OpenRaiser/Intern-Atlas huggingface dataset:
Ark: An Open-source Python-based Framework for Robot Learning
Venue: arXiv cs.RO 2025
Year: 2025

Robotics has made remarkable hardware strides-from DARPA's Urban and Robotics Challenges to the first humanoid-robot kickboxing tournament-yet commercial autonomy still lags behind progress in machine learning. A major bottleneck is software: current robot stacks demand steep learning curves, low-level C/C++ expertise, fragmented tooling, and intricate hardware integration, in stark contrast to the Python-centric, well-documented ecosystems that propelled modern AI. We introduce ARK, an open-source, Python-first robotics framework designed to close that gap. ARK presents a Gym-style environment interface that allows users to collect data, preprocess it, and train policies using state-of-the-art imitation-learning algorithms (e.g., ACT, Diffusion Policy) while seamlessly toggling between high-fidelity simulation and physical robots. A lightweight client-server architecture provides networked publisher-subscriber communication, and optional C/C++ bindings ensure real-time performance when needed. ARK ships with reusable modules for control, SLAM, motion planning, system identification, and visualization, along with native ROS interoperability. Comprehensive documentation and case studies-from manipulation to mobile navigation-demonstrate rapid prototyping, effortless hardware swapping, and end-to-end pipelines that rival the convenience of mainstream machine-learning workflows. By unifying robotics and AI practices under a common Python umbrella, ARK lowers entry barriers and accelerates research and commercial deployment of autonomous robots.
TanDiT: Tangent-Plane Diffusion Transformer for High-Quality 360° Panorama Generation
Venue: arXiv cs.CV 2025
Year: 2025

Recent advances in image generation have led to remarkable improvements in synthesizing perspective images. However, these models still struggle with panoramic image generation due to unique challenges, including varying levels of geometric distortion and the requirement for seamless loop-consistency. To address these issues while leveraging the strengths of the existing models, we introduce TanDiT, a method that synthesizes panoramic scenes by generating grids of tangent-plane images covering the entire 360$^\circ$ view. Unlike previous methods relying on multiple diffusion branches, TanDiT utilizes a unified diffusion model trained to produce these tangent-plane images simultaneously within a single denoising iteration. Furthermore, we propose a model-agnostic post-processing step specifically designed to enhance global coherence across the generated panoramas. To accurately assess panoramic image quality, we also present two specialized metrics, TangentIS and TangentFID, and provide a comprehensive benchmark comprising captioned panoramic datasets and standardized evaluation scripts. Extensive experiments demonstrate that our method generalizes effectively beyond its training data, robustly interprets detailed and complex text prompts, and seamlessly integrates with various generative models to yield high-quality, diverse panoramic images.
Do We Really Need GNNs with Explicit Structural Modeling? MLPs Suffice for Language Model Representations
Venue: arXiv cs.CL 2025
Year: 2025

Explicit structural information has been proven to be encoded by Graph Neural Networks (GNNs), serving as auxiliary knowledge to enhance model capabilities and improve performance in downstream NLP tasks. However, recent studies indicate that GNNs fail to fully utilize structural information, whereas Multi-Layer Perceptrons (MLPs), despite lacking the message-passing mechanisms inherent to GNNs, exhibit a surprising ability in structure-aware tasks. Motivated by these findings, this paper introduces a comprehensive probing framework from an information-theoretic perspective. The framework is designed to systematically assess the role of explicit structural modeling in enhancing language model (LM) representations and to investigate the potential of MLPs as efficient and scalable alternatives to GNNs. We extend traditional probing classifiers by incorporating a control module that allows for selective use of either the full GNN model or its decoupled components, specifically, the message-passing and feature-transformation operations.This modular approach isolates and assesses the individual contributions of these operations, avoiding confounding effects from the complete GNN architecture. Using the Edge Probing Suite, a diagnostic tool for evaluating the linguistic knowledge encoded in LMs, we find that MLPs, when used as feature-transformation modules, consistently improve the linguistic knowledge captured in LM representations across different architectures. They effectively encode both syntactic and semantic patterns. Similarly, GNNs that incorporate feature-transformation operations show beneficial effects. In contrast, models that rely solely on message-passing operations tend to underperform, often leading to negative impacts on probing task performance.
Multi-task parallelism for robust pre-training of graph foundation models on multi-source, multi-fidelity atomistic modeling data
Venue: arXiv cs.LG 2025
Year: 2025

