OpenRaiser/Intern-Atlas huggingface dataset:
Adap-RPF: Adaptive Trajectory Sampling for Robot Person Following in Dynamic Crowded Environments
Venue: arXiv cs.RO 2025
Year: 2025

Robot person following (RPF) is a core capability in human-robot interaction, enabling robots to assist users in daily activities, collaborative work, and other service scenarios. However, achieving practical RPF remains challenging due to frequent occlusions, particularly in dynamic and crowded environments. Existing approaches often rely on fixed-point following or sparse candidate-point selection with oversimplified heuristics, which cannot adequately handle complex occlusions caused by moving obstacles such as pedestrians. To address these limitations, we propose an adaptive trajectory sampling method that generates dense candidate points within socially aware zones and evaluates them using a multi-objective cost function. Based on the optimal point, a person-following trajectory is estimated relative to the predicted motion of the target. We further design a prediction-aware model predictive path integral (MPPI) controller that simultaneously tracks this trajectory and proactively avoids collisions using predicted pedestrian motions. Extensive experiments show that our method outperforms state-of-the-art baselines in smoothness, safety, robustness, and human comfort, with its effectiveness further demonstrated on a mobile robot in real-world scenarios.
Next Interest Flow: A Generative Pre-training Paradigm for Recommender Systems by Modeling All-domain Movelines
Venue: arXiv cs.IR 2025
Year: 2025

Click-Through Rate (CTR) prediction, a cornerstone of modern recommender systems, has been dominated by discriminative models that react to past user behavior rather than proactively modeling user intent. Existing generative paradigms attempt to address this but suffer from critical limitations: Large Language Model (LLM) based methods create a semantic mismatch by forcing e-commerce signals into a linguistic space, while ID-based generation is constrained by item memorization and cold-start issues. To overcome these limitations, we propose a novel generative pre-training paradigm. Our model learns to predict the Next Interest Flow, a dense vector sequence representing a user's future intent, while simultaneously modeling its internal Interest Diversity and Interest Evolution Velocity to ensure the representation is both rich and coherent. However, this two-stage approach introduces a critical objective mismatch between the generative and discriminative stages. We resolve this via a bidirectional alignment strategy, which harmonizes the two stages through cross-stage weight initialization and a dynamic Semantic Alignment Module for fine-tuning. Additionally, we enhance the underlying discriminative model with a Temporal Sequential Pairwise (TSP) mechanism to better capture temporal causality. We present the All-domain Moveline Evolution Network (AMEN), a unified framework implementing our entire pipeline. Extensive offline experiments validate AMEN's superiority over strong baselines, and a large-scale online A/B test demonstrates its significant real-world impact, delivering substantial improvements in key business metrics.
REACT3D: Recovering Articulations for Interactive Physical 3D Scenes
Venue: arXiv cs.CV 2025
Year: 2025

Interactive 3D scenes are increasingly vital for embodied intelligence, yet existing datasets remain limited due to the labor-intensive process of annotating part segmentation, kinematic types, and motion trajectories. We present REACT3D, a scalable zero-shot framework that converts static 3D scenes into simulation-ready interactive replicas with consistent geometry, enabling direct use in diverse downstream tasks. Our contributions include: (i) openable-object detection and segmentation to extract candidate movable parts from static scenes, (ii) articulation estimation that infers joint types and motion parameters, (iii) hidden-geometry completion followed by interactive object assembly, and (iv) interactive scene integration in widely supported formats to ensure compatibility with standard simulation platforms. We achieve state-of-the-art performance on detection/segmentation and articulation metrics across diverse indoor scenes, demonstrating the effectiveness of our framework and providing a practical foundation for scalable interactive scene generation, thereby lowering the barrier to large-scale research on articulated scene understanding. Our project page is https://react3d.github.io/
Multi-View Graph Feature Propagation for Privacy Preservation and Feature Sparsity
Venue: arXiv cs.LG 2025
Year: 2025

