OpenRaiser/Intern-Atlas huggingface dataset:
Is Your LLM Secretly a World Model of the Internet? Model-Based Planning for Web Agents
Venue: arXiv cs.AI 2025
Year: 2025

Language agents based on large language models (LLMs) have demonstrated great promise in automating web-based tasks. Recent work has shown that incorporating advanced planning algorithms, e.g., tree search, is advantageous over reactive planning for web agents. However, unlike simulated sandbox environments, real-world environments such as the web are rife with irreversible actions. This undermines the feasibility of backtracking, a cornerstone of (tree) search. Overly relying on test-time search also hurts efficiency. We advocate model-based planning for web agents that employs a world model to simulate and deliberate over the outcome of each candidate action before committing to one. We systematically explore this paradigm by (1) Proposing a model-based planning framework, WebDreamer, which employs LLMs to serve as both world models and value functions; (2) Training specialized LLMs as world models with a scalable data synthesis pipeline. Empirical results demonstrate that WebDreamer achieves substantial performance improvements over reactive baselines. It is competitive, while being 4-5 times more efficient, with tree search in sandbox environments (VisualWebArena) and also works effectively on real-world websites (Online-Mind2Web and Mind2Web-Live). Furthermore, our trained world model, Dreamer-7B, performs comparable to GPT-4o, highlighting the potential of specialized world models for efficient and effective planning in complex web environments.
Randomized Black-Box PIT for Small Depth +-Regular Non-commutative Circuits
Venue: arXiv cs.CC 2025
Year: 2025

We address the black-box polynomial identity testing (PIT) problem for non-commutative polynomials computed by $+$-regular circuits, a class of homogeneous circuits introduced by [AJMR](STOC 2017, Theory of Computing 2019). These circuits can compute polynomials with a number of monomials that are doubly exponential in the circuit size. They gave an efficient randomized PIT algorithm for +-regular circuits of depth 3 and posed the problem of developing an efficient black-box PIT for higher depths as an open problem. We present a randomized black-box polynomial-time algorithm for +-regular circuits of any constant depth. Specifically, our algorithm runs in $s^{O(d^2)}$ time, where $s$ and $d$ represent the size and the depth of the $+$-regular circuit, respectively. We combine several key techniques in a novel way. We employ a nondeterministic substitution automaton that transforms the polynomial into a structured form and utilizes polynomial sparsification along with commutative transformations to maintain non-zeroness. Additionally, we introduce matrix composition, coefficient modification via the automaton, and multi-entry outputs-methods that have not previously been applied in the context of black-box PIT. Together, these techniques enable us to effectively handle exponential degrees and doubly exponential sparsity in non-commutative settings, enabling polynomial identity testing for higher-depth circuits. Our work resolves an open problem from [AJMR]. In particular, we show that if $f$ is a non-zero non-commutative polynomial in $n$ variables over the field $\mathbb{F}$, computed by a depth-$d$ $+$-regular circuit of size $s$, then $f$ cannot be a polynomial identity for the matrix algebra $\mathbb{M}_{N}(\mathbb{F})$, where $N= s^{O(d^2)}$ and the size of the field $\mathbb{F}$ depending on the degree of $f$.
Optimal Virtual Model Control for Robotics: Design and Tuning of Passivity-Based Controllers
Venue: arXiv cs.RO 2025
Year: 2025

Passivity-based control is a cornerstone of control theory and an established design approach in robotics. Its strength is based on the passivity theorem, which provides a powerful interconnection framework for robotics. However, the design of passivity-based controllers and their optimal tuning remain challenging. We propose here an intuitive design approach for fully actuated robots, where the control action is determined by a `virtual-mechanism' as in classical virtual model control. The result is a robot whose controlled behavior can be understood in terms of physics. We achieve optimal tuning by applying algorithmic differentiation to ODE simulations of the rigid body dynamics. Overall, this leads to a flexible design and optimization approach: stability is proven by passivity of the virtual mechanism, while performance is obtained by optimization using algorithmic differentiation.
scMEDAL for the interpretable analysis of single-cell transcriptomics data with batch effect visualization using a deep mixed effects autoencoder
Venue: arXiv cs.LG 2025
Year: 2025

