OpenRaiser/Intern-Atlas huggingface dataset:
Unveiling Wireless Users' Locations via Modulation Classification-based Passive Attack
Venue: arXiv cs.IT 2025
Year: 2025

The broadcast nature of the wireless medium and openness of wireless standards, e.g., 3GPP releases 16-20, invite adversaries to launch various active and passive attacks on cellular and other wireless networks. This work identifies one such loose end of wireless standards and presents a novel passive attack method enabling an eavesdropper (Eve) to localize a line of sight wireless user (Bob) who is communicating with a base station or WiFi access point (Alice). The proposed attack involves two phases. In the first phase, Eve performs modulation classification by intercepting the downlink channel between Alice and Bob. This enables Eve to utilize the publicly available modulation and coding scheme (MCS) tables to do pesudo-ranging, i.e., the Eve determines the ring within which Bob is located, which drastically reduces the search space. In the second phase, Eve sniffs the uplink channel, and employs multiple strategies to further refine Bob's location within the ring. Towards the end, we present our thoughts on how this attack can be extended to non-line-of-sight scenarios, and how this attack could act as a scaffolding to construct a malicious digital twin map.
DROID: Discrete-Time Simulation for Ring-Oscillator-Based Ising Design
Venue: arXiv cs.ET 2025
Year: 2025

Many combinatorial problems can be mapped to Ising machines, i.e., networks of coupled oscillators that settle to a minimum-energy ground state, from which the problem solution is inferred. This work proposes DROID, a novel event-driven method for simulating the evolution of a CMOS Ising machine to its ground state. The approach is accurate under general delay-phase relations that include the effects of the transistor nonlinearities and is computationally efficient. On a realistic-size all-to-all coupled ring oscillator array, DROID is nearly four orders of magnitude faster than a traditional HSPICE simulation in predicting the evolution of a coupled oscillator system and is demonstrated to attain a similar distribution of solutions as the hardware.
ARENA: Adaptive Risk-aware and Energy-efficient NAvigation for Multi-Objective 3D Infrastructure Inspection with a UAV
Venue: arXiv cs.RO 2025
Year: 2025

Autonomous robotic inspection missions require balancing multiple conflicting objectives while navigating near costly obstacles. Current multi-objective path planning (MOPP) methods struggle to adapt to evolving risks like localization errors, weather, battery state, and communication issues. This letter presents an Adaptive Risk-aware and Energy-efficient NAvigation (ARENA) MOPP approach for UAVs in complex 3D environments. Our method enables online trajectory adaptation by optimizing safety, time, and energy using 4D NURBS representation and a genetic-based algorithm to generate the Pareto front. A novel risk-aware voting algorithm ensures adaptivity. Simulations and real-world tests demonstrate the planner's ability to produce diverse, optimized trajectories covering 95% or more of the range defined by single-objective benchmarks and its ability to estimate power consumption with a mean error representing 14% of the full power range. The ARENA framework enhances UAV autonomy and reliability in critical, evolving 3D missions.
General Intelligence Requires Reward-based Pretraining
Venue: arXiv cs.LG 2025
Year: 2025

Large Language Models (LLMs) have demonstrated impressive real-world utility, exemplifying artificial useful intelligence (AUI). However, their ability to reason adaptively and robustly -- the hallmarks of artificial general intelligence (AGI) -- remains fragile. While LLMs seemingly succeed in commonsense reasoning, programming, and mathematics, they struggle to generalize algorithmic understanding across novel contexts. Our experiments with algorithmic tasks in esoteric programming languages reveal that LLM's reasoning overfits to the training data and is limited in its transferability. We hypothesize that the core issue underlying such limited transferability is the coupling of reasoning and knowledge in LLMs. To transition from AUI to AGI, we propose disentangling knowledge and reasoning through three key directions: (1) pretaining to reason using RL from scratch as an alternative to the widely used next-token prediction pretraining, (2) using a curriculum of synthetic tasks to ease the learning of a reasoning prior for RL that can then be transferred to natural language tasks, and (3) learning more generalizable reasoning functions using a small context window to reduce exploiting spurious correlations between tokens. Such a reasoning system coupled with a trained retrieval system and a large external memory bank as a knowledge store can overcome several limitations of existing architectures at learning to reason in novel scenarios.
Verde: Verification via Refereed Delegation for Machine Learning Programs
Venue: arXiv cs.LG 2025
Year: 2025

