OpenRaiser/Intern-Atlas huggingface dataset:
Online Performance Assessment of Multi-Source-Localization for Autonomous Driving Systems Using Subjective Logic
Venue: arXiv cs.RO 2025
Year: 2025

Autonomous driving (AD) relies heavily on high precision localization as a crucial part of all driving related software components. The precise positioning is necessary for the utilization of high-definition maps, prediction of other road participants and the controlling of the vehicle itself. Due to this reason, the localization is absolutely safety relevant. Typical errors of the localization systems, which are long term drifts, jumps and false localization, that must be detected to enhance safety. An online assessment and evaluation of the current localization performance is a challenging task, which is usually done by Kalman filtering for single localization systems. Current autonomous vehicles cope with these challenges by fusing multiple individual localization methods into an overall state estimation. Such approaches need expert knowledge for a competitive performance in challenging environments. This expert knowledge is based on the trust and the prioritization of distinct localization methods in respect to the current situation and environment. This work presents a novel online performance assessment technique of multiple localization systems by using subjective logic (SL). In our research vehicles, three different systems for localization are available, namely odometry-, Simultaneous Localization And Mapping (SLAM)- and Global Navigation Satellite System (GNSS)-based. Our performance assessment models the behavior of these three localization systems individually and puts them into reference of each other. The experiments were carried out using the CoCar NextGen, which is based on an Audi A6. The vehicle's localization system was evaluated under challenging conditions, specifically within a tunnel environment. The overall evaluation shows the feasibility of our approach.
Memory-Efficient Split Federated Learning for LLM Fine-Tuning on Heterogeneous Mobile Devices
Venue: arXiv cs.DC 2025
Year: 2025

In this paper, we propose an edge-assisted split federated learning framework to facilitate large language model (LLM) fine-tuning on heterogeneous mobile devices while alleviating memory pressures on both mobile devices and the edge server. Specifically, mobile devices perform low-rank adaptation (LoRA) fine-tuning on only a subset of lower layers of the pre-trained LLM, tailored to their individual capacities. On the server, a full LLM is maintained, and the corresponding LoRA modules are selectively fine-tuned in a sequential manner for each device. To further enhance training efficiency, we propose a server-side training scheduling method that optimizes the processing order of devices for accelerating fine-tuning. Extensive experiments demonstrate that compared to the baselines, our scheme can reduce 79\% memory footprint and 6\% training time while achieving comparable performance.
Adaptive Graph Pruning for Multi-Agent Communication
Venue: arXiv cs.CL 2025
Year: 2025

Large Language Model (LLM) based multi-agent systems have shown remarkable performance in various tasks, especially when enhanced through collaborative communication. However, current methods often rely on a fixed number of agents and static communication structures, limiting their ability to adapt to varying task complexities. In this paper, we propose Adaptive Graph Pruning (AGP), a novel task-adaptive multi-agent collaboration framework that jointly optimizes agent quantity (hard-pruning) and communication topology (soft-pruning). Specifically, our method employs a two-stage training strategy: firstly, independently training soft-pruning networks for different agent quantities to determine optimal agent-quantity-specific complete graphs and positional masks across specific tasks; and then jointly optimizing hard-pruning and soft-pruning within a maximum complete graph to dynamically configure the number of agents and their communication topologies per task. Extensive experiments demonstrate that our approach is: (1) High-performing, achieving state-of-the-art results across six benchmarks and consistently generalizes across multiple mainstream LLM architectures, with a increase in performance of $2.58\%\sim 9.84\%$; (2) Task-adaptive, dynamically constructing optimized communication topologies tailored to specific tasks, with an extremely high performance in all three task categories (general reasoning, mathematical reasoning, and code generation); (3) Token-economical, having fewer training steps and token consumption at the same time, with a decrease in token consumption of $90\%+$; and (4) Training-efficient, achieving high performance with very few training steps compared with other methods. The performance will surpass the existing baselines after about ten steps of training under six benchmarks.
PC-MoE: Memory-Efficient and Privacy-Preserving Collaborative Training for Mixture-of-Experts LLMs
Venue: arXiv cs.LG 2025
Year: 2025

