OpenRaiser/Intern-Atlas huggingface dataset:
Convergent Q-Learning for Infinite-Horizon General-Sum Markov Games through Behavioral Economics
Venue: arXiv cs.GT 2025
Year: 2025

Risk-aversion and bounded rationality are two key characteristics of human decision-making. Risk-averse quantal-response equilibrium (RQE) is a solution concept that incorporates these features, providing a more realistic depiction of human decision making in various strategic environments compared to a Nash equilibrium. Furthermore a class of RQE has recently been shown in arXiv:2406.14156 to be universally computationally tractable in all finite-horizon Markov games, allowing for the development of multi-agent reinforcement learning algorithms with convergence guarantees. In this paper, we expand upon the study of RQE and analyze their computation in both two-player normal form games and discounted infinite-horizon Markov games. For normal form games we adopt a monotonicity-based approach allowing us to generalize previous results. We first show uniqueness and Lipschitz continuity of RQE with respect to player's payoff matrices under monotonicity assumptions, and then provide conditions on the players' degrees of risk aversion and bounded rationality that ensure monotonicity. We then focus on discounted infinite-horizon Markov games. We define the risk-averse quantal-response Bellman operator and prove its contraction under further conditions on the players' risk-aversion, bounded rationality, and temporal discounting. This yields a Q-learning based algorithm with convergence guarantees for all infinite-horizon general-sum Markov games.
Out of the Box, into the Clinic? Evaluating State-of-the-Art ASR for Clinical Applications for Older Adults
Venue: arXiv cs.CL 2025
Year: 2025

Voice-controlled interfaces can support older adults in clinical contexts -- with chatbots being a prime example -- but reliable Automatic Speech Recognition (ASR) for underrepresented groups remains a bottleneck. This study evaluates state-of-the-art ASR models on language use of older Dutch adults, who interacted with the Welzijn.AI chatbot designed for geriatric contexts. We benchmark generic multilingual ASR models, and models fine-tuned for Dutch spoken by older adults, while also considering processing speed. Our results show that generic multilingual models outperform fine-tuned models, which suggests recent ASR models can generalise well out of the box to real-world datasets. Moreover, our results indicate that truncating generic models is helpful in balancing the accuracy-speed trade-off. Nonetheless, we also find inputs which cause a high word error rate and place them in context.
IROTE: Human-like Traits Elicitation of Large Language Model via In-Context Self-Reflective Optimization
Venue: arXiv cs.CL 2025
Year: 2025

Trained on various human-authored corpora, Large Language Models (LLMs) have demonstrated a certain capability of reflecting specific human-like traits (e.g., personality or values) by prompting, benefiting applications like personalized LLMs and social simulations. However, existing methods suffer from the superficial elicitation problem: LLMs can only be steered to mimic shallow and unstable stylistic patterns, failing to embody the desired traits precisely and consistently across diverse tasks like humans. To address this challenge, we propose IROTE, a novel in-context method for stable and transferable trait elicitation. Drawing on psychological theories suggesting that traits are formed through identity-related reflection, our method automatically generates and optimizes a textual self-reflection within prompts, which comprises self-perceived experience, to stimulate LLMs' trait-driven behavior. The optimization is performed by iteratively maximizing an information-theoretic objective that enhances the connections between LLMs' behavior and the target trait, while reducing noisy redundancy in reflection without any fine-tuning, leading to evocative and compact trait reflection. Extensive experiments across three human trait systems manifest that one single IROTE-generated self-reflection can induce LLMs' stable impersonation of the target trait across diverse downstream tasks beyond simple questionnaire answering, consistently outperforming existing strong baselines.
Scalable Graph Indexing using GPUs for Approximate Nearest Neighbor Search
Venue: arXiv cs.DB 2025
Year: 2025

Approximate nearest neighbor search (ANNS) in high-dimensional vector spaces has a wide range of real-world applications. Numerous methods have been proposed to handle ANNS efficiently, while graph-based indexes have gained prominence due to their high accuracy and efficiency. However, the indexing overhead of graph-based indexes remains substantial. With exponential growth in data volume and increasing demands for dynamic index adjustments, this overhead continues to escalate, posing a critical challenge. In this paper, we introduce Tagore, a fast library accelerated by GPUs for graph indexing, which has powerful capabilities of constructing refinement-based graph indexes such as NSG and Vamana. We first introduce GNN-Descent, a GPU-specific algorithm for efficient k-Nearest Neighbor (k-NN) graph initialization. GNN-Descent speeds up the similarity comparison by a two-phase descent procedure and enables highly parallelized neighbor updates. Next, aiming to support various k-NN graph pruning strategies, we formulate a universal computing procedure termed CFS and devise two generalized GPU kernels for parallel processing complex dependencies in neighbor relationships. For large-scale datasets exceeding GPU memory capacity, we propose an asynchronous GPU-CPU-disk indexing framework with a cluster-aware caching mechanism to minimize the I/O pressure on the disk. Extensive experiments on 7 real-world datasets exhibit that Tagore achieves 1.32x-112.79x speedup while maintaining the index quality.
Visual Prompting for Robotic Manipulation with Annotation-Guided Pick-and-Place Using ACT
Venue: arXiv cs.RO 2025
Year: 2025

