OpenRaiser/Intern-Atlas huggingface dataset:
WaveTouch: Active Tactile Sensing Using Vibro-Feedback for Classification of Variable Stiffness and Infill Density Objects
Venue: arXiv cs.RO 2025
Year: 2025

The perception and recognition of the surroundings is one of the essential tasks for a robot. With preliminary knowledge about a target object, it can perform various manipulation tasks such as rolling motion, palpation, and force control. Minimizing possible damage to the sensing system and testing objects during manipulation are significant concerns that persist in existing research solutions. To address this need, we designed a new type of tactile sensor based on the active vibro-feedback for object stiffness classification. With this approach, the classification can be performed during the gripping process, enabling the robot to quickly estimate the appropriate level of gripping force required to avoid damaging or dropping the object. This contrasts with passive vibration sensing, which requires to be triggered by object movement and is often inefficient for establishing a secure grip. The main idea is to observe the received changes in artificially injected vibrations that propagate through objects with different physical properties and molecular structures. The experiments with soft subjects demonstrated higher absorption of the received vibrations, while the opposite is true for the rigid subjects that not only demonstrated low absorption but also enhancement of the vibration signal.
Three Algorithms for Merging Hierarchical Navigable Small World Graphs
Venue: arXiv cs.DS 2025
Year: 2025

This paper addresses the challenge of merging hierarchical navigable small world (HNSW) graphs, a critical operation for distributed systems, incremental indexing, and database compaction. We propose three algorithms for this task: Naive Graph Merge (NGM), Intra Graph Traversal Merge (IGTM), and Cross Graph Traversal Merge (CGTM). These algorithms differ in their approach to vertex selection and candidate collection during the merge process. We conceptualize graph merging as an iterative process with four key steps: processing vertex selection, candidate collection, neighborhood construction, and information propagation. Our experimental evaluation on the SIFT1M dataset demonstrates that IGTM and CGTM significantly reduce computational costs compared to naive approaches, requiring up to 70\% fewer distance computations while maintaining comparable search accuracy. Surprisingly, IGTM outperforms CGTM in efficiency, contrary to our initial expectations. The proposed algorithms enable efficient consolidation of separately constructed indices, supporting critical operations in modern vector databases and retrieval systems that rely on HNSW for similarity search.
Bidirectional Variational Autoencoders
Venue: arXiv cs.LG 2025
Year: 2025

We present the new bidirectional variational autoencoder (BVAE) network architecture. The BVAE uses a single neural network both to encode and decode instead of an encoder-decoder network pair. The network encodes in the forward direction and decodes in the backward direction through the same synaptic web. Simulations compared BVAEs and ordinary VAEs on the four image tasks of image reconstruction, classification, interpolation, and generation. The image datasets included MNIST handwritten digits, Fashion-MNIST, CIFAR-10, and CelebA-64 face images. The bidirectional structure of BVAEs cut the parameter count by almost 50% and still slightly outperformed the unidirectional VAEs.
Motion Priors Reimagined: Adapting Flat-Terrain Skills for Complex Quadruped Mobility
Venue: arXiv cs.RO 2025
Year: 2025

Reinforcement learning (RL)-based motion imitation methods trained on demonstration data can effectively learn natural and expressive motions with minimal reward engineering but often struggle to generalize to novel environments. We address this by proposing a hierarchical RL framework in which a low-level policy is first pre-trained to imitate animal motions on flat ground, thereby establishing motion priors. A subsequent high-level, goal-conditioned policy then builds on these priors, learning residual corrections that enable perceptive locomotion, local obstacle avoidance, and goal-directed navigation across diverse and rugged terrains. Simulation experiments illustrate the effectiveness of learned residuals in adapting to progressively challenging uneven terrains while still preserving the locomotion characteristics provided by the motion priors. Furthermore, our results demonstrate improvements in motion regularization over baseline models trained without motion priors under similar reward setups. Real-world experiments with an ANYmal-D quadruped robot confirm our policy's capability to generalize animal-like locomotion skills to complex terrains, demonstrating smooth and efficient locomotion and local navigation performance amidst challenging terrains with obstacles.
Can AI Read Between The Lines? Benchmarking LLMs On Financial Nuance
Venue: arXiv cs.AI 2025
Year: 2025