Mixture-of-Experts (MoE) has been gaining popularity due to its successful adaptation to large language models (LLMs). In this work, we introduce Privacy-preserving Collaborative Mixture-of-Experts (PC-MoE), which leverages the sparsity of the MoE architecture for memory-efficient decentralized collaborative LLM training, enabling multiple parties with limited GPU-memory and data resources to collectively train more capable LLMs than they could achieve individually. At the same time, this approach protects training data privacy of each participant by keeping training data, as well as parts of the forward pass signal and gradients locally within each party. By design, PC-MoE synergistically combines the strengths of distributed computation with strong confidentiality assurances. Unlike most privacy-preserving schemes, which pay for confidentiality with lower task accuracy, our framework breaks that trade-off: across seven popular LLM benchmarks, it almost matches (and sometimes exceeds) the performance and convergence rate of a fully centralized model, enjoys near 70% peak GPU RAM reduction, while being fully robust against reconstruction attacks.
Coding Agents with Multimodal Browsing are Generalist Problem Solvers
Venue: arXiv cs.CL 2025
Year: 2025

Modern human labor is characterized by specialization; we train for years and develop particular tools that allow us to perform well across a variety of tasks. In addition, AI agents have been specialized for domains such as software engineering, web navigation, and workflow automation. However, this results in agents that are good for one thing but fail to generalize beyond their intended scope. One reason for this is that agent developers provide a highly specialized set of tools or make architectural decisions optimized for a specific use case or benchmark. In this work, we ask the question: what is the minimal set of general tools that can be used to achieve high performance across a diverse set of tasks? Our answer is OpenHands-Versa, a generalist agent built with a modest number of general tools: code editing and execution, web search, as well as multimodal web browsing and file access. Importantly, OpenHands-Versa demonstrates superior or competitive performance over leading specialized agents across three diverse and challenging benchmarks: SWE-Bench Multimodal, GAIA, and The Agent Company, outperforming the best-performing previously published results with absolute improvements in success rate of 9.1, 1.3, and 9.1 points respectively. Further, we show how existing state-of-the-art multi-agent systems fail to generalize beyond their target domains. These results demonstrate the feasibility of developing a generalist agent to solve diverse tasks and establish OpenHands-Versa as a strong baseline for future research.
Smartflow: Enabling Scalable Spatiotemporal Geospatial Research
Venue: arXiv cs.CV 2025
Year: 2025

BlackSky introduces Smartflow, a cloud-based framework enabling scalable spatiotemporal geospatial research built on open-source tools and technologies. Using STAC-compliant catalogs as a common input, heterogeneous geospatial data can be processed into standardized datacubes for analysis and model training. Model experimentation is managed using a combination of tools, including ClearML, Tensorboard, and Apache Superset. Underpinning Smartflow is Kubernetes, which orchestrates the provisioning and execution of workflows to support both horizontal and vertical scalability. This combination of features makes Smartflow well-suited for geospatial model development and analysis over large geographic areas, time scales, and expansive image archives. We also present a novel neural architecture, built using Smartflow, to monitor large geographic areas for heavy construction. Qualitative results based on data from the IARPA Space-based Machine Automated Recognition Technique (SMART) program are presented that show the model is capable of detecting heavy construction throughout all major phases of development.
TestAgent: An Adaptive and Intelligent Expert for Human Assessment
Venue: arXiv cs.AI 2025
Year: 2025

