OpenRaiser/Intern-Atlas huggingface dataset:
CART-ELC: Oblique Decision Tree Induction via Exhaustive Search
Venue: arXiv cs.LG 2025
Year: 2025

Oblique decision trees have attracted attention due to their potential for improved classification performance over traditional axis-aligned decision trees. However, methods that rely on exhaustive search to find oblique splits face computational challenges. As a result, they have not been widely explored. We introduce a novel algorithm, Classification and Regression Tree - Exhaustive Linear Combinations (CART-ELC), for inducing oblique decision trees that performs an exhaustive search on a restricted set of hyperplanes. We then investigate the algorithm's computational complexity and its predictive capabilities. Our results demonstrate that CART-ELC consistently achieves competitive performance on small datasets, often yielding statistically significant improvements in classification accuracy relative to existing decision tree induction algorithms, while frequently producing shallower, simpler, and thus more interpretable trees.
Crosslingual Reasoning through Test-Time Scaling
Venue: arXiv cs.CL 2025
Year: 2025

Reasoning capabilities of large language models are primarily studied for English, even when pretrained models are multilingual. In this work, we investigate to what extent English reasoning finetuning with long chain-of-thoughts (CoTs) can generalize across languages. First, we find that scaling up inference compute for English-centric reasoning language models (RLMs) improves multilingual mathematical reasoning across many languages including low-resource languages, to an extent where they outperform models twice their size. Second, we reveal that while English-centric RLM's CoTs are naturally predominantly English, they consistently follow a quote-and-think pattern to reason about quoted non-English inputs. Third, we discover an effective strategy to control the language of long CoT reasoning, and we observe that models reason better and more efficiently in high-resource languages. Finally, we observe poor out-of-domain reasoning generalization, in particular from STEM to cultural commonsense knowledge, even for English. Overall, we demonstrate the potentials, study the mechanisms and outline the limitations of crosslingual generalization of English reasoning test-time scaling. We conclude that practitioners should let English-centric RLMs reason in high-resource languages, while further work is needed to improve reasoning in low-resource languages and out-of-domain contexts.
LiTransProQA: an LLM-based Literary Translation evaluation metric with Professional Question Answering
Venue: arXiv cs.CL 2025
Year: 2025

The impact of Large Language Models (LLMs) has extended into literary domains. However, existing evaluation metrics for literature prioritize mechanical accuracy over artistic expression and tend to overrate machine translation as being superior to human translation from experienced professionals. In the long run, this bias could result in an irreversible decline in translation quality and cultural authenticity. In response to the urgent need for a specialized literary evaluation metric, we introduce LITRANSPROQA, a novel, reference-free, LLM-based question-answering framework designed for literary translation evaluation. LITRANSPROQA integrates humans in the loop to incorporate insights from professional literary translators and researchers, focusing on critical elements in literary quality assessment such as literary devices, cultural understanding, and authorial voice. Our extensive evaluation shows that while literary-finetuned XCOMET-XL yields marginal gains, LITRANSPROQA substantially outperforms current metrics, achieving up to 0.07 gain in correlation and surpassing the best state-of-the-art metrics by over 15 points in adequacy assessments. Incorporating professional translator insights as weights further improves performance, highlighting the value of translator inputs. Notably, LITRANSPROQA reaches an adequacy performance comparable to trained linguistic student evaluators, though it still falls behind experienced professional translators. LITRANSPROQA shows broad applicability to open-source models like LLaMA3.3-70b and Qwen2.5-32b, indicating its potential as an accessible and training-free tool for evaluating literary translations that require local processing due to copyright or ethical considerations.
clem:todd: A Framework for the Systematic Benchmarking of LLM-Based Task-Oriented Dialogue System Realisations
Venue: arXiv cs.CL 2025
Year: 2025

The emergence of instruction-tuned large language models (LLMs) has advanced the field of dialogue systems, enabling both realistic user simulations and robust multi-turn conversational agents. However, existing research often evaluates these components in isolation-either focusing on a single user simulator or a specific system design-limiting the generalisability of insights across architectures and configurations. In this work, we propose clem todd (chat-optimized LLMs for task-oriented dialogue systems development), a flexible framework for systematically evaluating dialogue systems under consistent conditions. clem todd enables detailed benchmarking across combinations of user simulators and dialogue systems, whether existing models from literature or newly developed ones. It supports plug-and-play integration and ensures uniform datasets, evaluation metrics, and computational constraints. We showcase clem todd's flexibility by re-evaluating existing task-oriented dialogue systems within this unified setup and integrating three newly proposed dialogue systems into the same evaluation pipeline. Our results provide actionable insights into how architecture, scale, and prompting strategies affect dialogue performance, offering practical guidance for building efficient and effective conversational AI systems.
Conversational Process Model Redesign
Venue: arXiv cs.AI 2025
Year: 2025

