OpenRaiser/Intern-Atlas huggingface dataset:
HaloGS: Loose Coupling of Compact Geometry and Gaussian Splats for 3D Scenes
Venue: arXiv cs.CV 2025
Year: 2025

High fidelity 3D reconstruction and rendering hinge on capturing precise geometry while preserving photo realistic detail. Most existing methods either fuse these goals into a single cumbersome model or adopt hybrid schemes whose uniform primitives lead to a trade off between efficiency and fidelity. In this paper, we introduce HaloGS, a dual representation that loosely couples coarse triangles for geometry with Gaussian primitives for appearance, motivated by the lightweight classic geometry representations and their proven efficiency in real world applications. Our design yields a compact yet expressive model capable of photo realistic rendering across both indoor and outdoor environments, seamlessly adapting to varying levels of scene complexity. Experiments on multiple benchmark datasets demonstrate that our method yields both compact, accurate geometry and high fidelity renderings, especially in challenging scenarios where robust geometric structure make a clear difference.
Comparing Neural Network Encodings for Logic-based Explainability
Venue: arXiv cs.LO 2025
Year: 2025

Providing explanations for the outputs of artificial neural networks (ANNs) is crucial in many contexts, such as critical systems, data protection laws and handling adversarial examples. Logic-based methods can offer explanations with correctness guarantees, but face scalability challenges. Due to these issues, it is necessary to compare different encodings of ANNs into logical constraints, which are used in logic-based explainability. This work compares two encodings of ANNs: one has been used in the literature to provide explanations, while the other will be adapted for our context of explainability. Additionally, the second encoding uses fewer variables and constraints, thus, potentially enhancing efficiency. Experiments showed similar running times for computing explanations, but the adapted encoding performed up to 18\% better in building logical constraints and up to 16\% better in overall time.
In-Context Brush: Zero-shot Customized Subject Insertion with Context-Aware Latent Space Manipulation
Venue: arXiv cs.CV 2025
Year: 2025

Recent advances in diffusion models have enhanced multimodal-guided visual generation, enabling customized subject insertion that seamlessly "brushes" user-specified objects into a given image guided by textual prompts. However, existing methods often struggle to insert customized subjects with high fidelity and align results with the user's intent through textual prompts. In this work, we propose "In-Context Brush", a zero-shot framework for customized subject insertion by reformulating the task within the paradigm of in-context learning. Without loss of generality, we formulate the object image and the textual prompts as cross-modal demonstrations, and the target image with the masked region as the query. The goal is to inpaint the target image with the subject aligning textual prompts without model tuning. Building upon a pretrained MMDiT-based inpainting network, we perform test-time enhancement via dual-level latent space manipulation: intra-head "latent feature shifting" within each attention head that dynamically shifts attention outputs to reflect the desired subject semantics and inter-head "attention reweighting" across different heads that amplifies prompt controllability through differential attention prioritization. Extensive experiments and applications demonstrate that our approach achieves superior identity preservation, text alignment, and image quality compared to existing state-of-the-art methods, without requiring dedicated training or additional data collection.
VLM-3R: Vision-Language Models Augmented with Instruction-Aligned 3D Reconstruction
Venue: arXiv cs.CV 2025
Year: 2025

The rapid advancement of Large Multimodal Models (LMMs) for 2D images and videos has motivated extending these models to understand 3D scenes, aiming for human-like visual-spatial intelligence. Nevertheless, achieving deep spatial understanding comparable to human capabilities poses significant challenges in model encoding and data acquisition. Existing methods frequently depend on external depth sensors for geometry capture or utilize off-the-shelf algorithms for pre-constructing 3D maps, thereby limiting their scalability, especially with prevalent monocular video inputs and for time-sensitive applications. In this work, we introduce VLM-3R, a unified framework for Vision-Language Models (VLMs) that incorporates 3D Reconstructive instruction tuning. VLM-3R processes monocular video frames by employing a geometry encoder to derive implicit 3D tokens that represent spatial understanding. Leveraging our Spatial-Visual-View Fusion and over 200K curated 3D reconstructive instruction tuning question-answer (QA) pairs, VLM-3R effectively aligns real-world spatial context with language instructions. This enables monocular 3D spatial assistance and embodied reasoning. To facilitate the evaluation of temporal reasoning, we introduce the Vision-Spatial-Temporal Intelligence benchmark, featuring over 138.6K QA pairs across five distinct tasks focused on evolving spatial relationships. Extensive experiments demonstrate that our model, VLM-3R, not only facilitates robust visual-spatial reasoning but also enables the understanding of temporal 3D context changes, excelling in both accuracy and scalability.
EgoZero: Robot Learning from Smart Glasses
Venue: arXiv cs.RO 2025
Year: 2025

