OpenRaiser/Intern-Atlas huggingface dataset:
Secondary Stakeholders in AI: Fighting for, Brokering, and Navigating Agency
Venue: arXiv cs.HC 2025
Year: 2025

As AI technologies become more human-facing, there have been numerous calls to adapt participatory approaches to AI development -- spurring the idea of participatory AI. However, these calls often focus only on primary stakeholders, such as end-users, and not secondary stakeholders. This paper seeks to translate the ideals of participatory AI to a broader population of secondary AI stakeholders through semi-structured interviews. We theorize that meaningful participation involves three participatory ideals: (1) informedness, (2) consent, and (3) agency. We also explore how secondary stakeholders realize these ideals by traversing a complicated problem space. Like walking up the rungs of a ladder, these ideals build on one another. We introduce three stakeholder archetypes: the reluctant data contributor, the unsupported activist, and the well-intentioned practitioner, who must navigate systemic barriers to achieving agentic AI relationships. We envision an AI future where secondary stakeholders are able to meaningfully participate with the AI systems they influence and are influenced by.
Adultification Bias in LLMs and Text-to-Image Models
Venue: arXiv cs.CY 2025
Year: 2025

The rapid adoption of generative AI models in domains such as education, policing, and social media raises significant concerns about potential bias and safety issues, particularly along protected attributes, such as race and gender, and when interacting with minors. Given the urgency of facilitating safe interactions with AI systems, we study bias along axes of race and gender in young girls. More specifically, we focus on "adultification bias," a phenomenon in which Black girls are presumed to be more defiant, sexually intimate, and culpable than their White peers. Advances in alignment techniques show promise towards mitigating biases but vary in their coverage and effectiveness across models and bias types. Therefore, we measure explicit and implicit adultification bias in widely used LLMs and text-to-image (T2I) models, such as OpenAI, Meta, and Stability AI models. We find that LLMs exhibit explicit and implicit adultification bias against Black girls, assigning them harsher, more sexualized consequences in comparison to their White peers. Additionally, we find that T2I models depict Black girls as older and wearing more revealing clothing than their White counterparts, illustrating how adultification bias persists across modalities. We make three key contributions: (1) we measure a new form of bias in generative AI models, (2) we systematically study adultification bias across modalities, and (3) our findings emphasize that current alignment methods are insufficient for comprehensively addressing bias. Therefore, new alignment methods that address biases such as adultification are needed to ensure safe and equitable AI deployment.
Research Knowledge Graphs: the Shifting Paradigm of Scholarly Information Representation
Venue: arXiv cs.IR 2025
Year: 2025

Sharing and reusing research artifacts, such as datasets, publications, or methods is a fundamental part of scientific activity, where heterogeneity of resources and metadata and the common practice of capturing information in unstructured publications pose crucial challenges. Reproducibility of research and finding state-of-the-art methods or data have become increasingly challenging. In this context, the concept of Research Knowledge Graphs (RKGs) has emerged, aiming at providing an easy to use and machine-actionable representation of research artifacts and their relations. That is facilitated through the use of established principles for data representation, the consistent adoption of globally unique persistent identifiers and the reuse and linking of vocabularies and data. This paper provides the first conceptualisation of the RKG vision, a categorisation of in-use RKGs together with a description of RKG building blocks and principles. We also survey real-world RKG implementations differing with respect to scale, schema, data, used vocabulary, and reliability of the contained data. We also characterise different RKG construction methodologies and provide a forward-looking perspective on the diverse applications, opportunities, and challenges associated with the RKG vision.
Multi-Step Guided Diffusion for Image Restoration on Edge Devices: Toward Lightweight Perception in Embodied AI
Venue: arXiv cs.CV 2025
Year: 2025

Diffusion models have shown remarkable flexibility for solving inverse problems without task-specific retraining. However, existing approaches such as Manifold Preserving Guided Diffusion (MPGD) apply only a single gradient update per denoising step, limiting restoration fidelity and robustness, especially in embedded or out-of-distribution settings. In this work, we introduce a multistep optimization strategy within each denoising timestep, significantly enhancing image quality, perceptual accuracy, and generalization. Our experiments on super-resolution and Gaussian deblurring demonstrate that increasing the number of gradient updates per step improves LPIPS and PSNR with minimal latency overhead. Notably, we validate this approach on a Jetson Orin Nano using degraded ImageNet and a UAV dataset, showing that MPGD, originally trained on face datasets, generalizes effectively to natural and aerial scenes. Our findings highlight MPGD's potential as a lightweight, plug-and-play restoration module for real-time visual perception in embodied AI agents such as drones and mobile robots.
Very Large-scale Multi-Robot Task Allocation in Challenging Environments via Robot Redistribution
Venue: arXiv cs.RO 2025
Year: 2025

