OpenRaiser/Intern-Atlas huggingface dataset:
Process-based Self-Rewarding Language Models
Venue: arXiv cs.CL 2025
Year: 2025

Large Language Models have demonstrated outstanding performance across various downstream tasks and have been widely applied in multiple scenarios. Human-annotated preference data is used for training to further improve LLMs' performance, which is constrained by the upper limit of human performance. Therefore, Self-Rewarding method has been proposed, where LLMs generate training data by rewarding their own outputs. However, the existing self-rewarding paradigm is not effective in mathematical reasoning scenarios and may even lead to a decline in performance. In this work, we propose the Process-based Self-Rewarding pipeline for language models, which introduces long-thought reasoning, step-wise LLM-as-a-Judge, and step-wise preference optimization within the self-rewarding paradigm. Our new paradigm successfully enhances the performance of LLMs on multiple mathematical reasoning benchmarks through iterative Process-based Self-Rewarding, demonstrating the immense potential of self-rewarding to achieve LLM reasoning that may surpass human capabilities.
Beamforming Design for ISAC Systems with Suppressed Range-Angle Sidelobes
Venue: arXiv cs.IT 2025
Year: 2025

Integrated sensing and communication (ISAC) represents a pivotal advancement for future wireless networks. This paper introduces a novel ISAC beamforming method for enhancing sensing performance while preserving communication quality by leveraging the ambiguity function (AF). We formulate an optimization problem to minimize the integrated sidelobe level ratio (ISLR) of the AF subject to the constraints of transmission power, communication signalto-interference-plus-noise ratio, and sensing gain. To address the non-convexity of the optimization problem, semidefinite relaxation is adopted. Numerical results show that our method significantly reduces range sidelobes and achieves a lower ISLR in the rangeangle domain compared to other approaches.
Fair Play in the Fast Lane: Integrating Sportsmanship into Autonomous Racing Systems
Venue: arXiv cs.AI 2025
Year: 2025

Autonomous racing has gained significant attention as a platform for high-speed decision-making and motion control. While existing methods primarily focus on trajectory planning and overtaking strategies, the role of sportsmanship in ensuring fair competition remains largely unexplored. In human racing, rules such as the one-motion rule and the enough-space rule prevent dangerous and unsportsmanlike behavior. However, autonomous racing systems often lack mechanisms to enforce these principles, potentially leading to unsafe maneuvers. This paper introduces a bi-level game-theoretic framework to integrate sportsmanship (SPS) into versus racing. At the high level, we model racing intentions using a Stackelberg game, where Monte Carlo Tree Search (MCTS) is employed to derive optimal strategies. At the low level, vehicle interactions are formulated as a Generalized Nash Equilibrium Problem (GNEP), ensuring that all agents follow sportsmanship constraints while optimizing their trajectories. Simulation results demonstrate the effectiveness of the proposed approach in enforcing sportsmanship rules while maintaining competitive performance. We analyze different scenarios where attackers and defenders adhere to or disregard sportsmanship rules and show how knowledge of these constraints influences strategic decision-making. This work highlights the importance of balancing competition and fairness in autonomous racing and provides a foundation for developing ethical and safe AI-driven racing systems.
Decoupling the components of geometric understanding in Vision Language Models
Venue: arXiv cs.CV 2025
Year: 2025

Understanding geometry relies heavily on vision. In this work, we evaluate whether state-of-the-art vision language models (VLMs) can understand simple geometric concepts. We use a paradigm from cognitive science that isolates visual understanding of simple geometry from the many other capabilities it is often conflated with such as reasoning and world knowledge. We compare model performance with human adults from the USA, as well as with prior research on human adults without formal education from an Amazonian indigenous group. We find that VLMs consistently underperform both groups of human adults, although they succeed with some concepts more than others. We also find that VLM geometric understanding is more brittle than human understanding, and is not robust when tasks require mental rotation. This work highlights interesting differences in the origin of geometric understanding in humans and machines -- e.g. from printed materials used in formal education vs. interactions with the physical world or a combination of the two -- and a small step toward understanding these differences.
Task-Agnostic Attacks Against Vision Foundation Models
Venue: arXiv cs.CV 2025
Year: 2025