Robotic pick-and-place tasks in convenience stores pose challenges due to dense object arrangements, occlusions, and variations in object properties such as color, shape, size, and texture. These factors complicate trajectory planning and grasping. This paper introduces a perception-action pipeline leveraging annotation-guided visual prompting, where bounding box annotations identify both pickable objects and placement locations, providing structured spatial guidance. Instead of traditional step-by-step planning, we employ Action Chunking with Transformers (ACT) as an imitation learning algorithm, enabling the robotic arm to predict chunked action sequences from human demonstrations. This facilitates smooth, adaptive, and data-driven pick-and-place operations. We evaluate our system based on success rate and visual analysis of grasping behavior, demonstrating improved grasp accuracy and adaptability in retail environments.
Robot can reduce superior's dominance in group discussions with human social hierarchy
Venue: arXiv cs.RO 2025
Year: 2025

This study investigated whether robotic agents that deal with social hierarchical relationships can reduce the dominance of superiors and equalize participation among participants in discussions with hierarchical structures. Thirty doctors and students having hierarchical relationship were gathered as participants, and an intervention experiment was conducted using a robot that can encourage participants to speak depending on social hierarchy. These were compared with strategies that intervened equally for all participants without considering hierarchy and with a no-action. The robots performed follow actions, showing backchanneling to speech, and encourage actions, prompting speech from members with less speaking time, on the basis of the hierarchical relationships among group members to equalize participation. The experimental results revealed that the robot's actions could potentially influence the speaking time among members, but it could not be conclusively stated that there were significant differences between the robot's action conditions. However, the results suggested that it might be possible to influence speaking time without decreasing the satisfaction of superiors. This indicates that in discussion scenarios where experienced superiors are likely to dominate, controlling the robot's backchanneling behavior could potentially suppress dominance and equalize participation among group members.
SonicRadiation: A Hybrid Numerical Solution for Sound Radiation without Ghost Cells
Venue: arXiv cs.SD 2025
Year: 2025

Interactive synthesis of physical sound effects is crucial in digital media production. Sound radiation simulation, a key component of physically based sound synthesis, has posed challenges in the context of complex object boundaries. Previous methods, such as ghost cell-based finite-difference time-domain (FDTD) wave solver, have struggled to address these challenges, leading to large errors and failures in complex boundaries because of the limitation of ghost cells. We present SonicRadiation, a hybrid numerical solution capable of handling complex and dynamic object boundaries in sound radiation simulation without relying on ghost cells. We derive a consistent formulation to connect the physical quantities on grid cells in FDTD with the boundary elements in the time-domain boundary element method (TDBEM). Hereby, we propose a boundary grid synchronization strategy to seamlessly integrate TDBEM with FDTD while maintaining high numerical accuracy. Our method holds both advantages from the accuracy of TDBEM for the near-field and the efficiency of FDTD for the far-field. Experimental results demonstrate the superiority of our method in sound radiation simulation over previous approaches in terms of accuracy and efficiency, particularly in complex scenes, further validating its effectiveness.
Identity-Preserving Aging and De-Aging of Faces in the StyleGAN Latent Space
Venue: arXiv cs.CV 2025
Year: 2025

Face aging or de-aging with generative AI has gained significant attention for its applications in such fields like forensics, security, and media. However, most state of the art methods rely on conditional Generative Adversarial Networks (GANs), Diffusion-based models, or Visual Language Models (VLMs) to age or de-age faces based on predefined age categories and conditioning via loss functions, fine-tuning, or text prompts. The reliance on such conditioning leads to complex training requirements, increased data needs, and challenges in generating consistent results. Additionally, identity preservation is rarely taken into accountor evaluated on a single face recognition system without any control or guarantees on whether identity would be preserved in a generated aged/de-aged face. In this paper, we propose to synthesize aged and de-aged faces via editing latent space of StyleGAN2 using a simple support vector modeling of aging/de-aging direction and several feature selection approaches. By using two state-of-the-art face recognition systems, we empirically find the identity preserving subspace within the StyleGAN2 latent space, so that an apparent age of a given face can changed while preserving the identity. We then propose a simple yet practical formula for estimating the limits on aging/de-aging parameters that ensures identity preservation for a given input face. Using our method and estimated parameters we have generated a public dataset of synthetic faces at different ages that can be used for benchmarking cross-age face recognition, age assurance systems, or systems for detection of synthetic images. Our code and dataset are available at the project page https://www.idiap.ch/paper/agesynth/
GRainsaCK: a Comprehensive Software Library for Benchmarking Explanations of Link Prediction Tasks on Knowledge Graphs
Venue: arXiv cs.AI 2025
Year: 2025