We consider the Multi-Robot Task Allocation (MRTA) problem that aims to optimize an assignment of multiple robots to multiple tasks in challenging environments which are with densely populated obstacles and narrow passages. In such environments, conventional methods optimizing the sum-of-cost are often ineffective because the conflicts between robots incur additional costs (e.g., collision avoidance, waiting). Also, an allocation that does not incorporate the actual robot paths could cause deadlocks, which significantly degrade the collective performance of the robots. We propose a scalable MRTA method that considers the paths of the robots to avoid collisions and deadlocks which result in a fast completion of all tasks (i.e., minimizing the \textit{makespan}). To incorporate robot paths into task allocation, the proposed method constructs a roadmap using a Generalized Voronoi Diagram. The method partitions the roadmap into several components to know how to redistribute robots to achieve all tasks with less conflicts between the robots. In the redistribution process, robots are transferred to their final destinations according to a push-pop mechanism with the first-in first-out principle. From the extensive experiments, we show that our method can handle instances with hundreds of robots in dense clutter while competitors are unable to compute a solution within a time limit.
CASE: Contrastive Activation for Saliency Estimation
Venue: arXiv cs.CV 2025
Year: 2025

Saliency methods are widely used to visualize which input features are deemed relevant to a model's prediction. However, their visual plausibility can obscure critical limitations. In this work, we propose a diagnostic test for class sensitivity: a method's ability to distinguish between competing class labels on the same input. Through extensive experiments, we show that many widely used saliency methods produce nearly identical explanations regardless of the class label, calling into question their reliability. We find that class-insensitive behavior persists across architectures and datasets, suggesting the failure mode is structural rather than model-specific. Motivated by these findings, we introduce CASE, a contrastive explanation method that isolates features uniquely discriminative for the predicted class. We evaluate CASE using the proposed diagnostic and a perturbation-based fidelity test, and show that it produces faithful and more class-specific explanations than existing methods.
Mobility-Aware Asynchronous Federated Learning with Dynamic Sparsification
Venue: arXiv cs.LG 2025
Year: 2025

Asynchronous Federated Learning (AFL) enables distributed model training across multiple mobile devices, allowing each device to independently update its local model without waiting for others. However, device mobility introduces intermittent connectivity, which necessitates gradient sparsification and leads to model staleness, jointly affecting AFL convergence. This paper develops a theoretical model to characterize the interplay among sparsification, model staleness and mobility-induced contact patterns, and their joint impact on AFL convergence. Based on the analysis, we propose a mobility-aware dynamic sparsification (MADS) algorithm that optimizes the sparsification degree based on contact time and model staleness. Closed-form solutions are derived, showing that under low-speed conditions, MADS increases the sparsification degree to enhance convergence, while under high-speed conditions, it reduces the sparsification degree to guarantee reliable uploads within limited contact time. Experimental results validate the theoretical findings. Compared with the state-of-the-art benchmarks, the MADS algorithm increases the image classification accuracy on the CIFAR-10 dataset by 8.76% and reduces the average displacement error in the Argoverse trajectory prediction dataset by 9.46%.
UruBots Autonomous Cars Challenge Pro Team Description Paper for FIRA 2025
Venue: arXiv cs.RO 2025
Year: 2025

This paper describes the development of an autonomous car by the UruBots team for the 2025 FIRA Autonomous Cars Challenge (Pro). The project involves constructing a compact electric vehicle, approximately the size of an RC car, capable of autonomous navigation through different tracks. The design incorporates mechanical and electronic components and machine learning algorithms that enable the vehicle to make real-time navigation decisions based on visual input from a camera. We use deep learning models to process camera images and control vehicle movements. Using a dataset of over ten thousand images, we trained a Convolutional Neural Network (CNN) to drive the vehicle effectively, through two outputs, steering and throttle. The car completed the track in under 30 seconds, achieving a pace of approximately 0.4 meters per second while avoiding obstacles.
MapBERT: Bitwise Masked Modeling for Real-Time Semantic Mapping Generation
Venue: arXiv cs.RO 2025
Year: 2025

