maintaining marginal coverage on each client, but such guarantees often fail to reflect input-conditional uncertainty. In this work, we propose Federated Conditional Conformal Prediction (Fed-CCP) via generative models, which aims for conditional coverage that adapts to local data heterogeneity. Fed-CCP leverages generative models, such as normalizing flows or diffusion models, to approximate conditional data distributions without requiring the sharing of raw data. This enables each client to locally calibrate conformal scores that reflect its unique uncertainty, while preserving global consistency through federated aggregation. Experiments on real datasets demonstrate that Fed-CCP achieves more adaptive prediction sets.
Distributed Reductions for the Maximum Weight Independent Set Problem
Venue: arXiv cs.DC 2025
Year: 2025

Finding maximum-weight independent sets in graphs is an important NP-hard optimization problem. Given a vertex-weighted graph $G$, the task is to find a subset of pairwise non-adjacent vertices of $G$ with maximum weight. Most recently published practical exact algorithms and heuristics for this problem use a variety of data-reduction rules to compute (near-)optimal solutions. Applying these rules results in an equivalent instance of reduced size. An optimal solution to the reduced instance can be easily used to construct an optimal solution for the original input. In this work, we present the first distributed-memory parallel reduction algorithms for this problem, targeting graphs beyond the scale of previous sequential approaches. Furthermore, we propose the first distributed reduce-and-greedy and reduce-and-peel algorithms for finding a maximum weight independent set heuristically. In our practical evaluation, our experiments on up to $1024$ processors demonstrate good scalability of our distributed reduce algorithms while maintaining good reduction impact. Our asynchronous reduce-and-peel approach achieves an average speedup of $33\times$ over a sequential state-of-the-art reduce-and-peel approach on 36 real-world graphs with a solution quality close to the sequential algorithm. Our reduce-and-greedy algorithms even achieve average speedups of up to $50\times$ at the cost of a lower solution quality. Moreover, our distributed approach allows us to consider graphs with more than one billion vertices and 17 billion edges.
RockNet: Distributed Learning on Ultra-Low-Power Devices
Venue: arXiv cs.LG 2025
Year: 2025

As Machine Learning (ML) becomes integral to Cyber-Physical Systems (CPS), there is growing interest in shifting training from traditional cloud-based to on-device processing (TinyML), for example, due to privacy and latency concerns. However, CPS often comprise ultra-low-power microcontrollers, whose limited compute resources make training challenging. This paper presents RockNet, a new TinyML method tailored for ultra-low-power hardware that achieves state-of-the-art accuracy in timeseries classification, such as fault or malware detection, without requiring offline pretraining. By leveraging that CPS consist of multiple devices, we design a distributed learning method that integrates ML and wireless communication. RockNet leverages all devices for distributed training of specialized compute efficient classifiers that need minimal communication overhead for parallelization. Combined with tailored and efficient wireless multi-hop communication protocols, our approach overcomes the communication bottleneck that often occurs in distributed learning. Hardware experiments on a testbed with 20 ultra-low-power devices demonstrate RockNet's effectiveness. It successfully learns timeseries classification tasks from scratch, surpassing the accuracy of the latest approach for neural network microcontroller training by up to 2x. RockNet's distributed ML architecture reduces memory, latency and energy consumption per device by up to 90 % when scaling from one central device to 20 devices. Our results show that a tight integration of distributed ML, distributed computing, and communication enables, for the first time, training on ultra-low-power hardware with state-of-the-art accuracy.
Tactile-Conditioned Diffusion Policy for Force-Aware Robotic Manipulation
Venue: arXiv cs.RO 2025
Year: 2025

