OpenRaiser/Intern-Atlas huggingface dataset:
FM-Planner: Foundation Model Guided Path Planning for Autonomous Drone Navigation
Venue: arXiv cs.RO 2025
Year: 2025

Path planning is a critical component in autonomous drone operations, enabling safe and efficient navigation through complex environments. Recent advances in foundation models, particularly large language models (LLMs) and vision-language models (VLMs), have opened new opportunities for enhanced perception and intelligent decision-making in robotics. However, their practical applicability and effectiveness in global path planning remain relatively unexplored. This paper proposes foundation model-guided path planners (FM-Planner) and presents a comprehensive benchmarking study and practical validation for drone path planning. Specifically, we first systematically evaluate eight representative LLM and VLM approaches using standardized simulation scenarios. To enable effective real-time navigation, we then design an integrated LLM-Vision planner that combines semantic reasoning with visual perception. Furthermore, we deploy and validate the proposed path planner through real-world experiments under multiple configurations. Our findings provide valuable insights into the strengths, limitations, and feasibility of deploying foundation models in real-world drone applications and providing practical implementations in autonomous flight. Project site: https://github.com/NTU-ICG/FM-Planner.
Learning Generalizable Robot Policy with Human Demonstration Video as a Prompt
Venue: arXiv cs.RO 2025
Year: 2025

Recent robot learning methods commonly rely on imitation learning from massive robotic dataset collected with teleoperation. When facing a new task, such methods generally require collecting a set of new teleoperation data and finetuning the policy. Furthermore, the teleoperation data collection pipeline is also tedious and expensive. Instead, human is able to efficiently learn new tasks by just watching others do. In this paper, we introduce a novel two-stage framework that utilizes human demonstrations to learn a generalizable robot policy. Such policy can directly take human demonstration video as a prompt and perform new tasks without any new teleoperation data and model finetuning at all. In the first stage, we train video generation model that captures a joint representation for both the human and robot demonstration video data using cross-prediction. In the second stage, we fuse the learned representation with a shared action space between human and robot using a novel prototypical contrastive loss. Empirical evaluations on real-world dexterous manipulation tasks show the effectiveness and generalization capabilities of our proposed method.
Quantum Machine Learning in Healthcare: Evaluating QNN and QSVM Models
Venue: arXiv cs.LG 2025
Year: 2025

Effective and accurate diagnosis of diseases such as cancer, diabetes, and heart failure is crucial for timely medical intervention and improving patient survival rates. Machine learning has revolutionized diagnostic methods in recent years by developing classification models that detect diseases based on selected features. However, these classification tasks are often highly imbalanced, limiting the performance of classical models. Quantum models offer a promising alternative, exploiting their ability to express complex patterns by operating in a higher-dimensional computational space through superposition and entanglement. These unique properties make quantum models potentially more effective in addressing the challenges of imbalanced datasets. This work evaluates the potential of quantum classifiers in healthcare, focusing on Quantum Neural Networks (QNNs) and Quantum Support Vector Machines (QSVMs), comparing them with popular classical models. The study is based on three well-known healthcare datasets -- Prostate Cancer, Heart Failure, and Diabetes. The results indicate that QSVMs outperform QNNs across all datasets due to their susceptibility to overfitting. Furthermore, quantum models prove the ability to overcome classical models in scenarios with high dataset imbalance. Although preliminary, these findings highlight the potential of quantum models in healthcare classification tasks and lead the way for further research in this domain.
Rethinking Information Synthesis in Multimodal Question Answering A Multi-Agent Perspective
Venue: arXiv cs.CL 2025
Year: 2025

Recent advances in multimodal question answering have primarily focused on combining heterogeneous modalities or fine-tuning multimodal large language models. While these approaches have shown strong performance, they often rely on a single, generalized reasoning strategy, overlooking the unique characteristics of each modality ultimately limiting both accuracy and interpretability. To address these limitations, we propose MAMMQA, a multi-agent QA framework for multimodal inputs spanning text, tables, and images. Our system includes two Visual Language Model (VLM) agents and one text-based Large Language Model (LLM) agent. The first VLM decomposes the user query into sub-questions and sequentially retrieves partial answers from each modality. The second VLM synthesizes and refines these results through cross-modal reasoning. Finally, the LLM integrates the insights into a cohesive answer. This modular design enhances interpretability by making the reasoning process transparent and allows each agent to operate within its domain of expertise. Experiments on diverse multimodal QA benchmarks demonstrate that our cooperative, multi-agent framework consistently outperforms existing baselines in both accuracy and robustness.
Reinforced Informativeness Optimization for Long-Form Retrieval-Augmented Generation
Venue: arXiv cs.CL 2025
Year: 2025

