OpenRaiser/Intern-Atlas huggingface dataset:
Exploration with Foundation Models: Capabilities, Limitations, and Hybrid Approaches
Venue: arXiv cs.LG 2025
Year: 2025

Exploration in reinforcement learning (RL) remains challenging, particularly in sparse-reward settings. While foundation models possess strong semantic priors, their capabilities as zero-shot exploration agents in classic RL benchmarks are not well understood. We benchmark LLMs and VLMs on multi-armed bandits, Gridworlds, and sparse-reward Atari to test zero-shot exploration. Our investigation reveals a key limitation: while VLMs can infer high-level objectives from visual input, they consistently fail at precise low-level control: the "knowing-doing gap". To analyze a potential bridge for this gap, we investigate a simple on-policy hybrid framework in a controlled, best-case scenario. Our results in this idealized setting show that VLM guidance can significantly improve early-stage sample efficiency, providing a clear analysis of the potential and constraints of using foundation models to guide exploration rather than for end-to-end control.
Interactive Semantic Segmentation for Phosphene Vision Neuroprosthetics
Venue: arXiv cs.HC 2025
Year: 2025

Visual impairments present significant challenges to individuals worldwide, impacting daily activities and quality of life. Visual neuroprosthetics offer a promising solution, leveraging advancements in technology to provide a simplified visual sense through devices comprising cameras, computers, and implanted electrodes. This study investigates user-centered design principles for a phosphene vision algorithm, utilizing feedback from visually impaired individuals to guide the development of a gaze-controlled semantic segmentation system. We conducted interviews revealing key design principles. These principles informed the implementation of a gaze-guided semantic segmentation algorithm using the Segment Anything Model (SAM). In a simulated phosphene vision environment, participants performed object detection tasks under SAM, edge detection, and normal vision conditions. SAM improved identification accuracy over edge detection, remained effective in complex scenes, and was particularly robust for specific object shapes. These findings demonstrate the value of user feedback and the potential of gaze-guided semantic segmentation to enhance neuroprosthetic vision.
SynchroRaMa : Lip-Synchronized and Emotion-Aware Talking Face Generation via Multi-Modal Emotion Embedding
Venue: arXiv cs.CV 2025
Year: 2025

Audio-driven talking face generation has received growing interest, particularly for applications requiring expressive and natural human-avatar interaction. However, most existing emotion-aware methods rely on a single modality (either audio or image) for emotion embedding, limiting their ability to capture nuanced affective cues. Additionally, most methods condition on a single reference image, restricting the model's ability to represent dynamic changes in actions or attributes across time. To address these issues, we introduce SynchroRaMa, a novel framework that integrates a multi-modal emotion embedding by combining emotional signals from text (via sentiment analysis) and audio (via speech-based emotion recognition and audio-derived valence-arousal features), enabling the generation of talking face videos with richer and more authentic emotional expressiveness and fidelity. To ensure natural head motion and accurate lip synchronization, SynchroRaMa includes an audio-to-motion (A2M) module that generates motion frames aligned with the input audio. Finally, SynchroRaMa incorporates scene descriptions generated by Large Language Model (LLM) as additional textual input, enabling it to capture dynamic actions and high-level semantic attributes. Conditioning the model on both visual and textual cues enhances temporal consistency and visual realism. Quantitative and qualitative experiments on benchmark datasets demonstrate that SynchroRaMa outperforms the state-of-the-art, achieving improvements in image quality, expression preservation, and motion realism. A user study further confirms that SynchroRaMa achieves higher subjective ratings than competing methods in overall naturalness, motion diversity, and video smoothness. Our project page is available at <https://novicemm.github.io/synchrorama>.
An effective control of large systems of active particles: An application to evacuation problem
Venue: arXiv cs.RO 2025
Year: 2025

