OpenRaiser/Intern-Atlas huggingface dataset:
Multimodal Visual Transformer for Sim2real Transfer in Visual Reinforcement Learning
Venue: arXiv cs.CV 2025
Year: 2025

Depth information is robust to scene appearance variations and inherently carries 3D spatial details. In this paper, a visual backbone based on the vision transformer is proposed to fuse RGB and depth modalities for enhancing generalization. Different modalities are first processed by separate CNN stems, and the combined convolutional features are delivered to the scalable vision transformer to obtain visual representations. Moreover, a contrastive unsupervised learning scheme is designed with masked and unmasked tokens to accelerate the sample efficiency during the reinforcement learning process. Simulation results demonstrate that our visual backbone can focus more on task-related regions and exhibit better generalization in unseen scenarios. For sim2real transfer, a flexible curriculum learning schedule is developed to deploy domain randomization over training processes. Finally, the feasibility of our model is validated to perform real-world manipulation tasks via zero-shot transfer.
MCA-LLaVA: Manhattan Causal Attention for Reducing Hallucination in Large Vision-Language Models
Venue: arXiv cs.CV 2025
Year: 2025

Hallucinations pose a significant challenge in Large Vision Language Models (LVLMs), with misalignment between multimodal features identified as a key contributing factor. This paper reveals the negative impact of the long-term decay in Rotary Position Encoding (RoPE), used for positional modeling in LVLMs, on multimodal alignment. Concretely, under long-term decay, instruction tokens exhibit uneven perception of image tokens located at different positions within the two-dimensional space: prioritizing image tokens from the bottom-right region since in the one-dimensional sequence, these tokens are positionally closer to the instruction tokens. This biased perception leads to insufficient image-instruction interaction and suboptimal multimodal alignment. We refer to this phenomenon as image alignment bias. To enhance instruction's perception of image tokens at different spatial locations, we propose MCA-LLaVA, based on Manhattan distance, which extends the long-term decay to a two-dimensional, multi-directional spatial decay. MCA-LLaVA integrates the one-dimensional sequence order and two-dimensional spatial position of image tokens for positional modeling, mitigating hallucinations by alleviating image alignment bias. Experimental results of MCA-LLaVA across various hallucination and general benchmarks demonstrate its effectiveness and generality. The code can be accessed in https://github.com/ErikZ719/MCA-LLaVA.
OpenCAMS: An Open-Source Connected and Automated Mobility Co-Simulation Platform for Advancing Next-Generation Intelligent Transportation Systems Research
Venue: arXiv cs.SE 2025
Year: 2025

We introduce OpenCAMS (Open-Source Connected and Automated Mobility Co-Simulation Platform), an open-source, synchronized, and extensible co-simulation framework that tightly couples three best-in-class simulation tools: (i) SUMO, (ii) CARLA, and (iii) OMNeT++. OpenCAMS is designed to support advanced research in transportation safety, mobility, and cybersecurity by combining the strengths of each simulation domain. Specifically, SUMO provides large-scale, microscopic traffic modeling; CARLA offers high-fidelity 3D perception, vehicle dynamics, and control simulation; and OMNeT++ enables modular, event-driven network communication, such as cellular vehicle-to-everything (C-V2X). OpenCAMS employs a time-synchronized, bidirectional coupling architecture that ensures coherent simulation progression across traffic, perception, and communication domains while preserving modularity and reproducibility. For example, CARLA can simulate and render a subset of vehicles that require detailed sensor emulation and control logic; SUMO orchestrates network-wide traffic flow, vehicle routing, and traffic signal management; and OMNeT++ dynamically maps communication nodes to both mobile entities (e.g., vehicles) and static entities (e.g., roadside units) to enable C-V2X communication. While these three simulators form the foundational core of OpenCAMS, the platform is designed to be expandable and future-proof, allowing additional simulators to be integrated on top of this core without requiring fundamental changes to the system architecture. The OpenCAMS platform is fully open-source and publicly available through its GitHub repository https://github.com/minhaj6/carla-sumo-omnetpp-cosim, providing the research community with an accessible, flexible, and collaborative environment for advancing next-generation intelligent transportation systems.
Retrieval-Augmented Recommendation Explanation Generation with Hierarchical Aggregation
Venue: arXiv cs.IR 2025
Year: 2025