Spatial awareness is a critical capability for embodied agents, as it enables them to anticipate and reason about unobserved regions. The primary challenge arises from learning the distribution of indoor semantics, complicated by sparse, imbalanced object categories and diverse spatial scales. Existing methods struggle to robustly generate unobserved areas in real time and do not generalize well to new environments. To this end, we propose \textbf{MapBERT}, a novel framework designed to effectively model the distribution of unseen spaces. Motivated by the observation that the one-hot encoding of semantic maps aligns naturally with the binary structure of bit encoding, we, for the first time, leverage a lookup-free BitVAE to encode semantic maps into compact bitwise tokens. Building on this, a masked transformer is employed to infer missing regions and generate complete semantic maps from limited observations. To enhance object-centric reasoning, we propose an object-aware masking strategy that masks entire object categories concurrently and pairs them with learnable embeddings, capturing implicit relationships between object embeddings and spatial tokens. By learning these relationships, the model more effectively captures indoor semantic distributions crucial for practical robotic tasks. Experiments on Gibson benchmarks show that MapBERT achieves state-of-the-art semantic map generation, balancing computational efficiency with accurate reconstruction of unobserved regions.
DINO-CoDT: Multi-class Collaborative Detection and Tracking with Vision Foundation Models
Venue: arXiv cs.CV 2025
Year: 2025

Collaborative perception plays a crucial role in enhancing environmental understanding by expanding the perceptual range and improving robustness against sensor failures, which primarily involves collaborative 3D detection and tracking tasks. The former focuses on object recognition in individual frames, while the latter captures continuous instance tracklets over time. However, existing works in both areas predominantly focus on the vehicle superclass, lacking effective solutions for both multi-class collaborative detection and tracking. This limitation hinders their applicability in real-world scenarios, which involve diverse object classes with varying appearances and motion patterns. To overcome these limitations, we propose a multi-class collaborative detection and tracking framework tailored for diverse road users. We first present a detector with a global spatial attention fusion (GSAF) module, enhancing multi-scale feature learning for objects of varying sizes. Next, we introduce a tracklet RE-IDentification (REID) module that leverages visual semantics with a vision foundation model to effectively reduce ID SWitch (IDSW) errors, in cases of erroneous mismatches involving small objects like pedestrians. We further design a velocity-based adaptive tracklet management (VATM) module that adjusts the tracking interval dynamically based on object motion. Extensive experiments on the V2X-Real and OPV2V datasets show that our approach significantly outperforms existing state-of-the-art methods in both detection and tracking accuracy.
GUIPilot: A Consistency-based Mobile GUI Testing Approach for Detecting Application-specific Bugs
Venue: arXiv cs.SE 2025
Year: 2025

In this work, we propose GUIPilot, an approach for detecting inconsistencies between the mobile design and their implementations. The mobile design usually consists of design mock-ups that specify (1) the expected screen appearances (e.g., widget layouts, colors, and shapes) and (2) the expected screen behaviors, regarding how one screen can transition into another (e.g., labeled widgets with textual description). Given a design mock-up and the implementation of its application, GUIPilot reports both their screen inconsistencies as well as process inconsistencies. On the one hand, GUIPilot detects the screen inconsistencies by abstracting every screen into a widget container where each widget is represented by its position, width, height, and type. By defining the partial order of widgets and the costs of replacing, inserting, and deleting widgets in a screen, we convert the screen-matching problem into an optimizable widget alignment problem. On the other hand, we translate the specified GUI transition into stepwise actions on the mobile screen (e.g., click, long-press, input text on some widgets). To this end, we propose a visual prompt for the vision-language model to infer widget-specific actions on the screen. By this means, we can validate the presence or absence of expected transitions in the implementation. Our extensive experiments on 80 mobile applications and 160 design mock-ups show that (1) GUIPilot can achieve 94.5% precision and 99.6% recall in detecting screen inconsistencies, outperforming the state-of-the-art approach, such as GVT, by 66.2% and 56.6% respectively, and (2) GUIPilot reports zero errors in detecting process inconsistencies. Furthermore, our industrial case study on applying GUIPilot on a trading mobile application shows that GUIPilot has detected nine application bugs, and all the bugs were confirmed by the original application experts.
Fractional-order Jacobian Matrix Differentiation and Its Application in Artificial Neural Networks
Venue: arXiv cs.LG 2025
Year: 2025

Fractional-order differentiation has many characteristics different from integer-order differentiation. These characteristics can be applied to the optimization algorithms of artificial neural networks to obtain better results. However, due to insufficient theoretical research, at present, there is no fractional-order matrix differentiation method that is perfectly compatible with automatic differentiation (Autograd) technology. Therefore, we propose a fractional-order matrix differentiation calculation method. This method is introduced by the definition of the integer-order Jacobian matrix. We denote it as fractional-order Jacobian matrix differentiation (${\bf{J}^α}$). Through ${\bf{J}^α}$, we can carry out the matrix-based fractional-order chain rule. Based on the Linear module and the fractional-order differentiation, we design the fractional-order Autograd technology to enable the use of fractional-order differentiation in hidden layers, thereby enhancing the practicality of fractional-order differentiation in deep learning. In the experiment, according to the PyTorch framework, we design fractional-order Linear (FLinear) and replace nn.Linear in the multilayer perceptron with FLinear. Through the qualitative analysis of the training set and validation set $Loss$, the quantitative analysis of the test set indicators, and the analysis of time consumption and GPU memory usage during model training, we verify the superior performance of ${\bf{J}^α}$ and prove that it is an excellent fractional-order gradient descent method in the field of deep learning.
Evidential Spectrum-Aware Contrastive Learning for OOD Detection in Dynamic Graphs
Venue: arXiv cs.LG 2025
Year: 2025

