OpenRaiser/Intern-Atlas huggingface dataset:
FALCON: Learning Force-Adaptive Humanoid Loco-Manipulation
Venue: arXiv cs.RO 2025
Year: 2025

Humanoid loco-manipulation holds transformative potential for daily service and industrial tasks, yet achieving precise, robust whole-body control with 3D end-effector force interaction remains a major challenge. Prior approaches are often limited to lightweight tasks or quadrupedal/wheeled platforms. To overcome these limitations, we propose FALCON, a dual-agent reinforcement-learning-based framework for robust force-adaptive humanoid loco-manipulation. FALCON decomposes whole-body control into two specialized agents: (1) a lower-body agent ensuring stable locomotion under external force disturbances, and (2) an upper-body agent precisely tracking end-effector positions with implicit adaptive force compensation. These two agents are jointly trained in simulation with a force curriculum that progressively escalates the magnitude of external force exerted on the end effector while respecting torque limits. Experiments demonstrate that, compared to the baselines, FALCON achieves 2x more accurate upper-body joint tracking, while maintaining robust locomotion under force disturbances and achieving faster training convergence. Moreover, FALCON enables policy training without embodiment-specific reward or curriculum tuning. Using the same training setup, we obtain policies that are deployed across multiple humanoids, enabling forceful loco-manipulation tasks such as transporting payloads (0-20N force), cart-pulling (0-100N), and door-opening (0-40N) in the real world.
cpRRTC: GPU-Parallel RRT-Connect for Constrained Motion Planning
Venue: arXiv cs.RO 2025
Year: 2025

Motion planning is a fundamental problem in robotics that involves generating feasible trajectories for a robot to follow. Recent advances in parallel computing, particularly through CPU and GPU architectures, have significantly reduced planning times to the order of milliseconds. However, constrained motion planning especially using sampling based methods on GPUs remains underexplored. Prior work such as pRRTC leverages a tracking compiler with a CUDA backend to accelerate forward kinematics and collision checking. While effective in simple settings, their approach struggles with increased complexity in robot models or environments. In this paper, we propose a novel GPU based framework utilizing NVRTC for runtime compilation, enabling efficient handling of high complexity scenarios and supporting constrained motion planning. Experimental results demonstrate that our method achieves superior performance compared to existing approaches.
ThreatLens: LLM-guided Threat Modeling and Test Plan Generation for Hardware Security Verification
Venue: arXiv cs.CR 2025
Year: 2025

Current hardware security verification processes predominantly rely on manual threat modeling and test plan generation, which are labor-intensive, error-prone, and struggle to scale with increasing design complexity and evolving attack methodologies. To address these challenges, we propose ThreatLens, an LLM-driven multi-agent framework that automates security threat modeling and test plan generation for hardware security verification. ThreatLens integrates retrieval-augmented generation (RAG) to extract relevant security knowledge, LLM-powered reasoning for threat assessment, and interactive user feedback to ensure the generation of practical test plans. By automating these processes, the framework reduces the manual verification effort, enhances coverage, and ensures a structured, adaptable approach to security verification. We evaluated our framework on the NEORV32 SoC, demonstrating its capability to automate security verification through structured test plans and validating its effectiveness in real-world scenarios.
Fine-Grained Bias Exploration and Mitigation for Group-Robust Classification
Venue: arXiv cs.CV 2025
Year: 2025

Achieving group-robust generalization in the presence of spurious correlations remains a significant challenge, particularly when bias annotations are unavailable. Recent studies on Class-Conditional Distribution Balancing (CCDB) reveal that spurious correlations often stem from mismatches between the class-conditional and marginal distributions of bias attributes. They achieve promising results by addressing this issue through simple distribution matching in a bias-agnostic manner. However, CCDB approximates each distribution using a single Gaussian, which is overly simplistic and rarely holds in real-world applications. To address this limitation, we propose a novel method called Bias Exploration via Overfitting (BEO), which captures each distribution in greater detail by modeling it as a mixture of latent groups. Building on these group-level descriptions, we introduce a fine-grained variant of CCDB, termed FG-CCDB, which performs more precise distribution matching and balancing within each group. Through group-level reweighting, FG-CCDB learns sample weights from a global perspective, achieving stronger mitigation of spurious correlations without incurring substantial storage or computational costs. Extensive experiments demonstrate that BEO serves as a strong proxy for ground-truth bias annotations and can be seamlessly integrated with bias-supervised methods. Moreover, when combined with FG-CCDB, our method performs on par with bias-supervised approaches on binary classification tasks and significantly outperforms them in highly biased multi-class scenarios.
Visual Evolutionary Optimization on Graph-Structured Combinatorial Problems with MLLMs: A Case Study of Influence Maximization
Venue: arXiv cs.NE 2025
Year: 2025

