OpenRaiser/Intern-Atlas huggingface dataset:
It Takes Two: Learning Interactive Whole-Body Control Between Humanoid Robots
Venue: arXiv cs.RO 2025
Year: 2025

The true promise of humanoid robotics lies beyond single-agent autonomy: two or more humanoids must engage in physically grounded, socially meaningful whole-body interactions that echo the richness of human social interaction. However, single-humanoid methods suffer from the isolation issue, ignoring inter-agent dynamics and causing misaligned contacts, interpenetrations, and unrealistic motions. To address this, we present Harmanoid , a dual-humanoid motion imitation framework that transfers interacting human motions to two robots while preserving both kinematic fidelity and physical realism. Harmanoid comprises two key components: (i) contact-aware motion retargeting, which restores inter-body coordination by aligning SMPL contacts with robot vertices, and (ii) interaction-driven motion controller, which leverages interaction-specific rewards to enforce coordinated keypoints and physically plausible contacts. By explicitly modeling inter-agent contacts and interaction-aware dynamics, Harmanoid captures the coupled behaviors between humanoids that single-humanoid frameworks inherently overlook. Experiments demonstrate that Harmanoid significantly improves interactive motion imitation, surpassing existing single-humanoid frameworks that largely fail in such scenarios.
Text2Token: Unsupervised Text Representation Learning with Token Target Prediction
Venue: arXiv cs.CL 2025
Year: 2025

Unsupervised text representation learning (TRL) is a fundamental task in natural language processing, which is beneficial for improving search and recommendations with the web's unlabeled texts. A recent empirical study finds that the high-quality representation aligns with the key token of the input text, uncovering the potential connection between representation space and vocabulary space. Inspired by the findings, we revisit the generative tasks and develop an unsupervised generative framework for TRL, Text2Token. The framework is based on the token target prediction task, utilizing carefully constructed target token distribution as supervisory signals. To construct the high-quality target token distribution, we analyze the token-alignment properties with advanced embedders and identify two essential categories of key tokens: (1) the meaningful tokens in the text and (2) semantically derived tokens beyond the text. Based on these insights, we propose two methods -- data-driven and model-derived -- to construct synthetic token targets from data or the LLM backbone. Experiments on the MTEB v2 benchmark demonstrate that Text2Token achieves performance competitive with the state-of-the-art embedder with unsupervised contrastive learning, LLM2Vec. Our analysis further shows that vocabulary and representation spaces optimize together and toward the optimum solution during training, providing new ideas and insights for future work.
MIMO Radar Meets Polarization-Reconfigurable Antennas: A BCRB Perspective
Venue: arXiv cs.IT 2025
Year: 2025

In this paper, we investigate a novel multiple-input multiple-output (MIMO) radar system aided by phase shifter based polarization-reconfigurable antennas (PRAs). Specifically, a base station (BS) equipped with multiple PRAs at both the transmitter and the receiver aims to sense the unknown and random angular location parameter of a point target via sending wireless signals and processing the received echo signals reflected by the target, where only prior distribution information about the location parameter is available for exploitation. Firstly, we characterize the sensing performance of this novel PRA-based MIMO radar system by deriving the Bayesian Cramér-Rao bound (BCRB) of the mean-squared error (MSE) in estimating the desired location parameter with prior distribution information. Then, to fully exploit the new design degrees-of-freedom (DoF) empowered by PRAs, we study the joint optimization of the transmit sample covariance matrix as well as the transmit and receive phase shift vectors to minimize the sensing BCRB subject to a transmit power constraint. This problem is non-convex and difficult to solve due to the coupling among optimization variables. To resolve this issue, we develop an alternating optimization (AO) based algorithm which iteratively obtains the closed-form optimal solution to each variable with the others being fixed at each time, thus being guaranteed to converge to at least a stationary point of the joint optimization problem. Numerical results validate the effectiveness of the proposed algorithm.
Progressive Scale Convolutional Network for Spatio-Temporal Downscaling of Soil Moisture: A Case Study Over the Tibetan Plateau
Venue: arXiv cs.LG 2025
Year: 2025

