OpenRaiser/Intern-Atlas huggingface dataset:
Fairness-Aware Computation Offloading in Wireless-Powered MEC Systems with Cooperative Energy Recycling
Venue: arXiv cs.IT 2025
Year: 2025

In this paper, cooperative energy recycling (CER) is investigated in wireless-powered mobile edge computing systems. Unlike conventional architectures that rely solely on a dedicated power source, wireless sensors are additionally enabled to recycle energy from peer transmissions. To evaluate system performance, a joint computation optimization problem is formulated that integrates local computing and computation offloading, under an alpha-fairness objective that balances total computable data and user fairness while satisfying energy, latency, and task size constraints. Due to the inherent non-convexity introduced by coupled resource variables and fairness regularization, a variable-substitution technique is employed to transform the problem into a convex structure, which is then efficiently solved using Lagrangian duality and alternating optimization. To characterize the fairness-efficiency tradeoff, closed-form solutions are derived for three representative regimes: zero fairness, common fairness, and max-min fairness, each offering distinct system-level insights. Numerical results validate the effectiveness of the proposed CER-enabled framework, demonstrating significant gains in throughput and adaptability over benchmark schemes. The tunable alpha fairness mechanism provides flexible control over performance-fairness trade-offs across diverse scenarios.
Link prediction Graph Neural Networks for structure recognition of Handwritten Mathematical Expressions
Venue: arXiv cs.CV 2025
Year: 2025

We propose a Graph Neural Network (GNN)-based approach for Handwritten Mathematical Expression (HME) recognition by modeling HMEs as graphs, where nodes represent symbols and edges capture spatial dependencies. A deep BLSTM network is used for symbol segmentation, recognition, and spatial relation classification, forming an initial primitive graph. A 2D-CFG parser then generates all possible spatial relations, while the GNN-based link prediction model refines the structure by removing unnecessary connections, ultimately forming the Symbol Label Graph. Experimental results demonstrate the effectiveness of our approach, showing promising performance in HME structure recognition.
The Sequential Edge: Inverse-Entropy Voting Beats Parallel Self-Consistency at Matched Compute
Venue: arXiv cs.LG 2025
Year: 2025

We revisit test-time scaling for language model reasoning and ask a fundamental question: at equal token budget and compute, is it better to run multiple independent chains in parallel, or to run fewer chains that iteratively refine through sequential steps? Through comprehensive evaluation across 5 state-of-the-art open source models and 3 challenging reasoning benchmarks, we find that sequential scaling where chains explicitly build upon previous attempts consistently outperforms the dominant parallel self-consistency paradigm in 95.6% of configurations with gains in accuracy upto 46.7%. Further, we introduce inverse-entropy weighted voting, a novel training-free method to further boost the accuracy of sequential scaling. By weighing answers in proportion to the inverse entropy of their reasoning chains, we increase our success rate over parallel majority and establish it as the optimal test-time scaling strategy. Our findings fundamentally challenge the parallel reasoning orthodoxy that has dominated test-time scaling since Wang et al.'s self-consistency decoding (Wang et al., 2022), positioning sequential refinement as the robust default for modern LLM reasoning and necessitating a paradigm shift in how we approach inference-time optimization.
ZJUNlict Extended Team Description Paper 2025
Venue: arXiv cs.RO 2025
Year: 2025

This paper presents the ZJUNlict team's work over the past year, covering both hardware and software advancements. In the hardware domain, the integration of an IMU into the v2023 robot was completed to enhance posture accuracy and angular velocity planning. On the software side, key modules were optimized, including the strategy and CUDA modules, with significant improvements in decision making efficiency, ball pursuit prediction, and ball possession prediction to adapt to high-tempo game dynamics.
Learning A Universal Crime Predictor with Knowledge-guided Hypernetworks
Venue: arXiv cs.LG 2025
Year: 2025

