OpenRaiser/Intern-Atlas huggingface dataset:
Discovering Antagonists in Networks of Systems: Robot Deployment
Venue: arXiv cs.RO 2025
Year: 2025

A contextual anomaly detection method is proposed and applied to the physical motions of a robot swarm executing a coverage task. Using simulations of a swarm's normal behavior, a normalizing flow is trained to predict the likelihood of a robot motion within the current context of its environment. During application, the predicted likelihood of the observed motions is used by a detection criterion that categorizes a robot agent as normal or antagonistic. The proposed method is evaluated on five different strategies of antagonistic behavior. Importantly, only readily available simulated data of normal robot behavior is used for training such that the nature of the anomalies need not be known beforehand. The best detection criterion correctly categorizes at least 80% of each antagonistic type while maintaining a false positive rate of less than 5% for normal robot agents. Additionally, the method is validated in hardware experiments, yielding results similar to the simulated scenarios. Compared to the state-of-the-art approach, both the predictive performance of the normalizing flow and the robustness of the detection criterion are increased.
Differential Contrastive Training for Gaze Estimation
Venue: arXiv cs.CV 2025
Year: 2025

The complex application scenarios have raised critical requirements for precise and generalizable gaze estimation methods. Recently, the pre-trained CLIP has achieved remarkable performance on various vision tasks, but its potentials have not been fully exploited in gaze estimation. In this paper, we propose a novel Differential Contrastive Training strategy, which boosts gaze estimation performance with the help of the CLIP. Accordingly, a Differential Contrastive Gaze Estimation network (DCGaze) composed of a Visual Appearance-aware branch and a Semantic Differential-aware branch is introduced. The Visual Appearance-aware branch is essentially a primary gaze estimation network and it incorporates an Adaptive Feature-refinement Unit (AFU) and a Double-head Gaze Regressor (DGR), which both help the primary network to extract informative and gaze-related appearance features. Moreover, the Semantic Difference-aware branch is designed on the basis of the CLIP's text encoder to reveal the semantic difference of gazes. This branch could further empower the Visual Appearance-aware branch with the capability of characterizing the gaze-related semantic information. Extensive experimental results on four challenging datasets over within and cross-domain tasks demonstrate the effectiveness of our DCGaze.The code is available at https://github.com/LinZhang-bjtu/DCGaze.
Robust sensitivity control in digital pathology via tile score distribution matching
Venue: arXiv cs.CV 2025
Year: 2025

Deploying digital pathology models across medical centers is challenging due to distribution shifts. Recent advances in domain generalization improve model transferability in terms of aggregated performance measured by the Area Under Curve (AUC). However, clinical regulations often require to control the transferability of other metrics, such as prescribed sensitivity levels. We introduce a novel approach to control the sensitivity of whole slide image (WSI) classification models, based on optimal transport and Multiple Instance Learning (MIL). Validated across multiple cohorts and tasks, our method enables robust sensitivity control with only a handful of calibration samples, providing a practical solution for reliable deployment of computational pathology systems.
Accelerating Model-Based Reinforcement Learning with State-Space World Models
Venue: arXiv cs.RO 2025
Year: 2025

Reinforcement learning (RL) is a powerful approach for robot learning. However, model-free RL (MFRL) requires a large number of environment interactions to learn successful control policies. This is due to the noisy RL training updates and the complexity of robotic systems, which typically involve highly non-linear dynamics and noisy sensor signals. In contrast, model-based RL (MBRL) not only trains a policy but simultaneously learns a world model that captures the environment's dynamics and rewards. The world model can either be used for planning, for data collection, or to provide first-order policy gradients for training. Leveraging a world model significantly improves sample efficiency compared to model-free RL. However, training a world model alongside the policy increases the computational complexity, leading to longer training times that are often intractable for complex real-world scenarios. In this work, we propose a new method for accelerating model-based RL using state-space world models. Our approach leverages state-space models (SSMs) to parallelize the training of the dynamics model, which is typically the main computational bottleneck. Additionally, we propose an architecture that provides privileged information to the world model during training, which is particularly relevant for partially observable environments. We evaluate our method in several real-world agile quadrotor flight tasks, involving complex dynamics, for both fully and partially observable environments. We demonstrate a significant speedup, reducing the world model training time by up to 10 times, and the overall MBRL training time by up to 4 times. This benefit comes without compromising performance, as our method achieves similar sample efficiency and task rewards to state-of-the-art MBRL methods.
DIPSER: A Dataset for In-Person Student Engagement Recognition in the Wild
Venue: arXiv cs.CV 2025
Year: 2025

