OpenRaiser/Intern-Atlas huggingface dataset:
Leveraging Symmetry in RL-based Legged Locomotion Control
Venue: arXiv cs.RO 2025
Year: 2025

Model-free reinforcement learning is a promising approach for autonomously solving challenging robotics control problems, but faces exploration difficulty without information of the robot's kinematics and dynamics morphology. The under-exploration of multiple modalities with symmetric states leads to behaviors that are often unnatural and sub-optimal. This issue becomes particularly pronounced in the context of robotic systems with morphological symmetries, such as legged robots for which the resulting asymmetric and aperiodic behaviors compromise performance, robustness, and transferability to real hardware. To mitigate this challenge, we can leverage symmetry to guide and improve the exploration in policy learning via equivariance/invariance constraints. In this paper, we investigate the efficacy of two approaches to incorporate symmetry: modifying the network architectures to be strictly equivariant/invariant, and leveraging data augmentation to approximate equivariant/invariant actor-critics. We implement the methods on challenging loco-manipulation and bipedal locomotion tasks and compare with an unconstrained baseline. We find that the strictly equivariant policy consistently outperforms other methods in sample efficiency and task performance in simulation. In addition, symmetry-incorporated approaches exhibit better gait quality, higher robustness and can be deployed zero-shot in real-world experiments.
RoboDuet: Learning a Cooperative Policy for Whole-body Legged Loco-Manipulation
Venue: arXiv cs.RO 2025
Year: 2025

Fully leveraging the loco-manipulation capabilities of a quadruped robot equipped with a robotic arm is non-trivial, as it requires controlling all degrees of freedom (DoFs) of the quadruped robot to achieve effective whole-body coordination. In this letter, we propose a novel framework RoboDuet, which employs two collaborative policies to realize locomotion and manipulation simultaneously, achieving whole-body control through mutual interactions. Beyond enabling large-range 6D pose tracking for manipulation, we find that the two-policy framework supports zero-shot transfer across quadruped robots with similar morphology and physical dimensions in the real world. Our experiments demonstrate that RoboDuet achieves a 23% improvement in success rate over the baseline in challenging loco-manipulation tasks employing whole-body control. To support further research, we provide open-source code and additional videos on our website: locomanip-duet.github.io.
Ensemble Learning of Machine Learning Force Fields
Venue: arXiv cs.LG 2025
Year: 2025

Machine learning force fields (MLFFs) are a promising approach to balance the accuracy of quantum mechanics with the efficiency of classical potentials, yet selecting an optimal model amid increasingly diverse architectures that delivers reliable force predictions and stable simulations remains a core pratical challenge. Here we introduce EL-MLFFs, an ensemble learning framework that uses a stacking methodology to integrate predictions from diverse base MLFFs. Our approach constructs a graph representation where a graph neural network (GNN) acts as a meta-model to refine the initial force predictions. We present two meta-model architectures: a computationally efficient direct fitting model and a physically-principled conservative model that ensures energy conservation. The framework is evaluated on a diverse range of systems, including single molecules (methane), surface chemistry (methanol/Cu(100)), molecular dynamics benchmarks (MD17), and the MatPES materials dataset. Results show that EL-MLFFs improves predictive accuracy across these domains. For molecular systems, it reduces force errors and improves the simulation stability compared to base models. For materials, the method yields lower formation energy errors on the WBM test set. The EL- MLFFs framework offers a systematic approach to address challenges of model selection and the accuracy-stability trade-off in molecular and materials simulations.
Generalising the maximum independent set algorithm via Boolean networks
Venue: arXiv cs.DS 2025
Year: 2025

