OpenRaiser/Intern-Atlas huggingface dataset:
Towards Robust Deep Reinforcement Learning against Environmental State Perturbation
Venue: arXiv cs.LG 2025
Year: 2025

Adversarial attacks and robustness in Deep Reinforcement Learning (DRL) have been widely studied in various threat models; however, few consider environmental state perturbations, which are natural in embodied scenarios. To improve the robustness of DRL agents, we formulate the problem of environmental state perturbation, introducing a preliminary non-targeted attack method as a calibration adversary, and then propose a defense framework, named Boosted Adversarial Training (BAT), which first tunes the agents via supervised learning to avoid catastrophic failure and subsequently adversarially trains the agent with reinforcement learning. Extensive experimental results substantiate the vulnerability of mainstream agents under environmental state perturbations and the effectiveness of our proposed attack. The defense results demonstrate that while existing robust reinforcement learning algorithms may not be suitable, our BAT framework can significantly enhance the robustness of agents against environmental state perturbations across various situations.
Evaluating Generative Vehicle Trajectory Models for Traffic Intersection Dynamics
Venue: arXiv cs.AI 2025
Year: 2025

Traffic Intersections are vital to urban road networks as they regulate the movement of people and goods. However, they are regions of conflicting trajectories and are prone to accidents. Deep Generative models of traffic dynamics at signalized intersections can greatly help traffic authorities better understand the efficiency and safety aspects. At present, models are evaluated on computational metrics that primarily look at trajectory reconstruction errors. They are not evaluated online in a `live' microsimulation scenario. Further, these metrics do not adequately consider traffic engineering-specific concerns such as red-light violations, unallowed stoppage, etc. In this work, we provide a comprehensive analytics tool to train, run, and evaluate models with metrics that give better insights into model performance from a traffic engineering point of view. We train a state-of-the-art multi-vehicle trajectory forecasting model on a large dataset collected by running a calibrated scenario of a real-world urban intersection. We then evaluate the performance of the prediction models, online in a microsimulator, under unseen traffic conditions. We show that despite using ideally-behaved trajectories as input, and achieving low trajectory reconstruction errors, the generated trajectories show behaviors that break traffic rules. We introduce new metrics to evaluate such undesired behaviors and present our results.
Naturalistic Language-related Movie-Watching fMRI Task for Detecting Neurocognitive Decline and Disorder
Venue: arXiv cs.CL 2025
Year: 2025

Early detection is crucial for timely intervention aimed at preventing and slowing the progression of neurocognitive disorder (NCD), a common and significant health problem among the aging population. Recent evidence has suggested that language-related functional magnetic resonance imaging (fMRI) may be a promising approach for detecting cognitive decline and early NCD. In this paper, we proposed a novel, naturalistic language-related fMRI task for this purpose. We examined the effectiveness of this task among 97 non-demented Chinese older adults from Hong Kong. The results showed that machine-learning classification models based on fMRI features extracted from the task and demographics (age, gender, and education year) achieved an average area under the curve of 0.86 when classifying participants' cognitive status (labeled as NORMAL vs DECLINE based on their scores on a standard neurcognitive test). Feature localization revealed that the fMRI features most frequently selected by the data-driven approach came primarily from brain regions associated with language processing, such as the superior temporal gyrus, middle temporal gyrus, and right cerebellum. The study demonstrated the potential of the naturalistic language-related fMRI task for early detection of aging-related cognitive decline and NCD.
Efficient Medical Vision-Language Alignment Through Adapting Masked Vision Models
Venue: arXiv cs.CV 2025
Year: 2025

