OpenRaiser/Intern-Atlas huggingface dataset:
Bayesian Optimization for Automatic Tuning of Torque-Level Nonlinear Model Predictive Control
Venue: arXiv cs.RO 2025
Year: 2025

This paper presents an auto-tuning framework for torque-based Nonlinear Model Predictive Control (nMPC), where the MPC serves as a real-time controller for optimal joint torque commands. The MPC parameters, including cost function weights and low-level controller gains, are optimized using high-dimensional Bayesian Optimization (BO) techniques, specifically Sparse Axis-Aligned Subspace (SAASBO) with a digital twin (DT) to achieve precise end-effector trajectory real-time tracking on an UR10e robot arm. The simulation model allows efficient exploration of the high-dimensional parameter space, and it ensures safe transfer to hardware. Our simulation results demonstrate significant improvements in tracking performance (+41.9%) and reduction in solve times (-2.5%) compared to manually-tuned parameters. Moreover, experimental validation on the real robot follows the trend (with a +25.8% improvement), emphasizing the importance of digital twin-enabled automated parameter optimization for robotic operations.
Omni-AutoThink: Adaptive Multimodal Reasoning via Reinforcement Learning
Venue: arXiv cs.AI 2025
Year: 2025

Recent advances in Omni models have enabled unified multimodal perception and generation. However, most existing systems still exhibit rigid reasoning behaviors, either overthinking simple problems or failing to reason when necessary. To address this limitation, we propose Omni-AutoThink, a novel adaptive reasoning framework that dynamically adjusts the model's reasoning depth according to task difficulty. Our framework comprises two stages: (1) an Adaptive Supervised Fine-Tuning (Adaptive SFT) stage, which endows the Omni model with fundamental reasoning capability using large-scale reasoning-augmented data, and (2) an Adaptive Reinforcement Learning (Adaptive GRPO) stage, which optimizes reasoning behaviors based on task complexity and reward feedback. We further construct a comprehensive adaptive reasoning benchmark that spans text-only, text-audio, text-visual, and text-audio-visual modalities, providing both training and evaluation splits for multimodal reasoning assessment. Experimental results demonstrate that our proposed framework significantly improves adaptive reasoning performance compared to previous baselines. All benchmark data and code will be publicly released.
EfficientECG: Cross-Attention with Feature Fusion for Efficient Electrocardiogram Classification
Venue: arXiv cs.LG 2025
Year: 2025

Electrocardiogram is a useful diagnostic signal that can detect cardiac abnormalities by measuring the electrical activity generated by the heart. Due to its rapid, non-invasive, and richly informative characteristics, ECG has many emerging applications. In this paper, we study novel deep learning technologies to effectively manage and analyse ECG data, with the aim of building a diagnostic model, accurately and quickly, that can substantially reduce the burden on medical workers. Unlike the existing ECG models that exhibit a high misdiagnosis rate, our deep learning approaches can automatically extract the features of ECG data through end-to-end training. Specifically, we first devise EfficientECG, an accurate and lightweight classification model for ECG analysis based on the existing EfficientNet model, which can effectively handle high-frequency long-sequence ECG data with various leading types. On top of that, we next propose a cross-attention-based feature fusion model of EfficientECG for analysing multi-lead ECG data with multiple features (e.g., gender and age). Our evaluations on representative ECG datasets validate the superiority of our model against state-of-the-art works in terms of high precision, multi-feature fusion, and lightweights.
Robust Algorithms for Path and Cycle Problems in Geometric Intersection Graphs
Venue: arXiv cs.DS 2025
Year: 2025

