OpenRaiser/Intern-Atlas huggingface dataset:
An Efficient Gradient-Aware Error-Bounded Lossy Compressor for Federated Learning
Venue: arXiv cs.LG 2025
Year: 2025

Federated learning (FL) enables collaborative model training without exposing clients' private data, but its deployment is often constrained by the communication cost of transmitting gradients between clients and the central server, especially under system heterogeneity where low-bandwidth clients bottleneck overall performance. Lossy compression of gradient data can mitigate this overhead, and error-bounded lossy compression (EBLC) is particularly appealing for its fine-grained utility-compression tradeoff. However, existing EBLC methods (e.g., SZ), originally designed for smooth scientific data with strong spatial locality, rely on generic predictors such as Lorenzo and interpolation for entropy reduction to improve compression ratio. Gradient tensors, in contrast, exhibit low smoothness and weak spatial correlation, rendering these predictors ineffective and leading to poor compression ratios. To address this limitation, we propose an EBLC framework tailored for FL gradient data to achieve high compression ratios while preserving model accuracy. The core of it is an innovative prediction mechanism that exploits temporal correlations across FL training rounds and structural regularities within convolutional kernels to reduce residual entropy. The predictor is compatible with standard quantizers and entropy coders and comprises (1) a cross-round magnitude predictor based on a normalized exponential moving average, and (2) a sign predictor that leverages gradient oscillation and kernel-level sign consistency. Experiments show that this new EBLC yields up to 1.53x higher compression ratios than SZ3 with lower accuracy loss. Integrated into a real-world FL framework, APPFL, it reduces end-to-end communication time by 76.1%-96.2% under various constrained-bandwidth scenarios, demonstrating strong scalability for real-world FL deployments.
VLAD-Grasp: Zero-shot Grasp Detection via Vision-Language Models
Venue: arXiv cs.RO 2025
Year: 2025

Robotic grasping is a fundamental capability for autonomous manipulation; however, most existing methods rely on large-scale expert annotations and necessitate retraining to handle new objects. We present VLAD-Grasp, a Vision-Language model Assisted zero-shot approach for Detecting grasps. From a single RGB-D image, our method (1) prompts a large vision-language model to generate a goal image where a straight rod "impales" the object, representing an antipodal grasp, (2) predicts depth and segmentation to lift this generated image into 3D, and (3) aligns generated and observed object point clouds via principal component analysis and correspondence-free optimization to recover an executable grasp pose. Unlike prior work, our approach is training-free and does not rely on curated grasp datasets. Despite this, VLAD-Grasp achieves performance that is competitive with or superior to that of state-of-the-art supervised models on the Cornell and Jacquard datasets. We further demonstrate zero-shot generalization to novel real-world objects on a Franka Research 3 robot, highlighting vision-language foundation models as powerful priors for robotic manipulation.
Position-Prior-Guided Network for System Matrix Super-Resolution in Magnetic Particle Imaging
Venue: arXiv cs.CV 2025
Year: 2025

Magnetic Particle Imaging (MPI) is a novel medical imaging modality. One of the established methods for MPI reconstruction is based on the System Matrix (SM). However, the calibration of the SM is often time-consuming and requires repeated measurements whenever the system parameters change. Current methodologies utilize deep learning-based super-resolution (SR) techniques to expedite SM calibration; nevertheless, these strategies do not fully exploit physical prior knowledge associated with the SM, such as symmetric positional priors. Consequently, we integrated positional priors into existing frameworks for SM calibration. Underpinned by theoretical justification, we empirically validated the efficacy of incorporating positional priors through experiments involving both 2D and 3D SM SR methods.
Securing UAV Communications by Fusing Cross-Layer Fingerprints
Venue: arXiv cs.CR 2025
Year: 2025

