OpenRaiser/Intern-Atlas huggingface dataset:
Terra: Hierarchical Terrain-Aware 3D Scene Graph for Task-Agnostic Outdoor Mapping
Venue: arXiv cs.RO 2025
Year: 2025

Outdoor intelligent autonomous robotic operation relies on a sufficiently expressive map of the environment. Classical geometric mapping methods retain essential structural environment information, but lack a semantic understanding and organization to allow high-level robotic reasoning. 3D scene graphs (3DSGs) address this limitation by integrating geometric, topological, and semantic relationships into a multi-level graph-based map. Outdoor autonomous operations commonly rely on terrain information either due to task-dependence or the traversability of the robotic platform. We propose a novel approach that combines indoor 3DSG techniques with standard outdoor geometric mapping and terrain-aware reasoning, producing terrain-aware place nodes and hierarchically organized regions for outdoor environments. Our method generates a task-agnostic metric-semantic sparse map and constructs a 3DSG from this map for downstream planning tasks, all while remaining lightweight for autonomous robotic operation. Our thorough evaluation demonstrates our 3DSG method performs on par with state-of-the-art camera-based 3DSG methods in object retrieval and surpasses them in region classification while remaining memory efficient. We demonstrate its effectiveness in diverse robotic tasks of object retrieval and region monitoring in both simulation and real-world environments.
Reverse Engineering User Stories from Code using Large Language Models
Venue: arXiv cs.SE 2025
Year: 2025

User stories are essential in agile development, yet often missing or outdated in legacy and poorly documented systems. We investigate whether large language models (LLMs) can automatically recover user stories directly from source code and how prompt design impacts output quality. Using 1,750 annotated C++ snippets of varying complexity, we evaluate five state-of-the-art LLMs across six prompting strategies. Results show that all models achieve, on average, an F1 score of 0.8 for code up to 200 NLOC. Our findings show that a single illustrative example enables the smallest model (8B) to match the performance of a much larger 70B model. In contrast, structured reasoning via Chain-of-Thought offers only marginal gains, primarily for larger models.
What Does Your Benchmark Really Measure? A Framework for Robust Inference of AI Capabilities
Venue: arXiv cs.AI 2025
Year: 2025

Evaluations of generative models on benchmark data are now ubiquitous, and their outcomes critically shape public and scientific expectations of AI's capabilities. Yet growing skepticism surrounds their reliability. How can we know that a reported accuracy genuinely reflects a model's true performance? Evaluations are often presented as simple measurements, but in reality they are inferences: to treat benchmark scores as evidence of capability is already to assume a theory of what capability is and how it manifests in a test. We make this step explicit by proposing a principled framework for evaluation as inference: begin from a theory of capability, and then derive methods for estimating it. This perspective, familiar in fields such as psychometrics, has not yet become commonplace in AI evaluation. As a proof of concept, we address a central challenge that undermines reliability: sensitivity to perturbations. After formulating a model of ability, we introduce methods that infer ability while accounting for uncertainty from sensitivity and finite samples, including an adaptive algorithm that significantly reduces sample complexity. Together, these contributions lay the groundwork for more reliable and trustworthy estimates of AI capabilities as measured through benchmarks.
Parameter-Efficient Multi-Task Learning via Progressive Task-Specific Adaptation
Venue: arXiv cs.CV 2025
Year: 2025

