OpenRaiser/Intern-Atlas huggingface dataset:
Joint Action Language Modelling for Transparent Policy Execution
Venue: arXiv cs.RO 2025
Year: 2025

An agent's intention often remains hidden behind the black-box nature of embodied policies. Communication using natural language statements that describe the next action can provide transparency towards the agent's behavior. We aim to insert transparent behavior directly into the learning process, by transforming the problem of policy learning into a language generation problem and combining it with traditional autoregressive modelling. The resulting model produces transparent natural language statements followed by tokens representing the specific actions to solve long-horizon tasks in the Language-Table environment. Following previous work, the model is able to learn to produce a policy represented by special discretized tokens in an autoregressive manner. We place special emphasis on investigating the relationship between predicting actions and producing high-quality language for a transparent agent. We find that in many cases both the quality of the action trajectory and the transparent statement increase when they are generated simultaneously.
DTFSal: Audio-Visual Dynamic Token Fusion for Video Saliency Prediction
Venue: arXiv cs.CV 2025
Year: 2025

Audio-visual saliency prediction aims to mimic human visual attention by identifying salient regions in videos through the integration of both visual and auditory information. Although visual-only approaches have significantly advanced, effectively incorporating auditory cues remains challenging due to complex spatio-temporal interactions and high computational demands. To address these challenges, we propose Dynamic Token Fusion Saliency (DFTSal), a novel audio-visual saliency prediction framework designed to balance accuracy with computational efficiency. Our approach features a multi-scale visual encoder equipped with two novel modules: the Learnable Token Enhancement Block (LTEB), which adaptively weights tokens to emphasize crucial saliency cues, and the Dynamic Learnable Token Fusion Block (DLTFB), which employs a shifting operation to reorganize and merge features, effectively capturing long-range dependencies and detailed spatial information. In parallel, an audio branch processes raw audio signals to extract meaningful auditory features. Both visual and audio features are integrated using our Adaptive Multimodal Fusion Block (AMFB), which employs local, global, and adaptive fusion streams for precise cross-modal fusion. The resulting fused features are processed by a hierarchical multi-decoder structure, producing accurate saliency maps. Extensive evaluations on six audio-visual benchmarks demonstrate that DFTSal achieves SOTA performance while maintaining computational efficiency.
MMKB-RAG: A Multi-Modal Knowledge-Based Retrieval-Augmented Generation Framework
Venue: arXiv cs.AI 2025
Year: 2025

Recent advancements in large language models (LLMs) and multi-modal LLMs have been remarkable. However, these models still rely solely on their parametric knowledge, which limits their ability to generate up-to-date information and increases the risk of producing erroneous content. Retrieval-Augmented Generation (RAG) partially mitigates these challenges by incorporating external data sources, yet the reliance on databases and retrieval systems can introduce irrelevant or inaccurate documents, ultimately undermining both performance and reasoning quality. In this paper, we propose Multi-Modal Knowledge-Based Retrieval-Augmented Generation (MMKB-RAG), a novel multi-modal RAG framework that leverages the inherent knowledge boundaries of models to dynamically generate semantic tags for the retrieval process. This strategy enables the joint filtering of retrieved documents, retaining only the most relevant and accurate references. Extensive experiments on knowledge-based visual question-answering tasks demonstrate the efficacy of our approach: on the E-VQA dataset, our method improves performance by +4.2% on the Single-Hop subset and +0.4% on the full dataset, while on the InfoSeek dataset, it achieves gains of +7.8% on the Unseen-Q subset, +8.2% on the Unseen-E subset, and +8.1% on the full dataset. These results highlight significant enhancements in both accuracy and robustness over the current state-of-the-art MLLM and RAG frameworks.
Code size constraints in b-symbol read channels: A bound analysis
Venue: arXiv cs.IT 2025
Year: 2025

In classical coding theory, error-correcting codes are designed to protect against errors occurring at individual symbol positions in a codeword. However, in practical storage and communication systems, errors often affect multiple adjacent symbols rather than single symbols independently. To address this, symbol-pair read channels were introduced \cite{Yuval2011}, and later generalized to $b$-symbol read channels \cite{yaakobi2016} to better model such error patterns. $b$-Symbol read channels generalize symbol-pair read channels to account for clustered errors in modern storage and communication systems. By developing bounds and efficient codes, researchers improve data reliability in applications such as storage devices, wireless networks, and DNA-based storage. Given integers $q$, $n$, $d$, and $b \geq 2$, let $A_b(n,d,q)$ denote the largest possible code size for which there exists a $q$-ary code of length $n$ with minimum $b$-symbol distance at least $d$. In \cite{chen2022}, various upper and lower bounds on $A_b(n,d,q)$ are given for $b=2$. In this paper, we generalize some of these bounds to the $b$-symbol read channels for $b>2$ and present several new bounds on $A_b(n,d,q)$. In particular, we establish the linear programming bound, a recurrence relation on $A_b(n,d,q)$, the Johnson bound (even), the restricted Johnson bound, the Gilbert-Varshamov-type bound, and the Elias bound for the metric of symbols $b$, $b\geq 2$. Furthermore, we provide examples demonstrating that the Gilbert-Varshamov bound we establish offers a stronger lower bound than the one presented in \cite{Song2018}. Additionally, we introduce an alternative approach to deriving the Sphere-packing and Plotkin bounds.
CameraBench: Benchmarking Visual Reasoning in MLLMs via Photography
Venue: arXiv cs.CV 2025
Year: 2025

