OpenRaiser/Intern-Atlas huggingface dataset:
Mind the Error! Detection and Localization of Instruction Errors in Vision-and-Language Navigation
Venue: arXiv cs.RO 2025
Year: 2025

Vision-and-Language Navigation in Continuous Environments (VLN-CE) is one of the most intuitive yet challenging embodied AI tasks. Agents are tasked to navigate towards a target goal by executing a set of low-level actions, following a series of natural language instructions. All VLN-CE methods in the literature assume that language instructions are exact. However, in practice, instructions given by humans can contain errors when describing a spatial environment due to inaccurate memory or confusion. Current VLN-CE benchmarks do not address this scenario, making the state-of-the-art methods in VLN-CE fragile in the presence of erroneous instructions from human users. For the first time, we propose a novel benchmark dataset that introduces various types of instruction errors considering potential human causes. This benchmark provides valuable insight into the robustness of VLN systems in continuous environments. We observe a noticeable performance drop (up to -25%) in Success Rate when evaluating the state-of-the-art VLN-CE methods on our benchmark. Moreover, we formally define the task of Instruction Error Detection and Localization, and establish an evaluation protocol on top of our benchmark dataset. We also propose an effective method, based on a cross-modal transformer architecture, that achieves the best performance in error detection and localization, compared to baselines. Surprisingly, our proposed method has revealed errors in the validation set of the two commonly used datasets for VLN-CE, i.e., R2R-CE and RxR-CE, demonstrating the utility of our technique in other tasks. Code and dataset available at https://intelligolabs.github.io/R2RIE-CE
Depression Detection on Social Media with Large Language Models
Venue: arXiv cs.CL 2025
Year: 2025

Limited access to mental healthcare resources hinders timely depression diagnosis, leading to detrimental outcomes. Social media platforms present a valuable data source for early detection, yet this task faces two significant challenges: 1) the need for medical knowledge to distinguish clinical depression from transient mood changes, and 2) the dual requirement for high accuracy and model explainability. To address this, we propose DORIS, a framework that leverages Large Language Models (LLMs). To integrate medical knowledge, DORIS utilizes LLMs to annotate user texts against established medical diagnostic criteria and to summarize historical posts into temporal mood courses. These medically-informed features are then used to train an accurate Gradient Boosting Tree (GBT) classifier. Explainability is achieved by generating justifications for predictions based on the LLM-derived symptom annotations and mood course analyses. Extensive experimental results validate the effectiveness as well as interpretability of our method, highlighting its potential as a supportive clinical tool.
GOMA: Proactive Embodied Cooperative Communication via Goal-Oriented Mental Alignment
Venue: arXiv cs.HC 2025
Year: 2025

Verbal communication plays a crucial role in human cooperation, particularly when the partners only have incomplete information about the task, environment, and each other's mental state. In this paper, we propose a novel cooperative communication framework, Goal-Oriented Mental Alignment (GOMA). GOMA formulates verbal communication as a planning problem that minimizes the misalignment between the parts of agents' mental states that are relevant to the goals. This approach enables an embodied assistant to reason about when and how to proactively initialize communication with humans verbally using natural language to help achieve better cooperation. We evaluate our approach against strong baselines in two challenging environments, Overcooked (a multiplayer game) and VirtualHome (a household simulator). Our experimental results demonstrate that large language models struggle with generating meaningful communication that is grounded in the social and physical context. In contrast, our approach can successfully generate concise verbal communication for the embodied assistant to effectively boost the performance of the cooperation as well as human users' perception of the assistant.
N-dimensional Convex Obstacle Avoidance using Hybrid Feedback Control (Extended version)
Venue: arXiv cs.RO 2025
Year: 2025