Medical vision-language alignment through cross-modal contrastive learning shows promising performance in image-text matching tasks, such as retrieval and zero-shot classification. However, conventional cross-modal contrastive learning (CLIP-based) methods suffer from suboptimal visual representation capabilities, which also limits their effectiveness in vision-language alignment. In contrast, although the models pretrained via multimodal masked modeling struggle with direct cross-modal matching, they excel in visual representation. To address this contradiction, we propose ALTA (ALign Through Adapting), an efficient medical vision-language alignment method that utilizes only about 8% of the trainable parameters and less than 1/5 of the computational consumption required for masked record modeling. ALTA achieves superior performance in vision-language matching tasks like retrieval and zero-shot classification by adapting the pretrained vision model from masked record modeling. Additionally, we integrate temporal-multiview radiograph inputs to enhance the information consistency between radiographs and their corresponding descriptions in reports, further improving the vision-language alignment. Experimental evaluations show that ALTA outperforms the best-performing counterpart by over 4% absolute points in text-to-image accuracy and approximately 6% absolute points in image-to-text retrieval accuracy. The adaptation of vision-language models during efficient alignment also promotes better vision and language understanding. Code is publicly available at https://github.com/DopamineLcy/ALTA.
Learning to Reason Across Parallel Samples for LLM Reasoning
Venue: arXiv cs.CL 2025
Year: 2025

Scaling test-time compute brings substantial performance gains for large language models (LLMs). By sampling multiple answers and heuristically aggregate their answers (e.g., either through majority voting or using verifiers to rank the answers), one can achieve consistent performance gains in math domains. In this paper, we propose a new way to leverage such multiple sample set. We train a compact LLM, called Sample Set Aggregator (SSA), that takes a concatenated sequence of multiple samples and output the final answer, optimizing it for the answer accuracy with reinforcement learning. Experiments on five reasoning datasets demonstrate both the efficacy and efficiency of SSA. Notably, SSA improves over naive majority voting by 8% pass@5 on MATH. Furthermore, our 3B SSA surpasses model-based re-ranking with a much larger 72B process reward model. Our analysis also shows promising generalization ability of SSA, across sample set sizes, base model families and scales, and tasks. By separating LLMs to generate answers and LLMs to analyze and aggregate sampled answers, our approach can work with the outputs from premier black box models easily and efficiently.
e3: Learning to Explore Enables Extrapolation of Test-Time Compute for LLMs
Venue: arXiv cs.LG 2025
Year: 2025

Test-time scaling offers a promising path to improve LLM reasoning by utilizing more compute at inference time; however, the true promise of this paradigm lies in extrapolation (i.e., improvement in performance on hard problems as LLMs keep "thinking" for longer, beyond the maximum token budget they were trained on). Surprisingly, we find that most existing reasoning models do not extrapolate well. We show that one way to enable extrapolation is by training the LLM to perform in-context exploration: training the LLM to effectively spend its test time budget by chaining operations (such as generation, verification, refinement, etc.), or testing multiple hypotheses before it commits to an answer. To enable in-context exploration, we identify three key ingredients as part of our recipe e3: (1) chaining skills that the base LLM has asymmetric competence in, e.g., chaining verification (easy) with generation (hard), as a way to implement in-context search; (2) leveraging "negative" gradients from incorrect traces to amplify exploration during RL, resulting in longer search traces that chains additional asymmetries; and (3) coupling task difficulty with training token budget during training via a specifically-designed curriculum to structure in-context exploration. Our recipe e3 produces the best known 1.7B model according to AIME'25 and HMMT'25 scores, and extrapolates to 2x the training token budget. Our e3-1.7B model not only attains high pass@1 scores, but also improves pass@k over the base model.
FZOO: Fast Zeroth-Order Optimizer for Fine-Tuning Large Language Models towards Adam-Scale Speed
Venue: arXiv cs.LG 2025
Year: 2025

