OpenRaiser/Intern-Atlas huggingface dataset:
LVT: Large-Scale Scene Reconstruction via Local View Transformers
Venue: arXiv cs.CV 2025
Year: 2025

Large transformer models are proving to be a powerful tool for 3D vision and novel view synthesis. However, the standard Transformer's well-known quadratic complexity makes it difficult to scale these methods to large scenes. To address this challenge, we propose the Local View Transformer (LVT), a large-scale scene reconstruction and novel view synthesis architecture that circumvents the need for the quadratic attention operation. Motivated by the insight that spatially nearby views provide more useful signal about the local scene composition than distant views, our model processes all information in a local neighborhood around each view. To attend to tokens in nearby views, we leverage a novel positional encoding that conditions on the relative geometric transformation between the query and nearby views. We decode the output of our model into a 3D Gaussian Splat scene representation that includes both color and opacity view-dependence. Taken together, the Local View Transformer enables reconstruction of arbitrarily large, high-resolution scenes in a single forward pass. See our project page for results and interactive demos https://toobaimt.github.io/lvt/.
Score-based Membership Inference on Diffusion Models
Venue: arXiv cs.LG 2025
Year: 2025

Membership inference attacks (MIAs) against diffusion models have emerged as a pressing privacy concern, as these models may inadvertently reveal whether a given sample was part of their training set. We present a theoretical and empirical study of score-based MIAs, focusing on the predicted noise vectors that diffusion models learn to approximate. We show that the expected denoiser output points toward a kernel-weighted local mean of nearby training samples, such that its norm encodes proximity to the training set and thereby reveals membership. Building on this observation, we propose SimA, a single-query attack that provides a principled, efficient alternative to existing multi-query methods. SimA achieves consistently strong performance across variants of DDPM, Latent Diffusion Model (LDM). Notably, we find that Latent Diffusion Models are surprisingly less vulnerable than pixel-space models, due to the strong information bottleneck imposed by their latent auto-encoder. We further investigate this by differing the regularization hyperparameters ($β$ in $β$-VAE) in latent channel and suggest a strategy to make LDM training more robust to MIA. Our results solidify the theory of score-based MIAs, while highlighting that Latent Diffusion class of methods requires better understanding of inversion for VAE, and not simply inversion of the Diffusion process
Generalization of Variadic Structures with Binders: A Tool for Structural Code Comparison
Venue: arXiv cs.LO 2025
Year: 2025

This paper introduces a novel anti-unification algorithm for the generalization of variadic structures with binders, designed as a flexible tool for structural code comparison. By combining nominal techniques for handling variable binding with support for variadic expressions (common in abstract syntax trees and programming languages), the approach addresses key challenges such as overemphasis on bound variable names and difficulty handling insertions or deletions in code fragments. The algorithm distinguishes between atoms and two kinds of variables (term and hedge variables) to compute best generalizations that maximally preserve structural similarities while abstracting systematic differences. It also provides detailed information to reconstruct original expressions and quantify structural differences. This information can be useful in tasks like code clone detection, refactoring, and program analysis. By introducing a parametrizable rigidity function, the technique offers fine-grained control over similarity criteria and reduces nondeterminism, enabling flexible adaptation to practical scenarios where trivial similarities should be discounted. Although demonstrated primarily in the context of code similarity detection, this framework is broadly applicable wherever precise comparison of variadic and binder-rich representations is required.
Fast Real-Time Pipeline for Robust Arm Gesture Recognition
Venue: arXiv cs.CV 2025
Year: 2025

This paper presents a real-time pipeline for dynamic arm gesture recognition based on OpenPose keypoint estimation, keypoint normalization, and a recurrent neural network classifier. The 1 x 1 normalization scheme and two feature representations (coordinate- and angle-based) are presented for the pipeline. In addition, an efficient method to improve robustness against camera angle variations is also introduced by using artificially rotated training data. Experiments on a custom traffic-control gesture dataset demonstrate high accuracy across varying viewing angles and speeds. Finally, an approach to calculate the speed of the arm signal (if necessary) is also presented.
Hyperdimensional Probe: Decoding LLM Representations via Vector Symbolic Architectures
Venue: arXiv cs.CL 2025
Year: 2025

