OpenRaiser/Intern-Atlas huggingface dataset:
DELTA: Dual Consistency Delving with Topological Uncertainty for Active Graph Domain Adaptation
Venue: arXiv cs.LG 2025
Year: 2025

Graph domain adaptation has recently enabled knowledge transfer across different graphs. However, without the semantic information on target graphs, the performance on target graphs is still far from satisfactory. To address the issue, we study the problem of active graph domain adaptation, which selects a small quantitative of informative nodes on the target graph for extra annotation. This problem is highly challenging due to the complicated topological relationships and the distribution discrepancy across graphs. In this paper, we propose a novel approach named Dual Consistency Delving with Topological Uncertainty (DELTA) for active graph domain adaptation. Our DELTA consists of an edge-oriented graph subnetwork and a path-oriented graph subnetwork, which can explore topological semantics from complementary perspectives. In particular, our edge-oriented graph subnetwork utilizes the message passing mechanism to learn neighborhood information, while our path-oriented graph subnetwork explores high-order relationships from sub-structures. To jointly learn from two subnetworks, we roughly select informative candidate nodes with the consideration of consistency across two subnetworks. Then, we aggregate local semantics from its K-hop subgraph based on node degrees for topological uncertainty estimation. To overcome potential distribution shifts, we compare target nodes and their corresponding source nodes for discrepancy scores as an additional component for fine selection. Extensive experiments on benchmark datasets demonstrate that DELTA outperforms various state-of-the-art approaches. The code implementation of DELTA is available at https://github.com/goose315/DELTA.
AI-LieDar: Examine the Trade-off Between Utility and Truthfulness in LLM Agents
Venue: arXiv cs.AI 2025
Year: 2025

Truthfulness (adherence to factual accuracy) and utility (satisfying human needs and instructions) are both fundamental aspects of Large Language Models, yet these goals often conflict (e.g., sell a car with known flaws), which makes it challenging to achieve both in real-world deployments. We propose AI-LieDar, a framework to study how LLM-based agents navigate these scenarios in an multi-turn interactive setting. We design a set of real-world scenarios where language agents are instructed to achieve goals that are in conflict with being truthful during a multi-turn conversation with simulated human agents. To evaluate the truthfulness at large scale, we develop a truthfulness detector inspired by psychological literature to assess the agents' responses. Our experiment demonstrates that all models are truthful less than 50% of the time, though truthfulness and goal achievement (utility) rates vary across models. We further test the steerability of LLMs towards truthfulness, finding that models can be directed to be truthful or deceptive, and even truth-steered models still lie. These findings reveal the complex nature of truthfulness in LLMs and underscore the importance of further research to ensure the safe and reliable deployment of LLMs and LLM-based agents.
GEVO: Memory-Efficient Monocular Visual Odometry Using Gaussians
Venue: arXiv cs.RO 2025
Year: 2025

Constructing a high-fidelity representation of the 3D scene using a monocular camera can enable a wide range of applications on mobile devices, such as micro-robots, smartphones, and AR/VR headsets. On these devices, memory is often limited in capacity and its access often dominates the consumption of compute energy. Although Gaussian Splatting (GS) allows for high-fidelity reconstruction of 3D scenes, current GS-based SLAM is not memory efficient as a large number of past images is stored to retrain Gaussians for reducing catastrophic forgetting. These images often require two-orders-of-magnitude higher memory than the map itself and thus dominate the total memory usage. In this work, we present GEVO, a GS-based monocular SLAM framework that achieves comparable fidelity as prior methods by rendering (instead of storing) them from the existing map. Novel Gaussian initialization and optimization techniques are proposed to remove artifacts from the map and delay the degradation of the rendered images over time. Across a variety of environments, GEVO achieves comparable map fidelity while reducing the memory overhead to around 58 MBs, which is up to 94x lower than prior works.
Constructive Approach to Bidirectional Influence between Qualia Structure and Language Emergence
Venue: arXiv cs.CL 2025
Year: 2025

