OpenRaiser/Intern-Atlas huggingface dataset:
Robot Cell Modeling via Exploratory Robot Motions: A Novel and Accessible Data-Driven Approach
Venue: arXiv cs.RO 2025
Year: 2025

Generating a collision-free robot motion is crucial for safe applications in real-world settings. This requires an accurate model of all obstacle shapes within the constrained robot cell, which is particularly challenging and time-consuming. The difficulty is heightened in flexible production lines, where the environment model must be updated each time the robot cell is modified. Furthermore, sensor-based methods often necessitate costly hardware and calibration procedures and can be influenced by environmental factors (e.g., light conditions or reflections). To address these challenges, we present a novel data-driven approach to modeling a cluttered workspace, leveraging solely the robot internal joint encoders to capture exploratory motions. By computing the corresponding swept volume (SV), we generate a (conservative) mesh of the environment that is subsequently used for collision checking within established path planning and control methods. Our method significantly reduces the complexity and cost of classical environment modeling by removing the need for computer-aided design (CAD) files and external sensors. We validate the approach with the KUKA LBR iisy collaborative robot in a pick-and-place scenario. In less than three minutes of exploratory robot motions and less than four additional minutes of computation time, we obtain an accurate model that enables collision-free motions. Our approach is intuitive and easy to use, making it accessible to users without specialized technical knowledge. It is applicable to all types of industrial robots or cobots.
SQUASH: Serverless and Distributed Quantization-based Attributed Vector Similarity Search
Venue: arXiv cs.DC 2025
Year: 2025

Vector similarity search presents significant challenges in terms of scalability for large and high-dimensional datasets, as well as in providing native support for hybrid queries. Serverless computing and cloud functions offer attractive benefits such as elasticity and cost-effectiveness, but are difficult to apply to data-intensive workloads. Jointly addressing these two main challenges, we present SQUASH, the first fully serverless vector search solution with rich support for hybrid queries. It features OSQ, an optimized and highly parallelizable quantization-based approach for vectors and attributes. Its segment-based storage mechanism enables significant compression in resource-constrained settings and offers efficient dimensional extraction operations. SQUASH performs a single distributed pass to guarantee the return of sufficiently many vectors satisfying the filter predicate, achieving high accuracy and avoiding redundant computation for vectors which fail the predicate. A multi-level search workflow is introduced to prune most vectors early to minimize the load on Function-as-a-Service (FaaS) instances. SQUASH is designed to identify and utilize retention of relevant data in re-used runtime containers, which eliminates redundant I/O and reduces costs. Finally, we demonstrate a new tree-based method for rapid FaaS invocation, enabling the bi-directional flow of data via request/response payloads. Experiments comparing SQUASH with state-of-the-art serverless vector search solutions and server-based baselines on vector search benchmarks confirm significant performance improvements at a lower cost.
VR-Robo: A Real-to-Sim-to-Real Framework for Visual Robot Navigation and Locomotion
Venue: arXiv cs.RO 2025
Year: 2025

Recent success in legged robot locomotion is attributed to the integration of reinforcement learning and physical simulators. However, these policies often encounter challenges when deployed in real-world environments due to sim-to-real gaps, as simulators typically fail to replicate visual realism and complex real-world geometry. Moreover, the lack of realistic visual rendering limits the ability of these policies to support high-level tasks requiring RGB-based perception like ego-centric navigation. This paper presents a Real-to-Sim-to-Real framework that generates photorealistic and physically interactive "digital twin" simulation environments for visual navigation and locomotion learning. Our approach leverages 3D Gaussian Splatting (3DGS) based scene reconstruction from multi-view images and integrates these environments into simulations that support ego-centric visual perception and mesh-based physical interactions. To demonstrate its effectiveness, we train a reinforcement learning policy within the simulator to perform a visual goal-tracking task. Extensive experiments show that our framework achieves RGB-only sim-to-real policy transfer. Additionally, our framework facilitates the rapid adaptation of robot policies with effective exploration capability in complex new environments, highlighting its potential for applications in households and factories.
Reductions in local certification
Venue: arXiv cs.DC 2025
Year: 2025