Manipulation of large systems of active particles is a serious challenge across diverse domains, including crowd management, control of robotic swarms, and coordinated material transport. The development of advanced control strategies for complex scenarios is hindered, however, by the lack of scalability and robustness of the existing methods, in particular, due to the need of an individual control for each agent. One possible solution involves controlling a system through a leader or a group of leaders, which other agents tend to follow. Using such an approach we develop an effective control strategy for a leader, combining reinforcement learning (RL) with artificial forces acting on the system. To describe the guidance of active particles by a leader we introduce the generalized Vicsek model. This novel method is then applied to the problem of the effective evacuation by a robot-rescuer (leader) of large groups of people from hazardous places. We demonstrate, that while a straightforward application of RL yields suboptimal results, even for advanced architectures, our approach provides a robust and efficient evacuation strategy. The source code supporting this study is publicly available at: https://github.com/cinemere/evacuation.
The Knowledge-Behaviour Disconnect in LLM-based Chatbots
Venue: arXiv cs.CL 2025
Year: 2025

Large language model-based artificial conversational agents (like ChatGPT) give answers to all kinds of questions, and often enough these answers are correct. Just on the basis of that capacity alone, we may attribute knowledge to them. But do these models use this knowledge as a basis for their own conversational behaviour? I argue this is not the case, and I will refer to this failure as a `disconnect'. I further argue this disconnect is fundamental in the sense that with more data and more training of the LLM on which a conversational chatbot is based, it will not disappear. The reason is, as I will claim, that the core technique used to train LLMs does not allow for the establishment of the connection we are after. The disconnect reflects a fundamental limitation on the capacities of LLMs, and explains the source of hallucinations. I will furthermore consider the ethical version of the disconnect (ethical conversational knowledge not being aligned with ethical conversational behaviour), since in this domain researchers have come up with several additional techniques to influence a chatbot's behaviour. I will discuss how these techniques do nothing to solve the disconnect and can make it worse.
MARG: MAstering Risky Gap Terrains for Legged Robots with Elevation Mapping
Venue: arXiv cs.RO 2025
Year: 2025

Deep Reinforcement Learning (DRL) controllers for quadrupedal locomotion have demonstrated impressive performance on challenging terrains, allowing robots to execute complex skills such as climbing, running, and jumping. However, existing blind locomotion controllers often struggle to ensure safety and efficient traversal through risky gap terrains, which are typically highly complex, requiring robots to perceive terrain information and select appropriate footholds during locomotion accurately. Meanwhile, existing perception-based controllers still present several practical limitations, including a complex multi-sensor deployment system and expensive computing resource requirements. This paper proposes a DRL controller named MAstering Risky Gap Terrains (MARG), which integrates terrain maps and proprioception to dynamically adjust the action and enhance the robot's stability in these tasks. During the training phase, our controller accelerates policy optimization by selectively incorporating privileged information (e.g., center of mass, friction coefficients) that are available in simulation but unmeasurable directly in real-world deployments due to sensor limitations. We also designed three foot-related rewards to encourage the robot to explore safe footholds. More importantly, a terrain map generation (TMG) model is proposed to reduce the drift existing in mapping and provide accurate terrain maps using only one LiDAR, providing a foundation for zero-shot transfer of the learned policy. The experimental results indicate that MARG maintains stability in various risky terrain tasks.
OLaPh: Optimal Language Phonemizer
Venue: arXiv cs.CL 2025
Year: 2025

Phonemization, the conversion of text into phonemes, is a key step in text-to-speech. Traditional approaches use rule-based transformations and lexicon lookups, while more advanced methods apply preprocessing techniques or neural networks for improved accuracy on out-of-domain vocabulary. However, all systems struggle with names, loanwords, abbreviations, and homographs. This work presents OLaPh (Optimal Language Phonemizer), a framework that combines large lexica, multiple NLP techniques, and compound resolution with a probabilistic scoring function. Evaluations in German and English show improved accuracy over previous approaches, including on a challenging dataset. To further address unresolved cases, we train a large language model on OLaPh-generated data, which achieves even stronger generalization and performance. Together, the framework and LLM improve phonemization consistency and provide a freely available resource for future research.
Causal Understanding by LLMs: The Role of Uncertainty
Venue: arXiv cs.CL 2025
Year: 2025

