OpenRaiser/Intern-Atlas huggingface dataset:
Moving or Predicting? RoleAware-MAPP: A Role-Aware Transformer Framework for Movable Antenna Position Prediction to Secure Wireless Communications
Venue: arXiv cs.IT 2025
Year: 2025

Movable antenna (MA) technology provides a promising avenue for actively shaping wireless channels through dynamic antenna positioning, thereby enabling electromagnetic radiation reconstruction to enhance physical layer security (PLS). However, its practical deployment is hindered by two major challenges: the high computational complexity of real time optimization and a critical temporal mismatch between slow mechanical movement and rapid channel variations. Although data driven methods have been introduced to alleviate online optimization burdens, they are still constrained by suboptimal training labels derived from conventional solvers or high sample complexity in reinforcement learning. More importantly, existing learning based approaches often overlook communication-specific domain knowledge, particularly the asymmetric roles and adversarial interactions between legitimate users and eavesdroppers, which are fundamental to PLS. To address these issues, this paper reformulates the MA positioning problem as a predictive task and introduces RoleAware-MAPP, a novel Transformer based framework that incorporates domain knowledge through three key components: role-aware embeddings that model user specific intentions, physics-informed semantic features that encapsulate channel propagation characteristics, and a composite loss function that strategically prioritizes secrecy performance over mere geometric accuracy. Extensive simulations under 3GPP-compliant scenarios show that RoleAware-MAPP achieves an average secrecy rate of 0.3569 bps/Hz and a strictly positive secrecy capacity of 81.52%, outperforming the strongest baseline by 48.4% and 5.39 percentage points, respectively, while maintaining robust performance across diverse user velocities and noise conditions.
Hybrid Mixed Integer Linear Programming for Large-Scale Join Order Optimisation
Venue: arXiv cs.DB 2025
Year: 2025

Finding optimal join orders is among the most crucial steps to be performed by query optimisers. Though extensively studied in data management research, the problem remains far from solved: While query optimisers rely on exhaustive search methods to determine ideal solutions for small problems, such methods reach their limits once queries grow in size. Yet, large queries become increasingly common in real-world scenarios, and require suitable methods to generate efficient execution plans. While a variety of heuristics have been proposed for large-scale query optimisation, they suffer from degrading solution quality as queries grow in size, or feature highly sub-optimal worst-case behavior, as we will show. We propose a novel method based on the paradigm of mixed integer linear programming (MILP): By deriving a novel MILP model capable of optimising arbitrary bushy tree structures, we address the limitations of existing MILP methods for join ordering, and can rely on highly optimised MILP solvers to derive efficient tree structures that elude competing methods. To ensure optimisation efficiency, we embed our MILP method into a hybrid framework, which applies MILP solvers precisely where they provide the greatest advantage over competitors, while relying on more efficient methods for less complex optimisation steps. Thereby, our approach gracefully scales to extremely large query sizes joining up to 100 relations, and consistently achieves the most robust plan quality among a large variety of competing join ordering methods.
Enhancing Security in Deep Reinforcement Learning: A Comprehensive Survey on Adversarial Attacks and Defenses
Venue: arXiv cs.CR 2025
Year: 2025

With the wide application of deep reinforcement learning (DRL) techniques in complex fields such as autonomous driving, intelligent manufacturing, and smart healthcare, how to improve its security and robustness in dynamic and changeable environments has become a core issue in current research. Especially in the face of adversarial attacks, DRL may suffer serious performance degradation or even make potentially dangerous decisions, so it is crucial to ensure their stability in security-sensitive scenarios. In this paper, we first introduce the basic framework of DRL and analyze the main security challenges faced in complex and changing environments. In addition, this paper proposes an adversarial attack classification framework based on perturbation type and attack target and reviews the mainstream adversarial attack methods against DRL in detail, including various attack methods such as perturbation state space, action space, reward function and model space. To effectively counter the attacks, this paper systematically summarizes various current robustness training strategies, including adversarial training, competitive training, robust learning, adversarial detection, defense distillation and other related defense techniques, we also discuss the advantages and shortcomings of these methods in improving the robustness of DRL. Finally, this paper looks into the future research direction of DRL in adversarial environments, emphasizing the research needs in terms of improving generalization, reducing computational complexity, and enhancing scalability and explainability, aiming to provide valuable references and directions for researchers.
Multi-Modal Decentralized Reinforcement Learning for Modular Reconfigurable Lunar Robots
Venue: arXiv cs.RO 2025
Year: 2025

