OpenRaiser/Intern-Atlas huggingface dataset:
Diffusion Predictive Control with Constraints
Venue: arXiv cs.RO 2025
Year: 2025

Diffusion models have become popular for policy learning in robotics due to their ability to capture high-dimensional and multimodal distributions. However, diffusion policies are stochastic and typically trained offline, limiting their ability to handle unseen and dynamic conditions where novel constraints not represented in the training data must be satisfied. To overcome this limitation, we propose diffusion predictive control with constraints (DPCC), an algorithm for diffusion-based control with explicit state and action constraints that can deviate from those in the training data. DPCC incorporates model-based projections into the denoising process of a trained trajectory diffusion model and uses constraint tightening to account for model mismatch. This allows us to generate constraint-satisfying, dynamically feasible, and goal-reaching trajectories for predictive control. We show through simulations of a robot manipulator that DPCC outperforms existing methods in satisfying novel test-time constraints while maintaining performance on the learned control task.
AI Predicts AGI: Leveraging AGI Forecasting and Peer Review to Explore LLMs' Complex Reasoning Capabilities
Venue: arXiv cs.AI 2025
Year: 2025

We tasked 16 state-of-the-art large language models (LLMs) with estimating the likelihood of Artificial General Intelligence (AGI) emerging by 2030. To assess the quality of these forecasts, we implemented an automated peer review process (LLM-PR). The LLMs' estimates varied widely, ranging from 3% (Reka- Core) to 47.6% (GPT-4o), with a median of 12.5%. These estimates closely align with a recent expert survey that projected a 10% likelihood of AGI by 2027, underscoring the relevance of LLMs in forecasting complex, speculative scenarios. The LLM-PR process demonstrated strong reliability, evidenced by a high Intraclass Correlation Coefficient (ICC = 0.79), reflecting notable consistency in scoring across the models. Among the models, Pplx-70b-online emerged as the top performer, while Gemini-1.5-pro-api ranked the lowest. A cross-comparison with external benchmarks, such as LMSYS Chatbot Arena, revealed that LLM rankings remained consistent across different evaluation methods, suggesting that existing benchmarks may not encapsulate some of the skills relevant for AGI prediction. We further explored the use of weighting schemes based on external benchmarks, optimizing the alignment of LLMs' predictions with human expert forecasts. This analysis led to the development of a new, 'AGI benchmark' designed to highlight performance differences in AGI-related tasks. Our findings offer insights into LLMs' capabilities in speculative, interdisciplinary forecasting tasks and emphasize the growing need for innovative evaluation frameworks for assessing AI performance in complex, uncertain real-world scenarios.
Unifying AI Tutor Evaluation: An Evaluation Taxonomy for Pedagogical Ability Assessment of LLM-Powered AI Tutors
Venue: arXiv cs.CL 2025
Year: 2025

In this paper, we investigate whether current state-of-the-art large language models (LLMs) are effective as AI tutors and whether they demonstrate pedagogical abilities necessary for good AI tutoring in educational dialogues. Previous efforts towards evaluation have been limited to subjective protocols and benchmarks. To bridge this gap, we propose a unified evaluation taxonomy with eight pedagogical dimensions based on key learning sciences principles, which is designed to assess the pedagogical value of LLM-powered AI tutor responses grounded in student mistakes or confusions in the mathematical domain. We release MRBench - a new evaluation benchmark containing 192 conversations and 1,596 responses from seven state-of-the-art LLM-based and human tutors, providing gold annotations for eight pedagogical dimensions. We assess reliability of the popular Prometheus2 and Llama-3.1-8B LLMs as evaluators and analyze each tutor's pedagogical abilities, highlighting which LLMs are good tutors and which ones are more suitable as question-answering systems. We believe that the presented taxonomy, benchmark, and human-annotated labels will streamline the evaluation process and help track the progress in AI tutors' development.
Learning to Adapt through Bio-Inspired Gait Strategies for Versatile Quadruped Locomotion
Venue: arXiv cs.RO 2025
Year: 2025

