OpenRaiser/Intern-Atlas huggingface dataset:
Sensing-Based Beamformed Resource Allocation in Standalone Millimeter-Wave Vehicular Networks
Venue: arXiv cs.NI 2025
Year: 2025

In 3GPP New Radio (NR) Vehicle-to-Everything (V2X), the new standard for next-generation vehicular networks, vehicles can autonomously select sidelink resources for data transmission, which permits network operations without cellular coverage. However, standalone resource allocation is uncoordinated, and is complicated by the high mobility of the nodes that may introduce unforeseen channel collisions (e.g., when a transmitting vehicle changes path) or free up resources (e.g., when a vehicle moves outside of the communication area). Moreover, unscheduled resource allocation is prone to the hidden node and exposed node problems, which are particularly critical considering directional transmissions. In this paper, we implement and demonstrate a new channel access scheme for NR V2X in Frequency Range 2 (FR2), i.e., at millimeter wave (mmWave) frequencies, based on directional and beamformed transmissions along with Sidelink Control Information (SCI) to select resources for transmission. We prove via simulation that this approach can reduce the probability of collision for resource allocation, compared to a baseline solution that does not configure SCI transmissions.
When LLMs Meet API Documentation: Can Retrieval Augmentation Aid Code Generation Just as It Helps Developers?
Venue: arXiv cs.SE 2025
Year: 2025

Retrieval-augmented generation (RAG) has increasingly shown its power in extending large language models' (LLMs') capability beyond their pre-trained knowledge. Existing works have shown that RAG can help with software development tasks such as code generation, code update, and test generation. Yet, the effectiveness of adapting LLMs to fast-evolving or less common API libraries using RAG remains unknown. To bridge this gap, we take an initial step to study this unexplored yet practical setting - when developers code with a less common library, they often refer to its API documentation; likewise, when LLMs are allowed to look up API documentation via RAG, to what extent can LLMs be advanced? To mimic such a setting, we select four less common open-source Python libraries with a total of 1017 eligible APIs. We study the factors that affect the effectiveness of using the documentation of less common API libraries as additional knowledge for retrieval and generation. Our intensive study yields interesting findings: (1) RAG helps improve LLMs' performance by 83%-220%. (2) Example code contributes the most to advance LLMs, instead of the descriptive texts and parameter lists in the API documentation. (3) LLMs could sometimes tolerate mild noises (typos in description or incorrect parameters) by referencing their pre-trained knowledge or document context. Finally, we suggest that developers pay more attention to the quality and diversity of the code examples in the API documentation. The study sheds light on future low-code software development workflows.
Exploring Large Language Models for Word Games:Who is the Spy?
Venue: arXiv cs.CL 2025
Year: 2025

Word games hold significant research value for natural language processing (NLP), game theory, and related fields due to their rule-based and situational nature. This study explores how large language models (LLMs) can be effectively involved in word games and proposes a training-free framework. "Shei Shi Wo Di" or "Who is the Spy" in English, is a classic word game. Using this game as an example, we introduce a Chain-of-Thought (CoT)-based scheduling framework to enable LLMs to achieve excellent performance in tasks such as inferring role words and disguising their identities. We evaluate the framework's performance based on game success rates and the accuracy of the LLM agents' analytical results. Experimental results affirm the framework's effectiveness, demonstrating notable improvements in LLM performance across multiple datasets. This work highlights the potential of LLMs in mastering situational reasoning and social interactions within structured game environments. Our code is publicly available at https://github.com/ct-wei/Who-is-The-Spy.
Challenges and Trends in Egocentric Vision: A Survey
Venue: arXiv cs.CV 2025
Year: 2025

With the rapid development of artificial intelligence technologies and wearable devices, egocentric vision understanding has emerged as a new and challenging research direction, gradually attracting widespread attention from both academia and industry. Egocentric vision captures visual and multimodal data through cameras or sensors worn on the human body, offering a unique perspective that simulates human visual experiences. This paper provides a comprehensive survey of the research on egocentric vision understanding, systematically analyzing the components of egocentric scenes and categorizing the tasks into four main areas: subject understanding, object understanding, environment understanding, and hybrid understanding. We explore in detail the sub-tasks within each category. We also summarize the main challenges and trends currently existing in the field. Furthermore, this paper presents an overview of high-quality egocentric vision datasets, offering valuable resources for future research. By summarizing the latest advancements, we anticipate the broad applications of egocentric vision technologies in fields such as augmented reality, virtual reality, and embodied intelligence, and propose future research directions based on the latest developments in the field.
What Makes a Good TODO Comment?
Venue: arXiv cs.SE 2025
Year: 2025

