OpenRaiser/Intern-Atlas huggingface dataset:
Design of a 3-DOF Hopping Robot with an Optimized Gearbox: An Intermediate Platform Toward Bipedal Robots
Venue: arXiv cs.RO 2025
Year: 2025

This paper presents a 3-DOF hopping robot with a human-like lower-limb joint configuration and a flat foot, capable of performing dynamic and repetitive jumping motions. To achieve both high torque output and a large hollow shaft diameter for efficient cable routing, a compact 3K compound planetary gearbox was designed using mixed-integer nonlinear programming for gear tooth optimization. To meet performance requirements within the constrained joint geometry, all major components-including the actuator, motor driver, and communication interface-were custom-designed. The robot weighs 12.45 kg, including a dummy mass, and measures 840 mm in length when the knee joint is fully extended. A reinforcement learning-based controller was employed, and robot's performance was validated through hardware experiments, demonstrating stable and repetitive hopping motions in response to user inputs. These experimental results indicate that the platform serves as a solid foundation for future bipedal robot development.
An Information-Theoretic Framework for Receiver Quantization in Communication
Venue: arXiv cs.IT 2025
Year: 2025

We investigate information-theoretic limits and design of communication under receiver quantization. Unlike most existing studies, this work is more focused on the impact of resolution reduction from high to low. We consider a standard transceiver architecture, which includes i.i.d. complex Gaussian codebook at the transmitter, and a symmetric quantizer cascaded with a nearest neighbor decoder at the receiver. Employing the generalized mutual information (GMI), an achievable rate under general quantization rules is obtained in an analytical form, which shows that the rate loss due to quantization is $\log\left(1+γ\mathsf{SNR}\right)$, where $γ$ is determined by thresholds and levels of the quantizer. Based on this result, the performance under uniform receiver quantization is analyzed comprehensively. We show that the front-end gain control, which determines the loading factor of quantization, has an increasing impact on performance as the resolution decreases. In particular, we prove that the unique loading factor that minimizes the MSE also maximizes the GMI, and the corresponding irreducible rate loss is given by $\log\left(1+\mathsf {mmse}\cdot\mathsf{SNR}\right)$, where mmse is the minimum MSE normalized by the variance of quantizer input, and is equal to the minimum of $γ$. A geometrical interpretation for the optimal uniform quantization at the receiver is further established. Moreover, by asymptotic analysis, we characterize the impact of biased gain control, showing how small rate losses decay to zero and providing rate approximations under large bias. From asymptotic expressions of the optimal loading factor and mmse, approximations and several per-bit rules for performance are also provided. Finally we discuss more types of receiver quantization and show that the consistency between achievable rate maximization and MSE minimization does not hold in general.
Community detection of hypergraphs by Ricci flow
Venue: arXiv cs.SI 2025
Year: 2025

Community detection in hypergraphs is both instrumental for functional module identification and intricate due to higher-order interactions among nodes. We define a hypergraph Ricci flow that directly operates on higher-order interactions of hypergraphs and prove long-time existence of the flow. Building on this theoretical foundation, we develop HyperRCD-a Ricci-flow-based community detection approach that deforms hyperedge weights through curvature-driven evolution, which provides an effective mathematical representation of higher-order interactions mediated by weighted hyperedges between nodes. Extensive experiments on both synthetic and real-world hypergraphs demonstrate that HyperRCD exhibits remarkable enhanced robustness to topological variations and competitive performance across diverse datasets.
SpikeX: Exploring Accelerator Architecture and Network-Hardware Co-Optimization for Sparse Spiking Neural Networks
Venue: arXiv cs.NE 2025
Year: 2025