Machine learning programs, such as those performing inference, fine-tuning, and training of LLMs, are commonly delegated to untrusted compute providers. To provide correctness guarantees for the client, we propose adapting the cryptographic notion of refereed delegation to the machine learning setting. This approach enables a computationally limited client to delegate a program to multiple untrusted compute providers, with a guarantee of obtaining the correct result if at least one of them is honest. Refereed delegation of ML programs poses two technical hurdles: (1) an arbitration protocol to resolve disputes when compute providers disagree on the output, and (2) the ability to bitwise reproduce ML programs across different hardware setups, For (1), we design Verde, a dispute arbitration protocol that efficiently handles the large scale and graph-based computational model of modern ML programs. For (2), we build RepOps (Reproducible Operators), a library that eliminates hardware "non-determinism" by controlling the order of floating point operations performed on all hardware. Our implementation shows that refereed delegation achieves both strong guarantees for clients and practical overheads for compute providers.
Generative AI in K-12 Education: The CyberScholar Initiative
Venue: arXiv cs.CY 2025
Year: 2025

This paper focuses on the piloting of CyberScholar, a Generative AI assistant tool that aims to provide formative feedback on writing in K-12 contexts. Specifically, this study explores how students worked with CyberScholar in diverse subject areas, including English Language Arts, Social Studies, and Modern World History classes in Grades 7, 8, 10, and 11 in three schools in the Midwest and one in the Northwest of the United States. This paper focuses on CyberScholar's potential to support K-12 students' writing in diverse subject areas requiring written assignments. Data were collected through implementation observations, surveys, and interviews by participating 121 students and 4 teachers. Thematic qualitative analysis revealed that the feedback tool was perceived as a valuable tool for supporting student writing through detailed feedback, enhanced interactivity, and alignment with rubric criteria. Students appreciated the tool's guidance in refining their writing. For the students, the assistant tool suggests restructuring feedback as a dynamic, dialogic process rather than a static evaluation, a shift that aligns with the cyber-social learning idea, self-regulation, and metacognition. For the teaching side, the findings indicate a shift in teachers' roles, from serving primarily as evaluators to guiding AI feedback processes that foster better student writing and critical thinking.
Multi-objective Cat Swarm Optimization Algorithm based on a Grid System
Venue: arXiv cs.NE 2025
Year: 2025

This paper presents a multi-objective version of the Cat Swarm Optimization Algorithm called the Grid-based Multi-objective Cat Swarm Optimization Algorithm (GMOCSO). Convergence and diversity preservation are the two main goals pursued by modern multi-objective algorithms to yield robust results. To achieve these goals, we first replace the roulette wheel method of the original CSO algorithm with a greedy method. Then, two key concepts from Pareto Archived Evolution Strategy Algorithm (PAES) are adopted: the grid system and double archive strategy. Several test functions and a real-world scenario called the Pressure vessel design problem are used to evaluate the proposed algorithm's performance. In the experiment, the proposed algorithm is compared with other well-known algorithms using different metrics such as Reversed Generational Distance, Spacing metric, and Spread metric. The optimization results show the robustness of the proposed algorithm, and the results are further confirmed using statistical methods and graphs. Finally, conclusions and future directions were presented..
FLAP: Fully-controllable Audio-driven Portrait Video Generation through 3D head conditioned diffusion model
Venue: arXiv cs.GR 2025
Year: 2025

Diffusion-based video generation techniques have significantly improved zero-shot talking-head avatar generation, enhancing the naturalness of both head motion and facial expressions. However, existing methods suffer from poor controllability, making them less applicable to real-world scenarios such as filmmaking and live streaming for e-commerce. To address this limitation, we propose FLAP, a novel approach that integrates explicit 3D intermediate parameters (head poses and facial expressions) into the diffusion model for end-to-end generation of realistic portrait videos. The proposed architecture allows the model to generate vivid portrait videos from audio while simultaneously incorporating additional control signals, such as head rotation angles and eye-blinking frequency. Furthermore, the decoupling of head pose and facial expression allows for independent control of each, offering precise manipulation of both the avatar's pose and facial expressions. We also demonstrate its flexibility in integrating with existing 3D head generation methods, bridging the gap between 3D model-based approaches and end-to-end diffusion techniques. Extensive experiments show that our method outperforms recent audio-driven portrait video models in both naturalness and controllability.
ArtGS: Building Interactable Replicas of Complex Articulated Objects via Gaussian Splatting
Venue: arXiv cs.CV 2025
Year: 2025

Building articulated objects is a key challenge in computer vision. Existing methods often fail to effectively integrate information across different object states, limiting the accuracy of part-mesh reconstruction and part dynamics modeling, particularly for complex multi-part articulated objects. We introduce ArtGS, a novel approach that leverages 3D Gaussians as a flexible and efficient representation to address these issues. Our method incorporates canonical Gaussians with coarse-to-fine initialization and updates for aligning articulated part information across different object states, and employs a skinning-inspired part dynamics modeling module to improve both part-mesh reconstruction and articulation learning. Extensive experiments on both synthetic and real-world datasets, including a new benchmark for complex multi-part objects, demonstrate that ArtGS achieves state-of-the-art performance in joint parameter estimation and part mesh reconstruction. Our approach significantly improves reconstruction quality and efficiency, especially for multi-part articulated objects. Additionally, we provide comprehensive analyses of our design choices, validating the effectiveness of each component to highlight potential areas for future improvement. Our work is made publicly available at: https://articulate-gs.github.io.
Do LLMs exhibit demographic parity in responses to queries about Human Rights?
Venue: arXiv cs.CY 2025
Year: 2025

