OpenRaiser/Intern-Atlas huggingface dataset:
E3D-Bench: A Benchmark for End-to-End 3D Geometric Foundation Models
Venue: arXiv cs.CV 2025
Year: 2025

Spatial intelligence, encompassing 3D reconstruction, perception, and reasoning, is fundamental to applications such as robotics, aerial imaging, and extended reality. A key enabler is the real-time, accurate estimation of core 3D attributes (camera parameters, point clouds, depth maps, and 3D point tracks) from unstructured or streaming imagery. Inspired by the success of large foundation models in language and 2D vision, a new class of end-to-end 3D geometric foundation models (GFMs) has emerged, directly predicting dense 3D representations in a single feed-forward pass, eliminating the need for slow or unavailable precomputed camera parameters. Since late 2023, the field has exploded with diverse variants, but systematic evaluation is lacking. In this work, we present the first comprehensive benchmark for 3D GFMs, covering five core tasks: sparse-view depth estimation, video depth estimation, 3D reconstruction, multi-view pose estimation, novel view synthesis, and spanning both standard and challenging out-of-distribution datasets. Our standardized toolkit automates dataset handling, evaluation protocols, and metric computation to ensure fair, reproducible comparisons. We evaluate 16 state-of-the-art GFMs, revealing their strengths and limitations across tasks and domains, and derive key insights to guide future model scaling and optimization. All code, evaluation scripts, and processed data will be publicly released to accelerate research in 3D spatial intelligence.
Making Rotation Averaging Fast and Robust with Anisotropic Coordinate Descent
Venue: arXiv cs.CV 2025
Year: 2025

Anisotropic rotation averaging has recently been explored as a natural extension of respective isotropic methods. In the anisotropic formulation, uncertainties of the estimated relative rotations -- obtained via standard two-view optimization -- are propagated to the optimization of absolute rotations. The resulting semidefinite relaxations are able to recover global minima but scale poorly with the problem size. Local methods are fast and also admit robust estimation but are sensitive to initialization. They usually employ minimum spanning trees and therefore suffer from drift accumulation and can get trapped in poor local minima. In this paper, we attempt to bridge the gap between optimality, robustness and efficiency of anisotropic rotation averaging. We analyze a family of block coordinate descent methods initially proposed to optimize the standard chordal distances, and derive a much simpler formulation and an anisotropic extension obtaining a fast general solver. We integrate this solver into the extended anisotropic large-scale robust rotation averaging pipeline. The resulting algorithm achieves state-of-the-art performance on public structure-from-motion datasets. Project page: https://ylochman.github.io/acd
DualMap: Online Open-Vocabulary Semantic Mapping for Natural Language Navigation in Dynamic Changing Scenes
Venue: arXiv cs.RO 2025
Year: 2025

We introduce DualMap, an online open-vocabulary mapping system that enables robots to understand and navigate dynamically changing environments through natural language queries. Designed for efficient semantic mapping and adaptability to changing environments, DualMap meets the essential requirements for real-world robot navigation applications. Our proposed hybrid segmentation frontend and object-level status check eliminate the costly 3D object merging required by prior methods, enabling efficient online scene mapping. The dual-map representation combines a global abstract map for high-level candidate selection with a local concrete map for precise goal-reaching, effectively managing and updating dynamic changes in the environment. Through extensive experiments in both simulation and real-world scenarios, we demonstrate state-of-the-art performance in 3D open-vocabulary segmentation, efficient scene mapping, and online language-guided navigation. Project page: https://eku127.github.io/DualMap/
TaskVAE: Task-Specific Variational Autoencoders for Exemplar Generation in Continual Learning for Human Activity Recognition
Venue: arXiv cs.LG 2025
Year: 2025

As machine learning based systems become more integrated into daily life, they unlock new opportunities but face the challenge of adapting to dynamic data environments. Various forms of data shift-gradual, abrupt, or cyclic-threaten model accuracy, making continual adaptation essential. Continual Learning (CL) enables models to learn from evolving data streams while minimizing forgetting of prior knowledge. Among CL strategies, replay-based methods have proven effective, but their success relies on balancing memory constraints and retaining old class accuracy while learning new classes. This paper presents TaskVAE, a framework for replay-based CL in class-incremental settings. TaskVAE employs task-specific Variational Autoencoders (VAEs) to generate synthetic exemplars from previous tasks, which are then used to train the classifier alongside new task data. In contrast to traditional methods that require prior knowledge of the total class count or rely on a single VAE for all tasks, TaskVAE adapts flexibly to increasing tasks without such constraints. We focus on Human Activity Recognition (HAR) using IMU sensor-equipped devices. Unlike previous HAR studies that combine data across all users, our approach focuses on individual user data, better reflecting real-world scenarios where a person progressively learns new activities. Extensive experiments on 5 different HAR datasets show that TaskVAE outperforms experience replay methods, particularly with limited data, and exhibits robust performance as dataset size increases. Additionally, memory footprint of TaskVAE is minimal, being equivalent to only 60 samples per task, while still being able to generate an unlimited number of synthetic samples. The contributions lie in balancing memory constraints, task-specific generation, and long-term stability, making it a reliable solution for real-world applications in domains like HAR.
Johnny: Structuring Representation Space to Enhance Machine Abstract Reasoning Ability
Venue: arXiv cs.LG 2025
Year: 2025

