OpenRaiser/Intern-Atlas huggingface dataset:
Probing the Preferences of a Language Model: Integrating Verbal and Behavioral Tests of AI Welfare
Venue: arXiv cs.AI 2025
Year: 2025

We develop new experimental paradigms for measuring welfare in language models. We compare verbal reports of models about their preferences with preferences expressed through behavior when navigating a virtual environment and selecting conversation topics. We also test how costs and rewards affect behavior and whether responses to an eudaimonic welfare scale - measuring states such as autonomy and purpose in life - are consistent across semantically equivalent prompts. Overall, we observed a notable degree of mutual support between our measures. The reliable correlations observed between stated preferences and behavior across conditions suggest that preference satisfaction can, in principle, serve as an empirically measurable welfare proxy in some of today's AI systems. Furthermore, our design offered an illuminating setting for qualitative observation of model behavior. Yet, the consistency between measures was more pronounced in some models and conditions than others and responses were not consistent across perturbations. Due to this, and the background uncertainty about the nature of welfare and the cognitive states (and welfare subjecthood) of language models, we are currently uncertain whether our methods successfully measure the welfare state of language models. Nevertheless, these findings highlight the feasibility of welfare measurement in language models, inviting further exploration.
TA-VLA: Elucidating the Design Space of Torque-aware Vision-Language-Action Models
Venue: arXiv cs.RO 2025
Year: 2025

Many robotic manipulation tasks require sensing and responding to force signals such as torque to assess whether the task has been successfully completed and to enable closed-loop control. However, current Vision-Language-Action (VLA) models lack the ability to integrate such subtle physical feedback. In this work, we explore Torque-aware VLA models, aiming to bridge this gap by systematically studying the design space for incorporating torque signals into existing VLA architectures. We identify and evaluate several strategies, leading to three key findings. First, introducing torque adapters into the decoder consistently outperforms inserting them into the encoder.Third, inspired by joint prediction and planning paradigms in autonomous driving, we propose predicting torque as an auxiliary output, which further improves performance. This strategy encourages the model to build a physically grounded internal representation of interaction dynamics. Extensive quantitative and qualitative experiments across contact-rich manipulation benchmarks validate our findings.
Bilingual Word Level Language Identification for Omotic Languages
Venue: arXiv cs.CL 2025
Year: 2025

Language identification is the task of determining the languages for a given text. In many real world scenarios, text may contain more than one language, particularly in multilingual communities. Bilingual Language Identification (BLID) is the task of identifying and distinguishing between two languages in a given text. This paper presents BLID for languages spoken in the southern part of Ethiopia, namely Wolaita and Gofa. The presence of words similarities and differences between the two languages makes the language identification task challenging. To overcome this challenge, we employed various experiments on various approaches. Then, the combination of the BERT based pretrained language model and LSTM approach performed better, with an F1 score of 0.72 on the test set. As a result, the work will be effective in tackling unwanted social media issues and providing a foundation for further research in this area.
AntiDote: Bi-level Adversarial Training for Tamper-Resistant LLMs
Venue: arXiv cs.CL 2025
Year: 2025

The release of open-weight large language models (LLMs) creates a tension between advancing accessible research and preventing misuse, such as malicious fine-tuning to elicit harmful content. Current safety measures struggle to preserve the general capabilities of the LLM while resisting a determined adversary with full access to the model's weights and architecture, who can use full-parameter fine-tuning to erase existing safeguards. To address this, we introduce AntiDote, a bi-level optimization procedure for training LLMs to be resistant to such tampering. AntiDote involves an auxiliary adversary hypernetwork that learns to generate malicious Low-Rank Adaptation (LoRA) weights conditioned on the defender model's internal activations. The defender LLM is then trained with an objective to nullify the effect of these adversarial weight additions, forcing it to maintain its safety alignment. We validate this approach against a diverse suite of 52 red-teaming attacks, including jailbreak prompting, latent space manipulation, and direct weight-space attacks. AntiDote is upto 27.4\% more robust against adversarial attacks compared to both tamper-resistance and unlearning baselines. Crucially, this robustness is achieved with a minimal trade-off in utility, incurring a performance degradation of upto less than 0.5\% across capability benchmarks including MMLU, HellaSwag, and GSM8K. Our work offers a practical and compute efficient methodology for building open-weight models where safety is a more integral and resilient property.
Video Parallel Scaling: Aggregating Diverse Frame Subsets for VideoLLMs
Venue: arXiv cs.CV 2025
Year: 2025

