OpenRaiser/Intern-Atlas huggingface dataset:
Augmenting Neural Networks-Based Model Approximators in Robotic Force-Tracking Tasks
Venue: arXiv cs.RO 2025
Year: 2025

As robotics gains popularity, interaction control becomes crucial for ensuring force tracking in manipulator-based tasks. Typically, traditional interaction controllers either require extensive tuning, or demand expert knowledge of the environment, which is often impractical in real-world applications. This work proposes a novel control strategy leveraging Neural Networks (NNs) to enhance the force-tracking behavior of a Direct Force Controller (DFC). Unlike similar previous approaches, it accounts for the manipulator's tangential velocity, a critical factor in force exertion, especially during fast motions. The method employs an ensemble of feedforward NNs to predict contact forces, then exploits the prediction to solve an optimization problem and generate an optimal residual action, which is added to the DFC output and applied to an impedance controller. The proposed Velocity-augmented Artificial intelligence Interaction Controller for Ambiguous Models (VAICAM) is validated in the Gazebo simulator on a Franka Emika Panda robot. Against a vast set of trajectories, VAICAM achieves superior performance compared to two baseline controllers.
An Interpretable Deep Learning Model for General Insurance Pricing
Venue: arXiv cs.LG 2025
Year: 2025

This paper introduces the Actuarial Neural Additive Model, an inherently interpretable deep learning model for general insurance pricing that offers fully transparent and interpretable results while retaining the strong predictive power of neural networks. This model assigns a dedicated neural network (or subnetwork) to each individual covariate and pairwise interaction term to independently learn its impact on the modeled output while implementing various architectural constraints to allow for essential interpretability (e.g. sparsity) and practical requirements (e.g. smoothness, monotonicity) in insurance applications. The development of our model is grounded in a solid foundation, where we establish a concrete definition of interpretability within the insurance context, complemented by a rigorous mathematical framework. Comparisons in terms of prediction accuracy are made with traditional actuarial and state-of-the-art machine learning methods using both synthetic and real insurance datasets. The results show that the proposed model outperforms other methods in most cases while offering complete transparency in its internal logic, underscoring the strong interpretability and predictive capability.
A Structured Review of Underwater Object Detection Challenges and Solutions: From Traditional to Large Vision Language Models
Venue: arXiv cs.CV 2025
Year: 2025

Underwater object detection (UOD) is vital to diverse marine applications, including oceanographic research, underwater robotics, and marine conservation. However, UOD faces numerous challenges that compromise its performance. Over the years, various methods have been proposed to address these issues, but they often fail to fully capture the complexities of underwater environments. This review systematically categorizes UOD challenges into five key areas: Image quality degradation, target-related issues, data-related challenges, computational and processing constraints, and limitations in detection methodologies. To address these challenges, we analyze the progression from traditional image processing and object detection techniques to modern approaches. Additionally, we explore the potential of large vision-language models (LVLMs) in UOD, leveraging their multi-modal capabilities demonstrated in other domains. We also present case studies, including synthetic dataset generation using DALL-E 3 and fine-tuning Florence-2 LVLM for UOD. This review identifies three key insights: (i) Current UOD methods are insufficient to fully address challenges like image degradation and small object detection in dynamic underwater environments. (ii) Synthetic data generation using LVLMs shows potential for augmenting datasets but requires further refinement to ensure realism and applicability. (iii) LVLMs hold significant promise for UOD, but their real-time application remains under-explored, requiring further research on optimization techniques.
CM-Align: Consistency-based Multilingual Alignment for Large Language Models
Venue: arXiv cs.CL 2025
Year: 2025

Current large language models (LLMs) generally show a significant performance gap in alignment between English and other languages. To bridge this gap, existing research typically leverages the model's responses in English as a reference to select the best/worst responses in other languages, which are then used for Direct Preference Optimization (DPO) training. However, we argue that there are two limitations in the current methods that result in noisy multilingual preference data and further limited alignment performance: 1) Not all English responses are of high quality, and using a response with low quality may mislead the alignment for other languages. 2) Current methods usually use biased or heuristic approaches to construct multilingual preference pairs. To address these limitations, we design a consistency-based data selection method to construct high-quality multilingual preference data for improving multilingual alignment (CM-Align). Specifically, our method includes two parts: consistency-guided English reference selection and cross-lingual consistency-based multilingual preference data construction. Experimental results on three LLMs and three common tasks demonstrate the effectiveness and superiority of our method, which further indicates the necessity of constructing high-quality preference data.
The Landscape of Fairness: An Axiomatic and Predictive Framework for Network QoE Sensitivity
Venue: arXiv cs.IT 2025
Year: 2025