The open nature of wireless communications renders unmanned aerial vehicle (UAV) communications vulnerable to impersonation attacks, under which malicious UAVs can impersonate authorized ones with stolen digital certificates. Traditional fingerprint-based UAV authentication approaches rely on a single modality of sensory data gathered from a single layer of the network model, resulting in unreliable authentication experiences, particularly when UAVs are mobile and in an open-world environment. To transcend these limitations, this paper proposes SecureLink, a UAV authentication system that is among the first to employ cross-layer information for enhancing the efficiency and reliability of UAV authentication. Instead of using single modalities, SecureLink fuses physical-layer radio frequency (RF) fingerprints and application-layer micro-electromechanical system (MEMS) fingerprints into reliable UAV identifiers via multimodal fusion. SecureLink first aligns fingerprints from channel state information measurements and telemetry data, such as feedback readings of onboard accelerometers, gyroscopes, and barometers. Then, an attention-based neural network is devised for in-depth feature fusion. Next, the fused features are trained by a multi-similarity loss and fed into a one-class support vector machine for open-world authentication. We extensively implement our SecureLink using three different types of UAVs and evaluate it in different environments. With only six additional data frames, SecureLink achieves a closed-world accuracy of 98.61% and an open-world accuracy of 97.54% with two impersonating UAVs, outperforming the existing approaches in authentication robustness and communication overheads. Finally, our datasets collected from these experiments are available on GitHub: https://github.com/PhyGroup/SecureLink\_data.
Adversarial Game-Theoretic Algorithm for Dexterous Grasp Synthesis
Venue: arXiv cs.RO 2025
Year: 2025

For many complex tasks, multi-finger robot hands are poised to revolutionize how we interact with the world, but reliably grasping objects remains a significant challenge. We focus on the problem of synthesizing grasps for multi-finger robot hands that, given a target object's geometry and pose, computes a hand configuration. Existing approaches often struggle to produce reliable grasps that sufficiently constrain object motion, leading to instability under disturbances and failed grasps. A key reason is that during grasp generation, they typically focus on resisting a single wrench, while ignoring the object's potential for adversarial movements, such as escaping. We propose a new grasp-synthesis approach that explicitly captures and leverages the adversarial object motion in grasp generation by formulating the problem as a two-player game. One player controls the robot to generate feasible grasp configurations, while the other adversarially controls the object to seek motions that attempt to escape from the grasp. Simulation experiments on various robot platforms and target objects show that our approach achieves a success rate of 75.78%, up to 19.61% higher than the state-of-the-art baseline. The two-player game mechanism improves the grasping success rate by 27.40% over the method without the game formulation. Our approach requires only 0.28-1.04 seconds on average to generate a grasp configuration, depending on the robot platform, making it suitable for real-world deployment. In real-world experiments, our approach achieves an average success rate of 85.0% on ShadowHand and 87.5% on LeapHand, which confirms its feasibility and effectiveness in real robot setups.
3D Mapping Using a Lightweight and Low-Power Monocular Camera Embedded inside a Gripper of Limbed Climbing Robots
Venue: arXiv cs.RO 2025
Year: 2025

Limbed climbing robots are designed to explore challenging vertical walls, such as the skylights of the Moon and Mars. In such robots, the primary role of a hand-eye camera is to accurately estimate 3D positions of graspable points (i.e., convex terrain surfaces) thanks to its close-up views. While conventional climbing robots often employ RGB-D cameras as hand-eye cameras to facilitate straightforward 3D terrain mapping and graspable point detection, RGB-D cameras are large and consume considerable power. This work presents a 3D terrain mapping system designed for space exploration using limbed climbing robots equipped with a monocular hand-eye camera. Compared to RGB-D cameras, monocular cameras are more lightweight, compact structures, and have lower power consumption. Although monocular SLAM can be used to construct 3D maps, it suffers from scale ambiguity. To address this limitation, we propose a SLAM method that fuses monocular visual constraints with limb forward kinematics. The proposed method jointly estimates time-series gripper poses and the global metric scale of the 3D map based on factor graph optimization. We validate the proposed framework through both physics-based simulations and real-world experiments. The results demonstrate that our framework constructs a metrically scaled 3D terrain map in real-time and enables autonomous grasping of convex terrain surfaces using a monocular hand-eye camera, without relying on RGB-D cameras. Our method contributes to scalable and energy-efficient perception for future space missions involving limbed climbing robots. See the video summary here: https://youtu.be/fMBrrVNKJfc
WAR-Re: Web API Recommendation with Semantic Reasoning
Venue: arXiv cs.SE 2025
Year: 2025

