OpenRaiser/Intern-Atlas huggingface dataset:
MUKCa: Accurate and Affordable Cobot Calibration Without External Measurement Devices
Venue: arXiv cs.RO 2025
Year: 2025

To increase the reliability of collaborative robots in performing daily tasks, we require them to be accurate and not only repeatable. However, having a calibrated kinematics model is regrettably a luxury, as available calibration tools are usually more expensive than the robots themselves. With this work, we aim to contribute to the democratization of cobots calibration by providing an inexpensive yet highly effective alternative to existing tools. The proposed minimalist calibration routine relies on a 3D-printable tool as the only physical aid to the calibration process. This two-socket spherical-joint tool kinematically constrains the robot at the end effector while collecting the training set. An optimization routine updates the nominal model to ensure a consistent prediction for each socket and the undistorted mean distance between them. We validated the algorithm on three robotic platforms: Franka, Kuka, and Kinova Cobots. The calibrated models reduce the mean absolute error from the order of 10 mm to 0.2 mm for both Franka and Kuka robots. We provide two additional experimental campaigns with the Franka Robot to render the improvements more tangible. First, we implement Cartesian control with and without the calibrated model and use it to perform a standard peg-in-the-hole task with a tolerance of 0.4 mm between the peg and the hole. Second, we perform a repeated drawing task combining Cartesian control with learning from demonstration. Both tasks consistently failed when the model was not calibrated, while they consistently succeeded after calibration.
MoECollab: Democratizing LLM Development Through Collaborative Mixture of Experts
Venue: arXiv cs.LG 2025
Year: 2025

Large Language Model (LLM) development has become increasingly centralized, limiting participation to well-resourced organizations. This paper introduces MoECollab, a novel framework leveraging Mixture of Experts (MoE) architecture to enable distributed, collaborative LLM development. By decomposing monolithic models into specialized expert modules coordinated by a trainable gating network, our framework allows diverse contributors to participate regardless of computational resources. We provide a complete technical implementation with mathematical foundations for expert dynamics, gating mechanisms, and integration strategies. Experiments on multiple datasets demonstrate that our approach achieves accuracy improvements of 3-7% over baseline models while reducing computational requirements by 34%. Expert specialization yields significant domain-specific gains, with improvements from 51% to 88% F1 score in general classification and from 23% to 44% accuracy in news categorization. We formalize the routing entropy optimization problem and demonstrate how proper regularization techniques lead to 14% higher expert utilization rates. These results validate MoECollab as an effective approach for democratizing LLM development through architecturally-supported collaboration.
Point Cloud Based Scene Segmentation: A Survey
Venue: arXiv cs.CV 2025
Year: 2025

Autonomous driving is a safety-critical application, and it is therefore a top priority that the accompanying assistance systems are able to provide precise information about the surrounding environment of the vehicle. Tasks such as 3D Object Detection deliver an insufficiently detailed understanding of the surrounding scene because they only predict a bounding box for foreground objects. In contrast, 3D Semantic Segmentation provides richer and denser information about the environment by assigning a label to each individual point, which is of paramount importance for autonomous driving tasks, such as navigation or lane changes. To inspire future research, in this review paper, we provide a comprehensive overview of the current state-of-the-art methods in the field of Point Cloud Semantic Segmentation for autonomous driving. We categorize the approaches into projection-based, 3D-based and hybrid methods. Moreover, we discuss the most important and commonly used datasets for this task and also emphasize the importance of synthetic data to support research when real-world data is limited. We further present the results of the different methods and compare them with respect to their segmentation accuracy and efficiency.
Negotiative Alignment: Embracing Disagreement to Achieve Fairer Outcomes -- Insights from Urban Studies
Venue: arXiv cs.HC 2025
Year: 2025

