OpenRaiser/Intern-Atlas huggingface dataset:
Interpretable end-to-end Neurosymbolic Reinforcement Learning agents
Venue: arXiv cs.AI 2025
Year: 2025

Deep reinforcement learning (RL) agents rely on shortcut learning, preventing them from generalizing to slightly different environments. To address this problem, symbolic method, that use object-centric states, have been developed. However, comparing these methods to deep agents is not fair, as these last operate from raw pixel-based states. In this work, we instantiate the symbolic SCoBots framework. SCoBots decompose RL tasks into intermediate, interpretable representations, culminating in action decisions based on a comprehensible set of object-centric relational concepts. This architecture aids in demystifying agent decisions. By explicitly learning to extract object-centric representations from raw states, object-centric RL, and policy distillation via rule extraction, this work places itself within the neurosymbolic AI paradigm, blending the strengths of neural networks with symbolic AI. We present the first implementation of an end-to-end trained SCoBot, separately evaluate of its components, on different Atari games. The results demonstrate the framework's potential to create interpretable and performing RL systems, and pave the way for future research directions in obtaining end-to-end interpretable RL agents.
Attuned to Change: Causal Fine-Tuning under Latent-Confounded Shifts
Venue: arXiv cs.LG 2025
Year: 2025

Adapting to latent-confounded shifts remains a core challenge in modern AI. These shifts are propagated via latent variables that induce spurious, non-transportable correlations between inputs and labels. One practical failure mode arises when fine-tuning pre-trained foundation models on confounded data (e.g., where certain text tokens or image backgrounds spuriously correlate with the label), leaving models vulnerable at deployment. We frame causal fine-tuning as an identification problem and pose an explicit causal model that decomposes inputs into low-level spurious features and high-level causal representations. Under this family of models, we formalize the assumptions required for identification. Using pre-trained language models as a case study, we show how identifying and adjusting these components during causal fine-tuning enables automatic adaptation to latent-confounded shifts at test time. Experiments on semi-synthetic benchmarks derived from real-world problems demonstrate that our method outperforms black-box domain generalization baselines, illustrating the benefits of explicitly modeling causal structure.
Dual-Label Learning With Irregularly Present Labels
Venue: arXiv cs.LG 2025
Year: 2025

In multi-task learning, labels are often missing irregularly across samples, which can be fully labeled, partially labeled or unlabeled. The irregular label presence often appears in scientific studies due to experimental limitations. It triggers a demand for a new training and inference mechanism that could accommodate irregularly present labels and maximize their utility. This work focuses on the two-label learning task and proposes a novel training and inference framework, Dual-Label Learning (DLL). The DLL framework formulates the problem into a dual-function system, in which the two functions should simultaneously satisfy standard supervision, structural duality and probabilistic duality. DLL features a dual-tower model architecture that allows for explicit information exchange between labels, aimed at maximizing the utility of partially available labels. During training, missing labels are imputed as part of the forward propagation process, while during inference, labels are predicted jointly as unknowns of a bivariate system of equations. Our theoretical analysis guarantees the feasibility of DLL, and extensive experiments are conducted to verify that by explicitly modeling label correlation and maximizing label utility, our method makes consistently better prediction than baseline approaches by up to 9.6% gain in F1-score or 10.2% reduction in MAPE. Remarkably, DLL maintains robust performance at a label missing rate of up to 60%, achieving even better results than baseline approaches at lower missing rates down to only 10%.
Graph Optimality-Aware Stochastic LiDAR Bundle Adjustment with Progressive Spatial Smoothing
Venue: arXiv cs.RO 2025
Year: 2025

Large-scale LiDAR Bundle Adjustment (LBA) to refine sensor orientation and point cloud accuracy simultaneously to build the navigation map is a fundamental task in logistics and robotics. Unlike pose-graph-based methods that rely solely on pairwise relationships between LiDAR frames, LBA leverages raw LiDAR correspondences to achieve more precise results, especially when initial pose estimates are unreliable for low-cost sensors. However, existing LBA methods face challenges such as simplistic planar correspondences, extensive observations, and dense normal matrices in the least-squares problem, which limit robustness, efficiency, and scalability. To address these issues, we propose a Graph Optimality-aware Stochastic Optimization scheme with Progressive Spatial Smoothing, namely PSS-GOSO, to achieve \textit{robust}, \textit{efficient}, and \textit{scalable} LBA. The Progressive Spatial Smoothing (PSS) module extracts \textit{robust} LiDAR feature association exploiting the prior structure information obtained by the polynomial smooth kernel. The Graph Optimality-aware Stochastic Optimization (GOSO) module first sparsifies the graph according to optimality for an \textit{efficient} optimization. GOSO then utilizes stochastic clustering and graph marginalization to solve the large-scale state estimation problem for a \textit{scalable} LBA. We validate PSS-GOSO across diverse scenes captured by various platforms, demonstrating its superior performance compared to existing methods. Moreover, the resulting point cloud maps are used for automatic last-mile delivery in large-scale complex scenes. The project page can be found at: \url{https://kafeiyin00.github.io/PSS-GOSO/}.
ELOQ: Resources for Enhancing LLM Detection of Out-of-Scope Questions
Venue: arXiv cs.CL 2025
Year: 2025

