OpenRaiser/Intern-Atlas huggingface dataset:
Primal-dual algorithm for contextual stochastic combinatorial optimization
Venue: arXiv cs.LG 2025
Year: 2025

This paper introduces a novel approach to contextual stochastic optimization, integrating operations research and machine learning to address decision-making under uncertainty. Traditional methods often fail to leverage contextual information, which underscores the necessity for new algorithms. In this study, we utilize neural networks with combinatorial optimization layers to encode policies. Our goal is to minimize the empirical risk, which is estimated from past data on uncertain parameters and contexts. To that end, we present a surrogate learning problem and a generic primal-dual algorithm that is applicable to various combinatorial settings in stochastic optimization. Our approach extends classic Fenchel-Young loss results and introduces a new regularization method using sparse perturbations on the distribution simplex. This allows for tractable updates in the original space and can accommodate diverse objective functions. We demonstrate the linear convergence of our algorithm under certain conditions and provide a bound on the non-optimality of the resulting policy in terms of the empirical risk. Experiments on a contextual stochastic minimum weight spanning tree problem show that our algorithm is efficient and scalable, achieving performance comparable to imitation learning of solutions computed using an expensive Lagrangian-based heuristic.
Exploring Zero-Shot App Review Classification with ChatGPT: Challenges and Potential
Venue: arXiv cs.SE 2025
Year: 2025

App reviews are a critical source of user feedback, offering valuable insights into an app's performance, features, usability, and overall user experience. Effectively analyzing these reviews is essential for guiding app development, prioritizing feature updates, and enhancing user satisfaction. Classifying reviews into functional and non-functional requirements play a pivotal role in distinguishing feedback related to specific app features (functional requirements) from feedback concerning broader quality attributes, such as performance, usability, and reliability (non-functional requirements). Both categories are integral to informed development decisions. Traditional approaches to classifying app reviews are hindered by the need for large, domain-specific datasets, which are often costly and time-consuming to curate. This study explores the potential of zero-shot learning with ChatGPT for classifying app reviews into four categories: functional requirement, non-functional requirement, both, or neither. We evaluate ChatGPT's performance on a benchmark dataset of 1,880 manually annotated reviews from ten diverse apps spanning multiple domains. Our findings demonstrate that ChatGPT achieves a robust F1 score of 0.842 in review classification, despite certain challenges and limitations. Additionally, we examine how factors such as review readability and length impact classification accuracy and conduct a manual analysis to identify review categories more prone to misclassification.
Impact of Weather on Satellite Communication: Evaluating Starlink Resilience
Venue: arXiv cs.ET 2025
Year: 2025

Satellite communications have emerged as one of the most feasible solutions to provide global wireless coverage and connect the unconnected. Starlink dominates the market with over 7,000 operational satellites in low Earth orbit (LEO) and offers global high-speed and low-latency Internet service for stationary and mobile use cases, including in-motion connectivity for vehicles, vessels, and aircraft. Starlink terminals are designed to handle extreme weather conditions. Starlink recommends a flat high performance (FHP) terminal for users living in areas with extreme weather conditions. The earlier studies evaluated Starlink's FHP throughput for stationary and in-motion users without providing a detailed analysis of how weather affects its performance. There remains a need to investigate the impact of weather on FHP's throughput. In this paper, we address this shortcoming by analyzing the impact of weather on Starlink's performance in Oulu, Finland, a city located in Northern Europe near the Arctic Circle. Our measurements reveal that rain degrades median uplink and downlink throughput by 52.27% and 37.84%, respectively. On the contrary, there was no noticeable impact on the round-trip time. Additionally, we also examine the impact of cloud cover on the Starlink throughput. The linear regression analysis reveals the negative relationship between throughput and cloud cover. The cloud cover of up to 12.5% has around 20% greater throughput than the cloud cover of 87.5%
Quantum Artificial Intelligence for Software Engineering: the Road Ahead
Venue: arXiv cs.SE 2025
Year: 2025