Large language models (LLMs) and multimodal large language models (MLLMs) have significantly advanced artificial intelligence. However, visual reasoning, reasoning involving both visual and textual inputs, remains underexplored. Recent advancements, including the reasoning models like OpenAI o1 and Gemini 2.0 Flash Thinking, which incorporate image inputs, have opened this capability. In this ongoing work, we focus specifically on photography-related tasks because a photo is a visual snapshot of the physical world where the underlying physics (i.e., illumination, blur extent, etc.) interplay with the camera parameters. Successfully reasoning from the visual information of a photo to identify these numerical camera settings requires the MLLMs to have a deeper understanding of the underlying physics for precise visual comprehension, representing a challenging and intelligent capability essential for practical applications like photography assistant agents. We aim to evaluate MLLMs on their ability to distinguish visual differences related to numerical camera settings, extending a methodology previously proposed for vision-language models (VLMs). Our preliminary results demonstrate the importance of visual reasoning in photography-related tasks. Moreover, these results show that no single MLLM consistently dominates across all evaluation tasks, demonstrating ongoing challenges and opportunities in developing MLLMs with better visual reasoning.
A Human-Sensitive Controller: Adapting to Human Ergonomics and Physical Constraints via Reinforcement Learning
Venue: arXiv cs.RO 2025
Year: 2025

Work-Related Musculoskeletal Disorders continue to be a major challenge in industrial environments, leading to reduced workforce participation, increased healthcare costs, and long-term disability. This study introduces a human-sensitive robotic system aimed at reintegrating individuals with a history of musculoskeletal disorders into standard job roles, while simultaneously optimizing ergonomic conditions for the broader workforce. This research leverages reinforcement learning to develop a human-aware control strategy for collaborative robots, focusing on optimizing ergonomic conditions and preventing pain during task execution. Two RL approaches, Q-Learning and Deep Q-Network (DQN), were implemented and tested to personalize control strategies based on individual user characteristics. Although experimental results revealed a simulation-to-real gap, a fine-tuning phase successfully adapted the policies to real-world conditions. DQN outperformed Q-Learning by completing tasks faster while maintaining zero pain risk and safe ergonomic levels. The structured testing protocol confirmed the system's adaptability to diverse human anthropometries, underscoring the potential of RL-driven cobots to enable safer, more inclusive workplaces.
Global and Local Mamba Network for Multi-Modality Medical Image Super-Resolution
Venue: arXiv cs.CV 2025
Year: 2025

Convolutional neural networks and Transformer have made significant progresses in multi-modality medical image super-resolution. However, these methods either have a fixed receptive field for local learning or significant computational burdens for global learning, limiting the super-resolution performance. To solve this problem, State Space Models, notably Mamba, is introduced to efficiently model long-range dependencies in images with linear computational complexity. Relying on the Mamba and the fact that low-resolution images rely on global information to compensate for missing details, while high-resolution reference images need to provide more local details for accurate super-resolution, we propose a global and local Mamba network (GLMamba) for multi-modality medical image super-resolution. To be specific, our GLMamba is a two-branch network equipped with a global Mamba branch and a local Mamba branch. The global Mamba branch captures long-range relationships in low-resolution inputs, and the local Mamba branch focuses more on short-range details in high-resolution reference images. We also use the deform block to adaptively extract features of both branches to enhance the representation ability. A modulator is designed to further enhance deformable features in both global and local Mamba blocks. To fully integrate the reference image for low-resolution image super-resolution, we further develop a multi-modality feature fusion block to adaptively fuse features by considering similarities, differences, and complementary aspects between modalities. In addition, a contrastive edge loss (CELoss) is developed for sufficient enhancement of edge textures and contrast in medical images.
Enhancing LLM-based Recommendation through Semantic-Aligned Collaborative Knowledge
Venue: arXiv cs.IR 2025
Year: 2025

