OpenRaiser/Intern-Atlas huggingface dataset:
Human-in-the-loop Online Rejection Sampling for Robotic Manipulation
Venue: arXiv cs.RO 2025
Year: 2025

Reinforcement learning (RL) is widely used to produce robust robotic manipulation policies, but fine-tuning vision-language-action (VLA) models with RL can be unstable due to inaccurate value estimates and sparse supervision at intermediate steps. In contrast, imitation learning (IL) is easy to train but often underperforms due to its offline nature. In this paper, we propose Hi-ORS, a simple yet effective post-training method that utilizes rejection sampling to achieve both training stability and high robustness. Hi-ORS stabilizes value estimation by filtering out negatively rewarded samples during online fine-tuning, and adopts a reward-weighted supervised training objective to provide dense intermediate-step supervision. For systematic study, we develop an asynchronous inference-training framework that supports flexible online human-in-the-loop corrections, which serve as explicit guidance for learning error-recovery behaviors. Across three real-world tasks and two embodiments, Hi-ORS fine-tunes a pi-base policy to master contact-rich manipulation in just 1.5 hours of real-world training, outperforming RL and IL baselines by a substantial margin in both effectiveness and efficiency. Notably, the fine-tuned policy exhibits strong test-time scalability by reliably executing complex error-recovery behaviors to achieve better performance.
MedSAE: Dissecting MedCLIP Representations with Sparse Autoencoders
Venue: arXiv cs.AI 2025
Year: 2025

Artificial intelligence in healthcare requires models that are accurate and interpretable. We advance mechanistic interpretability in medical vision by applying Medical Sparse Autoencoders (MedSAEs) to the latent space of MedCLIP, a vision-language model trained on chest radiographs and reports. To quantify interpretability, we propose an evaluation framework that combines correlation metrics, entropy analyzes, and automated neuron naming via the MedGEMMA foundation model. Experiments on the CheXpert dataset show that MedSAE neurons achieve higher monosemanticity and interpretability than raw MedCLIP features. Our findings bridge high-performing medical AI and transparency, offering a scalable step toward clinically reliable representations.
PolarZero: A Reinforcement Learning Approach for Low-Complexity Polarization Kernel Design
Venue: arXiv cs.IT 2025
Year: 2025

Polar codes with large kernels can achieve improved error exponents but are challenging to design with low decoding complexity. This work investigates kernel construction under recursive maximum likelihood decoding (RMLD) using a reinforcement learning framework based on the Gumbel AlphaZero algorithm. The proposed method efficiently explores the design space and identifies large-size kernels that satisfy a given error exponent while minimizing decoding complexity. For a size-16 kernel, it achieves 17% lower decoding complexity than handcrafted designs while reaching an error exponent of 0.5183 compared to 0.5 for Arikan's kernel, demonstrating the effectiveness of the learning-based approach for practical polar code construction.
ReSpec: Towards Optimizing Speculative Decoding in Reinforcement Learning Systems
Venue: arXiv cs.LG 2025
Year: 2025

Adapting large language models (LLMs) via reinforcement learning (RL) is often bottlenecked by the generation stage, which can consume over 75\% of the training time. Speculative decoding (SD) accelerates autoregressive generation in serving systems, but its behavior under RL training remains largely unexplored. We identify three critical gaps that hinder the naive integration of SD into RL systems: diminishing speedups at large batch sizes, drafter staleness under continual actor updates, and drafter-induced policy degradation. To address these gaps, we present ReSpec, a system that adapts SD to RL through three complementary mechanisms: dynamically tuning SD configurations, evolving the drafter via knowledge distillation, and weighting updates by rollout rewards. On Qwen models (3B--14B), ReSpec achieves up to 4.5x speedup while preserving reward convergence and training stability, providing a practical solution for efficient RL-based LLM adaptation.
Bayesian Network Fusion of Large Language Models for Sentiment Analysis
Venue: arXiv cs.CL 2025
Year: 2025

Large language models (LLMs) continue to advance, with an increasing number of domain-specific variants tailored for specialised tasks. However, these models often lack transparency and explainability, can be costly to fine-tune, require substantial prompt engineering, yield inconsistent results across domains, and impose significant adverse environmental impact due to their high computational demands. To address these challenges, we propose the Bayesian network LLM fusion (BNLF) framework, which integrates predictions from three LLMs, including FinBERT, RoBERTa, and BERTweet, through a probabilistic mechanism for sentiment analysis. BNLF performs late fusion by modelling the sentiment predictions from multiple LLMs as probabilistic nodes within a Bayesian network. Evaluated across three human-annotated financial corpora with distinct linguistic and contextual characteristics, BNLF demonstrates consistent gains of about six percent in accuracy over the baseline LLMs, underscoring its robustness to dataset variability and the effectiveness of probabilistic fusion for interpretable sentiment classification.
LINK-KG: LLM-Driven Coreference-Resolved Knowledge Graphs for Human Smuggling Networks
Venue: arXiv cs.AI 2025
Year: 2025