Evaluating network-wide fairness is challenging because it is not a static property but one highly sensitive to Service Level Agreement (SLA) parameters. This paper introduces a complete analytical framework to transform fairness evaluation from a single-point measurement into a proactive engineering discipline centered on a predictable sensitivity landscape. Our framework is built upon a QoE-Imbalance metric whose form is not an ad-hoc choice, but is uniquely determined by a set of fundamental axioms of fairness, ensuring its theoretical soundness. To navigate the fairness landscape across the full spectrum of service demands, we first derive a closed-form covariance rule. This rule provides an interpretable, local compass, expressing the fairness gradient as the covariance between a path's information-theoretic importance and its parameter sensitivity. We then construct phase diagrams to map the global landscape, revealing critical topological features such as robust "stable belts" and high-risk "dangerous wedges". Finally, an analysis of the landscape's curvature yields actionable, topology-aware design rules, including an optimal "Threshold-First" tuning strategy. Ultimately, our framework provides the tools to map, interpret, and navigate the landscape of system sensitivity, enabling the design of more robust and resilient networks.
Multi-modal Adaptive Estimation for Temporal Respiratory Disease Outbreak
Venue: arXiv cs.LG 2025
Year: 2025

Timely and robust influenza incidence forecasting is critical for public health decision-making. This paper presents MAESTRO (Multi-modal Adaptive Estimation for Temporal Respiratory Disease Outbreak), a novel, unified framework that synergistically integrates advanced spectro-temporal modeling with multi-modal data fusion, including surveillance, web search trends, and meteorological data. By adaptively weighting heterogeneous data sources and decomposing complex time series patterns, the model achieves robust and accurate forecasts. Evaluated on over 11 years of Hong Kong influenza data (excluding the COVID-19 period), MAESTRO demonstrates state-of-the-art performance, achieving a superior model fit with an R-square of 0.956. Extensive ablations confirm the significant contributions of its multi-modal and spectro-temporal components. The modular and reproducible pipeline is made publicly available to facilitate deployment and extension to other regions and pathogens, presenting a powerful tool for epidemiological forecasting.
Implicit Shape-Prior for Few-Shot Assisted 3D Segmentation
Venue: arXiv cs.CV 2025
Year: 2025

The objective of this paper is to significantly reduce the manual workload required from medical professionals in complex 3D segmentation tasks that cannot be yet fully automated. For instance, in radiotherapy planning, organs at risk must be accurately identified in computed tomography (CT) or magnetic resonance imaging (MRI) scans to ensure they are spared from harmful radiation. Similarly, diagnosing age-related degenerative diseases such as sarcopenia, which involve progressive muscle volume loss and strength, is commonly based on muscular mass measurements often obtained from manual segmentation of medical volumes. To alleviate the manual-segmentation burden, this paper introduces an implicit shape prior to segment volumes from sparse slice manual annotations generalized to the multi-organ case, along with a simple framework for automatically selecting the most informative slices to guide and minimize the next interactions. The experimental validation shows the method's effectiveness on two medical use cases: assisted segmentation in the context of at risks organs for brain cancer patients, and acceleration of the creation of a new database with unseen muscle shapes for patients with sarcopenia.
Multi-Modal Robust Enhancement for Coastal Water Segmentation: A Systematic HSV-Guided Framework
Venue: arXiv cs.CV 2025
Year: 2025

Coastal water segmentation from satellite imagery presents unique challenges due to complex spectral characteristics and irregular boundary patterns. Traditional RGB-based approaches often suffer from training instability and poor generalization in diverse maritime environments. This paper introduces a systematic robust enhancement framework, referred to as Robust U-Net, that leverages HSV color space supervision and multi-modal constraints for improved coastal water segmentation. Our approach integrates five synergistic components: HSV-guided color supervision, gradient-based coastline optimization, morphological post-processing, sea area cleanup, and connectivity control. Through comprehensive ablation studies, we demonstrate that HSV supervision provides the highest impact (0.85 influence score), while the complete framework achieves superior training stability (84\% variance reduction) and enhanced segmentation quality. Our method shows consistent improvements across multiple evaluation metrics while maintaining computational efficiency. For reproducibility, our training configurations and code are available here: https://github.com/UofgCoastline/ICASSP-2026-Robust-Unet.
Tight Privacy Audit in One Run
Venue: arXiv cs.CR 2025
Year: 2025

In this paper, we study the problem of privacy audit in one run and show that our method achieves tight audit results for various differentially private protocols. This includes obtaining tight results for auditing $(\varepsilon,δ)$-DP algorithms where all previous work fails to achieve in any parameter setups. We first formulate a framework for privacy audit \textit{in one run} with refinement compared with previous work. Then, based on modeling privacy by the $f$-DP formulation, we study the implications of our framework to obtain a theoretically justified lower bound for privacy audit. In the experiment, we compare with previous work and show that our audit method outperforms the rest in auditing various differentially private algorithms. We also provide experiments that give contrasting conclusions to previous work on the parameter settings for privacy audits in one run.
Joint Model-based Model-free Diffusion for Planning with Constraints
Venue: arXiv cs.RO 2025
Year: 2025

