OpenRaiser/Intern-Atlas huggingface dataset:
Context Representation via Action-Free Transformer encoder-decoder for Meta Reinforcement Learning
Venue: arXiv cs.RO 2025
Year: 2025

Reinforcement learning (RL) enables robots to operate in uncertain environments, but standard approaches often struggle with poor generalization to unseen tasks. Context-adaptive meta reinforcement learning addresses these limitations by conditioning on the task representation, yet they mostly rely on complete action information in the experience making task inference tightly coupled to a specific policy. This paper introduces Context Representation via Action Free Transformer encoder decoder (CRAFT), a belief model that infers task representations solely from sequences of states and rewards. By removing the dependence on actions, CRAFT decouples task inference from policy optimization, supports modular training, and leverages amortized variational inference for scalable belief updates. Built on a transformer encoder decoder with rotary positional embeddings, the model captures long range temporal dependencies and robustly encodes both parametric and non-parametric task variations. Experiments on the MetaWorld ML-10 robotic manipulation benchmark show that CRAFT achieves faster adaptation, improved generalization, and more effective exploration compared to context adaptive meta--RL baselines. These findings highlight the potential of action-free inference as a foundation for scalable RL in robotic control.
RADAR: Accelerating Large Language Model Inference With RL-Based Dynamic Draft Trees
Venue: arXiv cs.AI 2025
Year: 2025

Inference with modern Large Language Models (LLMs) is expensive and slow, and speculative sampling has emerged as an effective solution to this problem, however, the number of the calls to the draft model for generating candidate tokens in speculative sampling is a preset hyperparameter, lacking flexibility. To generate and utilize the candidate tokens more effectively, we propose RADAR, a novel speculative sampling method with RL-based dynamic draft trees. RADAR formulates the draft tree generation process as a Markov Decision Process (MDP) and employs offline reinforcement learning to train a prediction model, which enables real-time decision on the calls to the draft model, reducing redundant computations and further accelerating inference. Evaluations across three LLMs and four tasks show that RADAR achieves a speedup of 3.17x-4.82x over the auto-regressive decoding baseline. The code is available at https://github.com/minaduki-sora/RADAR.
ProtoFlow: Interpretable and Robust Surgical Workflow Modeling with Learned Dynamic Scene Graph Prototypes
Venue: arXiv cs.CV 2025
Year: 2025

Purpose: Detailed surgical recognition is critical for advancing AI-assisted surgery, yet progress is hampered by high annotation costs, data scarcity, and a lack of interpretable models. While scene graphs offer a structured abstraction of surgical events, their full potential remains untapped. In this work, we introduce ProtoFlow, a novel framework that learns dynamic scene graph prototypes to model complex surgical workflows in an interpretable and robust manner. Methods: ProtoFlow leverages a graph neural network (GNN) encoder-decoder architecture that combines self-supervised pretraining for rich representation learning with a prototype-based fine-tuning stage. This process discovers and refines core prototypes that encapsulate recurring, clinically meaningful patterns of surgical interaction, forming an explainable foundation for workflow analysis. Results: We evaluate our approach on the fine-grained CAT-SG dataset. ProtoFlow not only outperforms standard GNN baselines in overall accuracy but also demonstrates exceptional robustness in limited-data, few-shot scenarios, maintaining strong performance when trained on as few as one surgical video. Our qualitative analyses further show that the learned prototypes successfully identify distinct surgical sub-techniques and provide clear, interpretable insights into workflow deviations and rare complications. Conclusion: By uniting robust representation learning with inherent explainability, ProtoFlow represents a significant step toward developing more transparent, reliable, and data-efficient AI systems, accelerating their potential for clinical adoption in surgical training, real-time decision support, and workflow optimization.
AnchorHOI: Zero-shot Generation of 4D Human-Object Interaction via Anchor-based Prior Distillation
Venue: arXiv cs.CV 2025
Year: 2025

