OpenRaiser/Intern-Atlas huggingface dataset:
Temporal Binding Foundation Model for Material Property Recognition via Tactile Sequence Perception
Venue: arXiv cs.RO 2025
Year: 2025

Robots engaged in complex manipulation tasks require robust material property recognition to ensure adaptability and precision. Traditionally, visual data has been the primary source for object perception; however, it often proves insufficient in scenarios where visibility is obstructed or detailed observation is needed. This gap highlights the necessity of tactile sensing as a complementary or primary input for material recognition. Tactile data becomes particularly essential in contact-rich, small-scale manipulations where subtle deformations and surface interactions cannot be accurately captured by vision alone. This letter presents a novel approach leveraging a temporal binding foundation model for tactile sequence understanding to enhance material property recognition. By processing tactile sensor data with a temporal focus, the proposed system captures the sequential nature of tactile interactions, similar to human fingertip perception. Additionally, this letter demonstrates that, through tailored and specific design, the foundation model can more effectively capture temporal information embedded in tactile sequences, advancing material property understanding. Experimental results validate the model's capability to capture these temporal patterns, confirming its utility for material property recognition in visually restricted scenarios. This work underscores the necessity of embedding advanced tactile data processing frameworks within robotic systems to achieve truly embodied and responsive manipulation capabilities.
Force-Based Robotic Imitation Learning: A Two-Phase Approach for Construction Assembly Tasks
Venue: arXiv cs.RO 2025
Year: 2025

The drive for efficiency and safety in construction has boosted the role of robotics and automation. However, complex tasks like welding and pipe insertion pose challenges due to their need for precise adaptive force control, which complicates robotic training. This paper proposes a two-phase system to improve robot learning, integrating human-derived force feedback. The first phase captures real-time data from operators using a robot arm linked with a virtual simulator via ROS-Sharp. In the second phase, this feedback is converted into robotic motion instructions, using a generative approach to incorporate force feedback into the learning process. This method's effectiveness is demonstrated through improved task completion times and success rates. The framework simulates realistic force-based interactions, enhancing the training data's quality for precise robotic manipulation in construction tasks.
DepressionX: Knowledge Infused Residual Attention for Explainable Depression Severity Assessment
Venue: arXiv cs.LG 2025
Year: 2025

In today's interconnected society, social media platforms have become an important part of our lives, where individuals virtually express their thoughts, emotions, and moods. These expressions offer valuable insights into their mental health. This paper explores the use of platforms like Facebook, $\mathbb{X}$ (formerly Twitter), and Reddit for mental health assessments. We propose a domain knowledge-infused residual attention model called DepressionX for explainable depression severity detection. Existing deep learning models on this problem have shown considerable performance, but they often lack transparency in their decision-making processes. In healthcare, where decisions are critical, the need for explainability is crucial. In our model, we address the critical gap by focusing on the explainability of depression severity detection while aiming for a high performance accuracy. In addition to being explainable, our model consistently outperforms the state-of-the-art models by over 7% in terms of $\text{F}_1$ score on balanced as well as imbalanced datasets. Our ultimate goal is to establish a foundation for trustworthy and comprehensible analysis of mental disorders via social media.
Extensive Exploration in Complex Traffic Scenarios using Hierarchical Reinforcement Learning
Venue: arXiv cs.LG 2025
Year: 2025

Developing an automated driving system capable of navigating complex traffic environments remains a formidable challenge. Unlike rule-based or supervised learning-based methods, Deep Reinforcement Learning (DRL) based controllers eliminate the need for domain-specific knowledge and datasets, thus providing adaptability to various scenarios. Nonetheless, a common limitation of existing studies on DRL-based controllers is their focus on driving scenarios with simple traffic patterns, which hinders their capability to effectively handle complex driving environments with delayed, long-term rewards, thus compromising the generalizability of their findings. In response to these limitations, our research introduces a pioneering hierarchical framework that efficiently decomposes intricate decision-making problems into manageable and interpretable subtasks. We adopt a two step training process that trains the high-level controller and low-level controller separately. The high-level controller exhibits an enhanced exploration potential with long-term delayed rewards, and the low-level controller provides longitudinal and lateral control ability using short-term instantaneous rewards. Through simulation experiments, we demonstrate the superiority of our hierarchical controller in managing complex highway driving situations.
Federated Retrieval Augmented Generation for Multi-Product Question Answering
Venue: arXiv cs.CL 2025
Year: 2025

