OpenRaiser/Intern-Atlas huggingface dataset:
Identity Management for Agentic AI: The new frontier of authorization, authentication, and security for an AI agent world
Venue: arXiv cs.CR 2025
Year: 2025

The rapid rise of AI agents presents urgent challenges in authentication, authorization, and identity management. Current agent-centric protocols (like MCP) highlight the demand for clarified best practices in authentication and authorization. Looking ahead, ambitions for highly autonomous agents raise complex long-term questions regarding scalable access control, agent-centric identities, AI workload differentiation, and delegated authority. This OpenID Foundation whitepaper is for stakeholders at the intersection of AI agents and access management. It outlines the resources already available for securing today's agents and presents a strategic agenda to address the foundational authentication, authorization, and identity problems pivotal for tomorrow's widespread autonomous systems.
Topology-Aware Active Learning on Graphs
Venue: arXiv cs.LG 2025
Year: 2025

We propose a graph-topological approach to active learning that directly targets the core challenge of exploration versus exploitation under scarce label budgets. To guide exploration, we introduce a coreset construction algorithm based on Balanced Forman Curvature (BFC), which selects representative initial labels that reflect the graph's cluster structure. This method includes a data-driven stopping criterion that signals when the graph has been sufficiently explored. We further use BFC to dynamically trigger the shift from exploration to exploitation within active learning routines, replacing hand-tuned heuristics. To improve exploitation, we introduce a localized graph rewiring strategy that efficiently incorporates multiscale information around labeled nodes, enhancing label propagation while preserving sparsity. Experiments on benchmark classification tasks show that our methods consistently outperform existing graph-based semi-supervised baselines at low label rates.
Revisiting Multilingual Data Mixtures in Language Model Pretraining
Venue: arXiv cs.CL 2025
Year: 2025

The impact of different multilingual data mixtures in pretraining large language models (LLMs) has been a topic of ongoing debate, often raising concerns about potential trade-offs between language coverage and model performance (i.e., the curse of multilinguality). In this work, we investigate these assumptions by training 1.1B and 3B parameter LLMs on diverse multilingual corpora, varying the number of languages from 25 to 400. Our study challenges common beliefs surrounding multilingual training. First, we find that combining English and multilingual data does not necessarily degrade the in-language performance of either group, provided that languages have a sufficient number of tokens included in the pretraining corpus. Second, we observe that using English as a pivot language (i.e., a high-resource language that serves as a catalyst for multilingual generalization) yields benefits across language families, and contrary to expectations, selecting a pivot language from within a specific family does not consistently improve performance for languages within that family. Lastly, we do not observe a significant "curse of multilinguality" as the number of training languages increases in models at this scale. Our findings suggest that multilingual data, when balanced appropriately, can enhance language model capabilities without compromising performance, even in low-resource settings
Semantic Label Drift in Cross-Cultural Translation
Venue: arXiv cs.CL 2025
Year: 2025

Machine Translation (MT) is widely employed to address resource scarcity in low-resource languages by generating synthetic data from high-resource counterparts. While sentiment preservation in translation has long been studied, a critical but underexplored factor is the role of cultural alignment between source and target languages. In this paper, we hypothesize that semantic labels are drifted or altered during MT due to cultural divergence. Through a series of experiments across culturally sensitive and neutral domains, we establish three key findings: (1) MT systems, including modern Large Language Models (LLMs), induce label drift during translation, particularly in culturally sensitive domains; (2) unlike earlier statistical MT tools, LLMs encode cultural knowledge, and leveraging this knowledge can amplify label drift; and (3) cultural similarity or dissimilarity between source and target languages is a crucial determinant of label preservation. Our findings highlight that neglecting cultural factors in MT not only undermines label fidelity but also risks misinterpretation and cultural conflict in downstream applications.
A New Type of Axis-Angle Attitude Control Law for Rotational Systems: Synthesis, Analysis, and Experiments
Venue: arXiv cs.RO 2025
Year: 2025

Over the past few decades, continuous quaternion-based attitude control has been proven highly effective for driving rotational systems that can be modeled as rigid bodies, such as satellites and drones. However, methods rooted in this approach do not enforce the existence of a unique closed-loop (CL) equilibrium attitude-error quaternion (AEQ); and, for rotational errors about the attitude-error Euler axis larger than πrad, their proportional-control effect diminishes as the system state moves away from the stable equilibrium of the CL rotational dynamics. In this paper, we introduce a new type of attitude control law that more effectively leverages the attitude-error Euler axis-angle information to guarantee a unique CL equilibrium AEQ and to provide greater flexibility in the use of proportional-control efforts. Furthermore, using two different control laws as examples-through the construction of a strict Lyapunov function for the CL dynamics-we demonstrate that the resulting unique equilibrium of the CL rotational system can be enforced to be uniformly asymptotically stable. To assess and demonstrate the functionality and performance of the proposed approach, we performed numerical simulations and executed dozens of real-time tumble-recovery maneuvers using a small quadrotor. These simulations and flight tests compellingly demonstrate that the proposed axis-angle-based method achieves superior flight performance-compared with that obtained using a high-performance quaternion-based controller-in terms of stabilization time.
Fine-tuning Segment Anything for Real-Time Tumor Tracking in Cine-MRI
Venue: arXiv cs.CV 2025
Year: 2025

