OpenRaiser/Intern-Atlas huggingface dataset:
ARCH: Hierarchical Hybrid Learning for Long-Horizon Contact-Rich Robotic Assembly
Venue: arXiv cs.RO 2025
Year: 2025

Generalizable long-horizon robotic assembly requires reasoning at multiple levels of abstraction. While end-to-end imitation learning (IL) is a promising approach, it typically requires large amounts of expert demonstration data and often struggles to achieve the high precision demanded by assembly tasks. Reinforcement learning (RL) approaches, on the other hand, have shown some success in high-precision assembly, but suffer from sample inefficiency, which limits their effectiveness in long-horizon tasks. To address these challenges, we propose a hierarchical modular approach, named Adaptive Robotic Compositional Hierarchy (ARCH), which enables long-horizon, high-precision robotic assembly in contact-rich settings. ARCH employs a hierarchical planning framework, including a low-level primitive library of parameterized skills and a high-level policy. The low-level primitive library includes essential skills for assembly tasks, such as grasping and inserting. These primitives consist of both RL and model-based policies. The high-level policy, learned via IL from a handful of demonstrations, without the need for teleoperation, selects the appropriate primitive skills and instantiates them with input parameters. We extensively evaluate our approach in simulation and on a real robotic manipulation platform. We show that ARCH generalizes well to unseen objects and outperforms baseline methods in terms of success rate and data efficiency. More details are available at: https://long-horizon-assembly.github.io.
Demystifying Issues, Causes and Solutions in LLM Open-Source Projects
Venue: arXiv cs.SE 2025
Year: 2025

With the advancements of Large Language Models (LLMs), an increasing number of open-source software projects are using LLMs as their core functional component. Although research and practice on LLMs are capturing considerable interest, no dedicated studies explored the challenges faced by practitioners of LLM open-source projects, the causes of these challenges, and potential solutions. To fill this research gap, we conducted an empirical study to understand the issues that practitioners encounter when developing and using LLM open-source software, the possible causes of these issues, and potential solutions. We collected all closed issues from 15 LLM open-source projects and labelled issues that met our requirements. We then randomly selected 994 issues from the labelled issues as the sample for data extraction and analysis to understand the prevalent issues, their underlying causes, and potential solutions. Our study results show that (1) Model Issue is the most common issue faced by practitioners, (2) Model Problem, Configuration and Connection Problem, and Feature and Method Problem are identified as the most frequent causes of the issues, and (3) Optimize Model is the predominant solution to the issues. Based on the study results, we provide implications for practitioners and researchers of LLM open-source projects.
Dynamic-Width Speculative Beam Decoding for Efficient LLM Inference
Venue: arXiv cs.AI 2025
Year: 2025

Large language models (LLMs) have shown outstanding performance across numerous real-world tasks. However, the autoregressive nature of these models makes the inference process slow and costly. Speculative decoding has emerged as a promising solution, leveraging a smaller auxiliary model to draft future tokens, which are then validated simultaneously by the larger model, achieving a speed-up of 1-2x. Although speculative decoding matches the same distribution as multinomial sampling, multinomial sampling itself is prone to suboptimal outputs, whereas beam sampling is widely recognized for producing higher-quality results by maintaining multiple candidate sequences at each step. This paper explores the novel integration of speculative decoding with beam sampling. However, there are four key challenges: (1) how to generate multiple sequences from the larger model's distribution given drafts sequences from the small model; (2) how to dynamically optimize the number of beams to balance efficiency and accuracy; (3) how to efficiently verify the multiple drafts in parallel; and (4) how to address the extra memory costs inherent in beam sampling. To address these challenges, we propose dynamic-width speculative beam decoding (DSBD). Specifically, we first introduce a novel draft and verification scheme that generates multiple sequences following the large model's distribution based on beam sampling trajectories from the small model. Then, we introduce an adaptive mechanism to dynamically tune the number of beams based on the context, optimizing efficiency and effectiveness. Besides, we extend tree-based parallel verification to handle multiple trees simultaneously, accelerating the verification process. Finally, we illustrate a simple modification to our algorithm to mitigate the memory overhead of beam sampling...
Mitigating Covariate Shift in Imitation Learning for Autonomous Vehicles Using Latent Space Generative World Models
Venue: arXiv cs.RO 2025
Year: 2025