Fine-tuning large language models (LLMs) often faces GPU memory bottlenecks: the backward pass of first-order optimizers like Adam increases memory usage to more than 10 times the inference level (e.g., 633 GB for OPT-30B). Zeroth-order (ZO) optimizers avoid this cost by estimating gradients only from forward passes, yet existing methods like MeZO usually require many more steps to converge. Can this trade-off between speed and memory in ZO be fundamentally improved? Normalized-SGD demonstrates strong empirical performance with greater memory efficiency than Adam. In light of this, we introduce FZOO, a Fast Zeroth-Order Optimizer toward Adam-Scale Speed. FZOO reduces the total forward passes needed for convergence by employing batched one-sided estimates that adapt step sizes based on the standard deviation of batch losses. It also accelerates per-batch computation through the use of Rademacher random vector perturbations coupled with CUDA's parallel processing. Extensive experiments on diverse models, including RoBERTa-large, OPT (350M-66B), Phi-2, and Llama3, across 11 tasks validate FZOO's effectiveness. On average, FZOO outperforms MeZO by 3 percent in accuracy while requiring 3 times fewer forward passes. For RoBERTa-large, FZOO achieves average improvements of 5.6 percent in accuracy and an 18 times reduction in forward passes compared to MeZO, achieving convergence speeds comparable to Adam. We also provide theoretical analysis proving FZOO's formal equivalence to a normalized-SGD update rule and its convergence guarantees. FZOO integrates smoothly into PEFT techniques, enabling even larger memory savings. Overall, our results make single-GPU, high-speed, full-parameter fine-tuning practical and point toward future work on memory-efficient pre-training.
Cosmos-Drive-Dreams: Scalable Synthetic Driving Data Generation with World Foundation Models
Venue: arXiv cs.CV 2025
Year: 2025

Collecting and annotating real-world data for safety-critical physical AI systems, such as Autonomous Vehicle (AV), is time-consuming and costly. It is especially challenging to capture rare edge cases, which play a critical role in training and testing of an AV system. To address this challenge, we introduce the Cosmos-Drive-Dreams - a synthetic data generation (SDG) pipeline that aims to generate challenging scenarios to facilitate downstream tasks such as perception and driving policy training. Powering this pipeline is Cosmos-Drive, a suite of models specialized from NVIDIA Cosmos world foundation model for the driving domain and are capable of controllable, high-fidelity, multi-view, and spatiotemporally consistent driving video generation. We showcase the utility of these models by applying Cosmos-Drive-Dreams to scale the quantity and diversity of driving datasets with high-fidelity and challenging scenarios. Experimentally, we demonstrate that our generated data helps in mitigating long-tail distribution problems and enhances generalization in downstream tasks such as 3D lane detection, 3D object detection and driving policy learning. We open source our pipeline toolkit, dataset and model weights through the NVIDIA's Cosmos platform. Project page: https://research.nvidia.com/labs/toronto-ai/cosmos_drive_dreams
BG-HOP: A Bimanual Generative Hand-Object Prior
Venue: arXiv cs.CV 2025
Year: 2025

In this work, we present BG-HOP, a generative prior that seeks to model bimanual hand-object interactions in 3D. We address the challenge of limited bimanual interaction data by extending existing single-hand generative priors, demonstrating preliminary results in capturing the joint distribution of hands and objects. Our experiments showcase the model's capability to generate bimanual interactions and synthesize grasps for given objects. We make code and models publicly available.
VidBridge-R1: Bridging QA and Captioning for RL-based Video Understanding Models with Intermediate Proxy Tasks
Venue: arXiv cs.CV 2025
Year: 2025

The "Reason-Then-Respond" paradigm, enhanced by Reinforcement Learning, has shown great promise in advancing Multimodal Large Language Models. However, its application to the video domain has led to specialized models that excel at either question answering (QA) or captioning tasks, but struggle to master both. Naively combining reward signals from these tasks results in mutual performance degradation, which we attribute to a conflict between their opposing task natures. To address this challenge, we propose a novel training framework built upon two intermediate proxy tasks: DarkEventInfer, which presents videos with masked event segments, requiring models to infer the obscured content based on contextual video cues; and MixVidQA, which presents interleaved video sequences composed of two distinct clips, challenging models to isolate and reason about one while disregarding the other. These proxy tasks compel the model to simultaneously develop both holistic, divergent understanding and precise, convergent reasoning capabilities. Embodying this framework, we present VidBridge-R1, the first versatile video reasoning model that effectively bridges the paradigm conflict. Extensive experiments show that VidBridge-R1 achieves significant performance gains on both QA and captioning within one model, demonstrating the efficacy of our approach in fostering more generalizable and powerful video understanding models.
Spiking Neural Models for Decision-Making Tasks with Learning
Venue: arXiv cs.LG 2025
Year: 2025

