OpenRaiser/Intern-Atlas huggingface dataset:
AnyDexGrasp: General Dexterous Grasping for Different Hands with Human-level Learning Efficiency
Venue: arXiv cs.RO 2025
Year: 2025

We introduce an efficient approach for learning dexterous grasping with minimal data, advancing robotic manipulation capabilities across different robotic hands. Unlike traditional methods that require millions of grasp labels for each robotic hand, our method achieves high performance with human-level learning efficiency: only hundreds of grasp attempts on 40 training objects. The approach separates the grasping process into two stages: first, a universal model maps scene geometry to intermediate contact-centric grasp representations, independent of specific robotic hands. Next, a unique grasp decision model is trained for each robotic hand through real-world trial and error, translating these representations into final grasp poses. Our results show a grasp success rate of 75-95\% across three different robotic hands in real-world cluttered environments with over 150 novel objects, improving to 80-98\% with increased training objects. This adaptable method demonstrates promising applications for humanoid robots, prosthetics, and other domains requiring robust, versatile robotic manipulation.
Automated Flow Pattern Classification in Multi-phase Systems Using AI and Capacitance Sensing Techniques
Venue: arXiv cs.LG 2025
Year: 2025

In multiphase flow systems, classifying flow patterns is crucial to optimize fluid dynamics and enhance system efficiency. Current industrial methods and scientific laboratories mainly depend on techniques such as flow visualization using regular cameras or the naked eye, as well as high-speed imaging at elevated flow rates. These methods are limited by their reliance on subjective interpretations and are particularly applicable in transparent pipes. Consequently, conventional techniques usually achieve context-dependent accuracy rates and often lack generalizability. This study introduces a novel platform that integrates a capacitance sensor and AI-driven classification methods, benchmarked against traditional techniques. Experimental results demonstrate that the proposed approach, utilizing a 1D SENet deep learning model, achieves over 85\% accuracy on experiment-based datasets and 71\% accuracy on pattern-based datasets. These results highlight significant improvements in robustness and reliability compared to existing methodologies. This work offers a transformative pathway for real-time flow monitoring and predictive modeling, addressing key challenges in industrial applications.
Facilitating Emergency Vehicle Passage in Congested Urban Areas Using Multi-agent Deep Reinforcement Learning
Venue: arXiv cs.AI 2025
Year: 2025

Emergency Response Time (ERT) is crucial for urban safety, measuring cities' ability to handle medical, fire, and crime emergencies. In NYC, medical ERT increased 72% from 7.89 minutes in 2014 to 14.27 minutes in 2024, with half of delays due to Emergency Vehicle (EMV) travel times. Each minute's delay in stroke response costs 2 million brain cells, while cardiac arrest survival drops 7-10% per minute. This dissertation advances EMV facilitation through three contributions. First, EMVLight, a decentralized multi-agent reinforcement learning framework, integrates EMV routing with traffic signal pre-emption. It achieved 42.6% faster EMV travel times and 23.5% improvement for other vehicles. Second, the Dynamic Queue-Jump Lane system uses Multi-Agent Proximal Policy Optimization for coordinated lane-clearing in mixed autonomous and human-driven traffic, reducing EMV travel times by 40%. Third, an equity study of NYC Emergency Medical Services revealed disparities across boroughs: Staten Island faces delays due to sparse signalized intersections, while Manhattan struggles with congestion. Solutions include optimized EMS stations and improved intersection designs. These contributions enhance EMV mobility and emergency service equity, offering insights for policymakers and urban planners to develop safer, more efficient transportation systems.
Make Literature-Based Discovery Great Again through Reproducible Pipelines
Venue: arXiv cs.CL 2025
Year: 2025

