OpenRaiser/Intern-Atlas huggingface dataset:
Multi-Agent Feedback Motion Planning using Probably Approximately Correct Nonlinear Model Predictive Control
Venue: arXiv cs.RO 2025
Year: 2025

For many tasks, multi-robot teams often provide greater efficiency, robustness, and resiliency. However, multi-robot collaboration in real-world scenarios poses a number of major challenges, especially when dynamic robots must balance competing objectives like formation control and obstacle avoidance in the presence of stochastic dynamics and sensor uncertainty. In this paper, we propose a distributed, multi-agent receding-horizon feedback motion planning approach using Probably Approximately Correct Nonlinear Model Predictive Control (PAC-NMPC) that is able to reason about both model and measurement uncertainty to achieve robust multi-agent formation control while navigating cluttered obstacle fields and avoiding inter-robot collisions. Our approach relies not only on the underlying PAC-NMPC algorithm but also on a terminal cost-function derived from gyroscopic obstacle avoidance. Through numerical simulation, we show that our distributed approach performs on par with a centralized formulation, that it offers improved performance in the case of significant measurement noise, and that it can scale to more complex dynamical systems.
Video Deblurring by Sharpness Prior Detection and Edge Information
Venue: arXiv cs.CV 2025
Year: 2025

Video deblurring is essential task for autonomous driving, facial recognition, and security surveillance. Traditional methods directly estimate motion blur kernels, often introducing artifacts and leading to poor results. Recent approaches utilize the detection of sharp frames within video sequences to enhance deblurring. However, existing datasets rely on fixed number of sharp frames, which may be too restrictive for some applications and may introduce a bias during model training. To address these limitations and enhance domain adaptability, this work first introduces GoPro Random Sharp (GoProRS), a new dataset where the the frequency of sharp frames within the sequence is customizable, allowing more diverse training and testing scenarios. Furthermore, it presents a novel video deblurring model, called SPEINet, that integrates sharp frame features into blurry frame reconstruction through an attention-based encoder-decoder architecture, a lightweight yet robust sharp frame detection and an edge extraction phase. Extensive experimental results demonstrate that SPEINet outperforms state-of-the-art methods across multiple datasets, achieving an average of +3.2% PSNR improvement over recent techniques. Given such promising results, we believe that both the proposed model and dataset pave the way for future advancements in video deblurring based on the detection of sharp frames.
Memory Storyboard: Leveraging Temporal Segmentation for Streaming Self-Supervised Learning from Egocentric Videos
Venue: arXiv cs.CV 2025
Year: 2025

Self-supervised learning holds the promise of learning good representations from real-world continuous uncurated data streams. However, most existing works in visual self-supervised learning focus on static images or artificial data streams. Towards exploring a more realistic learning substrate, we investigate streaming self-supervised learning from long-form real-world egocentric video streams. Inspired by the event segmentation mechanism in human perception and memory, we propose "Memory Storyboard" that groups recent past frames into temporal segments for more effective summarization of the past visual streams for memory replay. To accommodate efficient temporal segmentation, we propose a two-tier memory hierarchy: the recent past is stored in a short-term memory, and the storyboard temporal segments are then transferred to a long-term memory. Experiments on real-world egocentric video datasets including SAYCam and KrishnaCam show that contrastive learning objectives on top of storyboard frames result in semantically meaningful representations that outperform those produced by state-of-the-art unsupervised continual learning methods.
HAC++: Towards 100X Compression of 3D Gaussian Splatting
Venue: arXiv cs.CV 2025
Year: 2025

