OpenRaiser/Intern-Atlas huggingface dataset:
DEF: Diffusion-augmented Ensemble Forecasting
Venue: arXiv cs.LG 2025
Year: 2025

We present DEF (\textbf{\ul{D}}iffusion-augmented \textbf{\ul{E}}nsemble \textbf{\ul{F}}orecasting), a novel approach for generating initial condition perturbations. Modern approaches to initial condition perturbations are primarily designed for numerical weather prediction (NWP) solvers, limiting their applicability in the rapidly growing field of machine learning for weather prediction. Consequently, stochastic models in this domain are often developed on a case-by-case basis. We demonstrate that a simple conditional diffusion model can (1) generate meaningful structured perturbations, (2) be applied iteratively, and (3) utilize a guidance term to intuitivey control the level of perturbation. This method enables the transformation of any deterministic neural forecasting system into a stochastic one. With our stochastic extended systems, we show that the model accumulates less error over long-term forecasts while producing meaningful forecast distributions. We validate our approach on the 5.625$^\circ$ ERA5 reanalysis dataset, which comprises atmospheric and surface variables over a discretized global grid, spanning from the 1960s to the present. On this dataset, our method demonstrates improved predictive performance along with reasonable spread estimates.
Digital Twin-based Smart Manufacturing: Dynamic Line Reconfiguration for Disturbance Handling
Venue: arXiv cs.MA 2025
Year: 2025

The increasing complexity of modern manufacturing, coupled with demand fluctuation, supply chain uncertainties, and product customization, underscores the need for manufacturing systems that can flexibly update their configurations and swiftly adapt to disturbances. However, current research falls short in providing a holistic reconfigurable manufacturing framework that seamlessly monitors system disturbances, optimizes alternative line configurations based on machine capabilities, and automates simulation evaluation for swift adaptations. This paper presents a dynamic manufacturing line reconfiguration framework to handle disturbances that result in operation time changes. The framework incorporates a system process digital twin for monitoring disturbances and triggering reconfigurations, a capability-based ontology model capturing available agent and resource options, a configuration optimizer generating optimal line configurations, and a simulation generation program initializing simulation setups and evaluating line configurations at approximately 400x real-time speed. A case study of a battery production line has been conducted to evaluate the proposed framework. In two implemented disturbance scenarios, the framework successfully recovers system throughput with limited resources, preventing the 26% and 63% throughput drops that would have occurred without a reconfiguration plan. The reconfiguration optimizer efficiently finds optimal solutions, taking an average of 0.03 seconds to find a reconfiguration plan for a manufacturing line with 51 operations and 40 available agents across 8 agent types.
Hierarchical Scoring with 3D Gaussian Splatting for Instance Image-Goal Navigation
Venue: arXiv cs.CV 2025
Year: 2025

Instance Image-Goal Navigation (IIN) requires autonomous agents to identify and navigate to a target object or location depicted in a reference image captured from any viewpoint. While recent methods leverage powerful novel view synthesis (NVS) techniques, such as three-dimensional Gaussian splatting (3DGS), they typically rely on randomly sampling multiple viewpoints or trajectories to ensure comprehensive coverage of discriminative visual cues. This approach, however, creates significant redundancy through overlapping image samples and lacks principled view selection, substantially increasing both rendering and comparison overhead. In this paper, we introduce a novel IIN framework with a hierarchical scoring paradigm that estimates optimal viewpoints for target matching. Our approach integrates cross-level semantic scoring, utilizing CLIP-derived relevancy fields to identify regions with high semantic similarity to the target object class, with fine-grained local geometric scoring that performs precise pose estimation within promising regions. Extensive evaluations demonstrate that our method achieves state-of-the-art performance on simulated IIN benchmarks and real-world applicability.
On Sketching Trimmed Statistics
Venue: arXiv cs.DS 2025
Year: 2025