Urban assessments often compress diverse needs into single scores, which can obscure minority perspectives. We present a community-centered study in Montreal (n=35; wheelchair users, seniors, LGBTQIA2+ residents, and immigrants). Participants rated 20 streets (accessibility, inclusivity, aesthetics, practicality) and ranked 7 images on 12 interview-elicited criteria. Disagreement patterns were systematic in our sample: wheelchair users diverged most on accessibility and practicality; LGBTQIA2+ participants emphasized inclusion and liveliness; seniors prioritized security. Group discussion reduced information gaps but not value conflicts; ratings conveyed intensity, while rankings forced trade-offs. We then formalize negotiative alignment, a transparent, budget-aware bargaining procedure, and pilot it with role-played stakeholder agents plus a neutral mediator. Relative to the best base design under the same public rubric, the negotiated package increased total utility (21.10 to 24.55), raised the worst-group utility (3.20 to 3.90), improved twentieth percentile satisfaction (0.86 to 1.00; min-max normalized within the scenario), and reduced inequality (Gini 0.036 to 0.025). Treating disagreement as signal and reporting worst-group outcomes alongside totals may help planners and AI practitioners surface trade-offs and preserve minority priorities while maintaining efficiency.
ZO2: Scalable Zeroth-Order Fine-Tuning for Extremely Large Language Models with Limited GPU Memory
Venue: arXiv cs.LG 2025
Year: 2025

Fine-tuning large pre-trained LLMs generally demands extensive GPU memory. Traditional first-order optimizers like SGD encounter substantial difficulties due to increased memory requirements from storing activations and gradients during both the forward and backward phases as the model size expands. Alternatively, zeroth-order (ZO) techniques can compute gradients using just forward operations, eliminating the need to store activations. Furthermore, by leveraging CPU capabilities, it's feasible to enhance both the memory and processing power available to a single GPU. We propose a novel framework, ZO2 (Zeroth-Order Offloading), for efficient zeroth-order fine-tuning of LLMs with only limited GPU memory. Our framework dynamically shifts model parameters between the CPU and GPU as required, optimizing computation flow and maximizing GPU usage by minimizing downtime. This integration of parameter adjustments with ZO's double forward operations reduces unnecessary data movement, enhancing the fine-tuning efficacy. Additionally, our framework supports an innovative low-bit precision approach in AMP mode to streamline data exchanges between the CPU and GPU. Employing this approach allows us to fine-tune extraordinarily large models, such as the OPT-175B with more than 175 billion parameters, on a mere 18GB GPU--achievements beyond the reach of traditional methods. Moreover, our framework achieves these results with almost no additional time overhead and absolutely no accuracy loss compared to standard zeroth-order methods. ZO2's code has been open-sourced in https://github.com/liangyuwang/zo2.
Dynamic Angle Selection in X-Ray CT: A Reinforcement Learning Approach to Optimal Stopping
Venue: arXiv cs.CV 2025
Year: 2025

In industrial X-ray Computed Tomography (CT), the need for rapid in-line inspection is critical. Sparse-angle tomography plays a significant role in this by reducing the required number of projections, thereby accelerating processing and conserving resources. Most existing methods aim to balance reconstruction quality and scanning time, typically relying on fixed scan durations. Adaptive adjustment of the number of angles is essential; for instance, more angles may be required for objects with complex geometries or noisier projections. The concept of optimal stopping, which dynamically adjusts this balance according to varying industrial needs, remains overlooked. Building on our previous work, we integrate optimal stopping into sequential Optimal Experimental Design (sOED) and Reinforcement Learning (RL). We propose a novel method for computing the policy gradient within the Actor-Critic framework, enabling the development of adaptive policies for informative angle selection and scan termination. Additionally, we investigate the gap between simulation and real-world applications in the context of the developed learning-based method. Our trained model, developed using synthetic data, demonstrates reliable performance when applied to experimental X-ray CT data. This approach enhances the flexibility of CT operations and expands the applicability of sparse-angle tomography in industrial settings.
A Brain-Computer Interface Data Persistence System for Multi-Scenario and Multi-Modal Data: NeuroStore
Venue: arXiv cs.DB 2025
Year: 2025

