OpenRaiser/Intern-Atlas huggingface dataset:
HieraMamba: Video Temporal Grounding via Hierarchical Anchor-Mamba Pooling
Venue: arXiv cs.CV 2025
Year: 2025

Video temporal grounding, the task of localizing the start and end times of a natural language query in untrimmed video, requires capturing both global context and fine-grained temporal detail. This challenge is particularly pronounced in long videos, where existing methods often compromise temporal fidelity by over-downsampling or relying on fixed windows. We present HieraMamba, a hierarchical architecture that preserves temporal structure and semantic richness across scales. At its core are Anchor-MambaPooling (AMP) blocks, which utilize Mamba's selective scanning to produce compact anchor tokens that summarize video content at multiple granularities. Two complementary objectives, anchor-conditioned and segment-pooled contrastive losses, encourage anchors to retain local detail while remaining globally discriminative. HieraMamba sets a new state-of-the-art on Ego4D-NLQ, MAD, and TACoS, demonstrating precise, temporally faithful localization in long, untrimmed videos.
Advantage Shaping as Surrogate Reward Maximization: Unifying Pass@K Policy Gradients
Venue: arXiv cs.LG 2025
Year: 2025

This note reconciles two seemingly distinct approaches to policy gradient optimization for the Pass@K objective in reinforcement learning with verifiable rewards: (1) direct REINFORCE-style methods, and (2) advantage-shaping techniques that directly modify GRPO. We show that these are two sides of the same coin. By reverse-engineering existing advantage-shaping algorithms, we reveal that they implicitly optimize surrogate rewards. We specifically interpret practical "hard-example up-weighting" modifications to GRPO as reward-level regularization. Conversely, starting from surrogate reward objectives, we provide a simple recipe for deriving both existing and new advantage-shaping methods. This perspective provides a lens for RLVR policy gradient optimization beyond our original motivation of Pass@K.
Seq-DeepIPC: Sequential Sensing for End-to-End Control in Legged Robot Navigation
Venue: arXiv cs.RO 2025
Year: 2025

We present Seq-DeepIPC, a sequential end-to-end perception-to-control model for legged robot navigation in realworld environments. Seq-DeepIPC advances intelligent sensing for autonomous legged navigation by tightly integrating multi-modal perception (RGB-D + GNSS) with temporal fusion and control. The model jointly predicts semantic segmentation and depth estimation, giving richer spatial features for planning and control. For efficient deployment on edge devices, we use EfficientNet-B0 as the encoder, reducing computation while maintaining accuracy. Heading estimation is simplified by removing the noisy IMU and instead computing the bearing angle directly from consecutive GNSS positions. We collected a larger and more diverse dataset that includes both road and grass terrains, and validated Seq-DeepIPC on a robot dog. Comparative and ablation studies show that sequential inputs improve perception and control in our models, while other baselines do not benefit. Seq-DeepIPC achieves competitive or better results with reasonable model size; although GNSS-only heading is less reliable near tall buildings, it is robust in open areas. Overall, Seq-DeepIPC extends end-to-end navigation beyond wheeled robots to more versatile and temporally-aware systems. To support future research, we will release the codes to our GitHub repository at https://github.com/oskarnatan/Seq-DeepIPC.
Possibilistic Computation Tree Logic: Decidability and Complete Axiomatization
Venue: arXiv cs.LO 2025
Year: 2025

Possibilistic computation tree Logic (PoCTL) is one kind of branching temporal logic combined with uncertain information in possibility theory, which was introduced in order to cope with the systematic verification on systems with uncertain information in possibility theory. There are two decision problems related to PoCTL: the model checking problem and the satisfiability problem. The model checking problem of PoCTL has been studied, while the satisfiability problem of PoCTL was not discussed. One of the purpose of this work is to study the satisfiability problem of PoCTL. By introducing some techniques to extract possibility information from PoCTL formulae and constructing their possibilistic Hintikka structures, we show that the satisfiability problem of PoCTL is decidable in exponential time. Furthermore, we give a complete axiomatization of PoCTL, which is another important inference problem of PoCTL.
Breaking the Circle: An Autonomous Control-Switching Strategy for Stable Orographic Soaring in MAVs
Venue: arXiv cs.RO 2025
Year: 2025

Orographic soaring can significantly extend the endurance of micro aerial vehicles (MAVs), but circling behavior, arising from control conflicts between the longitudinal and vertical axes, increases energy consumption and the risk of divergence. We propose a control switching method, named SAOS: Switched Control for Autonomous Orographic Soaring, which mitigates circling behavior by selectively controlling either the horizontal or vertical axis, effectively transforming the system from underactuated to fully actuated during soaring. Additionally, the angle of attack is incorporated into the INDI controller to improve force estimation. Simulations with randomized initial positions and wind tunnel experiments on two MAVs demonstrate that the SAOS improves position convergence, reduces throttle usage, and mitigates roll oscillations caused by pitch-roll coupling. These improvements enhance energy efficiency and flight stability in constrained soaring environments.
An Automated Tape Laying System Employing a Uniaxial Force Control Device
Venue: arXiv cs.RO 2025
Year: 2025

