OpenRaiser/Intern-Atlas huggingface dataset:
Communication-Efficient Distributed On-Device LLM Inference Over Wireless Networks
Venue: arXiv cs.DC 2025
Year: 2025

Large language models (LLMs) have demonstrated remarkable success across various application domains, but their enormous sizes and computational demands pose significant challenges for deployment on resource-constrained edge devices. To address this issue, we propose a novel distributed on-device LLM inference framework that leverages tensor parallelism to partition the neural network tensors (e.g., weight matrices) of one LLM across multiple edge devices for collaborative inference. A key challenge in tensor parallelism is the frequent all-reduce operations for aggregating intermediate layer outputs across participating devices, which incurs significant communication overhead. To alleviate this bottleneck, we propose an over-the-air computation (AirComp) approach that harnesses the analog superposition property of wireless multiple-access channels to perform fast all-reduce steps. To utilize the heterogeneous computational capabilities of edge devices and mitigate communication distortions, we investigate a joint model assignment and transceiver optimization problem to minimize the average transmission error. The resulting mixed-timescale stochastic non-convex optimization problem is intractable, and we propose an efficient two-stage algorithm to solve it. Moreover, we prove that the proposed algorithm converges almost surely to a stationary point of the original problem. Comprehensive simulation results will show that the proposed framework outperforms existing benchmark schemes, achieving up to 5x inference speed acceleration and improving inference accuracy.
Deep Polycuboid Fitting for Compact 3D Representation of Indoor Scenes
Venue: arXiv cs.CV 2025
Year: 2025

This paper presents a novel framework for compactly representing a 3D indoor scene using a set of polycuboids through a deep learning-based fitting method. Indoor scenes mainly consist of man-made objects, such as furniture, which often exhibit rectilinear geometry. This property allows indoor scenes to be represented using combinations of polycuboids, providing a compact representation that benefits downstream applications like furniture rearrangement. Our framework takes a noisy point cloud as input and first detects six types of cuboid faces using a transformer network. Then, a graph neural network is used to validate the spatial relationships of the detected faces to form potential polycuboids. Finally, each polycuboid instance is reconstructed by forming a set of boxes based on the aggregated face labels. To train our networks, we introduce a synthetic dataset encompassing a diverse range of cuboid and polycuboid shapes that reflect the characteristics of indoor scenes. Our framework generalizes well to real-world indoor scene datasets, including Replica, ScanNet, and scenes captured with an iPhone. The versatility of our method is demonstrated through practical applications, such as virtual room tours and scene editing.
UTFix: Change Aware Unit Test Repairing using LLM
Venue: arXiv cs.SE 2025
Year: 2025

Software updates, including bug repair and feature additions, are frequent in modern applications but they often leave test suites outdated, resulting in undetected bugs and increased chances of system failures. A recent study by Meta revealed that 14%-22% of software failures stem from outdated tests that fail to reflect changes in the codebase. This highlights the need to keep tests in sync with code changes to ensure software reliability. In this paper, we present UTFix, a novel approach for repairing unit tests when their corresponding focal methods undergo changes. UTFix addresses two critical issues: assertion failure and reduced code coverage caused by changes in the focal method. Our approach leverages language models to repair unit tests by providing contextual information such as static code slices, dynamic code slices, and failure messages. We evaluate UTFix on our generated synthetic benchmarks (Tool-Bench), and real-world benchmarks. Tool- Bench includes diverse changes from popular open-source Python GitHub projects, where UTFix successfully repaired 89.2% of assertion failures and achieved 100% code coverage for 96 tests out of 369 tests. On the real-world benchmarks, UTFix repairs 60% of assertion failures while achieving 100% code coverage for 19 out of 30 unit tests. To the best of our knowledge, this is the first comprehensive study focused on unit test in evolving Python projects. Our contributions include the development of UTFix, the creation of Tool-Bench and real-world benchmarks, and the demonstration of the effectiveness of LLM-based methods in addressing unit test failures due to software evolution.
Semi-Gradient SARSA Routing with Theoretical Guarantee on Traffic Stability and Weight Convergence
Venue: arXiv cs.LG 2025
Year: 2025

We consider the traffic control problem of dynamic routing over parallel servers, which arises in a variety of engineering systems such as transportation and data transmission. We propose a semi-gradient, on-policy algorithm that learns an approximate optimal routing policy. The algorithm uses generic basis functions with flexible weights to approximate the value function across the unbounded state space. Consequently, the training process lacks Lipschitz continuity of the gradient, boundedness of the temporal-difference error, and a prior guarantee on ergodicity, which are the standard prerequisites in existing literature on reinforcement learning theory. To address this, we combine a Lyapunov approach and an ordinary differential equation-based method to jointly characterize the behavior of traffic state and approximation weights. Our theoretical analysis proves that the training scheme guarantees traffic state stability and ensures almost surely convergence of the weights to the approximate optimum. We also demonstrate via simulations that our algorithm attains significantly faster convergence than neural network-based methods with an insignificant approximation error.
Advancing a taxonomy for proxemics in robot social navigation
Venue: arXiv cs.RO 2025
Year: 2025

