OpenRaiser/Intern-Atlas huggingface dataset:
SaLon3R: Structure-aware Long-term Generalizable 3D Reconstruction from Unposed Images
Venue: arXiv cs.CV 2025
Year: 2025

Recent advances in 3D Gaussian Splatting (3DGS) have enabled generalizable, on-the-fly reconstruction of sequential input views. However, existing methods often predict per-pixel Gaussians and combine Gaussians from all views as the scene representation, leading to substantial redundancies and geometric inconsistencies in long-duration video sequences. To address this, we propose SaLon3R, a novel framework for Structure-aware, Long-term 3DGS Reconstruction. To our best knowledge, SaLon3R is the first online generalizable GS method capable of reconstructing over 50 views in over 10 FPS, with 50% to 90% redundancy removal. Our method introduces compact anchor primitives to eliminate redundancy through differentiable saliency-aware Gaussian quantization, coupled with a 3D Point Transformer that refines anchor attributes and saliency to resolve cross-frame geometric and photometric inconsistencies. Specifically, we first leverage a 3D reconstruction backbone to predict dense per-pixel Gaussians and a saliency map encoding regional geometric complexity. Redundant Gaussians are compressed into compact anchors by prioritizing high-complexity regions. The 3D Point Transformer then learns spatial structural priors in 3D space from training data to refine anchor attributes and saliency, enabling regionally adaptive Gaussian decoding for geometric fidelity. Without known camera parameters or test-time optimization, our approach effectively resolves artifacts and prunes the redundant 3DGS in a single feed-forward pass. Experiments on multiple datasets demonstrate our state-of-the-art performance on both novel view synthesis and depth estimation, demonstrating superior efficiency, robustness, and generalization ability for long-term generalizable 3D reconstruction. Project Page: https://wrld.github.io/SaLon3R/.
Operator Flow Matching for Timeseries Forecasting
Venue: arXiv cs.LG 2025
Year: 2025

Forecasting high-dimensional, PDE-governed dynamics remains a core challenge for generative modeling. Existing autoregressive and diffusion-based approaches often suffer cumulative errors and discretisation artifacts that limit long, physically consistent forecasts. Flow matching offers a natural alternative, enabling efficient, deterministic sampling. We prove an upper bound on FNO approximation error and propose TempO, a latent flow matching model leveraging sparse conditioning with channel folding to efficiently process 3D spatiotemporal fields using time-conditioned Fourier layers to capture multi-scale modes with high fidelity. TempO outperforms state-of-the-art baselines across three benchmark PDE datasets, and spectral analysis further demonstrates superior recovery of multi-scale dynamics, while efficiency studies highlight its parameter- and memory-light design compared to attention-based or convolutional regressors.
A Courcelle-Type Metatheorem for Rank-Bounded Unconstrained Binary Optimization
Venue: arXiv cs.CC 2025
Year: 2025

We present the first uniform XP exact algorithm for unconstrained binary optimization of quadratic, polynomial, fractional, and other objectives under a single parameter, the differentially affine (DA) rank $r$. An objective $f: \{0,1\}^n \to \mathbb{R}$ has DA rank $r$ if there is a feature map $ψ: \{0,1\}^n \to \mathbb{R}^r$ such that each coordinate flip has finite gain $Δ_{\pm e_i}f(x)=\langle v_{\pm e_i},ψ(x)\rangle+β_{\pm e_i}$. Our algorithm enumerates the $O((2n)^r)$ chambers of the induced hyperplane arrangement and applies a two-sided local-optimality test: a solution exists on a chamber and is unique iff $\operatorname{sign}Δ_{+e_i}=-\operatorname{sign}Δ_{-e_i}$ for all $i$, in which case $x_i^\star=1$ iff $Δ_{+e_i}>0$. This yields $n^{O(r)}$ time with $O(n)$ decoding per chamber. The framework uniformly covers a wide range of nonlinear functions, including all rank-$r$ quadratics, low-Waring-rank pseudo-Boolean polynomials, finite products/ratios on positive domains, finite-basis separable sums via explicit lifts, Taylor-series approximations of analytic functions, and compositions of all the foregoing. Applications include Ising spin models, optimal experimental design, portfolio optimization, and robust statistics. Prior to our work, only specialized subcases involving sparsity, convexity, submodularity, etc. were known to be tractable. Analogous in spirit to Courcelle's theorem (MSO on bounded treewidth graphs) and Grohe's meta-theorems for constraint satisfaction, our result replaces logical width with analytic rank for nonlinear pseudo-Boolean optimization.
Structure-R1: Dynamically Leveraging Structural Knowledge in LLM Reasoning through Reinforcement Learning
Venue: arXiv cs.CL 2025
Year: 2025

