OpenRaiser/Intern-Atlas huggingface dataset:
Gaussian and Non-Gaussian Universality of Data Augmentation
Venue: arXiv cs.LG 2025
Year: 2025

We provide universality results that quantify how data augmentation affects the variance and limiting distribution of estimates through simple surrogates, and analyze several specific models in detail. The results confirm some observations made in machine learning practice, but also lead to unexpected findings: Data augmentation may increase rather than decrease the uncertainty of estimates, such as the empirical prediction risk. It can act as a regularizer, but fails to do so in certain high-dimensional problems, and it may shift the double-descent peak of an empirical risk. Overall, the analysis shows that several properties data augmentation has been attributed with are not either true or false, but rather depend on a combination of factors -- notably the data distribution, the properties of the estimator, and the interplay of sample size, number of augmentations, and dimension. As our main theoretical tool, we develop an adaptation of Lindeberg's technique for block dependence. The resulting universality regime may be Gaussian or non-Gaussian.
Information Decomposition Diagrams Applied beyond Shannon Entropy: A Generalization of Hu's Theorem
Venue: arXiv cs.IT 2025
Year: 2025

In information theory, one major goal is to find useful functions that summarize the amount of information contained in the interaction of several random variables. Specifically, one can ask how the classical Shannon entropy, mutual information, and higher interaction information relate to each other. This is answered by Hu's theorem, which is widely known in the form of information diagrams: it relates shapes in a Venn diagram to information functions, thus establishing a bridge from set theory to information theory. In this work, we view random variables together with the joint operation as a monoid that acts by conditioning on information functions, and entropy as a function satisfying the chain rule of information. This abstract viewpoint allows to prove a generalization of Hu's theorem. It applies to Shannon and Tsallis entropy, (Tsallis) Kullback-Leibler Divergence, cross-entropy, Kolmogorov complexity, submodular information functions, and the generalization error in machine learning. Our result implies for Chaitin's Kolmogorov complexity that the interaction complexities of all degrees are in expectation close to Shannon interaction information. For well-behaved probability distributions on increasing sequence lengths, this shows that the per-bit expected interaction complexity and information asymptotically coincide, thus showing a strong bridge between algorithmic and classical information theory.
Personalized Federated Learning with Exact Stochastic Gradient Descent
Venue: arXiv cs.LG 2025
Year: 2025

We propose a Stochastic Gradient Descent (SGD)-type algorithm for Personalized Federated Learning which can be particularly attractive for mobile energy-limited regimes due to its low per-client computational cost. The model to be trained includes a set of common weights for all clients, and a set of personalized weights that are specific to each client. At each optimization round, randomly selected clients perform multiple full gradient-descent updates over their client-specific weights towards optimizing the loss function on their own datasets, without updating the common weights. This procedure is energy-efficient since it has low computational cost per client. At the final update of each round, each client computes the joint gradient over both the client-specific and the common weights and returns the gradient of common weights to the server, which allows to perform an exact SGD step over the full set of weights in a distributed manner. For the overall optimization scheme, we rigorously prove convergence, even in non-convex settings such as those encountered when training neural networks, with a rate of $\mathcal{O} \left (\frac{1}{\sqrt{T}} \right )$ with respect to communication rounds $T$. In practice, PFLEGO exhibits substantially lower per-round wall-clock time, used as a proxy for energy. Our theoretical guarantees translate to superior performance in practice against baselines such as FedAvg and FedPer, as evaluated in several multi-class classification datasets, in particular, Omniglot, CIFAR-10, MNIST, Fashion-MNIST, and EMNIST.
TabID: Automatic Identification and Tabulation of Subproblems in Constraint Models
Venue: arXiv cs.AI 2025
Year: 2025

The performance of a constraint model can often be improved by converting a subproblem into a single table constraint (referred to as tabulation). Finding subproblems to tabulate is traditionally a manual and time-intensive process, even for expert modellers. This paper presents TabID, an entirely automated method to identify promising subproblems for tabulation in constraint programming. We introduce a diverse set of heuristics designed to identify promising candidates for tabulation, aiming to improve solver performance. These heuristics are intended to encapsulate various factors that contribute to useful tabulation. We also present additional checks to limit the potential drawbacks of suboptimal tabulation. We comprehensively evaluate our approach using benchmark problems from existing literature that previously relied on manual identification by constraint programming experts of constraints to tabulate. We demonstrate that our automated identification and tabulation process achieves comparable, and in some cases improved results. We empirically evaluate the efficacy of our approach on a variety of solvers, including standard CP (Minion and Gecode), clause-learning CP (Chuffed and OR-Tools) and SAT solvers (Kissat). Our findings highlight the substantial potential of fully automated tabulation, suggesting its integration into automated model reformulation tools.
Hyperbolic Graph Neural Networks: A Review of Methods and Applications
Venue: arXiv cs.LG 2025
Year: 2025

