OpenRaiser/Intern-Atlas huggingface dataset:
Adaptive and Multi-object Grasping via Deformable Origami Modules
Venue: arXiv cs.RO 2025
Year: 2025

Soft robotics gripper have shown great promise in handling fragile and geometrically complex objects. However, most existing solutions rely on bulky actuators, complex control strategies, or advanced tactile sensing to achieve stable and reliable grasping performance. In this work, we present a multi-finger hybrid gripper featuring passively deformable origami modules that generate constant force and torque output. Each finger composed of parallel origami modules is driven by a 1-DoF actuator mechanism, enabling passive shape adaptability and stable grasping force without active sensing or feedback control. More importantly, we demonstrate an interesting capability in simultaneous multi-object grasping, which allows stacked objects of varied shape and size to be picked, transported and placed independently at different states, significantly improving manipulation efficiency compared to single-object grasping. These results highlight the potential of origami-based compliant structures as scalable modules for adaptive, stable and efficient multi-object manipulation in domestic and industrial pick-and-place scenarios.
Exploring and Mitigating Gender Bias in Encoder-Based Transformer Models
Venue: arXiv cs.CL 2025
Year: 2025

Gender bias in language models has gained increasing attention in the field of natural language processing. Encoder-based transformer models, which have achieved state-of-the-art performance in various language tasks, have been shown to exhibit strong gender biases inherited from their training data. This paper investigates gender bias in contextualized word embeddings, a crucial component of transformer-based models. We focus on prominent architectures such as BERT, ALBERT, RoBERTa, and DistilBERT to examine their vulnerability to gender bias. To quantify the degree of bias, we introduce a novel metric, MALoR, which assesses bias based on model probabilities for filling masked tokens. We further propose a mitigation approach involving continued pre-training on a gender-balanced dataset generated via Counterfactual Data Augmentation. Our experiments reveal significant reductions in gender bias scores across different pronoun pairs. For instance, in BERT-base, bias scores for "he-she" dropped from 1.27 to 0.08, and "his-her" from 2.51 to 0.36 following our mitigation approach. We also observed similar improvements across other models, with "male-female" bias decreasing from 1.82 to 0.10 in BERT-large. Our approach effectively reduces gender bias without compromising model performance on downstream tasks.
SegDebias: Test-Time Bias Mitigation for ViT-Based CLIP via Segmentation
Venue: arXiv cs.CV 2025
Year: 2025

Vision language models such as CLIP have shown remarkable performance in zero shot classification, but remain susceptible to spurious correlations, where irrelevant visual features influence predictions. Existing debiasing methods often require access to training data and explicit group labels to perform fine-tuning or adjust embeddings, which limits their practicality in real-world settings. Test-time methods attempt to avoid this constraint, but many still depend on prior knowledge of dataset specific biases, limiting their generalizability in open set settings. In this work, we propose a test-time debiasing method for ViT based CLIP models that requires no additional training or assumptions of bias annotations. Our approach uses a pretrained segmentation model to isolate the target visual attribute, then adjusts the non target regions so that their embeddings are uniformly similar to all class specific text prompts. This procedure removes unintended bias signals from confounding visual regions while preserving the target attribute. Experiments on Waterbirds and CelebA show that our method outperforms existing test-time debiasing approaches in both group robustness metrics and Attention IoU. These results demonstrate the effectiveness of segmentation guided interventions for scalable and annotation free bias mitigation in vision language models.
On Improvisation and Open-Endedness: Insights for Experiential AI
Venue: arXiv cs.HC 2025
Year: 2025

Improvisation-the art of spontaneous creation that unfolds moment-to-moment without a scripted outcome-requires practitioners to continuously sense, adapt, and create anew. It is a fundamental mode of human creativity spanning music, dance, and everyday life. The open-ended nature of improvisation produces a stream of novel, unrepeatable moments-an aspect highly valued in artistic creativity. In parallel, open-endedness (OE)-a system's capacity for unbounded novelty and endless "interestingness"-is exemplified in natural or cultural evolution and has been considered "the last grand challenge" in artificial life (ALife). The rise of generative AI now raises the question in computational creativity (CC) research: What makes a "good" improvisation for AI? Can AI learn to improvise in a genuinely open-ended way? In this work-in-progress paper, we report insights from in-depth interviews with 6 experts in improvisation across dance, music, and contact improvisation. We draw systemic connections between human improvisational arts and the design of future experiential AI agents that could improvise alone or alongside humans-or even with other AI agents-embodying qualities of improvisation drawn from practice: active listening (umwelt and awareness), being in the time (mindfulness and ephemerality), embracing the unknown (source of randomness and serendipity), non-judgmental flow (acceptance and dynamical stability, balancing structure and surprise (unpredictable criticality at edge of chaos), imaginative metaphor (synaesthesia and planning), empathy, trust, boundary, and care (mutual theory of mind), and playfulness and intrinsic motivation (maintaining interestingness).
MIFO: Learning and Synthesizing Multi-Instance from One Image
Venue: arXiv cs.CV 2025
Year: 2025

