OpenRaiser/Intern-Atlas huggingface dataset:
Bridging conformal prediction and scenario optimization
Venue: arXiv cs.LG 2025
Year: 2025

Conformal prediction and scenario optimization constitute two important classes of statistical learning frameworks to certify decisions made using data. They have found numerous applications in control theory, machine learning and robotics. Despite intense research in both areas, and apparently similar results, a clear connection between these two frameworks has not been established. By focusing on the so-called vanilla conformal prediction, we show rigorously how to choose appropriate score functions and set predictor map to recover well-known bounds on the probability of constraint violation associated with scenario programs. We also show how to treat ranking of nonconformity scores as a one-dimensional scenario program with discarded constraints, and use such connection to recover vanilla conformal prediction guarantees on the validity of the set predictor. We also capitalize on the main developments of the scenario approach, and show how we could analyze calibration conditional conformal prediction under this lens. Our results establish a theoretical bridge between conformal prediction and scenario optimization.
When LLM Therapists Become Salespeople: Evaluating Large Language Models for Ethical Motivational Interviewing
Venue: arXiv cs.CL 2025
Year: 2025

Large language models (LLMs) have been actively applied in the mental health field. Recent research shows the promise of LLMs in applying psychotherapy, especially motivational interviewing (MI). However, there is a lack of studies investigating how language models understand MI ethics. Given the risks that malicious actors can use language models to apply MI for unethical purposes, it is important to evaluate their capability of differentiating ethical and unethical MI practices. Thus, this study investigates the ethical awareness of LLMs in MI with multiple experiments. Our findings show that LLMs have a moderate to strong level of knowledge in MI. However, their ethical standards are not aligned with the MI spirit, as they generated unethical responses and performed poorly in detecting unethical responses. We proposed a Chain-of-Ethic prompt to mitigate those risks and improve safety. Finally, our proposed strategy effectively improved ethical MI response generation and detection performance. These findings highlight the need for safety evaluations and guidelines for building ethical LLM-powered psychotherapy.
The Impact of Code-switched Synthetic Data Quality is Task Dependent: Insights from MT and ASR
Venue: arXiv cs.CL 2025
Year: 2025

Code-switching, the act of alternating between languages, emerged as a prevalent global phenomenon that needs to be addressed for building user-friendly language technologies. A main bottleneck in this pursuit is data scarcity, motivating research in the direction of code-switched data augmentation. However, current literature lacks comprehensive studies that enable us to understand the relation between the quality of synthetic data and improvements on NLP tasks. We extend previous research conducted in this direction on machine translation (MT) with results on automatic speech recognition (ASR) and cascaded speech translation (ST) to test generalizability of findings. Our experiments involve a wide range of augmentation techniques, covering lexical replacements, linguistic theories, and back-translation. Based on the results of MT, ASR, and ST, we draw conclusions and insights regarding the efficacy of various augmentation techniques and the impact of quality on performance.
PhysPose: Refining 6D Object Poses with Physical Constraints
Venue: arXiv cs.CV 2025
Year: 2025

Accurate 6D object pose estimation from images is a key problem in object-centric scene understanding, enabling applications in robotics, augmented reality, and scene reconstruction. Despite recent advances, existing methods often produce physically inconsistent pose estimates, hindering their deployment in real-world scenarios. We introduce PhysPose, a novel approach that integrates physical reasoning into pose estimation through a postprocessing optimization enforcing non-penetration and gravitational constraints. By leveraging scene geometry, PhysPose refines pose estimates to ensure physical plausibility. Our approach achieves state-of-the-art accuracy on the YCB-Video dataset from the BOP benchmark and improves over the state-of-the-art pose estimation methods on the HOPE-Video dataset. Furthermore, we demonstrate its impact in robotics by significantly improving success rates in a challenging pick-and-place task, highlighting the importance of physical consistency in real-world applications.
Torsion of $α$-connections on the density manifold
Venue: arXiv cs.IT 2025
Year: 2025

