OpenRaiser/Intern-Atlas huggingface dataset:
Assist-as-needed Control for FES in Foot Drop Management
Venue: arXiv cs.RO 2025
Year: 2025

Foot drop is commonly managed using Functional Electrical Stimulation (FES), typically delivered via open-loop controllers with fixed stimulation intensities. While users may manually adjust the intensity through external controls, this approach risks overstimulation, leading to muscle fatigue and discomfort, or understimulation, which compromises dorsiflexion and increases fall risk. In this study, we propose a novel closed-loop FES controller that dynamically adjusts the stimulation intensity based on real-time toe clearance, providing "assistance as needed". We evaluate this system by inducing foot drop in healthy participants and comparing the effects of the closed-loop controller with a traditional open-loop controller across various walking conditions, including different speeds and surface inclinations. Kinematic data reveal that our closed-loop controller maintains adequate toe clearance without significantly affecting the joint angles of the hips, the knees, and the ankles, and while using significantly lower stimulation intensities compared to the open-loop controller. These findings suggest that the proposed method not only matches the effectiveness of existing systems but also offers the potential for reduced muscle fatigue and improved long-term user comfort and adherence.
Reward Model Routing in Alignment
Venue: arXiv cs.AI 2025
Year: 2025

Reinforcement learning from human or AI feedback (RLHF / RLAIF) has become the standard paradigm for aligning large language models (LLMs). However, most pipelines rely on a single reward model (RM), limiting alignment quality and risking overfitting. Recent work explores RM routing--dynamically selecting an RM from a candidate pool to exploit complementary strengths while maintaining $O(1)$ RM calls--but existing methods suffer from cold-start and insufficient exploration. We propose BayesianRouter, a hybrid routing framework that combines offline RM strengths learning with online Bayesian selection. In the offline stage, a multi-task router is trained on preference data to estimate per-RM reliability. In the online stage, a Bayesian Thompson sampling router performs per-query RM selection, initializing RM-specific weight vectors with offline embeddings as Gaussian priors and adaptively updating their posteriors with online rewards to adapt to the evolving policy distribution. Extensive experiments on instruction-following (AlpacaEval-2, Arena-Hard, MT-Bench) and reasoning (GSM8K, MMLU) benchmarks show that BayesianRouter consistently outperforms individual RMs, RM ensembling, and existing routing methods.
One Patch to Caption Them All: A Unified Zero-Shot Captioning Framework
Venue: arXiv cs.CV 2025
Year: 2025

Zero-shot captioners are recently proposed models that utilize common-space vision-language representations to caption images without relying on paired image-text data. To caption an image, they proceed by textually decoding a text-aligned image feature, but they limit their scope to global representations and whole-image captions. We present Patch-ioner, a unified framework for zero-shot captioning that shifts from an image-centric to a patch-centric paradigm, enabling the captioning of arbitrary regions without the need of region-level supervision. Instead of relying on global image representations, we treat individual patches as atomic captioning units and aggregate them to describe arbitrary regions, from single patches to non-contiguous areas and entire images. We analyze the key ingredients that enable current latent captioners to work in our novel proposed framework. Experiments demonstrate that backbones producing meaningful, dense visual features, such as DINO, are key to achieving state-of-the-art performance in multiple region-based captioning tasks. Compared to other baselines and state-of-the-art competitors, our models achieve better performance on zero-shot dense, region-set, and a newly introduced trace captioning task, highlighting the effectiveness of patch-wise semantic representations for scalable caption generation. Project page at https://paciosoft.com/Patch-ioner/ .
Training-Free Out-Of-Distribution Segmentation With Foundation Models
Venue: arXiv cs.CV 2025
Year: 2025