Graph-structured combinatorial problems in complex networks are prevalent in many domains, and are computationally demanding due to their complexity and non-linear nature. Traditional evolutionary algorithms (EAs), while robust, often face obstacles due to content-shallow encoding limitations and lack of structural awareness, necessitating hand-crafted modifications for effective application. In this work, we introduce an original framework, visual evolutionary optimization (VEO), leveraging multimodal large language models (MLLMs) as the backbone evolutionary optimizer in this context. Specifically, we propose a context-aware encoding scheme, representing the solution of the network as an image. In this manner, we can utilize MLLMs' image processing capabilities to intuitively comprehend network configurations, thus enabling machines to solve these problems in a human-like way. We develop MLLM-based operators tailored for various evolutionary optimization stages, including initialization, crossover, and mutation. Furthermore, we propose that graph sparsification can effectively enhance the applicability and scalability of VEO on large-scale networks, owing to the scale-free nature of real-world networks. We demonstrate the effectiveness of our method using a well-known task in complex networks, influence maximization, and validate it on eight different real-world networks of various structures. The results confirm VEO's reliability and enhanced effectiveness compared to traditional evolutionary optimization.
Joint Low-level and High-level Textual Representation Learning with Multiple Masking Strategies
Venue: arXiv cs.CV 2025
Year: 2025

Most existing text recognition methods are trained on large-scale synthetic datasets due to the scarcity of labeled real-world datasets. Synthetic images, however, cannot faithfully reproduce real-world scenarios, such as uneven illumination, irregular layout, occlusion, and degradation, resulting in performance disparities when handling complex real-world images. Recent self-supervised learning techniques, notably contrastive learning and masked image modeling (MIM), narrow this domain gap by exploiting unlabeled real text images. This study first analyzes the original Masked AutoEncoder (MAE) and observes that random patch masking predominantly captures low-level textural features but misses high-level contextual representations. To fully exploit the high-level contextual representations, we introduce random blockwise and span masking in the text recognition task. These strategies can mask the continuous image patches and completely remove some characters, forcing the model to infer relationships among characters within a word. Our Multi-Masking Strategy (MMS) integrates random patch, blockwise, and span masking into the MIM frame, which jointly learns low and high-level textual representations. After fine-tuning with real data, MMS outperforms the state-of-the-art self-supervised methods in various text-related tasks, including text recognition, segmentation, and text-image super-resolution.
LAMMPS: A Case Study For Applying Modern Software Engineering to an Established Research Software Package
Venue: arXiv cs.SE 2025
Year: 2025

We review various changes made in recent years to the software development process of the LAMMPS simulation software package and the software itself. We discuss how those changes have impacted the effort and workflow required to develop and maintain a software package that has been in existence for more than 30 years and where a significant part of the code base is contributed by external developers. We also look into how those changes have affected the code quality and ease of modifying and extending the software while at the same time its audience has changed from a cohort with a generally strong software development background to a group containing many researchers with limited software development skills. We explore how this contributes to LAMMPS' significant growth in popularity in that time. We close with an outlook on future steps.
Benchmarking and Revisiting Code Generation Assessment: A Mutation-Based Approach
Venue: arXiv cs.SE 2025
Year: 2025

Code Large Language Models (CLLMs) have exhibited outstanding performance in program synthesis, attracting the focus of the research community. The evaluation of CLLM's program synthesis capability has generally relied on manually curated benchmarks. However, there is a substantial gap between real-world scenarios and benchmark settings. Existing benchmarks typically provide only a single input prompt for the evaluation of each synthesis problem. However, in practice, a problem can be described in various ways, including with typos, where developers may struggle to understand certain descriptions and seek clarification to find more suitable wording. Such various descriptions may lead to variations in the performance of CLLMs on the same question, resulting in a biased evaluation when using existing benchmarks. In this paper, we aim to explore these pitfalls with the goal of revisiting and enhancing future benchmark designs. To simulate real-world variations in problem descriptions, we propose 10 mutation strategies and introduce three new metrics to evaluate their impact on code generation. We then assess five popular CLLMs using 12,834 generated prompt variants, and found a significant performance discrepancy between the results from existing benchmarks and those from mutated benchmarks containing perturbations and variations. This finding underscores the need for more robust evaluation methods and benchmarks.
Image Classification Using a Diffusion Model as a Pre-Training Model
Venue: arXiv cs.LG 2025
Year: 2025