Despite their capabilities, Large Language Models (LLMs) remain opaque with limited understanding of their internal representations. Current interpretability methods either focus on input-oriented feature extraction, such as supervised probes and Sparse Autoencoders (SAEs), or on output distribution inspection, such as logit-oriented approaches. A full understanding of LLM vector spaces, however, requires integrating both perspectives, something existing approaches struggle with due to constraints on latent feature definitions. We introduce the Hyperdimensional Probe, a hybrid supervised probe that combines symbolic representations with neural probing. Leveraging Vector Symbolic Architectures (VSAs) and hypervector algebra, it unifies prior methods: the top-down interpretability of supervised probes, SAE's sparsity-driven proxy space, and output-oriented logit investigation. This allows deeper input-focused feature extraction while supporting output-oriented investigation. Our experiments show that our method consistently extracts meaningful concepts across LLMs, embedding sizes, and setups, uncovering concept-driven patterns in analogy-oriented inference and QA-focused text generation. By supporting joint input-output analysis, this work advances semantic understanding of neural representations while unifying the complementary perspectives of prior methods.
Advantage Weighted Matching: Aligning RL with Pretraining in Diffusion Models
Venue: arXiv cs.LG 2025
Year: 2025

Reinforcement Learning (RL) has emerged as a central paradigm for advancing Large Language Models (LLMs), where pre-training and RL post-training share the same log-likelihood formulation. In contrast, recent RL approaches for diffusion models, most notably Denoising Diffusion Policy Optimization (DDPO), optimize an objective different from the pretraining objectives--score/flow matching loss. In this work, we establish a novel theoretical analysis: DDPO is an implicit form of score/flow matching with noisy targets, which increases variance and slows convergence. Building on this analysis, we introduce \textbf{Advantage Weighted Matching (AWM)}, a policy-gradient method for diffusion. It uses the same score/flow-matching loss as pretraining to obtain a lower-variance objective and reweights each sample by its advantage. In effect, AWM raises the influence of high-reward samples and suppresses low-reward ones while keeping the modeling objective identical to pretraining. This unifies pretraining and RL conceptually and practically, is consistent with policy-gradient theory, reduces variance, and yields faster convergence. This simple yet effective design yields substantial benefits: on GenEval, OCR, and PickScore benchmarks, AWM delivers up to a $24\times$ speedup over Flow-GRPO (which builds on DDPO), when applied to Stable Diffusion 3.5 Medium and FLUX, without compromising generation quality. Code is available at https://github.com/scxue/advantage_weighted_matching.
AgriCruiser: An Open Source Agriculture Robot for Over-the-row Navigation
Venue: arXiv cs.RO 2025
Year: 2025

We present the AgriCruiser, an open-source over-the-row agricultural robot developed for low-cost deployment and rapid adaptation across diverse crops and row layouts. The chassis provides an adjustable track width of 1.42 m to 1.57 m, along with a ground clearance of 0.94 m. The AgriCruiser achieves compact pivot turns with radii of 0.71 m to 0.79 m, enabling efficient headland maneuvers. The platform is designed for the integration of the other subsystems, and in this study, a precision spraying system was implemented to assess its effectiveness in weed management. In twelve flax plots, a single robotic spray pass reduced total weed populations (pigweed and Venice mallow) by 24- to 42-fold compared to manual weeding in four flax plots, while also causing less crop damage. Mobility experiments conducted on concrete, asphalt, gravel, grass, and both wet and dry soil confirmed reliable traversal consistent with torque sizing. The complete chassis can be constructed from commodity T-slot extrusion with minimal machining, resulting in a bill of materials costing approximately $5,000 - $6,000, which enables replication and customization. The mentioned results demonstrate that low-cost, reconfigurable over-the-row robots can achieve effective weed management with reduced crop damage and labor requirements, while providing a versatile foundation for phenotyping, sensing, and other agriculture applications. Design files and implementation details are released to accelerate research and adoption of modular agricultural robotics.
Learning from Convenience Samples: A Case Study on Fine-Tuning LLMs for Survey Non-response in the German Longitudinal Election Study
Venue: arXiv cs.CY 2025
Year: 2025