3D Gaussian Splatting (3DGS) has emerged as a promising framework for novel view synthesis, boasting rapid rendering speed with high fidelity. However, the substantial Gaussians and their associated attributes necessitate effective compression techniques. Nevertheless, the sparse and unorganized nature of the point cloud of Gaussians (or anchors in our paper) presents challenges for compression. To achieve a compact size, we propose HAC++, which leverages the relationships between unorganized anchors and a structured hash grid, utilizing their mutual information for context modeling. Additionally, HAC++ captures intra-anchor contextual relationships to further enhance compression performance. To facilitate entropy coding, we utilize Gaussian distributions to precisely estimate the probability of each quantized attribute, where an adaptive quantization module is proposed to enable high-precision quantization of these attributes for improved fidelity restoration. Moreover, we incorporate an adaptive masking strategy to eliminate invalid Gaussians and anchors. Overall, HAC++ achieves a remarkable size reduction of over 100X compared to vanilla 3DGS when averaged on all datasets, while simultaneously improving fidelity. It also delivers more than 20X size reduction compared to Scaffold-GS. Our code is available at https://github.com/YihangChen-ee/HAC-plus.
Nonuniform Deterministic Finite Automata over finite algebraic structures
Venue: arXiv cs.CC 2025
Year: 2025

Nonuniform Deterministic Finite Automata (NUDFA) over monoids were invented by Barrington to study boundaries of nonuniform constant-memory computation. Later, results on these automata helped to indentify interesting classes of groups for which equation satisfiability problem is solvable in (probabilistic) polynomial-time. Based on these results, we present a full characterization of groups, for which the identity checking problem has a probabilistic polynomial-time algorithm. We also go beyond groups, and propose how to generalise the notion of NUDFA to arbitrary finite algebraic structures. We study satisfiability of these automata in this more general setting. As a consequence, we present full description of finite algebras from congruence modular varieties for which testing circuit equivalence can be solved by a probabilistic polynomial-time procedure. In our proofs we use two computational complexity assumptions: randomized Expotential Time Hypothesis and Constant Degree Hypothesis.
Making it to First: The Random Access Problem in DNA Storage
Venue: arXiv cs.IT 2025
Year: 2025

In this paper, we study the Random Access Problem in DNA storage, which addresses the challenge of retrieving a specific information strand from a DNA-based storage system. In this framework, the data is represented by $k$ information strands which represent the data and are encoded into $n$ strands using a linear code. Then, each sequencing read returns one encoded strand which is chosen uniformly at random. The goal under this paradigm is to design codes that minimize the expected number of reads required to recover an arbitrary information strand. We fully solve the case when $k=2$, showing that the best possible code attains a random access expectation of $1+\frac{2}{\sqrt{2}+1}\approx 0.914\cdot 2$ for $q$ large enough. Moreover, we generalize a construction from~\cite{GMZ24}, specifically to $k=3$, for any value of $k$. Our construction uses $B_{k-1}$ sequences over $\mathbb{Z}_{q-1}$, that always exist over large finite fields. We show that for every $k\geq 4$, this generalized construction outperforms all previous constructions in terms of reducing the random access expectation.
Complexity of Jelly-No and Hanano games with various constraints
Venue: arXiv cs.CC 2025
Year: 2025

This work shows new results on the complexity of games Jelly-No and Hanano with various constraints on the size of the board and number of colours. Hanano and Jelly-No are one-player, 2D side-view puzzle games with a dynamic board consisting of coloured, movable blocks disposed on platforms. These blocks can be moved by the player and are subject to gravity. Both games somehow vary in their gameplay, but the goal is always to move the coloured blocks in order to reach a specific configuration and make them interact with each other or with other elements of the game. In Jelly-No the goal is to merge all coloured blocks of a same colour, which also happens when they make contact. In Hanano the goal is to make all the coloured blocks bloom by making contact with flowers of the same colour. Jelly-No was proven by Chao Yang to be NP-Complete under the restriction that all movable blocks are the same colour and NP-Hard for more colours. Hanano was proven by Michael C. Chavrimootoo to be PSPACE-Complete under the restriction that all movable blocks are the same colour. However, the question whether Jelly-No for more than one colours is also PSPACE-complete or if it too stays in NP was left open. In this paper, we settle this question, proving that Jelly-No is PSPACE-Complete with an unbounded number of colours. We further show that, if we allow black jellies (that is, jellies that do not need to be merged), the game is PSPACE-complete even for one colour. We further show that one-colour Jelly-No and Hanano remain NP-Hard even if the width or the height of the board are small constants.
A Linear Programming Approach to Private Information Retrieval
Venue: arXiv cs.IT 2025
Year: 2025

