OpenRaiser/Intern-Atlas huggingface dataset:
Beyond Passive Critical Thinking: Fostering Proactive Questioning to Enhance Human-AI Collaboration
Venue: arXiv cs.CL 2025
Year: 2025

Critical thinking is essential for building robust AI systems, preventing them from blindly accepting flawed data or biased reasoning. However, prior work has primarily focused on passive critical thinking, where models simply reject problematic queries without taking constructive steps to address user requests. In this work, we introduce proactive critical thinking, a paradigm where models actively seek missing or clarifying information from users to resolve their queries better. To evaluate this capability, we present GSM-MC and GSM-MCE, two novel benchmarks based on GSM8K for assessing mathematical reasoning under incomplete or misleading conditions. GSM-MC contains 1,368 math problems with a key variable deliberately removed, requiring models to identify and request the missing information. GSM-MCE further increases the difficulty by introducing irrelevant details to test robustness against distractions. Experiments on Qwen3 and Llama series models show that, while these models excel in traditional reasoning tasks due to extensive post-training and inference-time scaling, they struggle with proactive critical thinking, especially smaller ones. However, we demonstrate that reinforcement learning (RL) can significantly improve this ability. Using our enhanced RL algorithm, we achieve substantial gains, boosting the Qwen3-1.7B's accuracy from 0.15% to 73.98% on GSM-MC. We hope this work advances models that collaborate more effectively with users in problem-solving through proactive critical thinking.
Quantifying and Visualizing Sim-to-Real Gaps: Physics-Guided Regularization for Reproducibility
Venue: arXiv cs.RO 2025
Year: 2025

Simulation-to-real transfer using domain randomization for robot control often relies on low-gear-ratio, backdrivable actuators, but these approaches break down when the sim-to-real gap widens. Inspired by the traditional PID controller, we reinterpret its gains as surrogates for complex, unmodeled plant dynamics. We then introduce a physics-guided gain regularization scheme that measures a robot's effective proportional gains via simple real-world experiments. Then, we penalize any deviation of a neural controller's local input-output sensitivities from these values during training. To avoid the overly conservative bias of naive domain randomization, we also condition the controller on the current plant parameters. On an off-the-shelf two-wheeled balancing robot with a 110:1 gearbox, our gain-regularized, parameter-conditioned RNN achieves angular settling times in hardware that closely match simulation. At the same time, a purely domain-randomized policy exhibits persistent oscillations and a substantial sim-to-real gap. These results demonstrate a lightweight, reproducible framework for closing sim-to-real gaps on affordable robotic hardware.
Adjustable Spatio-Spectral Hyperspectral Image Compression Network
Venue: arXiv cs.CV 2025
Year: 2025

With the rapid growth of hyperspectral data archives in remote sensing (RS), the need for efficient storage has become essential, driving significant attention toward learning-based hyperspectral image (HSI) compression. However, a comprehensive investigation of the individual and joint effects of spectral and spatial compression on learning-based HSI compression has not been thoroughly examined yet. Conducting such an analysis is crucial for understanding how the exploitation of spectral, spatial, and joint spatio-spectral redundancies affects HSI compression. To address this issue, we propose Adjustable Spatio-Spectral Hyperspectral Image Compression Network (HyCASS), a learning-based model designed for adjustable HSI compression in both spectral and spatial dimensions. HyCASS consists of six main modules: 1) spectral encoder module; 2) spatial encoder module; 3) compression ratio (CR) adapter encoder module; 4) CR adapter decoder module; 5) spatial decoder module; and 6) spectral decoder module. The modules employ convolutional layers and transformer blocks to capture both short-range and long-range redundancies. Experimental results on three HSI benchmark datasets demonstrate the effectiveness of our proposed adjustable model compared to existing learning-based compression models, surpassing the state of the art by up to 2.36 dB in terms of PSNR. Based on our results, we establish a guideline for effectively balancing spectral and spatial compression across different CRs, taking into account the spatial resolution of the HSIs. Our code and pre-trained model weights are publicly available at https://git.tu-berlin.de/rsim/hycass .
Seeing More with Less: Video Capsule Endoscopy with Multi-Task Learning
Venue: arXiv cs.CV 2025
Year: 2025