A simple greedy algorithm to find a maximal independent set (MIS) in a graph starts with the empty set and visits every vertex, adding it to the set if and only if none of its neighbours are already in the set. In this paper, we consider (the complexity of decision problems related to) the generalisation of this MIS algorithm wherein any starting set is allowed. Two main approaches are leveraged. Firstly, we view the MIS algorithm as a sequential update of a Boolean network according to a permutation of the vertex set. Secondly, we introduce the concept of a constituency of a graph: a set of vertices that is dominated by an independent set. Recognizing a constituency is NP-complete, a fact we leverage repeatedly in our investigation. Our contributions are multiple: we establish that deciding whether all maximal independent sets can be reached from some configuration is coNP-complete; that fixing words (which reach a MIS from any starting configuration) and fixing permutations (briefly, permises) are coNP-complete to recognize; and that permissible graphs (graphs with a permis) are coNP-hard to recognize. We also exhibit large classes of permissible and non-permissible graphs, notably near-comparability graphs which may be of independent interest. Lastly, we extend our study to digraphs, where we search for kernels. Since the natural generalisation of our approach may not necessarily find a kernel, we introduce two further Boolean networks for digraphs: one always finds an independent set, and the other always finds a dominating set.
Scenario-Based Curriculum Generation for Multi-Agent Autonomous Driving
Venue: arXiv cs.RO 2025
Year: 2025

The automated generation of diverse and complex training scenarios has been an important ingredient in many complex learning tasks. Especially in real-world application domains, such as autonomous driving, auto-curriculum generation is considered vital for obtaining robust and general policies. However, crafting traffic scenarios with multiple, heterogeneous agents is typically considered as a tedious and time-consuming task, especially in more complex simulation environments. In our work, we introduce MATS-Gym, a Multi-Agent Traffic Scenario framework to train agents in CARLA, a high-fidelity driving simulator. MATS-Gym is a multi-agent training framework for autonomous driving that uses partial scenario specifications to generate traffic scenarios with variable numbers of agents. This paper unifies various existing approaches to traffic scenario description into a single training framework and demonstrates how it can be integrated with techniques from unsupervised environment design to automate the generation of adaptive auto-curricula. The code is available at https://github.com/AutonomousDrivingExaminer/mats-gym.
CMP: Cooperative Motion Prediction with Multi-Agent Communication
Venue: arXiv cs.RO 2025
Year: 2025

The confluence of the advancement of Autonomous Vehicles (AVs) and the maturity of Vehicle-to-Everything (V2X) communication has enabled the capability of cooperative connected and automated vehicles (CAVs). Building on top of cooperative perception, this paper explores the feasibility and effectiveness of cooperative motion prediction. Our method, CMP, takes LiDAR signals as model input to enhance tracking and prediction capabilities. Unlike previous work that focuses separately on either cooperative perception or motion prediction, our framework, to the best of our knowledge, is the first to address the unified problem where CAVs share information in both perception and prediction modules. Incorporated into our design is the unique capability to tolerate realistic V2X transmission delays, while dealing with bulky perception representations. We also propose a prediction aggregation module, which unifies the predictions obtained by different CAVs and generates the final prediction. Through extensive experiments and ablation studies on the OPV2V and V2V4Real datasets, we demonstrate the effectiveness of our method in cooperative perception, tracking, and motion prediction. In particular, CMP reduces the average prediction error by 12.3% compared with the strongest baseline. Our work marks a significant step forward in the cooperative capabilities of CAVs, showcasing enhanced performance in complex scenarios. More details can be found on the project website: https://cmp-cooperative-prediction.github.io.
TGGLinesPlus: A robust topological graph-guided computer vision algorithm for line detection from images
Venue: arXiv cs.CV 2025
Year: 2025