In this work, we address the TrackRAD2025 challenge of real-time tumor tracking in cine-MRI sequences of the thoracic and abdominal regions under strong data scarcity constraints. Two complementary strategies were explored: (i) unsupervised registration with the IMPACT similarity metric and (ii) foundation model-based segmentation leveraging SAM 2.1 and its recent variants through prompt-based interaction. Due to the one-second runtime constraint, the SAM-based method was ultimately selected. The final configuration used SAM2.1 b+ with mask-based prompts from the first annotated slice, fine-tuned solely on the small labeled subset from TrackRAD2025. Training was configured to minimize overfitting, using 1024x1024 patches (batch size 1), standard augmentations, and a balanced Dice + IoU loss. A low uniform learning rate (0.0001) was applied to all modules (prompt encoder, decoder, Hiera backbone) to preserve generalization while adapting to annotator-specific styles. Training lasted 300 epochs (~12h on RTX A6000, 48GB). The same inference strategy was consistently applied across all anatomical sites and MRI field strengths. Test-time augmentation was considered but ultimately discarded due to negligible performance gains. The final model was selected based on the highest Dice Similarity Coefficient achieved on the validation set after fine-tuning. On the hidden test set, the model reached a Dice score of 0.8794, ranking 6th overall in the TrackRAD2025 challenge. These results highlight the strong potential of foundation models for accurate and real-time tumor tracking in MRI-guided radiotherapy.
Message Recovery Attack in NTRU via Knapsack
Venue: arXiv cs.CR 2025
Year: 2025

In the present paper, we introduce a message-recovery attack based on the Modular Knapsack Problem, applicable to all variants of the NTRU-HPS cryptosystem. Assuming that a fraction $ε$ of the coefficients of the message ${\bf{m}}\in\{-1,0,1\}^N$ and of the nonce vector ${\bf r}\in\{-1,0,1\}^N$ are known in advance at random positions, we reduce message decryption to finding a short vector in a lattice that encodes an instance of a modular knapsack system. This allows us to address a key question: how much information about ${\bf m}$, or about the pair $({\bf m},{\bf r})$, is required before recovery becomes feasible? A FLATTER reduction successfully recovers the message, in practice when $ε\approx 0.45$. Our implementation finds ${\bf m}$ within a few minutes on a commodity desktop.
PORTool: Tool-Use LLM Training with Rewarded Tree
Venue: arXiv cs.CL 2025
Year: 2025

Current tool-use large language models (LLMs) are trained on static datasets, enabling them to interact with external tools and perform multi-step, tool-integrated reasoning, which produces tool-call trajectories. However, these models imitate how a query is resolved in a generic tool-call routine, thereby failing to explore possible solutions and demonstrating limited performance in an evolved, dynamic tool-call environment. In this work, we propose PORTool, a reinforcement learning (RL) method that encourages a tool-use LLM to explore various trajectories yielding the correct answer. Specifically, this method starts with generating multiple rollouts for a given query, and some of them share the first few tool-call steps, thereby forming a tree-like structure. Next, we assign rewards to each step, based on its ability to produce a correct answer and make successful tool calls. A shared step across different trajectories receives the same reward, while different steps under the same fork receive different rewards. Finally, these step-wise rewards are used to calculate fork-relative advantages, blended with trajectory-relative advantages, to train the LLM for tool use. The experiments utilize 17 tools to address user queries, covering both time-sensitive and time-invariant topics. We conduct ablation studies to systematically justify the necessity and the design robustness of step-wise rewards. Furthermore, we compare the proposed PORTool with other training approaches and demonstrate significant improvements in final accuracy and the number of tool-call steps.
Morphology-Aware Graph Reinforcement Learning for Tensegrity Robot Locomotion
Venue: arXiv cs.RO 2025
Year: 2025