Video Large Language Models (VideoLLMs) face a critical bottleneck: increasing the number of input frames to capture fine-grained temporal detail leads to prohibitive computational costs and performance degradation from long context lengths. We introduce Video Parallel Scaling (VPS), an inference-time method that expands a model's perceptual bandwidth without increasing its context window. VPS operates by running multiple parallel inference streams, each processing a unique, disjoint subset of the video's frames. By aggregating the output probabilities from these complementary streams, VPS integrates a richer set of visual information than is possible with a single pass. We theoretically show that this approach effectively contracts the Chinchilla scaling law by leveraging uncorrelated visual evidence, thereby improving performance without additional training. Extensive experiments across various model architectures and scales (2B-32B) on benchmarks such as Video-MME and EventHallusion demonstrate that VPS consistently and significantly improves performance. It scales more favorably than other parallel alternatives (e.g. Self-consistency) and is complementary to other decoding strategies, offering a memory-efficient and robust framework for enhancing the temporal reasoning capabilities of VideoLLMs.
PySensors 2.0: A Python Package for Sparse Sensor Placement
Venue: arXiv cs.RO 2025
Year: 2025

PySensors is a Python package for selecting and placing a sparse set of sensors for reconstruction and classification tasks. In this major update to PySensors, we introduce spatially constrained sensor placement capabilities, allowing users to enforce constraints such as maximum or exact sensor counts in specific regions, incorporate predetermined sensor locations, and maintain minimum distances between sensors. We extend functionality to support custom basis inputs, enabling integration of any data-driven or spectral basis. We also propose a thermodynamic approach that goes beyond a single "optimal" sensor configuration and maps the complete landscape of sensor interactions induced by the training data. This comprehensive view facilitates integration with external selection criteria and enables assessment of sensor replacement impacts. The new optimization technique also accounts for over- and under-sampling of sensors, utilizing a regularized least squares approach for robust reconstruction. Additionally, we incorporate noise-induced uncertainty quantification of the estimation error and provide visual uncertainty heat maps to guide deployment decisions. To highlight these additions, we provide a brief description of the mathematical algorithms and theory underlying these new capabilities. We demonstrate the usage of new features with illustrative code examples and include practical advice for implementation across various application domains. Finally, we outline a roadmap of potential extensions to further enhance the package's functionality and applicability to emerging sensing challenges.
AU-Harness: An Open-Source Toolkit for Holistic Evaluation of Audio LLMs
Venue: arXiv cs.SD 2025
Year: 2025

Large Audio Language Models (LALMs) are rapidly advancing, but evaluating them remains challenging due to inefficient toolkits that limit fair comparison and systematic assessment. Current frameworks suffer from three critical issues: slow processing that bottlenecks large-scale studies, inconsistent prompting that hurts reproducibility, and narrow task coverage that misses important audio reasoning capabilities. We introduce AU-Harness, an efficient and comprehensive evaluation framework for LALMs. Our system achieves a speedup of up to 127% over existing toolkits through optimized batch processing and parallel execution, enabling large-scale evaluations previously impractical. We provide standardized prompting protocols and flexible configurations for fair model comparison across diverse scenarios. Additionally, we introduce two new evaluation categories: LLM-Adaptive Diarization for temporal audio understanding and Spoken Language Reasoning for complex audio-based cognitive tasks. Through evaluation across 380+ tasks, we reveal significant gaps in current LALMs, particularly in temporal understanding and complex spoken language reasoning tasks. Our findings also highlight a lack of standardization in instruction modality existent across audio benchmarks, which can lead up performance differences up to 9.5 absolute points on the challenging complex instruction following downstream tasks. AU-Harness provides both practical evaluation tools and insights into model limitations, advancing systematic LALM development.
Qubit-Efficient QUBO Formulation for Constrained Optimization Problems
Venue: arXiv cs.ET 2025
Year: 2025