With the development of cloud computing, the number of Web APIs has increased dramatically, further intensifying the demand for efficient Web API recommendation. Despite the demonstrated success of previous Web API recommendation solutions, two critical challenges persist: 1) a fixed top-N recommendation that cannot accommodate the varying API cardinality requirements of different mashups, and 2) these methods output only ranked API lists without accompanying reasons, depriving users of understanding the recommendation. To address these challenges, we propose WAR-Re, an LLM-based model for Web API recommendation with semantic reasoning for justification. WAR-Re leverages special start and stop tokens to handle the first challenge and uses two-stage training: supervised fine-tuning and reinforcement learning via Group Relative Policy Optimization (GRPO) to enhance the model's ability in both tasks. Comprehensive experimental evaluations on the ProgrammableWeb dataset demonstrate that WAR-Re achieves a gain of up to 21.59\% over the state-of-the-art baseline model in recommendation accuracy, while consistently producing high-quality semantic reasons for recommendations.
PyGress: Tool for Analyzing the Progression of Code Proficiency in Python OSS Projects
Venue: arXiv cs.SE 2025
Year: 2025

Assessing developer proficiency in open-source software (OSS) projects is essential for understanding project dynamics, especially for expertise. This paper presents PyGress, a web-based tool designed to automatically evaluate and visualize Python code proficiency using pycefr, a Python code proficiency analyzer. By submitting a GitHub repository link, the system extracts commit histories, analyzes source code proficiency across CEFR-aligned levels (A1 to C2), and generates visual summaries of individual and project-wide proficiency. The PyGress tool visualizes per-contributor proficiency distribution and tracks project code proficiency progression over time. PyGress offers an interactive way to explore contributor coding levels in Python OSS repositories. The video demonstration of the PyGress tool can be found at https://youtu.be/hxoeK-ggcWk, and the source code of the tool is publicly available at https://github.com/MUICT-SERU/PyGress.
IndirectAD: Practical Data Poisoning Attacks against Recommender Systems for Item Promotion
Venue: arXiv cs.CR 2025
Year: 2025

Recommender systems play a central role in digital platforms by providing personalized content. They often use methods such as collaborative filtering and machine learning to accurately predict user preferences. Although these systems offer substantial benefits, they are vulnerable to security and privacy threats, especially data poisoning attacks. By inserting misleading data, attackers can manipulate recommendations for purposes ranging from boosting product visibility to shaping public opinion. Despite these risks, concerns are often downplayed because such attacks typically require controlling at least 1% of the platform's user base, a difficult task on large platforms. We tackle this issue by introducing the IndirectAD attack, inspired by Trojan attacks on machine learning. IndirectAD reduces the need for a high poisoning ratio through a trigger item that is easier to recommend to the target users. Rather than directly promoting a target item that does not match a user's interests, IndirectAD first promotes the trigger item, then transfers that advantage to the target item by creating co-occurrence data between them. This indirect strategy delivers a stronger promotion effect while using fewer controlled user accounts. Our extensive experiments on multiple datasets and recommender systems show that IndirectAD can cause noticeable impact with only 0.05% of the platform's user base. Even in large-scale settings, IndirectAD remains effective, highlighting a more serious and realistic threat to today's recommender systems.
Gentle Manipulation Policy Learning via Demonstrations from VLM Planned Atomic Skills
Venue: arXiv cs.RO 2025
Year: 2025

