OpenRaiser/Intern-Atlas huggingface dataset:
Bundle Adjustment in the Eager Mode
Venue: arXiv cs.RO 2025
Year: 2025

Bundle adjustment (BA) is a critical technique in various robotic applications such as simultaneous localization and mapping (SLAM), augmented reality (AR), and photogrammetry. BA optimizes parameters such as camera poses and 3D landmarks to align them with observations. With the growing importance of deep learning in perception systems, there is an increasing need to integrate BA with deep learning frameworks for enhanced reliability and performance. However, widely-used C++-based BA libraries, such as GTSAM, g$^2$o, and Ceres, lack native integration with modern deep learning libraries like PyTorch. This limitation affects their flexibility, adaptability, ease of debugging, and overall implementation efficiency. To address this gap, we introduce an eager-mode BA library seamlessly integrated with PyTorch with high efficiency. Our approach includes GPU-accelerated, differentiable, and sparse operations designed for \nth{2}-order optimization, Lie group and Lie algebra operations, and linear solvers. Our eager-mode BA on GPU demonstrates substantial runtime efficiency, achieving an average speedup of 18.5$\times$, 22$\times$, and 23$\times$ compared to GTSAM, g$^2$o, and Ceres, respectively. The source code will be available at https://github.com/sair-lab/bae.
GCA-SUNet: A Gated Context-Aware Swin-UNet for Exemplar-Free Counting
Venue: arXiv cs.CV 2025
Year: 2025

Exemplar-Free Counting aims to count objects of interest without intensive annotations of objects or exemplars. To achieve this, we propose a Gated Context-Aware Swin-UNet (GCA-SUNet) to directly map an input image to the density map of countable objects. Specifically, a set of Swin transformers form an encoder to derive a robust feature representation, and a Gated Context-Aware Modulation block is designed to suppress irrelevant objects or background through a gate mechanism and exploit the attentive support of objects of interest through a self-similarity matrix. The gate strategy is also incorporated into the bottleneck network and the decoder of the Swin-UNet to highlight the features most relevant to objects of interest. By explicitly exploiting the attentive support among countable objects and eliminating irrelevant features through the gate mechanisms, the proposed GCA-SUNet focuses on and counts objects of interest without relying on predefined categories or exemplars. Experimental results on the real-world datasets such as FSC-147 and CARPK demonstrate that GCA-SUNet significantly and consistently outperforms state-of-the-art methods. The code is available at https://github.com/Amordia/GCA-SUNet.
A Lightweight and Real-Time Binaural Speech Enhancement Model with Spatial Cues Preservation
Venue: arXiv cs.SD 2025
Year: 2025

Binaural speech enhancement (BSE) aims to jointly improve the speech quality and intelligibility of noisy signals received by hearing devices and preserve the spatial cues of the target for natural listening. Existing methods often suffer from the compromise between noise reduction (NR) capacity and spatial cues preservation (SCP) accuracy and a high computational demand in complex acoustic scenes. In this work, we present a learning-based lightweight binaural complex convolutional network (LBCCN), which excels in NR by filtering low-frequency bands and keeping the rest. Additionally, our approach explicitly incorporates the estimation of interchannel relative acoustic transfer function to ensure the spatial cues fidelity and speech clarity. Results show that the proposed LBCCN can achieve a comparable NR performance to state-of-the-art methods under fixed-speaker conditions, but with a much lower computational cost and a certain degree of SCP capability. The reproducible code and audio examples are available at https://github.com/jywanng/LBCCN.
Enhancing Long-term RAG Chatbots with Psychological Models of Memory Importance and Forgetting
Venue: arXiv cs.CL 2025
Year: 2025