Explainable Recommender System (ExRec) provides transparency to the recommendation process, increasing users' trust and boosting the operation of online services. With the rise of large language models (LLMs), whose extensive world knowledge and nuanced language understanding enable the generation of human-like, contextually grounded explanations, LLM-powered ExRec has gained great momentum. However, existing LLM-based ExRec models suffer from profile deviation and high retrieval overhead, hindering their deployment. To address these issues, we propose Retrieval-Augmented Recommendation Explanation Generation with Hierarchical Aggregation (REXHA). Specifically, we design a hierarchical aggregation based profiling module that comprehensively considers user and item review information, hierarchically summarizing and constructing holistic profiles. Furthermore, we introduce an efficient retrieval module using two types of pseudo-document queries to retrieve relevant reviews to enhance the generation of recommendation explanations, effectively reducing retrieval latency and improving the recall of relevant reviews. Extensive experiments demonstrate that our method outperforms existing approaches by up to 12.6% w.r.t. the explanation quality while achieving high retrieval efficiency.
SLIM: A Heterogeneous Accelerator for Edge Inference of Sparse Large Language Model via Adaptive Thresholding
Venue: arXiv cs.AR 2025
Year: 2025

Large language models (LLMs) have demonstrated exceptional proficiency in understanding and generating human language, but efficient inference on resource-constrained embedded devices remains challenging due to large model sizes and memory-intensive operations in feedforward network (FFN) and multi-head attention (MHA) layers. While existing accelerators offload LLM inference to expensive heterogeneous computing systems, they fail to exploit the significant sparsity inherent in LLM operations, leaving hardware resources underutilized. We propose SLIM, an algorithm-hardware co-design optimized for sparse LLM serving on edge devices. SLIM exploits LLM sparsity through an adaptive thresholding algorithm that enables runtime-configurable sparsity with negligible accuracy loss, fetching only activated neurons to dramatically reduce data movement. Our heterogeneous hardware architecture strategically combines near-storage processing (NSP) and processing-in-memory (PIM): FFN weights are stored in high-density 3D NAND and computed using NSP units, while memory-intensive MHA operations are processed in PIM modules. This design significantly reduces memory footprint, data movement, and energy consumption. Our comprehensive evaluation demonstrates SLIM's effectiveness, achieving 13-18x throughput improvements over SSD-GPU systems and 9-10x better energy efficiency over DRAM-GPU systems while maintaining low latency, making cost-effective LLM deployment viable for edge computing environments.
Advancing Large Language Models for Tibetan with Curated Data and Continual Pre-Training
Venue: arXiv cs.CL 2025
Year: 2025

Large language models have achieved remarkable progress across many languages. However, Tibetan, as a representative low-resource language, is particularly underrepresented in existing models due to the scarcity of high-quality training corpora. To address this gap, we curate the largest Tibetan pre-training corpus to date, aggregating data from diverse sources and applying a dedicated data cleaning and processing pipeline tailored for Tibetan. With the curated data, we continue pre/post-training a multilingual base model to enhance its generative capabilities in Tibetan. To evaluate the Tibetan capabilities of the model, we create new high-quality Tibetan benchmarks, and complement them with existing public benchmarks. Experimental results demonstrate that our model consistently and significantly outperforms both open-source models of similar scale and Tibetan-tailored models across a wide range of tasks.
EgoAnimate: Generating Human Animations from Egocentric top-down Views
Venue: arXiv cs.CV 2025
Year: 2025