Local certification is a topic originating from distributed computing, where a prover tries to convince the vertices of a graph $G$ that $G$ satisfies some property $\mathcal{P}$. To convince the vertices, the prover gives a small piece of information, called certificate, to each vertex, and the vertices then decide whether the property $\mathcal{P}$ is satisfied by just looking at their certificate and the certificates of their neighbors. When studying a property $\mathcal{P}$ in the perspective of local certification, the aim is to find the optimal size of the certificates needed to certify $\mathcal{P}$, which can be viewed a measure of the local complexity of $\mathcal{P}$. A certification scheme is considered to be efficient if the size of the certificates is polylogarithmic in the number of vertices. While there have been a number of meta-theorems providing efficient certification schemes for general graph classes, the proofs of the lower bounds on the size of the certificates are usually very problem-dependent. In this work, we introduce a notion of hardness reduction in local certification, and show that we can transfer a lower bound on the certificates for a property $\mathcal{P}$ to a lower bound for another property $\mathcal{P}'$, via a (local) hardness reduction from $\mathcal{P}$ to $\mathcal{P}'$. We then give a number of applications in which we obtain polynomial lower bounds for many classical properties using such reductions.
Reinforcement Learning for Long-Horizon Interactive LLM Agents
Venue: arXiv cs.LG 2025
Year: 2025

Interactive digital agents (IDAs) leverage APIs of stateful digital environments to perform tasks in response to user requests. While IDAs powered by instruction-tuned large language models (LLMs) can react to feedback from interface invocations in multi-step exchanges, they have not been trained in their respective digital environments. Prior methods accomplish less than half of tasks in sophisticated benchmarks such as AppWorld. We present a reinforcement learning (RL) approach that trains IDAs directly in their target environments. We formalize this training as a partially observable Markov decision process and derive LOOP, a data- and memory-efficient variant of proximal policy optimization. LOOP uses no value network and maintains exactly one copy of the underlying LLM in memory, making its implementation straightforward and as memory-efficient as fine-tuning a single LLM. A 32-billion-parameter agent trained with LOOP in the AppWorld environment outperforms the much larger OpenAI o1 agent by 9 percentage points (15% relative). To our knowledge, this is the first reported application of RL to IDAs that interact with a stateful, multi-domain, multi-app environment via direct API calls. Our analysis sheds light on the effectiveness of RL in this area, showing that the agent learns to consult the API documentation, avoid unwarranted assumptions, minimize confabulation, and recover from setbacks.
LLM-TA: An LLM-Enhanced Thematic Analysis Pipeline for Transcripts from Parents of Children with Congenital Heart Disease
Venue: arXiv cs.CL 2025
Year: 2025

Thematic Analysis (TA) is a fundamental method in healthcare research for analyzing transcript data, but it is resource-intensive and difficult to scale for large, complex datasets. This study investigates the potential of large language models (LLMs) to augment the inductive TA process in high-stakes healthcare settings. Focusing on interview transcripts from parents of children with Anomalous Aortic Origin of a Coronary Artery (AAOCA), a rare congenital heart disease, we propose an LLM-Enhanced Thematic Analysis (LLM-TA) pipeline. Our pipeline integrates an affordable state-of-the-art LLM (GPT-4o mini), LangChain, and prompt engineering with chunking techniques to analyze nine detailed transcripts following the inductive TA framework. We evaluate the LLM-generated themes against human-generated results using thematic similarity metrics, LLM-assisted assessments, and expert reviews. Results demonstrate that our pipeline outperforms existing LLM-assisted TA methods significantly. While the pipeline alone has not yet reached human-level quality in inductive TA, it shows great potential to improve scalability, efficiency, and accuracy while reducing analyst workload when working collaboratively with domain experts. We provide practical recommendations for incorporating LLMs into high-stakes TA workflows and emphasize the importance of close collaboration with domain experts to address challenges related to real-world applicability and dataset complexity. https://github.com/jiaweixu98/LLM-TA
FruitPAL: An IoT-Enabled Framework for Automatic Monitoring of Fruit Consumption in Smart Healthcare
Venue: arXiv cs.CV 2025
Year: 2025