Despite recent progress in general purpose robotics, robot policies still lag far behind basic human capabilities in the real world. Humans interact constantly with the physical world, yet this rich data resource remains largely untapped in robot learning. We propose EgoZero, a minimal system that learns robust manipulation policies from human demonstrations captured with Project Aria smart glasses, $\textbf{and zero robot data}$. EgoZero enables: (1) extraction of complete, robot-executable actions from in-the-wild, egocentric, human demonstrations, (2) compression of human visual observations into morphology-agnostic state representations, and (3) closed-loop policy learning that generalizes morphologically, spatially, and semantically. We deploy EgoZero policies on a gripper Franka Panda robot and demonstrate zero-shot transfer with 70% success rate over 7 manipulation tasks and only 20 minutes of data collection per task. Our results suggest that in-the-wild human data can serve as a scalable foundation for real-world robot learning - paving the way toward a future of abundant, diverse, and naturalistic training data for robots. Code and videos are available at https://egozero-robot.github.io.
OpenS2V-Nexus: A Detailed Benchmark and Million-Scale Dataset for Subject-to-Video Generation
Venue: arXiv cs.CV 2025
Year: 2025

Subject-to-Video (S2V) generation aims to create videos that faithfully incorporate reference content, providing enhanced flexibility in the production of videos. To establish the infrastructure for S2V generation, we propose OpenS2V-Nexus, consisting of (i) OpenS2V-Eval, a fine-grained benchmark, and (ii) OpenS2V-5M, a million-scale dataset. In contrast to existing S2V benchmarks inherited from VBench that focus on global and coarse-grained assessment of generated videos, OpenS2V-Eval focuses on the model's ability to generate subject-consistent videos with natural subject appearance and identity fidelity. For these purposes, OpenS2V-Eval introduces 180 prompts from seven major categories of S2V, which incorporate both real and synthetic test data. Furthermore, to accurately align human preferences with S2V benchmarks, we propose three automatic metrics, NexusScore, NaturalScore and GmeScore, to separately quantify subject consistency, naturalness, and text relevance in generated videos. Building on this, we conduct a comprehensive evaluation of 18 representative S2V models, highlighting their strengths and weaknesses across different content. Moreover, we create the first open-source large-scale S2V generation dataset OpenS2V-5M, which consists of five million high-quality 720P subject-text-video triples. Specifically, we ensure subject-information diversity in our dataset by (1) segmenting subjects and building pairing information via cross-video associations and (2) prompting GPT-Image-1 on raw frames to synthesize multi-view representations. Through OpenS2V-Nexus, we deliver a robust infrastructure to accelerate future S2V generation research.
GLEAM: Learning Generalizable Exploration Policy for Active Mapping in Complex 3D Indoor Scenes
Venue: arXiv cs.CV 2025
Year: 2025

Generalizable active mapping in complex unknown environments remains a critical challenge for mobile robots. Existing methods, constrained by insufficient training data and conservative exploration strategies, exhibit limited generalizability across scenes with diverse layouts and complex connectivity. To enable scalable training and reliable evaluation, we introduce GLEAM-Bench, the first large-scale benchmark designed for generalizable active mapping with 1,152 diverse 3D scenes from synthetic and real-scan datasets. Building upon this foundation, we propose GLEAM, a unified generalizable exploration policy for active mapping. Its superior generalizability comes mainly from our semantic representations, long-term navigable goals, and randomized strategies. It significantly outperforms state-of-the-art methods, achieving 66.50% coverage (+9.49%) with efficient trajectories and improved mapping accuracy on 128 unseen complex scenes. Project page: https://xiao-chen.tech/gleam/.
FMEnets: Flow, Material, and Energy networks for non-ideal plug flow reactor design
Venue: arXiv cs.LG 2025
Year: 2025