Software development is a collaborative process that involves various interactions among individuals and teams. TODO comments in source code play a critical role in managing and coordinating diverse tasks during this process. However, this study finds that a large proportion of open-source project TODO comments are left unresolved or take a long time to be resolved. About 46.7\% of TODO comments in open-source repositories are of low-quality (e.g., TODOs that are ambiguous, lack information, or are useless to developers). This highlights the need for better TODO practices. In this study, we investigate four aspects regarding the quality of TODO comments in open-source projects: (1) the prevalence of low-quality TODO comments; (2) the key characteristics of high-quality TODO comments; (3) how are TODO comments of different quality managed in practice; and (4) the feasibility of automatically assessing TODO comment quality. Examining 2,863 TODO comments from Top100 GitHub Java repositories, we propose criteria to identify high-quality TODO comments and provide insights into their optimal composition. We discuss the lifecycle of TODO comments with varying quality. we construct deep learning-based methods that show promising performance in identifying the quality of TODO comments, potentially enhancing development efficiency and code quality.
EdgeRegNet: Edge Feature-based Multimodal Registration Network between Images and LiDAR Point Clouds
Venue: arXiv cs.CV 2025
Year: 2025

Cross-modal data registration has long been a critical task in computer vision, with extensive applications in autonomous driving and robotics. Accurate and robust registration methods are essential for aligning data from different modalities, forming the foundation for multimodal sensor data fusion and enhancing perception systems' accuracy and reliability. The registration task between 2D images captured by cameras and 3D point clouds captured by Light Detection and Ranging (LiDAR) sensors is usually treated as a visual pose estimation problem. High-dimensional feature similarities from different modalities are leveraged to identify pixel-point correspondences, followed by pose estimation techniques using least squares methods. However, existing approaches often resort to downsampling the original point cloud and image data due to computational constraints, inevitably leading to a loss in precision. Additionally, high-dimensional features extracted using different feature extractors from various modalities require specific techniques to mitigate cross-modal differences for effective matching. To address these challenges, we propose a method that uses edge information from the original point clouds and images for cross-modal registration. We retain crucial information from the original data by extracting edge points and pixels, enhancing registration accuracy while maintaining computational efficiency. The use of edge points and edge pixels allows us to introduce an attention-based feature exchange block to eliminate cross-modal disparities. Furthermore, we incorporate an optimal matching layer to improve correspondence identification. We validate the accuracy of our method on the KITTI and nuScenes datasets, demonstrating its state-of-the-art performance.
EEPNet-V2: Patch-to-Pixel Solution for Efficient Cross-Modal Registration between LiDAR Point Cloud and Camera Image
Venue: arXiv cs.CV 2025
Year: 2025

The primary requirement for cross-modal data fusion is the precise alignment of data from different sensors. However, the calibration between LiDAR point clouds and camera images is typically time-consuming and needs external calibration board or specific environmental features. Cross-modal registration effectively solves this problem by aligning the data directly without requiring external calibration. However, due to the domain gap between the point cloud and the image, existing methods rarely achieve satisfactory registration accuracy while maintaining real-time performance. To address this issue, we propose a framework that projects point clouds into several 2D representations for matching with camera images, which not only leverages the geometric characteristic of LiDAR point clouds effectively but also bridge the domain gap between the point cloud and image. Moreover, to tackle the challenges of cross modal differences and the limited overlap between LiDAR point clouds and images in the image matching task, we introduce a multi-scale feature extraction network to effectively extract features from both camera images and the projection maps of LiDAR point cloud. Additionally, we propose a patch-to-pixel matching network to provide more effective supervision and achieve high accuracy. We validate the performance of our model through experiments on the KITTI and nuScenes datasets. Experimental results demonstrate the the proposed method achieves real-time performance and extremely high registration accuracy. Specifically, on the KITTI dataset, our model achieves a registration accuracy rate of over 99\%. Our code is released at: https://github.com/ESRSchao/EEPNet-V2.
Reinforcement Learning for Robust Athletic Intelligence: Lessons from the 2nd 'AI Olympics with RealAIGym' Competition
Venue: arXiv cs.RO 2025
Year: 2025

In the field of robotics many different approaches ranging from classical planning over optimal control to reinforcement learning (RL) are developed and borrowed from other fields to achieve reliable control in diverse tasks. In order to get a clear understanding of their individual strengths and weaknesses and their applicability in real world robotic scenarios is it important to benchmark and compare their performances not only in a simulation but also on real hardware. The '2nd AI Olympics with RealAIGym' competition was held at the IROS 2024 conference to contribute to this cause and evaluate different controllers according to their ability to solve a dynamic control problem on an underactuated double pendulum system with chaotic dynamics. This paper describes the four different RL methods submitted by the participating teams, presents their performance in the swing-up task on a real double pendulum, measured against various criteria, and discusses their transferability from simulation to real hardware and their robustness to external disturbances.
Inside-Out: Hidden Factual Knowledge in LLMs
Venue: arXiv cs.CL 2025
Year: 2025

