OpenRaiser/Intern-Atlas huggingface dataset:
MoCha-Stereo: Motif Channel Attention Network for Stereo Matching
Venue: arXiv cs.CV 2025
Year: 2025

Learning-based stereo matching techniques have made significant progress. However, existing methods inevitably lose geometrical structure information during the feature channel generation process, resulting in edge detail mismatches. In this paper, the Motif Cha}nnel Attention Stereo Matching Network (MoCha-Stereo) is designed to address this problem. We provide the Motif Channel Correlation Volume (MCCV) to determine more accurate edge matching costs. MCCV is achieved by projecting motif channels, which capture common geometric structures in feature channels, onto feature maps and cost volumes. In addition, edge variations in %potential feature channels of the reconstruction error map also affect details matching, we propose the Reconstruction Error Motif Penalty (REMP) module to further refine the full-resolution disparity estimation. REMP integrates the frequency information of typical channel features from the reconstruction error. MoCha-Stereo ranks 1st on the KITTI-2015 and KITTI-2012 Reflective leaderboards. Our structure also shows excellent performance in Multi-View Stereo. Code is avaliable at https://github.com/ZYangChen/MoCha-Stereo.
Gradient Networks
Venue: arXiv cs.LG 2025
Year: 2025

Directly parameterizing and learning gradients of functions has widespread significance, with specific applications in inverse problems, generative modeling, and optimal transport. This paper introduces gradient networks (GradNets): novel neural network architectures that parameterize gradients of various function classes. GradNets exhibit specialized architectural constraints that ensure correspondence to gradient functions. We provide a comprehensive GradNet design framework that includes methods for transforming GradNets into monotone gradient networks (mGradNets), which are guaranteed to represent gradients of convex functions. Our results establish that our proposed GradNet (and mGradNet) universally approximate the gradients of (convex) functions. Furthermore, these networks can be customized to correspond to specific spaces of potential functions, including transformed sums of (convex) ridge functions. Our analysis leads to two distinct GradNet architectures, GradNet-C and GradNet-M, and we describe the corresponding monotone versions, mGradNet-C and mGradNet-M. Our empirical results demonstrate that these architectures provide efficient parameterizations and outperform existing methods by up to 15 dB in gradient field tasks and by up to 11 dB in Hamiltonian dynamics learning tasks.
Socially Pertinent Robots in Gerontological Healthcare
Venue: arXiv cs.RO 2025
Year: 2025

Despite the many recent achievements in developing and deploying social robotics, there are still many underexplored environments and applications for which systematic evaluation of such systems by end-users is necessary. While several robotic platforms have been used in gerontological healthcare, the question of whether or not a social interactive robot with multi-modal conversational capabilities will be useful and accepted in real-life facilities is yet to be answered. This paper is an attempt to partially answer this question, via two waves of experiments with patients and companions in a day-care gerontological facility in Paris with a full-sized humanoid robot endowed with social and conversational interaction capabilities. The software architecture, developed during the H2020 SPRING project, together with the experimental protocol, allowed us to evaluate the acceptability (AES) and usability (SUS) with more than 60 end-users. Overall, the users are receptive to this technology, especially when the robot perception and action skills are robust to environmental clutter and flexible to handle a plethora of different interactions.
Detecting and Understanding the Promotion of Illicit Goods and Services on Twitter
Venue: arXiv cs.CR 2025
Year: 2025