This paper addresses the autonomous robot navigation problem in a priori unknown n-dimensional environments containing disjoint convex obstacles of arbitrary shapes and sizes, with pairwise distances strictly greater than the robot's diameter. We propose a hybrid feedback control scheme that guarantees safe and global asymptotic convergence of the robot to a predefined target location. The proposed control strategy relies on a switching mechanism allowing the robot to operate either in the move-to-target mode or the obstacle-avoidance mode, based on its proximity to the obstacles and the availability of a clear straight path between the robot and the target. In the obstacle-avoidance mode, the robot is constrained to move within a two-dimensional plane that intersects the obstacle being avoided and the target, preventing it from retracing its path. The effectiveness of the proposed hybrid feedback controller is demonstrated through simulations in two-dimensional and three-dimensional environments.
CollagePrompt: A Benchmark for Budget-Friendly Visual Recognition with GPT-4V
Venue: arXiv cs.CV 2025
Year: 2025

Recent advancements in generative AI have suggested that by taking visual prompts, GPT-4V can demonstrate significant proficiency in visual recognition tasks. Despite its impressive capabilities, the financial cost associated with GPT-4V's inference presents a substantial barrier to its wide use. To address this challenge, we propose a budget-friendly collage prompting task that collages multiple images into a single visual prompt and makes GPT-4V perform visual recognition on several images simultaneously, thereby reducing the cost. We collect a dataset of various collage prompts to assess its performance in GPT-4V's visual recognition. Our evaluations reveal several key findings: 1) Recognition accuracy varies with different positions in the collage. 2) Grouping images of the same category together leads to better visual recognition results. 3) Incorrect labels often come from adjacent images. These findings highlight the importance of image arrangement within collage prompt. To this end, we construct a benchmark called CollagePrompt, which offers a platform for designing collage prompt to achieve more cost-effective visual recognition with GPT-4V. A baseline method derived from genetic algorithms to optimize collage layouts is proposed and two metrics are introduced to measure the efficiency of the optimized collage prompt. Our benchmark enables researchers to better optimize collage prompts, thus making GPT-4V more cost-effective in visual recognition. The code and data are available at this project page https://collageprompting.github.io/.
Synthesizing multi-log grasp poses in cluttered environments
Venue: arXiv cs.RO 2025
Year: 2025

Multi-object grasping is a challenging task. It is important for energy and cost-efficient operation of industrial crane manipulators, such as those used to collect tree logs from the forest floor and on forest machines. In this work, we used synthetic data from physics simulations to explore how data-driven modeling can be used to infer multi-object grasp poses from images. We showed that convolutional neural networks can be trained specifically for synthesizing multi-object grasps. Using RGB-Depth images and instance segmentation masks as input, a U-Net model outputs grasp maps with the corresponding grapple orientation and opening width. Given an observation of a pile of logs, the model can be used to synthesize and rate the possible grasp poses and select the most suitable one, with the possibility to respect changing operational constraints such as lift capacity and reach. When tested on previously unseen data, the proposed model found successful grasp poses with an accuracy up to 96%.
GraphBEV: Towards Robust BEV Feature Alignment for Multi-Modal 3D Object Detection
Venue: arXiv cs.CV 2025
Year: 2025

Integrating LiDAR and camera information into Bird's-Eye-View (BEV) representation has emerged as a crucial aspect of 3D object detection in autonomous driving. However, existing methods are susceptible to the inaccurate calibration relationship between LiDAR and the camera sensor. Such inaccuracies result in errors in depth estimation for the camera branch, ultimately causing misalignment between LiDAR and camera BEV features. In this work, we propose a robust fusion framework called Graph BEV. Addressing errors caused by inaccurate point cloud projection, we introduce a Local Align module that employs neighbor-aware depth features via Graph matching. Additionally, we propose a Global Align module to rectify the misalignment between LiDAR and camera BEV features. Our Graph BEV framework achieves state-of-the-art performance, with an mAP of 70.1\%, surpassing BEV Fusion by 1.6\% on the nuscenes validation set. Importantly, our Graph BEV outperforms BEV Fusion by 8.3\% under conditions with misalignment noise.
Edge-Disjoint Spanning Trees on Star-Product Networks
Venue: arXiv cs.NI 2025
Year: 2025

