OpenRaiser/Intern-Atlas huggingface dataset:
Subteaming and Adaptive Formation Control for Coordinated Multi-Robot Navigation
Venue: arXiv cs.RO 2025
Year: 2025

Coordinated multi-robot navigation is essential for robots to operate as a team in diverse environments. During navigation, robot teams usually need to maintain specific formations, such as circular formations to protect human teammates at the center. However, in complex scenarios such as narrow corridors, rigidly preserving predefined formations can become infeasible. Therefore, robot teams must be capable of dynamically splitting into smaller subteams and adaptively controlling the subteams to navigate through such scenarios while preserving formations. To enable this capability, we introduce a novel method for SubTeaming and Adaptive Formation (STAF), which is built upon a unified hierarchical learning framework: (1) high-level deep graph cut for team splitting, (2) intermediate-level graph learning for facilitating coordinated navigation among subteams, and (3) low-level policy learning for controlling individual mobile robots to reach their goal positions while avoiding collisions. To evaluate STAF, we conducted extensive experiments in both indoor and outdoor environments using robotics simulations and physical robot teams. Experimental results show that STAF enables the novel capability for subteaming and adaptive formation control, and achieves promising performance in coordinated multi-robot navigation through challenging scenarios. More details are available on the project website: https://hcrlab.gitlab.io/project/STAF.
StereoAdapter: Adapting Stereo Depth Estimation to Underwater Scenes
Venue: arXiv cs.CV 2025
Year: 2025

Underwater stereo depth estimation provides accurate 3D geometry for robotics tasks such as navigation, inspection, and mapping, offering metric depth from low-cost passive cameras while avoiding the scale ambiguity of monocular methods. However, existing approaches face two critical challenges: (i) parameter-efficiently adapting large vision foundation encoders to the underwater domain without extensive labeled data, and (ii) tightly fusing globally coherent but scale-ambiguous monocular priors with locally metric yet photometrically fragile stereo correspondences. To address these challenges, we propose StereoAdapter, a parameter-efficient self-supervised framework that integrates a LoRA-adapted monocular foundation encoder with a recurrent stereo refinement module. We further introduce dynamic LoRA adaptation for efficient rank selection and pre-training on the synthetic UW-StereoDepth-40K dataset to enhance robustness under diverse underwater conditions. Comprehensive evaluations on both simulated and real-world benchmarks show improvements of 6.11% on TartanAir and 5.12% on SQUID compared to state-of-the-art methods, while real-world deployment with the BlueROV2 robot further demonstrates the consistent robustness of our approach. Code: https://github.com/AIGeeksGroup/StereoAdapter. Website: https://aigeeksgroup.github.io/StereoAdapter.
Code distances: a new family of invariants of linear codes
Venue: arXiv cs.IT 2025
Year: 2025

In this paper, we introduce code distances, a new family of invariants for linear codes. We establish some properties and prove bounds on the code distances, and show that they are not invariants of the matroid (for a linear block code) or $q$-polymatroid (for a rank-metric code) associated to the code. By means of examples, we show that the code distances allow us to distinguish some inequivalent MDS or MRD codes with the same parameters. We also show that no duality holds, i.e., the sequence of code distances of a code does not determine the sequence of code distances of its dual. Further, we define a greedy and an asymptotic version of code distances. Finally, we relate these invariants to other invariants of linear codes, such as the maximality degree, the covering radius, and the partial distances of polar codes.
VisPubs Games: Joyful Discovery of Visualization Research(ers)
Venue: arXiv cs.HC 2025
Year: 2025

Many sophisticated tools exist to help researchers find the academic literature they are searching for, but what about finding work that you aren't looking for? We promote joyful discovery of visualization research through two games (Colon and Authored) available to play now at https://games.vispubs.com. We believe these games provide several benefits to the visualization research community. First, the joyful discovery of visualization research and researchers occurs because these games randomly select authors and publications, thus exposing players to research areas they may not typically engage with. Second, these games were made by visualization researchers for visualization researchers; playing this game, sharing results with friends in person and online, has the potential to strengthen our academic community. Third, games centered around publication authors provide a passive way for academics to gain exposure within the community. Finally, we hope these games are simply fun to play. Try them now at games.vispubs.com.
SENSE-7: Taxonomy and Dataset for Measuring User Perceptions of Empathy in Sustained Human-AI Conversations
Venue: arXiv cs.HC 2025
Year: 2025