Autonomous execution of long-horizon, contact-rich manipulation tasks traditionally requires extensive real-world data and expert engineering, posing significant cost and scalability challenges. This paper proposes a novel framework integrating hierarchical semantic decomposition, reinforcement learning (RL), visual language models (VLMs), and knowledge distillation to overcome these limitations. Complex tasks are decomposed into atomic skills, with RL-trained policies for each primitive exclusively in simulation. Crucially, our RL formulation incorporates explicit force constraints to prevent object damage during delicate interactions. VLMs perform high-level task decomposition and skill planning, generating diverse expert demonstrations. These are distilled into a unified policy via Visual-Tactile Diffusion Policy for end-to-end execution. We conduct comprehensive ablation studies exploring different VLM-based task planners to identify optimal demonstration generation pipelines, and systematically compare imitation learning algorithms for skill distillation. Extensive simulation experiments and physical deployment validate that our approach achieves policy learning for long-horizon manipulation without costly human demonstrations, while the VLM-guided atomic skill framework enables scalable generalization to diverse tasks.
CommUNext: Deep Learning-Based Cross-Band and Multi-Directional Signal Prediction
Venue: arXiv cs.IT 2025
Year: 2025

Sixth-generation (6G) networks are envisioned to achieve full-band cognition by jointly utilizing spectrum resources from Frequency Range~1 (FR1) to Frequency Range~3 (FR3, 7--24\,GHz). Realizing this vision faces two challenges. First, physics-based ray tracing (RT), the standard tool for network planning and coverage modeling, becomes computationally prohibitive for multi-band and multi-directional analysis over large areas. Second, current 5G systems rely on inter-frequency measurement gaps for carrier aggregation and beam management, which reduce throughput, increase latency, and scale poorly as bands and beams proliferate. These limitations motivate a data-driven approach to infer high-frequency characteristics from low-frequency observations. This work proposes CommUNext, a unified deep learning framework for cross-band, multi-directional signal strength (SS) prediction. The framework leverages low-frequency coverage data and crowd-aided partial measurements at the target band to generate high-fidelity FR3 predictions. Two complementary architectures are introduced: Full CommUNext, which substitutes costly RT simulations for large-scale offline modeling, and Partial CommUNext, which reconstructs incomplete low-frequency maps to mitigate measurement gaps in real-time operation. Experimental results show that CommUNext delivers accurate and robust high-frequency SS prediction even with sparse supervision, substantially reducing both simulation and measurement overhead.
Generality Is Not Enough: Zero-Label Cross-System Log-Based Anomaly Detection via Knowledge-Level Collaboration
Venue: arXiv cs.SE 2025
Year: 2025

Log-based anomaly detection is crucial for ensuring software system stability. However, the scarcity of labeled logs limits rapid deployment to new systems. Cross-system transfer has become an important research direction. State-of-the-art approaches perform well with a few labeled target logs, but limitations remain: small-model methods transfer general knowledge but overlook mismatches with the target system's proprietary knowledge; LLM-based methods can capture proprietary patterns but rely on a few positive examples and incur high inference cost. Existing LLM-small model collaborations route 'simple logs' to the small model and 'complex logs' to the LLM based on output uncertainty. In zero-label cross-system settings, supervised sample complexity is unavailable, and such routing does not consider knowledge separation. To address this, we propose GeneralLog, a novel LLM-small model collaborative method for zero-label cross-system log anomaly detection. GeneralLog dynamically routes unlabeled logs, letting the LLM handle 'proprietary logs' and the small model 'general logs,' enabling cross-system generalization without labeled target logs. Experiments on three public log datasets show that GeneralLog achieves over 90% F1-score under a fully zero-label setting, significantly outperforming existing methods.
From Words to Safety: Language-Conditioned Safety Filtering for Robot Navigation
Venue: arXiv cs.RO 2025
Year: 2025

As robots become increasingly integrated into open-world, human-centered environments, their ability to interpret natural language instructions and adhere to safety constraints is critical for effective and trustworthy interaction. Existing approaches often focus on mapping language to reward functions instead of safety specifications or address only narrow constraint classes (e.g., obstacle avoidance), limiting their robustness and applicability. We propose a modular framework for language-conditioned safety in robot navigation. Our framework is composed of three core components: (1) a large language model (LLM)-based module that translates free-form instructions into structured safety specifications, (2) a perception module that grounds these specifications by maintaining object-level 3D representations of the environment, and (3) a model predictive control (MPC)-based safety filter that enforces both semantic and geometric constraints in real time. We evaluate the effectiveness of the proposed framework through both simulation studies and hardware experiments, demonstrating that it robustly interprets and enforces diverse language-specified constraints across a wide range of environments and scenarios.
Towards Frequency-Adaptive Learning for SAR Despeckling
Venue: arXiv cs.CV 2025
Year: 2025

