OpenRaiser/Intern-Atlas huggingface dataset:
Improving Robotic Manipulation: Techniques for Object Pose Estimation, Accommodating Positional Uncertainty, and Disassembly Tasks from Examples
Venue: arXiv cs.RO 2025
Year: 2025

To use robots in more unstructured environments, we have to accommodate for more complexities. Robotic systems need more awareness of the environment to adapt to uncertainty and variability. Although cameras have been predominantly used in robotic tasks, the limitations that come with them, such as occlusion, visibility and breadth of information, have diverted some focus to tactile sensing. In this thesis, we explore the use of tactile sensing to determine the pose of the object using the temporal features. We then use reinforcement learning with tactile collisions to reduce the number of attempts required to grasp an object resulting from positional uncertainty from camera estimates. Finally, we use information provided by these tactile sensors to a reinforcement learning agent to determine the trajectory to take to remove an object from a restricted passage while reducing training time by pertaining from human examples.
Mechanisms to Verify International Agreements About AI Development
Venue: arXiv cs.CY 2025
Year: 2025

International agreements about AI development may be required to reduce catastrophic risks from advanced AI systems. However, agreements about such a high-stakes technology must be backed by verification mechanisms--processes or tools that give one party greater confidence that another is following the agreed-upon rules, typically by detecting violations. This report gives an overview of potential verification approaches for three example policy goals, aiming to demonstrate how countries could practically verify claims about each other's AI development and deployment. The focus is on international agreements and state-involved AI development, but these approaches could also be applied to domestic regulation of companies. While many of the ideal solutions for verification are not yet technologically feasible, we emphasize that increased access (e.g., physical inspections of data centers) can often substitute for these technical approaches. Therefore, we remain hopeful that significant political will could enable ambitious international coordination, with strong verification mechanisms, to reduce catastrophic AI risks.
Fair Contracts in Principal-Agent Games with Heterogeneous Types
Venue: arXiv cs.GT 2025
Year: 2025

Fairness is desirable yet challenging to achieve within multi-agent systems, especially when agents differ in latent traits that affect their abilities. This hidden heterogeneity often leads to unequal distributions of wealth, even when agents operate under the same rules. Motivated by real-world examples, we propose a framework based on repeated principal-agent games, where a principal, who also can be seen as a player of the game, learns to offer adaptive contracts to agents. By leveraging a simple yet powerful contract structure, we show that a fairness-aware principal can learn homogeneous linear contracts that equalize outcomes across agents in a sequential social dilemma. Importantly, this fairness does not come at the cost of efficiency: our results demonstrate that it is possible to promote equity and stability in the system while preserving overall performance.
Entropy-Driven Pre-Tokenization for Byte-Pair Encoding
Venue: arXiv cs.CL 2025
Year: 2025

Byte-Pair Encoding (BPE) has become a widely adopted subword tokenization method in modern language models due to its simplicity and strong empirical performance across downstream tasks. However, applying BPE to unsegmented languages such as Chinese presents significant challenges, as its frequency-driven merge operation is agnostic to linguistic boundaries. To address this, we propose two entropy-informed pre-tokenization strategies that guide BPE segmentation using unsupervised information-theoretic cues. The first approach uses pointwise mutual information and left/right entropy to identify coherent character spans, while the second leverages predictive entropy derived from a pretrained GPT-2 model to detect boundary uncertainty. We evaluate both methods on a subset of the PKU dataset and demonstrate substantial improvements in segmentation precision, recall, and F1 score compared to standard BPE. Our results suggest that entropy-guided pre-tokenization not only enhances alignment with gold-standard linguistic units but also offers a promising direction for improving tokenization quality in low-resource and multilingual settings.
SNPeek: Side-Channel Analysis for Privacy Applications on Confidential VMs
Venue: arXiv cs.CR 2025
Year: 2025

