OpenRaiser/Intern-Atlas huggingface dataset:
Corner-Grasp: Multi-Action Grasp Detection and Active Gripper Adaptation for Grasping in Cluttered Environments
Venue: arXiv cs.RO 2025
Year: 2025

Robotic grasping is an essential capability, playing a critical role in enabling robots to physically interact with their surroundings. Despite extensive research, challenges remain due to the diverse shapes and properties of target objects, inaccuracies in sensing, and potential collisions with the environment. In this work, we propose a method for effectively grasping in cluttered bin-picking environments where these challenges intersect. We utilize a multi-functional gripper that combines both suction and finger grasping to handle a wide range of objects. We also present an active gripper adaptation strategy to minimize collisions between the gripper hardware and the surrounding environment by actively leveraging the reciprocating suction cup and reconfigurable finger motion. To fully utilize the gripper's capabilities, we built a neural network that detects suction and finger grasp points from a single input RGB-D image. This network is trained using a larger-scale synthetic dataset generated from simulation. In addition to this, we propose an efficient approach to constructing a real-world dataset that facilitates grasp point detection on various objects with diverse characteristics. Experiment results show that the proposed method can grasp objects in cluttered bin-picking scenarios and prevent collisions with environmental constraints such as a corner of the bin. Our proposed method demonstrated its effectiveness in the 9th Robotic Grasping and Manipulation Competition (RGMC) held at ICRA 2024.
TransientTables: Evaluating LLMs' Reasoning on Temporally Evolving Semi-structured Tables
Venue: arXiv cs.CL 2025
Year: 2025

Humans continuously make new discoveries, and understanding temporal sequence of events leading to these breakthroughs is essential for advancing science and society. This ability to reason over time allows us to identify future steps and understand the effects of financial and political decisions on our lives. However, large language models (LLMs) are typically trained on static datasets, limiting their ability to perform effective temporal reasoning. To assess the temporal reasoning capabilities of LLMs, we present the TRANSIENTTABLES dataset, which comprises 3,971 questions derived from over 14,000 tables, spanning 1,238 entities across multiple time periods. We introduce a template-based question-generation pipeline that harnesses LLMs to refine both templates and questions. Additionally, we establish baseline results using state-of-the-art LLMs to create a benchmark. We also introduce novel modeling strategies centered around task decomposition, enhancing LLM performance.
Recovery Reductions, Conjectures, and Barriers
Venue: arXiv cs.CC 2025
Year: 2025

We introduce and initiate the study of a new model of reductions called the random noise model. In this model, the truth table $T_f$ of the function $f$ is corrupted on a randomly chosen $δ$-fraction of instances. A randomized algorithm $\mathcal{A}$ is a $\left(t, δ, 1-\varepsilon\right)$-recovery reduction for $f$ if: 1. With probability $1-\varepsilon$ over the choice of $δ$-fraction corruptions, given access to the corrupted truth table, the algorithm $\mathcal{A}$ computes $f(ϕ)$ correctly with probability at least $2/3$ on every input $ϕ$. 2. The algorithm $\mathcal{A}$ runs in time $O(t)$. This model, a natural relaxation of average-case complexity, has practical motivations and is mathematically interesting. Pointing towards this, we show the existence of robust deterministic polynomial-time recovery reductions with optimal parameters up to polynomial factors (that is, deterministic $\left( poly(n), 0.5 - 1/poly(n), 1-e^{-Ω(poly(n))} \right)$-recovery reductions) for a large function class SLNP$^S$ containing many of the canonical NP-complete problems - SAT, $k$SAT, $k$CSP, CLIQUE and more. As a corollary, we obtain that the barrier of Bogdanov and Trevisan (2006) for non-adaptive worst-case to average-case reductions does not apply to our mild non-adaptive relaxation. Furthermore, we establish recovery reductions with optimal parameters for Orthogonal Vectors and Parity $k$-Clique problems. These problems exhibit structural similarities to NP-complete problems, with Orthogonal Vectors admitting a $2^{0.5n}$-time reduction from $k$SAT on $n$ variables; and Parity $k$-Clique a subexponential-time reduction from 3SAT.
STAR-1: Safer Alignment of Reasoning LLMs with 1K Data
Venue: arXiv cs.CL 2025
Year: 2025