Retrieval-augmented generation (RAG) has become integral to large language models (LLMs), particularly for conversational AI systems where user questions may reference knowledge beyond the LLMs' training cutoff. However, many natural user questions lack well-defined answers, either due to limited domain knowledge or because the retrieval system returns documents that are relevant in appearance but uninformative in content. In such cases, LLMs often produce hallucinated answers without flagging them. While recent work has largely focused on questions with false premises, we study out-of-scope questions, where the retrieved document appears semantically similar to the question but lacks the necessary information to answer it. In this paper, we propose a guided hallucination-based approach ELOQ to automatically generate a diverse set of out-of-scope questions from post-cutoff documents, followed by human verification to ensure quality. We use this dataset to evaluate several LLMs on their ability to detect out-of-scope questions and generate appropriate responses. Finally, we introduce an improved detection method that enhances the reliability of LLM-based question-answering systems in handling out-of-scope questions.
Bidirectional Dijkstra's Algorithm is Instance-Optimal
Venue: arXiv cs.DS 2025
Year: 2025

Although Dijkstra's algorithm has near-optimal time complexity for the problem of finding a shortest path from a given vertex $s$ to a given vertex $t$, in practice other algorithms are often superior on huge graphs. A prominent example is bidirectional search, which concurrently executes Dijkstra's algorithm forward from $s$ and backward from $t$, and stops when these executions meet. In this paper, we give a strong theoretical justification for the use of bidirectional search to find a shortest $st$-path. We prove that for weighted multigraphs, both directed and undirected, a careful implementation of bidirectional search is instance-optimal with respect to the number of edges it examines. That is, we prove that no correct algorithm can outperform our implementation of bidirectional search on any single instance by more than a constant factor. For unweighted graphs, we show that bidirectional breadth-first search is instance-optimal up to a factor of $O(Δ)$ where $Δ$ is the maximum degree of the graph. We also show that this is best possible.
To Trust or Not to Trust? Enhancing Large Language Models' Situated Faithfulness to External Contexts
Venue: arXiv cs.CL 2025
Year: 2025

Large Language Models (LLMs) are often augmented with external contexts, such as those used in retrieval-augmented generation (RAG). However, these contexts can be inaccurate or intentionally misleading, leading to conflicts with the model's internal knowledge. We argue that robust LLMs should demonstrate situated faithfulness, dynamically calibrating their trust in external information based on their confidence in the internal knowledge and the external context to resolve knowledge conflicts. To benchmark this capability, we evaluate LLMs across several QA datasets, including a newly created dataset featuring in-the-wild incorrect contexts sourced from Reddit posts. We show that when provided with both correct and incorrect contexts, both open-source and proprietary models tend to overly rely on external information, regardless of its factual accuracy. To enhance situated faithfulness, we propose two approaches: Self-Guided Confidence Reasoning (SCR) and Rule-Based Confidence Reasoning (RCR). SCR enables models to self-assess the confidence of external information relative to their own internal knowledge to produce the most accurate answer. RCR, in contrast, extracts explicit confidence signals from the LLM and determines the final answer using predefined rules. Our results show that for LLMs with strong reasoning capabilities, such as GPT-4o and GPT-4o mini, SCR outperforms RCR, achieving improvements of up to 24.2% over a direct input augmentation baseline. Conversely, for a smaller model like Llama-3-8B, RCR outperforms SCR. Fine-tuning SCR with our proposed Confidence Reasoning Direct Preference Optimization (CR-DPO) method improves performance on both seen and unseen datasets, yielding an average improvement of 8.9% on Llama-3-8B. In addition to quantitative results, we offer insights into the relative strengths of SCR and RCR.
SGLP: A Similarity Guided Fast Layer Partition Pruning for Compressing Large Deep Models
Venue: arXiv cs.LG 2025
Year: 2025