A star-product operation may be used to create large graphs from smaller factor graphs. Network topologies based on star-products demonstrate several advantages including low-diameter, high scalability, modularity and others. Many state-of-the-art diameter-2 and -3 topologies~(Slim Fly, Bundlefly, PolarStar etc.) can be represented as star products. In this paper, we explore constructions of edge-disjoint spanning trees~(EDSTs) in star-product topologies. EDSTs expose multiple parallel disjoint pathways in the network and can be leveraged to accelerate collective communication, enhance fault tolerance and network recovery, and manage congestion. Our EDSTs have provably maximum or near-maximum cardinality which amplifies their benefits. We further analyze their depths and show that for one of our constructions, all trees have order of the depth of the EDSTs of the factor graphs, and for all other constructions, a large subset of the trees have that depth.
To Help or Not to Help: LLM-based Attentive Support for Human-Robot Group Interactions
Venue: arXiv cs.RO 2025
Year: 2025

How can a robot provide unobtrusive physical support within a group of humans? We present Attentive Support, a novel interaction concept for robots to support a group of humans. It combines scene perception, dialogue acquisition, situation understanding, and behavior generation with the common-sense reasoning capabilities of Large Language Models (LLMs). In addition to following user instructions, Attentive Support is capable of deciding when and how to support the humans, and when to remain silent to not disturb the group. With a diverse set of scenarios, we show and evaluate the robot's attentive behavior, which supports and helps the humans when required, while not disturbing if no help is needed.
Online Marketplace: A Benchmark for Data Management in Microservices
Venue: arXiv cs.DB 2025
Year: 2025

Microservice architectures have become a popular approach for designing scalable distributed applications. Despite their extensive use in industrial settings for over a decade, there is limited understanding of the data management challenges that arise in these applications. Consequently, it has been difficult to advance data system technologies that effectively support microservice applications. To fill this gap, we present Online Marketplace, a microservice benchmark that highlights core data management challenges that existing benchmarks fail to address. These challenges include transaction processing, query processing, event processing, constraint enforcement, and data replication. We have defined criteria for various data management issues to enable proper comparison across data systems and platforms. Through case studies with state-of-the-art data platforms, we discuss the issues encountered while implementing and meeting Online Marketplace's criteria. By capturing the overhead of meeting the key data management requirements that are overlooked by existing benchmarks, we gain actionable insights into the experimental platforms. This highlights the significance of Online Marketplace in advancing future data systems to meet the needs of microservice practitioners.
BTGenBot: Behavior Tree Generation for Robotic Tasks with Lightweight LLMs
Venue: arXiv cs.RO 2025
Year: 2025

This paper presents a novel approach to generating behavior trees for robots using lightweight large language models (LLMs) with a maximum of 7 billion parameters. The study demonstrates that it is possible to achieve satisfying results with compact LLMs when fine-tuned on a specific dataset. The key contributions of this research include the creation of a fine-tuning dataset based on existing behavior trees using GPT-3.5 and a comprehensive comparison of multiple LLMs (namely llama2, llama-chat, and code-llama) across nine distinct tasks. To be thorough, we evaluated the generated behavior trees using static syntactical analysis, a validation system, a simulated environment, and a real robot. Furthermore, this work opens the possibility of deploying such solutions directly on the robot, enhancing its practical applicability. Findings from this study demonstrate the potential of LLMs with a limited number of parameters in generating effective and efficient robot behaviors.
Enhancing Object Detection Robustness: Detecting and Restoring Confidence in the Presence of Adversarial Patch Attacks
Venue: arXiv cs.CV 2025
Year: 2025

