OpenRaiser/Intern-Atlas huggingface dataset:
DSI-Bench: A Benchmark for Dynamic Spatial Intelligence
Venue: arXiv cs.CV 2025
Year: 2025

Reasoning about dynamic spatial relationships is essential, as both observers and objects often move simultaneously. Although vision-language models (VLMs) and visual expertise models excel in 2D tasks and static scenarios, their ability to fully understand dynamic 3D scenarios remains limited. We introduce Dynamic Spatial Intelligence and propose DSI-Bench, a benchmark with nearly 1,000 dynamic videos and over 1,700 manually annotated questions covering nine decoupled motion patterns of observers and objects. Spatially and temporally symmetric designs reduce biases and enable systematic evaluation of models' reasoning about self-motion and object motion. Our evaluation of 14 VLMs and expert models reveals key limitations: models often conflate observer and object motion, exhibit semantic biases, and fail to accurately infer relative relationships in dynamic scenarios. Our DSI-Bench provides valuable findings and insights about the future development of general and expertise models with dynamic spatial intelligence.
Multi-scale topology optimization of porous heat sinks with voided lattice structure using a two-layer Darcy-Forchheimer model
Venue: arXiv cs.CE 2025
Year: 2025

This study presents a topology optimization framework for the design of water cooled heat sinks that incorporate voided lattice structures, formulated using a two-layer Darcy-Forchheimer model. Conventional porous heat sinks often suffer from excessive pressure drops due to their intricate geometries, which limit their practical applicability. To overcome this issue, the proposed method introduces an explicit representation of both void and porous regions, together with graded lattice density, within a multi-material optimization framework. The two-layer Darcy-Forchheimer model enables efficient reduced-order simulations, allowing direct consideration of the heterogeneous porous-void distribution during the optimization process. The optimized designs are reconstructed into full-scale lattice geometries and validated through coupled thermo-fluid finite element analyses under fixed pressure-drop conditions. The results demonstrate that the voided lattice configurations significantly outperform conventional plate-fin and uniform lattice heat sinks, achieving approximately 20-30 percent higher maximum Nusselt numbers while maintaining lower pressure losses.
When Models Can't Follow: Testing Instruction Adherence Across 256 LLMs
Venue: arXiv cs.CL 2025
Year: 2025

Despite widespread deployment of Large Language Models, systematic evaluation of instruction-following capabilities remains challenging. While comprehensive benchmarks exist, focused assessments that quickly diagnose specific instruction adherence patterns are valuable. As newer models may be trained on existing benchmarks, novel evaluation approaches are needed to assess genuine capabilities rather than memorized performance. This paper presents a streamlined evaluation framework using twenty carefully designed prompts to assess LLM instruction-following across diverse task categories. We demonstrate this framework through a large-scale empirical study conducted on October 14, 2025, testing 256 verified working models from 331 available via OpenRouter. To ensure methodological rigor and prevent selection bias, we first verified each model's basic functionality before inclusion. Unlike large-scale benchmarks requiring extensive computational resources, our approach offers a practical diagnostic tool researchers and practitioners can readily apply. Our methodology builds upon verifiable instructions while introducing a compact test suite balancing comprehensiveness with efficiency. Each prompt targets distinct aspects of instruction following, including format compliance, content constraints, logical sequencing, and multi-step task execution. We evaluate models from major providers (OpenAI, Anthropic, Google, Meta, Mistral) and emerging implementations (Qwen, DeepSeek, community models), providing comparative performance analysis. Our findings reveal consistent failure modes and identify specific instruction types posing particular challenges. This work contributes both a practical evaluation tool and one of the most comprehensive empirical analyses of instruction-following capabilities across the contemporary LLM landscape.
CodeCRDT: Observation-Driven Coordination for Multi-Agent LLM Code Generation
Venue: arXiv cs.DC 2025
Year: 2025