Single-cell RNA sequencing enables high-resolution analysis of cellular heterogeneity, yet disentangling biological signal from batch effects remains a major challenge. Existing batch-correction algorithms suppress or discard batch-related variation rather than modeling it. We propose scMEDAL, single-cell Mixed Effects Deep Autoencoder Learning, a framework that separately models batch-invariant and batch-specific effects using two complementary subnetworks. The principal innovation, scMEDAL-RE, is a random-effects Bayesian autoencoder that learns batch-specific representations while preserving biologically meaningful information confounded with batch effects signal often lost under standard correction. Complementing it, the fixed-effects subnetwork, scMEDAL-FE, trained via adversarial learning provides a default batch-correction component. Evaluations across diverse conditions (autism, leukemia, cardiovascular), cell types, and technical and biological effects show that scMEDAL-RE produces interpretable, batch-specific embeddings that complement both scMEDAL-FE and established correction methods (scVI, Scanorama, Harmony, SAUCIE), yielding more accurate prediction of disease status, donor group, and tissue. scMEDAL also provides generative visualizations, including counterfactual reconstructions of a cell's expression as if acquired in another batch. The framework allows substitution of the fixed-effects component with other correction methods, while retaining scMEDAL-RE's enhanced predictive power and visualization. Overall, scMEDAL is a versatile, interpretable framework that complements existing correction, providing enhanced insight into cellular heterogeneity and data acquisition.
Reverse Prompt Engineering
Venue: arXiv cs.CL 2025
Year: 2025

We explore a new language model inversion problem under strict black-box, zero-shot, and limited data conditions. We propose a novel training-free framework that reconstructs prompts using only a limited number of text outputs from a language model. Existing methods rely on the availability of a large number of outputs for both training and inference, an assumption that is unrealistic in the real world, and they can sometimes produce garbled text. In contrast, our approach, which relies on limited resources, consistently yields coherent and semantically meaningful prompts. Our framework leverages a large language model together with an optimization process inspired by the genetic algorithm to effectively recover prompts. Experimental results on several datasets derived from public sources indicate that our approach achieves high-quality prompt recovery and generates prompts more semantically and functionally aligned with the originals than current state-of-the-art methods. Additionally, use-case studies introduced demonstrate the method's strong potential for generating high-quality text data on perturbed prompts.
Sketched Adaptive Federated Deep Learning: A Sharp Convergence Analysis
Venue: arXiv cs.LG 2025
Year: 2025

Combining gradient compression methods (e.g., CountSketch, quantization) and adaptive optimizers (e.g., Adam, AMSGrad) is a desirable goal in federated learning (FL), with potential benefits on both fewer communication rounds and less per-round communication. In spite of the preliminary empirical success of sketched adaptive methods, existing convergence analyses show the communication cost to have a linear dependence on the ambient dimension, i.e., number of parameters, which is prohibitively high for modern deep learning models. In this work, we introduce specific sketched adaptive federated learning (SAFL) algorithms and, as our main contribution, provide theoretical convergence analyses in different FL settings with guarantees on communication cost depending only logarithmically (instead of linearly) on the ambient dimension. Unlike existing analyses, we show that the entry-wise sketching noise existent in the preconditioners and the first moments of SAFL can be implicitly addressed by leveraging the recently-popularized anisotropic curvatures in deep learning losses, e.g., fast decaying loss Hessian eigen-values. In the i.i.d. client setting of FL, we show that SAFL achieves asymptotic $O(1/\sqrt{T})$ convergence, and converges faster in the initial epochs. In the non-i.i.d. client setting, where non-adaptive methods lack convergence guarantees, we show that SACFL (SAFL with clipping) algorithms can provably converge in spite of the additional heavy-tailed noise. Our theoretical claims are supported by empirical studies on vision and language tasks, and in both fine-tuning and training-from-scratch regimes. Surprisingly, as a by-product of our analysis, the proposed SAFL methods are competitive with the state-of-the-art communication-efficient federated learning algorithms based on error feedback.
AV-PedAware: Self-Supervised Audio-Visual Fusion for Dynamic Pedestrian Awareness
Venue: arXiv cs.RO 2025
Year: 2025