Confidential virtual machines (CVMs) based on trusted execution environments (TEEs) enable new privacy-preserving solutions. Yet, they leave side-channel leakage outside their threat model, shifting the responsibility of mitigating such attacks to developers. However, mitigations are either not generic or too slow for practical use, and developers currently lack a systematic, efficient way to measure and compare leakage across real-world deployments. In this paper, we present SNPeek, an open-source toolkit that offers configurable side-channel tracing primitives on production AMD SEV-SNP hardware and couples them with statistical and machine-learning-based analysis pipelines for automated leakage estimation. We apply SNPeek to three representative workloads that are deployed on CVMs to enhance user privacy-private information retrieval, private heavy hitters, and Wasm user-defined functions-and uncover previously unnoticed leaks, including a covert channel that exfiltrates data at 497 kbit/s. The results show that SNPeek pinpoints vulnerabilities and guides low-overhead mitigations based on oblivious memory and differential privacy, giving practitioners a practical path to deploy CVMs with meaningful confidentiality guarantees.
LazyEviction: Lagged KV Eviction with Attention Pattern Observation for Efficient Long Reasoning
Venue: arXiv cs.LG 2025
Year: 2025

Large Language Models (LLMs) exhibit enhanced capabilities by Chain-of-Thought reasoning. However, the extended reasoning sequences introduce significant GPU memory overhead due to increased key-value (KV) cache. Existing KV cache compression methods mitigate memory bottlenecks but struggle in long reasoning tasks. In this paper, we analyze attention patterns in reasoning tasks and reveal a Token Importance Recurrence phenomenon: a large proportion of tokens regain high attention after multiple decoding steps, which is failed to capture by existing works and may lead to unpredictable eviction on such periodically critical tokens. To address this, we propose LazyEviction, an observation window-based lagged eviction framework retaining latent recurring tokens by prioritized eviction based on tokens' recurrence patterns. Extensive experiments demonstrate that LazyEviction reduces KV cache by 50%~70% while maintaining comparable accuracy, outperforming existing KV cache compression baselines. Our implementation code can be found at https://github.com/Halo-949/LazyEviction.
Towards Classifying Histopathological Microscope Images as Time Series Data
Venue: arXiv cs.CV 2025
Year: 2025

As the frontline data for cancer diagnosis, microscopic pathology images are fundamental for providing patients with rapid and accurate treatment. However, despite their practical value, the deep learning community has largely overlooked their usage. This paper proposes a novel approach to classifying microscopy images as time series data, addressing the unique challenges posed by their manual acquisition and weakly labeled nature. The proposed method fits image sequences of varying lengths to a fixed-length target by leveraging Dynamic Time-series Warping (DTW). Attention-based pooling is employed to predict the class of the case simultaneously. We demonstrate the effectiveness of our approach by comparing performance with various baselines and showcasing the benefits of using various inference strategies in achieving stable and reliable results. Ablation studies further validate the contribution of each component. Our approach contributes to medical image analysis by not only embracing microscopic images but also lifting them to a trustworthy level of performance.
Profile-Guided Temporal Prefetching
Venue: arXiv cs.AR 2025
Year: 2025

Temporal prefetching shows promise for handling irregular memory access patterns, which are common in data-dependent and pointer-based data structures. Recent studies introduced on-chip metadata storage to reduce the memory traffic caused by accessing metadata from off-chip DRAM. However, existing prefetching schemes struggle to efficiently utilize the limited on-chip storage. An alternative solution, software indirect access prefetching, remains ineffective for optimizing temporal prefetching. In this work, we propose Prophet--a hardware-software co-designed framework that leverages profile-guided methods to optimize metadata storage management. Prophet profiles programs using counters instead of traces, injects hints into programs to guide metadata storage management, and dynamically tunes these hints to enable the optimized binary to adapt to different program inputs. Prophet is designed to coexist with existing hardware temporal prefetchers, delivering efficient, high-performance solutions for frequently executed workloads while preserving the original runtime scheme for less frequently executed workloads. Prophet outperforms the state-of-the-art temporal prefetcher, Triangel, by 14.23%, effectively addressing complex temporal patterns where prior profile-guided solutions fall short (only achieving 0.1% performance gain). Prophet delivers superior performance across all evaluated workload inputs, introducing negligible profiling, analysis, and instruction overhead.
Empowering Graph-based Approximate Nearest Neighbor Search with Adaptive Awareness Capabilities
Venue: arXiv cs.DB 2025
Year: 2025