Graph foundation models using graph neural networks promise sustainable, efficient atomistic modeling. To tackle challenges of processing multi-source, multi-fidelity data during pre-training, recent studies employ multi-task learning, in which shared message passing layers initially process input atomistic structures regardless of source, then route them to multiple decoding heads that predict data-specific outputs. This approach stabilizes pre-training and enhances a model's transferability to unexplored chemical regions. Preliminary results on approximately four million structures are encouraging, yet questions remain about generalizability to larger, more diverse datasets and scalability on supercomputers. We propose a multi-task parallelism method that distributes each head across computing resources with GPU acceleration. Implemented in the open-source HydraGNN architecture, our method was trained on over 24 million structures from five datasets and tested on the Perlmutter, Aurora, and Frontier supercomputers, demonstrating efficient scaling on all three highly heterogeneous super-computing architectures.
Why Neural Network Can Discover Symbolic Structures with Gradient-based Training: An Algebraic and Geometric Foundation for Neurosymbolic Reasoning
Venue: arXiv cs.LG 2025
Year: 2025

We develop a theoretical framework that explains how discrete symbolic structures can emerge naturally from continuous neural network training dynamics. By lifting neural parameters to a measure space and modeling training as Wasserstein gradient flow, we show that under geometric constraints, such as group invariance, the parameter measure $μ_t$ undergoes two concurrent phenomena: (1) a decoupling of the gradient flow into independent optimization trajectories over some potential functions, and (2) a progressive contraction on the degree of freedom. These potentials encode algebraic constraints relevant to the task and act as ring homomorphisms under a commutative semi-ring structure on the measure space. As training progresses, the network transitions from a high-dimensional exploration to compositional representations that comply with algebraic operations and exhibit a lower degree of freedom. We further establish data scaling laws for realizing symbolic tasks, linking representational capacity to the group invariance that facilitates symbolic solutions. This framework charts a principled foundation for understanding and designing neurosymbolic systems that integrate continuous learning with discrete algebraic reasoning.
CitySim: Modeling Urban Behaviors and City Dynamics with Large-Scale LLM-Driven Agent Simulation
Venue: arXiv cs.AI 2025
Year: 2025

Modeling human behavior in urban environments is fundamental for social science, behavioral studies, and urban planning. Prior work often rely on rigid, hand-crafted rules, limiting their ability to simulate nuanced intentions, plans, and adaptive behaviors. Addressing these challenges, we envision an urban simulator (CitySim), capitalizing on breakthroughs in human-level intelligence exhibited by large language models. In CitySim, agents generate realistic daily schedules using a recursive value-driven approach that balances mandatory activities, personal habits, and situational factors. To enable long-term, lifelike simulations, we endow agents with beliefs, long-term goals, and spatial memory for navigation. CitySim exhibits closer alignment with real humans than prior work, both at micro and macro levels. Additionally, we conduct insightful experiments by modeling tens of thousands of agents and evaluating their collective behaviors under various real-world scenarios, including estimating crowd density, predicting place popularity, and assessing well-being. Our results highlight CitySim as a scalable, flexible testbed for understanding and forecasting urban phenomena.
Towards Transparent AI: A Survey on Explainable Large Language Models
Venue: arXiv cs.CL 2025
Year: 2025

Large Language Models (LLMs) have played a pivotal role in advancing Artificial Intelligence (AI). However, despite their achievements, LLMs often struggle to explain their decision-making processes, making them a 'black box' and presenting a substantial challenge to explainability. This lack of transparency poses a significant obstacle to the adoption of LLMs in high-stakes domain applications, where interpretability is particularly essential. To overcome these limitations, researchers have developed various explainable artificial intelligence (XAI) methods that provide human-interpretable explanations for LLMs. However, a systematic understanding of these methods remains limited. To address this gap, this survey provides a comprehensive review of explainability techniques by categorizing XAI methods based on the underlying transformer architectures of LLMs: encoder-only, decoder-only, and encoder-decoder models. Then these techniques are examined in terms of their evaluation for assessing explainability, and the survey further explores how these explanations are leveraged in practical applications. Finally, it discusses available resources, ongoing research challenges, and future directions, aiming to guide continued efforts toward developing transparent and responsible LLMs.
The First Compute Arms Race: the Early History of Numerical Weather Prediction
Venue: arXiv cs.CY 2025
Year: 2025

This paper traces the global race to apply early electronic computers to numerical weather prediction in the decades following World War Two. A brief overview of the early history of numerical weather prediction in the United States, United Kingdom, Sweden, Canada, and Japan is provided. Three critical factors that shaped the development of a national numerical weather prediction are identified: compute capabilities, institution building and state capacity, and talent. Several generalizable lessons are identified with a lens towards modern-day development of national strategies to leverage AI to accelerate scientific competitiveness.
Exploring the change in scientific readability following the release of ChatGPT
Venue: arXiv cs.CY 2025
Year: 2025

