OpenRaiser/Intern-Atlas huggingface dataset:
Optimal Proof Systems for Complex Sets are Hard to Find
Venue: arXiv cs.CC 2025
Year: 2025

We provide the first evidence for the inherent difficulty of finding complex sets with optimal proof systems. For this, we construct oracles $O_1$ and $O_2$ with the following properties, where $\mathrm{RE}$ denotes the class of recursively enumerable sets and $\mathrm{NQP}$ the class of sets accepted in non-deterministic quasi-polynomial time. - $O_1$: No set in $\mathrm{PSPACE} \setminus \mathrm{NP}$ has optimal proof systems and $\mathrm{PH}$ is infinite - $O_2$: No set in $\mathrm{RE} \setminus \mathrm{NQP}$ has optimal proof systems and $\mathrm{NP} \neq \mathrm{coNP}$ Oracle $O_2$ is the first relative to which complex sets with optimal proof systems do not exist. By oracle $O_1$, no relativizable proof can show that there exist sets in $\mathrm{PSPACE} \setminus \mathrm{NP}$ with optimal proof systems, even when assuming an infinite $\mathrm{PH}$. By oracle $O_2$, no relativizable proof can show that there exist sets outside $\mathrm{NQP}$ with optimal proof systems, even when assuming $\mathrm{NP} \neq \mathrm{coNP}$. This explains the difficulty of the following longstanding open questions raised by Krajíček and Pudlák in 1989, Sadowski in 1997, Köbler and Messner in 1998, and Messner in 2000. - Q1: Are there sets outside $\mathrm{NP}$ with optimal proof systems? - Q2: Are there arbitrarily complex sets outside $\mathrm{NP}$ with optimal proof systems? Moreover, relative to $O_2$, there exist arbitrarily complex sets $L \notin \mathrm{NQP}$ having almost optimal algorithms, but none of them has optimal proof systems. This explains the difficulty of Messner's approach to translate almost optimal algorithms into optimal proof systems.
LLMI3D: MLLM-based 3D Perception from a Single 2D Image
Venue: arXiv cs.CV 2025
Year: 2025

Recent advancements in autonomous driving, augmented reality, robotics, and embodied intelligence have necessitated 3D perception algorithms. However, current 3D perception methods, especially specialized small models, exhibit poor generalization in open scenarios. On the other hand, multimodal large language models (MLLMs) excel in general capacity but underperform in 3D tasks, due to weak 3D local spatial object perception, poor text-based geometric numerical output, and inability to handle camera focal variations. To address these challenges, we propose the following solutions: Spatial-Enhanced Local Feature Mining for better spatial feature extraction, 3D Query Token-Derived Info Decoding for precise geometric regression, and Geometry Projection-Based 3D Reasoning for handling camera focal length variations. We employ parameter-efficient fine-tuning for a pre-trained MLLM and develop LLMI3D, a powerful 3D perception MLLM. Additionally, we have constructed the IG3D dataset, which provides fine-grained descriptions and question-answer annotations. Extensive experiments demonstrate that our LLMI3D achieves state-of-the-art performance, outperforming other methods by a large margin.
Non-Gaited Legged Locomotion with Monte-Carlo Tree Search and Supervised Learning
Venue: arXiv cs.RO 2025
Year: 2025

Legged robots are able to navigate complex terrains by continuously interacting with the environment through careful selection of contact sequences and timings. However, the combinatorial nature behind contact planning hinders the applicability of such optimization problems on hardware. In this work, we present a novel approach that optimizes gait sequences and respective timings for legged robots in the context of optimization-based controllers through the use of sampling-based methods and supervised learning techniques. We propose to bootstrap the search by learning an optimal value function in order to speed-up the gait planning procedure making it applicable in real-time. To validate our proposed method, we showcase its performance both in simulation and on hardware using a 22 kg electric quadruped robot. The method is assessed on different terrains, under external perturbations, and in comparison to a standard control approach where the gait sequence is fixed a priori.
Information-Theoretic Measures on Lattices for High-Order Interactions
Venue: arXiv cs.IT 2025
Year: 2025

