OpenRaiser/Intern-Atlas huggingface dataset:
HDMoLE: Mixture of LoRA Experts with Hierarchical Routing and Dynamic Thresholds for Fine-Tuning LLM-based ASR Models
Venue: arXiv cs.SD 2025
Year: 2025

Recent advancements in integrating Large Language Models (LLM) with automatic speech recognition (ASR) have performed remarkably in general domains. While supervised fine-tuning (SFT) of all model parameters is often employed to adapt pre-trained LLM-based ASR models to specific domains, it imposes high computational costs and notably reduces their performance in general domains. In this paper, we propose a novel parameter-efficient multi-domain fine-tuning method for adapting pre-trained LLM-based ASR models to multi-accent domains without catastrophic forgetting named \textit{HDMoLE}, which leverages hierarchical routing and dynamic thresholds based on combining low-rank adaptation (LoRA) with the mixer of experts (MoE) and can be generalized to any linear layer. Hierarchical routing establishes a clear correspondence between LoRA experts and accent domains, improving cross-domain collaboration among the LoRA experts. Unlike the static Top-K strategy for activating LoRA experts, dynamic thresholds can adaptively activate varying numbers of LoRA experts at each MoE layer. Experiments on the multi-accent and standard Mandarin datasets demonstrate the efficacy of HDMoLE. Applying HDMoLE to an LLM-based ASR model projector module achieves similar performance to full fine-tuning in the target multi-accent domains while using only 9.6% of the trainable parameters required for full fine-tuning and minimal degradation in the source general domain.
Knowledge Discovery using Unsupervised Cognition
Venue: arXiv cs.LG 2025
Year: 2025

Knowledge discovery is key to understand and interpret a dataset, as well as to find the underlying relationships between its components. Unsupervised Cognition is a novel unsupervised learning algorithm that focus on modelling the learned data. This paper presents three techniques to perform knowledge discovery over an already trained Unsupervised Cognition model. Specifically, we present a technique for pattern mining, a technique for feature selection based on the previous pattern mining technique, and a technique for dimensionality reduction based on the previous feature selection technique. The final goal is to distinguish between relevant and irrelevant features and use them to build a model from which to extract meaningful patterns. We evaluated our proposals with empirical experiments and found that they overcome the state-of-the-art in knowledge discovery.
Constraint Guided Model Quantization of Neural Networks
Venue: arXiv cs.LG 2025
Year: 2025

Deploying neural networks on the edge has become increasingly important as deep learning is being applied in an increasing amount of applications. At the edge computing hardware typically has limited resources disallowing to run neural networks with high complexity. To reduce the complexity of neural networks a wide range of quantization methods have been proposed in recent years. This work proposes Constraint Guided Model Quantization (CGMQ), which is a quantization aware training algorithm that uses an upper bound on the computational resources and reduces the bit-widths of the parameters of the neural network. CGMQ does not require the tuning of a hyperparameter to result in a mixed precision neural network that satisfies the predefined computational cost constraint, while prior work does. It is shown on MNIST and CIFAR10 that the performance of CGMQ is competitive with state-of-the-art quantization aware training algorithms, while guaranteeing the satisfaction of an upper bound on the computational complexity defined by the computational resources of the on edge hardware.
Signal Processing for Haptic Surface Modeling: a Review
Venue: arXiv cs.MM 2025
Year: 2025