Long-form question answering (LFQA) presents unique challenges for large language models, requiring the synthesis of coherent, paragraph-length answers. While retrieval-augmented generation (RAG) systems have emerged as a promising solution, existing research struggles with key limitations: the scarcity of high-quality training data for long-form generation, the compounding risk of hallucination in extended outputs, and the absence of reliable evaluation metrics for factual completeness. In this paper, we propose RioRAG, a novel reinforcement learning (RL) framework that advances long-form RAG through reinforced informativeness optimization. Our approach introduces two fundamental innovations to address the core challenges. First, we develop an RL training paradigm of reinforced informativeness optimization that directly optimizes informativeness and effectively addresses the slow-thinking deficit in conventional RAG systems, bypassing the need for expensive supervised data. Second, we propose a nugget-centric hierarchical reward modeling approach that enables precise assessment of long-form answers through a three-stage process: extracting the nugget from every source webpage, constructing a nugget claim checklist, and computing rewards based on factual alignment. Extensive experiments on two LFQA benchmarks LongFact and RAGChecker demonstrate the effectiveness of the proposed method. Our codes are available at https://github.com/RUCAIBox/RioRAG.
G-DReaM: Graph-conditioned Diffusion Retargeting across Multiple Embodiments
Venue: arXiv cs.RO 2025
Year: 2025

Motion retargeting for specific robot from existing motion datasets is one critical step in transferring motion patterns from human behaviors to and across various robots. However, inconsistencies in topological structure, geometrical parameters as well as joint correspondence make it difficult to handle diverse embodiments with a unified retargeting architecture. In this work, we propose a novel unified graph-conditioned diffusion-based motion generation framework for retargeting reference motions across diverse embodiments. The intrinsic characteristics of heterogeneous embodiments are represented with graph structure that effectively captures topological and geometrical features of different robots. Such a graph-based encoding further allows for knowledge exploitation at the joint level with a customized attention mechanisms developed in this work. For lacking ground truth motions of the desired embodiment, we utilize an energy-based guidance formulated as retargeting losses to train the diffusion model. As one of the first cross-embodiment motion retargeting methods in robotics, our experiments validate that the proposed model can retarget motions across heterogeneous embodiments in a unified manner. Moreover, it demonstrates a certain degree of generalization to both diverse skeletal structures and similar motion patterns.
ProBA: Probabilistic Bundle Adjustment with the Bhattacharyya Coefficient
Venue: arXiv cs.CV 2025
Year: 2025

Classical Bundle Adjustment (BA) methods require accurate initial estimates for convergence and typically assume known camera intrinsics, which limits their applicability when such information is uncertain or unavailable. We propose a novel probabilistic formulation of BA (ProBA) that explicitly models and propagates uncertainty in both the 2D observations and the 3D scene structure, enabling optimization without any prior knowledge of camera poses or focal length. Our method uses 3D Gaussians instead of point-like landmarks and we introduce uncertainty-aware reprojection losses by projecting the 3D Gaussians onto the 2D image space, and enforce geometric consistency across multiple 3D Gaussians using the Bhattacharyya coefficient to encourage overlap between their corresponding Gaussian distributions. This probabilistic framework leads to more robust and reliable optimization, even in the presence of outliers in the correspondence set, reducing the likelihood of converging to poor local minima. Experimental results show that \textit{ProBA} outperforms traditional methods in challenging real-world conditions. By removing the need for strong initialization and known intrinsics, ProBA enhances the practicality of SLAM systems deployed in unstructured environments.
Divide-Then-Align: Honest Alignment based on the Knowledge Boundary of RAG
Venue: arXiv cs.CL 2025
Year: 2025

Large language models (LLMs) augmented with retrieval systems have significantly advanced natural language processing tasks by integrating external knowledge sources, enabling more accurate and contextually rich responses. To improve the robustness of such systems against noisy retrievals, Retrieval-Augmented Fine-Tuning (RAFT) has emerged as a widely adopted method. However, RAFT conditions models to generate answers even in the absence of reliable knowledge. This behavior undermines their reliability in high-stakes domains, where acknowledging uncertainty is critical. To address this issue, we propose Divide-Then-Align (DTA), a post-training approach designed to endow RAG systems with the ability to respond with "I don't know" when the query is out of the knowledge boundary of both the retrieved passages and the model's internal knowledge. DTA divides data samples into four knowledge quadrants and constructs tailored preference data for each quadrant, resulting in a curated dataset for Direct Preference Optimization (DPO). Experimental results on three benchmark datasets demonstrate that DTA effectively balances accuracy with appropriate abstention, enhancing the reliability and trustworthiness of retrieval-augmented systems.
EasyDistill: A Comprehensive Toolkit for Effective Knowledge Distillation of Large Language Models
Venue: arXiv cs.CL 2025
Year: 2025