Accurately assessing internal human states is key to understanding preferences, offering personalized services, and identifying challenges in real-world applications. Originating from psychometrics, adaptive testing has become the mainstream method for human measurement and has now been widely applied in education, healthcare, sports, and sociology. It customizes assessments by selecting the fewest test questions . However, current adaptive testing methods face several challenges. The mechanized nature of most algorithms leads to guessing behavior and difficulties with open-ended questions. Additionally, subjective assessments suffer from noisy response data and coarse-grained test outputs, further limiting their effectiveness. To move closer to an ideal adaptive testing process, we propose TestAgent, a large language model (LLM)-powered agent designed to enhance adaptive testing through interactive engagement. This is the first application of LLMs in adaptive testing. TestAgent supports personalized question selection, captures test-takers' responses and anomalies, and provides precise outcomes through dynamic, conversational interactions. Experiments on psychological, educational, and lifestyle assessments show our approach achieves more accurate results with 20% fewer questions than state-of-the-art baselines, and testers preferred it in speed, smoothness, and other dimensions.
How Explanations Leak the Decision Logic: Stealing Graph Neural Networks via Explanation Alignment
Venue: arXiv cs.LG 2025
Year: 2025

Graph Neural Networks (GNNs) have become essential tools for analyzing graph-structured data in domains such as drug discovery and financial analysis, leading to growing demands for model transparency. Recent advances in explainable GNNs have addressed this need by revealing important subgraphs that influence predictions, but these explanation mechanisms may inadvertently expose models to security risks. This paper investigates how such explanations potentially leak critical decision logic that can be exploited for model stealing. We propose {\method}, a novel stealing framework that integrates explanation alignment for capturing decision logic with guided data augmentation for efficient training under limited queries, enabling effective replication of both the predictive behavior and underlying reasoning patterns of target models. Experiments on molecular graph datasets demonstrate that our approach shows advantages over conventional methods in model stealing. This work highlights important security considerations for the deployment of explainable GNNs in sensitive domains and suggests the need for protective measures against explanation-based attacks. Our code is available at https://github.com/beanmah/EGSteal.
Detecting Patterns of Interaction in Temporal Hypergraphs via Edge Clustering
Venue: arXiv cs.SI 2025
Year: 2025

Finding densely connected subsets of vertices in an unsupervised setting, called clustering or community detection, is one of the fundamental problems in network science. The edge clustering approach instead detects communities by clustering the edges of the graph and then assigning a vertex to a community if it has at least one edge in that community, thereby allowing for overlapping clusters of vertices. We apply the idea behind edge clustering to temporal hypergraphs, an extension of a graph where a single edge can contain any number of vertices and each edge has a timestamp. Extending to hypergraphs allows for many different patterns of interaction between edges, and by defining a suitable structural similarity function, our edge clustering algorithm can find clusters of these patterns. We test the algorithm with three structural similarity functions on a large collaboration hypergraph, and find intuitive cluster structures that could prove useful for downstream tasks.
ByteMorph: Benchmarking Instruction-Guided Image Editing with Non-Rigid Motions
Venue: arXiv cs.CV 2025
Year: 2025

Editing images with instructions to reflect non-rigid motions, camera viewpoint shifts, object deformations, human articulations, and complex interactions, poses a challenging yet underexplored problem in computer vision. Existing approaches and datasets predominantly focus on static scenes or rigid transformations, limiting their capacity to handle expressive edits involving dynamic motion. To address this gap, we introduce ByteMorph, a comprehensive framework for instruction-based image editing with an emphasis on non-rigid motions. ByteMorph comprises a large-scale dataset, ByteMorph-6M, and a strong baseline model built upon the Diffusion Transformer (DiT), named ByteMorpher. ByteMorph-6M includes over 6 million high-resolution image editing pairs for training, along with a carefully curated evaluation benchmark ByteMorph-Bench. Both capture a wide variety of non-rigid motion types across diverse environments, human figures, and object categories. The dataset is constructed using motion-guided data generation, layered compositing techniques, and automated captioning to ensure diversity, realism, and semantic coherence. We further conduct a comprehensive evaluation of recent instruction-based image editing methods from both academic and commercial domains.
On Weak-to-Strong Generalization and f-Divergence
Venue: arXiv cs.LG 2025
Year: 2025