We present space-efficient linear sketches for estimating trimmed statistics of an $n$-dimensional frequency vector $x$, e.g., the sum of $p$-th powers of the largest $k$ frequencies (i.e., entries) in absolute value, or the $k$-trimmed vector, which excludes the top and bottom $k$ frequencies. This is called the $F_p$ moment of the trimmed vector. Trimmed measures are used in robust estimation, as seen in the R programming language's `trim.var' function and the `trim' parameter in the mean function. Linear sketches improve time and memory efficiency and are applicable to streaming and distributed settings. We initiate the study of sketching these statistics and give a new condition for capturing their space complexity. When $k \ge n/poly\log n$, we give a linear sketch using $poly(1/\varepsilon, \log n)$ space which provides a $(1 \pm \varepsilon)$ approximation to the top-$k$ $F_p$ moment for $p \in [0,2]$. For general $k$, we give a sketch with the same guarantees under a condition relating the $k$-th largest frequency to the tail mass, and show this condition is necessary. For the $k$-trimmed version, our sketch achieves optimal error guarantees under the same condition. We extend our methods to $p > 2$ and also address related problems such as computing the $F_p$ moment of frequencies above a threshold, finding the largest $k$ such that the $F_p$ moment of the top $k$ exceeds $k^{p+1}$, and the $F_p$ moment of the top $k$ frequencies such that each entry is at least $k$. Notably, our algorithm for this third application improves upon the space bounds of the algorithm of Govindan, Monemizadeh, and Muthukrishnan (PODS '17) for computing the $h$-index. We show empirically that our top $k$ algorithm uses much less space compared to Count-Sketch while achieving the same error.
MoE-GPS: Guidlines for Prediction Strategy for Dynamic Expert Duplication in MoE Load Balancing
Venue: arXiv cs.LG 2025
Year: 2025

In multi-GPU Mixture-of-Experts (MoE) network, experts are distributed across different GPUs, which creates load imbalance as each expert processes different number of tokens. Recent works improve MoE inference load balance by dynamically duplicating popular experts to more GPUs to process excessive tokens, which requires predicting the distribution before routing. In this paper, we discuss the tradeoff of prediction strategies, accuracies, overhead, and end-to-end system performance. We propose MoE-GPS, a framework that guides the selection of the optimal predictor design under various system configurations, by quantifying the performance impact to system-level model runtime. Specifically, we advocate for Distribution-Only Prediction, a prediction strategy that only predicts overall token distribution which significantly reduces overhead compared to the traditional Token-to-Expert Prediction. On Mixtral 8x7B MMLU dataset, MoE-GPS suggests Distribution-Only Prediction which improves end-to-end inference performance by more than 23% compared with Token-to-Expert Prediction.
C3S3: Complementary Competition and Contrastive Selection for Semi-Supervised Medical Image Segmentation
Venue: arXiv cs.CV 2025
Year: 2025

For the immanent challenge of insufficiently annotated samples in the medical field, semi-supervised medical image segmentation (SSMIS) offers a promising solution. Despite achieving impressive results in delineating primary target areas, most current methodologies struggle to precisely capture the subtle details of boundaries. This deficiency often leads to significant diagnostic inaccuracies. To tackle this issue, we introduce C3S3, a novel semi-supervised segmentation model that synergistically integrates complementary competition and contrastive selection. This design significantly sharpens boundary delineation and enhances overall precision. Specifically, we develop an Outcome-Driven Contrastive Learning module dedicated to refining boundary localization. Additionally, we incorporate a Dynamic Complementary Competition module that leverages two high-performing sub-networks to generate pseudo-labels, thereby further improving segmentation quality. The proposed C3S3 undergoes rigorous validation on two publicly accessible datasets, encompassing the practices of both MRI and CT scans. The results demonstrate that our method achieves superior performance compared to previous cutting-edge competitors. Especially, on the 95HD and ASD metrics, our approach achieves a notable improvement of at least 6%, highlighting the significant advancements. The code is available at https://github.com/Y-TARL/C3S3.
InverseScope: Scalable Activation Inversion for Interpreting Large Language Models
Venue: arXiv cs.LG 2025
Year: 2025

