OpenRaiser/Intern-Atlas huggingface dataset:
Leveraging Analytic Gradients in Provably Safe Reinforcement Learning
Venue: arXiv cs.LG 2025
Year: 2025

The deployment of autonomous robots in safety-critical applications requires safety guarantees. Provably safe reinforcement learning is an active field of research that aims to provide such guarantees using safeguards. These safeguards should be integrated during training to reduce the sim-to-real gap. While there are several approaches for safeguarding sampling-based reinforcement learning, analytic gradient-based reinforcement learning often achieves superior performance from fewer environment interactions. However, there is no safeguarding approach for this learning paradigm yet. Our work addresses this gap by developing the first effective safeguard for analytic gradient-based reinforcement learning. We analyse existing, differentiable safeguards, adapt them through modified mappings and gradient formulations, and integrate them into a state-of-the-art learning algorithm and a differentiable simulation. Using numerical experiments on three control tasks, we evaluate how different safeguards affect learning. The results demonstrate safeguarded training without compromising performance. Additional visuals are provided at \href{https://timwalter.github.io/safe-agb-rl.github.io}{timwalter.github.io/safe-agb-rl.github.io}.
A 0.51-Approximation of Maximum Matching in Sublinear $n^{1.5}$ Time
Venue: arXiv cs.DS 2025
Year: 2025

We study the problem of estimating the size of a maximum matching in sublinear time. The problem has been studied extensively in the literature and various algorithms and lower bounds are known for it. Our result is a $0.5109$-approximation algorithm with a running time of $\tilde{O}(n\sqrt{n})$. All previous algorithms either provide only a marginal improvement (e.g., $2^{-280}$) over the $0.5$-approximation that arises from estimating a \emph{maximal} matching, or have a running time that is nearly $n^2$. Our approach is also arguably much simpler than other algorithms beating $0.5$-approximation.
Combining Different Existing Methods for Describing Steganography Hiding Methods
Venue: arXiv cs.CR 2025
Year: 2025

The proliferation of digital carriers that can be exploited to conceal arbitrary data has greatly increased the number of techniques for implementing network steganography. As a result, the literature overlaps greatly in terms of concepts and terminology. Moreover, from a cybersecurity viewpoint, the same hiding mechanism may be perceived differently, making harder the development of a unique defensive strategy or the definition of practices to mitigate risks arising from the use of steganography. To mitigate these drawbacks, several researchers introduced approaches that aid in the unified description of steganography methods and network covert channels. Understanding and combining all descriptive methods for steganography techniques is a challenging but important task. For instance, researchers might want to explain how malware applies a certain steganography technique or categorize a novel hiding approach. Consequently, this paper aims to provide an introduction to the concept of descriptive methods for steganography. The paper is organized in the form of a tutorial, with the main goal of explaining how existing descriptions and taxonomy objects can be combined to achieve a detailed categorization and description of hiding methods. To show how this can effectively help the research community, the paper also contains various real-world examples.
STORM: Benchmarking Visual Rating of MLLMs with a Comprehensive Ordinal Regression Dataset
Venue: arXiv cs.CV 2025
Year: 2025

Visual rating is an essential capability of artificial intelligence (AI) for multi-dimensional quantification of visual content, primarily applied in ordinal regression (OR) tasks such as image quality assessment, facial age estimation, and medical image grading. However, current multi-modal large language models (MLLMs) under-perform in such visual rating ability while also suffering the lack of relevant datasets and benchmarks. In this work, we collect and present STORM, a data collection and benchmark for Stimulating Trustworthy Ordinal Regression Ability of MLLMs for universal visual rating. STORM encompasses 14 ordinal regression datasets across five common visual rating domains, comprising 655K image-level pairs and the corresponding carefully curated VQAs. Importantly, we also propose a coarse-to-fine processing pipeline that dynamically considers label candidates and provides interpretable thoughts, providing MLLMs with a general and trustworthy ordinal thinking paradigm. This benchmark aims to evaluate the all-in-one and zero-shot performance of MLLMs in scenarios requiring understanding of the essential common ordinal relationships of rating labels. Extensive experiments demonstrate the effectiveness of our framework and shed light on better fine-tuning strategies. The STORM dataset, benchmark, and pre-trained models are available on the following webpage to support further research in this area. Datasets and codes are released on the project page: https://storm-bench.github.io/.
Efficient Egocentric Action Recognition with Multimodal Data
Venue: arXiv cs.CV 2025
Year: 2025