While Retrieval-Augmented Generation (RAG) has shown promise in enhancing long-term conversations, the increasing memory load as conversations progress degrades retrieval accuracy. Drawing on psychological insights, we propose LUFY, a simple yet effective method that focuses on emotionally arousing memories and retains less than 10% of the conversation. In the user experiment, participants interacted with three types of RAG chatbots, each for 2 hours over 4 sessions, marking the most extensive assessment of a chatbot's long-term capabilities to date -- more than four times longer than any existing benchmark. The results demonstrate that prioritizing arousing memories while forgetting the majority of the conversation significantly enhances user experience. This study pushes the frontier of long-term conversations and highlights the importance of forgetting unimportant parts of conversations. Code and Dataset: https://github.com/ryuichi-sumida/LUFY, Hugginface Dataset:https://huggingface.co/datasets/RuiSumida/LUFY
PersonaFlow: Designing LLM-Simulated Expert Perspectives for Enhanced Research Ideation
Venue: arXiv cs.HC 2025
Year: 2025

Generating interdisciplinary research ideas requires diverse domain expertise, but access to timely feedback is often limited by the availability of experts. In this paper, we introduce PersonaFlow, a novel system designed to provide multiple perspectives by using LLMs to simulate domain-specific experts. Our user studies showed that the new design 1) increased the perceived relevance and creativity of ideated research directions, and 2) promoted users' critical thinking activities (e.g., interpretation, analysis, evaluation, inference, and self-regulation), without increasing their perceived cognitive load. Moreover, users' ability to customize expert profiles significantly improved their sense of agency, which can potentially mitigate their over-reliance on AI. This work contributes to the design of intelligent systems that augment creativity and collaboration, and provides design implications of using customizable AI-simulated personas in domains within and beyond research ideation.
Accurate Automatic 3D Annotation of Traffic Lights and Signs for Autonomous Driving
Venue: arXiv cs.CV 2025
Year: 2025

3D detection of traffic management objects, such as traffic lights and road signs, is vital for self-driving cars, particularly for address-to-address navigation where vehicles encounter numerous intersections with these static objects. This paper introduces a novel method for automatically generating accurate and temporally consistent 3D bounding box annotations for traffic lights and signs, effective up to a range of 200 meters. These annotations are suitable for training real-time models used in self-driving cars, which need a large amount of training data. The proposed method relies only on RGB images with 2D bounding boxes of traffic management objects, which can be automatically obtained using an off-the-shelf image-space detector neural network, along with GNSS/INS data, eliminating the need for LiDAR point cloud data.
SpecEval: Evaluating Code Comprehension in Large Language Models via Program Specifications
Venue: arXiv cs.SE 2025
Year: 2025

Large Language models have achieved impressive performance in automated software engineering. Extensive efforts have been made to evaluate the abilities of code LLMs in various aspects, with an increasing number of benchmarks and evaluation frameworks proposed. Apart from the most sought-after capability of code generation, the capability of code comprehension is being granted growing attention. Nevertheless, existing works assessing the code comprehension capability of LLMs exhibit varied limitations. Evaluation frameworks like CRUXEval and REval usually focus on code reasoning tasks over a certain input case, leading to a limited range of execution traces covered, resulting in a loss in code semantics examined and the inability to assess the comprehensive understanding of LLMs concerning the target program. To tackle these challenges, we propose SpecEval, a novel black-box evaluation framework to evaluate code comprehension in LLMs via program specifications. Inspired by the idea that specifications can act as a comprehensive articulation of program behaviors concerning all possible execution traces, we employ formalized program specifications to represent program semantics and perform comprehensive evaluations. In particular, four specification-related tasks are designed meticulously to assess the capability of LLMs from basic to advanced levels. Counterfactual analysis is further conducted to study the performance variance of LLMs under semantics-preserving perturbations. Systematic experiments are conducted on six state-of-the-art LLMs. Extensive experimental results present a below-satisfactory performance of LLMs on specification-related tasks, revealing the limitations of existing LLMs in terms of articulating program semantics with formal specifications. Counterfactual analysis also reveals the sensitivity of LLMs towards semantic-preserving perturbations.
Adaptive Trajectory Optimization for Task-Specific Human-Robot Collaboration
Venue: arXiv cs.RO 2025
Year: 2025