Soil moisture (SM) plays a critical role in hydrological and meteorological processes. High-resolution SM can be obtained by combining coarse passive microwave data with fine-scale auxiliary variables. However, the inversion of SM at the temporal scale is hindered by the incompleteness of surface auxiliary factors. To address this issue, first, we introduce validated high temporal resolution ERA5-Land variables into the downscaling process of the low-resolution SMAP SM product. Subsequently, we design a progressive scale convolutional network (PSCNet), at the core of which are two innovative components: a multi-frequency temporal fusion module (MFTF) for capturing temporal dynamics, and a bespoke squeeze-and-excitation (SE) block designed to preserve fine-grained spatial details. Using this approach, we obtained seamless SM products for the Tibetan Plateau (TP) from 2016 to 2018 at 10-km spatial and 3-hour temporal resolution. The experimental results on the TP demonstrated the following: 1) In the satellite product validation, the PSCNet exhibited comparable accuracy and lower error, with a mean R value of 0.881, outperforming other methods. 2) In the in-situ site validation, PSCNet consistently ranked among the top three models for the R metric across all sites, while also showing superior performance in overall error reduction. 3) In the temporal generalization validation, the feasibility of using high-temporal resolution ERA5-Land variables for downscaling was confirmed, as all methods maintained an average relative error within 6\% for the R metric and 2\% for the ubRMSE metric. 4) In the temporal dynamics and visualization validation, PSCNet demonstrated excellent temporal sensitivity and vivid spatial details. Overall, PSCNet provides a promising solution for spatio-temporal downscaling by effectively modeling the intricate spatio-temporal relationships in SM data.
MRI Brain Tumor Detection with Computer Vision
Venue: arXiv cs.CV 2025
Year: 2025

This study explores the application of deep learning techniques in the automated detection and segmentation of brain tumors from MRI scans. We employ several machine learning models, including basic logistic regression, Convolutional Neural Networks (CNNs), and Residual Networks (ResNet) to classify brain tumors effectively. Additionally, we investigate the use of U-Net for semantic segmentation and EfficientDet for anchor-based object detection to enhance the localization and identification of tumors. Our results demonstrate promising improvements in the accuracy and efficiency of brain tumor diagnostics, underscoring the potential of deep learning in medical imaging and its significance in improving clinical outcomes.
Unlocking Thickness Modeling for Codimensional Contact Simulation
Venue: arXiv cs.GR 2025
Year: 2025

In this work we analyze and address a fundamental restriction that blocks the reliable application of codimensional yarn-level and shell models with thickness, to simulate real-world woven and knit fabrics. As discretizations refine toward practical and accurate physical modeling, such models can generate non-physical contact forces with stencil-neighboring elements in the simulation mesh, leading to severe locking artifacts. While not well-documented in the literature, this restriction has so far been addressed with two alternatives with undesirable tradeoffs. One option is to restrict the mesh to coarse resolutions, however, this eliminates the possibility of accurate (and consistent) resolution simulations across real-world material variations. A second alternative instead seeks to cull contact pairs that can create such locking forces in the first place. This relaxes resolution restrictions but compromise robustness. Culling can and will generate unacceptable and unpredictable geometric intersections and tunneling that destroys weaving and knitting structures and cause unrecoverable pull-throughs. We address these challenges to simulating real-world materials with a new and practical contact-processing model for thickened codimensional simulation, that removes resolution restrictions, while guaranteeing contact-locking-free, non-intersecting simulations. We demonstrate the application of our model across a wide range of previously unavailable simulation scenarios, with real-world material yarn and fabric parameters and patterns, challenging simulation conditions and mesh resolutions, and both rod and shell models, integrated with the IPC barrier.
Exploration of Embodied Space Experience through Umbilical Interaction: A Grounded Theory Approach
Venue: arXiv cs.HC 2025
Year: 2025