This paper introduces STAR-1, a high-quality, just-1k-scale safety dataset specifically designed for large reasoning models (LRMs) like DeepSeek-R1. Built on three core principles -- diversity, deliberative reasoning, and rigorous filtering -- STAR-1 aims to address the critical needs for safety alignment in LRMs. Specifically, we begin by integrating existing open-source safety datasets from diverse sources. Then, we curate safety policies to generate policy-grounded deliberative reasoning samples. Lastly, we apply a GPT-4o-based safety scoring system to select training examples aligned with best practices. Experimental results show that fine-tuning LRMs with STAR-1 leads to an average 40% improvement in safety performance across four benchmarks, while only incurring a marginal decrease (e.g., an average of 1.1%) in reasoning ability measured across five reasoning tasks. Extensive ablation studies further validate the importance of our design principles in constructing STAR-1 and analyze its efficacy across both LRMs and traditional LLMs. Our project page is https://ucsc-vlaa.github.io/STAR-1.
Benchmarking Synthetic Tabular Data: A Multi-Dimensional Evaluation Framework
Venue: arXiv cs.LG 2025
Year: 2025

Evaluating the quality of synthetic data remains a key challenge for ensuring privacy and utility in data-driven research. In this work, we present an evaluation framework that quantifies how well synthetic data replicates original distributional properties while ensuring privacy. The proposed approach employs a holdout-based benchmarking strategy that facilitates quantitative assessment through low- and high-dimensional distribution comparisons, embedding-based similarity measures, and nearest-neighbor distance metrics. The framework supports various data types and structures, including sequential and contextual information, and enables interpretable quality diagnostics through a set of standardized metrics. These contributions aim to support reproducibility and methodological consistency in benchmarking of synthetic data generation techniques. The code of the framework is available at https://github.com/mostly-ai/mostlyai-qa.
On the Role of Feedback in Test-Time Scaling of Agentic AI Workflows
Venue: arXiv cs.CL 2025
Year: 2025

Agentic AI workflows (systems that autonomously plan and act) are becoming widespread, yet their task success rate on complex tasks remains low. A promising solution is inference-time alignment, which uses extra compute at test time to improve performance. Inference-time alignment relies on three components: sampling, evaluation, and feedback. While most prior work studies sampling and automatic evaluation, feedback remains underexplored. To study the role of feedback, we introduce Iterative Agent Decoding (IAD), a procedure that repeatedly inserts feedback extracted from different forms of critiques (reward models or AI-generated textual feedback) between decoding steps. Through IAD, we analyze feedback along four dimensions: (1) its role in the accuracy-compute trade-offs with limited inference budget, (2) quantifying the gains over diversity-only baselines such as best-of-N sampling, (3) effectiveness of composing feedback from reward models versus textual critique, and (4) robustness to noisy or low-quality feedback. Across Sketch2Code, Text2SQL, Intercode, and WebShop, we show that IAD with proper integration of high fidelity feedback leads to consistent gains up to 10 percent absolute performance improvement over various baselines such as best-of-N. Our findings underscore feedback as a crucial knob for inference-time alignment of agentic AI workflows with limited inference budget.
Asynchronous Traffic Shaping and Redundancy: Avoiding Unbounded Latencies in In-Car Networks
Venue: arXiv cs.NI 2025
Year: 2025