Since Knowledge Graphs are often incomplete, link prediction methods are adopted for predicting missing facts. Scalable embedding based solutions are mostly adopted for this purpose, however, they lack comprehensibility, which may be crucial in several domains. Explanation methods tackle this issue by identifying supporting knowledge explaining the predicted facts. Regretfully, evaluating/comparing quantitatively the resulting explanations is challenging as there is no standard evaluation protocol and overall benchmarking resource. We fill this important gap by proposing GRainsaCK, a reusable software resource that fully streamlines all the tasks involved in benchmarking explanations, i.e., from model training to evaluation of explanations along the same evaluation protocol. Moreover, GRainsaCK furthers modularity/extensibility by implementing the main components as functions that can be easily replaced. Finally, fostering its reuse, we provide extensive documentation including a tutorial.
Geometry-Aware Global Feature Aggregation for Real-Time Indirect Illumination
Venue: arXiv cs.GR 2025
Year: 2025

Real-time rendering with global illumination is crucial to afford the user realistic experience in virtual environments. We present a learning-based estimator to predict diffuse indirect illumination in screen space, which then is combined with direct illumination to synthesize globally-illuminated high dynamic range (HDR) results. Our approach tackles the challenges of capturing long-range/long-distance indirect illumination when employing neural networks and is generalized to handle complex lighting and scenarios. From the neural network thinking of the solver to the rendering equation, we present a novel network architecture to predict indirect illumination. Our network is equipped with a modified attention mechanism that aggregates global information guided by spacial geometry features, as well as a monochromatic design that encodes each color channel individually. We conducted extensive evaluations, and the experimental results demonstrate our superiority over previous learning-based techniques. Our approach excels at handling complex lighting such as varying-colored lighting and environment lighting. It can successfully capture distant indirect illumination and simulates the interreflections between textured surfaces well (i.e., color bleeding effects); it can also effectively handle new scenes that are not present in the training dataset.
Towards Scalable Lottery Ticket Networks using Genetic Algorithms
Venue: arXiv cs.LG 2025
Year: 2025

Building modern deep learning systems that are not just effective but also efficient requires rethinking established paradigms for model training and neural architecture design. Instead of adapting highly overparameterized networks and subsequently applying model compression techniques to reduce resource consumption, a new class of high-performing networks skips the need for expensive parameter updates, while requiring only a fraction of parameters, making them highly scalable. The Strong Lottery Ticket Hypothesis posits that within randomly initialized, sufficiently overparameterized neural networks, there exist subnetworks that can match the accuracy of the trained original model-without any training. This work explores the usage of genetic algorithms for identifying these strong lottery ticket subnetworks. We find that for instances of binary and multi-class classification tasks, our approach achieves better accuracies and sparsity levels than the current state-of-the-art without requiring any gradient information. In addition, we provide justification for the need for appropriate evaluation metrics when scaling to more complex network architectures and learning tasks.
Hi-fi functional priors by learning activations
Venue: arXiv cs.LG 2025
Year: 2025

Function-space priors in Bayesian Neural Networks (BNNs) provide a more intuitive approach to embedding beliefs directly into the model's output, thereby enhancing regularization, uncertainty quantification, and risk-aware decision-making. However, imposing function-space priors on BNNs is challenging. We address this task through optimization techniques that explore how trainable activations can accommodate higher-complexity priors and match intricate target function distributions. We investigate flexible activation models, including Pade functions and piecewise linear functions, and discuss the learning challenges related to identifiability, loss construction, and symmetries. Our empirical findings indicate that even BNNs with a single wide hidden layer when equipped with flexible trainable activation, can effectively achieve desired function-space priors.
Safe Semantics, Unsafe Interpretations: Tackling Implicit Reasoning Safety in Large Vision-Language Models
Venue: arXiv cs.AI 2025
Year: 2025

Large Vision-Language Models face growing safety challenges with multimodal inputs. This paper introduces the concept of Implicit Reasoning Safety, a vulnerability in LVLMs. Benign combined inputs trigger unsafe LVLM outputs due to flawed or hidden reasoning. To showcase this, we developed Safe Semantics, Unsafe Interpretations, the first dataset for this critical issue. Our demonstrations show that even simple In-Context Learning with SSUI significantly mitigates these implicit multimodal threats, underscoring the urgent need to improve cross-modal implicit reasoning.
Robust Scheduling on Uniform Machines -- New Results Using a Relaxed Approximation Guarantee
Venue: arXiv cs.DS 2025
Year: 2025

