OpenRaiser/Intern-Atlas huggingface dataset:
FlightBench: Benchmarking Learning-based Methods for Ego-vision-based Quadrotors Navigation
Venue: arXiv cs.RO 2025
Year: 2025

Ego-vision-based navigation in cluttered environments is crucial for mobile systems, particularly agile quadrotors. While learning-based methods have shown promise recently, head-to-head comparisons with cutting-edge optimization-based approaches are scarce, leaving open the question of where and to what extent they truly excel. In this paper, we introduce FlightBench, the first comprehensive benchmark that implements various learning-based methods for ego-vision-based navigation and evaluates them against mainstream optimization-based baselines using a broad set of performance metrics. More importantly, we develop a suite of criteria to assess scenario difficulty and design test cases that span different levels of difficulty based on these criteria. Our results show that while learning-based methods excel in high-speed flight and faster inference, they struggle with challenging scenarios like sharp corners or view occlusion. Analytical experiments validate the correlation between our difficulty criteria and flight performance. Moreover, we verify the trend in flight performance within real-world environments through full-pipeline and hardware-in-the-loop experiments. We hope this benchmark and these criteria will drive future advancements in learning-based navigation for ego-vision quadrotors. Code and documentation are available at https://github.com/thu-uav/FlightBench.
Differentiable Discrete Elastic Rods for Real-Time Modeling of Deformable Linear Objects
Venue: arXiv cs.RO 2025
Year: 2025

This paper addresses the task of modeling Deformable Linear Objects (DLOs), such as ropes and cables, during dynamic motion over long time horizons. This task presents significant challenges due to the complex dynamics of DLOs. To address these challenges, this paper proposes differentiable Discrete Elastic Rods For deformable linear Objects with Real-time Modeling (DEFORM), a novel framework that combines a differentiable physics-based model with a learning framework to model DLOs accurately and in real-time. The performance of DEFORM is evaluated in an experimental setup involving two industrial robots and a variety of sensors. A comprehensive series of experiments demonstrate the efficacy of DEFORM in terms of accuracy, computational speed, and generalizability when compared to state-of-the-art alternatives. To further demonstrate the utility of DEFORM, this paper integrates it into a perception pipeline and illustrates its superior performance when compared to the state-of-the-art methods while tracking a DLO even in the presence of occlusions. Finally, this paper illustrates the superior performance of DEFORM when compared to state-of-the-art methods when it is applied to perform autonomous planning and control of DLOs. Project page: https://roahmlab.github.io/DEFORM/.
Siren -- Advancing Cybersecurity through Deception and Adaptive Analysis
Venue: arXiv cs.CR 2025
Year: 2025

Siren represents a pioneering research effort aimed at fortifying cybersecurity through strategic integration of deception, machine learning, and proactive threat analysis. Drawing inspiration from mythical sirens, this project employs sophisticated methods to lure potential threats into controlled environments. The system features a dynamic machine learning model for realtime analysis and classification, ensuring continuous adaptability to emerging cyber threats. The architectural framework includes a link monitoring proxy, a purpose-built machine learning model for dynamic link analysis, and a honeypot enriched with simulated user interactions to intensify threat engagement. Data protection within the honeypot is fortified with probabilistic encryption. Additionally, the incorporation of simulated user activity extends the system's capacity to capture and learn from potential attackers even after user disengagement. Overall, Siren introduces a paradigm shift in cybersecurity, transforming traditional defense mechanisms into proactive systems that actively engage and learn from potential adversaries. The research strives to enhance user protection while yielding valuable insights for ongoing refinement in response to the evolving landscape of cybersecurity threats.
Hybrid Video Anomaly Detection for Anomalous Scenarios in Autonomous Driving
Venue: arXiv cs.CV 2025
Year: 2025