The widespread adoption of computer vision systems has underscored their susceptibility to adversarial attacks, particularly adversarial patch attacks on object detectors. This study evaluates defense mechanisms for the YOLOv5 model against such attacks. Optimized adversarial patches were generated and placed in sensitive image regions, by applying EigenCAM and grid search to determine optimal placement. We tested several defenses, including Segment and Complete (SAC), Inpainting, and Latent Diffusion Models. Our pipeline comprises three main stages: patch application, object detection, and defense analysis. Results indicate that adversarial patches reduce average detection confidence by 22.06\%. Defenses restored confidence levels by 3.45\% (SAC), 5.05\% (Inpainting), and significantly improved them by 26.61\%, which even exceeds the original accuracy levels, when using the Latent Diffusion Model, highlighting its superior effectiveness in mitigating the effects of adversarial patches.
AdaptSFL: Adaptive Split Federated Learning in Resource-constrained Edge Networks
Venue: arXiv cs.LG 2025
Year: 2025

The increasing complexity of deep neural networks poses significant barriers to democratizing them to resource-limited edge devices. To address this challenge, split federated learning (SFL) has emerged as a promising solution by of floading the primary training workload to a server via model partitioning while enabling parallel training among edge devices. However, although system optimization substantially influences the performance of SFL under resource-constrained systems, the problem remains largely uncharted. In this paper, we provide a convergence analysis of SFL which quantifies the impact of model splitting (MS) and client-side model aggregation (MA) on the learning performance, serving as a theoretical foundation. Then, we propose AdaptSFL, a novel resource-adaptive SFL framework, to expedite SFL under resource-constrained edge computing systems. Specifically, AdaptSFL adaptively controls client-side MA and MS to balance communication-computing latency and training convergence. Extensive simulations across various datasets validate that our proposed AdaptSFL framework takes considerably less time to achieve a target accuracy than benchmarks, demonstrating the effectiveness of the proposed strategies.
A Semantic Search Engine for Mathlib4
Venue: arXiv cs.IR 2025
Year: 2025

The interactive theorem prover Lean enables the verification of formal mathematical proofs and is backed by an expanding community. Central to this ecosystem is its mathematical library, mathlib4, which lays the groundwork for the formalization of an expanding range of mathematical theories. However, searching for theorems in mathlib4 can be challenging. To successfully search in mathlib4, users often need to be familiar with its naming conventions or documentation strings. Therefore, creating a semantic search engine that can be used easily by individuals with varying familiarity with mathlib4 is very important. In this paper, we present a semantic search engine (https://leansearch.net/) for mathlib4 that accepts informal queries and finds the relevant theorems. We also establish a benchmark for assessing the performance of various search engines for mathlib4.
Federated Learning Resilient to Byzantine Attacks and Data Heterogeneity
Venue: arXiv cs.LG 2025
Year: 2025

This paper addresses federated learning (FL) in the context of malicious Byzantine attacks and data heterogeneity. We introduce a novel Robust Average Gradient Algorithm (RAGA), which uses the geometric median for aggregation and {allows flexible round number for local updates.} Unlike most existing resilient approaches, which base their convergence analysis on strongly-convex loss functions or homogeneously distributed datasets, this work conducts convergence analysis for both strongly-convex and non-convex loss functions over heterogeneous datasets. The theoretical analysis indicates that as long as the fraction of the {data} from malicious users is less than half, RAGA can achieve convergence at a rate of $\mathcal{O}({1}/{T^{2/3- δ}})$ for non-convex loss functions, where $T$ is the iteration number and $δ\in (0, 2/3)$. For strongly-convex loss functions, the convergence rate is linear. Furthermore, the stationary point or global optimal solution is shown to be attainable as data heterogeneity diminishes. Experimental results validate the robustness of RAGA against Byzantine attacks and demonstrate its superior convergence performance compared to baselines under varying intensities of Byzantine attacks on heterogeneous datasets.
Enhancing Sequential Recommender with Large Language Models for Joint Video and Comment Recommendation
Venue: arXiv cs.IR 2025
Year: 2025