Parameter-efficient fine-tuning methods have emerged as a promising solution for adapting pre-trained models to various downstream tasks. While these methods perform well in single-task learning, extending them to multi-task learning exacerbates common challenges, such as task interference and negative transfer, due to the limited number of trainable parameters. To address these issues, we introduce progressive task-specific multi-task adaptation, a novel parameter-efficient approach for multi-task learning. This approach introduces adapter modules in a pre-trained model such that these modules are shared across all tasks in the initial layers and become progressively more task-specific in the later layers. The motivation is to reduce the conflicts among tasks by allowing transfer learning across all tasks in the initial layers and enabling task-specific learning toward the prediction heads. Additionally, we propose a gradient-based approach for computing task similarity and use this measure to allocate similar tasks to the shared adapter modules. Our task similarity method introduces minimal overhead in the pipeline. We evaluate our approach by adapting the Swin Transformer for dense prediction tasks. Experiments on the PASCAL and NYUD-v2 datasets demonstrate that our approach outperforms a fully fine-tuned multi-task model while requiring only one-fifth of the trainable parameters. This approach achieves better relative improvement to single-task fine-tuning while reducing the number of trainable parameters and surpasses the current state-of-the-art methods for parameter-efficient multi-task learning.
Compilation as Multi-Language Semantics
Venue: arXiv cs.PL 2025
Year: 2025

Modeling interoperability between programs in different languages is a key problem when modeling verified and secure compilation, which has been successfully addressed using multi-language semantics. Unfortunately, existing models of compilation using multi-language semantics define two variants of each compiler pass: a syntactic translation on open terms to model compilation, and a run-time translation of closed terms at multi-language boundaries to model interoperability. In this talk, I discuss work-in-progress approach to uniformly model a compiler entirely as a reduction system on open term in a multi-language semantics, rather than as a syntactic translation. This simultaneously defines the compiler and the interoperability semantics, reducing duplication. It also provides interesting semantic insights. Normalization of the cross-language redexes performs ahead-of-time (AOT) compilation. Evaluation in the multi-language models just-in-time (JIT) compilation. Confluence of multi-language reduction implies compiler correctness, and part of the secure compilation proof (full abstraction), enabling focus on the difficult part of the proof. Subject reduction of the multi-language reduction implies type-preservation of the compiler.
Human-AI Narrative Synthesis to Foster Shared Understanding in Civic Decision-Making
Venue: arXiv cs.HC 2025
Year: 2025

Community engagement processes in representative political contexts, like school districts, generate massive volumes of feedback that overwhelm traditional synthesis methods, creating barriers to shared understanding not only between civic leaders and constituents but also among community members. To address these barriers, we developed StoryBuilder, a human-AI collaborative pipeline that transforms community input into accessible first-person narratives. Using 2,480 community responses from an ongoing school rezoning process, we generated 124 composite stories and deployed them through a mobile-friendly StorySharer interface. Our mixed-methods evaluation combined a four-month field deployment, user studies with 21 community members, and a controlled experiment examining how narrative composition affects participant reactions. Field results demonstrate that narratives helped community members relate across diverse perspectives. In the experiment, experience-grounded narratives generated greater respect and trust than opinion-heavy narratives. We contribute a human-AI narrative synthesis system and insights on its varied acceptance and effectiveness in a real-world civic context.
MoTiC: Momentum Tightness and Contrast for Few-Shot Class-Incremental Learning
Venue: arXiv cs.CV 2025
Year: 2025

Few-Shot Class-Incremental Learning (FSCIL) must contend with the dual challenge of learning new classes from scarce samples while preserving old class knowledge. Existing methods use the frozen feature extractor and class-averaged prototypes to mitigate against catastrophic forgetting and overfitting. However, new-class prototypes suffer significant estimation bias due to extreme data scarcity, whereas base-class prototypes benefit from sufficient data. In this work, we theoretically demonstrate that aligning the new-class priors with old-class statistics via Bayesian analysis reduces variance and improves prototype accuracy. Furthermore, we propose large-scale contrastive learning to enforce cross-category feature tightness. To further enrich feature diversity and inject prior information for new-class prototypes, we integrate momentum self-supervision and virtual categories into the Momentum Tightness and Contrast framework (MoTiC), constructing a feature space with rich representations and enhanced interclass cohesion. Experiments on three FSCIL benchmarks produce state-of-the-art performances, particularly on the fine-grained task CUB-200, validating our method's ability to reduce estimation bias and improve incremental learning robustness.
Formal Safety Verification and Refinement for Generative Motion Planners via Certified Local Stabilization
Venue: arXiv cs.RO 2025
Year: 2025