Approximate Nearest Neighbor Search (ANNS) in high-dimensional spaces finds extensive applications in databases, information retrieval, recommender systems, etc. While graph-based methods have emerged as the leading solution for ANNS due to their superior query performance, they still face several challenges, such as struggling with local optima and redundant computations. These issues arise because existing methods (i) fail to fully exploit the topological information underlying the proximity graph G, and (ii) suffer from severe distribution mismatches between the base data and queries in practice. To this end, this paper proposes GATE, high-tier proximity Graph with Adaptive Topology and Query AwarEness, as a lightweight and adaptive module atop the graph-based indexes to accelerate ANNS. Specifically, GATE formulates the critical problem to identify an optimal entry point in the proximity graph for a given query, facilitating faster online search. By leveraging the inherent clusterability of high-dimensional data, GATE first extracts a small set of hub nodes V as candidate entry points. Then, resorting to a contrastive learning-based two-tower model, GATE encodes both the structural semantics underlying G and the query-relevant features into the latent representations of these hub nodes V. A navigation graph index on V is further constructed to minimize the model inference overhead. Extensive experiments demonstrate that GATE achieves a 1.2-2.0X speed-up in query performance compared to state-of-the-art graph-based indexes.
Efficient Blockchain-based Steganography via Backcalculating Generative Adversarial Network
Venue: arXiv cs.CR 2025
Year: 2025

Blockchain-based steganography enables data hiding via encoding the covert data into a specific blockchain transaction field. However, previous works focus on the specific field-embedding methods while lacking a consideration on required field-generation embedding. In this paper, we propose a generic blockchain-based steganography framework (GBSF). The sender generates the required fields such as amount and fees, where the additional covert data is embedded to enhance the channel capacity. Based on GBSF, we design a reversible generative adversarial network (R-GAN) that utilizes the generative adversarial network with a reversible generator to generate the required fields and encode additional covert data into the input noise of the reversible generator. We then explore the performance flaw of R-GAN. To further improve the performance, we propose R-GAN with Counter-intuitive data preprocessing and Custom activation functions, namely CCR-GAN. The counter-intuitive data preprocessing (CIDP) mechanism is used to reduce decoding errors in covert data, while it incurs gradient explosion for model convergence. The custom activation function named ClipSigmoid is devised to overcome the problem. Theoretical justification for CIDP and ClipSigmoid is also provided. We also develop a mechanism named T2C, which balances capacity and concealment. We conduct experiments using the transaction amount of the Bitcoin mainnet as the required field to verify the feasibility. We then apply the proposed schemes to other transaction fields and blockchains to demonstrate the scalability. Finally, we evaluate capacity and concealment for various blockchains and transaction fields and explore the trade-off between capacity and concealment. The results demonstrate that R-GAN and CCR-GAN are able to enhance the channel capacity effectively and outperform state-of-the-art works.
Self-Critique-Guided Curiosity Refinement: Enhancing Honesty and Helpfulness in Large Language Models via In-Context Learning
Venue: arXiv cs.CL 2025
Year: 2025

Large language models (LLMs) have demonstrated robust capabilities across various natural language tasks. However, producing outputs that are consistently honest and helpful remains an open challenge. To overcome this challenge, this paper tackles the problem through two complementary directions. It conducts a comprehensive benchmark evaluation of ten widely used large language models, including both proprietary and open-weight models from OpenAI, Meta, and Google. In parallel, it proposes a novel prompting strategy, self-critique-guided curiosity refinement prompting. The key idea behind this strategy is enabling models to self-critique and refine their responses without additional training. The proposed method extends the curiosity-driven prompting strategy by incorporating two lightweight in-context steps including self-critique step and refinement step. The experiment results on the HONESET dataset evaluated using the framework $\mathrm{H}^2$ (honesty and helpfulness), which was executed with GPT-4o as a judge of honesty and helpfulness, show consistent improvements across all models. The approach reduces the number of poor-quality responses, increases high-quality responses, and achieves relative gains in $\mathrm{H}^2$ scores ranging from 1.4% to 4.3% compared to curiosity-driven prompting across evaluated models. These results highlight the effectiveness of structured self-refinement as a scalable and training-free strategy to improve the trustworthiness of LLMs outputs.
A Brain-to-Population Graph Learning Framework for Diagnosing Brain Disorders
Venue: arXiv cs.LG 2025
Year: 2025

