OpenRaiser/Intern-Atlas huggingface dataset:
Toward Embodiment Equivariant Vision-Language-Action Policy
Venue: arXiv cs.RO 2025
Year: 2025

Vision-language-action policies learn manipulation skills across tasks, environments and embodiments through large-scale pre-training. However, their ability to generalize to novel robot configurations remains limited. Most approaches emphasize model size, dataset scale and diversity while paying less attention to the design of action spaces. This leads to the configuration generalization problem, which requires costly adaptation. We address this challenge by formulating cross-embodiment pre-training as designing policies equivariant to embodiment configuration transformations. Building on this principle, we propose a framework that (i) establishes a embodiment equivariance theory for action space and policy design, (ii) introduces an action decoder that enforces configuration equivariance, and (iii) incorporates a geometry-aware network architecture to enhance embodiment-agnostic spatial reasoning. Extensive experiments in both simulation and real-world settings demonstrate that our approach improves pre-training effectiveness and enables efficient fine-tuning on novel robot embodiments. Our code is available at https://github.com/hhcaz/e2vla
BEV-ODOM2: Enhanced BEV-based Monocular Visual Odometry with PV-BEV Fusion and Dense Flow Supervision for Ground Robots
Venue: arXiv cs.RO 2025
Year: 2025

Bird's-Eye-View (BEV) representation offers a metric-scaled planar workspace, facilitating the simplification of 6-DoF ego-motion to a more robust 3-DoF model for monocular visual odometry (MVO) in intelligent transportation systems. However, existing BEV methods suffer from sparse supervision signals and information loss during perspective-to-BEV projection. We present BEV-ODOM2, an enhanced framework addressing both limitations without additional annotations. Our approach introduces: (1) dense BEV optical flow supervision constructed from 3-DoF pose ground truth for pixel-level guidance; (2) PV-BEV fusion that computes correlation volumes before projection to preserve 6-DoF motion cues while maintaining scale consistency. The framework employs three supervision levels derived solely from pose data: dense BEV flow, 5-DoF for the PV branch, and final 3-DoF output. Enhanced rotation sampling further balances diverse motion patterns in training. Extensive evaluation on KITTI, NCLT, Oxford, and our newly collected ZJH-VO multi-scale dataset demonstrates state-of-the-art performance, achieving 40 improvement in RTE compared to previous BEV methods. The ZJH-VO dataset, covering diverse ground vehicle scenarios from underground parking to outdoor plazas, is publicly available to facilitate future research.
LEED: A Highly Efficient and Scalable LLM-Empowered Expert Demonstrations Framework for Multi-Agent Reinforcement Learning
Venue: arXiv cs.MA 2025
Year: 2025

Multi-agent reinforcement learning (MARL) holds substantial promise for intelligent decision-making in complex environments. However, it suffers from a coordination and scalability bottleneck as the number of agents increases. To address these issues, we propose the LLM-empowered expert demonstrations framework for multi-agent reinforcement learning (LEED). LEED consists of two components: a demonstration generation (DG) module and a policy optimization (PO) module. Specifically, the DG module leverages large language models to generate instructions for interacting with the environment, thereby producing high-quality demonstrations. The PO module adopts a decentralized training paradigm, where each agent utilizes the generated demonstrations to construct an expert policy loss, which is then integrated with its own policy loss. This enables each agent to effectively personalize and optimize its local policy based on both expert knowledge and individual experience. Experimental results show that LEED achieves superior sample efficiency, time efficiency, and robust scalability compared to state-of-the-art baselines.
RealMirror: A Comprehensive, Open-Source Vision-Language-Action Platform for Embodied AI
Venue: arXiv cs.RO 2025
Year: 2025