Traditional measures based solely on pairwise associations often fail to capture the complex statistical structure of multivariate data. Existing approaches for identifying information shared among $d>3$ variables are frequently computationally intractable, asymmetric with respect to a target variable, or unable to account for all the ways in which the joint probability distribution can be factorised. Here we present a systematic framework based on lattice theory to derive higher-order information-theoretic measures for multivariate data. Our construction uses lattice and operator function pairs, whereby an operator function is applied over a lattice that represents the algebraic relationships among variables. We show that many commonly used measures can be derived within this framework, yet they fail to capture all interactions for $d>3$, either because they are defined on restricted sublattices, or because the use of the KL divergence as an operator function, a typical choice, leads to undesired disregard of groups of interactions. To fully characterise all interactions among $d$ variables, we introduce the Streitberg Information, which is defined over the full partition lattice and uses generalised divergences (beyond KL) as operator functions. We validate the Streitberg Information on synthetic data, and illustrate its application in detecting complex interactions among stocks, decoding neural signals, and performing feature selection in machine learning.
"Normalized Stress" is Not Normalized: How to Interpret Stress Correctly
Venue: arXiv cs.LG 2025
Year: 2025

Stress is among the most commonly employed quality metrics and optimization criteria for dimension reduction projections of high dimensional data. Complex, high dimensional data is ubiquitous across many scientific disciplines, including machine learning, biology, and the social sciences. One of the primary methods of visualizing these datasets is with two dimensional scatter plots that visually capture some properties of the data. Because visually determining the accuracy of these plots is challenging, researchers often use quality metrics to measure projection accuracy or faithfulness to the full data. One of the most commonly employed metrics, normalized stress, is sensitive to uniform scaling of the projection, despite this act not meaningfully changing anything about the projection. We investigate the effect of scaling on stress and other distance based quality metrics analytically and empirically by showing just how much the values change and how this affects dimension reduction technique evaluations. We introduce a simple technique to make normalized stress scale invariant and show that it accurately captures expected behavior on a small benchmark.
Inverse k-visibility for RSSI-based Indoor Geometric Mapping
Venue: arXiv cs.RO 2025
Year: 2025

In recent years, the increased availability of WiFi in indoor environments has gained interest in the robotics community to utilize WiFi signals for indoor simultaneous localization and mapping algorithms. This paper discusses the challenges of achieving high-accuracy geometric map building using WiFi signals. The paper introduces the concept of inverse k-visibility, developed from the k-visibility algorithm, to identify free space in an unknown environment, used for planning, navigation, and obstacle avoidance. Comprehensive experiments, including those utilizing single and multiple RSSI signals, were conducted in both simulated and real-world environments to demonstrate the robustness of the proposed algorithm. Additionally, a detailed analysis comparing the resulting maps with ground-truth LiDAR-based maps is provided to highlight the algorithm's accuracy and reliability.
SustainDC: Benchmarking for Sustainable Data Center Control
Venue: arXiv cs.LG 2025
Year: 2025

Machine learning has driven an exponential increase in computational demand, leading to massive data centers that consume significant amounts of energy and contribute to climate change. This makes sustainable data center control a priority. In this paper, we introduce SustainDC, a set of Python environments for benchmarking multi-agent reinforcement learning (MARL) algorithms for data centers (DC). SustainDC supports custom DC configurations and tasks such as workload scheduling, cooling optimization, and auxiliary battery management, with multiple agents managing these operations while accounting for the effects of each other. We evaluate various MARL algorithms on SustainDC, showing their performance across diverse DC designs, locations, weather conditions, grid carbon intensity, and workload requirements. Our results highlight significant opportunities for improvement of data center operations using MARL algorithms. Given the increasing use of DC due to AI, SustainDC provides a crucial platform for the development and benchmarking of advanced algorithms essential for achieving sustainable computing and addressing other heterogeneous real-world challenges.
BCR-DRL: Behavior- and Context-aware Reward for Deep Reinforcement Learning in Human-AI Coordination
Venue: arXiv cs.AI 2025
Year: 2025

