OpenRaiser/Intern-Atlas huggingface dataset:
DNR Bench: Benchmarking Over-Reasoning in Reasoning LLMs
Venue: arXiv cs.LG 2025
Year: 2025

Test-time scaling has significantly improved large language model performance, enabling deeper reasoning to solve complex problems. However, this increased reasoning capability also leads to excessive token generation and unnecessary problem-solving attempts. We introduce Dont Reason Bench (DNR Bench), a new benchmark designed to evaluate LLMs ability to robustly understand the tricky reasoning triggers and avoiding unnecessary generation. DNR Bench consists of 150 adversarially designed prompts that are easy for humans to understand and respond to, but surprisingly not for many of the recent prominent LLMs. DNR Bench tests models abilities across different capabilities, such as instruction adherence, hallucination avoidance, redundancy filtering, and unanswerable question recognition. We evaluate reasoning LLMs (RLMs), including DeepSeek-R1, OpenAI O3-mini, Claude-3.7-sonnet and compare them against a powerful non-reasoning model, e.g., GPT-4o. Our experiments reveal that RLMs generate up to 70x more tokens than necessary, often failing at tasks that simpler non-reasoning models handle efficiently with higher accuracy. Our findings underscore the need for more effective training and inference strategies in RLMs.
Frequency Enhancement for Image Demosaicking
Venue: arXiv cs.CV 2025
Year: 2025

Recovering high-frequency textures in image demosaicking remains a challenging issue. While existing methods introduced elaborate spatial learning methods, they still exhibit limited performance. To address this issue, a frequency enhancement approach is proposed. Based on the frequency analysis of color filter array (CFA)/demosaicked/ground truth images, we propose Dual-path Frequency Enhancement Network (DFENet), which reconstructs RGB images in a divide-and-conquer manner through fourier-domain frequency selection. In DFENet, two frequency selectors are employed, each selecting a set of frequency components for processing along separate paths. One path focuses on generating missing information through detail refinement in spatial domain, while the other aims at suppressing undesirable frequencies with the guidance of CFA images in frequency domain. Multi-level frequency supervision with a stagewise training strategy is employed to further improve the reconstruction performance. With these designs, the proposed DFENet outperforms other state-of-the-art algorithms on different datasets and demonstrates significant advantages on hard cases. Moreover, to better assess algorithms' ability to reconstruct high-frequency textures, a new dataset, LineSet37, is contributed, which consists of 37 artificially designed and generated images. These images feature complex line patterns and are prone to severe visual artifacts like color moiré after demosaicking. Experiments on LineSet37 offer a more targeted evaluation of performance on challenging cases. The code and dataset are available at https://github.com/VelvetReverie/DFENet-demosaicking.
Video-VoT-R1: An efficient video inference model integrating image packing and AoE architecture
Venue: arXiv cs.AI 2025
Year: 2025

In the field of video-language pretraining, existing models face numerous challenges in terms of inference efficiency and multimodal data processing. This paper proposes a KunLunBaize-VoT-R1 video inference model based on a long-sequence image encoder, along with its training and application methods. By integrating image packing technology, the Autonomy-of-Experts (AoE) architecture, and combining the video of Thought (VoT), a large language model (LLM) trained with large-scale reinforcement learning, and multiple training techniques, the efficiency and accuracy of the model in video inference tasks are effectively improved. Experiments show that this model performs outstandingly in multiple tests, providing a new solution for video-language understanding.
Control Pneumatic Soft Bending Actuator with Online Learning Pneumatic Physical Reservoir Computing
Venue: arXiv cs.RO 2025
Year: 2025