Large language models (LLMs) have demonstrated remarkable advances in reasoning capabilities. However, their performance remains constrained by limited access to explicit and structured domain knowledge. Retrieval-Augmented Generation (RAG) addresses this by incorporating external information as context to augment reasoning. Nevertheless, traditional RAG systems typically operate over unstructured and fragmented text, resulting in low information density and suboptimal reasoning. To overcome these limitations, we propose \textsc{Structure-R1}, a novel framework that transforms retrieved content into structured representations optimized for reasoning. Leveraging reinforcement learning, \textsc{Structure-R1} learns a content representation policy that dynamically generates and adapts structural formats based on the demands of multi-step reasoning. Unlike prior methods that rely on fixed schemas, our approach adopts a generative paradigm capable of producing task-specific structures tailored to individual queries. To ensure the quality and reliability of these representations, we introduce a self-reward structural verification mechanism that checks whether the generated structures are both correct and self-contained. Extensive experiments on seven knowledge-intensive benchmarks show that \textsc{Structure-R1} consistently achieves competitive performance with a 7B-scale backbone model and matches the performance of much larger models. Additionally, our theoretical analysis demonstrates how structured representations enhance reasoning by improving information density and contextual clarity. Our code and data are available at: https://github.com/jlwu002/sr1.
Machine Learning for Early Detection of Meningitis: Stacked Ensemble Learning with EHR Data
Venue: arXiv cs.LG 2025
Year: 2025

We utilized a cohort of 214 meningitis patients and 46,303 non-meningitis patients from the MIMIC-III database. After extensive data preprocessing, which included ICD-based cohort selection, one-hot encoding of coding, and a two-stage feature selection process (for both the training set and the testing sets), clinically relevant features such as gender and high-risk ICD codes (including subarachnoid hemorrhage, secondary malignant neoplasm of the brain, and generalized epilepsy) are selected. Overall, these clinically reasonable and temporally adherent features provided excellent modeling performance. Three models (Random Forest, LightGBM, and Deep Neural Networks (DNN) are trained as base models for Ensemble Learning. Base model outputs are aggregated and stacked into a meta model (Logistic Regression) that uses the base model outputs as input values in training. Ultimately, soldier outputs (AUC of Testing Set 1: 0.9637, AUC of Testing Set 2: 0.9472) are obtained through ensemble learning. We created a challenging condition for diagnosing meningitis, simulating a real-world ER (Emergency Room) scenario to enhance clinical use in real-world applications. While directly deploying a diagnostic tool that clinicians can use is challenging, this paper paves the way for a potential future AI-driven diagnostic approach for meningitis using Ensemble Learning.
LVI-Q: Robust LiDAR-Visual-Inertial-Kinematic Odometry for Quadruped Robots Using Tightly-Coupled and Efficient Alternating Optimization
Venue: arXiv cs.RO 2025
Year: 2025