We study the torsion of the $α$-connections defined on the density manifold in terms of a regular Riemannian metric. In the case of the Fisher-Rao metric our results confirm the fact that all $α$-connections are torsion free. For the $α$-connections obtained by the Otto metric, we show that, except for $α= -1$, they are not torsion free.
Exploring GPT-4 for Robotic Agent Strategy with Real-Time State Feedback and a Reactive Behaviour Framework
Venue: arXiv cs.RO 2025
Year: 2025

We explore the use of GPT-4 on a humanoid robot in simulation and the real world as proof of concept of a novel large language model (LLM) driven behaviour method. LLMs have shown the ability to perform various tasks, including robotic agent behaviour. The problem involves prompting the LLM with a goal, and the LLM outputs the sub-tasks to complete to achieve that goal. Previous works focus on the executability and correctness of the LLM's generated tasks. We propose a method that successfully addresses practical concerns around safety, transitions between tasks, time horizons of tasks and state feedback. In our experiments we have found that our approach produces output for feasible requests that can be executed every time, with smooth transitions. User requests are achieved most of the time across a range of goal time horizons.
Diffusion-Free Graph Generation with Next-Scale Prediction
Venue: arXiv cs.LG 2025
Year: 2025

Autoregressive models excel in efficiency and plug directly into the transformer ecosystem, delivering robust generalization, predictable scalability, and seamless workflows such as fine-tuning and parallelized training. However, they require an explicit sequence order, which contradicts the unordered nature of graphs. In contrast, diffusion models maintain permutation invariance and enable one-shot generation but require up to thousands of denoising steps and additional features for expressivity, leading to high computational costs. Inspired by recent breakthroughs in image generation, especially the success of visual autoregressive methods, we propose MAG, a novel diffusion-free graph generation framework based on next-scale prediction. By leveraging a hierarchy of latent representations, the model progressively generates scales of the entire graph without the need for explicit node ordering. Experiments on both generic and molecular graph datasets demonstrated the potential of this method, achieving inference speedups of up to three orders of magnitude over state-of-the-art methods, while preserving high-quality generation.
A Constrained Multi-Agent Reinforcement Learning Approach to Autonomous Traffic Signal Control
Venue: arXiv cs.MA 2025
Year: 2025

Traffic congestion in modern cities is exacerbated by the limitations of traditional fixed-time traffic signal systems, which fail to adapt to dynamic traffic patterns. Adaptive Traffic Signal Control (ATSC) algorithms have emerged as a solution by dynamically adjusting signal timing based on real-time traffic conditions. However, the main limitation of such methods is that they are not transferable to environments under real-world constraints, such as balancing efficiency, minimizing collisions, and ensuring fairness across intersections. In this paper, we view the ATSC problem as a constrained multi-agent reinforcement learning (MARL) problem and propose a novel algorithm named Multi-Agent Proximal Policy Optimization with Lagrange Cost Estimator (MAPPO-LCE) to produce effective traffic signal control policies. Our approach integrates the Lagrange multipliers method to balance rewards and constraints, with a cost estimator for stable adjustment. We also introduce three constraints on the traffic network: GreenTime, GreenSkip, and PhaseSkip, which penalize traffic policies that do not conform to real-world scenarios. Our experimental results on three real-world datasets demonstrate that MAPPO-LCE outperforms three baseline MARL algorithms by across all environments and traffic constraints (improving on MAPPO by 12.60%, IPPO by 10.29%, and QTRAN by 13.10%). Our results show that constrained MARL is a valuable tool for traffic planners to deploy scalable and efficient ATSC methods in real-world traffic networks. We provide code at https://github.com/Asatheesh6561/MAPPO-LCE.
Uni-Render: A Unified Accelerator for Real-Time Rendering Across Diverse Neural Renderers
Venue: arXiv cs.GR 2025
Year: 2025