Predicting crimes in urban environments is crucial for public safety, yet existing prediction methods often struggle to align the knowledge across diverse cities that vary dramatically in data availability of specific crime types. We propose HYpernetwork-enhanced Spatial Temporal Learning (HYSTL), a framework that can effectively train a unified, stronger crime predictor without assuming identical crime types in different cities' records. In HYSTL, instead of parameterising a dedicated predictor per crime type, a hypernetwork is designed to dynamically generate parameters for the prediction function conditioned on the crime type of interest. To bridge the semantic gap between different crime types, a structured crime knowledge graph is built, where the learned representations of crimes are used as the input to the hypernetwork to facilitate parameter generation. As such, when making predictions for each crime type, the predictor is additionally guided by its intricate association with other relevant crime types. Extensive experiments are performed on two cities with non-overlapping crime types, and the results demonstrate HYSTL outperforms state-of-the-art baselines.
Whole-body motion planning and safety-critical control for aerial manipulation
Venue: arXiv cs.RO 2025
Year: 2025

Aerial manipulation combines the maneuverability of multirotors with the dexterity of robotic arms to perform complex tasks in cluttered spaces. Yet planning safe, dynamically feasible trajectories remains difficult due to whole-body collision avoidance and the conservativeness of common geometric abstractions such as bounding boxes or ellipsoids. We present a whole-body motion planning and safety-critical control framework for aerial manipulators built on superquadrics (SQs). Using an SQ-plus-proxy representation, we model both the vehicle and obstacles with differentiable, geometry-accurate surfaces. Leveraging this representation, we introduce a maximum-clearance planner that fuses Voronoi diagrams with an equilibrium-manifold formulation to generate smooth, collision-aware trajectories. We further design a safety-critical controller that jointly enforces thrust limits and collision avoidance via high-order control barrier functions. In simulation, our approach outperforms sampling-based planners in cluttered environments, producing faster, safer, and smoother trajectories and exceeding ellipsoid-based baselines in geometric fidelity. Actual experiments on a physical aerial-manipulation platform confirm feasibility and robustness, demonstrating consistent performance across simulation and hardware settings. The video can be found at https://youtu.be/hQYKwrWf1Ak.
Non-commutative linear logic fragments with sub-context-free complexity
Venue: arXiv cs.LO 2025
Year: 2025

We present new descriptive complexity characterisations of classes REG (regular languages), LCFL (linear context-free languages) and CFL (context-free languages) as restrictions on inference rules, size of formulae and permitted connectives in the Lambek calculus; fragments of the intuitionistic non-commutative linear logic with direction-sensitive implication connectives. Our identification of the Lambek calculus fragments with proof complexity REG and LCFL is the first result of its kind. We further show the CFL complexity of one of the strictly `weakest' possible variants of the logic, admitting only a single inference rule. The proof thereof, moreover, is based on a direct translation between type-logical and formal grammar and structural induction on provable sequents; a simpler and more intuitive method than those employed in prior works. We thereby establish a clear conceptual utility of the Cut-elimination theorem for comparing formal grammar and sequent calculus, and identify the exact analogue of the Greibach Normal Form in Lambek grammar. We believe the result presented herein constitutes a first step toward a more extensive and richer characterisation of the interaction between computation and logic, as well as a finer-grained complexity separation of various sequent calculi.
Evolving Graph Learning for Out-of-Distribution Generalization in Non-stationary Environments
Venue: arXiv cs.LG 2025
Year: 2025

Graph neural networks have shown remarkable success in exploiting the spatial and temporal patterns on dynamic graphs. However, existing GNNs exhibit poor generalization ability under distribution shifts, which is inevitable in dynamic scenarios. As dynamic graph generation progresses amid evolving latent non-stationary environments, it is imperative to explore their effects on out-of-distribution (OOD) generalization. This paper proposes a novel Evolving Graph Learning framework for OOD generalization (EvoOOD) by environment-aware invariant pattern recognition. Specifically, we first design an environment sequential variational auto-encoder to model environment evolution and infer the underlying environment distribution. Then, we introduce a mechanism for environment-aware invariant pattern recognition, tailored to address environmental diversification through inferred distributions. Finally, we conduct fine-grained causal interventions on individual nodes using a mixture of instantiated environment samples. This approach helps to distinguish spatio-temporal invariant patterns for OOD prediction, especially in non-stationary environments. Experimental results demonstrate the superiority of EvoGOOD on both real-world and synthetic dynamic datasets under distribution shifts. To the best of our knowledge, it is the first attempt to study the dynamic graph OOD generalization problem from the environment evolution perspective.
LiveSecBench: A Dynamic and Event-Driven Safety Benchmark for Chinese Language Model Applications
Venue: arXiv cs.CL 2025
Year: 2025