This paper proposes a task-specific trajectory optimization framework for human-robot collaboration, enabling adaptive motion planning based on human interaction dynamics. Unlike conventional approaches that rely on predefined desired trajectories, the proposed framework optimizes the collaborative motion dynamically using the inverse differential Riccati equation, ensuring adaptability to task variations and human input. The generated trajectory serves as the reference for a neuro-adaptive PID controller, which leverages a neural network to adjust control gains in real time, addressing system uncertainties while maintaining low computational complexity. The combination of trajectory planning and the adaptive control law ensures stability and accurate joint-space tracking without requiring extensive parameter tuning. Numerical simulations validate the proposed approach.
Disentangling Recognition and Decision Regrets in Image-Based Reinforcement Learning
Venue: arXiv cs.LG 2025
Year: 2025

In image-based reinforcement learning (RL), policies usually operate in two steps: first extracting lower-dimensional features from raw images (the "recognition" step), and then taking actions based on the extracted features (the "decision" step). Extracting features that are spuriously correlated with performance or irrelevant for decision-making can lead to poor generalization performance, known as observational overfitting in image-based RL. In such cases, it can be hard to quantify how much of the error can be attributed to poor feature extraction vs. poor decision-making. To disentangle the two sources of error, we introduce the notions of recognition regret and decision regret. Using these notions, we characterize and disambiguate the two distinct causes behind observational overfitting: over-specific representations, which include features that are not needed for optimal decision-making (leading to high decision regret), vs. under-specific representations, which only include a limited set of features that were spuriously correlated with performance during training (leading to high recognition regret). Finally, we provide illustrative examples of observational overfitting due to both over-specific and under-specific representations in maze environments and the Atari game Pong.
Time Awareness in Large Language Models: Benchmarking Fact Recall Across Time
Venue: arXiv cs.CL 2025
Year: 2025

Who is the US President? The answer changes depending on when the question is asked. While large language models (LLMs) are evaluated on various reasoning tasks, they often miss a crucial dimension: time. In real-world scenarios, the correctness of answers is frequently tied to temporal context. To address this gap, we present a novel framework and dataset spanning over 8,000 events from 2018 to 2024, annotated with day-level granularity and sourced globally across domains such as politics, science, and business. Our TimeShift evaluation method systematically probes LLMs for temporal reasoning, revealing that base models often outperform instruction-tuned and synthetic-trained counterparts on time-sensitive recall. Additionally, we find that even large-scale models exhibit brittleness in handling paraphrased facts, highlighting unresolved challenges in temporal consistency. By identifying these limitations, our work provides a significant step toward advancing time-aware language models capable of adapting to the dynamic nature of real-world knowledge.
Reconfigurable Intelligent Surface (RIS) System Level Simulations for Industry Standards
Venue: arXiv cs.IT 2025
Year: 2025

Reconfigurable intelligent surface (RIS) is an emerging technology for wireless communications. In this paper, extensive system level simulations are conducted for analyzing the performance of multi-RIS and multi-base-station (BS) scenarios, by considering typical settings for industry standards. Pathloss and large-scale fading are taken into account when modeling the RIS cascaded and direct links. The performance metrics considered are the downlink reference signal received power (RSRP) and the signal to interference noise ratio (SINR). The evaluation methodology is compatible with that utilized for technology studies in industry standards development organizations, by considering the uniqueness of RIS. The simulations are comprehensive, and they take into account different layouts of RIS panels and mobiles in a cell, and different densities and sizes of RIS panels. Several practical aspects are considered, including the interference between RIS panels, the phase quantization of RIS elements, and the failure of RIS elements. The impact of near field effects for the RIS-mobile links is analyzed as well. Simulation results demonstrate the potential of RIS-aided deployments in improving the system capacity and cell coverage in 6G mobile systems.
ChainBuddy: An AI Agent System for Generating LLM Pipelines
Venue: arXiv cs.HC 2025
Year: 2025