Multi-agent LLM systems fail to realize parallel speedups due to costly coordination. We present CodeCRDT, an observation-driven coordination pattern where agents coordinate by monitoring a shared state with observable updates and deterministic convergence, rather than explicit message passing. Using Conflict-Free Replicated Data Types (CRDTs), CodeCRDT enables lock-free, conflict-free concurrent code generation with strong eventual consistency. Evaluation across 600 trials (6 tasks, 50 runs per mode) shows both benefits and trade-offs: up to 21.1% speedup on some tasks, up to 39.4% slowdown on others, and 100% convergence with zero merge failures. The study formalizes observation-driven coordination for stochastic LLM agents, revealing semantic conflict rates (5-10%) and quality-performance tradeoffs, and provides empirical characterization of when parallel coordination succeeds versus fails based on task structure.
DuoLens: A Framework for Robust Detection of Machine-Generated Multilingual Text and Code
Venue: arXiv cs.CL 2025
Year: 2025

The prevalence of Large Language Models (LLMs) for generating multilingual text and source code has only increased the imperative for machine-generated content detectors to be accurate and efficient across domains. Current detectors, predominantly utilizing zero-shot methods, such as Fast DetectGPT or GPTZero, either incur high computational cost or lack sufficient accuracy, often with a trade-off between the two, leaving room for further improvement. To address these gaps, we propose the fine-tuning of encoder-only Small Language Models (SLMs), in particular, the pre-trained models of RoBERTA and CodeBERTa using specialized datasets on source code and other natural language to prove that for the task of binary classification, SLMs outperform LLMs by a huge margin whilst using a fraction of compute. Our encoders achieve AUROC $= 0.97$ to $0.99$ and macro-F1 $0.89$ to $0.94$ while reducing latency by $8$-$12\times$ and peak VRAM by $3$-$5\times$ at $512$-token inputs. Under cross-generator shifts and adversarial transformations (paraphrase, back-translation; code formatting/renaming), performance retains $\geq 92%$ of clean AUROC. We release training and evaluation scripts with seeds and configs; a reproducibility checklist is also included.
Misinformation Detection using Large Language Models with Explainability
Venue: arXiv cs.CL 2025
Year: 2025

The rapid spread of misinformation on online platforms undermines trust among individuals and hinders informed decision making. This paper shows an explainable and computationally efficient pipeline to detect misinformation using transformer-based pretrained language models (PLMs). We optimize both RoBERTa and DistilBERT using a two-step strategy: first, we freeze the backbone and train only the classification head; then, we progressively unfreeze the backbone layers while applying layer-wise learning rate decay. On two real-world benchmark datasets, COVID Fake News and FakeNewsNet GossipCop, we test the proposed approach with a unified protocol of preprocessing and stratified splits. To ensure transparency, we integrate the Local Interpretable Model-Agnostic Explanations (LIME) at the token level to present token-level rationales and SHapley Additive exPlanations (SHAP) at the global feature attribution level. It demonstrates that DistilBERT achieves accuracy comparable to RoBERTa while requiring significantly less computational resources. This work makes two key contributions: (1) it quantitatively shows that a lightweight PLM can maintain task performance while substantially reducing computational cost, and (2) it presents an explainable pipeline that retrieves faithful local and global justifications without compromising performance. The results suggest that PLMs combined with principled fine-tuning and interpretability can be an effective framework for scalable, trustworthy misinformation detection.
Benchmarking On-Device Machine Learning on Apple Silicon with MLX
Venue: arXiv cs.LG 2025
Year: 2025

