OpenRaiser/Intern-Atlas huggingface dataset:
Robotic System for Chemical Experiment Automation with Dual Demonstration of End-effector and Jig Operations
Venue: arXiv cs.RO 2025
Year: 2025

While robotic automation has demonstrated remarkable performance, such as executing hundreds of experiments continuously over several days, designing synchronized motions between the robot and experimental jigs remains challenging, especially for flexible experimental automation. This challenge stems from the fact that even minor changes in experimental conditions often require extensive reprogramming of both robot motions and jig control commands. Previous systems lack the flexibility to accommodate frequent updates, limiting their practical utility in actual laboratories. To update robotic automation systems flexibly by chemists, we propose a concept that enables the automation of experiments by utilizing dual demonstrations of robot motions and jig operations by chemists. To verify this concept, we developed a chemical-experiment-automation system consisting of jigs to assist the robot in experiments, a motion-demonstration interface, a jig-control interface, and a mobile manipulator. We validate the concept through polymer-synthesis experiments, focusing on critical liquid-handling tasks such as pipetting and dilution. The experimental results indicate high reproducibility of the demonstrated motions and robust task-success rates. This comprehensive concept not only simplifies the robot programming process for chemists but also provides a flexible and efficient solution to accommodate a wide range of experimental conditions, providing a practical framework for intuitive and adaptable robotic laboratory automation. Our project page is available at: https://sasakihikaru.github.io/Chemical-Experiment-Automation-with-Dual-Demonstration/.
Dynamic Double Space Tower
Venue: arXiv cs.CV 2025
Year: 2025

The Visual Question Answering (VQA) task requires the simultaneous understanding of image content and question semantics. However, existing methods often have difficulty handling complex reasoning scenarios due to insufficient cross-modal interaction and capturing the entity spatial relationships in the image.\cite{huang2023adaptive}\cite{liu2021comparing}\cite{guibas2021adaptive}\cite{zhang2022vsa}We studied a brand-new approach to replace the attention mechanism in order to enhance the reasoning ability of the model and its understanding of spatial relationships.Specifically, we propose a dynamic bidirectional spatial tower, which is divided into four layers to observe the image according to the principle of human gestalt vision. This naturally provides a powerful structural prior for the spatial organization between entities, enabling the model to no longer blindly search for relationships between pixels but make judgments based on more meaningful perceptual units. Change from "seeing images" to "perceiving and organizing image content".A large number of experiments have shown that our module can be used in any other multimodal model and achieve advanced results, demonstrating its potential in spatial relationship processing.Meanwhile, the multimodal visual question-answering model July trained by our method has achieved state-of-the-art results with only 3B parameters, especially on the question-answering dataset of spatial relations.
LoRA Users Beware: A Few Spurious Tokens Can Manipulate Your Finetuned Model
Venue: arXiv cs.LG 2025
Year: 2025

Large Language Models (LLMs) are commonly finetuned for a variety of use cases and domains. A common approach is to leverage Low-Rank Adaptation (LoRA) -- known to provide strong performance at low resource costs. In this study, we demonstrate that LoRA actually opens the door to short-cut vulnerabilities -- and the more resource efficient is the LoRA setup, the more vulnerable will be the finetuned model to aggressive attacks. To measure that vulnerability, we introduce Seamless Spurious Token Injection (SSTI), where we find that LoRA exclusively focuses on even just a single token that is spuriously correlated with downstream labels. In short, injection of that spurious token during finetuning ensure that the model's prediction at test-time can be manipulated on-demand. We conducted experiments across model families and datasets to evaluate the impact of SSTI during LoRA finetuning while providing possible mitigations. Our experiments conclude that none of the existing checkers and preprocessors can sanitize a dataset raising new concerns for data quality and AI safety.
Byzantine Outside, Curious Inside: Reconstructing Data Through Malicious Updates
Venue: arXiv cs.LG 2025
Year: 2025

Federated learning (FL) enables decentralized machine learning without sharing raw data, allowing multiple clients to collaboratively learn a global model. However, studies reveal that privacy leakage is possible under commonly adopted FL protocols. In particular, a server with access to client gradients can synthesize data resembling the clients' training data. In this paper, we introduce a novel threat model in FL, named the maliciously curious client, where a client manipulates its own gradients with the goal of inferring private data from peers. This attacker uniquely exploits the strength of a Byzantine adversary, traditionally aimed at undermining model robustness, and repurposes it to facilitate data reconstruction attack. We begin by formally defining this novel client-side threat model and providing a theoretical analysis that demonstrates its ability to achieve significant reconstruction success during FL training. To demonstrate its practical impact, we further develop a reconstruction algorithm that combines gradient inversion with malicious update strategies. Our analysis and experimental results reveal a critical blind spot in FL defenses: both server-side robust aggregation and client-side privacy mechanisms may fail against our proposed attack. Surprisingly, standard server- and client-side defenses designed to enhance robustness or privacy may unintentionally amplify data leakage. Compared to the baseline approach, a mistakenly used defense may instead improve the reconstructed image quality by 10-15%.
Resolve Highway Conflict in Multi-Autonomous Vehicle Controls with Local State Attention
Venue: arXiv cs.AI 2025
Year: 2025