By connecting disparate sources of scientific literature, literature\-/based discovery (LBD) methods help to uncover new knowledge and generate new research hypotheses that cannot be found from domain-specific documents alone. Our work focuses on bisociative LBD methods that combine bisociative reasoning with LBD techniques. The paper presents LBD through the lens of reproducible science to ensure the reproducibility of LBD experiments, overcome the inconsistent use of benchmark datasets and methods, trigger collaboration, and advance the LBD field toward more robust and impactful scientific discoveries. The main novelty of this study is a collection of Jupyter Notebooks that illustrate the steps of the bisociative LBD process, including data acquisition, text preprocessing, hypothesis formulation, and evaluation. The contributed notebooks implement a selection of traditional LBD approaches, as well as our own ensemble-based, outlier-based, and link prediction-based approaches. The reader can benefit from hands-on experience with LBD through open access to benchmark datasets, code reuse, and a ready-to-run Docker recipe that ensures reproducibility of the selected LBD methods.
Feature Space Perturbation: A Panacea to Enhanced Transferability Estimation
Venue: arXiv cs.LG 2025
Year: 2025

Leveraging a transferability estimation metric facilitates the non-trivial challenge of selecting the optimal model for the downstream task from a pool of pre-trained models. Most existing metrics primarily focus on identifying the statistical relationship between feature embeddings and the corresponding labels within the target dataset, but overlook crucial aspect of model robustness. This oversight may limit their effectiveness in accurately ranking pre-trained models. To address this limitation, we introduce a feature perturbation method that enhances the transferability estimation process by systematically altering the feature space. Our method includes a Spread operation that increases intra-class variability, adding complexity within classes, and an Attract operation that minimizes the distances between different classes, thereby blurring the class boundaries. Through extensive experimentation, we demonstrate the efficacy of our feature perturbation method in providing a more precise and robust estimation of model transferability. Notably, the existing LogMe method exhibited a significant improvement, showing a 28.84% increase in performance after applying our feature perturbation method.
Dragen3D: Multiview Geometry Consistent 3D Gaussian Generation with Drag-Based Control
Venue: arXiv cs.CV 2025
Year: 2025

Single-image 3D generation has emerged as a prominent research topic, playing a vital role in virtual reality, 3D modeling, and digital content creation. However, existing methods face challenges such as a lack of multi-view geometric consistency and limited controllability during the generation process, which significantly restrict their usability. % To tackle these challenges, we introduce Dragen3D, a novel approach that achieves geometrically consistent and controllable 3D generation leveraging 3D Gaussian Splatting (3DGS). We introduce the Anchor-Gaussian Variational Autoencoder (Anchor-GS VAE), which encodes a point cloud and a single image into anchor latents and decode these latents into 3DGS, enabling efficient latent-space generation. To enable multi-view geometry consistent and controllable generation, we propose a Seed-Point-Driven strategy: first generate sparse seed points as a coarse geometry representation, then map them to anchor latents via the Seed-Anchor Mapping Module. Geometric consistency is ensured by the easily learned sparse seed points, and users can intuitively drag the seed points to deform the final 3DGS geometry, with changes propagated through the anchor latents. To the best of our knowledge, we are the first to achieve geometrically controllable 3D Gaussian generation and editing without relying on 2D diffusion priors, delivering comparable 3D generation quality to state-of-the-art methods.
Orchestrating Joint Offloading and Scheduling for Low-Latency Edge SLAM
Venue: arXiv cs.RO 2025
Year: 2025