Video capsule endoscopy has become increasingly important for investigating the small intestine within the gastrointestinal tract. However, a persistent challenge remains the short battery lifetime of such compact sensor edge devices. Integrating artificial intelligence can help overcome this limitation by enabling intelligent real-time decision-making, thereby reducing the energy consumption and prolonging the battery life. However, this remains challenging due to data sparsity and the limited resources of the device restricting the overall model size. In this work, we introduce a multi-task neural network that combines the functionalities of precise self-localization within the gastrointestinal tract with the ability to detect anomalies in the small intestine within a single model. Throughout the development process, we consistently restricted the total number of parameters to ensure the feasibility to deploy such model in a small capsule. We report the first multi-task results using the recently published Galar dataset, integrating established multi-task methods and Viterbi decoding for subsequent time-series analysis. This outperforms current single-task models and represents a significant advance in AI-based approaches in this field. Our model achieves an accuracy of 93.63% on the localization task and an accuracy of 87.48% on the anomaly detection task. The approach requires only 1 million parameters while surpassing the current baselines.
Explainable artificial intelligence model predicting the risk of all-cause mortality in patients with type 2 diabetes mellitus
Venue: arXiv cs.LG 2025
Year: 2025

Objective. Type 2 diabetes mellitus (T2DM) is a highly prevalent non-communicable chronic disease that substantially reduces life expectancy. Accurate estimation of all-cause mortality risk in T2DM patients is crucial for personalizing and optimizing treatment strategies. Research Design and Methods. This study analyzed a cohort of 554 patients (aged 40-87 years) with diagnosed T2DM over a maximum follow-up period of 16.8 years, during which 202 patients (36%) died. Key survival-associated features were identified, and multiple machine learning (ML) models were trained and validated to predict all-cause mortality risk. To improve model interpretability, Shapley additive explanations (SHAP) was applied to the best-performing model. Results. The extra survival trees (EST) model, incorporating ten key features, demonstrated the best predictive performance. The model achieved a C-statistic of 0.776, with the area under the receiver operating characteristic curve (AUC) values of 0.86, 0.80, 0.841, and 0.826 for 5-, 10-, 15-, and 16.8-year all-cause mortality predictions, respectively. The SHAP approach was employed to interpret the model's individual decision-making processes. Conclusions. The developed model exhibited strong predictive performance for mortality risk assessment. Its clinically interpretable outputs enable potential bedside application, improving the identification of high-risk patients and supporting timely treatment optimization.
Jelly-Patch: a Fast Format for Recording Changes in RDF Datasets
Venue: arXiv cs.DB 2025
Year: 2025

Recording data changes in RDF systems is a crucial capability, needed to support auditing, incremental backups, database replication, and event-driven workflows. In large-scale and low-latency RDF applications, the high volume and frequency of updates can cause performance bottlenecks in the serialization and transmission of changes. To alleviate this, we propose Jelly-Patch -- a high-performance, compressed binary serialization format for changes in RDF datasets. To evaluate its performance, we benchmark Jelly-Patch against existing RDF Patch formats, using two datasets representing different use cases (change data capture and IoT streams). Jelly-Patch is shown to achieve 3.5--8.9x better compression, and up to 2.5x and 4.6x higher throughput in serialization and parsing, respectively. These significant advancements in throughput and compression are expected to improve the performance of large-scale and low-latency RDF systems.
Hyperbolic Cycle Alignment for Infrared-Visible Image Fusion
Venue: arXiv cs.CV 2025
Year: 2025

