OpenRaiser/Intern-Atlas huggingface dataset:
Artificial Spacetimes for Reactive Control of Resource-Limited Robots
Venue: arXiv cs.RO 2025
Year: 2025

Field-based reactive control provides a minimalist, decentralized route to guiding robots that lack onboard computation. Such schemes are well suited to resource-limited machines like microrobots, yet implementation artifacts, limited behaviors, and the frequent lack of formal guarantees blunt adoption. Here, we address these challenges with a new geometric approach called artificial spacetimes. We show that reactive robots navigating control fields obey the same dynamics as light rays in general relativity. This surprising connection allows us to adopt techniques from relativity and optics for constructing and analyzing control fields. When implemented, artificial spacetimes guide robots around structured environments, simultaneously avoiding boundaries and executing tasks like rallying or sorting, even when the field itself is static. We augment these capabilities with formal tools for analyzing what robots will do and provide experimental validation with silicon-based microrobots. Combined, this work provides a new framework for generating composed robot behaviors with minimal overhead.
Mitigating Visual Forgetting via Take-along Visual Conditioning for Multi-modal Long CoT Reasoning
Venue: arXiv cs.CV 2025
Year: 2025

Recent advancements in Large Language Models (LLMs) have demonstrated enhanced reasoning capabilities, evolving from Chain-of-Thought (CoT) prompting to advanced, product-oriented solutions like OpenAI o1. During our re-implementation of this model, we noticed that in multimodal tasks requiring visual input (e.g., geometry problems), Multimodal LLMs (MLLMs) struggle to maintain focus on the visual information, in other words, MLLMs suffer from a gradual decline in attention to visual information as reasoning progresses, causing text-over-relied outputs. To investigate this, we ablate image inputs during long-chain reasoning. Concretely, we truncate the reasoning process midway, then re-complete the reasoning process with the input image removed. We observe only a ~2% accuracy drop on MathVista's test-hard subset, revealing the model's textual outputs dominate the following reasoning process. Motivated by this, we propose Take-along Visual Conditioning (TVC), a strategy that shifts image input to critical reasoning stages and compresses redundant visual tokens via dynamic pruning. This methodology helps the model retain attention to the visual components throughout the reasoning. Our approach achieves state-of-the-art performance on average across five mathematical reasoning benchmarks (+3.4 points vs previous sota), demonstrating the effectiveness of TVC in enhancing multimodal reasoning systems.
SyncDiff: Diffusion-based Talking Head Synthesis with Bottlenecked Temporal Visual Prior for Improved Synchronization
Venue: arXiv cs.LG 2025
Year: 2025

Talking head synthesis, also known as speech-to-lip synthesis, reconstructs the facial motions that align with the given audio tracks. The synthesized videos are evaluated on mainly two aspects, lip-speech synchronization and image fidelity. Recent studies demonstrate that GAN-based and diffusion-based models achieve state-of-the-art (SOTA) performance on this task, with diffusion-based models achieving superior image fidelity but experiencing lower synchronization compared to their GAN-based counterparts. To this end, we propose SyncDiff, a simple yet effective approach to improve diffusion-based models using a temporal pose frame with information bottleneck and facial-informative audio features extracted from AVHuBERT, as conditioning input into the diffusion process. We evaluate SyncDiff on two canonical talking head datasets, LRS2 and LRS3 for direct comparison with other SOTA models. Experiments on LRS2/LRS3 datasets show that SyncDiff achieves a synchronization score 27.7%/62.3% relatively higher than previous diffusion-based methods, while preserving their high-fidelity characteristics.
Optimal Expert Selection for Distributed Mixture-of-Experts at the Wireless Edge
Venue: arXiv cs.DC 2025
Year: 2025

The emergence of distributed Mixture-of-Experts (DMoE) systems, which deploy expert models at edge nodes, offers a pathway to achieving connected intelligence in sixth-generation (6G) mobile networks and edge artificial intelligence (AI). However, current DMoE systems lack an effective expert selection algorithm to address the simultaneous task-expert relevance and channel diversity inherent in these systems. Traditional AI or communication systems focus on either performance or channel conditions, and direct application of these methods leads to high communication overhead or low performance. To address this, we propose the DMoE protocol to schedule the expert inference and inter-expert transmission. This protocol identifies expert selection and subcarrier allocation as key optimization problems. We formulate an expert selection problem by incorporating both AI performance and channel conditions, and further extend it to a Joint Expert and Subcarrier Allocation (JESA) problem for comprehensive AI and channel management within the DMoE framework. For the NP-hard expert selection problem, we introduce the Dynamic Expert Selection (DES) algorithm, which leverages a linear relaxation as a bounding criterion to significantly reduce search complexity. For the JESA problem, we discover a unique structural property that ensures asymptotic optimality in most scenarios. We propose an iterative algorithm that addresses subcarrier allocation as a subproblem and integrates it with the DES algorithm. The proposed framework effectively manages the tradeoff between task relevance and channel conditions through a tunable importance factor, enabling flexible adaptation to diverse scenarios. Numerical experiments validate the dual benefits of the proposed expert selection algorithm: high performance and significantly reduced cost.
Movement Sequencing: A Novel Approach to Quantifying the Building Blocks of Human Gait
Venue: arXiv cs.HC 2025
Year: 2025