We present a method for formal safety verification of learning-based generative motion planners. Generative motion planners (GMPs) offer advantages over traditional planners, but verifying the safety and dynamic feasibility of their outputs is difficult since neural network verification (NNV) tools scale only to a few hundred neurons, while GMPs often contain millions. To preserve GMP expressiveness while enabling verification, our key insight is to imitate the GMP by stabilizing references sampled from the GMP with a small neural tracking controller and then applying NNV to the closed-loop dynamics. This yields reachable sets that rigorously certify closed-loop safety, while the controller enforces dynamic feasibility. Building on this, we construct a library of verified GMP references and deploy them online in a way that imitates the original GMP distribution whenever it is safe to do so, improving safety without retraining. We evaluate across diverse planners, including diffusion, flow matching, and vision-language models, improving safety in simulation (on ground robots and quadcopters) and on hardware (differential-drive robot).
Robust RGB-T Tracking via Learnable Visual Fourier Prompt Fine-tuning and Modality Fusion Prompt Generation
Venue: arXiv cs.CV 2025
Year: 2025

Recently, visual prompt tuning is introduced to RGB-Thermal (RGB-T) tracking as a parameter-efficient finetuning (PEFT) method. However, these PEFT-based RGB-T tracking methods typically rely solely on spatial domain information as prompts for feature extraction. As a result, they often fail to achieve optimal performance by overlooking the crucial role of frequency-domain information in prompt learning. To address this issue, we propose an efficient Visual Fourier Prompt Tracking (named VFPTrack) method to learn modality-related prompts via Fast Fourier Transform (FFT). Our method consists of symmetric feature extraction encoder with shared parameters, visual fourier prompts, and Modality Fusion Prompt Generator that generates bidirectional interaction prompts through multi-modal feature fusion. Specifically, we first use a frozen feature extraction encoder to extract RGB and thermal infrared (TIR) modality features. Then, we combine the visual prompts in the spatial domain with the frequency domain prompts obtained from the FFT, which allows for the full extraction and understanding of modality features from different domain information. Finally, unlike previous fusion methods, the modality fusion prompt generation module we use combines features from different modalities to generate a fused modality prompt. This modality prompt is interacted with each individual modality to fully enable feature interaction across different modalities. Extensive experiments conducted on three popular RGB-T tracking benchmarks show that our method demonstrates outstanding performance.
The Conductor and the Engine: A Path Towards Co-Designed Reasoning
Venue: arXiv cs.AI 2025
Year: 2025

Modern LLM reasoning relies on extensive test-time computation, driven by internal model training and external agentic orchestration. However, this synergy is often inefficient, as model verbosity and poor instruction following lead to wasted compute. We analyze this capability-cost trade-off and introduce an optimized reasoning workflow (\cepo) that empowers smaller open-source models to outperform models multiple times their size. We will open-source this workflow to enable further research. Our work demonstrates a clear path toward co-designing orchestration frameworks with the underlying model capabilities to unlock powerful reasoning in small-to-medium sized models.
DynaFlow: Dynamics-embedded Flow Matching for Physically Consistent Motion Generation from State-only Demonstrations
Venue: arXiv cs.RO 2025
Year: 2025