Nowadays, reading or writing comments on captivating videos has emerged as a critical part of the viewing experience on online video platforms. However, existing recommender systems primarily focus on users' interaction behaviors with videos, neglecting comment content and interaction in user preference modeling. In this paper, we propose a novel recommendation approach called LSVCR that utilizes user interaction histories with both videos and comments to jointly perform personalized video and comment recommendation. Specifically, our approach comprises two key components: sequential recommendation (SR) model and supplemental large language model (LLM) recommender. The SR model functions as the primary recommendation backbone (retained in deployment) of our method for efficient user preference modeling. Concurrently, we employ a LLM as the supplemental recommender (discarded in deployment) to better capture underlying user preferences derived from heterogeneous interaction behaviors. In order to integrate the strengths of the SR model and the supplemental LLM recommender, we introduce a two-stage training paradigm. The first stage, personalized preference alignment, aims to align the preference representations from both components, thereby enhancing the semantics of the SR model. The second stage, recommendation-oriented fine-tuning, involves fine-tuning the alignment-enhanced SR model according to specific objectives. Extensive experiments in both video and comment recommendation tasks demonstrate the effectiveness of LSVCR. Moreover, online A/B testing on KuaiShou platform verifies the practical benefits of our approach. In particular, we attain a cumulative gain of 4.13% in comment watch time.
M-HOF-Opt: Multi-Objective Hierarchical Output Feedback Optimization via Multiplier Induced Loss Landscape Scheduling
Venue: arXiv cs.LG 2025
Year: 2025

A probabilistic graphical model is proposed, modeling the joint model parameter and multiplier evolution, with a hypervolume based likelihood, promoting multi-objective descent in structural risk minimization. We address multi-objective model parameter optimization via a surrogate single objective penalty loss with time-varying multipliers, equivalent to online scheduling of loss landscape. The multi-objective descent goal is dispatched hierarchically into a series of constraint optimization sub-problems with shrinking bounds according to Pareto dominance. The bound serves as setpoint for the low-level multiplier controller to schedule loss landscapes via output feedback of each loss term. Our method forms closed loop of model parameter dynamic, circumvents excessive memory requirements and extra computational burden of existing multi-objective deep learning methods, and is robust against controller hyperparameter variation, demonstrated on domain generalization tasks with multi-dimensional regularization losses.
Uncertainty-Aware Explanations Through Probabilistic Self-Explainable Neural Networks
Venue: arXiv cs.LG 2025
Year: 2025

The lack of transparency of Deep Neural Networks continues to be a limitation that severely undermines their reliability and usage in high-stakes applications. Promising approaches to overcome such limitations are Prototype-Based Self-Explainable Neural Networks (PSENNs), whose predictions rely on the similarity between the input at hand and a set of prototypical representations of the output classes, offering therefore a deep, yet transparent-by-design, architecture. In this paper, we introduce a probabilistic reformulation of PSENNs, called Prob-PSENN, which replaces point estimates for the prototypes with probability distributions over their values. This provides not only a more flexible framework for an end-to-end learning of prototypes, but can also capture the explanatory uncertainty of the model, which is a missing feature in previous approaches. In addition, since the prototypes determine both the explanation and the prediction, Prob-PSENNs allow us to detect when the model is making uninformed or uncertain predictions, and to obtain valid explanations for them. Our experiments demonstrate that Prob-PSENNs provide more meaningful and robust explanations than their non-probabilistic counterparts, while remaining competitive in terms of predictive performance, thus enhancing the explainability and reliability of the models.
Interpreting Neurons in Deep Vision Networks with Language Models
Venue: arXiv cs.CV 2025
Year: 2025

In this paper, we propose Describe-and-Dissect (DnD), a novel method to describe the roles of hidden neurons in vision networks. DnD utilizes recent advancements in multimodal deep learning to produce complex natural language descriptions, without the need for labeled training data or a predefined set of concepts to choose from. Additionally, DnD is training-free, meaning we don't train any new models and can easily leverage more capable general purpose models in the future. We have conducted extensive qualitative and quantitative analysis to show that DnD outperforms prior work by providing higher quality neuron descriptions. Specifically, our method on average provides the highest quality labels and is more than 2$\times$ as likely to be selected as the best explanation for a neuron than the best baseline. Finally, we present a use case providing critical insights into land cover prediction models for sustainability applications. Our code and data are available at https://github.com/Trustworthy-ML-Lab/Describe-and-Dissect.