The intrinsic nonlinearities of soft robots present significant control but simultaneously provide them with rich computational potential. Reservoir computing (RC) has shown effectiveness in online learning systems for controlling nonlinear systems such as soft actuators. Conventional RC can be extended into physical reservoir computing (PRC) by leveraging the nonlinear dynamics of soft actuators for computation. This paper introduces a PRC-based online learning framework to control the motion of a pneumatic soft bending actuator, utilizing another pneumatic soft actuator as the PRC model. Unlike conventional designs requiring two RC models, the proposed control system employs a more compact architecture with a single RC model. Additionally, the framework enables zero-shot online learning, addressing limitations of previous PRC-based control systems reliant on offline training. Simulations and experiments validated the performance of the proposed system. Experimental results indicate that the PRC model achieved superior control performance compared to a linear model, reducing the root-mean-square error (RMSE) by an average of over 37% in bending motion control tasks. The proposed PRC-based online learning control framework provides a novel approach for harnessing physical systems' inherent nonlinearities to enhance the control of soft actuators.
Active management of battery degradation in wireless sensor network using deep reinforcement learning for group battery replacement
Venue: arXiv cs.LG 2025
Year: 2025

Wireless sensor networks (WSNs) have become a promising solution for structural health monitoring (SHM), especially in hard-to-reach or remote locations. Battery-powered WSNs offer various advantages over wired systems, however limited battery life has always been one of the biggest obstacles in practical use of the WSNs, regardless of energy harvesting methods. While various methods have been studied for battery health management, existing methods exclusively aim to extend lifetime of individual batteries, lacking a system level view. A consequence of applying such methods is that batteries in a WSN tend to fail at different times, posing significant difficulty on planning and scheduling of battery replacement trip. This study investigate a deep reinforcement learning (DRL) method for active battery degradation management by optimizing duty cycle of WSNs at the system level. This active management strategy effectively reduces earlier failure of battery individuals which enable group replacement without sacrificing WSN performances. A simulated environment based on a real-world WSN setup was developed to train a DRL agent and learn optimal duty cycle strategies. The performance of the strategy was validated in a long-term setup with various network sizes, demonstrating its efficiency and scalability.
MiLA: Multi-view Intensive-fidelity Long-term Video Generation World Model for Autonomous Driving
Venue: arXiv cs.CV 2025
Year: 2025

In recent years, data-driven techniques have greatly advanced autonomous driving systems, but the need for rare and diverse training data remains a challenge, requiring significant investment in equipment and labor. World models, which predict and generate future environmental states, offer a promising solution by synthesizing annotated video data for training. However, existing methods struggle to generate long, consistent videos without accumulating errors, especially in dynamic scenes. To address this, we propose MiLA, a novel framework for generating high-fidelity, long-duration videos up to one minute. MiLA utilizes a Coarse-to-Re(fine) approach to both stabilize video generation and correct distortion of dynamic objects. Additionally, we introduce a Temporal Progressive Denoising Scheduler and Joint Denoising and Correcting Flow modules to improve the quality of generated videos. Extensive experiments on the nuScenes dataset show that MiLA achieves state-of-the-art performance in video generation quality. For more information, visit the project website: https://github.com/xiaomi-mlab/mila.github.io.
CONTHER: Human-Like Contextual Robot Learning via Hindsight Experience Replay and Transformers without Expert Demonstrations
Venue: arXiv cs.RO 2025
Year: 2025

This paper presents CONTHER, a novel reinforcement learning algorithm designed to efficiently and rapidly train robotic agents for goal-oriented manipulation tasks and obstacle avoidance. The algorithm uses a modified replay buffer inspired by the Hindsight Experience Replay (HER) approach to artificially populate experience with successful trajectories, effectively addressing the problem of sparse reward scenarios and eliminating the need to manually collect expert demonstrations. The developed algorithm proposes a Transformer-based architecture to incorporate the context of previous states, allowing the agent to perform a deeper analysis and make decisions in a manner more akin to human learning. The effectiveness of the built-in replay buffer, which acts as an "internal demonstrator", is twofold: it accelerates learning and allows the algorithm to adapt to different tasks. Empirical data confirm the superiority of the algorithm by an average of 38.46% over other considered methods, and the most successful baseline by 28.21%, showing higher success rates and faster convergence in the point-reaching task. Since the control is performed through the robot's joints, the algorithm facilitates potential adaptation to a real robot system and construction of an obstacle avoidance task. Therefore, the algorithm has also been tested on tasks requiring following a complex dynamic trajectory and obstacle avoidance. The design of the algorithm ensures its applicability to a wide range of goal-oriented tasks, making it an easily integrated solution for real-world robotics applications.
Development of a magnetorheological hand exoskeleton featuring a high force-to-power ratio for enhanced grip endurance
Venue: arXiv cs.RO 2025
Year: 2025