In this paper, we propose a diffusion model that integrates a representation-conditioning mechanism, where the representations derived from a Vision Transformer (ViT) are used to condition the internal process of a Transformer-based diffusion model. This approach enables representation-conditioned data generation, addressing the challenge of requiring large-scale labeled datasets by leveraging self-supervised learning on unlabeled data. We evaluate our method through a zero-shot classification task for hematoma detection in brain imaging. Compared to the strong contrastive learning baseline, DINOv2, our method achieves a notable improvement of +6.15% in accuracy and +13.60% in F1-score, demonstrating its effectiveness in image classification.
Measuring the Accuracy and Effectiveness of PII Removal Services
Venue: arXiv cs.CR 2025
Year: 2025

This paper presents the first large-scale empirical study of commercial personally identifiable information (PII) removal systems -- commercial services that claim to improve privacy by automating the removal of PII from data broker's databases. Popular examples of such services include DeleteMe, Mozilla Monitor, Incogni, among many others. The claims these services make may be very appealing to privacy-conscious Web users, but how effective these services actually are at improving privacy has not been investigated. This work aims to improve our understanding of commercial PII removal services in multiple ways. First, we conduct a user study where participants purchase subscriptions from four popular PII removal services, and report (i) what PII the service find, (ii) from which data brokers, (iii) whether the service is able to have the information removed, and (iv) whether the identified information actually is PII describing the participant. And second, by comparing the claims and promises the services makes (e.g. which and how many data brokers each service claims to cover). We find that these services have significant accuracy and coverage issues that limit the usefulness of these services as a privacy-enhancing technology. For example, we find that the measured services are unable to remove the majority of the identified PII records from data broker's (48.2% of the successfully removed found records) and that most records identified by these services are not PII about the user (study participants found that only 41.1% of records identified by these services were PII about themselves).
A Multi-Agent Reinforcement Learning Approach for Cooperative Air-Ground-Human Crowdsensing in Emergency Rescue
Venue: arXiv cs.AI 2025
Year: 2025

Mobile crowdsensing is evolving beyond traditional human-centric models by integrating heterogeneous entities like unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs). Optimizing task allocation among these diverse agents is critical, particularly in challenging emergency rescue scenarios characterized by complex environments, limited communication, and partial observability. This paper tackles the Heterogeneous-Entity Collaborative-Sensing Task Allocation (HECTA) problem specifically for emergency rescue, considering humans, UAVs, and UGVs. We introduce a novel ``Hard-Cooperative'' policy where UGVs prioritize recharging low-battery UAVs, alongside performing their sensing tasks. The primary objective is maximizing the task completion rate (TCR) under strict time constraints. We rigorously formulate this NP-hard problem as a decentralized partially observable Markov decision process (Dec-POMDP) to effectively handle sequential decision-making under uncertainty. To solve this, we propose HECTA4ER, a novel multi-agent reinforcement learning algorithm built upon a Centralized Training with Decentralized Execution architecture. HECTA4ER incorporates tailored designs, including specialized modules for complex feature extraction, utilization of action-observation history via hidden states, and a mixing network integrating global and local information, specifically addressing the challenges of partial observability. Furthermore, theoretical analysis confirms the algorithm's convergence properties. Extensive simulations demonstrate that HECTA4ER significantly outperforms baseline algorithms, achieving an average 18.42% increase in TCR. Crucially, a real-world case study validates the algorithm's effectiveness and robustness in dynamic sensing scenarios, highlighting its strong potential for practical application in emergency response.
Efficient and Robust Multidimensional Attention in Remote Physiological Sensing through Target Signal Constrained Factorization
Venue: arXiv cs.CV 2025
Year: 2025

Remote physiological sensing using camera-based technologies offers transformative potential for non-invasive vital sign monitoring across healthcare and human-computer interaction domains. Although deep learning approaches have advanced the extraction of physiological signals from video data, existing methods have not been sufficiently assessed for their robustness to domain shifts. These shifts in remote physiological sensing include variations in ambient conditions, camera specifications, head movements, facial poses, and physiological states which often impact real-world performance significantly. Cross-dataset evaluation provides an objective measure to assess generalization capabilities across these domain shifts. We introduce Target Signal Constrained Factorization module (TSFM), a novel multidimensional attention mechanism that explicitly incorporates physiological signal characteristics as factorization constraints, allowing more precise feature extraction. Building on this innovation, we present MMRPhys, an efficient dual-branch 3D-CNN architecture designed for simultaneous multitask estimation of photoplethysmography (rPPG) and respiratory (rRSP) signals from multimodal RGB and thermal video inputs. Through comprehensive cross-dataset evaluation on five benchmark datasets, we demonstrate that MMRPhys with TSFM significantly outperforms state-of-the-art methods in generalization across domain shifts for rPPG and rRSP estimation, while maintaining a minimal inference latency suitable for real-time applications. Our approach establishes new benchmarks for robust multitask and multimodal physiological sensing and offers a computationally efficient framework for practical deployment in unconstrained environments. The web browser-based application featuring on-device real-time inference of MMRPhys model is available at https://physiologicailab.github.io/mmrphys-live
Multi-Terminal Remote Generation and Estimation Over a Broadcast Channel With Correlated Priors
Venue: arXiv cs.IT 2025
Year: 2025