In this study, we reveal, for the first time, popular online social networks (especially Twitter) are being extensively abused by miscreants to promote illicit goods and services of diverse categories. This study is made possible by multiple machine learning tools that are designed to detect and analyze Posts of Illicit Promotion (PIPs) as well as revealing their underlying promotion campaigns. Particularly, we observe that PIPs are prevalent on Twitter, along with extensive visibility on other three popular OSNs including YouTube, Facebook, and TikTok. For instance, applying our PIP hunter to the Twitter platform for 6 months has led to the discovery of 12 million distinct PIPs which are widely distributed in 5 major natural languages and 10 illicit categories, e.g., drugs, data leakage, gambling, and weapon sales. Along the discovery of PIPs are 580K Twitter accounts publishing PIPs as well as 37K distinct instant messaging accounts that are embedded in PIPs and serve as next hops of communication with prospective customers. Also, an arms race between Twitter and illicit promotion operators is also observed. Especially, 90% PIPs can survice the first two months since getting published on Twitter, which is likely due to the diverse evasion tactics adopted by miscreants to masquerade PIPs.
Lexical Complexity Prediction and Lexical Simplification for Catalan and Spanish: Resource Creation, Quality Assessment, and Ethical Considerations
Venue: arXiv cs.CL 2025
Year: 2025

Automatic lexical simplification is a task to substitute lexical items that may be unfamiliar and difficult to understand with easier and more common words. This paper presents the description and analysis of two novel datasets for lexical simplification in Spanish and Catalan. This dataset represents the first of its kind in Catalan and a substantial addition to the sparse data on automatic lexical simplification which is available for Spanish. Specifically, it is the first dataset for Spanish which includes scalar ratings of the understanding difficulty of lexical items. In addition, we present a detailed analysis aiming at assessing the appropriateness and ethical dimensions of the data for the lexical simplification task.
Guiding Large Language Models to Post-Edit Machine Translation with Error Annotations
Venue: arXiv cs.CL 2025
Year: 2025

Machine Translation (MT) remains one of the last NLP tasks where large language models (LLMs) have not yet replaced dedicated supervised systems. This work exploits the complementary strengths of LLMs and supervised MT by guiding LLMs to automatically post-edit MT with external feedback on its quality, derived from Multidimensional Quality Metric (MQM) annotations. Working with LLaMA-2 models, we consider prompting strategies varying the nature of feedback provided and then fine-tune the LLM to improve its ability to exploit the provided guidance. Through experiments on Chinese-English, English-German, and English-Russian MQM data, we demonstrate that prompting LLMs to post-edit MT improves TER, BLEU and COMET scores, although the benefits of fine-grained feedback are not clear. Fine-tuning helps integrate fine-grained feedback more effectively and further improves translation quality based on both automatic and human evaluation.
On Reducing the Execution Latency of Superconducting Quantum Processors via Quantum Job Scheduling
Venue: arXiv cs.AR 2025
Year: 2025

Quantum computing has gained considerable attention, especially after the arrival of the Noisy Intermediate-Scale Quantum (NISQ) era. Quantum processors and cloud services have been made world-wide increasingly available. Unfortunately, jobs on existing quantum processors are often executed in series, and the workload could be heavy to the processor. Typically, one has to wait for hours or even longer to obtain the result of a single quantum job on public quantum cloud due to long queue time. In fact, as the scale grows, the qubit utilization rate of the serial execution mode will further diminish, causing the waste of quantum resources. In this paper, to our best knowledge for the first time, the Quantum Job Scheduling Problem (QJSP) is formulated and introduced, and we accordingly aim to improve the utility efficiency of quantum resources. Specifically, a noise-aware quantum job scheduler (NAQJS) concerning the circuit width, number of measurement shots, and submission time of quantum jobs is proposed to reduce the execution latency. We conduct extensive experiments on a simulated Qiskit noise model, as well as on the Xiaohong (from QuantumCTek) superconducting quantum processor. Numerical results show the effectiveness in both the QPU time and turnaround time.
A Pretraining-Finetuning Computational Framework for Material Homogenization
Venue: arXiv cs.CE 2025
Year: 2025

