OpenRaiser/Intern-Atlas huggingface dataset:
Semantically Safe Robot Manipulation: From Semantic Scene Understanding to Motion Safeguards
Venue: arXiv cs.RO 2025
Year: 2025

Ensuring safe interactions in human-centric environments requires robots to understand and adhere to constraints recognized by humans as "common sense" (e.g., "moving a cup of water above a laptop is unsafe as the water may spill" or "rotating a cup of water is unsafe as it can lead to pouring its content"). Recent advances in computer vision and machine learning have enabled robots to acquire a semantic understanding of and reason about their operating environments. While extensive literature on safe robot decision-making exists, semantic understanding is rarely integrated into these formulations. In this work, we propose a semantic safety filter framework to certify robot inputs with respect to semantically defined constraints (e.g., unsafe spatial relationships, behaviors, and poses) and geometrically defined constraints (e.g., environment-collision and self-collision constraints). In our proposed approach, given perception inputs, we build a semantic map of the 3D environment and leverage the contextual reasoning capabilities of large language models to infer semantically unsafe conditions. These semantically unsafe conditions are then mapped to safe actions through a control barrier certification formulation. We demonstrate the proposed semantic safety filter in teleoperated manipulation tasks and with learned diffusion policies applied in a real-world kitchen environment that further showcases its effectiveness in addressing practical semantic safety constraints. Together, these experiments highlight our approach's capability to integrate semantics into safety certification, enabling safe robot operation beyond traditional collision avoidance.
BRIEF: Bridging Retrieval and Inference for Multi-hop Reasoning via Compression
Venue: arXiv cs.CL 2025
Year: 2025

Retrieval-augmented generation (RAG) can supplement large language models (LLMs) by integrating external knowledge. However, as the number of retrieved documents increases, the input length to LLMs grows linearly, causing a dramatic increase in latency and a degradation in long-context understanding. This is particularly serious for multi-hop questions that require a chain of reasoning across documents. To accelerate inference, reduce costs, and minimize distractions, this paper presents BRIEF (Bridging Retrieval and Inference through Evidence Fusion), a lightweight approach that performs query-aware multi-hop reasoning by compressing retrieved documents into highly dense textual summaries to integrate into in-context RAG. To enable learning compression for multi-hop reasoning, we curate synthetic data by extracting atomic propositions that encapsulate distinct factoids from the source documents to compose synthetic summaries. Based on our synthetic data built entirely by open-source models, BRIEF generates more concise summaries and enables a range of LLMs to achieve exceptional open-domain question answering (QA) performance. For example, on HotpotQA, BRIEF improves the compression rate by 2 times compared to the state-of-the-art baseline, while outperforming it by 3.00% EM and 4.16% F1 with Flan-UL2 as the reader model. It also generates more concise summaries than proprietary GPT-3.5, while demonstrating nearly identical QA performance.
ConSinger: Efficient High-Fidelity Singing Voice Generation with Minimal Steps
Venue: arXiv cs.SD 2025
Year: 2025

Singing voice synthesis (SVS) system is expected to generate high-fidelity singing voice from given music scores (lyrics, duration and pitch). Recently, diffusion models have performed well in this field. However, sacrificing inference speed to exchange with high-quality sample generation limits its application scenarios. In order to obtain high quality synthetic singing voice more efficiently, we propose a singing voice synthesis method based on the consistency model, ConSinger, to achieve high-fidelity singing voice synthesis with minimal steps. The model is trained by applying consistency constraint and the generation quality is greatly improved at the expense of a small amount of inference speed. Our experiments show that ConSinger is highly competitive with the baseline model in terms of generation speed and quality. Audio samples are available at https://keylxiao.github.io/consinger.
Assessing Quantum Extreme Learning Machines for Software Testing in Practice
Venue: arXiv cs.SE 2025
Year: 2025

Machine learning has been extensively applied for classical software testing activities such as test generation, minimization, and prioritization. Along the same lines, there has been interest in applying quantum machine learning to classical software testing. For example, Quantum Extreme Learning Machines (QELMs) were recently applied for testing classical software of industrial elevators. However, studies on QELMs, whether in software testing or other areas, used ideal simulators that fail to account for the noise in current quantum computers. While ideal simulations offer insight into QELM's theoretical capabilities, they do not enable studying their performance on current noisy quantum computers. To this end, we study how quantum noise affects QELM in three industrial classical software testing case studies, providing insights into QELMs' robustness to noise for software testing applications. Such insights assess QELMs potential as a viable solution for software testing problems in today's noisy quantum computing. Our results show that QELMs are significantly affected by quantum noise, with a performance drop of 250% in regression and 50% in classification software testing tasks. Quantum noise also increases uncertainty in QELM models, producing a saturation effect where larger qubit counts make the models increasingly random and unreliable. While error mitigation techniques can enhance noise resilience, achieving an average 3% performance drop in classification, their effectiveness varies by context. For classification tasks, QLEAR performs well, whereas Zero Noise Extrapolation is more effective for regression and smaller qubit counts. However, no single mitigation approach consistently reduces uncertainty across tasks or scales reliably as the number of qubits increases, highlighting the need for QELM-tailored strategies.
GRS: Generating Robotic Simulation Tasks from Real-World Images
Venue: arXiv cs.RO 2025
Year: 2025