In this paper, a novel dataset is introduced, designed to assess student attention within in-person classroom settings. This dataset encompasses RGB camera data, featuring multiple cameras per student to capture both posture and facial expressions, in addition to smartwatch sensor data for each individual. This dataset allows machine learning algorithms to be trained to predict attention and correlate it with emotion. A comprehensive suite of attention and emotion labels for each student is provided, generated through self-reporting as well as evaluations by four different experts. Our dataset uniquely combines facial and environmental camera data, smartwatch metrics, and includes underrepresented ethnicities in similar datasets, all within in-the-wild, in-person settings, making it the most comprehensive dataset of its kind currently available. The dataset presented offers an extensive and diverse collection of data pertaining to student interactions across different educational contexts, augmented with additional metadata from other tools. This initiative addresses existing deficiencies by offering a valuable resource for the analysis of student attention and emotion in face-to-face lessons.
Swap Regret and Correlated Equilibria Beyond Normal-Form Games
Venue: arXiv cs.GT 2025
Year: 2025

Swap regret is a notion that has proven itself to be central to the study of general-sum normal-form games, with swap-regret minimization leading to convergence to the set of correlated equilibria and guaranteeing non-manipulability against a self-interested opponent. However, the situation for more general classes of games -- such as Bayesian games and extensive-form games -- is less clear-cut, with multiple candidate definitions for swap-regret but no known efficiently minimizable variant of swap regret that implies analogous non-manipulability guarantees. In this paper, we present a new variant of swap regret for polytope games that we call ``profile swap regret'', with the property that obtaining sublinear profile swap regret is both necessary and sufficient for any learning algorithm to be non-manipulable by an opponent (resolving an open problem of Mansour et al., 2022). Although we show profile swap regret is NP-hard to compute given a transcript of play, we show it is nonetheless possible to design efficient learning algorithms that guarantee at most $O(\sqrt{T})$ profile swap regret. Finally, we explore the correlated equilibrium notion induced by low-profile-swap-regret play, and demonstrate a gap between the set of outcomes that can be implemented by this learning process and the set of outcomes that can be implemented by a third-party mediator (in contrast to the situation in normal-form games).
Teasing Apart Architecture and Initial Weights as Sources of Inductive Bias in Neural Networks
Venue: arXiv cs.LG 2025
Year: 2025

Artificial neural networks can acquire many aspects of human knowledge from data, making them promising as models of human learning. But what those networks can learn depends upon their inductive biases -- the factors other than the data that influence the solutions they discover -- and the inductive biases of neural networks remain poorly understood, limiting our ability to draw conclusions about human learning from the performance of these systems. Cognitive scientists and machine learning researchers often focus on the architecture of a neural network as a source of inductive bias. In this paper we explore the impact of another source of inductive bias -- the initial weights of the network -- using meta-learning as a tool for finding initial weights that are adapted for specific problems. We evaluate four widely-used architectures -- MLPs, CNNs, LSTMs, and Transformers -- by meta-training 430 different models across three tasks requiring different biases and forms of generalization. We find that meta-learning can substantially reduce or entirely eliminate performance differences across architectures and data representations, suggesting that these factors may be less important as sources of inductive bias than is typically assumed. When differences are present, architectures and data representations that perform well without meta-learning tend to meta-train more effectively. Moreover, all architectures generalize poorly on problems that are far from their meta-training experience, underscoring the need for stronger inductive biases for robust generalization.
Evaluating Human Trust in LLM-Based Planners: A Preliminary Study
Venue: arXiv cs.AI 2025
Year: 2025

Large Language Models (LLMs) are increasingly used for planning tasks, offering unique capabilities not found in classical planners such as generating explanations and iterative refinement. However, trust--a critical factor in the adoption of planning systems--remains underexplored in the context of LLM-based planning tasks. This study bridges this gap by comparing human trust in LLM-based planners with classical planners through a user study in a Planning Domain Definition Language (PDDL) domain. Combining subjective measures, such as trust questionnaires, with objective metrics like evaluation accuracy, our findings reveal that correctness is the primary driver of trust and performance. Explanations provided by the LLM improved evaluation accuracy but had limited impact on trust, while plan refinement showed potential for increasing trust without significantly enhancing evaluation accuracy.
SecureGaze: Defending Gaze Estimation Against Backdoor Attacks
Venue: arXiv cs.CV 2025
Year: 2025