In mixed-traffic environments, autonomous vehicles must adapt to human-controlled vehicles and other unusual driving situations. This setting can be framed as a multi-agent reinforcement learning (MARL) environment with full cooperative reward among the autonomous vehicles. While methods such as Multi-agent Proximal Policy Optimization can be effective in training MARL tasks, they often fail to resolve local conflict between agents and are unable to generalize to stochastic events. In this paper, we propose a Local State Attention module to assist the input state representation. By relying on the self-attention operator, the module is expected to compress the essential information of nearby agents to resolve the conflict in traffic situations. Utilizing a simulated highway merging scenario with the priority vehicle as the unexpected event, our approach is able to prioritize other vehicles' information to manage the merging process. The results demonstrate significant improvements in merging efficiency compared to popular baselines, especially in high-density traffic settings.
Environmental Change Detection: Toward a Practical Task of Scene Change Detection
Venue: arXiv cs.CV 2025
Year: 2025

Humans do not memorize everything. Thus, humans recognize scene changes by exploring the past images. However, available past (i.e., reference) images typically represent nearby viewpoints of the present (i.e., query) scene, rather than the identical view. Despite this practical limitation, conventional Scene Change Detection (SCD) has been formalized under an idealized setting in which reference images with matching viewpoints are available for every query. In this paper, we push this problem toward a practical task and introduce Environmental Change Detection (ECD). A key aspect of ECD is to avoid unrealistically aligned query-reference pairs and rely solely on environmental cues. Inspired by real-world practices, we provide these cues through a large-scale database of uncurated images. To address this new task, we propose a novel framework that jointly understands spatial environments and detects changes. The main idea is that matching at the same spatial locations between a query and a reference may lead to a suboptimal solution due to viewpoint misalignment and limited field-of-view (FOV) coverage. We deal with this limitation by leveraging multiple reference candidates and aggregating semantically rich representations for change detection. We evaluate our framework on three standard benchmark sets reconstructed for ECD, and significantly outperform a naive combination of state-of-the-art methods while achieving comparable performance to the oracle setting. The code will be released upon acceptance.
Composite Data Augmentations for Synthetic Image Detection Against Real-World Perturbations
Venue: arXiv cs.CV 2025
Year: 2025

The advent of accessible Generative AI tools enables anyone to create and spread synthetic images on social media, often with the intention to mislead, thus posing a significant threat to online information integrity. Most existing Synthetic Image Detection (SID) solutions struggle on generated images sourced from the Internet, as these are often altered by compression and other operations. To address this, our research enhances SID by exploring data augmentation combinations, leveraging a genetic algorithm for optimal augmentation selection, and introducing a dual-criteria optimization approach. These methods significantly improve model performance under real-world perturbations. Our findings provide valuable insights for developing detection models capable of identifying synthetic images across varying qualities and transformations, with the best-performing model achieving a mean average precision increase of +22.53% compared to models without augmentations. The implementation is available at github.com/efthimia145/sid-composite-data-augmentation.
Diabetes Prediction and Management Using Machine Learning Approaches
Venue: arXiv cs.LG 2025
Year: 2025

Diabetes has emerged as a significant global health issue, especially with the increasing number of cases in many countries. This trend Underlines the need for a greater emphasis on early detection and proactive management to avert or mitigate the severe health complications of this disease. Over recent years, machine learning algorithms have shown promising potential in predicting diabetes risk and are beneficial for practitioners. Objective: This study highlights the prediction capabilities of statistical and non-statistical machine learning methods over Diabetes risk classification in 768 samples from the Pima Indians Diabetes Database. It consists of the significant demographic and clinical features of age, body mass index (BMI) and blood glucose levels that greatly depend on the vulnerability against Diabetes. The experimentation assesses the various types of machine learning algorithms in terms of accuracy and effectiveness regarding diabetes prediction. These algorithms include Logistic Regression, Decision Tree, Random Forest, K-Nearest Neighbors, Naive Bayes, Support Vector Machine, Gradient Boosting and Neural Network Models. The results show that the Neural Network algorithm gained the highest predictive accuracy with 78,57 %, and then the Random Forest algorithm had the second position with 76,30 % accuracy. These findings show that machine learning techniques are not just highly effective. Still, they also can potentially act as early screening tools in predicting Diabetes within a data-driven fashion with valuable information on who is more likely to get affected. In addition, this study can help to realize the potential of machine learning for timely intervention over the longer term, which is a step towards reducing health outcomes and disease burden attributable to Diabetes on healthcare systems
Adaptive Tetrahedral Grids for Volumetric Path-Tracing
Venue: arXiv cs.GR 2025
Year: 2025