We introduce GRS (Generating Robotic Simulation tasks), a system addressing real-to-sim for robotic simulations. GRS creates digital twin simulations from single RGB-D observations with solvable tasks for virtual agent training. Using vision-language models (VLMs), our pipeline operates in three stages: 1) scene comprehension with SAM2 for segmentation and object description, 2) matching objects with simulation-ready assets, and 3) generating appropriate tasks. We ensure simulation-task alignment through generated test suites and introduce a router that iteratively refines both simulation and test code. Experiments demonstrate our system's effectiveness in object correspondence and task environment generation through our novel router mechanism.
A Survey of Conversational Search
Venue: arXiv cs.CL 2025
Year: 2025

As a cornerstone of modern information access, search engines have become indispensable in everyday life. With the rapid advancements in AI and natural language processing (NLP) technologies, particularly large language models (LLMs), search engines have evolved to support more intuitive and intelligent interactions between users and systems. Conversational search, an emerging paradigm for next-generation search engines, leverages natural language dialogue to facilitate complex and precise information retrieval, thus attracting significant attention. Unlike traditional keyword-based search engines, conversational search systems enhance user experience by supporting intricate queries, maintaining context over multi-turn interactions, and providing robust information integration and processing capabilities. Key components such as query reformulation, search clarification, conversational retrieval, and response generation work in unison to enable these sophisticated interactions. In this survey, we explore the recent advancements and potential future directions in conversational search, examining the critical modules that constitute a conversational search system. We highlight the integration of LLMs in enhancing these systems and discuss the challenges and opportunities that lie ahead in this dynamic field. Additionally, we provide insights into real-world applications and robust evaluations of current conversational search systems, aiming to guide future research and development in conversational search.
Reinforced Imitative Trajectory Planning for Urban Automated Driving
Venue: arXiv cs.RO 2025
Year: 2025

Reinforcement learning (RL) faces challenges in trajectory planning for urban automated driving due to the poor convergence of RL and the difficulty in designing reward functions. Consequently, few RL-based trajectory planning methods can achieve performance comparable to that of imitation learning-based methods. The convergence problem is alleviated by combining RL with supervised learning. However, most existing approaches only reason one step ahead and lack the capability to plan for multiple future steps. Besides, although inverse reinforcement learning holds promise for solving the reward function design issue, existing methods for automated driving impose a linear structure assumption on reward functions, making them difficult to apply to urban automated driving. In light of these challenges, this paper proposes a novel RL-based trajectory planning method that integrates RL with imitation learning to enable multi-step planning. Furthermore, a transformer-based Bayesian reward function is developed, providing effective reward signals for RL in urban scenarios. Moreover, a hybrid-driven trajectory planning framework is proposed to enhance safety and interpretability. The proposed methods were validated on the large-scale real-world urban automated driving nuPlan dataset. Evaluated using closed-loop metrics, the results demonstrated that the proposed method significantly outperformed the baseline employing the identical policy model structure and achieved competitive performance compared to the state-of-the-art method. The code is available at https://github.com/Zigned/nuplan_zigned.
Security of Language Models for Code: A Systematic Literature Review
Venue: arXiv cs.SE 2025
Year: 2025

Language models for code (CodeLMs) have emerged as powerful tools for code-related tasks, outperforming traditional methods and standard machine learning approaches. However, these models are susceptible to security vulnerabilities, drawing increasing research attention from domains such as software engineering, artificial intelligence, and cybersecurity. Despite the growing body of research focused on the security of CodeLMs, a comprehensive survey in this area remains absent. To address this gap, we systematically review 67 relevant papers, organizing them based on attack and defense strategies. Furthermore, we provide an overview of commonly used language models, datasets, and evaluation metrics, and highlight open-source tools and promising directions for future research in securing CodeLMs.
Opportunities and Challenges of Generative-AI in Finance
Venue: arXiv cs.AI 2025
Year: 2025