Recent advancements in neural rendering technologies and their supporting devices have paved the way for immersive 3D experiences, significantly transforming human interaction with intelligent devices across diverse applications. However, achieving the desired real-time rendering speeds for immersive interactions is still hindered by (1) the lack of a universal algorithmic solution for different application scenarios and (2) the dedication of existing devices or accelerators to merely specific rendering pipelines. To overcome this challenge, we have developed a unified neural rendering accelerator that caters to a wide array of typical neural rendering pipelines, enabling real-time and on-device rendering across different applications while maintaining both efficiency and compatibility. Our accelerator design is based on the insight that, although neural rendering pipelines vary and their algorithm designs are continually evolving, they typically share common operators, predominantly executing similar workloads. Building on this insight, we propose a reconfigurable hardware architecture that can dynamically adjust dataflow to align with specific rendering metric requirements for diverse applications, effectively supporting both typical and the latest hybrid rendering pipelines. Benchmarking experiments and ablation studies on both synthetic and real-world scenes demonstrate the effectiveness of the proposed accelerator. The proposed unified accelerator stands out as the first solution capable of achieving real-time neural rendering across varied representative pipelines on edge devices, potentially paving the way for the next generation of neural graphics applications.
LiM-Loc: Visual Localization with Dense and Accurate 3D Reference Maps Directly Corresponding 2D Keypoints to 3D LiDAR Point Clouds
Venue: arXiv cs.CV 2025
Year: 2025

Visual localization is to estimate the 6-DOF camera pose of a query image in a 3D reference map. We extract keypoints from the reference image and generate a 3D reference map with 3D reconstruction of the keypoints in advance. We emphasize that the more keypoints in the 3D reference map and the smaller the error of the 3D positions of the keypoints, the higher the accuracy of the camera pose estimation. However, previous image-only methods require a huge number of images, and it is difficult to 3D-reconstruct keypoints without error due to inevitable mismatches and failures in feature matching. As a result, the 3D reference map is sparse and inaccurate. In contrast, accurate 3D reference maps can be generated by combining images and 3D sensors. Recently, 3D-LiDAR has been widely used around the world. LiDAR, which measures a large space with high density, has become inexpensive. In addition, accurately calibrated cameras are also widely used, so images that record the external parameters of the camera without errors can be easily obtained. In this paper, we propose a method to directly assign 3D LiDAR point clouds to keypoints to generate dense and accurate 3D reference maps. The proposed method avoids feature matching and achieves accurate 3D reconstruction for almost all keypoints. To estimate camera pose over a wide area, we use the wide-area LiDAR point cloud to remove points that are not visible to the camera and reduce 2D-3D correspondence errors. Using indoor and outdoor datasets, we apply the proposed method to several state-of-the-art local features and confirm that it improves the accuracy of camera pose estimation.
MolGround: A Benchmark for Molecular Grounding
Venue: arXiv cs.AI 2025
Year: 2025

Current molecular understanding approaches predominantly focus on the descriptive aspect of human perception, providing broad, topic-level insights. However, the referential aspect -- linking molecular concepts to specific structural components -- remains largely unexplored. To address this gap, we propose a molecular grounding benchmark designed to evaluate a model's referential abilities. We align molecular grounding with established conventions in NLP, cheminformatics, and molecular science, showcasing the potential of NLP techniques to advance molecular understanding within the AI for Science movement. Furthermore, we constructed the largest molecular understanding benchmark to date, comprising 117k QA pairs, and developed a multi-agent grounding prototype as proof of concept. This system outperforms existing models, including GPT-4o, and its grounding outputs have been integrated to enhance traditional tasks such as molecular captioning and ATC (Anatomical, Therapeutic, Chemical) classification.
Mapping Geopolitical Bias in 11 Large Language Models: A Bilingual, Dual-Framing Analysis of U.S.-China Tensions
Venue: arXiv cs.CL 2025
Year: 2025