The increasing availability of wearable XR devices opens new perspectives for Egocentric Action Recognition (EAR) systems, which can provide deeper human understanding and situation awareness. However, deploying real-time algorithms on these devices can be challenging due to the inherent trade-offs between portability, battery life, and computational resources. In this work, we systematically analyze the impact of sampling frequency across different input modalities - RGB video and 3D hand pose - on egocentric action recognition performance and CPU usage. By exploring a range of configurations, we provide a comprehensive characterization of the trade-offs between accuracy and computational efficiency. Our findings reveal that reducing the sampling rate of RGB frames, when complemented with higher-frequency 3D hand pose input, can preserve high accuracy while significantly lowering CPU demands. Notably, we observe up to a 3x reduction in CPU usage with minimal to no loss in recognition performance. This highlights the potential of multimodal input strategies as a viable approach to achieving efficient, real-time EAR on XR devices.
ADEPT: Adaptive Diffusion Environment for Policy Transfer Sim-to-Real
Venue: arXiv cs.RO 2025
Year: 2025

Model-free reinforcement learning has emerged as a powerful method for developing robust robot control policies capable of navigating through complex and unstructured environments. The effectiveness of these methods hinges on two essential elements: (1) the use of massively parallel physics simulations to expedite policy training, and (2) an environment generator tasked with crafting sufficiently challenging yet attainable environments to facilitate continuous policy improvement. Existing methods of outdoor environment generation often rely on heuristics constrained by a set of parameters, limiting the diversity and realism. In this work, we introduce ADEPT, a novel \textbf{A}daptive \textbf{D}iffusion \textbf{E}nvironment for \textbf{P}olicy \textbf{T}ransfer in the zero-shot sim-to-real fashion that leverages Denoising Diffusion Probabilistic Models to dynamically expand existing training environments by adding more diverse and complex environments adaptive to the current policy. ADEPT guides the diffusion model's generation process through initial noise optimization, blending noise-corrupted environments from existing training environments weighted by the policy's performance in each corresponding environment. By manipulating the noise corruption level, ADEPT seamlessly transitions between generating similar environments for policy fine-tuning and novel ones to expand training diversity. To benchmark ADEPT in off-road navigation, we propose a fast and effective multi-layer map representation for wild environment generation. Our experiments show that the policy trained by ADEPT outperforms both procedural generated and natural environments, along with popular navigation methods.
Systematic Hazard Analysis for Frontier AI using STPA
Venue: arXiv cs.CY 2025
Year: 2025

All of the frontier AI companies have published safety frameworks where they define capability thresholds and risk mitigations that determine how they will safely develop and deploy their models. Adoption of systematic approaches to risk modelling, based on established practices used in safety-critical industries, has been recommended, however frontier AI companies currently do not describe in detail any structured approach to identifying and analysing hazards. STPA (Systems-Theoretic Process Analysis) is a systematic methodology for identifying how complex systems can become unsafe, leading to hazards. It achieves this by mapping out controllers and controlled processes then analysing their interactions and feedback loops to understand how harmful outcomes could occur (Leveson & Thomas, 2018). We evaluate STPA's ability to broaden the scope, improve traceability and strengthen the robustness of safety assurance for frontier AI systems. Applying STPA to the threat model and scenario described in 'A Sketch of an AI Control Safety Case' (Korbak et al., 2025), we derive a list of Unsafe Control Actions. From these we select a subset and explore the Loss Scenarios that lead to them if left unmitigated. We find that STPA is able to identify causal factors that may be missed by unstructured hazard analysis methodologies thereby improving robustness. We suggest STPA could increase the safety assurance of frontier AI when used to complement or check coverage of existing AI governance techniques including capability thresholds, model evaluations and emergency procedures. The application of a systematic methodology supports scalability by increasing the proportion of the analysis that could be conducted by LLMs, reducing the burden on human domain experts.
WorldExplorer: Towards Generating Fully Navigable 3D Scenes
Venue: arXiv cs.CV 2025
Year: 2025

Generating 3D worlds from text is a highly anticipated goal in computer vision. Existing works are limited by the degree of exploration they allow inside of a scene, i.e., produce streched-out and noisy artifacts when moving beyond central or panoramic perspectives. To this end, we propose WorldExplorer, a novel method based on autoregressive video trajectory generation, which builds fully navigable 3D scenes with consistent visual quality across a wide range of viewpoints. We initialize our scenes by creating multi-view consistent images corresponding to a 360 degree panorama. Then, we expand it by leveraging video diffusion models in an iterative scene generation pipeline. Concretely, we generate multiple videos along short, pre-defined trajectories, that explore the scene in depth, including motion around objects. Our novel scene memory conditions each video on the most relevant prior views, while a collision-detection mechanism prevents degenerate results, like moving into objects. Finally, we fuse all generated views into a unified 3D representation via 3D Gaussian Splatting optimization. Compared to prior approaches, WorldExplorer produces high-quality scenes that remain stable under large camera motion, enabling for the first time realistic and unrestricted exploration. We believe this marks a significant step toward generating immersive and truly explorable virtual 3D environments.
The Ultimate Test of Superintelligent AI Agents: Can an AI Balance Care and Control in Asymmetric Relationships?
Venue: arXiv cs.AI 2025
Year: 2025

