OpenRaiser/Intern-Atlas huggingface dataset:
Learning to Capture Rocks using an Excavator: A Reinforcement Learning Approach with Guiding Reward Formulation
Venue: arXiv cs.RO 2025
Year: 2025

Rock capturing with standard excavator buckets is a challenging task typically requiring the expertise of skilled operators. Unlike soil digging, it involves manipulating large, irregular rocks in unstructured environments where complex contact interactions with granular material make model-based control impractical. Existing autonomous excavation methods focus mainly on continuous media or rely on specialized grippers, limiting their applicability to real-world construction sites. This paper introduces a fully data-driven control framework for rock capturing that eliminates the need for explicit modeling of rock or soil properties. A model-free reinforcement learning agent is trained in the AGX Dynamics simulator using the Proximal Policy Optimization (PPO) algorithm and a guiding reward formulation. The learned policy outputs joint velocity commands directly to the boom, arm, and bucket of a CAT365 excavator model. Robustness is enhanced through extensive domain randomization of rock geometry, density, and mass, as well as the initial configurations of the bucket, rock, and goal position. To the best of our knowledge, this is the first study to develop and evaluate an RL-based controller for the rock capturing task. Experimental results show that the policy generalizes well to unseen rocks and varying soil conditions, achieving high success rates comparable to those of human participants while maintaining machine stability. These findings demonstrate the feasibility of learning-based excavation strategies for discrete object manipulation without requiring specialized hardware or detailed material models.
Let Features Decide Their Own Solvers: Hybrid Feature Caching for Diffusion Transformers
Venue: arXiv cs.CV 2025
Year: 2025

Diffusion Transformers offer state-of-the-art fidelity in image and video synthesis, but their iterative sampling process remains a major bottleneck due to the high cost of transformer forward passes at each timestep. To mitigate this, feature caching has emerged as a training-free acceleration technique that reuses or forecasts hidden representations. However, existing methods often apply a uniform caching strategy across all feature dimensions, ignoring their heterogeneous dynamic behaviors. Therefore, we adopt a new perspective by modeling hidden feature evolution as a mixture of ODEs across dimensions, and introduce HyCa, a Hybrid ODE solver inspired caching framework that applies dimension-wise caching strategies. HyCa achieves near-lossless acceleration across diverse domains and models, including 5.55 times speedup on FLUX, 5.56 times speedup on HunyuanVideo, 6.24 times speedup on Qwen-Image and Qwen-Image-Edit without retraining.
Finite Time Analysis of Constrained Natural Critic-Actor Algorithm with Improved Sample Complexity
Venue: arXiv cs.LG 2025
Year: 2025

Recent studies have increasingly focused on non-asymptotic convergence analyses for actor-critic (AC) algorithms. One such effort introduced a two-timescale critic-actor algorithm for the discounted cost setting using a tabular representation, where the usual roles of the actor and critic are reversed. However, only asymptotic convergence was established there. Subsequently, both asymptotic and non-asymptotic analyses of the critic-actor algorithm with linear function approximation were conducted. In our work, we introduce the first natural critic-actor algorithm with function approximation for the long-run average cost setting and under inequality constraints. We provide the non-asymptotic convergence guarantees for this algorithm. Our analysis establishes optimal learning rates and we also propose a modification to enhance sample complexity. We further show the results of experiments on three different Safety-Gym environments where our algorithm is found to be competitive in comparison with other well known algorithms.
AgentRL: Scaling Agentic Reinforcement Learning with a Multi-Turn, Multi-Task Framework
Venue: arXiv cs.AI 2025
Year: 2025

Recent advances in large language models (LLMs) have sparked growing interest in building generalist agents that can learn through online interactions. However, applying reinforcement learning (RL) to train LLM agents in multi-turn, multi-task settings remains challenging due to lack of scalable infrastructure and stable training algorithms. In this work, we present the AgentRL framework for scalable multi-turn, multi-task agentic RL training. On the infrastructure side, AgentRL features a fully-asynchronous generation-training pipeline for efficient multi-turn RL. To support heterogeneous environment development in multi-task RL, we design a unified function-call based API interface, containerized environment development, and a centralized controller. On the algorithm side, we propose cross-policy sampling to encourage model exploration in multi-turn settings and task advantage normalization to stabilize multi-task training. Experiments show that AgentRL, trained on open LLMs across five agentic tasks, significantly outperforms GPT-5, Clause-Sonnet-4, DeepSeek-R1, and other open-source LLM agents. Multi-task training with AgentRL matches the best results among all task-specific models. AgentRL is open-sourced at https://github.com/THUDM/AgentRL. The algorithm and framework are adopted in building \textsc{\href{https://autoglm.zhipuai.cn}{AutoGLM}}.
Detection of retinal diseases using an accelerated reused convolutional network
Venue: arXiv cs.CV 2025
Year: 2025