In autonomous driving, the most challenging scenarios can only be detected within their temporal context. Most video anomaly detection approaches focus either on surveillance or traffic accidents, which are only a subfield of autonomous driving. We present HF$^2$-VAD$_{AD}$, a variation of the HF$^2$-VAD surveillance video anomaly detection method for autonomous driving. We learn a representation of normality from a vehicle's ego perspective and evaluate pixel-wise anomaly detections in rare and critical scenarios.
LinkQ: An LLM-Assisted Visual Interface for Knowledge Graph Question-Answering
Venue: arXiv cs.CL 2025
Year: 2025

We present LinkQ, a system that leverages a large language model (LLM) to facilitate knowledge graph (KG) query construction through natural language question-answering. Traditional approaches often require detailed knowledge of a graph querying language, limiting the ability for users -- even experts -- to acquire valuable insights from KGs. LinkQ simplifies this process by implementing a multistep protocol in which the LLM interprets a user's question, then systematically converts it into a well-formed query. LinkQ helps users iteratively refine any open-ended questions into precise ones, supporting both targeted and exploratory analysis. Further, LinkQ guards against the LLM hallucinating outputs by ensuring users' questions are only ever answered from ground truth KG data. We demonstrate the efficacy of LinkQ through a qualitative study with five KG practitioners. Our results indicate that practitioners find LinkQ effective for KG question-answering, and desire future LLM-assisted exploratory data analysis systems.
TopoBench: A Framework for Benchmarking Topological Deep Learning
Venue: arXiv cs.LG 2025
Year: 2025

This work introduces TopoBench, an open-source library designed to standardize benchmarking and accelerate research in topological deep learning (TDL). TopoBench decomposes TDL into a sequence of independent modules for data generation, loading, transforming and processing, as well as model training, optimization and evaluation. This modular organization provides flexibility for modifications and facilitates the adaptation and optimization of various TDL pipelines. A key feature of TopoBench is its support for transformations and lifting across topological domains. Mapping the topology and features of a graph to higher-order topological domains, such as simplicial and cell complexes, enables richer data representations and more fine-grained analyses. The applicability of TopoBench is demonstrated by benchmarking several TDL architectures across diverse tasks and datasets.
Long-Term Fairness Inquiries and Pursuits in Machine Learning: A Survey of Notions, Methods, and Challenges
Venue: arXiv cs.LG 2025
Year: 2025

The widespread integration of Machine Learning systems in daily life, particularly in high-stakes domains, has raised concerns about the fairness implications. While prior works have investigated static fairness measures, recent studies reveal that automated decision-making has long-term implications and that off-the-shelf fairness approaches may not serve the purpose of achieving long-term fairness. Additionally, the existence of feedback loops and the interaction between models and the environment introduces additional complexities that may deviate from the initial fairness goals. In this survey, we review existing literature on long-term fairness from different perspectives and present a taxonomy for long-term fairness studies. We highlight key challenges and consider future research directions, analyzing both current issues and potential further explorations.
Complexity-Aware Deep Symbolic Regression with Robust Risk-Seeking Policy Gradients
Venue: arXiv cs.LG 2025
Year: 2025

We propose a novel deep symbolic regression approach to enhance the robustness and interpretability of data-driven mathematical expression discovery. Our work is aligned with the popular DSR framework which focuses on learning a data-specific expression generator, without relying on pretrained models or additional search or planning procedures. Despite the success of existing DSR methods, they are built on recurrent neural networks, solely guided by data fitness, and potentially meet tail barriers that can zero out the policy gradient, causing inefficient model updates. To overcome these limitations, we design a decoder-only architecture that performs attention in the frequency domain and introduce a dual-indexed position encoding to conduct layer-wise generation. Second, we propose a Bayesian information criterion (BIC)-based reward function that can automatically adjust the trade-off between expression complexity and data fitness, without the need for explicit manual tuning. Third, we develop a ranking-based weighted policy update method that eliminates the tail barriers and enhances training effectiveness. Extensive benchmarks and systematic experiments demonstrate the advantages of our approach.
Scalable Private Search with Wally
Venue: arXiv cs.CR 2025
Year: 2025