Understanding the internal representations of large language models (LLMs) is a central challenge in interpretability research. Existing feature interpretability methods often rely on strong assumptions about the structure of representations that may not hold in practice. In this work, we introduce InverseScope, an assumption-light and scalable framework for interpreting neural activations via input inversion. Given a target activation, we define a distribution over inputs that generate similar activations and analyze this distribution to infer the encoded information. To address the inefficiency of sampling in high-dimensional spaces, we propose a novel conditional generation architecture that significantly improves sample efficiency compared to previous method. We further introduce a quantitative evaluation protocol that tests interpretability hypotheses using the feature consistency rate computed over the sampled inputs. InverseScope scales inversion-based interpretability methods to larger models and practical tasks, enabling systematic and quantitative analysis of internal representations in real-world LLMs.
Generate Realistic Test Scenes for V2X Communication Systems
Venue: arXiv cs.SE 2025
Year: 2025

Accurately perceiving complex driving environments is essential for ensuring the safe operation of autonomous vehicles. With the tremendous progress in deep learning and communication technologies, cooperative perception with Vehicle-to-Everything (V2X) technologies has emerged as a solution to overcome the limitations of single-agent perception systems in perceiving distant objects and occlusions. Despite the considerable advancements, V2X cooperative perception systems require thorough testing and continuous enhancement of system performance. Given that V2X driving scenes entail intricate communications with multiple vehicles across various geographic locations, creating V2X test scenes for these systems poses a significant challenge. Moreover, current testing methodologies rely on manual data collection and labeling, which are both time-consuming and costly. In this paper, we design and implement V2XGen, an automated testing generation tool for V2X cooperative perception systems. V2XGen utilizes a high-fidelity approach to generate realistic cooperative object instances and strategically place them within the background data in crucial positions. Furthermore, V2XGen adopts a fitness-guided V2X scene generation strategy for the transformed scene generation process and improves testing efficiency. We conduct experiments on V2XGen using multiple cooperative perception systems with different fusion schemes to assess its performance on various tasks. The experimental results demonstrate that V2XGen is capable of generating realistic test scenes and effectively detecting erroneous behaviors in different V2X-oriented driving conditions. Furthermore, the results validate that retraining systems under test with the generated scenes can enhance average detection precision while reducing occlusion and long-range perception errors.
FAMSeg: Fetal Femur and Cranial Ultrasound Segmentation Using Feature-Aware Attention and Mamba Enhancement
Venue: arXiv cs.CV 2025
Year: 2025

Accurate ultrasound image segmentation is a prerequisite for precise biometrics and accurate assessment. Relying on manual delineation introduces significant errors and is time-consuming. However, existing segmentation models are designed based on objects in natural scenes, making them difficult to adapt to ultrasound objects with high noise and high similarity. This is particularly evident in small object segmentation, where a pronounced jagged effect occurs. Therefore, this paper proposes a fetal femur and cranial ultrasound image segmentation model based on feature perception and Mamba enhancement to address these challenges. Specifically, a longitudinal and transverse independent viewpoint scanning convolution block and a feature perception module were designed to enhance the ability to capture local detail information and improve the fusion of contextual information. Combined with the Mamba-optimized residual structure, this design suppresses the interference of raw noise and enhances local multi-dimensional scanning. The system builds global information and local feature dependencies, and is trained with a combination of different optimizers to achieve the optimal solution. After extensive experimental validation, the FAMSeg network achieved the fastest loss reduction and the best segmentation performance across images of varying sizes and orientations.
Efficient Generation of Diverse Cooperative Agents with World Models
Venue: arXiv cs.AI 2025
Year: 2025