As of 2025, Generative Artificial Intelligence (GenAI) has become a central tool for productivity across industries. Beyond text generation, GenAI now plays a critical role in coding, data analysis, and research workflows. As large language models (LLMs) continue to evolve, it is essential to assess the reliability and accuracy of their outputs, especially in specialized, high-stakes domains like finance. Most modern LLMs transform text into numerical vectors, which are used in operations such as cosine similarity searches to generate responses. However, this abstraction process can lead to misinterpretation of emotional tone, particularly in nuanced financial contexts. While LLMs generally excel at identifying sentiment in everyday language, these models often struggle with the nuanced, strategically ambiguous language found in earnings call transcripts. Financial disclosures frequently embed sentiment in hedged statements, forward-looking language, and industry-specific jargon, making it difficult even for human analysts to interpret consistently, let alone AI models. This paper presents findings from the Santa Clara Microsoft Practicum Project, led by Professor Charlie Goldenberg, which benchmarks the performance of Microsoft's Copilot, OpenAI's ChatGPT, Google's Gemini, and traditional machine learning models for sentiment analysis of financial text. Using Microsoft earnings call transcripts, the analysis assesses how well LLM-derived sentiment correlates with market sentiment and stock movements and evaluates the accuracy of model outputs. Prompt engineering techniques are also examined to improve sentiment analysis results. Visualizations of sentiment consistency are developed to evaluate alignment between tone and stock performance, with sentiment trends analyzed across Microsoft's lines of business to determine which segments exert the greatest influence.
Tools in the Loop: Quantifying Uncertainty of LLM Question Answering Systems That Use Tools
Venue: arXiv cs.LG 2025
Year: 2025

Modern Large Language Models (LLMs) often require external tools, such as machine learning classifiers or knowledge retrieval systems, to provide accurate answers in domains where their pre-trained knowledge is insufficient. This integration of LLMs with external tools expands their utility but also introduces a critical challenge: determining the trustworthiness of responses generated by the combined system. In high-stakes applications, such as medical decision-making, it is essential to assess the uncertainty of both the LLM's generated text and the tool's output to ensure the reliability of the final response. However, existing uncertainty quantification methods do not account for the tool-calling scenario, where both the LLM and external tool contribute to the overall system's uncertainty. In this work, we present a novel framework for modeling tool-calling LLMs that quantifies uncertainty by jointly considering the predictive uncertainty of the LLM and the external tool. We extend previous methods for uncertainty quantification over token sequences to this setting and propose efficient approximations that make uncertainty computation practical for real-world applications. We evaluate our framework on two new synthetic QA datasets, derived from well-known machine learning datasets, which require tool-calling for accurate answers. Additionally, we apply our method to retrieval-augmented generation (RAG) systems and conduct a proof-of-concept experiment demonstrating the effectiveness of our uncertainty metrics in scenarios where external information retrieval is needed. Our results show that the framework is effective in enhancing trust in LLM-based systems, especially in cases where the LLM's internal knowledge is insufficient and external tools are required.
Logic-of-Thought: Empowering Large Language Models with Logic Programs for Solving Puzzles in Natural Language
Venue: arXiv cs.AI 2025
Year: 2025

