OpenRaiser/Intern-Atlas huggingface dataset:
Improving fingerprint presentation attack detection by an approach integrated into the personal verification stage
Venue: arXiv cs.CV 2025
Year: 2025

Presentation Attack Detection (PAD) systems are usually designed independently of the fingerprint verification system. While this can be acceptable for use cases where specific user templates are not predetermined, it represents a missed opportunity to enhance security in scenarios where integrating PAD with the fingerprint verification system could significantly leverage users' templates, which are the real target of a potential presentation attack. This does not mean that a PAD should be specifically designed for such users; that would imply the availability of many enrolled users' PAI and, consequently, complexity, time, and cost increase. On the contrary, we propose to equip a basic PAD, designed according to the state of the art, with an innovative add-on module called the Closeness Binary Code (CC) module. The term "closeness" refers to a peculiar property of the bona fide-related features: in an Euclidean feature space, genuine fingerprints tend to cluster in a specific pattern. First, samples from the same finger are close to each other, then samples from other fingers of the same user and finally, samples from fingers of other users. This property is statistically verified in our previous publication, and further confirmed in this paper. It is independent of the user population and the feature set class, which can be handcrafted or deep network-based (embeddings). Therefore, the add-on can be designed without the need for the targeted user samples; moreover, it exploits her/his samples' "closeness" property during the verification stage. Extensive experiments on benchmark datasets and state-of-the-art PAD methods confirm the benefits of the proposed add-on, which can be easily coupled with the main PAD module integrated into the fingerprint verification system.
Emergence of Goal-Directed Behaviors via Active Inference with Self-Prior
Venue: arXiv cs.AI 2025
Year: 2025

Infants often exhibit goal-directed behaviors, such as reaching for a sensory stimulus, even when no external reward criterion is provided. These intrinsically motivated behaviors facilitate spontaneous exploration and learning of the body and environment during early developmental stages. Although computational modeling can offer insight into the mechanisms underlying such behaviors, many existing studies on intrinsic motivation focus primarily on how exploration contributes to acquiring external rewards. In this paper, we propose a novel density model for an agent's own multimodal sensory experiences, called the "self-prior," and investigate whether it can autonomously induce goal-directed behavior. Integrated within an active inference framework based on the free energy principle, the self-prior generates behavioral references purely from an intrinsic process that minimizes mismatches between average past sensory experiences and current observations. This mechanism is also analogous to the acquisition and utilization of a body schema through continuous interaction with the environment. We examine this approach in a simulated environment and confirm that the agent spontaneously reaches toward a tactile stimulus. Our study implements intrinsically motivated behavior shaped by the agent's own sensory experiences, demonstrating the spontaneous emergence of intentional behavior during early development.
Efficient Remote Sensing Change Detection with Change State Space Models
Venue: arXiv cs.CV 2025
Year: 2025

Despite their frequent use for change detection, both ConvNets and Vision transformers (ViT) exhibit well-known limitations, namely the former struggle to model long-range dependencies while the latter are computationally inefficient, rendering them challenging to train on large-scale datasets. Vision Mamba, an architecture based on State Space Models has emerged as an alternative addressing the aforementioned deficiencies and has been already applied to remote sensing change detection, though mostly as a feature extracting backbone. In this article the Change State Space Model is introduced, that has been specifically designed for change detection by focusing on the relevant changes between bi-temporal images, effectively filtering out irrelevant information. By concentrating solely on the changed features, the number of network parameters is reduced, enhancing significantly computational efficiency while maintaining high detection performance and robustness against input degradation. The proposed model has been evaluated via three benchmark datasets, where it outperformed ConvNets, ViTs, and Mamba-based counterparts at a fraction of their computational complexity. The implementation will be made available at https://github.com/Elman295/CSSM upon acceptance.
Towards global equity in political polarization research
Venue: arXiv cs.SI 2025
Year: 2025

With a folk understanding that political polarization refers to socio-political divisions within a society, many have proclaimed that we are more divided than ever. In this account, polarization has been blamed for populism, the erosion of social cohesion, the loss of trust in the institutions of democracy, legislative dysfunction, and the collective failure to address existential risks such as Covid-19 or climate change. However, at a global scale there is surprisingly little academic literature which conclusively supports these claims, with half of all studies being U.S.-focused. Here, we provide an overview of the global state of research on polarization, highlighting insights that are robust across countries, those unique to specific contexts, and key gaps in the literature. We argue that addressing these gaps is urgent, but has been hindered thus far by systemic and cultural barriers, such as regionally stratified restrictions on data access and misaligned research incentives. If continued cross-disciplinary inertia means that these disparities are left unaddressed, we see a substantial risk that countries will adopt policies to tackle polarization based on inappropriate evidence, risking flawed decision-making and the weakening of democratic institutions.
Benchmarking Vision Language Models on German Factual Data
Venue: arXiv cs.CL 2025
Year: 2025