Despite significant progress in text-driven 4D human-object interaction (HOI) generation with supervised methods, the scalability remains limited by the scarcity of large-scale 4D HOI datasets. To overcome this, recent approaches attempt zero-shot 4D HOI generation with pre-trained image diffusion models. However, interaction cues are minimally distilled during the generation process, restricting their applicability across diverse scenarios. In this paper, we propose AnchorHOI, a novel framework that thoroughly exploits hybrid priors by incorporating video diffusion models beyond image diffusion models, advancing 4D HOI generation. Nevertheless, directly optimizing high-dimensional 4D HOI with such priors remains challenging, particularly for human pose and compositional motion. To address this challenge, AnchorHOI introduces an anchor-based prior distillation strategy, which constructs interaction-aware anchors and then leverages them to guide generation in a tractable two-step process. Specifically, two tailored anchors are designed for 4D HOI generation: anchor Neural Radiance Fields (NeRFs) for expressive interaction composition, and anchor keypoints for realistic motion synthesis. Extensive experiments demonstrate that AnchorHOI outperforms previous methods with superior diversity and generalization.
UIXPOSE: Mobile Malware Detection via Intention-Behaviour Discrepancy Analysis
Venue: arXiv cs.CR 2025
Year: 2025

We introduce UIXPOSE, a source-code-agnostic framework that operates on both compiled and open-source apps. This framework applies Intention Behaviour Alignment (IBA) to mobile malware analysis, aligning UI-inferred intent with runtime semantics. Previous work either infers intent statically, e.g., permission-centric, or widget-level or monitors coarse dynamic signals (endpoints, partial resource usage) that miss content and context. UIXPOSE infers an intent vector from each screen using vision-language models and knowledge structures and combines decoded network payloads, heap/memory signals, and resource utilisation traces into a behaviour vector. Their alignment, calculated at runtime, can both detect misbehaviour and highlight exploration of behaviourally rich paths. In three real-world case studies, UIXPOSE reveals covert exfiltration and hidden background activity that evade metadata-only baselines, demonstrating how IBA improves dynamic detection.
LAPPI: Interactive Optimization with LLM-Assisted Preference-Based Problem Instantiation
Venue: arXiv cs.HC 2025
Year: 2025

Many real-world tasks, such as trip planning or meal planning, can be formulated as combinatorial optimization problems. However, using optimization solvers is difficult for end users because it requires problem instantiation: defining candidate items, assigning preference scores, and specifying constraints. We introduce LAPPI (LLM-Assisted Preference-based Problem Instantiation), an interactive approach that uses large language models (LLMs) to support users in this instantiation process. Through natural language conversations, the system helps users transform vague preferences into well-defined optimization problems. These instantiated problems are then passed to existing optimization solvers to generate solutions. In a user study on trip planning, our method successfully captured user preferences and generated feasible plans that outperformed both conventional and prompt-engineering approaches. We further demonstrate LAPPI's versatility by adapting it to an additional use case.
Robust Beamforming for Multiuser MIMO Systems with Unknown Channel Statistics: A Hybrid Offline-Online Framework
Venue: arXiv cs.IT 2025
Year: 2025

Robust beamforming design under imperfect channel state information (CSI) is a fundamental challenge in multiuser multiple-input multiple-output (MU-MIMO) systems, particularly when the channel estimation error statistics are unknown. Conventional model-driven methods usually rely on prior knowledge of the error covariance matrix and data-driven deep learning approaches suffer from poor generalization capability to unseen channel conditions. To address these limitations, this paper proposes a hybrid offline-online framework that achieves effective offline learning and rapid online adaptation. In the offline phase, we propose a shared (among users) deep neural network (DNN) that is able to learn the channel estimation error covariance from observed samples, thus enabling robust beamforming without statistical priors. Meanwhile, to facilitate real-time deployment, we propose a sparse augmented low-rank (SALR) method to reduce complexity while maintaining comparable performance. In the online phase, we show that the proposed network can be rapidly fine-tuned with minimal gradient steps. Furthermore, a multiple basis model-agnostic meta-learning (MB-MAML) strategy is further proposed to maintain multiple meta-initializations and by dynamically selecting the best one online, we can improve the adaptation and generalization capability of the proposed framework under unseen or non-stationary channels. Simulation results demonstrate that the proposed offline-online framework exhibits strong robustness across diverse channel conditions and it is able to significantly outperform state-of-the-art (SOTA) baselines.
SUPER -- A Framework for Sensitivity-based Uncertainty-aware Performance and Risk Assessment in Visual Inertial Odometry
Venue: arXiv cs.RO 2025
Year: 2025