This paper proposes a method for precise learning and synthesizing multi-instance semantics from a single image. The difficulty of this problem lies in the limited training data, and it becomes even more challenging when the instances to be learned have similar semantics or appearance. To address this, we propose a penalty-based attention optimization to disentangle similar semantics during the learning stage. Then, in the synthesis, we introduce and optimize box control in attention layers to further mitigate semantic leakage while precisely controlling the output layout. Experimental results demonstrate that our method achieves disentangled and high-quality semantic learning and synthesis, strikingly balancing editability and instance consistency. Our method remains robust when dealing with semantically or visually similar instances or rare-seen objects. The code is publicly available at https://github.com/Kareneveve/MIFO
TRACES: Temporal Recall with Contextual Embeddings for Real-Time Video Anomaly Detection
Venue: arXiv cs.CV 2025
Year: 2025

Video anomalies often depend on contextual information available and temporal evolution. Non-anomalous action in one context can be anomalous in some other context. Most anomaly detectors, however, do not notice this type of context, which seriously limits their capability to generalize to new, real-life situations. Our work addresses the context-aware zero-shot anomaly detection challenge, in which systems need to learn adaptively to detect new events by correlating temporal and appearance features with textual traces of memory in real time. Our approach defines a memory-augmented pipeline, correlating temporal signals with visual embeddings using cross-attention, and real-time zero-shot anomaly classification by contextual similarity scoring. We achieve 90.4\% AUC on UCF-Crime and 83.67\% AP on XD-Violence, a new state-of-the-art among zero-shot models. Our model achieves real-time inference with high precision and explainability for deployment. We show that, by fusing cross-attention temporal fusion and contextual memory, we achieve high fidelity anomaly detection, a step towards the applicability of zero-shot models in real-world surveillance and infrastructure monitoring.
Structurally Refined Graph Transformer for Multimodal Recommendation
Venue: arXiv cs.IR 2025
Year: 2025

Multimodal recommendation systems utilize various types of information, including images and text, to enhance the effectiveness of recommendations. The key challenge is predicting user purchasing behavior from the available data. Current recommendation models prioritize extracting multimodal information while neglecting the distinction between redundant and valuable data. They also rely heavily on a single semantic framework (e.g., local or global semantics), resulting in an incomplete or biased representation of user preferences, particularly those less expressed in prior interactions. Furthermore, these approaches fail to capture the complex interactions between users and items, limiting the model's ability to meet diverse users. To address these challenges, we present SRGFormer, a structurally optimized multimodal recommendation model. By modifying the transformer for better integration into our model, we capture the overall behavior patterns of users. Then, we enhance structural information by embedding multimodal information into a hypergraph structure to aid in learning the local structures between users and items. Meanwhile, applying self-supervised tasks to user-item collaborative signals enhances the integration of multimodal information, thereby revealing the representational features inherent to the data's modality. Extensive experiments on three public datasets reveal that SRGFormer surpasses previous benchmark models, achieving an average performance improvement of 4.47 percent on the Sports dataset. The code is publicly available online.
EPARA: Parallelizing Categorized AI Inference in Edge Clouds
Venue: arXiv cs.DC 2025
Year: 2025

With the increasing adoption of AI applications such as large language models and computer vision AI, the computational demands on AI inference systems are continuously rising, making the enhancement of task processing capacity using existing hardware a primary objective in edge clouds. We propose EPARA, an end-to-end AI parallel inference framework in edge, aimed at enhancing the edge AI serving capability. Our key idea is to categorize tasks based on their sensitivity to latency/frequency and requirement for GPU resources, thereby achieving both request-level and service-level task-resource allocation. EPARA consists of three core components: 1) a task-categorized parallelism allocator that decides the parallel mode of each task, 2) a distributed request handler that performs the calculation for the specific request, and 3) a state-aware scheduler that periodically updates service placement in edge clouds. We implement a EPARA prototype and conduct a case study on the EPARA operation for LLMs and segmentation tasks. Evaluation through testbed experiments involving edge servers, embedded devices, and microcomputers shows that EPARA achieves up to 2.1$\times$ higher goodput in production workloads compared to prior frameworks, while adapting to various edge AI inference tasks.
AgentGit: A Version Control Framework for Reliable and Scalable LLM-Powered Multi-Agent Systems
Venue: arXiv cs.MA 2025
Year: 2025