With the rapid advancement of brain-computer interface (BCI) technology, the volume of physiological data generated in related research and applications has grown significantly. Data is a critical resource in BCI research and a key factor in the development of BCI technology, making efficient storage and management of this data increasingly vital. In the realm of research, ample data can facilitate the development of novel algorithms, which can be more accurately validated. In terms of applications, well-organized data can foster the emergence of new business opportunities, thereby maximizing the commercial value of the data. Currently, there are two major challenges in the storage and management of BCI data: providing different classification storage modes for multi-modal data, and adapting to varying application scenarios while improving storage strategies. To address these challenges, this study has developed the NeuroStore BCI data persistence system, which provides a general and easily scalable data model and can effectively handle multiple types of data storage. The system has a flexible distributed framework and can be widely applied to various scenarios. It has been utilized as the core support platform for efficient data storage and management services in the "BCI Controlled Robot Contest in World Robot Contest."
WRATH: Workload Resilience Across Task Hierarchies in Task-based Parallel Programming Frameworks
Venue: arXiv cs.DC 2025
Year: 2025

Failures in Task-based Parallel Programming (TBPP) can severely degrade performance and result in incomplete or incorrect outcomes. Existing failure-handling approaches, including reactive, proactive, and resilient methods such as retry and checkpointing mechanisms, often apply uniform retry mechanisms regardless of the root cause of failures, failing to account for the unique characteristics of TBPP frameworks such as heterogeneous resource availability and task-level failures. To address these limitations, we propose WRATH, a novel systematic approach that categorizes failures based on the unique layered structure of TBPP frameworks and defines specific responses to address failures at different layers. WRATH combines a distributed monitoring system and a resilient module to collaboratively address different types of failures in real time. The monitoring system captures execution and resource information, reports failures, and profiles tasks across different layers of TBPP frameworks. The resilient module then categorizes failures and responds with appropriate actions, such as hierarchically retrying failed tasks on suitable resources. Evaluations demonstrate that WRATH significantly improves TBPP robustness, tripling the task success rate and maintaining an application success rate of over 90% for resolvable failures. Additionally, WRATH can reduce the time to failure by 20%-50%, allowing tasks that are destined to fail to be identified and fail more quickly.
A Survey on Human Interaction Motion Generation
Venue: arXiv cs.CV 2025
Year: 2025

Humans inhabit a world defined by interactions -- with other humans, objects, and environments. These interactive movements not only convey our relationships with our surroundings but also demonstrate how we perceive and communicate with the real world. Therefore, replicating these interaction behaviors in digital systems has emerged as an important topic for applications in robotics, virtual reality, and animation. While recent advances in deep generative models and new datasets have accelerated progress in this field, significant challenges remain in modeling the intricate human dynamics and their interactions with entities in the external world. In this survey, we present, for the first time, a comprehensive overview of the literature in human interaction motion generation. We begin by establishing foundational concepts essential for understanding the research background. We then systematically review existing solutions and datasets across three primary interaction tasks -- human-human, human-object, and human-scene interactions -- followed by evaluation metrics. Finally, we discuss open research directions and future opportunities.
Dynamic-Dark SLAM: RGB-Thermal Cooperative Robot Vision Strategy for Multi-Person Tracking in Both Well-Lit and Low-Light Scenes
Venue: arXiv cs.RO 2025
Year: 2025