Hand exoskeletons have significant potential in labor-intensive fields by mitigating hand grip fatigue, enhancing hand strength, and preventing injuries. However, most of the traditional hand exoskeletons are driven by motors, whose output force is limited in the constrained installation conditions. Besides, they also come with the disadvantages of high power consumption, complex and bulky assistive systems, and high instability. In this work, we develop a novel hand exoskeleton integrated with innovative magnetorheological (MR) clutches that offers a high force-to-power ratio to improve grip endurance. The clutch features an enhanced structure design, a micro roller enhancing structure, which can significantly boost output forces. The experimental data demonstrate that, when it is supplied with 2 V, the clutch can deliver a peak holding force of 381.15 N-55 times that when no voltage is provided (7 N). In this scenario, it only consumes 1.38 W, yielding a force-to-power ratio of 256.75N/W, which is 2.35 times higher than the best-reported actuator used for hand exoskeletons. This capability enables the designed MRHE to provide approximately 419.79 N support force for gripping. The designed MR hand exoskeleton is highly integrated, comprising an exoskeleton frame, MR clutches, a control unit, and a battery. Evaluations through static grip endurance tests and dynamic carrying and lifting tests confirm that the MR hand exoskeleton can effectively reduce muscle fatigue, extend grip endurance, and minimize injuries. These findings highlight its strong potential for practical applications in repetitive tasks such as carrying and lifting in industrial settings.
Sample-Efficient Bayesian Transfer Learning for Online Machine Parameter Optimization
Venue: arXiv cs.LG 2025
Year: 2025

Correctly setting the parameters of a production machine is essential to improve product quality, increase efficiency, and reduce production costs while also supporting sustainability goals. Identifying optimal parameters involves an iterative process of producing an object and evaluating its quality. Minimizing the number of iterations is, therefore, desirable to reduce the costs associated with unsuccessful attempts. This work introduces a method to optimize the machine parameters in the system itself using a Bayesian optimization algorithm. By leveraging existing machine data, we use a transfer learning approach in order to identify an optimum with minimal iterations, resulting in a cost-effective transfer learning algorithm. We validate our approach on a laser machine for cutting sheet metal in the real world.
UniCrossAdapter: Multimodal Adaptation of CLIP for Radiology Report Generation
Venue: arXiv cs.CV 2025
Year: 2025

Automated radiology report generation aims to expedite the tedious and error-prone reporting process for radiologists. While recent works have made progress, learning to align medical images and textual findings remains challenging due to the relative scarcity of labeled medical data. For example, datasets for this task are much smaller than those used for image captioning in computer vision. In this work, we propose to transfer representations from CLIP, a large-scale pre-trained vision-language model, to better capture cross-modal semantics between images and texts. However, directly applying CLIP is suboptimal due to the domain gap between natural images and radiology. To enable efficient adaptation, we introduce UniCrossAdapter, lightweight adapter modules that are incorporated into CLIP and fine-tuned on the target task while keeping base parameters fixed. The adapters are distributed across modalities and their interaction to enhance vision-language alignment. Experiments on two public datasets demonstrate the effectiveness of our approach, advancing state-of-the-art in radiology report generation. The proposed transfer learning framework provides a means of harnessing semantic knowledge from large-scale pre-trained models to tackle data-scarce medical vision-language tasks. Code is available at https://github.com/chauncey-tow/MRG-CLIP.
Multivariate Time Series Anomaly Detection in Industry 5.0
Venue: arXiv cs.LG 2025
Year: 2025