While many visual odometry (VO), visual-inertial odometry (VIO), and SLAM systems achieve high accuracy, the majority of existing methods miss to assess risks at runtime. This paper presents SUPER (Sensitivity-based Uncertainty-aware PErformance and Risk assessment) that is a generic and explainable framework that propagates uncertainties via sensitivities for real-time risk assessment in VIO. The scientific novelty lies in the derivation of a real-time risk indicator that is backend-agnostic and exploits the Schur complement blocks of the Gauss-Newton normal matrix to propagate uncertainties. Practically, the Schur complement captures the sensitivity that reflects the influence of the uncertainty on the risk occurrence. Our framework estimates risks on the basis of the residual magnitudes, geometric conditioning, and short horizon temporal trends without requiring ground truth knowledge. Our framework enables to reliably predict trajectory degradation 50 frames ahead with an improvement of 20% to the baseline. In addition, SUPER initiates a stop or relocalization policy with 89.1% recall. The framework is backend agnostic and operates in real time with less than 0.2% additional CPU cost. Experiments show that SUPER provides consistent uncertainty estimates. A SLAM evaluation highlights the applicability to long horizon mapping.
Beyond a Single Light: A Large-Scale Aerial Dataset for Urban Scene Reconstruction Under Varying Illumination
Venue: arXiv cs.CV 2025
Year: 2025

Recent advances in Neural Radiance Fields and 3D Gaussian Splatting have demonstrated strong potential for large-scale UAV-based 3D reconstruction tasks by fitting the appearance of images. However, real-world large-scale captures are often based on multi-temporal data capture, where illumination inconsistencies across different times of day can significantly lead to color artifacts, geometric inaccuracies, and inconsistent appearance. Due to the lack of UAV datasets that systematically capture the same areas under varying illumination conditions, this challenge remains largely underexplored. To fill this gap, we introduceSkyLume, a large-scale, real-world UAV dataset specifically designed for studying illumination robust 3D reconstruction in urban scene modeling: (1) We collect data from 10 urban regions data comprising more than 100k high resolution UAV images (four oblique views and nadir), where each region is captured at three periods of the day to systematically isolate illumination changes. (2) To support precise evaluation of geometry and appearance, we provide per-scene LiDAR scans and accurate 3D ground-truth for assessing depth, surface normals, and reconstruction quality under varying illumination. (3) For the inverse rendering task, we introduce the Temporal Consistency Coefficient (TCC), a metric that measuress cross-time albedo stability and directly evaluates the robustness of the disentanglement of light and material. We aim for this resource to serve as a foundation that advances research and real-world evaluation in large-scale inverse rendering, geometry reconstruction, and novel view synthesis.
History-Enhanced Two-Stage Transformer for Aerial Vision-and-Language Navigation
Venue: arXiv cs.CV 2025
Year: 2025

Aerial Vision-and-Language Navigation (AVLN) requires Unmanned Aerial Vehicle (UAV) agents to localize targets in large-scale urban environments based on linguistic instructions. While successful navigation demands both global environmental reasoning and local scene comprehension, existing UAV agents typically adopt mono-granularity frameworks that struggle to balance these two aspects. To address this limitation, this work proposes a History-Enhanced Two-Stage Transformer (HETT) framework, which integrates the two aspects through a coarse-to-fine navigation pipeline. Specifically, HETT first predicts coarse-grained target positions by fusing spatial landmarks and historical context, then refines actions via fine-grained visual analysis. In addition, a historical grid map is designed to dynamically aggregate visual features into a structured spatial memory, enhancing comprehensive scene awareness. Additionally, the CityNav dataset annotations are manually refined to enhance data quality. Experiments on the refined CityNav dataset show that HETT delivers significant performance gains, while extensive ablation studies further verify the effectiveness of each component.
Research Opportunities and Challenges of the EU's Digital Services Act
Venue: arXiv cs.CY 2025
Year: 2025