Modular reconfigurable robots suit task-specific space operations, but the combinatorial growth of morphologies hinders unified control. We propose a decentralized reinforcement learning (Dec-RL) scheme where each module learns its own policy: wheel modules use Soft Actor-Critic (SAC) for locomotion and 7-DoF limbs use Proximal Policy Optimization (PPO) for steering and manipulation, enabling zero-shot generalization to unseen configurations. In simulation, the steering policy achieved a mean absolute error of 3.63° between desired and induced angles; the manipulation policy plateaued at 84.6 % success on a target-offset criterion; and the wheel policy cut average motor torque by 95.4 % relative to baseline while maintaining 99.6 % success. Lunar-analogue field tests validated zero-shot integration for autonomous locomotion, steering, and preliminary alignment for reconfiguration. The system transitioned smoothly among synchronous, parallel, and sequential modes for Policy Execution, without idle states or control conflicts, indicating a scalable, reusable, and robust approach for modular lunar robots.
From Incremental Transitive Cover to Strongly Polynomial Maximum Flow
Venue: arXiv cs.DS 2025
Year: 2025

We provide faster strongly polynomial time algorithms solving maximum flow in structured $n$-node $m$-arc networks. Our results imply an $n^{ω+ o(1)}$-time strongly polynomial time algorithms for computing a maximum bipartite $b$-matching where $ω$ is the matrix multiplication constant. Additionally, they imply an $m^{1 + o(1)} W$-time algorithm for solving the problem on graphs with a given tree decomposition of width $W$. We obtain these results by strengthening and efficiently implementing an approach in Orlin's (STOC 2013) state-of-the-art $O(mn)$ time maximum flow algorithm. We develop a general framework that reduces solving maximum flow with arbitrary capacities to (1) solving a sequence of maximum flow problems with polynomial bounded capacities and (2) dynamically maintaining a size-bounded supersets of the transitive closure under arc additions; we call this problem \emph{incremental transitive cover}. Our applications follow by leveraging recent weakly polynomial, almost linear time algorithms for maximum flow due to Chen, Kyng, Liu, Peng, Gutenberg, Sachdeva (FOCS 2022) and Brand, Chen, Kyng, Liu, Peng, Gutenberg, Sachdeva, Sidford (FOCS 2023), and by developing incremental transitive cover data structures.
VLSP 2025 MLQA-TSR Challenge: Vietnamese Multimodal Legal Question Answering on Traffic Sign Regulation
Venue: arXiv cs.CL 2025
Year: 2025

This paper presents the VLSP 2025 MLQA-TSR - the multimodal legal question answering on traffic sign regulation shared task at VLSP 2025. VLSP 2025 MLQA-TSR comprises two subtasks: multimodal legal retrieval and multimodal question answering. The goal is to advance research on Vietnamese multimodal legal text processing and to provide a benchmark dataset for building and evaluating intelligent systems in multimodal legal domains, with a focus on traffic sign regulation in Vietnam. The best-reported results on VLSP 2025 MLQA-TSR are an F2 score of 64.55% for multimodal legal retrieval and an accuracy of 86.30% for multimodal question answering.
NeoDictaBERT: Pushing the Frontier of BERT models for Hebrew
Venue: arXiv cs.CL 2025
Year: 2025