This paper deals with the design of a cost effective automated tape laying system (ATL system) with integrated uniaxial force control to ensure the necessary compaction forces as well as with an accurate temperature control to guarantee the used tape being melted appropriate. It is crucial to control the substrate and the oncoming tape onto a specific temperature level to ensure an optimal consolidation between the different layers of the product. Therefore, it takes several process steps from the spooled tape on the coil until it is finally tacked onto the desired mold. The different modules are divided into the tape storage spool, a tape-guiding roller, a tape processing unit, a heating zone and the consolidation unit. Moreover, a special robot control concept for testing the ATL system is presented. In contrast to many other systems, with this approach, the tape laying device is spatially fixed and the shape is moved accordingly by the robot, which allows for handling of rather compact and complex shapes. The functionality of the subsystems and the taping process itself was finally approved in experimental results using a carbon fiber reinforced HDPE tape.
Residual Diffusion Bridge Model for Image Restoration
Venue: arXiv cs.CV 2025
Year: 2025

Diffusion bridge models establish probabilistic paths between arbitrary paired distributions and exhibit great potential for universal image restoration. Most existing methods merely treat them as simple variants of stochastic interpolants, lacking a unified analytical perspective. Besides, they indiscriminately reconstruct images through global noise injection and removal, inevitably distorting undegraded regions due to imperfect reconstruction. To address these challenges, we propose the Residual Diffusion Bridge Model (RDBM). Specifically, we theoretically reformulate the stochastic differential equations of generalized diffusion bridge and derive the analytical formulas of its forward and reverse processes. Crucially, we leverage the residuals from given distributions to modulate the noise injection and removal, enabling adaptive restoration of degraded regions while preserving intact others. Moreover, we unravel the fundamental mathematical essence of existing bridge models, all of which are special cases of RDBM and empirically demonstrate the optimality of our proposed models. Extensive experiments are conducted to demonstrate the state-of-the-art performance of our method both qualitatively and quantitatively across diverse image restoration tasks. Code is publicly available at https://github.com/MiliLab/RDBM.
Reliable Robotic Task Execution in the Face of Anomalies
Venue: arXiv cs.RO 2025
Year: 2025

Learned robot policies have consistently been shown to be versatile, but they typically have no built-in mechanism for handling the complexity of open environments, making them prone to execution failures; this implies that deploying policies without the ability to recognise and react to failures may lead to unreliable and unsafe robot behaviour. In this paper, we present a framework that couples a learned policy with a method to detect visual anomalies during policy deployment and to perform recovery behaviours when necessary, thereby aiming to prevent failures. Specifically, we train an anomaly detection model using data collected during nominal executions of a trained policy. This model is then integrated into the online policy execution process, so that deviations from the nominal execution can trigger a three-level sequential recovery process that consists of (i) pausing the execution temporarily, (ii) performing a local perturbation of the robot's state, and (iii) resetting the robot to a safe state by sampling from a learned execution success model. We verify our proposed method in two different scenarios: (i) a door handle reaching task with a Kinova Gen3 arm using a policy trained in simulation and transferred to the real robot, and (ii) an object placing task with a UFactory xArm 6 using a general-purpose policy model. Our results show that integrating policy execution with anomaly detection and recovery increases the execution success rate in environments with various anomalies, such as trajectory deviations and adversarial human interventions.
Corpus Frequencies in Morphological Inflection: Do They Matter?
Venue: arXiv cs.CL 2025
Year: 2025

The traditional approach to morphological inflection (the task of modifying a base word (lemma) to express grammatical categories) has been, for decades, to consider lexical entries of lemma-tag-form triples uniformly, lacking any information about their frequency distribution. However, in production deployment, one might expect the user inputs to reflect a real-world distribution of frequencies in natural texts. With future deployment in mind, we explore the incorporation of corpus frequency information into the task of morphological inflection along three key dimensions during system development: (i) for train-dev-test split, we combine a lemma-disjoint approach, which evaluates the model's generalization capabilities, with a frequency-weighted strategy to better reflect the realistic distribution of items across different frequency bands in training and test sets; (ii) for evaluation, we complement the standard type accuracy (often referred to simply as accuracy), which treats all items equally regardless of frequency, with token accuracy, which assigns greater weight to frequent words and better approximates performance on running text; (iii) for training data sampling, we introduce a method novel in the context of inflection, frequency-aware training, which explicitly incorporates word frequency into the sampling process. We show that frequency-aware training outperforms uniform sampling in 26 out of 43 languages.
Adapting Interleaved Encoders with PPO for Language-Guided Reinforcement Learning in BabyAI
Venue: arXiv cs.LG 2025
Year: 2025