This study systematically analyzes geopolitical bias across 11 prominent Large Language Models (LLMs) by examining their responses to seven critical topics in U.S.-China relations. Utilizing a bilingual (English and Chinese) and dual-framing (affirmative and reverse) methodology, we generated 19,712 prompts designed to detect ideological leanings in model outputs. Responses were quantitatively assessed on a normalized scale from -2 (strongly Pro-China) to +2 (strongly Pro-U.S.) and categorized according to stance, neutrality, and refusal rates. The findings demonstrate significant and consistent ideological alignments correlated with the LLMs' geographic origins; U.S.-based models predominantly favored Pro-U.S. stances, while Chinese-origin models exhibited pronounced Pro-China biases. Notably, language and prompt framing substantially influenced model responses, with several LLMs exhibiting stance reversals based on prompt polarity or linguistic context. Additionally, we introduced comprehensive metrics to evaluate response consistency across languages and framing conditions, identifying variability and vulnerabilities in model behaviors. These results offer practical insights that can guide organizations and individuals in selecting LLMs best aligned with their operational priorities and geopolitical considerations, underscoring the importance of careful model evaluation in politically sensitive applications. Furthermore, the research highlights specific prompt structures and linguistic variations that can strategically trigger distinct responses from models, revealing methods for effectively navigating and influencing LLM outputs.
ElimPCL: Eliminating Noise Accumulation with Progressive Curriculum Labeling for Source-Free Domain Adaptation
Venue: arXiv cs.CV 2025
Year: 2025

Source-Free Domain Adaptation (SFDA) aims to train a target model without source data, and the key is to generate pseudo-labels using a pre-trained source model. However, we observe that the source model often produces highly uncertain pseudo-labels for hard samples, particularly those heavily affected by domain shifts, leading to these noisy pseudo-labels being introduced even before adaptation and further reinforced through parameter updates. Additionally, they continuously influence neighbor samples through propagation in the feature space.To eliminate the issue of noise accumulation, we propose a novel Progressive Curriculum Labeling (ElimPCL) method, which iteratively filters trustworthy pseudo-labeled samples based on prototype consistency to exclude high-noise samples from training. Furthermore, a Dual MixUP technique is designed in the feature space to enhance the separability of hard samples, thereby mitigating the interference of noisy samples on their neighbors.Extensive experiments validate the effectiveness of ElimPCL, achieving up to a 3.4% improvement on challenging tasks compared to state-of-the-art methods.
Building Instruction-Tuning Datasets from Human-Written Instructions with Open-Weight Large Language Models
Venue: arXiv cs.CL 2025
Year: 2025

Instruction tuning is crucial for enabling Large Language Models (LLMs) to solve real-world tasks. Prior work has shown the effectiveness of instruction-tuning data synthesized solely from LLMs, raising a fundamental question: Do we still need human-originated signals for instruction tuning? This work answers the question affirmatively: we build state-of-the-art instruction-tuning datasets sourced from human-written instructions, by simply pairing them with LLM-generated responses. LLMs fine-tuned on our datasets consistently outperform those fine-tuned on existing ones. Our data construction approach can be easily adapted to other languages; we build datasets for Japanese and confirm that LLMs tuned with our data reach state-of-the-art performance. Analyses suggest that instruction-tuning in a new language allows LLMs to follow instructions, while the tuned models exhibit a notable lack of culture-specific knowledge in that language. The datasets and fine-tuned models will be publicly available. Our datasets, synthesized with open-weight LLMs, are openly distributed under permissive licenses, allowing for diverse use cases.
Exploring Temporal Dynamics in Event-based Eye Tracker
Venue: arXiv cs.CV 2025
Year: 2025

Eye-tracking is a vital technology for human-computer interaction, especially in wearable devices such as AR, VR, and XR. The realization of high-speed and high-precision eye-tracking using frame-based image sensors is constrained by their limited temporal resolution, which impairs the accurate capture of rapid ocular dynamics, such as saccades and blinks. Event cameras, inspired by biological vision systems, are capable of perceiving eye movements with extremely low power consumption and ultra-high temporal resolution. This makes them a promising solution for achieving high-speed, high-precision tracking with rich temporal dynamics. In this paper, we propose TDTracker, an effective eye-tracking framework that captures rapid eye movements by thoroughly modeling temporal dynamics from both implicit and explicit perspectives. TDTracker utilizes 3D convolutional neural networks to capture implicit short-term temporal dynamics and employs a cascaded structure consisting of a Frequency-aware Module, GRU, and Mamba to extract explicit long-term temporal dynamics. Ultimately, a prediction heatmap is used for eye coordinate regression. Experimental results demonstrate that TDTracker achieves state-of-the-art (SOTA) performance on the synthetic SEET dataset and secured Third place in the CVPR event-based eye-tracking challenge 2025. Our code is available at https://github.com/rhwxmx/TDTracker.
LANID: LLM-assisted New Intent Discovery
Venue: arXiv cs.CL 2025
Year: 2025

