OpenRaiser/Intern-Atlas huggingface dataset:
Terradynamics and design of tip-extending robotic anchors
Venue: arXiv cs.RO 2025
Year: 2025

Most engineered pilings require substantially more force to be driven into the ground than they can resist during extraction. This requires relatively heavy equipment for insertion, which is problematic for anchoring in hard-to-access sites, including in extraterrestrial locations. In contrast, for tree roots, the external reaction force required to extract is much greater than required to insert--little more than the weight of the seed initiates insertion. This is partly due to the mechanism by which roots insert into the ground: tip extension. Proof-of-concept robotic prototypes have shown the benefits of using this mechanism, but a rigorous understanding of the underlying granular mechanics and how they inform the design of a robotic anchor is lacking. Here, we study the terradynamics of tip-extending anchors compared to traditional piling-like intruders, develop a set of design insights, and apply these to create a deployable robotic anchor. Specifically, we identify that to increase an anchor's ratio of extraction force to insertion force, it should: (i) extend beyond a critical depth; (ii) include hair-like protrusions; (iii) extend near-vertically, and (iv) incorporate multiple smaller anchors rather than a single large anchor. Synthesizing these insights, we developed a lightweight, soft robotic, root-inspired anchoring device that inserts into the ground with a reaction force less than its weight. We demonstrate that the 300 g device can deploy a series of temperature sensors 45 cm deep into loose Martian regolith simulant while anchoring with an average of 120 N, resulting in an anchoring-to-weight ratio of 40:1.
Multi-team Formation System for Collaborative Crowdsourcing
Venue: arXiv cs.SI 2025
Year: 2025

For complex crowdsourcing tasks that require collaboration between multiple individuals, teams should be formed by considering both worker compatibility and expertise. Furthermore, the nature of crowdsourcing dictates the budget for tasks and workers' remuneration, and excessively large team sizes may reduce collaborative performance. To address these challenges, we propose a heuristic optimization algorithm that leverages social network information to simultaneously form teams with optimized worker compatibility for multiple tasks. In our approach, historical collaboration is represented as a social network, where the edge weights correspond to explicit ratings of worker compatibility. In a simulation experiment using synthetic data, we applied Gaussian process regression to examine the relationship between eight experimental parameters and evaluation values, thereby analyzing the output of the proposed algorithm. To generate the necessary data for regression, we ran the proposed algorithm with experimental parameters that were sequentially estimated using Bayesian optimization. Our experiments revealed that the evaluation values were extremely low when the team size limit, the degree mean of the social network, and the task budget were set to low values. The results also indicate that the proposed algorithm outperformed the hill-climbing method under almost all experimental conditions. In addition, the highest evaluation values were achieved when the simulated annealing temperature decrease rate was approximately 0.9, while smoothing the objective function proved ineffective.
On the Information-Theoretic Fragility of Robust Watermarking under Diffusion Editing
Venue: arXiv cs.CR 2025
Year: 2025

Robust invisible watermarking embeds hidden information in images such that the watermark can survive various manipulations. However, the emergence of powerful diffusion-based image generation and editing techniques poses a new threat to these watermarking schemes. In this paper, we investigate the intersection of diffusion-based image editing and robust image watermarking. We analyze how diffusion-driven image edits can significantly degrade or even fully remove embedded watermarks from state-of-the-art robust watermarking systems. Both theoretical formulations and empirical experiments are provided. We prove that as a image undergoes iterative diffusion transformations, the mutual information between the watermarked image and the embedded payload approaches zero, causing watermark decoding to fail. We further propose a guided diffusion attack algorithm that explicitly targets and erases watermark signals during generation. We evaluate our approach on recent deep learning-based watermarking schemes and demonstrate near-zero watermark recovery rates after attack, while maintaining high visual fidelity of the regenerated images. Finally, we discuss ethical implications of such watermark removal capablities and provide design guidelines for future watermarking strategies to be more resilient in the era of generative AI.
Flow matching-based generative models for MIMO channel estimation
Venue: arXiv cs.LG 2025
Year: 2025