The emerging field of Vision-Language-Action (VLA) for humanoid robots faces several fundamental challenges, including the high cost of data acquisition, the lack of a standardized benchmark, and the significant gap between simulation and the real world. To overcome these obstacles, we propose RealMirror, a comprehensive, open-source embodied AI VLA platform. RealMirror builds an efficient, low-cost data collection, model training, and inference system that enables end-to-end VLA research without requiring a real robot. To facilitate model evolution and fair comparison, we also introduce a dedicated VLA benchmark for humanoid robots, featuring multiple scenarios, extensive trajectories, and various VLA models. Furthermore, by integrating generative models and 3D Gaussian Splatting to reconstruct realistic environments and robot models, we successfully demonstrate zero-shot Sim2Real transfer, where models trained exclusively on simulation data can perform tasks on a real robot seamlessly, without any fine-tuning. In conclusion, with the unification of these critical components, RealMirror provides a robust framework that significantly accelerates the development of VLA models for humanoid robots. Project page: https://terminators2025.github.io/RealMirror.github.io
Active Learning of Symbolic Mealy Automata
Venue: arXiv cs.FL 2025
Year: 2025

We propose $Λ^*_M$-an active learning algorithm that learns symbolic Mealy automata, which support infinite input alphabets and multiple output characters. Each of these two features has been addressed separately in prior work. Combining these two features poses a challenge in learning the outputs corresponding to potentially infinite sets of input characters at each state. To address this challenge, we introduce the notion of essential input characters, a finite set of input characters that is sufficient for learning the output function of a symbolic Mealy automaton. $Λ^*_M$ maintains an underapproximation of the essential input characters and refines this set during learning. We prove that $Λ^*_M$ terminates under certain assumptions. Moreover, we provide upper and lower bounds for the query complexity. Their similarity suggests the tightness of the bounds. We empirically demonstrate that $Λ^*_M$ is i) efficient regarding the number of queries on practical benchmarks and ii) scalable according to evaluations with randomly generated benchmarks.
From Ground Trust to Truth: Disparities in Offensive Language Judgments on Contemporary Korean Political Discourse
Venue: arXiv cs.CL 2025
Year: 2025

Although offensive language continually evolves over time, even recent studies using LLMs have predominantly relied on outdated datasets and rarely evaluated the generalization ability on unseen texts. In this study, we constructed a large-scale dataset of contemporary political discourse and employed three refined judgments in the absence of ground truth. Each judgment reflects a representative offensive language detection method and is carefully designed for optimal conditions. We identified distinct patterns for each judgment and demonstrated tendencies of label agreement using a leave-one-out strategy. By establishing pseudo-labels as ground trust for quantitative performance assessment, we observed that a strategically designed single prompting achieves comparable performance to more resource-intensive methods. This suggests a feasible approach applicable in real-world settings with inherent constraints.
Designing Latent Safety Filters using Pre-Trained Vision Models
Venue: arXiv cs.RO 2025
Year: 2025

Ensuring safety of vision-based control systems remains a major challenge hindering their deployment in critical settings. Safety filters have gained increased interest as effective tools for ensuring the safety of classical control systems, but their applications in vision-based control settings have so far been limited. Pre-trained vision models (PVRs) have been shown to be effective perception backbones for control in various robotics domains. In this paper, we are interested in examining their effectiveness when used for designing vision-based safety filters. We use them as backbones for classifiers defining failure sets, for Hamilton-Jacobi (HJ) reachability-based safety filters, and for latent world models. We discuss the trade-offs between training from scratch, fine-tuning, and freezing the PVRs when training the models they are backbones for. We also evaluate whether one of the PVRs is superior across all tasks, evaluate whether learned world models or Q-functions are better for switching decisions to safe policies, and discuss practical considerations for deploying these PVRs on resource-constrained devices.
Reasoning over Boundaries: Enhancing Specification Alignment via Test-time Deliberation
Venue: arXiv cs.CL 2025
Year: 2025