Homogenization is a fundamental tool for studying multiscale physical phenomena. Traditional numerical homogenization methods, heavily reliant on finite element analysis, demand significant computational resources, especially for complex geometries, materials, and high-resolution problems. To address these challenges, we propose PreFine-Homo, a novel numerical homogenization framework comprising two phases: pretraining and fine-tuning. In the pretraining phase, a Fourier Neural Operator (FNO) is trained on large datasets to learn the mapping from input geometries and material properties to displacement fields. In the fine-tuning phase, the pretrained predictions serve as initial solutions for iterative algorithms, drastically reducing the number of iterations needed for convergence. The pretraining phase of PreFine-Homo delivers homogenization results up to 1000 times faster than conventional methods, while the fine-tuning phase further enhances accuracy. Moreover, the fine-tuning phase grants PreFine-Homo unlimited generalization capabilities, enabling continuous learning and improvement as data availability increases. We validate PreFine-Homo by predicting the effective elastic tensor for 3D periodic materials, specifically Triply Periodic Minimal Surfaces (TPMS). The results demonstrate that PreFine-Homo achieves high precision, exceptional efficiency, robust learning capabilities, and strong extrapolation ability, establishing it as a powerful tool for multiscale homogenization tasks.
Gaga: Group Any Gaussians via 3D-aware Memory Bank
Venue: arXiv cs.CV 2025
Year: 2025

We introduce Gaga, a framework that reconstructs and segments open-world 3D scenes by leveraging inconsistent 2D masks predicted by zero-shot class-agnostic segmentation models. Contrasted to prior 3D scene segmentation approaches that rely on video object tracking or contrastive learning methods, Gaga utilizes spatial information and effectively associates object masks across diverse camera poses through a novel 3D-aware memory bank. By eliminating the assumption of continuous view changes in training images, Gaga demonstrates robustness to variations in camera poses, particularly beneficial for sparsely sampled images, ensuring precise mask label consistency. Furthermore, Gaga accommodates 2D segmentation masks from diverse sources and demonstrates robust performance with different open-world zero-shot class-agnostic segmentation models, significantly enhancing its versatility. Extensive qualitative and quantitative evaluations demonstrate that Gaga performs favorably against state-of-the-art methods, emphasizing its potential for real-world applications such as 3D scene understanding and manipulation.
KestRel: Relational Verification Using E-Graphs for Program Alignment
Venue: arXiv cs.PL 2025
Year: 2025

Many interesting program properties involve the execution of multiple programs, including observational equivalence, noninterference, co-termination, monotonicity, and idempotency. One strategy for verifying such relational properties is to construct and reason about an intermediate program whose correctness implies that the individual programs exhibit those properties. A key challenge in building an intermediate program is finding a good alignment of the original programs. An alignment puts subparts of the original programs into correspondence so that their similarities can be exploited in order to simplify verification. We propose an approach to intermediate program construction that uses e-graphs, equality saturation, and algebraic realignment rules to efficiently represent and build programs amenable to automated verification. A key ingredient of our solution is a novel data-driven extraction technique that uses execution traces of candidate intermediate programs to identify solutions that are semantically well-aligned. We have implemented a relational verification engine based on our proposed approach, called KestRel, and use it to evaluate our approach over a suite of benchmarks taken from the relational verification literature.
Escape with Your Self: Sound and Expressive Bidirectional Typing with Avoidance for Reachability Types
Venue: arXiv cs.PL 2025
Year: 2025

Algorithmic type checking and inference of reachability types present a particular challenge with regards to subtyping. As a restricted form of dependent types, reachability types are subject to the avoidance problem: a variable mentioned in types becomes ill-scoped when its defining scope ends. Prior works thus introduce self-references, akin to this pointers in OO languages, to replace the escaping variable, so that an escaping object's this pointer can serve as the new logical owner of any captured resources. Nevertheless, conversions involving self-references require reasoning about function qualifiers. As prior work isolates subtyping judgements from associated qualifiers, their system requires manually-inserted term-level coercions (i.e., $η$-expansion) to support escaping values. This, of course, is highly unsatisfactory for algorithmic avoidance. In this work, we propose the first typing algorithm for reachability types with formal soundness guarantees, and with an avoidance strategy based entirely on subtyping. We first present a refined declarative reachability type system, $G_{<:}^\blacklozenge$, which includes an expressive self-aware subtyping theory for self-references, and is built on algorithmic contexts where holes can reside in partially specified qualifiers. On top of that, we develop the bidirectional typing system, $G_\leftrightharpoons^\blacklozenge$, which infers qualifiers by a lightweight unification mechanism, and converts types automatically for avoidance. $G_{<:}^\blacklozenge$ is proven sound by a logical relation, and $G_\leftrightharpoons^\blacklozenge$ is proven decidable and sound with respect to $G_{<:}^\blacklozenge$. The result is an end-to-end formally verified type checker, implemented and mechanized in Lean, which is able to type-check challenging example programs such as escaping Church-encoded data types.
Toward a Theory of Tokenization in LLMs
Venue: arXiv cs.CL 2025
Year: 2025