We study the design of robust subexponential algorithms for classical connectivity problems on intersection graphs of similarly sized fat objects in $\mathbb{R}^d$. In this setting, each vertex corresponds to a geometric object, and two vertices are adjacent if and only if their objects intersect. We introduce a new tool for designing such algorithms, which we call a $λ$-linked partition. This is a partition of the vertex set into groups of highly connected vertices. Crucially, such a partition can be computed in polynomial time and does not require access to the geometric representation of the graph. We apply this framework to problems related to paths and cycles in graphs. First, we obtain the first robust ETH-tight algorithms for Hamiltonian Path and Hamiltonian Cycle, running in time $2^{O(n^{1-1/d})}$ on intersection graphs of similarly sized fat objects in $\mathbb{R}^d$. This resolves an open problem of de Berg et al. [STOC 2018] and completes the study of these problems on geometric intersection graphs from the viewpoint of ETH-tight exact algorithms. We further extend our approach to the parameterized setting and design the first robust subexponential parameterized algorithm for Long Path in any fixed dimension $d$. More precisely, we obtain a randomized robust algorithm running in time $2^{O(k^{1-1/d}\log^2 k)}\, n^{O(1)}$ on intersection graphs of similarly sized fat objects in $\mathbb{R}^d$, where $k$ is the natural parameter. Besides $λ$-linked partitions, our algorithm also relies on a low-treewidth pattern covering theorem that we establish for geometric intersection graphs, which may be viewed as a refinement of a result of Marx-Pilipczuk [ESA 2017]. This structural result may be of independent interest.
PULSE: A Unified Multi-Task Architecture for Cardiac Segmentation, Diagnosis, and Few-Shot Cross-Modality Clinical Adaptation
Venue: arXiv cs.CV 2025
Year: 2025

Cardiac image analysis remains fragmented across tasks: anatomical segmentation, disease classification, and grounded clinical report generation are typically handled by separate networks trained under different data regimes. No existing framework unifies these objectives within a single architecture while retaining generalization across imaging modalities and datasets. We introduce PULSE, a multi-task vision-language framework built on self-supervised representations and optimized through a composite supervision strategy that balances region overlap learning, pixel wise classification fidelity, and boundary aware IoU refinement. A multi-scale token reconstruction decoder enables anatomical segmentation, while shared global representations support disease classification and clinically grounded text output allowing the model to transition from pixels to structures and finally clinical reasoning within one architecture. Unlike prior task-specific pipelines, PULSE learns task-invariant cardiac priors, generalizes robustly across datasets, and can be adapted to new imaging modalities with minimal supervision. This moves the field closer to a scalable, foundation style cardiac analysis framework.
Traffic Image Restoration under Adverse Weather via Frequency-Aware Mamba
Venue: arXiv cs.CV 2025
Year: 2025

Traffic image restoration under adverse weather conditions remains a critical challenge for intelligent transportation systems. Existing methods primarily focus on spatial-domain modeling but neglect frequency-domain priors. Although the emerging Mamba architecture excels at long-range dependency modeling through patch-wise correlation analysis, its potential for frequency-domain feature extraction remains unexplored. To address this, we propose Frequency-Aware Mamba (FAMamba), a novel framework that integrates frequency guidance with sequence modeling for efficient image restoration. Our architecture consists of two key components: (1) a Dual-Branch Feature Extraction Block (DFEB) that enhances local-global interaction via bidirectional 2D frequency-adaptive scanning, dynamically adjusting traversal paths based on sub-band texture distributions; and (2) a Prior-Guided Block (PGB) that refines texture details through wavelet-based high-frequency residual learning, enabling high-quality image reconstruction with precise details. Meanwhile, we design a novel Adaptive Frequency Scanning Mechanism (AFSM) for the Mamba architecture, which enables the Mamba to achieve frequency-domain scanning across distinct subgraphs, thereby fully leveraging the texture distribution characteristics inherent in subgraph structures. Extensive experiments demonstrate the efficiency and effectiveness of FAMamba.
Prostate biopsy whole slide image dataset from an underrepresented Middle Eastern population
Venue: arXiv cs.CV 2025
Year: 2025