The rise and growing popularity of accessible large language models have raised questions about their impact on various aspects of life, including how scientists write and publish their research. The primary objective of this paper is to analyze a dataset consisting of all abstracts posted on arXiv.org between 2010 and June 7th, 2024, to assess the evolution of their readability and determine whether significant shifts occurred following the release of ChatGPT in November 2022. Four standard readability formulas are used to calculate individual readability scores for each paper, classifying their level of readability. These scores are then aggregated by year and across the eight primary categories covered by the platform. The results show a steady annual decrease in readability, suggesting that abstracts are likely becoming increasingly complex. Additionally, following the release of ChatGPT, a significant change in readability is observed for 2023 and the analyzed months of 2024. Similar trends are found across categories, with most experiencing a notable change in readability during 2023 and 2024. These findings offer insights into the broader changes in readability and point to the likely influence of AI on scientific writing.
GenEscape: Hierarchical Multi-Agent Generation of Escape Room Puzzles
Venue: arXiv cs.CV 2025
Year: 2025

We challenge text-to-image models with generating escape room puzzle images that are visually appealing, logically solid, and intellectually stimulating. While base image models struggle with spatial relationships and affordance reasoning, we propose a hierarchical multi-agent framework that decomposes this task into structured stages: functional design, symbolic scene graph reasoning, layout synthesis, and local image editing. Specialized agents collaborate through iterative feedback to ensure the scene is visually coherent and functionally solvable. Experiments show that agent collaboration improves output quality in terms of solvability, shortcut avoidance, and affordance clarity, while maintaining visual quality.
Skill-Nav: Enhanced Navigation with Versatile Quadrupedal Locomotion via Waypoint Interface
Venue: arXiv cs.RO 2025
Year: 2025

Quadrupedal robots have demonstrated exceptional locomotion capabilities through Reinforcement Learning (RL), including extreme parkour maneuvers. However, integrating locomotion skills with navigation in quadrupedal robots has not been fully investigated, which holds promise for enhancing long-distance movement capabilities. In this paper, we propose Skill-Nav, a method that incorporates quadrupedal locomotion skills into a hierarchical navigation framework using waypoints as an interface. Specifically, we train a waypoint-guided locomotion policy using deep RL, enabling the robot to autonomously adjust its locomotion skills to reach targeted positions while avoiding obstacles. Compared with direct velocity commands, waypoints offer a simpler yet more flexible interface for high-level planning and low-level control. Utilizing waypoints as the interface allows for the application of various general planning tools, such as large language models (LLMs) and path planning algorithms, to guide our locomotion policy in traversing terrains with diverse obstacles. Extensive experiments conducted in both simulated and real-world scenarios demonstrate that Skill-Nav can effectively traverse complex terrains and complete challenging navigation tasks.
Derivational Probing: Unveiling the Layer-wise Derivation of Syntactic Structures in Neural Language Models
Venue: arXiv cs.CL 2025
Year: 2025

Recent work has demonstrated that neural language models encode syntactic structures in their internal representations, yet the derivations by which these structures are constructed across layers remain poorly understood. In this paper, we propose Derivational Probing to investigate how micro-syntactic structures (e.g., subject noun phrases) and macro-syntactic structures (e.g., the relationship between the root verbs and their direct dependents) are constructed as word embeddings propagate upward across layers. Our experiments on BERT reveal a clear bottom-up derivation: micro-syntactic structures emerge in lower layers and are gradually integrated into a coherent macro-syntactic structure in higher layers. Furthermore, a targeted evaluation on subject-verb number agreement shows that the timing of constructing macro-syntactic structures is critical for downstream performance, suggesting an optimal timing for integrating global syntactic information.
LLaVA-Scissor: Token Compression with Semantic Connected Components for Video LLMs
Venue: arXiv cs.CV 2025
Year: 2025

In this paper, we present LLaVA-Scissor, a training-free token compression strategy designed for video multimodal large language models. Previous methods mostly attempt to compress tokens based on attention scores, but fail to effectively capture all semantic regions and often lead to token redundancy. Differently, we propose to leverage the Semantic Connected Components (SCC) approach that assigns tokens to distinct semantic regions within the token set, ensuring comprehensive semantic coverage. The outcome is a two-step spatio-temporal token compression strategy that utilizes SCC in both spatial and temporal domains. This strategy can effectively compress tokens by representing the entire video with a set of non-overlapping semantic tokens. We conduct extensive evaluations of the token compression capabilities of LLaVA-Scissor across diverse video understanding benchmarks, including video question answering, long video understanding, and comprehensive multi-choices benchmarks. Experimental results show that the proposed LLaVA-Scissor outperforms other token compression methods, achieving superior performance in various video understanding benchmarks, particularly at low token retention ratios. Project page: https://github.com/HumanMLLM/LLaVA-Scissor.
RiverEcho: Real-Time Interactive Digital System for Ancient Yellow River Culture
Venue: arXiv cs.MM 2025
Year: 2025

