OpenRaiser/Intern-Atlas huggingface dataset:
Dynamic Inter-Class Confusion-Aware Encoder for Audio-Visual Fusion in Human Activity Recognition
Venue: arXiv cs.CV 2025
Year: 2025

Humans do not understand individual events in isolation; rather, they generalize concepts within classes and compare them to others. Existing audio-video pre-training paradigms only focus on the alignment of the overall audio-video modalities, without considering the reinforcement of distinguishing easily confused classes through cognitive induction and contrast during training. This paper proposes the Dynamic Inter-Class Confusion-Aware Encoder (DICCAE), an encoder that aligns audio-video representations at a fine-grained, category-level. DICCAE addresses category confusion by dynamically adjusting the confusion loss based on inter-class confusion degrees, thereby enhancing the model's ability to distinguish between similar activities. To further extend the application of DICCAE, we also introduce a novel training framework that incorporates both audio and video modalities, as well as their fusion. To mitigate the scarcity of audio-video data in the human activity recognition task, we propose a cluster-guided audio-video self-supervised pre-training strategy for DICCAE. DICCAE achieves near state-of-the-art performance on the VGGSound dataset, with a top-1 accuracy of 65.5%. We further evaluate its feature representation quality through extensive ablation studies, validating the necessity of each module.
Unified Linear Parametric Map Modeling and Perception-aware Trajectory Planning for Mobile Robotics
Venue: arXiv cs.RO 2025
Year: 2025

Autonomous navigation in mobile robots, reliant on perception and planning, faces major hurdles in large-scale, complex environments. These include heavy computational burdens for mapping, sensor occlusion failures for UAVs, and traversal challenges on irregular terrain for UGVs, all compounded by a lack of perception-aware strategies. To address these challenges, we introduce Random Mapping and Random Projection (RMRP). This method constructs a lightweight linear parametric map by first mapping data to a high-dimensional space, followed by a sparse random projection for dimensionality reduction. Our novel Residual Energy Preservation Theorem provides theoretical guarantees for this process, ensuring critical geometric properties are preserved. Based on this map, we propose the RPATR (Robust Perception-Aware Trajectory Planner) framework. For UAVs, our method unifies grid and Euclidean Signed Distance Field (ESDF) maps. The front-end uses an analytical occupancy gradient to refine initial paths for safety and smoothness, while the back-end uses a closed-form ESDF for trajectory optimization. Leveraging the trained RMRP model's generalization, the planner predicts unobserved areas for proactive navigation. For UGVs, the model characterizes terrain and provides closed-form gradients, enabling online planning to circumvent large holes. Validated in diverse scenarios, our framework demonstrates superior mapping performance in time, memory, and accuracy, and enables computationally efficient, safe navigation for high-speed UAVs and UGVs. The code will be released to foster community collaboration.
Simulation for All: A Step-by-Step Cookbook for Developing Human-Centered Multi-Agent Transportation Simulators
Venue: arXiv cs.MA 2025
Year: 2025

As cities evolve toward more complex and multimodal transportation systems, the need for human-centered multi-agent simulation tools has never been more urgent. Yet most existing platforms remain limited - they often separate different types of road users, rely on scripted or pre-defined behaviors, overlook public transit users as active participants, and are rarely designed with accessibility in mind for non-technical users. To address this gap, this paper presents the specifications of a multi-agent simulation platform designed to support real-time, human-centered, and immersive studies of all road users, accompanied by open-source scripts for replication. Using high-fidelity immersive virtual environments, our platform enables interaction across public transit users, pedestrians, cyclists, automated vehicles, and drivers. The architecture is modular, extensible, and designed for accessibility. The system integrates hardware-specific modules - including an omnidirectional treadmill, a seating arrangement, a smart trainer, and an actuated cockpit. Additionally, the platform collects multimodal physiological, neurological, and behavioral data through embedded sensing devices such as functional near-infrared spectroscopy (fNIRS), eye tracking, and wrist-based biosensors. To show the usability of this system, we present three use cases. Simulation for All aims to lower the barrier to entry for high-fidelity transportation simulation, support experimentation across disciplines, and advance our understanding of multimodal mobility in complex urban environments.
A Taxonomy of Omnicidal Futures Involving Artificial Intelligence
Venue: arXiv cs.AI 2025
Year: 2025

This report presents a taxonomy and examples of potential omnicidal events resulting from AI: scenarios where all or almost all humans are killed. These events are not presented as inevitable, but as possibilities that we can work to avoid. Insofar as large institutions require a degree of public support in order to take certain actions, we hope that by presenting these possibilities in public, we can help to support preventive measures against catastrophic risks from AI.
Nash Equilibria with Irradical Probabilities
Venue: arXiv cs.GT 2025
Year: 2025

