OpenRaiser/Intern-Atlas huggingface dataset:
ZodiAq: An Isotropic Flagella-Inspired Soft Underwater Drone for Safe Marine Exploration
Venue: arXiv cs.RO 2025
Year: 2025

The inherent challenges of robotic underwater exploration, such as hydrodynamic effects, the complexity of dynamic coupling, and the necessity for sensitive interaction with marine life, call for the adoption of soft robotic approaches in marine exploration. To address this, we present a novel prototype, ZodiAq, a soft underwater drone inspired by prokaryotic bacterial flagella. ZodiAq's unique dodecahedral structure, equipped with 12 flagella-like arms, ensures design redundancy and compliance, ideal for navigating complex underwater terrains. The prototype features a central unit based on a Raspberry Pi, connected to a sensory system for inertial, depth, and vision detection, and an acoustic modem for communication. Combined with the implemented control law, it renders ZodiAq an intelligent system. This paper details the design and fabrication process of ZodiAq, highlighting design choices and prototype capabilities. Based on the strain-based modeling of Cosserat rods, we have developed a digital twin of the prototype within a simulation toolbox to ease analysis and control. To optimize its operation in dynamic aquatic conditions, a simplified model-based controller has been developed and implemented, facilitating intelligent and adaptive movement in the hydrodynamic environment. Extensive experimental demonstrations highlight the drone's potential, showcasing its design redundancy, embodied intelligence, crawling gait, and practical applications in diverse underwater settings. This research contributes significantly to the field of underwater soft robotics, offering a promising new avenue for safe, efficient, and environmentally conscious underwater exploration.
HoarePrompt: Structural Reasoning About Program Correctness in Natural Language
Venue: arXiv cs.SE 2025
Year: 2025

While software requirements are often expressed in natural language, verifying the correctness of a program against such requirements is a hard and underexplored problem. Large language models (LLMs) are promising candidates for addressing this challenge, however our experience shows that they are ineffective in this task, often failing to detect even straightforward bugs. To address this gap, we introduce HoarePrompt, a novel approach that adapts fundamental ideas from program verification to natural language artifacts. Inspired from the strongest postcondition calculus, HoarePrompt employs a systematic, step-by-step process in which an LLM generates natural language descriptions of reachable program states at various code points. To manage loops, we propose few-shot-driven k-induction, an adaptation of the k-induction method widely used in model checking. Once program states are described, HoarePrompt leverages the LLM to assess whether the program, annotated with these state descriptions, conforms to the natural language requirements. For evaluating the quality of classifiers of program correctness with respect to natural language requirements, we constructed CoCoClaNeL, a challenging dataset of solutions to programming competition problems. Our experiments show that HoarePrompt improves the MCC by 61% compared to directly using Zero-shot-CoT prompts for correctness classification. Furthermore, HoarePrompt outperforms a classifier that assesses correctness via LLM-based test generation by an MCC increase of 106%. The inductive reasoning mechanism contributes a 26% boost to MCC, underscoring its effectiveness in managing loops.
Energy-aware Joint Orchestration of 5G and Robots: Experimental Testbed and Field Validation
Venue: arXiv cs.RO 2025
Year: 2025

5G mobile networks introduce a new dimension for connecting and operating mobile robots in outdoor environments, leveraging cloud-native and offloading features of 5G networks to enable fully flexible and collaborative cloud robot operations. However, the limited battery life of robots remains a significant obstacle to their effective adoption in real-world exploration scenarios. This paper explores, via field experiments, the potential energy-saving gains of OROS, a joint orchestration of 5G and Robot Operating System (ROS) that coordinates multiple 5G-connected robots both in terms of navigation and sensing, as well as optimizes their cloud-native service resource utilization while minimizing total resource and energy consumption on the robots based on real-time feedback. We designed, implemented and evaluated our proposed OROS in an experimental testbed composed of commercial off-the-shelf robots and a local 5G infrastructure deployed on a campus. The experimental results demonstrated that OROS significantly outperforms state-of-the-art approaches in terms of energy savings by offloading demanding computational tasks to the 5G edge infrastructure and dynamic energy management of on-board sensors (e.g., switching them off when they are not needed). This strategy achieves approximately 15% energy savings on the robots, thereby extending battery life, which in turn allows for longer operating times and better resource utilization.
Show or Tell? Effectively prompting Vision-Language Models for semantic segmentation
Venue: arXiv cs.CV 2025
Year: 2025