Artificial intelligence (AI) is increasingly used in digital pathology. Publicly available histopathology datasets remain scarce, and those that do exist predominantly represent Western populations. Consequently, the generalizability of AI models to populations from less digitized regions, such as the Middle East, is largely unknown. This motivates the public release of our dataset to support the development and validation of pathology AI models across globally diverse populations. We present 339 whole-slide images of prostate core needle biopsies from a consecutive series of 185 patients collected in Erbil, Iraq. The slides are associated with Gleason scores and International Society of Urological Pathology grades assigned independently by three pathologists. Scanning was performed using two high-throughput scanners (Leica and Hamamatsu) and one compact scanner (Grundium). All slides were de-identified and are provided in their native formats without further conversion. The dataset enables grading concordance analyses, color normalization, and cross-scanner robustness evaluations. Data will be deposited in the Bioimage Archive (BIA) under accession code: to be announced (TBA), and released under a CC BY 4.0 license.
IBM Multilevel Process Mining vs de facto Object-Centric Process Mining approaches
Venue: arXiv cs.DB 2025
Year: 2025

The academic evolution of process mining is moving toward object centric process mining, marking a significant shift in how processes are modeled and analyzed. IBM has developed its own distinctive approach called Multilevel Process Mining. This paper provides a description of the two approaches and presents a comparative analysis of their respective advantages and limitations. IBM leveraged this comparison to drive the evolution of IBM Process Mining product, creating the new Organizational Mining feature, an innovation that combines the best of the two approaches. Demonstrate the potential of this novel, innovative and distinct methodology with an example.
Hierarchical Vision Language Action Model Using Success and Failure Demonstrations
Venue: arXiv cs.RO 2025
Year: 2025

Prior Vision-Language-Action (VLA) models are typically trained on teleoperated successful demonstrations, while discarding numerous failed attempts that occur naturally during data collection. However, these failures encode where and how policies can be fragile, information that can be exploited to improve robustness. We address this problem by leveraging mixed-quality datasets to learn failure-aware reasoning at planning time. We introduce VINE, a hierarchical vision-language-action model that separates high-level reasoning (System 2) from low-level control (System 1) under a hierarchical reinforcement learning formalism, making failures usable as a structured learning signal rather than noisy supervision. System 2 performs feasibility-guided tree search over a 2D scene-graph abstraction: it proposes subgoal transitions, predicts success probabilities from both successes and failures, and prunes brittle branches before execution, effectively casting plan evaluation as feasibility scoring. The selected subgoal sequence is then passed to System 1, which executes low-level actions without modifying the agent's core skills. Trained entirely from offline teleoperation data, VINE integrates negative experience directly into the decision loop. Across challenging manipulation tasks, this approach consistently improves success rates and robustness, demonstrating that failure data is an essential resource for converting the broad competence of VLAs into robust execution.
OD-MoE: On-Demand Expert Loading for Cacheless Edge-Distributed MoE Inference
Venue: arXiv cs.DC 2025
Year: 2025

Mixture-of-Experts (MoE), while offering significant advantages as a Large Language Model (LLM) architecture, faces substantial challenges when deployed on low-cost edge devices with tight memory constraints. Expert offloading mitigates this issue by storing expert parameters in CPU memory and caching a subset of popular experts in GPU memory. Although this approach improves GPU memory utilization by caching only the likely-used experts, the GPU memory reserved for expert caching is underutilized compared with dense LLMs. This paper presents OD-MoE, a distributed MoE inference framework that obviates the need for expert caches via fully on-demand expert loading. OD-MoE is built upon two key mechanisms: 1) parallelizing expert loading and expert computation across distributed edge nodes, and 2) an ultra-accurate emulative predictor that forecasts expert activations multiple layers ahead while expert computation is ongoing. With these innovations, OD-MoE dynamically loads each target expert to one of the distributed nodes just-in-time before its activation and promptly evicts it afterward, freeing GPU memory for subsequent experts. We comprehensively benchmark OD-MoE against state-of-the-art MoE offloading systems on a ten-node testbed. Experimental results show that: 1) OD-MoE achieves 99.94% expert activation prediction accuracy, substantially surpassing all existing methods; and 2) OD-MoE delivers approximately 75% of the decoding speed of a fully GPU-cached MoE deployment while using only 1/3 of the GPU memory. More importantly, by eliminating the need for expert caches, OD-MoE enables MoE inference on edge nodes with less-than-1GB GPU memory, paving the way for practical MoE deployment of low-cost IoT devices at the edge in the LLM era.
DSP: A Statistically-Principled Structural Polarization Measure
Venue: arXiv cs.SI 2025
Year: 2025