We present for every $n\ge4$ an $n$-player game in normal form with payoffs in $\{0,1,2\}$ that has a unique, fully mixed, Nash equilibrium in which all the probability weights are irradical (i.e., algebraic but not closed form expressible even with $m$-th roots for any integer $m$).
Transformers Don't In-Context Learn Least Squares Regression
Venue: arXiv cs.LG 2025
Year: 2025

In-context learning (ICL) has emerged as a powerful capability of large pretrained transformers, enabling them to solve new tasks implicit in example input-output pairs without any gradient updates. Despite its practical success, the mechanisms underlying ICL remain largely mysterious. In this work we study synthetic linear regression to probe how transformers implement learning at inference time. Previous works have demonstrated that transformers match the performance of learning rules such as Ordinary Least Squares (OLS) regression or gradient descent and have suggested ICL is facilitated in transformers through the learned implementation of one of these techniques. In this work, we demonstrate through a suite of out-of-distribution generalization experiments that transformers trained for ICL fail to generalize after shifts in the prompt distribution, a behaviour that is inconsistent with the notion of transformers implementing algorithms such as OLS. Finally, we highlight the role of the pretraining corpus in shaping ICL behaviour through a spectral analysis of the learned representations in the residual stream. Inputs from the same distribution as the training data produce representations with a unique spectral signature: inputs from this distribution tend to have the same top two singular vectors. This spectral signature is not shared by out-of-distribution inputs, and a metric characterizing the presence of this signature is highly correlated with low loss.
CKAA: Cross-subspace Knowledge Alignment and Aggregation for Robust Continual Learning
Venue: arXiv cs.CV 2025
Year: 2025

Continual Learning (CL) empowers AI models to continuously learn from sequential task streams. Recently, parameter-efficient fine-tuning (PEFT)-based CL methods have garnered increasing attention due to their superior performance. They typically allocate a unique sub-module for learning each task, with a task recognizer to select the appropriate sub-modules for testing images. However, due to the feature subspace misalignment from independently trained sub-modules, these methods tend to produce ambiguous decisions under misleading task-ids. To address this, we propose Cross-subspace Knowledge Alignment and Aggregation (CKAA), a novel framework that enhances model robustness against misleading task-ids through two key innovations: (1) Dual-level Knowledge Alignment (DKA): By aligning intra-class feature distributions across different subspaces and learning a robust global classifier through a feature simulation process, DKA enables the model to distinguish features from both correct and incorrect subspaces during training. (2) Task-Confidence-guided Mixture of Adapters (TC-MoA): A robust inference scheme that adaptively aggregates task-specific knowledge from relevant sub-modules based on task-confidence scores, avoiding overconfidence in misleading task-id predictions. Extensive experiments demonstrate that CKAA outperforms existing PEFT-based CL methods.
Does UMBRELA Work on Other LLMs?
Venue: arXiv cs.IR 2025
Year: 2025

We reproduce the UMBRELA LLM Judge evaluation framework across a range of large language models (LLMs) to assess its generalizability beyond the original study. Our investigation evaluates how LLM choice affects relevance assessment accuracy, focusing on leaderboard rank correlation and per-label agreement metrics. Results demonstrate that UMBRELA with DeepSeek V3 obtains very comparable performance to GPT-4o (used in original work). For LLaMA-3.3-70B we obtain slightly lower performance, which further degrades with smaller LLMs.
Criteria-Based LLM Relevance Judgments
Venue: arXiv cs.IR 2025
Year: 2025

Relevance judgments are crucial for evaluating information retrieval systems, but traditional human-annotated labels are time-consuming and expensive. As a result, many researchers turn to automatic alternatives to accelerate method development. Among these, Large Language Models (LLMs) provide a scalable solution by generating relevance labels directly through prompting. However, prompting an LLM for a relevance label without constraints often results in not only incorrect predictions but also outputs that are difficult for humans to interpret. We propose the Multi-Criteria framework for LLM-based relevance judgments, decomposing the notion of relevance into multiple criteria--such as exactness, coverage, topicality, and contextual fit--to improve the robustness and interpretability of retrieval evaluations compared to direct grading methods. We validate this approach on three datasets: the TREC Deep Learning tracks from 2019 and 2020, as well as LLMJudge (based on TREC DL 2023). Our results demonstrate that Multi-Criteria judgments enhance the system ranking/leaderboard performance. Moreover, we highlight the strengths and limitations of this approach relative to direct grading approaches, offering insights that can guide the development of future automatic evaluation frameworks in information retrieval.
Towards LLM-Based Automatic Playtest
Venue: arXiv cs.SE 2025
Year: 2025

