OpenRaiser/Intern-Atlas huggingface dataset:
Continual Learning through Human-Robot Interaction: Human Perceptions of a Continual Learning Robot in Repeated Interactions
Venue: arXiv cs.RO 2025
Year: 2025

For long-term deployment in dynamic real-world environments, assistive robots must continue to learn and adapt to their environments. Researchers have developed various computational models for continual learning (CL) that can allow robots to continually learn from limited training data, and avoid forgetting previous knowledge. While these CL models can mitigate forgetting on static, systematically collected datasets, it is unclear how human users might perceive a robot that continually learns over multiple interactions with them. In this paper, we developed a system that integrates CL models for object recognition with a Fetch mobile manipulator robot and allows human participants to directly teach and test the robot over multiple sessions. We conducted an in-person study with 60 participants that interacted with our system in 300 sessions (5 sessions per participant). We conducted a between-subject study with three different CL models to understand human perceptions of continual learning robots over multiple sessions. Our results suggest that participants' perceptions of trust, competence, and usability of a continual learning robot significantly decrease over multiple sessions if the robot forgets previously learned objects. However, the perceived task load on participants for teaching and testing the robot remains the same over multiple sessions even if the robot forgets previously learned objects. Our results also indicate that state-of-the-art CL models might perform unreliably when applied on robots interacting with human participants. Further, continual learning robots are not perceived as very trustworthy or competent by human participants, regardless of the underlying continual learning model or the session number.
SketchOGD: Memory-Efficient Continual Learning
Venue: arXiv cs.LG 2025
Year: 2025

When machine learning models are trained continually on a sequence of tasks, they are often liable to forget what they learned on previous tasks--a phenomenon known as catastrophic forgetting. Proposed solutions to catastrophic forgetting tend to involve storing information about past tasks, meaning that memory usage is a chief consideration in determining their practicality. This paper develops a memory-efficient solution to catastrophic forgetting using the idea of matrix sketching, in the context of a simple continual learning algorithm known as orthogonal gradient descent (OGD). OGD finds weight updates that aim to preserve performance on prior datapoints, using gradients of the model on those datapoints. However, since the memory cost of storing prior model gradients grows with the runtime of the algorithm, OGD is ill-suited to continual learning over long time horizons. To address this problem, we propose SketchOGD. SketchOGD employs an online sketching algorithm to compress model gradients as they are encountered into a matrix of a fixed, user-determined size. In contrast to existing memory-efficient variants of OGD, SketchOGD runs online without the need for advance knowledge of the total number of tasks, is simple to implement, and is more amenable to analysis. We provide theoretical guarantees on the approximation error of the relevant sketches under a novel metric suited to the downstream task of OGD. Experimentally, we find that SketchOGD tends to outperform current state-of-the-art variants of OGD given a fixed memory budget.
The Search for Stability: Learning Dynamics of Strategic Publishers with Initial Documents
Venue: arXiv cs.GT 2025
Year: 2025

We study a game-theoretic information retrieval model in which strategic publishers aim to maximize their chances of being ranked first by the search engine while maintaining the integrity of their original documents. We show that the commonly used Probability Ranking Principle (PRP) ranking scheme results in an unstable environment where games often fail to reach pure Nash equilibrium. We propose two families of ranking functions that do not adhere to the PRP principle. We provide both theoretical and empirical evidence that these methods lead to a stable search ecosystem, by providing positive results on the learning dynamics convergence. We also define the publishers' and users' welfare, demonstrate a possible publisher-user trade-off, and provide means for a search system designer to control it. Finally, we show how instability harms long-term users' welfare.
Generalizing Adam to Manifolds for Efficiently Training Transformers
Venue: arXiv cs.LG 2025
Year: 2025

One of the primary reasons behind the success of neural networks has been the emergence of an array of new, highly-successful optimizers, perhaps most importantly the Adam optimizer. It is widely used for training neural networks, yet notoriously hard to interpret. Lacking a clear physical intuition, Adam is difficult to generalize to manifolds. Some attempts have been made to directly apply parts of the Adam algorithm to manifolds or to find an underlying structure, but a full generalization has remained elusive. In this work a new approach is presented that leverages the special structure of the manifolds which are relevant for optimization of neural networks, such as the Stiefel manifold, the symplectic Stiefel manifold and the Grassmann manifold: all of these are homogeneous spaces and as such admit a global tangent space representation - a common vector space (Lie subspace) in which all tangent spaces can easily be represented. This global tangent space representation is used to perform all of the steps in the Adam optimizer and we are able to fully generalize the optimizer to manifolds without a projection step. The resulting algorithm is then applied to train a transformer for which orthogonality constraints are enforced up to machine precision and we observe significant speed-ups in the training process.
MADiff: Offline Multi-agent Learning with Diffusion Models
Venue: arXiv cs.AI 2025
Year: 2025