Large language models (LLMs) are increasingly applied in diverse real-world scenarios, each governed by bespoke behavioral and safety specifications (spec) custom-tailored by users or organizations. These spec, categorized into safety-spec and behavioral-spec, vary across scenarios and evolve with changing preferences and requirements. We formalize this challenge as specification alignment, focusing on LLMs' ability to follow dynamic, scenario-specific spec from both behavioral and safety perspectives. To address this challenge, we propose Align3, a lightweight method that employs Test-Time Deliberation (TTD) with hierarchical reflection and revision to reason over the specification boundaries. We further present SpecBench, a unified benchmark for measuring specification alignment, covering 5 scenarios, 103 spec, and 1,500 prompts. Experiments on 15 reasoning and 18 instruct models with several TTD methods, including Self-Refine, TPO, and MoreThink, yield three key findings: (i) test-time deliberation enhances specification alignment; (ii) Align3 advances the safety-helpfulness trade-off frontier with minimal overhead; (iii) SpecBench effectively reveals alignment gaps. These results highlight the potential of test-time deliberation as an effective strategy for reasoning over the real-world specification boundaries.
UMind: A Unified Multitask Network for Zero-Shot M/EEG Visual Decoding
Venue: arXiv cs.HC 2025
Year: 2025

Decoding visual information from time-resolved brain recordings, such as EEG and MEG, plays a pivotal role in real-time brain-computer interfaces. However, existing approaches primarily focus on direct brain-image feature alignment and are limited to single-task frameworks or task-specific models. In this paper, we propose a Unified MultItask Network for zero-shot M/EEG visual Decoding (referred to UMind), including visual stimulus retrieval, classification, and reconstruction, where multiple tasks mutually enhance each other. Our method learns robust neural-visual and semantic representations through multimodal alignment with both image and text modalities. The integration of both coarse and fine-grained texts enhances the extraction of these neural representations, enabling more detailed semantic and visual decoding. These representations then serve as dual conditional inputs to a pre-trained diffusion model, guiding visual reconstruction from both visual and semantic perspectives. Extensive evaluations on MEG and EEG datasets demonstrate the effectiveness, robustness, and biological plausibility of our approach in capturing spatiotemporal neural dynamics. Our approach sets a multitask pipeline for brain visual decoding, highlighting the synergy of semantic information in visual feature extraction. The code is available at https://github.com/xuchengjian632/UMind.
MapAnything: Mapping Urban Assets using Single Street-View Images
Venue: arXiv cs.CV 2025
Year: 2025

To maintain an overview of urban conditions, city administrations manage databases of objects like traffic signs and trees, complete with their geocoordinates. Incidents such as graffiti or road damage are also relevant. As digitization increases, so does the need for more data and up-to-date databases, requiring significant manual effort. This paper introduces MapAnything, a module that automatically determines the geocoordinates of objects using individual images. Utilizing advanced Metric Depth Estimation models, MapAnything calculates geocoordinates based on the object's distance from the camera, geometric principles, and camera specifications. We detail and validate the module, providing recommendations for automating urban object and incident mapping. Our evaluation measures the accuracy of estimated distances against LiDAR point clouds in urban environments, analyzing performance across distance intervals and semantic areas like roads and vegetation. The module's effectiveness is demonstrated through practical use cases involving traffic signs and road damage.
On Finite-Blocklength Noisy Classical-Quantum Channel Coding With Amplitude Damping Errors
Venue: arXiv cs.IT 2025
Year: 2025

We investigate practical finite-blocklength classical-quantum channel coding over the quantum amplitude damping channel (ADC), aiming to transmit classical information reliably through quantum outputs. Our findings indicate that for any finite blocklength, a naive (uncoded) approach fails to offer any advantage over the ADC. Instead, sophisticated encoding strategies that leverage both classical error-correcting codes and quantum input states are crucial for realizing quantum performance gains at finite blocklengths.
MARIC: Multi-Agent Reasoning for Image Classification
Venue: arXiv cs.CV 2025
Year: 2025