Legged robots must adapt their gait to navigate unpredictable environments, a challenge that animals master with ease. However, most deep reinforcement learning (DRL) approaches to quadruped locomotion rely on a fixed gait, limiting adaptability to changes in terrain and dynamic state. Here we show that integrating three core principles of animal locomotion-gait transition strategies, gait memory and real-time motion adjustments enables a DRL control framework to fluidly switch among multiple gaits and recover from instability, all without external sensing. Our framework is guided by biomechanics-inspired metrics that capture efficiency, stability and system limits, which are unified to inform optimal gait selection. The resulting framework achieves blind zero-shot deployment across diverse, real-world terrains and substantially significantly outperforms baseline controllers. By embedding biological principles into data-driven control, this work marks a step towards robust, efficient and versatile robotic locomotion, highlighting how animal motor intelligence can shape the next generation of adaptive machines.
Neptune: The Long Orbit to Benchmarking Long Video Understanding
Venue: arXiv cs.LG 2025
Year: 2025

We introduce Neptune, a benchmark for long video understanding that requires reasoning over long time horizons and across different modalities. Many existing video datasets and models are focused on short clips (10s-30s). While some long video datasets do exist, they can often be solved by powerful image models applied per frame (and often to very few frames) in a video, and are usually manually annotated at high cost. In order to mitigate both these problems, we propose a scalable dataset creation pipeline which leverages large models (VLMs and LLMs), to automatically generate dense, time-aligned video captions, as well as tough question answer decoy sets for video segments (up to 15 minutes in length). Our dataset Neptune covers a broad range of long video reasoning abilities and consists of a subset that emphasizes multimodal reasoning. Since existing metrics for open-ended question answering are either rule-based or may rely on proprietary models, we provide a new open source model-based metric GEM to score open-ended responses on Neptune. Benchmark evaluations reveal that most current open-source long video models perform poorly on Neptune, particularly on questions testing temporal ordering, counting and state changes. Through Neptune, we aim to spur the development of more advanced models capable of understanding long videos. The dataset is available at https://github.com/google-deepmind/neptune
DiP: A Scalable, Energy-Efficient Systolic Array for Matrix Multiplication Acceleration
Venue: arXiv cs.AR 2025
Year: 2025

Transformers are gaining increasing attention across Natural Language Processing (NLP) application domains due to their outstanding accuracy. However, these data-intensive models add significant performance demands to the existing computing architectures. Systolic array architectures, adopted by commercial AI computing platforms like Google TPUs, offer energy-efficient data reuse but face throughput and energy penalties due to input-output synchronization via First-In-First-Out (FIFO) buffers. This paper proposes a novel scalable systolic array architecture featuring Diagonal-Input and Permutated weight stationary (DiP) dataflow for matrix multiplication acceleration. The proposed architecture eliminates the synchronization FIFOs required by state-of-the-art weight stationary systolic arrays. Beyond the area, power, and energy savings achieved by eliminating these FIFOs, DiP architecture maximizes the computational resource utilization, achieving up to 50\% throughput improvement over conventional weight stationary architectures. Analytical models are developed for both weight stationary and DiP architectures, including latency, throughput, time to full PEs utilization (TFPU), and FIFOs overhead. A comprehensive hardware design space exploration using 22nm commercial technology demonstrates DiP's scalability advantages, achieving up to a 2.02x improvement in energy efficiency per area. Furthermore, DiP outperforms TPU-like architectures on transformer workloads from widely-used models, delivering energy improvement up to 1.81x and latency improvement up to 1.49x. At a 64x64 size with 4096 PEs, DiP achieves a peak throughput of 8.192 TOPS with energy efficiency 9.548 TOPS/W.
LAVA: Lifetime-Aware VM Allocation with Learned Distributions and Adaptation to Mispredictions
Venue: arXiv cs.DC 2025
Year: 2025

