OpenRaiser/Intern-Atlas huggingface dataset:
Action-Adaptive Continual Learning: Enabling Policy Generalization under Dynamic Action Spaces
Venue: arXiv cs.LG 2025
Year: 2025

Continual Learning (CL) is a powerful tool that enables agents to learn a sequence of tasks, accumulating knowledge learned in the past and using it for problem-solving or future task learning. However, existing CL methods often assume that the agent's capabilities remain static within dynamic environments, which doesn't reflect real-world scenarios where capabilities dynamically change. This paper introduces a new and realistic problem: Continual Learning with Dynamic Capabilities (CL-DC), posing a significant challenge for CL agents: How can policy generalization across different action spaces be achieved? Inspired by the cortical functions, we propose an Action-Adaptive Continual Learning framework (AACL) to address this challenge. Our framework decouples the agent's policy from the specific action space by building an action representation space. For a new action space, the encoder-decoder of action representations is adaptively fine-tuned to maintain a balance between stability and plasticity. Furthermore, we release a benchmark based on three environments to validate the effectiveness of methods for CL-DC. Experimental results demonstrate that our framework outperforms popular methods by generalizing the policy across action spaces.
Advancement and Field Evaluation of a Dual-arm Apple Harvesting Robot
Venue: arXiv cs.RO 2025
Year: 2025

Apples are among the most widely consumed fruits worldwide. Currently, apple harvesting fully relies on manual labor, which is costly, drudging, and hazardous to workers. Hence, robotic harvesting has attracted increasing attention in recent years. However, existing systems still fall short in terms of performance, effectiveness, and reliability for complex orchard environments. In this work, we present the development and evaluation of a dual-arm harvesting robot. The system integrates a ToF camera, two 4DOF robotic arms, a centralized vacuum system, and a post-harvest handling module. During harvesting, suction force is dynamically assigned to either arm via the vacuum system, enabling efficient apple detachment while reducing power consumption and noise. Compared to our previous design, we incorporated a platform movement mechanism that enables both in-out and up-down adjustments, enhancing the robot's dexterity and adaptability to varying canopy structures. On the algorithmic side, we developed a robust apple localization pipeline that combines a foundation-model-based detector, segmentation, and clustering-based depth estimation, which improves performance in orchards. Additionally, pressure sensors were integrated into the system, and a novel dual-arm coordination strategy was introduced to respond to harvest failures based on sensor feedback, further improving picking efficiency. Field demos were conducted in two commercial orchards in MI, USA, with different canopy structures. The system achieved success rates of 0.807 and 0.797, with an average picking cycle time of 5.97s. The proposed strategy reduced harvest time by 28% compared to a single-arm baseline. The dual-arm harvesting robot enhances the reliability and efficiency of apple picking. With further advancements, the system holds strong potential for autonomous operation and commercialization for the apple industry.
An Ontology for Representing Curriculum and Learning Material
Venue: arXiv cs.CY 2025
Year: 2025

Educational, learning, and training materials have become extremely commonplace across the Internet. Yet, they frequently remain disconnected from each other, fall into platform silos, and so on. One way to overcome this is to provide a mechanism to integrate the material and provide cross-links across topics. In this paper, we present the Curriculum KG Ontology, which we use as a framework for the dense interlinking of educational materials, by first starting with organizational and broad pedagogical principles. We provide a materialized graph for the Prototype Open Knowledge Network use-case, and validate it using competency questions sourced from domain experts and educators.
Exploring Microstructural Dynamics in Cryptocurrency Limit Order Books: Better Inputs Matter More Than Stacking Another Hidden Layer
Venue: arXiv cs.LG 2025
Year: 2025