Playtesting is the process in which people play a video game for testing. It is critical for the quality assurance of gaming software. Manual playtesting is time-consuming and expensive. However, automating this process is challenging, as playtesting typically requires domain knowledge and problem-solving skills that most conventional testing tools lack. Recent advancements in artificial intelligence (AI) have opened up new possibilities for applying Large Language Models (LLMs) to playtesting. However, significant challenges remain: current LLMs cannot visually perceive game environments, and most existing research focuses on text-based games or games with robust APIs. Many non-text games lack APIs to provide textual descriptions of game states, making it almost impossible to naively apply LLMs for playtesting. This paper introduces Lap, our novel approach to LLM-based Automatic Playtesting, which uses ChatGPT to test match-3 games, a category of games where players match three or more identical tiles in a row or column to earn points. Lap encompasses three key phases: processing of game environments, prompting-based action generation, and action execution. Given a match-3 game, Lap takes a snapshot of the game board and converts it to a numeric matrix. It then prompts the ChatGPT-O1-mini API to suggest moves based on that matrix and tentatively applies the suggested moves to earn points and trigger changes in the game board. It repeats the above-mentioned three steps iteratively until timeout. For evaluation, we conducted a case study using Lap on an open-source match-3 game, CasseBonbons, and empirically compared it with three existing tools. Our results are promising: Lap outperformed existing tools by achieving higher code coverage and triggering more program crashes. This research sheds light on the future of automatic testing and LLM applications.
How Important is `Perfect' English for Machine Translation Prompts?
Venue: arXiv cs.CL 2025
Year: 2025

Large language models (LLMs) have achieved top results in recent machine translation evaluations, but they are also known to be sensitive to errors and perturbations in their prompts. We systematically evaluate how both humanly plausible and synthetic errors in user prompts affect LLMs' performance on two related tasks: Machine translation and machine translation evaluation. We provide both a quantitative analysis and qualitative insights into how the models respond to increasing noise in the user prompt. The prompt quality strongly affects the translation performance: With many errors, even a good prompt can underperform a minimal or poor prompt without errors. However, different noise types impact translation quality differently, with character-level and combined noisers degrading performance more than phrasal perturbations. Qualitative analysis reveals that lower prompt quality largely leads to poorer instruction following, rather than directly affecting translation quality itself. Further, LLMs can still translate in scenarios with overwhelming random noise that would make the prompt illegible to humans.
Lightweight Federated Learning over Wireless Edge Networks
Venue: arXiv cs.DC 2025
Year: 2025

With the exponential growth of smart devices connected to wireless networks, data production is increasing rapidly, requiring machine learning (ML) techniques to unlock its value. However, the centralized ML paradigm raises concerns over communication overhead and privacy. Federated learning (FL) offers an alternative at the network edge, but practical deployment in wireless networks remains challenging. This paper proposes a lightweight FL (LTFL) framework integrating wireless transmission power control, model pruning, and gradient quantization. We derive a closed-form expression of the FL convergence gap, considering transmission error, model pruning error, and gradient quantization error. Based on these insights, we formulate an optimization problem to minimize the convergence gap while meeting delay and energy constraints. To solve the non-convex problem efficiently, we derive closed-form solutions for the optimal model pruning ratio and gradient quantization level, and employ Bayesian optimization for transmission power control. Extensive experiments on real-world datasets show that LTFL outperforms state-of-the-art schemes.
EHPE: A Segmented Architecture for Enhanced Hand Pose Estimation
Venue: arXiv cs.CV 2025
Year: 2025

3D hand pose estimation has garnered great attention in recent years due to its critical applications in human-computer interaction, virtual reality, and related fields. The accurate estimation of hand joints is essential for high-quality hand pose estimation. However, existing methods neglect the importance of Distal Phalanx Tip (TIP) and Wrist in predicting hand joints overall and often fail to account for the phenomenon of error accumulation for distal joints in gesture estimation, which can cause certain joints to incur larger errors, resulting in misalignments and artifacts in the pose estimation and degrading the overall reconstruction quality. To address this challenge, we propose a novel segmented architecture for enhanced hand pose estimation (EHPE). We perform local extraction of TIP and wrist, thus alleviating the effect of error accumulation on TIP prediction and further reduce the predictive errors for all joints on this basis. EHPE consists of two key stages: In the TIP and Wrist Joints Extraction stage (TW-stage), the positions of the TIP and wrist joints are estimated to provide an initial accurate joint configuration; In the Prior Guided Joints Estimation stage (PG-stage), a dual-branch interaction network is employed to refine the positions of the remaining joints. Extensive experiments on two widely used benchmarks demonstrate that EHPE achieves state-of-the-arts performance. Code is available at https://github.com/SereinNout/EHPE.
Identifying Offline Metrics that Predict Online Impact: A Pragmatic Strategy for Real-World Recommender Systems
Venue: arXiv cs.IR 2025
Year: 2025