Graph Neural Networks (GNNs) have demonstrated remarkable success in node classification tasks over relational data, yet their effectiveness often depends on the availability of complete node features. In many real-world scenarios, however, feature matrices are highly sparse or contain sensitive information, leading to degraded performance and increased privacy risks. Furthermore, direct exposure of information can result in unintended data leakage, enabling adversaries to infer sensitive information. To address these challenges, we propose a novel Multi-view Feature Propagation (MFP) framework that enhances node classification under feature sparsity while promoting privacy preservation. MFP extends traditional Feature Propagation (FP) by dividing the available features into multiple Gaussian-noised views, each propagating information independently through the graph topology. The aggregated representations yield expressive and robust node embeddings. This framework is novel in two respects: it introduces a mechanism that improves robustness under extreme sparsity, and it provides a principled way to balance utility with privacy. Extensive experiments conducted on graph datasets demonstrate that MFP outperforms state-of-the-art baselines in node classification while substantially reducing privacy leakage. Moreover, our analysis demonstrates that propagated outputs serve as alternative imputations rather than reconstructions of the original features, preserving utility without compromising privacy. A comprehensive sensitivity analysis further confirms the stability and practical applicability of MFP across diverse scenarios. Overall, MFP provides an effective and privacy-aware framework for graph learning in domains characterized by missing or sensitive features.
Early Detection and Reduction of Memorisation for Domain Adaptation and Instruction Tuning
Venue: arXiv cs.CL 2025
Year: 2025

Although large language models excel across many tasks, they can memorise training data and thereby expose private or copyrighted text. Most defences target the pre-training stage, leaving memorisation during fine-tuning, especially for domain adaptation and instruction tuning, poorly understood. We fine-tune Pythia, Llama3, and Mistral models spanning 1.4B-70B parameters on common evaluation datasets and track verbatim memorisation throughout training. We find that memorisation increases dramatically in the first few epochs, often significantly before either validation perplexity or evaluation performance is optimised. We use a simple but effective n-gram memorisation score which reliably precedes verbatim memorisation; using it as an early-stopping criterion mitigates memorisation with minimal performance loss. Further, we introduce an n-gram-aware loss regulariser and show that it reduces memorisation across all model families tested by up to 40% while minimising evaluation performance trade-offs when compared to an existing memorisation mitigation strategy. These results yield practical, scalable insights into memorisation dynamics during language model fine-tuning.
On Inherited Popularity Bias in Cold-Start Item Recommendation
Venue: arXiv cs.IR 2025
Year: 2025

Collaborative filtering (CF) recommender systems struggle with making predictions on unseen, or 'cold', items. Systems designed to address this challenge are often trained with supervision from warm CF models in order to leverage collaborative and content information from the available interaction data. However, since they learn to replicate the behavior of CF methods, cold-start models may therefore also learn to imitate their predictive biases. In this paper, we show that cold-start systems can inherit popularity bias, a common cause of recommender system unfairness arising when CF models overfit to more popular items, thereby maximizing user-oriented accuracy but neglecting rarer items. We demonstrate that cold-start recommenders not only mirror the popularity biases of warm models, but are in fact affected more severely: because they cannot infer popularity from interaction data, they instead attempt to estimate it based solely on content features. This leads to significant over-prediction of certain cold items with similar content to popular warm items, even if their ground truth popularity is very low. Through experiments on three multimedia datasets, we analyze the impact of this behavior on three generative cold-start methods. We then describe a simple post-processing bias mitigation method that, by using embedding magnitude as a proxy for predicted popularity, can produce more balanced recommendations with limited harm to user-oriented cold-start accuracy.
Building and Evaluating a Realistic Virtual World for Large Scale Urban Exploration from 360° Videos
Venue: arXiv cs.MM 2025
Year: 2025