Haptic feedback has been integrated into Virtual and Augmented Reality, complementing acoustic and visual information and contributing to an all-round immersive experience in multiple fields, spanning from the medical domain to entertainment and gaming. Haptic technologies involve complex cross-disciplinary research that encompasses sensing, data representation, interactive rendering, perception, and quality of experience. The standard processing pipeline, consists of (I) sensing physical features in the real world using a transducer, (II) modeling and storing the collected information in some digital format, (III) communicating the information, and finally, (IV) rendering the haptic information through appropriate devices, thus producing a user experience (V) perceptually close to the original physical world. Among these areas, sensing, rendering and perception have been deeply investigated and are the subject of different comprehensive surveys available in the literature. Differently, research dealing with haptic surface modeling and data representation still lacks a comprehensive dissection. In this work, we aim at providing an overview on modeling and representation of haptic surfaces from a signal processing perspective, covering the aspects that lie in between haptic information acquisition on one side and rendering and perception on the other side. We analyze, categorize, and compare research papers that address the haptic surface modeling and data representation, pointing out existing gaps and possible research directions.
Adaptive Collision Sensitivity for Efficient and Safe Human-Robot Collaboration
Venue: arXiv cs.RO 2025
Year: 2025

What is considered safe for a robot operator during physical human-robot collaboration (HRC) is specified in corresponding HRC standards (e.g., ISO/TS 15066). The regime that allows collisions between the moving robot and the operator, called Power and Force Limiting (PFL), restricts the permissible contact forces. Using the same fixed contact thresholds on the entire robot surface results in significant and unnecessary productivity losses, as the robot needs to stop even when impact forces are within limits. Here we present a framework that decides whether the robot should interrupt or continue its motion based on estimated collision force computed individually for different parts of the robot body and dynamically on the fly, based on the effective mass of each robot link and the link velocity. We performed experiments on simulated and real 6-axis collaborative robot arm (UR10e) with sensitive skin (AIRSKIN) for collision detection and isolation. To demonstrate the generality of our method, we added experiments on the simulated KUKA LBR iiwa robot, where collision detection and isolation draws on joint torque sensing. On a mock pick-and-place scenario with both transient and quasi-static collisions, we demonstrate how sensitivity to collisions influences the task performance and number of stops. We show an increase in productivity over 45% from using the standard approach that interrupts the tasks during every collision. While reducing the cycle time and the number of interruptions, our framework also ensures the safety of human operators. The method is applicable to any robot for which the effective mass can be calculated.
GTransPDM: A Graph-embedded Transformer with Positional Decoupling for Pedestrian Crossing Intention Prediction
Venue: arXiv cs.CV 2025
Year: 2025

Understanding and predicting pedestrian crossing behavioral intention is crucial for the driving safety of autonomous vehicles. Nonetheless, challenges emerge when using promising images or environmental context masks to extract various factors for time-series network modeling, causing pre-processing errors or a loss of efficiency. Typically, pedestrian positions captured by onboard cameras are often distorted and do not accurately reflect their actual movements. To address these issues, GTransPDM -- a Graph-embedded Transformer with a Position Decoupling Module -- was developed for pedestrian crossing intention prediction by leveraging multi-modal features. First, a positional decoupling module was proposed to decompose pedestrian lateral motion and encode depth cues in the image view. Then, a graph-embedded Transformer was designed to capture the spatio-temporal dynamics of human pose skeletons, integrating essential factors such as position, skeleton, and ego-vehicle motion. Experimental results indicate that the proposed method achieves 92% accuracy on the PIE dataset and 87% accuracy on the JAAD dataset, with a processing speed of 0.05ms. It outperforms the state-of-the-art in comparison.
Classroom-Inspired Multi-Mentor Distillation with Adaptive Learning Strategies
Venue: arXiv cs.CV 2025
Year: 2025

We propose ClassroomKD, a novel multi-mentor knowledge distillation framework inspired by classroom environments to enhance knowledge transfer between the student and multiple mentors with different knowledge levels. Unlike traditional methods that rely on fixed mentor-student relationships, our framework dynamically selects and adapts the teaching strategies of diverse mentors based on their effectiveness for each data sample. ClassroomKD comprises two main modules: the Knowledge Filtering (KF) module and the Mentoring module. The KF Module dynamically ranks mentors based on their performance for each input, activating only high-quality mentors to minimize error accumulation and prevent information loss. The Mentoring Module adjusts the distillation strategy by tuning each mentor's influence according to the dynamic performance gap between the student and mentors, effectively modulating the learning pace. Extensive experiments on image classification (CIFAR-100 and ImageNet) and 2D human pose estimation (COCO Keypoints and MPII Human Pose) demonstrate that ClassroomKD outperforms existing knowledge distillation methods for different network architectures. Our results highlight that a dynamic and adaptive approach to mentor selection and guidance leads to more effective knowledge transfer, paving the way for enhanced model performance through distillation.
Mechanism Design for Congested Facility Location
Venue: arXiv cs.GT 2025
Year: 2025