Gaze estimation models are widely used in applications such as driver attention monitoring and human-computer interaction. While many methods for gaze estimation exist, they rely heavily on data-hungry deep learning to achieve high performance. This reliance often forces practitioners to harvest training data from unverified public datasets, outsource model training, or rely on pre-trained models. However, such practices expose gaze estimation models to backdoor attacks. In such attacks, adversaries inject backdoor triggers by poisoning the training data, creating a backdoor vulnerability: the model performs normally with benign inputs, but produces manipulated gaze directions when a specific trigger is present. This compromises the security of many gaze-based applications, such as causing the model to fail in tracking the driver's attention. To date, there is no defense that addresses backdoor attacks on gaze estimation models. In response, we introduce SecureGaze, the first solution designed to protect gaze estimation models from such attacks. Unlike classification models, defending gaze estimation poses unique challenges due to its continuous output space and globally activated backdoor behavior. By identifying distinctive characteristics of backdoored gaze estimation models, we develop a novel and effective approach to reverse-engineer the trigger function for reliable backdoor detection. Extensive evaluations in both digital and physical worlds demonstrate that SecureGaze effectively counters a range of backdoor attacks and outperforms seven state-of-the-art defenses adapted from classification models.
Expertise Is What We Want
Venue: arXiv cs.CL 2025
Year: 2025

Clinical decision-making depends on expert reasoning, which is guided by standardized, evidence-based guidelines. However, translating these guidelines into automated clinical decision support systems risks inaccuracy and importantly, loss of nuance. We share an application architecture, the Large Language Expert (LLE), that combines the flexibility and power of Large Language Models (LLMs) with the interpretability, explainability, and reliability of Expert Systems. LLMs help address key challenges of Expert Systems, such as integrating and codifying knowledge, and data normalization. Conversely, an Expert System-like approach helps overcome challenges with LLMs, including hallucinations, atomic and inexpensive updates, and testability. To highlight the power of the Large Language Expert (LLE) system, we built an LLE to assist with the workup of patients newly diagnosed with cancer. Timely initiation of cancer treatment is critical for optimal patient outcomes. However, increasing complexity in diagnostic recommendations has made it difficult for primary care physicians to ensure their patients have completed the necessary workup before their first visit with an oncologist. As with many real-world clinical tasks, these workups require the analysis of unstructured health records and the application of nuanced clinical decision logic. In this study, we describe the design & evaluation of an LLE system built to rapidly identify and suggest the correct diagnostic workup. The system demonstrated a high degree of clinical-level accuracy (>95%) and effectively addressed gaps identified in real-world data from breast and colon cancer patients at a large academic center.
Topology Optimization for Multi-Axis Additive Manufacturing Considering Overhang and Anisotropy
Venue: arXiv cs.CE 2025
Year: 2025

Topology optimization produces designs with intricate geometries and complex topologies that require advanced manufacturing techniques such as additive manufacturing (AM). However, insufficient consideration of manufacturability during the optimization process often results in design modifications that compromise the optimality of the design. While multi-axis AM enhances manufacturability by enabling flexible material deposition in multiple orientations, challenges remain in addressing overhang structures, potential collisions, and material anisotropy caused by varying build orientations. To overcome these limitations, this study proposes a novel space-time topology optimization framework for multi-axis AM. The framework employs a pseudo-time field as a design variable to represent the fabrication sequence, simultaneously optimizing the density distribution and build orientations. This approach ensures that the overhang angles remain within manufacturable limits while also mitigating collisions. Moreover, by incorporating material anisotropy induced by diverse build orientations into the design process, the framework can take the scan path-dependent structural behaviors into account during the design optimization. Numerical examples demonstrate that the proposed framework effectively derives feasible and optimal designs that account for the manufacturing characteristics of multi-axis AM.
Trajectory-to-Action Pipeline (TAP): Automated Scenario Description Extraction for Autonomous Vehicle Behavior Comparison
Venue: arXiv cs.RO 2025
Year: 2025

Scenario Description Languages (SDLs) provide structured, interpretable embeddings that represent traffic scenarios encountered by autonomous vehicles (AVs), supporting key tasks such as scenario similarity searches and edge case detection for safety analysis. This paper introduces the Trajectory-to-Action Pipeline (TAP), a scalable and automated method for extracting SDL labels from large trajectory datasets. TAP applies a rules-based cross-entropy optimization approach to learn parameters directly from data, enhancing generalization across diverse driving contexts. Using the Waymo Open Motion Dataset (WOMD), TAP achieves 30% greater precision than Average Displacement Error (ADE) and 24% over Dynamic Time Warping (DTW) in identifying behaviorally similar trajectories. Additionally, TAP enables automated detection of unique driving behaviors, streamlining safety evaluation processes for AV testing. This work provides a foundation for scalable scenario-based AV behavior analysis, with potential extensions for integrating multi-agent contexts.
The entropy profiles of a definable set over finite fields
Venue: arXiv cs.IT 2025
Year: 2025