Image fusion synthesizes complementary information from multiple sources, mitigating the inherent limitations of unimodal imaging systems. Accurate image registration is essential for effective multi-source data fusion. However, existing registration methods, often based on image translation in Euclidean space, fail to handle cross-modal misalignment effectively, resulting in suboptimal alignment and fusion quality. To overcome this limitation, we explore image alignment in non-Euclidean space and propose a Hyperbolic Cycle Alignment Network (Hy-CycleAlign). To the best of our knowledge, Hy-CycleAlign is the first image registration method based on hyperbolic space. It introduces a dual-path cross-modal cyclic registration framework, in which a forward registration network aligns cross-modal inputs, while a backward registration network reconstructs the original image, forming a closed-loop registration structure with geometric consistency. Additionally, we design a Hyperbolic Hierarchy Contrastive Alignment (H$^{2}$CA) module, which maps images into hyperbolic space and imposes registration constraints, effectively reducing interference caused by modality discrepancies. We further analyze image registration in both Euclidean and hyperbolic spaces, demonstrating that hyperbolic space enables more sensitive and effective multi-modal image registration. Extensive experiments on misaligned multi-modal images demonstrate that our method significantly outperforms existing approaches in both image alignment and fusion. Our code will be publicly available.
Agency Among Agents: Designing with Hypertextual Friction in the Algorithmic Web
Venue: arXiv cs.HC 2025
Year: 2025

Today's algorithm-driven interfaces, from recommendation feeds to GenAI tools, often prioritize engagement and efficiency at the expense of user agency. As systems take on more decision-making, users have less control over what they see and how meaning or relationships between content are constructed. This paper introduces "Hypertextual Friction," a conceptual design stance that repositions classical hypertext principles--friction, traceability, and structure--as actionable values for reclaiming agency in algorithmically mediated environments. Through a comparative analysis of real-world interfaces--Wikipedia vs. Instagram Explore, and Are.na vs. GenAI image tools--we examine how different systems structure user experience, navigation, and authorship. We show that hypertext systems emphasize provenance, associative thinking, and user-driven meaning-making, while algorithmic systems tend to obscure process and flatten participation. We contribute: (1) a comparative analysis of how interface structures shape agency in user-driven versus agent-driven systems, and (2) a conceptual stance that offers hypertextual values as design commitments for reclaiming agency in an increasingly algorithmic web.
SOME: Symmetric One-Hot Matching Elector -- A Lightweight Microsecond Decoder for Quantum Error Correction
Venue: arXiv cs.ET 2025
Year: 2025

Conventional quantum error correction (QEC) decoders such as Minimum-Weight Perfect Matching (MWPM) and Union-Find (UF) offer high thresholds and fast decoding, respectively, but both suffer from high topological complexity. In contrast, Ising model-based decoders reduce topological complexity but demand considerable decoding time. We propose the Symmetric One-Hot Matching Elector (SOME), a novel decoder that reformulates the QEC decoding task as a Quadratic Unconstrained Binary Optimization (QUBO) problem -- termed the One-Hot QUBO (OHQ). Each variable in the QUBO represents whether a given pair of flipped syndromes is matched, while the error probabilities between the pair are encoded as interaction coefficients (weight). Constraints ensure that each flipped syndrome is matched exactly once. Valid solutions of OHQ correspond to self-inverse permutation matrices, characterized by symmetric one-hot encoding. To solve the OHQ efficiently, SOME reformulates the decoding task as the construction of permutation matrices that minimize the total weight. It initializes each candidate matrix from one of the minimum-weight syndrome pairs, then iteratively appends additional pairs in ascending order of weight, and finally selects the permutation matrix with the lowest total energy. SOME achieves up to a 99.9x reduction in variable count and reduces decoding times from milliseconds to microseconds on a single-threaded commodity CPU. OHQ also maintains performance up to a 10.5% physical error rate, surpassing the highest known threshold of MWPM@.
DivControl: Knowledge Diversion for Controllable Image Generation
Venue: arXiv cs.CV 2025
Year: 2025