Large Vision-Language Models (VLMs) are increasingly being regarded as foundation models that can be instructed to solve diverse tasks by prompting, without task-specific training. We examine the seemingly obvious question: how to effectively prompt VLMs for semantic segmentation. To that end, we systematically evaluate the segmentation performance of several recent models guided by either text or visual prompts on the out-of-distribution MESS dataset collection. We introduce a scalable prompting scheme, few-shot prompted semantic segmentation, inspired by open-vocabulary segmentation and few-shot learning. It turns out that VLMs lag far behind specialist models trained for a specific segmentation task, by about 30% on average on the Intersection-over-Union metric. Moreover, we find that text prompts and visual prompts are complementary: each one of the two modes fails on many examples that the other one can solve. Our analysis suggests that being able to anticipate the most effective prompt modality can lead to a 11% improvement in performance. Motivated by our findings, we propose PromptMatcher, a remarkably simple training-free baseline that combines both text and visual prompts, achieving state-of-the-art results outperforming the best text-prompted VLM by 2.5%, and the top visual-prompted VLM by 3.5% on few-shot prompted semantic segmentation.
A Cross-Country Analysis of GDPR Cookie Banners and Flexible Methods for Scraping Them
Venue: arXiv cs.CY 2025
Year: 2025

Online tracking remains problematic, with compliance and ethical issues persisting despite regulatory efforts. Consent interfaces, the visible manifestation of this industry, have seen significant attention over the years. We present robust automated methods to study the presence, design, and third-party suppliers of consent interfaces at scale and the web service consent-observatory.eu to do it with. We examine the top 10,000 websites across 31 countries under the ePrivacy Directive and GDPR (n=254.148). Our findings show that 67% of websites use consent interfaces, but only 15% are minimally compliant, mostly because they lack a reject option. Consent management platforms (CMPs) are powerful intermediaries in this space: 67% of interfaces are provided by CMPs, and three organisations hold 37% of the market. There is little evidence that regulators' guidance and fines have impacted compliance rates, but 18% of compliance variance is explained by CMPs. Researchers should take an infrastructural perspective on online tracking and study the factual control of intermediaries to identify effective leverage points.
AIGC-assisted Federated Learning for Vehicular Edge Intelligence: Vehicle Selection, Resource Allocation and Model Augmentation
Venue: arXiv cs.DC 2025
Year: 2025

To leverage the vast amounts of onboard data while ensuring privacy and security, federated learning (FL) is emerging as a promising technology for supporting a wide range of vehicular applications. Although FL has great potential to improve the architecture of intelligent vehicular networks, challenges arise due to vehicle mobility, wireless channel instability, and data heterogeneity. To mitigate the issue of heterogeneous data across vehicles, artificial intelligence-generated content (AIGC) can be employed as an innovative data synthesis technique to enhance FL model performance. In this paper, we propose AIGC-assisted Federated Learning for Vehicular Edge Intelligence (GenFV). We further propose a weighted policy using the Earth Mover's Distance (EMD) to quantify data distribution heterogeneity and introduce a convergence analysis for GenFV. Subsequently, we analyze system delay and formulate a mixed-integer nonlinear programming (MINLP) problem to minimize system delay. To solve this MINLP NP-hard problem, we propose a two-scale algorithm. At large communication scale, we implement label sharing and vehicle selection based on velocity and data heterogeneity. At the small computation scale, we optimally allocate bandwidth, transmission power and amount of generated data. Extensive experiments show that GenFV significantly improves the performance and robustness of FL in dynamic, resource-constrained environments, outperforming other schemes and confirming the effectiveness of our approach.
Unlocking the Hidden Potential of CLIP in Generalizable Deepfake Detection
Venue: arXiv cs.CV 2025
Year: 2025

This paper tackles the challenge of detecting partially manipulated facial deepfakes, which involve subtle alterations to specific facial features while retaining the overall context, posing a greater detection difficulty than fully synthetic faces. We leverage the Contrastive Language-Image Pre-training (CLIP) model, specifically its ViT-L/14 visual encoder, to develop a generalizable detection method that performs robustly across diverse datasets and unknown forgery techniques with minimal modifications to the original model. The proposed approach utilizes parameter-efficient fine-tuning (PEFT) techniques, such as LN-tuning, to adjust a small subset of the model's parameters, preserving CLIP's pre-trained knowledge and reducing overfitting. A tailored preprocessing pipeline optimizes the method for facial images, while regularization strategies, including L2 normalization and metric learning on a hyperspherical manifold, enhance generalization. Trained on the FaceForensics++ dataset and evaluated in a cross-dataset fashion on Celeb-DF-v2, DFDC, FFIW, and others, the proposed method achieves competitive detection accuracy comparable to or outperforming much more complex state-of-the-art techniques. This work highlights the efficacy of CLIP's visual encoder in facial deepfake detection and establishes a simple, powerful baseline for future research, advancing the field of generalizable deepfake detection. The code is available at: https://github.com/yermandy/deepfake-detection
Invertible Koopman neural operator for data-driven modeling of partial differential equations
Venue: arXiv cs.LG 2025
Year: 2025