Diffusion model (DM)-based channel estimation, which generates channel samples via a posteriori sampling stepwise with denoising process, has shown potential in high-precision channel state information (CSI) acquisition. However, slow sampling speed is an essential challenge for recent developed DM-based schemes. To alleviate this problem, we propose a novel flow matching (FM)-based generative model for multiple-input multiple-output (MIMO) channel estimation. We first formulate the channel estimation problem within FM framework, where the conditional probability path is constructed from the noisy channel distribution to the true channel distribution. In this case, the path evolves along the straight-line trajectory at a constant speed. Then, guided by this, we derive the velocity field that depends solely on the noise statistics to guide generative models training. Furthermore, during the sampling phase, we utilize the trained velocity field as prior information for channel estimation, which allows for quick and reliable noise channel enhancement via ordinary differential equation (ODE) Euler solver. Finally, numerical results demonstrate that the proposed FM-based channel estimation scheme can significantly reduce the sampling overhead compared to other popular DM-based schemes, such as the score matching (SM)-based scheme. Meanwhile, it achieves superior channel estimation accuracy under different channel conditions.
Exposing Weak Links in Multi-Agent Systems under Adversarial Prompting
Venue: arXiv cs.MA 2025
Year: 2025

LLM-based agents are increasingly deployed in multi-agent systems (MAS). As these systems move toward real-world applications, their security becomes paramount. Existing research largely evaluates single-agent security, leaving a critical gap in understanding the vulnerabilities introduced by multi-agent design. However, existing systems fall short due to lack of unified frameworks and metrics focusing on unique rejection modes in MAS. We present SafeAgents, a unified and extensible framework for fine-grained security assessment of MAS. SafeAgents systematically exposes how design choices such as plan construction strategies, inter-agent context sharing, and fallback behaviors affect susceptibility to adversarial prompting. We introduce Dharma, a diagnostic measure that helps identify weak links within multi-agent pipelines. Using SafeAgents, we conduct a comprehensive study across five widely adopted multi-agent architectures (centralized, decentralized, and hybrid variants) on four datasets spanning web tasks, tool use, and code generation. Our findings reveal that common design patterns carry significant vulnerabilities. For example, centralized systems that delegate only atomic instructions to sub-agents obscure harmful objectives, reducing robustness. Our results highlight the need for security-aware design in MAS. Link to code is https://github.com/microsoft/SafeAgents
Requirements for Aligned, Dynamic Resolution of Conflicts in Operational Constraints
Venue: arXiv cs.AI 2025
Year: 2025

Deployed, autonomous AI systems must often evaluate multiple plausible courses of action (extended sequences of behavior) in novel or under-specified contexts. Despite extensive training, these systems will inevitably encounter scenarios where no available course of action fully satisfies all operational constraints (e.g., operating procedures, rules, laws, norms, and goals). To achieve goals in accordance with human expectations and values, agents must go beyond their trained policies and instead construct, evaluate, and justify candidate courses of action. These processes require contextual "knowledge" that may lie outside prior (policy) training. This paper characterizes requirements for agent decision making in these contexts. It also identifies the types of knowledge agents require to make decisions robust to agent goals and aligned with human expectations. Drawing on both analysis and empirical case studies, we examine how agents need to integrate normative, pragmatic, and situational understanding to select and then to pursue more aligned courses of action in complex, real-world environments.
Beyond Accuracy: Behavioral Dynamics of Agentic Multi-Hunk Repair
Venue: arXiv cs.SE 2025
Year: 2025