Autonomous navigation for legged robots in complex and dynamic environments relies on robust simultaneous localization and mapping (SLAM) systems to accurately map surroundings and localize the robot, ensuring safe and efficient operation. While prior sensor fusion-based SLAM approaches have integrated various sensor modalities to improve their robustness, these algorithms are still susceptible to estimation drift in challenging environments due to their reliance on unsuitable fusion strategies. Therefore, we propose a robust LiDAR-visual-inertial-kinematic odometry system that integrates information from multiple sensors, such as a camera, LiDAR, inertial measurement unit (IMU), and joint encoders, for visual and LiDAR-based odometry estimation. Our system employs a fusion-based pose estimation approach that runs optimization-based visual-inertial-kinematic odometry (VIKO) and filter-based LiDAR-inertial-kinematic odometry (LIKO) based on measurement availability. In VIKO, we utilize the footpreintegration technique and robust LiDAR-visual depth consistency using superpixel clusters in a sliding window optimization. In LIKO, we incorporate foot kinematics and employ a point-toplane residual in an error-state iterative Kalman filter (ESIKF). Compared with other sensor fusion-based SLAM algorithms, our approach shows robust performance across public and longterm datasets.
DriveGen3D: Boosting Feed-Forward Driving Scene Generation with Efficient Video Diffusion
Venue: arXiv cs.CV 2025
Year: 2025

We present DriveGen3D, a novel framework for generating high-quality and highly controllable dynamic 3D driving scenes that addresses critical limitations in existing methodologies. Current approaches to driving scene synthesis either suffer from prohibitive computational demands for extended temporal generation, focus exclusively on prolonged video synthesis without 3D representation, or restrict themselves to static single-scene reconstruction. Our work bridges this methodological gap by integrating accelerated long-term video generation with large-scale dynamic scene reconstruction through multimodal conditional control. DriveGen3D introduces a unified pipeline consisting of two specialized components: FastDrive-DiT, an efficient video diffusion transformer for high-resolution, temporally coherent video synthesis under text and Bird's-Eye-View (BEV) layout guidance; and FastRecon3D, a feed-forward module that rapidly builds 3D Gaussian representations across time, ensuring spatial-temporal consistency. DriveGen3D enable the generation of long driving videos (up to $800\times424$ at $12$ FPS) and corresponding 3D scenes, achieving state-of-the-art results while maintaining efficiency.
TACL: Threshold-Adaptive Curriculum Learning Strategy for Enhancing Medical Text Understanding
Venue: arXiv cs.CL 2025
Year: 2025

Medical texts, particularly electronic medical records (EMRs), are a cornerstone of modern healthcare, capturing critical information about patient care, diagnoses, and treatments. These texts hold immense potential for advancing clinical decision-making and healthcare analytics. However, their unstructured nature, domain-specific language, and variability across contexts make automated understanding an intricate challenge. Despite the advancements in natural language processing, existing methods often treat all data as equally challenging, ignoring the inherent differences in complexity across clinical records. This oversight limits the ability of models to effectively generalize and perform well on rare or complex cases. In this paper, we present TACL (Threshold-Adaptive Curriculum Learning), a novel framework designed to address these challenges by rethinking how models interact with medical texts during training. Inspired by the principle of progressive learning, TACL dynamically adjusts the training process based on the complexity of individual samples. By categorizing data into difficulty levels and prioritizing simpler cases early in training, the model builds a strong foundation before tackling more complex records. By applying TACL to multilingual medical data, including English and Chinese clinical records, we observe significant improvements across diverse clinical tasks, including automatic ICD coding, readmission prediction and TCM syndrome differentiation. TACL not only enhances the performance of automated systems but also demonstrates the potential to unify approaches across disparate medical domains, paving the way for more accurate, scalable, and globally applicable medical text understanding solutions.
On the Generalization Properties of Learning the Random Feature Models with Learnable Activation Functions
Venue: arXiv cs.LG 2025
Year: 2025