Gen-AI techniques are able to improve understanding of context and nuances in language modeling, translation between languages, handle large volumes of data, provide fast, low-latency responses and can be fine-tuned for various tasks and domains. In this manuscript, we present a comprehensive overview of the applications of Gen-AI techniques in the finance domain. In particular, we present the opportunities and challenges associated with the usage of Gen-AI techniques. We also illustrate the various methodologies which can be used to train Gen-AI techniques and present the various application areas of Gen-AI technologies in the finance ecosystem. To the best of our knowledge, this work represents the most comprehensive summarization of Gen-AI techniques within the financial domain. The analysis is designed for a deep overview of areas marked for substantial advancement while simultaneously pin-point those warranting future prioritization. We also hope that this work would serve as a conduit between finance and other domains, thus fostering the cross-pollination of innovative concepts and practices.
Long Term Memory: The Foundation of AI Self-Evolution
Venue: arXiv cs.AI 2025
Year: 2025

Large language models (LLMs) like GPTs, trained on vast datasets, have demonstrated impressive capabilities in language understanding, reasoning, and planning, achieving human-level performance in various tasks. Most studies focus on enhancing these models by training on ever-larger datasets to build more powerful foundation models. While training stronger models is important, enabling models to evolve during inference is equally crucial, a process we refer to as AI self-evolution. Unlike large-scale training, self-evolution may rely on limited data or interactions. Inspired by the columnar organization of the human cerebral cortex, we hypothesize that AI models could develop cognitive abilities and build internal representations through iterative interactions with their environment. To achieve this, models need long-term memory (LTM) to store and manage processed interaction data. LTM supports self-evolution by representing diverse experiences across environments and agents. In this report, we explore AI self-evolution and its potential to enhance models during inference. We examine LTM's role in lifelong learning, allowing models to evolve based on accumulated interactions. We outline the structure of LTM and the systems needed for effective data retention and representation. We also classify approaches for building personalized models with LTM data and show how these models achieve self-evolution through interaction. Using LTM, our multi-agent framework OMNE achieved first place on the GAIA benchmark, demonstrating LTM's potential for AI self-evolution. Finally, we present a roadmap for future research, emphasizing the importance of LTM for advancing AI technology and its practical applications.
Offline reinforcement learning for job-shop scheduling problems
Venue: arXiv cs.LG 2025
Year: 2025

Recent advances in deep learning have shown significant potential for solving combinatorial optimization problems in real-time. Unlike traditional methods, deep learning can generate high-quality solutions efficiently, which is crucial for applications like routing and scheduling. However, existing approaches like deep reinforcement learning (RL) and behavioral cloning have notable limitations, with deep RL suffering from slow learning and behavioral cloning relying solely on expert actions, which can lead to generalization issues and neglect of the optimization objective. This paper introduces a novel offline RL method designed for combinatorial optimization problems with complex constraints, where the state is represented as a heterogeneous graph and the action space is variable. Our approach encodes actions in edge attributes and balances expected rewards with the imitation of expert solutions. We demonstrate the effectiveness of this method on job-shop scheduling and flexible job-shop scheduling benchmarks, achieving superior performance compared to state-of-the-art techniques.
FlickerFusion: Intra-trajectory Domain Generalizing Multi-Agent RL
Venue: arXiv cs.LG 2025
Year: 2025

Multi-agent reinforcement learning has demonstrated significant potential in addressing complex cooperative tasks across various real-world applications. However, existing MARL approaches often rely on the restrictive assumption that the number of entities (e.g., agents, obstacles) remains constant between training and inference. This overlooks scenarios where entities are dynamically removed or added during the inference trajectory -- a common occurrence in real-world environments like search and rescue missions and dynamic combat situations. In this paper, we tackle the challenge of intra-trajectory dynamic entity composition under zero-shot out-of-domain (OOD) generalization, where such dynamic changes cannot be anticipated beforehand. Our empirical studies reveal that existing MARL methods suffer significant performance degradation and increased uncertainty in these scenarios. In response, we propose FlickerFusion, a novel OOD generalization method that acts as a universally applicable augmentation technique for MARL backbone methods. FlickerFusion stochastically drops out parts of the observation space, emulating being in-domain when inferenced OOD. The results show that FlickerFusion not only achieves superior inference rewards but also uniquely reduces uncertainty vis-à-vis the backbone, compared to existing methods. Benchmarks, implementations, and model weights are organized and open-sourced at flickerfusion305.github.io, accompanied by ample demo video renderings.
Singular Detection in Noncoherent Communications
Venue: arXiv cs.IT 2025
Year: 2025

This paper proposes a general analysis of codeword detection in noncoherent communications. Motivated by the existence of error floors in various regimes, fundamental characteristics of signal design are investigated. In particular, the necessary and sufficient conditions for asymptotically singular detection (i.e. error-free in the limit) are derived from classical results in detection theory. By leveraging tools from linear algebra and the theory of Hilbert spaces, we are able to characterize asymptotic singularity in two main scenarios: the large array and high SNR regimes. The results generalize previous works and extend the notion of unique identification, as well as re-contextualize the geometry of Grassmannian constellations from an alternative perspective.
Formalising CXL Cache Coherence
Venue: arXiv cs.AR 2025
Year: 2025