Line detection is a classic and essential problem in image processing, computer vision and machine intelligence. Line detection has many important applications, including image vectorization (e.g., document recognition and art design), indoor mapping, and important societal challenges (e.g., sea ice fracture line extraction from satellite imagery). Many line detection algorithms and methods have been developed, but robust and intuitive methods are still lacking. In this paper, we proposed and implemented a topological graph-guided algorithm, named TGGLinesPlus, for line detection. Our experiments on images from a wide range of domains have demonstrated the flexibility of our TGGLinesPlus algorithm. We benchmarked our algorithm with five classic and state-of-the-art line detection methods and evaluated the benchmark results qualitatively and quantitatively, the results demonstrate the robustness of TGGLinesPlus.
Tutorial on Diffusion Models for Imaging and Vision
Venue: arXiv cs.LG 2025
Year: 2025

The astonishing growth of generative tools in recent years has empowered many exciting applications in text-to-image generation and text-to-video generation. The underlying principle behind these generative tools is the concept of diffusion, a particular sampling mechanism that has overcome some shortcomings that were deemed difficult in the previous approaches. The goal of this tutorial is to discuss the essential ideas underlying the diffusion models. The target audience of this tutorial includes undergraduate and graduate students who are interested in doing research on diffusion models or applying these models to solve other problems.
Few-shot Online Anomaly Detection and Segmentation
Venue: arXiv cs.CV 2025
Year: 2025

Detecting anomaly patterns from images is a crucial artificial intelligence technique in industrial applications. Recent research in this domain has emphasized the necessity of a large volume of training data, overlooking the practical scenario where, post-deployment of the model, unlabeled data containing both normal and abnormal samples can be utilized to enhance the model's performance. Consequently, this paper focuses on addressing the challenging yet practical few-shot online anomaly detection and segmentation (FOADS) task. Under the FOADS framework, models are trained on a few-shot normal dataset, followed by inspection and improvement of their capabilities by leveraging unlabeled streaming data containing both normal and abnormal samples simultaneously. To tackle this issue, we propose modeling the feature distribution of normal images using a Neural Gas network, which offers the flexibility to adapt the topology structure to identify outliers in the data flow. In order to achieve improved performance with limited training samples, we employ multi-scale feature embedding extracted from a CNN pre-trained on ImageNet to obtain a robust representation. Furthermore, we introduce an algorithm that can incrementally update parameters without the need to store previous samples. Comprehensive experimental results demonstrate that our method can achieve substantial performance under the FOADS setting, while ensuring that the time complexity remains within an acceptable range on MVTec AD and BTAD datasets.
FoC: Figure out the Cryptographic Functions in Stripped Binaries with LLMs
Venue: arXiv cs.CR 2025
Year: 2025

Analyzing the behavior of cryptographic functions in stripped binaries is a challenging but essential task. Cryptographic algorithms exhibit greater logical complexity compared to typical code, yet their analysis is unavoidable in areas such as virus analysis and legacy code inspection. Existing methods often rely on data or structural pattern matching, leading to suboptimal generalizability and suffering from manual work. In this paper, we propose a novel framework called FoC to Figure out the Cryptographic functions in stripped binaries. In FoC, we first build a binary large language model (FoC-BinLLM) to summarize the semantics of cryptographic functions in natural language. The prediction of FoC-BinLLM is insensitive to minor changes, such as vulnerability patches. To mitigate it, we further build a binary code similarity model (FoC-Sim) upon the FoC-BinLLM to create change-sensitive representations and use it to retrieve similar implementations of unknown cryptographic functions in a database. In addition, we construct a cryptographic binary dataset for evaluation and to facilitate further research in this domain. And an automated method is devised to create semantic labels for extensive binary functions. Evaluation results demonstrate that FoC-BinLLM outperforms ChatGPT by 14.61% on the ROUGE-L score. FoC-Sim outperforms the previous best methods with a 52% higher Recall@1. Furthermore, our method also shows practical ability in virus analysis and 1-day vulnerability detection.
PLOT-TAL: Prompt Learning with Optimal Transport for Few-Shot Temporal Action Localization
Venue: arXiv cs.CV 2025
Year: 2025