This paper thoroughly investigates the challenges of enhancing AI's abstract reasoning capabilities, with a particular focus on Raven's Progressive Matrices (RPM) tasks involving complex human-like concepts. Firstly, it dissects the empirical reality that traditional end-to-end RPM-solving models heavily rely on option pool configurations, highlighting that this dependency constrains the model's reasoning capabilities. To address this limitation, the paper proposes the Johnny architecture - a novel representation space-based framework for RPM-solving. Through the synergistic operation of its Representation Extraction Module and Reasoning Module, Johnny significantly enhances reasoning performance by supplementing primitive negative option configurations with a learned representation space. Furthermore, to strengthen the model's capacity for capturing positional relationships among local features, the paper introduces the Spin-Transformer network architecture, accompanied by a lightweight Straw Spin-Transformer variant that reduces computational overhead through parameter sharing and attention mechanism optimization. Experimental evaluations demonstrate that both Johnny and Spin-Transformer achieve superior performance on RPM tasks, offering innovative methodologies for advancing AI's abstract reasoning capabilities.
Speculative Decoding via Hybrid Drafting and Rollback-Aware Branch Parallelism
Venue: arXiv cs.DC 2025
Year: 2025

Speculative decoding (SD) has emerged as a promising technique to accelerate LLM inference by employing a small draft model to propose draft tokens in advance, and validating them in parallel with the large target model. However, the existing SD methods still remain constrained by their serialized execution, which causes the mutual waiting bubbles between the draft and target models. To address this challenge, we draw inspiration from branch prediction in modern processors and propose a novel framework \textbf{SpecBranch} to unlock branch parallelism in SD. Specifically, we first take an in-depth analysis of the potential of branch parallelism in SD, and recognize that the key challenge lies in the trade-offs between parallelization and token rollback. Based on the analysis, we introduce parallel speculative branches to preemptively hedge against likely rejections. Meanwhile, to enhance parallelism, we jointly orchestrate adaptive draft lengths with a hybrid combination of the implicit draft model confidence and explicit reusing of target model features. Extensive experiments across various models and benchmarks show that SpecBranch achieves over \textbf{1.8}$\times \sim$ \textbf{4.5}$\times$ speedups against the auto-regressive decoding and reduces rollback tokens by $\textbf{50}$\% for poorly aligned models, while maintaining an identical sampling distribution.
Music Interpretation and Emotion Perception: A Computational and Neurophysiological Investigation
Venue: arXiv cs.HC 2025
Year: 2025

This study investigates emotional expression and perception in music performance using computational and neurophysiological methods. The influence of different performance settings, such as repertoire, diatonic modal etudes, and improvisation, as well as levels of expressiveness, on performers' emotional communication and listeners' reactions is explored. Professional musicians performed various tasks, and emotional annotations were provided by both performers and the audience. Audio analysis revealed that expressive and improvisational performances exhibited unique acoustic features, while emotion analysis showed stronger emotional responses. Neurophysiological measurements indicated greater relaxation in improvisational performances. This multimodal study highlights the significance of expressivity in enhancing emotional communication and audience engagement.
Improve Multi-Modal Embedding Learning via Explicit Hard Negative Gradient Amplifying
Venue: arXiv cs.CV 2025
Year: 2025

With the rapid advancement of multi-modal large language models (MLLMs) in recent years, the foundational Contrastive Language-Image Pretraining (CLIP) framework has been successfully extended to MLLMs, enabling more powerful and universal multi-modal embeddings for a wide range of retrieval tasks. Despite these developments, the core contrastive learning paradigm remains largely unchanged from CLIP-style models to MLLMs. Within this framework, the effective mining of hard negative samples continues to be a critical factor for enhancing performance. Prior works have introduced both offline and online strategies for hard negative mining to improve the efficiency of contrastive learning. While these approaches have led to improved multi-modal embeddings, the specific contribution of each hard negative sample to the learning process has not been thoroughly investigated. In this work, we conduct a detailed analysis of the gradients of the info-NCE loss with respect to the query, positive, and negative samples, elucidating the role of hard negatives in updating model parameters. Building upon this analysis, we propose to explicitly amplify the gradients associated with hard negative samples, thereby encouraging the model to learn more discriminative embeddings. Our multi-modal embedding model, trained with the proposed Explicit Gradient Amplifier and based on the LLaVA-OneVision-7B architecture, achieves state-of-the-art performance on the MMEB benchmark compared to previous methods utilizing the same MLLM backbone. Furthermore, when integrated with our self-developed MLLM, QQMM, our approach attains the top rank on the MMEB leaderboard. Code and models are released on https://github.com/QQ-MM/QQMM-embed.
Evaluating the Efficacy of LLM-Based Reasoning for Multiobjective HPC Job Scheduling
Venue: arXiv cs.DC 2025
Year: 2025