We advertise the use of tetrahedral grids constructed via the longest edge bisection algorithm for rendering volumetric data with path tracing. The key benefits of such grids is two-fold. First, they provide a highly adaptive space-partitioning representation that limits the memory footprint of volumetric assets. Second, each (tetrahedral) cell has exactly 4 neighbors within the volume (one per face of each tetrahedron) or less at boundaries. We leverage these properties to devise optimized algorithms and data-structures to compute and path-trace adaptive tetrahedral grids on the GPU. In practice, our GPU implementation outperforms regular grids by up to x30 and renders production assets in real time at 32 samples per pixel.
Last-Pair Swapping Polar Codes: A Structure to Improve Polarization under Finite-State Modulation
Venue: arXiv cs.IT 2025
Year: 2025

A novel structure of polar codes is proposed for finite-state modulation (FSM), in order to improve polarization under it, and approach the polarization efficiency that conventional polar codes achieve under memoryless channels. We choose a particular class of FSM for research, termed bijective FSM, and observe an explicit polarization loss under bijective FSM. To eliminate the loss, we propose a novel polar coding structure by substituting the last kernel of each layer in polar coding structure with a swapping matrix, thereby termed last-pair swapping structure. We prove that under bijective FSM the proposed structure achieves identical polarization efficiency with that of conventional one on memoryless channels, and exceeds that of conventional one under bijective FSM. Furthermore, we give a plausible generalization of last-pair swapping polar code: on a broader class termed sub-injective FSM. Simulation corroborates that under sub-injective FSM polarization efficiency of the proposed polar code exceeds that of conventional one. And simulation results of error rate are given on continuous phase modulation (CPM) with additional white Gaussian noise (AWGN) channels, showing a considerable signal-to-noise power ratio (snr) gain of last-pair swapping polar code over conventional one, and identical performances between the proposed polar code under bijective FSM and conventional one on memoryless channels.
EyeSim-VQA: A Free-Energy-Guided Eye Simulation Framework for Video Quality Assessment
Venue: arXiv cs.CV 2025
Year: 2025

Free-energy-guided self-repair mechanisms have shown promising results in image quality assessment (IQA), but remain under-explored in video quality assessment (VQA), where temporal dynamics and model constraints pose unique challenges. Unlike static images, video content exhibits richer spatiotemporal complexity, making perceptual restoration more difficult. Moreover, VQA systems often rely on pre-trained backbones, which limits the direct integration of enhancement modules without affecting model stability. To address these issues, we propose EyeSimVQA, a novel VQA framework that incorporates free-energy-based self-repair. It adopts a dual-branch architecture, with an aesthetic branch for global perceptual evaluation and a technical branch for fine-grained structural and semantic analysis. Each branch integrates specialized enhancement modules tailored to distinct visual inputs-resized full-frame images and patch-based fragments-to simulate adaptive repair behaviors. We also explore a principled strategy for incorporating high-level visual features without disrupting the original backbone. In addition, we design a biologically inspired prediction head that models sweeping gaze dynamics to better fuse global and local representations for quality prediction. Experiments on five public VQA benchmarks demonstrate that EyeSimVQA achieves competitive or superior performance compared to state-of-the-art methods, while offering improved interpretability through its biologically grounded design.
Gradients of unitary optical neural networks using parameter-shift rule
Venue: arXiv cs.ET 2025
Year: 2025

This paper explores the application of the parameter-shift rule (PSR) for computing gradients in unitary optical neural networks (UONNs). While backpropagation has been fundamental to training conventional neural networks, its implementation in optical neural networks faces significant challenges due to the physical constraints of optical systems. We demonstrate how PSR, which calculates gradients by evaluating functions at shifted parameter values, can be effectively adapted for training UONNs constructed from Mach-Zehnder interferometer meshes. The method leverages the inherent Fourier series nature of optical interference in these systems to compute exact analytical gradients directly from hardware measurements. This approach offers a promising alternative to traditional in silico training methods and circumvents the limitations of both finite difference approximations and all-optical backpropagation implementations. We present the theoretical framework and practical methodology for applying PSR to optimize phase parameters in optical neural networks, potentially advancing the development of efficient hardware-based training strategies for optical computing systems.
VFaith: Do Large Multimodal Models Really Reason on Seen Images Rather than Previous Memories?
Venue: arXiv cs.CV 2025
Year: 2025

