OpenRaiser/Intern-Atlas huggingface dataset:
DriveLaW:Unifying Planning and Video Generation in a Latent Driving World
Venue: arXiv cs.CV 2025
Year: 2025

World models have become crucial for autonomous driving, as they learn how scenarios evolve over time to address the long-tail challenges of the real world. However, current approaches relegate world models to limited roles: they operate within ostensibly unified architectures that still keep world prediction and motion planning as decoupled processes. To bridge this gap, we propose DriveLaW, a novel paradigm that unifies video generation and motion planning. By directly injecting the latent representation from its video generator into the planner, DriveLaW ensures inherent consistency between high-fidelity future generation and reliable trajectory planning. Specifically, DriveLaW consists of two core components: DriveLaW-Video, our powerful world model that generates high-fidelity forecasting with expressive latent representations, and DriveLaW-Act, a diffusion planner that generates consistent and reliable trajectories from the latent of DriveLaW-Video, with both components optimized by a three-stage progressive training strategy. The power of our unified paradigm is demonstrated by new state-of-the-art results across both tasks. DriveLaW not only advances video prediction significantly, surpassing best-performing work by 33.3% in FID and 1.8% in FVD, but also achieves a new record on the NAVSIM planning benchmark.
Adaptable Teastore with Energy Consumption Awareness: A Case Study
Venue: arXiv cs.SE 2025
Year: 2025

[Context and Motivation] Global energy consumption has been steadily increasing in recent years, with data centers emerging as major contributors. This growth is largely driven by the widespread migration of applications to the Cloud, alongside a rising number of users consuming digital content. Dynamic adaptation (or self-adaptive) approaches appear as a way to reduce, at runtime and under certain constraints, the energy consumption of software applications. [Question/Problem] Despite efforts to make energy-efficiency a primary goal in the dynamic adaptation of software applications, there is still a gap in understanding how to equip these self-adaptive software systems (SAS), which are dynamically adapted at runtime, with effective energy consumption monitoring tools that enable energy-awareness. Furthermore, the extent to which such an energy consumption monitoring tool impacts the overall energy consumption of the SAS ecosystem has not yet been thoroughly explored. [Methodology] To address this gap, we introduce the EnCoMSAS (Energy Consumption Monitoring for Self-Adaptive Systems) tool that allows to gather the energy consumed by distributed software applications deployed, for instance, in the Cloud. EnCoMSAS enables the evaluation of energy consumption of SAS variants at runtime. It allows to integrate energy-efficiency as a main goal in the analysis and execution of new adaptation plans for the SAS. In order to evaluate the effectiveness of EnCoMSAS and investigate its impact on the overall energy consumption of the SAS ecosystem, we conduct an empirical study by using the Adaptable TeaStore case study. Adaptable TeaStore is a self-adaptive extension of the TeaStore application, a microservice benchmarking application. For this study, we focus on the recommender service of Adaptable TeaStore. Regarding the experiments, we first equip Adaptable TeaStore with EnCoMSAS. Next, we execute Adaptable TeaStore by varying workload conditions that simulate users interactions. Finally, we use EnCoMSAS for gathering and assessing the energy consumption of the recommender algorithms of Adaptable TeaStore. To run these experiments, we use nodes of the Grid5000 testbed. [Results] The results show that EnCoMSAS is effective in collecting energy consumption of software applications for enabling dynamic adaptation at runtime. The observed correlation between CPU usage and energy consumption collected by EnCoMSAS provides evidence supporting the validity of the collected energy measurements. Moreover, we point out, through EnCoMSAS, that energy consumption is influenced not only by the algorithmic complexity but also by the characteristics of the deployment environment. Finally, the results show that the impact of EnCoMSAS on the overall energy consumption of the SAS ecosystem is comparatively modest with respect to the entire set of the TeaStore applications microservices.
Affine-Projection Recovery of Continuous Angular Power Spectrum: Geometry and Resolution
Venue: arXiv cs.IT 2025
Year: 2025

This paper considers recovering a continuous angular power spectrum (APS) from the channel covariance. Building on the projection-onto-linear-variety (PLV) algorithm, an affine-projection approach introduced by Miretti \emph{et. al.}, we analyze PLV in a well-defined \emph{weighted} Fourier-domain to emphasize its geometric interpretability. This yields an explicit fixed-dimensional trigonometric-polynomial representation and a closed-form solution via a positive-definite matrix, which directly implies uniqueness. We further establish an exact energy identity that yields the APS reconstruction error and leads to a sharp identifiability/resolution characterization: PLV achieves perfect recovery if and only if the ground-truth APS lies in the identified trigonometric-polynomial subspace; otherwise it returns the minimum-energy APS among all covariance-consistent spectra.
Beyond Correctness: Exposing LLM-generated Logical Flaws in Reasoning via Multi-step Automated Theorem Proving
Venue: arXiv cs.SE 2025
Year: 2025

