OpenRaiser/Intern-Atlas huggingface dataset:
Grounding LLMs For Robot Task Planning Using Closed-loop State Feedback
Venue: arXiv cs.RO 2025
Year: 2025

Planning algorithms decompose complex problems into intermediate steps that can be sequentially executed by robots to complete tasks. Recent works have employed Large Language Models (LLMs) for task planning, using natural language to generate robot policies in both simulation and real-world environments. LLMs like GPT-4 have shown promising results in generalizing to unseen tasks, but their applicability is limited due to hallucinations caused by insufficient grounding in the robot environment. The robustness of LLMs in task planning can be enhanced with environmental state information and feedback. In this paper, we introduce a novel approach to task planning that utilizes two separate LLMs for high-level planning and low-level control, improving task-related success rates and goal condition recall. Our algorithm, \textit{BrainBody-LLM}, draws inspiration from the human neural system, emulating its brain-body architecture by dividing planning across two LLMs in a structured, hierarchical manner. BrainBody-LLM implements a closed-loop feedback mechanism, enabling learning from simulator errors to resolve execution errors in complex settings. We demonstrate the successful application of BrainBody-LLM in the VirtualHome simulation environment, achieving a 29\% improvement in task-oriented success rates over competitive baselines with the GPT-4 backend. Additionally, we evaluate our algorithm on seven complex tasks using a realistic physics simulator and the Franka Research 3 robotic arm, comparing it with various state-of-the-art LLMs. Our results show advancements in the reasoning capabilities of recent LLMs, which enable them to learn from raw simulator/controller errors to correct plans, making them highly effective in robotic task planning.
Forecasting high-impact research topics via machine learning on evolving knowledge graphs
Venue: arXiv cs.DL 2025
Year: 2025

The exponential growth in scientific publications poses a severe challenge for human researchers. It forces attention to more narrow sub-fields, which makes it challenging to discover new impactful research ideas and collaborations outside one's own field. While there are ways to predict a scientific paper's future citation counts, they need the research to be finished and the paper written, usually assessing impact long after the idea was conceived. Here we show how to predict the impact of onsets of ideas that have never been published by researchers. For that, we developed a large evolving knowledge graph built from more than 21 million scientific papers. It combines a semantic network created from the content of the papers and an impact network created from the historic citations of papers. Using machine learning, we can predict the dynamic of the evolving network into the future with high accuracy (AUC values beyond 0.9 for most experiments), and thereby the impact of new research directions. We envision that the ability to predict the impact of new ideas will be a crucial component of future artificial muses that can inspire new impactful and interesting scientific ideas.
Confidence-aware Fine-tuning of Sequential Recommendation Systems via Conformal Prediction
Venue: arXiv cs.IR 2025
Year: 2025

In Sequential Recommendation Systems (SRecsys), traditional training approaches that rely on Cross-Entropy (CE) loss often prioritize accuracy but fail to align well with user satisfaction metrics. CE loss focuses on maximizing the confidence of the ground truth item, which is challenging to achieve universally across all users and sessions. It also overlooks the practical acceptability of ranking the ground truth item within the top-$K$ positions, a common metric in SRecsys. To address this limitation, we propose \textbf{CPFT}, a novel fine-tuning framework that integrates Conformal Prediction (CP)-based losses with CE loss to optimize accuracy alongside confidence that better aligns with widely used top-$K$ metrics. CPFT embeds CP principles into the training loop using differentiable proxy losses and computationally efficient calibration strategies, enabling the generation of high-confidence prediction sets. These sets focus on items with high relevance while maintaining robust coverage guarantees. Extensive experiments on five real-world datasets and four distinct sequential models demonstrate that CPFT improves precision metrics and confidence calibration. Our results highlight the importance of confidence-aware fine-tuning in delivering accurate, trustworthy recommendations that enhance user satisfaction.
Enhancing Sequential Model Performance with Squared Sigmoid TanH (SST) Activation Under Data Constraints
Venue: arXiv cs.LG 2025
Year: 2025