We propose FMEnets, a physics-informed machine learning framework for the design and analysis of non-ideal plug flow reactors. FMEnets integrates the fundamental governing equations (Navier-Stokes for fluid flow, material balance for reactive species transport, and energy balance for temperature distribution) into a unified multi-scale network model. The framework is composed of three interconnected sub-networks with independent optimizers that enable both forward and inverse problem-solving. In the forward mode, FMEnets predicts velocity, pressure, species concentrations, and temperature profiles using only inlet and outlet information. In the inverse mode, FMEnets utilizes sparse multi-residence-time measurements to simultaneously infer unknown kinetic parameters and states. FMEnets can be implemented either as FME-PINNs, which employ conventional multilayer perceptrons, or as FME-KANs, based on Kolmogorov-Arnold Networks. Comprehensive ablation studies highlight the critical role of the FMEnets architecture in achieving accurate predictions. Specifically, FME-KANs are more robust to noise than FME-PINNs, although both representations are comparable in accuracy and speed in noise-free conditions. The proposed framework is applied to three different sets of reaction scenarios and is compared with finite element simulations. FMEnets effectively captures the complex interactions, achieving relative errors less than 2.5% for the unknown kinetic parameters. The new network framework not only provides a computationally efficient alternative for reactor design and optimization, but also opens new avenues for integrating empirical correlations, limited and noisy experimental data, and fundamental physical equations to guide reactor design.
Future of Code with Generative AI: Transparency and Safety in the Era of AI Generated Software
Venue: arXiv cs.SE 2025
Year: 2025

As artificial intelligence becomes increasingly integrated into software development processes, the prevalence and sophistication of AI-generated code continue to expand rapidly. This study addresses the critical need for transparency and safety in AI generated code by examining the current landscape, identifying potential risks, and exploring future implications. We analyze market opportunities for detecting AI-generated code, discuss the challenges associated with managing increasing complexity, and propose solutions to enhance transparency and functionality analysis. Furthermore, this study investigates the longterm implications of AI generated code, including its potential role in the development of artificial general intelligence and its impact on human AI interaction. In conclusion, we emphasize the importance of proactive measures for ensuring the responsible development and deployment of AI in software engineering.
Opacity as a Feature, Not a Flaw: The LoBOX Governance Ethic for Role-Sensitive Explainability and Institutional Trust in AI
Venue: arXiv cs.CY 2025
Year: 2025

This paper introduces LoBOX (Lack of Belief: Opacity \& eXplainability) governance ethic structured framework for managing artificial intelligence (AI) opacity when full transparency is infeasible. Rather than treating opacity as a design flaw, LoBOX defines it as a condition that can be ethically governed through role-calibrated explanation and institutional accountability. The framework comprises a three-stage pathway: reduce accidental opacity, bound irreducible opacity, and delegate trust through structured oversight. Integrating the RED/BLUE XAI model for stakeholder-sensitive explanation and aligned with emerging legal instruments such as the EU AI Act, LoBOX offers a scalable and context-aware alternative to transparency-centric approaches. Reframe trust not as a function of complete system explainability, but as an outcome of institutional credibility, structured justification, and stakeholder-responsive accountability. A governance loop cycles back to ensure that LoBOX remains responsive to evolving technological contexts and stakeholder expectations, to ensure the complete opacity governance. We move from transparency ideals to ethical governance, emphasizing that trustworthiness in AI must be institutionally grounded and contextually justified. We also discuss how cultural or institutional trust varies in different contexts. This theoretical framework positions opacity not as a flaw but as a feature that must be actively governed to ensure responsible AI systems.
Guided by Gut: Efficient Test-Time Scaling with Reinforced Intrinsic Confidence
Venue: arXiv cs.CL 2025
Year: 2025