This perspective paper explores the bidirectional influence between language emergence and the relational structure of subjective experiences, termed qualia structure, and lays out a constructive approach to the intricate dependency between the two. We hypothesize that the emergence of languages with distributional semantics (e.g., syntactic-semantic structures) is linked to the coordination of internal representations shaped by experience, potentially facilitating more structured language through reciprocal influence. This hypothesized mutual dependency connects to recent advancements in AI and symbol emergence robotics, and is explored within this paper through theoretical frameworks such as the collective predictive coding. Computational studies show that neural network-based language models form systematically structured internal representations, and multimodal language models can share representations between language and perceptual information. This perspective suggests that language emergence serves not only as a mechanism creating a communication tool but also as a mechanism for allowing people to realize shared understanding of qualitative experiences. The paper discusses the implications of this bidirectional influence in the context of consciousness studies, linguistics, and cognitive science, and outlines future constructive research directions to further explore this dynamic relationship between language emergence and qualia structure.
Using Synthetic Data to Mitigate Unfairness and Preserve Privacy in Collaborative Machine Learning
Venue: arXiv cs.LG 2025
Year: 2025

In distributed computing environments, collaborative machine learning enables multiple clients to train a global model collaboratively. To preserve privacy in such settings, a common technique is to utilize frequent updates and transmissions of model parameters. However, this results in high communication costs between the clients and the server. To tackle unfairness concerns in distributed environments, client-specific information (e.g., local dataset size or data-related fairness metrics) must be sent to the server to compute algorithmic quantities (e.g., aggregation weights), which leads to a potential leakage of client information. To address these challenges, we propose a two-stage strategy that promotes fair predictions, prevents client-data leakage, and reduces communication costs in certain scenarios without the need to pass information between clients and server iteratively. In the first stage, for each client, we use its local dataset to obtain a synthetic dataset by solving a bilevel optimization problem that aims to ensure that the ultimate global model yields fair predictions. In the second stage, we apply a method with differential privacy guarantees to the synthetic dataset from the first stage to obtain a second synthetic data. We then pass each client's second-stage synthetic dataset to the server, the collection of which is used to train the server model using conventional machine learning techniques (that no longer need to take fairness metrics or privacy into account). Thus, we eliminate the need to handle fairness-specific aggregation weights while preserving client privacy. Our approach requires only a single communication between the clients and the server (thus making it communication cost-effective), maintains data privacy, and promotes fairness. We present empirical evidence to demonstrate the advantages of our approach.
ValueCompass: A Framework for Measuring Contextual Value Alignment Between Human and LLMs
Venue: arXiv cs.HC 2025
Year: 2025

As AI systems become more advanced, ensuring their alignment with a diverse range of individuals and societal values becomes increasingly critical. But how can we capture fundamental human values and assess the degree to which AI systems align with them? We introduce ValueCompass, a framework of fundamental values, grounded in psychological theory and a systematic review, to identify and evaluate human-AI alignment. We apply ValueCompass to measure the value alignment of humans and large language models (LLMs) across four real-world scenarios: collaborative writing, education, public sectors, and healthcare. Our findings reveal concerning misalignments between humans and LLMs, such as humans frequently endorse values like "National Security" which were largely rejected by LLMs. We also observe that values differ across scenarios, highlighting the need for context-aware AI alignment strategies. This work provides valuable insights into the design space of human-AI alignment, laying the foundations for developing AI systems that responsibly reflect societal values and ethics.
Complexity and algorithms for Swap median and relation to other consensus problems
Venue: arXiv cs.CC 2025
Year: 2025