Deploying robots in human environments requires effective social robot navigation. This article focuses on proxemics, proposing a new taxonomy and suggesting future directions through an analysis of state-of-the-art studies and the identification of research gaps. The various factors that affect the dynamic properties of proxemics patterns in human-robot interaction are thoroughly explored. To establish a coherent proxemics framework, we identified and organized the key parameters and attributes that shape proxemics behavior. Building on this framework, we introduce a novel approach to define proxemics in robot navigation, emphasizing the significant attributes that influence its structure and size. This leads to the development of a new taxonomy that serves as a foundation for guiding future research and development. Our findings underscore the complexity of defining personal distance, revealing it as a complex, multi-dimensional challenge. Furthermore, we highlight the flexible and dynamic nature of personal zone boundaries, which should be adaptable to different contexts and circumstances. Additionally, we propose a new layer for implementing proxemics in the navigation of social robots.
ChatStitch: Visualizing Through Structures via Surround-View Unsupervised Deep Image Stitching with Collaborative LLM-Agents
Venue: arXiv cs.CV 2025
Year: 2025

Surround-view perception has garnered significant attention for its ability to enhance the perception capabilities of autonomous driving vehicles through the exchange of information with surrounding cameras. However, existing surround-view perception systems are limited by inefficiencies in unidirectional interaction pattern with human and distortions in overlapping regions exponentially propagating into non-overlapping areas. To address these challenges, this paper introduces ChatStitch, a surround-view human-machine co-perception system capable of unveiling obscured blind spot information through natural language commands integrated with external digital assets. To dismantle the unidirectional interaction bottleneck, ChatStitch implements a cognitively grounded closed-loop interaction multi-agent framework based on Large Language Models. To suppress distortion propagation across overlapping boundaries, ChatStitch proposes SV-UDIS, a surround-view unsupervised deep image stitching method under the non-global-overlapping condition. We conducted extensive experiments on the UDIS-D, MCOV-SLAM open datasets, and our real-world dataset. Specifically, our SV-UDIS method achieves state-of-the-art performance on the UDIS-D dataset for 3, 4, and 5 image stitching tasks, with PSNR improvements of 9\%, 17\%, and 21\%, and SSIM improvements of 8\%, 18\%, and 26\%, respectively.
Depth-Aware Range Image-Based Model for Point Cloud Segmentation
Venue: arXiv cs.CV 2025
Year: 2025

Point cloud segmentation (PCS) aims to separate points into different and meaningful groups. The task plays an important role in robotics because PCS enables robots to understand their physical environments directly. To process sparse and large-scale outdoor point clouds in real time, range image-based models are commonly adopted. However, in a range image, the lack of explicit depth information inevitably causes some separate objects in 3D space to touch each other, bringing difficulty for the range image-based models in correctly segmenting the objects. Moreover, previous PCS models are usually derived from the existing color image-based models and unable to make full use of the implicit but ordered depth information inherent in the range image, thereby achieving inferior performance. In this paper, we propose Depth-Aware Module (DAM) and Fast FMVNet V3. DAM perceives the ordered depth information in the range image by explicitly modelling the interdependence among channels. Fast FMVNet V3 incorporates DAM by integrating it into the last block in each architecture stage. Extensive experiments conducted on SemanticKITTI, nuScenes, and SemanticPOSS demonstrate that DAM brings a significant improvement for Fast FMVNet V3 with negligible computational cost.
Lost in Translation: How Does Bilingualism Shape Reader Preferences for Annotated Charts?
Venue: arXiv cs.HC 2025
Year: 2025

Visualizations are powerful tools for conveying information but often rely on accompanying text for essential context and guidance. This study investigates the impact of annotation patterns on reader preferences and comprehension accuracy among multilingual populations, addressing a gap in visualization research. We conducted experiments with two groups fluent in English and either Tamil (n = 557) or Arabic (n = 539) across six visualization types, each varying in annotation volume and semantic content. Full-text annotations yielded the highest comprehension accuracy across all languages, while preferences diverged: English readers favored highly annotated charts, whereas Tamil/Arabic readers preferred full-text or minimally annotated versions. Semantic variations in annotations (L1-L4) did not significantly affect comprehension, demonstrating the robustness of text comprehension across languages. English annotations were generally preferred, with a tendency to think technically in English linked to greater aversion to non-English annotations, though this diminished among participants who regularly switched languages internally. Non-English annotations incorporating visual or external knowledge were less favored, particularly in titles. Our findings highlight cultural and educational factors influencing perceptions of visual information, underscoring the need for inclusive annotation practices for diverse linguistic audiences. All data and materials are available at: https://osf.io/ckdb4/.
Application of linear regression and quasi-Newton methods to the deep reinforcement learning in continuous action cases
Venue: arXiv cs.LG 2025
Year: 2025