Deep reinforcement learning agents often struggle when tasks require understanding both vision and language. Conventional architectures typically isolate perception (for example, CNN-based visual encoders) from decision-making (policy networks). This separation can be inefficient, since the policy's failures do not directly help the perception module learn what is important. To address this, we implement the Perception-Decision Interleaving Transformer (PDiT) architecture introduced by Mao et al. (2023), a model that alternates between perception and decision layers within a single transformer. This interleaving allows feedback from decision-making to refine perceptual features dynamically. In addition, we integrate a contrastive loss inspired by CLIP to align textual mission embeddings with visual scene features. We evaluate the PDiT encoders on the BabyAI GoToLocal environment and find that the approach achieves more stable rewards and stronger alignment compared to a standard PPO baseline. The results suggest that interleaved transformer encoders are a promising direction for developing more integrated autonomous agents.
Common Task Framework For a Critical Evaluation of Scientific Machine Learning Algorithms
Venue: arXiv cs.CE 2025
Year: 2025

Machine learning (ML) is transforming modeling and control in the physical, engineering, and biological sciences. However, rapid development has outpaced the creation of standardized, objective benchmarks - leading to weak baselines, reporting bias, and inconsistent evaluations across methods. This undermines reproducibility, misguides resource allocation, and obscures scientific progress. To address this, we propose a Common Task Framework (CTF) for scientific machine learning. The CTF features a curated set of datasets and task-specific metrics spanning forecasting, state reconstruction, and generalization under realistic constraints, including noise and limited data. Inspired by the success of CTFs in fields like natural language processing and computer vision, our framework provides a structured, rigorous foundation for head-to-head evaluation of diverse algorithms. As a first step, we benchmark methods on two canonical nonlinear systems: Kuramoto-Sivashinsky and Lorenz. These results illustrate the utility of the CTF in revealing method strengths, limitations, and suitability for specific classes of problems and diverse objectives. Next, we are launching a competition around a global real world sea surface temperature dataset with a true holdout dataset to foster community engagement. Our long-term vision is to replace ad hoc comparisons with standardized evaluations on hidden test sets that raise the bar for rigor and reproducibility in scientific ML.
MATCH: Task-Driven Code Evaluation through Contrastive Learning
Venue: arXiv cs.CL 2025
Year: 2025

AI-based code generation is increasingly prevalent, with GitHub Copilot estimated to generate 46% of the code on GitHub. Accurately evaluating how well generated code aligns with developer intent remains a critical challenge. Traditional evaluation methods, such as unit tests, are often unscalable and costly. Syntactic similarity metrics (e.g., BLEU, ROUGE) fail to capture code functionality, and metrics like CodeBERTScore require reference code, which is not always available. To address the gap in reference-free evaluation, with few alternatives such as ICE-Score, this paper introduces MATCH, a novel reference-free metric. MATCH uses Contrastive Learning to generate meaningful embeddings for code and natural language task descriptions, enabling similarity scoring that reflects how well generated code implements the task. We show that MATCH achieves stronger correlations with functional correctness and human preference than existing metrics across multiple programming languages.
Increasing LLM Coding Capabilities through Diverse Synthetic Coding Tasks
Venue: arXiv cs.LG 2025
Year: 2025

Large language models (LLMs) have shown impressive promise in code generation, yet their progress remains limited by the shortage of large-scale datasets that are both diverse and well-aligned with human reasoning. Most existing resources pair problems with solutions, but omit the intermediate thought process that guides coding. To close this gap, we present a scalable synthetic data generation pipeline that produces nearly 800k instruction-reasoning-code-test quadruplets. Each sample combines a task, a step-by-step reasoning trace, a working solution, and executable tests, enabling models to learn not just the what but also the how of problem solving. Our pipeline combines four key components: curated contest problems, web-mined content filtered by relevance classifiers, data expansion guided by reasoning patterns, and multi-stage execution-based validation. A genetic mutation algorithm further increases task diversity while maintaining consistency between reasoning traces and code implementations. Our key finding is that fine-tuning LLMs on this dataset yields consistent improvements on coding benchmarks. Beyond raw accuracy, reasoning-aware data can substitute for model scaling, generalize across architectures, and outperform leading open-source alternatives under identical sample budgets. Our work establishes reasoning-centered synthetic data generation as an efficient approach for advancing coding capabilities in LLMs. We publish our dataset and generation pipeline to facilitate further research.
Human-Like Goalkeeping in a Realistic Football Simulation: a Sample-Efficient Reinforcement Learning Approach
Venue: arXiv cs.AI 2025
Year: 2025