Solving puzzles in natural language poses a long-standing challenge in AI. While large language models (LLMs) have recently shown impressive capabilities in a variety of tasks, they continue to struggle with complex puzzles that demand precise reasoning and exhaustive search. In this paper, we propose Logic-of-Thought (Logot), a novel framework that bridges LLMs with logic programming to address this problem. Our method leverages LLMs to translate puzzle rules and states into answer set programs (ASPs), the solution of which are then accurately and efficiently inferred by an ASP interpreter. This hybrid approach combines the natural language understanding of LLMs with the precise reasoning capabilities of logic programs. We evaluate our method on various grid puzzles and dynamic puzzles involving actions, demonstrating near-perfect accuracy across all tasks. Our code and data are available at: https://github.com/naiqili/Logic-of-Thought.
Semiotic Reconstruction of Destination Expectation Constructs An LLM-Driven Computational Paradigm for Social Media Tourism Analytics
Venue: arXiv cs.CL 2025
Year: 2025

Social media's rise establishes user-generated content (UGC) as pivotal for travel decisions, yet analytical methods lack scalability. This study introduces a dual-method LLM framework: unsupervised expectation extraction from UGC paired with survey-informed supervised fine-tuning. Findings reveal leisure/social expectations drive engagement more than foundational natural/emotional factors. By establishing LLMs as precision tools for expectation quantification, we advance tourism analytics methodology and propose targeted strategies for experience personalization and social travel promotion. The framework's adaptability extends to consumer behavior research, demonstrating computational social science's transformative potential in marketing optimization.
Robust Invariant Representation Learning by Distribution Extrapolation
Venue: arXiv cs.LG 2025
Year: 2025

Invariant risk minimization (IRM) aims to enable out-of-distribution (OOD) generalization in deep learning by learning invariant representations. As IRM poses an inherently challenging bi-level optimization problem, most existing approaches -- including IRMv1 -- adopt penalty-based single-level approximations. However, empirical studies consistently show that these methods often fail to outperform well-tuned empirical risk minimization (ERM), highlighting the need for more robust IRM implementations. This work theoretically identifies a key limitation common to many IRM variants: their penalty terms are highly sensitive to limited environment diversity and over-parameterization, resulting in performance degradation. To address this issue, a novel extrapolation-based framework is proposed that enhances environmental diversity by augmenting the IRM penalty through synthetic distributional shifts. Extensive experiments -- ranging from synthetic setups to realistic, over-parameterized scenarios -- demonstrate that the proposed method consistently outperforms state-of-the-art IRM variants, validating its effectiveness and robustness.
LLMs Are Not Scorers: Rethinking MT Evaluation with Generation-Based Methods
Venue: arXiv cs.CL 2025
Year: 2025

Recent studies have applied large language models (LLMs) to machine translation quality estimation (MTQE) by prompting models to assign numeric scores. Nonetheless, these direct scoring methods tend to show low segment-level correlation with human judgments. In this paper, we propose a generation-based evaluation paradigm that leverages decoder-only LLMs to produce high-quality references, followed by semantic similarity scoring using sentence embeddings. We conduct the most extensive evaluation to date in MTQE, covering 8 LLMs and 8 language pairs. Empirical results show that our method outperforms both intra-LLM direct scoring baselines and external non-LLM reference-free metrics from MTME. These findings demonstrate the strength of generation-based evaluation and support a shift toward hybrid approaches that combine fluent generation with accurate semantic assessment.
A Game for Counting Logic Formula Size and an Application to Linear Orders
Venue: arXiv cs.LO 2025
Year: 2025

Ehrenfeucht-Fraïssé (EF) games are a basic tool in finite model theory for proving definability lower bounds, with many applications in complexity theory and related areas. They have been applied to study various logics, giving insights on quantifier rank and other logical complexity measures. In this paper, we present an EF game to capture formula size in counting logic with a bounded number of variables. The game combines games introduced previously for counting logic quantifier rank due to Immerman and Lander, and for first-order formula size due to Adler and Immerman, and Hella and Väänänen. The game is used to prove the main result of the paper, an extension of a formula size lower bound of Grohe and Schweikardt for distinguishing linear orders, from 3-variable first-order logic to 3-variable counting logic. As far as we know, this is the first formula size lower bound for counting logic.
Enhancing Federated Survival Analysis through Peer-Driven Client Reputation in Healthcare
Venue: arXiv cs.LG 2025
Year: 2025