This work presents an algorithmic framework that uses linear programming to construct \emph{addition-based Private Information Retrieval (AB-PIR)} schemes, where retrieval is performed by downloading only linear combinations of message symbols with coefficients set to 0 or 1. The AB-PIR schemes generalize several existing capacity-achieving PIR schemes and are of practical interest because they use only addition operations -- avoiding multiplication and other complex operations -- and are compatible with any finite field, including binary. Our framework broadens the search space to include all feasible solutions and can be used to construct optimal AB-PIR schemes for the entire range of problem parameters, including the number of servers, the total number of messages, and the number of messages that need to be retrieved. The framework enables us to identify schemes that outperform the previously proposed PIR schemes in certain cases and, in other cases, achieve performance on par with the best-known AB-PIR solutions. Additionally, the schemes generated by our framework can be integrated into existing solutions for several related PIR scenarios, improving their overall performance.
Untangling Segments in the Plane
Venue: arXiv cs.CG 2025
Year: 2025

A set of n segments in the plane may form a Euclidean TSP tour, a tree, or a matching, among others. Optimal TSP tours as well as minimum spanning trees and perfect matchings have no crossing segments, but several heuristics and approximation algorithms may produce solutions with crossings. If two segments cross, then we can reduce the total length with the following flip operation. We remove a pair of crossing segments, and insert a pair of non-crossing segments, while keeping the same vertex degrees. In this paper, we consider the number of flips performed under different assumptions, using a new unifying framework that applies to tours, trees, matchings, and other types of (multi)graphs. Within this framework, we prove several new bounds that are sensitive to whether some endpoints are in convex position or not.
BlanketGen2-Fit3D: Synthetic Blanket Augmentation Towards Improving Real-World In-Bed Blanket Occluded Human Pose Estimation
Venue: arXiv cs.CV 2025
Year: 2025

Human Pose Estimation (HPE) from monocular RGB images is crucial for clinical in-bed skeleton-based action recognition, however, it poses unique challenges for HPE models due to the frequent presence of blankets occluding the person, while labeled HPE data in this scenario is scarce. To address this we introduce BlanketGen2-Fit3D (BG2-Fit3D), an augmentation of Fit3D dataset that contains 1,217,312 frames with synthetic photo-realistic blankets. To generate it we used BlanketGen2, our new and improved version of our BlanketGen pipeline that simulates synthetic blankets using ground-truth Skinned Multi-Person Linear model (SMPL) meshes and then renders them as transparent images that can be layered on top of the original frames. This dataset was used in combination with the original Fit3D to finetune the ViTPose-B HPE model, to evaluate synthetic blanket augmentation effectiveness. The trained models were further evaluated on a real-world blanket occluded in-bed HPE dataset (SLP dataset). Comparing architectures trained on only Fit3D with the ones trained with our synthetic blanket augmentation the later improved pose estimation performance on BG2-Fit3D, the synthetic blanket occluded dataset significantly to (0.977 Percentage of Correct Keypoints (PCK), 0.149 Normalized Mean Error (NME)) with an absolute 4.4% PCK increase. Furthermore, the test results on SLP demonstrated the utility of synthetic data augmentation by improving performance by an absolute 2.3% PCK, on real-world images with the poses occluded by real blankets. These results show synthetic blanket augmentation has the potential to improve in-bed blanket occluded HPE from RGB images. The dataset as well as the code will be made available to the public.
Treefix: Enabling Execution with a Tree of Prefixes
Venue: arXiv cs.SE 2025
Year: 2025

