OpenRaiser/Intern-Atlas huggingface dataset:
RETUYT-INCO at BEA 2025 Shared Task: How Far Can Lightweight Models Go in AI-powered Tutor Evaluation?
Venue: arXiv cs.CL 2025
Year: 2025

In this paper, we present the RETUYT-INCO participation at the BEA 2025 shared task. Our participation was characterized by the decision of using relatively small models, with fewer than 1B parameters. This self-imposed restriction tries to represent the conditions in which many research labs or institutions are in the Global South, where computational power is not easily accessible due to its prohibitive cost. Even under this restrictive self-imposed setting, our models managed to stay competitive with the rest of teams that participated in the shared task. According to the $exact\ F_1$ scores published by the organizers, the performance gaps between our models and the winners were as follows: $6.46$ in Track 1; $10.24$ in Track 2; $7.85$ in Track 3; $9.56$ in Track 4; and $13.13$ in Track 5. Considering that the minimum difference with a winner team is $6.46$ points -- and the maximum difference is $13.13$ -- according to the $exact\ F_1$ score, we find that models with a size smaller than 1B parameters are competitive for these tasks, all of which can be run on computers with a low-budget GPU or even without a GPU.
Gondola: Grounded Vision Language Planning for Generalizable Robotic Manipulation
Venue: arXiv cs.RO 2025
Year: 2025

Robotic manipulation faces a significant challenge in generalizing across unseen objects, environments and tasks specified by diverse language instructions. To improve generalization capabilities, recent research has incorporated large language models (LLMs) for planning and action execution. While promising, these methods often fall short in generating grounded plans in visual environments. Although efforts have been made to perform visual instructional tuning on LLMs for robotic manipulation, existing methods are typically constrained by single-view image input and struggle with precise object grounding. In this work, we introduce Gondola, a novel grounded vision-language planning model based on LLMs for generalizable robotic manipulation. Gondola takes multi-view images and history plans to produce the next action plan with interleaved texts and segmentation masks of target objects and locations. To support the training of Gondola, we construct three types of datasets using the RLBench simulator, namely robot grounded planning, multi-view referring expression and pseudo long-horizon task datasets. Gondola outperforms the state-of-the-art LLM-based method across all four generalization levels of the GemBench dataset, including novel placements, rigid objects, articulated objects and long-horizon tasks.
Learning a Continue-Thinking Token for Enhanced Test-Time Scaling
Venue: arXiv cs.CL 2025
Year: 2025

Test-time scaling has emerged as an effective approach for improving language model performance by utilizing additional compute at inference time. Recent studies have shown that overriding end-of-thinking tokens (e.g., replacing "</think>" with "Wait") can extend reasoning steps and improve accuracy. In this work, we explore whether a dedicated continue-thinking token can be learned to trigger extended reasoning. We augment a distilled version of DeepSeek-R1 with a single learned "<|continue-thinking|>" token, training only its embedding via reinforcement learning while keeping the model weights frozen. Our experiments show that this learned token achieves improved accuracy on standard math benchmarks compared to both the baseline model and a test-time scaling approach that uses a fixed token (e.g., "Wait") for budget forcing. In particular, we observe that in cases where the fixed-token approach enhances the base model's accuracy, our method achieves a markedly greater improvement. For example, on the GSM8K benchmark, the fixed-token approach yields a 1.3% absolute improvement in accuracy, whereas our learned-token method achieves a 4.2% improvement over the base model that does not use budget forcing.
Jelly: a Fast and Convenient RDF Serialization Format
Venue: arXiv cs.DB 2025
Year: 2025

