OpenRaiser/Intern-Atlas huggingface dataset:
T-ESKF: Transformed Error-State Kalman Filter for Consistent Visual-Inertial Navigation
Venue: arXiv cs.RO 2025
Year: 2025

This paper presents a novel approach to address the inconsistency problem caused by observability mismatch in visual-inertial navigation systems (VINS). The key idea involves applying a linear time-varying transformation to the error-state within the Error-State Kalman Filter (ESKF). This transformation ensures that \textrr{the unobservable subspace of the transformed error-state system} becomes independent of the state, thereby preserving the correct observability of the transformed system against variations in linearization points. We introduce the Transformed ESKF (T-ESKF), a consistent VINS estimator that performs state estimation using the transformed error-state system. Furthermore, we develop an efficient propagation technique to accelerate the covariance propagation based on the transformation relationship between the transition and accumulated matrices of T-ESKF and ESKF. We validate the proposed method through extensive simulations and experiments, demonstrating better (or competitive at least) performance compared to state-of-the-art methods. The code is available at github.com/HITCSC/T-ESKF.
PlanarTrack: A high-quality and challenging benchmark for large-scale planar object tracking
Venue: arXiv cs.CV 2025
Year: 2025

Planar tracking has drawn increasing interest owing to its key roles in robotics and augmented reality. Despite recent great advancement, further development of planar tracking, particularly in the deep learning era, is largely limited compared to generic tracking due to the lack of large-scale platforms. To mitigate this, we propose PlanarTrack, a large-scale high-quality and challenging benchmark for planar tracking. Specifically, PlanarTrack consists of 1,150 sequences with over 733K frames, including 1,000 short-term and 150 new long-term videos, which enables comprehensive evaluation of short- and long-term tracking performance. All videos in PlanarTrack are recorded in unconstrained conditions from the wild, which makes PlanarTrack challenging but more realistic for real-world applications. To ensure high-quality annotations, each video frame is manually annotated by four corner points with multi-round meticulous inspection and refinement. To enhance target diversity of PlanarTrack, we only capture a unique target in one sequence, which is different from existing benchmarks. To our best knowledge, PlanarTrack is by far the largest and most diverse and challenging dataset dedicated to planar tracking. To understand performance of existing methods on PlanarTrack and to provide a comparison for future research, we evaluate 10 representative planar trackers with extensive comparison and in-depth analysis. Our evaluation reveals that, unsurprisingly, the top planar trackers heavily degrade on the challenging PlanarTrack, which indicates more efforts are required for improving planar tracking. Our data and results will be released at https://github.com/HengLan/PlanarTrack
The Best of N Worlds: Aligning Reinforcement Learning with Best-of-N Sampling via max@k Optimisation
Venue: arXiv cs.LG 2025
Year: 2025

The application of Reinforcement Learning with Verifiable Rewards (RLVR) to mathematical and coding domains has demonstrated significant improvements in the reasoning and problem-solving abilities of Large Language Models. Despite its success in single generation problem solving, the reinforcement learning fine-tuning process may harm the model's exploration ability, as reflected in decreased diversity of generations and a resulting degradation of performance during Best-of-N sampling for large N values. In this work, we focus on optimizing the max@k metric, a continuous generalization of pass@k. We derive an unbiased on-policy gradient estimate for direct optimization of this metric. Furthermore, we extend our derivations to the off-policy updates, a common element in modern RLVR algorithms, that allows better sample efficiency. Empirically, we show that our objective effectively optimizes max@k metric in off-policy scenarios, aligning the model with the Best-of-N inference strategy.
Detecting Religious Language in Climate Discourse
Venue: arXiv cs.CL 2025
Year: 2025

Religious language continues to permeate contemporary discourse, even in ostensibly secular domains such as environmental activism and climate change debates. This paper investigates how explicit and implicit forms of religious language appear in climate-related texts produced by secular and religious nongovernmental organizations (NGOs). We introduce a dual methodological approach: a rule-based model using a hierarchical tree of religious terms derived from ecotheology literature, and large language models (LLMs) operating in a zero-shot setting. Using a dataset of more than 880,000 sentences, we compare how these methods detect religious language and analyze points of agreement and divergence. The results show that the rule-based method consistently labels more sentences as religious than LLMs. These findings highlight not only the methodological challenges of computationally detecting religious language but also the broader tension over whether religious language should be defined by vocabulary alone or by contextual meaning. This study contributes to digital methods in religious studies by demonstrating both the potential and the limitations of approaches for analyzing how the sacred persists in climate discourse.
Symmetria: A Synthetic Dataset for Learning in Point Clouds
Venue: arXiv cs.CV 2025
Year: 2025