This paper presents Wally, a private search system that supports efficient search queries against large databases. When sufficiently many clients are making queries, Wally's performance is significantly better than previous systems while providing a standard privacy guarantee of $(ε, δ)$-differential privacy. Specifically, for a database with 3.2 million entries, Wally's queries per second (QPS) is 7-28x higher, and communication is 6.69-31x smaller than Tiptoe, a state-of-the-art private search system. In Wally, each client adds a few fake queries and sends each query via an anonymous network to the server at independently chosen random instants. We also use somewhat homomorphic encryption (SHE) to reduce the communication size. The number of fake queries each client makes depends inversely on the number of clients making queries. Therefore, the overhead of fake queries vanishes as the number of honest clients increases, enabling scalability to millions of queries and large databases.
HO-Cap: A Capture System and Dataset for 3D Reconstruction and Pose Tracking of Hand-Object Interaction
Venue: arXiv cs.CV 2025
Year: 2025

We introduce a data capture system and a new dataset, HO-Cap, for 3D reconstruction and pose tracking of hands and objects in videos. The system leverages multiple RGBD cameras and a HoloLens headset for data collection, avoiding the use of expensive 3D scanners or mocap systems. We propose a semi-automatic method for annotating the shape and pose of hands and objects in the collected videos, significantly reducing the annotation time compared to manual labeling. With this system, we captured a video dataset of humans interacting with objects to perform various tasks, including simple pick-and-place actions, handovers between hands, and using objects according to their affordance, which can serve as human demonstrations for research in embodied AI and robot manipulation. Our data capture setup and annotation framework will be available for the community to use in reconstructing 3D shapes of objects and human hands and tracking their poses in videos.
Social Learning with Limited Attention: Negative Reviews Persist under Newest First
Venue: arXiv cs.GT 2025
Year: 2025

We study a model of social learning from reviews where customers are computationally limited and make purchases based on reading only the first few reviews displayed by the platform. Under this limited attention, we establish that the review ordering policy can have a significant impact. In particular, the popular Newest First ordering induces a negative review to persist as the most recent review longer than a positive review. This phenomenon, which we term the Cost of Newest First, can make the long-term revenue unboundedly lower than a counterpart where reviews are exogenously drawn for each customer. We show that the impact of the Cost of Newest First can be mitigated under dynamic pricing, which allows the price to depend on the set of displayed reviews. Under the optimal dynamic pricing policy, the revenue loss is at most a factor of 2. On the way, we identify a structural property for this optimal dynamic pricing: the prices should ensure that the probability of a purchase is always the same, regardless of the state of reviews. We also consider a setting where product quality evolves over time according to a Markov chain; we find that Newest First better tracks current quality but still leads to lower revenue, highlighting a trade-off between customer belief accuracy and revenue. Finally, we support our theoretical findings with numerical simulations and an empirical analysis on reviews from Tripadvisor.
Semantic-Aware Spectrum Sharing in Internet of Vehicles Based on Deep Reinforcement Learning
Venue: arXiv cs.LG 2025
Year: 2025

This work aims to investigate semantic communication in high-speed mobile Internet of vehicles (IoV) environments, with a focus on the spectrum sharing between vehicle-to-vehicle (V2V) and vehicle-to-infrastructure (V2I) communications. We specifically address spectrum scarcity and network traffic and then propose a semantic-aware spectrum sharing algorithm (SSS) based on the deep reinforcement learning (DRL) soft actor-critic (SAC) approach. Firstly, we delve into the extraction of semantic information. Secondly, we redefine metrics for semantic information in V2V and V2I spectrum sharing in IoV environments, introducing high-speed semantic spectrum efficiency (HSSE) and semantic transmission rate (HSR). Finally, we employ the SAC algorithm for decision optimization in V2V and V2I spectrum sharing based on semantic information. This optimization encompasses the optimal link of V2V and V2I sharing strategies, the transmission power for vehicles sending semantic information and the length of transmitted semantic symbols, aiming at maximizing HSSE of V2I and enhancing success rate of effective semantic information transmission (SRS) of V2V. Experimental results demonstrate that the SSS algorithm outperforms other baseline algorithms, including other traditional-communication-based spectrum sharing algorithms and spectrum sharing algorithm using other reinforcement learning approaches. The SSS algorithm exhibits a 15% increase in HSSE and approximately a 7% increase in SRS.
On Kernel's Safety in the Spectre Era (Extended Version)
Venue: arXiv cs.CR 2025
Year: 2025