Model-free diffusion planners have shown great promise for robot motion planning, but practical robotic systems often require combining them with model-based optimization modules to enforce constraints, such as safety. Naively integrating these modules presents compatibility challenges when diffusion's multi-modal outputs behave adversarially to optimization-based modules. To address this, we introduce Joint Model-based Model-free Diffusion (JM2D), a novel generative modeling framework. JM2D formulates module integration as a joint sampling problem to maximize compatibility via an interaction potential, without additional training. Using importance sampling, JM2D guides modules outputs based only on evaluations of the interaction potential, thus handling non-differentiable objectives commonly arising from non-convex optimization modules. We evaluate JM2D via application to aligning diffusion planners with safety modules on offline RL and robot manipulation. JM2D significantly improves task performance compared to conventional safety filters without sacrificing safety. Further, we show that conditional generation is a special case of JM2D and elucidate key design choices by comparing with SOTA gradient-based and projection-based diffusion planners. More details at: https://jm2d-corl25.github.io/.
How to Reconfigure Your Alliances
Venue: arXiv cs.CC 2025
Year: 2025

Different variations of alliances in graphs have been introduced into the graph-theoretic literature about twenty years ago. More broadly speaking, they can be interpreted as groups that collaborate to achieve a common goal, for instance, defending themselves against possible attacks from outside. In this paper, we initiate the study of reconfiguring alliances. This means that, with the understanding of having an interconnection map given by a graph, we look at two alliances of the same size~$k$ and investigate if there is a reconfiguration sequence (of length at most~$\ell$) formed by alliances of size (at most)~$k$ that transfers one alliance into the other one. Here, we consider different (now classical) movements of tokens: sliding, jumping, addition/removal. We link the latter two regimes by introducing the concept of reconfiguration monotonicity. Concerning classical complexity, most of these reconfiguration problems are \textsf{PSPACE}-complete, although some are solvable in \textsf{Log\-SPACE}. We also consider these reconfiguration questions through the lense of parameterized algorithms and prove various \textsf{FPT}-results, in particular concerning the combined parameter $k+\ell$ or neighborhood diversity together with $k$ or neighborhood diversity together with $k$.
PianoVAM: A Multimodal Piano Performance Dataset
Venue: arXiv cs.SD 2025
Year: 2025

The multimodal nature of music performance has driven increasing interest in data beyond the audio domain within the music information retrieval (MIR) community. This paper introduces PianoVAM, a comprehensive piano performance dataset that includes videos, audio, MIDI, hand landmarks, fingering labels, and rich metadata. The dataset was recorded using a Disklavier piano, capturing audio and MIDI from amateur pianists during their daily practice sessions, alongside synchronized top-view videos in realistic and varied performance conditions. Hand landmarks and fingering labels were extracted using a pretrained hand pose estimation model and a semi-automated fingering annotation algorithm. We discuss the challenges encountered during data collection and the alignment process across different modalities. Additionally, we describe our fingering annotation method based on hand landmarks extracted from videos. Finally, we present benchmarking results for both audio-only and audio-visual piano transcription using the PianoVAM dataset and discuss additional potential applications.
Handling Multiple Hypotheses in Coarse-to-Fine Dense Image Matching
Venue: arXiv cs.CV 2025
Year: 2025

Dense image matching aims to find a correspondent for every pixel of a source image in a partially overlapping target image. State-of-the-art methods typically rely on a coarse-to-fine mechanism where a single correspondent hypothesis is produced per source location at each scale. In challenging cases -- such as at depth discontinuities or when the target image is a strong zoom-in of the source image -- the correspondents of neighboring source locations are often widely spread and predicting a single correspondent hypothesis per source location at each scale may lead to erroneous matches. In this paper, we investigate the idea of predicting multiple correspondent hypotheses per source location at each scale instead. We consider a beam search strategy to propagat multiple hypotheses at each scale and propose integrating these multiple hypotheses into cross-attention layers, resulting in a novel dense matching architecture called BEAMER. BEAMER learns to preserve and propagate multiple hypotheses across scales, making it significantly more robust than state-of-the-art methods, especially at depth discontinuities or when the target image is a strong zoom-in of the source image.
Handling Open-Vocabulary Constructs in Formalizing Specifications: Retrieval-Augmented Parsing with Expert Knowledge
Venue: arXiv cs.SE 2025
Year: 2025