This paper introduces the Shepherd Test, a new conceptual test for assessing the moral and relational dimensions of superintelligent artificial agents. The test is inspired by human interactions with animals, where ethical considerations about care, manipulation, and consumption arise in contexts of asymmetric power and self-preservation. We argue that AI crosses an important, and potentially dangerous, threshold of intelligence when it exhibits the ability to manipulate, nurture, and instrumentally use less intelligent agents, while also managing its own survival and expansion goals. This includes the ability to weigh moral trade-offs between self-interest and the well-being of subordinate agents. The Shepherd Test thus challenges traditional AI evaluation paradigms by emphasizing moral agency, hierarchical behavior, and complex decision-making under existential stakes. We argue that this shift is critical for advancing AI governance, particularly as AI systems become increasingly integrated into multi-agent environments. We conclude by identifying key research directions, including the development of simulation environments for testing moral behavior in AI, and the formalization of ethical manipulation within multi-agent systems.
Code-Switching and Syntax: A Large-Scale Experiment
Venue: arXiv cs.CL 2025
Year: 2025

The theoretical code-switching (CS) literature provides numerous pointwise investigations that aim to explain patterns in CS, i.e. why bilinguals switch language in certain positions in a sentence more often than in others. A resulting consensus is that CS can be explained by the syntax of the contributing languages. There is however no large-scale, multi-language, cross-phenomena experiment that tests this claim. When designing such an experiment, we need to make sure that the system that is predicting where bilinguals tend to switch has access only to syntactic information. We provide such an experiment here. Results show that syntax alone is sufficient for an automatic system to distinguish between sentences in minimal pairs of CS, to the same degree as bilingual humans. Furthermore, the learnt syntactic patterns generalise well to unseen language pairs.
MoDA: Modulation Adapter for Fine-Grained Visual Grounding in Instructional MLLMs
Venue: arXiv cs.CV 2025
Year: 2025

Recently, Multimodal Large Language Models (MLLMs) have demonstrated impressive performance on instruction-following tasks by integrating pretrained visual encoders with large language models (LLMs). However, existing approaches often struggle to ground fine-grained visual concepts in complex scenes. In this paper, we propose MoDA (Modulation Adapter), a lightweight yet effective module designed to refine pre-aligned visual features through instruction-guided modulation. Our approach follows the standard LLaVA training protocol, consisting of a two-stage process: (1) aligning image features to the LLMs input space via a frozen vision encoder and adapter layers, and (2) refining those features using the MoDA adapter during the instructional tuning stage. MoDA employs a Transformer-based cross-attention mechanism to generate a modulation mask over the aligned visual tokens, thereby emphasizing semantically relevant embedding dimensions based on the language instruction. The modulated features are then passed to the LLM for autoregressive language generation. Our experimental evaluation shows that MoDA improves visual grounding and generates more contextually appropriate responses, demonstrating its effectiveness as a general-purpose enhancement for image-based MLLMs.
NepTrain and NepTrainKit: Automated Active Learning and Visualization Toolkit for Neuroevolution Potentials
Venue: arXiv cs.LG 2025
Year: 2025

As a machine-learned potential, the neuroevolution potential (NEP) method features exceptional computational efficiency and has been successfully applied in materials science. Constructing high-quality training datasets is crucial for developing accurate NEP models. However, the preparation and screening of NEP training datasets remain a bottleneck for broader applications due to their time-consuming, labor-intensive, and resource-intensive nature. In this work, we have developed NepTrain and NepTrainKit, which are dedicated to initializing and managing training datasets to generate high-quality training sets while automating NEP model training. NepTrain is an open-source Python package that features a bond length filtering method to effectively identify and remove non-physical structures from molecular dynamics trajectories, thereby ensuring high-quality training datasets. NepTrainKit is a graphical user interface (GUI) software designed specifically for NEP training datasets, providing functionalities for data editing, visualization, and interactive exploration. It integrates key features such as outlier identification, farthest-point sampling, non-physical structure detection, and configuration type selection. The combination of these tools enables users to process datasets more efficiently and conveniently. Using $\rm CsPbI_3$ as a case study, we demonstrate the complete workflow for training NEP models with NepTrain and further validate the models through materials property predictions. We believe this toolkit will greatly benefit researchers working with machine learning interatomic potentials.
Frugal Machine Learning for Energy-efficient, and Resource-aware Artificial Intelligence
Venue: arXiv cs.LG 2025
Year: 2025