Cryptocurrency price dynamics are driven largely by microstructural supply demand imbalances in the limit order book (LOB), yet the highly noisy nature of LOB data complicates the signal extraction process. Prior research has demonstrated that deep-learning architectures can yield promising predictive performance on pre-processed equity and futures LOB data, but they often treat model complexity as an unqualified virtue. In this paper, we aim to examine whether adding extra hidden layers or parameters to "blackbox ish" neural networks genuinely enhances short term price forecasting, or if gains are primarily attributable to data preprocessing and feature engineering. We benchmark a spectrum of models from interpretable baselines, logistic regression, XGBoost to deep architectures (DeepLOB, Conv1D+LSTM) on BTC/USDT LOB snapshots sampled at 100 ms to multi second intervals using publicly available Bybit data. We introduce two data filtering pipelines (Kalman, Savitzky Golay) and evaluate both binary (up/down) and ternary (up/flat/down) labeling schemes. Our analysis compares models on out of sample accuracy, latency, and robustness to noise. Results reveal that, with data preprocessing and hyperparameter tuning, simpler models can match and even exceed the performance of more complex networks, offering faster inference and greater interpretability.
Robust sensor fusion against on-vehicle sensor staleness
Venue: arXiv cs.CV 2025
Year: 2025

Sensor fusion is crucial for a performant and robust Perception system in autonomous vehicles, but sensor staleness, where data from different sensors arrives with varying delays, poses significant challenges. Temporal misalignment between sensor modalities leads to inconsistent object state estimates, severely degrading the quality of trajectory predictions that are critical for safety. We present a novel and model-agnostic approach to address this problem via (1) a per-point timestamp offset feature (for LiDAR and radar both relative to camera) that enables fine-grained temporal awareness in sensor fusion, and (2) a data augmentation strategy that simulates realistic sensor staleness patterns observed in deployed vehicles. Our method is integrated into a perspective-view detection model that consumes sensor data from multiple LiDARs, radars and cameras. We demonstrate that while a conventional model shows significant regressions when one sensor modality is stale, our approach reaches consistently good performance across both synchronized and stale conditions.
LLIA -- Enabling Low-Latency Interactive Avatars: Real-Time Audio-Driven Portrait Video Generation with Diffusion Models
Venue: arXiv cs.CV 2025
Year: 2025

Diffusion-based models have gained wide adoption in the virtual human generation due to their outstanding expressiveness. However, their substantial computational requirements have constrained their deployment in real-time interactive avatar applications, where stringent speed, latency, and duration requirements are paramount. We present a novel audio-driven portrait video generation framework based on the diffusion model to address these challenges. Firstly, we propose robust variable-length video generation to reduce the minimum time required to generate the initial video clip or state transitions, which significantly enhances the user experience. Secondly, we propose a consistency model training strategy for Audio-Image-to-Video to ensure real-time performance, enabling a fast few-step generation. Model quantization and pipeline parallelism are further employed to accelerate the inference speed. To mitigate the stability loss incurred by the diffusion process and model quantization, we introduce a new inference strategy tailored for long-duration video generation. These methods ensure real-time performance and low latency while maintaining high-fidelity output. Thirdly, we incorporate class labels as a conditional input to seamlessly switch between speaking, listening, and idle states. Lastly, we design a novel mechanism for fine-grained facial expression control to exploit our model's inherent capacity. Extensive experiments demonstrate that our approach achieves low-latency, fluid, and authentic two-way communication. On an NVIDIA RTX 4090D, our model achieves a maximum of 78 FPS at a resolution of 384x384 and 45 FPS at a resolution of 512x512, with an initial video generation latency of 140 ms and 215 ms, respectively.
Trajectory Entropy: Modeling Game State Stability from Multimodality Trajectory Prediction
Venue: arXiv cs.AI 2025
Year: 2025