The linear regression (LR) method offers the advantage that optimal parameters can be calculated relatively easily, although its representation capability is limited than that of the deep learning technique. To improve deep reinforcement learning, the Least Squares Deep Q Network (LS-DQN) method was proposed by Levine et al., which combines Deep Q Network (DQN) with LR method. However, the LS-DQN method assumes that the actions are discrete. In this study, we propose the Double Least Squares Deep Deterministic Policy Gradient (DLS-DDPG) method to address this limitation. This method combines the LR method with the Deep Deterministic Policy Gradient (DDPG) technique, one of the representative deep reinforcement learning algorithms for continuous action cases. For the LR update of the critic network, DLS-DDPG uses an algorithm similar to the Fitted Q iteration, the method which LS-DQN adopted. In addition, we calculated the optimal action using the quasi-Newton method and used it as both the agent's action and the training data for the LR update of the actor network. Numerical experiments conducted in MuJoCo environments showed that the proposed method improved performance at least in some tasks, although there are difficulties such as the inability to make the regularization terms small.
Embedding spatial context in urban traffic forecasting with contrastive pre-training
Venue: arXiv cs.LG 2025
Year: 2025

Urban traffic forecasting is a commonly encountered problem, with wide-ranging applications in fields such as urban planning, civil engineering and transport. In this paper, we study the enhancement of traffic forecasting with pre-training, focusing on spatio-temporal graph methods. While various machine learning methods to solve traffic forecasting problems have been explored and extensively studied, there is a gap of a more contextual approach: studying how relevant non-traffic data can improve prediction performance on traffic forecasting problems. We call this data spatial context. We introduce a novel method of combining road and traffic information through the notion of a traffic quotient graph, a quotient graph formed from road geometry and traffic sensors. We also define a way to encode this relationship in the form of a geometric encoder, pre-trained using contrastive learning methods and enhanced with OpenStreetMap data. We introduce and discuss ways to integrate this geometric encoder with existing graph neural network (GNN)-based traffic forecasting models, using a contrastive pre-training paradigm. We demonstrate the potential for this hybrid model to improve generalisation and performance with zero additional traffic data. Code for this paper is available at https://github.com/mattchrlw/forecasting-on-new-roads.
Right Answer, Wrong Score: Uncovering the Inconsistencies of LLM Evaluation in Multiple-Choice Question Answering
Venue: arXiv cs.CL 2025
Year: 2025

One of the most widely used tasks for evaluating Large Language Models (LLMs) is Multiple-Choice Question Answering (MCQA). While open-ended question answering tasks are more challenging to evaluate, MCQA tasks are, in principle, easier to assess, as the model's answer is thought to be simple to extract and is compared directly to a set of predefined choices. However, recent studies have started to question the reliability of MCQA evaluation, showing that multiple factors can significantly impact the reported performance of LLMs, especially when the model generates free-form text before selecting one of the answer choices. In this work, we shed light on the inconsistencies of MCQA evaluation strategies, which can lead to inaccurate and misleading model comparisons. We systematically analyze whether existing answer extraction methods are aligned with human judgment, and how they are influenced by answer constraints in the prompt across different domains. Our experiments demonstrate that traditional evaluation strategies often underestimate LLM capabilities, while LLM-based answer extractors are prone to systematic errors. Moreover, we reveal a fundamental trade-off between including format constraints in the prompt to simplify answer extraction and allowing models to generate free-form text to improve reasoning. Our findings call for standardized evaluation methodologies and highlight the need for more reliable and consistent MCQA evaluation practices.
Bridging the Gap: Fusing CNNs and Transformers to Decode the Elegance of Handwritten Arabic Script
Venue: arXiv cs.CV 2025
Year: 2025

Handwritten Arabic script recognition is a challenging task due to the script's dynamic letter forms and contextual variations. This paper proposes a hybrid approach combining convolutional neural networks (CNNs) and Transformer-based architectures to address these complexities. We evaluated custom and fine-tuned models, including EfficientNet-B7 and Vision Transformer (ViT-B16), and introduced an ensemble model that leverages confidence-based fusion to integrate their strengths. Our ensemble achieves remarkable performance on the IFN/ENIT dataset, with 96.38% accuracy for letter classification and 97.22% for positional classification. The results highlight the complementary nature of CNNs and Transformers, demonstrating their combined potential for robust Arabic handwriting recognition. This work advances OCR systems, offering a scalable solution for real-world applications.
HAD-Gen: Human-like and Diverse Driving Behavior Modeling for Controllable Scenario Generation
Venue: arXiv cs.RO 2025
Year: 2025