The efficacy of address space layout randomization has been formally demonstrated in a shared-memory model by Abadi et al., contingent on specific assumptions about victim programs. However, modern operating systems, implementing layout randomization in the kernel, diverge from these assumptions and operate on a separate memory model with communication through system calls. In this work, we relax Abadi et al.'s language assumptions while demonstrating that layout randomization offers a comparable safety guarantee in a system with memory separation. However, in practice, speculative execution and side-channels are recognized threats to layout randomization. We show that kernel safety cannot be restored for attackers capable of using side-channels and speculative execution and introduce a new condition, that allows us to formally prove kernel safety in the Spectre era. Our research demonstrates that under this condition, the system remains safe without relying on layout randomization. We also demonstrate that our condition can be sensibly weakened, leading to enforcement mechanisms that can guarantee kernel safety for safe system calls in the Spectre era.
LLM meets ML: Data-efficient Anomaly Detection on Unstable Logs
Venue: arXiv cs.SE 2025
Year: 2025

Most log-based anomaly detectors assume logs are stable, though logs are often unstable due to software or environmental changes. Anomaly detection on unstable logs (ULAD) is therefore a more realistic, yet under-investigated challenge. Current approaches predominantly employ machine learning (ML) models, which often require extensive labeled data for training. To mitigate data insufficiency, we propose FlexLog, a novel hybrid approach for ULAD that combines ML models -- decision tree, k-nearest neighbors, and a feedforward neural network -- with a Large Language Model (Mistral) through ensemble learning. FlexLog also incorporates a cache and retrieval-augmented generation (RAG) to further enhance efficiency and effectiveness. To evaluate FlexLog, we configured four datasets for \task, namely ADFA-U, LOGEVOL-U, SynHDFS-U, and SYNEVOL-U. FlexLog outperforms all baselines by at least 1.2 percentage points (pp) in F1 score while using much less labeled data (62.87 pp reduction). When trained on the same amount of data as the baselines, FlexLog achieves up to a 13 pp increase in F1 score on ADFA-U across varying training dataset sizes. Additionally, FlexLog maintains inference time under one second per log sequence, making it suitable for most applications, except latency-sensitive systems. Further analysis reveals the positive impact of FlexLog's key components: cache, RAG and ensemble learning.
Flow map matching with stochastic interpolants: A mathematical framework for consistency models
Venue: arXiv cs.LG 2025
Year: 2025

Generative models based on dynamical equations such as flows and diffusions offer exceptional sample quality, but require computationally expensive numerical integration during inference. The advent of consistency models has enabled efficient one-step or few-step generation, yet despite their practical success, a systematic understanding of their design has been hindered by the lack of a comprehensive theoretical framework. Here we introduce Flow Map Matching (FMM), a principled framework for learning the two-time flow map of an underlying dynamical generative model, thereby providing this missing mathematical foundation. Leveraging stochastic interpolants, we propose training objectives both for distillation from a pre-trained velocity field and for direct training of a flow map over an interpolant or a forward diffusion process. Theoretically, we show that FMM unifies and extends a broad class of existing approaches for fast sampling, including consistency models, consistency trajectory models, and progressive distillation. Experiments on CIFAR-10 and ImageNet-32 highlight that our approach can achieve sample quality comparable to flow matching while reducing generation time by a factor of 10-20.
FP-Inconsistent: Measurement and Analysis of Fingerprint Inconsistencies in Evasive Bot Traffic
Venue: arXiv cs.CR 2025
Year: 2025