Complex interactions among agents present a significant challenge for autonomous driving in real-world scenarios. Recently, a promising approach has emerged, which formulates the interactions of agents as a level-k game framework. It effectively decouples agent policies by hierarchical game levels. However, this framework ignores both the varying driving complexities among agents and the dynamic changes in agent states across game levels, instead treating them uniformly. Consequently, redundant and error-prone computations are introduced into this framework. To tackle the issue, this paper proposes a metric, termed as Trajectory Entropy, to reveal the game status of agents within the level-k game framework. The key insight stems from recognizing the inherit relationship between agent policy uncertainty and the associated driving complexity. Specifically, Trajectory Entropy extracts statistical signals representing uncertainty from the multimodality trajectory prediction results of agents in the game. Then, the signal-to-noise ratio of this signal is utilized to quantify the game status of agents. Based on the proposed Trajectory Entropy, we refine the current level-k game framework through a simple gating mechanism, significantly improving overall accuracy while reducing computational costs. Our method is evaluated on the Waymo and nuPlan datasets, in terms of trajectory prediction, open-loop and closed-loop planning tasks. The results demonstrate the state-of-the-art performance of our method, with precision improved by up to 19.89% for prediction and up to 16.48% for planning.
Analysis of cost-efficiency of serverless approaches
Venue: arXiv cs.SE 2025
Year: 2025

In this paper, we present a survey of research studies related to the cost-effectiveness of serverless approach and corresponding cost savings. We conducted a systematic literature review using Google Scholar search engine, covering the period from 2010 to 2024. We identified 34 related studies, from which we extracted 17 parameters that might influence the relative cost savings of applying the serverless approach.
Paraconsistent Relations as a Variant of Kleene Algebras
Venue: arXiv cs.LO 2025
Year: 2025

Kleene algebras (KA) and Kleene algebras with tests (KAT) provide an algebraic framework to capture the behavior of conventional programming constructs. This paper explores a broader understanding of these structures, in order to enable the expression of programs and tests yielding vague or inconsistent outcomes. Within this context, we introduce the concept of a paraconsistent Kleene Algebra with tests (PKAT), capable of capturing vague and contradictory computations. Finally, to establish the semantics of such a structure, we introduce two algebras parametric on a class of twisted structures. We believe this sort of structures, for their huge flexibility, have an interesting application potential.
FontAdapter: Instant Font Adaptation in Visual Text Generation
Venue: arXiv cs.CV 2025
Year: 2025

Text-to-image diffusion models have significantly improved the seamless integration of visual text into diverse image contexts. Recent approaches further improve control over font styles through fine-tuning with predefined font dictionaries. However, adapting unseen fonts outside the preset is computationally expensive, often requiring tens of minutes, making real-time customization impractical. In this paper, we present FontAdapter, a framework that enables visual text generation in unseen fonts within seconds, conditioned on a reference glyph image. To this end, we find that direct training on font datasets fails to capture nuanced font attributes, limiting generalization to new glyphs. To overcome this, we propose a two-stage curriculum learning approach: FontAdapter first learns to extract font attributes from isolated glyphs and then integrates these styles into diverse natural backgrounds. To support this two-stage training scheme, we construct synthetic datasets tailored to each stage, leveraging large-scale online fonts effectively. Experiments demonstrate that FontAdapter enables high-quality, robust font customization across unseen fonts without additional fine-tuning during inference. Furthermore, it supports visual text editing, font style blending, and cross-lingual font transfer, positioning FontAdapter as a versatile framework for font customization tasks.
Cross-View Multi-Modal Segmentation @ Ego-Exo4D Challenges 2025
Venue: arXiv cs.CV 2025
Year: 2025

In this report, we present a cross-view multi-modal object segmentation approach for the object correspondence task in the Ego-Exo4D Correspondence Challenges 2025. Given object queries from one perspective (e.g., ego view), the goal is to predict the corresponding object masks in another perspective (e.g., exo view). To tackle this task, we propose a multimodal condition fusion module that enhances object localization by leveraging both visual masks and textual descriptions as segmentation conditions. Furthermore, to address the visual domain gap between ego and exo views, we introduce a cross-view object alignment module that enforces object-level consistency across perspectives, thereby improving the model's robustness to viewpoint changes. Our proposed method ranked second on the leaderboard of the large-scale Ego-Exo4D object correspondence benchmark. Code will be made available at https://github.com/lovelyqian/ObjectRelator.
Route-and-Reason: Scaling Large Language Model Reasoning with Reinforced Model Router
Venue: arXiv cs.CL 2025
Year: 2025