Survey researchers face two key challenges: the rising costs of probability samples and missing data (e.g., non-response or attrition), which can undermine inference and increase the use of convenience samples. Recent work explores using large language models (LLMs) to simulate respondents via persona-based prompts, often without labeled data. We study a more practical setting where partial survey responses exist: we fine-tune LLMs on available data to impute self-reported vote choice under both random and systematic nonresponse, using the German Longitudinal Election Study. We compare zero-shot prompting and supervised fine-tuning against tabular classifiers (e.g., CatBoost) and test how different convenience samples (e.g., students) used for fine-tuning affect generalization. Our results show that when data are missing completely at random, fine-tuned LLMs match tabular classifiers but outperform zero-shot approaches. When only biased convenience samples are available, fine-tuning small (3B to 8B) open-source LLMs can recover both individual-level predictions and population-level distributions more accurately than zero-shot and often better than tabular methods. This suggests fine-tuned LLMs offer a promising strategy for researchers working with non-probability samples or systematic missingness, and may enable new survey designs requiring only easily accessible subpopulations.
Towards a Certificate of Trust: Task-Aware OOD Detection for Scientific AI
Venue: arXiv cs.LG 2025
Year: 2025

Data-driven models are increasingly adopted in critical scientific fields like weather forecasting and fluid dynamics. These methods can fail on out-of-distribution (OOD) data, but detecting such failures in regression tasks is an open challenge. We propose a new OOD detection method based on estimating joint likelihoods using a score-based diffusion model. This approach considers not just the input but also the regression model's prediction, providing a task-aware reliability score. Across numerous scientific datasets, including PDE datasets, satellite imagery and brain tumor segmentation, we show that this likelihood strongly correlates with prediction error. Our work provides a foundational step towards building a verifiable 'certificate of trust', thereby offering a practical tool for assessing the trustworthiness of AI-based scientific predictions. Our code is publicly available at https://github.com/bogdanraonic3/OOD_Detection_ScientificML
jina-reranker-v3: Last but Not Late Interaction for Listwise Document Reranking
Venue: arXiv cs.CL 2025
Year: 2025

jina-reranker-v3 is a 0.6B-parameter multilingual listwise reranker that introduces a novel "last but not late" interaction. Unlike late interaction models like ColBERT that encode documents separately before multi-vector matching, our approach applies causal attention between the query and all candidate documents in the same context window, enabling rich interactions before extracting contextual embeddings from each document's final token. The new model achieves state-of-the-art BEIR performance with 61.94 nDCG@10 while being significantly smaller than other models with comparable performance.
Towards Trustworthy Lexical Simplification: Exploring Safety and Efficiency with Small LLMs
Venue: arXiv cs.CL 2025
Year: 2025

Despite their strong performance, large language models (LLMs) face challenges in real-world application of lexical simplification (LS), particularly in privacy-sensitive and resource-constrained environments. Moreover, since vulnerable user groups (e.g., people with disabilities) are one of the key target groups of this technology, it is crucial to ensure the safety and correctness of the output of LS systems. To address these issues, we propose an efficient framework for LS systems that utilizes small LLMs deployable in local environments. Within this framework, we explore knowledge distillation with synthesized data and in-context learning as baselines. Our experiments in five languages evaluate model outputs both automatically and manually. Our manual analysis reveals that while knowledge distillation boosts automatic metric scores, it also introduces a safety trade-off by increasing harmful simplifications. Importantly, we find that the model's output probability is a useful signal for detecting harmful simplifications. Leveraging this, we propose a filtering strategy that suppresses harmful simplifications while largely preserving beneficial ones. This work establishes a benchmark for efficient and safe LS with small LLMs. It highlights the key trade-offs between performance, efficiency, and safety, and demonstrates a promising approach for safe real-world deployment.
Curriculum Imitation Learning of Distributed Multi-Robot Policies
Venue: arXiv cs.RO 2025
Year: 2025