Diffusion models have advanced from text-to-image (T2I) to image-to-image (I2I) generation by incorporating structured inputs such as depth maps, enabling fine-grained spatial control. However, existing methods either train separate models for each condition or rely on unified architectures with entangled representations, resulting in poor generalization and high adaptation costs for novel conditions. To this end, we propose DivControl, a decomposable pretraining framework for unified controllable generation and efficient adaptation. DivControl factorizes ControlNet via SVD into basic components-pairs of singular vectors-which are disentangled into condition-agnostic learngenes and condition-specific tailors through knowledge diversion during multi-condition training. Knowledge diversion is implemented via a dynamic gate that performs soft routing over tailors based on the semantics of condition instructions, enabling zero-shot generalization and parameter-efficient adaptation to novel conditions. To further improve condition fidelity and training efficiency, we introduce a representation alignment loss that aligns condition embeddings with early diffusion features. Extensive experiments demonstrate that DivControl achieves state-of-the-art controllability with 36.4$\times$ less training cost, while simultaneously improving average performance on basic conditions. It also delivers strong zero-shot and few-shot performance on unseen conditions, demonstrating superior scalability, modularity, and transferability.
Efficient Masked Attention Transformer for Few-Shot Classification and Segmentation
Venue: arXiv cs.CV 2025
Year: 2025

Few-shot classification and segmentation (FS-CS) focuses on jointly performing multi-label classification and multi-class segmentation using few annotated examples. Although the current state of the art (SOTA) achieves high accuracy in both tasks, it struggles with small objects. To overcome this, we propose the Efficient Masked Attention Transformer (EMAT), which improves classification and segmentation accuracy, especially for small objects. EMAT introduces three modifications: a novel memory-efficient masked attention mechanism, a learnable downscaling strategy, and parameter-efficiency enhancements. EMAT outperforms all FS-CS methods on the PASCAL-5$^i$ and COCO-20$^i$ datasets, using at least four times fewer trainable parameters. Moreover, as the current FS-CS evaluation setting discards available annotations, despite their costly collection, we introduce two novel evaluation settings that consider these annotations to better reflect practical scenarios.
TweakLLM: A Routing Architecture for Dynamic Tailoring of Cached Responses
Venue: arXiv cs.LG 2025
Year: 2025

Large Language Models (LLMs) process millions of queries daily, making efficient response caching a compelling optimization for reducing cost and latency. However, preserving relevance to user queries using this approach proves difficult due to the personalized nature of chatbot interactions and the limited accuracy of semantic similarity search. To address this, we present TweakLLM, a novel routing architecture that employs a lightweight LLM to dynamically adapt cached responses to incoming prompts. Through comprehensive evaluation, including user studies with side-by-side comparisons, satisfaction voting, as well as multi-agent LLM debates, we demonstrate that TweakLLM maintains response quality comparable to frontier models while significantly improving cache effectiveness. Our results across real-world datasets highlight TweakLLM as a scalable, resource-efficient caching solution for high-volume LLM deployments without compromising user experience.
From Link Diversity to Cross-Band Feedback Collaboration: A New Perspective on Hybrid Optical-RF Systems
Venue: arXiv cs.IT 2025
Year: 2025

We suggest a re-examination of the conventional view that hybrid optical-radio frequency (O-RF) systems are primarily diversity-driven networks that switch between RF and optical links for robustness. Instead, we uncover a new architectural opportunity: repurposing the optical downlink to enable real-time feedback channel coding over the RF uplink, where structured decoder feedback is delivered from the access point to guide the transmitter's coding strategy. This insight marks a conceptual paradigm shift from passive link diversity to active cross-band collaboration, where the wideband, interference-free optical wireless communication (OWC) is no longer merely a downlink backup but a functional enabler of uplink reliability. To realize this vision, we propose a novel architecture, O-RF with Cross-Band Feedback (O-RF-CBF), that exploits the optical downlink feedback to facilitate adaptive RF uplink coding. Numerical results reveal that O-RF-CBF achieves significant uplink throughput gains over traditional O-RF systems. Our findings highlight that inter-band synergy, not redundancy, is the key to unlocking the full potential of hybrid wireless networks.
Scalable Multi-Task Reinforcement Learning for Generalizable Spatial Intelligence in Visuomotor Agents
Venue: arXiv cs.RO 2025
Year: 2025