This paper introduces DynaFlow, a novel framework that embeds a differentiable simulator directly into a flow matching model. By generating trajectories in the action space and mapping them to dynamically feasible state trajectories via the simulator, DynaFlow ensures all outputs are physically consistent by construction. This end-to-end differentiable architecture enables training on state-only demonstrations, allowing the model to simultaneously generate physically consistent state trajectories while inferring the underlying action sequences required to produce them. We demonstrate the effectiveness of our approach through quantitative evaluations and showcase its real-world applicability by deploying the generated actions onto a physical Go1 quadruped robot. The robot successfully reproduces diverse gait present in the dataset, executes long-horizon motions in open-loop control and translates infeasible kinematic demonstrations into dynamically executable, stylistic behaviors. These hardware experiments validate that DynaFlow produces deployable, highly effective motions on real-world hardware from state-only demonstrations, effectively bridging the gap between kinematic data and real-world execution.
An Efficient Conditional Score-based Filter for High Dimensional Nonlinear Filtering Problems
Venue: arXiv cs.LG 2025
Year: 2025

In many engineering and applied science domains, high-dimensional nonlinear filtering is still a challenging problem. Recent advances in score-based diffusion models offer a promising alternative for posterior sampling but require repeated retraining to track evolving priors, which is impractical in high dimensions. In this work, we propose the Conditional Score-based Filter (CSF), a novel algorithm that leverages a set-transformer encoder and a conditional diffusion model to achieve efficient and accurate posterior sampling without retraining. By decoupling prior modeling and posterior sampling into offline and online stages, CSF enables scalable score-based filtering across diverse nonlinear systems. Extensive experiments on benchmark problems show that CSF achieves superior accuracy, robustness, and efficiency across diverse nonlinear filtering scenarios.
On the Rate of Convergence of Kolmogorov-Arnold Network Regression Estimators
Venue: arXiv cs.LG 2025
Year: 2025

Kolmogorov-Arnold Networks (KANs) offer a structured and interpretable framework for multivariate function approximation by composing univariate transformations through additive or multiplicative aggregation. This paper establishes theoretical convergence guarantees for KANs when the univariate components are represented by B-splines. We prove that both additive and hybrid additive-multiplicative KANs attain the minimax-optimal convergence rate $O(n^{-2r/(2r+1)})$ for functions in Sobolev spaces of smoothness $r$. We further derive guidelines for selecting the optimal number of knots in the B-splines. The theory is supported by simulation studies that confirm the predicted convergence rates. These results provide a theoretical foundation for using KANs in nonparametric regression and highlight their potential as a structured alternative to existing methods.
Deterministic Frequency--Domain Inference of Network Topology and Hidden Components via Structure--Behavior Scaling
Venue: arXiv cs.SI 2025
Year: 2025

Hidden interactions and components in complex systems-ranging from covert actors in terrorist networks to unobserved brain regions and molecular regulators-often manifest only through indirect behavioral signals. Inferring the underlying network structure from such partial observations remains a fundamental challenge, particularly under nonlinear dynamics. We uncover a robust linear relationship between the spectral strength of a node's behavioral time series under evolutionary game dynamics and its structural degree, $S \propto k$, a structural-behavioral scaling that holds across network types and scales, revealing a universal correspondence between local connectivity and dynamic energy. Leveraging this insight, we develop a deterministic, frequency-domain inference framework based on the discrete Fourier transform (DFT) that reconstructs network topology directly from payoff sequences-without prior knowledge of the network or internal node strategies-by selectively perturbing node dynamics. The framework simultaneously localizes individual hidden nodes or identifies all edges connected to multiple hidden nodes, and estimates tight bounds on the number of hidden nodes. Extensive experiments on synthetic and real-world networks demonstrate that our method consistently outperforms state-of-the-art baselines in both topology reconstruction and hidden component detection. Moreover, it scales efficiently to large networks, offering robustness to stochastic fluctuations and overcoming the size limitations of existing techniques. Our work establishes a principled connection between local dynamic observables and global structural inference, enabling accurate topology recovery in complex systems with hidden elements.
SEA-Spoof: Bridging The Gap in Multilingual Audio Deepfake Detection for South-East Asian
Venue: arXiv cs.SD 2025
Year: 2025