Similar to LLMs, the development of vision language models is mainly driven by English datasets and models trained in English and Chinese language, whereas support for other languages, even those considered high-resource languages such as German, remains significantly weaker. In this work we present an analysis of open-weight VLMs on factual knowledge in the German and English language. We disentangle the image-related aspects from the textual ones by analyzing accu-racy with jury-as-a-judge in both prompt languages and images from German and international contexts. We found that for celebrities and sights, VLMs struggle because they are lacking visual cognition of German image contents. For animals and plants, the tested models can often correctly identify the image contents ac-cording to the scientific name or English common name but fail in German lan-guage. Cars and supermarket products were identified equally well in English and German images across both prompt languages.
Helper-Friendly Latency-Bounded Mitigation Strategies against Reactive Jamming Adversaries
Venue: arXiv cs.IT 2025
Year: 2025

Due to the recent developments in the field of full-duplex radios and cognitive radios, a new class of reactive jamming attacks has gained attention wherein an adversary transmits jamming energy over the victim's frequency band and also monitors various energy statistics in the network so as to detect countermeasures, thereby trapping the victim. Although cooperative mitigation strategies against such security threats exist, they are known to incur spectral-efficiency loss on the helper node, and are also not robust to variable latency-constraints on victim's messages. Identifying these research gaps in existing countermeasures against reactive jamming attacks, we propose a family of helper-friendly cooperative mitigation strategies that are applicable for a wide-range of latency-requirements on the victim's messages as well as practical radio hardware at the helper nodes. The proposed strategies are designed to facilitate reliable communication for the victim, without compromising the helper's spectral efficiency and also minimally disturbing the various energy statistics in the network. For theoretical guarantees on their efficacy, interesting optimization problems are formulated on the choice of the underlying parameters, followed by extensive mathematical analyses on their error-performance and covertness. Experimental results indicate that the proposed strategies should be preferred over the state-of-the-art methods when the helper node is unwilling to compromise on its error performance for assisting the victim.
SAR-to-RGB Translation with Latent Diffusion for Earth Observation
Venue: arXiv cs.CV 2025
Year: 2025

Earth observation satellites like Sentinel-1 (S1) and Sentinel-2 (S2) provide complementary remote sensing (RS) data, but S2 images are often unavailable due to cloud cover or data gaps. To address this, we propose a diffusion model (DM)-based approach for SAR-to-RGB translation, generating synthetic optical images from SAR inputs. We explore three different setups: two using Standard Diffusion, which reconstruct S2 images by adding and removing noise (one without and one with class conditioning), and one using Cold Diffusion, which blends S2 with S1 before removing the SAR signal. We evaluate the generated images in downstream tasks, including land cover classification and cloud removal. While generated images may not perfectly replicate real S2 data, they still provide valuable information. Our results show that class conditioning improves classification accuracy, while cloud removal performance remains competitive despite our approach not being optimized for it. Interestingly, despite exhibiting lower perceptual quality, the Cold Diffusion setup performs well in land cover classification, suggesting that traditional quantitative evaluation metrics may not fully reflect the practical utility of generated images. Our findings highlight the potential of DMs for SAR-to-RGB translation in RS applications where RGB images are missing.
The Robotability Score: Enabling Harmonious Robot Navigation on Urban Streets
Venue: arXiv cs.RO 2025
Year: 2025

This paper introduces the Robotability Score ($R$), a novel metric that quantifies the suitability of urban environments for autonomous robot navigation. Through expert interviews and surveys, we identify and weigh key features contributing to R for wheeled robots on urban streets. Our findings reveal that pedestrian density, crowd dynamics and pedestrian flow are the most critical factors, collectively accounting for 28% of the total score. Computing robotability across New York City yields significant variation; the area of highest R is 3.0 times more "robotable" than the area of lowest R. Deployments of a physical robot on high and low robotability areas show the adequacy of the score in anticipating the ease of robot navigation. This new framework for evaluating urban landscapes aims to reduce uncertainty in robot deployment while respecting established mobility patterns and urban planning principles, contributing to the discourse on harmonious human-robot environments.
MuSeD: A Multimodal Spanish Dataset for Sexism Detection in Social Media Videos
Venue: arXiv cs.CL 2025
Year: 2025