Since their initial release, BERT models have demonstrated exceptional performance on a variety of tasks, despite their relatively small size (BERT-base has ~100M parameters). Nevertheless, the architectural choices used in these models are outdated compared to newer transformer-based models such as Llama3 and Qwen3. In recent months, several architectures have been proposed to close this gap. ModernBERT and NeoBERT both show strong improvements on English benchmarks and significantly extend the supported context window. Following their successes, we introduce NeoDictaBERT and NeoDictaBERT-bilingual: BERT-style models trained using the same architecture as NeoBERT, with a dedicated focus on Hebrew texts. These models outperform existing ones on almost all Hebrew benchmarks and provide a strong foundation for downstream tasks. Notably, the NeoDictaBERT-bilingual model shows strong results on retrieval tasks, outperforming other multilingual models of similar size. In this paper, we describe the training process and report results across various benchmarks. We release the models to the community as part of our goal to advance research and development in Hebrew NLP.
Addressing Mark Imbalance in Integration-free Neural Marked Temporal Point Processes
Venue: arXiv cs.LG 2025
Year: 2025

Marked Temporal Point Process (MTPP) has been well studied to model the event distribution in marked event streams, which can be used to predict the mark and arrival time of the next event. However, existing studies overlook that the distribution of event marks is highly imbalanced in many real-world applications, with some marks being frequent but others rare. The imbalance poses a significant challenge to the performance of the next event prediction, especially for events of rare marks. To address this issue, we propose a thresholding method, which learns thresholds to tune the mark probability normalized by the mark's prior probability to optimize mark prediction, rather than predicting the mark directly based on the mark probability as in existing studies. In conjunction with this method, we predict the mark first and then the time. In particular, we develop a novel neural MTPP model to support effective time sampling and estimation of mark probability without computationally expensive numerical improper integration. Extensive experiments on real-world datasets demonstrate the superior performance of our solution against various baselines for the next event mark and time prediction. The code is available at https://github.com/undes1red/IFNMTPP.
Explainable Benchmarking through the Lense of Concept Learning
Venue: arXiv cs.LG 2025
Year: 2025

Evaluating competing systems in a comparable way, i.e., benchmarking them, is an undeniable pillar of the scientific method. However, system performance is often summarized via a small number of metrics. The analysis of the evaluation details and the derivation of insights for further development or use remains a tedious manual task with often biased results. Thus, this paper argues for a new type of benchmarking, which is dubbed explainable benchmarking. The aim of explainable benchmarking approaches is to automatically generate explanations for the performance of systems in a benchmark. We provide a first instantiation of this paradigm for knowledge-graph-based question answering systems. We compute explanations by using a novel concept learning approach developed for large knowledge graphs called PruneCEL. Our evaluation shows that PruneCEL outperforms state-of-the-art concept learners on the task of explainable benchmarking by up to 0.55 points F1 measure. A task-driven user study with 41 participants shows that in 80\% of the cases, the majority of participants can accurately predict the behavior of a system based on our explanations. Our code and data are available at https://github.com/dice-group/PruneCEL/tree/K-cap2025
Intransitive Player Dominance and Market Inefficiency in Tennis Forecasting: A Graph Neural Network Approach
Venue: arXiv cs.LG 2025
Year: 2025

Intransitive player dominance, where player A beats B, B beats C, but C beats A, is common in competitive tennis. Yet, there are few known attempts to incorporate it within forecasting methods. We address this problem with a graph neural network approach that explicitly models these intransitive relationships through temporal directed graphs, with players as nodes and their historical match outcomes as directed edges. We find the bookmaker Pinnacle Sports poorly handles matches with high intransitive complexity and posit that our graph-based approach is uniquely positioned to capture relational dynamics in these scenarios. When selectively betting on higher intransitivity matchups with our model (65.7% accuracy, 0.215 Brier Score), we achieve significant positive returns of 3.26% ROI with Kelly staking over 1903 bets, suggesting a market inefficiency in handling intransitive matchups that our approach successfully exploits.
Systematic Evaluation of Uncertainty Estimation Methods in Large Language Models
Venue: arXiv cs.CL 2025
Year: 2025