Spiking Neural Networks (SNNs) are promising biologically plausible models of computation which utilize a spiking binary activation function similar to that of biological neurons. SNNs are well positioned to process spatiotemporal data, and are advantageous in ultra-low power and real-time processing. Despite a large body of work on conventional artificial neural network accelerators, much less attention has been given to efficient SNN hardware accelerator design. In particular, SNNs exhibit inherent unstructured spatial and temporal firing sparsity, an opportunity yet to be fully explored for great hardware processing efficiency. In this work, we propose a novel systolic-array SNN accelerator architecture, called SpikeX, to take on the challenges and opportunities stemming from unstructured sparsity while taking into account the unique characteristics of spike-based computation. By developing an efficient dataflow targeting expensive multi-bit weight data movements, SpikeX reduces memory access and increases data sharing and hardware utilization for computations spanning across both time and space, thereby significantly improving energy efficiency and inference latency. Furthermore, recognizing the importance of SNN network and hardware co-design, we develop a co-optimization methodology facilitating not only hardware-aware SNN training but also hardware accelerator architecture search, allowing joint network weight parameter optimization and accelerator architectural reconfiguration. This end-to-end network/accelerator co-design approach offers a significant reduction of 15.1x-150.87x in energy-delay-product(EDP) without comprising model accuracy.
Mathematical Knowledge Bases as Grammar-Compressed Proof Terms: Exploring Metamath Proof Structures
Venue: arXiv cs.LO 2025
Year: 2025

Viewing formal mathematical proofs as logical terms provides a powerful and elegant basis for analyzing how human experts tend to structure proofs and how proofs can be structured by automated methods. We pursue this approach by (1) combining proof structuring and grammar-based tree compression, where we show how they are inherently related, and (2) exploring ways to combine human and automated proof structuring. Our source of human-structured proofs is Metamath, which, based on condensed detachment, naturally provides a view of proofs as terms. A knowledge base is then just a grammar that compresses a set of gigantic proof trees. We present a formal account of this view, an implemented practical toolkit as well as experimental results.
Improving Out-of-Domain Robustness with Targeted Augmentation in Frequency and Pixel Spaces
Venue: arXiv cs.CV 2025
Year: 2025

Out-of-domain (OOD) robustness under domain adaptation settings, where labeled source data and unlabeled target data come from different distributions, is a key challenge in real-world applications. A common approach to improving OOD robustness is through data augmentations. However, in real-world scenarios, models trained with generic augmentations can only improve marginally when generalized under distribution shifts toward unlabeled target domains. While dataset-specific targeted augmentations can address this issue, they typically require expert knowledge and extensive prior data analysis to identify the nature of the datasets and domain shift. To address these challenges, we propose Frequency-Pixel Connect, a domain-adaptation framework that enhances OOD robustness by introducing a targeted augmentation in both the frequency space and pixel space. Specifically, we mix the amplitude spectrum and pixel content of a source image and a target image to generate augmented samples that introduce domain diversity while preserving the semantic structure of the source image. Unlike previous targeted augmentation methods that are both dataset-specific and limited to the pixel space, Frequency-Pixel Connect is dataset-agnostic, enabling broader and more flexible applicability beyond natural image datasets. We further analyze the effectiveness of Frequency-Pixel Connect by evaluating the performance of our method connecting same-class cross-domain samples while separating different-class examples. We demonstrate that Frequency-Pixel Connect significantly improves cross-domain connectivity and outperforms previous generic methods on four diverse real-world benchmarks across vision, medical, audio, and astronomical domains, and it also outperforms other dataset-specific targeted augmentation methods.
Model alignment using inter-modal bridges
Venue: arXiv cs.LG 2025
Year: 2025

Foundation models have demonstrated remarkable performance across modalities such as language and vision. However, model reuse across distinct modalities (e.g., text and vision) remains limited due to the difficulty of aligning internal representations. Existing methods require extensive paired training data or are constrained to specific domains. We introduce a semi-supervised approach for model alignment via conditional flow matching. The conditional flow between latent spaces of different modalities (e.g., text-to-image or biological-to-artificial neuronal activity) can be learned in two settings: ($1$) solving a (balanced or unbalanced) optimal transport problem with an inter-space bridge cost, and ($2$) performing memory-efficient alignment using labelled exemplars. Despite being constrained by the original models' capacity, our method--under both settings--matches downstream task performance of end-to-end trained models on object recognition and image generation tasks across MNIST, ImageNet, and \cite{majaj2015simple} datasets, particularly when labelled training data is scarce ($<20\%$). Our method provides a data-efficient solution for inter-modal model alignment with minimal supervision.
Predicting Gas Well Performance with Decline Curve Analysis: A Case Study on Semutang Gas Field
Venue: arXiv cs.CE 2025
Year: 2025