Visual Simultaneous Localization and Mapping (vSLAM) is a prevailing technology for many emerging robotic applications. Achieving real-time SLAM on mobile robotic systems with limited computational resources is challenging because the complexity of SLAM algorithms increases over time. This restriction can be lifted by offloading computations to edge servers, forming the emerging paradigm of edge-assisted SLAM. Nevertheless, the exogenous and stochastic input processes affect the dynamics of the edge-assisted SLAM system. Moreover, the requirements of clients on SLAM metrics change over time, exerting implicit and time-varying effects on the system. In this paper, we aim to push the limit beyond existing edge-assist SLAM by proposing a new architecture that can handle the input-driven processes and also satisfy clients' implicit and time-varying requirements. The key innovations of our work involve a regional feature prediction method for importance-aware local data processing, a configuration adaptation policy that integrates data compression/decompression and task offloading, and an input-dependent learning framework for task scheduling with constraint satisfaction. Extensive experiments prove that our architecture improves pose estimation accuracy and saves up to 47% of communication costs compared with a popular edge-assisted SLAM system, as well as effectively satisfies the clients' requirements.
Deep unrolling for learning optimal spatially varying regularisation parameters for Total Generalised Variation
Venue: arXiv cs.CV 2025
Year: 2025

We extend a recently introduced deep unrolling framework for learning spatially varying regularisation parameters in inverse imaging problems to the case of Total Generalised Variation (TGV). The framework combines a deep convolutional neural network (CNN) inferring the two spatially varying TGV parameters with an unrolled algorithmic scheme that solves the corresponding variational problem. The two subnetworks are jointly trained end-to-end in a supervised fashion and as such the CNN learns to compute those parameters that drive the reconstructed images as close to the ground truth as possible. Numerical results in image denoising and MRI reconstruction show a significant qualitative and quantitative improvement compared to the best TGV scalar parameter case as well as to other approaches employing spatially varying parameters computed by unsupervised methods. We also observe that the inferred spatially varying parameter maps have a consistent structure near the image edges, asking for further theoretical investigations. In particular, the parameter that weighs the first-order TGV term has a triple-edge structure with alternating high-low-high values whereas the one that weighs the second-order term attains small values in a large neighbourhood around the edges.
Color Information-Based Automated Mask Generation for Detecting Underwater Atypical Glare Areas
Venue: arXiv cs.CV 2025
Year: 2025

Underwater diving assistance and safety support robots acquire real-time diver information through onboard underwater cameras. This study introduces a breath bubble detection algorithm that utilizes unsupervised K-means clustering, thereby addressing the high accuracy demands of deep learning models as well as the challenges associated with constructing supervised datasets. The proposed method fuses color data and relative spatial coordinates from underwater images, employs CLAHE to mitigate noise, and subsequently performs pixel clustering to isolate reflective regions. Experimental results demonstrate that the algorithm can effectively detect regions corresponding to breath bubbles in underwater images, and that the combined use of RGB, LAB, and HSV color spaces significantly enhances detection accuracy. Overall, this research establishes a foundation for monitoring diver conditions and identifying potential equipment malfunctions in underwater environments.
EDocNet: Efficient Datasheet Layout Analysis Based on Focus and Global Knowledge Distillation
Venue: arXiv cs.CV 2025
Year: 2025

When designing circuits, engineers obtain the information of electronic devices by browsing a large number of documents, which is low efficiency and heavy workload. The use of artificial intelligence technology to automatically parse documents can greatly improve the efficiency of engineers. However, the current document layout analysis model is aimed at various types of documents and is not suitable for electronic device documents. This paper proposes to use EDocNet to realize the document layout analysis function for document analysis, and use the electronic device document data set created by myself for training. The training method adopts the focus and global knowledge distillation method, and a model suitable for electronic device documents is obtained, which can divide the contents of electronic device documents into 21 categories. It has better average accuracy and average recall rate. It also greatly improves the speed of model checking.
Decoding the Issue Resolution Process in Practice via Issue Report Analysis: A Case Study of Firefox
Venue: arXiv cs.SE 2025
Year: 2025