This paper studies the generalization properties of a recently proposed kernel method, the Random Feature models with Learnable Activation Functions (RFLAF). By applying a data-dependent sampling scheme for generating features, we provide by far the sharpest bounds on the required number of features for learning RFLAF in both the regression and classification tasks. We provide a unified theorem that describes the complexity of the feature number $s$, and discuss the results for the plain sampling scheme and the data-dependent leverage weighted scheme. Through weighted sampling, the bound on $s$ in the MSE loss case is improved from $Ω(1/ε^2)$ to $\tildeΩ((1/ε)^{1/t})$ in general $(t\geq 1)$, and even to $Ω(1)$ when the Gram matrix has a finite rank. For the Lipschitz loss case, the bound is improved from $Ω(1/ε^2)$ to $\tildeΩ((1/ε^2)^{1/t})$. To learn the weighted RFLAF, we also propose an algorithm to find an approximate kernel and then apply the leverage weighted sampling. Empirical results show that the weighted RFLAF achieves the same performances with a significantly fewer number of features compared to the plainly sampled RFLAF, validating our theories and the effectiveness of this method.
GaussGym: An open-source real-to-sim framework for learning locomotion from pixels
Venue: arXiv cs.RO 2025
Year: 2025

We present a novel approach for photorealistic robot simulation that integrates 3D Gaussian Splatting as a drop-in renderer within vectorized physics simulators such as IsaacGym. This enables unprecedented speed -- exceeding 100,000 steps per second on consumer GPUs -- while maintaining high visual fidelity, which we showcase across diverse tasks. We additionally demonstrate its applicability in a sim-to-real robotics setting. Beyond depth-based sensing, our results highlight how rich visual semantics improve navigation and decision-making, such as avoiding undesirable regions. We further showcase the ease of incorporating thousands of environments from iPhone scans, large-scale scene datasets (e.g., GrandTour, ARKit), and outputs from generative video models like Veo, enabling rapid creation of realistic training worlds. This work bridges high-throughput simulation and high-fidelity perception, advancing scalable and generalizable robot learning. All code and data will be open-sourced for the community to build upon. Videos, code, and data available at https://escontrela.me/gauss_gym/.
TKHist: Cardinality Estimation for Join Queries via Histograms with Dominant Attribute Correlation Finding
Venue: arXiv cs.DB 2025
Year: 2025

Cardinality estimation has long been crucial for cost-based database optimizers in identifying optimal query execution plans, attracting significant attention over the past decades. While recent advancements have significantly improved the accuracy of multi-table join query estimations, these methods introduce challenges such as higher space overhead, increased latency, and greater complexity, especially when integrated with the binary join framework. In this paper, we introduce a novel cardinality estimation method named TKHist, which addresses these challenges by relaxing the uniformity assumption in histograms. TKHist captures bin-wise non-uniformity information, enabling accurate cardinality estimation for join queries without filter predicates. Furthermore, we explore the attribute independent assumption, which can lead to significant over-estimation rather than under-estimation in multi-table join queries. To address this issue, we propose the dominating join path correlation discovery algorithm to highlight and manage correlations between join keys and filter predicates. Our extensive experiments on popular benchmarks demonstrate that TKHist reduces error variance by 2-3 orders of magnitude compared to SOTA methods, while maintaining comparable or lower memory usage.
Content and Access Networks Synergies: Tradeoffs in Public and Private Investments by Content Providers
Venue: arXiv cs.NI 2025
Year: 2025

The ubiquity of smartphones has fueled content consumption worldwide, leading to an ever-increasing demand for a better Internet experience. This has necessitated an upgrade of the capacity of the access network. The Internet service providers (ISPs) have been demanding that the content providers (CPs) share the cost of upgrading access network infrastructure. A \emph{public investment} in the infrastructure of a neutral ISP will boost the profit of the CPs, and hence, seems a rational strategy. A CP can also make a \emph{private investment} in its infrastructure and boost its profits. In this paper, we study the trade-off between public and private investments by a CP when the decision is made under different types of interaction between them. Specifically, we consider four interaction models between CPs -- centralized allocation, cooperative game, non-cooperative game, and a bargaining game -- and determine the public and private investment for each model. Via numerical results, we evaluate the impact of different incentive structures on the utility of the CPs. We see that the bargaining game can result in higher public investment than the non-cooperative and centralized models. However, this benefit gets reduced if the CPs are incentivized to invest in private infrastructure.
Towards Flash Thinking via Decoupled Advantage Policy Optimization
Venue: arXiv cs.AI 2025
Year: 2025