With the rapid progress of large language models (LLMs), LLM-powered multi-agent systems (MAS) are drawing increasing interest across academia and industry. However, many current MAS frameworks struggle with reliability and scalability, especially on complex tasks. We present AgentGit, a framework that brings Git-like rollback and branching to MAS workflows. Built as an infrastructure layer on top of LangGraph, AgentGit supports state commit, revert, and branching, allowing agents to traverse, compare, and explore multiple trajectories efficiently. To evaluate AgentGit, we designed an experiment that optimizes target agents by selecting better prompts. We ran a multi-step A/B test against three baselines -- LangGraph, AutoGen, and Agno -- on a real-world task: retrieving and analyzing paper abstracts. Results show that AgentGit significantly reduces redundant computation, lowers runtime and token usage, and supports parallel exploration across multiple branches, enhancing both reliability and scalability in MAS development. This work offers a practical path to more robust MAS design and enables error recovery, safe exploration, iterative debugging, and A/B testing in collaborative AI systems.
Measuring Machine Companionship: Scale Development and Validation for AI Companions
Venue: arXiv cs.HC 2025
Year: 2025

The mainstreaming of companionable machines--customizable artificial agents designed to participate in ongoing, idiosyncratic, socioemotional relationships--is met with relative theoretical and empirical disarray, according to recent systematic reviews. In particular, the conceptualization and measurement of machine companionship (MC) is inconsistent or sometimes altogether missing. This study starts to bridge that gap by developing and initially validating a novel measurement to capture MC experiences--the unfolding, autotelic, positively experienced, coordinated connection between human and machine--with AI companions (AICs). After systematic generation and expert review of an item pool (including items pertaining to dyadism, coordination, autotelicity, temporality, and positive valence), N = 467 people interacting with AICs responded to the item pool and to construct validation measures. Through exploratory factor analysis, two factors were induced: Eudaimonic Exchange and Connective Coordination. Construct validation analyses (confirmed in a second sample; N = 249) indicate the factors function largely as expected. Post-hoc analyses of deviations suggest two different templates for MC with AICs: One socioinstrumental and one autotelic.
Object-Centric Analysis of XES Event Logs: Integrating OCED Modeling with SPARQL Queries
Venue: arXiv cs.DB 2025
Year: 2025

Object Centric Event Data (OCED) has gained attention in recent years within the field of process mining. However, there are still many challenges, such as connecting the XES format to object-centric approaches to enable more insightful analysis. It is important for a process miner to understand the insights and dependencies of events in the event log to see what is going on in our processes. In previous standards, the dependencies of event logs are only used to show events, but not their dependencies among each other and actions in detail as described in OCEDO. There is more information in the event log when it is revealed using the OCEDO model. It becomes more understandable and easier to grasp the concepts and deal with the processes. This paper proposes the use of Object-Centric Event Data Ontology (OCEDO) to overcome the limitations of the XES standard in event logs for process mining. We demonstrate how the OCEDO approach, integrated with SPARQL queries, can be applied to the BPIC 2013 dataset to make the relationships between events and objects more explicit. It describes dealing with the meta descriptions of the OCEDO model on a business process challenge as an event log. It improves the completeness and readability of process data, suggesting that object-centric modeling allows for richer analyses than traditional approaches.
Predicting Encoding Energy from Low-Pass Anchors for Green Video Streaming
Venue: arXiv cs.MM 2025
Year: 2025

Video streaming now represents the dominant share of Internet traffic, as ever-higher-resolution content is distributed across a growing range of heterogeneous devices to sustain user Quality of Experience (QoE). However, this trend raises significant concerns about energy efficiency and carbon emissions, requiring methods to provide a trade-off between energy and QoE. This paper proposes a lightweight energy prediction method that estimates the energy consumption of high-resolution video encodings using reference encodings generated at lower resolutions (so-called anchors), eliminating the need for exhaustive per-segment energy measurements, a process that is infeasible at scale. We automatically select encoding parameters, such as resolution and quantization parameter (QP), to achieve substantial energy savings while maintaining perceptual quality, as measured by the Video Multimethod Fusion Assessment (VMAF), within acceptable limits. We implement and evaluate our approach with the open-source VVenC encoder on 100 video sequences from the Inter4K dataset across multiple encoding settings. Results show that, for an average VMAF score reduction of only 1.68, which stays below the Just Noticeable Difference (JND) threshold, our method achieves 51.22% encoding energy savings and 53.54% decoding energy savings compared to a scenario with no quality degradation.
Towards classification-based representation learning for place recognition on LiDAR scans
Venue: arXiv cs.CV 2025
Year: 2025