Recent papers show LLMs achieve near-random accuracy in causal relation classification, raising questions about whether such failures arise from limited pretraining exposure or deeper representational gaps. We investigate this under uncertainty-based evaluation, testing whether pretraining exposure to causal examples improves causal understanding >18K PubMed sentences -- half from The Pile corpus, half post-2024 -- across seven models (Pythia-1.4B/7B/12B, GPT-J-6B, Dolly-7B/12B, Qwen-7B). We analyze model behavior through: (i) causal classification, where the model identifies causal relationships in text, and (ii) verbatim memorization probing, where we assess whether the model prefers previously seen causal statements over their paraphrases. Models perform four-way classification (direct/conditional/correlational/no-relationship) and select between originals and their generated paraphrases. Results show almost identical accuracy on seen/unseen sentences (p > 0.05), no memorization bias (24.8% original selection), and output distribution over the possible options is almost flat, with entropic values near the maximum (1.35/1.39), confirming random guessing. Instruction-tuned models show severe miscalibration (Qwen: > 95% confidence, 32.8% accuracy, ECE=0.49). Conditional relations induce highest entropy (+11% vs. direct). These findings suggest that failures in causal understanding arise from the lack of structured causal representation, rather than insufficient exposure to causal examples during pretraining.
You Only Measure Once: On Designing Single-Shot Quantum Machine Learning Models
Venue: arXiv cs.LG 2025
Year: 2025

Quantum machine learning (QML) models conventionally rely on repeated measurements (shots) of observables to obtain reliable predictions. This dependence on large shot budgets leads to high inference cost and time overhead, which is particularly problematic as quantum hardware access is typically priced proportionally to the number of shots. In this work we propose You Only Measure Once (Yomo), a simple yet effective design that achieves accurate inference with dramatically fewer measurements, down to the single-shot regime. Yomo replaces Pauli expectation-value outputs with a probability aggregation mechanism and introduces loss functions that encourage sharp predictions. Our theoretical analysis shows that Yomo avoids the shot-scaling limitations inherent to expectation-based models, and our experiments on MNIST and CIFAR-10 confirm that Yomo consistently outperforms baselines across different shot budgets and under simulations with depolarizing channels. By enabling accurate single-shot inference, Yomo substantially reduces the financial and computational costs of deploying QML, thereby lowering the barrier to practical adoption of QML.
Constrained Higher-Order Binary Optimization for Wireless Communications Systems Using Ising Machines
Venue: arXiv cs.IT 2025
Year: 2025

This paper develops an algorithmic solution using Ising machines to solve large-scale higher-order binary optimization (HOBO) problems with inequality constraints for resource optimization in wireless communications systems. Quadratic unconstrained binary optimization (QUBO) aims to solve a special category of these problems widely encountered in engineering and science. To solve QUBO instances, specialized Ising machines have been designed, while sophisticated quantum annealing algorithm and quantum-inspired classical heuristics have been developed. However, the application of QUBO in wireless communications has limited practical interest mainly due to the complexity of resource optimization problems which are often characterized by high-order polynomial terms and strict inequality constraints. To overcome these bottlenecks and take advantage of recent advancements in Ising machines, in this paper, we propose an iterative algorithmic solution to solve HOBO problems, which is based on the augmented Lagrangian method to handle constraints. Specifically, Taylor expansion is employed to approximate higher-order polynomials to quadratic ones in the augmented Lagrangian function, which enables the solution of a single QUBO problem at each iteration without auxiliary variables. As an illustrative case study, we consider the problem of phase optimization in a simultaneous wireless information and power transfer system, where a reconfigurable intelligent surface with 1-bit phase resolution is used to facilitate information/energy transfer. Simulation results verify that the proposed algorithm achieves satisfactory performance and outperforms heuristic benchmark schemes.
Incomplete Data, Complete Dynamics: A Diffusion Approach
Venue: arXiv cs.LG 2025
Year: 2025