A definable set $X$ in the first-order language of rings defines a family of random vectors: for each finite field $\mathbb{F}_q$, let the distribution be supported and uniform on the $\mathbb{F}_q$-rational points of $X$. We employ results from the model theory of finite fields to show that their entropy profiles settle into one of finitely many stable asymptotic behaviors as $q$ grows. The attainable asymptotic entropy profiles and their dominant terms as functions of $q$ are computable. This generalizes a construction of Matúš which gives an information-theoretic interpretation to algebraic matroids.
Bridging the Creativity Understanding Gap: Small-Scale Human Alignment Enables Expert-Level Humor Ranking in LLMs
Venue: arXiv cs.CL 2025
Year: 2025

Large Language Models (LLMs) have shown significant limitations in understanding creative content, as demonstrated by Hessel et al. (2023)'s influential work on the New Yorker Cartoon Caption Contest (NYCCC). Their study exposed a substantial gap between LLMs and humans in humor comprehension, establishing that understanding and evaluating creative content is key challenge in AI development. We revisit this challenge by decomposing humor understanding into three components and systematically improve each: enhancing visual understanding through improved annotation, utilizing LLM-generated humor reasoning and explanations, and implementing targeted alignment with human preference data. Our refined approach achieves 82.4% accuracy in caption ranking, singificantly improving upon the previous 67% benchmark and matching the performance of world-renowned human experts in this domain. Notably, while attempts to mimic subgroup preferences through various persona prompts showed minimal impact, model finetuning with crowd preferences proved remarkably effective. These findings reveal that LLM limitations in creative judgment can be effectively addressed through focused alignment to specific subgroups and individuals. Lastly, we propose the position that achieving artificial general intelligence necessitates systematic collection of human preference data across creative domains. We advocate that just as human creativity is deeply influenced by individual and cultural preferences, training LLMs with diverse human preference data may be essential for developing true creative understanding.
Evaluating the long-term viability of eye-tracking for continuous authentication in virtual reality
Venue: arXiv cs.CR 2025
Year: 2025

Traditional authentication methods, such as passwords and biometrics, verify a user's identity only at the start of a session, leaving systems vulnerable to session hijacking. Continuous authentication, however, ensures ongoing verification by monitoring user behavior. This study investigates the long-term feasibility of eye-tracking as a behavioral biometric for continuous authentication in virtual reality (VR) environments, using data from the GazebaseVR dataset. Our approach evaluates three architectures, Transformer Encoder, DenseNet, and XGBoost, on short and long-term data to determine their efficacy in user identification tasks. Initial results indicate that both Transformer Encoder and DenseNet models achieve high accuracy rates of up to 97% in short-term settings, effectively capturing unique gaze patterns. However, when tested on data collected 26 months later, model accuracy declined significantly, with rates as low as 1.78% for some tasks. To address this, we propose periodic model updates incorporating recent data, restoring accuracy to over 95%. These findings highlight the adaptability required for gaze-based continuous authentication systems and underscore the need for model retraining to manage evolving user behavior. Our study provides insights into the efficacy and limitations of eye-tracking as a biometric for VR authentication, paving the way for adaptive, secure VR user experiences.
Selfish Mining under General Stochastic Rewards
Venue: arXiv cs.GT 2025
Year: 2025

Selfish miners selectively withhold blocks to earn disproportionately high revenue. The vast majority of the selfish mining literature focuses exclusively on block rewards. Carlsten et al. [2016] is a notable exception, observing that similar strategic behavior is profitable in a zero-block-reward regime (the endgame for Bitcoin's quadrennial halving schedule) if miners are compensated with transaction fees alone. Neither model fully captures miner incentives today. The block reward remains 3.125 BTC, yet some blocks yield significantly higher revenue. For example, congestion during the launch of the Babylon protocol in August 2024 caused transaction fees to spike to 9.52 BTC. Our results are both practical and theoretical. Of practical interest, we study selfish mining profitability under a combined reward function that more accurately models miner incentives. This analysis enables us to make quantitative claims about protocol risk (e.g., the mining power at which a selfish strategy becomes profitable is reduced by 22% when optimizing over the combined reward function versus block rewards alone) and qualitative observations (e.g., a miner considering both block rewards and transaction fees will mine more or less aggressively respectively). These practical results follow from our novel model and methodology, which constitute our theoretical contributions. We model general, time-accruing stochastic rewards, which requires explicit treatment of difficult adjustment and randomness; we characterize reward function structure through a set of properties (e.g., that rewards accrue only as a function of time). We present a new methodology to analytically calculate expected selfish miner rewards under a broad class of stochastic reward functions and validate our method numerically by comparing it with the existing literature and simulating the combined reward sources directly.