The rapid growth of the digital economy in South-East Asia (SEA) has amplified the risks of audio deepfakes, yet current datasets cover SEA languages only sparsely, leaving models poorly equipped to handle this critical region. This omission is critical: detection models trained on high-resource languages collapse when applied to SEA, due to mismatches in synthesis quality, language-specific characteristics, and data scarcity. To close this gap, we present SEA-Spoof, the first large-scale Audio Deepfake Detection (ADD) dataset especially for SEA languages. SEA-Spoof spans 300+ hours of paired real and spoof speech across Tamil, Hindi, Thai, Indonesian, Malay, and Vietnamese. Spoof samples are generated from a diverse mix of state-of-the-art open-source and commercial systems, capturing wide variability in style and fidelity. Benchmarking state-of-the-art detection models reveals severe cross-lingual degradation, but fine-tuning on SEA-Spoof dramatically restores performance across languages and synthesis sources. These results highlight the urgent need for SEA-focused research and establish SEA-Spoof as a foundation for developing robust, cross-lingual, and fraud-resilient detection systems.
Do Before You Judge: Self-Reference as a Pathway to Better LLM Evaluation
Venue: arXiv cs.CL 2025
Year: 2025

LLM-as-Judge frameworks are increasingly popular for AI evaluation, yet research findings on the relationship between models' generation and judgment abilities remain inconsistent. We investigate this relationship through systematic dataset- and instance-level analyses across 11 models and 21 diverse tasks. Despite both capabilities relying on the same underlying knowledge, our analyses reveal they are only weakly correlated, primarily due to LLMs' sensitivity to the responses being judged. To address this, we propose a self-reference-guided evaluation strategy that leverages a model's own answers as references. This approach significantly strengthens the correlation between generation and judgment abilities, offering a practical path to align these skills and providing a reliable proxy for model selection in evaluation tasks.
Towards Self-Supervised Foundation Models for Critical Care Time Series
Venue: arXiv cs.LG 2025
Year: 2025

Domain-specific foundation models for healthcare have expanded rapidly in recent years, yet foundation models for critical care time series remain relatively underexplored due to the limited size and availability of datasets. In this work, we introduce an early-stage pre-trained foundation model for critical care time-series based on the Bi-Axial Transformer (BAT), trained on pooled electronic health record datasets. We demonstrate effective transfer learning by fine-tuning the model on a dataset distinct from the training sources for mortality prediction, where it outperforms supervised baselines, particularly for small datasets ($<5,000$). These contributions highlight the potential of self-supervised foundation models for critical care times series to support generalizable and robust clinical applications in resource-limited settings.
Future Policy Aware Preference Learning for Mathematical Reasoning
Venue: arXiv cs.CL 2025
Year: 2025

Preference learning methods such as Direct Preference Optimization (DPO) have become standard for Large Language Model (LLM) post-training, yet they are often ineffective for mathematical reasoning. A key challenge is the large token overlap between preferred and dispreferred trajectories; lowering the probability of dispreferred trajectories also reduces the probability of shared useful tokens, leading to over-penalization and overall performance collapse. As a mitigation, existing algorithms include the probability of a trajectory under the current policy as a regularization term, which decreases the effect of the gradient when the probability is low. However, by the time this effect takes hold, useful tokens may have already been over-penalized as the model has begun to degrade. To address this, we propose Future Policy Aware (FPA) preference learning, which replaces the current policy with a future policy in the regularization term. This future policy is estimated via lightweight, logit-space extrapolation from a reference model toward the current model. FPA enables safer training by preemptively regularizing potentially problematic gradients. We apply FPA to DPO, RPO, and SimPER and evaluate them on the MATH and GSM8K benchmarks. FPA yields consistent performance gains, with the largest improvements observed with SimPER, achieving gains of up to 5.75%. We demonstrate that FPA provides proactive regularization while preserving the probability of shared, useful mathematical tokens, and enables longer, degradation-free training with negligible computational overhead. We will release our code publicly upon publication.