We consider the problem of scheduling $n$ jobs on $m$ uniform machines while minimizing the makespan ($Q||C_{\max}$) and maximizing the minimum completion time ($Q||C_{\min}$) in an online setting with migration of jobs. In this online setting, the jobs are inserted or deleted over time, and at each step, the goal is to compute a near-optimal solution while reassigning some jobs, such that the overall processing time of reassigned jobs, called migration, is bounded by some factor $β$ times the processing time of the job added or removed. We propose Efficient Polynomial Time Approximation Schemes (EPTASs) with an additional load error of $\mathcal{O}(\varepsilon p_{\max})$ for both problems, with constant amortized migration factor $β$, where $p_{\max}$ is the maximum processing time in the instance over all steps. As an intermediate step, we obtain Efficient Parameterized Approximation Schemes (EPASs) for both problems, $(1+\varepsilon)$-competitive algorithms parameterized by $p_{\max}$ and the number of different processing times $d$ in an instance, with $β$ bounded in a function of $p_{\max}$, $d$ and $\varepsilon$. This is the first result in the direction of a polynomial time approximation scheme in the field of online scheduling with bounded reassignment on uniform machines; before, such results were known only for the considered problems on identical machines. Crucial to our result is a division of the machines into large and small machines depending on the current approximate objective value, allowing for different approaches on either machine set, as well as a new way of rounding the instance that does not depend on the current objective value.
Unsupervised Skill Discovery as Exploration for Learning Agile Locomotion
Venue: arXiv cs.RO 2025
Year: 2025

Exploration is crucial for enabling legged robots to learn agile locomotion behaviors that can overcome diverse obstacles. However, such exploration is inherently challenging, and we often rely on extensive reward engineering, expert demonstrations, or curriculum learning - all of which limit generalizability. In this work, we propose Skill Discovery as Exploration (SDAX), a novel learning framework that significantly reduces human engineering effort. SDAX leverages unsupervised skill discovery to autonomously acquire a diverse repertoire of skills for overcoming obstacles. To dynamically regulate the level of exploration during training, SDAX employs a bi-level optimization process that autonomously adjusts the degree of exploration. We demonstrate that SDAX enables quadrupedal robots to acquire highly agile behaviors including crawling, climbing, leaping, and executing complex maneuvers such as jumping off vertical walls. Finally, we deploy the learned policy on real hardware, validating its successful transfer to the real world.
Low-Regret and Low-Complexity Learning for Hierarchical Inference
Venue: arXiv cs.LG 2025
Year: 2025

This work focuses on Hierarchical Inference (HI) in edge intelligence systems, where a compact Local-ML model on an end-device works in conjunction with a high-accuracy Remote-ML model on an edge-server. HI aims to reduce latency, improve accuracy, and lower bandwidth usage by first using the Local-ML model for inference and offloading to the Remote-ML only when the local inference is likely incorrect. A critical challenge in HI is estimating the likelihood of the local inference being incorrect, especially when data distributions and offloading costs change over time -- a problem we term Hierarchical Inference Learning (HIL). We introduce a novel approach to HIL by modeling the probability of correct inference by the Local-ML as an increasing function of the model's confidence measure, a structure motivated by empirical observations but previously unexploited. We propose two policies, HI-LCB and HI-LCB-lite, based on the Upper Confidence Bound (UCB) framework. We demonstrate that both policies achieve order-optimal regret of $O(\log T)$, a significant improvement over existing HIL policies with $O(T^{2/3})$ regret guarantees. Notably, HI-LCB-lite has an $O(1)$ per-sample computational complexity, making it well-suited for deployment on devices with severe resource limitations. Simulations using real-world datasets confirm that our policies outperform existing state-of-the-art HIL methods.
Spatial-Temporal Multi-Scale Quantization for Flexible Motion Generation
Venue: arXiv cs.CV 2025
Year: 2025

Despite significant advancements in human motion generation, current motion representations, typically formulated as discrete frame sequences, still face two critical limitations: (i) they fail to capture motion from a multi-scale perspective, limiting the capability in complex patterns modeling; (ii) they lack compositional flexibility, which is crucial for model's generalization in diverse generation tasks. To address these challenges, we introduce MSQ, a novel quantization method that compresses the motion sequence into multi-scale discrete tokens across spatial and temporal dimensions. MSQ employs distinct encoders to capture body parts at varying spatial granularities and temporally interpolates the encoded features into multiple scales before quantizing them into discrete tokens. Building on this representation, we establish a generative mask modeling model to effectively support motion editing, motion control, and conditional motion generation. Through quantitative and qualitative analysis, we show that our quantization method enables the seamless composition of motion tokens without requiring specialized design or re-training. Furthermore, extensive evaluations demonstrate that our approach outperforms existing baseline methods on various benchmarks.