We introduce LiveSecBench, a continuously updated safety benchmark specifically for Chinese-language LLM application scenarios. LiveSecBench constructs a high-quality and unique dataset through a pipeline that combines automated generation with human verification. By periodically releasing new versions to expand the dataset and update evaluation metrics, LiveSecBench provides a robust and up-to-date standard for AI safety. In this report, we introduce our second release v251215, which evaluates across five dimensions (Public Safety, Fairness & Bias, Privacy, Truthfulness, and Mental Health Safety.) We evaluate 57 representative LLMs using an ELO rating system, offering a leaderboard of the current state of Chinese LLM safety. The result is available at https://livesecbench.intokentech.cn/.
Optimizing Multi-UAV 3D Deployment for Energy-Efficient Sensing over Uneven Terrains
Venue: arXiv cs.NI 2025
Year: 2025

In this work, we consider a multi-unmanned aerial vehicle (UAV) cooperative sensing system where UAVs are deployed to sense multiple targets in terrain-aware line of sight (LoS) conditions in uneven terrain equipped with directional antennas. To mitigate terrain-induced LoS blockages that degrade detection performance, we incorporate a binary LoS indicator and propose a bounding volume hierarchy (BHV)-based adaptive scheme for efficient LoS evaluation. We formulate a bi-objective problem that maximizes the probability of cooperative detection with minimal hover energy constraints governing spatial, orientational, and safety constraints. To address the problem, which is inherently non-convex, we propose a hierarchical heuristic framework that combines exploration through a genetic algorithm (GA) with per-UAV refinement via particle swarm optimization (PSO), where a penalty-based fitness evaluation guides solutions toward feasibility, bounded within constraints. The proposed methodology is an effective trade-off method of traversing through a complex search space and maintaining terrain-aware LoS connectivity and energy aware deployment. Monte Carlo simulations on real-world terrain data show that the proposed GA+PSO framework improves detection probability by 37.02% and 36.5% for 2 and 3 UAVs, respectively, while reducing average excess hover energy by 45.0% and 48.9% compared to the PSO-only baseline. Relative to the non-optimized scheme, it further achieves 59.5% and 54.2% higher detection probability with 59.8% and 65.9% lower excess hover energy, thereby showing its effectiveness with a small number of UAVs over uneven terrain.
LUMA-RAG: Lifelong Multimodal Agents with Provably Stable Streaming Alignment
Venue: arXiv cs.LG 2025
Year: 2025

Retrieval-Augmented Generation (RAG) has emerged as the dominant paradigm for grounding large language model outputs in verifiable evidence. However, as modern AI agents transition from static knowledge bases to continuous multimodal streams encompassing text, images, video, and audio, two critical challenges arise: maintaining index freshness without prohibitive re-indexing costs, and preserving cross-modal semantic consistency across heterogeneous embedding spaces. We present LUMA-RAG, a lifelong multimodal agent architecture featuring three key innovations: (i) a streaming, multi-tier memory system that dynamically spills embeddings from a hot HNSW tier to a compressed IVFPQ tier under strict memory budgets; (ii) a streaming CLAP->CLIP alignment bridge that maintains cross-modal consistency through incremental orthogonal Procrustes updates; and (iii) stability-aware retrieval telemetry providing Safe@k guarantees by jointly bounding alignment drift and quantization error. Experiments demonstrate robust text-to-image retrieval (Recall@10 = 0.94), graceful performance degradation under product quantization offloading, and provably stable audio-to-image rankings (Safe@1 = 1.0), establishing LUMA-RAG as a practical framework for production multimodal RAG systems.
Revisiting put-that-there, context aware window interactions via LLMs
Venue: arXiv cs.HC 2025
Year: 2025