Large Language Models (LLMs) demonstrate remarkable capabilities in leveraging comprehensive world knowledge and sophisticated reasoning mechanisms for recommendation tasks. However, a notable limitation lies in their inability to effectively model sparse identifiers (e.g., user and item IDs), unlike conventional collaborative filtering models (Collabs.), thus hindering LLM to learn distinctive user-item representations and creating a performance bottleneck. Prior studies indicate that integrating collaborative knowledge from Collabs. into LLMs can mitigate the above limitations and enhance their recommendation performance. Nevertheless, the significant discrepancy in knowledge distribution and semantic space between LLMs and Collab. presents substantial challenges for effective knowledge transfer. To tackle these challenges, we propose a novel framework, SeLLa-Rec, which focuses on achieving alignment between the semantic spaces of Collabs. and LLMs. This alignment fosters effective knowledge fusion, mitigating the influence of discriminative noise and facilitating the deep integration of knowledge from diverse models. Specifically, three special tokens with collaborative knowledge are embedded into the LLM's semantic space through a hybrid projection layer and integrated into task-specific prompts to guide the recommendation process. Experiments conducted on two public benchmark datasets (MovieLens-1M and Amazon Book) demonstrate that SeLLa-Rec achieves state-of-the-art performance.
Benchmarking Practices in LLM-driven Offensive Security: Testbeds, Metrics, and Experiment Design
Venue: arXiv cs.CR 2025
Year: 2025

Large Language Models (LLMs) have emerged as a powerful approach for driving offensive penetration-testing tooling. Due to the opaque nature of LLMs, empirical methods are typically used to analyze their efficacy. The quality of this analysis is highly dependent on the chosen testbed, captured metrics and analysis methods employed. This paper analyzes the methodology and benchmarking practices used for evaluating Large Language Model (LLM)-driven attacks, focusing on offensive uses of LLMs in cybersecurity. We review 19 research papers detailing 18 prototypes and their respective testbeds. We detail our findings and provide actionable recommendations for future research, emphasizing the importance of extending existing testbeds, creating baselines, and including comprehensive metrics and qualitative analysis. We also note the distinction between security research and practice, suggesting that CTF-based challenges may not fully represent real-world penetration testing scenarios.
Uncertainty Propagation in the Fast Fourier Transform
Venue: arXiv cs.LG 2025
Year: 2025

We address the problem of uncertainty propagation in the discrete Fourier transform by modeling the fast Fourier transform as a factor graph. Building on this representation, we propose an efficient framework for approximate Bayesian inference using belief propagation (BP) and expectation propagation, extending its applicability beyond Gaussian assumptions. By leveraging an appropriate BP message representation and a suitable schedule, our method achieves stable convergence with accurate mean and variance estimates. Numerical experiments in representative scenarios from communications demonstrate the practical potential of the proposed framework for uncertainty-aware inference in probabilistic systems operating across both time and frequency domain.
Continual learning for rotating machinery fault diagnosis with cross-domain environmental and operational variations
Venue: arXiv cs.LG 2025
Year: 2025

Although numerous machine learning models exist to detect issues like rolling bearing strain and deformation, typically caused by improper mounting, overloading, or poor lubrication, these models often struggle to isolate faults from the noise of real-world operational and environmental variability. Conditions such as variable loads, high temperatures, stress, and rotational speeds can mask early signs of failure, making reliable detection challenging. To address these limitations, this work proposes a continual deep learning approach capable of learning across domains that share underlying structure over time. This approach goes beyond traditional accuracy metrics by addressing four second-order challenges: catastrophic forgetting (where new learning overwrites past knowledge), lack of plasticity (where models fail to adapt to new data), forward transfer (using past knowledge to improve future learning), and backward transfer (refining past knowledge with insights from new domains). The method comprises a feature generator and domain-specific classifiers, allowing capacity to grow as new domains emerge with minimal interference, while an experience replay mechanism selectively revisits prior domains to mitigate forgetting. Moreover, nonlinear dependencies across domains are exploited by prioritizing replay from those with the highest prior errors, refining models based on most informative past experiences. Experiments show high average domain accuracy (up to 88.96%), with forgetting measures as low as .0027 across non-stationary class-incremental environments.
When Do We Feel Present in a Virtual Reality? Towards Sensitivity and User Acceptance of Presence Questionnaires
Venue: arXiv cs.HC 2025
Year: 2025

Presence is an important and widely used metric to measure the quality of virtual reality (VR) applications. Given the multifaceted and subjective nature of presence, the most common measures for presence are questionnaires. But there is little research on their validity regarding specific presence dimensions and their responsiveness to differences in perception among users. We investigated four presence questionnaires (SUS, PQ, IPQ, Bouchard) on their responsiveness to intensity variations of known presence dimensions and asked users about their consistency with their experience. Therefore, we created five VR scenarios that were designed to emphasize a specific presence dimension. Our findings showed heterogeneous sensitivity of the questionnaires dependent on the different dimensions of presence. This highlights a context-specific suitability of presence questionnaires. The questionnaires' sensitivity was further stated as lower than actually perceived. Based on our findings, we offer guidance on selecting these questionnaires based on their suitability for particular use cases.
MSCoT: Structured Chain-of-Thought Generation for Multiple Programming Languages
Venue: arXiv cs.SE 2025
Year: 2025