Fruits are rich sources of essential vitamins and nutrients that are vital for human health. This study introduces two fully automated devices, FruitPAL and its updated version, FruitPAL 2.0, which aim to promote safe fruit consumption while reducing health risks. Both devices leverage a high-quality dataset of fifteen fruit types and use advanced models- YOLOv8 and YOLOv5 V6.0- to enhance detection accuracy. The original FruitPAL device can identify various fruit types and notify caregivers if an allergic reaction is detected, thanks to YOLOv8's improved accuracy and rapid response time. Notifications are transmitted via the cloud to mobile devices, ensuring real-time updates and immediate accessibility. FruitPAL 2.0 builds upon this by not only detecting fruit but also estimating its nutritional value, thereby encouraging healthy consumption. Trained on the YOLOv5 V6.0 model, FruitPAL 2.0 analyzes fruit intake to provide users with valuable dietary insights. This study aims to promote fruit consumption by helping individuals make informed choices, balancing health benefits with allergy awareness. By alerting users to potential allergens while encouraging the consumption of nutrient-rich fruits, these devices support both health maintenance and dietary awareness.
Improving Rule-based Reasoning in LLMs using Neurosymbolic Representations
Venue: arXiv cs.LG 2025
Year: 2025

Large language models (LLMs) continue to face challenges in reliably solving reasoning tasks, particularly those that require precise rule following, as often found in mathematical reasoning. This paper introduces a novel neurosymbolic method that improves LLM reasoning by encoding hidden states into neurosymbolic vectors, enabling problem-solving within a neurosymbolic vector space. The results are decoded and merged with the original hidden state, significantly boosting the model's performance on numerical reasoning tasks. By offloading computation through neurosymbolic representations, this method enhances efficiency, reliability, and interpretability. Experimental results demonstrate an average of 88.6% lower cross-entropy loss and 15.4 times more problems correctly solved on a suite of mathematical reasoning tasks compared to chain-of-thought prompting and supervised fine-tuning (LoRA), without degrading performance on other tasks. We make our code available at: https://github.com/vdhanraj/Neurosymbolic-LLM.
Employee Turnover Prediction: A Cross-component Attention Transformer with Consideration of Competitor Influence and Contagious Effect
Venue: arXiv cs.LG 2025
Year: 2025

Employee turnover refers to an individual's termination of employment from the current organization. It is one of the most persistent challenges for firms, especially those ones in Information Technology (IT) industry that confront high turnover rates. Effective prediction of potential employee turnovers benefits multiple stakeholders such as firms and online recruiters. Prior studies have focused on either the turnover prediction within a single firm or the aggregated employee movement among firms. How to predict the individual employees' turnovers among multiple firms has gained little attention in literature, and thus remains a great research challenge. In this study, we propose a novel deep learning approach based on job embeddedness theory to predict the turnovers of individual employees across different firms. Through extensive experimental evaluations using a real-world dataset, our developed method demonstrates superior performance over several state-of-the-art benchmark methods. Additionally, we estimate the cost saving for recruiters by using our turnover prediction solution and interpret the attributions of various driving factors to employee's turnover to showcase its practical business value.
Automated Extraction of Spatio-Semantic Graphs for Identifying Cognitive Impairment
Venue: arXiv cs.AI 2025
Year: 2025