High-Performance Computing (HPC) job scheduling involves balancing conflicting objectives such as minimizing makespan, reducing wait times, optimizing resource use, and ensuring fairness. Traditional methods, including heuristic-based, e.g., First-Come-First-Served (FJFS) and Shortest Job First (SJF), or intensive optimization techniques, often lack adaptability to dynamic workloads and, more importantly, cannot simultaneously optimize multiple objectives in HPC systems. To address this, we propose a novel Large Language Model (LLM)-based scheduler using a ReAct-style framework (Reason + Act), enabling iterative, interpretable decision-making. The system incorporates a scratchpad memory to track scheduling history and refine decisions via natural language feedback, while a constraint enforcement module ensures feasibility and safety. We evaluate our approach using OpenAI's O4-Mini and Anthropic's Claude 3.7 across seven real-world HPC workload scenarios, including heterogeneous mixes, bursty patterns, and adversarial cases etc. Comparisons against FCFS, SJF, and Google OR-Tools (on 10 to 100 jobs) reveal that LLM-based scheduling effectively balances multiple objectives while offering transparent reasoning through natural language traces. The method excels in constraint satisfaction and adapts to diverse workloads without domain-specific training. However, a trade-off between reasoning quality and computational overhead challenges real-time deployment. This work presents the first comprehensive study of reasoning-capable LLMs for HPC scheduling, demonstrating their potential to handle multiobjective optimization while highlighting limitations in computational efficiency. The findings provide insights into leveraging advanced language models for complex scheduling problems in dynamic HPC environments.
High-throughput viscometry via machine-learning from videos of inverted vials
Venue: arXiv cs.GR 2025
Year: 2025

Although the inverted vial test has been widely used as a qualitative method for estimating fluid viscosity, quantitative rheological characterization has remained limited due to its complex, uncontrolled flow - driven by gravity, surface tension, inertia, and initial conditions. Here, we present a computer vision (CV) viscometer that automates the inverted vial test and enables quantitative viscosity inference across nearly five orders of magnitude (0.01-1000 Pas), without requiring direct velocity field measurements. The system simultaneously inverts multiple vials and records videos of the evolving fluid, which are fed into a neural network that approximates the inverse function from visual features and known fluid density. Despite the complex, multi-regime flow within the vial, our approach achieves relative errors below 25%, improving to 15% for viscosities above 0.1 Pas. When tested on non-Newtonian polymer solutions, the method reliably estimates zero-shear viscosity as long as viscoelastic or shear-thinning behaviors remain negligible within the flow regime. Moreover, high standard deviations in the inferred values may serve as a proxy for identifying fluids with strong non-Newtonian behavior. The CV viscometer requires only one camera and one motor, is contactless and low-cost, and can be easily integrated into high-throughput experimental automated and manual workflows. Transcending traditional characterization paradigms, our method leverages uncontrolled flows and visual features to achieve simplicity and scalability, enabling high-throughput viscosity inference that can meet the growing demand of data-driven material models while remaining accessible to lower resource environments.
EvoGit: Decentralized Code Evolution via Git-Based Multi-Agent Collaboration
Venue: arXiv cs.DC 2025
Year: 2025

We introduce EvoGit, a decentralized multi-agent framework for collaborative software development driven by autonomous code evolution. EvoGit deploys a population of independent coding agents, each proposing edits to a shared codebase without centralized coordination, explicit message passing, or shared memory. Instead, all coordination emerges through a Git-based phylogenetic graph that tracks the full version lineage and enables agents to asynchronously read from and write to the evolving code repository. This graph-based structure supports fine-grained branching, implicit concurrency, and scalable agent interaction while preserving a consistent historical record. Human involvement is minimal but strategic: users define high-level goals, periodically review the graph, and provide lightweight feedback to promote promising directions or prune unproductive ones. Experiments demonstrate EvoGit's ability to autonomously produce functional and modular software artifacts across two real-world tasks: (1) building a web application from scratch using modern frameworks, and (2) constructing a meta-level system that evolves its own language-model-guided solver for the bin-packing optimization problem. Our results underscore EvoGit's potential to establish a new paradigm for decentralized, automated, and continual software development. EvoGit is open-sourced at https://github.com/BillHuang2001/evogit.
Decoupled Hierarchical Reinforcement Learning with State Abstraction for Discrete Grids
Venue: arXiv cs.LG 2025
Year: 2025