An ideal digital telepresence experience requires accurate replication of a person's body, clothing, and movements. To capture and transfer these movements into virtual reality, the egocentric (first-person) perspective can be adopted, which enables the use of a portable and cost-effective device without front-view cameras. However, this viewpoint introduces challenges such as occlusions and distorted body proportions. There are few works reconstructing human appearance from egocentric views, and none use a generative prior-based approach. Some methods create avatars from a single egocentric image during inference, but still rely on multi-view datasets during training. To our knowledge, this is the first study using a generative backbone to reconstruct animatable avatars from egocentric inputs. Based on Stable Diffusion, our method reduces training burden and improves generalizability. Inspired by methods such as SiTH and MagicMan, which perform 360-degree reconstruction from a frontal image, we introduce a pipeline that generates realistic frontal views from occluded top-down images using ControlNet and a Stable Diffusion backbone. Our goal is to convert a single top-down egocentric image into a realistic frontal representation and feed it into an image-to-motion model. This enables generation of avatar motions from minimal input, paving the way for more accessible and generalizable telepresence systems.
Discrepancies in Mental Workload Estimation: Self-Reported versus EEG-Based Measures in Data Visualization Evaluation
Venue: arXiv cs.HC 2025
Year: 2025

Accurate assessment of mental workload (MW) is crucial for understanding cognitive processes during visualization tasks. While EEG-based measures are emerging as promising alternatives to conventional assessment techniques, such as selfreport measures, studies examining consistency across these different methodologies are limited. In a preliminary study, we observed indications of potential discrepancies between EEGbased and self-reported MW measures. Motivated by these preliminary observations, our study further explores the discrepancies between EEG-based and self-reported MW assessment methods through an experiment involving visualization tasks. In the experiment, we employ two benchmark tasks: the Visualization Literacy Assessment Test (VLAT) and a Spatial Visualization (SV) task. EEG signals are recorded from participants using a 32-channel system at a sampling rate of 128 Hz during the visualization tasks. For each participant, MW is estimated using an EEG-based model built on a Graph Attention Network (GAT) architecture, and these estimates are compared with conventional MW measures to examine potential discrepancies. Our findings reveal notable discrepancies between task difficulty and EEG-based MW estimates, as well as between EEG-based and self-reported MW measures across varying task difficulty levels. Additionally, the observed patterns suggest the presence of unconscious cognitive effort that may not be captured by selfreport alone.
SAGE: Segment-Aware Gloss-Free Encoding for Token-Efficient Sign Language Translation
Venue: arXiv cs.CV 2025
Year: 2025

Gloss-free Sign Language Translation (SLT) has advanced rapidly, achieving strong performances without relying on gloss annotations. However, these gains have often come with increased model complexity and high computational demands, raising concerns about scalability, especially as large-scale sign language datasets become more common. We propose a segment-aware visual tokenization framework that leverages sign segmentation to convert continuous video into discrete, sign-informed visual tokens. This reduces input sequence length by up to 50% compared to prior methods, resulting in up to 2.67x lower memory usage and better scalability on larger datasets. To bridge the visual and linguistic modalities, we introduce a token-to-token contrastive alignment objective, along with a dual-level supervision that aligns both language embeddings and intermediate hidden states. This improves fine-grained cross-modal alignment without relying on gloss-level supervision. Our approach notably exceeds the performance of state-of-the-art methods on the PHOENIX14T benchmark, while significantly reducing sequence length. Further experiments also demonstrate our improved performance over prior work under comparable sequence-lengths, validating the potential of our tokenization and alignment strategies.
AlphaVAE: Unified End-to-End RGBA Image Reconstruction and Generation with Alpha-Aware Representation Learning
Venue: arXiv cs.CV 2025
Year: 2025