Industry5.0 environments present a critical need for effective anomaly detection methods that can indicate equipment malfunctions, process inefficiencies, or potential safety hazards. The ever-increasing sensorization of manufacturing lines makes processes more observable, but also poses the challenge of continuously analyzing vast amounts of multivariate time series data. These challenges include data quality since data may contain noise, be unlabeled or even mislabeled. A promising approach consists of combining an embedding model with other Machine Learning algorithms to enhance the overall performance in detecting anomalies. Moreover, representing time series as vectors brings many advantages like higher flexibility and improved ability to capture complex temporal dependencies. We tested our solution in a real industrial use case, using data collected from a Bonfiglioli plant. The results demonstrate that, unlike traditional reconstruction-based autoencoders, which often struggle in the presence of sporadic noise, our embedding-based framework maintains high performance across various noise conditions.
GAN-enhanced Simulation-driven DNN Testing in Absence of Ground Truth
Venue: arXiv cs.SE 2025
Year: 2025

The generation of synthetic inputs via simulators driven by search algorithms is essential for cost-effective testing of Deep Neural Network (DNN) components for safety-critical systems. However, in many applications, simulators are unable to produce the ground-truth data needed for automated test oracles and to guide the search process. To tackle this issue, we propose an approach for the generation of inputs for computer vision DNNs that integrates a generative network to ensure simulator fidelity and employs heuristic-based search fitnesses that leverage transformation consistency, noise resistance, surprise adequacy, and uncertainty estimation. We compare the performance of our fitnesses with that of a traditional fitness function leveraging ground truth; further, we assess how the integration of a GAN not leveraging the ground truth impacts on test and retraining effectiveness. Our results suggest that leveraging transformation consistency is the best option to generate inputs for both DNN testing and retraining; it maximizes input diversity, spots the inputs leading to worse DNN performance, and leads to best DNN performance after retraining. Besides enabling simulator-based testing in the absence of ground truth, our findings pave the way for testing solutions that replace costly simulators with diffusion and large language models, which might be more affordable than simulators, but cannot generate ground-truth data.
Wearable Haptics for a Marionette-inspired Teleoperation of Highly Redundant Robotic Systems
Venue: arXiv cs.RO 2025
Year: 2025

The teleoperation of complex, kinematically redundant robots with loco-manipulation capabilities represents a challenge for human operators, who have to learn how to operate the many degrees of freedom of the robot to accomplish a desired task. In this context, developing an easy-to-learn and easy-to-use human-robot interface is paramount. Recent works introduced a novel teleoperation concept, which relies on a virtual physical interaction interface between the human operator and the remote robot equivalent to a "Marionette" control, but whose feedback was limited to only visual feedback on the human side. In this paper, we propose extending the "Marionette" interface by adding a wearable haptic interface to cope with the limitations given by the previous works. Leveraging the additional haptic feedback modality, the human operator gains full sensorimotor control over the robot, and the awareness about the robot's response and interactions with the environment is greatly improved. We evaluated the proposed interface and the related teleoperation framework with naive users, assessing the teleoperation performance and the user experience with and without haptic feedback. The conducted experiments consisted in a loco-manipulation mission with the CENTAURO robot, a hybrid leg-wheel quadruped with a humanoid dual-arm upper body.
Single Image Iterative Subject-driven Generation and Editing
Venue: arXiv cs.CV 2025
Year: 2025