Empathy is increasingly recognized as a key factor in human-AI communication, yet conventional approaches to "digital empathy" often focus on simulating internal, human-like emotional states while overlooking the inherently subjective, contextual, and relational facets of empathy as perceived by users. In this work, we propose a human-centered taxonomy that emphasizes observable empathic behaviors and introduce a new dataset, Sense-7, of real-world conversations between information workers and Large Language Models (LLMs), which includes per-turn empathy annotations directly from the users, along with user characteristics, and contextual details, offering a more user-grounded representation of empathy. Analysis of 695 conversations from 109 participants reveals that empathy judgments are highly individualized, context-sensitive, and vulnerable to disruption when conversational continuity fails or user expectations go unmet. To promote further research, we provide a subset of 672 anonymized conversation and provide exploratory classification analysis, showing that an LLM-based classifier can recognize 5 levels of empathy with an encouraging average Spearman $ρ$=0.369 and Accuracy=0.487 over this set. Overall, our findings underscore the need for AI designs that dynamically tailor empathic behaviors to user contexts and goals, offering a roadmap for future research and practical development of socially attuned, human-centered artificial agents.
PersonaMatrix: A Recipe for Persona-Aware Evaluation of Legal Summarization
Venue: arXiv cs.CL 2025
Year: 2025

Legal documents are often long, dense, and difficult to comprehend, not only for laypeople but also for legal experts. While automated document summarization has great potential to improve access to legal knowledge, prevailing task-based evaluators overlook divergent user and stakeholder needs. Tool development is needed to encompass the technicality of a case summary for a litigator yet be accessible for a self-help public researching for their lawsuit. We introduce PersonaMatrix, a persona-by-criterion evaluation framework that scores summaries through the lens of six personas, including legal and non-legal users. We also introduce a controlled dimension-shifted pilot dataset of U.S. civil rights case summaries that varies along depth, accessibility, and procedural detail as well as Diversity-Coverage Index (DCI) to expose divergent optima of legal summary between persona-aware and persona-agnostic judges. This work enables refinement of legal AI summarization systems for both expert and non-expert users, with the potential to increase access to legal knowledge. The code base and data are publicly available in GitHub.
KRAST: Knowledge-Augmented Robotic Action Recognition with Structured Text for Vision-Language Models
Venue: arXiv cs.CV 2025
Year: 2025

Accurate vision-based action recognition is crucial for developing autonomous robots that can operate safely and reliably in complex, real-world environments. In this work, we advance video-based recognition of indoor daily actions for robotic perception by leveraging vision-language models (VLMs) enriched with domain-specific knowledge. We adapt a prompt-learning framework in which class-level textual descriptions of each action are embedded as learnable prompts into a frozen pre-trained VLM backbone. Several strategies for structuring and encoding these textual descriptions are designed and evaluated. Experiments on the ETRI-Activity3D dataset demonstrate that our method, using only RGB video inputs at test time, achieves over 95\% accuracy and outperforms state-of-the-art approaches. These results highlight the effectiveness of knowledge-augmented prompts in enabling robust action recognition with minimal supervision.
Eye Gaze Tells You Where to Compute: Gaze-Driven Efficient VLMs
Venue: arXiv cs.CV 2025
Year: 2025

Vision-Language Models (VLMs) deliver impressive performance in understanding visual content with language instructions. However, redundancy in vision tokens results in the degenerated inference efficiency of VLMs, which hinders real-time use on edge consumer devices such as AR/VR devices. Existing efficiency methods commonly prune visual tokens using learned saliency, sparse attention schedules, or controller policies, but they often require architectural modification or access to intermediate activations. These pipelines add inference-time modules that increase compute and memory and often lead to an accuracy trade-off. Moreover, they also suffer from misalignment between the prompts and the region of interest in the images. Without human guidance, the model may focus on the wrong regions and miss small, high-frequency details when prompts or scenes change. In this paper, we propose GazeVLM, a training-free framework that uses the human eye gaze as a natural supervisory signal to allocate computation where it matters. By extracting gaze-driven regions of interest (ROIs) and optionally combining them with a low-resolution global view, GazeVLM mimics fovea-periphery perception to cut redundant visual tokens while preserving task-relevant details. We evaluate the visual question answering tasks on Qwen2.5-VL-3B/7B on the VOILA-COCO benchmark with human gaze. Quality of the answer is assessed by GPT-4o pairwise judging and a weighted score over coverage, accuracy, details, and fluency. Efficiency is measured by token counts and FLOPs. GazeVLM reduces visual tokens by up to 93.1%, total tokens by up to 59.6%, and FLOPs by 50%, while keeping better answer quality relative to full-resolution baselines. Our results show that aligning model computation with human gaze offers a simple, plug-and-play path toward efficient VLM inference on consumer devices.
Revisiting Broken Windows Theory
Venue: arXiv cs.LG 2025
Year: 2025