Effectively managing and resolving software issues is critical for maintaining and evolving software systems. Development teams often rely on issue trackers and issue reports to track and manage the work needed during issue resolution, ranging from issue reproduction and analysis to solution design, implementation, verification, and deployment. Despite the issue resolution process being generally known in the software engineering community as a sequential list of activities, it is unknown how developers implement this process in practice and how they discuss it in issue reports. This paper aims to enhance our understanding of the issue resolution process implemented in practice by analyzing the issue reports of Mozilla Firefox. We qualitatively and quantitatively analyzed the discussions found in 356 Firefox issue reports, to identify the sequences of stages that developers go through to address various software problems. We analyzed the sequences to identify the overall resolution process at Firefox and derived a catalog of 47 patterns that represent instances of the process. We analyzed the process and patterns across multiple dimensions, including pattern complexity, issue report types, problem categories, and issue resolution times, resulting in various insights about Mozilla's issue resolution process. We discuss these findings and their implications for different stakeholders on how to better assess and improve the issue resolution process.
Beyond Words: How Large Language Models Perform in Quantitative Management Problem-Solving
Venue: arXiv cs.CL 2025
Year: 2025

This study examines how Large Language Models (LLMs) perform when tackling quantitative management decision problems in a zero-shot setting. Drawing on 900 responses generated by five leading models across 20 diverse managerial scenarios, our analysis explores whether these base models can deliver accurate numerical decisions under varying presentation formats, scenario complexities, and repeated attempts. Contrary to prior findings, we observed no significant effects of text presentation format (direct, narrative, or tabular) or text length on accuracy. However, scenario complexity -- particularly in terms of constraints and irrelevant parameters -- strongly influenced performance, often degrading accuracy. Surprisingly, the models handled tasks requiring multiple solution steps more effectively than expected. Notably, only 28.8\% of responses were exactly correct, highlighting limitations in precision. We further found no significant ``learning effect'' across iterations: performance remained stable across repeated queries. Nonetheless, significant variations emerged among the five tested LLMs, with some showing superior binary accuracy. Overall, these findings underscore both the promise and the pitfalls of harnessing LLMs for complex quantitative decision-making, informing managers and researchers about optimal deployment strategies.
LawPal : A Retrieval Augmented Generation Based System for Enhanced Legal Accessibility in India
Venue: arXiv cs.AI 2025
Year: 2025

Access to legal knowledge in India is often hindered by a lack of awareness, misinformation and limited accessibility to judicial resources. Many individuals struggle to navigate complex legal frameworks, leading to the frequent misuse of laws and inadequate legal protection. To address these issues, we propose a Retrieval-Augmented Generation (RAG)-based legal chatbot powered by vectorstore oriented FAISS for efficient and accurate legal information retrieval. Unlike traditional chatbots, our model is trained using an extensive dataset comprising legal books, official documentation and the Indian Constitution, ensuring accurate responses to even the most complex or misleading legal queries. The chatbot leverages FAISS for rapid vector-based search, significantly improving retrieval speed and accuracy. It is also prompt-engineered to handle twisted or ambiguous legal questions, reducing the chances of incorrect interpretations. Apart from its core functionality of answering legal queries, the platform includes additional features such as real-time legal news updates, legal blogs, and access to law-related books, making it a comprehensive resource for users. By integrating advanced AI techniques with an optimized retrieval system, our chatbot aims to democratize legal knowledge, enhance legal literacy, and prevent the spread of misinformation. The study demonstrates that our approach effectively improves legal accessibility while maintaining high accuracy and efficiency, thereby contributing to a more informed and empowered society.
Audio-FLAN: A Preliminary Release
Venue: arXiv cs.SD 2025
Year: 2025

Recent advancements in audio tokenization have significantly enhanced the integration of audio capabilities into large language models (LLMs). However, audio understanding and generation are often treated as distinct tasks, hindering the development of truly unified audio-language models. While instruction tuning has demonstrated remarkable success in improving generalization and zero-shot learning across text and vision, its application to audio remains largely unexplored. A major obstacle is the lack of comprehensive datasets that unify audio understanding and generation. To address this, we introduce Audio-FLAN, a large-scale instruction-tuning dataset covering 80 diverse tasks across speech, music, and sound domains, with over 100 million instances. Audio-FLAN lays the foundation for unified audio-language models that can seamlessly handle both understanding (e.g., transcription, comprehension) and generation (e.g., speech, music, sound) tasks across a wide range of audio domains in a zero-shot manner. The Audio-FLAN dataset is available on HuggingFace and GitHub and will be continuously updated.
Some MDS codes over dihedral groups
Venue: arXiv cs.IT 2025
Year: 2025