Genome rearrangements are events in which large blocks of DNA exchange pieces during evolution. The analysis of such events is a tool for understanding evolutionary genomics, based on finding the minimum number of rearrangements to transform one genome into another, which can be modeled as permutations of integers. In a general scenario, more than two genomes are considered, and new challenges arise. Given three input permutations, the Median problem consists of finding a permutation s that minimizes the sum of the distances between s and each of the three input permutations, according to a specified distance measure. We prove that Median problem over swap distances is NP-complete, a problem whose computational complexity has remained unsolved for nearly 20 years (Eriksen, Theor. Comput. Sci., 2007). To tackle this problem, we introduce a graph-based perspective by the class called 2-circles-intersection graphs. We show that for each 2-circles-intersection graph G, we can associate three permutations such that G has a large independent set iff the median of the three associated permutations reaches a specific lower bound. We then prove that maximum independent set is NP-complete in this graph class. By this approach, we also establish that the Closest problem which aims to minimize the maximum distance between the solution and the input permutations is NP-complete even with three input permutations. This last result closes the complexity gap in the dichotomy between P and NP-complete cases: with two input permutations, the problem is easily solvable, while for an arbitrary number of input permutations, the Closest problem was known to be NP-hard since 2007 (Popov, Theor. Comput. Sci., 2007). Additionally, we show that both the Swap Median and Swap Closest problems are APX-hard, further emphasizing the computational complexity of these genome-related problems through graph theory.
Towards Single-Lens Controllable Depth-of-Field Imaging via Depth-Aware Point Spread Functions
Venue: arXiv cs.CV 2025
Year: 2025

Controllable Depth-of-Field (DoF) imaging commonly produces amazing visual effects based on heavy and expensive high-end lenses. However, confronted with the increasing demand for mobile scenarios, it is desirable to achieve a lightweight solution with Minimalist Optical Systems (MOS). This work centers around two major limitations of MOS, i.e., the severe optical aberrations and uncontrollable DoF, for achieving single-lens controllable DoF imaging via computational methods. A Depth-aware Controllable DoF Imaging (DCDI) framework is proposed equipped with All-in-Focus (AiF) aberration correction and monocular depth estimation, where the recovered image and corresponding depth map are utilized to produce imaging results under diverse DoFs of any high-end lens via patch-wise convolution. To address the depth-varying optical degradation, we introduce a Depth-aware Degradation-adaptive Training (DA2T) scheme. At the dataset level, a Depth-aware Aberration MOS (DAMOS) dataset is established based on the simulation of Point Spread Functions (PSFs) under different object distances. Additionally, we design two plug-and-play depth-aware mechanisms to embed depth information into the aberration image recovery for better tackling depth-aware degradation. Furthermore, we propose a storage-efficient Omni-Lens-Field model to represent the 4D PSF library of various lenses. With the predicted depth map, recovered image, and depth-aware PSF map inferred by Omni-Lens-Field, single-lens controllable DoF imaging is achieved. Comprehensive experimental results demonstrate that the proposed framework enhances the recovery performance, and attains impressive single-lens controllable DoF imaging results, providing a seminal baseline for this field. The source code and the established dataset will be publicly available at https://github.com/XiaolongQian/DCDI.
Underwater Image Enhancement via Dehazing and Color Restoration
Venue: arXiv cs.CV 2025
Year: 2025

Underwater visual imaging is crucial for marine engineering, but it suffers from low contrast, blurriness, and color degradation, which hinders downstream analysis. Existing underwater image enhancement methods often treat the haze and color cast as a unified degradation process, neglecting their inherent independence while overlooking their synergistic relationship. To overcome this limitation, we propose a Vision Transformer (ViT)-based network (referred to as WaterFormer) to improve underwater image quality. WaterFormer contains three major components: a dehazing block (DehazeFormer Block) to capture the self-correlated haze features and extract deep-level features, a Color Restoration Block (CRB) to capture self-correlated color cast features, and a Channel Fusion Block (CFB) that dynamically integrates these decoupled features to achieve comprehensive enhancement. To ensure authenticity, a soft reconstruction layer based on the underwater imaging physics model is included. Further, a Chromatic Consistency Loss and Sobel Color Loss are designed to respectively preserve color fidelity and enhance structural details during network training. Comprehensive experimental results demonstrate that WaterFormer outperforms other state-of-the-art methods in enhancing underwater images.
Bearing-Distance Flocking with Zone-Based Interactions in Constrained Dynamic Environments
Venue: arXiv cs.MA 2025
Year: 2025