In this study, we introduce AV-PedAware, a self-supervised audio-visual fusion system designed to improve dynamic pedestrian awareness for robotics applications. Pedestrian awareness is a critical requirement in many robotics applications. However, traditional approaches that rely on cameras and LIDARs to cover multiple views can be expensive and susceptible to issues such as changes in illumination, occlusion, and weather conditions. Our proposed solution replicates human perception for 3D pedestrian detection using low-cost audio and visual fusion. This study represents the first attempt to employ audio-visual fusion to monitor footstep sounds for the purpose of predicting the movements of pedestrians in the vicinity. The system is trained through self-supervised learning based on LIDAR-generated labels, making it a cost-effective alternative to LIDAR-based pedestrian awareness. AV-PedAware achieves comparable results to LIDAR-based systems at a fraction of the cost. By utilizing an attention mechanism, it can handle dynamic lighting and occlusions, overcoming the limitations of traditional LIDAR and camera-based systems. To evaluate our approach's effectiveness, we collected a new multimodal pedestrian detection dataset and conducted experiments that demonstrate the system's ability to provide reliable 3D detection results using only audio and visual data, even in extreme visual conditions. We will make our collected dataset and source code available online for the community to encourage further development in the field of robotics perception systems.
ROCODE: Integrating Backtracking Mechanism and Program Analysis in Large Language Models for Code Generation
Venue: arXiv cs.SE 2025
Year: 2025

Large language models (LLMs) have achieved impressive performance in code generation recently, offering programmers revolutionary assistance in software development. However, due to the auto-regressive nature of LLMs, they are susceptible to error accumulation during code generation. Once an error is produced, LLMs can merely continue to generate the subsequent code conditioned on it, given their inability to adjust previous outputs. Existing LLM-based approaches typically consider post-revising after code generation, leading to the challenging resolution of accumulated errors and the significant wastage of resources. Ideally, LLMs should rollback and resolve the occurred error in time during code generation, rather than proceed on the basis of the error and wait for post-revising after generation. In this paper, we propose ROCODE, which integrates the backtracking mechanism and program analysis into LLMs for code generation. Specifically, we employ program analysis to perform incremental error detection during the generation process. When an error is detected, the backtracking mechanism is triggered to priming rollback strategies and constraint regeneration, thereby eliminating the error early and ensuring continued generation on the correct basis. Experiments on multiple code generation benchmarks show that ROCODE can significantly reduce the errors generated by LLMs, with a compilation pass rate of 99.1%. The test pass rate is improved by up to 23.8% compared to the best baseline approach. Compared to the post-revising baseline, the token cost is reduced by 19.3%. Moreover, our approach is model-agnostic and achieves consistent improvements across nine representative LLMs.
Probabilistic approach to feedback control enhances multi-legged locomotion on rugged landscapes
Venue: arXiv cs.RO 2025
Year: 2025