Scheduling virtual machines (VMs) on hosts in cloud data centers dictates efficiency and is an NP-hard problem with incomplete information. Prior work improved VM scheduling with predicted VM lifetimes. Our work further improves lifetime-aware scheduling using repredictions with lifetime distributions versus one-shot prediction. Our approach repredicts and adjusts VM and host lifetimes when incorrect predictions emerge. We also present novel approaches for defragmentation and regular system maintenance, which are essential to our data center reliability and optimizations, and are not explored in prior work. We show repredictions deliver a fundamental advance in effectiveness over one-shot prediction. We call our novel combination of distribution-based lifetime predictions and scheduling algorithms Lifetime Aware VM Allocation (LAVA). LAVA reduces resource stranding and increases the number of empty hosts, which are critical for large VM scheduling, cloud system updates, and reducing dynamic energy consumption. Our approach runs in production within Google's hyperscale cloud data centers, where it improves efficiency by decreasing stranded compute and memory resources by ~3% and ~2% respectively. It increases empty hosts by 2.3-9.2 pp in production, reducing dynamic energy consumption, and increasing availability for large VMs and cloud system updates. We also show a reduction in VM migrations for host defragmentation and maintenance. In addition to our fleet-wide production deployment, we perform simulation studies to characterize the design space and show that our algorithm significantly outperforms the prior state of the art lifetime-based scheduling approach.
MulSMo: Multimodal Stylized Motion Generation by Bidirectional Control Flow
Venue: arXiv cs.CV 2025
Year: 2025

Generating motion sequences conforming to a target style while adhering to the given content prompts requires accommodating both the content and style. In existing methods, the information usually only flows from style to content, which may cause conflict between the style and content, harming the integration. Differently, in this work we build a bidirectional control flow between the style and the content, also adjusting the style towards the content, in which case the style-content collision is alleviated and the dynamics of the style is better preserved in the integration. Moreover, we extend the stylized motion generation from one modality, i.e. the style motion, to multiple modalities including texts and images through contrastive learning, leading to flexible style control on the motion generation. Extensive experiments demonstrate that our method significantly outperforms previous methods across different datasets, while also enabling multimodal signals control. The code of our method will be made publicly available.
Atomic Learning Objectives Labeling: A High-Resolution Approach for Physics Education
Venue: arXiv cs.CY 2025
Year: 2025

This paper introduces a novel approach to create a high-resolution "map" for physics learning: an "atomic" learning objectives (LOs) system designed to capture detailed cognitive processes and concepts required for problem solving in a college-level introductory physics course. Our method leverages Large Language Models (LLMs) for automated labeling of physics questions and introduces a comprehensive set of metrics to evaluate the quality of the labeling outcomes. The atomic LO system, covering nine chapters of an introductory physics course, uses a "subject-verb-object'' structure to represent specific cognitive processes. We apply this system to 131 questions from expert-curated question banks and the OpenStax University Physics textbook. Each question is labeled with 1-8 atomic LOs across three chapters. Through extensive experiments using various prompting strategies and LLMs, we compare automated LOs labeling results against human expert labeling. Our analysis reveals both the strengths and limitations of LLMs, providing insight into LLMs reasoning processes for labeling LOs and identifying areas for improvement in LOs system design. Our work contributes to the field of learning analytics by proposing a more granular approach to mapping learning objectives with questions. Our findings have significant implications for the development of intelligent tutoring systems and personalized learning pathways in STEM education, paving the way for more effective "learning GPS'' systems.
HiTZ at VarDial 2025 NorSID: Overcoming Data Scarcity with Language Transfer and Automatic Data Annotation
Venue: arXiv cs.CL 2025
Year: 2025