In cognition, response times and choices in decision-making tasks are commonly modeled using Drift Diffusion Models (DDMs), which describe the accumulation of evidence for a decision as a stochastic process, specifically a Brownian motion, with the drift rate reflecting the strength of the evidence. In the same vein, the Poisson counter model describes the accumulation of evidence as discrete events whose counts over time are modeled as Poisson processes, and has a spiking neurons interpretation as these processes are used to model neuronal activities. However, these models lack a learning mechanism and are limited to tasks where participants have prior knowledge of the categories. To bridge the gap between cognitive and biological models, we propose a biologically plausible Spiking Neural Network (SNN) model for decision-making that incorporates a learning mechanism and whose neurons activities are modeled by a multivariate Hawkes process. First, we show a coupling result between the DDM and the Poisson counter model, establishing that these two models provide similar categorizations and reaction times and that the DDM can be approximated by spiking Poisson neurons. To go further, we show that a particular DDM with correlated noise can be derived from a Hawkes network of spiking neurons governed by a local learning rule. In addition, we designed an online categorization task to evaluate the model predictions. This work provides a significant step toward integrating biologically relevant neural mechanisms into cognitive models, fostering a deeper understanding of the relationship between neural activity and behavior.
Merging Smarter, Generalizing Better: Enhancing Model Merging on OOD Data
Venue: arXiv cs.LG 2025
Year: 2025

Multi-task learning (MTL) concurrently trains a model on diverse task datasets to exploit common features, thereby improving overall performance across the tasks. Recent studies have dedicated efforts to merging multiple independent model parameters into a unified model for MTL, thus circumventing the need for training data and expanding the scope of applicable scenarios of MTL. However, current approaches to model merging predominantly concentrate on enhancing performance within in-domain (ID) datasets, often overlooking their efficacy on out-of-domain (OOD) datasets. In this work, we proposed LwPTV (Layer-wise Pruning Task Vector) by building a saliency score, measuring the redundancy of parameters in task vectors. Designed in this way ours can achieve mask vector for each task and thus perform layer-wise pruning on the task vectors, only keeping the pre-trained model parameters at the corresponding layer in merged model. Owing to its flexibility, our method can be seamlessly integrated with most of existing model merging methods to improve their performance on OOD tasks. Extensive experiments demonstrate that the application of our method results in substantial enhancements in OOD performance while preserving the ability on ID tasks.
WD-DETR: Wavelet Denoising-Enhanced Real-Time Object Detection Transformer for Robot Perception with Event Cameras
Venue: arXiv cs.RO 2025
Year: 2025

Previous studies on event camera sensing have demonstrated certain detection performance using dense event representations. However, the accumulated noise in such dense representations has received insufficient attention, which degrades the representation quality and increases the likelihood of missed detections. To address this challenge, we propose the Wavelet Denoising-enhanced DEtection TRansformer, i.e., WD-DETR network, for event cameras. In particular, a dense event representation is presented first, which enables real-time reconstruction of events as tensors. Then, a wavelet transform method is designed to filter noise in the event representations. Such a method is integrated into the backbone for feature extraction. The extracted features are subsequently fed into a transformer-based network for object prediction. To further reduce inference time, we incorporate the Dynamic Reorganization Convolution Block (DRCB) as a fusion module within the hybrid encoder. The proposed method has been evaluated on three event-based object detection datasets, i.e., DSEC, Gen1, and 1Mpx. The results demonstrate that WD-DETR outperforms tested state-of-the-art methods. Additionally, we implement our approach on a common onboard computer for robots, the NVIDIA Jetson Orin NX, achieving a high frame rate of approximately 35 FPS using TensorRT FP16, which is exceptionally well-suited for real-time perception of onboard robotic systems.
Revolutionizing Clinical Trials: A Manifesto for AI-Driven Transformation
Venue: arXiv cs.CY 2025
Year: 2025