Time-Sensitive Networking enhances Ethernet-based In-Vehicle Networks (IVNs) with real-time capabilities. Different traffic shaping algorithms have been proposed for time-critical communication, of which the Asynchronous Traffic Shaper (ATS) is an upcoming candidate. However, recent research has shown that ATS can introduce unbounded latencies when shaping traffic from non-FIFO systems. This impacts the applicability of ATS in IVNs, as these networks often use redundancy mechanisms, i.e. Frame Replication and Elimination for Reliability (FRER), that can cause non-FIFO behavior. In this paper, we approach the problem of accumulated delays from ATS by analyzing the scenarios that generate latency and by devising placement and configuration methods for ATS schedulers to prevent this behavior. We evaluate our approach in a simulation environment and show how it prevents conditions of unbounded delays. In an IVN simulation case study, we demonstrate the occurrence of unbounded latencies in a realistic scenario and validate the effectiveness of our solutions in avoiding them.
PIMDAL: Mitigating the Memory Bottleneck in Data Analytics using a Real Processing-in-Memory System
Venue: arXiv cs.AR 2025
Year: 2025

Database Management Systems (DBMSs) are crucial for efficient data management and analytics, and are used in several different application domains. Due to the increasing volume of data a DBMS deals with, current processor-centric architectures (e.g., CPUs, GPUs) suffer from data movement bottlenecks when executing key DBMS operations (e.g., selection, aggregation, ordering, and join). This happens mostly due to the limited memory bandwidth between compute and memory resources. Data-centric architectures like Processing-in-Memory (PIM) are a promising alternative for applications bottlenecked by data, placing compute resources close to where data resides. Previous works have evaluated using PIM for data analytics. However, they either do not use real-world architectures or they consider only a subset of the operators used in analytical queries. This work aims to fully evaluate a data-centric approach to data analytics, by using the real-world UPMEM PIM system. To this end we first present the PIM Data Analytics Library (PIMDAL), which implements four major DB operators: selection, aggregation, ordering and join. Second, we use hardware performance metrics to understand which properties of a PIM system are important for a high-performance implementation. Third, we compare PIMDAL to reference implementations on high-end CPU and GPU systems. Fourth, we use PIMDAL to implement five TPC-H queries to gain insights into analytical queries. We analyze and show how to overcome the three main limitations of the UPMEM system when implementing DB operators: (I) low arithmetic performance, (II) explicit memory management and (III) limited communication between compute units. Our evaluation shows PIMDAL achieves 3.9x the performance of a high-end CPU, on average across the five TPC-H queries.
Efficient Trace for RISC-V: Design, Evaluation, and Integration in CVA6
Venue: arXiv cs.AR 2025
Year: 2025

In this work, we present the design and evaluation of a Processor Tracing System compliant with the RISC-V Efficient Trace specification for Instruction Branch Tracing. We integrate our system into the host domain of a state-of-the-art edge architecture based on CVA6. The proposed Tracing System introduces a total overhead of 9.2% in terms of resource utilization on a Xilinx VCU118 FPGA on the CVA6 subsystem while achieving an average compression rate of 95.1% on platform-specific tests, compared to tracing each full opcode instruction.
Fast Fourier Correlation is a Highly Efficient and Accurate Feature Attribution Algorithm from the Perspective of Control Theory and Game Theory
Venue: arXiv cs.LG 2025
Year: 2025

The study of neural networks from the perspective of Fourier features has garnered significant attention. While existing analytical research suggests that neural networks tend to learn low-frequency features, a clear attribution method for identifying the specific learned Fourier features has remained elusive. To bridge this gap, we propose a novel Fourier feature attribution method grounded in signal decomposition theory. Additionally, we analyze the differences between game-theoretic attribution metrics for Fourier and spatial domain features, demonstrating that game-theoretic evaluation metrics are better suited for Fourier-based feature attribution. Our experiments show that Fourier feature attribution exhibits superior feature selection capabilities compared to spatial domain attribution methods. For instance, in the case of Vision Transformers (ViTs) on the ImageNet dataset, only $8\%$ of the Fourier features are required to maintain the original predictions for $80\%$ of the samples. Furthermore, we compare the specificity of features identified by our method against traditional spatial domain attribution methods. Results reveal that Fourier features exhibit greater intra-class concentration and inter-class distinctiveness, indicating their potential for more efficient classification and explainable AI algorithms.
Enhancing LLMs in Long Code Translation through Instrumentation and Program State Alignment
Venue: arXiv cs.SE 2025
Year: 2025