A major bottleneck in the training process for Zero-Shot Coordination (ZSC) agents is the generation of partner agents that are diverse in collaborative conventions. Current Cross-play Minimization (XPM) methods for population generation can be very computationally expensive and sample inefficient as the training objective requires sampling multiple types of trajectories. Each partner agent in the population is also trained from scratch, despite all of the partners in the population learning policies of the same coordination task. In this work, we propose that simulated trajectories from the dynamics model of an environment can drastically speed up the training process for XPM methods. We introduce XPM-WM, a framework for generating simulated trajectories for XPM via a learned World Model (WM). We show XPM with simulated trajectories removes the need to sample multiple trajectories. In addition, we show our proposed method can effectively generate partners with diverse conventions that match the performance of previous methods in terms of SP population training reward as well as training partners for ZSC agents. Our method is thus, significantly more sample efficient and scalable to a larger number of partners.
Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs
Venue: arXiv cs.RO 2025
Year: 2025

In this paper, we introduce a multi-robot system that integrates mapping, localization, and task and motion planning (TAMP) enabled by 3D scene graphs to execute complex instructions expressed in natural language. Our system builds a shared 3D scene graph incorporating an open-set object-based map, which is leveraged for multi-robot 3D scene graph fusion. This representation supports real-time, view-invariant relocalization (via the object-based map) and planning (via the 3D scene graph), allowing a team of robots to reason about their surroundings and execute complex tasks. Additionally, we introduce a planning approach that translates operator intent into Planning Domain Definition Language (PDDL) goals using a Large Language Model (LLM) by leveraging context from the shared 3D scene graph and robot capabilities. We provide an experimental assessment of the performance of our system on real-world tasks in large-scale, outdoor environments. A supplementary video is available at https://youtu.be/8xbGGOLfLAY.
An introduction to pitch strength in contemporary popular music analysis and production
Venue: arXiv cs.SD 2025
Year: 2025

Music information retrieval distinguishes between low- and high-level descriptions of music. Current generative AI models rely on text descriptions that are higher level than the controls familiar to studio musicians. Pitch strength, a low-level perceptual parameter of contemporary popular music, may be one feature that could make such AI models more suited to music production. Signal and perceptual analyses suggest that pitch strength (1) varies significantly across and inside songs; (2) contributes to both small- and large-scale structure; (3) contributes to the handling of polyphonic dissonance; and (4) may be a feature of upper harmonics made audible in a perspective of perceptual richness.
Reinforcement Learning via Implicit Imitation Guidance
Venue: arXiv cs.LG 2025
Year: 2025

We study the problem of sample efficient reinforcement learning, where prior data such as demonstrations are provided for initialization in lieu of a dense reward signal. A natural approach is to incorporate an imitation learning objective, either as regularization during training or to acquire a reference policy. However, imitation learning objectives can ultimately degrade long-term performance, as it does not directly align with reward maximization. In this work, we propose to use prior data solely for guiding exploration via noise added to the policy, sidestepping the need for explicit behavior cloning constraints. The key insight in our framework, Data-Guided Noise (DGN), is that demonstrations are most useful for identifying which actions should be explored, rather than forcing the policy to take certain actions. Our approach achieves up to 2-3x improvement over prior reinforcement learning from offline data methods across seven simulated continuous control tasks.
DeRAGEC: Denoising Named Entity Candidates with Synthetic Rationale for ASR Error Correction
Venue: arXiv cs.CL 2025
Year: 2025

We present DeRAGEC, a method for improving Named Entity (NE) correction in Automatic Speech Recognition (ASR) systems. By extending the Retrieval-Augmented Generative Error Correction (RAGEC) framework, DeRAGEC employs synthetic denoising rationales to filter out noisy NE candidates before correction. By leveraging phonetic similarity and augmented definitions, it refines noisy retrieved NEs using in-context learning, requiring no additional training. Experimental results on CommonVoice and STOP datasets show significant improvements in Word Error Rate (WER) and NE hit ratio, outperforming baseline ASR and RAGEC methods. Specifically, we achieved a 28% relative reduction in WER compared to ASR without postprocessing. Our source code is publicly available at: https://github.com/solee0022/deragec
From Rapid Release to Reinforced Elite: Citation Inequality Is Stronger in Preprints than Journals
Venue: arXiv cs.DL 2025
Year: 2025