Koopman operator theory is a popular candidate for data-driven modeling because it provides a global linearization representation for nonlinear dynamical systems. However, existing Koopman operator-based methods suffer from shortcomings in constructing the well-behaved observable function and its inverse and are inefficient enough when dealing with partial differential equations (PDEs). To address these issues, this paper proposes the Invertible Koopman Neural Operator (IKNO), a novel data-driven modeling approach inspired by the Koopman operator theory and neural operator. IKNO leverages an Invertible Neural Network to parameterize observable function and its inverse simultaneously under the same learnable parameters, explicitly guaranteeing the reconstruction relation, thus eliminating the dependency on the reconstruction loss, which is an essential improvement over the original Koopman Neural Operator (KNO). The structured linear matrix inspired by the Koopman operator theory is parameterized to learn the evolution of observables' low-frequency modes in the frequency space rather than directly in the observable space, sustaining IKNO is resolution-invariant like other neural operators. Moreover, with preprocessing such as interpolation and dimension expansion, IKNO can be extended to operator learning tasks defined on non-Cartesian domains. We fully support the above claims based on rich numerical and real-world examples and demonstrate the effectiveness of IKNO and superiority over other neural operators.
On What Depends the Robustness of Multi-source Models to Missing Data in Earth Observation?
Venue: arXiv cs.LG 2025
Year: 2025

In recent years, the development of robust multi-source models has emerged in the Earth Observation (EO) field. These are models that leverage data from diverse sources to improve predictive accuracy when there is missing data. Despite these advancements, the factors influencing the varying effectiveness of such models remain poorly understood. In this study, we evaluate the predictive performance of six state-of-the-art multi-source models in predicting scenarios where either a single data source is missing or only a single source is available. Our analysis reveals that the efficacy of these models is intricately tied to the nature of the task, the complementarity among data sources, and the model design. Surprisingly, we observe instances where the removal of certain data sources leads to improved predictive performance, challenging the assumption that incorporating all available data is always beneficial. These findings prompt critical reflections on model complexity and the necessity of all collected data sources, potentially shaping the way for more streamlined approaches in EO applications.
How to RETIRE Tabular Data in Favor of Discrete Digital Signal Representation
Venue: arXiv cs.LG 2025
Year: 2025

The successes achieved by deep neural networks in computer vision tasks have led in recent years to the emergence of a new research area dubbed Multi-Dimensional Encoding (MDE). Methods belonging to this family aim to transform tabular data into a homogeneous form of discrete digital signals (images) to apply convolutional networks to initially unsuitable problems. Despite the successive emerging works, the pool of multi-dimensional encoding methods is still low, and the scope of research on existing modality encoding techniques is quite limited. To contribute to this area of research, we propose the Radar-based Encoding from Tabular to Image REpresentation (RETIRE), which allows tabular data to be represented as radar graphs, capturing the feature characteristics of each problem instance. RETIRE was compared with a pool of state-of-the-art MDE algorithms as well as with XGBoost in terms of classification accuracy and computational complexity. In addition, an analysis was carried out regarding transferability and explainability to provide more insight into both RETIRE and existing MDE techniques. The results obtained, supported by statistical analysis, confirm the superiority of RETIRE over other established MDE methods.
OpenLex3D: A Tiered Evaluation Benchmark for Open-Vocabulary 3D Scene Representations
Venue: arXiv cs.CV 2025
Year: 2025

3D scene understanding has been transformed by open-vocabulary language models that enable interaction via natural language. However, at present the evaluation of these representations is limited to datasets with closed-set semantics that do not capture the richness of language. This work presents OpenLex3D, a dedicated benchmark for evaluating 3D open-vocabulary scene representations. OpenLex3D provides entirely new label annotations for scenes from Replica, ScanNet++, and HM3D, which capture real-world linguistic variability by introducing synonymical object categories and additional nuanced descriptions. Our label sets provide 13 times more labels per scene than the original datasets. By introducing an open-set 3D semantic segmentation task and an object retrieval task, we evaluate various existing 3D open-vocabulary methods on OpenLex3D, showcasing failure cases, and avenues for improvement. Our experiments provide insights on feature precision, segmentation, and downstream capabilities. The benchmark is publicly available at: https://openlex3d.github.io/.
A Managed Tokens Service for Securely Keeping and Distributing Grid Tokens
Venue: arXiv cs.CR 2025
Year: 2025