Federated Learning (FL) holds great promise for digital health by enabling collaborative model training without compromising patient data privacy. However, heterogeneity across institutions, lack of sustained reputation, and unreliable contributions remain major challenges. In this paper, we propose a robust, peer-driven reputation mechanism for federated healthcare that employs a hybrid communication model to integrate decentralized peer feedback with clustering-based noise handling to enhance model aggregation. Crucially, our approach decouples the federated aggregation and reputation mechanisms by applying differential privacy to client-side model updates before sharing them for peer evaluation. This ensures sensitive information remains protected during reputation computation, while unaltered updates are sent to the server for global model training. Using the Cox Proportional Hazards model for survival analysis across multiple federated nodes, our framework addresses both data heterogeneity and reputation deficit by dynamically adjusting trust scores based on local performance improvements measured via the concordance index. Experimental evaluations on both synthetic datasets and the SEER dataset demonstrate that our method consistently achieves high and stable C-index values, effectively down-weighing noisy client updates and outperforming FL methods that lack a reputation system.
An Empirical Study on Configuring In-Context Learning Demonstrations for Unleashing MLLMs' Sentimental Perception Capability
Venue: arXiv cs.CL 2025
Year: 2025

The advancements in Multimodal Large Language Models (MLLMs) have enabled various multimodal tasks to be addressed under a zero-shot paradigm. This paradigm sidesteps the cost of model fine-tuning, emerging as a dominant trend in practical application. Nevertheless, Multimodal Sentiment Analysis (MSA), a pivotal challenge in the quest for general artificial intelligence, fails to accommodate this convenience. The zero-shot paradigm exhibits undesirable performance on MSA, casting doubt on whether MLLMs can perceive sentiments as competent as supervised models. By extending the zero-shot paradigm to In-Context Learning (ICL) and conducting an in-depth study on configuring demonstrations, we validate that MLLMs indeed possess such capability. Specifically, three key factors that cover demonstrations' retrieval, presentation, and distribution are comprehensively investigated and optimized. A sentimental predictive bias inherent in MLLMs is also discovered and later effectively counteracted. By complementing each other, the devised strategies for three factors result in average accuracy improvements of 15.9% on six MSA datasets against the zero-shot paradigm and 11.2% against the random ICL baseline.
SpecMaskFoley: Steering Pretrained Spectral Masked Generative Transformer Toward Synchronized Video-to-audio Synthesis via ControlNet
Venue: arXiv cs.SD 2025
Year: 2025

Foley synthesis aims to synthesize high-quality audio that is both semantically and temporally aligned with video frames. Given its broad application in creative industries, the task has gained increasing attention in the research community. To avoid the non-trivial task of training audio generative models from scratch, adapting pretrained audio generative models for video-synchronized foley synthesis presents an attractive direction. ControlNet, a method for adding fine-grained controls to pretrained generative models, has been applied to foley synthesis, but its use has been limited to handcrafted human-readable temporal conditions. In contrast, from-scratch models achieved success by leveraging high-dimensional deep features extracted using pretrained video encoders. We have observed a performance gap between ControlNet-based and from-scratch foley models. To narrow this gap, we propose SpecMaskFoley, a method that steers the pretrained SpecMaskGIT model toward video-synchronized foley synthesis via ControlNet. To unlock the potential of a single ControlNet branch, we resolve the discrepancy between the temporal video features and the time-frequency nature of the pretrained SpecMaskGIT via a frequency-aware temporal feature aligner, eliminating the need for complicated conditioning mechanisms widely used in prior arts. Evaluations on a common foley synthesis benchmark demonstrate that SpecMaskFoley could even outperform strong from-scratch baselines, substantially advancing the development of ControlNet-based foley synthesis models. Demo page: https://zzaudio.github.io/SpecMaskFoley_Demo/
NQKV: A KV Cache Quantization Scheme Based on Normal Distribution Characteristics
Venue: arXiv cs.LG 2025
Year: 2025