Human smuggling networks are complex and constantly evolving, making them difficult to analyze comprehensively. Legal case documents offer rich factual and procedural insights into these networks but are often long, unstructured, and filled with ambiguous or shifting references, posing significant challenges for automated knowledge graph (KG) construction. Existing methods either overlook coreference resolution or fail to scale beyond short text spans, leading to fragmented graphs and inconsistent entity linking. We propose LINK-KG, a modular framework that integrates a three-stage, LLM-guided coreference resolution pipeline with downstream KG extraction. At the core of our approach is a type-specific Prompt Cache, which consistently tracks and resolves references across document chunks, enabling clean and disambiguated narratives for structured knowledge graph construction from both short and long legal texts. LINK-KG reduces average node duplication by 45.21% and noisy nodes by 32.22% compared to baseline methods, resulting in cleaner and more coherent graph structures. These improvements establish LINK-KG as a strong foundation for analyzing complex criminal networks.
Scaffolding Creativity: How Divergent and Convergent LLM Personas Shape Human Machine Creative Problem-Solving
Venue: arXiv cs.HC 2025
Year: 2025

Large language models (LLMs) are increasingly shaping creative work and problem-solving; however, prior research suggests that they may diminish unassisted creativity. To address this tension, a coach-like LLM environment was developed that embodies divergent and convergent thinking personas as two complementary processes. Effectiveness and user behavior were assessed through a controlled experiment in which participants interacted with either persona, while a control group engaged with a standard LLM providing direct answers. Notably, users' perceptions of which persona best supported their creativity often diverged from objective performance measures. Trait-based analyses revealed that individual differences predict when people utilize divergent versus convergent personas, suggesting opportunities for adaptive sequencing. Furthermore, interaction patterns reflected the design thinking model, demonstrating how persona-guided support shapes creative problem-solving. Our findings provide design principles for creativity support systems that strike a balance between exploration and convergence through persona-based guidance and personalization. These insights advance human-AI collaboration tools that scaffold rather than overshadow human creativity.
Rethinking Text-to-SQL: Dynamic Multi-turn SQL Interaction for Real-world Database Exploration
Venue: arXiv cs.DB 2025
Year: 2025

Recent advances in Text-to-SQL have achieved strong results in static, single-turn tasks, where models generate SQL queries from natural language questions. However, these systems fall short in real-world interactive scenarios, where user intents evolve and queries must be refined over multiple turns. In applications such as finance and business analytics, users iteratively adjust query constraints or dimensions based on intermediate results. To evaluate such dynamic capabilities, we introduce DySQL-Bench, a benchmark assessing model performance under evolving user interactions. Unlike previous manually curated datasets, DySQL-Bench is built through an automated two-stage pipeline of task synthesis and verification. Structured tree representations derived from raw database tables guide LLM-based task generation, followed by interaction-oriented filtering and expert validation. Human evaluation confirms 100% correctness of the synthesized data. We further propose a multi-turn evaluation framework simulating realistic interactions among an LLM-simulated user, the model under test, and an executable database. The model must adapt its reasoning and SQL generation as user intents change. DySQL-Bench covers 13 domains across BIRD and Spider 2 databases, totaling 1,072 tasks. Even GPT-4o attains only 58.34% overall accuracy and 23.81% on the Pass@5 metric, underscoring the benchmark's difficulty. All code and data are released at https://github.com/Aurora-slz/Real-World-SQL-Bench .
Envisioning Future Interactive Web Development: Editing Webpage with Natural Language
Venue: arXiv cs.SE 2025
Year: 2025

The evolution of web applications relies on iterative code modifications, a process that is traditionally manual and time-consuming. While Large Language Models (LLMs) can generate UI code, their ability to edit existing code from new design requirements (e.g., "center the logo") remains a challenge. This is largely due to the absence of large-scale, high-quality tuning data to align model performance with human expectations. In this paper, we introduce a novel, automated data generation pipeline that uses LLMs to synthesize a high-quality fine-tuning dataset for web editing, named Instruct4Edit. Our approach generates diverse instructions, applies the corresponding code modifications, and performs visual verification to ensure correctness. By fine-tuning models on Instruct4Edit, we demonstrate consistent improvement in translating human intent into precise, structurally coherent, and visually accurate code changes. This work provides a scalable and transparent foundation for natural language based web editing, demonstrating that fine-tuning smaller open-source models can achieve competitive performance with proprietary systems. We release all data, code implementations, and model checkpoints for reproduction.
A Three-Stage Bayesian Transfer Learning Framework to Improve Predictions in Data-Scarce Domains
Venue: arXiv cs.LG 2025
Year: 2025