Recent advancements in Large Language Models and Retrieval-Augmented Generation have boosted interest in domain-specific question-answering for enterprise products. However, AI Assistants often face challenges in multi-product QA settings, requiring accurate responses across diverse domains. Existing multi-domain RAG-QA approaches either query all domains indiscriminately, increasing computational costs and LLM hallucinations, or rely on rigid resource selection, which can limit search results. We introduce MKP-QA, a novel multi-product knowledge-augmented QA framework with probabilistic federated search across domains and relevant knowledge. This method enhances multi-domain search quality by aggregating query-domain and query-passage probabilistic relevance. To address the lack of suitable benchmarks for multi-product QAs, we also present new datasets focused on three Adobe products: Adobe Experience Platform, Target, and Customer Journey Analytics. Our experiments show that MKP-QA significantly boosts multi-product RAG-QA performance in terms of both retrieval accuracy and response quality.
VideoPure: Diffusion-based Adversarial Purification for Video Recognition
Venue: arXiv cs.CV 2025
Year: 2025

Recent work indicates that video recognition models are vulnerable to adversarial examples, posing a serious security risk to downstream applications. However, current research has primarily focused on adversarial attacks, with limited work exploring defense mechanisms. Furthermore, due to the spatial-temporal complexity of videos, existing video defense methods face issues of high cost, overfitting, and limited defense performance. Recently, diffusion-based adversarial purification methods have achieved robust defense performance in the image domain. However, due to the additional temporal dimension in videos, directly applying these diffusion-based adversarial purification methods to the video domain suffers performance and efficiency degradation. To achieve an efficient and effective video adversarial defense method, we propose the first diffusion-based video purification framework to improve video recognition models' adversarial robustness: VideoPure. Given an adversarial example, we first employ temporal DDIM inversion to transform the input distribution into a temporally consistent and trajectory-defined distribution, covering adversarial noise while preserving more video structure. Then, during DDIM denoising, we leverage intermediate results at each denoising step and conduct guided spatial-temporal optimization, removing adversarial noise while maintaining temporal consistency. Finally, we input the list of optimized intermediate results into the video recognition model for multi-step voting to obtain the predicted class. We investigate the defense performance of our method against black-box, gray-box, and adaptive attacks on benchmark datasets and models. Compared with other adversarial purification methods, our method overall demonstrates better defense performance against different attacks. Our code is available at https://github.com/deep-kaixun/VideoPure.
What if Eye...? Computationally Recreating Vision Evolution
Venue: arXiv cs.AI 2025
Year: 2025

Vision systems in nature show remarkable diversity, from simple light-sensitive patches to complex camera eyes with lenses. While natural selection has produced these eyes through countless mutations over millions of years, they represent just one set of realized evolutionary paths. Testing hypotheses about how environmental pressures shaped eye evolution remains challenging since we cannot experimentally isolate individual factors. Computational evolution offers a way to systematically explore alternative trajectories. Here we show how environmental demands drive three fundamental aspects of visual evolution through an artificial evolution framework that co-evolves both physical eye structure and neural processing in embodied agents. First, we demonstrate computational evidence that task specific selection drives bifurcation in eye evolution - orientation tasks like navigation in a maze leads to distributed compound-type eyes while an object discrimination task leads to the emergence of high-acuity camera-type eyes. Second, we reveal how optical innovations like lenses naturally emerge to resolve fundamental tradeoffs between light collection and spatial precision. Third, we uncover systematic scaling laws between visual acuity and neural processing, showing how task complexity drives coordinated evolution of sensory and computational capabilities. Our work introduces a novel paradigm that illuminates evolutionary principles shaping vision by creating targeted single-player games where embodied agents must simultaneously evolve visual systems and learn complex behaviors. Through our unified genetic encoding framework, these embodied agents serve as next-generation hypothesis testing machines while providing a foundation for designing manufacturable bio-inspired vision systems. Website: http://eyes.mit.edu/
Mining Evidence about Your Symptoms: Mitigating Availability Bias in Online Self-Diagnosis
Venue: arXiv cs.HC 2025
Year: 2025