We propose the use of latent space generative world models to address the covariate shift problem in autonomous driving. A world model is a neural network capable of predicting an agent's next state given past states and actions. By leveraging a world model during training, the driving policy effectively mitigates covariate shift without requiring an excessive amount of training data. During end-to-end training, our policy learns how to recover from errors by aligning with states observed in human demonstrations, so that at runtime it can recover from perturbations outside the training distribution. Additionally, we introduce a novel transformer-based perception encoder that employs multi-view cross-attention and a learned scene query. We present qualitative and quantitative results, demonstrating significant improvements upon prior state of the art in closed-loop testing in the CARLA simulator, as well as showing the ability to handle perturbations in both CARLA and NVIDIA's DRIVE Sim.
A Survey of Low-bit Large Language Models: Basics, Systems, and Algorithms
Venue: arXiv cs.AI 2025
Year: 2025

Large language models (LLMs) have achieved remarkable advancements in natural language processing, showcasing exceptional performance across various tasks. However, the expensive memory and computational requirements present significant challenges for their practical deployment. Low-bit quantization has emerged as a critical approach to mitigate these challenges by reducing the bit-width of model parameters, activations, and gradients, thus decreasing memory usage and computational demands. This paper presents a comprehensive survey of low-bit quantization methods tailored for LLMs, covering the fundamental principles, system implementations, and algorithmic strategies. An overview of basic concepts and new data formats specific to low-bit LLMs is first introduced, followed by a review of frameworks and systems that facilitate low-bit LLMs across various hardware platforms. Then, we categorize and analyze techniques and toolkits for efficient low-bit training and inference of LLMs. Finally, we conclude with a discussion of future trends and potential advancements of low-bit LLMs. Our systematic overview from basic, system, and algorithm perspectives can offer valuable insights and guidelines for future works to enhance the efficiency and applicability of LLMs through low-bit quantization.
Stochastic Modelling of Elasticity Tensor Fields
Venue: arXiv cs.CE 2025
Year: 2025

We present a novel framework for the probabilistic modelling of random fourth order material tensor fields, with a focus on tensors that are physically symmetric and positive definite (SPD), of which the elasticity tensor is a prime example. Given the critical role that spatial symmetries and invariances play in determining material behaviour, it is essential to incorporate these aspects into the probabilistic description and modelling of material properties. In particular, we focus on spatial point symmetries or invariances under rotations, a classical subject in elasticity. Following this, we formulate a stochastic modelling framework using a Lie algebra representation via a memoryless transformation that respects the requirements of positive definiteness and invariance. With this, it is shown how to generate a random ensemble of elasticity tensors that allows an independent control of strength, eigenstrain, and orientation. The procedure also accommodates the requirement to prescribe specific spatial symmetries and invariances for each member of the whole ensemble, while ensuring that the mean or expected value of the ensemble conforms to a potentially 'higher' class of spatial invariance. Furthermore, it is important to highlight that the set of SPD tensors forms a differentiable manifold, which geometrically corresponds to an open cone within the ambient space of symmetric tensors. Thus, we explore the mathematical structure of the underlying sample space of such tensors, and introduce a new distance measure or metric, called the 'elasticity metric', between the tensors. Finally, we model and visualize a one-dimensional spatial field of orthotropic Kelvin matrices using interpolation based on the elasticity metric.
Automated Unit Test Refactoring
Venue: arXiv cs.SE 2025
Year: 2025