Recent developed graph-based methods for diagnosing brain disorders using functional connectivity highly rely on predefined brain atlases, but overlook the rich information embedded within atlases and the confounding effects of site and phenotype variability. To address these challenges, we propose a two-stage Brain-to-Population Graph Learning (B2P-GL) framework that integrates the semantic similarity of brain regions and condition-based population graph modeling. In the first stage, termed brain representation learning, we leverage brain atlas knowledge from GPT-4 to enrich the graph representation and refine the brain graph through an adaptive node reassignment graph attention network. In the second stage, termed population disorder diagnosis, phenotypic data is incorporated into population graph construction and feature fusion to mitigate confounding effects and enhance diagnosis performance. Experiments on the ABIDE I, ADHD-200, and Rest-meta-MDD datasets show that B2P-GL outperforms state-of-the-art methods in prediction accuracy while enhancing interpretability. Overall, our proposed framework offers a reliable and personalized approach to brain disorder diagnosis, advancing clinical applicability.
Seeing is Fixing: Cross-Modal Reasoning with Multimodal LLMs for Visual Software Issue Fixing
Venue: arXiv cs.SE 2025
Year: 2025

Large language model-(LLM) based automated program repair (APR) techniques have shown promising results in resolving real-world GitHub issue tasks. Existing APR systems are primarily evaluated in unimodal settings (e.g., SWE-bench). However, these autonomous systems struggle to resolve multimodal problem scenarios (e.g., SWE-bench M) due to limitations in interpreting and leveraging visual information. In multimodal scenarios, LLMs need to rely on visual information in the graphical user interface (GUI) to understand bugs and generate fixes. To bridge this gap, we propose GUIRepair, a cross-modal reasoning approach for resolving multimodal issue scenarios by understanding and capturing visual information. Specifically, GUIRepair integrates two key components, Image2Code and Code2Image, to enhance fault comprehension and patch validation. Image2Code extracts relevant project documents based on the issue report, then applies this domain knowledge to generate the reproduced code responsible for the visual symptoms, effectively translating GUI images into executable context for better fault comprehension. Code2Image replays the visual issue scenario using the reproduced code and captures GUI renderings of the patched program to assess whether the fix visually resolves the issue, providing feedback for patch validation. We evaluate GUIRepair on SWE-bench M, and the approach demonstrates significant effectiveness. When utilizing GPT-4o as the base model, GUIRepair solves 157 instances, outperforming the best open-source baseline by 26 instances. Furthermore, when using o4-mini as the base model, GUIRepair can achieve even better results and solve 175 instances, outperforming the top commercial system by 22 instances. This emphasizes the success of our new perspective on incorporating cross-modal reasoning by understanding and capturing visual information to resolve multimodal issues.
Neural Prioritisation for Web Crawling
Venue: arXiv cs.IR 2025
Year: 2025