While there has been a large body of research attempting to circumvent tokenization for language modeling (Clark et al., 2022; Xue et al., 2022), the current consensus is that it is a necessary initial step for designing state-of-the-art performant language models. In this paper, we investigate tokenization from a theoretical point of view by studying the behavior of transformers on simple data generating processes. When trained on data drawn from certain simple $k^{\text{th}}$-order Markov processes for $k > 1$, transformers exhibit a surprising phenomenon - in the absence of tokenization, they empirically fail to learn the right distribution and predict characters according to a unigram model (Makkuva et al., 2024). With the addition of tokenization, however, we empirically observe that transformers break through this barrier and are able to model the probabilities of sequences drawn from the source near-optimally, achieving small cross-entropy loss. With this observation as starting point, we study the end-to-end cross-entropy loss achieved by transformers with and without tokenization. With the appropriate tokenization, we show that even the simplest unigram models (over tokens) learnt by transformers are able to model the probability of sequences drawn from $k^{\text{th}}$-order Markov sources near optimally. Our analysis provides a justification for the use of tokenization in practice through studying the behavior of transformers on Markovian data.
Efficient Sensors Selection for Traffic Flow Monitoring: An Overview of Model-Based Techniques leveraging Network Observability
Venue: arXiv cs.NI 2025
Year: 2025

The emergence of 6G-enabled Internet of Vehicles (IoV) promises to revolutionize mobility and connectivity, integrating vehicles into a mobile Internet of Things (IoT)-oriented wireless sensor network (WSN). Meanwhile, 5G technologies and mobile edge computing further support this vision by facilitating real-time connectivity and empowering massive access to the Internet. Within this context, IoT-oriented WSNs play a crucial role in intelligent transportation systems, offering affordable alternatives for traffic monitoring and management. Efficient sensor selection thus represents a critical concern while deploying WSNs on urban networks. In this paper, we provide an overview of such a notably hard problem. The contribution is twofold: (i) surveying state-of-the-art model-based techniques for efficient sensor selection in traffic flow monitoring, emphasizing challenges of sensor placement, and (ii) advocating for {the development of} data-driven methodologies to enhance sensor deployment efficacy and traffic modeling accuracy. Further considerations underscore the importance of data-driven approaches for adaptive transportation systems aligned with the IoV paradigm.
Regularized Gradient Clipping Provably Trains Wide and Deep Neural Networks
Venue: arXiv cs.LG 2025
Year: 2025

We present and analyze a novel regularized form of the gradient clipping algorithm, proving that it converges to global minima of the loss surface of deep neural networks under the squared loss, provided that the layers are of sufficient width. The algorithm presented here, dubbed $δ-$GClip, introduces a modification to gradient clipping that leads to a first-of-its-kind example of a step size scheduling for gradient descent that provably minimizes training losses of deep neural nets. We also present empirical evidence that our theoretically founded $δ-$GClip algorithm is competitive with the state-of-the-art deep learning heuristics on various neural architectures including modern transformer based architectures. The modification we do to standard gradient clipping is designed to leverage the PL* condition, a variant of the Polyak-Lojasiewicz inequality which was recently proven to be true for sufficiently wide neural networks at any depth within a neighbourhood of the initialization.
Learning Cross-hand Policies for High-DOF Reaching and Grasping
Venue: arXiv cs.RO 2025
Year: 2025