Detecting unknown objects in semantic segmentation is crucial for safety-critical applications such as autonomous driving. Large vision foundation models, including DINOv2, InternImage, and CLIP, have advanced visual representation learning by providing rich features that generalize well across diverse tasks. While their strength in closed-set semantic tasks is established, their capability to detect out-of-distribution (OoD) regions in semantic segmentation remains underexplored. In this work, we investigate whether foundation models fine-tuned on segmentation datasets can inherently distinguish in-distribution (ID) from OoD regions without any outlier supervision. We propose a simple, training-free approach that utilizes features from the InternImage backbone and applies K-Means clustering alongside confidence thresholding on raw decoder logits to identify OoD clusters. Our method achieves 50.02 Average Precision on the RoadAnomaly benchmark and 48.77 on the benchmark of ADE-OoD with InternImage-L, surpassing several supervised and unsupervised baselines. These results suggest a promising direction for generic OoD segmentation methods that require minimal assumptions or additional data.
Zero-Shot Robustness of Vision Language Models Via Confidence-Aware Weighting
Venue: arXiv cs.CV 2025
Year: 2025

Vision-language models like CLIP demonstrate impressive zero-shot generalization but remain highly vulnerable to adversarial attacks. In this work, we propose Confidence-Aware Weighting (CAW) to enhance zero-shot robustness in vision-language models. CAW consists of two components: (1) a Confidence-Aware loss that prioritizes uncertain adversarial examples by scaling the KL divergence between clean and adversarial predictions, and (2) a feature alignment regularization that preserves semantic consistency by minimizing the distance between frozen and fine-tuned image encoder features on adversarial inputs. These components work jointly to improve both clean and robust accuracy without sacrificing generalization. Extensive experiments on TinyImageNet and 14 additional datasets show that CAW outperforms recent methods such as PMG-AFT and TGA-ZSR under strong attacks like AutoAttack, while using less memory.
SALSA-V: Shortcut-Augmented Long-form Synchronized Audio from Videos
Venue: arXiv cs.SD 2025
Year: 2025

We propose SALSA-V, a multimodal video-to-audio generation model capable of synthesizing highly synchronized, high-fidelity long-form audio from silent video content. Our approach introduces a masked diffusion objective, enabling audio-conditioned generation and the seamless synthesis of audio sequences of unconstrained length. Additionally, by integrating a shortcut loss into our training process, we achieve rapid generation of high-quality audio samples in as few as eight sampling steps, paving the way for near-real-time applications without requiring dedicated fine-tuning or retraining. We demonstrate that SALSA-V significantly outperforms existing state-of-the-art methods in both audiovisual alignment and synchronization with video content in quantitative evaluation and a human listening study. Furthermore, our use of random masking during training enables our model to match spectral characteristics of reference audio samples, broadening its applicability to professional audio synthesis tasks such as Foley generation and sound design.
SoK: Preconfirmations
Venue: arXiv cs.CR 2025
Year: 2025

In recent years, significant research efforts have focused on improving blockchain throughput and confirmation speeds without compromising security. While decreasing the time it takes for a transaction to be included in the blockchain ledger enhances user experience, a fundamental delay still remains between when a transaction is issued by a user and when its inclusion is confirmed in the blockchain ledger. This delay limits user experience gains through the confirmation uncertainty it brings for users. This inherent delay in conventional blockchain protocols has led to the emergence of preconfirmation protocols -- protocols that provide users with early guarantees of eventual transaction confirmation. This article presents a Systematization of Knowledge (SoK) on preconfirmations. We present the core terms and definitions needed to understand preconfirmations, outline a general framework for preconfirmation protocols, and explore the economics and risks of preconfirmations. Finally, we survey and apply our framework to several implementations of real-world preconfirmation protocols, bridging the gap between theory and practice.
Sequence-Based Deep Learning for Handover Optimization in Dense Urban Cellular Network
Venue: arXiv cs.NI 2025
Year: 2025