Test smells arise from poor design practices and insufficient domain knowledge, which can lower the quality of test code and make it harder to maintain and update. Manually refactoring test smells is time-consuming and error-prone, highlighting the necessity for automated approaches. Current rule-based refactoring methods often struggle in scenarios not covered by predefined rules and lack the flexibility needed to handle diverse cases effectively. In this paper, we propose a novel approach called UTRefactor, a context-enhanced, LLM-based framework for automatic test refactoring in Java projects. UTRefactor extracts relevant context from test code and leverages an external knowledge base that includes test smell definitions, descriptions, and DSL-based refactoring rules. By simulating the manual refactoring process through a chain-of-thought approach, UTRefactor guides the LLM to eliminate test smells in a step-by-step process, ensuring both accuracy and consistency throughout the refactoring. Additionally, we implement a checkpoint mechanism to facilitate comprehensive refactoring, particularly when multiple smells are present. We evaluate UTRefactor on 879 tests from six open-source Java projects, reducing the number of test smells from 2,375 to 265, achieving an 89% reduction. UTRefactor outperforms direct LLM-based refactoring methods by 61.82% in smell elimination and significantly surpasses the performance of a rule-based test smell refactoring tool. Our results demonstrate the effectiveness of UTRefactor in enhancing test code quality while minimizing manual involvement.
E-SQL: Direct Schema Linking via Question Enrichment in Text-to-SQL
Venue: arXiv cs.CL 2025
Year: 2025

Translating Natural Language Queries into Structured Query Language (Text-to-SQL or NLQ-to-SQL) is a critical task extensively studied by both the natural language processing and database communities, aimed at providing a natural language interface to databases (NLIDB) and lowering the barrier for non-experts. Despite recent advancements made through the use of Large Language Models (LLMs), significant challenges remain. These include handling complex database schemas, resolving ambiguity in user queries, and generating SQL queries with intricate structures that accurately reflect the user's intent. In this work, we introduce E-SQL, a novel pipeline specifically designed to address these challenges through direct schema linking and candidate predicate augmentation. E-SQL enhances the natural language query by incorporating relevant database items (i.e., tables, columns, and values) and conditions directly into the question and SQL construction plan, bridging the gap between the query and the database structure. The pipeline leverages candidate predicate augmentation to mitigate erroneous or incomplete predicates in generated SQLs. Comprehensive evaluations on the BIRD benchmark illustrate that E-SQL achieves competitive performance, particularly excelling in complex queries with a 66.29% execution accuracy on the test set. A further observation from our experiments reveals that incorporating schema filtering into the translation pipeline does not have a positive impact on performance when the most advanced proprietary LLMs are used. Additionally, our experiments with small LLMs highlight the importance and positive impact of enriched questions on their performance. Without fine-tuning, single-prompt SQL generation using enriched questions with DeepSeek Coder 7B Instruct 1.5v achieves 56.45% execution accuracy on the BIRD development set.
Perfect Hermitian rank-metric codes
Venue: arXiv cs.IT 2025
Year: 2025

This study investigates Hermitian rank-metric codes, a special class of rank-metric codes, focusing on perfect codes and on the analysis of their covering properties. Firstly, we establish bounds on the size of spheres in the space of Hermitian matrices and, as a consequence, we show that non-trivial perfect codes do not exist in the Hermitian case. We conclude the paper by examining their covering density.
An Adaptive Re-evaluation Method for Evolution Strategy under Additive Noise
Venue: arXiv cs.NE 2025
Year: 2025

The Covariance Matrix Adaptation Evolutionary Strategy (CMA-ES) is one of the most advanced algorithms in numerical black-box optimization. For noisy objective functions, several approaches were proposed to mitigate the noise, e.g., re-evaluations of the same solution or adapting the population size. In this paper, we devise a novel method to adaptively choose the optimal re-evaluation number for function values corrupted by additive Gaussian white noise. We derive a theoretical lower bound of the expected improvement achieved in one iteration of CMA-ES, given an estimation of the noise level and the Lipschitz constant of the function's gradient. Solving for the maximum of the lower bound, we obtain a simple expression of the optimal re-evaluation number. We experimentally compare our method to the state-of-the-art noise-handling methods for CMA-ES on a set of artificial test functions across various noise levels, optimization budgets, and dimensionality. Our method demonstrates significant advantages in terms of the probability of hitting near-optimal function values.
AI-driven View Guidance System in Intra-cardiac Echocardiography Imaging
Venue: arXiv cs.AI 2025
Year: 2025