Existing methods for analyzing linguistic content from picture descriptions for assessment of cognitive-linguistic impairment often overlook the participant's visual narrative path, which typically requires eye tracking to assess. Spatio-semantic graphs are a useful tool for analyzing this narrative path from transcripts alone, however they are limited by the need for manual tagging of content information units (CIUs). In this paper, we propose an automated approach for estimation of spatio-semantic graphs (via automated extraction of CIUs) from the Cookie Theft picture commonly used in cognitive-linguistic analyses. The method enables the automatic characterization of the visual semantic path during picture description. Experiments demonstrate that the automatic spatio-semantic graphs effectively differentiate between cognitively impaired and unimpaired speakers. Statistical analyses reveal that the features derived by the automated method produce comparable results to the manual method, with even greater group differences between clinical groups of interest. These results highlight the potential of the automated approach for extracting spatio-semantic features in developing clinical speech models for cognitive impairment assessment.
HuViDPO:Enhancing Video Generation through Direct Preference Optimization for Human-Centric Alignment
Venue: arXiv cs.CV 2025
Year: 2025

With the rapid development of AIGC technology, significant progress has been made in diffusion model-based technologies for text-to-image (T2I) and text-to-video (T2V). In recent years, a few studies have introduced the strategy of Direct Preference Optimization (DPO) into T2I tasks, significantly enhancing human preferences in generated images. However, existing T2V generation methods lack a well-formed pipeline with exact loss function to guide the alignment of generated videos with human preferences using DPO strategies. Additionally, challenges such as the scarcity of paired video preference data hinder effective model training. At the same time, the lack of training datasets poses a risk of insufficient flexibility and poor video generation quality in the generated videos. Based on those problems, our work proposes three targeted solutions in sequence. 1) Our work is the first to introduce the DPO strategy into the T2V tasks. By deriving a carefully structured loss function, we utilize human feedback to align video generation with human preferences. We refer to this new method as HuViDPO. 2) Our work constructs small-scale human preference datasets for each action category and fine-tune this model, improving the aesthetic quality of the generated videos while reducing training costs. 3) We adopt a First-Frame-Conditioned strategy, leveraging the rich in formation from the first frame to guide the generation of subsequent frames, enhancing flexibility in video generation. At the same time, we employ a SparseCausal Attention mechanism to enhance the quality of the generated videos.More details and examples can be accessed on our website: https://tankowa.github.io/HuViDPO. github.io/.
Al-Khwarizmi: Discovering Physical Laws with Foundation Models
Venue: arXiv cs.LG 2025
Year: 2025

Inferring physical laws from data is a central challenge in science and engineering, including but not limited to healthcare, physical sciences, biosciences, social sciences, sustainability, climate, and robotics. Deep networks offer high-accuracy results but lack interpretability, prompting interest in models built from simple components. The Sparse Identification of Nonlinear Dynamics (SINDy) method has become the go-to approach for building such modular and interpretable models. SINDy leverages sparse regression with L1 regularization to identify key terms from a library of candidate functions. However, SINDy's choice of candidate library and optimization method requires significant technical expertise, limiting its widespread applicability. This work introduces Al-Khwarizmi, a novel agentic framework for physical law discovery from data, which integrates foundational models with SINDy. Leveraging LLMs, VLMs, and Retrieval-Augmented Generation (RAG), our approach automates physical law discovery, incorporating prior knowledge and iteratively refining candidate solutions via reflection. Al-Khwarizmi operates in two steps: it summarizes system observations-comprising textual descriptions, raw data, and plots-followed by a secondary step that generates candidate feature libraries and optimizer configurations to identify hidden physics laws correctly. Evaluating our algorithm on over 198 models, we demonstrate state-of-the-art performance compared to alternatives, reaching a 20 percent increase against the best-performing alternative.
Choose Your Model Size: Any Compression of Large Language Models Without Re-Computation
Venue: arXiv cs.LG 2025
Year: 2025

The adoption of Foundation Models in resource-constrained environments remains challenging due to their large size and inference costs. A promising way to overcome these limitations is post-training compression, which aims to balance reduced model size against performance degradation. This work presents Any Compression via Iterative Pruning (ACIP), a novel algorithmic approach to determine a compression-performance trade-off from a single stochastic gradient descent run. To achieve parameter efficiency, we use an SVD-reparametrization of linear layers and iteratively prune their singular values with a sparsity-inducing penalty. Importantly, the pruning order of the parameters is used to derive a global score map that allows compressing a model to any target size without re-computation. We evaluate ACIP on a large selection of open-weight LLMs and downstream tasks, demonstrating state-of-the-art results compared to existing factorization-based compression methods. We also show that ACIP seamlessly complements common quantization-based compression techniques.
MJ-VIDEO: Fine-Grained Benchmarking and Rewarding Video Preferences in Video Generation
Venue: arXiv cs.CV 2025
Year: 2025