Unlike image or text domains that benefit from an abundance of large-scale datasets, point cloud learning techniques frequently encounter limitations due to the scarcity of extensive datasets. To overcome this limitation, we present Symmetria, a formula-driven dataset that can be generated at any arbitrary scale. By construction, it ensures the absolute availability of precise ground truth, promotes data-efficient experimentation by requiring fewer samples, enables broad generalization across diverse geometric settings, and offers easy extensibility to new tasks and modalities. Using the concept of symmetry, we create shapes with known structure and high variability, enabling neural networks to learn point cloud features effectively. Our results demonstrate that this dataset is highly effective for point cloud self-supervised pre-training, yielding models with strong performance in downstream tasks such as classification and segmentation, which also show good few-shot learning capabilities. Additionally, our dataset can support fine-tuning models to classify real-world objects, highlighting our approach's practical utility and application. We also introduce a challenging task for symmetry detection and provide a benchmark for baseline comparisons. A significant advantage of our approach is the public availability of the dataset, the accompanying code, and the ability to generate very large collections, promoting further research and innovation in point cloud learning.
Quality-controlled registration of urban MLS point clouds reducing drift effects by adaptive fragmentation
Venue: arXiv cs.CV 2025
Year: 2025

This study presents a novel workflow designed to efficiently and accurately register large-scale mobile laser scanning (MLS) point clouds to a target model point cloud in urban street scenarios. This workflow specifically targets the complexities inherent in urban environments and adeptly addresses the challenges of integrating point clouds that vary in density, noise characteristics, and occlusion scenarios, which are common in bustling city centers. Two methodological advancements are introduced. First, the proposed Semi-sphere Check (SSC) preprocessing technique optimally fragments MLS trajectory data by identifying mutually orthogonal planar surfaces. This step reduces the impact of MLS drift on the accuracy of the entire point cloud registration, while ensuring sufficient geometric features within each fragment to avoid local minima. Second, we propose Planar Voxel-based Generalized Iterative Closest Point (PV-GICP), a fine registration method that selectively utilizes planar surfaces within voxel partitions. This pre-process strategy not only improves registration accuracy but also reduces computation time by more than 50% compared to conventional point-to-plane ICP methods. Experiments on real-world datasets from Munich's inner city demonstrate that our workflow achieves sub-0.01 m average registration accuracy while significantly shortening processing times. The results underscore the potential of the proposed methods to advance automated 3D urban modeling and updating, with direct applications in urban planning, infrastructure management, and dynamic city monitoring.
Causal Deep Q Network
Venue: arXiv cs.AI 2025
Year: 2025

Deep Q Networks (DQN) have shown remarkable success in various reinforcement learning tasks. However, their reliance on associative learning often leads to the acquisition of spurious correlations, hindering their problem-solving capabilities. In this paper, we introduce a novel approach to integrate causal principles into DQNs, leveraging the PEACE (Probabilistic Easy vAriational Causal Effect) formula for estimating causal effects. By incorporating causal reasoning during training, our proposed framework enhances the DQN's understanding of the underlying causal structure of the environment, thereby mitigating the influence of confounding factors and spurious correlations. We demonstrate that integrating DQNs with causal capabilities significantly enhances their problem-solving capabilities without compromising performance. Experimental results on standard benchmark environments showcase that our approach outperforms conventional DQNs, highlighting the effectiveness of causal reasoning in reinforcement learning. Overall, our work presents a promising avenue for advancing the capabilities of deep reinforcement learning agents through principled causal inference.
Education Paradigm Shift To Maintain Human Competitive Advantage Over AI
Venue: arXiv cs.GL 2025
Year: 2025

Discussion about the replacement of intellectual human labour by ``thinking machines'' has been present in the public and expert discourse since the creation of Artificial Intelligence (AI) as an idea and terminology since the middle of the twentieth century. Until recently, it was more of a hypothetical concern. However, in recent years, with the rise of Generative AI, especially Large Language Models (LLM), and particularly with the widespread popularity of the ChatGPT model, that concern became practical. Many domains of human intellectual labour have to adapt to the new AI tools that give humans new functionality and opportunity, but also question the viability and necessity of some human work that used to be considered intellectual yet has now become an easily automatable commodity. Education, unexpectedly, has now become burdened by an especially crucial role of charting long-range strategies for discovering viable human skills that would guarantee their place in the world of the ubiquitous use of AI in the intellectual sphere. We highlight weaknesses of the current AI and, especially, of its LLM-based core, show that root causes of LLMs' weaknesses are unfixable by the current technologies, and propose directions in the constructivist paradigm for the changes in Education that ensure long-term advantages of humans over AI tools.
Schrodinger Neural Network and Uncertainty Quantification: Quantum Machine
Venue: arXiv cs.LG 2025
Year: 2025