This paper critiques the limits of human-centered design in HCI, proposing a shift toward Interface-Centered Design. Drawing on Hookway's philosophy of interfaces, phenomenology, and embodied interaction, we created Umbilink, an umbilical interaction device simulating a uterine environment with tactile sensors and rhythmic feedback to induce a pre-subjectivized state of sensory reduction. Participants' experiences were captured through semi-structured interviews and analyzed with grounded theory. Our contributions are: (1) introducing the novel interface type of Umbilical Interaction; (2) demonstrating the cognitive value of materialized interfaces in a human-interface-environment relation; (3) highlighting the design role of wearing rituals as liminal experiences. As a pilot study, this design suggests imaginative applications in healing, meditation, and sleep, while offering a speculative tool for future interface research.
VividAnimator: An End-to-End Audio and Pose-driven Half-Body Human Animation Framework
Venue: arXiv cs.CV 2025
Year: 2025

Existing for audio- and pose-driven human animation methods often struggle with stiff head movements and blurry hands, primarily due to the weak correlation between audio and head movements and the structural complexity of hands. To address these issues, we propose VividAnimator, an end-to-end framework for generating high-quality, half-body human animations driven by audio and sparse hand pose conditions. Our framework introduces three key innovations. First, to overcome the instability and high cost of online codebook training, we pre-train a Hand Clarity Codebook (HCC) that encodes rich, high-fidelity hand texture priors, significantly mitigating hand degradation. Second, we design a Dual-Stream Audio-Aware Module (DSAA) to model lip synchronization and natural head pose dynamics separately while enabling interaction. Third, we introduce a Pose Calibration Trick (PCT) that refines and aligns pose conditions by relaxing rigid constraints, ensuring smooth and natural gesture transitions. Extensive experiments demonstrate that Vivid Animator achieves state-of-the-art performance, producing videos with superior hand detail, gesture realism, and identity consistency, validated by both quantitative metrics and qualitative evaluations.
Integration of the TIAGo Robot into Isaac Sim with Mecanum Drive Modeling and Learned S-Curve Velocity Profiles
Venue: arXiv cs.RO 2025
Year: 2025

Efficient physics simulation has significantly accelerated research progress in robotics applications such as grasping and assembly. The advent of GPU-accelerated simulation frameworks like Isaac Sim has particularly empowered learning-based methods, enabling them to tackle increasingly complex tasks. The PAL Robotics TIAGo++ Omni is a versatile mobile manipulator equipped with a mecanum-wheeled base, allowing omnidirectional movement and a wide range of task capabilities. However, until now, no model of the robot has been available in Isaac Sim. In this paper, we introduce such a model, calibrated to approximate the behavior of the real robot, with a focus on its omnidirectional drive dynamics. We present two control models for the omnidirectional drive: a physically accurate model that replicates real-world wheel dynamics and a lightweight velocity-based model optimized for learning-based applications. With these models, we introduce a learning-based calibration approach to approximate the real robot's S-shaped velocity profile using minimal trajectory data recordings. This simulation should allow researchers to experiment with the robot and perform efficient learning-based control in diverse environments. We provide the integration publicly at https://github.com/AIS-Bonn/tiago_isaac.
MatryoshkaThinking: Recursive Test-Time Scaling Enables Efficient Reasoning
Venue: arXiv cs.CL 2025
Year: 2025

Test-time scaling has emerged as a promising paradigm in language modeling, wherein additional computational resources are allocated during inference to enhance model performance. Recent approaches, such as DeepConf, have demonstrated the efficacy of this strategy, however, they often incur substantial computational overhead to achieve competitive results. In this work, we propose MatryoshkaThinking, a novel method that significantly reduces computational cost while maintaining state-of-the-art performance. Specifically, MatryoshkaThinking attains a score of 99.79 on AIME2025 using only 4% of the computation required by DeepConf. The core of our approach lies in the recursive exploitation of the model's intrinsic capabilities in reasoning, verification, and summarization, which collectively enhance the retention of correct solutions and reduce the disparity between Pass@k and Pass@1. Comprehensive evaluations across multiple open-source models and challenging multi-modal reasoning benchmarks validate the effectiveness and generality of our method. These findings offer new insights into the design of efficient and scalable test-time inference strategies for advanced language models.
SP-MoE: Speculative Decoding and Prefetching for Accelerating MoE-based Model Inference
Venue: arXiv cs.DC 2025
Year: 2025