Recent advancements in video generation have significantly improved the ability to synthesize videos from text instructions. However, existing models still struggle with key challenges such as instruction misalignment, content hallucination, safety concerns, and bias. Addressing these limitations, we introduce MJ-BENCH-VIDEO, a large-scale video preference benchmark designed to evaluate video generation across five critical aspects: Alignment, Safety, Fineness, Coherence & Consistency, and Bias & Fairness. This benchmark incorporates 28 fine-grained criteria to provide a comprehensive evaluation of video preference. Building upon this dataset, we propose MJ-VIDEO, a Mixture-of-Experts (MoE)-based video reward model designed to deliver fine-grained reward. MJ-VIDEO can dynamically select relevant experts to accurately judge the preference based on the input text-video pair. This architecture enables more precise and adaptable preference judgments. Through extensive benchmarking on MJ-BENCH-VIDEO, we analyze the limitations of existing video reward models and demonstrate the superior performance of MJ-VIDEO in video preference assessment, achieving 17.58% and 15.87% improvements in overall and fine-grained preference judgments, respectively. Additionally, introducing MJ-VIDEO for preference tuning in video generation enhances the alignment performance. All our code, data, and models are available at https://aiming-lab.github.io/MJ-VIDEO.github.io/.
VILP: Imitation Learning with Latent Video Planning
Venue: arXiv cs.RO 2025
Year: 2025

In the era of generative AI, integrating video generation models into robotics opens new possibilities for the general-purpose robot agent. This paper introduces imitation learning with latent video planning (VILP). We propose a latent video diffusion model to generate predictive robot videos that adhere to temporal consistency to a good degree. Our method is able to generate highly time-aligned videos from multiple views, which is crucial for robot policy learning. Our video generation model is highly time-efficient. For example, it can generate videos from two distinct perspectives, each consisting of six frames with a resolution of 96x160 pixels, at a rate of 5 Hz. In the experiments, we demonstrate that VILP outperforms the existing video generation robot policy across several metrics: training costs, inference speed, temporal consistency of generated videos, and the performance of the policy. We also compared our method with other imitation learning methods. Our findings indicate that VILP can rely less on extensive high-quality task-specific robot action data while still maintaining robust performance. In addition, VILP possesses robust capabilities in representing multi-modal action distributions. Our paper provides a practical example of how to effectively integrate video generation models into robot policies, potentially offering insights for related fields and directions. For more details, please refer to our open-source repository https://github.com/ZhengtongXu/VILP.
Relators and Notions of Simulation Revisited
Venue: arXiv cs.LO 2025
Year: 2025

Simulations and bisimulations are ubiquitous in the study of concurrent systems and modal logics of various types. Besides classical relational transition systems, relevant system types include, for instance, probabilistic, weighted, neighbourhood-based, and game-based systems. Universal coalgebra abstracts system types in this sense as set functors. Notions of (bi)simulation then arise by extending the functor to act on relations in a suitable manner, turning it into what may be termed a relator. We contribute to the study of relators in the broadest possible sense, in particular in relation to their induced notions of (bi)similarity. Specifically, (i) we show that every functor that preserves a very restricted type of pullbacks (termed 1/4-iso pullbacks) admits a sound and complete notion of bisimulation induced by the coBarr relator; (ii) we establish equivalences between properties of relators and closure properties of the induced notion of (bi)simulation, showing in particular that the full set of expected closure properties requires the relator to be a lax extension, and that soundness of (bi)simulations requires preservation of diagonals; and (iii) we show that functors preserving inverse images admit a greatest lax extension. In a concluding case study, we apply (iii) to obtain a novel highly permissive notion of twisted bisimulation on labelled transition systems.