By 2050, a quarter of the US population will be over the age of 65 with greater than a 40% risk of developing life-altering neuromusculoskeletal pathologies. The potential of wearables, such as Apple AirPods and hearing aids, to provide personalized preventative and predictive health monitoring outside of the clinic is nascent, but large quantities of open-ended data that capture movement in the physical world now exist. Algorithms that leverage existing wearable technology to detect subtle changes to walking mechanics, an early indicator of neuromusculoskeletal pathology, have successfully been developed to determine population-level statistics, but individual-level variability is more difficult to parse from population-level data. Like genetic sequencing, the individual's gait pattern can be discerned by decomposing the movement signal into its fundamental features from which we can detect "mutations" or changes to the pattern that are early indicators of pathology - movement-based biomarkers. We have developed a novel approach to quantify "normal baseline movement" at an individual level, combining methods from gait laboratories with methods used to characterize stellar oscillations. We tested our approach by asking participants to complete an outdoor circuit while wearing a pair of AirPods, using orthopaedic braces to simulate pathology. We found that the novel features we propose are sensitive enough to distinguish between normal walking and brace walking at the population level and at the individual level in all sensor directions (both p $<$ 0.05). We also perform principal component analysis on our population-level and individual-level models, and find significant differences between individuals as well as between the overall population model and most individuals. We also demonstrate the potential of these gait features in deep learning applications.
MetaScale: Test-Time Scaling with Evolving Meta-Thoughts
Venue: arXiv cs.CL 2025
Year: 2025

One critical challenge for large language models (LLMs) for making complex reasoning is their reliance on matching reasoning patterns from training data, instead of proactively selecting the most appropriate cognitive strategy to solve a given task. Existing approaches impose fixed cognitive structures that enhance performance in specific tasks but lack adaptability across diverse scenarios. To address this limitation, we introduce METASCALE, a test-time scaling framework based on meta-thoughts -- adaptive thinking strategies tailored to each task. METASCALE initializes a pool of candidate meta-thoughts, then iteratively selects and evaluates them using a multi-armed bandit algorithm with upper confidence bound selection, guided by a reward model. To further enhance adaptability, a genetic algorithm evolves high-reward meta-thoughts, refining and extending the strategy pool over time. By dynamically proposing and optimizing meta-thoughts at inference time, METASCALE improves both accuracy and generalization across a wide range of tasks. Experimental results demonstrate that MetaScale consistently outperforms standard inference approaches, achieving an 11% performance gain in win rate on Arena-Hard for GPT-4o, surpassing o1-mini by 0.9% under style control. Notably, METASCALE scales more effectively with increasing sampling budgets and produces more structured, expert-level responses.
The imperative for reproducibility in building performance simulation research
Venue: arXiv cs.DL 2025
Year: 2025

Building Performance Simulation (BPS) uses advanced computational and data science methods. Reproducibility, the ability to obtain the same results by using the same data and methods, is essential in BPS research to ensure the reliability and validity of scientific results. The benefits of reproducible research include enhanced scientific integrity, faster scientific advancements, and valuable educational resources. Despite its importance, reproducibility in BPS is often overlooked due to technical complexities, insufficient documentation, and cultural barriers such as the lack of incentives for sharing code and data. This paper encourages the reproducibility of articles on computational science and proposes to recognize reproductible code and data, with persistent Digital Object Identifier (DOI), as peer-reviewed archival publications. Practical workflows for achieving reproducibility in BPS are presented for the use of MATLAB and Python.
Los beneficios de un sistema CRIS para la investigación científica
Venue: arXiv cs.DL 2025
Year: 2025

The visibility of research projects is crucial for maximizing their scientific and societal impact. Current Research Information Systems (CRIS) centralize data, enhancing access, the dissemination of results, and interdisciplinary collaboration. This article examines how CRIS improves global reach, funding opportunities, and adherence to open science principles, contrasting these advantages with the limitations faced by projects without such systems. CRIS proves to be essential tools for optimizing information management, strengthening research, and positioning institutions within the global scientific community.
Mapping Research Data at the University of Bologna
Venue: arXiv cs.DL 2025
Year: 2025