The study of security in machine learning mainly focuses on downstream task-specific attacks, where the adversarial example is obtained by optimizing a loss function specific to the downstream task. At the same time, it has become standard practice for machine learning practitioners to adopt publicly available pre-trained vision foundation models, effectively sharing a common backbone architecture across a multitude of applications such as classification, segmentation, depth estimation, retrieval, question-answering and more. The study of attacks on such foundation models and their impact to multiple downstream tasks remains vastly unexplored. This work proposes a general framework that forges task-agnostic adversarial examples by maximally disrupting the feature representation obtained with foundation models. We extensively evaluate the security of the feature representations obtained by popular vision foundation models by measuring the impact of this attack on multiple downstream tasks and its transferability between models.
IC-Mapper: Instance-Centric Spatio-Temporal Modeling for Online Vectorized Map Construction
Venue: arXiv cs.CV 2025
Year: 2025

Online vector map construction based on visual data can bypass the processes of data collection, post-processing, and manual annotation required by traditional map construction, which significantly enhances map-building efficiency. However, existing work treats the online mapping task as a local range perception task, overlooking the spatial scalability required for map construction. We propose IC-Mapper, an instance-centric online mapping framework, which comprises two primary components: 1) Instance-centric temporal association module: For the detection queries of adjacent frames, we measure them in both feature and geometric dimensions to obtain the matching correspondence between instances across frames. 2) Instance-centric spatial fusion module: We perform point sampling on the historical global map from a spatial dimension and integrate it with the detection results of instances corresponding to the current frame to achieve real-time expansion and update of the map. Based on the nuScenes dataset, we evaluate our approach on detection, tracking, and global mapping metrics. Experimental results demonstrate the superiority of IC-Mapper against other state-of-the-art methods. Code will be released on https://github.com/Brickzhuantou/IC-Mapper.
A Quantum Good Authentication Protocol
Venue: arXiv cs.CR 2025
Year: 2025

This article presents a novel network protocol that incorporates a quantum photonic channel for symmetric key distribution, a Dilithium signature to replace factor-based public key cryptography for enhanced authentication, security, and privacy. The protocol uses strong hash functions to hash original messages and verify heightened data integrity at the destination. This Quantum Good Authentication Protocol (QGP) provides high-level security provided by the theory of quantum mechanics. QGP also has the advantage of quantum-resistant data protection that prevents current digital computer and future quantum computer attacks. QGP transforms the Transmission Control Protocol/Internet Protocol (TCP/IP) by adding a quantum layer at the bottom of Open Systems Interconnection (OSI) model (layer 0) and modifying the top layer (layer 7) with Dilithium signatures, thus improving the security of the original OSI model. In addition, QGP incorporates strong encryption, hardware-based quantum channels, post-quantum signatures, and secure hash algorithms over a platform of decryptors, switches, routers, and network controllers to form a testbed of the next-generation, secure quantum internet. The experiments presented here show that QGP provides secure authentication and improved security and privacy and can be adopted as a new protocol for the next-generation quantum Internet.
The Signed Two-Space Proximity Model for Learning Representations in Protein-Protein Interaction Networks
Venue: arXiv cs.LG 2025
Year: 2025