Large Language Models (LLMs) have demonstrated impressive reasoning capabilities, leading to their adoption in high-stakes domains such as healthcare, law, and scientific research. However, their reasoning often contains subtle logical errors masked by fluent language, posing significant risks for critical applications. While existing approaches like fact-checking, self-consistency methods, and rule-based validation provide partial solutions, they fail to detect complex logical flaws in multi-step reasoning. To overcome these challenges, we present MATP, an evaluation framework for systematically verifying LLM reasoning via Multi-step Automatic Theorem Proving. MATP translates natural language reasoning into First-Order Logic (FOL) and applies automated theorem provers to assess step-by-step logical validity. This approach identifies hidden logical errors and provides fine-grained classifications of reasoning correctness. Evaluations on a benchmark comprising 10,830 reasoning instances generated by 10 LLMs across tasks from PrOntoQA-OOD, ProofWriter, and FOLIO show that MATP surpasses prompting-based baselines by over 42 percentage points in reasoning step verification. It further reveals model-level disparities, with reasoning models generating more logically coherent outputs than general models. These results demonstrate MATP's potential to enhance the trustworthiness of LLM-generated reasoning.
UniHetero: Could Generation Enhance Understanding for Vision-Language-Model at Large Data Scale?
Venue: arXiv cs.CL 2025
Year: 2025

Vision-language large models are moving toward the unification of visual understanding and visual generation tasks. However, whether generation can enhance understanding is still under-explored on large data scale. In this work, we analysis the unified structure with a concise model, UniHetero, under large-scale pretraining (>200M samples). Our key observations are: (1) Generation can improve understanding, but Only if you generate Semantics, Not Pixels. A common assumption in unified vision-language models is that adding generation will naturally strengthen understanding. However, this is not always true at scale. At 200M+ pretraining samples, generation helps understanding only when it operates at the semantic level, i.e. when the model learns to autoregress high-level visual representations inside the LLM. Once pixel-level objectives (e.g., diffusion losses) directly interfere with the LLM, understanding performance often degrades. (2) Generation reveals a superior Data Scaling trend and higher Data Utilization. Unified generation-understanding demonstrates a superior scaling trend compared to understanding alone, revealing a more effective way to learn vision-only knowledge directive from vision modality rather than captioning to text. (3) Autoregression on Input Embedding is effective to capture visual details. Compared to the commonly-used vision encoder, make visual autoregression on input embedding shows less cumulative error and is modality independent, which can be extend to all modalities. The learned semantic representations capture visual information such as objects, locations, shapes, and colors; further enable pixel-level image generation.
Single LLM Debate, MoLaCE: Mixture of Latent Concept Experts Against Confirmation Bias
Venue: arXiv cs.CL 2025
Year: 2025

Large language models (LLMs) are highly vulnerable to input confirmation bias. When a prompt implies a preferred answer, models often reinforce that bias rather than explore alternatives. This phenomenon remains underexplored, yet it is already harmful in base models and poses an even greater risk in multi-agent debate, where echo chambers reinforce bias instead of correction. We introduce Mixture of Latent Concept Experts (MoLaCE), a lightweight inference-time framework that addresses confirmation bias by mixing experts instantiated as different activation strengths over latent concepts that shape model responses. Our key insight is that, due to the compositional nature of language, differently phrased prompts reweight latent concepts in prompt-specific ways that affect factual correctness, so no single fixed intervention can be applied universally across inputs. This design enables a single LLM to emulate the benefits of debate internally while remaining computationally efficient and scalable. It can also be integrated into multi-agent debate frameworks to diversify perspectives and reduce correlated errors. We empirically show that it consistently reduces confirmation bias, improves robustness, and matches or surpasses multi-agent debate while requiring only a fraction of the computation.
Instruction-Following Evaluation of Large Vision-Language Models
Venue: arXiv cs.CL 2025
Year: 2025

Following the initial flourishing of large language models (LLMs), there has been a surge in proposed large vision-language models (LVLMs) that integrate LLMs with vision capabilities. However, it has been observed that LVLMs, after tuning to visual instruction using commonly used training datasets, often fail to exhibit the instruction-following ability that was present in the LLM before integration, leading to results in which they do not follow task instructions as expected. This study quantitatively demonstrates that LVLMs' instruction-following ability declines after fine-tuning and analyzes its underlying causes. In particular, we constructed new training datasets highlighting whether the output format is specified. Then, we investigated how explicitly indicating the output format during fine-tuning affects LVLMs' instruction-following ability. Our quantitative evaluation confirmed that LVLMs' instruction-following ability declines after fine-tuning with commonly used datasets. Furthermore, we found that LVLMs trained with datasets, including instructions on output format, tend to follow instructions more accurately than models that do not. These findings suggest that including samples with instructions on output format during (visual) instruction tuning may help mitigate the decline in instruction-following abilities.
LiveTalk: Real-Time Multimodal Interactive Video Diffusion via Improved On-Policy Distillation
Venue: arXiv cs.CV 2025
Year: 2025