Given the vast scale of the Web, crawling prioritisation techniques based on link graph traversal, popularity, link analysis, and textual content are frequently applied to surface documents that are most likely to be valuable. While existing techniques are effective for keyword-based search, both retrieval methods and user search behaviours are shifting from keyword-based matching to natural language semantic matching. The remarkable success of applying semantic matching and quality signals during ranking leads us to hypothesize that crawling could be improved by prioritizing Web pages with high semantic quality. To investigate this, we propose a semantic quality-driven prioritisation technique to enhance the effectiveness of crawling and align the crawler behaviour with recent shift towards natural language search. We embed semantic understanding directly into the crawling process -- leveraging recent neural semantic quality estimators to prioritise the crawling frontier -- with the goal of surfacing content that is semantically rich and valuable for modern search needs. Our experiments on the English subset of ClueWeb22-B and the Researchy Questions query set show that, compared to existing crawling techniques, neural crawling policies significantly improve harvest rate, maxNDCG, and search effectiveness during the early stages of crawling. Meanwhile, crawlers based on our proposed neural policies maintain comparable search performance on keyword queries from the MS MARCO Web Search query set. While this work does not propose a definitive and complete solution, it presents a forward-looking perspective on Web crawling and opens the door to a new line of research on leveraging semantic analysis to effectively align crawlers with the ongoing shift toward natural language search.
Hallucination Level of Artificial Intelligence Whisperer: Case Speech Recognizing Pantterinousut Rap Song
Venue: arXiv cs.LG 2025
Year: 2025

All languages are peculiar. Some of them are considered more challenging to understand than others. The Finnish Language is known to be a complex language. Also, when languages are used by artists, the pronunciation and meaning might be more tricky to understand. Therefore, we are putting AI to a fun, yet challenging trial: translating a Finnish rap song to text. We will compare the Faster Whisperer algorithm and YouTube's internal speech-to-text functionality. The reference truth will be Finnish rap lyrics, which the main author's little brother, Mc Timo, has written. Transcribing the lyrics will be challenging because the artist raps over synth music player by Syntikka Janne. The hallucination level and mishearing of AI speech-to-text extractions will be measured by comparing errors made against the original Finnish lyrics. The error function is informal but still works for our case.
VideoGAN-based Trajectory Proposal for Automated Vehicles
Venue: arXiv cs.CV 2025
Year: 2025

Being able to generate realistic trajectory options is at the core of increasing the degree of automation of road vehicles. While model-driven, rule-based, and classical learning-based methods are widely used to tackle these tasks at present, they can struggle to effectively capture the complex, multimodal distributions of future trajectories. In this paper we investigate whether a generative adversarial network (GAN) trained on videos of bird's-eye view (BEV) traffic scenarios can generate statistically accurate trajectories that correctly capture spatial relationships between the agents. To this end, we propose a pipeline that uses low-resolution BEV occupancy grid videos as training data for a video generative model. From the generated videos of traffic scenarios we extract abstract trajectory data using single-frame object detection and frame-to-frame object matching. We particularly choose a GAN architecture for the fast training and inference times with respect to diffusion models. We obtain our best results within 100 GPU hours of training, with inference times under 20\,ms. We demonstrate the physical realism of the proposed trajectories in terms of distribution alignment of spatial and dynamic parameters with respect to the ground truth videos from the Waymo Open Motion Dataset.
ControlVLA: Few-shot Object-centric Adaptation for Pre-trained Vision-Language-Action Models
Venue: arXiv cs.RO 2025
Year: 2025

Learning real-world robotic manipulation is challenging, particularly when limited demonstrations are available. Existing methods for few-shot manipulation often rely on simulation-augmented data or pre-built modules like grasping and pose estimation, which struggle with sim-to-real gaps and lack extensibility. While large-scale imitation pre-training shows promise, adapting these general-purpose policies to specific tasks in data-scarce settings remains unexplored. To achieve this, we propose ControlVLA, a novel framework that bridges pre-trained VLA models with object-centric representations via a ControlNet-style architecture for efficient fine-tuning. Specifically, to introduce object-centric conditions without overwriting prior knowledge, ControlVLA zero-initializes a set of projection layers, allowing them to gradually adapt the pre-trained manipulation policies. In real-world experiments across 6 diverse tasks, including pouring cubes and folding clothes, our method achieves a 76.7% success rate while requiring only 10-20 demonstrations -- a significant improvement over traditional approaches that require more than 100 demonstrations to achieve comparable success. Additional experiments highlight ControlVLA's extensibility to long-horizon tasks and robustness to unseen objects and backgrounds.