While Reinforcement Learning (RL) has achieved remarkable success in language modeling, its triumph hasn't yet fully translated to visuomotor agents. A primary challenge in RL models is their tendency to overfit specific tasks or environments, thereby hindering the acquisition of generalizable behaviors across diverse settings. This paper provides a preliminary answer to this challenge by demonstrating that RL-finetuned visuomotor agents in Minecraft can achieve zero-shot generalization to unseen worlds. Specifically, we explore RL's potential to enhance generalizable spatial reasoning and interaction capabilities in 3D worlds. To address challenges in multi-task RL representation, we analyze and establish cross-view goal specification as a unified multi-task goal space for visuomotor policies. Furthermore, to overcome the significant bottleneck of manual task design, we propose automated task synthesis within the highly customizable Minecraft environment for large-scale multi-task RL training, and we construct an efficient distributed RL framework to support this. Experimental results show RL significantly boosts interaction success rates by $4\times$ and enables zero-shot generalization of spatial reasoning across diverse environments, including real-world settings. Our findings underscore the immense potential of RL training in 3D simulated environments, especially those amenable to large-scale task generation, for significantly advancing visuomotor agents' spatial reasoning.
Design of a bioinspired robophysical antenna for insect-scale tactile perception and navigation
Venue: arXiv cs.RO 2025
Year: 2025

The American cockroach (Periplaneta americana) uses its soft antennae to guide decision making by extracting rich tactile information from tens of thousands of distributed mechanosensors. Although tactile sensors enable robust, autonomous perception and navigation in natural systems, replicating these capabilities in insect-scale robots remains challenging due to stringent size, weight, and power constraints that limit existing sensor technologies. To overcome these limitations, we introduce CITRAS (Cockroach Inspired Tactile Robotic Antenna Sensor), a bioinspired, multi-segmented, compliant laminate sensor with embedded capacitive angle sensors. CITRAS is compact (73.7x15.6x2.1 mm), lightweight (491 mg), and low-power (32 mW), enabling seamless integration with miniature robotic platforms. The segmented compliant structure passively bends in response to environmental stimuli, achieving accurate hinge angle measurements with maximum errors of just 0.79 degree (quasistatic bending) and 3.58 degree (dynamic bending). Experimental evaluations demonstrate CITRAS' multifunctional tactile perception capabilities: predicting base-to-tip distances with 7.75 % error, estimating environmental gap widths with 6.73 % error, and distinguishing surface textures through differential sensor response. The future integration of this bioinspired tactile antenna in insect-scale robots addresses critical sensing gaps, promising enhanced autonomous exploration, obstacle avoidance, and environmental mapping in complex, confined environments.
Enabling Immersive XR Collaborations over FTTR Networks (Invited)
Venue: arXiv cs.NI 2025
Year: 2025

Fiber-To-The-Room is a potential solution to achieve in-premise extended reality collaborations. This paper explores predictive bandwidth allocation and seamless handover schemes over FTTR, showing high-quality immersive experience for in-premise collaborations can be achieved. \c{opyright} 2025 The Author(s).
Regime-Aware Conditional Neural Processes with Multi-Criteria Decision Support for Operational Electricity Price Forecasting
Venue: arXiv cs.LG 2025
Year: 2025

This work integrates Bayesian regime detection with conditional neural processes for 24-hour electricity price prediction in the German market. Our methodology integrates regime detection using a disentangled sticky hierarchical Dirichlet process hidden Markov model (DS-HDP-HMM) applied to daily electricity prices. Each identified regime is subsequently modeled by an independent conditional neural process (CNP), trained to learn localized mappings from input contexts to 24-dimensional hourly price trajectories, with final predictions computed as regime-weighted mixtures of these CNP outputs. We rigorously evaluate R-NP against deep neural networks (DNN) and Lasso estimated auto-regressive (LEAR) models by integrating their forecasts into diverse battery storage optimization frameworks, including price arbitrage, risk management, grid services, and cost minimization. This operational utility assessment revealed complex performance trade-offs: LEAR often yielded superior absolute profits or lower costs, while DNN showed exceptional optimality in specific cost-minimization contexts. Recognizing that raw prediction accuracy doesn't always translate to optimal operational outcomes, we employed TOPSIS as a comprehensive multi-criteria evaluation layer. Our TOPSIS analysis identified LEAR as the top-ranked model for 2021, but crucially, our proposed R-NP model emerged as the most balanced and preferred solution for 2021, 2022 and 2023.