Chain-of-thought has been proven essential for enhancing the complex reasoning abilities of Large Language Models (LLMs), but it also leads to high computational costs. Recent advances have explored the method to route queries among multiple models and proved it as a promising approach. However, previous works directly operate at the task level, i.e., assigning user queries to suitable LLMs, which does not allow hybrid LLMs to truly collaborate on finer-grained sub-tasks. Collaboration at the level of intermediate reasoning steps (thoughts) could enable more efficient coordination, but it also poses significant challenges for router scheduling, placing immense demands on the quality of task decomposition and the precision of the router. To address this, we propose R2-Reasoner, a novel framework centered around a Reinforced Model Router designed to efficiently scale LLM reasoning. This router orchestrates collaboration across nine heterogeneous models, whose parameter scales range from less than 1B to hundreds of billions, by first breaking down a complex query into subtasks with a decomposer, and then assigning each subtask to the optimal model with a subtask allocator, balancing performance with cost. Training this router involves a two-stage alternating process for the decomposer and the allocator, integrating supervised fine-tuning with reinforcement learning to enable effective self-supervised refinement. Extensive experiments across six challenging reasoning benchmarks demonstrate that R2-Reasoner reduces API costs by 84.46% compared with state-of-the-art baselines while maintaining competitive reasoning accuracy. Our framework paves the way for the development of more scalable and efficient reasoning systems. Our code is open-source at https://anonymous.4open.science/r/R2_Reasoner.
Machine Learning Predictions for Traffic Equilibria in Road Renovation Scheduling
Venue: arXiv cs.LG 2025
Year: 2025

Accurately estimating the impact of road maintenance schedules on traffic conditions is important because maintenance operations can substantially worsen congestion if not carefully planned. Reliable estimates allow planners to avoid excessive delays during periods of roadwork. Since the exact increase in congestion is difficult to predict analytically, traffic simulations are commonly used to assess the redistribution of the flow of traffic. However, when applied to long-term maintenance planning involving many overlapping projects and scheduling alternatives, these simulations must be run thousands of times, resulting in a significant computational burden. This paper investigates the use of machine learning-based surrogate models to predict network-wide congestion caused by simultaneous road renovations. We frame the problem as a supervised learning task, using one-hot encodings, engineered traffic features, and heuristic approximations. A range of linear, ensemble-based, probabilistic, and neural regression models is evaluated under an online learning framework in which data progressively becomes available. The experimental results show that the Costliest Subset Heuristic provides a reasonable approximation when limited training data is available, and that most regression models fail to outperform it, with the exception of XGBoost, which achieves substantially better accuracy. In overall performance, XGBoost significantly outperforms alternatives in a range of metrics, most strikingly Mean Absolute Percentage Error (MAPE) and Pinball loss, where it achieves a MAPE of 11% and outperforms the next-best model by 20% and 38% respectively. This modeling approach has the potential to reduce the computational burden of large-scale traffic assignment problems in maintenance planning.
Nonlinear symbols combining for Power Amplifier-distorted OFDM signal reception
Venue: arXiv cs.NI 2025
Year: 2025