This work presents a framework for assessing whether large language models (LLMs) encode more factual knowledge in their parameters than what they express in their outputs. While a few studies hint at this possibility, none has clearly defined or demonstrated this phenomenon. We first propose a formal definition of knowledge, quantifying it for a given question as the fraction of correct-incorrect answer pairs where the correct one is ranked higher. This gives rise to external and internal knowledge, depending on the information used to score individual answer candidates: either the model's observable token-level probabilities or its intermediate computations. Hidden knowledge arises when internal knowledge exceeds external knowledge. We then present a case study, applying this framework to three popular open-weights LLMs in a closed-book QA setup. Our results indicate that: (1) LLMs consistently encode more factual knowledge internally than what they express externally, with an average relative gap of 40%. (2) Surprisingly, some knowledge is so deeply hidden that a model can internally know an answer perfectly, yet fail to generate it even once, despite large-scale repeated sampling of 1,000 answers. This reveals fundamental limitations in the generation capabilities of LLMs, which (3) put a practical constraint on scaling test-time compute via repeated answer sampling in closed-book QA: significant performance improvements remain inaccessible because some answers are practically never sampled, yet if they were, we would be guaranteed to rank them first.
Uncertainty-Guided Chain-of-Thought for Code Generation with LLMs
Venue: arXiv cs.SE 2025
Year: 2025

Chain-of-Thought (CoT) reasoning has been demonstrated as an effective technique for improving the problem-solving capabilities of large language models (LLMs) in the context of code generation. However, existing CoT methods often exhibit a tendency toward "overthinking", where the LLM consistently applies reasoning strategies without adequately considering the task's underlying complexity. This results in the LLMs allocating excessive computational resources, in terms of tokens, to relatively simple tasks or problems where the correct answer is already evident. Additionally, this overthinking may lead LLMs down incorrect reasoning paths, resulting in incorrect code generation. In this paper, we introduce UnCertainty-Aware Chain-of-Thought (UnCert-CoT), an LLM-based approach designed to enhance code generation by incorporating an uncertainty-aware CoT reasoning mechanism, which focuses computational resources on targeting points where LLMs are more prone to error. We propose two confidence-based uncertainty measures: Entropy-based and Probability Differential-based methods. When uncertainty is high, UnCert-CoT activates CoT-decoding to generate multiple reasoning paths and selects the final code that exhibits the highest likelihood of correctness. In contrast, LLM directly generates the code when uncertainty is low. This uncertainty judgment mechanism allows LLMs to prioritize complex tasks and avoid unnecessary steps in simpler cases, thereby improving overall efficiency and accuracy in code generation. Our experimental results demonstrate that UnCert-CoT significantly enhances code generation accuracy on challenging benchmark MHPP(Mostly Hard Python Problems), it achieves improvements up to 6.1% on PassRate accuracy, particularly in situations where traditional LLMs are prone to errors.
SPILL: Domain-Adaptive Intent Clustering based on Selection and Pooling with Large Language Models
Venue: arXiv cs.CL 2025
Year: 2025

In this paper, we propose Selection and Pooling with Large Language Models (SPILL), an intuitive and domain-adaptive method for intent clustering without fine-tuning. Existing embeddings-based clustering methods rely on a few labeled examples or unsupervised fine-tuning to optimize results for each new dataset, which makes them less generalizable to multiple datasets. Our goal is to make these existing embedders more generalizable to new domain datasets without further fine-tuning. Inspired by our theoretical derivation and simulation results on the effectiveness of sampling and pooling techniques, we view the clustering task as a small-scale selection problem. A good solution to this problem is associated with better clustering performance. Accordingly, we propose a two-stage approach: First, for each utterance (referred to as the seed), we derive its embedding using an existing embedder. Then, we apply a distance metric to select a pool of candidates close to the seed. Because the embedder is not optimized for new datasets, in the second stage, we use an LLM to further select utterances from these candidates that share the same intent as the seed. Finally, we pool these selected candidates with the seed to derive a refined embedding for the seed. We found that our method generally outperforms directly using an embedder, and it achieves comparable results to other state-of-the-art studies, even those that use much larger models and require fine-tuning, showing its strength and efficiency. Our results indicate that our method enables existing embedders to be further improved without additional fine-tuning, making them more adaptable to new domain datasets. Additionally, viewing the clustering task as a small-scale selection problem gives the potential of using LLMs to customize clustering tasks according to the user's goals.
Visual Position Prompt for MLLM based Visual Grounding
Venue: arXiv cs.CV 2025
Year: 2025