In order to handle the increasing complexity of software systems, Artificial Intelligence (AI) has been applied to various areas of software engineering, including requirements engineering, coding, testing, and debugging. This has led to the emergence of AI for Software Engineering as a distinct research area within the field of software engineering. With the development of quantum computing, the field of Quantum AI (QAI) is arising, enhancing the performance of classical AI and holding significant potential for solving classical software engineering problems. Some initial applications of QAI in software engineering have already emerged, such as test case optimization. However, the path ahead remains open, offering ample opportunities to solve complex software engineering problems cost-effectively with QAI. To this end, this paper presents a roadmap towards the application of QAI in software engineering. Specifically, we consider two of the main categories of QAI, i.e., quantum optimization algorithms and quantum machine learning. For each software engineering phase, we discuss how these QAI approaches can address some of the tasks associated with that phase. Moreover, we provide an overview of some of the possible challenges that need to be addressed to make the application of QAI for software engineering successful.
Steerable Scene Generation with Post Training and Inference-Time Search
Venue: arXiv cs.RO 2025
Year: 2025

Training robots in simulation requires diverse 3D scenes that reflect the specific challenges of downstream tasks. However, scenes that satisfy strict task requirements, such as high-clutter environments with plausible spatial arrangement, are rare and costly to curate manually. Instead, we generate large-scale scene data using procedural models that approximate realistic environments for robotic manipulation, and adapt it to task-specific goals. We do this by training a unified diffusion-based generative model that predicts which objects to place from a fixed asset library, along with their SE(3) poses. This model serves as a flexible scene prior that can be adapted using reinforcement learning-based post training, conditional generation, or inference-time search, steering generation toward downstream objectives even when they differ from the original data distribution. Our method enables goal-directed scene synthesis that respects physical feasibility and scales across scene types. We introduce a novel MCTS-based inference-time search strategy for diffusion models, enforce feasibility via projection and simulation, and release a dataset of over 44 million SE(3) scenes spanning five diverse environments. Website with videos, code, data, and model weights: https://steerable-scene-generation.github.io/
Putting the Value Back in RL: Better Test-Time Scaling by Unifying LLM Reasoners With Verifiers
Venue: arXiv cs.LG 2025
Year: 2025

Prevalent reinforcement learning~(RL) methods for fine-tuning LLM reasoners, such as GRPO or Leave-one-out PPO, abandon the learned value function in favor of empirically estimated returns. This hinders test-time compute scaling that relies on using the value-function for verification. In this work, we propose RL$^V$ that augments any ``value-free'' RL method by jointly training the LLM as both a reasoner and a generative verifier using RL-generated data, adding verification capabilities without significant overhead. Empirically, RL$^V$ boosts MATH accuracy by over 20\% with parallel sampling and enables $8-32\times$ efficient test-time compute scaling compared to the base RL method. RL$^V$ also exhibits strong generalization capabilities for both easy-to-hard and out-of-domain tasks. Furthermore, RL$^V$ achieves $1.2-1.6\times$ higher performance when jointly scaling parallel and sequential test-time compute with a long reasoning R1 model.
Large Language Models are Autonomous Cyber Defenders
Venue: arXiv cs.AI 2025
Year: 2025

Fast and effective incident response is essential to prevent adversarial cyberattacks. Autonomous Cyber Defense (ACD) aims to automate incident response through Artificial Intelligence (AI) agents that plan and execute actions. Most ACD approaches focus on single-agent scenarios and leverage Reinforcement Learning (RL). However, ACD RL-trained agents depend on costly training, and their reasoning is not always explainable or transferable. Large Language Models (LLMs) can address these concerns by providing explainable actions in general security contexts. Researchers have explored LLM agents for ACD but have not evaluated them on multi-agent scenarios or interacting with other ACD agents. In this paper, we show the first study on how LLMs perform in multi-agent ACD environments by proposing a new integration to the CybORG CAGE 4 environment. We examine how ACD teams of LLM and RL agents can interact by proposing a novel communication protocol. Our results highlight the strengths and weaknesses of LLMs and RL and help us identify promising research directions to create, train, and deploy future teams of ACD agents.
Benchmarking LLM Faithfulness in RAG with Evolving Leaderboards
Venue: arXiv cs.CL 2025
Year: 2025