Large Language Models (LLMs) have demonstrated remarkable proficiency across a wide range of tasks. However, LLMs often require larger batch sizes to enhance throughput or longer context lengths to meet task demands, which significantly increases the memory resource consumption of the Key-Value (KV) cache during inference, becoming a major bottleneck in LLM deployment. To address this issue, quantization is a common and straightforward approach. Currently, quantization methods for activations are limited to 8-bit, and quantization to even lower bits can lead to substantial accuracy drops. To further save space by quantizing the KV cache to even lower bits, we analyzed the element distribution of the KV cache and designed the NQKV algorithm. Since the elements within each block of the KV cache follow a normal distribution, NQKV employs per-block quantile quantization to achieve information-theoretically optimal quantization error. Without significantly compromising model output quality, NQKV enables the OPT model to perform inference with an 2x larger batch size or a 4x longer context length, and it improves throughput by 9.3x compared to when the KV cache is not used.
A Scalable Hierarchical Intrusion Detection System for Internet of Vehicles
Venue: arXiv cs.CR 2025
Year: 2025

Due to its nature of dynamic, mobility, and wireless data transfer, the Internet of Vehicles (IoV) is prone to various cyber threats, ranging from spoofing and Distributed Denial of Services (DDoS) attacks to malware. To safeguard the IoV ecosystem from intrusions, malicious activities, policy violations, intrusion detection systems (IDS) play a critical role by continuously monitoring and analyzing network traffic to identify and mitigate potential threats in real-time. However, most existing research has focused on developing centralized, machine learning-based IDS systems for IoV without accounting for its inherently distributed nature. Due to intensive computing requirements, these centralized systems often rely on the cloud to detect cyber threats, increasing delay of system response. On the other hand, edge nodes typically lack the necessary resources to train and deploy complex machine learning algorithms. To address this issue, this paper proposes an effective hierarchical classification framework tailored for IoV networks. Hierarchical classification allows classifiers to be trained and tested at different levels, enabling edge nodes to detect specific types of attacks independently. With this approach, edge nodes can conduct targeted attack detection while leveraging cloud nodes for comprehensive threat analysis and support. Given the resource constraints of edge nodes, we have employed the Boruta feature selection method to reduce data dimensionality, optimizing processing efficiency. To evaluate our proposed framework, we utilize the latest IoV security dataset CIC-IoV2024, achieving promising results that demonstrate the feasibility and effectiveness of our models in securing IoV networks.
MADCluster: Model-agnostic Anomaly Detection with Self-supervised Clustering Network
Venue: arXiv cs.AI 2025
Year: 2025

In this paper, we propose MADCluster, a novel model-agnostic anomaly detection framework utilizing self-supervised clustering. MADCluster is applicable to various deep learning architectures and addresses the 'hypersphere collapse' problem inherent in existing deep learning-based anomaly detection methods. The core idea is to cluster normal pattern data into a 'single cluster' while simultaneously learning the cluster center and mapping data close to this center. Also, to improve expressiveness and enable effective single clustering, we propose a new 'One-directed Adaptive loss'. The optimization of this loss is mathematically proven. MADCluster consists of three main components: Base Embedder capturing high-dimensional temporal dynamics, Cluster Distance Mapping, and Sequence-wise Clustering for continuous center updates. Its model-agnostic characteristics are achieved by applying various architectures to the Base Embedder. Experiments on four time series benchmark datasets demonstrate that applying MADCluster improves the overall performance of comparative models. In conclusion, the compatibility of MADCluster shows potential for enhancing model performance across various architectures.