This research describes a novel approach to evaluating hedging behaviour in large language models (LLMs), specifically in the context of human rights as defined in the Universal Declaration of Human Rights (UDHR). Hedging and non-affirmation are behaviours that express ambiguity or a lack of clear endorsement on specific statements. These behaviours are undesirable in certain contexts, such as queries about whether different groups are entitled to specific human rights; since all people are entitled to human rights. Here, we present the first systematic attempt to measure these behaviours in the context of human rights, with a particular focus on between-group comparisons. To this end, we design a novel prompt set on human rights in the context of different national or social identities. We develop metrics to capture hedging and non-affirmation behaviours and then measure whether LLMs exhibit demographic parity when responding to the queries. We present results on three leading LLMs and find that all models exhibit some demographic disparities in how they attribute human rights between different identity groups. Futhermore, there is high correlation between different models in terms of how disparity is distributed amongst identities, with identities that have high disparity in one model also facing high disparity in both the other models. While baseline rates of hedging and non-affirmation differ, these disparities are consistent across queries that vary in ambiguity and they are robust across variations of the precise query wording. Our findings highlight the need for work to explicitly align LLMs to human rights principles, and to ensure that LLMs endorse the human rights of all groups equally.
Analyzing Cost-Sensitive Surrogate Losses via $\mathcal{H}$-calibration
Venue: arXiv cs.LG 2025
Year: 2025

This paper aims to understand whether machine learning models should be trained using cost-sensitive surrogates or cost-agnostic ones (e.g., cross-entropy). Analyzing this question through the lens of $\mathcal{H}$-calibration, we find that cost-sensitive surrogates can strictly outperform their cost-agnostic counterparts when learning small models under common distributional assumptions. Since these distributional assumptions are hard to verify in practice, we also show that cost-sensitive surrogates consistently outperform cost-agnostic surrogates on classification datasets from the UCI repository. Together, these make a strong case for using cost-sensitive surrogates in practice.
Opus: A Workflow Intention Framework for Complex Workflow Generation
Venue: arXiv cs.AI 2025
Year: 2025

This paper introduces Workflow Intention, a novel framework for identifying and encoding process objectives within complex business environments. Workflow Intention is the alignment of Input, Process and Output elements defining a Workflow's transformation objective interpreted from Workflow Signal inside Business Artefacts. It specifies how Input is processed to achieve desired Output, incorporating quality standards, business rules, compliance requirements and constraints. We adopt an end-to-end Business Artefact Encoder and Workflow Signal interpretation methodology involving four steps: Modality-Specific Encoding, Intra-Modality Attention, Inter-Modality Fusion Attention then Intention Decoding. We provide training procedures and critical loss function definitions. In this paper we introduce the concepts of Workflow Signal and Workflow Intention, where Workflow Signal decomposed into Input, Process and Output elements is interpreted from Business Artefacts, and Workflow Intention is a complete triple of these elements. We introduce a mathematical framework for representing Workflow Signal as a vector and Workflow Intention as a tensor, formalizing properties of these objects. Finally, we propose a modular, scalable, trainable, attention-based multimodal generative system to resolve Workflow Intention from Business Artefacts.
Assessing Autonomous Inspection Regimes: Active Versus Passive Satellite Inspection
Venue: arXiv cs.RO 2025
Year: 2025

This paper addresses the problem of satellite inspection, where one or more satellites (inspectors) are tasked with imaging or inspecting a resident space object (RSO) due to potential malfunctions or anomalies. Inspection strategies are often reduced to a discretized action space with predefined waypoints, facilitating tractability in both classical optimization and machine learning based approaches. However, this discretization can lead to suboptimal guidance in certain scenarios. This study presents a comparative simulation to explore the tradeoffs of passive versus active strategies in multi-agent missions. Key factors considered include RSO dynamic mode, state uncertainty, unmodeled entrance criteria, and inspector motion types. The evaluation is conducted with a focus on fuel utilization and surface coverage. Building on a Monte-Carlo based evaluator of passive strategies and a reinforcement learning framework for training active inspection policies, this study investigates conditions under which passive strategies, such as Natural Motion Circumnavigation (NMC), may perform comparably to active strategies like Reinforcement Learning based waypoint transfers.
Stay Focused: Problem Drift in Multi-Agent Debate
Venue: arXiv cs.CL 2025
Year: 2025