Tensegrity robots combine rigid rods and elastic cables, offering high resilience and deployability but posing major challenges for locomotion control due to their underactuated and highly coupled dynamics. This paper introduces a morphology-aware reinforcement learning framework that integrates a graph neural network (GNN) into the Soft Actor-Critic (SAC) algorithm. By representing the robot's physical topology as a graph, the proposed GNN-based policy captures coupling among components, enabling faster and more stable learning than conventional multilayer perceptron (MLP) policies. The method is validated on a physical 3-bar tensegrity robot across three locomotion primitives, including straight-line tracking and bidirectional turning. It shows superior sample efficiency, robustness to noise and stiffness variations, and improved trajectory accuracy. Notably, the learned policies transfer directly from simulation to hardware without fine-tuning, achieving stable real-world locomotion. These results demonstrate the advantages of incorporating structural priors into reinforcement learning for tensegrity robot control.
Signed Graph Unlearning
Venue: arXiv cs.SI 2025
Year: 2025

The proliferation of signed networks in contemporary social media platforms necessitates robust privacy-preserving mechanisms. Graph unlearning, which aims to eliminate the influence of specific data points from trained models without full retraining, becomes particularly critical in these scenarios where user interactions are sensitive and dynamic. Existing graph unlearning methodologies are exclusively designed for unsigned networks and fail to account for the unique structural properties of signed graphs. Their naive application to signed networks neglects edge sign information, leading to structural imbalance across subgraphs and consequently degrading both model performance and unlearning efficiency. This paper proposes SGU (Signed Graph Unlearning), a graph unlearning framework specifically for signed networks. SGU incorporates a new graph unlearning partition paradigm and a novel signed network partition algorithm that preserve edge sign information during partitioning and ensure structural balance across partitions. Compared with baselines, SGU achieves state-of-the-art results in both model performance and unlearning efficiency.
EgoExo-Con: Exploring View-Invariant Video Temporal Understanding
Venue: arXiv cs.CV 2025
Year: 2025

Can Video-LLMs achieve consistent temporal understanding when videos capture the same event from different viewpoints? To study this, we introduce EgoExo-Con (Consistency), a benchmark of comprehensively synchronized egocentric and exocentric video pairs with human-refined queries in natural language. EgoExo-Con emphasizes two temporal understanding tasks: Temporal Verification and Temporal Grounding. It evaluates not only correctness but consistency across viewpoints. Our analysis reveals two critical limitations of existing Video-LLMs: (1) models often fail to maintain consistency, with results far worse than their single-view performances. (2) When naively finetuned with synchronized videos of both viewpoints, the models show improved consistency but often underperform those trained on a single view. For improvements, we propose View-GRPO, a novel reinforcement learning framework that effectively strengthens view-specific temporal reasoning while encouraging consistent comprehension across viewpoints. Our method demonstrates its superiority over naive SFT and GRPO, especially for improving cross-view consistency. All resources will be made publicly available.
Embodied Intelligence for Advanced Bioinspired Microrobotics: Examples and Insights
Venue: arXiv cs.RO 2025
Year: 2025

The term embodied intelligence (EI) conveys the notion that body morphology, material properties, interaction with the environment, and control strategies can be purposefully integrated into the process of robotic design to generate intelligent behavior; in particular, locomotion and navigation. In this paper, we discuss EI as a design principle for advanced microrobotics, with a particular focus on co-design -- the simultaneous and interdependent development of physical structure and behavioral function. To illustrate the contrast between EI-inspired systems and traditional architectures that decouple sensing, computation, and actuation, we present and discuss a collection of robots developed by the author and his team at the Autonomous Microrobotic Systems Laboratory (AMSL). These robots exhibit intelligent behavior that emerges from their structural dynamics and the physical interaction between their components and with the environment. Platforms such as the Bee++, RoBeetle, SMALLBug, SMARTI, WaterStrider, VLEIBot+, and FRISSHBot exemplify how feedback loops, decision logics, sensing mechanisms, and smart actuation strategies can be embedded into the physical properties of the robotic system itself. Along these lines, we contend that co-design is not only a method for empirical optimization under constraints, but also an enabler of EI, offering a scalable and robust alternative to classical control for robotics at the mm-to-cm-scale.
FullPart: Generating each 3D Part at Full Resolution
Venue: arXiv cs.CV 2025
Year: 2025

Part-based 3D generation holds great potential for various applications. Previous part generators that represent parts using implicit vector-set tokens often suffer from insufficient geometric details. Another line of work adopts an explicit voxel representation but shares a global voxel grid among all parts; this often causes small parts to occupy too few voxels, leading to degraded quality. In this paper, we propose FullPart, a novel framework that combines both implicit and explicit paradigms. It first derives the bounding box layout through an implicit box vector-set diffusion process, a task that implicit diffusion handles effectively since box tokens contain little geometric detail. Then, it generates detailed parts, each within its own fixed full-resolution voxel grid. Instead of sharing a global low-resolution space, each part in our method - even small ones - is generated at full resolution, enabling the synthesis of intricate details. We further introduce a center-point encoding strategy to address the misalignment issue when exchanging information between parts of different actual sizes, thereby maintaining global coherence. Moreover, to tackle the scarcity of reliable part data, we present PartVerse-XL, the largest human-annotated 3D part dataset to date with 40K objects and 320K parts. Extensive experiments demonstrate that FullPart achieves state-of-the-art results in 3D part generation. We will release all code, data, and model to benefit future research in 3D part generation.
Linking Heterogeneous Data with Coordinated Agent Flows for Social Media Analysis
Venue: arXiv cs.HC 2025
Year: 2025