Weak-to-strong generalization (W2SG) has emerged as a promising paradigm for stimulating the capabilities of strong pre-trained models by leveraging supervision from weaker supervisors. To improve the performance of the strong model, existing methods often require additional weak models or complex procedures, leading to substantial computational and memory overhead. Motivated by the effectiveness of $f$-divergence loss in various machine learning domains, we introduce $f$-divergence as an information-theoretic loss function framework in W2SG. Our theoretical analysis reveals fundamental limitations and equivalence of different $f$-divergence losses in W2SG, supported by sample complexity bounds and information-theoretic insights. We empirically demonstrate that $f$-divergence loss, which generalizes widely-used metrics like KL divergence, effectively improves generalization and noise tolerance of the strong model in practice.
HumanRAM: Feed-forward Human Reconstruction and Animation Model using Transformers
Venue: arXiv cs.GR 2025
Year: 2025

3D human reconstruction and animation are long-standing topics in computer graphics and vision. However, existing methods typically rely on sophisticated dense-view capture and/or time-consuming per-subject optimization procedures. To address these limitations, we propose HumanRAM, a novel feed-forward approach for generalizable human reconstruction and animation from monocular or sparse human images. Our approach integrates human reconstruction and animation into a unified framework by introducing explicit pose conditions, parameterized by a shared SMPL-X neural texture, into transformer-based large reconstruction models (LRM). Given monocular or sparse input images with associated camera parameters and SMPL-X poses, our model employs scalable transformers and a DPT-based decoder to synthesize realistic human renderings under novel viewpoints and novel poses. By leveraging the explicit pose conditions, our model simultaneously enables high-quality human reconstruction and high-fidelity pose-controlled animation. Experiments show that HumanRAM significantly surpasses previous methods in terms of reconstruction accuracy, animation fidelity, and generalization performance on real-world datasets. Video results are available at https://zju3dv.github.io/humanram/.
Entity-Augmented Neuroscience Knowledge Retrieval Using Ontology and Semantic Understanding Capability of LLM
Venue: arXiv cs.CL 2025
Year: 2025

Neuroscience research publications encompass a vast wealth of knowledge. Accurately retrieving existing information and discovering new insights from this extensive literature is essential for advancing the field. However, when knowledge is dispersed across multiple sources, current state-of-the-art retrieval methods often struggle to extract the necessary information. A knowledge graph (KG) can integrate and link knowledge from multiple sources. However, existing methods for constructing KGs in neuroscience often rely on labeled data and require domain expertise. Acquiring large-scale, labeled data for a specialized area like neuroscience presents significant challenges. This work proposes novel methods for constructing KG from unlabeled large-scale neuroscience research corpus utilizing large language models (LLM), neuroscience ontology, and text embeddings. We analyze the semantic relevance of neuroscience text segments identified by LLM for building the knowledge graph. We also introduce an entity-augmented information retrieval algorithm to extract knowledge from the KG. Several experiments were conducted to evaluate the proposed approaches. The results demonstrate that our methods significantly enhance knowledge discovery from the unlabeled neuroscience research corpus. The performance of the proposed entity and relation extraction method is comparable to the existing supervised method. It achieves an F1 score of 0.84 for entity extraction from the unlabeled data. The knowledge obtained from the KG improves answers to over 52% of neuroscience questions from the PubMedQA dataset and questions generated using selected neuroscience entities.
Analyzing Localizability of LEO/MEO Hybrid Networks: A Stochastic Geometry Approach
Venue: arXiv cs.NI 2025
Year: 2025