Real-time video generation via diffusion is essential for building general-purpose multimodal interactive AI systems. However, the simultaneous denoising of all video frames with bidirectional attention via an iterative process in diffusion models prevents real-time interaction. While existing distillation methods can make the model autoregressive and reduce sampling steps to mitigate this, they focus primarily on text-to-video generation, leaving the human-AI interaction unnatural and less efficient. This paper targets real-time interactive video diffusion conditioned on a multimodal context, including text, image, and audio, to bridge the gap. Given the observation that the leading on-policy distillation approach Self Forcing encounters challenges (visual artifacts like flickering, black frames, and quality degradation) with multimodal conditioning, we investigate an improved distillation recipe with emphasis on the quality of condition inputs as well as the initialization and schedule for the on-policy optimization. On benchmarks for multimodal-conditioned (audio, image, and text) avatar video generation including HDTF, AVSpeech, and CelebV-HQ, our distilled model matches the visual quality of the full-step, bidirectional baselines of similar or larger size with 20x less inference cost and latency. Further, we integrate our model with audio language models and long-form video inference technique Anchor-Heavy Identity Sinks to build LiveTalk, a real-time multimodal interactive avatar system. System-level evaluation on our curated multi-turn interaction benchmark shows LiveTalk outperforms state-of-the-art models (Sora2, Veo3) in multi-turn video coherence and content quality, while reducing response latency from 1 to 2 minutes to real-time generation, enabling seamless human-AI multimodal interaction.
Unsupervised Learning for Detection of Rare Driving Scenarios
Venue: arXiv cs.RO 2025
Year: 2025

The detection of rare and hazardous driving scenarios is a critical challenge for ensuring the safety and reliability of autonomous systems. This research explores an unsupervised learning framework for detecting rare and extreme driving scenarios using naturalistic driving data (NDD). We leverage the recently proposed Deep Isolation Forest (DIF), an anomaly detection algorithm that combines neural network-based feature representations with Isolation Forests (IFs), to identify non-linear and complex anomalies. Data from perception modules, capturing vehicle dynamics and environmental conditions, is preprocessed into structured statistical features extracted from sliding windows. The framework incorporates t-distributed stochastic neighbor embedding (t-SNE) for dimensionality reduction and visualization, enabling better interpretability of detected anomalies. Evaluation is conducted using a proxy ground truth, combining quantitative metrics with qualitative video frame inspection. Our results demonstrate that the proposed approach effectively identifies rare and hazardous driving scenarios, providing a scalable solution for anomaly detection in autonomous driving systems. Given the study's methodology, it was unavoidable to depend on proxy ground truth and manually defined feature combinations, which do not encompass the full range of real-world driving anomalies or their nuanced contextual dependencies.
Detection Fire in Camera RGB-NIR
Venue: arXiv cs.CV 2025
Year: 2025

Improving the accuracy of fire detection using infrared night vision cameras remains a challenging task. Previous studies have reported strong performance with popular detection models. For example, YOLOv7 achieved an mAP50-95 of 0.51 using an input image size of 640 x 1280, RT-DETR reached an mAP50-95 of 0.65 with an image size of 640 x 640, and YOLOv9 obtained an mAP50-95 of 0.598 at the same resolution. Despite these results, limitations in dataset construction continue to cause issues, particularly the frequent misclassification of bright artificial lights as fire. This report presents three main contributions: an additional NIR dataset, a two-stage detection model, and Patched-YOLO. First, to address data scarcity, we explore and apply various data augmentation strategies for both the NIR dataset and the classification dataset. Second, to improve night-time fire detection accuracy while reducing false positives caused by artificial lights, we propose a two-stage pipeline combining YOLOv11 and EfficientNetV2-B0. The proposed approach achieves higher detection accuracy compared to previous methods, particularly for night-time fire detection. Third, to improve fire detection in RGB images, especially for small and distant objects, we introduce Patched-YOLO, which enhances the model's detection capability through patch-based processing. Further details of these contributions are discussed in the following sections.
Regret-Based Federated Causal Discovery with Unknown Interventions
Venue: arXiv cs.AI 2025
Year: 2025