Layer pruning has emerged as a potent approach to remove redundant layers in the pre-trained network on the purpose of reducing network size and improve computational efficiency. However, existing layer pruning methods mostly overlook the intrinsic connections and inter-dependencies between different layers within complicated deep neural networks. This oversight can result in pruned models that do not preserve the essential characteristics of the pre-trained network as effectively as desired. To address these limitations, we propose a Similarity-Guided Layer Partition (SGLP) Pruning, a novel pruning framework that exploits representation similarity to guide efficient and informed layer removal for compressing large deep models. Our method begins by employing Centered Kernel Alignment (CKA) to quantify representational similarity between layers, uncovering structural patterns within the network. We then apply Fisher Optimal Segmentation on the similarity matrix to partition the network into semantically coherent layer segments. This segmentation allows pruning decisions to respect layer interdependencies and preserve essential knowledge. Within each segment, we introduce a fine-tuning-free importance evaluation using GradNorm, identifying and removing redundant layers in a targeted, segment-wise manner. Experimental results on both image classification tasks and large language models (LLMs) demonstrate that our proposed SGLP outperforms the state-of-the-art methods in accuracy and efficiency. Our approach achieves significant model compression with minimal performance degradation, making it well-suited for deployment in resource-limited environments.
Packing-Inspired Algorithms for Periodic Scheduling Problems with Harmonic Periods
Venue: arXiv cs.DS 2025
Year: 2025

We tackle the problem of non-preemptive periodic scheduling with a harmonic set of periods. Problems of this kind arise within domains of periodic manufacturing and maintenance, and also during the design of industrial, automotive, and avionics communication protocols, where efficient scheduling of messages is crucial for the performance of a time-triggered network. We consider the decision variant of the periodic scheduling problem on a single highly-utilized machine. We first prove a bijection between periodic scheduling and a particular (so-called height-divisible) 2D packing of rectangles. We formulate the problem using Constraint Programming and compare it with equivalent state-of-the-art Integer Linear Programming formulation, showing the former's superiority on difficult instances. Furthermore, we develop a packing-inspired first fit heuristic, which we compare with methods described in the literature. We justify our proposed methods on synthetically generated problem instances inspired by the communication of messages on one channel.
Offline-to-online Reinforcement Learning for Image-based Grasping with Scarce Demonstrations
Venue: arXiv cs.RO 2025
Year: 2025

Offline-to-online reinforcement learning (O2O RL) aims to obtain a continually improving policy as it interacts with the environment, while ensuring the initial policy behaviour is satisficing. This satisficing behaviour is necessary for robotic manipulation where random exploration can be costly due to catastrophic failures and time. O2O RL is especially compelling when we can only obtain a scarce amount of (potentially suboptimal) demonstrations$\unicode{x2014}$a scenario where behavioural cloning (BC) is known to suffer from distribution shift. Previous works have outlined the challenges in applying O2O RL algorithms under the image-based environments. In this work, we propose a novel O2O RL algorithm that can learn in a real-life image-based robotic vacuum grasping task with a small number of demonstrations where BC fails majority of the time. The proposed algorithm replaces the target network in off-policy actor-critic algorithms with a regularization technique inspired by neural tangent kernel. We demonstrate that the proposed algorithm can reach above 90\% success rate in under two hours of interaction time, with only 50 human demonstrations, while BC and existing commonly-used RL algorithms fail to achieve similar performance.
BrainECHO: Semantic Brain Signal Decoding through Vector-Quantized Spectrogram Reconstruction for Whisper-Enhanced Text Generation
Venue: arXiv cs.AI 2025
Year: 2025

Current EEG/MEG-to-text decoding systems suffer from three key limitations: (1) reliance on teacher-forcing methods, which compromises robustness during inference, (2) sensitivity to session-specific noise, hindering generalization across subjects, and (3) misalignment between brain signals and linguistic representations due to pre-trained language model over-dominance. To overcome these challenges, we propose BrainECHO (Brain signal decoding via vEctor-quantized speCtrogram reconstruction for WHisper-enhanced text generatiOn), a multi-stage framework that employs decoupled representation learning to achieve state-of-the-art performance on both EEG and MEG datasets. Specifically, BrainECHO consists of three stages: (1) Discrete autoencoding, which transforms continuous Mel spectrograms into a finite set of high-quality discrete representations for subsequent stages. (2) Frozen alignment, where brain signal embeddings are mapped to corresponding Mel spectrogram embeddings in a frozen latent space, effectively filtering session-specific noise through vector-quantized reconstruction, yielding a 3.65% improvement in BLEU-4 score. (3) Constrained decoding fine-tuning, which leverages the pre-trained Whisper model for audio-to-text translation, balancing signal adaptation with knowledge preservation, and achieving 74%-89% decoding BLEU scores without excessive reliance on teacher forcing. BrainECHO demonstrates robustness across sentence, session, and subject-independent conditions, passing Gaussian noise tests and showcasing its potential for enhancing language-based brain-computer interfaces.
Enhancing Multimodal Sentiment Analysis for Missing Modality through Self-Distillation and Unified Modality Cross-Attention
Venue: arXiv cs.CL 2025
Year: 2025