Deep reinforcement Learning (DRL) offers a powerful framework for training AI agents to coordinate with human partners. However, DRL faces two critical challenges in human-AI coordination (HAIC): sparse rewards and unpredictable human behaviors. These challenges significantly limit DRL to identify effective coordination policies, due to its impaired capability of optimizing exploration and exploitation. To address these limitations, we propose an innovative behavior- and context-aware reward (BCR) for DRL, which optimizes exploration and exploitation by leveraging human behaviors and contextual information in HAIC. Our BCR consists of two components: (i) A novel dual intrinsic rewarding scheme to enhance exploration. This scheme composes an AI self-motivated intrinsic reward and a human-motivated intrinsic reward, which are designed to increase the capture of sparse rewards by a logarithmic-based strategy; and (ii) A new context-aware weighting mechanism for the designed rewards to improve exploitation. This mechanism helps the AI agent prioritize actions that better coordinate with the human partner by utilizing contextual information that can reflect the evolution of learning. Extensive simulations in the Overcooked environment demonstrate that our approach can increase the cumulative sparse rewards by approximately 20%, and improve the sample efficiency by around 38% compared to state-of-the-art baselines.
When and Why is Persuasion Hard? A Computational Complexity Result
Venue: arXiv cs.CY 2025
Year: 2025

As generative foundation models improve, they also tend to become more persuasive, raising concerns that AI automation will enable governments, firms, and other actors to manipulate beliefs with unprecedented scale and effectiveness at virtually no cost. The full economic and social ramifications of this trend have been difficult to foresee, however, given that we currently lack a complete theoretical understanding of why persuasion is costly for human labor to produce in the first place. This paper places human and AI agents on a common conceptual footing by formalizing informational persuasion as a mathematical decision problem and characterizing its computational complexity. A novel proof establishes that persuasive messages are challenging to discover (NP-Hard) but easy to adopt if supplied by others (NP). This asymmetry helps explain why people are susceptible to persuasion, even in contexts where all relevant information is publicly available. The result also illuminates why litigation, strategic communication, and other persuasion-oriented activities have historically been so human capital intensive, and it provides a new theoretical basis for studying how AI will impact various industries.
EmBARDiment: an Embodied AI Agent for Productivity in XR
Venue: arXiv cs.HC 2025
Year: 2025

XR devices running chat-bots powered by Large Language Models (LLMs) have the to become always-on agents that enable much better productivity scenarios. Current screen based chat-bots do not take advantage of the the full-suite of natural inputs available in XR, including inward facing sensor data, instead they over-rely on explicit voice or text prompts, sometimes paired with multi-modal data dropped as part of the query. We propose a solution that leverages an attention framework that derives context implicitly from user actions, eye-gaze, and contextual memory within the XR environment. Our work minimizes the need for engineered explicit prompts, fostering grounded and intuitive interactions that glean user insights for the chat-bot.
CodeMirage: Hallucinations in Code Generated by Large Language Models
Venue: arXiv cs.SE 2025
Year: 2025

Large Language Models (LLMs) have shown promising potentials in program generation and no-code automation. However, LLMs are prone to generate hallucinations, i.e., they generate text which sounds plausible but is incorrect. Although there has been a recent surge in research on LLM hallucinations for text generation, similar hallucination phenomenon can happen in code generation. Sometimes the generated code can have syntactical or logical errors as well as more advanced issues like security vulnerabilities, memory leaks, etc. Given the wide adaptation of LLMs to enhance efficiency in code generation and development in general, it becomes imperative to investigate hallucinations in code generation. To the best of our knowledge, this is the first attempt at studying hallucinations in the code generated by LLMs. We start by introducing the code hallucination definition and a comprehensive taxonomy of code hallucination types. We propose the first benchmark CodeMirage dataset for code hallucinations. The benchmark contains 1,137 GPT-3.5 generated hallucinated code snippets for Python programming problems from two base datasets - HumanEval and MBPP. We then propose the methodology for code hallucination detection and experiment with open source LLMs such as CodeLLaMA as well as OpenAI's GPT-3.5 and GPT-4 models using one-shot prompt. We find that GPT-4 performs the best on HumanEval dataset and gives comparable results to the fine-tuned CodeBERT baseline on MBPP dataset. Towards the end, we discuss various mitigation strategies for code hallucinations and conclude our work.
MuRAR: A Simple and Effective Multimodal Retrieval and Answer Refinement Framework for Multimodal Question Answering
Venue: arXiv cs.IR 2025
Year: 2025

