OpenRaiser/Intern-Atlas huggingface dataset:
Modular Robot Control with Motor Primitives
Venue: arXiv cs.RO 2025
Year: 2025

Despite a slow neuromuscular system, humans easily outperform modern robot technology, especially in physical contact tasks. How is this possible? Biological evidence indicates that motor control of biological systems is achieved by a modular organization of motor primitives, which are fundamental building blocks of motor behavior. Inspired by neuro-motor control research, the idea of using simpler building blocks has been successfully used in robotics. Nevertheless, a comprehensive formulation of modularity for robot control remains to be established. In this paper, we introduce a modular framework for robot control using motor primitives. We present two essential requirements to achieve modular robot control: independence of modules and closure of stability. We describe key control modules and demonstrate that a wide range of complex robotic behaviors can be generated from this small set of modules and their combinations. The presented modular control framework demonstrates several beneficial properties for robot control, including task-space control without solving Inverse Kinematics, addressing the problems of kinematic singularity and kinematic redundancy, and preserving passivity for contact and physical interactions. Further advantages include exploiting kinematic singularity to maintain high external load with low torque compensation, as well as controlling the robot beyond its end-effector, extending even to external objects. Both simulation and actual robot experiments are presented to validate the effectiveness of our modular framework. We conclude that modularity may be an effective constructive framework for achieving robotic behaviors comparable to human-level performance.
GNN-Suite: a Graph Neural Network Benchmarking Framework for Biomedical Informatics
Venue: arXiv cs.LG 2025
Year: 2025

We present GNN-Suite, a robust modular framework for constructing and benchmarking Graph Neural Network (GNN) architectures in computational biology. GNN-Suite standardises experimentation and reproducibility using the Nextflow workflow to evaluate GNN performance. We demonstrate its utility in identifying cancer-driver genes by constructing molecular networks from protein-protein interaction (PPI) data from STRING and BioGRID and annotating nodes with features from the PCAWG, PID, and COSMIC-CGC repositories. Our design enables fair comparisons among diverse GNN architectures including GAT, GAT3H, GCN, GCN2, GIN, GTN, HGCN, PHGCN, and GraphSAGE and a baseline Logistic Regression (LR) model. All GNNs were configured as standardised two-layer models and trained with uniform hyperparameters (dropout = 0.2; Adam optimiser with learning rate = 0.01; and an adjusted binary cross-entropy loss to address class imbalance) over an 80/20 train-test split for 300 epochs. Each model was evaluated over 10 independent runs with different random seeds to yield statistically robust performance metrics, with balanced accuracy (BACC) as the primary measure. Notably, GCN2 achieved the highest BACC (0.807 +/- 0.035) on a STRING-based network, although all GNN types outperformed the LR baseline, highlighting the advantage of network-based learning over feature-only approaches. Our results show that a common framework for implementing and evaluating GNN architectures aids in identifying not only the best model but also the most effective means of incorporating complementary data. By making GNN-Suite publicly available, we aim to foster reproducible research and promote improved benchmarking standards in computational biology. Future work will explore additional omics datasets and further refine network architectures to enhance predictive accuracy and interpretability in biomedical applications.
Automating Security Audit Using Large Language Model based Agent: An Exploration Experiment
Venue: arXiv cs.CR 2025
Year: 2025

In the current rapidly changing digital environment, businesses are under constant stress to ensure that their systems are secured. Security audits help to maintain a strong security posture by ensuring that policies are in place, controls are implemented, gaps are identified for cybersecurity risks mitigation. However, audits are usually manual, requiring much time and costs. This paper looks at the possibility of developing a framework to leverage Large Language Models (LLMs) as an autonomous agent to execute part of the security audit, namely with the field audit. password policy compliance for Windows operating system. Through the conduct of an exploration experiment of using GPT-4 with Langchain, the agent executed the audit tasks by accurately flagging password policy violations and appeared to be more efficient than traditional manual audits. Despite its potential limitations in operational consistency in complex and dynamic environment, the framework suggests possibilities to extend further to real-time threat monitoring and compliance checks.
Automated Detection of Salvin's Albatrosses: Improving Deep Learning Tools for Aerial Wildlife Surveys
Venue: arXiv cs.CV 2025
Year: 2025