Efficient handover management remains a critical challenge in dense urban cellular networks, where high cell density, user mobility, and diverse service demands increase the likelihood of unnecessary handovers and ping-pong effects. This paper leverages a real-world, multi-operator drive-test dataset of 30,925 labelled records collected within a 2 km area around Sunway City to investigate sequence-based deep learning approaches for handover detection and avoidance. We formulate handover prediction as a sequence problem and evaluate Gated Recurrent Unit (GRU), Long Short-Term Memory (LSTM), and Transformer architectures under Reference Signal Received Power (RSRP)-only and all-feature settings. The integration of multi-dimensional features significantly enhanced handover performance in dense urban cellular networks. The proposed GRU-based model achieved a remarkable 98% reduction in ping-pong handovers, alongside a 46.25% decrease in unnecessary handovers, outperforming the baseline RSRP-only approach which yielded a 22.19% reduction. Furthermore, the model demonstrated a 46% improvement in Time of Stay (ToS), indicating more stable user connections. With an inference time of just 0.91 seconds, the solution proves highly efficient and well-suited for real-time edge deployment scenarios. Compared to the conventional 3GPP A3 algorithm, these improvements demonstrate significant gains in mobility robustness and user Quality of Experience (QoE) improvement. The dataset is released to foster reproducibility and further research in intelligent mobility management for 5G and beyond.
External Data Extraction Attacks against Retrieval-Augmented Large Language Models
Venue: arXiv cs.CR 2025
Year: 2025

In recent years, RAG has emerged as a key paradigm for enhancing large language models (LLMs). By integrating externally retrieved information, RAG alleviates issues like outdated knowledge and, crucially, insufficient domain expertise. While effective, RAG introduces new risks of external data extraction attacks (EDEAs), where sensitive or copyrighted data in its knowledge base may be extracted verbatim. These risks are particularly acute when RAG is used to customize specialized LLM applications with private knowledge bases. Despite initial studies exploring these risks, they often lack a formalized framework, robust attack performance, and comprehensive evaluation, leaving critical questions about real-world EDEA feasibility unanswered. In this paper, we present the first comprehensive study to formalize EDEAs against retrieval-augmented LLMs. We first formally define EDEAs and propose a unified framework decomposing their design into three components: extraction instruction, jailbreak operator, and retrieval trigger, under which prior attacks can be considered instances within our framework. Guided by this framework, we develop SECRET: a Scalable and EffeCtive exteRnal data Extraction aTtack. Specifically, SECRET incorporates (1) an adaptive optimization process using LLMs as optimizers to generate specialized jailbreak prompts for EDEAs, and (2) cluster-focused triggering, an adaptive strategy that alternates between global exploration and local exploitation to efficiently generate effective retrieval triggers. Extensive evaluations across 4 models reveal that SECRET significantly outperforms previous attacks, and is highly effective against all 16 tested RAG instances. Notably, SECRET successfully extracts 35% of the data from RAG powered by Claude 3.7 Sonnet for the first time, whereas other attacks yield 0% extraction. Our findings call for attention to this emerging threat.
Grounding Large Language Models in Clinical Evidence: A Retrieval-Augmented Generation System for Querying UK NICE Clinical Guidelines
Venue: arXiv cs.CL 2025
Year: 2025

This paper presents the development and evaluation of a Retrieval-Augmented Generation (RAG) system for querying the United Kingdom's National Institute for Health and Care Excellence (NICE) clinical guidelines using Large Language Models (LLMs). The extensive length and volume of these guidelines can impede their utilisation within a time-constrained healthcare system, a challenge this project addresses through the creation of a system capable of providing users with precisely matched information in response to natural language queries. The system's retrieval architecture, composed of a hybrid embedding mechanism, was evaluated against a corpus of 10,195 text chunks derived from three hundred guidelines. It demonstrates high performance, with a Mean Reciprocal Rank (MRR) of 0.814, a Recall of 81% at the first chunk and of 99.1% within the top ten retrieved chunks, when evaluated on 7901 queries. The most significant impact of the RAG system was observed during the generation phase. When evaluated on a manually curated dataset of seventy question-answer pairs, RAG-enhanced models showed substantial gains in performance. Faithfulness, the measure of whether an answer is supported by the source text, was increased by 64.7 percentage points to 99.5% for the RAG-enhanced O4-Mini model and significantly outperformed the medical-focused Meditron3-8B LLM, which scored 43%. Clinical evaluation by seven Subject Matter Experts (SMEs) further validated these findings, with GPT-4.1 achieving 98.7% accuracy while reducing unsafe responses by 67% compared to O4-Mini (from 3.0 to 1.0 per evaluator). This study thus establishes RAG as an effective, reliable, and scalable approach for applying generative AI in healthcare, enabling cost-effective access to medical guidelines.
AI Generated Child Sexual Abuse Material -- What's the Harm?
Venue: arXiv cs.CY 2025
Year: 2025