This paper presents a novel zone-based flocking control approach suitable for dynamic multi-agent systems (MAS). Inspired by Reynolds behavioral rules for $boids$, flocking behavioral rules with the zones of repulsion, conflict, attraction, and surveillance are introduced. For each agent, using only bearing and distance measurements, behavioral contribution vectors quantify the local separation, local and global flock velocity alignment, local cohesion, obstacle avoidance and boundary conditions, and strategic separation for avoiding alien agents. The control strategy uses the local perception-based behavioral contribution vectors to guide each agent's motion. Additionally, the control strategy incorporates a directionally aware obstacle avoidance mechanism that prioritizes obstacles in the agent's forward path. Simulation results validate the effectiveness of the model in creating flexible, adaptable, and scalable flocking behavior. Asymptotic stability and convergence to a stable flocking configuration for any initial conditions provided the interaction graph is a spanning tree are demonstrated. The flocking model's reliance on locally sensed bearing and distance measurements ensures scalability and robustness, particularly in scenarios where communication is unreliable or resource-intensive. This makes it well-suited for real-world applications demanding seamless operation in highly dynamic and distributed environments.
Nav-SCOPE: Swarm Robot Cooperative Perception and Coordinated Navigation
Venue: arXiv cs.RO 2025
Year: 2025

This paper proposes a lightweight systematic solution for multi-robot coordinated navigation with decentralized cooperative perception. An information flow is first created to facilitate real-time observation sharing over unreliable ad-hoc networks. Then, the environmental uncertainties of each robot are reduced by interaction fields that deliver complementary information. Finally, path optimization is achieved, enabling self-organized coordination with effective convergence, divergence, and collision avoidance. Our method is fully interpretable and ready for deployment without gaps. Comprehensive simulations and real-world experiments demonstrate reduced path redundancy, robust performance across various tasks, and minimal demands on computation and communication.
3D-TAFS: A Training-free Framework for 3D Affordance Segmentation
Venue: arXiv cs.RO 2025
Year: 2025

Translating high-level linguistic instructions into precise robotic actions in the physical world remains challenging, particularly when considering the feasibility of interacting with 3D objects. In this paper, we introduce 3D-TAFS, a novel training-free multimodal framework for 3D affordance segmentation. To facilitate a comprehensive evaluation of such frameworks, we present IndoorAfford-Bench, a large-scale benchmark containing 9,248 images spanning 20 diverse indoor scenes across 6 areas, supporting standardized interaction queries. In particular, our framework integrates a large multimodal model with a specialized 3D vision network, enabling a seamless fusion of 2D and 3D visual understanding with language comprehension. Extensive experiments on IndoorAfford-Bench validate the proposed 3D-TAFS's capability in handling interactive 3D affordance segmentation tasks across diverse settings, showcasing competitive performance across various metrics. Our results highlight 3D-TAFS's potential for enhancing human-robot interaction based on affordance understanding in complex indoor environments, advancing the development of more intuitive and efficient robotic frameworks for real-world applications.
From Text to Emoji: How PEFT-Driven Personality Manipulation Unleashes the Emoji Potential in LLMs
Venue: arXiv cs.CL 2025
Year: 2025

The manipulation of the personality traits of large language models (LLMs) has emerged as a key area of research. Methods like prompt-based In-Context Knowledge Editing (IKE) and gradient-based Model Editor Networks (MEND) have been explored but show irregularity and variability; IKE depends on the prompt, leading to variability and sensitivity, while MEND yields inconsistent and gibberish outputs. To address this, we employed Opinion QA Based Parameter-Efficient Fine-Tuning (PEFT), specifically Quantized Low-Rank Adaptation (QLoRA), to manipulate the Big Five personality traits: Openness, Conscientiousness, Extraversion, Agreeableness, and Neuroticism. After PEFT, models such as Mistral-7B-Instruct and LLaMA-2-7B-chat showed a latent behaviour by generating emojis for certain traits, despite no emojis being present in the PEFT data. For instance, LLaMA-2-7B-chat generated emojis in 99.5\% of extraversion-related test instances, while Mistral-7B-Instruct did so in 92.5\% of openness-related test instances. ICL Explainability analysis indicated that the LLMs used emojis intentionally to express these traits. Mechanistic Interpretability analysis showed that this latent behaviour of LLMs could be traced to specific neurons that became activated or amplified after PEFT. This paper provides a number of novel contributions. First, introducing an Opinion QA dataset for PEFT-driven personality manipulation; second, developing metric models to benchmark LLM personality traits; third, demonstrating PEFT's superiority over IKE in personality manipulation; and finally, analysing and validating emoji usage through explainability methods such as Mechanistic Interpretability and In-context learning Explainability methods.
Sharp Estimates for Optimal Multistage Group Partition Testing
Venue: arXiv cs.IT 2025
Year: 2025