Recent extensive works have demonstrated that by introducing long CoT, the capabilities of MLLMs to solve complex problems can be effectively enhanced. However, the reasons for the effectiveness of such paradigms remain unclear. It is challenging to analysis with quantitative results how much the model's specific extraction of visual cues and its subsequent so-called reasoning during inference process contribute to the performance improvements. Therefore, evaluating the faithfulness of MLLMs' reasoning to visual information is crucial. To address this issue, we first present a cue-driven automatic and controllable editing pipeline with the help of GPT-Image-1. It enables the automatic and precise editing of specific visual cues based on the instruction. Furthermore, we introduce VFaith-Bench, the first benchmark to evaluate MLLMs' visual reasoning capabilities and analyze the source of such capabilities with an emphasis on the visual faithfulness. Using the designed pipeline, we constructed comparative question-answer pairs by altering the visual cues in images that are crucial for solving the original reasoning problem, thereby changing the question's answer. By testing similar questions with images that have different details, the average accuracy reflects the model's visual reasoning ability, while the difference in accuracy before and after editing the test set images effectively reveals the relationship between the model's reasoning ability and visual perception. We further designed specific metrics to expose this relationship. VFaith-Bench includes 755 entries divided into five distinct subsets, along with an additional human-labeled perception task. We conducted in-depth testing and analysis of existing mainstream flagship models and prominent open-source model series/reasoning models on VFaith-Bench, further investigating the underlying factors of their reasoning capabilities.
A Comparative Analysis of Influence Signals for Data Debugging
Venue: arXiv cs.LG 2025
Year: 2025

Improving the quality of training samples is crucial for improving the reliability and performance of ML models. In this paper, we conduct a comparative evaluation of influence-based signals for debugging training data. These signals can potentially identify both mislabeled and anomalous samples from a potentially noisy training set as we build the models and hence alleviate the need for dedicated glitch detectors. Although several influence-based signals (e.g., Self-Influence, Average Absolute Influence, Marginal Influence, GD-class) have been recently proposed in the literature, there are no experimental studies for assessing their power in detecting different glitch types (e.g., mislabeled and anomalous samples) under a common influence estimator (e.g., TraceIn) for different data modalities (image and tabular), and deep learning models (trained from scratch or foundation). Through extensive experiments, we show that signals like Self-Influence effectively detect mislabeled samples, but none of the existing signals can detect anomalies. Existing signals do not take into account the training dynamics, i.e., how the samples' influence on the model changes during training, while some signals fall into influence cancellation effects, i.e., influence score is zero due to unsigned scores accumulation, resulting in misleading influence attribution.
Model Organisms for Emergent Misalignment
Venue: arXiv cs.LG 2025
Year: 2025

Recent work discovered Emergent Misalignment (EM): fine-tuning large language models on narrowly harmful datasets can lead them to become broadly misaligned. A survey of experts prior to publication revealed this was highly unexpected, demonstrating critical gaps in our understanding of model alignment. In this work, we both advance understanding and provide tools for future research. Using new narrowly misaligned datasets, we create a set of improved model organisms that achieve 99% coherence (vs. 67% prior), work with smaller 0.5B parameter models (vs. 32B), and that induce misalignment using a single rank-1 LoRA adapter. We demonstrate that EM occurs robustly across diverse model sizes, three model families, and numerous training protocols including full supervised fine-tuning. Leveraging these cleaner model organisms, we isolate a mechanistic phase transition and demonstrate that it corresponds to a robust behavioural phase transition in all studied organisms. Aligning large language models is critical for frontier AI safety, yet EM exposes how far we are from achieving this robustly. By distilling clean model organisms that isolate a minimal alignment-compromising change, and where this is learnt, we establish a foundation for future research into understanding and mitigating alignment risks in LLMs.
Convergent Linear Representations of Emergent Misalignment
Venue: arXiv cs.LG 2025
Year: 2025

Fine-tuning large language models on narrow datasets can cause them to develop broadly misaligned behaviours: a phenomena known as emergent misalignment. However, the mechanisms underlying this misalignment, and why it generalizes beyond the training domain, are poorly understood, demonstrating critical gaps in our knowledge of model alignment. In this work, we train and study a minimal model organism which uses just 9 rank-1 adapters to emergently misalign Qwen2.5-14B-Instruct. Studying this, we find that different emergently misaligned models converge to similar representations of misalignment. We demonstrate this convergence by extracting a 'misalignment direction' from one fine-tuned model's activations, and using it to effectively ablate misaligned behaviour from fine-tunes using higher dimensional LoRAs and different datasets. Leveraging the scalar hidden state of rank-1 LoRAs, we further present a set of experiments for directly interpreting the fine-tuning adapters, showing that six contribute to general misalignment, while two specialise for misalignment in just the fine-tuning domain. Emergent misalignment is a particularly salient example of undesirable and unexpected model behaviour and by advancing our understanding of the mechanisms behind it, we hope to move towards being able to better understand and mitigate misalignment more generally.