The ability to execute code is a prerequisite for various dynamic program analyses. Learning-guided execution has been proposed as an approach to enable the execution of arbitrary code snippets by letting a neural model predict likely values for any missing variables. Although state-of-the-art learning-guided execution approaches, such as LExecutor, can enable the execution of a relative high amount of code, they are limited to predicting a restricted set of possible values and do not use any feedback from previous executions to execute even more code. This paper presents Treefix, a novel learning-guided execution approach that leverages LLMs to iteratively create code prefixes that enable the execution of a given code snippet. The approach addresses the problem in a multi-step fashion, where each step uses feedback about the code snippet and its execution to instruct an LLM to improve a previously generated prefix. This process iteratively creates a tree of prefixes, a subset of which is returned to the user as prefixes that maximize the number of executed lines in the code snippet. In our experiments with two datasets of Python code snippets, Treefix achieves 25% and 7% more coverage relative to the current state of the art in learning-guided execution, covering a total of 84% and 82% of all lines in the code snippets.
InternLM-XComposer2.5-Reward: A Simple Yet Effective Multi-Modal Reward Model
Venue: arXiv cs.CV 2025
Year: 2025

Despite the promising performance of Large Vision Language Models (LVLMs) in visual understanding, they occasionally generate incorrect outputs. While reward models (RMs) with reinforcement learning or test-time scaling offer the potential for improving generation quality, a critical gap remains: publicly available multi-modal RMs for LVLMs are scarce, and the implementation details of proprietary models are often unclear. We bridge this gap with InternLM-XComposer2.5-Reward (IXC-2.5-Reward), a simple yet effective multi-modal reward model that aligns LVLMs with human preferences. To ensure the robustness and versatility of IXC-2.5-Reward, we set up a high-quality multi-modal preference corpus spanning text, image, and video inputs across diverse domains, such as instruction following, general understanding, text-rich documents, mathematical reasoning, and video understanding. IXC-2.5-Reward achieves excellent results on the latest multi-modal reward model benchmark and shows competitive performance on text-only reward model benchmarks. We further demonstrate three key applications of IXC-2.5-Reward: (1) Providing a supervisory signal for RL training. We integrate IXC-2.5-Reward with Proximal Policy Optimization (PPO) yields IXC-2.5-Chat, which shows consistent improvements in instruction following and multi-modal open-ended dialogue; (2) Selecting the best response from candidate responses for test-time scaling; and (3) Filtering outlier or noisy samples from existing image and video instruction tuning training data. To ensure reproducibility and facilitate further research, we have open-sourced all model weights and training recipes at https://github.com/InternLM/InternLM-XComposer/tree/main/InternLM-XComposer-2.5-Reward
CCESAR: Coastline Classification-Extraction From SAR Images Using CNN-U-Net Combination
Venue: arXiv cs.CV 2025
Year: 2025

In this article, we improve the deep learning solution for coastline extraction from Synthetic Aperture Radar (SAR) images by proposing a two-stage model involving image classification followed by segmentation. We hypothesize that a single segmentation model usually used for coastline detection is insufficient to characterize different coastline types. We demonstrate that the need for a two-stage workflow prevails through different compression levels of these images. Our results from experiments using a combination of CNN and U-Net models on Sentinel-1 images show that the two-stage workflow, coastline classification-extraction from SAR images (CCESAR) outperforms a single U-Net segmentation model.
Learning segmentation from point trajectories
Venue: arXiv cs.CV 2025
Year: 2025

We consider the problem of segmenting objects in videos based on their motion and no other forms of supervision. Prior work has often approached this problem by using the principle of common fate, namely the fact that the motion of points that belong to the same object is strongly correlated. However, most authors have only considered instantaneous motion from optical flow. In this work, we present a way to train a segmentation network using long-term point trajectories as a supervisory signal to complement optical flow. The key difficulty is that long-term motion, unlike instantaneous motion, is difficult to model -- any parametric approximation is unlikely to capture complex motion patterns over long periods of time. We instead draw inspiration from subspace clustering approaches, proposing a loss function that seeks to group the trajectories into low-rank matrices where the motion of object points can be approximately explained as a linear combination of other point tracks. Our method outperforms the prior art on motion-based segmentation, which shows the utility of long-term motion and the effectiveness of our formulation.
ELEVATE-GenAI: Reporting Guidelines for the Use of Large Language Models in Health Economics and Outcomes Research: an ISPOR Working Group on Generative AI Report
Venue: arXiv cs.CY 2025
Year: 2025