Although Multimodal Large Language Models (MLLMs) excel at various image-related tasks, they encounter challenges in precisely aligning coordinates with spatial information within images, particularly in position-aware tasks such as visual grounding. This limitation arises from two key factors. First, MLLMs lack explicit spatial references, making it difficult to associate textual descriptions with precise image locations. Second, their feature extraction processes prioritize global context over fine-grained spatial details, leading to weak localization capability. To address these issues, we introduce VPP-LLaVA, an MLLM enhanced with Visual Position Prompt (VPP) to improve its grounding capability. VPP-LLaVA integrates two complementary mechanisms: the global VPP overlays a learnable, axis-like tensor onto the input image to provide structured spatial cues, while the local VPP incorporates position-aware queries to support fine-grained localization.To effectively train our model with spatial guidance, we further introduce VPP-SFT, a curated dataset of 0.6M high-quality visual grounding samples. Designed in a compact format, it enables efficient training and is significantly smaller than datasets used by other MLLMs (e.g., ~21M samples in MiniGPT-v2), yet still provides a strong performance boost. The resulting model, VPP-LLaVA, not only achieves state-of-the-art results on standard visual grounding benchmarks but also demonstrates strong zero-shot generalization to challenging unseen datasets. The code and dataset are available at https://github.com/WayneTomas/VPP-LLaVA.
Friction-Scaled Vibrotactile Feedback for Real-Time Slip Detection in Manipulation using Robotic Sixth Finger
Venue: arXiv cs.RO 2025
Year: 2025

The integration of extra-robotic limbs/fingers to enhance and expand motor skills, particularly for grasping and manipulation, possesses significant challenges. The grasping performance of existing limbs/fingers is far inferior to that of human hands. Human hands can detect onset of slip through tactile feedback originating from tactile receptors during the grasping process, enabling precise and automatic regulation of grip force. The frictional information is perceived by humans depending upon slip happening between finger and object. Enhancing this capability in extra-robotic limbs or fingers used by humans is challenging. To address this challenge, this paper introduces novel approach to communicate frictional information to users through encoded vibrotactile cues. These cues are conveyed on onset of incipient slip thus allowing users to perceive friction and ultimately use this information to increase force to avoid dropping of object. In a 2-alternative forced-choice protocol, participants gripped and lifted a glass under three different frictional conditions, applying a normal force of 3.5 N. After reaching this force, glass was gradually released to induce slip. During this slipping phase, vibrations scaled according to static coefficient of friction were presented to users, reflecting frictional conditions. The results suggested an accuracy of 94.53 p/m 3.05 (mean p/mSD) in perceiving frictional information upon lifting objects with varying friction. The results indicate effectiveness of using vibrotactile feedback for sensory feedback, allowing users of extra-robotic limbs or fingers to perceive frictional information. This enables them to assess surface properties and adjust grip force according to frictional conditions, enhancing their ability to grasp, manipulate objects more effectively.
Reducing Communication Overhead in Federated Learning for Network Anomaly Detection with Adaptive Client Selection
Venue: arXiv cs.DC 2025
Year: 2025

Communication overhead in federated learning (FL) poses a significant challenge for network anomaly detection systems, where diverse client configurations and network conditions impact efficiency and detection accuracy. Existing approaches attempt optimization individually but struggle to balance reduced overhead with performance. This paper presents an adaptive FL framework combining batch size optimization, client selection, and asynchronous updates for efficient anomaly detection. Using UNSW-NB15 for general network traffic and ROAD for automotive networks, our framework reduces communication overhead by 97.6% (700.0s to 16.8s) while maintaining comparable accuracy (95.10% vs. 95.12%). The Mann-Whitney U test confirms significant improvements (p < 0.05). Profiling analysis reveals efficiency gains via reduced GPU operations and memory transfers, ensuring robust detection across varying client conditions.
Bias Evaluation and Mitigation in Retrieval-Augmented Medical Question-Answering Systems
Venue: arXiv cs.CL 2025
Year: 2025

Medical Question Answering systems based on Retrieval Augmented Generation is promising for clinical decision support because they can integrate external knowledge, thus reducing inaccuracies inherent in standalone large language models (LLMs). However, these systems may unintentionally propagate or amplify biases associated with sensitive demographic attributes like race, gender, and socioeconomic factors. This study systematically evaluates demographic biases within medical RAG pipelines across multiple QA benchmarks, including MedQA, MedMCQA, MMLU, and EquityMedQA. We quantify disparities in retrieval consistency and answer correctness by generating and analyzing queries sensitive to demographic variations. We further implement and compare several bias mitigation strategies to address identified biases, including Chain of Thought reasoning, Counterfactual filtering, Adversarial prompt refinement, and Majority Vote aggregation. Experimental results reveal significant demographic disparities, highlighting that Majority Vote aggregation notably improves accuracy and fairness metrics. Our findings underscore the critical need for explicitly fairness-aware retrieval methods and prompt engineering strategies to develop truly equitable medical QA systems.