Activation functions enable neural networks to learn complex representations by introducing non-linearities. While feedforward models commonly use rectified linear units, sequential models like recurrent neural networks, long short-term memory (LSTMs) and gated recurrent units (GRUs) still rely on Sigmoid and TanH activation functions. However, these classical activation functions often struggle to model sparse patterns when trained on small sequential datasets to effectively capture temporal dependencies. To address this limitation, we propose squared Sigmoid TanH (SST) activation specifically tailored to enhance the learning capability of sequential models under data constraints. SST applies mathematical squaring to amplify differences between strong and weak activations as signals propagate over time, facilitating improved gradient flow and information filtering. We evaluate SST-powered LSTMs and GRUs for diverse applications, such as sign language recognition, regression, and time-series classification tasks, where the dataset is limited. Our experiments demonstrate that SST models consistently outperform RNN-based models with baseline activations, exhibiting improved test accuracy.
Deterministic identification over channels with finite output: a dimensional perspective on superlinear rates
Venue: arXiv cs.IT 2025
Year: 2025

Following initial work by JaJa, Ahlswede and Cai, and inspired by a recent renewed surge in interest in deterministic identification (DI) via noisy channels, we consider the problem in its generality for memoryless channels with finite output, but arbitrary input alphabets. Such a channel is essentially given by its output distributions as a subset in the probability simplex. Our main findings are that the maximum length of messages thus identifiable scales superlinearly as $R\,n\log n$ with the block length $n$, and that the optimal rate $R$ is bounded in terms of the covering (aka Minkowski, or Kolmogorov, or entropy) dimension $d$ of a certain algebraic transformation of the output set: $\frac14 d \leq R \leq \frac12 d$. Remarkably, both the lower and upper Minkowski dimensions play a role in this result. Along the way, we present a "Hypothesis Testing Lemma" showing that it is sufficient to ensure pairwise reliable distinguishability of the output distributions to construct a DI code. Although we do not know the exact capacity formula, we can conclude that the DI capacity exhibits superactivation: there exist channels whose capacities individually are zero, but whose product has positive capacity. We also generalise these results to classical-quantum channels with finite-dimensional output quantum system, in particular to quantum channels on finite-dimensional quantum systems under the constraint that the identification code can only use tensor product inputs.
Fourier Circuits in Neural Networks and Transformers: A Case Study of Modular Arithmetic with Multiple Inputs
Venue: arXiv cs.LG 2025
Year: 2025

In the evolving landscape of machine learning, a pivotal challenge lies in deciphering the internal representations harnessed by neural networks and Transformers. Building on recent progress toward comprehending how networks execute distinct target functions, our study embarks on an exploration of the underlying reasons behind networks adopting specific computational strategies. We direct our focus to the complex algebraic learning task of modular addition involving $k$ inputs. Our research presents a thorough analytical characterization of the features learned by stylized one-hidden layer neural networks and one-layer Transformers in addressing this task. A cornerstone of our theoretical framework is the elucidation of how the principle of margin maximization shapes the features adopted by one-hidden layer neural networks. Let $p$ denote the modulus, $D_p$ denote the dataset of modular arithmetic with $k$ inputs and $m$ denote the network width. We demonstrate that a neuron count of $ m \geq 2^{2k-2} \cdot (p-1) $, these networks attain a maximum $ L_{2,k+1} $-margin on the dataset $ D_p $. Furthermore, we establish that each hidden-layer neuron aligns with a specific Fourier spectrum, integral to solving modular addition problems. By correlating our findings with the empirical observations of similar studies, we contribute to a deeper comprehension of the intrinsic computational mechanisms of neural networks. Furthermore, we observe similar computational mechanisms in attention matrices of one-layer Transformers. Our work stands as a significant stride in unraveling their operation complexities, particularly in the realm of complex algebraic tasks.
Representation Surgery: Theory and Practice of Affine Steering
Venue: arXiv cs.LG 2025
Year: 2025