This paper investigates mechanism design for congested facility location problems, where agents are partitioned into groups with conflicting interests (e.g., competition for booking a basketball court in a gymnasium), and each agent's cost increases when the facility is located closer to their competitors. We analyze three types of misreporting: location-only, group-membership-only, and combined misreporting. To minimize social cost, we propose a strategyproof mechanism that achieves optimality under location-only misreporting. For group membership and combined misreporting, we show that the median mechanism attains tight approximation bounds. For the objective of minimizing maximum cost, we introduce novel strategyproof mechanisms for location-only and group-membership-only misreporting, while employing the leftmost mechanism under combined misreporting. We prove that all proposed mechanisms achieve nearly tight performance guarantees.
SpaceMesh: A Continuous Representation for Learning Manifold Surface Meshes
Venue: arXiv cs.CV 2025
Year: 2025

Meshes are ubiquitous in visual computing and simulation, yet most existing machine learning techniques represent meshes only indirectly, e.g. as the level set of a scalar field or deformation of a template, or as a disordered triangle soup lacking local structure. This work presents a scheme to directly generate manifold, polygonal meshes of complex connectivity as the output of a neural network. Our key innovation is to define a continuous latent connectivity space at each mesh vertex, which implies the discrete mesh. In particular, our vertex embeddings generate cyclic neighbor relationships in a halfedge mesh representation, which gives a guarantee of edge-manifoldness and the ability to represent general polygonal meshes. This representation is well-suited to machine learning and stochastic optimization, without restriction on connectivity or topology. We first explore the basic properties of this representation, then use it to fit distributions of meshes from large datasets. The resulting models generate diverse meshes with tessellation structure learned from the dataset population, with concise details and high-quality mesh elements. In applications, this approach not only yields high-quality outputs from generative models, but also enables directly learning challenging geometry processing tasks such as mesh repair.
Strategic Collusion of LLM Agents: Market Division in Multi-Commodity Competitions
Venue: arXiv cs.GT 2025
Year: 2025

Machine-learning technologies are seeing increased deployment in real-world market scenarios. In this work, we explore the strategic behaviors of large language models (LLMs) when deployed as autonomous agents in multi-commodity markets, specifically within Cournot competition frameworks. We examine whether LLMs can independently engage in anti-competitive practices such as collusion or, more specifically, market division. Our findings demonstrate that LLMs can effectively monopolize specific commodities by dynamically adjusting their pricing and resource allocation strategies, thereby maximizing profitability without direct human input or explicit collusion commands. These results pose unique challenges and opportunities for businesses looking to integrate AI into strategic roles and for regulatory bodies tasked with maintaining fair and competitive markets. The study provides a foundation for further exploration into the ramifications of deferring high-stakes decisions to LLM-based agents.
IDEA: An Inverse Domain Expert Adaptation Based Active DNN IP Protection Method
Venue: arXiv cs.CR 2025
Year: 2025