Few-shot temporal action localization (TAL) methods that adapt large models via single-prompt tuning often fail to produce precise temporal boundaries. This stems from the model learning a non-discriminative mean representation of an action from sparse data, which compromises generalization. We address this by proposing a new paradigm based on multi-prompt ensembles, where a set of diverse, learnable prompts for each action is encouraged to specialize on compositional sub-events. To enforce this specialization, we introduce PLOT-TAL, a framework that leverages Optimal Transport (OT) to find a globally optimal alignment between the prompt ensemble and the video's temporal features. Our method establishes a new state-of-the-art on the challenging few-shot benchmarks of THUMOS'14 and EPIC-Kitchens, without requiring complex meta-learning. The significant performance gains, particularly at high IoU thresholds, validate our hypothesis and demonstrate the superiority of learning distributed, compositional representations for precise temporal localization.
Model Stock: All we need is just a few fine-tuned models
Venue: arXiv cs.LG 2025
Year: 2025

This paper introduces an efficient fine-tuning method for large pre-trained models, offering strong in-distribution (ID) and out-of-distribution (OOD) performance. Breaking away from traditional practices that need a multitude of fine-tuned models for averaging, our approach employs significantly fewer models to achieve final weights yet yield superior accuracy. Drawing from key insights in the weight space of fine-tuned weights, we uncover a strong link between the performance and proximity to the center of weight space. Based on this, we introduce a method that approximates a center-close weight using only two fine-tuned models, applicable during or after training. Our innovative layer-wise weight averaging technique surpasses state-of-the-art model methods such as Model Soup, utilizing only two fine-tuned models. This strategy can be aptly coined Model Stock, highlighting its reliance on selecting a minimal number of models to draw a more optimized-averaged model. We demonstrate the efficacy of Model Stock with fine-tuned models based upon pre-trained CLIP architectures, achieving remarkable performance on both ID and OOD tasks on the standard benchmarks, all while barely bringing extra computational demands. Our code and pre-trained models are available at https://github.com/naver-ai/model-stock.
Detecting Financial Bots on the Ethereum Blockchain
Venue: arXiv cs.CR 2025
Year: 2025

The integration of bots in Distributed Ledger Technologies (DLTs) fosters efficiency and automation. However, their use is also associated with predatory trading and market manipulation, and can pose threats to system integrity. It is therefore essential to understand the extent of bot deployment in DLTs; despite this, current detection systems are predominantly rule-based and lack flexibility. In this study, we present a novel approach that utilizes machine learning for the detection of financial bots on the Ethereum platform. First, we systematize existing scientific literature and collect anecdotal evidence to establish a taxonomy for financial bots, comprising 7 categories and 24 subcategories. Next, we create a ground-truth dataset consisting of 133 human and 137 bot addresses. Third, we employ both unsupervised and supervised machine learning algorithms to detect bots deployed on Ethereum. The highest-performing clustering algorithm is a Gaussian Mixture Model with an average cluster purity of 82.6%, while the highest-performing model for binary classification is a Random Forest with an accuracy of 83%. Our machine learning-based detection mechanism contributes to understanding the Ethereum ecosystem dynamics by providing additional insights into the current bot landscape.
Swarm Characteristics Classification Using Neural Networks
Venue: arXiv cs.LG 2025
Year: 2025

Understanding the characteristics of swarming autonomous agents is critical for defense and security applications. This article presents a study on using supervised neural network time series classification (NN TSC) to predict key attributes and tactics of swarming autonomous agents for military contexts. Specifically, NN TSC is applied to infer two binary attributes - communication and proportional navigation - which combine to define four mutually exclusive swarm tactics. We identify a gap in literature on using NNs for swarm classification and demonstrate the effectiveness of NN TSC in rapidly deducing intelligence about attacking swarms to inform counter-maneuvers. Through simulated swarm-vs-swarm engagements, we evaluate NN TSC performance in terms of observation window requirements, noise robustness, and scalability to swarm size. Key findings show NNs can predict swarm behaviors with 97% accuracy using short observation windows of 20 time steps, while also demonstrating graceful degradation down to 80% accuracy under 50% noise, as well as excellent scalability to swarm sizes from 10 to 100 agents. These capabilities are promising for real-time decision-making support in defense scenarios by rapidly inferring insights about swarm behavior.
Detecting Origin Attribution for Text-to-Image Diffusion Models
Venue: arXiv cs.CV 2025
Year: 2025