The Yellow River is China's mother river and a cradle of human civilization. The ancient Yellow River culture is, moreover, an indispensable part of human art history. To conserve and inherit the ancient Yellow River culture, we designed RiverEcho, a real-time interactive system that responds to voice queries using a large language model and a cultural knowledge dataset, delivering explanations through a talking-head digital human. Specifically, we built a knowledge database focused on the ancient Yellow River culture, including the collection of historical texts and the processing pipeline. Experimental results demonstrate that leveraging Retrieval-Augmented Generation (RAG) on the proposed dataset enhances the response quality of the Large Language Model(LLM), enabling the system to generate more professional and informative responses. Our work not only diversifies the means of promoting Yellow River culture but also provides users with deeper cultural insights.
SODA: Out-of-Distribution Detection in Domain-Shifted Point Clouds via Neighborhood Propagation
Venue: arXiv cs.CV 2025
Year: 2025

As point cloud data increases in prevalence in a variety of applications, the ability to detect out-of-distribution (OOD) point cloud objects becomes critical for ensuring model safety and reliability. However, this problem remains under-explored in existing research. Inspired by success in the image domain, we propose to exploit advances in 3D vision-language models (3D VLMs) for OOD detection in point cloud objects. However, a major challenge is that point cloud datasets used to pre-train 3D VLMs are drastically smaller in size and object diversity than their image-based counterparts. Critically, they often contain exclusively computer-designed synthetic objects. This leads to a substantial domain shift when the model is transferred to practical tasks involving real objects scanned from the physical environment. In this paper, our empirical experiments show that synthetic-to-real domain shift significantly degrades the alignment of point cloud with their associated text embeddings in the 3D VLM latent space, hindering downstream performance. To address this, we propose a novel methodology called SODA which improves the detection of OOD point clouds through a neighborhood-based score propagation scheme. SODA is inference-based, requires no additional model training, and achieves state-of-the-art performance over existing approaches across datasets and problem settings.
Bias, Accuracy, and Trust: Gender-Diverse Perspectives on Large Language Models
Venue: arXiv cs.HC 2025
Year: 2025

Large language models (LLMs) are becoming increasingly ubiquitous in our daily lives, but numerous concerns about bias in LLMs exist. This study examines how gender-diverse populations perceive bias, accuracy, and trustworthiness in LLMs, specifically ChatGPT. Through 25 in-depth interviews with non-binary/transgender, male, and female participants, we investigate how gendered and neutral prompts influence model responses and how users evaluate these responses. Our findings reveal that gendered prompts elicit more identity-specific responses, with non-binary participants particularly susceptible to condescending and stereotypical portrayals. Perceived accuracy was consistent across gender groups, with errors most noted in technical topics and creative tasks. Trustworthiness varied by gender, with men showing higher trust, especially in performance, and non-binary participants demonstrating higher performance-based trust. Additionally, participants suggested improving the LLMs by diversifying training data, ensuring equal depth in gendered responses, and incorporating clarifying questions. This research contributes to the CSCW/HCI field by highlighting the need for gender-diverse perspectives in LLM development in particular and AI in general, to foster more inclusive and trustworthy systems.
Model-free Forecasting of Rogue Waves using Reservoir Computing
Venue: arXiv cs.CE 2025
Year: 2025

Recent research has demonstrated Reservoir Computing's capability to model various chaotic dynamical systems, yet its application to Hamiltonian systems remains relatively unexplored. This paper investigates the effectiveness of Reservoir Computing in capturing rogue wave dynamics from the nonlinear Schrödinger equation, a challenging Hamiltonian system with modulation instability. The model-free approach learns from breather simulations with five unstable modes. A properly tuned parallel Echo State Network can predict dynamics from two distinct testing datasets. The first set is a continuation of the training data, whereas the second set involves a higher-order breather. An investigation of the one-step prediction capability shows remarkable agreement between the testing data and the models. Furthermore, we show that the trained reservoir can predict the propagation of rogue waves over a relatively long prediction horizon, despite facing unseen dynamics. Finally, we introduce a method to significantly improve the Reservoir Computing prediction in autonomous mode, enhancing its long-term forecasting ability. These results advance the application of Reservoir Computing to spatio-temporal Hamiltonian systems and highlight the critical importance of phase space coverage in the design of training data.