People frequently exposed to health information on social media tend to overestimate their symptoms during online self-diagnosis due to availability bias. This may lead to incorrect self-medication and place additional burdens on healthcare providers to correct patients' misconceptions. In this work, we conducted two mixed-method studies to identify design goals for mitigating availability bias in online self-diagnosis. We investigated factors that distort self-assessment of symptoms after exposure to social media. We found that availability bias is pronounced when social media content resonated with individuals, making them disregard their own evidences. To address this, we developed and evaluated three chatbot-based symptom checkers designed to foster evidence-based self-reflection for bias mitigation given their potential to encourage thoughtful responses. Results showed that chatbot-based symptom checkers with cognitive intervention strategies mitigated the impact of availability bias in online self-diagnosis.
YouTube Recommendations Reinforce Negative Emotions: Auditing Algorithmic Bias with Emotionally-Agentic Sock Puppets
Venue: arXiv cs.SI 2025
Year: 2025

Personalized recommendation algorithms, like those on YouTube, significantly shape online content consumption. These systems aim to maximize engagement by learning users' preferences and aligning content accordingly but may unintentionally reinforce impulsive and emotional biases. Using a sock-puppet audit methodology, this study examines YouTube's capacity to recognize and reinforce emotional preferences. Simulated user accounts with assigned emotional preferences navigate the platform, selecting videos that align with their assigned preferences and recording subsequent recommendations. Our findings reveal reveal that YouTube amplifies negative emotions, such as anger and grievance, by increasing their prevalence and prominence in recommendations. This reinforcement intensifies over time and persists across contexts. Surprisingly, contextual recommendations often exceed personalized ones in reinforcing emotional alignment. These findings suggest the algorithm amplifies user biases, contributing to emotional filter bubbles and raising concerns about user well-being and societal impacts. The study emphasizes the need for balancing personalization with content diversity and user agency.
Feedback-Aware Monte Carlo Tree Search for Efficient Information Seeking in Goal-Oriented Conversations
Venue: arXiv cs.AI 2025
Year: 2025

Effective decision-making and problem-solving in conversational systems require the ability to identify and acquire missing information through targeted questioning. A key challenge lies in efficiently narrowing down a large space of possible outcomes by posing questions that minimize uncertainty. To address this, we introduce a novel framework that leverages Large Language Models (LLMs) to generate information-seeking questions, with Monte Carlo Tree Search (MCTS) to strategically select questions that maximize information gain, as a part of inference-time planning. Our primary contribution includes a hierarchical feedback mechanism that exploits past interaction patterns to guide future strategy. Specifically, each new problem is mapped to a cluster based on semantic similarity, and our UCT (Upper Confidence bound for Trees) formulation employs a cluster-specific bonus reward to prioritize successful question trajectories that have proven effective for similar problems in the past. Extensive empirical evaluation across medical diagnosis and technical troubleshooting domains shows that our method achieves an average of 12% improvement in success rates and about 10x reduction in the number of LLM calls made for planning per conversation, compared to the state of the art. An additional 8% gain in success rate is observed on average when we start with a constrained set of possibilities. Our results underscore the efficacy of feedback-aware MCTS in enhancing information-seeking in goal-oriented dialogues.
Exact Fit Attention in Node-Holistic Graph Convolutional Network for Improved EEG-Based Driver Fatigue Detection
Venue: arXiv cs.LG 2025
Year: 2025