With the recent success of large language models (LLMs), the idea of AI-augmented Business Process Management systems is becoming more feasible. One of their essential characteristics is the ability to be conversationally actionable, allowing humans to interact with the LLM effectively to perform crucial process life cycle tasks such as process model design and redesign. However, most current research focuses on single-prompt execution and evaluation of results, rather than on continuous interaction between the user and the LLM. In this work, we aim to explore the feasibility of using LLMs to empower domain experts in the creation and redesign of process models in an iterative and effective way. The proposed conversational process model redesign (CPD) approach receives as input a process model and a redesign request by the user in natural language. Instead of just letting the LLM make changes, the LLM is employed to (a) identify process change patterns from literature, (b) re-phrase the change request to be aligned with an expected wording for the identified pattern (i.e., the meaning), and then to (c) apply the meaning of the change to the process model. This multi-step approach allows for explainable and reproducible changes. In order to ensure the feasibility of the CPD approach, and to find out how well the patterns from literature can be handled by the LLM, we performed an extensive evaluation. The results show that some patterns are hard to understand by LLMs and by users. Within the scope of the study, we demonstrated that users need support to describe the changes clearly. Overall the evaluation shows that the LLMs can handle most changes well according to a set of completeness and correctness criteria.
MDDFNet: Mamba-based Dynamic Dual Fusion Network for Traffic Sign Detection
Venue: arXiv cs.CV 2025
Year: 2025

The Detection of small objects, especially traffic signs, is a critical sub-task in object detection and autonomous driving. Despite signficant progress in previous research, two main challenges remain. First, the issue of feature extraction being too singular. Second, the detection process struggles to efectively handle objects of varying sizes or scales. These problems are also prevalent in general object detection tasks. To address these challenges, we propose a novel object detection network, Mamba-based Dynamic Dual Fusion Network (MDDFNet), for traffic sign detection. The network integrates a dynamic dual fusion module and a Mamba-based backbone to simultaneously tackle the aforementioned issues. Specifically, the dynamic dual fusion module utilizes multiple branches to consolidate various spatial and semantic information, thus enhancing feature diversity. The Mamba-based backbone leverages global feature fusion and local feature interaction, combining features in an adaptive manner to generate unique classification characteristics. Extensive experiments conducted on the TT100K (Tsinghua-Tencent 100K) datasets demonstrate that MDDFNet outperforms other state-of-the-art detectors, maintaining real-time processing capabilities of single-stage models while achieving superior performance. This confirms the efectiveness of MDDFNet in detecting small traffic signs.
Occupancy World Model for Robots
Venue: arXiv cs.CV 2025
Year: 2025

Understanding and forecasting the scene evolutions deeply affect the exploration and decision of embodied agents. While traditional methods simulate scene evolutions through trajectory prediction of potential instances, current works use the occupancy world model as a generative framework for describing fine-grained overall scene dynamics. However, existing methods cluster on the outdoor structured road scenes, while ignoring the exploration of forecasting 3D occupancy scene evolutions for robots in indoor scenes. In this work, we explore a new framework for learning the scene evolutions of observed fine-grained occupancy and propose an occupancy world model based on the combined spatio-temporal receptive field and guided autoregressive transformer to forecast the scene evolutions, called RoboOccWorld. We propose the Conditional Causal State Attention (CCSA), which utilizes camera poses of next state as conditions to guide the autoregressive transformer to adapt and understand the indoor robotics scenarios. In order to effectively exploit the spatio-temporal cues from historical observations, Hybrid Spatio-Temporal Aggregation (HSTA) is proposed to obtain the combined spatio-temporal receptive field based on multi-scale spatio-temporal windows. In addition, we restructure the OccWorld-ScanNet benchmark based on local annotations to facilitate the evaluation of the indoor 3D occupancy scene evolution prediction task. Experimental results demonstrate that our RoboOccWorld outperforms state-of-the-art methods in indoor 3D occupancy scene evolution prediction task. The code will be released soon.
Web2Grasp: Learning Functional Grasps from Web Images of Hand-Object Interactions
Venue: arXiv cs.CV 2025
Year: 2025