Fermilab is transitioning authentication and authorization for grid operations to using bearer tokens based on the WLCG Common JWT (JSON Web Token) Profile. One of the functionalities that Fermilab experimenters rely on is the ability to automate batch job submission, which in turn depends on the ability to securely refresh and distribute the necessary credentials to experiment job submit points. Thus, with the transition to using tokens for grid operations, we needed to create a service that would obtain, refresh, and distribute tokens for experimenters' use. This service would avoid the need for experimenters to be experts in obtaining their own tokens and would better protect the most sensitive long-lived credentials. Further, the service needed to be widely scalable, as Fermilab hosts many experiments, each of which would need their own credentials. To address these issues, we created and deployed a Managed Tokens service. The service is written in Go, taking advantage of that language's native concurrency primitives to easily be able to scale operations as we onboard experiments. The service uses as its first credentials a set of kerberos keytabs, stored on the same secure machine that the Managed Tokens service runs on. These kerberos credentials allow the service to use htgettoken via condor_vault_storer to store vault tokens in the HTCondor credential managers (credds) that run on the batch system scheduler machines (HTCondor schedds); as well as downloading a local, shorter-lived copy of the vault token. The kerberos credentials are then also used to distribute copies of the locally-stored vault tokens to experiment submit points.
SITA: Structurally Imperceptible and Transferable Adversarial Attacks for Stylized Image Generation
Venue: arXiv cs.CV 2025
Year: 2025

Image generation technology has brought significant advancements across various fields but has also raised concerns about data misuse and potential rights infringements, particularly with respect to creating visual artworks. Current methods aimed at safeguarding artworks often employ adversarial attacks. However, these methods face challenges such as poor transferability, high computational costs, and the introduction of noticeable noise, which compromises the aesthetic quality of the original artwork. To address these limitations, we propose a Structurally Imperceptible and Transferable Adversarial (SITA) attacks. SITA leverages a CLIP-based destylization loss, which decouples and disrupts the robust style representation of the image. This disruption hinders style extraction during stylized image generation, thereby impairing the overall stylization process. Importantly, SITA eliminates the need for a surrogate diffusion model, leading to significantly reduced computational overhead. The method's robust style feature disruption ensures high transferability across diverse models. Moreover, SITA introduces perturbations by embedding noise within the imperceptible structural details of the image. This approach effectively protects against style extraction without compromising the visual quality of the artwork. Extensive experiments demonstrate that SITA offers superior protection for artworks against unauthorized use in stylized generation. It significantly outperforms existing methods in terms of transferability, computational efficiency, and noise imperceptibility. Code is available at https://github.com/A-raniy-day/SITA.
Unpaired Object-Level SAR-to-Optical Image Translation for Aircraft with Keypoints-Guided Diffusion Models
Venue: arXiv cs.CV 2025
Year: 2025

Synthetic Aperture Radar (SAR) imagery provides all-weather, all-day, and high-resolution imaging capabilities but its unique imaging mechanism makes interpretation heavily reliant on expert knowledge, limiting interpretability, especially in complex target tasks. Translating SAR images into optical images is a promising solution to enhance interpretation and support downstream tasks. Most existing research focuses on scene-level translation, with limited work on object-level translation due to the scarcity of paired data and the challenge of accurately preserving contour and texture details. To address these issues, this study proposes a keypoint-guided diffusion model (KeypointDiff) for SAR-to-optical image translation of unpaired aircraft targets. This framework introduces supervision on target class and azimuth angle via keypoints, along with a training strategy for unpaired data. Based on the classifier-free guidance diffusion architecture, a class-angle guidance module (CAGM) is designed to integrate class and angle information into the diffusion generation process. Furthermore, adversarial loss and consistency loss are employed to improve image fidelity and detail quality, tailored for aircraft targets. During sampling, aided by a pre-trained keypoint detector, the model eliminates the requirement for manually labeled class and azimuth information, enabling automated SAR-to-optical translation. Experimental results demonstrate that the proposed method outperforms existing approaches across multiple metrics, providing an efficient and effective solution for object-level SAR-to-optical translation and downstream tasks. Moreover, the method exhibits strong zero-shot generalization to untrained aircraft types with the assistance of the keypoint detector.
A Comparative Analysis of Word Segmentation, Part-of-Speech Tagging, and Named Entity Recognition for Historical Chinese Sources, 1900-1950
Venue: arXiv cs.CL 2025
Year: 2025

This paper compares large language models (LLMs) and traditional natural language processing (NLP) tools for performing word segmentation, part-of-speech (POS) tagging, and named entity recognition (NER) on Chinese texts from 1900 to 1950. Historical Chinese documents pose challenges for text analysis due to their logographic script, the absence of natural word boundaries, and significant linguistic changes. Using a sample dataset from the Shanghai Library Republican Journal corpus, traditional tools such as Jieba and spaCy are compared to LLMs, including GPT-4o, Claude 3.5, and the GLM series. The results show that LLMs outperform traditional methods in all metrics, albeit at considerably higher computational costs, highlighting a trade-off between accuracy and efficiency. Additionally, LLMs better handle genre-specific challenges such as poetry and temporal variations (i.e., pre-1920 versus post-1920 texts), demonstrating that their contextual learning capabilities can advance NLP approaches to historical texts by reducing the need for domain-specific training data.