Large language models (LLMs) produce outputs with varying levels of uncertainty, and, just as often, varying levels of correctness; making their practical reliability far from guaranteed. To quantify this uncertainty, we systematically evaluate four approaches for confidence estimation in LLM outputs: VCE, MSP, Sample Consistency, and CoCoA (Vashurin et al., 2025). For the evaluation of the approaches, we conduct experiments on four question-answering tasks using a state-of-the-art open-source LLM. Our results show that each uncertainty metric captures a different facet of model confidence and that the hybrid CoCoA approach yields the best reliability overall, improving both calibration and discrimination of correct answers. We discuss the trade-offs of each method and provide recommendations for selecting uncertainty measures in LLM applications.
Robot Path and Trajectory Planning Considering a Spatially Fixed TCP
Venue: arXiv cs.RO 2025
Year: 2025

This paper presents a method for planning a trajectory in workspace coordinates using a spatially fixed tool center point (TCP), while taking into account the processing path on a part. This approach is beneficial if it is easier to move the part rather than moving the tool. Whether a mathematical description that defines the shape to be processed or single points from a design program are used, the robot path is finally represented using B-splines. The use of splines enables the path to be continuous with a desired degree, which finally leads to a smooth robot trajectory. While calculating the robot trajectory through prescribed orientation, additionally a given velocity at the TCP has to be considered. The procedure was validated on a real system using an industrial robot moving an arbitrary defined part.
Bi-CoG: Bi-Consistency-Guided Self-Training for Vision-Language Models
Venue: arXiv cs.LG 2025
Year: 2025

Exploiting unlabeled data through semi-supervised learning (SSL) or leveraging pre-trained models via fine-tuning are two prevailing paradigms for addressing label-scarce scenarios. Recently, growing attention has been given to combining fine-tuning of pre-trained vision-language models (VLMs) with SSL, forming the emerging paradigm of semi-supervised fine-tuning. However, existing methods often suffer from model bias and hyperparameter sensitivity, due to reliance on prediction consistency or pre-defined confidence thresholds. To address these limitations, we propose a simple yet effective plug-and-play methodology named $\underline{\textbf{Bi-Co}}$nsistency-$\underline{\textbf{G}}$uided Self-Training (Bi-CoG), which assigns high-quality and low-bias pseudo-labels, by simultaneously exploiting inter-model and intra-model consistency, along with an error-aware dynamic pseudo-label assignment strategy. Both theoretical analysis and extensive experiments over 14 datasets demonstrate the effectiveness of Bi-CoG, which consistently and significantly improves the performance of existing methods.
Degradation-Aware Cooperative Multi-Modal GNSS-Denied Localization Leveraging LiDAR-Based Robot Detections
Venue: arXiv cs.RO 2025
Year: 2025

Accurate long-term localization using onboard sensors is crucial for robots operating in Global Navigation Satellite System (GNSS)-denied environments. While complementary sensors mitigate individual degradations, carrying all the available sensor types on a single robot significantly increases the size, weight, and power demands. Distributing sensors across multiple robots enhances the deployability but introduces challenges in fusing asynchronous, multi-modal data from independently moving platforms. We propose a novel adaptive multi-modal multi-robot cooperative localization approach using a factor-graph formulation to fuse asynchronous Visual-Inertial Odometry (VIO), LiDAR-Inertial Odometry (LIO), and 3D inter-robot detections from distinct robots in a loosely-coupled fashion. The approach adapts to changing conditions, leveraging reliable data to assist robots affected by sensory degradations. A novel interpolation-based factor enables fusion of the unsynchronized measurements. LIO degradations are evaluated based on the approximate scan-matching Hessian. A novel approach of weighting odometry data proportionally to the Wasserstein distance between the consecutive VIO outputs is proposed. A theoretical analysis is provided, investigating the cooperative localization problem under various conditions, mainly in the presence of sensory degradations. The proposed method has been extensively evaluated on real-world data gathered with heterogeneous teams of an Unmanned Ground Vehicle (UGV) and Unmanned Aerial Vehicles (UAVs), showing that the approach provides significant improvements in localization accuracy in the presence of various sensory degradations.
Simultaneous Stiffness and Trajectory Optimization for Energy Minimization of Pick-and-Place Tasks of SEA-Actuated Parallel Kinematic Manipulators
Venue: arXiv cs.RO 2025
Year: 2025