In multistage group testing, the tests within the same stage are considered nonadaptive, while those conducted across different stages are adaptive. Specifically, when the pools within the same stage are disjoint, meaning that the entire set is divided into several disjoint subgroups, it is referred to as a multistage group partition testing problem, denoted as the (n, d, s) problem, where n, d, and s represent the total number of items, defectives, and stages respectively. This paper presents exact solutions for the (n, 1, s) and (n, d, 2) problems for the first time. Additionally, a general dynamic programming approach is developed for the (n, d, s) problem. Significantly we give the sharp upper and lower bounds estimates. If the defective number in unknown but bounded, we can provide an algorithm with an optimal competitive ratio in the asymptotic sense. While assuming the prior distribution of the defective items, we also establish a well performing upper and lower bound estimate to the expectation of optimal strategy
HiFi-CS: Towards Open Vocabulary Visual Grounding For Robotic Grasping Using Vision-Language Models
Venue: arXiv cs.RO 2025
Year: 2025

Robots interacting with humans through natural language can unlock numerous applications such as Referring Grasp Synthesis (RGS). Given a text query, RGS determines a stable grasp pose to manipulate the referred object in the robot's workspace. RGS comprises two steps: visual grounding and grasp pose estimation. Recent studies leverage powerful Vision-Language Models (VLMs) for visually grounding free-flowing natural language in real-world robotic execution. However, comparisons in complex, cluttered environments with multiple instances of the same object are lacking. This paper introduces HiFi-CS, featuring hierarchical application of Featurewise Linear Modulation (FiLM) to fuse image and text embeddings, enhancing visual grounding for complex attribute rich text queries encountered in robotic grasping. Visual grounding associates an object in 2D/3D space with natural language input and is studied in two scenarios: Closed and Open Vocabulary. HiFi-CS features a lightweight decoder combined with a frozen VLM and outperforms competitive baselines in closed vocabulary settings while being 100x smaller in size. Our model can effectively guide open-set object detectors like GroundedSAM to enhance open-vocabulary performance. We validate our approach through real-world RGS experiments using a 7-DOF robotic arm, achieving 90.33\% visual grounding accuracy in 15 tabletop scenes. Our codebase is provided here: https://github.com/vineet2104/hifics
DrLLM: Prompt-Enhanced Distributed Denial-of-Service Resistance Method with Large Language Models
Venue: arXiv cs.CR 2025
Year: 2025

The increasing number of Distributed Denial of Service (DDoS) attacks poses a major threat to the Internet, highlighting the importance of DDoS mitigation. Most existing approaches require complex training methods to learn data features, which increases the complexity and generality of the application. In this paper, we propose DrLLM, which aims to mine anomalous traffic information in zero-shot scenarios through Large Language Models (LLMs). To bridge the gap between DrLLM and existing approaches, we embed the global and local information of the traffic data into the reasoning paradigm and design three modules, namely Knowledge Embedding, Token Embedding, and Progressive Role Reasoning, for data representation and reasoning. In addition we explore the generalization of prompt engineering in the cybersecurity domain to improve the classification capability of DrLLM. Our ablation experiments demonstrate the applicability of DrLLM in zero-shot scenarios and further demonstrate the potential of LLMs in the network domains. DrLLM implementation code has been open-sourced at https://github.com/liuup/DrLLM.