Image classification has traditionally relied on parameter-intensive model training, requiring large-scale annotated datasets and extensive fine tuning to achieve competitive performance. While recent vision language models (VLMs) alleviate some of these constraints, they remain limited by their reliance on single pass representations, often failing to capture complementary aspects of visual content. In this paper, we introduce Multi Agent based Reasoning for Image Classification (MARIC), a multi agent framework that reformulates image classification as a collaborative reasoning process. MARIC first utilizes an Outliner Agent to analyze the global theme of the image and generate targeted prompts. Based on these prompts, three Aspect Agents extract fine grained descriptions along distinct visual dimensions. Finally, a Reasoning Agent synthesizes these complementary outputs through integrated reflection step, producing a unified representation for classification. By explicitly decomposing the task into multiple perspectives and encouraging reflective synthesis, MARIC mitigates the shortcomings of both parameter-heavy training and monolithic VLM reasoning. Experiments on 4 diverse image classification benchmark datasets demonstrate that MARIC significantly outperforms baselines, highlighting the effectiveness of multi-agent visual reasoning for robust and interpretable image classification.
Learning Graph from Smooth Signals under Partial Observation: A Robustness Analysis
Venue: arXiv cs.LG 2025
Year: 2025

Learning the graph underlying a networked system from nodal signals is crucial to downstream tasks in graph signal processing and machine learning. The presence of hidden nodes whose signals are not observable might corrupt the estimated graph. While existing works proposed various robustifications of vanilla graph learning objectives by explicitly accounting for the presence of these hidden nodes, a robustness analysis of "naive", hidden-node agnostic approaches is still underexplored. This work demonstrates that vanilla graph topology learning methods are implicitly robust to partial observations of low-pass filtered graph signals. We achieve this theoretical result through extending the restricted isometry property (RIP) to the Dirichlet energy function used in graph learning objectives. We show that smoothness-based graph learning formulation (e.g., the GL-SigRep method) on partial observations can recover the ground truth graph topology corresponding to the observed nodes. Synthetic and real data experiments corroborate our findings.
CARGO: A Framework for Confidence-Aware Routing of Large Language Models
Venue: arXiv cs.SE 2025
Year: 2025

As large language models (LLMs) proliferate in scale, specialization, and latency profiles, the challenge of routing user prompts to the most appropriate model has become increasingly critical for balancing performance and cost. We introduce CARGO (Category-Aware Routing with Gap-based Optimization), a lightweight, confidence-aware framework for dynamic LLM selection. CARGO employs a single embedding-based regressor trained on LLM-judged pairwise comparisons to predict model performance, with an optional binary classifier invoked when predictions are uncertain. This two-stage design enables precise, cost-aware routing without the need for human-annotated supervision. To capture domain-specific behavior, CARGO also supports category-specific regressors trained across five task groups: mathematics, coding, reasoning, summarization, and creative writing. Evaluated on four competitive LLMs (GPT-4o, Claude 3.5 Sonnet, DeepSeek V3, and Perplexity Sonar), CARGO achieves a top-1 routing accuracy of 76.4% and win rates ranging from 72% to 89% against individual experts. These results demonstrate that confidence-guided, lightweight routing can achieve expert-level performance with minimal overhead, offering a practical solution for real-world, multi-model LLM deployments.
Multi-CAP: A Multi-Robot Connectivity-Aware Hierarchical Coverage Path Planning Algorithm for Unknown Environments
Venue: arXiv cs.RO 2025
Year: 2025