Task-oriented Dialogue Systems (TODS) often face the challenge of encountering new intents. New Intent Discovery (NID) is a crucial task that aims to identify these novel intents while maintaining the capability to recognize existing ones. Previous efforts to adapt TODS to new intents have struggled with inadequate semantic representation or have depended on external knowledge, which is often not scalable or flexible. Recently, Large Language Models (LLMs) have demonstrated strong zero-shot capabilities; however, their scale can be impractical for real-world applications that involve extensive queries. To address the limitations of existing NID methods by leveraging LLMs, we propose LANID, a framework that enhances the semantic representation of lightweight NID encoders with the guidance of LLMs. Specifically, LANID employs the $K$-nearest neighbors and Density-Based Spatial Clustering of Applications with Noise (DBSCAN) algorithms to sample selective utterance pairs from the training set. It then queries an LLM to ascertain the relationships between these pairs. The data produced from this process is utilized to design a contrastive fine-tuning task, which is then used to train a small encoder with a contrastive triplet loss. Our experimental results demonstrate the efficacy of the proposed method across three distinct NID datasets, surpassing strong baselines in both unsupervised and semi-supervised settings. Our code is available at https://github.com/floatSDSDS/LANID.
A Comparison among Single Carrier, OFDM, and OTFS in mmWave Multi-Connectivity Downlink Transmissions
Venue: arXiv cs.IT 2025
Year: 2025

In this paper, we perform a comparative study of common wireless communication waveforms, namely the single carrier (SC), orthogonal frequency-division multiplexing (OFDM), and orthogonal time-frequency-space (OTFS) modulation in a millimeter wave (mmWave) downlink multi-connectivity scenario, where multiple access points (APs) jointly serve a given user under imperfect time and frequency synchronization errors. For a fair comparison, all the three waveforms are evaluated using variants of common frequency domain equalization (FDE). To this end, a novel cross domain iterative detection for OTFS is proposed. The performance of the different waveforms is evaluated numerically in terms of pragmatic capacity. The numerical results show that OTFS significantly outperforms SC and OFDM at cost of reasonably increased complexity, because of the low cyclic-prefix (CP) overhead and the effectiveness of the proposed detection.
Word Break on SLP-Compressed Texts
Venue: arXiv cs.DS 2025
Year: 2025

Word Break is a prototypical factorization problem in string processing: Given a word $w$ of length $N$ and a dictionary $\mathcal{D} = \{d_1, d_2, \ldots, d_{K}\}$ of $K$ strings, determine whether we can partition $w$ into words from $\mathcal{D}$. We propose the first algorithm that solves the Word Break problem over the SLP-compressed input text $w$. Specifically, we show that, given the string $w$ represented using an SLP of size $g$, we can solve the Word Break problem in $\mathcal{O}(g \cdot m^ω + M)$ time, where $m = \max_{i=1}^{K} |d_i|$, $M = \sum_{i=1}^{K} |d_i|$, and $ω\geq 2$ is the matrix multiplication exponent. We obtain our algorithm as a simple corollary of a more general result: We show that in $\mathcal{O}(g \cdot m^ω + M)$ time, we can index the input text $w$ so that solving the Word Break problem for any of its substrings takes $\mathcal{O}(m^2 \log N)$ time (independent of the substring length). Our second contribution is a lower bound: We prove that, unless the Combinatorial $k$-Clique Conjecture fails, there is no combinatorial algorithm for Word Break on SLP-compressed strings running in $\mathcal{O}(g \cdot m^{2-ε} + M)$ time for any $ε> 0$.