Test-Time Scaling (TTS) methods for enhancing Large Language Model (LLM) reasoning often incur substantial computational costs, primarily due to extensive reliance on external Process Reward Models (PRMs) or sampling methods like Best-of-N (BoN). This paper introduces Guided by Gut (GG), an efficient self-guided TTS framework that achieves PRM-level performance without costly external verifier models. Our method employs a lightweight tree search guided solely by intrinsic LLM signals, token-level confidence and step novelty. One critical innovation is improving the reliability of internal confidence estimates via a targeted reinforcement learning fine-tuning phase. Empirical evaluations on challenging mathematical reasoning benchmarks demonstrate that GG enables smaller models (e.g., 1.5B parameters) to achieve accuracy matching or surpassing significantly larger models (e.g., 32B-70B parameters), while reducing GPU memory usage by up to 10x. Compared to PRM-based methods, GG achieves comparable accuracy with 8x faster inference speeds and 4-5x lower memory usage. Additionally, GG reduces KV cache memory usage by approximately 50% compared to the BoN strategy, facilitating more efficient and practical deployment of TTS techniques.
Multi-Scale Manifold Alignment for Interpreting Large Language Models: A Unified Information-Geometric Framework
Venue: arXiv cs.CL 2025
Year: 2025

We present Multi-Scale Manifold Alignment(MSMA), an information-geometric framework that decomposes LLM representations into local, intermediate, and global manifolds and learns cross-scale mappings that preserve geometry and information. Across GPT-2, BERT, RoBERTa, and T5, we observe consistent hierarchical patterns and find that MSMA improves alignment metrics under multiple estimators (e.g., relative KL reduction and MI gains with statistical significance across seeds). Controlled interventions at different scales yield distinct and architecture-dependent effects on lexical diversity, sentence structure, and discourse coherence. While our theoretical analysis relies on idealized assumptions, the empirical results suggest that multi-objective alignment offers a practical lens for analyzing cross-scale information flow and guiding representation-level control.
PDFBench: A Benchmark for De novo Protein Design from Function
Venue: arXiv cs.LG 2025
Year: 2025

Function-guided protein design is a crucial task with significant applications in drug discovery and enzyme engineering. However, the field lacks a unified and comprehensive evaluation framework. Current models are assessed using inconsistent and limited subsets of metrics, which prevents fair comparison and a clear understanding of the relationships between different evaluation criteria. To address this gap, we introduce PDFBench, the first comprehensive benchmark for function-guided denovo protein design. Our benchmark systematically evaluates eight state-of-the-art models on 16 metrics across two key settings: description-guided design, for which we repurpose the Mol-Instructions dataset, originally lacking quantitative benchmarking, and keyword-guided design, for which we introduce a new test set, SwissTest, created with a strict datetime cutoff to ensure data integrity. By benchmarking across a wide array of metrics and analyzing their correlations, PDFBench enables more reliable model comparisons and provides key insights to guide future research.
Hierarchical Retrieval with Evidence Curation for Open-Domain Financial Question Answering on Standardized Documents
Venue: arXiv cs.IR 2025
Year: 2025

Retrieval-augmented generation (RAG) based large language models (LLMs) are widely used in finance for their excellent performance on knowledge-intensive tasks. However, standardized documents (e.g., SEC filing) share similar formats such as repetitive boilerplate texts, and similar table structures. This similarity forces traditional RAG methods to misidentify near-duplicate text, leading to duplicate retrieval that undermines accuracy and completeness. To address these issues, we propose the Hierarchical Retrieval with Evidence Curation (HiREC) framework. Our approach first performs hierarchical retrieval to reduce confusion among similar texts. It first retrieve related documents and then selects the most relevant passages from the documents. The evidence curation process removes irrelevant passages. When necessary, it automatically generates complementary queries to collect missing information. To evaluate our approach, we construct and release a Large-scale Open-domain Financial (LOFin) question answering benchmark that includes 145,897 SEC documents and 1,595 question-answer pairs. Our code and data are available at https://github.com/deep-over/LOFin-bench-HiREC.
SWE-rebench: An Automated Pipeline for Task Collection and Decontaminated Evaluation of Software Engineering Agents
Venue: arXiv cs.SE 2025
Year: 2025