The recent widespread adoption of Large Language Models (LLMs) and machine learning in general has sparked research interest in exploring the possibilities of deploying these models on smaller devices such as laptops and mobile phones. This creates a need for frameworks and approaches that are capable of taking advantage of on-device hardware. The MLX framework was created to address this need. It is a framework optimized for machine learning (ML) computations on Apple silicon devices, facilitating easier research, experimentation, and prototyping. This paper presents a performance evaluation of MLX, focusing on inference latency of transformer models. We compare the performance of different transformer architecture implementations in MLX with their Pytorch counterparts. For this research we create a framework called MLX-transformers which includes different transformer implementations in MLX and downloads the model checkpoints in pytorch and converts it to the MLX format. By leveraging the advanced architecture and capabilities of Apple Silicon, MLX-Transformers enables seamless execution of transformer models directly sourced from Hugging Face, eliminating the need for checkpoint conversion often required when porting models between frameworks. Our study benchmarks different transformer models on two Apple Silicon macbook devices against an NVIDIA CUDA GPU. Specifically, we compare the inference latency performance of models with the same parameter sizes and checkpoints. We evaluate the performance of BERT, RoBERTa, and XLM-RoBERTa models, with the intention of extending future work to include models of different modalities, thus providing a more comprehensive assessment of MLX's capabilities. The results highlight MLX's potential in enabling efficient and more accessible on-device ML applications within Apple's ecosystem.
Noise-corrected GRPO: From Noisy Rewards to Unbiased Gradients
Venue: arXiv cs.LG 2025
Year: 2025

Reinforcement learning from human feedback (RLHF) or verifiable rewards (RLVR), the standard paradigm for aligning LLMs or building recent SOTA reasoning models, is highly sensitive to noise from inconsistent or erroneous rewards. Yet, the interaction between such noise and widely used group-based policy optimization methods remains underexplored. We introduce a noise-robust Group Relative Policy Optimization (GRPO) and Done Right GRPO (Dr.GRPO) framework that explicitly models reward corruption as Bernoulli noise. Our method applies noise correction after estimating reward flip probabilities to debias the learning signal, yielding provably unbiased gradient estimates. Theoretical analysis shows that group-based methods inherently mitigate individual-level noise, and our correction strategy amplifies this robustness. Empirically, we observe consistent improvements across math and code tasks when applying our noise correction to standard reward model usage, with particular gains of up to 6.7 percentage points in accuracy on math tasks and 1.5 on code tasks under realistic reward model conditions. This work bridges label-noise correction from supervised learning with modern RLHF, offering both theoretical insights and a practical algorithm for noisy real-world deployment.
Ninja Codes: Neurally Generated Fiducial Markers for Stealthy 6-DoF Tracking
Venue: arXiv cs.CV 2025
Year: 2025

In this paper we describe Ninja Codes, neurally-generated fiducial markers that can be made to naturally blend into various real-world environments. An encoder network converts arbitrary images into Ninja Codes by applying visually modest alterations; the resulting codes, printed and pasted onto surfaces, can provide stealthy 6-DoF location tracking for a wide range of applications including augmented reality, robotics, motion-based user interfaces, etc. Ninja Codes can be printed using off-the-shelf color printers on regular printing paper, and can be detected using any device equipped with a modern RGB camera and capable of running inference. Using an end-to-end process inspired by prior work on deep steganography, we jointly train a series of network modules that perform the creation and detection of Ninja Codes. Through experiments, we demonstrate Ninja Codes' ability to provide reliable location tracking under common indoor lighting conditions, while successfully concealing themselves within diverse environmental textures. We expect Ninja Codes to offer particular value in scenarios where the conspicuous appearances of conventional fiducial markers make them undesirable for aesthetic and other reasons.
Towards Proprioceptive Terrain Mapping with Quadruped Robots for Exploration in Planetary Permanently Shadowed Regions
Venue: arXiv cs.RO 2025
Year: 2025

Permanently Shadowed Regions (PSRs) near the lunar poles are of interest for future exploration due to their potential to contain water ice and preserve geological records. Their complex, uneven terrain favors the use of legged robots, which can traverse challenging surfaces while collecting in-situ data, and have proven effective in Earth analogs, including dark caves, when equipped with onboard lighting. While exteroceptive sensors like cameras and lidars can capture terrain geometry and even semantic information, they cannot quantify its physical interaction with the robot, a capability provided by proprioceptive sensing. We propose a terrain mapping framework for quadruped robots, which estimates elevation, foot slippage, energy cost, and stability margins from internal sensing during locomotion. These metrics are incrementally integrated into a multi-layer 2.5D gridmap that reflects terrain interaction from the robot's perspective. The system is evaluated in a simulator that mimics a lunar environment, using the 21 kg quadruped robot Aliengo, showing consistent mapping performance under lunar gravity and terrain conditions.
Dynamic Evaluation for Oversensitivity in LLMs
Venue: arXiv cs.CL 2025
Year: 2025