Decline-curve analysis (DCA) is a widely utilized method for production forecasting and estimating remaining reserves in gas reservoir. Based on the assumptions that past production trend can be mathematically characterized and used to predict future performance. It relies on historical production data and assumes that production methods remain unchanged throughout the analysis. This method is particularly valuable due to its accuracy in forecasting and its broad acceptance within the industry. Wells in the same geographical area and producing from similar geological formations often exhibit similar decline curve parameters. This study applies DCA to forecast the future production performance and estimate the ultimate recovery for the Semutang gas field's well 5 in Bangladesh. Using historical production data, decline curves were generated based on exponential, hyperbolic, and harmonic model equations. The cumulative production estimations were 11,139.34 MMSCF for the exponential model, 11,620.26 MMSCF for the hyperbolic model, and 14,021.92 MMSCF for the harmonic model. In terms of the well's productive life, the estimates were 335.13 days, 1,152 days, and 22,611 days, respectively. Among these models, the hyperbolic decline provided the most realistic forecast, closely aligning with observed production trend. The study highlights the importance of selecting an appropriate decline model for accurate production forecasting and reserve estimation, which is essential for effective reservoir management and resource optimization.
STAR: Stage-Wise Attention-Guided Token Reduction for Efficient Large Vision-Language Models Inference
Venue: arXiv cs.LG 2025
Year: 2025

Although large vision-language models (LVLMs) leverage rich visual token representations to achieve strong performance on multimodal tasks, these tokens also introduce significant computational overhead during inference. Existing training-free token pruning methods typically adopt a single-stage strategy, focusing either on visual self-attention or visual-textual cross-attention. However, such localized perspectives often overlook the broader information flow across the model, leading to substantial performance degradation, especially under high pruning ratios. In this work, we propose STAR (Stage-wise Attention-guided token Reduction), a training-free, plug-and-play framework that approaches token pruning from a global perspective. Instead of pruning at a single point, STAR performs attention-guided reduction in two complementary stages: an early-stage pruning based on visual self-attention to remove redundant low-level features, and a later-stage pruning guided by cross-modal attention to discard task-irrelevant tokens. This holistic approach allows STAR to significantly reduce computational cost while better preserving task-critical information. Extensive experiments across multiple LVLM architectures and benchmarks show that STAR achieves strong acceleration while maintaining comparable, and in some cases even improved performance.
Data Sharing with a Generative AI Competitor
Venue: arXiv cs.GT 2025
Year: 2025

As GenAI platforms grow, their dependence on content from competing providers, combined with access to alternative data sources, creates new challenges for data-sharing decisions. In this paper, we provide a model of data sharing between a content creation firm and a GenAI platform that can also acquire content from third-party experts. The interaction is modeled as a Stackelberg game: the firm first decides how much of its proprietary dataset to share with GenAI, and GenAI subsequently determines how much additional data to acquire from external experts. Their utilities depend on user traffic, monetary transfers, and the cost of acquiring additional data from external experts. We characterize the unique subgame perfect equilibrium of the game and uncover a surprising phenomenon: The firm may be willing to pay GenAI to share the firm's own data, leading to a costly data-sharing equilibrium. We further characterize the set of Pareto improving data prices, and show that such improvements occur only when the firm pays to share data. Finally, we study how the price can be set to optimize different design objectives, such as promoting firm data sharing, expert data acquisition, or a balance of both. Our results shed light on the economic forces shaping data-sharing partnerships in the age of GenAI, and provide guidance for platforms, regulators and policymakers seeking to design effective data exchange mechanisms.
SLOT: Sample-specific Language Model Optimization at Test-time
Venue: arXiv cs.CL 2025
Year: 2025