Recent advances in latent diffusion models have achieved remarkable results in high-fidelity RGB image synthesis by leveraging pretrained VAEs to compress and reconstruct pixel data at low computational cost. However, the generation of transparent or layered content (RGBA image) remains largely unexplored, due to the lack of large-scale benchmarks. In this work, we propose ALPHA, the first comprehensive RGBA benchmark that adapts standard RGB metrics to four-channel images via alpha blending over canonical backgrounds. We further introduce ALPHAVAE, a unified end-to-end RGBA VAE that extends a pretrained RGB VAE by incorporating a dedicated alpha channel. The model is trained with a composite objective that combines alpha-blended pixel reconstruction, patch-level fidelity, perceptual consistency, and dual KL divergence constraints to ensure latent fidelity across both RGB and alpha representations. Our RGBA VAE, trained on only 8K images in contrast to 1M used by prior methods, achieves a +4.9 dB improvement in PSNR and a +3.2% increase in SSIM over LayerDiffuse in reconstruction. It also enables superior transparent image generation when fine-tuned within a latent diffusion framework. Our code, data, and models are released on https://github.com/o0o0o00o0/AlphaVAE for reproducibility.
Informed Hybrid Zonotope-based Motion Planning Algorithm
Venue: arXiv cs.RO 2025
Year: 2025

Optimal path planning in nonconvex free spaces is notoriously challenging, as formulating such problems as mixed-integer linear programs (MILPs) is NP-hard. We propose HZ-MP, an informed Hybrid Zonotope-based Motion Planner, as an alternative approach that decomposes the obstacle-free space and performs low-dimensional face sampling guided by an ellipsotope heuristic, enabling focused exploration along promising transit regions. This structured exploration eliminates the excessive, unreachable sampling that degrades existing informed planners such as AIT* and EIT* in narrow gaps or boxed-goal scenarios. We prove that HZ-MP is probabilistically complete and asymptotically optimal. It converges to near-optimal trajectories in finite time and scales to high-dimensional cluttered scenes.
Voice Conversion for Lombard Speaking Style with Implicit and Explicit Acoustic Feature Conditioning
Venue: arXiv cs.SD 2025
Year: 2025

Text-to-Speech (TTS) systems in Lombard speaking style can improve the overall intelligibility of speech, useful for hearing loss and noisy conditions. However, training those models requires a large amount of data and the Lombard effect is challenging to record due to speaker and noise variability and tiring recording conditions. Voice conversion (VC) has been shown to be a useful augmentation technique to train TTS systems in the absence of recorded data from the target speaker in the target speaking style. In this paper, we are concerned with Lombard speaking style transfer. Our goal is to convert speaker identity while preserving the acoustic attributes that define the Lombard speaking style. We compare voice conversion models with implicit and explicit acoustic feature conditioning. We observe that our proposed implicit conditioning strategy achieves an intelligibility gain comparable to the model conditioned on explicit acoustic features, while also preserving speaker similarity.
Constrained Style Learning from Imperfect Demonstrations under Task Optimality
Venue: arXiv cs.RO 2025
Year: 2025

Learning from demonstration has proven effective in robotics for acquiring natural behaviors, such as stylistic motions and lifelike agility, particularly when explicitly defining style-oriented reward functions is challenging. Synthesizing stylistic motions for real-world tasks usually requires balancing task performance and imitation quality. Existing methods generally depend on expert demonstrations closely aligned with task objectives. However, practical demonstrations are often incomplete or unrealistic, causing current methods to boost style at the expense of task performance. To address this issue, we propose formulating the problem as a constrained Markov Decision Process (CMDP). Specifically, we optimize a style-imitation objective with constraints to maintain near-optimal task performance. We introduce an adaptively adjustable Lagrangian multiplier to guide the agent to imitate demonstrations selectively, capturing stylistic nuances without compromising task performance. We validate our approach across multiple robotic platforms and tasks, demonstrating both robust task performance and high-fidelity style learning. On ANYmal-D hardware we show a 14.5% drop in mechanical energy and a more agile gait pattern, showcasing real-world benefits.
Algebraic Closure of Matrix Sets Recognized by 1-VASS
Venue: arXiv cs.FL 2025
Year: 2025