Language models often exhibit undesirable behavior, e.g., generating toxic or gender-biased text. In the case of neural language models, an encoding of the undesirable behavior is often present in the model's representations. Thus, one natural (and common) approach to prevent the model from exhibiting undesirable behavior is to steer the model's representations in a manner that reduces the probability of it generating undesirable text. This paper investigates the formal and empirical properties of steering functions, i.e., transformation of the neural language model's representations that alter its behavior. First, we derive two optimal, in the least-squares sense, affine steering functions under different constraints. Our theory provides justification for existing approaches and offers a novel, improved steering approach. Second, we offer a series of experiments that demonstrate the empirical effectiveness of the methods in mitigating bias and reducing toxic generation.
ProtChatGPT: Towards Understanding Proteins with Large Language Models
Venue: arXiv cs.CE 2025
Year: 2025

Protein research is crucial in various fundamental disciplines, but understanding their intricate structure-function relationships remains challenging. Recent Large Language Models (LLMs) have made significant strides in comprehending task-specific knowledge, suggesting the potential for ChatGPT-like systems specialized in protein to facilitate basic research. In this work, we introduce ProtChatGPT, which aims at learning and understanding protein structures via natural languages. ProtChatGPT enables users to upload proteins, ask questions, and engage in interactive conversations to produce comprehensive answers. The system comprises protein encoders, a Protein-Language Pertaining Transformer (PLP-former), a projection adapter, and an LLM. The protein first undergoes protein encoders and PLP-former to produce protein embeddings, which are then projected by the adapter to conform with the LLM. The LLM finally combines user questions with projected embeddings to generate informative answers. Experiments show that ProtChatGPT can produce promising responses to proteins and their corresponding questions. We hope that ProtChatGPT could form the basis for further exploration and application in protein research. Code and our pre-trained model will be publicly available.
Efficient $Φ$-Regret Minimization with Low-Degree Swap Deviations in Extensive-Form Games
Venue: arXiv cs.GT 2025
Year: 2025

Recent breakthrough results by Dagan, Daskalakis, Fishelson and Golowich [2023] and Peng and Rubinstein [2023] established an efficient algorithm attaining at most $ε$ swap regret over extensive-form strategy spaces of dimension $N$ in $N^{\tilde O(1/ε)}$ rounds. On the other extreme, Farina and Pipis [2023] developed an efficient algorithm for minimizing the weaker notion of linear-swap regret in $\mathsf{poly}(N)/ε^2$ rounds. In this paper, we develop efficient parameterized algorithms for regimes between these two extremes. We introduce the set of $k$-mediator deviations, which generalize the untimed communication deviations recently introduced by Zhang, Farina and Sandholm [2024] to the case of having multiple mediators, and we develop algorithms for minimizing the regret with respect to this set of deviations in $N^{O(k)}/ε^2$ rounds. Moreover, by relating $k$-mediator deviations to low-degree polynomials, we show that regret minimization against degree-$k$ polynomial swap deviations is achievable in $N^{O(kd)^3}/ε^2$ rounds, where $d$ is the depth of the game, assuming a constant branching factor. For a fixed degree $k$, this is polynomial for Bayesian games and quasipolynomial more broadly when $d = \mathsf{polylog} N$ -- the usual balancedness assumption on the game tree.
Road Graph Generator: Mapping roads at construction sites from GPS data
Venue: arXiv cs.AI 2025
Year: 2025

We propose a new method for inferring roads from GPS trajectories to map construction sites. This task presents a unique challenge due to the erratic and non-standard movement patterns of construction machinery, which significantly diverge from typical vehicular traffic on established roads. Our proposed method first identifies intersections in the road network that serve as critical decision points, and then connects them with edges to produce a graph, which can subsequently be used for planning and task-allocation. We demonstrate the approach by mapping roads at a real-life construction site in Norway. The method is validated on four increasingly complex segments of the map. In our tests, the method achieved perfect accuracy in detecting intersections and inferring roads in data with no or low noise, while its performance was reduced in areas with significant noise and consistently missing GPS updates.
Navigational hierarchies of regular languages
Venue: arXiv cs.FL 2025
Year: 2025