Research data management (RDM) strategies and practices play a pivotal role in adhering to the paradigms of reproducibility and transparency by enabling research sharing in accordance with the principles of Open Science. Discipline-specificity is an essential factor when understanding RDM declinations, to tailor a comprehensive support service and to enhance interdisciplinarity. In this paper we present the results of a mapping carried out to gather information on research data generated and managed within the University of Bologna (UniBO). The aim is to identify differences and commonalities between disciplines and potential challenges for institutional support. We analyzed the data management plans (DMPs) of European competitive projects drafted by researchers affiliated with UniBO. We applied descriptive statistics to the collected variables to answer three main questions: How diverse is the range of data managed within the University of Bologna? Which trends of problems and patterns in terms of data management can influence/improve data stewardship service? Is there an interdisciplinary approach to data production within the University? The research work evidenced many points of contact between different disciplines in terms of data produced, formats used and modest predilection for data reuse. Hot topics such as data confidentiality, needed either on privacy or intellectual property rights (IPR) premises, and long-term preservation pose challenges to all researchers. These results show an increasing attention to RDM while highlighting the relevance of training and support to face the relatively new challenges posed by this approach.
The Role of Hyperparameters in Predictive Multiplicity
Venue: arXiv cs.LG 2025
Year: 2025

This paper investigates the critical role of hyperparameters in predictive multiplicity, where different machine learning models trained on the same dataset yield divergent predictions for identical inputs. These inconsistencies can seriously impact high-stakes decisions such as credit assessments, hiring, and medical diagnoses. Focusing on six widely used models for tabular data - Elastic Net, Decision Tree, k-Nearest Neighbor, Support Vector Machine, Random Forests, and Extreme Gradient Boosting - we explore how hyperparameter tuning influences predictive multiplicity, as expressed by the distribution of prediction discrepancies across benchmark datasets. Key hyperparameters such as lambda in Elastic Net, gamma in Support Vector Machines, and alpha in Extreme Gradient Boosting play a crucial role in shaping predictive multiplicity, often compromising the stability of predictions within specific algorithms. Our experiments on 21 benchmark datasets reveal that tuning these hyperparameters leads to notable performance improvements but also increases prediction discrepancies, with Extreme Gradient Boosting exhibiting the highest discrepancy and substantial prediction instability. This highlights the trade-off between performance optimization and prediction consistency, raising concerns about the risk of arbitrary predictions. These findings provide insight into how hyperparameter optimization leads to predictive multiplicity. While predictive multiplicity allows prioritizing domain-specific objectives such as fairness and reduces reliance on a single model, it also complicates decision-making, potentially leading to arbitrary or unjustified outcomes.
Prompt Sentiment: The Catalyst for LLM Change
Venue: arXiv cs.CL 2025
Year: 2025

The rise of large language models (LLMs) has revolutionized natural language processing (NLP), yet the influence of prompt sentiment, a latent affective characteristic of input text, remains underexplored. This study systematically examines how sentiment variations in prompts affect LLM-generated outputs in terms of coherence, factuality, and bias. Leveraging both lexicon-based and transformer-based sentiment analysis methods, we categorize prompts and evaluate responses from five leading LLMs: Claude, DeepSeek, GPT-4, Gemini, and LLaMA. Our analysis spans six AI-driven applications, including content generation, conversational AI, legal and financial analysis, healthcare AI, creative writing, and technical documentation. By transforming prompts, we assess their impact on output quality. Our findings reveal that prompt sentiment significantly influences model responses, with negative prompts often reducing factual accuracy and amplifying bias, while positive prompts tend to increase verbosity and sentiment propagation. These results highlight the importance of sentiment-aware prompt engineering for ensuring fair and reliable AI-generated content.
States of Disarray: Cleaning Data for Gerrymandering Analysis
Venue: arXiv cs.DB 2025
Year: 2025

The mathematics of redistricting is an area of study that has exploded in recent years. In particular, many different research groups and expert witnesses in court cases have used outlier analysis to argue that a proposed map is a gerrymander. This outlier analysis relies on having an ensemble of potential redistricting maps against which the proposed map is compared. Arguably the most widely-accepted method of creating such an ensemble is to use a Markov Chain Monte Carlo (MCMC) process. This process requires that various pieces of data be gathered, cleaned, and coalesced into a single file that can be used as the seed of the MCMC process. In this article, we describe how we have begun this cleaning process for each state, and made the resulting data available for the public at https://github.com/eveomett-states . At the time of submission, we have data for 22 states available for researchers, students, and the general public to easily access and analyze. We will continue the data cleaning process for each state, and we hope that the availability of these datasets will both further research in this area, and increase the public's interest in and understanding of modern techniques to detect gerrymandering.
Cognitive Activation and Chaotic Dynamics in Large Language Models: A Quasi-Lyapunov Analysis of Reasoning Mechanisms
Venue: arXiv cs.LG 2025
Year: 2025