Introduction: Generative artificial intelligence (AI), particularly large language models (LLMs), holds significant promise for Health Economics and Outcomes Research (HEOR). However, standardized reporting guidance for LLM-assisted research is lacking. This article introduces the ELEVATE GenAI framework and checklist - reporting guidelines specifically designed for HEOR studies involving LLMs. Methods: The framework was developed through a targeted literature review of existing reporting guidelines, AI evaluation frameworks, and expert input from the ISPOR Working Group on Generative AI. It comprises ten domains, including model characteristics, accuracy, reproducibility, and fairness and bias. The accompanying checklist translates the framework into actionable reporting items. To illustrate its use, the framework was applied to two published HEOR studies: one focused on systematic literature review tasks and the other on economic modeling. Results: The ELEVATE GenAI framework offers a comprehensive structure for reporting LLM-assisted HEOR research, while the checklist facilitates practical implementation. Its application to the two case studies demonstrates its relevance and usability across different HEOR contexts. Limitations: Although the framework provides robust reporting guidance, further empirical testing is needed to assess its validity, completeness, usability, as well as its generalizability across diverse HEOR use cases. Conclusion: The ELEVATE GenAI framework and checklist address a critical gap by offering structured guidance for transparent, accurate, and reproducible reporting of LLM-assisted HEOR research. Future work will focus on extensive testing and validation to support broader adoption and refinement.
Scopes of Alignment
Venue: arXiv cs.CY 2025
Year: 2025

Much of the research focus on AI alignment seeks to align large language models and other foundation models to the context-less and generic values of helpfulness, harmlessness, and honesty. Frontier model providers also strive to align their models with these values. In this paper, we motivate why we need to move beyond such a limited conception and propose three dimensions for doing so. The first scope of alignment is competence: knowledge, skills, or behaviors the model must possess to be useful for its intended purpose. The second scope of alignment is transience: either semantic or episodic depending on the context of use. The third scope of alignment is audience: either mass, public, small-group, or dyadic. At the end of the paper, we use the proposed framework to position some technologies and workflows that go beyond prevailing notions of alignment.
Tackling Small Sample Survival Analysis via Transfer Learning: A Study of Colorectal Cancer Prognosis
Venue: arXiv cs.LG 2025
Year: 2025

Survival prognosis is crucial for medical informatics. Practitioners often confront small-sized clinical data, especially cancer patient cases, which can be insufficient to induce useful patterns for survival predictions. This study deals with small sample survival analysis by leveraging transfer learning, a useful machine learning technique that can enhance the target analysis with related knowledge pre-learned from other data. We propose and develop various transfer learning methods designed for common survival models. For parametric models such as DeepSurv, Cox-CC (Cox-based neural networks), and DeepHit (end-to-end deep learning model), we apply standard transfer learning techniques like pretraining and fine-tuning. For non-parametric models such as Random Survival Forest, we propose a new transfer survival forest (TSF) model that transfers tree structures from source tasks and fine-tunes them with target data. We evaluated the transfer learning methods on colorectal cancer (CRC) prognosis. The source data are 27,379 SEER CRC stage I patients, and the target data are 728 CRC stage I patients from the West China Hospital. When enhanced by transfer learning, Cox-CC's $C^{td}$ value was boosted from 0.7868 to 0.8111, DeepHit's from 0.8085 to 0.8135, DeepSurv's from 0.7722 to 0.8043, and RSF's from 0.7940 to 0.8297 (the highest performance). All models trained with data as small as 50 demonstrated even more significant improvement. Conclusions: Therefore, the current survival models used for cancer prognosis can be enhanced and improved by properly designed transfer learning techniques. The source code used in this study is available at https://github.com/YonghaoZhao722/TSF.