We revisit the longstanding question of how physical structures in urban landscapes influence crime. Leveraging machine learning-based matching techniques to control for demographic composition, we estimate the effects of several types of urban structures on the incidence of violent crime in New York City and Chicago. We additionally contribute to a growing body of literature documenting the relationship between perception of crime and actual crime rates by separately analyzing how the physical urban landscape shapes subjective feelings of safety. Our results are twofold. First, in consensus with prior work, we demonstrate a "broken windows" effect in which abandoned buildings, a sign of social disorder, are associated with both greater incidence of crime and a heightened perception of danger. This is also true of types of urban structures that draw foot traffic such as public transportation infrastructure. Second, these effects are not uniform within or across cities. The criminogenic effects of the same structure types across two cities differ in magnitude, degree of spatial localization, and heterogeneity across subgroups, while within the same city, the effects of different structure types are confounded by different demographic variables. Taken together, these results emphasize that one-size-fits-all approaches to crime reduction are untenable and policy interventions must be specifically tailored to their targets.
orb-QFL: Orbital Quantum Federated Learning
Venue: arXiv cs.DC 2025
Year: 2025

Recent breakthroughs in quantum computing present transformative opportunities for advancing Federated Learning (FL), particularly in non-terrestrial environments characterized by stringent communication and coordination constraints. In this study, we propose orbital QFL, termed orb-QFL, a novel quantum-assisted Federated Learning framework tailored for Low Earth Orbit (LEO) satellite constellations. Distinct from conventional FL paradigms, termed orb-QFL operates without centralized servers or global aggregation mechanisms (e.g., FedAvg), instead leveraging quantum entanglement and local quantum processing to facilitate decentralized, inter-satellite collaboration. This design inherently addresses the challenges of orbital dynamics, such as intermittent connectivity, high propagation delays, and coverage variability. The framework enables continuous model refinement through direct quantum-based synchronization between neighboring satellites, thereby enhancing resilience and preserving data locality. To validate our approach, we integrate the Qiskit quantum machine learning toolkit with Poliastro-based orbital simulations and conduct experiments using Statlog dataset.
Causal Fuzzing for Verifying Machine Unlearning
Venue: arXiv cs.SE 2025
Year: 2025

As machine learning models become increasingly embedded in decision-making systems, the ability to "unlearn" targeted data or features is crucial for enhancing model adaptability, fairness, and privacy in models which involves expensive training. To effectively guide machine unlearning, a thorough testing is essential. Existing methods for verification of machine unlearning provide limited insights, often failing in scenarios where the influence is indirect. In this work, we propose CAFÉ, a new causality based framework that unifies datapoint- and feature-level unlearning for verification of black-box ML models. CAFÉ evaluates both direct and indirect effects of unlearning targets through causal dependencies, providing actionable insights with fine-grained analysis. Our evaluation across five datasets and three model architectures demonstrates that CAFÉ successfully detects residual influence missed by baselines while maintaining computational efficiency.
Checking extracted rules in Neural Networks
Venue: arXiv cs.AI 2025
Year: 2025

In this paper we investigate formal verification of extracted rules for Neural Networks under a complexity theoretic point of view. A rule is a global property or a pattern concerning a large portion of the input space of a network. These rules are algorithmically extracted from networks in an effort to better understand their inner way of working. Here, three problems will be in the focus: Does a given set of rules apply to a given network? Is a given set of rules consistent or do the rules contradict themselves? Is a given set of rules exhaustive in the sense that for every input the output is determined? Finding algorithms that extract such rules out of networks has been investigated over the last 30 years, however, to the author's current knowledge, no attempt in verification was made until now. A lot of attempts of extracting rules use heuristics involving randomness and over-approximation, so it might be beneficial to know whether knowledge obtained in that way can actually be trusted. We investigate the above questions for neural networks with ReLU-activation as well as for Boolean networks, each for several types of rules. We demonstrate how these problems can be reduced to each other and show that most of them are co-NP-complete.
MoPE: A Mixture of Password Experts for Improving Password Guessing
Venue: arXiv cs.CR 2025
Year: 2025

Textual passwords remain a predominant authentication mechanism in web security. To evaluate their strength, existing research has proposed several data-driven models across various scenarios. However, these models generally treat passwords uniformly, neglecting the structural differences among passwords. This typically results in biased training that favors frequent password structural patterns. To mitigate the biased training, we argue that passwords, as a type of complex short textual data, should be processed in a structure-aware manner by identifying their structural patterns and routing them to specialized models accordingly. In this paper, we propose MoPE, a Mixture of Password Experts framework, specifically designed to leverage the structural patterns in passwords to improveguessing performance. Motivated by the observation that passwords with similar structural patterns (e.g., fixed-length numeric strings) tend to cluster in high-density regions within the latent space, our MoPE introduces: (1) a novel structure-based method for generating specialized expert models; (2) a lightweight gate method to select appropriate expert models to output reliable guesses, better aligned with the high computational frequency of password guessing tasks. Our evaluation shows that MoPE significantly outperforms existing state-of-the-art baselines in both offline and online guessing scenarios, achieving up to 38.80% and 9.27% improvement in cracking rate, respectively, showcasing that MoPE can effectively exploit the capabilities of data-driven models for password guessing. Additionally, we implement a real-time Password Strength Meter (PSM) based on offline MoPE, assisting users in choosing stronger passwords more precisely with millisecond-level response latency.
SalaMAnder: Shapley-based Mathematical Expression Attribution and Metric for Chain-of-Thought Reasoning
Venue: arXiv cs.AI 2025
Year: 2025