Recent advancements in deep learning and aerial imaging have transformed wildlife monitoring, enabling researchers to survey wildlife populations at unprecedented scales. Unmanned Aerial Vehicles (UAVs) provide a cost-effective means of capturing high-resolution imagery, particularly for monitoring densely populated seabird colonies. In this study, we assess the performance of a general-purpose avian detection model, BirdDetector, in estimating the breeding population of Salvin's albatross (Thalassarche salvini) on the Bounty Islands, New Zealand. Using drone-derived imagery, we evaluate the model's effectiveness in both zero-shot and fine-tuned settings, incorporating enhanced inference techniques and stronger augmentation methods. Our findings indicate that while applying the model in a zero-shot setting offers a strong baseline, fine-tuning with annotations from the target domain and stronger image augmentation leads to marked improvements in detection accuracy. These results highlight the potential of leveraging pre-trained deep-learning models for species-specific monitoring in remote and challenging environments.
Counterfactual Behavior Cloning: Offline Imitation Learning from Imperfect Human Demonstrations
Venue: arXiv cs.RO 2025
Year: 2025

Learning from humans is challenging because people are imperfect teachers. When everyday humans show the robot a new task they want it to perform, humans inevitably make errors (e.g., inputting noisy actions) and provide suboptimal examples (e.g., overshooting the goal). Existing methods learn by mimicking the exact behaviors the human teacher provides -- but this approach is fundamentally limited because the demonstrations themselves are imperfect. In this work we advance offline imitation learning by enabling robots to extrapolate what the human teacher meant, instead of only considering what the human actually showed. We achieve this by hypothesizing that all of the human's demonstrations are trying to convey a single, consistent policy, while the noise and sub-optimality within their behaviors obfuscates the data and introduces unintentional complexity. To recover the underlying policy and learn what the human teacher meant, we introduce Counter-BC, a generalized version of behavior cloning. Counter-BC expands the given dataset to include actions close to behaviors the human demonstrated (i.e., counterfactual actions that the human teacher could have intended, but did not actually show). During training Counter-BC autonomously modifies the human's demonstrations within this expanded region to reach a simple and consistent policy that explains the underlying trends in the human's dataset. Theoretically, we prove that Counter-BC can extract the desired policy from imperfect data, multiple users, and teachers of varying skill levels. Empirically, we compare Counter-BC to state-of-the-art alternatives in simulated and real-world settings with noisy demonstrations, standardized datasets, and real human teachers. See videos of our work here: https://youtu.be/XaeOZWhTt68
Ranked Voting based Self-Consistency of Large Language Models
Venue: arXiv cs.CL 2025
Year: 2025

Majority voting is considered an effective method to enhance chain-of-thought reasoning, as it selects the answer with the highest "self-consistency" among different reasoning paths (Wang et al., 2023). However, previous chain-of-thought reasoning methods typically generate only a single answer in each trial, thereby ignoring the possibility of other potential answers. As a result, these alternative answers are often overlooked in subsequent voting processes. In this work, we propose to generate ranked answers in each reasoning process and conduct ranked voting among multiple ranked answers from different responses, thereby making the overall self-consistency more reliable. Specifically, we use three ranked voting methods: Instant-runoff voting, Borda count voting, and mean reciprocal rank voting. We validate our methods on six datasets, including three multiple-choice and three open-ended question-answering tasks, using both advanced open-source and closed-source large language models. Extensive experimental results indicate that our proposed method outperforms the baselines, showcasing the potential of leveraging the information of ranked answers and using ranked voting to improve reasoning performance. The code is available at https://github.com/szu-tera/RankedVotingSC.
EA-3DGS: Efficient and Adaptive 3D Gaussians with Highly Enhanced Quality for outdoor scenes
Venue: arXiv cs.CV 2025
Year: 2025