The use of ML in engineering has grown steadily to support a wide array of applications. Among these methods, deep neural networks have been widely adopted due to their performance and accessibility, but they require large, high-quality datasets. Experimental data are often sparse, noisy, or insufficient to build resilient data-driven models. Transfer learning, which leverages relevant data-abundant source domains to assist learning in data-scarce target domains, has shown efficacy. Parameter transfer, where pretrained weights are reused, is common but degrades under large domain shifts. Domain-adversarial neural networks (DANNs) help address this issue by learning domain-invariant representations, thereby improving transfer under greater domain shifts in a semi-supervised setting. However, DANNs can be unstable during training and lack a native means for uncertainty quantification. This study introduces a fully-supervised three-stage framework, the staged Bayesian domain-adversarial neural network (staged B-DANN), that combines parameter transfer and shared latent space adaptation. In Stage 1, a deterministic feature extractor is trained on the source domain. This feature extractor is then adversarially refined using a DANN in Stage 2. In Stage 3, a Bayesian neural network is built on the adapted feature extractor for fine-tuning on the target domain to handle conditional shifts and yield calibrated uncertainty estimates. This staged B-DANN approach was first validated on a synthetic benchmark, where it was shown to significantly outperform standard transfer techniques. It was then applied to the task of predicting critical heat flux in rectangular channels, leveraging data from tube experiments as the source domain. The results of this study show that the staged B-DANN method can improve predictive accuracy and generalization, potentially assisting other domains in nuclear engineering.
On the number of non-degenerate canalizing Boolean functions
Venue: arXiv cs.DM 2025
Year: 2025

Canalization is a key organizing principle in complex systems, particularly in gene regulatory networks. It describes how certain input variables exert dominant control over a function's output, thereby imposing hierarchical structure and conferring robustness to perturbations. Degeneracy, in contrast, captures redundancy among input variables and reflects the complete dominance of some variables by others. Both properties influence the stability and dynamics of discrete dynamical systems, yet their combinatorial underpinnings remain incompletely understood. Here, we derive recursive formulas for counting Boolean functions with prescribed numbers of essential variables and given canalizing properties. In particular, we determine the number of non-degenerate canalizing Boolean functions -- that is, functions for which all variables are essential and at least one variable is canalizing. Our approach extends earlier enumeration results on canalizing and nested canalizing functions. It provides a rigorous foundation for quantifying how frequently canalization occurs among random Boolean functions and for assessing its pronounced over-representation in biological network models, where it contributes to both robustness and to the emergence of distinct regulatory roles.
SA$^{2}$Net: Scale-Adaptive Structure-Affinity Transformation for Spine Segmentation from Ultrasound Volume Projection Imaging
Venue: arXiv cs.CV 2025
Year: 2025

Spine segmentation, based on ultrasound volume projection imaging (VPI), plays a vital role for intelligent scoliosis diagnosis in clinical applications. However, this task faces several significant challenges. Firstly, the global contextual knowledge of spines may not be well-learned if we neglect the high spatial correlation of different bone features. Secondly, the spine bones contain rich structural knowledge regarding their shapes and positions, which deserves to be encoded into the segmentation process. To address these challenges, we propose a novel scale-adaptive structure-aware network (SA$^{2}$Net) for effective spine segmentation. First, we propose a scale-adaptive complementary strategy to learn the cross-dimensional long-distance correlation features for spinal images. Second, motivated by the consistency between multi-head self-attention in Transformers and semantic level affinity, we propose structure-affinity transformation to transform semantic features with class-specific affinity and combine it with a Transformer decoder for structure-aware reasoning. In addition, we adopt a feature mixing loss aggregation method to enhance model training. This method improves the robustness and accuracy of the segmentation process. The experimental results demonstrate that our SA$^{2}$Net achieves superior segmentation performance compared to other state-of-the-art methods. Moreover, the adaptability of SA$^{2}$Net to various backbones enhances its potential as a promising tool for advanced scoliosis diagnosis using intelligent spinal image analysis. The code and experimental demo are available at https://github.com/taetiseo09/SA2Net.
Online and Interactive Bayesian Inference Debugging
Venue: arXiv cs.SE 2025
Year: 2025