We study the multi-terminal remote estimation problem under a rate constraint, in which the goal of the encoder is to help each decoder estimate a function over a certain distribution -- while the distribution is known only to the encoder, the function to be estimated is known only to the decoders, and can also be different for each decoder. The decoders can observe correlated samples from prior distributions, instantiated through shared randomness with the encoder. To achieve this, we employ remote generation, where the encoder helps decoders generate samples from the underlying distribution by using the samples from the prior through importance sampling. While methods such as minimal random coding can be used to efficiently transmit samples to each decoder individually using their importance scores, it is unknown if the correlation among the samples from the priors can reduce the communication cost using the availability of a broadcast link. We propose a hierarchical importance sampling strategy that facilitates, in the case of non-zero Gács-Körner common information among the priors of the decoders, a common sampling step leveraging the availability of a broadcast channel. This is followed by a refinement step for the individual decoders. We present upper bounds on the bias and the estimation error for unicast transmission, which is of independent interest. We then introduce a method that splits into two phases, dedicated to broadcast and unicast transmission, respectively, and show the reduction in communication cost.
Efficient Machine Unlearning by Model Splitting and Core Sample Selection
Venue: arXiv cs.LG 2025
Year: 2025

Machine unlearning is essential for meeting legal obligations such as the right to be forgotten, which requires the removal of specific data from machine learning models upon request. While several approaches to unlearning have been proposed, existing solutions often struggle with efficiency and, more critically, with the verification of unlearning - particularly in the case of weak unlearning guarantees, where verification remains an open challenge. We introduce a generalized variant of the standard unlearning metric that enables more efficient and precise unlearning strategies. We also present an unlearning-aware training procedure that, in many cases, allows for exact unlearning. We term our approach MaxRR. When exact unlearning is not feasible, MaxRR still supports efficient unlearning with properties closely matching those achieved through full retraining.
Explainable Artificial Intelligence Techniques for Software Development Lifecycle: A Phase-specific Survey
Venue: arXiv cs.SE 2025
Year: 2025

Artificial Intelligence (AI) is rapidly expanding and integrating more into daily life to automate tasks, guide decision making, and enhance efficiency. However, complex AI models, which make decisions without providing clear explanations (known as the "black-box problem"), currently restrict trust and widespread adoption of AI. Explainable Artificial Intelligence (XAI) has emerged to address the black-box problem of making AI systems more interpretable and transparent so stakeholders can trust, verify, and act upon AI-based outcomes. Researchers have developed various techniques to foster XAI in the Software Development Lifecycle. However, there are gaps in applying XAI techniques in the Software Engineering phases. Literature review shows that 68% of XAI in Software Engineering research is focused on maintenance as opposed to 8% on software management and requirements. In this paper, we present a comprehensive survey of the applications of XAI methods such as concept-based explanations, Local Interpretable Model-agnostic Explanations (LIME), SHapley Additive exPlanations (SHAP), rule extraction, attention mechanisms, counterfactual explanations, and example-based explanations to the different phases of the Software Development Life Cycle (SDLC), including requirements elicitation, design and development, testing and deployment, and evolution. To the best of our knowledge, this paper presents the first comprehensive survey of XAI techniques for every phase of the Software Development Life Cycle (SDLC). This survey aims to promote explainable AI in Software Engineering and facilitate the practical application of complex AI models in AI-driven software development.
Privacy of Groups in Dense Street Imagery
Venue: arXiv cs.CY 2025
Year: 2025

Spatially and temporally dense street imagery (DSI) datasets have grown unbounded. In 2024, individual companies possessed around 3 trillion unique images of public streets. DSI data streams are only set to grow as companies like Lyft and Waymo use DSI to train autonomous vehicle algorithms and analyze collisions. Academic researchers leverage DSI to explore novel approaches to urban analysis. Despite good-faith efforts by DSI providers to protect individual privacy through blurring faces and license plates, these measures fail to address broader privacy concerns. In this work, we find that increased data density and advancements in artificial intelligence enable harmful group membership inferences from supposedly anonymized data. We perform a penetration test to demonstrate how easily sensitive group affiliations can be inferred from obfuscated pedestrians in 25,232,608 dashcam images taken in New York City. We develop a typology of identifiable groups within DSI and analyze privacy implications through the lens of contextual integrity. Finally, we discuss actionable recommendations for researchers working with data from DSI providers.