This manifesto represents a collaborative vision forged by leaders in pharmaceuticals, consulting firms, clinical research, and AI. It outlines a roadmap for two AI technologies - causal inference and digital twins - to transform clinical trials, delivering faster, safer, and more personalized outcomes for patients. By focusing on actionable integration within existing regulatory frameworks, we propose a way forward to revolutionize clinical research and redefine the gold standard for clinical trials using AI.
MetaTT: A Global Tensor-Train Adapter for Parameter-Efficient Fine-Tuning
Venue: arXiv cs.LG 2025
Year: 2025

We present MetaTT, a Tensor Train (TT) adapter framework for fine-tuning of pre-trained transformers. MetaTT enables flexible and parameter-efficient model adaptation by using a single shared TT to factorize transformer sub-modules. This factorization indexes key structural dimensions, including layer and matrix type, and can optionally incorporate heads and tasks. This design allows MetaTT's parameter count to scale with the sum, rather than the product, of the modes, resulting in a substantially more compact adapter. Our benchmarks compare MetaTT with LoRA along with recent state-of-the-art matrix and tensor decomposition based fine-tuning methods. We observe that when tested on single-task standard language modeling benchmarks, MetaTT achieves competitive parameter efficiency to accuracy tradeoff. We further demonstrate that MetaTT performs competitively when compared to state-of-the-art methods on multi-task learning. Finally, we leverage the TT-ansatz to design a rank adaptive optimizer inspired by the DMRG method from many-body physics. Our results demonstrate that integrating this approach with AdamW enhances optimization performance for a specified target rank.
LLM-as-a-qualitative-judge: automating error analysis in natural language generation
Venue: arXiv cs.CL 2025
Year: 2025

Prompting large language models (LLMs) to evaluate generated text, known as LLM-as-a-judge, has become a standard evaluation approach in natural language generation (NLG), but is primarily used as a quantitative tool, i.e. with numerical scores as main outputs. In this work, we propose LLM-as-a-qualitative-judge, an LLM-based evaluation approach with the main output being a structured report of common issue types in the NLG system outputs. Our approach is targeted at providing developers with meaningful insights on what improvements can be done to a given NLG system and consists of two main steps, namely open-ended per-instance issue analysis and clustering of the discovered issues using an intuitive cumulative algorithm. We also introduce a strategy for evaluating the proposed approach, coupled with ~300 annotations of issues in instances from 12 NLG datasets. Our results show that instance-specific issues output by LLM-as-a-qualitative-judge match those annotated by humans in 2/3 cases, and that LLM-as-a-qualitative-judge is capable of producing error type reports resembling the reports composed by human annotators. We also demonstrate in a case study how the use of LLM-as-a-qualitative-judge can substantially improve NLG systems performance. Our code and data are publicly available at https://github.com/tunde-ajayi/llm-as-a-qualitative-judge.
MOSE: A Novel Orchestration Framework for Stateful Microservice Migration at the Edge
Venue: arXiv cs.NI 2025
Year: 2025

Stateful migration has emerged as the dominant technology to support microservice mobility at the network edge while ensuring a satisfying experience to mobile end users. This work addresses two pivotal challenges, namely, the implementation and the orchestration of the migration process. We first introduce a novel framework that efficiently implements stateful migration and effectively orchestrates the migration process by fulfilling both network and application KPI targets. Through experimental validation using realistic microservices, we then show that our solution (i) greatly improves migration performance, yielding up to 77% decrease of the migration downtime with respect to the state of the art, and (ii) successfully addresses the strict user QoE requirements of critical scenarios featuring latency-sensitive microservices. Further, we consider two practical use cases, featuring, respectively, a UAV autopilot microservice and a multi-object tracking task, and demonstrate how our framework outperforms current state-of-the-art approaches in configuring the migration process and in meeting KPI targets.