Accurately predicting complex protein-protein interactions (PPIs) is crucial for decoding biological processes, from cellular functioning to disease mechanisms. However, experimental methods for determining PPIs are computationally expensive. Thus, attention has been recently drawn to machine learning approaches. Furthermore, insufficient effort has been made toward analyzing signed PPI networks, which capture both activating (positive) and inhibitory (negative) interactions. To accurately represent biological relationships, we present the Signed Two-Space Proximity Model (S2-SPM) for signed PPI networks, which explicitly incorporates both types of interactions, reflecting the complex regulatory mechanisms within biological systems. This is achieved by leveraging two independent latent spaces to differentiate between positive and negative interactions while representing protein similarity through proximity in these spaces. Our approach also enables the identification of archetypes representing extreme protein profiles. S2-SPM's superior performance in predicting the presence and sign of interactions in SPPI networks is demonstrated in link prediction tasks against relevant baseline methods. Additionally, the biological prevalence of the identified archetypes is confirmed by an enrichment analysis of Gene Ontology (GO) terms, which reveals that distinct biological tasks are associated with archetypal groups formed by both interactions. This study is also validated regarding statistical significance and sensitivity analysis, providing insights into the functional roles of different interaction types. Finally, the robustness and consistency of the extracted archetype structures are confirmed using the Bayesian Normalized Mutual Information (BNMI) metric, proving the model's reliability in capturing meaningful SPPI patterns.
Tec-Habilidad: Skill Classification for Bridging Education and Employment
Venue: arXiv cs.CL 2025
Year: 2025

Job application and assessment processes have evolved significantly in recent years, largely due to advancements in technology and changes in the way companies operate. Skill extraction and classification remain an important component of the modern hiring process as it provides a more objective way to evaluate candidates and automatically align their skills with the job requirements. However, to effectively evaluate the skills, the skill extraction tools must recognize varied mentions of skills on resumes, including direct mentions, implications, synonyms, acronyms, phrases, and proficiency levels, and differentiate between hard and soft skills. While tools like LLMs (Large Model Models) help extract and categorize skills from job applications, there's a lack of comprehensive datasets for evaluating the effectiveness of these models in accurately identifying and classifying skills in Spanish-language job applications. This gap hinders our ability to assess the reliability and precision of the models, which is crucial for ensuring that the selected candidates truly possess the required skills for the job. In this paper, we develop a Spanish language dataset for skill extraction and classification, provide annotation methodology to distinguish between knowledge, skill, and abilities, and provide deep learning baselines to advance robust solutions for skill classification.
Generative Learning of Densities on Manifolds
Venue: arXiv cs.LG 2025
Year: 2025

A generative modeling framework is proposed that combines diffusion models and manifold learning to efficiently sample data densities on manifolds. The approach utilizes Diffusion Maps to uncover possible low-dimensional underlying (latent) spaces in the high-dimensional data (ambient) space. Two approaches for sampling from the latent data density are described. The first is a score-based diffusion model, which is trained to map a standard normal distribution to the latent data distribution using a neural network. The second one involves solving an Itô stochastic differential equation in the latent space. Additional realizations of the data are generated by lifting the samples back to the ambient space using Double Diffusion Maps, a recently introduced technique typically employed in studying dynamical system reduction; here the focus lies in sampling densities rather than system dynamics. The proposed approaches enable sampling high dimensional data densities restricted to low-dimensional, a priori unknown manifolds. The efficacy of the proposed framework is demonstrated through a benchmark problem and a material with multiscale structure.
Trim My View: An LLM-Based Code Query System for Module Retrieval in Robotic Firmware
Venue: arXiv cs.CR 2025
Year: 2025

The software compilation process has a tendency to obscure the original design of the system and makes it difficult both to identify individual components and discern their purpose simply by examining the resulting binary code. Although decompilation techniques attempt to recover higher-level source code from the machine code in question, they are not fully able to restore the semantics of the original functions. Furthermore, binaries are often stripped of metadata, and this makes it challenging to reverse engineer complex binary software. In this paper we show how a combination of binary decomposition techniques, decompilation passes, and LLM-powered function summarization can be used to build an economical engine to identify modules in stripped binaries and associate them with high-level natural language descriptions. We instantiated this technique with three underlying open-source LLMs -- CodeQwen, DeepSeek-Coder and CodeStral -- and measured its effectiveness in identifying modules in robotics firmware. This experimental evaluation involved 467 modules from four devices from the ArduPilot software suite, and showed that CodeStral, the best-performing backend LLM, achieves an average F1-score of 0.68 with an online running time of just a handful of seconds.
ReasonGraph: Visualisation of Reasoning Paths
Venue: arXiv cs.CL 2025
Year: 2025