Recent advancements in retrieval-augmented generation (RAG) have demonstrated impressive performance in the question-answering (QA) task. However, most previous works predominantly focus on text-based answers. While some studies address multimodal data, they still fall short in generating comprehensive multimodal answers, particularly for explaining concepts or providing step-by-step tutorials on how to accomplish specific goals. This capability is especially valuable for applications such as enterprise chatbots and settings such as customer service and educational systems, where the answers are sourced from multimodal data. In this paper, we introduce a simple and effective framework named MuRAR (Multimodal Retrieval and Answer Refinement). MuRAR enhances text-based answers by retrieving relevant multimodal data and refining the responses to create coherent multimodal answers. This framework can be easily extended to support multimodal answers in enterprise chatbots with minimal modifications. Human evaluation results indicate that multimodal answers generated by MuRAR are more useful and readable compared to plain text answers.
SketchRef: a Multi-Task Evaluation Benchmark for Sketch Synthesis
Venue: arXiv cs.CV 2025
Year: 2025

Sketching is a powerful artistic technique for capturing essential visual information about real-world objects and has increasingly attracted attention in image synthesis research. However, the field lacks a unified benchmark to evaluate the performance of various synthesis methods. To address this, we propose SketchRef, the first comprehensive multi-task evaluation benchmark for sketch synthesis. SketchRef fully leverages the shared characteristics between sketches and reference photos. It introduces two primary tasks: category prediction and structural consistency estimation, the latter being largely overlooked in previous studies. These tasks are further divided into five sub-tasks across four domains: animals, common things, human body, and faces. Recognizing the inherent trade-off between recognizability and simplicity in sketches, we are the first to quantify this balance by introducing a recognizability calculation method constrained by simplicity, mRS, ensuring fair and meaningful evaluations. To validate our approach, we collected 7,920 responses from art enthusiasts, confirming the effectiveness of our proposed evaluation metrics. Additionally, we evaluate the performance of existing sketch synthesis methods on our benchmark, highlighting their strengths and weaknesses. We hope this study establishes a standardized benchmark and offers valuable insights for advancing sketch synthesis algorithms.
Enhancing Exploratory Learning through Exploratory Search with the Emergence of Large Language Models
Venue: arXiv cs.IR 2025
Year: 2025

In the information era, how learners find, evaluate, and effectively use information has become a challenging issue, especially with the added complexity of large language models (LLMs) that have further confused learners in their information retrieval and search activities. This study attempts to unpack this complexity by combining exploratory search strategies with the theories of exploratory learning to form a new theoretical model of exploratory learning from the perspective of students' learning. Our work adapts Kolb's learning model by incorporating high-frequency exploration and feedback loops, aiming to promote deep cognitive and higher-order cognitive skill development in students. Additionally, this paper discusses and suggests how advanced LLMs integrated into information retrieval and information theory can support students in their exploratory searches, contributing theoretically to promoting student-computer interaction and supporting their learning journeys in the new era with LLMs.
Trust-Oriented Adaptive Guardrails for Large Language Models
Venue: arXiv cs.AI 2025
Year: 2025