Learning control policies for multi-robot systems (MRS) remains a major challenge due to long-term coordination and the difficulty of obtaining realistic training data. In this work, we address both limitations within an imitation learning framework. First, we shift the typical role of Curriculum Learning in MRS, from scalability with the number of robots, to focus on improving long-term coordination. We propose a curriculum strategy that gradually increases the length of expert trajectories during training, stabilizing learning and enhancing the accuracy of long-term behaviors. Second, we introduce a method to approximate the egocentric perception of each robot using only third-person global state demonstrations. Our approach transforms idealized trajectories into locally available observations by filtering neighbors, converting reference frames, and simulating onboard sensor variability. Both contributions are integrated into a physics-informed technique to produce scalable, distributed policies from observations. We conduct experiments across two tasks with varying team sizes and noise levels. Results show that our curriculum improves long-term accuracy, while our perceptual estimation method yields policies that are robust to realistic uncertainty. Together, these strategies enable the learning of robust, distributed controllers from global demonstrations, even in the absence of expert actions or onboard measurements.
From Affine to Polynomial: Synthesizing Loops with Branches via Algebraic Geometry
Venue: arXiv cs.PL 2025
Year: 2025

Ensuring software correctness remains a fundamental challenge in formal program verification. One promising approach relies on finding polynomial invariants for loops. Polynomial invariants are properties of a program loop that hold before and after each iteration. Generating such invariants is a crucial task in loop analysis, but it is undecidable in the general case. Recently, an alternative approach to this problem has emerged, focusing on synthesizing loops from invariants. However, existing methods only synthesize affine loops without guard conditions from polynomial invariants. In this paper, we address a more general problem, allowing loops to have polynomial update maps with a given structure, inequations in the guard condition, and polynomial invariants of arbitrary form. We use algebraic geometry tools to design and implement an algorithm that computes a finite set of polynomial equations whose solutions correspond to all nondeterministic branching loops satisfying the given invariants. Furthermore, we introduce a new class of invariants for which we present a significantly more efficient algorithm. In other words, we reduce the problem of synthesizing loops to find solutions of multivariate polynomial systems with rational entries. This final step is handled in our software using an SMT solver.
Triangle Splatting+: Differentiable Rendering with Opaque Triangles
Venue: arXiv cs.CV 2025
Year: 2025

Reconstructing 3D scenes and synthesizing novel views has seen rapid progress in recent years. Neural Radiance Fields demonstrated that continuous volumetric radiance fields can achieve high-quality image synthesis, but their long training and rendering times limit practicality. 3D Gaussian Splatting (3DGS) addressed these issues by representing scenes with millions of Gaussians, enabling real-time rendering and fast optimization. However, Gaussian primitives are not natively compatible with the mesh-based pipelines used in VR headsets, and real-time graphics applications. Existing solutions attempt to convert Gaussians into meshes through post-processing or two-stage pipelines, which increases complexity and degrades visual quality. In this work, we introduce Triangle Splatting+, which directly optimizes triangles, the fundamental primitive of computer graphics, within a differentiable splatting framework. We formulate triangle parametrization to enable connectivity through shared vertices, and we design a training strategy that enforces opaque triangles. The final output is immediately usable in standard graphics engines without post-processing. Experiments on the Mip-NeRF360 and Tanks & Temples datasets show that Triangle Splatting+achieves state-of-the-art performance in mesh-based novel view synthesis. Our method surpasses prior splatting approaches in visual fidelity while remaining efficient and fast to training. Moreover, the resulting semi-connected meshes support downstream applications such as physics-based simulation or interactive walkthroughs. The project page is https://trianglesplatting2.github.io/trianglesplatting2/.
MGM-Omni: Scaling Omni LLMs to Personalized Long-Horizon Speech
Venue: arXiv cs.SD 2025
Year: 2025