EEG-based fatigue monitoring can effectively reduce the incidence of related traffic accidents. In the past decade, with the advancement of deep learning, convolutional neural networks (CNN) have been increasingly used for EEG signal processing. However, due to the data's non-Euclidean characteristics, existing CNNs may lose important spatial information from EEG, specifically channel correlation. Thus, we propose the node-holistic graph convolutional network (NHGNet), a model that uses graphic convolution to dynamically learn each channel's features. With exact fit attention optimization, the network captures inter-channel correlations through a trainable adjacency matrix. The interpretability is enhanced by revealing critical areas of brain activity and their interrelations in various mental states. In validations on two public datasets, NHGNet outperforms the SOTAs. Specifically, in the intra-subject, NHGNet improved detection accuracy by at least 2.34% and 3.42%, and in the inter-subjects, it improved by at least 2.09% and 15.06%. Visualization research on the model revealed that the central parietal area plays an important role in detecting fatigue levels, whereas the frontal and temporal lobes are essential for maintaining vigilance.
Cryptanalysis via Machine Learning Based Information Theoretic Metrics
Venue: arXiv cs.CR 2025
Year: 2025

The fields of machine learning (ML) and cryptanalysis share an interestingly common objective of creating a function, based on a given set of inputs and outputs. However, the approaches and methods in doing so vary vastly between the two fields. In this paper, we explore integrating the knowledge from the ML domain to provide empirical evaluations of cryptosystems. Particularly, we utilize information theoretic metrics to perform ML-based distribution estimation. We propose two novel applications of ML algorithms that can be applied in a known plaintext setting to perform cryptanalysis on any cryptosystem. We use mutual information neural estimation to calculate a cryptosystem's mutual information leakage, and a binary cross entropy classification to model an indistinguishability under chosen plaintext attack (CPA). These algorithms can be readily applied in an audit setting to evaluate the robustness of a cryptosystem and the results can provide a useful empirical bound. We evaluate the efficacy of our methodologies by empirically analyzing several encryption schemes. Furthermore, we extend the analysis to novel network coding-based cryptosystems and provide other use cases for our algorithms. We show that our classification model correctly identifies the encryption schemes that are not IND-CPA secure, such as DES, RSA, and AES ECB, with high accuracy. It also identifies the faults in CPA-secure cryptosystems with faulty parameters, such a reduced counter version of AES-CTR. We also conclude that with our algorithms, in most cases a smaller-sized neural network using less computing power can identify vulnerabilities in cryptosystems, providing a quick check of the sanity of the cryptosystem and help to decide whether to spend more resources to deploy larger networks that are able to break the cryptosystem.
Bringing RGB and IR Together: Hierarchical Multi-Modal Enhancement for Robust Transmission Line Detection
Venue: arXiv cs.CV 2025
Year: 2025

Ensuring a stable power supply in rural areas relies heavily on effective inspection of power equipment, particularly transmission lines (TLs). However, detecting TLs from aerial imagery can be challenging when dealing with misalignments between visible light (RGB) and infrared (IR) images, as well as mismatched high- and low-level features in convolutional networks. To address these limitations, we propose a novel Hierarchical Multi-Modal Enhancement Network (HMMEN) that integrates RGB and IR data for robust and accurate TL detection. Our method introduces two key components: (1) a Mutual Multi-Modal Enhanced Block (MMEB), which fuses and enhances hierarchical RGB and IR feature maps in a coarse-to-fine manner, and (2) a Feature Alignment Block (FAB) that corrects misalignments between decoder outputs and IR feature maps by leveraging deformable convolutions. We employ MobileNet-based encoders for both RGB and IR inputs to accommodate edge-computing constraints and reduce computational overhead. Experimental results on diverse weather and lighting conditionsfog, night, snow, and daytimedemonstrate the superiority and robustness of our approach compared to state-of-the-art methods, resulting in fewer false positives, enhanced boundary delineation, and better overall detection performance. This framework thus shows promise for practical large-scale power line inspections with unmanned aerial vehicles.
Task-KV: Task-aware KV Cache Optimization via Semantic Differentiation of Attention Heads
Venue: arXiv cs.CL 2025
Year: 2025