The development of generative artificial intelligence (AI) tools capable of producing wholly or partially synthetic child sexual abuse material (AI CSAM) presents profound challenges for child protection, law enforcement, and societal responses to child exploitation. While some argue that the harmfulness of AI CSAM differs fundamentally from other CSAM due to a perceived absence of direct victimization, this perspective fails to account for the range of risks associated with its production and consumption. AI has been implicated in the creation of synthetic CSAM of children who have not previously been abused, the revictimization of known survivors of abuse, the facilitation of grooming, coercion and sexual extortion, and the normalization of child sexual exploitation. Additionally, AI CSAM may serve as a new or enhanced pathway into offending by lowering barriers to engagement, desensitizing users to progressively extreme content, and undermining protective factors for individuals with a sexual interest in children. This paper provides a primer on some key technologies, critically examines the harms associated with AI CSAM, and cautions against claims that it may function as a harm reduction tool, emphasizing how some appeals to harmlessness obscure its real risks and may contribute to inertia in ecosystem responses.
Symbol Timing Synchronization and Signal Detection for Ambient Backscatter Communication
Venue: arXiv cs.IT 2025
Year: 2025

Ambient backscatter communication (AmBC) enables ambient Internet of Things (AIoT) devices to achieve ultra-low-power, low-cost, and massive connectivity. Most existing AmBC studies assume ideal synchronization between the backscatter device (BD) and the backscatter receiver (BR). However, in practice, symbol timing offset (STO) occurs due to both the propagation delay and the BR activation latency, which leads to unreliable symbol recovery at the BR. Moreover, the uncontrollable nature of the ambient radio frequency source renders conventional correlation-based synchronization methods infeasible in AmBC. To address this challenge, we investigate STO estimation and symbol detection in AmBC without requiring coordination from the ambient radio frequency source. Firstly, we design a specialized pilot sequence at the BD to induce sampling errors in the pilot signal. Furthermore, we propose a pilot-based STO estimator using the framework of maximum likelihood estimation (MLE), which can exploit the statistical variations in the received pilot signal. Finally, we integrate STO compensation into an energy detector and evaluate the bit error rate (BER) performance. Simulation results show that the proposed estimator achieves accurate STO estimation and effectively mitigates the BER performance degradation caused by STO.
Transport of Event Equation: Phase Retrieval from Defocus Events
Venue: arXiv cs.IT 2025
Year: 2025

To time-efficiently and stably acquire the intensity information for phase retrieval under a coherent illumination, we leverage an event-based vision sensor (EVS) that can detect changes in logarithmic intensity at the pixel level with a wide dynamic range. In our optical system, we translate the EVS along the optical axis, where the EVS records the intensity changes induced by defocus as events. To recover phase distributions, we formulate a partial differential equation, referred to as the transport of event equation, which presents a linear relationship between the defocus events and the phase distribution. We demonstrate through experiments that the EVS is more advantageous than the conventional image sensor for rapidly and stably detecting the intensity information, defocus events, which enables accurate phase retrieval, particularly under low-lighting conditions.
Towards Scalable and Consistent 3D Editing
Venue: arXiv cs.CV 2025
Year: 2025