Existing RDF serialization formats such as Turtle, N-Quads, and JSON-LD are widely used for communication and storage in knowledge graph and Semantic Web applications. However, they suffer from limitations in performance, compression ratio, and lack of native support for RDF streams. To address these shortcomings, we introduce Jelly, a fast and convenient binary serialization format for RDF data that supports both batch and streaming use cases. Jelly is designed to maximize serialization throughput, reduce file size with lightweight streaming compression, and minimize compute resource usage. Built on Protocol Buffers, Jelly is easy to integrate with modern programming languages and RDF libraries. To maximize reusability, Jelly has an open protocol specification, open-source implementations in Java and Python integrated with popular RDF libraries, and a versatile command-line tool. To illustrate its usefulness, we outline concrete use cases where Jelly can provide tangible benefits. We consider that by combining practical usability with state-of-the-art efficiency, Jelly is an important contribution to the Semantic Web tool stack.
SwiftSpec: Ultra-Low Latency LLM Decoding by Scaling Asynchronous Speculative Decoding
Venue: arXiv cs.DC 2025
Year: 2025

Low-latency decoding for large language models (LLMs) is crucial for applications like chatbots and code assistants, yet generating long outputs remains slow in single-query settings. Prior work on speculative decoding (which combines a small draft model with a larger target model) and tensor parallelism has each accelerated decoding. However, conventional approaches fail to apply both simultaneously due to imbalanced compute requirements (between draft and target models), KV-cache inconsistencies, and communication overheads under small-batch tensor-parallelism. This paper introduces SwiftSpec, a system that targets ultra-low latency for LLM decoding. SwiftSpec redesigns the speculative decoding pipeline in an asynchronous and disaggregated manner, so that each component can be scaled flexibly and remove draft overhead from the critical path. To realize this design, SwiftSpec proposes parallel tree generation, tree-aware KV cache management, and fused, latency-optimized kernels to overcome the challenges listed above. Across 5 model families and 6 datasets, SwiftSpec achieves an average of 1.75x speedup over state-of-the-art speculative decoding systems and, as a highlight, serves Llama3-70B at 348 tokens/s on 8 Nvidia Hopper GPUs, making it the fastest known system for low-latency LLM serving at this scale.
MUDAS: Mote-scale Unsupervised Domain Adaptation in Multi-label Sound Classification
Venue: arXiv cs.AI 2025
Year: 2025

Unsupervised Domain Adaptation (UDA) is essential for adapting machine learning models to new, unlabeled environments where data distribution shifts can degrade performance. Existing UDA algorithms are designed for single-label tasks and rely on significant computational resources, limiting their use in multi-label scenarios and in resource-constrained IoT devices. Overcoming these limitations is particularly challenging in contexts such as urban sound classification, where overlapping sounds and varying acoustics require robust, adaptive multi-label capabilities on low-power, on-device systems. To address these limitations, we introduce Mote-scale Unsupervised Domain Adaptation for Sounds (MUDAS), a UDA framework developed for multi-label sound classification in resource-constrained IoT settings. MUDAS efficiently adapts models by selectively retraining the classifier in situ using high-confidence data, minimizing computational and memory requirements to suit on-device deployment. Additionally, MUDAS incorporates class-specific adaptive thresholds to generate reliable pseudo-labels and applies diversity regularization to improve multi-label classification accuracy. In evaluations on the SONYC Urban Sound Tagging (SONYC-UST) dataset recorded at various New York City locations, MUDAS demonstrates notable improvements in classification accuracy over existing UDA algorithms, achieving good performance in a resource-constrained IoT setting.
Control Architecture and Design for a Multi-robotic Visual Servoing System in Automated Manufacturing Environment
Venue: arXiv cs.RO 2025
Year: 2025