Nonlinear distortion of a multicarrier signal by a transmitter Power Amplifier (PA) can be a serious problem when designing new highly energy-efficient wireless systems. Although the performance of standard reception algorithms is seriously deteriorated by the nonlinear distortion, the more advanced solutions allow the utilization of additional frequency diversity caused by nonlinear PA. However, while most of the advanced receivers are decision-aided, their gains are observed mostly in a relatively low Bit Error Rate (BER) region, not targeted by adaptive Modulation Coding Schemes utilizing Forward Error Correction (FEC). In this paper, a non-decision-aided Higher-Order Combining (HOC) reception scheme is proposed. While the analytical formulas for finding symbols combining coefficients are not known, machine learning is used for deriving them. The simulation results show an improved BER performance with respect to a standard reception and one of the established decision-aided receivers. However, as HOC has computational complexity that increases rapidly with the number of subcarriers utilized, more studies are needed to apply it in a wideband system.
NameTag 3: A Tool and a Service for Multilingual/Multitagset NER
Venue: arXiv cs.CL 2025
Year: 2025

We introduce NameTag 3, an open-source tool and cloud-based web service for multilingual, multidataset, and multitagset named entity recognition (NER), supporting both flat and nested entities. NameTag 3 achieves state-of-the-art results on 21 test datasets in 15 languages and remains competitive on the rest, even against larger models. It is available as a command-line tool and as a cloud-based service, enabling use without local installation. NameTag 3 web service currently provides flat NER for 17 languages, trained on 21 corpora and three NE tagsets, all powered by a single 355M-parameter fine-tuned model; and nested NER for Czech, powered by a 126M fine-tuned model. The source code is licensed under open-source MPL 2.0, while the models are distributed under non-commercial CC BY-NC-SA 4.0. Documentation is available at https://ufal.mff.cuni.cz/nametag, source code at https://github.com/ufal/nametag3, and trained models via https://lindat.cz. The REST service and the web application can be found at https://lindat.mff.cuni.cz/services/nametag/. A demonstration video is available at https://www.youtube.com/watch?v=-gaGnP0IV8A.
Elementary Math Word Problem Generation using Large Language Models
Venue: arXiv cs.CL 2025
Year: 2025

Mathematics is often perceived as a complex subject by students, leading to high failure rates in exams. To improve Mathematics skills, it is important to provide sample questions for students to practice problem-solving. Manually creating Math Word Problems (MWPs) is time consuming for tutors, because they have to type in natural language while adhering to grammar and spelling rules of the language. Existing Deep Learning techniques for MWP generation either require a tutor to provide the initial portion of the MWP, and/or additional information such as an equation. In this paper, we present an MWP generation system based on Large Language Models (LLMs) that overcome the need for additional input - the only input to our system is the number of MWPs needed, the grade and the type of question (e.g. addition, subtraction). Unlike the existing LLM-based solutions for MWP generation, we carried out an extensive set of experiments involving different LLMs, prompting strategies, techniques to improve the diversity of questions, as well as techniques that employ human feedback to improve LLM performance. Human and automated evaluations confirmed that the generated MWPs are high in quality, with minimal spelling and grammar issues. However, LLMs still struggle to generate questions that adhere to the specified grade and question type requirements.
LTG at SemEval-2025 Task 10: Optimizing Context for Classification of Narrative Roles
Venue: arXiv cs.CL 2025
Year: 2025

Our contribution to the SemEval 2025 shared task 10, subtask 1 on entity framing, tackles the challenge of providing the necessary segments from longer documents as context for classification with a masked language model. We show that a simple entity-oriented heuristics for context selection can enable text classification using models with limited context window. Our context selection approach and the XLM-RoBERTa language model is on par with, or outperforms, Supervised Fine-Tuning with larger generative language models.
The JPEG XL Image Coding System: History, Features, Coding Tools, Design Rationale, and Future
Venue: arXiv cs.MM 2025
Year: 2025

JPEG XL is a new image coding system offering state-of-the-art compression performance, lossless JPEG recompression, and advanced features. It aims to replace JPEG, PNG, GIF, and other formats with a single universal codec. This article provides an overview of JPEG XL, including its history, design rationale, coding tools, and future potential. It can be used as a companion document to the standard (ISO/IEC 18181), or as a standalone article to better understand JPEG XL, either at a high level or in considerable technical detail.