We revisit Bolt's classic "Put-That-There" concept for modern head-mounted displays by pairing Large Language Models (LLMs) with XR sensor and tech stack. The agent fuses (i) a semantically segmented 3-D environment, (ii) live application metadata, and (iii) users' verbal, pointing, and head-gaze cues to issue JSON window-placement actions. As a result, users can manage a panoramic workspace through: (1) explicit commands ("Place Google Maps on the coffee table"), (2) deictic speech plus gestures ("Put that there"), or (3) high-level goals ("I need to send a message"). Unlike traditional explicit interfaces, our system supports one-to-many action mappings and goal-centric reasoning, allowing the LLM to dynamically infer relevant applications and layout decisions, including interrelationships across tools. This enables seamless, intent-driven interaction without manual window juggling in immersive XR environments.
EvoDev: An Iterative Feature-Driven Framework for End-to-End Software Development with LLM-based Agents
Venue: arXiv cs.SE 2025
Year: 2025

Recent advances in large language model agents offer the promise of automating end-to-end software development from natural language requirements. However, existing approaches largely adopt linear, waterfall-style pipelines, which oversimplify the iterative nature of real-world development and struggle with complex, large-scale projects. To address these limitations, we propose EvoDev, an iterative software development framework inspired by feature-driven development. EvoDev decomposes user requirements into a set of user-valued features and constructs a Feature Map, a directed acyclic graph that explicitly models dependencies between features. Each node in the feature map maintains multi-level information, including business logic, design, and code, which is propagated along dependencies to provide context for subsequent development iterations. We evaluate EvoDev on challenging Android development tasks and show that it outperforms the best-performing baseline, Claude Code, by a substantial margin of 56.8%, while improving single-agent performance by 16.0%-76.6% across different base LLMs, highlighting the importance of dependency modeling, context propagation, and workflow-aware agent design for complex software projects. Our work summarizes practical insights for designing iterative, LLM-driven development frameworks and informs future training of base LLMs to better support iterative software development.
Purrturbed but Stable: Human-Cat Invariant Representations Across CNNs, ViTs and Self-Supervised ViTs
Venue: arXiv cs.CV 2025
Year: 2025

Cats and humans differ in ocular anatomy. Most notably, Felis Catus (domestic cats) have vertically elongated pupils linked to ambush predation; yet, how such specializations manifest in downstream visual representations remains incompletely understood. We present a unified, frozen-encoder benchmark that quantifies feline-human cross-species representational alignment in the wild, across convolutional networks, supervised Vision Transformers, windowed transformers, and self-supervised ViTs (DINO), using layer-wise Centered Kernel Alignment (linear and RBF) and Representational Similarity Analysis, with additional distributional and stability tests reported in the paper. Across models, DINO ViT-B/16 attains the most substantial alignment (mean CKA-RBF $\approx0.814$, mean CKA-linear $\approx0.745$, mean RSA $\approx0.698$), peaking at early blocks, indicating that token-level self-supervision induces early-stage features that bridge species-specific statistics. Supervised ViTs are competitive on CKA yet show weaker geometric correspondence than DINO (e.g., ViT-B/16 RSA $\approx0.53$ at block8; ViT-L/16 $\approx0.47$ at block14), revealing depth-dependent divergences between similarity and representational geometry. CNNs remain strong baselines but below plain ViTs on alignment, and windowed transformers underperform plain ViTs, implicating architectural inductive biases in cross-species alignment. Results indicate that self-supervision coupled with ViT inductive biases yields representational geometries that more closely align feline and human visual systems than widely used CNNs and windowed Transformers, providing testable neuroscientific hypotheses about where and how cross-species visual computations converge. We release our code and dataset for reference and reproducibility.
Improving Unlearning with Model Updates Probably Aligned with Gradients
Venue: arXiv cs.LG 2025
Year: 2025