Retrieval-augmented generation (RAG) aims to reduce hallucinations by grounding responses in external context, yet large language models (LLMs) still frequently introduce unsupported information or contradictions even when provided with relevant context. This paper presents two complementary efforts at Vectara to measure and benchmark LLM faithfulness in RAG. First, we describe our original hallucination leaderboard, which has tracked hallucination rates for LLMs since 2023 using our HHEM hallucination detection model. Motivated by limitations observed in current hallucination detection methods, we introduce FaithJudge, an LLM-as-a-judge framework that leverages a pool of diverse human-annotated hallucination examples to substantially improve the automated hallucination evaluation of LLMs. We introduce an enhanced hallucination leaderboard centered on FaithJudge that benchmarks LLMs on RAG faithfulness in summarization, question-answering, and data-to-text generation tasks. FaithJudge enables a more reliable benchmarking of LLM hallucinations in RAG and supports the development of more trustworthy generative AI systems: https://github.com/vectara/FaithJudge.
D-CODA: Diffusion for Coordinated Dual-Arm Data Augmentation
Venue: arXiv cs.RO 2025
Year: 2025

Learning bimanual manipulation is challenging due to its high dimensionality and tight coordination required between two arms. Eye-in-hand imitation learning, which uses wrist-mounted cameras, simplifies perception by focusing on task-relevant views. However, collecting diverse demonstrations remains costly, motivating the need for scalable data augmentation. While prior work has explored visual augmentation in single-arm settings, extending these approaches to bimanual manipulation requires generating viewpoint-consistent observations across both arms and producing corresponding action labels that are both valid and feasible. In this work, we propose Diffusion for COordinated Dual-arm Data Augmentation (D-CODA), a method for offline data augmentation tailored to eye-in-hand bimanual imitation learning that trains a diffusion model to synthesize novel, viewpoint-consistent wrist-camera images for both arms while simultaneously generating joint-space action labels. It employs constrained optimization to ensure that augmented states involving gripper-to-object contacts adhere to constraints suitable for bimanual coordination. We evaluate D-CODA on 5 simulated and 3 real-world tasks. Our results across 2250 simulation trials and 300 real-world trials demonstrate that it outperforms baselines and ablations, showing its potential for scalable data augmentation in eye-in-hand bimanual manipulation. Our project website is at: https://dcodaaug.github.io/D-CODA/.
Mix-QSAM: Mixed-Precision Quantization of the Segment Anything Model
Venue: arXiv cs.CV 2025
Year: 2025

The Segment Anything Model (SAM) is a popular vision foundation model; however, its high computational and memory demands make deployment on resource-constrained devices challenging. While Post-Training Quantization (PTQ) is a practical approach for reducing computational overhead, existing PTQ methods rely on fixed bit-width quantization, leading to suboptimal accuracy and efficiency. To address this limitation, we propose Mix-QSAM, a mixed-precision PTQ framework for SAM. First, we introduce a layer-wise importance score, derived using Kullback-Leibler (KL) divergence, to quantify each layer's contribution to the model's output. Second, we introduce cross-layer synergy, a novel metric based on causal mutual information, to capture dependencies between adjacent layers. This ensures that highly interdependent layers maintain similar bit-widths, preventing abrupt precision mismatches that degrade feature propagation and numerical stability. Using these metrics, we formulate an Integer Quadratic Programming (IQP) problem to determine optimal bit-width allocation under model size and bit-operation constraints, assigning higher precision to critical layers while minimizing bit-width in less influential layers. Experimental results demonstrate that Mix-QSAM consistently outperforms existing PTQ methods on instance segmentation and object detection tasks, achieving up to 20% higher average precision under 6-bit and 4-bit mixed-precision settings, while maintaining computational efficiency.
SpatialPrompting: Keyframe-driven Zero-Shot Spatial Reasoning with Off-the-Shelf Multimodal Large Language Models
Venue: arXiv cs.CV 2025
Year: 2025