As browser fingerprinting is increasingly being used for bot detection, bots have started altering their fingerprints for evasion. We conduct the first large-scale evaluation of evasive bots to investigate whether and how altering fingerprints helps bots evade detection. To systematically investigate evasive bots, we deploy a honey site incorporating two anti-bot services (DataDome and BotD) and solicit bot traffic from 20 different bot services that purport to sell "realistic and undetectable traffic". Across half a million requests from 20 different bot services on our honey site, we find an average evasion rate of 52.93% against DataDome and 44.56% evasion rate against BotD. Our comparison of fingerprint attributes from bot services that evade each anti-bot service individually as well as bot services that evade both shows that bot services indeed alter different browser fingerprint attributes for evasion. Further, our analysis reveals the presence of inconsistent fingerprint attributes in evasive bots. Given evasive bots seem to have difficulty in ensuring consistency in their fingerprint attributes, we propose a data-driven approach to discover rules to detect such inconsistencies across space (two attributes in a given browser fingerprint) and time (a single attribute at two different points in time). These rules, which can be readily deployed by anti-bot services, reduce the evasion rate of evasive bots against DataDome and BotD by 48.11% and 44.95% respectively.
Judging the Judges: A Systematic Study of Position Bias in LLM-as-a-Judge
Venue: arXiv cs.CL 2025
Year: 2025

LLM-as-a-Judge has emerged as a promising alternative to human evaluators across various tasks, yet inherent biases - particularly position bias, the tendency to favor solutions based on their position within the prompt - compromise its reliability. This exploratory study evaluates position bias in LLM judges across pairwise and list-wise comparison settings, introducing three metrics: repetition stability, position consistency, and preference fairness. Our experiments, involving 15 LLM judges across MTBench and DevBench with 22 tasks and approximately 40 solution-generating models, result in over 150,000 evaluation instances. We identify Judge-Level, Candidate-Level, and Task-Level factors contributing to bias. The findings confirm that position bias is not due to random chance and varies significantly across judges and tasks. While position bias is weakly influenced by the length of prompt components, it is strongly affected by the quality gap between solutions. Our agreement and disagreement analysis among judges further provides insights into the distribution of judging difficulty across the dataset, and highlights the potential for dataset modifications.
Efficient Neural Common Neighbor for Temporal Graph Link Prediction
Venue: arXiv cs.LG 2025
Year: 2025

Temporal graphs are widespread in real-world applications such as social networks, as well as trade and transportation networks. Predicting dynamic links within these evolving graphs is a key problem. Many memory-based methods use temporal interaction histories to generate node embeddings, which are then combined to predict links. However, these approaches primarily focus on individual node representations, often overlooking the inherently pairwise nature of link prediction. While some recent methods attempt to capture pairwise features, they tend to be limited by high computational complexity arising from repeated embedding calculations, making them unsuitable for large-scale datasets like the Temporal Graph Benchmark (TGB). To address the critical need for models that combine strong expressive power with high computational efficiency for link prediction on large temporal graphs, we propose Temporal Neural Common Neighbor (TNCN). Our model achieves this balance by adapting the powerful pairwise modeling principles of Neural Common Neighbor (NCN) to an efficient temporal architecture. TNCN improves upon NCN by efficiently preserving and updating temporal neighbor dictionaries for each node and by using multi-hop common neighbors to learn more expressive pairwise representations. TNCN achieves new state-of-the-art performance on Review from five large-scale real-world TGB datasets, 6 out of 7 datasets in the transductive setting and 3 out of 7 in the inductive setting on small- to medium-scale datasets. Additionally, TNCN demonstrates excellent scalability, outperforming prominent GNN baselines by up to 30.3 times in speed on large datasets. Our code is available at https://github.com/GraphPKU/TNCN.