Chain-of-Thought (CoT) prompting enhances the math reasoning capability of large language models (LLMs) to a large margin. However, the mechanism underlying such improvements remains unexplored. In this paper, we present \textbf{SalaMAnder} (\textbf{S}h\textbf{a}p\textbf{l}ey-b\textbf{a}sed \textbf{M}athematical Expression \textbf{A}ttribution a\textbf{nd} M\textbf{e}t\textbf{r}ic), a theoretically grounded methodology as well as a mathematically rigorous evaluation metric for quantifying component-level contributions in few-shot CoT reasoning. Concretely, we leverage the Shapley value for mathematical expression attribution and develop an efficient stratified sampling algorithm that significantly reduces the computational complexity. Besides, we develop the \textbf{CoSP} (\textbf{C}ardinality \textbf{o}f \textbf{S}hapley \textbf{P}ositives) metric through covariance analysis. Comprehensive validation across popular LLM models and diverse mathematical benchmarks demonstrates that the CoSP metric within our SalaMAnder framework exhibits a robust monotonic correlation with model performance, not only providing theoretical explanations for the empirical success of existing few-shot CoT but also establishing mathematically rigorous principles for prompt construction optimization. Furthermore, we verify the reliability of the explanation, based on which we unify the insights of previous work.
Benchmarking Contextual and Paralinguistic Reasoning in Speech-LLMs: A Case Study with In-the-Wild Data
Venue: arXiv cs.CL 2025
Year: 2025

Recent speech-LLMs have shown impressive performance in tasks like transcription and translation, yet they remain limited in understanding the paralinguistic aspects of speech crucial for social and emotional intelligence. We propose CP-Bench, a benchmark for evaluating speech-LLMs on contextual paralinguistic reasoning the integration of verbal content with non-verbal cues like emotion and prosody. The benchmark includes two curated question answering (QA) datasets requiring both linguistic and empathetic understanding. We evaluate state-of-the-art speech-LLMs from both open and closed-source models and perform a comprehensive analysis across different question types. The top two models were further analyzed under temperature tuning to understand its effect on this task. Our benchmark reveals a key gap in existing evaluations and offers insights into building more context-aware and emotionally intelligent speech-capable LLMs.
Question Answering with LLMs and Learning from Answer Sets
Venue: arXiv cs.AI 2025
Year: 2025

Large Language Models (LLMs) excel at understanding natural language but struggle with explicit commonsense reasoning. A recent trend of research suggests that the combination of LLM with robust symbolic reasoning systems can overcome this problem on story-based question answering tasks. In this setting, existing approaches typically depend on human expertise to manually craft the symbolic component. We argue, however, that this component can also be automatically learned from examples. In this work, we introduce LLM2LAS, a hybrid system that effectively combines the natural language understanding capabilities of LLMs, the rule induction power of the Learning from Answer Sets (LAS) system ILASP, and the formal reasoning strengths of Answer Set Programming (ASP). LLMs are used to extract semantic structures from text, which ILASP then transforms into interpretable logic rules. These rules allow an ASP solver to perform precise and consistent reasoning, enabling correct answers to previously unseen questions. Empirical results outline the strengths and weaknesses of our automatic approach for learning and reasoning in a story-based question answering benchmark.
MCP: A Control-Theoretic Orchestration Framework for Synergistic Efficiency and Interpretability in Multimodal Large Language Models
Venue: arXiv cs.CL 2025
Year: 2025

Aiming at the problems of computational inefficiency and insufficient interpretability faced by large models in complex tasks such as multi-round reasoning and multi-modal collaboration, this study proposes a three-layer collaboration framework based on model-controller-task adaptation (MCP). By decoupling large model functions into reasoning, generation and retrieval modules, and combining reinforcement learning-driven dynamic routing algorithms and task adaptation mechanisms, the systematic integration of control theory and large model dynamic reasoning is achieved for the first time. Experiments show that the MCP framework improves the performance of cross-modal benchmarking tasks, such as GLUE, COCO, ScienceQA, etc., by 15-30% compared with the baseline model, improves the reasoning efficiency by 40%, and generates the interpretable intermediate results through the Presenter layer, obtaining 90% of the manual interpretability scores, which provides a brand-new technological path to solve the bottleneck of the practical application of the large model.