Quantum computing has emerged as a promising alternative for solving combinatorial optimization problems. The standard approach for encoding optimization problems on quantum processing units (QPUs) involves transforming them into their Quadratic Unconstrained Binary Optimization (QUBO) representation. However, encoding constraints of optimization problems, particularly inequality constraints, into QUBO requires additional variables, which results in more qubits. Considering the limited availability of qubits in NISQ machines, existing encoding methods fail to scale due to their reliance on large numbers of qubits. We propose a generalized exponential penalty framework for QUBO inequality constraints inspired by a class of exponential functions, which we call exponential penalization. This paper presents an encoding strategy for inequality constraints in combinatorial optimization problems, inspired by a class of exponential functions, which we call exponential penalization. The initial idea of using exponential penalties for QUBO formulation was introduced by Montanez-Barrera et al. by applying a specific exponential function to reduce qubit requirements. In this work, we extend that approach by conducting a comprehensive study on a broader class of exponential functions, analyzing their theoretical properties and empirical performance. Our experimental results demonstrate that an exponential penalization achieves 57%, 83% qubit number reduction for Bin Packing Problem (BPP) and Traveling Salesman Problem (TSP), respectively. And we demonstrate comparable solution quality to classical with a probability of 6% and 21% accuracy for BPP with 8 and TSP with 12 qubits, respectively.
ChatGPT for Code Refactoring: Analyzing Topics, Interaction, and Effective Prompts
Venue: arXiv cs.SE 2025
Year: 2025

Large Language Models (LLMs), such as ChatGPT, have become widely popular and widely used in various software engineering tasks such as refactoring, testing, code review, and program comprehension. Although recent studies have examined the effectiveness of LLMs in recommending and suggesting refactoring, there is a limited understanding of how developers express their refactoring needs when interacting with ChatGPT. In this paper, our goal is to explore interactions related to refactoring between developers and ChatGPT to better understand how developers identify areas for improvement in code, and how ChatGPT addresses developers' needs. Our approach involves text mining 715 refactoring-related interactions from 29,778 ChatGPT prompts and responses, as well as the analysis of developers' explicit refactoring intentions.
SAGE: Sample-Aware Guarding Engine for Robust Intrusion Detection Against Adversarial Attacks
Venue: arXiv cs.CR 2025
Year: 2025

The rapid proliferation of the Internet of Things (IoT) continues to expose critical security vulnerabilities, necessitating the development of efficient and robust intrusion detection systems (IDS). Machine learning-based intrusion detection systems (ML-IDS) have significantly improved threat detection capabilities; however, they remain highly susceptible to adversarial attacks. While numerous defense mechanisms have been proposed to enhance ML-IDS resilience, a systematic approach for selecting the most effective defense against a specific adversarial attack remains absent. To address this challenge, we previously proposed DYNAMITE, a dynamic defense selection approach that identifies the most suitable defense against adversarial attacks through an ML-driven selection mechanism. Building on this foundation, we propose SAGE (Sample-Aware Guarding Engine), a substantially improved defense algorithm that integrates active learning with targeted data reduction. It employs an active learning mechanism to selectively identify the most informative input samples and their corresponding optimal defense labels, which are then used to train a second-level learner responsible for selecting the most effective defense. This targeted sampling improves computational efficiency, exposes the model to diverse adversarial strategies during training, and enhances robustness, stability, and generalizability. As a result, SAGE demonstrates strong predictive performance across multiple intrusion detection datasets, achieving an average F1-score improvement of 201% over the state-of-the-art defenses. Notably, SAGE narrows the performance gap to the Oracle to just 3.8%, while reducing computational overhead by up to 29x.
Real-Time Obstacle Avoidance for a Mobile Robot Using CNN-Based Sensor Fusion
Venue: arXiv cs.RO 2025
Year: 2025