Synthetic Aperture Radar (SAR) images are inherently corrupted by speckle noise, limiting their utility in high-precision applications. While deep learning methods have shown promise in SAR despeckling, most methods employ a single unified network to process the entire image, failing to account for the distinct speckle statistics associated with different spatial physical characteristics. It often leads to artifacts, blurred edges, and texture distortion. To address these issues, we propose SAR-FAH, a frequency-adaptive heterogeneous despeckling model based on a divide-and-conquer architecture. First, wavelet decomposition is used to separate the image into frequency sub-bands carrying different intrinsic characteristics. Inspired by their differing noise characteristics, we design specialized sub-networks for different frequency components. The tailored approach leverages statistical variations across frequencies, improving edge and texture preservation while suppressing noise. Specifically, for the low-frequency part, denoising is formulated as a continuous dynamic system via neural ordinary differential equations, ensuring structural fidelity and sufficient smoothness that prevents artifacts. For high-frequency sub-bands rich in edges and textures, we introduce an enhanced U-Net with deformable convolutions for noise suppression and enhanced features. Extensive experiments on synthetic and real SAR images validate the superior performance of the proposed model in noise removal and structural preservation.
Open-World 3D Scene Graph Generation for Retrieval-Augmented Reasoning
Venue: arXiv cs.CV 2025
Year: 2025

Understanding 3D scenes in open-world settings poses fundamental challenges for vision and robotics, particularly due to the limitations of closed-vocabulary supervision and static annotations. To address this, we propose a unified framework for Open-World 3D Scene Graph Generation with Retrieval-Augmented Reasoning, which enables generalizable and interactive 3D scene understanding. Our method integrates Vision-Language Models (VLMs) with retrieval-based reasoning to support multimodal exploration and language-guided interaction. The framework comprises two key components: (1) a dynamic scene graph generation module that detects objects and infers semantic relationships without fixed label sets, and (2) a retrieval-augmented reasoning pipeline that encodes scene graphs into a vector database to support text/image-conditioned queries. We evaluate our method on 3DSSG and Replica benchmarks across four tasks-scene question answering, visual grounding, instance retrieval, and task planning-demonstrating robust generalization and superior performance in diverse environments. Our results highlight the effectiveness of combining open-vocabulary perception with retrieval-based reasoning for scalable 3D scene understanding.
CoMA: Complementary Masking and Hierarchical Dynamic Multi-Window Self-Attention in a Unified Pre-training Framework
Venue: arXiv cs.CV 2025
Year: 2025

Masked Autoencoders (MAE) achieve self-supervised learning of image representations by randomly removing a portion of visual tokens and reconstructing the original image as a pretext task, thereby significantly enhancing pretraining efficiency and yielding excellent adaptability across downstream tasks. However, MAE and other MAE-style paradigms that adopt random masking generally require more pre-training epochs to maintain adaptability. Meanwhile, ViT in MAE suffers from inefficient parameter use due to fixed spatial resolution across layers. To overcome these limitations, we propose the Complementary Masked Autoencoders (CoMA), which employ a complementary masking strategy to ensure uniform sampling across all pixels, thereby improving effective learning of all features and enhancing the model's adaptability. Furthermore, we introduce DyViT, a hierarchical vision transformer that employs a Dynamic Multi-Window Self-Attention (DM-MSA), significantly reducing the parameters and FLOPs while improving fine-grained feature learning. Pre-trained on ImageNet-1K with CoMA, DyViT matches the downstream performance of MAE using only 12% of the pre-training epochs, demonstrating more effective learning. It also attains a 10% reduction in pre-training time per epoch, further underscoring its superior pre-training efficiency.