Code translation aims to transform code between programming languages while preserving functionality, with applications in cross-platform development and software migration. Recent advances in Large Language Models (LLMs) have improved code translation, but challenges remain, particularly in inferring program functionality. These issues worsen with longer and more complex code, where current LLMs struggle to handle length and intricate semantics. To evaluate LLMs on long code translation, we introduce LongTrans, a large-scale execution-based benchmark with C++, Java, and Python programs, ranging from hundreds to thousands of tokens. Our empirical study of 12 LLMs reveals a sharp performance decline as code length increases, with even the best-performing model, GPT-4o, achieving only 57.51% computational accuracy. This highlights the need for further research in long code translation. We argue that code translation should maintain invariant functionality while transforming syntax and keywords across languages. Despite differences in appearance, program states should remain consistent throughout execution. To address this, we propose PAST (Program State Alignment augmented Translation), which integrates instrumentation to capture and align program states during translation. This approach is the first to leverage LLMs to insert instrumentation in both original and translated code, tracing program states at runtime. By prompting the LLM to correct errors based on output traces, we mitigate inconsistencies and enhance translation accuracy. Experimental results show significant improvements, with computational accuracy rising from 57.51% to 84.70% for GPT-4o, 50.68% to 69.97% for Mistral-Large-2, and 52.45% to 76.43% for DeepSeek-Coder-V2. These improvements are consistent across models and datasets, with ablation studies confirming the benefits of instrumentation and state alignment.
Antithetic Sampling for Top-k Shapley Identification
Venue: arXiv cs.LG 2025
Year: 2025

Additive feature explanations rely primarily on game-theoretic notions such as the Shapley value by viewing features as cooperating players. The Shapley value's popularity in and outside of explainable AI stems from its axiomatic uniqueness. However, its computational complexity severely limits practicability. Most works investigate the uniform approximation of all features' Shapley values, needlessly consuming samples for insignificant features. In contrast, identifying the $k$ most important features can already be sufficiently insightful and yields the potential to leverage algorithmic opportunities connected to the field of multi-armed bandits. We propose Comparable Marginal Contributions Sampling (CMCS), a method for the top-$k$ identification problem utilizing a new sampling scheme taking advantage of correlated observations. We conduct experiments to showcase the efficacy of our method in compared to competitive baselines. Our empirical findings reveal that estimation quality for the approximate-all problem does not necessarily transfer to top-$k$ identification and vice versa.
From Prompts to Templates: A Systematic Prompt Template Analysis for Real-world LLMapps
Venue: arXiv cs.SE 2025
Year: 2025

Large Language Models (LLMs) have revolutionized human-AI interaction by enabling intuitive task execution through natural language prompts. Despite their potential, designing effective prompts remains a significant challenge, as small variations in structure or wording can result in substantial differences in output. To address these challenges, LLM-powered applications (LLMapps) rely on prompt templates to simplify interactions, enhance usability, and support specialized tasks such as document analysis, creative content generation, and code synthesis. However, current practices heavily depend on individual expertise and iterative trial-and-error processes, underscoring the need for systematic methods to optimize prompt template design in LLMapps. This paper presents a comprehensive analysis of prompt templates in practical LLMapps. We construct a dataset of real-world templates from open-source LLMapps, including those from leading companies like Uber and Microsoft. Through a combination of LLM-driven analysis and human review, we categorize template components and placeholders, analyze their distributions, and identify frequent co-occurrence patterns. Additionally, we evaluate the impact of identified patterns on LLMs' instruction-following performance through sample testing. Our findings provide practical insights on prompt template design for developers, supporting the broader adoption and optimization of LLMapps in industrial settings.
Epistemic Closure and the Irreversibility of Misalignment: Modeling Systemic Barriers to Alignment Innovation
Venue: arXiv cs.AI 2025
Year: 2025