Functional grasp is essential for enabling dexterous multi-finger robot hands to manipulate objects effectively. However, most prior work either focuses on power grasping, which simply involves holding an object still, or relies on costly teleoperated robot demonstrations to teach robots how to grasp each object functionally. Instead, we propose extracting human grasp information from web images since they depict natural and functional object interactions, thereby bypassing the need for curated demonstrations. We reconstruct human hand-object interaction (HOI) 3D meshes from RGB images, retarget the human hand to multi-finger robot hands, and align the noisy object mesh with its accurate 3D shape. We show that these relatively low-quality HOI data from inexpensive web sources can effectively train a functional grasping model. To further expand the grasp dataset for seen and unseen objects, we use the initially-trained grasping policy with web data in the IsaacGym simulator to generate physically feasible grasps while preserving functionality. We train the grasping model on 10 object categories and evaluate it on 9 unseen objects, including challenging items such as syringes, pens, spray bottles, and tongs, which are underrepresented in existing datasets. The model trained on the web HOI dataset, achieving a 75.8% success rate on seen objects and 61.8% across all objects in simulation, with a 6.7% improvement in success rate and a 1.8x increase in functionality ratings over baselines. Simulator-augmented data further boosts performance from 61.8% to 83.4%. The sim-to-real transfer to the LEAP Hand achieves a 85% success rate. Project website is at: https://web2grasp.github.io/.
Real-Time Privacy Preservation for Robot Visual Perception
Venue: arXiv cs.CV 2025
Year: 2025

Many robots (e.g., iRobot's Roomba) operate based on visual observations from live video streams, and such observations may inadvertently include privacy-sensitive objects, such as personal identifiers. Existing approaches for preserving privacy rely on deep learning models, differential privacy, or cryptography. They lack guarantees for the complete concealment of all sensitive objects. Guaranteeing concealment requires post-processing techniques and thus is inadequate for real-time video streams. We develop a method for privacy-constrained video streaming, PCVS, that conceals sensitive objects within real-time video streams. PCVS takes a logical specification constraining the existence of privacy-sensitive objects, e.g., never show faces when a person exists. It uses a detection model to evaluate the existence of these objects in each incoming frame. Then, it blurs out a subset of objects such that the existence of the remaining objects satisfies the specification. We then propose a conformal prediction approach to (i) establish a theoretical lower bound on the probability of the existence of these objects in a sequence of frames satisfying the specification and (ii) update the bound with the arrival of each subsequent frame. Quantitative evaluations show that PCVS achieves over 95 percent specification satisfaction rate in multiple datasets, significantly outperforming other methods. The satisfaction rate is consistently above the theoretical bounds across all datasets, indicating that the established bounds hold. Additionally, we deploy PCVS on robots in real-time operation and show that the robots operate normally without being compromised when PCVS conceals objects.
GaMNet: A Hybrid Network with Gabor Fusion and NMamba for Efficient 3D Glioma Segmentation
Venue: arXiv cs.CV 2025
Year: 2025

Gliomas are aggressive brain tumors that pose serious health risks. Deep learning aids in lesion segmentation, but CNN and Transformer-based models often lack context modeling or demand heavy computation, limiting real-time use on mobile medical devices. We propose GaMNet, integrating the NMamba module for global modeling and a multi-scale CNN for efficient local feature extraction. To improve interpretability and mimic the human visual system, we apply Gabor filters at multiple scales. Our method achieves high segmentation accuracy with fewer parameters and faster computation. Extensive experiments show GaMNet outperforms existing methods, notably reducing false positives and negatives, which enhances the reliability of clinical diagnosis.
A Common Interface for Automatic Differentiation
Venue: arXiv cs.MS 2025
Year: 2025

For scientific machine learning tasks with a lot of custom code, picking the right Automatic Differentiation (AD) system matters. Our Julia package DifferentiationInterface$.$jl provides a common frontend to a dozen AD backends, unlocking easy comparison and modular development. In particular, its built-in preparation mechanism leverages the strengths of each backend by amortizing one-time computations. This is key to enabling sophisticated features like sparsity handling without putting additional burdens on the user.
PRIMG : Efficient LLM-driven Test Generation Using Mutant Prioritization
Venue: arXiv cs.SE 2025
Year: 2025

Mutation testing is a widely recognized technique for assessing and enhancing the effectiveness of software test suites by introducing deliberate code mutations. However, its application often results in overly large test suites, as developers generate numerous tests to kill specific mutants, increasing computational overhead. This paper introduces PRIMG (Prioritization and Refinement Integrated Mutation-driven Generation), a novel framework for incremental and adaptive test case generation for Solidity smart contracts. PRIMG integrates two core components: a mutation prioritization module, which employs a machine learning model trained on mutant subsumption graphs to predict the usefulness of surviving mutants, and a test case generation module, which utilizes Large Language Models (LLMs) to generate and iteratively refine test cases to achieve syntactic and behavioral correctness. We evaluated PRIMG on real-world Solidity projects from Code4Arena to assess its effectiveness in improving mutation scores and generating high-quality test cases. The experimental results demonstrate that PRIMG significantly reduces test suite size while maintaining high mutation coverage. The prioritization module consistently outperformed random mutant selection, enabling the generation of high-impact tests with reduced computational effort. Furthermore, the refining process enhanced the correctness and utility of LLM-generated tests, addressing their inherent limitations in handling edge cases and complex program logic.
Deep Learning Warm Starts for Trajectory Optimization on the International Space Station
Venue: arXiv cs.RO 2025
Year: 2025