In robot vision, thermal cameras hold great potential for recognizing humans even in complete darkness. However, their application to multi-person tracking (MPT) has been limited due to data scarcity and the inherent difficulty of distinguishing individuals. In this study, we propose a cooperative MPT system that utilizes co-located RGB and thermal cameras, where pseudo-annotations (bounding boxes and person IDs) are used to train both RGB and thermal trackers. Evaluation experiments demonstrate that the thermal tracker performs robustly in both bright and dark environments. Moreover, the results suggest that a tracker-switching strategy -- guided by a binary brightness classifier -- is more effective for information integration than a tracker-fusion approach. As an application example, we present an image change pattern recognition (ICPR) method, the ``human-as-landmark,'' which combines two key properties: the thermal recognizability of humans in dark environments and the rich landmark characteristics -- appearance, geometry, and semantics -- of static objects (occluders). Whereas conventional SLAM focuses on mapping static landmarks in well-lit environments, the present study takes a first step toward a new Human-Only SLAM paradigm, ``Dynamic-Dark SLAM,'' which aims to map even dynamic landmarks in complete darkness. Additionally, this study demonstrates that knowledge transfer between thermal and depth modalities enables reliable person tracking using low-resolution 3D LiDAR data without RGB input, contributing an important advance toward cross-robot SLAM systems.
Understanding the Communication Needs of Asynchronous Many-Task Systems -- A Case Study of HPX+LCI
Venue: arXiv cs.DC 2025
Year: 2025

Asynchronous Many-Task (AMT) systems offer a potential solution for efficiently programming complicated scientific applications on extreme-scale heterogeneous architectures. However, they exhibit different communication needs from traditional bulk-synchronous parallel (BSP) applications, posing new challenges for underlying communication libraries. This work systematically studies the communication needs of AMTs and explores how communication libraries can be structured to better satisfy them through a case study of a real-world AMT system, HPX. We first examine its communication stack layout and formalize the communication abstraction that underlying communication libraries need to support. We then analyze its current MPI backend (parcelport) and identify four categories of needs that are not typical in the BSP model and are not well covered by the MPI standard. To bridge these gaps, we design from the native network layer and incorporate various techniques, including one-sided communication, queue-based completion notification, explicit progressing, and different ways of resource contention mitigation, in a new parcelport with an experimental communication library, LCI. Overall, the resulting LCI parcelport outperforms the existing MPI parcelport with up to 50x in microbenchmarks and 2x in a real-world application. Using it as a testbed, we design LCI parcelport variants to quantify the performance contributions of each technique. This work combines conceptual analysis and experiment results to offer a practical guideline for the future development of communication libraries and AMT communication layers.
Leveraging Deep Neural Networks for Aspect-Based Sentiment Classification
Venue: arXiv cs.CL 2025
Year: 2025

Aspect-based sentiment analysis seeks to determine sentiment with a high level of detail. While graph convolutional networks (GCNs) are commonly used for extracting sentiment features, their straightforward use in syntactic feature extraction can lead to a loss of crucial information. This paper presents a novel edge-enhanced GCN, called EEGCN, which improves performance by preserving feature integrity as it processes syntactic graphs. We incorporate a bidirectional long short-term memory (Bi-LSTM) network alongside a self-attention-based transformer for effective text encoding, ensuring the retention of long-range dependencies. A bidirectional GCN (Bi-GCN) with message passing then captures the relationships between entities, while an aspect-specific masking technique removes extraneous information. Extensive evaluations and ablation studies on four benchmark datasets show that EEGCN significantly enhances aspect-based sentiment analysis, overcoming issues with syntactic feature extraction and advancing the field's methodologies.
Harnessing Test-time Adaptation for NLU tasks Involving Dialects of English
Venue: arXiv cs.CL 2025
Year: 2025