The use of robotic technology has drastically increased in manufacturing in the 21st century. But by utilizing their sensory cues, humans still outperform machines, especially in micro scale manufacturing, which requires high-precision robot manipulators. These sensory cues naturally compensate for high levels of uncertainties that exist in the manufacturing environment. Uncertainties in performing manufacturing tasks may come from measurement noise, model inaccuracy, joint compliance (e.g., elasticity), etc. Although advanced metrology sensors and high precision microprocessors, which are utilized in modern robots, have compensated for many structural and dynamic errors in robot positioning, a well-designed control algorithm still works as a comparable and cheaper alternative to reduce uncertainties in automated manufacturing. Our work illustrates that a multi-robot control system that simulates the positioning process for fastening and unfastening applications can reduce various uncertainties, which may occur in this process, to a great extent. In addition, most research papers in visual servoing mainly focus on developing control and observation architectures in various scenarios, but few have discussed the importance of the camera's location in the configuration. In a manufacturing environment, the quality of camera estimations may vary significantly from one observation location to another, as the combined effects of environmental conditions result in different noise levels of a single image shot at different locations. Therefore, in this paper, we also propose a novel algorithm for the camera's moving policy so that it explores the camera workspace and searches for the optimal location where the image noise level is minimized.
Co-Designing a Chatbot for Culturally Competent Clinical Communication: Experience and Reflections
Venue: arXiv cs.HC 2025
Year: 2025

Clinical communication skills are essential for preparing healthcare professionals to provide equitable care across cultures. However, traditional training with simulated patients can be resource intensive and difficult to scale, especially in under-resourced settings. In this project, we explore the use of an AI-driven chatbot to support culturally competent communication training for medical students. The chatbot was designed to simulate realistic patient conversations and provide structured feedback based on the ACT Cultural Competence model. We piloted the chatbot with a small group of third-year medical students at a UK medical school in 2024. Although we did not follow a formal experimental design, our experience suggests that the chatbot offered useful opportunities for students to reflect on their communication, particularly around empathy and interpersonal understanding. More challenging areas included addressing systemic issues and historical context. Although this early version of the chatbot helped surface some interesting patterns, limitations were also clear, such as the absence of nonverbal cues and the tendency for virtual patients to be overly agreeable. In general, this reflection highlights both the potential and the current limitations of AI tools in communication training. More work is needed to better understand their impact and improve the learning experience.
A Step-by-Step Guide to Creating a Robust Autonomous Drone Testing Pipeline
Venue: arXiv cs.SE 2025
Year: 2025

Autonomous drones are rapidly reshaping industries ranging from aerial delivery and infrastructure inspection to environmental monitoring and disaster response. Ensuring the safety, reliability, and efficiency of these systems is paramount as they transition from research prototypes to mission-critical platforms. This paper presents a step-by-step guide to establishing a robust autonomous drone testing pipeline, covering each critical stage: Software-in-the-Loop (SIL) Simulation Testing, Hardware-in-the-Loop (HIL) Testing, Controlled Real-World Testing, and In-Field Testing. Using practical examples, including the marker-based autonomous landing system, we demonstrate how to systematically verify drone system behaviors, identify integration issues, and optimize performance. Furthermore, we highlight emerging trends shaping the future of drone testing, including the integration of Neurosymbolic and LLMs, creating co-simulation environments, and Digital Twin-enabled simulation-based testing techniques. By following this pipeline, developers and researchers can achieve comprehensive validation, minimize deployment risks, and prepare autonomous drones for safe and reliable real-world operations.
FocalAD: Local Motion Planning for End-to-End Autonomous Driving
Venue: arXiv cs.AI 2025
Year: 2025

In end-to-end autonomous driving,the motion prediction plays a pivotal role in ego-vehicle planning. However, existing methods often rely on globally aggregated motion features, ignoring the fact that planning decisions are primarily influenced by a small number of locally interacting agents. Failing to attend to these critical local interactions can obscure potential risks and undermine planning reliability. In this work, we propose FocalAD, a novel end-to-end autonomous driving framework that focuses on critical local neighbors and refines planning by enhancing local motion representations. Specifically, FocalAD comprises two core modules: the Ego-Local-Agents Interactor (ELAI) and the Focal-Local-Agents Loss (FLA Loss). ELAI conducts a graph-based ego-centric interaction representation that captures motion dynamics with local neighbors to enhance both ego planning and agent motion queries. FLA Loss increases the weights of decision-critical neighboring agents, guiding the model to prioritize those more relevant to planning. Extensive experiments show that FocalAD outperforms existing state-of-the-art methods on the open-loop nuScenes datasets and closed-loop Bench2Drive benchmark. Notably, on the robustness-focused Adv-nuScenes dataset, FocalAD achieves even greater improvements, reducing the average colilision rate by 41.9% compared to DiffusionDrive and by 15.6% compared to SparseDrive.
TruncQuant: Truncation-Ready Quantization for DNNs with Flexible Weight Bit Precision
Venue: arXiv cs.LG 2025
Year: 2025