Achieving robust legged locomotion on complex terrains poses challenges due to the high uncertainty in robot-environment interactions. Recent advances in bipedal and quadrupedal robots demonstrate good mobility on rugged terrains but rely heavily on sensors for stability due to low static stability from a high center of mass and a narrow base of support. We hypothesize that a multi-legged robotic system can leverage morphological redundancy from additional legs to minimize sensing requirements when traversing challenging terrains. Studies suggest that a multi-legged system with sufficient legs can reliably navigate noisy landscapes without sensing and control, albeit at a low speed of up to 0.1 body lengths per cycle (BLC). However, the control framework to enhance speed on challenging terrains remains underexplored due to the complex environmental interactions, making it difficult to identify the key parameters to control in these high-degree-of-freedom systems. Here, we present a bio-inspired vertical body undulation wave as a novel approach to mitigate environmental disturbances affecting robot speed, supported by experiments and probabilistic models. Finally, we introduce a control framework which monitors foot-ground contact patterns on rugose landscapes using binary foot-ground contact sensors to estimate terrain rugosity. The controller adjusts the vertical body wave based on the deviation of the limb's averaged actual-to-ideal foot-ground contact ratio, achieving a significant enhancement of up to 0.235 BLC on rugose laboratory terrain. We observed a $\sim$ 50\% increase in speed and a $\sim$ 40\% reduction in speed variance compared to the open-loop controller. Additionally, the controller operates in complex terrains outside the lab, including pine straw, robot-sized rocks, mud, and leaves.
Advancements in Constitutive Model Calibration: Leveraging the Power of Full-Field DIC Measurements and In-Situ Load Path Selection for Reliable Parameter Inference
Venue: arXiv cs.CE 2025
Year: 2025

Accurate material characterization and model calibration are essential for computationally-supported engineering decisions. Current characterization and calibration methods (1) use simplified test specimen geometries and global data, (2) cannot guarantee that sufficient characterization data is collected for a specific model of interest, (3) use deterministic methods that provide best-fit parameter values with no uncertainty quantification, and (4) are sequential, inflexible, and time-consuming. This work brings together several recent advancements into an improved workflow called Interlaced Characterization and Calibration that advances the state-of-the-art in constitutive model calibration. The ICC paradigm (1) efficiently uses full-field data to calibrate a high-fidelity material model, (2) aligns the data needed with the data collected with an optimal experimental design protocol, (3) quantifies parameter uncertainty through Bayesian inference, and (4) incorporates these advances into a quasi real-time feedback loop. The ICC framework is demonstrated on the calibration of a material model using simulated full-field data for an aluminum cruciform specimen being deformed bi-axially. The cruciform is actively driven through the myopically optimal load path using Bayesian optimal experimental design, which selects load steps that yield the maximum expected information gain. To aid in numerical stability and preserve computational resources, the full-field data is dimensionally reduced via principal component analysis, and fast surrogate models which approximate the input-output relationships of the expensive finite element model are used. The tools demonstrated here show that high-fidelity constitutive models can be efficiently and reliably calibrated with quantified uncertainty, thus supporting credible decision-making and potentially increasing the agility of solid mechanics modeling.
IdentifyMe: A Challenging Long-Context Mention Resolution Benchmark for LLMs
Venue: arXiv cs.CL 2025
Year: 2025

Recent evaluations of LLMs on coreference resolution have revealed that traditional output formats and evaluation metrics do not fully capture the models' referential understanding. To address this, we introduce IdentifyMe, a new benchmark for mention resolution presented in a multiple-choice question (MCQ) format, commonly used for evaluating LLMs. IdentifyMe features long narratives and employs heuristics to exclude easily identifiable mentions, creating a more challenging task. The benchmark also consists of a curated mixture of different mention types and corresponding entities, allowing for a fine-grained analysis of model performance. We evaluate both closed- and open source LLMs on IdentifyMe and observe a significant performance gap (20-30%) between the state-of-the-art sub-10B open models vs. closed ones. We observe that pronominal mentions, which have limited surface information, are typically much harder for models to resolve than nominal mentions. Additionally, we find that LLMs often confuse entities when their mentions overlap in nested structures. The highest-scoring model, GPT-4o, achieves 81.9% accuracy, highlighting the strong referential capabilities of state-of-the-art LLMs while also indicating room for further improvement.
Degree Matrix Comparison for Graph Alignment
Venue: arXiv cs.SI 2025
Year: 2025