Oversensitivity occurs when language models defensively reject prompts that are actually benign. This behavior not only disrupts user interactions but also obscures the boundary between harmful and harmless content. Existing benchmarks rely on static datasets that degrade overtime as models evolve, leading to data contamination and diminished evaluative power. To address this, we develop a framework that dynamically generates model-specific challenging datasets, capturing emerging defensive patterns and aligning with each model's unique behavior. Building on this approach, we construct OVERBENCH, a benchmark that aggregates these datasets across diverse LLM families, encompassing 450,000 samples from 25 models. OVERBENCH provides a dynamic and evolving perspective on oversensitivity, allowing for continuous monitoring of defensive triggers as models advance, highlighting vulnerabilities that static datasets overlook.
FlexiDataGen: An Adaptive LLM Framework for Dynamic Semantic Dataset Generation in Sensitive Domains
Venue: arXiv cs.DB 2025
Year: 2025

Dataset availability and quality remain critical challenges in machine learning, especially in domains where data are scarce, expensive to acquire, or constrained by privacy regulations. Fields such as healthcare, biomedical research, and cybersecurity frequently encounter high data acquisition costs, limited access to annotated data, and the rarity or sensitivity of key events. These issues-collectively referred to as the dataset challenge-hinder the development of accurate and generalizable machine learning models in such high-stakes domains. To address this, we introduce FlexiDataGen, an adaptive large language model (LLM) framework designed for dynamic semantic dataset generation in sensitive domains. FlexiDataGen autonomously synthesizes rich, semantically coherent, and linguistically diverse datasets tailored to specialized fields. The framework integrates four core components: (1) syntactic-semantic analysis, (2) retrieval-augmented generation, (3) dynamic element injection, and (4) iterative paraphrasing with semantic validation. Together, these components ensure the generation of high-quality, domain-relevant data. Experimental results show that FlexiDataGen effectively alleviates data shortages and annotation bottlenecks, enabling scalable and accurate machine learning model development.
The MUSE Benchmark: Probing Music Perception and Auditory Relational Reasoning in Audio LLMS
Venue: arXiv cs.AI 2025
Year: 2025

Multimodal Large Language Models (MLLMs) have demonstrated capabilities in audio understanding, but current evaluations may obscure fundamental weaknesses in relational reasoning. We introduce the Music Understanding and Structural Evaluation (MUSE) Benchmark, an open-source resource with 10 tasks designed to probe fundamental music perception skills. We evaluate four SOTA models (Gemini Pro and Flash, Qwen2.5-Omni, and Audio-Flamingo 3) against a large human baseline (N=200). Our results reveal a wide variance in SOTA capabilities and a persistent gap with human experts. While Gemini Pro succeeds on basic perception, Qwen and Audio Flamingo 3 perform at or near chance, exposing severe perceptual deficits. Furthermore, we find Chain-of-Thought (CoT) prompting provides inconsistent, often detrimental results. Our work provides a critical tool for evaluating invariant musical representations and driving development of more robust AI systems.
POLAR: Policy-based Layerwise Reinforcement Learning Method for Stealthy Backdoor Attacks in Federated Learning
Venue: arXiv cs.LG 2025
Year: 2025