The deployment of deep neural networks on edge devices is a challenging task due to the increasing complexity of state-of-the-art models, requiring efforts to reduce model size and inference latency. Recent studies explore models operating at diverse quantization settings to find the optimal point that balances computational efficiency and accuracy. Truncation, an effective approach for achieving lower bit precision mapping, enables a single model to adapt to various hardware platforms with little to no cost. However, formulating a training scheme for deep neural networks to withstand the associated errors introduced by truncation remains a challenge, as the current quantization-aware training schemes are not designed for the truncation process. We propose TruncQuant, a novel truncation-ready training scheme allowing flexible bit precision through bit-shifting in runtime. We achieve this by aligning TruncQuant with the output of the truncation process, demonstrating strong robustness across bit-width settings, and offering an easily implementable training scheme within existing quantization-aware frameworks. Our code is released at https://github.com/a2jinhee/TruncQuant.
KoGEC : Korean Grammatical Error Correction with Pre-trained Translation Models
Venue: arXiv cs.CL 2025
Year: 2025

This research introduces KoGEC, a Korean Grammatical Error Correction system using pre\--trained translation models. We fine-tuned NLLB (No Language Left Behind) models for Korean GEC, comparing their performance against large language models like GPT-4 and HCX-3. The study used two social media conversation datasets for training and testing. The NLLB models were fine-tuned using special language tokens to distinguish between original and corrected Korean sentences. Evaluation was done using BLEU scores and an "LLM as judge" method to classify error types. Results showed that the fine-tuned NLLB (KoGEC) models outperformed GPT-4o and HCX-3 in Korean GEC tasks. KoGEC demonstrated a more balanced error correction profile across various error types, whereas the larger LLMs tended to focus less on punctuation errors. We also developed a Chrome extension to make the KoGEC system accessible to users. Finally, we explored token vocabulary expansion to further improve the model but found it to decrease model performance. This research contributes to the field of NLP by providing an efficient, specialized Korean GEC system and a new evaluation method. It also highlights the potential of compact, task-specific models to compete with larger, general-purpose language models in specialized NLP tasks.
Auditing Data Provenance in Real-world Text-to-Image Diffusion Models for Privacy and Copyright Protection
Venue: arXiv cs.CV 2025
Year: 2025

Text-to-image diffusion model since its propose has significantly influenced the content creation due to its impressive generation capability. However, this capability depends on large-scale text-image datasets gathered from web platforms like social media, posing substantial challenges in copyright compliance and personal privacy leakage. Though there are some efforts devoted to explore approaches for auditing data provenance in text-to-image diffusion models, existing work has unrealistic assumptions that can obtain model internal knowledge, e.g., intermediate results, or the evaluation is not reliable. To fill this gap, we propose a completely black-box auditing framework called Feature Semantic Consistency-based Auditing (FSCA). It utilizes two types of semantic connections within the text-to-image diffusion model for auditing, eliminating the need for access to internal knowledge. To demonstrate the effectiveness of our FSCA framework, we perform extensive experiments on LAION-mi dataset and COCO dataset, and compare with eight state-of-the-art baseline approaches. The results show that FSCA surpasses previous baseline approaches across various metrics and different data distributions, showcasing the superiority of our FSCA. Moreover, we introduce a recall balance strategy and a threshold adjustment strategy, which collectively allows FSCA to reach up a user-level accuracy of 90% in a real-world auditing scenario with only 10 samples/user, highlighting its strong auditing potential in real-world applications. Our code is made available at https://github.com/JiePKU/FSCA.
AbsenceBench: Language Models Can't Tell What's Missing
Venue: arXiv cs.CL 2025
Year: 2025