Obstacle avoidance is a critical component of the navigation stack required for mobile robots to operate effectively in complex and unknown environments. In this research, three end-to-end Convolutional Neural Networks (CNNs) were trained and evaluated offline and deployed on a differential-drive mobile robot for real-time obstacle avoidance to generate low-level steering commands from synchronized color and depth images acquired by an Intel RealSense D415 RGB-D camera in diverse environments. Offline evaluation showed that the NetConEmb model achieved the best performance with a notably low MedAE of $0.58 \times 10^{-3}$ rad/s. In comparison, the lighter NetEmb architecture, which reduces the number of trainable parameters by approximately 25\% and converges faster, produced comparable results with an RMSE of $21.68 \times 10^{-3}$ rad/s, close to the $21.42 \times 10^{-3}$ rad/s obtained by NetConEmb. Real-time navigation further confirmed NetConEmb's robustness, achieving a 100\% success rate in both known and unknown environments, while NetEmb and NetGated succeeded only in navigating the known environment.
Matisse: Visualizing Measured Internet Latencies as Manifolds
Venue: arXiv cs.NI 2025
Year: 2025

Manifolds are complex topological spaces that can be used to represent datasets of real-world measurements. Visualizing such manifolds can help with illustrating their topological characteristics (e.g., curvature) and providing insights into important properties of the underlying data (e.g., anomalies in the measurements). In this paper, we describe a new methodology and system for generating and visualizing manifolds that are inferred from actual Internet latency measurements between different cities and are projected over a 2D Euclidean space (e.g., a geographic map). Our method leverages a series of graphs that capture critical information contained in the data, including well-defined locations (for vertices) and Ricci curvature information (for edges). Our visualization approach then generates a curved surface (manifold) in which (a) geographical locations of vertices are maintained and (b) the Ricci curvature values of the graph edges determine the curvature properties of the manifold. The resulting manifold highlights areas of critical connectivity and defines an instance of "Internet delay space" where latency measurements manifest as geodesics. We describe details of our method and its implementation in a tool, which we call Matisse, for generating, visualizing and manipulating manifolds projected onto a base map. We illustrate Matisse with two case studies: a simple example to demonstrate key concepts, and visualizations of the US public Internet to show Matisse's utility.
torchmil: A PyTorch-based library for deep Multiple Instance Learning
Venue: arXiv cs.LG 2025
Year: 2025

Multiple Instance Learning (MIL) is a powerful framework for weakly supervised learning, particularly useful when fine-grained annotations are unavailable. Despite growing interest in deep MIL methods, the field lacks standardized tools for model development, evaluation, and comparison, which hinders reproducibility and accessibility. To address this, we present torchmil, an open-source Python library built on PyTorch. torchmil offers a unified, modular, and extensible framework, featuring basic building blocks for MIL models, a standardized data format, and a curated collection of benchmark datasets and models. The library includes comprehensive documentation and tutorials to support both practitioners and researchers. torchmil aims to accelerate progress in MIL and lower the entry barrier for new users. Available at https://torchmil.readthedocs.io.
From Limited Data to Rare-event Prediction: LLM-powered Feature Engineering and Multi-model Learning in Venture Capital
Venue: arXiv cs.LG 2025
Year: 2025