Illegitimate reproduction, distribution and derivation of Deep Neural Network (DNN) models can inflict economic loss, reputation damage and even privacy infringement. Passive DNN intellectual property (IP) protection methods such as watermarking and fingerprinting attempt to prove the ownership upon IP violation, but they are often too late to stop catastrophic damage of IP abuse and too feeble against strong adversaries. In this paper, we propose IDEA, an Inverse Domain Expert Adaptation based proactive DNN IP protection method featuring active authorization and source traceability. IDEA generalizes active authorization as an inverse problem of domain adaptation. The multi-adaptive optimization is solved by a mixture-of-experts model with one real and two fake experts. The real expert re-optimizes the source model to correctly classify test images with a unique model user key steganographically embedded. The fake experts are trained to output random prediction on test images without or with incorrect user key embedded by minimizing their mutual information (MI) with the real expert. The MoE model is knowledge distilled into a unified protected model to avoid leaking the expert model features by maximizing their MI with additional multi-layer attention and contrastive representation loss optimization. IDEA not only prevents unauthorized users without the valid key to access the functional model, but also enable the model owner to validate the deployed model and trace the source of IP infringement. We extensively evaluate IDEA on five datasets and four DNN models to demonstrate its effectiveness in authorization control, culprit tracing success rate, and robustness against various attacks.
Preconditioning for Accelerated Gradient Descent Optimization and Regularization
Venue: arXiv cs.LG 2025
Year: 2025

Accelerated training algorithms, such as adaptive learning rates (or preconditioning) and various normalization methods, are widely used but not fully understood. When regularization is introduced, standard optimizers like adaptive learning rates may not perform effectively. This raises the need for alternative regularization approaches such as AdamW and the question of how to properly combine regularization with preconditioning. In this paper, we address these challenges using the theory of preconditioning as follows: (1) We explain how AdaGrad, RMSProp, and Adam accelerates training through improving Hessian conditioning; (2) We explore the interaction between $L_2$-regularization and preconditioning, demonstrating that AdamW amounts to selecting the underlying intrinsic parameters for regularization, and we derive a generalization for the $L_1$-regularization; and (3) We demonstrate how various normalization methods such as input data normalization, batch normalization, and layer normalization accelerate training by improving Hessian conditioning. Our analysis offers a unified mathematical framework for understanding various acceleration techniques or deriving appropriate regularization schemes.
Vision Language Models Know Law of Conservation without Understanding More-or-Less
Venue: arXiv cs.AI 2025
Year: 2025

Understanding law of conservation is a critical milestone in human cognitive development considered to be supported by the apprehension of quantitative concepts and the reversibility of operations. To assess whether this critical component of human intelligence has emerged in Vision Language Models, we have curated the ConserveBench, a battery of 365 cognitive experiments across four dimensions of physical quantities: volume, solid quantity, length, and number. The former two involve transformational tasks which require reversibility understanding. The latter two involve non-transformational tasks which assess quantity understanding. Surprisingly, we find that while Vision Language Models are generally good at transformational tasks, they tend to fail at non-transformational tasks. There is a dissociation between understanding the reversibility of operations and understanding the concept of quantity, which both are believed to be the cornerstones of understanding law of conservation in humans.
AARK: An Open Toolkit for Autonomous Racing Research
Venue: arXiv cs.RO 2025
Year: 2025

Autonomous racing demands safe control of vehicles at their physical limits for extended periods of time, providing insights into advanced vehicle safety systems which increasingly rely on intervention provided by vehicle autonomy. Participation in this field carries with it a high barrier to entry. Physical platforms and their associated sensor suites require large capital outlays before any demonstrable progress can be made. Simulators allow researches to develop soft autonomous systems without purchasing a platform. However, currently available simulators lack visual and dynamic fidelity, can still be expensive to buy, lack customisation, and are difficult to use. AARK provides three packages, ACI, ACDG, and ACMPC. These packages enable research into autonomous control systems in the demanding environment of racing to bring more people into the field and improve reproducibility: ACI provides researchers with a computer vision-friendly interface to Assetto Corsa for convenient comparison and evaluation of autonomous control solutions; ACDG enables generation of depth, normal and semantic segmentation data for training computer vision models to use in perception systems; and ACMPC gives newcomers to the field a modular full-stack autonomous control solution, capable of controlling vehicles to build from. AARK aims to unify and democratise research into a field critical to providing safer roads and trusted autonomous systems.
Answer When Needed, Forget When Not: Language Models Pretend to Forget via In-Context Knowledge Unlearning
Venue: arXiv cs.CL 2025
Year: 2025