Graph representation learning in Euclidean space, despite its widespread adoption and proven utility in many domains, often struggles to effectively capture the inherent hierarchical and complex relational structures prevalent in real-world data, particularly for datasets exhibiting a highly non-Euclidean latent anatomy or power-law distributions. Hyperbolic geometry, with its constant negative curvature and exponential growth property, naturally accommodates such structures, offering a promising alternative for learning rich graph representations. This survey paper provides a comprehensive review of the rapidly evolving field of Hyperbolic Graph Learning (HGL). We systematically categorize and analyze existing methods broadly dividing them into (1) hyperbolic graph embedding-based techniques, (2) graph neural network-based hyperbolic models, and (3) emerging paradigms. Beyond methodologies, we extensively discuss diverse applications of HGL across multiple domains, including recommender systems, knowledge graphs, bioinformatics, and other relevant scenarios, demonstrating the broad applicability and effectiveness of hyperbolic geometry in real-world graph learning tasks. Most importantly, we identify several key challenges that serve as directions for advancing HGL, including handling complex data structures, developing geometry-aware learning objectives, ensuring trustworthy and scalable implementations, and integrating with foundation models, e.g., large language models. We highlight promising research opportunities in this exciting interdisciplinary area. A comprehensive repository can be found at https://github.com/digailab/awesome-hyperbolic-graph-learning.
Dojo: A Differentiable Physics Engine for Robotics
Venue: arXiv cs.RO 2025
Year: 2025

We present Dojo, a differentiable physics engine for robotics that prioritizes stable simulation, accurate contact physics, and differentiability with respect to states, actions, and system parameters. Dojo models hard contact and friction with a nonlinear complementarity problem with second-order cone constraints. We introduce a custom primal-dual interior-point method to solve the second order cone program for stable forward simulation over a broad range of sample rates. We obtain smooth gradient approximations with this solver through the implicit function theorem, giving gradients that are useful for downstream trajectory optimization, policy optimization, and system identification applications. Specifically, we propose to use the central path parameter threshold in the interior point solver as a user-tunable design parameter. A high value gives a smooth approximation to contact dynamics with smooth gradients for optimization and learning, while a low value gives precise simulation rollouts with hard contact. We demonstrate Dojo's differentiability in trajectory optimization, policy learning, and system identification examples. We also benchmark Dojo against MuJoCo, PyBullet, Drake, and Brax on a variety of robot models, and study the stability and simulation quality over a range of sample frequencies and accuracy tolerances. Finally, we evaluate the sim-to-real gap in hardware experiments with a Ufactory xArm 6 robot. Dojo is an open source project implemented in Julia with Python bindings, with code available at https://github.com/dojo-sim/Dojo.jl.
Don't Get Me Wrong: How to Apply Deep Visual Interpretations to Time Series
Venue: arXiv cs.CV 2025
Year: 2025

The correct interpretation of convolutional models is a hard problem for time series data. While saliency methods promise visual validation of predictions for image and language processing, they fall short when applied to time series. These tend to be less intuitive and represent highly diverse data, such as the tool-use time series dataset. Furthermore, saliency methods often generate varied, conflicting explanations, complicating the reliability of these methods. Consequently, a rigorous objective assessment is necessary to establish trust in them. This paper investigates saliency methods on time series data to formulate recommendations for interpreting convolutional models and implements them on the tool-use time series problem. To achieve this, we first employ nine gradient-, propagation-, or perturbation-based post-hoc saliency methods across six varied and complex real-world datasets. Next, we evaluate these methods using five independent metrics to generate recommendations. Subsequently, we implement a case study focusing on tool-use time series using convolutional classification models. Our results validate our recommendations that indicate that none of the saliency methods consistently outperforms others on all metrics, while some are sometimes ahead. Our insights and step-by-step guidelines allow experts to choose suitable saliency methods for a given model and dataset.
Predicate Invention for Bilevel Planning
Venue: arXiv cs.AI 2025
Year: 2025

Efficient planning in continuous state and action spaces is fundamentally hard, even when the transition model is deterministic and known. One way to alleviate this challenge is to perform bilevel planning with abstractions, where a high-level search for abstract plans is used to guide planning in the original transition space. Previous work has shown that when state abstractions in the form of symbolic predicates are hand-designed, operators and samplers for bilevel planning can be learned from demonstrations. In this work, we propose an algorithm for learning predicates from demonstrations, eliminating the need for manually specified state abstractions. Our key idea is to learn predicates by optimizing a surrogate objective that is tractable but faithful to our real efficient-planning objective. We use this surrogate objective in a hill-climbing search over predicate sets drawn from a grammar. Experimentally, we show across four robotic planning environments that our learned abstractions are able to quickly solve held-out tasks, outperforming six baselines. Code: https://tinyurl.com/predicators-release
Grasp Pre-shape Selection by Synthetic Training: Eye-in-hand Shared Control on the Hannes Prosthesis
Venue: arXiv cs.RO 2025
Year: 2025