We propose to build realistic virtual worlds, called 360RVW, for large urban environments directly from 360° videos. We provide an interface for interactive exploration, where users can freely navigate via their own avatars. 360° videos record the entire environment of the shooting location simultaneously leading to highly realistic and immersive representations. Our system uses 360° videos recorded along streets and builds a 360RVW through four main operations: video segmentation by intersection detection, video completion to remove the videographer, semantic segmentation for virtual collision detection with the avatar, and projection onto a distorted sphere that moves along the camera trajectory following the avatar's movements. Our interface allows users to explore large urban environments by changing their walking direction at intersections or choosing a new location by clicking on a map. Even without a 3D model, the users can experience collision with buildings using metadata produced by semantic segmentation. Furthermore, we stream the 360° videos so users can directly access 360RVW via their web browser. We fully evaluate our system, including a perceptual experiment comparing our approach to previous exploratory interfaces. The results confirm the quality of our system, especially regarding the presence of users and the interactive exploration, making it most suitable for a virtual tour of urban environments.
A Faster and More Reliable Middleware for Autonomous Driving Systems
Venue: arXiv cs.RO 2025
Year: 2025

Ensuring safety in high-speed autonomous vehicles requires rapid control loops and tightly bounded delays from perception to actuation. Many open-source autonomy systems rely on ROS 2 middleware; when multiple sensor and control nodes share one compute unit, ROS 2 and its DDS transports add significant (de)serialization, copying, and discovery overheads, shrinking the available time budget. We present Sensor-in-Memory (SIM), a shared-memory transport designed for intra-host pipelines in autonomous vehicles. SIM keeps sensor data in native memory layouts (e.g., cv::Mat, PCL), uses lock-free bounded double buffers that overwrite old data to prioritize freshness, and integrates into ROS 2 nodes with four lines of code. Unlike traditional middleware, SIM operates beside ROS 2 and is optimized for applications where data freshness and minimal latency outweigh guaranteed completeness. SIM provides sequence numbers, a writer heartbeat, and optional checksums to ensure ordering, liveness, and basic integrity. On an NVIDIA Jetson Orin Nano, SIM reduces data-transport latency by up to 98% compared to ROS 2 zero-copy transports such as FastRTPS and Zenoh, lowers mean latency by about 95%, and narrows 95th/99th-percentile tail latencies by around 96%. In tests on a production-ready Level 4 vehicle running Autoware.Universe, SIM increased localization frequency from 7.5 Hz to 9.5 Hz. Applied across all latency-critical modules, SIM cut average perception-to-decision latency from 521.91 ms to 290.26 ms, reducing emergency braking distance at 40 mph (64 km/h) on dry concrete by 13.6 ft (4.14 m).
Coupled Degradation Modeling and Fusion: A VLM-Guided Degradation-Coupled Network for Degradation-Aware Infrared and Visible Image Fusion
Venue: arXiv cs.CV 2025
Year: 2025

Existing Infrared and Visible Image Fusion (IVIF) methods typically assume high-quality inputs. However, when handing degraded images, these methods heavily rely on manually switching between different pre-processing techniques. This decoupling of degradation handling and image fusion leads to significant performance degradation. In this paper, we propose a novel VLM-Guided Degradation-Coupled Fusion network (VGDCFusion), which tightly couples degradation modeling with the fusion process and leverages vision-language models (VLMs) for degradation-aware perception and guided suppression. Specifically, the proposed Specific-Prompt Degradation-Coupled Extractor (SPDCE) enables modality-specific degradation awareness and establishes a joint modeling of degradation suppression and intra-modal feature extraction. In parallel, the Joint-Prompt Degradation-Coupled Fusion (JPDCF) facilitates cross-modal degradation perception and couples residual degradation filtering with complementary cross-modal feature fusion. Extensive experiments demonstrate that our VGDCFusion significantly outperforms existing state-of-the-art fusion approaches under various degraded image scenarios. Our code is available at https://github.com/Lmmh058/VGDCFusion.
From <Answer> to <Think>: Multidimensional Supervision of Reasoning Process for LLM Optimization
Venue: arXiv cs.AI 2025
Year: 2025