We present MGM-Omni, a unified Omni LLM for omni-modal understanding and expressive, long-horizon speech generation. Unlike cascaded pipelines that isolate speech synthesis, MGM-Omni adopts a "brain-mouth" design with a dual-track, token-based architecture that cleanly decouples multimodal reasoning from real-time speech generation. This design enables efficient cross-modal interaction and low-latency, streaming speech generation. For understanding, a unified training strategy coupled with a dual audio encoder design enables long-form audio perception across diverse acoustic conditions. For generation, a chunk-based parallel decoding scheme narrows the text speech token-rate gap, accelerating inference and supporting streaming zero-shot voice cloning with stable timbre over extended durations. Compared to concurrent work, MGM-Omni achieves these capabilities with markedly data-efficient training. Extensive experiments demonstrate that MGM-Omni outperforms existing open source models in preserving timbre identity across extended sequences, producing natural and context-aware speech, and achieving superior long-form audio and omnimodal understanding. MGM-Omni establishes an efficient, end-to-end paradigm for omnimodal understanding and controllable, personalised long-horizon speech generation.
Learning in an Echo Chamber: Online Learning with Replay Adversary
Venue: arXiv cs.LG 2025
Year: 2025

As machine learning systems increasingly train on self-annotated data, they risk reinforcing errors and becoming echo chambers of their own beliefs. We model this phenomenon by introducing a learning-theoretic framework: Online Learning in the Replay Setting. In round $t$, the learner outputs a hypothesis $\hat{h}_t$; the adversary then reveals either the true label $f^\ast(x_t)$ or a replayed label $\hat{h}_i(x_t)$ from an earlier round $i < t$. A mistake is counted only when the true label is shown, yet classical algorithms such as the SOA or the halving algorithm are easily misled by the replayed errors. We introduce the Extended Threshold dimension, $\mathrm{ExThD}(\mathcal{H})$, and prove matching upper and lower bounds that make $\mathrm{ExThD}(\mathcal{H})$ the exact measure of learnability in this model. A closure-based learner makes at most $\mathrm{ExThD}(\mathcal{H})$ mistakes against any adaptive adversary, and no algorithm can perform better. For stochastic adversaries, we prove a similar bound for every intersection-closed class. The replay setting is provably harder than the classical mistake bound setting: some classes have constant Littlestone dimension but arbitrarily large $\mathrm{ExThD}(\mathcal{H})$. Proper learning exhibits an even sharper separation: a class is properly learnable under replay if and only if it is (almost) intersection-closed. Otherwise, every proper learner suffers $Ω(T)$ errors, whereas our improper algorithm still achieves the $\mathrm{ExThD}(\mathcal{H})$ bound. These results give the first tight analysis of learning against replay adversaries, based on new results for closure-type algorithms.
UniAPL: A Unified Adversarial Preference Learning Framework for Instruct-Following
Venue: arXiv cs.AI 2025
Year: 2025

Shaping powerful LLMs to be beneficial and safe is central to AI alignment. We argue that post-training alignment is fundamentally a unified Preference Learning problem, involving two modalities: demonstrated preferences (e.g., Supervised Fine-Tuning, SFT) and comparative preferences (e.g., Reinforcement Learning, RL).The standard sequential pipeline-SFT followed by RL-is flawed due to a critical distributional mismatch: SFT uses static expert data, but as the policy evolves, its generation distribution drifts, making SFT knowledge brittle. Subsequent RL then explores without direct access to the rich, ground-truth knowledge in expert demonstrations, leading to inefficient, ungrounded updates. This separation prevents mutual regularization between data sources. To address this, we reframe alignment as a constrained optimization problem and propose Unified Adversarial Preference Learning (UniAPL),a novel framework that dynamically aligns the policy's distribution with the expert's. UniAPL implements a single-stage unified training objective, jointly learning from mixed batches of SFT and preference data. In every gradient step, dense expert demonstrations directly ground and regularize online exploration, inherently resolving distributional mismatch and maximizing data synergy.We evaluate UniAPL on instruction-following tasks using Qwen3-235B-Instruct-2507 as the teacher. Our models match or exceed strong GRPO baselines: +5.77% on Qwen3-0.6B (matching a 32B model) and +3.75% on Qwen3-4B,even outperforming the teacher. Analyses of response length and log-probability distributions confirm that UniAPL outputs closely mimic expert demonstrations, achieving both stronger performance and better behavioral alignment.