Large Language Models (LLMs) reasoning processes are challenging to analyze due to their complexity and the lack of organized visualization tools. We present ReasonGraph, a web-based platform for visualizing and analyzing LLM reasoning processes. It supports both sequential and tree-based reasoning methods while integrating with major LLM providers and over fifty state-of-the-art models. ReasonGraph incorporates an intuitive UI with meta reasoning method selection, configurable visualization parameters, and a modular framework that facilitates efficient extension. Our evaluation shows high parsing reliability, efficient processing, and strong usability across various downstream applications. By providing a unified visualization framework, ReasonGraph reduces cognitive load in analyzing complex reasoning paths, improves error detection in logical processes, and enables more effective development of LLM-based applications. The platform is open-source, promoting accessibility and reproducibility in LLM reasoning analysis.
Planning and Control for Deformable Linear Object Manipulation
Venue: arXiv cs.RO 2025
Year: 2025

Manipulating a deformable linear object (DLO) such as wire, cable, and rope is a common yet challenging task due to their high degrees of freedom and complex deformation behaviors, especially in an environment with obstacles. Existing local control methods are efficient but prone to failure in complex scenarios, while precise global planners are computationally intensive and difficult to deploy. This paper presents an efficient, easy-to-deploy framework for collision-free DLO manipulation using mobile manipulators. We demonstrate the effectiveness of leveraging standard planning tools for high-dimensional DLO manipulation without requiring custom planners or extensive data-driven models. Our approach combines an off-the-shelf global planner with a real-time local controller. The global planner approximates the DLO as a series of rigid links connected by spherical joints, enabling rapid path planning without the need for problem-specific planners or large datasets. The local controller employs control barrier functions (CBFs) to enforce safety constraints, maintain the DLO integrity, prevent overstress, and handle obstacle avoidance. It compensates for modeling inaccuracies by using a state-of-the-art position-based dynamics technique that approximates physical properties like Young's and shear moduli. We validate our framework through extensive simulations and real-world demonstrations. In complex obstacle scenarios-including tent pole transport, corridor navigation, and tasks requiring varied stiffness-our method achieves a 100% success rate over thousands of trials, with significantly reduced planning times compared to state-of-the-art techniques. Real-world experiments include transportation of a tent pole and a rope using mobile manipulators. We share our ROS-based implementation to facilitate adoption in various applications.
Object State Estimation Through Robotic Active Interaction for Biological Autonomous Drilling
Venue: arXiv cs.RO 2025
Year: 2025

Estimating the state of biological specimens is challenging due to limited observation through microscopic vision. For instance, during mouse skull drilling, the appearance alters little when thinning bone tissue because of its semi-transparent property and the high-magnification microscopic vision. To obtain the object's state, we introduce an object state estimation method for biological specimens through active interaction based on the deflection. The method is integrated to enhance the autonomous drilling system developed in our previous work. The method and integrated system were evaluated through 12 autonomous eggshell drilling experiment trials. The results show that the system achieved a 91.7% successful ratio and 75% detachable ratio, showcasing its potential applicability in more complex surgical procedures such as mouse skull craniotomy. This research paves the way for further development of autonomous robotic systems capable of estimating the object's state through active interaction.
Underlying Semantic Diffusion for Effective and Efficient In-Context Learning
Venue: arXiv cs.CV 2025
Year: 2025