We study the class of star-free languages. A long-standing goal is to classify them by the complexity of their descriptions. The most influential research effort involves concatenation hierarchies, which measure alternations between ``complement'' and ``union plus concatenation''. We explore alternative hierarchies that also stratify star-free languages. They are built with an operator $C\mapsto TL(C)$. From an input class $C$, it produces a larger one $TL(C)$, consisting of all languages definable in a variant of unary temporal logic, where temporal modalities depend on $C$. Level $n$ in the navigational hierarchy of basis $C$ is constructed by applying this operator $n$ times to $C$. As bases $G$, we focus on group languages and natural extensions thereof, denoted $G^+$. We prove that the navigational hierarchies of bases $G$ and $G^+$ are strictly intertwined and conduct a thorough investigation of their relationships with concatenation hierarchies. We also look at two problems on classes of languages: membership (decide if a language is in the class) and separation (decide, for two languages $L_1,L_2$, if there is a language $K$ in the class with $L_1\subseteq K$ and $L_2\cap K=\emptyset$). We prove that if separation is decidable for $G$, then so is membership for level \emph{two} in the navigational hierarchies of bases $G$ and $G^+$. We take a look at the trivial class $ST=\{\emptyset,A^*\}$. For the bases $ST$ and $ST^+$, the levels \emph{one} are standard variants of unary temporal logic. The levels \emph{two} correspond to variants of two-variable logic, investigated recently by Krebs, Lodaya, Pandya and Straubing. We solve one of their conjectures. We also prove that for these two bases, level \emph{two} has decidable \emph{separation}. Combined with earlier results on the operator $C\mapsto TL(C)$, this implies that level \emph{three} has decidable membership.
Interpretable Imitation Learning via Generative Adversarial STL Inference and Control
Venue: arXiv cs.LG 2025
Year: 2025

Imitation learning methods have demonstrated considerable success in teaching autonomous systems complex tasks through expert demonstrations. However, a limitation of these methods is their lack of interpretability, particularly in understanding the specific task the learning agent aims to accomplish. In this paper, we propose a novel imitation learning method that combines Signal Temporal Logic (STL) inference and control synthesis, enabling the explicit representation of the task as an STL formula. This approach not only provides a clear understanding of the task but also supports the integration of human knowledge and allows for adaptation to out-of-distribution scenarios by manually adjusting the STL formulas and fine-tuning the policy. We employ a Generative Adversarial Network (GAN)-inspired approach to train both the inference and policy networks, effectively narrowing the gap between expert and learned policies. The efficiency of our algorithm is demonstrated through simulations, showcasing its practical applicability and adaptability.
Barrier-Enhanced Parallel Homotopic Trajectory Optimization for Safety-Critical Autonomous Driving
Venue: arXiv cs.RO 2025
Year: 2025

Enforcing safety while preventing overly conservative behaviors is essential for autonomous vehicles to achieve high task performance. In this paper, we propose a barrier-enhanced parallel homotopic trajectory optimization (BPHTO) approach with the over-relaxed alternating direction method of multipliers (ADMM) for real-time integrated decision-making and planning. To facilitate safety interactions between the ego vehicle (EV) and surrounding vehicles, a spatiotemporal safety module exhibiting bi-convexity is developed on the basis of barrier function. Varying barrier coefficients are adopted for different time steps in a planning horizon to account for the motion uncertainties of surrounding HVs and mitigate conservative behaviors. Additionally, we exploit the discrete characteristics of driving maneuvers to initialize nominal behavior-oriented free-end homotopic trajectories based on reachability analysis, and each trajectory is locally constrained to a specific driving maneuver while sharing the same task objectives. By leveraging the bi-convexity of the safety module and the kinematics of the EV, we formulate the BPHTO as a bi-convex optimization problem. Then constraint transcription and the over-relaxed ADMM are employed to streamline the optimization process, such that multiple trajectories are generated in real time with feasibility guarantees. Through a series of experiments, the proposed development demonstrates improved task accuracy, stability, and consistency in various traffic scenarios using synthetic and real-world traffic datasets.
Soft Dice Confidence: A Near-Optimal Confidence Estimator for Selective Prediction in Semantic Segmentation
Venue: arXiv cs.LG 2025
Year: 2025