Large language models (LLMs) are increasingly capable of processing long inputs and locating specific information within them, as evidenced by their performance on the Needle in a Haystack (NIAH) test. However, while models excel at recalling surprising information, they still struggle to identify clearly omitted information. We introduce AbsenceBench to assesses LLMs' capacity to detect missing information across three domains: numerical sequences, poetry, and GitHub pull requests. AbsenceBench asks models to identify which pieces of a document were deliberately removed, given access to both the original and edited contexts. Despite the apparent straightforwardness of these tasks, our experiments reveal that even state-of-the-art models like Claude-3.7-Sonnet achieve only 69.6% F1-score with a modest average context length of 5K tokens. Our analysis suggests this poor performance stems from a fundamental limitation: Transformer attention mechanisms cannot easily attend to "gaps" in documents since these absences don't correspond to any specific keys that can be attended to. Overall, our results and analysis provide a case study of the close proximity of tasks where models are already superhuman (NIAH) and tasks where models breakdown unexpectedly (AbsenceBench).
ReVeal: Self-Evolving Code Agents via Reliable Self-Verification
Venue: arXiv cs.SE 2025
Year: 2025

Reinforcement learning with verifiable rewards (RLVR) has advanced the reasoning capabilities of large language models. However, existing methods rely solely on outcome rewards, without explicitly optimizing verification or leveraging reliable signals from realistic environments, leading to unreliable self-verification and limited test-time scaling. To address this, we widen the verification-generation asymmetry by explicitly optimizing self-verification, making it a reliable driver of deeper test-time scaling. We introduce ReVeal, a multi-turn reinforcement learning framework that evolves code generation through self-verification and tool-based evaluation. ReVeal structures long-horizon reasoning as iterative generation-verification turns and incorporates TAPO for turn-level credit assignment, fostering the co-evolution of code and test generation. At inference, this strengthened self-verification enables the model to use self-constructed tests and tool feedback to continuously evolve code for 20+ turns on LiveCodeBench despite training on only three. It also significantly improves Pass@k, indicating stronger exploration that expands the reasoning boundaries of the base model. These findings highlight the promise of ReVeal as a scalable paradigm for RL training and test-time scaling, paving the way for more robust and autonomous AI agents.
Topology-Aware Virtualization over Inter-Core Connected Neural Processing Units
Venue: arXiv cs.AR 2025
Year: 2025

With the rapid development of artificial intelligence (AI) applications, an emerging class of AI accelerators, termed Inter-core Connected Neural Processing Units (NPU), has been adopted in both cloud and edge computing environments, like Graphcore IPU, Tenstorrent, etc. Despite their innovative design, these NPUs often demand substantial hardware resources, leading to suboptimal resource utilization due to the imbalance of hardware requirements across various tasks. To address this issue, prior research has explored virtualization techniques for monolithic NPUs, but has neglected inter-core connected NPUs with the hardware topology. This paper introduces vNPU, the first comprehensive virtualization design for inter-core connected NPUs, integrating three novel techniques: (1) NPU route virtualization, which redirects instruction and data flow from virtual NPU cores to physical ones, creating a virtual topology; (2) NPU memory virtualization, designed to minimize translation stalls for SRAM-centric and NoC-equipped NPU cores, thereby maximizing the memory bandwidth; and (3) Best-effort topology mapping, which determines the optimal mapping from all candidate virtual topologies, balancing resource utilization with end-to-end performance. We have developed a prototype of vNPU on both an FPGA platform (Chipyard+FireSim) and a simulator (DCRA). Evaluation results indicate that, compared to other virtualization approaches such as unified virtual memory and MIG, vNPU achieves up to a 2x performance improvement across various ML models, with only 2% hardware cost.