Trajectory optimization is a cornerstone of modern robot autonomy, enabling systems to compute trajectories and controls in real-time while respecting safety and physical constraints. However, it has seen limited usage in spaceflight applications due to its heavy computational demands that exceed the capability of most flight computers. In this work, we provide results on the first in-space demonstration of using machine learning-based warm starts for accelerating trajectory optimization for the Astrobee free-flying robot onboard the International Space Station (ISS). We formulate a data-driven optimal control approach that trains a neural network to learn the structure of the trajectory generation problem being solved using sequential convex programming (SCP). Onboard, this trained neural network predicts solutions for the trajectory generation problem and relies on using the SCP solver to enforce safety constraints for the system. Our trained network reduces the number of solver iterations required for convergence in cases including rotational dynamics by 60% and in cases with obstacles drawn from the training distribution of the warm start model by 50%. This work represents a significant milestone in the use of learning-based control for spaceflight applications and a stepping stone for future advances in the use of machine learning for autonomous guidance, navigation, & control.
Closing the Loop: Motion Prediction Models beyond Open-Loop Benchmarks
Venue: arXiv cs.RO 2025
Year: 2025

Fueled by motion prediction competitions and benchmarks, recent years have seen the emergence of increasingly large learning based prediction models, many with millions of parameters, focused on improving open-loop prediction accuracy by mere centimeters. However, these benchmarks fail to assess whether such improvements translate to better performance when integrated into an autonomous driving stack. In this work, we systematically evaluate the interplay between state-of-the-art motion predictors and motion planners. Our results show that higher open-loop accuracy does not always correlate with better closed-loop driving behavior and that other factors, such as temporal consistency of predictions and planner compatibility, also play a critical role. Furthermore, we investigate downsized variants of these models, and, surprisingly, find that in some cases models with up to 86% fewer parameters yield comparable or even superior closed-loop driving performance. Our code is available at https://github.com/aumovio/pred2plan.
Designing 3D Anisotropic Frame Fields with Odeco Tensors
Venue: arXiv cs.CG 2025
Year: 2025

This paper introduces a method to synthesize a 3D tensor field within a constrained geometric domain represented as a tetrahedral mesh. Whereas previous techniques optimize for isotropic fields, we focus on anisotropic tensor fields that are smooth and aligned with the domain boundary or user guidance. The key ingredient of our method is a novel computational design framework, built on top of the symmetric orthogonally decomposable (odeco) tensor representation, to optimize the stretching ratios and orientations for each tensor in the domain. In contrast to past techniques designed only for isotropic tensors, we demonstrate the efficacy of our approach in generating smooth volumetric tensor fields with high anisotropy and shape conformity, especially for the domain with complex shapes. We apply these anisotropic tensor fields to various applications, such as anisotropic meshing, structural mechanics, and fabrication.
InstanceGen: Image Generation with Instance-level Instructions
Venue: arXiv cs.CV 2025
Year: 2025

Despite rapid advancements in the capabilities of generative models, pretrained text-to-image models still struggle in capturing the semantics conveyed by complex prompts that compound multiple objects and instance-level attributes. Consequently, we are witnessing growing interests in integrating additional structural constraints, typically in the form of coarse bounding boxes, to better guide the generation process in such challenging cases. In this work, we take the idea of structural guidance a step further by making the observation that contemporary image generation models can directly provide a plausible fine-grained structural initialization. We propose a technique that couples this image-based structural guidance with LLM-based instance-level instructions, yielding output images that adhere to all parts of the text prompt, including object counts, instance-level attributes, and spatial relations between instances.
Exploration of COVID-19 Discourse on Twitter: American Politician Edition
Venue: arXiv cs.CL 2025
Year: 2025

The advent of the COVID-19 pandemic has undoubtedly affected the political scene worldwide and the introduction of new terminology and public opinions regarding the virus has further polarized partisan stances. Using a collection of tweets gathered from leading American political figures online (Republican and Democratic), we explored the partisan differences in approach, response, and attitude towards handling the international crisis. Implementation of the bag-of-words, bigram, and TF-IDF models was used to identify and analyze keywords, topics, and overall sentiments from each party. Results suggest that Democrats are more concerned with the casualties of the pandemic, and give more medical precautions and recommendations to the public whereas Republicans are more invested in political responsibilities such as keeping the public updated through media and carefully watching the progress of the virus. We propose a systematic approach to predict and distinguish a tweet's political stance (left or right leaning) based on its COVID-19 related terms using different classification algorithms on different language models.