Guardrail, an emerging mechanism designed to ensure that large language models (LLMs) align with human values by moderating harmful or toxic responses, requires a sociotechnical approach in their design. This paper addresses a critical issue: existing guardrails lack a well-founded methodology to accommodate the diverse needs of different user groups, particularly concerning access rights. Supported by trust modeling (primarily on `social' aspect) and enhanced with online in-context learning via retrieval-augmented generation (on `technical' aspect), we introduce an adaptive guardrail mechanism, to dynamically moderate access to sensitive content based on user trust metrics. User trust metrics, defined as a novel combination of direct interaction trust and authority-verified trust, enable the system to precisely tailor the strictness of content moderation by aligning with the user's credibility and the specific context of their inquiries. Our empirical evaluation demonstrates the effectiveness of the adaptive guardrail in meeting diverse user needs, outperforming existing guardrails while securing sensitive information and precisely managing potentially hazardous content through a context-aware knowledge base. To the best of our knowledge, this work is the first to introduce trust-oriented concept into a guardrail system, offering a scalable solution that enriches the discourse on ethical deployment for next-generation LLM service.
A Multi-Task and Multi-Label Classification Model for Implicit Discourse Relation Recognition
Venue: arXiv cs.CL 2025
Year: 2025

We propose a novel multi-label classification approach to implicit discourse relation recognition (IDRR). Our approach features a multi-task model that jointly learns multi-label representations of implicit discourse relations across all three sense levels in the PDTB 3.0 framework. The model can also be adapted to the traditional single-label IDRR setting by selecting the sense with the highest probability in the multi-label representation. We conduct extensive experiments to identify optimal model configurations and loss functions in both settings. Our approach establishes the first benchmark for multi-label IDRR and achieves SOTA results on single-label IDRR using DiscoGeM. Finally, we evaluate our model on the PDTB 3.0 corpus in the single-label setting, presenting the first analysis of transfer learning between the DiscoGeM and PDTB 3.0 corpora for IDRR.
Electroencephalogram Emotion Recognition via AUC Maximization
Venue: arXiv cs.LG 2025
Year: 2025

Imbalanced datasets pose significant challenges in areas including neuroscience, cognitive science, and medical diagnostics, where accurately detecting minority classes is essential for robust model performance. This study addresses the issue of class imbalance, using the `Liking' label in the DEAP dataset as an example. Such imbalances are often overlooked by prior research, which typically focuses on the more balanced arousal and valence labels and predominantly uses accuracy metrics to measure model performance. To tackle this issue, we adopt numerical optimization techniques aimed at maximizing the area under the curve (AUC), thus enhancing the detection of underrepresented classes. Our approach, which begins with a linear classifier, is compared against traditional linear classifiers, including logistic regression and support vector machines (SVM). Our method significantly outperforms these models, increasing recall from 41.6\% to 79.7\% and improving the F1-score from 0.506 to 0.632. These results highlight the efficacy of AUC maximization via numerical optimization in managing imbalanced datasets, providing an effective solution for enhancing predictive accuracy in detecting minority but crucial classes in out-of-sample datasets.
When Prompting Fails to Sway: Inertia in Moral and Value Judgments of Large Language Models
Venue: arXiv cs.CL 2025
Year: 2025

Large Language Models (LLMs) exhibit non-deterministic behavior, and prompting has emerged as a primary method for steering their outputs toward desired directions. One popular strategy involves assigning a specific "persona" to the model to induce more varied and context-sensitive responses, akin to the diversity found in human perspectives. However, contrary to the expectation that persona-based prompting would yield a wide range of opinions, our experiments demonstrate that LLMs maintain consistent value orientations. In particular, we observe a persistent inertia in their responses, where certain moral and value dimensions, especially harm avoidance and fairness, remain distinctly skewed in one direction despite varied persona settings. To investigate this phenomenon systematically, use role-play at scale, which combines randomized, diverse persona prompts with a macroscopic trend analysis of model outputs. Our findings highlight the strong internal biases and value preferences in LLMs, underscoring the need for careful scrutiny and potential adjustment of these models to ensure balanced and equitable applications.