Sexism is generally defined as prejudice and discrimination based on sex or gender, affecting every sector of society, from social institutions to relationships and individual behavior. Social media platforms amplify the impact of sexism by conveying discriminatory content not only through text but also across multiple modalities, highlighting the critical need for a multimodal approach to the analysis of sexism online. With the rise of social media platforms where users share short videos, sexism is increasingly spreading through video content. Automatically detecting sexism in videos is a challenging task, as it requires analyzing the combination of verbal, audio, and visual elements to identify sexist content. In this study, (1) we introduce MuSeD, a new Multimodal Spanish dataset for Sexism Detection consisting of $\approx$ 11 hours of videos extracted from TikTok and BitChute; (2) we propose an innovative annotation framework for analyzing the contributions of textual, vocal, and visual modalities to the classification of content as either sexist or non-sexist; and (3) we evaluate a range of large language models (LLMs) and multimodal LLMs on the task of sexism detection. We find that visual information plays a key role in labeling sexist content for both humans and models. Models effectively detect explicit sexism; however, they struggle with implicit cases, such as stereotypes, instances where annotators also show low agreement. This highlights the inherent difficulty of the task, as identifying implicit sexism depends on the social and cultural context.
A real-time anomaly detection method for robots based on a flexible and sparse latent space
Venue: arXiv cs.RO 2025
Year: 2025

The growing demand for robots to operate effectively in diverse environments necessitates the need for robust real-time anomaly detection techniques during robotic operations. However, deep learning-based models in robotics face significant challenges due to limited training data and highly noisy signal features. In this paper, we present Sparse Masked Autoregressive Flow-based Adversarial AutoEncoder model to address these problems. This approach integrates Masked Autoregressive Flow model into Adversarial AutoEncoders to construct a flexible latent space and utilize Sparse autoencoder to efficiently focus on important features, even in scenarios with limited feature space. Our experiments demonstrate that the proposed model achieves a 4.96% to 9.75% higher area under the receiver operating characteristic curve for pick-and-place robotic operations with randomly placed cans, compared to existing state-of-the-art methods. Notably, it showed up to 19.67% better performance in scenarios involving collisions with lightweight objects. Additionally, unlike the existing state-of-the-art model, our model performs inferences within 1 millisecond, ensuring real-time anomaly detection. These capabilities make our model highly applicable to machine learning-based robotic safety systems in dynamic environments. The code is available at https://github.com/twkang43/sparse-maf-aae.
Exploring Backdoor Attack and Defense for LLM-empowered Recommendations
Venue: arXiv cs.CR 2025
Year: 2025

The fusion of Large Language Models (LLMs) with recommender systems (RecSys) has dramatically advanced personalized recommendations and drawn extensive attention. Despite the impressive progress, the safety of LLM-based RecSys against backdoor attacks remains largely under-explored. In this paper, we raise a new problem: Can a backdoor with a specific trigger be injected into LLM-based Recsys, leading to the manipulation of the recommendation responses when the backdoor trigger is appended to an item's title? To investigate the vulnerabilities of LLM-based RecSys under backdoor attacks, we propose a new attack framework termed Backdoor Injection Poisoning for RecSys (BadRec). BadRec perturbs the items' titles with triggers and employs several fake users to interact with these items, effectively poisoning the training set and injecting backdoors into LLM-based RecSys. Comprehensive experiments reveal that poisoning just 1% of the training data with adversarial examples is sufficient to successfully implant backdoors, enabling manipulation of recommendations. To further mitigate such a security threat, we propose a universal defense strategy called Poison Scanner (P-Scanner). Specifically, we introduce an LLM-based poison scanner to detect the poisoned items by leveraging the powerful language understanding and rich knowledge of LLMs. A trigger augmentation agent is employed to generate diverse synthetic triggers to guide the poison scanner in learning domain-specific knowledge of the poisoned item detection task. Extensive experiments on three real-world datasets validate the effectiveness of the proposed P-Scanner.
Mutual Understanding between People and Systems via Neurosymbolic AI and Knowledge Graphs
Venue: arXiv cs.AI 2025
Year: 2025

This chapter investigates the concept of mutual understanding between humans and systems, positing that Neuro-symbolic Artificial Intelligence (NeSy AI) methods can significantly enhance this mutual understanding by leveraging explicit symbolic knowledge representations with data-driven learning models. We start by introducing three critical dimensions to characterize mutual understanding: sharing knowledge, exchanging knowledge, and governing knowledge. Sharing knowledge involves aligning the conceptual models of different agents to enable a shared understanding of the domain of interest. Exchanging knowledge relates to ensuring the effective and accurate communication between agents. Governing knowledge concerns establishing rules and processes to regulate the interaction between agents. Then, we present several different use case scenarios that demonstrate the application of NeSy AI and Knowledge Graphs to aid meaningful exchanges between human, artificial, and robotic agents. These scenarios highlight both the potential and the challenges of combining top-down symbolic reasoning with bottom-up neural learning, guiding the discussion of the coverage provided by current solutions along the dimensions of sharing, exchanging, and governing knowledge. Concurrently, this analysis facilitates the identification of gaps and less developed aspects in mutual understanding to address in future research.
FedDiverse: Tackling Data Heterogeneity in Federated Learning with Diversity-Driven Client Selection
Venue: arXiv cs.LG 2025
Year: 2025