While several high profile video games have served as testbeds for Deep Reinforcement Learning (DRL), this technique has rarely been employed by the game industry for crafting authentic AI behaviors. Previous research focuses on training super-human agents with large models, which is impractical for game studios with limited resources aiming for human-like agents. This paper proposes a sample-efficient DRL method tailored for training and fine-tuning agents in industrial settings such as the video game industry. Our method improves sample efficiency of value-based DRL by leveraging pre-collected data and increasing network plasticity. We evaluate our method training a goalkeeper agent in EA SPORTS FC 25, one of the best-selling football simulations today. Our agent outperforms the game's built-in AI by 10% in ball saving rate. Ablation studies show that our method trains agents 50% faster compared to standard DRL methods. Finally, qualitative evaluation from domain experts indicates that our approach creates more human-like gameplay compared to hand-crafted agents. As a testament to the impact of the approach, the method has been adopted for use in the most recent release of the series.
Accelerating IC Thermal Simulation Data Generation via Block Krylov and Operator Action
Venue: arXiv cs.AI 2025
Year: 2025

Recent advances in data-driven approaches, such as neural operators (NOs), have shown substantial efficacy in reducing the solution time for integrated circuit (IC) thermal simulations. However, a limitation of these approaches is requiring a large amount of high-fidelity training data, such as chip parameters and temperature distributions, thereby incurring significant computational costs. To address this challenge, we propose a novel algorithm for the generation of IC thermal simulation data, named block Krylov and operator action (BlocKOA), which simultaneously accelerates the data generation process and enhances the precision of generated data. BlocKOA is specifically designed for IC applications. Initially, we use the block Krylov algorithm based on the structure of the heat equation to quickly obtain a few basic solutions. Then we combine them to get numerous temperature distributions that satisfy the physical constraints. Finally, we apply heat operators on these functions to determine the heat source distributions, efficiently generating precise data points. Theoretical analysis shows that the time complexity of BlocKOA is one order lower than the existing method. Experimental results further validate its efficiency, showing that BlocKOA achieves a 420-fold speedup in generating thermal simulation data for 5000 chips with varying physical parameters and IC structures. Even with just 4% of the generation time, data-driven approaches trained on the data generated by BlocKOA exhibits comparable performance to that using the existing method.
Robust Iterative Learning Hidden Quantum Markov Models
Venue: arXiv cs.LG 2025
Year: 2025

Hidden Quantum Markov Models (HQMMs) extend classical Hidden Markov Models to the quantum domain, offering a powerful probabilistic framework for modeling sequential data with quantum coherence. However, existing HQMM learning algorithms are highly sensitive to data corruption and lack mechanisms to ensure robustness under adversarial perturbations. In this work, we introduce the Adversarially Corrupted HQMM (AC-HQMM), which formalizes robustness analysis by allowing a controlled fraction of observation sequences to be adversarially corrupted. To learn AC-HQMMs, we propose the Robust Iterative Learning Algorithm (RILA), a derivative-free method that integrates a Remove Corrupted Rows by Entropy Filtering (RCR-EF) module with an iterative stochastic resampling procedure for physically valid Kraus operator updates. RILA incorporates L1-penalized likelihood objectives to enhance stability, resist overfitting, and remain effective under non-differentiable conditions. Across multiple HQMM and HMM benchmarks, RILA demonstrates superior convergence stability, corruption resilience, and preservation of physical validity compared to existing algorithms, establishing a principled and efficient approach for robust quantum sequential learning.
Moderating Role of Presence in EEG Responses to Visuo-haptic Prediction Error in Virtual Reality
Venue: arXiv cs.HC 2025
Year: 2025

Virtual reality (VR) can create compelling experiences that evoke presence, the sense of ``being there.'' However, problems in rendering can create sensorimotor disruptions that undermine presence and task performance. Presence is typically assessed with post-hoc questionnaires, but their coarse temporal resolution limits insight into how sensorimotor disruptions shape user experience. Here, we combined questionnaires with electroencephalography (EEG) to identify neural markers of presence-affecting prediction error in immersive VR. Twenty-five participants performed a grasp-and-place task under two levels of immersion (visual-only vs.~visuo-haptic). Occasional oddball-like sensorimotor disruptions introduced premature feedback to elicit prediction errors. Overall, higher immersion enhanced self-presence but not physical presence, while accuracy and speed improved over time irrespective of immersion. At the neural level, sensorimotor disruptions elicited robust event-related potential effects at FCz and Pz, accompanied by increases in frontal midline $θ$ and posterior $α$ suppression. Through source analyses localized to anterior- and posterior cingulate cortex (ACC/PCC) we found that PCC $α$ activity showed heightened sensitivity to disruptions exclusively in visuo-haptic immersion. Exploratory moderation analyses by presence scores revealed no consistent patterns. Together, these results suggest that higher immersion amplifies both the benefits and costs of sensorimotor coherence.