The Digital Services Act (DSA) introduced by the European Union in 2022 offers a landmark framework for platform transparency, with Article 40 enabling vetted researchers to access data from major online platforms. Yet significant legal, technical, and organizational barriers still hinder effective research on systemic online risks. This piece outlines the key challenges emerging from the Article 40 process and proposes practical measures to ensure that the DSA fulfills its transparency and accountability goals.
Explainable Preference Learning: a Decision Tree-based Surrogate Model for Preferential Bayesian Optimization
Venue: arXiv cs.LG 2025
Year: 2025

Current Preferential Bayesian Optimization methods rely on Gaussian Processes (GPs) as surrogate models. These models are hard to interpret, struggle with handling categorical data, and are computationally complex, limiting their real-world usability. In this paper, we introduce an inherently interpretable decision tree-based surrogate model capable of handling both categorical and continuous data, and scalable to large datasets. Extensive numerical experiments on eight increasingly spiky optimization functions show that our model outperforms GP-based alternatives on spiky functions and has only marginally lower performance for non-spiky functions. Moreover, we apply our model to the real-world Sushi dataset and show its ability to learn an individual's sushi preferences. Finally, we show some initial work on using historical preference data to speed up the optimization process for new unseen users.
A Threshold-Triggered Deep Q-Network-Based Framework for Self-Healing in Autonomic Software-Defined IIoT-Edge Networks
Venue: arXiv cs.NI 2025
Year: 2025

Stochastic disruptions such as flash events arising from benign traffic bursts and switch thermal fluctuations are major contributors to intermittent service degradation in software-defined industrial networks. These events violate IEC~61850-derived quality-of-service requirements and user-defined service-level agreements, hindering the reliable and timely delivery of control, monitoring, and best-effort traffic in IEC~61400-25-compliant wind power plants. Failure to maintain these requirements often results in delayed or lost control signals, reduced operational efficiency, and increased risk of wind turbine generator downtime. To address these challenges, this study proposes a threshold-triggered Deep Q-Network self-healing agent that autonomically detects, analyzes, and mitigates network disruptions while adapting routing behavior and resource allocation in real time. The proposed agent was trained, validated, and tested on an emulated tri-clustered switch network deployed in a cloud-based proof-of-concept testbed. Simulation results show that the proposed agent improves disruption recovery performance by 53.84% compared to a baseline shortest-path and load-balanced routing approach and outperforms state-of-the-art methods, including the Adaptive Network-based Fuzzy Inference System by 13.1% and the Deep Q-Network and traffic prediction-based routing optimization method by 21.5%, in a super-spine leaf data-plane architecture. Additionally, the agent maintains switch thermal stability by proactively initiating external rack cooling when required. These findings highlight the potential of deep reinforcement learning in building resilience in software-defined industrial networks deployed in mission-critical, time-sensitive application scenarios.
Dynamic Context Selection for Retrieval-Augmented Generation: Mitigating Distractors and Positional Bias
Venue: arXiv cs.IR 2025
Year: 2025

Retrieval Augmented Generation (RAG) enhances language model performance by incorporating external knowledge retrieved from large corpora, which makes it highly suitable for tasks such as open domain question answering. Standard RAG systems typically rely on a fixed top k retrieval strategy, which can either miss relevant information or introduce semantically irrelevant passages, known as distractors, that degrade output quality. Additionally, the positioning of retrieved passages within the input context can influence the model attention and generation outcomes. Context placed in the middle tends to be overlooked, which is an issue known as the "lost in the middle" phenomenon. In this work, we systematically analyze the impact of distractors on generation quality, and quantify their effects under varying conditions. We also investigate how the position of relevant passages within the context window affects their influence on generation. Building on these insights, we propose a context-size classifier that dynamically predicts the optimal number of documents to retrieve based on query-specific informational needs. We integrate this approach into a full RAG pipeline, and demonstrate improved performance over fixed k baselines.
TiCard: Deployable EXPLAIN-only Residual Learning for Cardinality Estimation
Venue: arXiv cs.AI 2025
Year: 2025