Efficient scene representations are essential for many real-world applications, especially those involving spatial measurement. Although current NeRF-based methods have achieved impressive results in reconstructing building-scale scenes, they still suffer from slow training and inference speeds due to time-consuming stochastic sampling. Recently, 3D Gaussian Splatting (3DGS) has demonstrated excellent performance with its high-quality rendering and real-time speed, especially for objects and small-scale scenes. However, in outdoor scenes, its point-based explicit representation lacks an effective adjustment mechanism, and the millions of Gaussian points required often lead to memory constraints during training. To address these challenges, we propose EA-3DGS, a high-quality real-time rendering method designed for outdoor scenes. First, we introduce a mesh structure to regulate the initialization of Gaussian components by leveraging an adaptive tetrahedral mesh that partitions the grid and initializes Gaussian components on each face, effectively capturing geometric structures in low-texture regions. Second, we propose an efficient Gaussian pruning strategy that evaluates each 3D Gaussian's contribution to the view and prunes accordingly. To retain geometry-critical Gaussian points, we also present a structure-aware densification strategy that densifies Gaussian points in low-curvature regions. Additionally, we employ vector quantization for parameter quantization of Gaussian components, significantly reducing disk space requirements with only a minimal impact on rendering quality. Extensive experiments on 13 scenes, including eight from four public datasets (MatrixCity-Aerial, Mill-19, Tanks \& Temples, WHU) and five self-collected scenes acquired through UAV photogrammetry measurement from SCUT-CA and plateau regions, further demonstrate the superiority of our method.
Finetune-RAG: Fine-Tuning Language Models to Resist Hallucination in Retrieval-Augmented Generation
Venue: arXiv cs.CL 2025
Year: 2025

Retrieval-Augmented Generation (RAG) has emerged as a powerful framework to improve factuality in large language models (LLMs) by grounding their outputs in retrieved documents. However, ensuring perfect retrieval of relevant information remains challenging, and when irrelevant content is passed downstream to an LLM, it can lead to hallucinations. In this work, we propose Finetune-RAG, a simple and effective fine-tuning approach that features the first-of-its-kind RAG training dataset constructed to mimic real-world imperfections. Experimental results show that Finetune-RAG improves factual accuracy by 21.2% over the base model. We also propose Bench-RAG, an LLM-as-a-judge evaluation pipeline that stress tests models under realistic imperfect retrieval scenarios. Our codebase and dataset are fully open sourced for community use.
Relation Extraction Across Entire Books to Reconstruct Community Networks: The AffilKG Datasets
Venue: arXiv cs.CL 2025
Year: 2025

When knowledge graphs (KGs) are automatically extracted from text, are they accurate enough for downstream analysis? Unfortunately, current annotated datasets can not be used to evaluate this question, since their KGs are highly disconnected, too small, or overly complex. To address this gap, we introduce AffilKG (https://doi.org/10.5281/zenodo.15427977), which is a collection of six datasets that are the first to pair complete book scans with large, labeled knowledge graphs. Each dataset features affiliation graphs, which are simple KGs that capture Member relationships between Person and Organization entities -- useful in studies of migration, community interactions, and other social phenomena. In addition, three datasets include expanded KGs with a wider variety of relation types. Our preliminary experiments demonstrate significant variability in model performance across datasets, underscoring AffilKG's ability to enable two critical advances: (1) benchmarking how extraction errors propagate to graph-level analyses (e.g., community structure), and (2) validating KG extraction methods for real-world social science research.
Developing and Integrating Trust Modeling into Multi-Objective Reinforcement Learning for Intelligent Agricultural Management
Venue: arXiv cs.AI 2025
Year: 2025