In semantic segmentation, even state-of-the-art deep learning models fall short of the performance required in certain high-stakes applications such as medical image analysis. In these cases, performance can be improved by allowing a model to abstain from making predictions when confidence is low, an approach known as selective prediction. While well-known in the classification literature, selective prediction has been underexplored in the context of semantic segmentation. This paper tackles the problem by focusing on image-level abstention, which involves producing a single confidence estimate for the entire image, in contrast to previous approaches that focus on pixel-level uncertainty. Assuming the Dice coefficient as the evaluation metric for segmentation, two main contributions are provided in this paper: (i) In the case of known marginal posterior probabilities, we derive the optimal confidence estimator, which is observed to be intractable for typical image sizes. Then, an approximation computable in linear time, named Soft Dice Confidence (SDC), is proposed and proven to be tightly bounded to the optimal estimator. (ii) When only an estimate of the marginal posterior probabilities are known, we propose a plug-in version of the SDC and show it outperforms all previous methods, including those requiring additional tuning data. These findings are supported by experimental results on both synthetic data and real-world data from six medical imaging tasks, including out-of-distribution scenarios, positioning the SDC as a reliable and efficient tool for selective prediction in semantic segmentation.
Assessing the Reasoning Capabilities of LLMs in the context of Evidence-based Claim Verification
Venue: arXiv cs.CL 2025
Year: 2025

Although LLMs have shown great performance on Mathematics and Coding related reasoning tasks, the reasoning capabilities of LLMs regarding other forms of reasoning are still an open problem. Here, we examine the issue of reasoning from the perspective of claim verification. We propose a framework designed to break down any claim paired with evidence into atomic reasoning types that are necessary for verification. We use this framework to create RECV, the first claim verification benchmark, incorporating real-world claims, to assess the deductive and abductive reasoning capabilities of LLMs. The benchmark comprises of three datasets, covering reasoning problems of increasing complexity. We evaluate three state-of-the-art proprietary LLMs under multiple prompt settings. Our results show that while LLMs can address deductive reasoning problems, they consistently fail in cases of abductive reasoning. Moreover, we observe that enhancing LLMs with rationale generation is not always beneficial. Nonetheless, we find that generated rationales are semantically similar to those provided by humans, especially in deductive reasoning cases.
Towards 6G Evolution: Three Enhancements, Three Innovations, and Three Major Challenges
Venue: arXiv cs.IT 2025
Year: 2025

Over the past few decades, wireless communication has witnessed remarkable growth, experiencing several transformative changes. This article aims to provide a comprehensive overview of wireless communication technologies, from the foundations to the recent wireless advances. Specifically, we take a neutral look at the state-of-the-art technologies for 5G and the ongoing evolutions towards 6G, reviewing the recommendations of the International Mobile Communication vision for 2030 (IMT-2030). We first highlight specific features of IMT 2030, including three IMT-2020 extensions (URLLC+, eMBB+, and mMTC+) and three new innovations (Ubiquitous connectivity and integrating the new capabilities of sensing & AI with communication functionality). Then, we delve into three major challenges in implementing 6G, along with global standardization efforts. Besides, a proof of concept is provided by demonstrating terahertz (THz) signal transmission using Orbital Angular Momentum (OAM) multiplexing, which is one of the potential candidates for 6G and beyond. To inspire further potential research, we conclude by identifying research opportunities and future visions on IMT-2030 recommendations.