Automated program repair has traditionally focused on single-hunk defects, overlooking multi-hunk bugs that are prevalent in real-world systems. Repairing these bugs requires coordinated edits across multiple, disjoint code regions, posing substantially greater challenges. We present the first systematic study of LLM-driven coding agents (Claude Code, Codex, Gemini-cli, and Qwen Code) on this task. We evaluate these agents on 372 multi-hunk bugs from the Hunk4J dataset, analyzing 1,488 repair trajectories using fine-grained metrics that capture localization, repair accuracy, regression behavior, and operational dynamics. Results reveal substantial variation: repair accuracy ranges from 25.8% (Qwen Code) to 93.3% (Claude Code) and consistently declines with increasing bug dispersion and complexity. High-performing agents demonstrate superior semantic consistency, achieving positive regression reduction, whereas lower-performing agents often introduce new test failures. Notably, agents do not fail fast; failed repairs consume substantially more resources (39%-343% more tokens) and require longer execution time (43%-427%). Additionally, we developed Maple to provide agents with repository-level context. Empirical results show that Maple improves the repair accuracy of Gemini-cli by 30% through enhanced localization. By analyzing fine-grained metrics and trajectory-level analysis, this study moves beyond accuracy to explain how coding agents localize, reason, and act during multi-hunk repair.
SUPER Decoder Block for Reconstruction-Aware U-Net Variants
Venue: arXiv cs.CV 2025
Year: 2025

Skip-connected encoder-decoder architectures (U-Net variants) are widely adopted for inverse problems but still suffer from information loss, limiting recovery of fine high-frequency details. We present Selectively Suppressed Perfect Reconstruction (SUPER), which exploits the perfect reconstruction (PR) property of wavelets to prevent information degradation while selectively suppressing (SS) redundant features. Free from rigid framelet constraints, SUPER serves as a plug-and-play decoder block for diverse U-Net variants, eliminating their intrinsic reconstruction bottlenecks and enhancing representational richness. Experiments across diverse crack benchmarks, including state-of-the-art (SOTA) models, demonstrate the structural potential of the proposed SUPER Decoder Block. Maintaining comparable computational cost, SUPER enriches representational diversity through increased parameterization. In small-scale in-domain experiments on the CrackVision12K dataset, SUPER markedly improves thin-crack segmentation performance, particularly for cracks narrower than 4 px, underscoring its advantage in high-frequency dominant settings. In smartphone image denoising on SIDD, where low-frequency components prevail, SUPER still achieves a moderate gain in PSNR, confirming its robustness across low- and high-frequency regimes. These results validate its plug-and-play generality across U-Net variants, achieving high-frequency fidelity and global coherence within a unified, reconstruction-aware framework.
Accelerating Controllable Generation via Hybrid-grained Cache
Venue: arXiv cs.CV 2025
Year: 2025

Controllable generative models have been widely used to improve the realism of synthetic visual content. However, such models must handle control conditions and content generation computational requirements, resulting in generally low generation efficiency. To address this issue, we propose a Hybrid-Grained Cache (HGC) approach that reduces computational overhead by adopting cache strategies with different granularities at different computational stages. Specifically, (1) we use a coarse-grained cache (block-level) based on feature reuse to dynamically bypass redundant computations in encoder-decoder blocks between each step of model reasoning. (2) We design a fine-grained cache (prompt-level) that acts within a module, where the fine-grained cache reuses cross-attention maps within consecutive reasoning steps and extends them to the corresponding module computations of adjacent steps. These caches of different granularities can be seamlessly integrated into each computational link of the controllable generation process. We verify the effectiveness of HGC on four benchmark datasets, especially its advantages in balancing generation efficiency and visual quality. For example, on the COCO-Stuff segmentation benchmark, our HGC significantly reduces the computational cost (MACs) by 63% (from 18.22T to 6.70T), while keeping the loss of semantic fidelity (quantized performance degradation) within 1.5%.
Data Race Detection by Digest-Driven Abstract Interpretation (Extended Version)
Venue: arXiv cs.PL 2025
Year: 2025