LLM-based agents have shown promising capabilities in a growing range of software engineering (SWE) tasks. However, advancing this field faces two critical challenges. First, high-quality training data is scarce, especially data that reflects real-world SWE scenarios, where agents must interact with development environments, execute code and adapt behavior based on the outcomes of their actions. Existing datasets are either limited to one-shot code generation or comprise small, manually curated collections of interactive tasks, lacking both scale and diversity. Second, the lack of fresh interactive SWE tasks affects evaluation of rapidly improving models, as static benchmarks quickly become outdated due to contamination issues. To address these limitations, we introduce a novel, automated, and scalable pipeline to continuously extract real-world interactive SWE tasks from diverse GitHub repositories. Using this pipeline, we construct SWE-rebench, a public dataset comprising over 21,000 interactive Python-based SWE tasks, suitable for reinforcement learning of SWE agents at scale. Additionally, we use continuous supply of fresh tasks collected using SWE-rebench methodology to build a contamination-free benchmark for agentic software engineering. We compare results of various LLMs on this benchmark to results on SWE-bench Verified and show that performance of some language models might be inflated due to contamination issues.
Vision-Based Risk Aware Emergency Landing for UAVs in Complex Urban Environments
Venue: arXiv cs.RO 2025
Year: 2025

Landing safely in crowded urban environments remains an essential yet challenging endeavor for Unmanned Aerial Vehicles (UAVs), especially in emergency situations. In this work, we propose a risk-aware approach that harnesses semantic segmentation to continuously evaluate potential hazards in the drone's field of view. By using a specialized deep neural network to assign pixel-level risk values and applying an algorithm based on risk maps, our method adaptively identifies a stable Safe Landing Zone (SLZ) despite moving critical obstacles such as vehicles, people, etc., and other visual challenges like shifting illumination. A control system then guides the UAV toward this low-risk region, employing altitude-dependent safety thresholds and temporal landing point stabilization to ensure robust descent trajectories. Experimental validation in diverse urban environments demonstrates the effectiveness of our approach, achieving over 90% landing success rates in very challenging real scenarios, showing significant improvements in various risk metrics. Our findings suggest that risk-oriented vision methods can effectively help reduce the risk of accidents in emergency landing situations, particularly in complex, unstructured, urban scenarios, densely populated with moving risky obstacles, while potentiating the true capabilities of UAVs in complex urban operations.
ART-DECO: Arbitrary Text Guidance for 3D Detailizer Construction
Venue: arXiv cs.GR 2025
Year: 2025

We introduce a 3D detailizer, a neural model which can instantaneously (in <1s) transform a coarse 3D shape proxy into a high-quality asset with detailed geometry and texture as guided by an input text prompt. Our model is trained using the text prompt, which defines the shape class and characterizes the appearance and fine-grained style of the generated details. The coarse 3D proxy, which can be easily varied and adjusted (e.g., via user editing), provides structure control over the final shape. Importantly, our detailizer is not optimized for a single shape; it is the result of distilling a generative model, so that it can be reused, without retraining, to generate any number of shapes, with varied structures, whose local details all share a consistent style and appearance. Our detailizer training utilizes a pretrained multi-view image diffusion model, with text conditioning, to distill the foundational knowledge therein into our detailizer via Score Distillation Sampling (SDS). To improve SDS and enable our detailizer architecture to learn generalizable features over complex structures, we train our model in two training stages to generate shapes with increasing structural complexity. Through extensive experiments, we show that our method generates shapes of superior quality and details compared to existing text-to-3D models under varied structure control. Our detailizer can refine a coarse shape in less than a second, making it possible to interactively author and adjust 3D shapes. Furthermore, the user-imposed structure control can lead to creative, and hence out-of-distribution, 3D asset generations that are beyond the current capabilities of leading text-to-3D generative models. We demonstrate an interactive 3D modeling workflow our method enables, and its strong generalizability over styles, structures, and object categories.