Convolutional neural networks are continually evolving, with some efforts aimed at improving accuracy, others at increasing speed, and some at enhancing accessibility. Improving accessibility broadens the application of neural networks across a wider range of tasks, including the detection of eye diseases. Early diagnosis of eye diseases and consulting an ophthalmologist can prevent many vision disorders. Given the importance of this issue, various datasets have been collected from the cornea to facilitate the process of making neural network models. However, most of the methods introduced in the past are computationally complex. In this study, we tried to increase the accessibility of deep neural network models. We did this at the most fundamental level, specifically by redesigning and optimizing the convolutional layers. By doing so, we created a new general model that incorporates our novel convolutional layer named ArConv layers. Thanks to the efficient performance of this new layer, the model has suitable complexity for use in mobile phones and can perform the task of diagnosing the presence of disease with high accuracy. The final model we present contains only 1.3 million parameters. In comparison to the MobileNetV2 model, which has 2.2 million parameters, our model demonstrated better accuracy when trained and evaluated on the RfMiD dataset under identical conditions, achieving an accuracy of 0.9328 versus 0.9266 on the RfMiD test set.
Empowering Denoising Sequential Recommendation with Large Language Model Embeddings
Venue: arXiv cs.IR 2025
Year: 2025

Sequential recommendation aims to capture user preferences by modeling sequential patterns in user-item interactions. However, these models are often influenced by noise such as accidental interactions, leading to suboptimal performance. Therefore, to reduce the effect of noise, some works propose explicitly identifying and removing noisy items. However, we find that simply relying on collaborative information may result in an over-denoising problem, especially for cold items. To overcome these limitations, we propose a novel framework: Interest Alignment for Denoising Sequential Recommendation (IADSR) which integrates both collaborative and semantic information. Specifically, IADSR is comprised of two stages: in the first stage, we obtain the collaborative and semantic embeddings of each item from a traditional sequential recommendation model and an LLM, respectively. In the second stage, we align the collaborative and semantic embeddings and then identify noise in the interaction sequence based on long-term and short-term interests captured in the collaborative and semantic modalities. Our extensive experiments on four public datasets validate the effectiveness of the proposed framework and its compatibility with different sequential recommendation systems.
ContextVLA: Vision-Language-Action Model with Amortized Multi-Frame Context
Venue: arXiv cs.RO 2025
Year: 2025

Leveraging temporal context is crucial for success in partially observable robotic tasks. However, prior work in behavior cloning has demonstrated inconsistent performance gains when using multi-frame observations. In this paper, we introduce ContextVLA, a policy model that robustly improves robotic task performance by effectively leveraging multi-frame observations. Our approach is motivated by the key observation that Vision-Language-Action models (VLA), i.e., policy models built upon a Vision-Language Model (VLM), more effectively utilize multi-frame observations for action generation. This suggests that VLMs' inherent temporal understanding capability enables them to extract more meaningful context from multi-frame observations. However, the high dimensionality of video inputs introduces significant computational overhead, making VLA training and inference inefficient. To address this, ContextVLA compresses past observations into a single context token, allowing the policy to efficiently leverage temporal context for action generation. Our experiments show that ContextVLA consistently improves over single-frame VLAs and achieves the benefits of full multi-frame training but with reduced training and inference times.
Small Fleet, Big Impact: Enhancing Shared Micromobility Efficiency through Minimal Autonomous Vehicle Deployment
Venue: arXiv cs.MA 2025
Year: 2025

Shared micromobility systems, such as electric scooters and bikes, have gained widespread popularity as sustainable alternatives to traditional transportation modes. However, these systems face persistent challenges due to spatio-temporal demand fluctuations, often resulting in a mismatch between vehicle supply and user demand. Existing shared micromobility vehicle scheduling methods typically redistribute vehicles once or twice per day, which makes them vulnerable to performance degradation under atypical conditions. In this work, we design to augment existing micromobility scheduling methods by integrating a small number of autonomous shared micromobility vehicles (ASMVs), which possess self-rebalancing capabilities to dynamically adapt to real-time demand. Specifically, we introduce SMART, a hierarchical reinforcement learning framework that jointly optimizes high-level initial deployment and low-level real-time rebalancing for ASMVs. We evaluate our framework based on real-world e-scooter usage data from Chicago. Our experiment results show that our framework is highly effective and possesses strong generalization capability, allowing it to seamlessly integrate with existing vehicle scheduling methods and significantly enhance overall micromobility service performance.
Influence branching for learning to solve mixed-integer programs online
Venue: arXiv cs.LG 2025
Year: 2025