Test-time domain adaptation (TTDA) is an excellent method which helps generalize models across domains, tasks, and distributions without the use of labeled datasets. Thus, TTDA is very useful in natural language processing (NLP) in the dialectal setting, since oftentimes, models are trained on Standard American English (SAE), evaluated on Indian English (IndE), Singaporean English (SingE), or Nigerian English (NgE), of which distribution differs significantly from the former. This is especially useful since dialectal datasets are scarce. In this paper, we explore one of the most famous TTDA techniques, SHOT, in dialectal NLP. We finetune and evaluate SHOT on different combinations of dialectal GLUE. Our findings show that SHOT is a viable technique when labeled datasets are unavailable. We also theoretically propose the concept of dialectal gap and show that it has a positive correlation with the effectiveness of SHOT. We also find that in many cases, finetuning on SAE yields higher performance than finetuning on dialectal data.
An interpretable approach to automating the assessment of biofouling in video footage
Venue: arXiv cs.CV 2025
Year: 2025

Biofouling$\unicode{x2013}$communities of organisms that grow on hard surfaces immersed in water$\unicode{x2013}$provides a pathway for the spread of invasive marine species and diseases. To address this risk, international vessels are increasingly being obligated to provide evidence of their biofouling management practices. Verification that these activities are effective requires underwater inspections, using divers or underwater remotely operated vehicles (ROVs), and the collection and analysis of large amounts of imagery and footage. Automated assessment using computer vision techniques can significantly streamline this process, and this work shows how this challenge can be addressed efficiently and effectively using the interpretable Component Features (ComFe) approach with a DINOv2 Vision Transformer (ViT) foundation model. ComFe is able to obtain improved performance in comparison to previous non-interpretable Convolutional Neural Network (CNN) methods, with significantly fewer weights and greater transparency$\unicode{x2013}$through identifying which regions of the image contribute to the classification, and which images in the training data lead to that conclusion. All code, data and model weights are publicly released.
Function-Correcting Codes for b-Symbol Read Channels
Venue: arXiv cs.IT 2025
Year: 2025

Function-correcting codes are an innovative class of codes that are designed to protect a function evaluation of the data against errors or corruptions. Due to its usefulness in machine learning applications and archival data storage, where preserving the integrity of computation is crucial, Lenz et al. recently introduced function-correcting codes for binary symmetric channels to safeguard function evaluation against errors. Xia et al. expanded this concept to symbol-pair read channels over binary fields. The current paper further advances the theory by developing function-correcting codes for b-symbol read channels over finite fields. We introduce the idea of irregular b-symbol distance codes and establish bounds on their performance over finite fields. This concept helps in understanding the behavior of function-correcting codes in more complex settings. We also present a graphical approach of the problem of constructing function-correcting b-symbol codes. Furthermore, we apply these general concepts to specific classes of functions and compare the redundancy of function-correcting b-symbol codes with classical b-symbol codes. Our findings demonstrate that function-correcting b-symbol codes achieve lower redundancy while maintaining reliability.
Lifelong Reinforcement Learning with Similarity-Driven Weighting by Large Models
Venue: arXiv cs.LG 2025
Year: 2025

Lifelong Reinforcement Learning (LRL) holds significant potential for addressing sequential tasks, but it still faces considerable challenges. A key difficulty lies in effectively preventing catastrophic forgetting and facilitating knowledge transfer while maintaining reliable decision-making performance across subsequent tasks in dynamic environments. To tackle this, we propose a novel framework, SDW (Similarity-Driven Weighting Framework), which leverages large-language-model-generated dynamic functions to precisely control the training process. The core of SDW lies in two functions pre-generated by large models: the task similarity function and the weight computation function. The task similarity function extracts multidimensional features from task descriptions to quantify the similarities and differences between tasks in terms of states, actions, and rewards. The weight computation function dynamically generates critical training parameters based on the similarity information, including the proportion of old task data stored in the Replay Buffer and the strategy consistency weight in the loss function, enabling an adaptive balance between learning new tasks and transferring knowledge from previous tasks. By generating function code offline prior to training, rather than relying on large-model inference during the training process, the SDW framework reduces computational overhead while maintaining efficiency in sequential task scenarios. Experimental results on Atari and MiniHack sequential tasks demonstrate that SDW significantly outperforms existing lifelong reinforcement learning methods.