In this paper we present our submission for the NorSID Shared Task as part of the 2025 VarDial Workshop (Scherrer et al., 2025), consisting of three tasks: Intent Detection, Slot Filling and Dialect Identification, evaluated using data in different dialects of the Norwegian language. For Intent Detection and Slot Filling, we have fine-tuned a multitask model in a cross-lingual setting, to leverage the xSID dataset available in 17 languages. In the case of Dialect Identification, our final submission consists of a model fine-tuned on the provided development set, which has obtained the highest scores within our experiments. Our final results on the test set show that our models do not drop in performance compared to the development set, likely due to the domain-specificity of the dataset and the similar distribution of both subsets. Finally, we also report an in-depth analysis of the provided datasets and their artifacts, as well as other sets of experiments that have been carried out but did not yield the best results. Additionally, we present an analysis on the reasons why some methods have been more successful than others; mainly the impact of the combination of languages and domain-specificity of the training data on the results.
From Allies to Adversaries: Manipulating LLM Tool-Calling through Adversarial Injection
Venue: arXiv cs.CR 2025
Year: 2025

Tool-calling has changed Large Language Model (LLM) applications by integrating external tools, significantly enhancing their functionality across diverse tasks. However, this integration also introduces new security vulnerabilities, particularly in the tool scheduling mechanisms of LLM, which have not been extensively studied. To fill this gap, we present ToolCommander, a novel framework designed to exploit vulnerabilities in LLM tool-calling systems through adversarial tool injection. Our framework employs a well-designed two-stage attack strategy. Firstly, it injects malicious tools to collect user queries, then dynamically updates the injected tools based on the stolen information to enhance subsequent attacks. These stages enable ToolCommander to execute privacy theft, launch denial-of-service attacks, and even manipulate business competition by triggering unscheduled tool-calling. Notably, the ASR reaches 91.67% for privacy theft and hits 100% for denial-of-service and unscheduled tool calling in certain cases. Our work demonstrates that these vulnerabilities can lead to severe consequences beyond simple misuse of tool-calling systems, underscoring the urgent need for robust defensive strategies to secure LLM Tool-calling systems.
RAID-Database: human Responses to Affine Image Distortions
Venue: arXiv cs.CV 2025
Year: 2025

Image quality databases are used to train models for predicting subjective human perception. However, most existing databases focus on distortions commonly found in digital media and not in natural conditions. Affine transformations are particularly relevant to study, as they are among the most commonly encountered by human observers in everyday life. This Data Descriptor presents a set of human responses to suprathreshold affine image transforms (rotation, translation, scaling) and Gaussian noise as convenient reference to compare with previously existing image quality databases. The responses were measured using well established psychophysics: the Maximum Likelihood Difference Scaling method. The set contains responses to 864 distorted images. The experiments involved 105 observers and more than 20000 comparisons of quadruples of images. The quality of the dataset is ensured because (a) it reproduces the classical Piéron's law, (b) it reproduces classical absolute detection thresholds, and (c) it is consistent with conventional image quality databases but improves them according to Group-MAD experiments.
unPIC: A Geometric Multiview Prior for Image to 3D Synthesis
Venue: arXiv cs.CV 2025
Year: 2025

We introduce a hierarchical probabilistic approach to go from a 2D image to multiview 3D: a diffusion "prior" predicts the unseen 3D geometry, which then conditions a diffusion "decoder" to generate novel views of the subject. We use a pointmap-based geometric representation to coordinate the generation of multiple target views simultaneously. We construct a predictable distribution of geometric features per target view to enable learnability across examples, and generalization to arbitrary inputs images. Our modular, geometry-driven approach to novel-view synthesis (called "unPIC") beats competing baselines such as CAT3D, EscherNet, Free3D, and One-2-3-45 on held-out objects from ObjaverseXL, as well as unseen real-world objects from Google Scanned Objects, Amazon Berkeley Objects, and the Digital Twin Catalog.
Single-Source Regular Path Querying in Terms of Linear Algebra
Venue: arXiv cs.DS 2025
Year: 2025