3D editing - the task of locally modifying the geometry or appearance of a 3D asset - has wide applications in immersive content creation, digital entertainment, and AR/VR. However, unlike 2D editing, it remains challenging due to the need for cross-view consistency, structural fidelity, and fine-grained controllability. Existing approaches are often slow, prone to geometric distortions, or dependent on manual and accurate 3D masks that are error-prone and impractical. To address these challenges, we advance both the data and model fronts. On the data side, we introduce 3DEditVerse, the largest paired 3D editing benchmark to date, comprising 116,309 high-quality training pairs and 1,500 curated test pairs. Built through complementary pipelines of pose-driven geometric edits and foundation model-guided appearance edits, 3DEditVerse ensures edit locality, multi-view consistency, and semantic alignment. On the model side, we propose 3DEditFormer, a 3D-structure-preserving conditional transformer. By enhancing image-to-3D generation with dual-guidance attention and time-adaptive gating, 3DEditFormer disentangles editable regions from preserved structure, enabling precise and consistent edits without requiring auxiliary 3D masks. Extensive experiments demonstrate that our framework outperforms state-of-the-art baselines both quantitatively and qualitatively, establishing a new standard for practical and scalable 3D editing. Dataset and code will be released. Project: https://www.lv-lab.org/3DEditFormer/
From high-frequency sensors to noon reports: Using transfer learning for shaft power prediction in maritime
Venue: arXiv cs.LG 2025
Year: 2025

With the growth of global maritime transportation, energy optimization has become crucial for reducing costs and ensuring operational efficiency. Shaft power is the mechanical power transmitted from the engine to the shaft and directly impacts fuel consumption, making its accurate prediction a paramount step in optimizing vessel performance. Power consumption is highly correlated with ship parameters such as speed and shaft rotation per minute, as well as weather and sea conditions. Frequent access to this operational data can improve prediction accuracy. However, obtaining high-quality sensor data is often infeasible and costly, making alternative sources such as noon reports a viable option. In this paper, we propose a transfer learning-based approach for predicting vessels shaft power, where a model is initially trained on high-frequency data from a vessel and then fine-tuned with low-frequency daily noon reports from other vessels. We tested our approach on sister vessels (identical dimensions and configurations), a similar vessel (slightly larger with a different engine), and a different vessel (distinct dimensions and configurations). The experiments showed that the mean absolute percentage error decreased by 10.6 percent for sister vessels, 3.6 percent for a similar vessel, and 5.3 percent for a different vessel, compared to the model trained solely on noon report data.
Differentially Private Wasserstein Barycenters
Venue: arXiv cs.LG 2025
Year: 2025

The Wasserstein barycenter is defined as the mean of a set of probability measures under the optimal transport metric, and has numerous applications spanning machine learning, statistics, and computer graphics. In practice these input measures are empirical distributions built from sensitive datasets, motivating a differentially private (DP) treatment. We present, to our knowledge, the first algorithms for computing Wasserstein barycenters under differential privacy. Empirically, on synthetic data, MNIST, and large-scale U.S. population datasets, our methods produce high-quality private barycenters with strong accuracy-privacy tradeoffs.
HumanoidExo: Scalable Whole-Body Humanoid Manipulation via Wearable Exoskeleton
Venue: arXiv cs.RO 2025
Year: 2025

A significant bottleneck in humanoid policy learning is the acquisition of large-scale, diverse datasets, as collecting reliable real-world data remains both difficult and cost-prohibitive. To address this limitation, we introduce HumanoidExo, a novel system that transfers human motion to whole-body humanoid data. HumanoidExo offers a high-efficiency solution that minimizes the embodiment gap between the human demonstrator and the robot, thereby tackling the scarcity of whole-body humanoid data. By facilitating the collection of more voluminous and diverse datasets, our approach significantly enhances the performance of humanoid robots in dynamic, real-world scenarios. We evaluated our method across three challenging real-world tasks: table-top manipulation, manipulation integrated with stand-squat motions, and whole-body manipulation. Our results empirically demonstrate that HumanoidExo is a crucial addition to real-robot data, as it enables the humanoid policy to generalize to novel environments, learn complex whole-body control from only five real-robot demonstrations, and even acquire new skills (i.e., walking) solely from HumanoidExo data.