We propose SLOT (Sample-specific Language Model Optimization at Test-time), a novel and parameter-efficient test-time inference approach that enhances a language model's ability to more accurately respond to individual prompts. Existing Large Language Models (LLMs) often struggle with complex instructions, leading to poor performances on those not well represented among general samples. To address this, SLOT conducts few optimization steps at test-time to update a light-weight sample-specific parameter vector. It is added to the final hidden layer before the output head, and enables efficient adaptation by caching the last layer features during per-sample optimization. By minimizing the cross-entropy loss on the input prompt only, SLOT helps the model better aligned with and follow each given instruction. In experiments, we demonstrate that our method outperforms the compared models across multiple benchmarks and LLMs. For example, Qwen2.5-7B with SLOT achieves an accuracy gain of 8.6% on GSM8K from 57.54% to 66.19%, while DeepSeek-R1-Distill-Llama-70B with SLOT achieves a SOTA accuracy of 68.69% on GPQA among 70B-level models. Our code is available at https://github.com/maple-research-lab/SLOT.
ViEEG: Hierarchical Visual Neural Representation for EEG Brain Decoding
Venue: arXiv cs.CV 2025
Year: 2025

Understanding and decoding brain activity into visual representations is a fundamental challenge at the intersection of neuroscience and artificial intelligence. While EEG visual decoding has shown promise due to its non-invasive, and low-cost nature, existing methods suffer from Hierarchical Neural Encoding Neglect (HNEN)-a critical limitation where flat neural representations fail to model the brain's hierarchical visual processing hierarchy. Inspired by the hierarchical organization of visual cortex, we propose ViEEG, a neuro-We further adopt hierarchical contrastive learning for EEG-CLIP representation alignment, enabling zero-shot object recognition. Extensive experiments on the THINGS-EEG dataset demonstrate that ViEEG significantly outperforms previous methods by a large margin in both subject-dependent and subject-independent settings. Results on the THINGS-MEG dataset further confirm ViEEG's generalization to different neural modalities. Our framework not only advances the performance frontier but also sets a new paradigm for EEG brain decoding. inspired framework that addresses HNEN. ViEEG decomposes each visual stimulus into three biologically aligned components-contour, foreground object, and contextual scene-serving as anchors for a three-stream EEG encoder. These EEG features are progressively integrated via cross-attention routing, simulating cortical information flow from low-level to high-level vision.
Observe-R1: Unlocking Reasoning Abilities of MLLMs with Dynamic Progressive Reinforcement Learning
Venue: arXiv cs.LG 2025
Year: 2025

Reinforcement Learning (RL) has shown promise in improving the reasoning abilities of Large Language Models (LLMs). However, the specific challenges of adapting RL to multimodal data and formats remain relatively unexplored. In this work, we present Observe-R1, a novel framework aimed at enhancing the reasoning capabilities of multimodal large language models (MLLMs). We draw inspirations from human learning progression--from simple to complex and easy to difficult, and propose a gradual learning paradigm for MLLMs. To this end, we construct the NeuraLadder dataset, which is organized and sampled according to the difficulty and complexity of data samples for RL training. To tackle multimodal tasks, we introduce a multimodal format constraint that encourages careful observation of images, resulting in enhanced visual abilities and clearer and more structured responses. Additionally, we implement a bonus reward system that favors concise, correct answers within a length constraint, alongside a dynamic weighting mechanism that prioritizes uncertain and medium-difficulty problems, ensuring that more informative samples have a greater impact on training. Our experiments with the Qwen2.5-VL-3B and Qwen2.5-VL-7B models on 20k samples from the NeuraLadder dataset show that Observe-R1 outperforms a series of larger reasoning models on both reasoning and general benchmarks, achieving superior clarity and conciseness in reasoning chains. Ablation studies validate the effectiveness of our strategies, highlighting the robustness and generalization of our approach. The dataset and code will be released at https://github.com/zrguo/Observe-R1.
SRLoRA: Subspace Recomposition in Low-Rank Adaptation via Importance-Based Fusion and Reinitialization
Venue: arXiv cs.CV 2025
Year: 2025