Place recognition is a crucial task in autonomous driving, allowing vehicles to determine their position using sensor data. While most existing methods rely on contrastive learning, we explore an alternative approach by framing place recognition as a multi-class classification problem. Our method assigns discrete location labels to LiDAR scans and trains an encoder-decoder model to classify each scan's position directly. We evaluate this approach on the NuScenes dataset and show that it achieves competitive performance compared to contrastive learning-based methods while offering advantages in training efficiency and stability.
Effective Series Decomposition and Components Learning for Time Series Generation
Venue: arXiv cs.LG 2025
Year: 2025

Time series generation focuses on modeling the underlying data distribution and resampling to produce authentic time series data. Key components, such as trend and seasonality, drive temporal fluctuations, yet many existing approaches fail to employ interpretative decomposition methods, limiting their ability to synthesize meaningful trend and seasonal patterns. To address this gap, we introduce Seasonal-Trend Diffusion (STDiffusion), a novel framework for multivariate time series generation that integrates diffusion probabilistic models with advanced learnable series decomposition techniques, enhancing the interpretability of the generation process. Our approach separates the trend and seasonal learning into distinct blocks: a Multi-Layer Perceptron (MLP) structure captures the trend, while adaptive wavelet distillation facilitates effective multi-resolution learning of seasonal components. This decomposition improves the interpretability of the model on multiple scales. In addition, we designed a comprehensive correction mechanism aimed at ensuring that the generated components exhibit a high degree of internal consistency and preserve meaningful interrelationships with one another. Our empirical studies on eight real-world datasets demonstrate that STDiffusion achieves state-of-the-art performance in time series generation tasks. Furthermore, we extend the model's application to multi-window long-sequence time series generation, which delivered reliable results and highlighted its robustness and versatility.
Active Thinking Model: A Goal-Directed Self-Improving Framework for Real-World Adaptive Intelligence
Venue: arXiv cs.AI 2025
Year: 2025

Real-world artificial intelligence (AI) systems are increasingly required to operate autonomously in dynamic, uncertain, and continuously changing environments. However, most existing AI models rely on predefined objectives, static training data, and externally supplied feedback, which restrict their ability to adapt, reflect, and improve independently. In this paper, we propose the Active Thinking Model (ATM)- a unified cognitive framework that integrates goal reasoning, dynamic task generation, and self-reflective learning into an adaptive architecture. Unlike conventional systems that passively execute fixed procedures, ATM actively evaluates its performance through logical reasoning and environmental indicators, reuses effective methods to solve new problems, and generates novel strategies for unseen situations via a continuous self-improvement loop. A mathematically grounded theoretical analysis demonstrates that ATM can autonomously evolve from suboptimal to optimal behavior without external supervision and maintain bounded tracking regret under changing environmental conditions.
How Focused Are LLMs? A Quantitative Study via Repetitive Deterministic Prediction Tasks
Venue: arXiv cs.AI 2025
Year: 2025

We investigate the performance of large language models on repetitive deterministic prediction tasks and study how the sequence accuracy rate scales with output length. Each such task involves repeating the same operation n times. Examples include letter replacement in strings following a given rule, integer addition, and multiplication of string operators in many body quantum mechanics. If the model performs the task through a simple repetition algorithm, the success rate should decay exponentially with sequence length. In contrast, our experiments on leading large language models reveal a sharp double exponential drop beyond a characteristic length scale, forming an accuracy cliff that marks the transition from reliable to unstable generation. This indicates that the models fail to execute each operation independently. To explain this phenomenon, we propose a statistical physics inspired model that captures the competition between external conditioning from the prompt and internal interference among generated tokens. The model quantitatively reproduces the observed crossover and provides an interpretable link between attention induced interference and sequence level failure. Fitting the model to empirical results across multiple models and tasks yields effective parameters that characterize the intrinsic error rate and error accumulation factor for each model task pair, offering a principled framework for understanding the limits of deterministic accuracy in large language models.
A Framework Based on Graph Cellular Automata for Similarity Evaluation in Urban Spatial Networks
Venue: arXiv cs.SI 2025
Year: 2025

Measuring similarity in urban spatial networks is key to understanding cities as complex systems. Yet most existing methods are not tailored for spatial networks and struggle to differentiate them effectively. We propose GCA-Sim, a similarity-evaluation framework based on graph cellular automata. Each submodel measures similarity by the divergence between value distributions recorded at multiple stages of an information evolution process. We find that some propagation rules magnify differences among network signals; we call this "network resonance." With an improved differentiable logic-gate network, we learn several submodels that induce network resonance. We evaluate similarity through clustering performance on fifty city-level and fifty district-level road networks. The submodels in this framework outperform existing methods, with Silhouette scores above 0.9. Using the best submodel, we further observe that planning-led street networks are less internally homogeneous than organically grown ones; morphological categories from different domains contribute with comparable importance; and degree, as a basic topological signal, becomes increasingly aligned with land value and related variables over iterations.