We introduce the Schrodinger Neural Network (SNN), a principled architecture for conditional density estimation and uncertainty quantification inspired by quantum mechanics. The SNN maps each input to a normalized wave function on the output domain and computes predictive probabilities via the Born rule. The SNN departs from standard parametric likelihood heads by learning complex coefficients of a spectral expansion (e . g ., Chebyshev polynomials) whose squared modulus yields the conditional density $p(y|x)=\left| ψ_x(y)\right| {}^2$ with analytic normalization. This representation confers three practical advantages: positivity and exact normalization by construction, native multimodality through interference among basis modes without explicit mixture bookkeeping, and yields closed-form (or efficiently computable) functionals$-$such as moments and several calibration diagnostics$-$as quadratic forms in coefficient space. We develop the statistical and computational foundations of the SNN, including (i) training by exact maximum-likelihood with unit-sphere coefficient parameterization, (ii) physics-inspired quadratic regularizers (kinetic and potential energies) motivated by uncertainty relations between localization and spectral complexity, (iii) scalable low-rank and separable extensions for multivariate outputs, (iv) operator-based extensions that represent observables, constraints, and weak labels as self-adjoint matrices acting on the amplitude space, and (v) a comprehensive framework for evaluating multimodal predictions. The SNN provides a coherent, tractable framework to elevate probabilistic prediction from point estimates to physically inspired amplitude-based distributions.
SGFusion: Stochastic Geographic Gradient Fusion in Federated Learning
Venue: arXiv cs.LG 2025
Year: 2025

This paper proposes Stochastic Geographic Gradient Fusion (SGFusion), a novel training algorithm to leverage the geographic information of mobile users in Federated Learning (FL). SGFusion maps the data collected by mobile devices onto geographical zones and trains one FL model per zone, which adapts well to the data and behaviors of users in that zone. SGFusion models the local data-based correlation among geographical zones as a hierarchical random graph (HRG) optimized by Markov Chain Monte Carlo sampling. At each training step, every zone fuses its local gradient with gradients derived from a small set of other zones sampled from the HRG. This approach enables knowledge fusion and sharing among geographical zones in a probabilistic and stochastic gradient fusion process with self-attention weights, such that "more similar" zones have "higher probabilities" of sharing gradients with "larger attention weights." SGFusion remarkably improves model utility without introducing undue computational cost. Extensive theoretical and empirical results using a heart-rate prediction dataset collected across 6 countries show that models trained with SGFusion converge with upper-bounded expected errors and significantly improve utility in all countries compared to existing approaches without notable cost in system scalability.
Evaluating Large Language Models for Stance Detection on Financial Targets from SEC Filing Reports and Earnings Call Transcripts
Venue: arXiv cs.CL 2025
Year: 2025

Financial narratives from U.S. Securities and Exchange Commission (SEC) filing reports and quarterly earnings call transcripts (ECTs) are very important for investors, auditors, and regulators. However, their length, financial jargon, and nuanced language make fine-grained analysis difficult. Prior sentiment analysis in the financial domain required a large, expensive labeled dataset, making the sentence-level stance towards specific financial targets challenging. In this work, we introduce a sentence-level corpus for stance detection focused on three core financial metrics: debt, earnings per share (EPS), and sales. The sentences were extracted from Form 10-K annual reports and ECTs, and labeled for stance (positive, negative, neutral) using the advanced ChatGPT-o3-pro model under rigorous human validation. Using this corpus, we conduct a systematic evaluation of modern large language models (LLMs) using zero-shot, few-shot, and Chain-of-Thought (CoT) prompting strategies. Our results show that few-shot with CoT prompting performs best compared to supervised baselines, and LLMs' performance varies across the SEC and ECT datasets. Our findings highlight the practical viability of leveraging LLMs for target-specific stance in the financial domain without requiring extensive labeled data.
Trajectory-Aware Air-to-Ground Channel Characterization for Low-Altitude UAVs Using MaMIMO Measurements
Venue: arXiv cs.NI 2025
Year: 2025