Simulation-based testing has emerged as an essential tool for verifying and validating autonomous vehicles (AVs). However, contemporary methodologies, such as deterministic and imitation learning-based driver models, struggle to capture the variability of human-like driving behavior. Given these challenges, we propose HAD-Gen, a general framework for realistic traffic scenario generation that simulates diverse human-like driving behaviors. The framework first clusters the vehicle trajectory data into different driving styles according to safety features. It then employs maximum entropy inverse reinforcement learning on each of the clusters to learn the reward function corresponding to each driving style. Using these reward functions, the method integrates offline reinforcement learning pre-training and multi-agent reinforcement learning algorithms to obtain general and robust driving policies. Multi-perspective simulation results show that our proposed scenario generation framework can simulate diverse, human-like driving behaviors with strong generalization capability. The proposed framework achieves a 90.96% goal-reaching rate, an off-road rate of 2.08%, and a collision rate of 6.91% in the generalization test, outperforming prior approaches by over 20% in goal-reaching performance. The source code is released at https://github.com/RoboSafe-Lab/Sim4AD.
Single-Step Bidirectional Unpaired Image Translation Using Implicit Bridge Consistency Distillation
Venue: arXiv cs.CV 2025
Year: 2025

Unpaired image-to-image translation has seen significant progress since the introduction of CycleGAN. However, methods based on diffusion models or Schrödinger bridges have yet to be widely adopted in real-world applications due to their iterative sampling nature. To address this challenge, we propose a novel framework, Implicit Bridge Consistency Distillation (IBCD), which enables single-step bidirectional unpaired translation without using adversarial loss. IBCD extends consistency distillation by using a diffusion implicit bridge model that connects PF-ODE trajectories between distributions. Additionally, we introduce two key improvements: 1) distribution matching for consistency distillation and 2) adaptive weighting method based on distillation difficulty. Experimental results demonstrate that IBCD achieves state-of-the-art performance on benchmark datasets in a single generation step. Project page available at https://hyn2028.github.io/project_page/IBCD/index.html
PointSFDA: Source-free Domain Adaptation for Point Cloud Completion
Venue: arXiv cs.CV 2025
Year: 2025

Conventional methods for point cloud completion, typically trained on synthetic datasets, face significant challenges when applied to out-of-distribution real-world scans. In this paper, we propose an effective yet simple source-free domain adaptation framework for point cloud completion, termed \textbf{PointSFDA}. Unlike unsupervised domain adaptation that reduces the domain gap by directly leveraging labeled source data, PointSFDA uses only a pretrained source model and unlabeled target data for adaptation, avoiding the need for inaccessible source data in practical scenarios. Being the first source-free domain adaptation architecture for point cloud completion, our method offers two core contributions. First, we introduce a coarse-to-fine distillation solution to explicitly transfer the global geometry knowledge learned from the source dataset. Second, as noise may be introduced due to domain gaps, we propose a self-supervised partial-mask consistency training strategy to learn local geometry information in the target domain. Extensive experiments have validated that our method significantly improves the performance of state-of-the-art networks in cross-domain shape completion. Our code is available at \emph{\textcolor{magenta}{https://github.com/Starak-x/PointSFDA}}.
Volumetric Reconstruction From Partial Views for Task-Oriented Grasping
Venue: arXiv cs.RO 2025
Year: 2025

Object affordance and volumetric information are essential in devising effective grasping strategies under task-specific constraints. This paper presents an approach for inferring suitable grasping strategies from limited partial views of an object. To achieve this, a recurrent generative adversarial network (R-GAN) was proposed by incorporating a recurrent generator with long short-term memory (LSTM) units for it to process a variable number of depth scans. To determine object affordances, the AffordPose knowledge dataset is utilized as prior knowledge. Affordance retrieving is defined by the volume similarity measured via Chamfer Distance and action similarities. A Proximal Policy Optimization (PPO) reinforcement learning model is further implemented to refine the retrieved grasp strategies for task-oriented grasping. The retrieved grasp strategies were evaluated on a dual-arm mobile manipulation robot with an overall grasping accuracy of 89% for four tasks: lift, handle grasp, wrap grasp, and press.
A Coupled Friedkin-Johnsen Model of Popularity Dynamics in Social Media
Venue: arXiv cs.SI 2025
Year: 2025

Popularity dynamics in social media depend on a complex interplay of social influence between users and popularity-based recommendations that are provided by the platforms. In this work, we introduce a discrete-time dynamical system to model the evolution of popularity on social media. Our model generalizes the well-known Friedkin-Johnsen model to a set of influencers vying for popularity. We study the asymptotic behavior of this model and illustrate it with numerical examples. Our results highlight the interplay of social influence, past popularity, and content quality in determining the popularity of influencers.