Learning physical dynamics from data is a fundamental challenge in machine learning and scientific modeling. Real-world observational data are inherently incomplete and irregularly sampled, posing significant challenges for existing data-driven approaches. In this work, we propose a principled diffusion-based framework for learning physical systems from incomplete training samples. To this end, our method strategically partitions each such sample into observed context and unobserved query components through a carefully designed splitting strategy, then trains a conditional diffusion model to reconstruct the missing query portions given available contexts. This formulation enables accurate imputation across arbitrary observation patterns without requiring complete data supervision. Specifically, we provide theoretical analysis demonstrating that our diffusion training paradigm on incomplete data achieves asymptotic convergence to the true complete generative process under mild regularity conditions. Empirically, we show that our method significantly outperforms existing baselines on synthetic and real-world physical dynamics benchmarks, including fluid flows and weather systems, with particularly strong performance in limited and irregular observation regimes. These results demonstrate the effectiveness of our theoretically principled approach for learning and imputing partially observed dynamics.
Beyond Slater's Condition in Online CMDPs with Stochastic and Adversarial Constraints
Venue: arXiv cs.LG 2025
Year: 2025

We study \emph{online episodic Constrained Markov Decision Processes} (CMDPs) under both stochastic and adversarial constraints. We provide a novel algorithm whose guarantees greatly improve those of the state-of-the-art best-of-both-worlds algorithm introduced by Stradi et al. (2025). In the stochastic regime, \emph{i.e.}, when the constraints are sampled from fixed but unknown distributions, our method achieves $\widetilde{\mathcal{O}}(\sqrt{T})$ regret and constraint violation without relying on Slater's condition, thereby handling settings where no strictly feasible solution exists. Moreover, we provide guarantees on the stronger notion of \emph{positive} constraint violation, which does not allow to recover from large violation in the early episodes by playing strictly safe policies. In the adversarial regime, \emph{i.e.}, when the constraints may change arbitrarily between episodes, our algorithm ensures sublinear constraint violation without Slater's condition, and achieves sublinear $α$-regret with respect to the \emph{unconstrained} optimum, where $α$ is a suitably defined multiplicative approximation factor. We further validate our results through synthetic experiments, showing the practical effectiveness of our algorithm.
Comparative Study of Subjective Video Quality Assessment Test Methods in Crowdsourcing for Varied Use Cases
Venue: arXiv cs.MM 2025
Year: 2025

In crowdsourced subjective video quality assessment, practitioners often face a choice between Absolute Category Rating (ACR), ACR with Hidden Reference (ACR-HR), and Comparison Category Rating (CCR). We conducted a P.910-compliant, side-by-side comparison across six studies using 15 talking-head sources of good and fair quality, processed with realistic degradations (blur, scaling, compression, freezing, and their combinations), as well as a practical bitrate-ladder task at 720p and 1080p resolutions. We evaluated statistical efficiency (standard deviations), economic efficiency, and decision agreement. Our results show that ACR-HR and ACR correlate strongly at the condition level, while CCR is more sensitive-capturing improvements beyond the reference. ACR-HR, however, exhibits compressed scale use, particularly for videos with fair source quality. ACR-HR is approximately twice as fast and cost-effective, with lower normalized variability, yet the choice of quality measurement method shifts saturation points and bitrate-ladder recommendations. Finally, we provide practical guidance on when to use each test method.
Formal Verification of Minimax Algorithms
Venue: arXiv cs.AI 2025
Year: 2025

Using the Dafny verification system, we formally verify a range of minimax search algorithms, including variations with alpha-beta pruning and transposition tables. For depth-limited search with transposition tables, we introduce a witness-based correctness criterion and apply it to two representative algorithms. All verification artifacts, including proofs and Python implementations, are publicly available.
Affective Computing and Emotional Data: Challenges and Implications in Privacy Regulations, The AI Act, and Ethics in Large Language Models
Venue: arXiv cs.CY 2025
Year: 2025