With the increase in global positioning service demands and the requirement for more precise positioning, assisting existing medium and high orbit satellite-enabled positioning systems with low Earth orbit (LEO) satellites has garnered widespread attention. However, providing low computational complexity performance analysis for hybrid LEO/MEO massive satellite constellations remains a challenge. In this article, we introduce for the first time the application of stochastic geometry (SG) framework in satellite-enabled positioning performance analysis and provide an analytical expression for the K-availiability probability and K-localizability probability under bidirectional beam alignment transmissions. The K-localizability probability, defined as the probability that at least K satellites can participate in the positioning process, serves as a prerequisite for positioning. Since the modeling of MEO satellite constellations within the SG framework has not yet been studied, we integrate the advantages of Cox point processes and binomial point processes, proposing a doubly stochastic binomial point process binomial point process for accurate modeling of MEO satellite constellations. Finally, we investigate the impact of constellation configurations and antenna patterns on the localizability performance of LEO, MEO, and hybrid MEO/LEO constellations. We also demonstrate the network performance gains brought to MEO positioning systems by incorporating assistance from LEO satellites.
Modular Diffusion Policy Training: Decoupling and Recombining Guidance and Diffusion for Offline RL
Venue: arXiv cs.LG 2025
Year: 2025

Classifier free guidance has shown strong potential in diffusion-based reinforcement learning. However, existing methods rely on joint training of the guidance module and the diffusion model, which can be suboptimal during the early stages when the guidance is inaccurate and provides noisy learning signals. In offline RL, guidance depends solely on offline data: observations, actions, and rewards, and is independent of the policy module's behavior, suggesting that joint training is not required. This paper proposes modular training methods that decouple the guidance module from the diffusion model, based on three key findings: Guidance Necessity: We explore how the effectiveness of guidance varies with the training stage and algorithm choice, uncovering the roles of guidance and diffusion. A lack of good guidance in the early stage presents an opportunity for optimization. Guidance-First Diffusion Training: We introduce a method where the guidance module is first trained independently as a value estimator, then frozen to guide the diffusion model using classifier-free reward guidance. This modularization reduces memory usage, improves computational efficiency, and enhances both sample efficiency and final performance. Cross-Module Transferability: Applying two independently trained guidance models, one during training and the other during inference, can significantly reduce normalized score variance (e.g., reducing IQR by 86%). We show that guidance modules trained with one algorithm (e.g., IDQL) can be directly reused with another (e.g., DQL), with no additional training required, demonstrating baseline-level performance as well as strong modularity and transferability. We provide theoretical justification and empirical validation on bullet D4RL benchmarks. Our findings suggest a new paradigm for offline RL: modular, reusable, and composable training pipelines.
Bayes Error Rate Estimation in Difficult Situations
Venue: arXiv cs.LG 2025
Year: 2025

The Bayes Error Rate (BER) is the fundamental limit on the achievable generalizable classification accuracy of any machine learning model due to inherent uncertainty within the data. BER estimators offer insight into the difficulty of any classification problem and set expectations for optimal classification performance. In order to be useful, the estimators must also be accurate with a limited number of samples on multivariate problems with unknown class distributions. To determine which estimators meet the minimum requirements for "usefulness", an in-depth examination of their accuracy is conducted using Monte Carlo simulations with synthetic data in order to obtain their confidence bounds for binary classification. To examine the usability of the estimators for real-world applications, new non-linear multi-modal test scenarios are introduced. In each scenario, 2500 Monte Carlo simulations per scenario are run over a wide range of BER values. In a comparison of k-Nearest Neighbor (kNN), Generalized Henze-Penrose (GHP) divergence and Kernel Density Estimation (KDE) techniques, results show that kNN is overwhelmingly the more accurate non-parametric estimator. In order to reach the target of an under 5% range for the 95% confidence bounds, the minimum number of required samples per class is 1000. As more features are added, more samples are needed, so that 2500 samples per class are required at only 4 features. Other estimators do become more accurate than kNN as more features are added, but continuously fail to meet the target range.