Modern text-to-image (T2I) diffusion models can generate images with remarkable realism and creativity. These advancements have sparked research in fake image detection and attribution, yet prior studies have not fully explored the practical and scientific dimensions of this task. In addition to attributing images to 12 state-of-the-art T2I generators, we provide extensive analyses on what inference stage hyperparameters and image modifications are discernible. Our experiments reveal that initialization seeds are highly detectable, along with other subtle variations in the image generation process to some extent. We further investigate what visual traces are leveraged in image attribution by perturbing high-frequency details and employing mid-level representations of image style and structure. Notably, altering high-frequency information causes only slight reductions in accuracy, and training an attributor on style representations outperforms training on RGB images. Our analyses underscore that fake images are detectable and attributable at various levels of visual granularity.
Nonlinearity Enhanced Adaptive Activation Functions
Venue: arXiv cs.LG 2025
Year: 2025

A general procedure for introducing parametric, learned, nonlinearity into activation functions is found to enhance the accuracy of representative neural networks without requiring significant additional computational resources. Examples are given based on the standard rectified linear unit (ReLU) as well as several other frequently employed activation functions. The associated accuracy improvement is quantified both in the context of the MNIST digit data set and a convolutional neural network (CNN) benchmark example.
Unleashing the Potential of Large Language Models for Predictive Tabular Tasks in Data Science
Venue: arXiv cs.LG 2025
Year: 2025

In the domain of data science, the predictive tasks of classification, regression, and imputation of missing values are commonly encountered challenges associated with tabular data. This research endeavors to apply Large Language Models (LLMs) towards addressing these predictive tasks. Despite their proficiency in comprehending natural language, LLMs fall short in dealing with structured tabular data. This limitation stems from their lacking exposure to the intricacies of tabular data during their foundational training. Our research aims to mitigate this gap by compiling a comprehensive corpus of tables annotated with instructions and executing large-scale training of Llama-2 on this enriched dataset. Furthermore, we investigate the practical application of applying the trained model to zero-shot prediction, few-shot prediction, and in-context learning scenarios. Through extensive experiments, our methodology has shown significant improvements over existing benchmarks. These advancements highlight the efficacy of tailoring LLM training to solve table-related problems in data science, thereby establishing a new benchmark in the utilization of LLMs for enhancing tabular intelligence.
Sparsely Multimodal Data Fusion
Venue: arXiv cs.LG 2025
Year: 2025

Multimodal data fusion is essential for applications requiring the integration of diverse data sources, especially in the presence of incomplete or sparsely available modalities. This paper presents a comparative study of three multimodal embedding techniques, Modal Channel Attention (MCA), Zorro, and Everything at Once (EAO), to evaluate their performance on sparsely multimodal data. MCA introduces fusion embeddings for all combinations of input modalities and uses attention masking to create distinct attention channels, enabling flexible and efficient data fusion. Experiments on two datasets with four modalities each, CMU-MOSEI and TCGA, demonstrate that MCA outperforms Zorro across ranking, recall, regression, and classification tasks and outperforms EAO across regression and classification tasks. MCA achieves superior performance by maintaining robust uniformity across unimodal and fusion embeddings. While EAO performs best in ranking metrics due to its approach of forming fusion embeddings post-inference, it underperforms in downstream tasks requiring multimodal interactions. These results highlight the importance of contrasting all modality combinations in constructing embedding spaces and offers insights into the design of multimodal architectures for real-world applications with incomplete data.