This paper presents a comprehensive measurement-based trajectory-aware characterization of low-altitude Air-to-Ground (A2G) channels in a suburban environment. A 64-element Massive Multi-Input Multi-Output (MaMIMO) array was used to capture channels for three trajectories of an Uncrewed Aerial Vehicle (UAV), including two horizontal zig-zag flights at fixed altitudes and one vertical ascent, chosen to emulate AUE operations and to induce controlled azimuth and elevation sweeps for analyzing geometry-dependent propagation dynamics. We examine large-scale power variations and their correlation with geometric features, such as elevation, azimuth, and 3D distance, followed by an analysis of fading behavior through distribution fitting and Rician K-factor estimation. Furthermore, temporal non-stationarity is quantified using the Correlation Matrix Distance (CMD), and angular stationarity spans are utilized to demonstrate how channel characteristics change with the movement of the UAV. We also analyze Spectral Efficiency (SE) in relation to K-factor and Root Mean Square (RMS) delay spread, highlighting their combined influence on link performance. The results show that the elevation angle is the strongest predictor of the received power, with a correlation of more than 0.77 for each trajectory, while the Nakagami model best fits the small-scale fading. The K-factor increases from approximately 5 dB at low altitudes to over 15 dB at higher elevations, indicating stronger LoS dominance. Non-stationarity patterns are highly trajectory- and geometry-dependent, with azimuth most affected in horizontal flights and elevation during vertical flight. These findings offer valuable insights for modeling and improving UAV communication channels in 6G Non-Terrestrial Networks (NTNs).
Shareholder Democracy with AI Representatives
Venue: arXiv cs.HC 2025
Year: 2025

A large share of retail investors hold public equities through mutual funds, yet lack adequate control over these investments. Indeed, mutual funds concentrate voting power in the hands of a few asset managers. These managers vote on behalf of shareholders despite having limited insight into their individual preferences, leaving them exposed to growing political and regulatory pressures, particularly amid rising shareholder activism. Pass-through voting has been proposed as a way to empower retail investors and provide asset managers with clearer guidance, but it faces challenges such as low participation rates and the difficulty of capturing highly individualized shareholder preferences for each specific vote. Randomly selected assemblies of shareholders, or ``investor assemblies,'' have also been proposed as more representative proxies than asset managers. As a third alternative, we propose artificial intelligence (AI) enabled representatives trained on individual shareholder preferences to act as proxies and vote on their behalf. Over time, these models could not only predict how retail investors would vote at any given moment but also how they might vote if they had significantly more time, knowledge, and resources to evaluate each proposal, leading to better overall decision-making. We argue that shareholder democracy offers a compelling real-world test bed for AI-enabled representation, providing valuable insights into both the potential benefits and risks of this approach more generally.
MMTutorBench: The First Multimodal Benchmark for AI Math Tutoring
Venue: arXiv cs.CL 2025
Year: 2025

Effective math tutoring requires not only solving problems but also diagnosing students' difficulties and guiding them step by step. While multimodal large language models (MLLMs) show promise, existing benchmarks largely overlook these tutoring skills. We introduce MMTutorBench, the first benchmark for AI math tutoring, consisting of 685 problems built around pedagogically significant key-steps. Each problem is paired with problem-specific rubrics that enable fine-grained evaluation across six dimensions, and structured into three tasks-Insight Discovery, Operation Formulation, and Operation Execution. We evaluate 12 leading MLLMs and find clear performance gaps between proprietary and open-source systems, substantial room compared to human tutors, and consistent trends across input variants: OCR pipelines degrade tutoring quality, few-shot prompting yields limited gains, and our rubric-based LLM-as-a-Judge proves highly reliable. These results highlight both the difficulty and diagnostic value of MMTutorBench for advancing AI tutoring.
Towards a Functionally Complete and Parameterizable TFHE Processor
Venue: arXiv cs.CR 2025
Year: 2025

Fully homomorphic encryption allows the evaluation of arbitrary functions on encrypted data. It can be leveraged to secure outsourced and multiparty computation. TFHE is a fast torus-based fully homomorphic encryption scheme that allows both linear operations, as well as the evaluation of arbitrary non-linear functions. It currently provides the fastest bootstrapping operation performance of any other FHE scheme. Despite its fast performance, TFHE suffers from a considerably higher computational overhead for the evaluation of homomorphic circuits. Computations in the encrypted domain are orders of magnitude slower than their unencrypted equivalents. This bottleneck hinders the widespread adoption of (T)FHE for the protection of sensitive data. While state-of-the-art implementations focused on accelerating and outsourcing single operations, their scalability and practicality are constrained by high memory bandwidth costs. In order to overcome this, we propose an FPGA-based hardware accelerator for the evaluation of homomorphic circuits. Specifically, we design a functionally complete TFHE processor for FPGA hardware capable of processing instructions on the data completely on the FPGA. In order to achieve a higher throughput from our TFHE processor, we implement an improved programmable bootstrapping module, which outperforms the current state-of-the-art by 240% to 480% more bootstrappings per second. Our efficient, compact, and scalable design lays the foundation for implementing complete FPGA-based TFHE processor architectures.