KV cache is a widely used acceleration technique for large language models (LLMs) inference. However, its memory requirement grows rapidly with input length. Previous studies have reduced the size of KV cache by either removing the same number of unimportant tokens for all attention heads or by allocating differentiated KV cache budgets for pre-identified attention heads. However, due to the importance of attention heads varies across different tasks, the pre-identified attention heads fail to adapt effectively to various downstream tasks. To address this issue, we propose Task-KV, a method that leverages the semantic differentiation of attention heads to allocate differentiated KV cache budgets across various tasks. We demonstrate that attention heads far from the semantic center (called heterogeneous heads) make an significant contribution to task outputs and semantic understanding. In contrast, other attention heads play the role of aggregating important information and focusing reasoning. Task-KV allocates full KV cache budget to heterogeneous heads to preserve comprehensive semantic information, while reserving a small number of recent tokens and attention sinks for non-heterogeneous heads. Furthermore, we innovatively introduce middle activations to preserve key contextual information aggregated from non-heterogeneous heads. To dynamically perceive semantic differences among attention heads, we design a semantic separator to distinguish heterogeneous heads from non-heterogeneous ones based on their distances from the semantic center. Experimental results on multiple benchmarks and different model architectures demonstrate that Task-KV significantly outperforms existing baseline methods.
Vision without Images: End-to-End Computer Vision from Single Compressive Measurements
Venue: arXiv cs.CV 2025
Year: 2025

Snapshot Compressed Imaging (SCI) offers high-speed, low-bandwidth, and energy-efficient image acquisition, but remains challenged by low-light and low signal-to-noise ratio (SNR) conditions. Moreover, practical hardware constraints in high-resolution sensors limit the use of large frame-sized masks, necessitating smaller, hardware-friendly designs. In this work, we present a novel SCI-based computer vision framework using pseudo-random binary masks of only 8$\times$8 in size for physically feasible implementations. At its core is CompDAE, a Compressive Denoising Autoencoder built on the STFormer architecture, designed to perform downstream tasks--such as edge detection and depth estimation--directly from noisy compressive raw pixel measurements without image reconstruction. CompDAE incorporates a rate-constrained training strategy inspired by BackSlash to promote compact, compressible models. A shared encoder paired with lightweight task-specific decoders enables a unified multi-task platform. Extensive experiments across multiple datasets demonstrate that CompDAE achieves state-of-the-art performance with significantly lower complexity, especially under ultra-low-light conditions where traditional CMOS and SCI pipelines fail.
Community Detection in Large-Scale Complex Networks via Structural Entropy Game
Venue: arXiv cs.SI 2025
Year: 2025

Community detection is a critical task in graph theory, social network analysis, and bioinformatics, where communities are defined as clusters of densely interconnected nodes. However, detecting communities in large-scale networks with millions of nodes and billions of edges remains challenging due to the inefficiency and unreliability of existing methods. Moreover, many current approaches are limited to specific graph types, such as unweighted or undirected graphs, reducing their broader applicability. To address these issues, we propose a novel heuristic community detection algorithm, termed CoDeSEG, which identifies communities by minimizing the two-dimensional (2D) structural entropy of the network within a potential game framework. In the game, nodes decide to stay in current community or move to another based on a strategy that maximizes the 2D structural entropy utility function. Additionally, we introduce a structural entropy-based node overlapping heuristic for detecting overlapping communities, with a near-linear time complexity.Experimental results on real-world networks demonstrate that CoDeSEG is the fastest method available and achieves state-of-the-art performance in overlapping normalized mutual information (ONMI) and F1 score.