We consider the task of object grasping with a prosthetic hand capable of multiple grasp types. In this setting, communicating the intended grasp type often requires a high user cognitive load which can be reduced adopting shared autonomy frameworks. Among these, so-called eye-in-hand systems automatically control the hand pre-shaping before the grasp, based on visual input coming from a camera on the wrist. In this paper, we present an eye-in-hand learning-based approach for hand pre-shape classification from RGB sequences. Differently from previous work, we design the system to support the possibility to grasp each considered object part with a different grasp type. In order to overcome the lack of data of this kind and reduce the need for tedious data collection sessions for training the system, we devise a pipeline for rendering synthetic visual sequences of hand trajectories. We develop a sensorized setup to acquire real human grasping sequences for benchmarking and show that, compared on practical use cases, models trained with our synthetic dataset achieve better generalization performance than models trained on real data. We finally integrate our model on the Hannes prosthetic hand and show its practical effectiveness. We make publicly available the code and dataset to reproduce the presented results.
Probing Pre-Trained Language Models for Cross-Cultural Differences in Values
Venue: arXiv cs.CL 2025
Year: 2025

Language embeds information about social, cultural, and political values people hold. Prior work has explored social and potentially harmful biases encoded in Pre-Trained Language models (PTLMs). However, there has been no systematic study investigating how values embedded in these models vary across cultures. In this paper, we introduce probes to study which values across cultures are embedded in these models, and whether they align with existing theories and cross-cultural value surveys. We find that PTLMs capture differences in values across cultures, but those only weakly align with established value surveys. We discuss implications of using mis-aligned models in cross-cultural settings, as well as ways of aligning PTLMs with value surveys.
Are We Really Making Much Progress in Text Classification? A Comparative Review
Venue: arXiv cs.CL 2025
Year: 2025

We analyze various methods for single-label and multi-label text classification across well-known datasets, categorizing them into bag-of-words, sequence-based, graph-based, and hierarchical approaches. Despite the surge in methods like graph-based models, encoder-only pre-trained language models, notably BERT, remain state-of-the-art. However, recent findings suggest simpler models like logistic regression and trigram-based SVMs outperform newer techniques. While decoder-only generative language models show promise in learning with limited data, they lag behind encoder-only models in performance. We emphasize the superiority of discriminative language models like BERT over generative models for supervised tasks. Additionally, we highlight the literature's lack of robustness in method comparisons, particularly concerning basic hyperparameter optimizations like learning rate in fine-tuning encoder-only language models. Data availability: The source code is available at https://github.com/drndr/multilabel-text-clf All datasets used for our experiments are publicly available except the NYT dataset.
Anomaly Detection in Autonomous Driving: A Survey
Venue: arXiv cs.RO 2025
Year: 2025

Nowadays, there are outstanding strides towards a future with autonomous vehicles on our roads. While the perception of autonomous vehicles performs well under closed-set conditions, they still struggle to handle the unexpected. This survey provides an extensive overview of anomaly detection techniques based on camera, lidar, radar, multimodal and abstract object level data. We provide a systematization including detection approach, corner case level, ability for an online application, and further attributes. We outline the state-of-the-art and point out current research gaps.
WordAlchemy: A transformer-based Reverse Dictionary
Venue: arXiv cs.CL 2025
Year: 2025

A reverse dictionary takes a target word's description as input and returns the words that fit the description. Reverse Dictionaries are useful for new language learners, anomia patients, and for solving common tip-of-the-tongue problems (lethologica). Currently, there does not exist any Reverse Dictionary provider with support for any Indian Language. We present a novel open-source cross-lingual reverse dictionary system with support for Indian languages. In this paper, we propose a transformer-based deep learning approach to tackle the limitations faced by the existing systems using the mT5 model. This architecture uses the Translation Language Modeling (TLM) technique, rather than the conventional BERT's Masked Language Modeling (MLM) technique.
Lattice and Non-lattice Piercing of Axis-Parallel Rectangles
Venue: arXiv cs.CG 2025
Year: 2025

Given a family ${\mathcal F}$ of shapes in the plane, we study what is the lowest possible density of a point set $P$ that pierces (``intersects'', ``hits'') all translates of each shape in ${\mathcal F}$. For instance, if ${\mathcal F}$ consists of two axis-parallel rectangles the best known piercing set, i.e., one with the lowest density, is a lattice. Given a finite family ${\mathcal F}$ of axis-parallel rectangles, we present an algorithm for finding an optimal ${\mathcal F}$-piercing lattice. The algorithm runs in time polynomial in the number of rectangles and the maximum aspect ratio of the rectangles in the family. No prior algorithms for this problem were known. On the other hand, we show that for every $n \geq 3$, there exists a family of $n$ axis-parallel rectangles for which the best piercing density achieved by a lattice is separated by a positive (constant) gap from the optimal piercing density for the respective family. Finally, we show that the best lattice can be sometimes worse by $20\%$ than the optimal piercing set.
Risk Awareness in HTN Planning
Venue: arXiv cs.AI 2025
Year: 2025