Social and information networks may become polarized, leading to echo chambers and political gridlock. Accurately measuring this phenomenon is a critical challenge. Existing measures often conflate genuine structural division with random topological features, yielding misleadingly high polarization scores on random networks, and failing to distinguish real-world networks from randomized null models. We introduce DSP, a Diffusion-based Structural Polarization measure designed from first principles to correct for such biases. DSP removes the arbitrary concept of 'influencers' used by the popular Random Walk Controversy (RWC) score, instead treating every node as a potential origin for a random walk. To validate our approach, we introduce a set of desirable properties for polarization measures, expressed through reference topologies with known structural properties. We show that DSP satisfies these desiderata, being near-zero for non-polarized structures such as cliques and random networks, while correctly capturing the expected polarization of reference topologies such as monochromatic-splittable networks. Our method applied to U.S. Congress datasets uncovers trends of increasing polarization in recent years. By integrating a null model into its core definition, DSP provides a reliable and interpretable diagnostic tool, highlighting the necessity of statistically-grounded metrics to analyze societal fragmentation.
TempR1: Improving Temporal Understanding of MLLMs via Temporal-Aware Multi-Task Reinforcement Learning
Venue: arXiv cs.CV 2025
Year: 2025

Enhancing the temporal understanding of Multimodal Large Language Models (MLLMs) is essential for advancing long-form video analysis, enabling tasks such as temporal localization, action detection, and time-sensitive question answering. While reinforcement learning (RL) has recently been explored for improving temporal reasoning, existing approaches are often confined to limited task types and data, restricting their generalization across diverse temporal understanding scenarios. To address this challenge, we present TempR1, a temporal-aware multi-task reinforcement learning framework that systematically strengthens MLLMs' temporal comprehension. We curate a multi-task corpus that exposes the model to diverse temporal structures and semantics, and build upon the Group Relative Policy Optimization (GRPO) algorithm to achieve stable and effective cross-task optimization. Specifically, we categorize temporal tasks into three correspondence types between predicted intervals and ground-truth instances, and design tailored localization rewards for each, enabling TempR1 to capture fine-grained temporal dependencies and adapt to different temporal patterns. Extensive experiments demonstrate that TempR1 attains state-of-the-art performance across multiple benchmarks. Moreover, its joint optimization over complementary tasks yields a strong synergistic effect, enhancing both generalization and single-task performance, establishing a scalable and principled paradigm for temporal reasoning in MLLMs.
RELIC: Interactive Video World Model with Long-Horizon Memory
Venue: arXiv cs.CV 2025
Year: 2025

A truly interactive world model requires three key ingredients: real-time long-horizon streaming, consistent spatial memory, and precise user control. However, most existing approaches address only one of these aspects in isolation, as achieving all three simultaneously is highly challenging-for example, long-term memory mechanisms often degrade real-time performance. In this work, we present RELIC, a unified framework that tackles these three challenges altogether. Given a single image and a text description, RELIC enables memory-aware, long-duration exploration of arbitrary scenes in real time. Built upon recent autoregressive video-diffusion distillation techniques, our model represents long-horizon memory using highly compressed historical latent tokens encoded with both relative actions and absolute camera poses within the KV cache. This compact, camera-aware memory structure supports implicit 3D-consistent content retrieval and enforces long-term coherence with minimal computational overhead. In parallel, we fine-tune a bidirectional teacher video model to generate sequences beyond its original 5-second training horizon, and transform it into a causal student generator using a new memory-efficient self-forcing paradigm that enables full-context distillation over long-duration teacher as well as long student self-rollouts. Implemented as a 14B-parameter model and trained on a curated Unreal Engine-rendered dataset, RELIC achieves real-time generation at 16 FPS while demonstrating more accurate action following, more stable long-horizon streaming, and more robust spatial-memory retrieval compared with prior work. These capabilities establish RELIC as a strong foundation for the next generation of interactive world modeling.
MarkTune: Improving the Quality-Detectability Trade-off in Open-Weight LLM Watermarking
Venue: arXiv cs.LG 2025
Year: 2025