We report our experience formally modelling and verifying CXL.cache, the inter-device cache coherence protocol of the Compute Express Link standard. We have used the Isabelle proof assistant to create a formal model for CXL.cache based on the prose English specification. This led to us identifying and proposing fixes to several problems we identified as unclear, ambiguous or inaccurate, some of which could lead to incoherence if left unfixed. Nearly all our issues and proposed fixes have been confirmed and tentatively accepted by the CXL consortium for adoption, save for one which is still under discussion. To validate the faithfulness of our model we performed scenario verification of essential restrictions such as "Snoop-pushes-GO", and produced a fully mechanised proof of a coherence property of the model. The considerable size of this proof, comprising tens of thousands of lemmas, prompted us to develop new proof automation tools, which we have made available for other Isabelle users working with similarly cumbersome proofs.
Robust Visual Representation Learning with Multi-modal Prior Knowledge for Image Classification Under Distribution Shift
Venue: arXiv cs.CV 2025
Year: 2025

Despite the remarkable success of deep neural networks (DNNs) in computer vision, they fail to remain high-performing when facing distribution shifts between training and testing data. In this paper, we propose Knowledge-Guided Visual representation learning (KGV) - a distribution-based learning approach leveraging multi-modal prior knowledge - to improve generalization under distribution shift. It integrates knowledge from two distinct modalities: 1) a knowledge graph (KG) with hierarchical and association relationships; and 2) generated synthetic images of visual elements semantically represented in the KG. The respective embeddings are generated from the given modalities in a common latent space, i.e., visual embeddings from original and synthetic images as well as knowledge graph embeddings (KGEs). These embeddings are aligned via a novel variant of translation-based KGE methods, where the node and relation embeddings of the KG are modeled as Gaussian distributions and translations, respectively. We claim that incorporating multi-model prior knowledge enables more regularized learning of image representations. Thus, the models are able to better generalize across different data distributions. We evaluate KGV on different image classification tasks with major or minor distribution shifts, namely road sign classification across datasets from Germany, China, and Russia, image classification with the mini-ImageNet dataset and its variants, as well as the DVM-CAR dataset. The results demonstrate that KGV consistently exhibits higher accuracy and data efficiency across all experiments.
ControlPULPlet: A Flexible Real-time Multi-core RISC-V Controller for 2.5D Systems-in-package
Venue: arXiv cs.AR 2025
Year: 2025

The growing complexity of real-time control algorithms with increasing performance demands, along with the shift to 2.5D technology, drive the need for scalable controllers to manage chiplets' coupled operation in 2.5D systems-in-package. These controllers must offer real-time computing capabilities, as well as System-in-package (SiP) compatible IO interfaces for communicating with the controlled dies. Due to real-time constraints, a key challenge is minimizing the performance penalty of die-to-die communication with respect to native on-chip control interfaces. We address this challenge with ControlPULPlet, an open-source, real-time multi-core RISC-V controller designed specifically for SiP integration. ControlPULPlet features a 32-bit CV32RT core for fast interrupt handling and a specialized direct memory access engine to automate periodic sensor readout. A tightly-coupled programmable multi-core cluster for acceleration of advanced control algorithms is integrated through a dedicated AXI4 port. A flexible AXI4-compatible die-to-die (D2D) link enables efficient communication in 2.5D SiPs. We implemented and fabricated ControlPULPlet as a silicon demonstrator called Kairos in TSMC's 65nm CMOS. Kairos runs model predictive control algorithms at up to 290 MHz in a 30 mW power envelope. The D2D link attains a peak duplex transfer rate of 51 Gbit/s at 200 MHz, at the minimal costs of just 7.6 kGE in PHY area per channel, adding just 2.9% to the total system area.
Language Model Probabilities are Not Calibrated in Numeric Contexts
Venue: arXiv cs.AI 2025
Year: 2025

Some statements have one well-defined continuation (e.g., "the Eiffel Tower is in [Paris]"), whereas others have a natural distribution over multiple options (e.g., "the weighted coin flip was [Heads/Tails].") We argue that language model (LM) outputs should capture these natural distributions. Our work specifically tests whether LM output probabilities are calibrated to numeric information within their textual contexts. For example, if the context (the prompt) concerns two equally likely options (e.g., heads or tails for a fair coin), the LM output probabilities should also be equal. Likewise, in a context with nonuniformly likely events (e.g., rolling a pair with two dice) an LM should output proportionate probabilities. However, we find that even in simple settings, the best LMs (1) are poorly calibrated and (2) have systematic biases: artifacts like word identity, word order, and word frequency all impact calibration. For example, gpt-4o-mini often picks the first of two options presented in the prompt regardless of the options' implied likelihoods, whereas Llama-3.1-8B picks the second. Models do not allocate probability mass among valid options in a calibrated manner.