On the occasion of the 20th Mixed Integer Program Workshop's computational competition, this work introduces a new approach for learning to solve MIPs online. Influence branching, a new graph-oriented variable selection strategy, is applied throughout the first iterations of the branch and bound algorithm. This branching heuristic is optimized online with Thompson sampling, which ranks the best graph representations of MIP's structure according to computational speed up over SCIP. We achieve results comparable to state of the art online learning methods. Moreover, our results indicate that our method generalizes well to more general online frameworks, where variations in constraint matrix, constraint vector and objective coefficients can all occur and where more samples are available.
ChronoEdit: Towards Temporal Reasoning for Image Editing and World Simulation
Venue: arXiv cs.CV 2025
Year: 2025

Recent advances in large generative models have greatly enhanced both image editing and in-context image generation, yet a critical gap remains in ensuring physical consistency, where edited objects must remain coherent. This capability is especially vital for world simulation related tasks. In this paper, we present ChronoEdit, a framework that reframes image editing as a video generation problem. First, ChronoEdit treats the input and edited images as the first and last frames of a video, allowing it to leverage large pretrained video generative models that capture not only object appearance but also the implicit physics of motion and interaction through learned temporal consistency. Second, ChronoEdit introduces a temporal reasoning stage that explicitly performs editing at inference time. Under this setting, target frame is jointly denoised with reasoning tokens to imagine a plausible editing trajectory that constrains the solution space to physically viable transformations. The reasoning tokens are then dropped after a few steps to avoid the high computational cost of rendering a full video. To validate ChronoEdit, we introduce PBench-Edit, a new benchmark of image-prompt pairs for contexts that require physical consistency, and demonstrate that ChronoEdit surpasses state-of-the-art baselines in both visual fidelity and physical plausibility. Project page for code and models: https://research.nvidia.com/labs/toronto-ai/chronoedit
Measuring Language Model Hallucinations Through Distributional Correctness
Venue: arXiv cs.CL 2025
Year: 2025

Common evaluation paradigms for language models focus on scoring single responses through accuracy metrics or proper scoring rules, failing to capture the full richness of a model's belief state. Recent work illustrates that language models hallucinate in-part because they are optimised to be good test-takers under binary scoring schemes that reward any answer over abstention. While this insight naturally leads to penalty-based approaches, they ignore crucial distinctions in how models distribute uncertainty, for example between hedging toward incorrect answers versus hedging toward "I don't know" responses. A novel evaluation metric, the Distributional Correctness Score (DCS), is introduced to solve this problem, i.e., of not considering a model's entire probability distribution over answer choices. DCS naturally distinguishes between harmful overconfidence in wrong answers and uncertainty expressed through abstention, providing scores in an interpretable default range. Through theoretical analysis and illustrative examples, DCS is demonstrated to offer a more nuanced and aligned evaluation paradigm that incentivises models to express genuine uncertainty rather than guessing. Adapting 12 existing evaluation benchmarks to DCS's variants and measuring performance on six language models reveals that for half of the tested benchmarks scores are negative across all tested models, indicating significant tendencies towards hallucination.
Wave-PDE Nets: Trainable Wave-Equation Layers as an Alternative to Attention
Venue: arXiv cs.LG 2025
Year: 2025

We introduce Wave-PDE Nets, a neural architecture whose elementary operation is a differentiable simulation of the second-order wave equation. Each layer propagates its hidden state as a continuous field through a medium with trainable spatial velocity c(x) and damping γ(x). A symplectic spectral solver based on FFTs realises this propagation in O(nlog n) time. This oscillatory, global mechanism provides a powerful alternative to attention and first-order state-space models. We prove that a single Wave-PDE layer is a universal approximator. On language and vision benchmarks, Wave-PDE Nets match or exceed Transformer performance while demonstrating superior practical efficiency, reducing wall-clock time by up to 30% and peak memory by 25%. Ablation studies confirm the critical role of symplectic integration and a spectral Laplacian for stability and performance. Visualizations of the learned physical parameters reveal that the model learns intuitive strategies for information propagation. These results position Wave-PDE Nets as a computationally efficient and robust architecture with a strong physical inductive bias.
Beyond Canonical Rounds: Communication Abstractions for Optimal Byzantine Resilience
Venue: arXiv cs.DC 2025
Year: 2025