Recently, Out-of-distribution (OOD) detection in dynamic graphs, which aims to identify whether incoming data deviates from the distribution of the in-distribution (ID) training set, has garnered considerable attention in security-sensitive fields. Current OOD detection paradigms primarily focus on static graphs and confront two critical challenges: i) high bias and high variance caused by single-point estimation, which makes the predictions sensitive to randomness in the data; ii) score homogenization resulting from the lack of OOD training data, where the model only learns ID-specific patterns, resulting in overall low OOD scores and a narrow score gap between ID and OOD data. To tackle these issues, we first investigate OOD detection in dynamic graphs through the lens of Evidential Deep Learning (EDL). Specifically, we propose EviSEC, an innovative and effective OOD detector via Evidential Spectrum-awarE Contrastive Learning. We design an evidential neural network to redefine the output as the posterior Dirichlet distribution, explaining the randomness of inputs through the uncertainty of distribution, which is overlooked by single-point estimation. Moreover, spectrum-aware augmentation module generates OOD approximations to identify patterns with high OOD scores, thereby widening the score gap between ID and OOD data and mitigating score homogenization. Extensive experiments on real-world datasets demonstrate that EviSAC effectively detects OOD samples in dynamic graphs.
Well Begun is Half Done: Low-resource Preference Alignment by Weak-to-Strong Decoding
Venue: arXiv cs.CL 2025
Year: 2025

Large Language Models (LLMs) require alignment with human preferences to avoid generating offensive, false, or meaningless content. Recently, low-resource methods for LLM alignment have been popular, while still facing challenges in obtaining both high-quality and aligned content. Motivated by the observation that the difficulty of generating aligned responses is concentrated at the beginning of decoding, we propose a novel framework, Weak-to-Strong Decoding (WSD), to enhance the alignment ability of base models by the guidance of a small aligned model. The small model first drafts well-aligned beginnings, followed by the large base model to continue the rest, controlled by a well-designed auto-switch mechanism. We also collect a new dataset, GenerAlign, to fine-tune a small-sized Pilot-3B as the draft model, which effectively enhances different base models under the WSD framework to outperform all baseline methods, while avoiding degradation on downstream tasks, termed as the alignment tax. Extensive experiments are further conducted to examine the impact of different settings and time efficiency, as well as analyses on the intrinsic mechanisms of WSD in depth.
Fast Geometric Embedding for Node Influence Maximization
Venue: arXiv cs.SI 2025
Year: 2025

Computing classical centrality measures such as betweenness and closeness is computationally expensive on large-scale graphs. In this work, we introduce an efficient force layout algorithm that embeds a graph into a low-dimensional space, where the radial distance from the origin serves as a proxy for various centrality measures. We evaluate our method on multiple graph families and demonstrate strong correlations with degree, PageRank, and paths-based centralities. As an application, it turns out that the proposed embedding allows to find high-influence nodes in a network, and provides a fast and scalable alternative to the standard greedy algorithm.
LGAI-EMBEDDING-Preview Technical Report
Venue: arXiv cs.CL 2025
Year: 2025

This report presents a unified instruction-based framework for learning generalized text embeddings optimized for both information retrieval (IR) and non-IR tasks. Built upon a decoder-only large language model (Mistral-7B), our approach combines in-context learning, soft supervision, and adaptive hard-negative mining to generate context-aware embeddings without task-specific fine-tuning. Structured instructions and few-shot examples are used to guide the model across diverse tasks, enabling strong performance on classification, semantic similarity, clustering, and reranking benchmarks. To improve semantic discrimination, we employ a soft labeling framework where continuous relevance scores, distilled from a high-performance dense retriever and reranker, serve as fine-grained supervision signals. In addition, we introduce adaptive margin-based hard-negative mining, which filters out semantically ambiguous negatives based on their similarity to positive examples, thereby enhancing training stability and retrieval robustness. Our model is evaluated on the newly introduced MTEB (English, v2) benchmark, covering 41 tasks across seven categories. Results show that our method achieves strong generalization and ranks among the top-performing models by Borda score, outperforming several larger or fully fine-tuned baselines. These findings highlight the effectiveness of combining in-context prompting, soft supervision, and adaptive sampling for scalable, high-quality embedding generation.