Probabilistic programming is a rapidly developing programming paradigm which enables the formulation of Bayesian models as programs and the automation of posterior inference. It facilitates the development of models and conducting Bayesian inference, which makes these techniques available to practitioners from multiple fields. Nevertheless, probabilistic programming is notoriously difficult as identifying and repairing issues with inference requires a lot of time and deep knowledge. Through this work, we introduce a novel approach to debugging Bayesian inference that reduces time and required knowledge significantly. We discuss several requirements a Bayesian inference debugging framework has to fulfill, and propose a new tool that meets these key requirements directly within the development environment. We evaluate our results in a study with 18 experienced participants and show that our approach to online and interactive debugging of Bayesian inference significantly reduces time and difficulty on inference debugging tasks.
FLYINGTRUST: A Benchmark for Quadrotor Navigation Across Scenarios and Vehicles
Venue: arXiv cs.RO 2025
Year: 2025

Visual navigation algorithms for quadrotors often exhibit a large variation in performance when transferred across different vehicle platforms and scene geometries, which increases the cost and risk of field deployment. To support systematic early-stage evaluation, we introduce FLYINGTRUST, a high-fidelity, configurable benchmarking framework that measures how platform kinodynamics and scenario structure jointly affect navigation robustness. FLYINGTRUST models vehicle capability with two compact, physically interpretable indicators: maximum thrust-to-weight ratio and axis-wise maximum angular acceleration. The benchmark pairs a diverse scenario library with a heterogeneous set of real and virtual platforms and prescribes a standardized evaluation protocol together with a composite scoring method that balances scenario importance, platform importance and performance stability. We use FLYINGTRUST to compare representative optimization-based and learning-based navigation approaches under identical conditions, performing repeated trials per platform-scenario combination and reporting uncertainty-aware metrics. The results reveal systematic patterns: navigation success depends predictably on platform capability and scene geometry, and different algorithms exhibit distinct preferences and failure modes across the evaluated conditions. These observations highlight the practical necessity of incorporating both platform capability and scenario structure into algorithm design, evaluation, and selection, and they motivate future work on methods that remain robust across diverse platforms and scenarios.
Normative Reasoning in Large Language Models: A Comparative Benchmark from Logical and Modal Perspectives
Venue: arXiv cs.AI 2025
Year: 2025

Normative reasoning is a type of reasoning that involves normative or deontic modality, such as obligation and permission. While large language models (LLMs) have demonstrated remarkable performance across various reasoning tasks, their ability to handle normative reasoning remains underexplored. In this paper, we systematically evaluate LLMs' reasoning capabilities in the normative domain from both logical and modal perspectives. Specifically, to assess how well LLMs reason with normative modals, we make a comparison between their reasoning with normative modals and their reasoning with epistemic modals, which share a common formal structure. To this end, we introduce a new dataset covering a wide range of formal patterns of reasoning in both normative and epistemic domains, while also incorporating non-formal cognitive factors that influence human reasoning. Our results indicate that, although LLMs generally adhere to valid reasoning patterns, they exhibit notable inconsistencies in specific types of normative reasoning and display cognitive biases similar to those observed in psychological studies of human reasoning. These findings highlight challenges in achieving logical consistency in LLMs' normative reasoning and provide insights for enhancing their reliability. All data and code are released publicly at https://github.com/kmineshima/NeuBAROCO.
On the limitation of evaluating machine unlearning using only a single training seed
Venue: arXiv cs.LG 2025
Year: 2025

Machine unlearning (MU) aims to remove the influence of certain data points from a trained model without costly retraining. Most practical MU algorithms are only approximate and their performance can only be assessed empirically. Care must therefore be taken to make empirical comparisons as representative as possible. A common practice is to run the MU algorithm multiple times independently starting from the same trained model. In this work, we demonstrate that this practice can give highly non-representative results because -- even for the same architecture and same dataset -- some MU methods can be highly sensitive to the choice of random number seed used for model training. We illustrate that this is particularly relevant for MU methods that are deterministic, i.e., which always produce the same result when started from the same trained model. We therefore recommend that empirical comparisons of MU algorithms should also reflect the variability across different model training seeds.
Faithful and Fast Influence Function via Advanced Sampling
Venue: arXiv cs.LG 2025
Year: 2025

How can we explain the influence of training data on black-box models? Influence functions (IFs) offer a post-hoc solution by utilizing gradients and Hessians. However, computing the Hessian for an entire dataset is resource-intensive, necessitating a feasible alternative. A common approach involves randomly sampling a small subset of the training data, but this method often results in highly inconsistent IF estimates due to the high variance in sample configurations. To address this, we propose two advanced sampling techniques based on features and logits. These samplers select a small yet representative subset of the entire dataset by considering the stochastic distribution of features or logits, thereby enhancing the accuracy of IF estimations. We validate our approach through class removal experiments, a typical application of IFs, using the F1-score to measure how effectively the model forgets the removed class while maintaining inference consistency on the remaining classes. Our method reduces computation time by 30.1% and memory usage by 42.2%, or improves the F1-score by 2.5% compared to the baseline.