A major field of industrial robot applications deals with repetitive tasks that alternate between operating points. For these so-called pick-and-place operations, parallel kinematic manipulators (PKM) are frequently employed. These tasks tend to automatically run for a long period of time and therefore minimizing energy consumption is always of interest. Recent research addresses this topic by the use of elastic elements and particularly series elastic actuators (SEA). This paper explores the possibilities of minimizing energy consumption of SEA actuated PKM performing pick-and-place tasks. The basic idea is to excite eigenmotions that result from the actuator springs and exploit their oscillating characteristics. To this end, a prescribed cyclic pick-and-place operation is analyzed and a dynamic model of SEA driven PKM is derived. Subsequently, an energy minimizing optimal control problem is formulated where operating trajectories as well as SEA stiffnesses are optimized simultaneously. Here, optimizing the actuator stiffness does not account for variable stiffness actuators. It serves as a tool for the design and dimensioning process. The hypothesis on energy reduction is tested on two (parallel) robot applications where redundant actuation is also addressed. The results confirm the validity of this approach.
Large Language Models for Fault Localization: An Empirical Study
Venue: arXiv cs.SE 2025
Year: 2025

Large language models (LLMs) have demonstrated remarkable capabilities in code-related tasks, particularly in automated program repair. However, the effectiveness of such repairs is highly dependent on the performance of upstream fault localization, for which comprehensive evaluations are currently lacking. This paper presents a systematic empirical study on LLMs in the statement-level code fault localization task. We evaluate representative open-source models (Qwen2.5-coder-32b-instruct, DeepSeek-V3) and closed-source models (GPT-4.1 mini, Gemini-2.5-flash) to assess their fault localization capabilities on the HumanEval-Java and Defects4J datasets. The study investigates the impact of different prompting strategies--including standard prompts, few-shot examples, and chain-of-reasoning--on model performance, with a focus on analysis across accuracy, time efficiency, and economic cost dimensions. Our experimental results show that incorporating bug report context significantly enhances model performance. Few-shot learning shows potential for improvement but exhibits noticeable diminishing marginal returns, while chain-of-thought reasoning's effectiveness is highly contingent on the model's inherent reasoning capabilities. This study not only highlights the performance characteristics and trade-offs of different models in fault localization tasks, but also offers valuable insights into the strengths of current LLMs and strategies for improving fault localization effectiveness.
Fake-in-Facext: Towards Fine-Grained Explainable DeepFake Analysis
Venue: arXiv cs.CV 2025
Year: 2025

The advancement of Multimodal Large Language Models (MLLMs) has bridged the gap between vision and language tasks, enabling the implementation of Explainable DeepFake Analysis (XDFA). However, current methods suffer from a lack of fine-grained awareness: the description of artifacts in data annotation is unreliable and coarse-grained, and the models fail to support the output of connections between textual forgery explanations and the visual evidence of artifacts, as well as the input of queries for arbitrary facial regions. As a result, their responses are not sufficiently grounded in Face Visual Context (Facext). To address this limitation, we propose the Fake-in-Facext (FiFa) framework, with contributions focusing on data annotation and model construction. We first define a Facial Image Concept Tree (FICT) to divide facial images into fine-grained regional concepts, thereby obtaining a more reliable data annotation pipeline, FiFa-Annotator, for forgery explanation. Based on this dedicated data annotation, we introduce a novel Artifact-Grounding Explanation (AGE) task, which generates textual forgery explanations interleaved with segmentation masks of manipulated artifacts. We propose a unified multi-task learning architecture, FiFa-MLLM, to simultaneously support abundant multimodal inputs and outputs for fine-grained Explainable DeepFake Analysis. With multiple auxiliary supervision tasks, FiFa-MLLM can outperform strong baselines on the AGE task and achieve SOTA performance on existing XDFA datasets. The code and data will be made open-source at https://github.com/lxq1000/Fake-in-Facext.