It is known how to compute the Zariski closure of a finitely generated monoid of matrices and, more generally, of a set of matrices specified by a regular language. This result was recently used to give a procedure to compute all polynomial invariants of a given affine program. Decidability of the more general problem of computing all polynomial invariants of affine programs with recursive procedure calls remains open. Mathematically speaking, the core challenge is to compute the Zariski closure of a set of matrices defined by a context-free language. In this paper, we approach the problem from two sides: Towards decidability, we give a procedure to compute the Zariski closure of sets of matrices given by one-counter languages (that is, languages accepted by one-dimensional vector addition systems with states and zero tests), a proper subclass of context-free languages. On the other side, we show that the problem becomes undecidable for indexed languages, a natural extension of context-free languages corresponding to nested pushdown automata. One of our main technical tools is a novel adaptation of Simon's factorization forests to infinite monoids of matrices.
Acoustic Wave Modeling Using 2D FDTD: Applications in Unreal Engine For Dynamic Sound Rendering
Venue: arXiv cs.SD 2025
Year: 2025

Accurate sound propagation simulation is essential for delivering immersive experiences in virtual applications, yet industry methods for acoustic modeling often do not account for the full breadth of acoustic wave phenomena. This paper proposes a novel two-dimensional (2D) finite-difference time-domain (FDTD) framework that simulates sound propagation as a wave-based model in Unreal Engine, with an emphasis on capturing lower frequency wave phenomena, embedding occlusion, diffraction, reflection and interference in generated impulse responses. The process begins by discretizing the scene geometry into a 2D grid via a top-down projection from which obstacle masks and boundary conditions are derived. A Python-based FDTD solver injects a sine sweep at a source position, and virtual quadraphonic microphone arrays record pressure field responses at pre-defined listener positions. De-convolution of the pressure responses yields multi-channel impulse responses that retain spatial directionality which are then integrated into Unreal Engine's audio pipeline for dynamic playback. Benchmark tests confirm agreement with analytical expectations, and the paper outlines hybrid extensions aimed at commercial viability.
Non-Termination of Logic Programs Using Patterns
Venue: arXiv cs.LO 2025
Year: 2025

In this paper, we consider an approach introduced in term rewriting for the automatic detection of non-looping non-termination from patterns of rules. We adapt it to logic programming by defining a new unfolding technique that produces patterns describing possibly infinite sets of finite rewrite sequences. We present an experimental evaluation of our contributions that we implemented in our tool NTI.
Balancing Semantic Relevance and Engagement in Related Video Recommendations
Venue: arXiv cs.IR 2025
Year: 2025

Related video recommendations commonly use collaborative filtering (CF) driven by co-engagement signals, often resulting in recommendations lacking semantic coherence and exhibiting strong popularity bias. This paper introduces a novel multi-objective retrieval framework, enhancing standard two-tower models to explicitly balance semantic relevance and user engagement. Our approach uniquely combines: (a) multi-task learning (MTL) to jointly optimize co-engagement and semantic relevance, explicitly prioritizing topical coherence; (b) fusion of multimodal content features (textual and visual embeddings) for richer semantic understanding; and (c) off-policy correction (OPC) via inverse propensity weighting to effectively mitigate popularity bias. Evaluation on industrial-scale data and a two-week live A/B test reveals our framework's efficacy. We observed significant improvements in semantic relevance (from 51% to 63% topic match rate), a reduction in popular item distribution (-13.8% popular video recommendations), and a +0.04% improvement in our topline user engagement metric. Our method successfully achieves better semantic coherence, balanced engagement, and practical scalability for real-world deployment.
Adaptive Social Learning using Theory of Mind
Venue: arXiv cs.MA 2025
Year: 2025

Social learning is a powerful mechanism through which agents learn about the world from others. However, humans don't always choose to observe others, since social learning can carry time and cognitive resource costs. How do people balance social and non-social learning? In this paper, we propose a rational mentalizing model of the decision to engage in social learning. This model estimates the utility of social learning by reasoning about the other agent's goal and the informativity of their future actions. It then weighs the utility of social learning against the utility of self-exploration (non-social learning). Using a multi-player treasure hunt game, we show that our model can quantitatively capture human trade-offs between social and non-social learning. Furthermore, our results indicate that these two components allow agents to flexibly apply social learning to achieve their goals more efficiently.