Recent Large Reasoning Models (LRMs) have achieved remarkable performance in solving complex problems via supervised fine-tuning (SFT) and reinforcement learning (RL). Although existing RL algorithms significantly enhance model accuracy, they still suffer from excessively lengthy responses and overthinking issues, resulting in increased inference latency and computational consumption, especially for simple tasks that require minimal reasoning. To address this, we propose a novel RL framework, DEPO, to reduce inefficient reasoning for models. Our method mainly consists of three core components: (1) an innovative advantage decoupled algorithm to guide model reduction of inefficient tokens; (2) a difficulty-aware length penalty to lower the overall length of model responses; (3) an advantage clipping method to prevent bias in policy optimization. In our experiments, applied to DeepSeek-Distill-Qwen-7B and DeepSeek-Distill-Qwen-1.5B as base models, DEPO achieves a significant reduction in sequence length by 39% and reduces excessive reasoning paths in inefficient tokens, while outperforming the base model in overall accuracy.
VocalBench-DF: A Benchmark for Evaluating Speech LLM Robustness to Disfluency
Venue: arXiv cs.CL 2025
Year: 2025

While Speech Large Language Models (Speech-LLMs) show strong performance in many applications, their robustness is critically under-tested, especially to speech disfluency. Existing evaluations often rely on idealized inputs, overlooking common disfluencies, particularly those associated with conditions like Parkinson's disease. This work investigates whether current Speech-LLMs can maintain performance when interacting with users who have speech impairments. To facilitate this inquiry, we introduce VocalBench-DF, a framework for the systematic evaluation of disfluency across a multi-dimensional taxonomy. Our evaluation of 22 mainstream Speech-LLMs reveals substantial performance degradation, indicating that their real-world readiness is limited. Further analysis identifies phoneme-level processing and long-context modeling as primary bottlenecks responsible for these failures. Strengthening recognition and reasoning capability from components and pipelines can substantially improve robustness. These findings highlight the urgent need for new methods to improve disfluency handling and build truly inclusive Speech-LLMs
Reviving, reproducing, and revisiting Axelrod's second tournament
Venue: arXiv cs.GT 2025
Year: 2025

Direct reciprocity, typically studied using the Iterated Prisoner's Dilemma (IPD), is central to understanding how cooperation evolves. In the 1980s, Robert Axelrod organized two influential IPD computer tournaments, where Tit for Tat (TFT) emerged as the winner. Yet the archival record is incomplete: for the first tournament only a report survives, and for the second the submitted Fortran strategies remain but not the final tournament code. This gap raises questions about the reproducibility of these historically influential results. We recreate the second tournament by restoring the surviving Fortran implementations to compile with modern compilers and by building a Python interface that calls the original strategy functions without modification. Using the open-source Axelrod-Python library to run tournaments, we reproduce Axelrod's main findings: TFT prevails, and successful play tends to be cooperative, responsive to defection, and willing to forgive. Strategy rankings remain mostly unchanged. We then assess the robustness of the originally submitted strategies by incorporating additional strategies, and we run one of the largest IPD tournaments to date. We find that the original tournament was especially favorable to TFT and that it is difficult to dethrone TFT when the original submissions make up the majority of the field. We also observe that several lesser-known submissions perform strongly in more diverse settings and under noise. Our contributions are: (i) the first systematic reproduction of Axelrod's second tournament; (ii) a contemporary reassessment of the original results in light of new strategies and settings; and (iii) a preserved, easy-to-use implementation of the second-tournament strategies within Axelrod-Python to support future research.
Identifying curriculum disruptions in engineering education through serious gaming
Venue: arXiv cs.CY 2025
Year: 2025

This workshop introduces participants to SUCRE, a serious game designed to enhance curriculum resilience in higher education by simulating crisis scenarios. While applicable to various disciplines, this session focuses on engineering curricula, identifying discipline-specific challenges and potential adaptations. Participants will engage in Step 1 of the game, analyzing trigger events and their impacts on curriculum structures. At the end of the workshop, attendees will be able to identify key triggers that may affect curricula, assess their cascading effects, and reflect on the applicability of SUCRE within their own institutions.