Low-Rank Adaptation (LoRA) is a widely adopted parameter-efficient fine-tuning (PEFT) method that injects two trainable low-rank matrices (A and B) into frozen pretrained models. While efficient, LoRA constrains updates to a fixed low-rank subspace (Delta W = BA), which can limit representational capacity and hinder downstream performance. We introduce Subspace Recomposition in Low-Rank Adaptation (SRLoRA) via importance-based fusion and reinitialization, a novel approach that enhances LoRA's expressiveness without compromising its lightweight structure. SRLoRA assigns importance scores to each LoRA pair (a column of B and the corresponding row of A), and dynamically recomposes the subspace during training. Less important pairs are fused into the frozen backbone, freeing capacity to reinitialize new pairs along unused principal directions derived from the pretrained weight's singular value decomposition. This mechanism enables continual subspace refreshment and richer adaptation over time, without increasing the number of trainable parameters. We evaluate SRLoRA on both language and vision tasks, including the GLUE benchmark and various image classification datasets. SRLoRA consistently achieves faster convergence and improved accuracy over standard LoRA, demonstrating its generality, efficiency, and potential for broader PEFT applications.
Learning to Play Like Humans: A Framework for LLM Adaptation in Interactive Fiction Games
Venue: arXiv cs.CL 2025
Year: 2025

Interactive Fiction games (IF games) are where players interact through natural language commands. While recent advances in Artificial Intelligence agents have reignited interest in IF games as a domain for studying decision-making, existing approaches prioritize task-specific performance metrics over human-like comprehension of narrative context and gameplay logic. This work presents a cognitively inspired framework that guides Large Language Models (LLMs) to learn and play IF games systematically. Our proposed **L**earning to **P**lay **L**ike **H**umans (LPLH) framework integrates three key components: (1) structured map building to capture spatial and narrative relationships, (2) action learning to identify context-appropriate commands, and (3) feedback-driven experience analysis to refine decision-making over time. By aligning LLMs-based agents' behavior with narrative intent and commonsense constraints, LPLH moves beyond purely exploratory strategies to deliver more interpretable, human-like performance. Crucially, this approach draws on cognitive science principles to more closely simulate how human players read, interpret, and respond within narrative worlds. As a result, LPLH reframes the IF games challenge as a learning problem for LLMs-based agents, offering a new path toward robust, context-aware gameplay in complex text-based environments.
BadNAVer: Exploring Jailbreak Attacks On Vision-and-Language Navigation
Venue: arXiv cs.RO 2025
Year: 2025

Multimodal large language models (MLLMs) have recently gained attention for their generalization and reasoning capabilities in Vision-and-Language Navigation (VLN) tasks, leading to the rise of MLLM-driven navigators. However, MLLMs are vulnerable to jailbreak attacks, where crafted prompts bypass safety mechanisms and trigger undesired outputs. In embodied scenarios, such vulnerabilities pose greater risks: unlike plain text models that generate toxic content, embodied agents may interpret malicious instructions as executable commands, potentially leading to real-world harm. In this paper, we present the first systematic jailbreak attack paradigm targeting MLLM-driven navigator. We propose a three-tiered attack framework and construct malicious queries across four intent categories, concatenated with standard navigation instructions. In the Matterport3D simulator, we evaluate navigation agents powered by five MLLMs and report an average attack success rate over 90%. To test real-world feasibility, we replicate the attack on a physical robot. Our results show that even well-crafted prompts can induce harmful actions and intents in MLLMs, posing risks beyond toxic output and potentially leading to physical harm.