As large language models (LLMs) advance, their potential applications have grown significantly. However, it remains difficult to evaluate LLM behavior on user-defined tasks and craft effective pipelines to do so. Many users struggle with where to start, often referred to as the "blank page problem." ChainBuddy, an AI workflow generation assistant built into the ChainForge platform, aims to tackle this issue. From a single prompt or chat, ChainBuddy generates a starter evaluative LLM pipeline in ChainForge aligned to the user's requirements. ChainBuddy offers a straightforward and user-friendly way to plan and evaluate LLM behavior and make the process less daunting and more accessible across a wide range of possible tasks and use cases. We report a within-subjects user study comparing ChainBuddy to the baseline interface. We find that when using AI assistance, participants reported a less demanding workload, felt more confident, and produced higher quality pipelines evaluating LLM behavior. However, we also uncover a mismatch between subjective and objective ratings of performance: participants rated their successfulness similarly across conditions, while independent experts rated participant workflows significantly higher with AI assistance. Drawing connections to the Dunning-Kruger effect, we draw design implications for the future of workflow generation assistants to mitigate the risk of over-reliance.
Transformers in Uniform TC$^0$
Venue: arXiv cs.CC 2025
Year: 2025

Previous work has shown that the languages recognized by average-hard attention transformers (AHATs) and softmax-attention transformers (SMATs) are within the circuit complexity class TC$^0$. However, these results assume limited-precision arithmetic: using floating-point numbers with O(log n) bits (where n is the length of the input string), Strobl showed that AHATs can be approximated in L-uniform TC$^0$, and Merrill and Sabharwal showed that SMATs can be approximated in DLOGTIME-uniform TC$^0$. Here, we improve these results, showing that AHATs with no approximation, SMATs with O(poly(n)) bits of floating-point precision, and SMATs with at most $2^{-O(poly(n))}$ absolute error are all in DLOGTIME-uniform TC$^0$.
Mapping Biomedical Ontology Terms to IDs: Effect of Domain Prevalence on Prediction Accuracy
Venue: arXiv cs.CL 2025
Year: 2025

This study evaluates the ability of large language models (LLMs) to map biomedical ontology terms to their corresponding ontology IDs across the Human Phenotype Ontology (HPO), Gene Ontology (GO), and UniProtKB terminologies. Using counts of ontology IDs in the PubMed Central (PMC) dataset as a surrogate for their prevalence in the biomedical literature, we examined the relationship between ontology ID prevalence and mapping accuracy. Results indicate that ontology ID prevalence strongly predicts accurate mapping of HPO terms to HPO IDs, GO terms to GO IDs, and protein names to UniProtKB accession numbers. Higher prevalence of ontology IDs in the biomedical literature correlated with higher mapping accuracy. Predictive models based on receiver operating characteristic (ROC) curves confirmed this relationship. In contrast, this pattern did not apply to mapping protein names to Human Genome Organisation's (HUGO) gene symbols. GPT-4 achieved a high baseline performance (95%) in mapping protein names to HUGO gene symbols, with mapping accuracy unaffected by prevalence. We propose that the high prevalence of HUGO gene symbols in the literature has caused these symbols to become lexicalized, enabling GPT-4 to map protein names to HUGO gene symbols with high accuracy. These findings highlight the limitations of LLMs in mapping ontology terms to low-prevalence ontology IDs and underscore the importance of incorporating ontology ID prevalence into the training and evaluation of LLMs for biomedical applications.
A Value Based Parallel Update MCTS Method for Multi-Agent Cooperative Decision Making of Connected and Automated Vehicles
Venue: arXiv cs.MA 2025
Year: 2025