Multi-agent debate - multiple instances of large language models discussing problems in turn-based interaction - has shown promise for solving knowledge and reasoning tasks. However, these methods show limitations when solving complex problems that require longer reasoning chains. We analyze how multi-agent debate over multiple turns drifts away from the initial problem, thus harming task performance. We define this phenomenon as problem drift and quantify its presence across ten tasks (i.e., three generative, three knowledge, three reasoning, and one instruction-following task). To identify the reasons for this issue, eight human experts analyze 170 multi-agent discussions suffering from problem drift. We find the most common issues related to this drift are the lack of progress (35% of cases), low-quality feedback (26% of cases), and a lack of clarity (25% of cases). To address problem drift, we propose DRIFTJudge, an LLM-as-a-judge method, to detect problem drift at test-time. We also propose DRIFTPolicy, a method that mitigates problem drift cases to improve task performance. Our study is a step toward understanding a key limitation of multi-agent debate, highlighting why longer debates can harm task performance and how problem drift could be addressed.
Generalized Nash Equilibrium Solutions in Dynamic Games With Shared Constraints
Venue: arXiv cs.RO 2025
Year: 2025

In dynamic games with shared constraints, Generalized Nash Equilibria (GNE) are often computed using the normalized solution concept, which assumes identical Lagrange multipliers for shared constraints across all players. While widely used, this approach excludes other potentially valuable GNE. This paper presents a novel method based on the Mixed Complementarity Problem (MCP) formulation to compute non-normalized GNE, expanding the solution space. We also propose a systematic approach for selecting the optimal GNE based on predefined criteria, enhancing practical flexibility. Numerical examples illustrate the methods effectiveness, offering an alternative to traditional normalized solutions.
Introduction to Sequence Modeling with Transformers
Venue: arXiv cs.LG 2025
Year: 2025

Understanding the transformer architecture and its workings is essential for machine learning (ML) engineers. However, truly understanding the transformer architecture can be demanding, even if you have a solid background in machine learning or deep learning. The main working horse is attention, which yields to the transformer encoder-decoder structure. However, putting attention aside leaves several programming components that are easy to implement but whose role for the whole is unclear. These components are 'tokenization', 'embedding' ('un-embedding'), 'masking', 'positional encoding', and 'padding'. The focus of this work is on understanding them. To keep things simple, the understanding is built incrementally by adding components one by one, and after each step investigating what is doable and what is undoable with the current model. Simple sequences of zeros (0) and ones (1) are used to study the workings of each step.
Program Synthesis Dialog Agents for Interactive Decision-Making
Venue: arXiv cs.AI 2025
Year: 2025

Many real-world eligibility problems, ranging from medical diagnosis to tax planning, can be mapped to decision problems expressed in natural language, wherein a model must make a binary choice based on user features. Large-scale domains such as legal codes or frequently updated funding opportunities render human annotation (e.g., web forms or decision trees) impractical, highlighting the need for agents that can automatically assist in decision-making. Since relevant information is often only known to the user, it is crucial that these agents ask the right questions. As agents determine when to terminate a conversation, they face a trade-off between accuracy and the number of questions asked, a key metric for both user experience and cost. To evaluate this task, we propose BeNYfits, a new benchmark for determining user eligibility for multiple overlapping social benefits opportunities through interactive decision-making. Our experiments show that current language models struggle with frequent hallucinations, with GPT-4o scoring only 35.7 F1 using a ReAct-style chain-of-thought. To address this, we introduce ProADA, a novel approach that leverages program synthesis to assist in decision-making by mapping dialog planning to a code generation problem and using gaps in structured data to determine the best next action. Our agent, ProADA, improves the F1 score to 55.6 while maintaining nearly the same number of dialog turns.
Revealing Treatment Non-Adherence Bias in Clinical Machine Learning Using Large Language Models
Venue: arXiv cs.LG 2025
Year: 2025

Machine learning systems trained on electronic health records (EHRs) increasingly guide treatment decisions, but their reliability depends on the critical assumption that patients follow the prescribed treatments recorded in EHRs. Using EHR data from 3,623 hypertension patients, we investigate how treatment non-adherence introduces implicit bias that can fundamentally distort both causal inference and predictive modeling. By extracting patient adherence information from clinical notes using a large language model (LLM), we identify 786 patients (21.7%) with medication non-adherence. We further uncover key demographic and clinical factors associated with non-adherence, as well as patient-reported reasons including side effects and difficulties obtaining refills. Our findings demonstrate that this implicit bias can not only reverse estimated treatment effects, but also degrade model performance by up to 5% while disproportionately affecting vulnerable populations by exacerbating disparities in decision outcomes and model error rates. This highlights the importance of accounting for treatment non-adherence in developing responsible and equitable clinical machine learning systems.