The graph alignment problem, which considers the optimal node correspondence across networks, has recently gained significant attention due to its wide applications. There are graph alignment methods suited for various network types, but we focus on the unsupervised geometric alignment algorithms. We propose Degree Matrix Comparison (DMC), a very simple degree-based method that has shown to be effective for heterogeneous networks. Through extensive experiments and mathematical proofs, we demonstrate the potential of this method. Remarkably, DMC achieves up to 99% correct node alignment for 90%-overlap networks and 100% accuracy for isomorphic graphs. Additionally, we propose a reduced Greedy DMC with lower time complexity and Weighted DMC that has demonstrated potential for aligning weighted graphs. Positive results from applying Greedy DMC and the Weighted DMC furthermore speaks to the validity and potential of the DMC. The sequence of DMC methods could significantly impact graph alignment, offering reliable solutions for the task.
Robust Offline Reinforcement Learning for Non-Markovian Decision Processes
Venue: arXiv cs.LG 2025
Year: 2025

Distributionally robust offline reinforcement learning (RL) aims to find a policy that performs the best under the worst environment within an uncertainty set using an offline dataset collected from a nominal model. While recent advances in robust RL focus on Markov decision processes (MDPs), robust non-Markovian RL is limited to planning problem where the transitions in the uncertainty set are known. In this paper, we study the learning problem of robust offline non-Markovian RL. Specifically, when the nominal model admits a low-rank structure, we propose a new algorithm, featuring a novel dataset distillation and a lower confidence bound (LCB) design for robust values under different types of the uncertainty set. We also derive new dual forms for these robust values in non-Markovian RL, making our algorithm more amenable to practical implementation. By further introducing a novel type-I concentrability coefficient tailored for offline low-rank non-Markovian decision processes, we prove that our algorithm can find an $ε$-optimal robust policy using $O(1/ε^2)$ offline samples. Moreover, we extend our algorithm to the case when the nominal model does not have specific structure. With a new type-II concentrability coefficient, the extended algorithm also enjoys polynomial sample efficiency under all different types of the uncertainty set.
EUR/USD Exchange Rate Forecasting incorporating Text Mining Based on Pre-trained Language Models and Deep Learning Methods
Venue: arXiv cs.CE 2025
Year: 2025

This study introduces a novel approach for EUR/USD exchange rate forecasting that integrates deep learning, textual analysis, and particle swarm optimization (PSO). By incorporating online news and analysis texts as qualitative data, the proposed PSO-LSTM model demonstrates superior performance compared to traditional econometric and machine learning models. The research employs advanced text mining techniques, including sentiment analysis using the RoBERTa-Large model and topic modeling with LDA. Empirical findings underscore the significant advantage of incorporating textual data, with the PSO-LSTM model outperforming benchmark models such as SVM, SVR, ARIMA, and GARCH. Ablation experiments reveal the contribution of each textual data category to the overall forecasting performance. The study highlights the transformative potential of artificial intelligence in finance and paves the way for future research in real-time forecasting and the integration of alternative data sources.
Mix from Failure: Confusion-Pairing Mixup for Long-Tailed Recognition
Venue: arXiv cs.CV 2025
Year: 2025

Long-tailed image recognition is a computer vision problem considering a real-world class distribution rather than an artificial uniform. Existing methods typically detour the problem by i) adjusting a loss function, ii) decoupling classifier learning, or iii) proposing a new multi-head architecture called experts. In this paper, we tackle the problem from a different perspective to augment a training dataset to enhance the sample diversity of minority classes. Specifically, our method, namely Confusion-Pairing Mixup (CP-Mix), estimates the confusion distribution of the model and handles the data deficiency problem by augmenting samples from confusion pairs in real-time. In this way, CP-Mix trains the model to mitigate its weakness and distinguish a pair of classes it frequently misclassifies. In addition, CP-Mix utilizes a novel mixup formulation to handle the bias in decision boundaries that originated from the imbalanced dataset. Extensive experiments demonstrate that CP-Mix outperforms existing methods for long-tailed image recognition and successfully relieves the confusion of the classifier.