Federated Learning (FL) enables decentralized model training across multiple clients without exposing local data, but its distributed feature makes it vulnerable to backdoor attacks. Despite early FL backdoor attacks modifying entire models, recent studies have explored the concept of backdoor-critical (BC) layers, which poison the chosen influential layers to maintain stealthiness while achieving high effectiveness. However, existing BC layers approaches rely on rule-based selection without consideration of the interrelations between layers, making them ineffective and prone to detection by advanced defenses. In this paper, we propose POLAR (POlicy-based LAyerwise Reinforcement learning), the first pipeline to creatively adopt RL to solve the BC layer selection problem in layer-wise backdoor attack. Different from other commonly used RL paradigm, POLAR is lightweight with Bernoulli sampling. POLAR dynamically learns an attack strategy, optimizing layer selection using policy gradient updates based on backdoor success rate (BSR) improvements. To ensure stealthiness, we introduce a regularization constraint that limits the number of modified layers by penalizing large attack footprints. Extensive experiments demonstrate that POLAR outperforms the latest attack methods by up to 40% against six state-of-the-art (SOTA) defenses.
Convex Maneuver Planning for Spacecraft Collision Avoidance
Venue: arXiv cs.RO 2025
Year: 2025

Conjunction analysis and maneuver planning for spacecraft collision avoidance remains a manual and time-consuming process, typically involving repeated forward simulations of hand-designed maneuvers. With the growing density of satellites in low-Earth orbit (LEO), autonomy is becoming essential for efficiently evaluating and mitigating collisions. In this work, we present an algorithm to design low-thrust collision-avoidance maneuvers for short-term conjunction events. We first formulate the problem as a nonconvex quadratically-constrained quadratic program (QCQP), which we then relax into a convex semidefinite program (SDP) using Shor's relaxation. We demonstrate empirically that the relaxation is tight, which enables the recovery of globally optimal solutions to the original nonconvex problem. Our formulation produces a minimum-energy solution while ensuring a desired probability of collision at the time of closest approach. Finally, if the desired probability of collision cannot be satisfied, we relax this constraint into a penalty, yielding a minimum-risk solution. We validate our algorithm with a high-fidelity simulation of a satellite conjunction in low-Earth orbit with a simulated conjunction data message (CDM), demonstrating its effectiveness in reducing collision risk.
Kinematic Analysis and Integration of Vision Algorithms for a Mobile Manipulator Employed Inside a Self-Driving Laboratory
Venue: arXiv cs.RO 2025
Year: 2025

Recent advances in robotics and autonomous systems have broadened the use of robots in laboratory settings, including automated synthesis, scalable reaction workflows, and collaborative tasks in self-driving laboratories (SDLs). This paper presents a comprehensive development of a mobile manipulator designed to assist human operators in such autonomous lab environments. Kinematic modeling of the manipulator is carried out based on the Denavit Hartenberg (DH) convention and inverse kinematics solution is determined to enable precise and adaptive manipulation capabilities. A key focus of this research is enhancing the manipulator ability to reliably grasp textured objects as a critical component of autonomous handling tasks. Advanced vision-based algorithms are implemented to perform real-time object detection and pose estimation, guiding the manipulator in dynamic grasping and following tasks. In this work, we integrate a vision method that combines feature-based detection with homography-driven pose estimation, leveraging depth information to represent an object pose as a $2$D planar projection within $3$D space. This adaptive capability enables the system to accommodate variations in object orientation and supports robust autonomous manipulation across diverse environments. By enabling autonomous experimentation and human-robot collaboration, this work contributes to the scalability and reproducibility of next-generation chemical laboratories
Safe Active Navigation and Exploration for Planetary Environments Using Proprioceptive Measurements
Venue: arXiv cs.RO 2025
Year: 2025

Legged robots can sense terrain through force interactions during locomotion, offering more reliable traversability estimates than remote sensing and serving as scouts for guiding wheeled rovers in challenging environments. However, even legged scouts face challenges when traversing highly deformable or unstable terrain. We present Safe Active Exploration for Granular Terrain (SAEGT), a navigation framework that enables legged robots to safely explore unknown granular environments using proprioceptive sensing, particularly where visual input fails to capture terrain deformability. SAEGT estimates the safe region and frontier region online from leg-terrain interactions using Gaussian Process regression for traversability assessment, with a reactive controller for real-time safe exploration and navigation. SAEGT demonstrated its ability to safely explore and navigate toward a specified goal using only proprioceptively estimated traversability in simulation.