Contact-rich manipulation depends on applying the correct grasp forces throughout the manipulation task, especially when handling fragile or deformable objects. Most existing imitation learning approaches often treat visuotactile feedback only as an additional observation, leaving applied forces as an uncontrolled consequence of gripper commands. In this work, we present Force-Aware Robotic Manipulation (FARM), an imitation learning framework that integrates high-dimensional tactile data to infer tactile-conditioned force signals, which in turn define a matching force-based action space. We collect human demonstrations using a modified version of the handheld Universal Manipulation Interface (UMI) gripper that integrates a GelSight Mini visual tactile sensor. For deploying the learned policies, we developed an actuated variant of the UMI gripper with geometry matching our handheld version. During policy rollouts, the proposed FARM diffusion policy jointly predicts robot pose, grip width, and grip force. FARM outperforms several baselines across three tasks with distinct force requirements -- high-force, low-force, and dynamic force adaptation -- demonstrating the advantages of its two key components: leveraging force-grounded, high-dimensional tactile observations and a force-based control space. The codebase and design files are open-sourced and available at https://tactile-farm.github.io .
When In Doubt, Abstain: The Impact of Abstention on Strategic Classification
Venue: arXiv cs.LG 2025
Year: 2025

Algorithmic decision making is increasingly prevalent, but often vulnerable to strategic manipulation by agents seeking a favorable outcome. Prior research has shown that classifier abstention (allowing a classifier to decline making a decision due to insufficient confidence) can significantly increase classifier accuracy. This paper studies abstention within a strategic classification context, exploring how its introduction impacts strategic agents' responses and how principals should optimally leverage it. We model this interaction as a Stackelberg game where a principal, acting as the classifier, first announces its decision policy, and then strategic agents, acting as followers, manipulate their features to receive a desired outcome. Here, we focus on binary classifiers where agents manipulate observable features rather than their true features, and show that optimal abstention ensures that the principal's utility (or loss) is no worse than in a non-abstention setting, even in the presence of strategic agents. We also show that beyond improving accuracy, abstention can also serve as a deterrent to manipulation, making it costlier for agents, especially those less qualified, to manipulate to achieve a positive outcome when manipulation costs are significant enough to affect agent behavior. These results highlight abstention as a valuable tool for reducing the negative effects of strategic behavior in algorithmic decision making systems.
No-Reference Rendered Video Quality Assessment: Dataset and Metrics
Venue: arXiv cs.CV 2025
Year: 2025

Quality assessment of videos is crucial for many computer graphics applications, including video games, virtual reality, and augmented reality, where visual performance has a significant impact on user experience. When test videos cannot be perfectly aligned with references or when references are unavailable, the significance of no-reference video quality assessment (NR-VQA) methods is undeniable. However, existing NR-VQA datasets and metrics are primarily focused on camera-captured videos; applying them directly to rendered videos would result in biased predictions, as rendered videos are more prone to temporal artifacts. To address this, we present a large rendering-oriented video dataset with subjective quality annotations, as well as a designed NR-VQA metric specific to rendered videos. The proposed dataset includes a wide range of 3D scenes and rendering settings, with quality scores annotated for various display types to better reflect real-world application scenarios. Building on this dataset, we calibrate our NR-VQA metric to assess rendered video quality by looking at both image quality and temporal stability. We compare our metric to existing NR-VQA metrics, demonstrating its superior performance on rendered videos. Finally, we demonstrate that our metric can be used to benchmark supersampling methods and assess frame generation strategies in real-time rendering.
Energy-Efficient FPGA Framework for Non-Quantized Convolutional Neural Networks
Venue: arXiv cs.AR 2025
Year: 2025

The growing demand for real-time processing in artificial intelligence applications, particularly those involving Convolutional Neural Networks (CNNs), has highlighted the need for efficient computational solutions. Conventional processors, very often, fall short in balancing performance, power consumption, and latency, especially in embedded systems and edge computing platforms. Field-Programmable Gate Arrays (FPGAs) offer a promising alternative, combining high performance with energy efficiency and reconfigurability. The presented framework addresses the complex and demanding computations of CNNs on FPGAs maintaining full precision in all neural network parameters. Specifically, our framework is based on Darknet which is very widely used for the design of CNNs and allows the designer, by using a similar input to that given to Darknet, to efficiently implement a CNN in a heterogeneous system comprising of CPUs and FPGAs. When compared with the FPGA frameworks that support quantization, our solution aims to offer similar performance and/or energy efficiency without any degradation on the NN accuracy.