Watermarking aims to embed hidden signals in generated text that can be reliably detected when given access to a secret key. Open-weight language models pose acute challenges for such watermarking schemes because the inference-time interventions that dominate contemporary approaches cannot be enforced once model weights are public. Existing watermaking techniques for open-weight models, such as the recently proposed GaussMark, typically rely on small modifications to model weights, which can yield signals detectable to those equipped with a secret key, but achieving detection power comparable to inference-time watermarks generally requires weight perturbations that noticeably reduce generation quality. We introduce MarkTune, a theoretically principled, on-policy fine-tuning framework that treats the GaussMark signal as a reward while simultaneously regularizing against degradation in text quality. We derive MarkTune as an improvement on GaussMark and demonstrate that MarkTune consistently improves the quality-detectability trade-off over GaussMark by steering finer-grained, watermark-aware weight updates within the model's representation space while preserving generation quality. Empirically, we show that MarkTune pushes the quality-detectability frontier of GaussMark close to that of inference-time watermarking, remains robust to paraphrasing and fine-tuning attacks, and exhibits strong generalization: a model fine-tuned on one dataset retains substantial watermark detection power on unseen datasets. Together, these results establish MarkTune as a general strategy for embedding robust, high-quality watermarks into open-weight LMs.
SpaceTools: Tool-Augmented Spatial Reasoning via Double Interactive RL
Venue: arXiv cs.CV 2025
Year: 2025

Vision Language Models (VLMs) demonstrate strong qualitative visual understanding, but struggle with metrically precise spatial reasoning required for embodied applications. The agentic paradigm promises that VLMs can use a wide variety of tools that could augment these capabilities, such as depth estimators, segmentation models, and pose estimators. Yet it remains an open challenge how to realize this vision without solely relying on handcrafted prompting strategies or enforcing fixed, predefined tool pipelines that limit VLMs' ability to discover optimal tool-use patterns. Reinforcement Learning could overcome this gap, but has so far been limited to reasoning with a single visual tool due to the large search space in multi-tool reasoning. We introduce Double Interactive Reinforcement Learning (DIRL), a two-phase training framework where VLMs learn to coordinate multiple tools through interactive exploration and feedback. In the teaching phase, we combine demonstrations from a single tool specialist trained via interactive RL with traces from a frontier model using all tools. In the exploration phase, the model further refines multi-tool coordination through continued RL. Our model, SpaceTools, with tool-augmented spatial reasoning ability, achieves state-of-the-art performance on spatial understanding benchmarks (RoboSpatial-Home, BLINK, BOP-ASK) and demonstrates reliable real-world manipulation using a 7-DOF robot as a tool. DIRL provides substantial improvements over the vanilla SFT (+12% on RoboSpatial) and RL (+16% on RoboSpatial) baselines. Project page: https://spacetools.github.io/.
Semi-Markov Decision Process Framework for Age of Incorrect Information Minimization
Venue: arXiv cs.IT 2025
Year: 2025

For a remote estimation system, we study age of incorrect information (AoII), which is a recently proposed semantic-aware freshness metric. In particular, we assume an information source observing a discrete-time finite-state Markov chain (DTMC) and employing push-based transmissions of status update packets towards the monitor which is tasked with remote estimation of the source. The source-to-monitor channel delay is assumed to have a general discrete-time phase-type (DPH) distribution, whereas the zero-delay reverse channel ensures that the source has perfect information on AoII and the remote estimate. A multi-threshold transmission policy is employed where packet transmissions are initiated when the AoII process exceeds a threshold which may be different for each estimation value. In this general setting, our goal is to minimize the weighted sum of time average of an arbitrary function of AoII and estimation, and transmission costs, by suitable choice of the thresholds. We formulate the problem as a semi-Markov decision process (SMDP) with the same state-space as the original DTMC to obtain the optimum multi-threshold policy whereas the parameters of the SMDP are obtained by using a novel stochastic tool called dual-regime absorbing Markov chain (DR-AMC), and its corresponding absorption time distribution named as dual-regime DPH (DR-DPH).