Social media platforms generate massive volumes of heterogeneous data, capturing user behaviors, textual content, temporal dynamics, and network structures. Analyzing such data is crucial for understanding phenomena such as opinion dynamics, community formation, and information diffusion. However, discovering insights from this complex landscape is exploratory, conceptually challenging, and requires expertise in social media mining and visualization. Existing automated approaches, though increasingly leveraging large language models (LLMs), remain largely confined to structured tabular data and cannot adequately address the heterogeneity of social media analysis. We present SIA (Social Insight Agents), an LLM agent system that links heterogeneous multi-modal data -- including raw inputs (e.g., text, network, and behavioral data), intermediate outputs, mined analytical results, and visualization artifacts -- through coordinated agent flows. Guided by a bottom-up taxonomy that connects insight types with suitable mining and visualization techniques, SIA enables agents to plan and execute coherent analysis strategies. To ensure multi-modal integration, it incorporates a data coordinator that unifies tabular, textual, and network data into a consistent flow. Its interactive interface provides a transparent workflow where users can trace, validate, and refine the agent's reasoning, supporting both adaptability and trustworthiness. Through expert-centered case studies and quantitative evaluation, we show that SIA effectively discovers diverse and meaningful insights from social media while supporting human-agent collaboration in complex analytical tasks.
MoTDiff: High-resolution Motion Trajectory estimation from a single blurred image using Diffusion models
Venue: arXiv cs.CV 2025
Year: 2025

Accurate estimation of motion information is crucial in diverse computational imaging and computer vision applications. Researchers have investigated various methods to extract motion information from a single blurred image, including blur kernels and optical flow. However, existing motion representations are often of low quality, i.e., coarse-grained and inaccurate. In this paper, we propose the first high-resolution (HR) Motion Trajectory estimation framework using Diffusion models (MoTDiff). Different from existing motion representations, we aim to estimate an HR motion trajectory with high-quality from a single motion-blurred image. The proposed MoTDiff consists of two key components: 1) a new conditional diffusion framework that uses multi-scale feature maps extracted from a single blurred image as a condition, and 2) a new training method that can promote precise identification of a fine-grained motion trajectory, consistent estimation of overall shape and position of a motion path, and pixel connectivity along a motion trajectory. Our experiments demonstrate that the proposed MoTDiff can outperform state-of-the-art methods in both blind image deblurring and coded exposure photography applications.
Confidential FRIT via Homomorphic Encryption
Venue: arXiv cs.CR 2025
Year: 2025

Edge computing alleviates the computation burden of data-driven control in cyber-physical systems (CPSs) by offloading complex processing to edge servers. However, the increasing sophistication of cyberattacks underscores the need for security measures that go beyond conventional IT protections and address the unique vulnerabilities of CPSs. This study proposes a confidential data-driven gain-tuning framework using homomorphic encryption, such as ElGamal and CKKS encryption schemes, to enhance cybersecurity in gain-tuning processes outsourced to external servers. The idea for realizing confidential FRIT is to replace the matrix inversion operation with a vector summation form, allowing homomorphic operations to be applied. Numerical examples under 128-bit security confirm performance comparable to conventional methods while providing guidelines for selecting suitable encryption schemes for secure CPS.
Accumulative SGD Influence Estimation for Data Attribution
Venue: arXiv cs.LG 2025
Year: 2025

Modern data-centric AI needs precise per-sample influence. Standard SGD-IE approximates leave-one-out effects by summing per-epoch surrogates and ignores cross-epoch compounding, which misranks critical examples. We propose ACC-SGD-IE, a trajectory-aware estimator that propagates the leave-one-out perturbation across training and updates an accumulative influence state at each step. In smooth strongly convex settings it achieves geometric error contraction and, in smooth non-convex regimes, it tightens error bounds; larger mini-batches further reduce constants. Empirically, on Adult, 20 Newsgroups, and MNIST under clean and corrupted data and both convex and non-convex training, ACC-SGD-IE yields more accurate influence estimates, especially over long epochs. For downstream data cleansing it more reliably flags noisy samples, producing models trained on ACC-SGD-IE cleaned data that outperform those cleaned with SGD-IE.