We formulate the machine unlearning problem as a general constrained optimization problem. It unifies the first-order methods from the approximate machine unlearning literature. This paper then introduces the concept of feasible updates as the model's parameter update directions that help with unlearning while not degrading the utility of the initial model. Our design of feasible updates is based on masking, \ie\ a careful selection of the model's parameters worth updating. It also takes into account the estimation noise of the gradients when processing each batch of data to offer a statistical guarantee to derive locally feasible updates. The technique can be plugged in, as an add-on, to any first-order approximate unlearning methods. Experiments with computer vision classifiers validate this approach.
Improving DF-Conformer Using Hydra For High-Fidelity Generative Speech Enhancement on Discrete Codec Token
Venue: arXiv cs.SD 2025
Year: 2025

The Dilated FAVOR Conformer (DF-Conformer) is an efficient variant of the Conformer architecture designed for speech enhancement (SE). It employs fast attention through positive orthogonal random features (FAVOR+) to mitigate the quadratic complexity associated with self-attention, while utilizing dilated convolution to expand the receptive field. This combination results in impressive performance across various SE models. In this paper, we propose replacing FAVOR+ with bidirectional selective structured state-space sequence models to achieve two main objectives:(1) enhancing global sequential modeling by eliminating the approximations inherent in FAVOR+, and (2) maintaining linear complexity relative to the sequence length. Specifically, we utilize Hydra, a bidirectional extension of Mamba, framed within the structured matrix mixer framework. Experiments conducted using a generative SE model on discrete codec tokens, known as Genhancer, demonstrate that the proposed method surpasses the performance of the DF-Conformer.
HAGI++: Head-Assisted Gaze Imputation and Generation
Venue: arXiv cs.HC 2025
Year: 2025

Mobile eye tracking plays a vital role in capturing human visual attention across both real-world and extended reality (XR) environments, making it an essential tool for applications ranging from behavioural research to human-computer interaction. However, missing values due to blinks, pupil detection errors, or illumination changes pose significant challenges for further gaze data analysis. To address this challenge, we introduce HAGI++ - a multi-modal diffusion-based approach for gaze data imputation that, for the first time, uses the integrated head orientation sensors to exploit the inherent correlation between head and eye movements. HAGI++ employs a transformer-based diffusion model to learn cross-modal dependencies between eye and head representations and can be readily extended to incorporate additional body movements. Extensive evaluations on the large-scale Nymeria, Ego-Exo4D, and HOT3D datasets demonstrate that HAGI++ consistently outperforms conventional interpolation methods and deep learning-based time-series imputation baselines in gaze imputation. Furthermore, statistical analyses confirm that HAGI++ produces gaze velocity distributions that closely match actual human gaze behaviour, ensuring more realistic gaze imputations. Moreover, by incorporating wrist motion captured from commercial wearable devices, HAGI++ surpasses prior methods that rely on full-body motion capture in the extreme case of 100% missing gaze data (pure gaze generation). Our method paves the way for more complete and accurate eye gaze recordings in real-world settings and has significant potential for enhancing gaze-based analysis and interaction across various application domains.
DetectiumFire: A Comprehensive Multi-modal Dataset Bridging Vision and Language for Fire Understanding
Venue: arXiv cs.CV 2025
Year: 2025

Recent advances in multi-modal models have demonstrated strong performance in tasks such as image generation and reasoning. However, applying these models to the fire domain remains challenging due to the lack of publicly available datasets with high-quality fire domain annotations. To address this gap, we introduce DetectiumFire, a large-scale, multi-modal dataset comprising of 22.5k high-resolution fire-related images and 2.5k real-world fire-related videos covering a wide range of fire types, environments, and risk levels. The data are annotated with both traditional computer vision labels (e.g., bounding boxes) and detailed textual prompts describing the scene, enabling applications such as synthetic data generation and fire risk reasoning. DetectiumFire offers clear advantages over existing benchmarks in scale, diversity, and data quality, significantly reducing redundancy and enhancing coverage of real-world scenarios. We validate the utility of DetectiumFire across multiple tasks, including object detection, diffusion-based image generation, and vision-language reasoning. Our results highlight the potential of this dataset to advance fire-related research and support the development of intelligent safety systems. We release DetectiumFire to promote broader exploration of fire understanding in the AI community. The dataset is available at https://kaggle.com/datasets/38b79c344bdfc55d1eed3d22fbaa9c31fad45e27edbbe9e3c529d6e5c4f93890