With the rapid development of code intelligence, the application of multiple programming languages is becoming increasingly widespread. However, most existing code generation models mainly focus on a single or a few programming languages, resulting in unsatisfactory performance in a multilingual environment. Chain-of-Thought (CoT) reasoning can significantly improve the performance of the model without the need for retraining or fine-tuning the code generation model by reasonably decomposing complex code generation tasks into multiple subtasks and gradually deriving solutions for each subtask. Nevertheless, the existing CoT generation methods mainly concentrate on Python code, and the performance on other programming languages remains unclear. To fill this gap, we first constructed a CoT generation dataset for 12 programming languages through multi-agent technology. On this basis, we proposed a CoT generation method MSCoT applicable to multiple programming languages. By introducing CoT into the code generation large model, the performance of the code generation large model in a multilingual environment can be improved. Through large-scale empirical research, we compared the generalization abilities of MSCoT and the existing CoT generation methods on multiple programming languages and proved the effectiveness of MSCoT for multiple programming languages. In addition, we also designed a human study to prove the quality of the CoT generated by MSCoT. Finally, we opensourced the model and dataset of MSCoT to promote the research on CoT generation for multiple programming languages.
TinyverseGP: Towards a Modular Cross-domain Benchmarking Framework for Genetic Programming
Venue: arXiv cs.NE 2025
Year: 2025

Over the years, genetic programming (GP) has evolved, with many proposed variations, especially in how they represent a solution. Being essentially a program synthesis algorithm, it is capable of tackling multiple problem domains. Current benchmarking initiatives are fragmented, as the different representations are not compared with each other and their performance is not measured across the different domains. In this work, we propose a unified framework, dubbed TinyverseGP (inspired by tinyGP), which provides support to multiple representations and problem domains, including symbolic regression, logic synthesis and policy search.
RealHarm: A Collection of Real-World Language Model Application Failures
Venue: arXiv cs.CY 2025
Year: 2025

Language model deployments in consumer-facing applications introduce numerous risks. While existing research on harms and hazards of such applications follows top-down approaches derived from regulatory frameworks and theoretical analyses, empirical evidence of real-world failure modes remains underexplored. In this work, we introduce RealHarm, a dataset of annotated problematic interactions with AI agents built from a systematic review of publicly reported incidents. Analyzing harms, causes, and hazards specifically from the deployer's perspective, we find that reputational damage constitutes the predominant organizational harm, while misinformation emerges as the most common hazard category. We empirically evaluate state-of-the-art guardrails and content moderation systems to probe whether such systems would have prevented the incidents, revealing a significant gap in the protection of AI applications.
Can LLMs Generate Tabular Summaries of Science Papers? Rethinking the Evaluation Protocol
Venue: arXiv cs.CL 2025
Year: 2025

Literature review tables are essential for summarizing and comparing collections of scientific papers. We explore the task of generating tables that best fulfill a user's informational needs given a collection of scientific papers. Building on recent work (Newman et al., 2024), we extend prior approaches to address real-world complexities through a combination of LLM-based methods and human annotations. Our contributions focus on three key challenges encountered in real-world use: (i) User prompts are often under-specified; (ii) Retrieved candidate papers frequently contain irrelevant content; and (iii) Task evaluation should move beyond shallow text similarity techniques and instead assess the utility of inferred tables for information-seeking tasks (e.g., comparing papers). To support reproducible evaluation, we introduce ARXIV2TABLE, a more realistic and challenging benchmark for this task, along with a novel approach to improve literature review table generation in real-world scenarios. Our extensive experiments on this benchmark show that both open-weight and proprietary LLMs struggle with the task, highlighting its difficulty and the need for further advancements. Our dataset and code are available at https://github.com/JHU-CLSP/arXiv2Table.
Analysis of Attention in Video Diffusion Transformers
Venue: arXiv cs.CV 2025
Year: 2025

We conduct an in-depth analysis of attention in video diffusion transformers (VDiTs) and report a number of novel findings. We identify three key properties of attention in VDiTs: Structure, Sparsity, and Sinks. Structure: We observe that attention patterns across different VDiTs exhibit similar structure across different prompts, and that we can make use of the similarity of attention patterns to unlock video editing via self-attention map transfer. Sparse: We study attention sparsity in VDiTs, finding that proposed sparsity methods do not work for all VDiTs, because some layers that are seemingly sparse cannot be sparsified. Sinks: We make the first study of attention sinks in VDiTs, comparing and contrasting them to attention sinks in language models. We propose a number of future directions that can make use of our insights to improve the efficiency-quality Pareto frontier for VDiTs.