Two-way regular path queries (2-RPQs) allow one to use regular languages over edges and inverted edges in edge-labelled graph to constrain paths of interest. 2-RPQs are (partially) adopted in different real-world graph analysis systems and have become a part of the GQL ISO standard. However the performance of 2-RPQs on real-world graphs remains a bottleneck for wider adoption. Utilisation of high-performance sparse linear algebra libraries for the algorithm implementation allows one to achieve significant speedup over competitors on real-world data and queries. We propose a new breadth-first-search-based algorithm that leverages linear algebra for evaluating single-source regular path queries. We integrate it into the LAGraph graph processing algorithm infrastructure and provide in-depth performance comparison on the large real-world knowledge bases. Additionally, we present extensive analysis of its performance across different query types using synthetic data, comparing it with various databases and other linear algebra-based approaches.
Strong Structural Bounds for MaxSAT: The Fine Details of Using Neuromorphic and Quantum Hardware Accelerators
Venue: arXiv cs.LO 2025
Year: 2025

Hardware accelerators like quantum annealers or neuromorphic chips are capable of finding the ground state of a Hamiltonian. A promising route in utilizing these devices is via methods from automated reasoning: The problem at hand is first encoded into MaxSAT; then MaxSAT is reduced to Max2SAT; and finally, Max2SAT is translated into a Hamiltonian. It was observed that different encodings can dramatically affect the efficiency of the hardware accelerators. Yet, previous studies were only concerned with the size of the encodings rather than with syntactic or structural properties. We establish structure-aware reductions between MaxSAT, Max2SAT, and the quadratic unconstrained binary optimization problem (QUBO) that underlies such hardware accelerators. All these problems turn out to be equivalent under linear-time, treewidth-preserving reductions. As a consequence, we obtain tight lower bounds under ETH and SETH for Max2SAT and QUBO, as well as a new time-optimal fixed-parameter algorithm for QUBO. While our results are tight up to a constant additive factor for the primal treewidth, we require a constant multiplicative factor for the incidence treewidth. To close the emerging gap, we supplement our results with novel time-optimal algorithms for fragments of MaxSAT based on model counting.
A Note On Square-free Sequences and Anti-unification Type
Venue: arXiv cs.LO 2025
Year: 2025

Error: Peer-review process exposed an error in Theorem 1 that, unfourtunately, is not repairable. Idempotent semigroups are always finite. See Green and Rees [1952], Siekmann and Szabó [1981] for details Anti-unification is a fundamental operation used for inductive inference. It is abstractly defined as a process deriving from a set of symbolic expressions a new symbolic expression possessing certain commonalities shared between its members. We consider anti-unification over term algebras where some function symbols are interpreted as associative-idempotent $(f (x, f (y, z)) = f (f (x, y), z)$ and $f (x, x) = x$, respectively) and show that there exists generalization problems for which a minimal complete set of solutions does not exist (Nullary), that is every complete set must contain comparable elements with respect to the generality relation. In contrast to earlier techniques for showing the nullarity of a generalization problem, we exploit combinatorial properties of complete sets of solutions to show that comparable elements are not avoidable. We show that every complete set of solutions contains an infinite chain of comparable generalizations whose structure is isomorphic to a subsequence of an infinite square-free sequence over three symbols.
Sampling from exponential distributions in the time domain with superparamagnetic tunnel junctions
Venue: arXiv cs.ET 2025
Year: 2025

In the superparamagnetic regime, magnetic tunnel junctions switch between two resistance states due to random thermal fluctuations. The dwell time distribution in each state is exponential. We sample this distribution using a temporal encoding scheme, in which information is encoded in the time at which the device switches between its resistance states. We then develop a circuit element known as a probabilistic delay cell that applies an electrical current step to a superparamagnetic tunnel junction and a temporal measurement circuit that measures the timing of the first switching event. Repeated experiments confirm that these times are exponentially distributed. Temporal processing methods then allow us to digitally compute with these exponentially distributed probabilistic delay cells. We describe how to use these circuits in a Metropolis-Hastings stepper and in a weighted random sampler, both of which are computationally intensive applications that benefit from the efficient generation of exponentially distributed random numbers.