In this paper, we present EasyDistill, a comprehensive toolkit designed for effective black-box and white-box knowledge distillation (KD) of large language models (LLMs). Our framework offers versatile functionalities, including data synthesis, supervised fine-tuning, ranking optimization, and reinforcement learning techniques specifically tailored for KD scenarios. The toolkit accommodates KD functionalities for both System 1 (fast, intuitive) and System 2 (slow, analytical) models. With its modular design and user-friendly interface, EasyDistill empowers researchers and industry practitioners to seamlessly experiment with and implement state-of-the-art KD strategies for LLMs. In addition, EasyDistill provides a series of robust distilled models and KD-based industrial solutions developed by us, along with the corresponding open-sourced datasets, catering to a variety of use cases. Furthermore, we describe the seamless integration of EasyDistill into Alibaba Cloud's Platform for AI (PAI). Overall, the EasyDistill toolkit makes advanced KD techniques for LLMs more accessible and impactful within the NLP community.
Dub-S2ST: Textless Speech-to-Speech Translation for Seamless Dubbing
Venue: arXiv cs.CL 2025
Year: 2025

This paper introduces a cross-lingual dubbing system that translates speech from one language to another while preserving key characteristics such as duration, speaker identity, and speaking speed. Despite the strong translation quality of existing speech translation approaches, they often overlook the transfer of speech patterns, leading to mismatches with source speech and limiting their suitability for dubbing applications. To address this, we propose a discrete diffusion-based speech-to-unit translation model with explicit duration control, enabling time-aligned translation. We then synthesize speech based on the translated units and source speaker's identity using a conditional flow matching model. Additionally, we introduce a unit-based speed adaptation mechanism that guides the translation model to produce speech at a rate consistent with the source, without relying on any text. Extensive experiments demonstrate that our framework generates natural and fluent translations that align with the original speech's duration and speaking pace, while achieving competitive translation performance. The code is available at https://github.com/kaistmm/Dub-S2ST.
Towards a DSL for hybrid secure computation
Venue: arXiv cs.CR 2025
Year: 2025

Fully homomorphic encryption (FHE) and trusted execution environments (TEE) are two approaches to provide confidentiality during data processing. Each approach has its own strengths and weaknesses. In certain scenarios, computations can be carried out in a hybrid environment, using both FHE and TEE. However, processing data in such hybrid settings presents challenges, as it requires to adapt and rewrite the algorithms for the chosen technique. We propose a domain-specific language (DSL) for secure computation that allows to express the computations to perform and execute them using a backend that leverages either FHE or TEE, depending on what is available.
Label Leakage in Federated Inertial-based Human Activity Recognition
Venue: arXiv cs.LG 2025
Year: 2025

While prior work has shown that Federated Learning updates can leak sensitive information, label reconstruction attacks, which aim to recover input labels from shared gradients, have not yet been examined in the context of Human Activity Recognition (HAR). Given the sensitive nature of activity labels, this study evaluates the effectiveness of state-of-the-art gradient-based label leakage attacks on HAR benchmark datasets. Our findings show that the number of activity classes, sampling strategy, and class imbalance are critical factors influencing the extent of label leakage, with reconstruction accuracies reaching well-above 90% on two benchmark datasets, even for trained models. Moreover, we find that Local Differential Privacy techniques such as gradient noise and clipping offer only limited protection, as certain attacks still reliably infer both majority and minority class labels. We conclude by offering practical recommendations for the privacy-aware deployment of federated HAR systems and identify open challenges for future research. Code to reproduce our experiments is publicly available via github.com/mariusbock/leakage_har.
MLMC-based Resource Adequacy Assessment with Active Learning Trained Surrogate Models
Venue: arXiv cs.LG 2025
Year: 2025

Multilevel Monte Carlo (MLMC) is a flexible and effective variance reduction technique for accelerating reliability assessments of complex power system. Recently, data-driven surrogate models have been proposed as lower-level models in the MLMC framework due to their high correlation and negligible execution time once trained. However, in resource adequacy assessments, pre-labeled datasets are typically unavailable. For large-scale systems, the efficiency gains from surrogate models are often offset by the substantial time required for labeling training data. Therefore, this paper introduces a speed metric that accounts for training time in evaluating MLMC efficiency. Considering the total time budget is limited, a vote-by-committee active learning approach is proposed to reduce the required labeling calls. A case study demonstrates that, within a given computational budget, active learning in combination with MLMC can result in a substantial reduction variance.
Revisiting Sparsity Constraint Under High-Rank Property in Partial Multi-Label Learning
Venue: arXiv cs.LG 2025
Year: 2025