Improving the multi-step reasoning ability of Large Language Models (LLMs) is a critical yet challenging task. The dominant paradigm, outcome-supervised reinforcement learning (RLVR), rewards only correct final answers, often propagating flawed reasoning and suffering from sparse reward signals. While process-level reward models (PRMs) provide denser, step-by-step feedback, they lack generalizability and interpretability, requiring task-specific segmentation of the reasoning process. To this end, we propose the Dimension-level Reward Model (DRM), a new supervision framework that bridges the gap between these two approaches. DRM evaluates the quality of a reasoning process along three fundamental, complementary, and interpretable dimensions: Confidence for uncertainty calibration, Relevance for semantic alignment, and Coherence for logical consistency. Together, these dimensions capture aspects beyond final answer correctness and enable interpretable assessment without requiring ground truth answers. Experimental results show that DRM provides effective supervision signals, guides the optimization of LLMs and enhances their reasoning ability. In particular, DRM-supervised training achieves consistent gains on both in-distribution and out-of-distribution open-domain tasks, including mathematics, question answering, code execution, and puzzles. Our findings demonstrate that multidimensional supervision of the reasoning process can improve the generalized reasoning ability of LLMs beyond the training distribution.
Networks Multiscale Entropy Analysis
Venue: arXiv cs.SI 2025
Year: 2025

Understanding the structural complexity and predictability of complex networks is a central challenge in network science. Although recent studies have revealed a relationship between compression-based entropy and link prediction performance, existing methods focus on single-scale representations. This approach often overlooks the rich hierarchical patterns that can exist in real-world networks. In this study, we introduce a multiscale entropy framework that extends previous entropy-based approaches by applying spectral graph reduction. This allows us to quantify how structural entropy evolves as the network is gradually coarsened, capturing complexity across multiple scales. We apply our framework to real-world networks across biological, economic, social, technological, and transportation domains. The results uncover consistent entropy profiles across network families, revealing three structural regimes$\unicode{x2013}$stable, increasing, and hybrid$\unicode{x2013}$that align with domain-specific behaviors. Compared to single-scale models, multiscale entropy significantly improves our ability to determine network predictability. This shows that considering structural information across scales provides a more complete characterization of network complexity. Together, these results position multiscale entropy as a powerful and scalable tool for characterizing, classifying, and assessing the structure of complex networks.
DQ-NMPC: Dual-Quaternion NMPC for Quadrotor Flight
Venue: arXiv cs.RO 2025
Year: 2025

MAVs have great potential to assist humans in complex tasks, with applications ranging from logistics to emergency response. Their agility makes them ideal for operations in complex and dynamic environments. However, achieving precise control in agile flights remains a significant challenge, particularly due to the underactuated nature of quadrotors and the strong coupling between their translational and rotational dynamics. In this work, we propose a novel NMPC framework based on dual-quaternions (DQ-NMPC) for quadrotor flight. By representing both quadrotor dynamics and the pose error directly on the dual-quaternion manifold, our approach enables a compact and globally non-singular formulation that captures the quadrotor coupled dynamics. We validate our approach through simulations and real-world experiments, demonstrating better numerical conditioning and significantly improved tracking performance, with reductions in position and orientation errors of up to 56.11% and 56.77%, compared to a conventional baseline NMPC method. Furthermore, our controller successfully handles aggressive trajectories, reaching maximum speeds up to 13.66 m/s and accelerations reaching 4.2 g within confined space conditions of dimensions 11m x 4.5m x 3.65m under which the baseline controller fails.
A Flexible Multi-Agent Deep Reinforcement Learning Framework for Dynamic Routing and Scheduling of Latency-Critical Services
Venue: arXiv cs.NI 2025
Year: 2025