Cardinality estimation is a key bottleneck for cost-based query optimization, yet deployable improvements remain difficult: classical estimators miss correlations, while learned estimators often require workload-specific training pipelines and invasive integration into the optimizer. This paper presents TiCard, a low intrusion, correction-based framework that augments (rather than replaces) a database's native estimator. TiCard learns multiplicative residual corrections using EXPLAIN-only features, and uses EXPLAIN ANALYZE only for offline labels. We study two practical instantiations: (i) a Gradient Boosting Regressor for sub-millisecond inference, and (ii) TabPFN, an in-context tabular foundation model that adapts by refreshing a small reference set without gradient retraining. On TiDB with TPCH and the Join Order Benchmark, in a low-trace setting (263 executions total; 157 used for learning), TiCard improves operator-level tail accuracy substantially: P90 Q-error drops from 312.85 (native) to 13.69 (TiCard-GBR), and P99 drops from 37,974.37 to 3,416.50 (TiCard-TabPFN), while a join-only policy preserves near-perfect median behavior. We position TiCard as an AI4DB building block focused on deployability: explicit scope, conservative integration policies, and an integration roadmap from offline correction to in-optimizer use.
A Comprehensive Safety Metric to Evaluate Perception in Autonomous Systems
Venue: arXiv cs.RO 2025
Year: 2025

Complete perception of the environment and its correct interpretation is crucial for autonomous vehicles. Object perception is the main component of automotive surround sensing. Various metrics already exist for the evaluation of object perception. However, objects can be of different importance depending on their velocity, orientation, distance, size, or the potential damage that could be caused by a collision due to a missed detection. Thus, these additional parameters have to be considered for safety evaluation. We propose a new safety metric that incorporates all these parameters and returns a single easily interpretable safety assessment score for object perception. This new metric is evaluated with both real world and virtual data sets and compared to state of the art metrics.
The Devil is in Attention Sharing: Improving Complex Non-rigid Image Editing Faithfulness via Attention Synergy
Venue: arXiv cs.CV 2025
Year: 2025

Training-free image editing with large diffusion models has become practical, yet faithfully performing complex non-rigid edits (e.g., pose or shape changes) remains highly challenging. We identify a key underlying cause: attention collapse in existing attention sharing mechanisms, where either positional embeddings or semantic features dominate visual content retrieval, leading to over-editing or under-editing. To address this issue, we introduce SynPS, a method that Synergistically leverages Positional embeddings and Semantic information for faithful non-rigid image editing. We first propose an editing measurement that quantifies the required editing magnitude at each denoising step. Based on this measurement, we design an attention synergy pipeline that dynamically modulates the influence of positional embeddings, enabling SynPS to balance semantic modifications and fidelity preservation. By adaptively integrating positional and semantic cues, SynPS effectively avoids both over- and under-editing. Extensive experiments on public and newly curated benchmarks demonstrate the superior performance and faithfulness of our approach.
A4-Agent: An Agentic Framework for Zero-Shot Affordance Reasoning
Venue: arXiv cs.CV 2025
Year: 2025

Affordance prediction, which identifies interaction regions on objects based on language instructions, is critical for embodied AI. Prevailing end-to-end models couple high-level reasoning and low-level grounding into a single monolithic pipeline and rely on training over annotated datasets, which leads to poor generalization on novel objects and unseen environments. In this paper, we move beyond this paradigm by proposing A4-Agent, a training-free agentic framework that decouples affordance prediction into a three-stage pipeline. Our framework coordinates specialized foundation models at test time: (1) a $\textbf{Dreamer}$ that employs generative models to visualize $\textit{how}$ an interaction would look; (2) a $\textbf{Thinker}$ that utilizes large vision-language models to decide $\textit{what}$ object part to interact with; and (3) a $\textbf{Spotter}$ that orchestrates vision foundation models to precisely locate $\textit{where}$ the interaction area is. By leveraging the complementary strengths of pre-trained models without any task-specific fine-tuning, our zero-shot framework significantly outperforms state-of-the-art supervised methods across multiple benchmarks and demonstrates robust generalization to real-world settings.