The human-like reasoning capabilities exhibited by Large Language Models (LLMs) challenge the traditional neural network theory's understanding of the flexibility of fixed-parameter systems. This paper proposes the "Cognitive Activation" theory, revealing the essence of LLMs' reasoning mechanisms from the perspective of dynamic systems: the model's reasoning ability stems from a chaotic process of dynamic information extraction in the parameter space. By introducing the Quasi-Lyapunov Exponent (QLE), we quantitatively analyze the chaotic characteristics of the model at different layers. Experiments show that the model's information accumulation follows a nonlinear exponential law, and the Multilayer Perceptron (MLP) accounts for a higher proportion in the final output than the attention mechanism. Further experiments indicate that minor initial value perturbations will have a substantial impact on the model's reasoning ability, confirming the theoretical analysis that large language models are chaotic systems. This research provides a chaos theory framework for the interpretability of LLMs' reasoning and reveals potential pathways for balancing creativity and reliability in model design.
The Status Quo and Future of AI-TPACK for Mathematics Teacher Education Students: A Case Study in Chinese Universities
Venue: arXiv cs.CY 2025
Year: 2025

As artificial intelligence (AI) technology becomes increasingly prevalent in the filed of education, there is a growing need for mathematics teacher education students (MTES) to demonstrate proficiency in the integration of AI with the technological pedagogical content knowledge (AI-TPACK). To study the issue, we firstly devised an systematic AI-TPACK scale and test on 412 MTES from seven universities. Through descriptive statistical analyses, we found that the current status of AI-TPACK for MTES in China is at a basic, preliminary stage. Secondly, we compared MTES between three different grades on the six variables and found that there is no discernible difference, which suggested that graduate studies were observed to have no promotion in the development of AI-TPACK competencies. Thirdly, we proposed a new AI-TPACK structural equation model (AI-TPACK-SEM) to explore the impact of self-efficacy and teaching beliefs on AI-TPACK. Our findings indicate a positive correlation between self-efficacy and AI-TPACK. We also come to a conclusion that may be contrary to common perception, excessive teaching beliefs may impede the advancement of AI-TPACK. Overall, this paper revealed the current status of AI-TPACK for MTES in China for the first time, designed a dedicated SEM to study the effect of specific factors on AI-TPACK, and proposed some suggestions on future developments.
FedTilt: Towards Multi-Level Fairness-Preserving and Robust Federated Learning
Venue: arXiv cs.LG 2025
Year: 2025

Federated Learning (FL) is an emerging decentralized learning paradigm that can partly address the privacy concern that cannot be handled by traditional centralized and distributed learning. Further, to make FL practical, it is also necessary to consider constraints such as fairness and robustness. However, existing robust FL methods often produce unfair models, and existing fair FL methods only consider one-level (client) fairness and are not robust to persistent outliers (i.e., injected outliers into each training round) that are common in real-world FL settings. We propose \texttt{FedTilt}, a novel FL that can preserve multi-level fairness and be robust to outliers. In particular, we consider two common levels of fairness, i.e., \emph{client fairness} -- uniformity of performance across clients, and \emph{client data fairness} -- uniformity of performance across different classes of data within a client. \texttt{FedTilt} is inspired by the recently proposed tilted empirical risk minimization, which introduces tilt hyperparameters that can be flexibly tuned. Theoretically, we show how tuning tilt values can achieve the two-level fairness and mitigate the persistent outliers, and derive the convergence condition of \texttt{FedTilt} as well. Empirically, our evaluation results on a suite of realistic federated datasets in diverse settings show the effectiveness and flexibility of the \texttt{FedTilt} framework and the superiority to the state-of-the-arts.
From Demonstrations to Rewards: Alignment Without Explicit Human Preferences
Venue: arXiv cs.LG 2025
Year: 2025

One of the challenges of aligning large models with human preferences lies in both the data requirements and the technical complexities of current approaches. Predominant methods, such as RLHF, involve multiple steps, each demanding distinct types of data, including demonstration data and preference data. In RLHF, human preferences are typically modeled through a reward model, which serves as a proxy to guide policy learning during the reinforcement learning stage, ultimately producing a policy aligned with human preferences. However, in this paper, we propose a fresh perspective on learning alignment based on inverse reinforcement learning principles, where the optimal policy is still derived from reward maximization. However, instead of relying on preference data, we directly learn the reward model from demonstration data. This new formulation offers the flexibility to be applied even when only demonstration data is available, a capability that current RLHF methods lack, and it also shows that demonstration data offers more utility than what conventional wisdom suggests. Our extensive evaluation, based on public reward benchmark, HuggingFace Open LLM Leaderboard and MT-Bench, demonstrates that our approach compares favorably to state-of-the-art methods that rely solely on demonstration data.