This study introduces SpatialPrompting, a novel framework that harnesses the emergent reasoning capabilities of off-the-shelf multimodal large language models to achieve zero-shot spatial reasoning in three-dimensional (3D) environments. Unlike existing methods that rely on expensive 3D-specific fine-tuning with specialized 3D inputs such as point clouds or voxel-based features, SpatialPrompting employs a keyframe-driven prompt generation strategy. This framework uses metrics such as vision-language similarity, Mahalanobis distance, field of view, and image sharpness to select a diverse and informative set of keyframes from image sequences and then integrates them with corresponding camera pose data to effectively abstract spatial relationships and infer complex 3D structures. The proposed framework not only establishes a new paradigm for flexible spatial reasoning that utilizes intuitive visual and positional cues but also achieves state-of-the-art zero-shot performance on benchmark datasets, such as ScanQA and SQA3D, across several metrics. The proposed method effectively eliminates the need for specialized 3D inputs and fine-tuning, offering a simpler and more scalable alternative to conventional approaches.
Real-Time Model Predictive Control of Vehicles with Convex-Polygon-Aware Collision Avoidance in Tight Spaces
Venue: arXiv cs.RO 2025
Year: 2025

This paper proposes vehicle motion planning methods with obstacle avoidance in tight spaces by incorporating polygonal approximations of both the vehicle and obstacles into a model predictive control (MPC) framework. Representing these shapes is crucial for navigation in tight spaces to ensure accurate collision detection. However, incorporating polygonal approximations leads to disjunctive OR constraints in the MPC formulation, which require a mixed integer programming and cause significant computational cost. To overcome this, we propose two different collision-avoidance constraints that reformulate the disjunctive OR constraints as tractable conjunctive AND constraints: (1) a Support Vector Machine (SVM)-based formulation that recasts collision avoidance as a SVM optimization problem, and (2) a Minimum Signed Distance to Edges (MSDE) formulation that leverages minimum signed-distance metrics. We validate both methods through extensive simulations, including tight-space parking scenarios and varied-shape obstacle courses, as well as hardware experiments on an RC-car platform. Our results demonstrate that the SVM-based approach achieves superior navigation accuracy in constrained environments; the MSDE approach, by contrast, runs in real time with only a modest reduction in collision-avoidance performance.
Fluid Antenna-Assisted MU-MIMO Systems with Decentralized Baseband Processing
Venue: arXiv cs.IT 2025
Year: 2025

The fluid antenna system (FAS) has emerged as a disruptive technology, offering unprecedented degrees of freedom (DoF) for wireless communication systems. However, optimizing fluid antenna (FA) positions entails significant computational costs, especially when the number of FAs is large. To address this challenge, we introduce a decentralized baseband processing (DBP) architecture to FAS, which partitions the FA array into clusters and enables parallel processing. Based on the DBP architecture, we formulate a weighted sum rate (WSR) maximization problem through joint beamforming and FA position design for FA-assisted multiuser multiple-input multiple-output (MU-MIMO) systems. To solve the WSR maximization problem, we propose a novel decentralized block coordinate ascent (BCA)-based algorithm that leverages matrix fractional programming (FP) and majorization-minimization (MM) methods. The proposed decentralized algorithm achieves low computational, communication, and storage costs, thus unleashing the potential of the DBP architecture. Simulation results show that our proposed algorithm under the DBP architecture reduces computational time by over 70% compared to centralized architectures with negligible WSR performance loss.
Zip-Tries: Simple Dynamic Data Structures for Strings
Venue: arXiv cs.DS 2025
Year: 2025