Federated Learning (FL) enables decentralized training of machine learning models on distributed data while preserving privacy. However, in real-world FL settings, client data is often non-identically distributed and imbalanced, resulting in statistical data heterogeneity which impacts the generalization capabilities of the server's model across clients, slows convergence and reduces performance. In this paper, we address this challenge by proposing first a characterization of statistical data heterogeneity by means of 6 metrics of global and client attribute imbalance, class imbalance, and spurious correlations. Next, we create and share 7 computer vision datasets for binary and multiclass image classification tasks in Federated Learning that cover a broad range of statistical data heterogeneity and hence simulate real-world situations. Finally, we propose FEDDIVERSE, a novel client selection algorithm in FL which is designed to manage and leverage data heterogeneity across clients by promoting collaboration between clients with complementary data distributions. Experiments on the seven proposed FL datasets demonstrate FEDDIVERSE's effectiveness in enhancing the performance and robustness of a variety of FL methods while having low communication and computational overhead.
3DAffordSplat: Efficient Affordance Reasoning with 3D Gaussians
Venue: arXiv cs.CV 2025
Year: 2025

3D affordance reasoning is essential in associating human instructions with the functional regions of 3D objects, facilitating precise, task-oriented manipulations in embodied AI. However, current methods, which predominantly depend on sparse 3D point clouds, exhibit limited generalizability and robustness due to their sensitivity to coordinate variations and the inherent sparsity of the data. By contrast, 3D Gaussian Splatting (3DGS) delivers high-fidelity, real-time rendering with minimal computational overhead by representing scenes as dense, continuous distributions. This positions 3DGS as a highly effective approach for capturing fine-grained affordance details and improving recognition accuracy. Nevertheless, its full potential remains largely untapped due to the absence of large-scale, 3DGS-specific affordance datasets. To overcome these limitations, we present 3DAffordSplat, the first large-scale, multi-modal dataset tailored for 3DGS-based affordance reasoning. This dataset includes 23,677 Gaussian instances, 8,354 point cloud instances, and 6,631 manually annotated affordance labels, encompassing 21 object categories and 18 affordance types. Building upon this dataset, we introduce AffordSplatNet, a novel model specifically designed for affordance reasoning using 3DGS representations. AffordSplatNet features an innovative cross-modal structure alignment module that exploits structural consistency priors to align 3D point cloud and 3DGS representations, resulting in enhanced affordance recognition accuracy. Extensive experiments demonstrate that the 3DAffordSplat dataset significantly advances affordance learning within the 3DGS domain, while AffordSplatNet consistently outperforms existing methods across both seen and unseen settings, highlighting its robust generalization capabilities.
AutoRAN: Automated and Zero-Touch Open RAN Systems
Venue: arXiv cs.NI 2025
Year: 2025

[...] This paper presents AutoRAN, an automated, intent-driven framework for zero-touch provisioning of open, programmable cellular networks. Leveraging cloud-native principles, AutoRAN employs virtualization, declarative infrastructure-as-code templates, and disaggregated micro-services to abstract physical resources and protocol stacks. Its orchestration engine integrates Language Models (LLMs) to translate high-level intents into machine-readable configurations, enabling closed-loop control via telemetry-driven observability. Implemented on a multi-architecture OpenShift cluster with heterogeneous compute (x86/ARM CPUs, NVIDIA GPUs) and multi-vendor Radio Access Network (RAN) hardware (Foxconn, NI), AutoRAN automates deployment of O-RAN-compliant stacks-including OpenAirInterface, NVIDIA ARC RAN, Open5GS core, and O-RAN Software Community (OSC) RIC components-using CI/CD pipelines. Experimental results demonstrate that AutoRAN is capable of deploying an end-to-end Private 5G network in less than 60 seconds with 1.6 Gbps throughput, validating its ability to streamline configuration, accelerate testing, and reduce manual intervention with similar performance than non cloud-based implementations. With its novel LLM-assisted intent translation mechanism, and performance-optimized automation workflow for multi-vendor environments, AutoRAN has the potential of advancing the robustness of next-generation cellular supply chains through reproducible, intent-based provisioning across public and private deployments.