Efforts to ensure the safe development of artificial general intelligence (AGI) often rely on consensus-based alignment approaches grounded in axiomatic formalism, interpretability, and empirical validation. However, these methods may be structurally unable to recognize or incorporate novel solutions that fall outside their accepted epistemic frameworks. This paper introduces a functional model of epistemic closure, in which cognitive, institutional, social, and infrastructural filters combine to make many alignment proposals illegible to existing evaluation systems. We present a weighted closure model supported by both theoretical and empirical sources, including a meta-analysis performed by an AI system on patterns of rejection and non-engagement with a framework for decentralized collective intelligence (DCI). We argue that the recursive failure to assess models like DCI is not just a sociological oversight but a structural attractor, mirroring the very risks of misalignment we aim to avoid in AGI. Without the adoption of DCI or a similarly recursive model of epistemic correction, we may be on a predictable path toward irreversible misalignment. The development and acceptance of this paper, first through simulated review and then through formal channels, provide a case study supporting its central claim: that epistemic closure can only be overcome by recursive modeling of the constraints that sustain it.
Towards Operationalizing Heterogeneous Data Discovery
Venue: arXiv cs.DB 2025
Year: 2025

Querying and exploring massive collections of data sources, such as data lakes, has been an essential research topic in the database community. Although many efforts have been paid in the field of data discovery and data integration in data lakes, they mainly focused on the scenario where the data lake consists of structured tables. However, real-world enterprise data lakes are always more complicated, where there might be silos of multi-modal data sources with structured, semi-structured and unstructured data. In this paper, we envision an end-to-end system with declarative interface for querying and analyzing the multi-modal data lakes. First of all, we come up with a set of multi-modal operators, which is a unified interface that extends the relational operations with AI-composed ones to express analytical workloads over data sources in various modalities. In addition, we formally define the essential steps in the system, such as data discovery, query planning, query processing and results aggregation. On the basis of it, we then pinpoint the research challenges and discuss potential opportunities in realizing and optimizing them with advanced techniques brought by Large Language Models. Finally, we demonstrate our preliminary attempts to address this problem and suggest the future plan for this research topic.
An Introductory Survey to Autoencoder-based Deep Clustering -- Sandboxes for Combining Clustering with Deep Learning
Venue: arXiv cs.LG 2025
Year: 2025

Autoencoders offer a general way of learning low-dimensional, non-linear representations from data without labels. This is achieved without making any particular assumptions about the data type or other domain knowledge. The generality and domain agnosticism in combination with their simplicity make autoencoders a perfect sandbox for researching and developing novel (deep) clustering algorithms. Clustering methods group data based on similarity, a task that benefits from the lower-dimensional representation learned by an autoencoder, mitigating the curse of dimensionality. Specifically, the combination of deep learning with clustering, called Deep Clustering, enables to learn a representation tailored to specific clustering tasks, leading to high-quality results. This survey provides an introduction to fundamental autoencoder-based deep clustering algorithms that serve as building blocks for many modern approaches.
ContrastScore: Towards Higher Quality, Less Biased, More Efficient Evaluation Metrics with Contrastive Evaluation
Venue: arXiv cs.CL 2025
Year: 2025

Evaluating the quality of generated text automatically remains a significant challenge. Conventional reference-based metrics have been shown to exhibit relatively weak correlation with human evaluations. Recent research advocates the use of large language models (LLMs) as source-based metrics for natural language generation (NLG) assessment. While promising, LLM-based metrics, particularly those using smaller models, still fall short in aligning with human judgments. In this work, we introduce ContrastScore, a contrastive evaluation metric designed to enable higher-quality, less biased, and more efficient assessment of generated text. We evaluate ContrastScore on two NLG tasks: machine translation and summarization. Experimental results show that ContrastScore consistently achieves stronger correlation with human judgments than both single-model and ensemble-based baselines. Notably, ContrastScore based on Qwen 3B and 0.5B even outperforms Qwen 7B, despite having only half as many parameters, demonstrating its efficiency. Furthermore, it effectively mitigates common evaluation biases such as length and likelihood preferences, resulting in more robust automatic evaluation.