Preprints have been considered primarily as a supplement to journal-based systems for the rapid dissemination of relevant scientific knowledge and have historically been supported by studies indicating that preprints and published reports have comparable authorship, references, and quality. However, as preprints increasingly serve as an independent medium for scholarly communication rather than precursors to the version of record, it remains uncertain how preprint usage is shaping scientific discourse. Our research revealed that the preprint citations exhibit significantly higher inequality than journal citations, consistently among categories. This trend persisted even when controlling for age and the mean citation count of the journal matched to each of the preprint categories. We also found that the citation inequality in preprints is not solely driven by a few highly cited papers or those with no impact, but rather reflects a broader systemic effect. Whether the preprint is subsequently published in a journal or not does not significantly affect the citation inequality. Further analyses of the structural factors show that preferential attachment does not significantly contribute to citation inequality in preprints, whereas author prestige plays a substantial role. Notably, the gap in citation inequality between the preprint category and the journal is more pronounced in fields where preprints are more established, such as mathematics, physics, and high-energy physics. This highlights a potential vulnerability in preprint ecosystems where reputation-driven citation may hinder scientific diversity.
Curriculum Learning With Counterfactual Group Relative Policy Advantage For Multi-Agent Reinforcement Learning
Venue: arXiv cs.AI 2025
Year: 2025

Multi-agent reinforcement learning (MARL) has achieved strong performance in cooperative adversarial tasks. However, most existing methods typically train agents against fixed opponent strategies and rely on such meta-static difficulty conditions, which limits their adaptability to changing environments and often leads to suboptimal policies. Inspired by the success of curriculum learning (CL) in supervised tasks, we propose a dynamic CL framework for MARL that employs an self-adaptive difficulty adjustment mechanism. This mechanism continuously modulates opponent strength based on real-time agent training performance, allowing agents to progressively learn from easier to more challenging scenarios. However, the dynamic nature of CL introduces instability due to nonstationary environments and sparse global rewards. To address this challenge, we develop a Counterfactual Group Relative Policy Advantage (CGRPA), which is tightly coupled with the curriculum by providing intrinsic credit signals that reflect each agent's impact under evolving task demands. CGRPA constructs a counterfactual advantage function that isolates individual contributions within group behavior, facilitating more reliable policy updates throughout the curriculum. CGRPA evaluates each agent's contribution through constructing counterfactual action advantage function, providing intrinsic rewards that enhance credit assignment and stabilize learning under non-stationary conditions. Extensive experiments demonstrate that our method improves both training stability and final performance, achieving competitive results against state-of-the-art methods. The code is available at https://github.com/NICE-HKU/CL2MARL-SMAC.
Uncertainty-o: One Model-agnostic Framework for Unveiling Uncertainty in Large Multimodal Models
Venue: arXiv cs.CV 2025
Year: 2025

Large Multimodal Models (LMMs), harnessing the complementarity among diverse modalities, are often considered more robust than pure Language Large Models (LLMs); yet do LMMs know what they do not know? There are three key open questions remaining: (1) how to evaluate the uncertainty of diverse LMMs in a unified manner, (2) how to prompt LMMs to show its uncertainty, and (3) how to quantify uncertainty for downstream tasks. In an attempt to address these challenges, we introduce Uncertainty-o: (1) a model-agnostic framework designed to reveal uncertainty in LMMs regardless of their modalities, architectures, or capabilities, (2) an empirical exploration of multimodal prompt perturbations to uncover LMM uncertainty, offering insights and findings, and (3) derive the formulation of multimodal semantic uncertainty, which enables quantifying uncertainty from multimodal responses. Experiments across 18 benchmarks spanning various modalities and 10 LMMs (both open- and closed-source) demonstrate the effectiveness of Uncertainty-o in reliably estimating LMM uncertainty, thereby enhancing downstream tasks such as hallucination detection, hallucination mitigation, and uncertainty-aware Chain-of-Thought reasoning.