Partial Multi-Label Learning (PML) extends the multi-label learning paradigm to scenarios where each sample is associated with a candidate label set containing both ground-truth labels and noisy labels. Existing PML methods commonly rely on two assumptions: sparsity of the noise label matrix and low-rankness of the ground-truth label matrix. However, these assumptions are inherently conflicting and impractical for real-world scenarios, where the true label matrix is typically full-rank or close to full-rank. To address these limitations, we demonstrate that the sparsity constraint contributes to the high-rank property of the predicted label matrix. Based on this, we propose a novel method Schirn, which introduces a sparsity constraint on the noise label matrix while enforcing a high-rank property on the predicted label matrix. Extensive experiments demonstrate the superior performance of Schirn compared to state-of-the-art methods, validating its effectiveness in tackling real-world PML challenges.
Limitations of Nyquist Criteria in the Discretization of 2D Electromagnetic Integral Equations at High Frequency: Spectral Insights into Pollution Effects
Venue: arXiv cs.CE 2025
Year: 2025

The use of boundary integral equations in modeling boundary value problems-such as elastic, acoustic, or electromagnetic ones-is well established in the literature and widespread in practical applications. These equations are typically solved numerically using boundary element methods (BEMs), which generally provide accurate and reliable solutions. When the frequency of the wave phenomenon under study increases, the discretization of the problem is typically chosen to maintain a fixed number of unknowns per wavelength. Under these conditions, the BEM over finite-dimensional subspaces of piecewise polynomial basis functions is commonly believed to provide a bounded solution accuracy. If proven, this would constitute a significant advantage of the BEM with respect to finite element and finite difference time domain methods, which, in contrast, are affected by numerical pollution. In this work, we conduct a rigorous spectral analysis of some of the most commonly used boundary integral operators and examine the impact of the BEM discretization on the solution accuracy of widely used integral equations modeling two-dimensional electromagnetic scattering from a perfectly electrically conducting cylinder. We consider both ill-conditioned and well-conditioned equations, the latter being characterized by solution operators bounded independently of frequency. Our analysis, which is capable of tracking the effects of BEM discretization on compositions and sums of different operators, reveals a form of pollution that affects, in different measures, equations of both kinds. After elucidating the mechanism by which the BEM discretization impacts accuracy, we propose a solution strategy that can cure the pollution problem thus evidenced. The defining strength of the proposed theoretical model lies in its capacity to deliver deep insight into the root causes of the phenomenon.
Streamlining Knowledge Graph Creation with PyRML
Venue: arXiv cs.DB 2025
Year: 2025

Knowledge Graphs (KGs) are increasingly adopted as a foundational technology for integrating heterogeneous data in domains such as climate science, cultural heritage, and the life sciences. Declarative mapping languages like R2RML and RML have played a central role in enabling scalable and reusable KG construction, offering a transparent means of transforming structured and semi-structured data into RDF. In this paper, we present PyRML, a lightweight, Python-native library for building Knowledge Graphs through declarative mappings. PyRML supports core RML constructs and provides a programmable interface for authoring, executing, and testing mappings directly within Python environments. It integrates with popular data and semantic web libraries (e.g., Pandas and RDFlib), enabling transparent and modular workflows. By lowering the barrier to entry for KG creation and fostering reproducible, ontology-aligned data integration, PyRML bridges the gap between declarative semantics and practical KG engineering.
Deep k-grouping: An Unsupervised Learning Framework for Combinatorial Optimization on Graphs and Hypergraphs
Venue: arXiv cs.LG 2025
Year: 2025

Along with AI computing shining in scientific discovery, its potential in the combinatorial optimization (CO) domain has also emerged in recent years. Yet, existing unsupervised neural network solvers struggle to solve $k$-grouping problems (e.g., coloring, partitioning) on large-scale graphs and hypergraphs, due to limited computational frameworks. In this work, we propose Deep $k$-grouping, an unsupervised learning-based CO framework. Specifically, we contribute: Novel one-hot encoded polynomial unconstrained binary optimization (OH-PUBO), a formulation for modeling k-grouping problems on graphs and hypergraphs (e.g., graph/hypergraph coloring and partitioning); GPU-accelerated algorithms for large-scale k-grouping CO problems. Deep $k$-grouping employs the relaxation of large-scale OH-PUBO objectives as differentiable loss functions and trains to optimize them in an unsupervised manner. To ensure scalability, it leverages GPU-accelerated algorithms to unify the training pipeline; A Gini coefficient-based continuous relaxation annealing strategy to enforce discreteness of solutions while preventing convergence to local optima. Experimental results demonstrate that Deep $k$-grouping outperforms existing neural network solvers and classical heuristics such as SCIP and Tabu.