In this paper,we show some $[2n,2n-2,3]$ and $[2n,2n-3,4]$ MDS codes over dihedral codes $F_qD_{2n}$,in the case $n$ is odd and char$F_q$$\nmid$$\lvert G \rvert$ and $F_q$ contains primitive root of exponent $\lvert G \rvert$ i.e $F_q$ is the splitting field of $G$.Before that,we will give the Wedderburn decomposition and specific forms of linear primitive idempotents of $F_qD_{2n}$ under the above conditions.The MDS codes we construct are obtained by its Wedderburn decomposition and linear primitive idempotents.
Toward Dependency Dynamics in Multi-Agent Reinforcement Learning for Traffic Signal Control
Venue: arXiv cs.AI 2025
Year: 2025

Reinforcement learning (RL) emerges as a promising data-driven approach for adaptive traffic signal control (ATSC) in complex urban traffic networks, with deep neural networks substantially augmenting its learning capabilities. However, centralized RL becomes impractical for ATSC involving multiple agents due to the exceedingly high dimensionality of the joint action space. Multi-agent RL (MARL) mitigates this scalability issue by decentralizing control to local RL agents. Nevertheless, this decentralized method introduces new challenges: the environment becomes partially observable from the perspective of each local agent due to constrained inter-agent communication. Both centralized RL and MARL exhibit distinct strengths and weaknesses, particularly under heavy intersectional traffic conditions. In this paper, we justify that MARL can achieve the optimal global Q-value by separating into multiple IRL (Independent Reinforcement Learning) processes when no spill-back congestion occurs (no agent dependency) among agents (intersections). In the presence of spill-back congestion (with agent dependency), the maximum global Q-value can be achieved by using centralized RL. Building upon the conclusions, we propose a novel Dynamic Parameter Update Strategy for Deep Q-Network (DQN-DPUS), which updates the weights and bias based on the dependency dynamics among agents, i.e. updating only the diagonal sub-matrices for the scenario without spill-back congestion. We validate the DQN-DPUS in a simple network with two intersections under varying traffic, and show that the proposed strategy can speed up the convergence rate without sacrificing optimal exploration. The results corroborate our theoretical findings, demonstrating the efficacy of DQN-DPUS in optimizing traffic signal control.
CodeCriticBench: A Holistic Code Critique Benchmark for Large Language Models
Venue: arXiv cs.CL 2025
Year: 2025

The critique capacity of Large Language Models (LLMs) is essential for reasoning abilities, which can provide necessary suggestions (e.g., detailed analysis and constructive feedback). Therefore, how to evaluate the critique capacity of LLMs has drawn great attention and several critique benchmarks have been proposed. However, existing critique benchmarks usually have the following limitations: (1). Focusing on diverse reasoning tasks in general domains and insufficient evaluation on code tasks (e.g., only covering code generation task), where the difficulty of queries is relatively easy (e.g., the code queries of CriticBench are from Humaneval and MBPP). (2). Lacking comprehensive evaluation from different dimensions. To address these limitations, we introduce a holistic code critique benchmark for LLMs called CodeCriticBench. Specifically, our CodeCriticBench includes two mainstream code tasks (i.e., code generation and code QA) with different difficulties. Besides, the evaluation protocols include basic critique evaluation and advanced critique evaluation for different characteristics, where fine-grained evaluation checklists are well-designed for advanced settings. Finally, we conduct extensive experimental results of existing LLMs, which show the effectiveness of CodeCriticBench.