Actual real-world domains are characterised by uncertain situations in which acting and using resources may entail the embracing of risks. Performing actions in such domains involves costs of consuming some resource, such as time or energy, where the knowledge about these costs can range from known to totally unknown. In autonomous vehicles, actions have uncertain costs due to factors like traffic. Choosing an action requires assessing delay risks, as each road may have unpredictable congestion. Thus, these domains call for not only planning under uncertainty but also planning while embracing risk. Resorting to HTN planning as a widely used planning technique in real-world applications, one can observe that existing approaches assume risk neutrality, relying on single-valued action costs without considering risk. Here, we enhance HTN planning with risk awareness by considering expected utility theory. We introduce a general framework for HTN planning that allows modelling risk and uncertainty using a probability distribution of action costs upon which we define risk-aware HTN planning as being capable of accounting for the different risk attitudes and allowing the computation of plans that go beyond risk neutrality. We lay out that computing risk-aware plans requires finding plans with the highest expected utility. We argue that it is possible for HTN planning agents to solve specialised risk-aware HTN planning problems by adapting existing HTN planning approaches, and develop an approach that surpasses the expressiveness of current approaches by allowing these agents to compute plans tailored to a particular risk attitude. An empirical evaluation of two case studies highlights the feasibility and expressiveness of this approach. We also highlight open issues, such as applying the proposal beyond HTN planning, covering both modelling and plan generation.
Reinforcement Teaching
Venue: arXiv cs.LG 2025
Year: 2025

Machine learning algorithms learn to solve a task, but are unable to improve their ability to learn. Meta-learning methods learn about machine learning algorithms and improve them so that they learn more quickly. However, existing meta-learning methods are either hand-crafted to improve one specific component of an algorithm or only work with differentiable algorithms. We develop a unifying meta-learning framework, called Reinforcement Teaching, to improve the learning process of \emph{any} algorithm. Under Reinforcement Teaching, a teaching policy is learned, through reinforcement, to improve a student's learning algorithm. To learn an effective teaching policy, we introduce the parametric-behavior embedder that learns a representation of the student's learnable parameters from its input/output behavior. We further use learning progress to shape the teacher's reward, allowing it to more quickly maximize the student's performance. To demonstrate the generality of Reinforcement Teaching, we conduct experiments in which a teacher learns to significantly improve both reinforcement and supervised learning algorithms. Reinforcement Teaching outperforms previous work using heuristic reward functions and state representations, as well as other parameter representations.
Distributed controller synthesis for deadlock avoidance
Venue: arXiv cs.LO 2025
Year: 2025

We consider the distributed control synthesis problem for systems with locks. The goal is to find local controllers so that the global system does not deadlock. With no restriction this problem is undecidable even for three processes each using a fixed number of locks. We propose two restrictions that make distributed control decidable. The first one is to allow each process to use at most two locks. The problem then becomes $Σ_2^P$-complete, and even in PTIME under some additional assumptions. The dining philosophers problem satisfies these assumptions. The second restriction is a nested usage of locks. In this case the synthesis problem is NEXPTIME-complete. The drinking philosophers problem falls in this case.
Regular Model Checking Upside-Down: An Invariant-Based Approach
Venue: arXiv cs.DC 2025
Year: 2025

Regular model checking is a technique for the verification of infinite-state systems whose configurations can be represented as finite words over a suitable alphabet. The form we are studying applies to systems whose set of initial configurations is regular, and whose transition relation is captured by a length-preserving transducer. To verify safety properties, regular model checking iteratively computes automata recognizing increasingly larger regular sets of reachable configurations, and checks if they contain unsafe configurations. Since this procedure often does not terminate, acceleration, abstraction, and widening techniques have been developed to compute a regular superset of the reachable configurations. In this paper, we develop a complementary procedure. Instead of approaching the set of reachable configurations from below, we start with the set of all configurations and approach it from above. We use that the set of reachable configurations is equal to the intersection of all inductive invariants of the system. Since this intersection is non-regular in general, we introduce b-invariants, defined as those representable by CNF-formulas with at most b clauses. We prove that, for every $b\geq0$, the intersection of all inductive b-invariants is regular, and we construct an automaton recognizing it. We show that whether this automaton accepts some unsafe configuration is in EXPSPACE for every $b\geq0$, and PSPACE-complete for b=1. Finally, we study how large must b be to prove safety properties of a number of benchmarks.