Precision agriculture, enhanced by artificial intelligence (AI), offers promising tools such as remote sensing, intelligent irrigation, fertilization management, and crop simulation to improve agricultural efficiency and sustainability. Reinforcement learning (RL), in particular, has outperformed traditional methods in optimizing yields and resource management. However, widespread AI adoption is limited by gaps between algorithmic recommendations and farmers' practical experience, local knowledge, and traditional practices. To address this, our study emphasizes Human-AI Interaction (HAII), focusing on transparency, usability, and trust in RL-based farm management. We employ a well-established trust framework - comprising ability, benevolence, and integrity - to develop a novel mathematical model quantifying farmers' confidence in AI-based fertilization strategies. Surveys conducted with farmers for this research reveal critical misalignments, which are integrated into our trust model and incorporated into a multi-objective RL framework. Unlike prior methods, our approach embeds trust directly into policy optimization, ensuring AI recommendations are technically robust, economically feasible, context-aware, and socially acceptable. By aligning technical performance with human-centered trust, this research supports broader AI adoption in agriculture.
RAN Tester UE: An Automated Declarative UE Centric Security Testing Platform
Venue: arXiv cs.CR 2025
Year: 2025

Cellular networks require strict security procedures and measures across various network components, from core to radio access network (RAN) and end-user devices. As networks become increasingly complex and interconnected, as in O-RAN deployments, they are exposed to a numerous security threats. Therefore, ensuring robust security is critical for O-RAN to protect network integrity and safeguard user data. This requires rigorous testing methodologies to mitigate threats. This paper introduces an automated, adaptive, and scalable user equipment (UE) based RAN security testing framework designed to address the shortcomings of existing RAN testing solutions. Experimental results on a 5G software radio testbed built with commercial off-the-shelf hardware and open source software validate the efficiency and reproducibility of sample security test procedures developed on the RAN Tester UE framework.
Creating General User Models from Computer Use
Venue: arXiv cs.HC 2025
Year: 2025

Human-computer interaction has long imagined technology that understands us-from our preferences and habits, to the timing and purpose of our everyday actions. Yet current user models remain fragmented, narrowly tailored to specific apps, and incapable of the flexible reasoning required to fulfill these visions. This paper presents an architecture for a general user model (GUM) that learns about you by observing any interaction you have with your computer. The GUM takes as input any unstructured observation of a user (e.g., device screenshots) and constructs confidence-weighted propositions that capture user knowledge and preferences. GUMs can infer that a user is preparing for a wedding they're attending from messages with a friend. Or recognize that a user is struggling with a collaborator's feedback on a draft by observing multiple stalled edits and a switch to reading related work. GUMs introduce an architecture that infers new propositions about a user from multimodal observations, retrieves related propositions for context, and continuously revises existing propositions. To illustrate the breadth of applications that GUMs enable, we demonstrate how they augment chat-based assistants with context, manage OS notifications to selectively surface important information, and enable interactive agents that adapt to preferences across apps. We also instantiate proactive assistants (GUMBOs) that discover and execute useful suggestions on a user's behalf using their GUM. In our evaluations, we find that GUMs make calibrated and accurate inferences about users, and that assistants built on GUMs proactively identify and perform actions that users wouldn't think to request explicitly. Altogether, GUMs introduce methods that leverage multimodal models to understand unstructured context, enabling long-standing visions of HCI and entirely new interactive systems that anticipate user needs.
Alexandria: A Library of Pluralistic Values for Realtime Re-Ranking of Social Media Feeds
Venue: arXiv cs.HC 2025
Year: 2025