Intra-cardiac echocardiography (ICE) is a crucial imaging modality used in electrophysiology (EP) and structural heart disease (SHD) interventions, providing realtime, high-resolution views from within the heart. Despite its advantages, effective manipulation of the ICE catheter requires significant expertise, which can lead to inconsistent outcomes, especially among less experienced operators. To address this challenge, we propose an AIdriven view guidance system that operates in a continuous closed-loop with human-in-the-loop feedback, designed to assist users in navigating ICE imaging without requiring specialized knowledge. Specifically, our method models the relative position and orientation vectors between arbitrary views and clinically defined ICE views in a spatial coordinate system. It guides users on how to manipulate the ICE catheter to transition from the current view to the desired view over time. By operating in a closedloop configuration, the system continuously predicts and updates the necessary catheter manipulations, ensuring seamless integration into existing clinical workflows. The effectiveness of the proposed system is demonstrated through a simulation-based performance evaluation using real clinical data, achieving an 89% success rate with 6,532 test cases. Additionally, a semi-simulation experiment with human-in-the-loop testing validated the feasibility of continuous yet discrete guidance. These results underscore the potential of the proposed method to enhance the accuracy and efficiency of ICE imaging procedures.
DualLQR: Efficient Grasping of Oscillating Apples using Task Parameterized Learning from Demonstration
Venue: arXiv cs.RO 2025
Year: 2025

Learning from Demonstration offers great potential for robots to learn to perform agricultural tasks, specifically selective harvesting. One of the challenges is that the target fruit can be oscillating while approaching. Grasping oscillating targets has two requirements: 1) close tracking of the target during the final approach for damage-free grasping, and 2) the complete path should be as short as possible for improved efficiency. We propose a new method called DualLQR. In this method, we use a finite horizon Linear Quadratic Regulator (LQR) on a moving target, without the need of refitting the LQR. To make this possible, we use a dual LQR set-up, with an LQR running in two separate reference frames. Through extensive simulation testing, it was found that the state-of-art method barely meets the required final accuracy without oscillations and drops below the required accuracy with an oscillating target. DualLQR, on the other hand, was found to be able to meet the required final accuracy even with high oscillations, while travelling the least distance. Further testing on a real-world apple grasping task showed that DualLQR was able to successfully grasp oscillating apples, with a success rate of 99%.
Using LLM for Real-Time Transcription and Summarization of Doctor-Patient Interactions into ePuskesmas in Indonesia: A Proof-of-Concept Study
Venue: arXiv cs.AI 2025
Year: 2025

One of the critical issues contributing to inefficiency in Puskesmas (Indonesian community health centers) is the time-consuming nature of documenting doctor-patient interactions. Doctors must conduct thorough consultations and manually transcribe detailed notes into ePuskesmas electronic health records (EHR), which creates substantial administrative burden to already overcapacitated physicians. This paper presents a proof-of-concept framework using large language models (LLMs) to automate real-time transcription and summarization of doctor-patient conversations in Bahasa Indonesia. Our system combines Whisper model for transcription with GPT-3.5 for medical summarization, implemented as a browser extension that automatically populates ePuskesmas forms. Through controlled roleplay experiments with medical validation, we demonstrate the technical feasibility of processing detailed 300+ seconds trimmed consultations in under 30 seconds while maintaining clinical accuracy. This work establishes the foundation for AI-assisted clinical documentation in resource-constrained healthcare environments. However, concerns have also been raised regarding privacy compliance and large-scale clinical evaluation addressing language and cultural biases for LLMs.
Evaluation of Spectrum Sharing Algorithms for Networks with Heterogeneous Wireless Devices
Venue: arXiv cs.NI 2025
Year: 2025