The Mixture-of-Experts (MoE) architecture has been widely adopted in large language models (LLMs) to reduce computation cost through model sparsity. Employing speculative decoding (SD) can further accelerate MoE inference by drafting multiple tokens per step and verifying them in parallel. However, combining MoE with SD inflates GPU memory and aggravates CPU-GPU bandwidth contention during multi-token verification. Existing MoE offloading systems are SD-agnostic and do not address this bottleneck. We present SP-MoE, the first SD-aware expert-offloading and compute-communication pipelining framework. SP-MoE introduces: (1) speculative expert prefetching that exploits structural correspondence between the draft and target models to prefetch likely experts ahead of verification; (2) a cutoff-layer policy that bounds per-layer prefetch depth based on empirical profiles and an analytical latency model, guaranteeing just-in-time availability without overfetch; and (3) a pipelined runtime with asynchronous prefetch threads and batched I/O to hide loading latency. Extensive experiments demonstrate that SP-MoE achieves a 1.07-3.5 times TPOT speedup over state-of-the-art methods across diverse datasets, environments, and MoE-based models.
Bridging Semantics & Structure for Software Vulnerability Detection using Hybrid Network Models
Venue: arXiv cs.SE 2025
Year: 2025

Software vulnerabilities remain a persistent risk, yet static and dynamic analyses often overlook structural dependencies that shape insecure behaviors. Viewing programs as heterogeneous graphs, we capture control- and data-flow relations as complex interaction networks. Our hybrid framework combines these graph representations with light-weight (<4B) local LLMs, uniting topological features with semantic reasoning while avoiding the cost and privacy concerns of large cloud models. Evaluated on Java vulnerability detection (binary classification), our method achieves 93.57% accuracy-an 8.36% gain over Graph Attention Network-based embeddings and 17.81% over pretrained LLM baselines such as Qwen2.5 Coder 3B. Beyond accuracy, the approach extracts salient subgraphs and generates natural language explanations, improving interpretability for developers. These results pave the way for scalable, explainable, and locally deployable tools that can shift vulnerability analysis from purely syntactic checks to deeper structural and semantic insights, facilitating broader adoption in real-world secure software development.
Measuring What Matters: Connecting AI Ethics Evaluations to System Attributes, Hazards, and Harms
Venue: arXiv cs.HC 2025
Year: 2025

Over the past decade, an ecosystem of measures has emerged to evaluate the social and ethical implications of AI systems, largely shaped by high-level ethics principles. These measures are developed and used in fragmented ways, without adequate attention to how they are situated in AI systems. In this paper, we examine how existing measures used in the computing literature map to AI system components, attributes, hazards, and harms. Our analysis draws on a scoping review resulting in nearly 800 measures corresponding to 11 AI ethics principles. We find that most measures focus on four principles - fairness, transparency, privacy, and trust - and primarily assess model or output system components. Few measures account for interactions across system elements, and only a narrow set of hazards is typically considered for each harm type. Many measures are disconnected from where harm is experienced and lack guidance for setting meaningful thresholds. These patterns reveal how current evaluation practices remain fragmented, measuring in pieces rather than capturing how harms emerge across systems. Framing measures with respect to system attributes, hazards, and harms can strengthen regulatory oversight, support actionable practices in industry, and ground future research in systems-level understanding.
Multi-View Graph Learning with Graph-Tuple
Venue: arXiv cs.LG 2025
Year: 2025