Sound static analysis can prove the absence of data races by establishing that no two conflicting memory accesses can occur at the same time. We repurpose the concept of digests -- summaries of computational histories originally introduced to bring tunable concurrency-sensitivity to thread-modular value analysis by abstract interpretation, extending this idea to race detection: We use digests to capture the conditions under which conflicting accesses may not happen in parallel. To formalize this, we give a definition of data races in the thread-modular local trace semantics and show how exclusion criteria for potential conflicts can be expressed as digests. We report on our implementation of digest-driven data race detection in the static analyzer Goblint, and evaluate it on the SV-COMP benchmark suite. Combining the lockset digest with digests reasoning on thread ids and thread joins increases the number of correctly solved tasks by more than a factor of five compared to lockset reasoning alone.
Echoless Label-Based Pre-computation for Memory-Efficient Heterogeneous Graph Learning
Venue: arXiv cs.LG 2025
Year: 2025

Heterogeneous Graph Neural Networks (HGNNs) are widely used for deep learning on heterogeneous graphs. Typical end-to-end HGNNs require repetitive message passing during training, limiting efficiency for large-scale real-world graphs. Pre-computation-based HGNNs address this by performing message passing only once during preprocessing, collecting neighbor information into regular-shaped tensors, which enables efficient mini-batch training. Label-based pre-computation methods collect neighbors' label information but suffer from training label leakage, where a node's own label information propagates back to itself during multi-hop message passing - the echo effect. Existing mitigation strategies are memory-inefficient on large graphs or suffer from compatibility issues with advanced message passing methods. We propose Echoless Label-based Pre-computation (Echoless-LP), which eliminates training label leakage with Partition-Focused Echoless Propagation (PFEP). PFEP partitions target nodes and performs echoless propagation, where nodes in each partition collect label information only from neighbors in other partitions, avoiding echo while remaining memory-efficient and compatible with any message passing method. We also introduce an Asymmetric Partitioning Scheme (APS) and a PostAdjust mechanism to address information loss from partitioning and distributional shifts across partitions. Experiments on public datasets demonstrate that Echoless-LP achieves superior performance and maintains memory efficiency compared to baselines.
Sheaf Cohomology of Linear Predictive Coding Networks
Venue: arXiv cs.LG 2025
Year: 2025

Predictive coding (PC) replaces global backpropagation with local optimization over weights and activations. We show that linear PC networks admit a natural formulation as cellular sheaves: the sheaf coboundary maps activations to edge-wise prediction errors, and PC inference is diffusion under the sheaf Laplacian. Sheaf cohomology then characterizes irreducible error patterns that inference cannot remove. We analyze recurrent topologies where feedback loops create internal contradictions, introducing prediction errors unrelated to supervision. Using a Hodge decomposition, we determine when these contradictions cause learning to stall. The sheaf formalism provides both diagnostic tools for identifying problematic network configurations and design principles for effective weight initialization for recurrent PC networks.
Detection of Bark Beetle Attacks using Hyperspectral PRISMA Data and Few-Shot Learning
Venue: arXiv cs.CV 2025
Year: 2025

Bark beetle infestations represent a serious challenge for maintaining the health of coniferous forests. This paper proposes a few-shot learning approach leveraging contrastive learning to detect bark beetle infestations using satellite PRISMA hyperspectral data. The methodology is based on a contrastive learning framework to pre-train a one-dimensional CNN encoder, enabling the extraction of robust feature representations from hyperspectral data. These extracted features are subsequently utilized as input to support vector regression estimators, one for each class, trained on few labeled samples to estimate the proportions of healthy, attacked by bark beetle, and dead trees for each pixel. Experiments on the area of study in the Dolomites show that our method outperforms the use of original PRISMA spectral bands and of Sentinel-2 data. The results indicate that PRISMA hyperspectral data combined with few-shot learning offers significant advantages for forest health monitoring.
SMART: A Surrogate Model for Predicting Application Runtime in Dragonfly Systems
Venue: arXiv cs.LG 2025
Year: 2025