As highlighted in the National Spectrum Strategy, Dynamic Spectrum Access (DSA) is key for enabling 6G networks to meet the increasing demand for spectrum from various, heterogeneous emerging applications. In this paper, we consider heterogeneous wireless networks with multiple 6G base stations (BS) and a limited number of frequency bands available for transmission. Each BS is associated with a geographical location, a coverage area, and a bandwidth requirement. We assume that clients/UEs are within the corresponding BS's coverage area. To avoid interference, we impose that BSs with overlapping coverage areas must use different frequency bands. We address the challenging problem of efficiently allocating contiguous frequency bands to BSs while avoiding interference. Specifically, we define performance metrics that capture the feasibility of the frequency allocation task, the number of BSs that can be allocated within the limited frequency bands, and the amount of resources utilized by the network. Then, we consider five different DSA algorithms that prioritize BSs based on different features -- one of these algorithms is known in the graph theory literature as Welsh-Powell graph colouring algorithm -- and compare their performance using extensive simulations. Our results show that DSA algorithms that attempt to maximize the chances of obtaining a feasible frequency allocation -- which have been widely studied in the literature -- tend to under-perform in all other metrics.
Sociotechnical Approach to Enterprise Generative Artificial Intelligence (E-GenAI)
Venue: arXiv cs.CY 2025
Year: 2025

In this theoretical article, a sociotechnical approach is proposed to characterize. First, the business ecosystem, focusing on the relationships among Providers, Enterprise, and Customers through SCM, ERP, and CRM platforms to align: (1) Business Intelligence (BI), Fuzzy Logic (FL), and TRIZ (Theory of Inventive Problem Solving), through the OID model, and (2) Knowledge Management (KM) and Imperfect Knowledge Management (IKM), through the OIDK model. Second, the article explores the E-GenAI business ecosystem, which integrates GenAI-based platforms for SCM, ERP, and CRM with GenAI-based platforms for BI, FL, TRIZ, KM, and IKM, to align Large Language Models (LLMs) through the E-GenAI (OID) model. Finally, to understand the dynamics of LLMs, we utilize finite automata to model the relationships between Followers and Followees. This facilitates the construction of LLMs that can identify specific characteristics of users on a social media platform.
Flexiffusion: Segment-wise Neural Architecture Search for Flexible Denoising Schedule
Venue: arXiv cs.CV 2025
Year: 2025

Diffusion models are cutting-edge generative models adept at producing diverse, high-quality images. Despite their effectiveness, these models often require significant computational resources owing to their numerous sequential denoising steps and the significant inference cost of each step. Recently, Neural Architecture Search (NAS) techniques have been employed to automatically search for faster generation processes. However, NAS for diffusion is inherently time-consuming as it requires estimating thousands of diffusion models to search for the optimal one. In this paper, we introduce Flexiffusion, a novel training-free NAS paradigm designed to accelerate diffusion models by concurrently optimizing generation steps and network structures. Specifically, we partition the generation process into isometric step segments, each sequentially composed of a full step, multiple partial steps, and several null steps. The full step computes all network blocks, while the partial step involves part of the blocks, and the null step entails no computation. Flexiffusion autonomously explores flexible step combinations for each segment, substantially reducing search costs and enabling greater acceleration compared to the state-of-the-art (SOTA) method for diffusion models. Our searched models reported speedup factors of $2.6\times$ and $1.5\times$ for the original LDM-4-G and the SOTA, respectively. The factors for Stable Diffusion V1.5 and the SOTA are $5.1\times$ and $2.0\times$. We also verified the performance of Flexiffusion on multiple datasets, and positive experiment results indicate that Flexiffusion can effectively reduce redundancy in diffusion models.