This paper examines the integration of emotional intelligence into artificial intelligence systems, with a focus on affective computing and the growing capabilities of Large Language Models (LLMs), such as ChatGPT and Claude, to recognize and respond to human emotions. Drawing on interdisciplinary research that combines computer science, psychology, and neuroscience, the study analyzes foundational neural architectures - CNNs for processing facial expressions and RNNs for sequential data, such as speech and text - that enable emotion recognition. It examines the transformation of human emotional experiences into structured emotional data, addressing the distinction between explicit emotional data collected with informed consent in research settings and implicit data gathered passively through everyday digital interactions. That raises critical concerns about lawful processing, AI transparency, and individual autonomy over emotional expressions in digital environments. The paper explores implications across various domains, including healthcare, education, and customer service, while addressing challenges of cultural variations in emotional expression and potential biases in emotion recognition systems across different demographic groups. From a regulatory perspective, the paper examines emotional data in the context of the GDPR and the EU AI Act frameworks, highlighting how emotional data may be considered sensitive personal data that requires robust safeguards, including purpose limitation, data minimization, and meaningful consent mechanisms.
U-Mamba2-SSL for Semi-Supervised Tooth and Pulp Segmentation in CBCT
Venue: arXiv cs.CV 2025
Year: 2025

Accurate segmentation of teeth and pulp in Cone-Beam Computed Tomography (CBCT) is vital for clinical applications like treatment planning and diagnosis. However, this process requires extensive expertise and is exceptionally time-consuming, highlighting the critical need for automated algorithms that can effectively utilize unlabeled data. In this paper, we propose U-Mamba2-SSL, a novel semi-supervised learning framework that builds on the U-Mamba2 model and employs a multi-stage training strategy. The framework first pre-trains U-Mamba2 in a self-supervised manner using a disruptive autoencoder. It then leverages unlabeled data through consistency regularization, where we introduce input and feature perturbations to ensure stable model outputs. Finally, a pseudo-labeling strategy is implemented with a reduced loss weighting to minimize the impact of potential errors. U-Mamba2-SSL achieved an average score of 0.789 and a DSC of 0.917 on the hidden test set, achieving first place in Task 1 of the STSR 2025 challenge. The code is available at https://github.com/zhiqin1998/UMamba2.
Characterizing the Performance of Accelerated Jetson Edge Devices for Training Deep Learning Models
Venue: arXiv cs.DC 2025
Year: 2025

Deep Neural Networks (DNNs) have had a significant impact on domains like autonomous vehicles and smart cities through low-latency inferencing on edge computing devices close to the data source. However, DNN training on the edge is poorly explored. Techniques like federated learning and the growing capacity of GPU-accelerated edge devices like NVIDIA Jetson motivate the need for a holistic characterization of DNN training on the edge. Training DNNs is resource-intensive and can stress an edge's GPU, CPU, memory and storage capacities. Edge devices also have different resources compared to workstations and servers, such as slower shared memory and diverse storage media. Here, we perform a principled study of DNN training on individual devices of three contemporary Jetson device types: AGX Xavier, Xavier NX and Nano for three diverse DNN model--dataset combinations. We vary device and training parameters such as I/O pipelining and parallelism, storage media, mini-batch sizes and power modes, and examine their effect on CPU and GPU utilization, fetch stalls, training time, energy usage, and variability. Our analysis exposes several resource inter-dependencies and counter-intuitive insights, while also helping quantify known wisdom. Our rigorous study can help tune the training performance on the edge, trade-off time and energy usage on constrained devices, and even select an ideal edge hardware for a DNN workload, and, in future, extend to federated learning too. As an illustration, we use these results to build a simple model to predict the training time and energy per epoch for any given DNN across different power modes, with minimal additional profiling.