Frugal Machine Learning (FML) refers to the practice of designing Machine Learning (ML) models that are efficient, cost-effective, and mindful of resource constraints. This field aims to achieve acceptable performance while minimizing the use of computational resources, time, energy, and data for both training and inference. FML strategies can be broadly categorized into input frugality, learning process frugality, and model frugality, each focusing on reducing resource consumption at different stages of the ML pipeline. This chapter explores recent advancements, applications, and open challenges in FML, emphasizing its importance for smart environments that incorporate edge computing and IoT devices, which often face strict limitations in bandwidth, energy, or latency. Technological enablers such as model compression, energy-efficient hardware, and data-efficient learning techniques are discussed, along with adaptive methods including parameter regularization, knowledge distillation, and dynamic architecture design that enable incremental model updates without full retraining. Furthermore, it provides a comprehensive taxonomy of frugal methods, discusses case studies across diverse domains, and identifies future research directions to drive innovation in this evolving field.
SMOTE-DP: Improving Privacy-Utility Tradeoff with Synthetic Data
Venue: arXiv cs.LG 2025
Year: 2025

Privacy-preserving data publication, including synthetic data sharing, often experiences trade-offs between privacy and utility. Synthetic data is generally more effective than data anonymization in balancing this trade-off, however, not without its own challenges. Synthetic data produced by generative models trained on source data may inadvertently reveal information about outliers. Techniques specifically designed for preserving privacy, such as introducing noise to satisfy differential privacy, often incur unpredictable and significant losses in utility. In this work we show that, with the right mechanism of synthetic data generation, we can achieve strong privacy protection without significant utility loss. Synthetic data generators producing contracting data patterns, such as Synthetic Minority Over-sampling Technique (SMOTE), can enhance a differentially private data generator, leveraging the strengths of both. We prove in theory and through empirical demonstration that this SMOTE-DP technique can produce synthetic data that not only ensures robust privacy protection but maintains utility in downstream learning tasks.
RewardBench 2: Advancing Reward Model Evaluation
Venue: arXiv cs.CL 2025
Year: 2025

Reward models are used throughout the post-training of language models to capture nuanced signals from preference data and provide a training target for optimization across instruction following, reasoning, safety, and more domains. The community has begun establishing best practices for evaluating reward models, from the development of benchmarks that test capabilities in specific skill areas to others that test agreement with human preferences. At the same time, progress in evaluation has not been mirrored by the effectiveness of reward models in downstream tasks -- simpler direct alignment algorithms are reported to work better in many cases. This paper introduces RewardBench 2, a new multi-skill reward modeling benchmark designed to bring new, challenging data for accuracy-based reward model evaluation -- models score about 20 points on average lower on RewardBench 2 compared to the first RewardBench -- while being highly correlated with downstream performance. Compared to most other benchmarks, RewardBench 2 sources new human prompts instead of existing prompts from downstream evaluations, facilitating more rigorous evaluation practices. In this paper, we describe our benchmark construction process and report how existing models perform on it, while quantifying how performance on the benchmark correlates with downstream use of the models in both inference-time scaling algorithms, like best-of-N sampling, and RLHF training algorithms like proximal policy optimization.
Novel Benchmark for NER in the Wastewater and Stormwater Domain
Venue: arXiv cs.CL 2025
Year: 2025

Effective wastewater and stormwater management is essential for urban sustainability and environmental protection. Extracting structured knowledge from reports and regulations is challenging due to domainspecific terminology and multilingual contexts. This work focuses on domain-specific Named Entity Recognition (NER) as a first step towards effective relation and information extraction to support decision making. A multilingual benchmark is crucial for evaluating these methods. This study develops a French-Italian domain-specific text corpus for wastewater management. It evaluates state-of-the-art NER methods, including LLM-based approaches, to provide a reliable baseline for future strategies and explores automated annotation projection in view of an extension of the corpus to new languages.
Feel the Force: Contact-Driven Learning from Humans
Venue: arXiv cs.RO 2025
Year: 2025

Controlling fine-grained forces during manipulation remains a core challenge in robotics. While robot policies learned from robot-collected data or simulation show promise, they struggle to generalize across the diverse range of real-world interactions. Learning directly from humans offers a scalable solution, enabling demonstrators to perform skills in their natural embodiment and in everyday environments. However, visual demonstrations alone lack the information needed to infer precise contact forces. We present FeelTheForce (FTF): a robot learning system that models human tactile behavior to learn force-sensitive manipulation. Using a tactile glove to measure contact forces and a vision-based model to estimate hand pose, we train a closed-loop policy that continuously predicts the forces needed for manipulation. This policy is re-targeted to a Franka Panda robot with tactile gripper sensors using shared visual and action representations. At execution, a PD controller modulates gripper closure to track predicted forces-enabling precise, force-aware control. Our approach grounds robust low-level force control in scalable human supervision, achieving a 77% success rate across 5 force-sensitive manipulation tasks. Code and videos are available at https://feel-the-force-ftf.github.io.