We study communication abstractions for asynchronous Byzantine fault tolerance with optimal failure resilience, where $n > 3f$. Two classic patterns -- canonical asynchronous rounds and communication-closed layers -- have long been considered as general frameworks for designing distributed algorithms, making asynchronous executions appear synchronous and enabling modular reasoning. We show that these patterns are inherently limited in the critical resilience regime $3f < n \le 5f$. Several key tasks -- such as approximate and crusader agreement, reliable broadcast and gather -- cannot be solved by bounded-round canonical-round algorithms, and are unsolvable if communication closure is imposed. These results explain the historical difficulty of achieving optimal-resilience algorithms within round-based frameworks. On the positive side, we show that the gather abstraction admits constant-time solutions with optimal resilience ($n > 3f$), and supports modular reductions. Specifically, we present the first optimally-resilient algorithm for connected consensus by reducing it to gather. Our results demonstrate that while round-based abstractions are analytically convenient, they obscure the true complexity of Byzantine fault-tolerant algorithms. Richer communication patterns such as gather provide a better foundation for modular, optimal-resilience design.
Evaluation of Clinical Trials Reporting Quality using Large Language Models
Venue: arXiv cs.CL 2025
Year: 2025

Reporting quality is an important topic in clinical trial research articles, as it can impact clinical decisions. In this article, we test the ability of large language models to assess the reporting quality of this type of article using the Consolidated Standards of Reporting Trials (CONSORT). We create CONSORT-QA, an evaluation corpus from two studies on abstract reporting quality with CONSORT-abstract standards. We then evaluate the ability of different large generative language models (from the general domain or adapted to the biomedical domain) to correctly assess CONSORT criteria with different known prompting methods, including Chain-of-thought. Our best combination of model and prompting method achieves 85% accuracy. Using Chain-of-thought adds valuable information on the model's reasoning for completing the task.
Challenge on Optimization of Context Collection for Code Completion
Venue: arXiv cs.SE 2025
Year: 2025

The rapid advancement of workflows and methods for software engineering using AI emphasizes the need for a systematic evaluation and analysis of their ability to leverage information from entire projects, particularly in large code bases. In this challenge on optimization of context collection for code completion, organized by JetBrains in collaboration with Mistral AI as part of the ASE 2025 conference, participants developed efficient mechanisms for collecting context from source code repositories to improve fill-in-the-middle code completions for Python and Kotlin. We constructed a large dataset of real-world code in these two programming languages using permissively licensed open-source projects. The submissions were evaluated based on their ability to maximize completion quality for multiple state-of-the-art neural models using the chrF metric. During the public phase of the competition, nineteen teams submitted solutions to the Python track and eight teams submitted solutions to the Kotlin track. In the private phase, six teams competed, of which five submitted papers to the workshop.
Improving Consistency in Retrieval-Augmented Systems with Group Similarity Rewards
Venue: arXiv cs.CL 2025
Year: 2025

RAG systems are increasingly deployed in high-stakes domains where users expect outputs to be consistent across semantically equivalent queries. However, existing systems often exhibit significant inconsistencies due to variability in both the retriever and generator (LLM), undermining trust and reliability. In this work, we focus on information consistency, i.e., the requirement that outputs convey the same core content across semantically equivalent inputs. We introduce a principled evaluation framework that decomposes RAG consistency into retriever-level, generator-level, and end-to-end components, helping identify inconsistency sources. To improve consistency, we propose Paraphrased Set Group Relative Policy Optimization (PS-GRPO), an RL approach that leverages multiple rollouts across paraphrased set to assign group similarity rewards. We leverage PS-GRPO to achieve Information Consistent RAG (Con-RAG), training the generator to produce consistent outputs across paraphrased queries and remain robust to retrieval-induced variability. Because exact reward computation over paraphrase sets is computationally expensive, we also introduce a scalable approximation method that retains effectiveness while enabling efficient, large-scale training. Empirical evaluations across short-form, multi-hop, and long-form QA benchmarks demonstrate that Con-RAG significantly improves both consistency and accuracy over strong baselines, even in the absence of explicit ground-truth supervision. Our work provides practical solutions for evaluating and building reliable RAG systems for safety-critical deployments.
Time Is Effort: Estimating Human Post-Editing Time for Grammar Error Correction Tool Evaluation
Venue: arXiv cs.CL 2025
Year: 2025

Text editing can involve several iterations of revision. Incorporating an efficient Grammar Error Correction (GEC) tool in the initial correction round can significantly impact further human editing effort and final text quality. This raises an interesting question to quantify GEC Tool usability: How much effort can the GEC Tool save users? We present the first large-scale dataset of post-editing (PE) time annotations and corrections for two English GEC test datasets (BEA19 and CoNLL14). We introduce Post-Editing Effort in Time (PEET) for GEC Tools as a human-focused evaluation scorer to rank any GEC Tool by estimating PE time-to-correct. Using our dataset, we quantify the amount of time saved by GEC Tools in text editing. Analyzing the edit type indicated that determining whether a sentence needs correction and edits like paraphrasing and punctuation changes had the greatest impact on PE time. Finally, comparison with human rankings shows that PEET correlates well with technical effort judgment, providing a new human-centric direction for evaluating GEC tool usability. We release our dataset and code at: https://github.com/ankitvad/PEET_Scorer.