The Dragonfly network, with its high-radix and low-diameter structure, is a leading interconnect in high-performance computing. A major challenge is workload interference on shared network links. Parallel discrete event simulation (PDES) is commonly used to analyze workload interference. However, high-fidelity PDES is computationally expensive, making it impractical for large-scale or real-time scenarios. Hybrid simulation that incorporates data-driven surrogate models offers a promising alternative, especially for forecasting application runtime, a task complicated by the dynamic behavior of network traffic. We present \ourmodel, a surrogate model that combines graph neural networks (GNNs) and large language models (LLMs) to capture both spatial and temporal patterns from port level router data. \ourmodel outperforms existing statistical and machine learning baselines, enabling accurate runtime prediction and supporting efficient hybrid simulation of Dragonfly networks.
Toward Generalized Detection of Synthetic Media: Limitations, Challenges, and the Path to Multimodal Solutions
Venue: arXiv cs.CV 2025
Year: 2025

Artificial intelligence (AI) in media has advanced rapidly over the last decade. The introduction of Generative Adversarial Networks (GANs) improved the quality of photorealistic image generation. Diffusion models later brought a new era of generative media. These advances made it difficult to separate real and synthetic content. The rise of deepfakes demonstrated how these tools could be misused to spread misinformation, political conspiracies, privacy violations, and fraud. For this reason, many detection models have been developed. They often use deep learning methods such as Convolutional Neural Networks (CNNs) and Vision Transformers (ViTs). These models search for visual, spatial, or temporal anomalies. However, such approaches often fail to generalize across unseen data and struggle with content from different models. In addition, existing approaches are ineffective in multimodal data and highly modified content. This study reviews twenty-four recent works on AI-generated media detection. Each study was examined individually to identify its contributions and weaknesses, respectively. The review then summarizes the common limitations and key challenges faced by current approaches. Based on this analysis, a research direction is suggested with a focus on multimodal deep learning models. Such models have the potential to provide more robust and generalized detection. It offers future researchers a clear starting point for building stronger defenses against harmful synthetic media.
AV-Dialog: Spoken Dialogue Models with Audio-Visual Input
Venue: arXiv cs.CL 2025
Year: 2025

Dialogue models falter in noisy, multi-speaker environments, often producing irrelevant responses and awkward turn-taking. We present AV-Dialog, the first multimodal dialog framework that uses both audio and visual cues to track the target speaker, predict turn-taking, and generate coherent responses. By combining acoustic tokenization with multi-task, multi-stage training on monadic, synthetic, and real audio-visual dialogue datasets, AV-Dialog achieves robust streaming transcription, semantically grounded turn-boundary detection and accurate responses, resulting in a natural conversational flow. Experiments show that AV-Dialog outperforms audio-only models under interference, reducing transcription errors, improving turn-taking prediction, and enhancing human-rated dialogue quality. These results highlight the power of seeing as well as hearing for speaker-aware interaction, paving the way for {spoken} dialogue agents that perform {robustly} in real-world, noisy environments.
Adaptive Symmetrization of the KL Divergence
Venue: arXiv cs.LG 2025
Year: 2025

Many tasks in machine learning can be described as or reduced to learning a probability distribution given a finite set of samples. A common approach is to minimize a statistical divergence between the (empirical) data distribution and a parameterized distribution, e.g., a normalizing flow (NF) or an energy-based model (EBM). In this context, the forward KL divergence is a ubiquitous due to its tractability, though its asymmetry may prevent capturing some properties of the target distribution. Symmetric alternatives involve brittle min-max formulations and adversarial training (e.g., generative adversarial networks) or evaluating the reverse KL divergence, as is the case for the symmetric Jeffreys divergence, which is challenging to compute from samples. This work sets out to develop a new approach to minimize the Jeffreys divergence. To do so, it uses a proxy model whose goal is not only to fit the data, but also to assist in optimizing the Jeffreys divergence of the main model. This joint training task is formulated as a constrained optimization problem to obtain a practical algorithm that adapts the models priorities throughout training. We illustrate how this framework can be used to combine the advantages of NFs and EBMs in tasks such as density estimation, image generation, and simulation-based inference.