In this paper, we introduce zip-tries, which are simple, dynamic, memory-efficient data structures for strings. Zip-tries support search and update operations for $k$-length strings in $\mathcal{O}(k+\log n)$ time in the standard RAM model or in $\mathcal{O}(k/α+\log n)$ time in the word RAM model, where $α$ is the length of the longest string that can fit in a memory word, and $n$ is the number of strings in the trie. Importantly, we show how zip-tries can achieve this while only requiring $\mathcal{O}(\log{\log{n}} + \log{\log{\frac{k}α}})$ bits of metadata per node w.h.p., which is an exponential improvement over previous results for long strings. Despite being considerably simpler and more memory efficient, we show how zip-tries perform competitively with state-of-the-art data structures on large datasets of long strings. Furthermore, we provide a simple, general framework for parallelizing string comparison operations in linked data structures, which we apply to zip-tries to obtain parallel zip-tries. Parallel zip-tries are able to achieve good search and update performance in parallel, performing such operations in $\mathcal{O}(\log{n})$ span. We also apply our techniques to an existing external-memory string data structure, the string B-tree, obtaining a parallel string B-tree which performs search operations using $\mathcal{O}(\log_B{n})$ I/O span and $\mathcal{O}(\frac{k}{αB} + \log_B{n})$ I/O work in the parallel external memory (PEM) model. The parallel string B-tree can perform prefix searches using only $\mathcal{O}(\frac{\log{n}}{\log{\log{n}}})$ span under the practical PRAM model. For the case of long strings that share short common prefixes, we provide LCP-aware variants of all our algorithms that should be quite efficient in practice, which we justify empirically.
Graph Neural Network Aided Deep Reinforcement Learning for Resource Allocation in Dynamic Terahertz UAV Networks
Venue: arXiv cs.LG 2025
Year: 2025

Terahertz (THz) unmanned aerial vehicle (UAV) networks with flexible topologies and ultra-high data rates are expected to empower numerous applications in security surveillance, disaster response, and environmental monitoring, among others. However, the dynamic topologies hinder the efficient long-term joint power and antenna array resource allocation for THz links among UAVs. Furthermore, the continuous nature of power and the discrete nature of antennas cause this joint resource allocation problem to be a mixed-integer nonlinear programming (MINLP) problem with non-convexity and NP-hardness. Inspired by recent rapid advancements in deep reinforcement learning (DRL), a graph neural network (GNN) aided DRL algorithm for resource allocation in the dynamic THz UAV network with an emphasis on self-node features (GLOVE) is proposed in this paper, with the aim of resource efficiency (RE) maximization. When training the allocation policy for each UAV, GLOVE learns the relationship between this UAV and its neighboring UAVs via GNN, while also emphasizing the important self-node features of this UAV. In addition, a multi-task structure is leveraged by GLOVE to cooperatively train resource allocation decisions for the power and sub-arrays of all UAVs. Experimental results illustrate that GLOVE outperforms benchmark schemes in terms of the highest RE and the lowest latency. Moreover, unlike the benchmark methods with severe packet loss, GLOVE maintains zero packet loss during the entire training process, demonstrating its better robustness under the highly dynamic THz UAV network.
CPP-DIP: Multi-objective Coverage Path Planning for MAVs in Dispersed and Irregular Plantations
Venue: arXiv cs.RO 2025
Year: 2025

Coverage Path Planning (CPP) is vital in precision agriculture to improve efficiency and resource utilization. In irregular and dispersed plantations, traditional grid-based CPP often causes redundant coverage over non-vegetated areas, leading to waste and pollution. To overcome these limitations, we propose CPP-DIP, a multi-objective CPP framework designed for Micro Air Vehicles (MAVs). The framework transforms the CPP task into a Traveling Salesman Problem (TSP) and optimizes flight paths by minimizing travel distance, turning angles, and intersection counts. Unlike conventional approaches, our method does not rely on GPS-based environmental modeling. Instead, it uses aerial imagery and a Histogram of Oriented Gradients (HOG)-based approach to detect trees and extract image coordinates. A density-aware waypoint strategy is applied: Kernel Density Estimation (KDE) is used to reduce redundant waypoints in dense regions, while a greedy algorithm ensures complete coverage in sparse areas. To verify the generality of the framework, we solve the resulting TSP using three different methods: Greedy Heuristic Insertion (GHI), Ant Colony Optimization (ACO), and Monte Carlo Reinforcement Learning (MCRL). Then an object-based optimization is applied to further refine the resulting path. Additionally, CPP-DIP integrates ForaNav, our insect-inspired navigation method, for accurate tree localization and tracking. The experimental results show that MCRL offers a balanced solution, reducing the travel distance by 16.9 % compared to ACO while maintaining a similar performance to GHI. It also improves path smoothness by reducing turning angles by 28.3 % and 59.9 % relative to ACO and GHI, respectively, and effectively eliminates intersections. These results confirm the robustness and effectiveness of CPP-DIP in different TSP solvers.