Effective agent exploration remains a core challenge in reinforcement learning (RL) for complex discrete state-space environments, particularly under partial observability. This paper presents a decoupled hierarchical RL framework integrating state abstraction (DcHRL-SA) to address this issue. The proposed method employs a dual-level architecture, consisting of a high level RL-based actor and a low-level rule-based policy, to promote effective exploration. Additionally, state abstraction method is incorporated to cluster discrete states, effectively lowering state dimensionality. Experiments conducted in two discrete customized grid environments demonstrate that the proposed approach consistently outperforms PPO in terms of exploration efficiency, convergence speed, cumulative reward, and policy stability. These results demonstrate a practical approach for integrating decoupled hierarchical policies and state abstraction in discrete grids with large-scale exploration space. Code will be available at https://github.com/XQY169/DcHRL-SA.
Will Agents Replace Us? Perceptions of Autonomous Multi-Agent AI
Venue: arXiv cs.CY 2025
Year: 2025

Autonomous multi-agent AI systems are poised to transform various industries, particularly software development and knowledge work. Understanding current perceptions among professionals is crucial for anticipating adoption challenges, ethical considerations, and future workforce development. This study analyzes responses from 130 participants to a survey on the capabilities, impact, and governance of AI agents. We explore expected timelines for AI replacing programmers, identify perceived barriers to deployment, and examine beliefs about responsibility when agents make critical decisions. Key findings reveal three distinct clusters of respondents. While the study explored factors associated with current AI agent deployment, the initial logistic regression model did not yield statistically significant predictors, suggesting that deployment decisions are complex and may be influenced by factors not fully captured or that a larger sample is needed. These insights highlight the need for organizations to address compliance concerns (a commonly cited barrier) and establish clear governance frameworks as they integrate autonomous agents into their workflows.
Evaluating the Unseen Capabilities: How Many Theorems Do LLMs Know?
Venue: arXiv cs.CL 2025
Year: 2025

Accurate evaluation of large language models (LLMs) is crucial for understanding their capabilities and guiding their development. However, current evaluations often inconsistently reflect the actual capacities of these models. In this paper, we demonstrate that one of many contributing factors to this \textit{evaluation crisis} is the oversight of unseen knowledge -- information encoded by LLMs but not directly observed or not yet observed during evaluations. We introduce KnowSum, a statistical framework designed to provide a more comprehensive assessment by quantifying the unseen knowledge for a class of evaluation tasks. KnowSum estimates the unobserved portion by extrapolating from the appearance frequencies of observed knowledge instances. We demonstrate the effectiveness and utility of KnowSum across three critical applications: estimating total knowledge, evaluating information retrieval effectiveness, and measuring output diversity. Our experiments reveal that a substantial volume of knowledge is omitted when relying solely on observed LLM performance. Importantly, KnowSum yields significantly different comparative rankings for several common LLMs based on their internal knowledge.
SALAD: Systematic Assessment of Machine Unlearning on LLM-Aided Hardware Design
Venue: arXiv cs.LG 2025
Year: 2025

Large Language Models (LLMs) offer transformative capabilities for hardware design automation, particularly in Verilog code generation. However, they also pose significant data security challenges, including Verilog evaluation data contamination, intellectual property (IP) design leakage, and the risk of malicious Verilog generation. We introduce SALAD, a comprehensive assessment that leverages machine unlearning to mitigate these threats. Our approach enables the selective removal of contaminated benchmarks, sensitive IP and design artifacts, or malicious code patterns from pre-trained LLMs, all without requiring full retraining. Through detailed case studies, we demonstrate how machine unlearning techniques effectively reduce data security risks in LLM-aided hardware design.
Towards Better Generalization and Interpretability in Unsupervised Concept-Based Models
Venue: arXiv cs.LG 2025
Year: 2025

To increase the trustworthiness of deep neural networks, it is critical to improve the understanding of how they make decisions. This paper introduces a novel unsupervised concept-based model for image classification, named Learnable Concept-Based Model (LCBM) which models concepts as random variables within a Bernoulli latent space. Unlike traditional methods that either require extensive human supervision or suffer from limited scalability, our approach employs a reduced number of concepts without sacrificing performance. We demonstrate that LCBM surpasses existing unsupervised concept-based models in generalization capability and nearly matches the performance of black-box models. The proposed concept representation enhances information retention and aligns more closely with human understanding. A user study demonstrates the discovered concepts are also more intuitive for humans to interpret. Finally, despite the use of concept embeddings, we maintain model interpretability by means of a local linear combination of concepts.