A critical challenge in recommender systems is to establish reliable relationships between offline and online metrics that predict real-world performance. Motivated by recent advances in Pareto front approximation, we introduce a pragmatic strategy for identifying offline metrics that align with online impact. A key advantage of this approach is its ability to simultaneously serve multiple test groups, each with distinct offline performance metrics, in an online experiment controlled by a single model. The method is model-agnostic for systems with a neural network backbone, enabling broad applicability across architectures and domains. We validate the strategy through a large-scale online experiment in the field of session-based recommender systems on the OTTO e-commerce platform. The online experiment identifies significant alignments between offline metrics and real-word click-through rate, post-click conversion rate and units sold. Our strategy provides industry practitioners with a valuable tool for understanding offline-to-online metric relationships and making informed, data-driven decisions.
How to Define Design in Industrial Control and Automation Software
Venue: arXiv cs.SE 2025
Year: 2025

Design is a fundamental aspect of engineering, enabling the creation of products, systems, and organizations to meet societal and/or business needs. However, the absence of a scientific foundation in design often results in subjective decision-making, reducing both efficiency and innovation. This challenge is particularly evident in the software industry and, by extension, in the domain of industrial control and automation systems (iCAS). In this study, first we review the existing design definitions within the software industry, challenge prevailing misconceptions about design, review design definition in the field of design theory and address key questions such as: When does design begin? How can design be defined scientifically? What constitutes good design? and the difference between design and design language by relying on advancements in the field of design theory. We also evaluate the distinction between ad-hoc and systematic design approaches, and present arguments on how to balance complementary operational concerns while resolving conflicting evolutionary concerns.
Wi-Fi: Twenty-Five Years and Counting
Venue: arXiv cs.NI 2025
Year: 2025

Today, Wi-Fi is over 25 years old. Yet, despite sharing the same branding name, today's Wi-Fi boasts entirely new capabilities that were not even on the roadmap 25 years ago. This article aims to provide a holistic and comprehensive technical and historical tutorial on Wi-Fi, beginning with IEEE 802.11b (Wi-Fi 1) and looking forward to IEEE 802.11bn (Wi-Fi 8). This is the first tutorial article to span these eight generations. Rather than a generation-by-generation exposition, we describe the key mechanisms that have advanced Wi-Fi. We begin by discussing spectrum allocation and coexistence, and detailing the IEEE 802.11 standardization cycle. Second, we provide an overview of the physical layer and describe key elements that have enabled data rates to increase by over 1,000x. Third, we describe how Wi-Fi Medium Access Control has been enhanced from the original Distributed Coordination Function to now include capabilities spanning from frame aggregation to wideband spectrum access. Fourth, we describe how Wi-Fi 5 first broke the one-user-at-a-time paradigm and introduced multi-user access. Fifth, given the increasing use of mobile, battery-powered devices, we describe Wi-Fi's energy-saving mechanisms over the generations. Sixth, we discuss how Wi-Fi was enhanced to seamlessly aggregate spectrum across 2.4 GHz, 5 GHz, and 6 GHz bands to improve throughput, reliability, and latency. Finally, we describe how Wi-Fi enables nearby Access Points to coordinate in order to improve performance and efficiency. In the Appendix, we further discuss Wi-Fi developments beyond 802.11bn, including integrated mmWave operations, sensing, security and privacy extensions, and the adoption of AI/ML.
Code Review as Decision-Making -- Building a Cognitive Model from the Questions Asked During Code Review
Venue: arXiv cs.SE 2025
Year: 2025

Code review is a well-established and valued practice in the software engineering community contributing to both code quality and interpersonal benefits. However, there are challenges in both tools and processes that give rise to misalignments and frustrations. Recent research seeks to address this by automating code review entirely, but we believe that this risks losing the majority of the interpersonal benefits such as knowledge transfer and shared ownership. We believe that by better understanding the cognitive processes involved in code review, it would be possible to improve tool support, with out without AI, and make code review both more efficient, more enjoyable, while increasing or maintaining all of its benefits. In this paper, we conduct an ethnographic think-aloud study involving 10 participants and 34 code reviews. We build a cognitive model of code review bottom up through thematic, statistical, temporal, and sequential analysis of the transcribed material. Through the data, the similarities between the cognitive process in code review and decision-making processes, especially recognition-primed decision-making, become apparent. The result is the Code Review as Decision-Making (CRDM) model that shows how the developers move through two phases during the code review; first an orientation phase to establish context and rationale and then an analytical phase to understand, assess, and plan the rest of the review. Throughout the process several decisions must be taken, on writing comments, finding more information, voting, running the code locally, verifying continuous integration results, etc. Analysis software and process-coded data publicly available at: https://doi.org/10.5281/zenodo.15758266