Diffusion models has emerged as a powerful framework for tasks like image controllable generation and dense prediction. However, existing models often struggle to capture underlying semantics (e.g., edges, textures, shapes) and effectively utilize in-context learning, limiting their contextual understanding and image generation quality. Additionally, high computational costs and slow inference speeds hinder their real-time applicability. To address these challenges, we propose Underlying Semantic Diffusion (US-Diffusion), an enhanced diffusion model that boosts underlying semantics learning, computational efficiency, and in-context learning capabilities on multi-task scenarios. We introduce Separate & Gather Adapter (SGA), which decouples input conditions for different tasks while sharing the architecture, enabling better in-context learning and generalization across diverse visual domains. We also present a Feedback-Aided Learning (FAL) framework, which leverages feedback signals to guide the model in capturing semantic details and dynamically adapting to task-specific contextual cues. Furthermore, we propose a plug-and-play Efficient Sampling Strategy (ESS) for dense sampling at time steps with high-noise levels, which aims at optimizing training and inference efficiency while maintaining strong in-context learning performance. Experimental results demonstrate that US-Diffusion outperforms the state-of-the-art method, achieving an average reduction of 7.47 in FID on Map2Image tasks and an average reduction of 0.026 in RMSE on Image2Map tasks, while achieving approximately 9.45 times faster inference speed. Our method also demonstrates superior training efficiency and in-context learning capabilities, excelling in new datasets and tasks, highlighting its robustness and adaptability across diverse visual domains.
Surgical Gaussian Surfels: Highly Accurate Real-time Surgical Scene Rendering using Gaussian Surfels
Venue: arXiv cs.CV 2025
Year: 2025

Accurate geometric reconstruction of deformable tissues in monocular endoscopic video remains a fundamental challenge in robot-assisted minimally invasive surgery. Although recent volumetric and point primitive methods based on neural radiance fields (NeRF) and 3D Gaussian primitives have efficiently rendered surgical scenes, they still struggle with handling artifact-free tool occlusions and preserving fine anatomical details. These limitations stem from unrestricted Gaussian scaling and insufficient surface alignment constraints during reconstruction. To address these issues, we introduce Surgical Gaussian Surfels (SGS), which transform anisotropic point primitives into surface-aligned elliptical splats by constraining the scale component of the Gaussian covariance matrix along the view-aligned axis. We also introduce the Fully Fused Deformation Multilayer Perceptron (FFD-MLP), a lightweight Multi-Layer Perceptron (MLP) that predicts accurate surfel motion fields up to 5x faster than a standard MLP. This is coupled with locality constraints to handle complex tissue deformations. We use homodirectional view-space positional gradients to capture fine image details by splitting Gaussian Surfels in over-reconstructed regions. In addition, we define surface normals as the direction of the steepest density change within each Gaussian surfel primitive, enabling accurate normal estimation without requiring monocular normal priors. We evaluate our method on two in-vivo surgical datasets, where it outperforms current state-of-the-art methods in surface geometry, normal map quality, and rendering efficiency, while remaining competitive in real-time rendering performance. We make our code available at https://github.com/aloma85/SurgicalGaussianSurfels
Generative and Malleable User Interfaces with Generative and Evolving Task-Driven Data Model
Venue: arXiv cs.HC 2025
Year: 2025

Unlike static and rigid user interfaces, generative and malleable user interfaces offer the potential to respond to diverse users' goals and tasks. However, current approaches primarily rely on generating code, making it difficult for end-users to iteratively tailor the generated interface to their evolving needs. We propose employing task-driven data models-representing the essential information entities, relationships, and data within information tasks-as the foundation for UI generation. We leverage AI to interpret users' prompts and generate the data models that describe users' intended tasks, and by mapping the data models with UI specifications, we can create generative user interfaces. End-users can easily modify and extend the interfaces via natural language and direct manipulation, with these interactions translated into changes in the underlying model. The technical evaluation of our approach and user evaluation of the developed system demonstrate the feasibility and effectiveness of the proposed generative and malleable UIs.