This paper presents a framework for predicting rare, high-impact outcomes by integrating large language models (LLMs) with a multi-model machine learning (ML) architecture. The approach combines the predictive strength of black-box models with the interpretability required for reliable decision-making. We use LLM-powered feature engineering to extract and synthesize complex signals from unstructured data, which are then processed within a layered ensemble of models including XGBoost, Random Forest, and Linear Regression. The ensemble first produces a continuous estimate of success likelihood, which is then thresholded to produce a binary rare-event prediction. We apply this framework to the domain of Venture Capital (VC), where investors must evaluate startups with limited and noisy early-stage data. The empirical results show strong performance: the model achieves precision between 9.8X and 11.1X the random classifier baseline in three independent test subsets. Feature sensitivity analysis further reveals interpretable success drivers: the startup's category list accounts for 15.6% of predictive influence, followed by the number of founders, while education level and domain expertise contribute smaller yet consistent effects.
Multi-Label Transfer Learning in Non-Stationary Data Streams
Venue: arXiv cs.LG 2025
Year: 2025

Label concepts in multi-label data streams often experience drift in non-stationary environments, either independently or in relation to other labels. Transferring knowledge between related labels can accelerate adaptation, yet research on multi-label transfer learning for data streams remains limited. To address this, we propose two novel transfer learning methods: BR-MARLENE leverages knowledge from different labels in both source and target streams for multi-label classification; BRPW-MARLENE builds on this by explicitly modelling and transferring pairwise label dependencies to enhance learning performance. Comprehensive experiments show that both methods outperform state-of-the-art multi-label stream approaches in non-stationary environments, demonstrating the effectiveness of inter-label knowledge transfer for improved predictive performance.
Design and Implementation of Code Completion System Based on LLM and CodeBERT Hybrid Subsystem
Venue: arXiv cs.DC 2025
Year: 2025

In the rapidly evolving industry of software development, coding efficiency and accuracy play significant roles in delivering high-quality software. Various code suggestion and completion tools, such as CodeBERT from Microsoft and GPT-3.5 from OpenAI, have been developed using deep learning techniques and integrated into IDEs to assist software engineers' development. Research has shown that CodeBERT has outstanding performance in code summarization and capturing code semantics, while GPT-3.5 demonstrated its adept capability at code generation. This study focuses on implementing a hybrid model that integrates CodeBERT and GPT-3.5 models to accomplish code suggestion and autocomplete tasks, leveraging the context-aware effectiveness of CodeBERT and taking advantage of advanced code generation abilities of GPT-3.5. Evaluated in three main metrics: accuracy, quality of generated code and performance efficiency with various software and hardware, the hybrid model outperforms benchmarks, demonstrating its feasibility and effectiveness. Robustness testing further confirms the reliability and stability of the hybrid model. This study not only emphasizes the importance of deep learning in the software development industry, but also reveals the potential of synthesizing complementary deep learning models to fully exploit strengths of each model.
Deep Visual Odometry for Stereo Event Cameras
Venue: arXiv cs.RO 2025
Year: 2025

Event-based cameras are bio-inspired sensors with pixels that independently and asynchronously respond to brightness changes at microsecond resolution, offering the potential to handle state estimation tasks involving motion blur and high dynamic range (HDR) illumination conditions. However, the versatility of event-based visual odometry (VO) relying on handcrafted data association (either direct or indirect methods) is still unreliable, especially in field robot applications under low-light HDR conditions, where the dynamic range can be enormous and the signal-to-noise ratio is spatially-and-temporally varying. Leveraging deep neural networks offers new possibilities for overcoming these challenges. In this paper, we propose a learning-based stereo event visual odometry. Building upon Deep Event Visual Odometry (DEVO), our system (called Stereo-DEVO) introduces a novel and efficient static-stereo association strategy for sparse depth estimation with almost no additional computational burden. By integrating it into a tightly coupled bundle adjustment (BA) optimization scheme, and benefiting from the recurrent network's ability to perform accurate optical flow estimation through voxel-based event representations to establish reliable patch associations, our system achieves high-precision pose estimation in metric scale. In contrast to the offline performance of DEVO, our system can process event data of \zs{Video Graphics Array} (VGA) resolution in real time. Extensive evaluations on multiple public real-world datasets and self-collected data justify our system's versatility, demonstrating superior performance compared to state-of-the-art event-based VO methods. More importantly, our system achieves stable pose estimation even in large-scale nighttime HDR scenarios.