Efficient coordination of multiple robots for coverage of large, unknown environments is a significant challenge that involves minimizing the total coverage path length while reducing inter-robot conflicts. In this paper, we introduce a Multi-robot Connectivity-Aware Planner (Multi-CAP), a hierarchical coverage path planning algorithm that facilitates multi-robot coordination through a novel connectivity-aware approach. The algorithm constructs and dynamically maintains an adjacency graph that represents the environment as a set of connected subareas. Critically, we make the assumption that the environment, while unknown, is bounded. This allows for incremental refinement of the adjacency graph online to ensure its structure represents the physical layout of the space, both in observed and unobserved areas of the map as robots explore the environment. We frame the task of assigning subareas to robots as a Vehicle Routing Problem (VRP), a well-studied problem for finding optimal routes for a fleet of vehicles. This is used to compute disjoint tours that minimize redundant travel, assigning each robot a unique, non-conflicting set of subareas. Each robot then executes its assigned tour, independently adapting its coverage strategy within each subarea to minimize path length based on real-time sensor observations of the subarea. We demonstrate through simulations and multi-robot hardware experiments that Multi-CAP significantly outperforms state-of-the-art methods in key metrics, including coverage time, total path length, and path overlap ratio. Ablation studies further validate the critical role of our connectivity-aware graph and the global tour planner in achieving these performance gains.
Stochastic Adaptive Gradient Descent Without Descent
Venue: arXiv cs.LG 2025
Year: 2025

We introduce a new adaptive step-size strategy for convex optimization with stochastic gradient that exploits the local geometry of the objective function only by means of a first-order stochastic oracle and without any hyper-parameter tuning. The method comes from a theoretically-grounded adaptation of the Adaptive Gradient Descent Without Descent method to the stochastic setting. We prove the convergence of stochastic gradient descent with our step-size under various assumptions, and we show that it empirically competes against tuned baselines.
Beyond Random Masking: A Dual-Stream Approach for Rotation-Invariant Point Cloud Masked Autoencoders
Venue: arXiv cs.CV 2025
Year: 2025

Existing rotation-invariant point cloud masked autoencoders (MAE) rely on random masking strategies that overlook geometric structure and semantic coherence. Random masking treats patches independently, failing to capture spatial relationships consistent across orientations and overlooking semantic object parts that maintain identity regardless of rotation. We propose a dual-stream masking approach combining 3D Spatial Grid Masking and Progressive Semantic Masking to address these fundamental limitations. Grid masking creates structured patterns through coordinate sorting to capture geometric relationships that persist across different orientations, while semantic masking uses attention-driven clustering to discover semantically meaningful parts and maintain their coherence during masking. These complementary streams are orchestrated via curriculum learning with dynamic weighting, progressing from geometric understanding to semantic discovery. Designed as plug-and-play components, our strategies integrate into existing rotation-invariant frameworks without architectural changes, ensuring broad compatibility across different approaches. Comprehensive experiments on ModelNet40, ScanObjectNN, and OmniObject3D demonstrate consistent improvements across various rotation scenarios, showing substantial performance gains over the baseline rotation-invariant methods.
Refinement-Types Driven Development: A study
Venue: arXiv cs.PL 2025
Year: 2025

This paper advocates for the broader application of SMT solvers in everyday programming, challenging the conventional wisdom that these tools are solely for formal methods and verification. We claim that SMT solvers, when seamlessly integrated into a compiler's static checks, significantly enhance the capabilities of ordinary type checkers in program composition. Specifically, we argue that refinement types, as embodied by Liquid Haskell, enable the use of SMT solvers in mundane programming tasks. Through a case study on handling binder scopes in compilers, we envision a future where ordinary programming is made simpler and more enjoyable with the aid of refinement types and SMT solvers. As a secondary contribution, we present a prototype implementation of a theory of finite maps for Liquid Haskell's solver, developed to support our case study.
Theorem Provers: One Size Fits All?
Venue: arXiv cs.LO 2025
Year: 2025

Theorem provers are important tools for people working in formal verification. There are a myriad of interactive systems available today, with varying features and approaches motivating their development. These design choices impact their usability, alongside the problem domain in which they are employed. We test-drive two such provers, Coq and Idris2, by proving the correctness of insertion sort, before providing a qualitative evaluation of their performance. We then compare their community and library support. This work helps users to make an informed choice of system, and highlight approaches in other systems that developers might find useful.