Personalizing image generation and editing is particularly challenging when we only have a few images of the subject, or even a single image. A common approach to personalization is concept learning, which can integrate the subject into existing models relatively quickly, but produces images whose quality tends to deteriorate quickly when the number of subject images is small. Quality can be improved by pre-training an encoder, but training restricts generation to the training distribution, and is time consuming. It is still an open hard challenge to personalize image generation and editing from a single image without training. Here, we present SISO, a novel, training-free approach based on optimizing a similarity score with an input subject image. More specifically, SISO iteratively generates images and optimizes the model based on loss of similarity with the given subject image until a satisfactory level of similarity is achieved, allowing plug-and-play optimization to any image generator. We evaluated SISO in two tasks, image editing and image generation, using a diverse data set of personal subjects, and demonstrate significant improvements over existing methods in image quality, subject fidelity, and background preservation.
iDynamics: A Configurable Emulation Framework for Evaluating Microservice Scheduling Policies under Controllable Cloud-Edge Dynamics
Venue: arXiv cs.DC 2025
Year: 2025

This paper presents iDynamics, a configurable emulation framework that exposes these dynamics as controllable experimental factors while running real microservice code on a Kubernetes-based cloud-edge cluster. iDynamics comprises three modular components. The Graph Dynamics Analyzer reconstructs application call graphs from service-mesh telemetry and quantifies bidirectional traffic between upstream-downstream microservice pairs. The Networking Dynamics Manager injects and measures realistic cross-node delay and bandwidth patterns via Linux traffic control primitives and distributed agents. The Scheduling Policy Extender offers a pluggable interface and utility library for implementing and evaluating arbitrary scheduling policies, expressed as pod placement and migration strategies. We use iDynamics to implement two representative policies -- a call-graph-aware policy and a hybrid policy that jointly considers traffic and latency -- as case studies demonstrating how the framework can be used to study SLA compliance under dynamic conditions. Experiments on a real cloud-edge cluster, running the DeathStarBench Social Network microservices, show that iDynamics can accurately emulate targeted network conditions, generate diverse call-graph and traffic patterns, and help quantify how different scheduling policies mitigate SLA violations under controllable and repeatable dynamics.
A Linear Programming Approach to the Super-Stable Roommates Problem
Venue: arXiv cs.GT 2025
Year: 2025

The stable roommates problem is a non-bipartite version of the well-known stable matching problem. Teo and Sethuraman proved that, for each instance of the stable roommates problem in a complete graph, there exists a linear inequality system such that there exists a feasible solution to this system if and only if there exists a stable matching in the given instance. The aim of this paper is to extend the result of Teo and Sethuraman to the stable roommates problem with ties. More concretely, we prove that, for each instance of the stable roommates problem with ties in a complete graph, there exists a linear inequality system such that there exists a feasible solution to this system if and only if there exists a super-stable matching in the given instance.
Efficient Data Ingestion in Cloud-based architecture: a Data Engineering Design Pattern Proposal
Venue: arXiv cs.DB 2025
Year: 2025

In today's fast-paced digital world, data has become a critical asset for enterprises across various industries. However, the exponential growth of data presents significant challenges in managing and utilizing the vast amounts of information collected. Data engineering has emerged as a vital discipline addressing these challenges by providing robust platforms for effective data management, processing, and utilization. Data Engineering Patterns (DEP) refer to standardized practices and procedures in data engineering, such as ETL (extract, transform, load) processes, data pipelining, and data streaming management. Data Engineering Design Patterns (DEDP) are best practice solutions to common problems in data engineering, involving established, tested, and optimized approaches. These include architectural decisions, data modeling techniques, and data storage and retrieval strategies. While many researchers and practitioners have identified various DEPs and proposed DEDPs, such as data mesh and lambda architecture, the challenge of high-volume data ingestion remains inadequately addressed. In this paper, we propose a data ingestion design pattern for big data in cloud architecture, incorporating both incremental and full refresh techniques. Our approach leverages a flexible, metadata-driven framework to enhance feasibility and flexibility. This allows for easy changes to the ingestion type, schema modifications, table additions, and the integration of new data sources, all with minimal effort from data engineers. Tested on the Azure cloud architecture, our experiments demonstrate that the proposed techniques significantly reduce data ingestion time. Overall, this paper advances data management practices by presenting a detailed exploration of data ingestion challenges and defining a proposal for an effective design patterns for cloud-based architectures.