As large language models (LLMs) are applied across diverse domains, the ability to selectively unlearn specific information is becoming increasingly essential. For instance, LLMs are expected to selectively provide confidential information to authorized internal users, such as employees or trusted partners, while withholding it from external users, including the general public and unauthorized entities. Therefore, we propose a novel method termed ``in-context knowledge unlearning'', which enables the model to selectively forget information in test-time based on the query context. Our method fine-tunes pre-trained LLMs to enable prompt unlearning of target knowledge within the context, while preserving unrelated information. Experiments on TOFU, AGE and RWKU datasets using Llama2-7B/13B and Mistral-7B models demonstrate that our method achieves up to 95% forget accuracy while retaining 80% of unrelated knowledge, significantly outperforming baselines in both in-domain and out-of-domain scenarios. Further investigation of the model's internal behavior revealed that while fine-tuned LLMs generate correct predictions in the middle layers and preserve them up to the final layer. However, the decision to forget is made only at the last layer, i.e. ``LLMs pretend to forget''. Our findings offer valuable insight into the improvement of the robustness of the unlearning mechanisms in LLMs, laying a foundation for future research in the field.
CaRtGS: Computational Alignment for Real-Time Gaussian Splatting SLAM
Venue: arXiv cs.CV 2025
Year: 2025

Simultaneous Localization and Mapping (SLAM) is pivotal in robotics, with photorealistic scene reconstruction emerging as a key challenge. To address this, we introduce Computational Alignment for Real-Time Gaussian Splatting SLAM (CaRtGS), a novel method enhancing the efficiency and quality of photorealistic scene reconstruction in real-time environments. Leveraging 3D Gaussian Splatting (3DGS), CaRtGS achieves superior rendering quality and processing speed, which is crucial for scene photorealistic reconstruction. Our approach tackles computational misalignment in Gaussian Splatting SLAM (GS-SLAM) through an adaptive strategy that enhances optimization iterations, addresses long-tail optimization, and refines densification. Experiments on Replica, TUM-RGBD, and VECtor datasets demonstrate CaRtGS's effectiveness in achieving high-fidelity rendering with fewer Gaussian primitives. This work propels SLAM towards real-time, photorealistic dense rendering, significantly advancing photorealistic scene representation. For the benefit of the research community, we release the code and accompanying videos on our project website: https://dapengfeng.github.io/cartgs.
Differentially Private Active Learning: Balancing Effective Data Selection and Privacy
Venue: arXiv cs.LG 2025
Year: 2025

Active learning (AL) is a widely used technique for optimizing data labeling in machine learning by iteratively selecting, labeling, and training on the most informative data. However, its integration with formal privacy-preserving methods, particularly differential privacy (DP), remains largely underexplored. While some works have explored differentially private AL for specialized scenarios like online learning, the fundamental challenge of combining AL with DP in standard learning settings has remained unaddressed, severely limiting AL's applicability in privacy-sensitive domains. This work addresses this gap by introducing differentially private active learning (DP-AL) for standard learning settings. We demonstrate that naively integrating DP-SGD training into AL presents substantial challenges in privacy budget allocation and data utilization. To overcome these challenges, we propose step amplification, which leverages individual sampling probabilities in batch creation to maximize data point participation in training steps, thus optimizing data utilization. Additionally, we investigate the effectiveness of various acquisition functions for data selection under privacy constraints, revealing that many commonly used functions become impractical. Our experiments on vision and natural language processing tasks show that DP-AL can improve performance for specific datasets and model architectures. However, our findings also highlight the limitations of AL in privacy-constrained environments, emphasizing the trade-offs between privacy, model accuracy, and data selection accuracy.