Social media feed ranking algorithms fail when they too narrowly focus on engagement as their objective. The literature has asserted a wide variety of values that these algorithms should account for as well -- ranging from well-being to productive discourse -- far more than can be encapsulated by a single topic or theory. In response, we present a $\textit{library of values}$ for social media algorithms: a pluralistic set of 78 values as articulated across the literature, implemented into LLM-powered content classifiers that can be installed individually or in combination for real-time re-ranking of social media feeds. We investigate this approach by developing a browser extension, $\textit{Alexandria}$, that re-ranks the X/Twitter feed in real time based on the user's desired values. Through two user studies, both qualitative (N=12) and quantitative (N=257), we found that diverse user needs require a large library of values, enabling more nuanced preferences and greater user control. With this work, we argue that the values criticized as missing from social media ranking algorithms can be operationalized and deployed today through end-user tools.
Foundation model for mass spectrometry proteomics
Venue: arXiv cs.LG 2025
Year: 2025

Mass spectrometry is the dominant technology in the field of proteomics, enabling high-throughput analysis of the protein content of complex biological samples. Due to the complexity of the instrumentation and resulting data, sophisticated computational methods are required for the processing and interpretation of acquired mass spectra. Machine learning has shown great promise to improve the analysis of mass spectrometry data, with numerous purpose-built methods for improving specific steps in the data acquisition and analysis pipeline reaching widespread adoption. Here, we propose unifying various spectrum prediction tasks under a single foundation model for mass spectra. To this end, we pre-train a spectrum encoder using de novo sequencing as a pre-training task. We then show that using these pre-trained spectrum representations improves our performance on the four downstream tasks of spectrum quality prediction, chimericity prediction, phosphorylation prediction, and glycosylation status prediction. Finally, we perform multi-task fine-tuning and find that this approach improves the performance on each task individually. Overall, our work demonstrates that a foundation model for tandem mass spectrometry proteomics trained on de novo sequencing learns generalizable representations of spectra, improves performance on downstream tasks where training data is limited, and can ultimately enhance data acquisition and analysis in proteomics experiments.
Improving the Data-efficiency of Reinforcement Learning by Warm-starting with LLM
Venue: arXiv cs.LG 2025
Year: 2025

We investigate the usage of Large Language Model (LLM) in collecting high-quality data to warm-start Reinforcement Learning (RL) algorithms for learning in some classical Markov Decision Process (MDP) environments. In this work, we focus on using LLM to generate an off-policy dataset that sufficiently covers state-actions visited by optimal policies, then later using an RL algorithm to explore the environment and improve the policy suggested by the LLM. Our algorithm, LORO, can both converge to an optimal policy and have a high sample efficiency thanks to the LLM's good starting policy. On multiple OpenAI Gym environments, such as CartPole and Pendulum, we empirically demonstrate that LORO outperforms baseline algorithms such as pure LLM-based policies, pure RL, and a naive combination of the two, achieving up to $4 \times$ the cumulative rewards of the pure RL baseline.
Coordinated Inauthentic Behavior on TikTok: Challenges and Opportunities for Detection in a Video-First Ecosystem
Venue: arXiv cs.SI 2025
Year: 2025

Detecting coordinated inauthentic behavior (CIB) is central to the study of online influence operations. However, most methods focus on text-centric platforms, leaving video-first ecosystems like TikTok largely unexplored. To address this gap, we develop and evaluate a computational framework for detecting CIB on TikTok, leveraging a network-based approach adapted to the platform's unique content and interaction structures. Building on existing approaches, we construct user similarity networks based on shared behaviors, including synchronized posting, repeated use of similar captions, multimedia content reuse, and hashtag sequence overlap, and apply graph pruning techniques to identify dense networks of likely coordinated accounts. Analyzing a dataset of 793K TikTok videos related to the 2024 U.S. Presidential Election, we uncover a range of coordinated activities, from synchronized amplification of political narratives to semi-automated content replication using AI-generated voiceovers and split-screen video formats. Our findings show that while traditional coordination indicators generalize well to TikTok, other signals, such as those based on textual similarity of video transcripts or Duet and Stitch interactions, prove ineffective, highlighting the platform's distinct content norms and interaction mechanics. This work provides the first empirical foundation for studying and detecting CIB on TikTok, paving the way for future research into influence operations in short-form video platforms.