To solve the problem of lateral and logitudinal joint decision-making of multi-vehicle cooperative driving for connected and automated vehicles (CAVs), this paper proposes a Monte Carlo tree search (MCTS) method with parallel update for multi-agent Markov game with limited horizon and time discounted setting. By analyzing the parallel actions in the multi-vehicle joint action space in the partial-steady-state traffic flow, the parallel update method can quickly exclude potential dangerous actions, thereby increasing the search depth without sacrificing the search breadth. The proposed method is tested in a large number of randomly generated traffic flow. The experiment results show that the algorithm has good robustness and better performance than the SOTA reinforcement learning algorithms and heuristic methods. The vehicle driving strategy using the proposed algorithm shows rationality beyond human drivers, and has advantages in traffic efficiency and safety in the coordinating zone.
MAGICS: Adversarial RL with Minimax Actors Guided by Implicit Critic Stackelberg for Convergent Neural Synthesis of Robot Safety
Venue: arXiv cs.RO 2025
Year: 2025

While robust optimal control theory provides a rigorous framework to compute robot control policies that are provably safe, it struggles to scale to high-dimensional problems, leading to increased use of deep learning for tractable synthesis of robot safety. Unfortunately, existing neural safety synthesis methods often lack convergence guarantees and solution interpretability. In this paper, we present Minimax Actors Guided by Implicit Critic Stackelberg (MAGICS), a novel adversarial reinforcement learning (RL) algorithm that guarantees local convergence to a minimax equilibrium solution. We then build on this approach to provide local convergence guarantees for a general deep RL-based robot safety synthesis algorithm. Through both simulation studies on OpenAI Gym environments and hardware experiments with a 36-dimensional quadruped robot, we show that MAGICS can yield robust control policies outperforming the state-of-the-art neural safety synthesis methods.
Investigation of Time-Frequency Feature Combinations with Histogram Layer Time Delay Neural Networks
Venue: arXiv cs.SD 2025
Year: 2025

While deep learning has reduced the prevalence of manual feature extraction, transformation of data via feature engineering remains essential for improving model performance, particularly for underwater acoustic signals. The methods by which audio signals are converted into time-frequency representations and the subsequent handling of these spectrograms can significantly impact performance. This work demonstrates the performance impact of using different combinations of time-frequency features in a histogram layer time delay neural network. An optimal set of features is identified with results indicating that specific feature combinations outperform single data features.
On the Effectiveness of Neural Operators at Zero-Shot Weather Downscaling
Venue: arXiv cs.CE 2025
Year: 2025

Machine learning (ML) methods have shown great potential for weather downscaling. These data-driven approaches provide a more efficient alternative for producing high-resolution weather datasets and forecasts compared to physics-based numerical simulations. Neural operators, which learn solution operators for a family of partial differential equations (PDEs), have shown great success in scientific ML applications involving physics-driven datasets. Neural operators are grid-resolution-invariant and are often evaluated on higher grid resolutions than they are trained on, i.e., zero-shot super-resolution. Given their promising zero-shot super-resolution performance on dynamical systems emulation, we present a critical investigation of their zero-shot weather downscaling capabilities, which is when models are tasked with producing high-resolution outputs using higher upsampling factors than are seen during training. To this end, we create two realistic downscaling experiments with challenging upsampling factors (e.g., 8x and 15x) across data from different simulations: the European Centre for Medium-Range Weather Forecasts Reanalysis version 5 (ERA5) and the Wind Integration National Dataset Toolkit (WTK). While neural operator-based downscaling models perform better than interpolation and a simple convolutional baseline, we show the surprising performance of an approach that combines a powerful transformer-based model with parameter-free interpolation at zero-shot weather downscaling. We find that this Swin-Transformer-based approach mostly outperforms models with neural operator layers in terms of average error metrics, whereas an Enhanced Super-Resolution Generative Adversarial Network (ESRGAN)-based approach is better than most models in terms of capturing the physics of the ground truth data. We suggest their use in future work as strong baselines.