Reaching-and-grasping is a fundamental skill for robotic manipulation, but existing methods usually train models on a specific gripper and cannot be reused on another gripper. In this paper, we propose a novel method that can learn a unified policy model that can be easily transferred to different dexterous grippers. Our method consists of two stages: a gripper-agnostic policy model that predicts the displacements of pre-defined key points on the gripper, and a gripper-specific adaptation model that translates these displacements into adjustments for controlling the grippers' joints. The gripper state and interactions with objects are captured at the finger level using robust geometric representations, integrated with a transformer-based network to address variations in gripper morphology and geometry. In the experiments, we evaluate our method on several dexterous grippers and diverse objects, and the result shows that our method significantly outperforms the baseline methods. Pioneering the transfer of grasp policies across dexterous grippers, our method effectively demonstrates its potential for learning generalizable and transferable manipulation skills for various robotic hands.
Distilling Reasoning Ability from Large Language Models with Adaptive Thinking
Venue: arXiv cs.CL 2025
Year: 2025

Chain of thought finetuning (cot-finetuning) aims to endow small language models (SLM) with reasoning ability to improve their performance towards specific tasks by allowing them to imitate the reasoning procedure of large language models (LLM) beyond simply predicting the answers. Most existing cot-finetuning methods adopt a pre-thinking mechanism, allowing the SLM to generate a rationale before providing an answer. This mechanism enables SLM to analyze and think about complex questions, but it also makes answer correctness highly sensitive to minor errors in rationale. Therefore, we propose a robust post-thinking mechanism to generate answers before rationale. Thanks to this answer-first setting, 1) the answer can escape from the adverse effects caused by minor errors in the rationale; 2) the rationale serves as an error amplifier to the answer, which makes the SLM focus on learning hard samples; 3) the inferring efficiency can also benefit from the setting since users can stop the generation right after answers are outputted when inference is conducted. However, although the post-thinking mechanism brings many advantages and improves the overall performance of SLM on specific tasks, it may lose the ability to think about the questions and decompose complex questions into simple sub-questions compared to pre-thinking mechanism. Therefore, a plug-and-play adaptive-thinking mechanism is proposed with the aid of the soft prompt tuning to integrate the merits of the pre-thinking mechanism and post-thinking mechanism, in which a perception module is introduced to adaptively prompt SLM answer or think first based on perceiving the complexity of the questions. Extensive experiments are conducted across 12 reasoning tasks and 2 representative language models to demonstrate the effectiveness of the proposed mechanism.
Learning Self-Growth Maps for Fast and Accurate Imbalanced Streaming Data Clustering
Venue: arXiv cs.LG 2025
Year: 2025

Streaming data clustering is a popular research topic in data mining and machine learning. Since streaming data is usually analyzed in data chunks, it is more susceptible to encounter the dynamic cluster imbalance issue. That is, the imbalance ratio of clusters changes over time, which can easily lead to fluctuations in either the accuracy or the efficiency of streaming data clustering. Therefore, we propose an accurate and efficient streaming data clustering approach to adapt the drifting and imbalanced cluster distributions. We first design a Self-Growth Map (SGM) that can automatically arrange neurons on demand according to local distribution, and thus achieve fast and incremental adaptation to the streaming distributions. Since SGM allocates an excess number of density-sensitive neurons to describe the global distribution, it can avoid missing small clusters among imbalanced distributions. We also propose a fast hierarchical merging strategy to combine the neurons that break up the relatively large clusters. It exploits the maintained SGM to quickly retrieve the intra-cluster distribution pairs for merging, which circumvents the most laborious global searching. It turns out that the proposed SGM can incrementally adapt to the distributions of new chunks, and the Self-grOwth map-guided Hierarchical merging for Imbalanced data clustering (SOHI) approach can quickly explore a true number of imbalanced clusters. Extensive experiments demonstrate that SOHI can efficiently and accurately explore cluster distributions for streaming data.