We study the problem of Open-Vocabulary Constructs(OVCs) -- ones not known beforehand -- in the context of converting natural language (NL) specifications into formal languages (e.g., temporal logic or code). Models fare poorly on OVCs due to a lack of necessary knowledge a priori. In such situations, a domain expert can provide correct constructs at inference time based on their preferences or domain knowledge. Our goal is to effectively reuse this inference-time, expert-provided knowledge for future parses without retraining the model. We present dynamic knowledge-augmented parsing(DKAP), where in addition to the input sentence, the model receives (dynamically growing) expert knowledge as a key-value lexicon that associates NL phrases with correct OVC constructs. We propose ROLex, a retrieval-augmented parsing approach that uses this lexicon. A retriever and a generator are trained to find and use the key-value store to produce the correct parse. A key challenge lies in curating data for this retrieval-augmented parser. We utilize synthetic data generation and the data augmentation techniques on annotated (NL sentence, FL statement) pairs to train the augmented parser. To improve training effectiveness, we propose multiple strategies to teach models to focus on the relevant subset of retrieved knowledge. Finally, we introduce a new evaluation paradigm modeled after the DKAP problem and simulate the scenario across three formalization tasks (NL2LTL, NL2Code, and NL2CMD). Our evaluations show that DKAP is a difficult challenge, and ROLex helps improve the performance of baseline models by using dynamic expert knowledge effectively.
Merge-of-Thought Distillation
Venue: arXiv cs.LG 2025
Year: 2025

Efficient reasoning distillation for long chain-of-thought (CoT) models is increasingly constrained by the assumption of a single oracle teacher, despite the practical availability of multiple candidate teachers and growing CoT corpora. We revisit teacher selection and observe that different students have different "best teachers," and even for the same student, the best teacher can vary across datasets. Therefore, to unify multiple teachers' reasoning abilities into a student to overcome conflicts among various teachers' supervision, we propose Merge-of-Thought Distillation (MoT), a lightweight framework that alternates between teacher-specific supervised fine-tuning branches and weight-space merging of the resulting student variants. On competition math benchmarks, using only about 200 CoT samples, applying MoT to a Qwen3-14B student surpasses strong models including Deepseek-R1, Qwen3-32B, and OpenAI-O1, demonstrating substantial gains. Besides, MoT consistently outperforms the best single-teacher distillation, improves general reasoning beyond mathematics while reducing catastrophic forgetting, and shows robustness to distribution-shifted and peer-level teachers. Finally, we have demonstrated MoT possesses consensus CoT by eliminating teacher-specific inductive biases and inter-teacher conflicts while repeatedly reinforcing the learning of consensus reasoning features. These results position MoT as a simple, effective route to efficiently distilling long CoT capabilities from diverse teachers into compact students.
RoboChemist: Long-Horizon and Safety-Compliant Robotic Chemical Experimentation
Venue: arXiv cs.RO 2025
Year: 2025

Robotic chemists promise to both liberate human experts from repetitive tasks and accelerate scientific discovery, yet remain in their infancy. Chemical experiments involve long-horizon procedures over hazardous and deformable substances, where success requires not only task completion but also strict compliance with experimental norms. To address these challenges, we propose \textit{RoboChemist}, a dual-loop framework that integrates Vision-Language Models (VLMs) with Vision-Language-Action (VLA) models. Unlike prior VLM-based systems (e.g., VoxPoser, ReKep) that rely on depth perception and struggle with transparent labware, and existing VLA systems (e.g., RDT, pi0) that lack semantic-level feedback for complex tasks, our method leverages a VLM to serve as (1) a planner to decompose tasks into primitive actions, (2) a visual prompt generator to guide VLA models, and (3) a monitor to assess task success and regulatory compliance. Notably, we introduce a VLA interface that accepts image-based visual targets from the VLM, enabling precise, goal-conditioned control. Our system successfully executes both primitive actions and complete multi-step chemistry protocols. Results show 23.57% higher average success rate and a 0.298 average increase in compliance rate over state-of-the-art VLA baselines, while also demonstrating strong generalization to objects and tasks.
Building High-Quality Datasets for Portuguese LLMs: From Common Crawl Snapshots to Industrial-Grade Corpora
Venue: arXiv cs.CL 2025
Year: 2025

The performance of large language models (LLMs) is deeply influenced by the quality and composition of their training data. While much of the existing work has centered on English, there remains a gap in understanding how to construct effective training corpora for other languages. We explore scalable methods for building web-based corpora for LLMs. We apply them to build a new 120B token corpus in Portuguese that achieves competitive results to an industrial-grade corpus. Using a continual pretraining setup, we study how different data selection and preprocessing strategies affect LLM performance when transitioning a model originally trained in English to another language. Our findings demonstrate the value of language-specific filtering pipelines, including classifiers for education, science, technology, engineering, and mathematics (STEM), as well as toxic content. We show that adapting a model to the target language leads to performance improvements, reinforcing the importance of high-quality, language-specific data. While our case study focuses on Portuguese, our methods are applicable to other languages, offering insights for multilingual LLM development.