Graph Neural Networks (GNNs) typically scale with the number of graph edges, making them well suited for sparse graphs but less efficient on dense graphs, such as point clouds or molecular interactions. A common remedy is to sparsify the graph via similarity thresholding or distance pruning, but this forces an arbitrary choice of a single interaction scale and discards crucial information from other scales. To overcome this limitation, we introduce a multi-view graph-tuple framework. Instead of a single graph, our graph-tuple framework partitions the graph into disjoint subgraphs, capturing primary local interactions and weaker, long-range connections. We then learn multi-view representations from the graph-tuple via a heterogeneous message-passing architecture inspired by the theory of non-commuting operators, which we formally prove is strictly more expressive and guarantees a lower oracle risk compared to single-graph message-passing models. We instantiate our framework on two scientific domains: molecular property prediction from feature-scarce Coulomb matrices and cosmological parameter inference from geometric point clouds. On both applications, our multi-view graph-tuple models demonstrate better performance than single-graph baselines, highlighting the power and versatility of our multi-view approach.
Regular Expression Indexing for Log Analysis. Extended Version
Venue: arXiv cs.DB 2025
Year: 2025

In this paper, we present the design and architecture of REI, a novel system for indexing log data for regular expression queries. Our main contribution is an $n$-gram-based indexing strategy and an efficient storage mechanism that results in a speedup of up to 14x compared to state-of-the-art regex processing engines that do not use indexing, using only 2.1% of extra space. We perform a detailed study that analyzes the space usage of the index and the improvement in workload execution time, uncovering interesting insights. Specifically, we show that even an optimized implementation of strategies such as inverted indexing, which are widely used in text processing libraries, may lead to suboptimal performance for regex indexing on log analysis tasks. Overall, the REI approach presented in this paper provides a significant boost when evaluating regular expression queries on log data. REI is also modular and can work with existing regular expression packages, making it easy to deploy in a variety of settings. The code of REI is available at https://github.com/mush-zhang/REI-Regular-Expression-Indexing.
Exploration-free Algorithms for Multi-group Mean Estimation
Venue: arXiv cs.LG 2025
Year: 2025

We address the problem of multi-group mean estimation, which seeks to allocate a finite sampling budget across multiple groups to obtain uniformly accurate estimates of their means. Unlike classical multi-armed bandits, whose objective is to minimize regret by identifying and exploiting the best arm, the optimal allocation in this setting requires sampling every group on the order of $Θ(T)$ times. This fundamental distinction makes exploration-free algorithms both natural and effective. Our work makes three contributions. First, we strengthen the existing results on subgaussian variance concentration using the Hanson-Wright inequality and identify a class of strictly subgaussian distributions that yield sharper guarantees. Second, we design exploration-free non-adaptive and adaptive algorithms, and we establish tighter regret bounds than the existing results. Third, we extend the framework to contextual bandit settings, an underexplored direction, and propose algorithms that leverage side information with provable guarantees. Overall, these results position exploration-free allocation as a principled and efficient approach to multi-group mean estimation, with potential applications in experimental design, personalization, and other domains requiring accurate multi-group inference.
MicroRoboScope: A Portable and Integrated Mechatronic Platform for Magnetic and Acoustic Microrobotic Experimentation
Venue: arXiv cs.RO 2025
Year: 2025

This paper presents MicroRoboScope, a portable, compact, and versatile microrobotic experimentation platform designed for real-time, closed-loop control of both magnetic and acoustic microrobots. The system integrates an embedded computer, microscope, power supplies, and control circuitry into a single, low-cost and fully integrated apparatus. Custom control software developed in Python and Arduino C++ handles live video acquisition, microrobot tracking, and generation of control signals for electromagnetic coils and acoustic transducers. The platform's multi-modal actuation, accessibility, and portability make it suitable not only for specialized research laboratories but also for educational and outreach settings. By lowering the barrier to entry for microrobotic experimentation, this system enables new opportunities for research, education, and translational applications in biomedicine, tissue engineering, and robotics.