Timely delivery of delay-sensitive information over dynamic, heterogeneous networks is increasingly essential for a range of interactive applications, such as industrial automation, self-driving vehicles, and augmented reality. However, most existing network control solutions target only average delay performance, falling short of providing strict End-to-End (E2E) peak latency guarantees. This paper addresses the challenge of reliably delivering packets within application-imposed deadlines by leveraging recent advancements in Multi-Agent Deep Reinforcement Learning (MA-DRL). After introducing the Delay-Constrained Maximum-Throughput (DCMT) dynamic network control problem, and highlighting the limitations of current solutions, we present a novel MA-DRL network control framework that leverages a centralized routing and distributed scheduling architecture. The proposed framework leverages critical networking domain knowledge for the design of effective MA-DRL strategies based on the Multi-Agent Deep Deterministic Policy Gradient (MADDPG) technique, where centralized routing and distributed scheduling agents dynamically assign paths and schedule packet transmissions according to packet lifetimes, thereby maximizing on-time packet delivery. The generality of the proposed framework allows integrating both data-driven \blue{Deep Reinforcement Learning (DRL)} agents and traditional rule-based policies in order to strike the right balance between performance and learning complexity. Our results confirm the superiority of the proposed framework with respect to traditional stochastic optimization-based approaches and provide key insights into the role and interplay between data-driven DRL agents and new rule-based policies for both efficient and high-performance control of latency-critical services.
Query-Specific GNN: A Comprehensive Graph Representation Learning Method for Retrieval Augmented Generation
Venue: arXiv cs.LG 2025
Year: 2025

Retrieval-augmented generation (RAG) has demonstrated its ability to enhance Large Language Models (LLMs) by integrating external knowledge sources. However, multi-hop questions, which require the identification of multiple knowledge targets to form a synthesized answer, raise new challenges for RAG systems. Under the multi-hop settings, existing methods often struggle to fully understand the questions with complex semantic structures and are susceptible to irrelevant noise during the retrieval of multiple information targets. To address these limitations, we propose a novel graph representation learning framework for multi-hop question retrieval. We first introduce a Multi-information Level Knowledge Graph (Multi-L KG) to model various information levels for a more comprehensive understanding of multi-hop questions. Based on this, we design a Query-Specific Graph Neural Network (QSGNN) for representation learning on the Multi-L KG. QSGNN employs intra/inter-level message passing mechanisms, and in each message passing the information aggregation is guided by the query, which not only facilitates multi-granular information aggregation but also significantly reduces the impact of noise. To enhance its ability to learn robust representations, we further propose two synthesized data generation strategies for pre-training the QSGNN. Extensive experimental results demonstrate the effectiveness of our framework in multi-hop scenarios, especially in high-hop questions the improvement can reach 33.8\%. The code is available at: https://github.com/Jerry2398/QSGNN.
Analyzing and Internalizing Complex Policy Documents for LLM Agents
Venue: arXiv cs.AI 2025
Year: 2025

Large Language Model (LLM)-based agentic systems rely on in-context policy documents encoding diverse business rules. As requirements grow, these documents expand rapidly, causing high computational overhead. This motivates developing internalization methods that embed policy documents into model priors while preserving performance. Prior prompt compression work targets generic prompts, but agentic policy documents span multiple complexity levels and require deeper reasoning, making internalization harder. We introduce CC-Gen, an agentic benchmark generator with Controllable Complexity across four levels, enabling systematic evaluation of agents' ability to handle complexity and offering a unified framework for assessing policy internalization. Our analysis shows that complex policy specifications governing workflows pose major reasoning challenges. Supporting internalization with gold user agent interaction trajectories containing chain-of-thought (CoT) annotations via supervised fine-tuning (SFT) is data-intensive and degrades sharply as policy complexity increases. To mitigate data and reasoning burdens, we propose Category-Aware Policy Continued Pretraining (CAP-CPT). Our automated pipeline parses policy documents to extract key specifications, grouping them into factual, behavioral, and conditional categories, and isolating complex conditions that drive workflow complexity. This guides targeted data synthesis and enables agents to internalize policy information through an autoregressive pretraining loss. Experiments show CAP-CPT improves SFT baselines in all settings, with up to 41% and 22% gains on Qwen-3-32B, achieving 97.3% prompt length reduction on CC-Gen and further enhancing tau-Bench with minimal SFT data.