In multimodal sentiment analysis, collecting text data is often more challenging than video or audio due to higher annotation costs and inconsistent automatic speech recognition (ASR) quality. To address this challenge, our study has developed a robust model that effectively integrates multimodal sentiment information, even in the absence of text modality. Specifically, we have developed a Double-Flow Self-Distillation Framework, including Unified Modality Cross-Attention (UMCA) and Modality Imagination Autoencoder (MIA), which excels at processing both scenarios with complete modalities and those with missing text modality. In detail, when the text modality is missing, our framework uses the LLM-based model to simulate the text representation from the audio modality, while the MIA module supplements information from the other two modalities to make the simulated text representation similar to the real text representation. To further align the simulated and real representations, and to enable the model to capture the continuous nature of sample orders in sentiment valence regression tasks, we have also introduced the Rank-N Contrast (RNC) loss function. When testing on the CMU-MOSEI, our model achieved outstanding performance on MAE and significantly outperformed other models when text modality is missing. The code is available at: https://github.com/WarmCongee/SDUMC
GlitchMiner: Mining Glitch Tokens in Large Language Models via Gradient-based Discrete Optimization
Venue: arXiv cs.AI 2025
Year: 2025

Glitch tokens, inputs that trigger unpredictable or anomalous behavior in Large Language Models (LLMs), pose significant challenges to model reliability and safety. Existing detection methods primarily rely on heuristic embedding patterns or statistical anomalies within internal representations, limiting their generalizability across different model architectures and potentially missing anomalies that deviate from observed patterns. We introduce GlitchMiner, an behavior-driven framework designed to identify glitch tokens by maximizing predictive entropy. Leveraging a gradient-guided local search strategy, GlitchMiner efficiently explores the discrete token space without relying on model-specific heuristics or large-batch sampling. Extensive experiments across ten LLMs from five major model families demonstrate that GlitchMiner consistently outperforms existing approaches in detection accuracy and query efficiency, providing a generalizable and scalable solution for effective glitch token discovery. Code is available at [https://github.com/wooozihu/GlitchMiner]
TrendFact: A Benchmark for Explainable Hotspot Perception in Fact-Checking with Natural Language Explanation
Venue: arXiv cs.CL 2025
Year: 2025

Fact-checking benchmarks provide standardized testing criteria for automated fact-checking systems, driving technological advancement. With the surge of misinformation on social media and the emergence of various fact-checking methods, public concern about the transparency of automated systems and the accuracy of fact-checking for high infulence events has grown. However, existing benchmarks fail to meet these urgent needs and are predominantly English-centric, hindering the progress of comprehensive fact-checking. To address these issues, we introduce TrendFact, the first benchmark capable of evaluating hotspot perception ability (HPA) and all fact-checking tasks. TrendFact consists of 7,643 curated samples sourced from trending platforms and professional fact-checking datasets, as well as an evidence library containing 366,634 entries with publication dates. Additionally, to complement existing benchmarks in evaluating system explanation consistency and HPA, we propose two new metrics: ECS and HCPI. Experimental results show that current fact-checking systems face significant limitations when evaluated on TrendFact, which facilitates the development of more robust fact-checking methods. Furthermore, to enhance the capabilities of existing advanced fact-checking systems, the reasoning large language models (RLMs), we propose FactISR, a reasoning framework that integrates dynamic evidence augmentation with influence score-based iterative self-reflection. FactISR effectively improves RLM's performance, offering new insights into explainable and complex fact-checking.
MCCoder: Streamlining Motion Control with LLM-Assisted Code Generation and Rigorous Verification
Venue: arXiv cs.AI 2025
Year: 2025

Large Language Models (LLMs) have demonstrated significant potential in code generation. However, in the factory automation sector, particularly motion control, manual programming, alongside inefficient and unsafe debugging practices, remains prevalent. This stems from the complex interplay of mechanical and electrical systems and stringent safety requirements. Moreover, most current AI-assisted motion control programming efforts focus on PLCs, with little attention given to high-level languages and function libraries. To address these challenges, we introduce MCCoder, an LLM-powered system tailored for generating motion control code, integrated with a soft-motion controller. MCCoder improves code generation through a structured workflow that combines multitask decomposition, hybrid retrieval-augmented generation (RAG), and iterative self-correction, utilizing a well-established motion library. Additionally, it integrates a 3D simulator for intuitive motion validation and logs of full motion trajectories for data verification, significantly enhancing accuracy and safety. In the absence of benchmark datasets and metrics tailored for evaluating motion control code generation, we propose MCEVAL, a dataset spanning motion tasks of varying complexity. Experiments show that MCCoder outperforms baseline models using Advanced RAG, achieving an overall performance gain of 33.09% and a 131.77% improvement on complex tasks in the MCEVAL dataset.