Most causal discovery methods recover a completed partially directed acyclic graph representing a Markov equivalence class from observational data. Recent work has extended these methods to federated settings to address data decentralization and privacy constraints, but often under idealized assumptions that all clients share the same causal model. Such assumptions are unrealistic in practice, as client-specific policies or protocols, for example, across hospitals, naturally induce heterogeneous and unknown interventions. In this work, we address federated causal discovery under unknown client-level interventions. We propose I-PERI, a novel federated algorithm that first recovers the CPDAG of the union of client graphs and then orients additional edges by exploiting structural differences induced by interventions across clients. This yields a tighter equivalence class, which we call the $\mathbfΦ$-Markov Equivalence Class, represented by the $\mathbfΦ$-CPDAG. We provide theoretical guarantees on the convergence of I-PERI, as well as on its privacy-preserving properties, and present empirical evaluations on synthetic data demonstrating the effectiveness of the proposed algorithm.
AI tutoring can safely and effectively support students: An exploratory RCT in UK classrooms
Venue: arXiv cs.CY 2025
Year: 2025

One-to-one tutoring is widely considered the gold standard for personalized education, yet it remains prohibitively expensive to scale. To evaluate whether generative AI might help expand access to this resource, we conducted an exploratory randomized controlled trial (RCT) with $N = 165$ students across five UK secondary schools. We integrated LearnLM -- a generative AI model fine-tuned for pedagogy -- into chat-based tutoring sessions on the Eedi mathematics platform. In the RCT, expert tutors directly supervised LearnLM, with the remit to revise each message it drafted until they would be satisfied sending it themselves. LearnLM proved to be a reliable source of pedagogical instruction, with supervising tutors approving 76.4% of its drafted messages making zero or minimal edits (i.e., changing only one or two characters). This translated into effective tutoring support: students guided by LearnLM performed at least as well as students chatting with human tutors on each learning outcome we measured. In fact, students who received support from LearnLM were 5.5 percentage points more likely to solve novel problems on subsequent topics (with a success rate of 66.2%) than those who received tutoring from human tutors alone (rate of 60.7%). In interviews, tutors highlighted LearnLM's strength at drafting Socratic questions that encouraged deeper reflection from students, with multiple tutors even reporting that they learned new pedagogical practices from the model. Overall, our results suggest that pedagogically fine-tuned AI tutoring systems may play a promising role in delivering effective, individualized learning support at scale.
A note on the depth of optimal fanout-bounded prefix circuits
Venue: arXiv cs.DS 2025
Year: 2025

It is shown that the minimal depth of an optimal prefix circuit (i.e., a zero-deficiency circuit) on $N$ inputs with fanout bounded by $k$ is ${\log_{α_k} N \pm O(1)}$, where $α_k$ is the unique positive root of the polynomial ${2+x+ x^2+\ldots + x^{k-2}-x^k}$. This bound was previously known in the cases $k=2$ and $k=\infty$.
Automating the Analysis of Parsing Algorithms (and other Dynamic Programs)
Venue: arXiv cs.PL 2025
Year: 2025

Much algorithmic research in NLP aims to efficiently manipulate rich formal structures. An algorithm designer typically seeks to provide guarantees about their proposed algorithm -- for example, that its running time or space complexity is upper-bounded as a certain function of its input size. They may also wish to determine the necessary properties of the quantities derived by the algorithm to synthesize efficient data structures and verify type errors. In this paper, we develop a system for helping programmers to perform these types of analyses. We apply our system to a number of NLP algorithms and find that it successfully infers types, dead and redundant code, and parametric runtime and space complexity bounds.
The Bulldozer Technique: Efficient Elimination of Local Minima Traps for APF-Based Robot Navigation
Venue: arXiv cs.RO 2025
Year: 2025

Path planning is a fundamental component in autonomous mobile robotics, enabling a robot to navigate from its current location to a desired goal while avoiding obstacles. Among the various techniques, Artificial Potential Field (APF) methods have gained popularity due to their simplicity, real-time responsiveness, and low computational requirements. However, a major limitation of conventional APF approaches is the local minima trap problem, where the robot becomes stuck in a position with no clear direction toward the goal. This paper proposes a novel path planning technique, termed the Bulldozer, which addresses the local minima issue while preserving the inherent advantages of APF. The Bulldozer technique introduces a backfilling mechanism that systematically identifies and eliminates local minima regions by increasing their potential values, analogous to a bulldozer filling potholes in a road. Additionally, a ramp-based enhancement is incorporated to assist the robot in escaping trap areas when starting within a local minimum. The proposed technique is experimentally validated using a physical mobile robot across various maps with increasing complexity. Comparative analyses are conducted against standard APF, adaptive APF, and well-established planning algorithms such as A*, PRM, and RRT. Results demonstrate that the Bulldozer technique effectively resolves the local minima problem while achieving superior execution speed and competitive path quality. Furthermore, a kinematic tracking controller is employed to assess the smoothness and traceability of the planned paths, confirming their suitability for real-world execution.