Offline reinforcement learning (RL) aims to learn policies from pre-existing datasets without further interactions, making it a challenging task. Q-learning algorithms struggle with extrapolation errors in offline settings, while supervised learning methods are constrained by model expressiveness. Recently, diffusion models (DMs) have shown promise in overcoming these limitations in single-agent learning, but their application in multi-agent scenarios remains unclear. Generating trajectories for each agent with independent DMs may impede coordination, while concatenating all agents' information can lead to low sample efficiency. Accordingly, we propose MADiff, which is realized with an attention-based diffusion model to model the complex coordination among behaviors of multiple agents. To our knowledge, MADiff is the first diffusion-based multi-agent learning framework, functioning as both a decentralized policy and a centralized controller. During decentralized executions, MADiff simultaneously performs teammate modeling, and the centralized controller can also be applied in multi-agent trajectory predictions. Our experiments demonstrate that MADiff outperforms baseline algorithms across various multi-agent learning tasks, highlighting its effectiveness in modeling complex multi-agent interactions. Our code is available at https://github.com/zbzhu99/madiff.
Understanding Blockchain Governance: Analyzing Decentralized Voting to Amend DeFi Smart Contracts
Venue: arXiv cs.CR 2025
Year: 2025

Decentralized Autonomous Organizations (DAOs) have emerged as a novel governance mechanism in blockchain ecosystems, particularly within Decentralized Finance (DeFi). By enabling token holders to propose and vote on protocol changes, these systems promise transparent and equitable decision-making without centralized control. In this paper, we present an in-depth empirical study of the governance protocols of Compound and Uniswap, two of the most widely used DAOs in DeFi. Analyzing over 370 governance proposals and millions of on-chain events from their inception until August 2024, we uncover significant centralization of voting power: as few as 3--5 voters were sufficient to sway the majority of proposals. We also find that the cost of voting disproportionately burdens smaller token holders, and that strategic voting behaviors, such as delayed participation and coalition formation, further distort governance outcomes. Our findings suggest that despite their decentralized ideals, current DAO governance mechanisms fall short in practice.
A Group Symmetric Stochastic Differential Equation Model for Molecule Multi-modal Pretraining
Venue: arXiv cs.LG 2025
Year: 2025

Molecule pretraining has quickly become the go-to schema to boost the performance of AI-based drug discovery. Naturally, molecules can be represented as 2D topological graphs or 3D geometric point clouds. Although most existing pertaining methods focus on merely the single modality, recent research has shown that maximizing the mutual information (MI) between such two modalities enhances the molecule representation ability. Meanwhile, existing molecule multi-modal pretraining approaches approximate MI based on the representation space encoded from the topology and geometry, thus resulting in the loss of critical structural information of molecules. To address this issue, we propose MoleculeSDE. MoleculeSDE leverages group symmetric (e.g., SE(3)-equivariant and reflection-antisymmetric) stochastic differential equation models to generate the 3D geometries from 2D topologies, and vice versa, directly in the input space. It not only obtains tighter MI bound but also enables prosperous downstream tasks than the previous work. By comparing with 17 pretraining baselines, we empirically verify that MoleculeSDE can learn an expressive representation with state-of-the-art performance on 26 out of 32 downstream tasks.
PyPOTS: A Python Toolkit for Machine Learning on Partially-Observed Time Series
Venue: arXiv cs.LG 2025
Year: 2025

PyPOTS is an open-source Python library dedicated to data mining and analysis on multivariate partially-observed time series with missing values. Particularly, it provides easy access to diverse algorithms categorized into five tasks: imputation, forecasting, anomaly detection, classification, and clustering. The included models represent a diverse set of methodological paradigms, offering a unified and well-documented interface suitable for both academic research and practical applications. With robustness and scalability in its design philosophy, best practices of software construction, for example, unit testing, continuous integration and continuous delivery, code coverage, maintainability evaluation, interactive tutorials, and parallelization, are carried out as principles during the development of PyPOTS. The toolbox is available on PyPI, Anaconda, and Docker. PyPOTS is open source and publicly available on GitHub https://github.com/WenjieDu/PyPOTS.
Investigating the Effects of Fairness Interventions Using Pointwise Representational Similarity
Venue: arXiv cs.LG 2025
Year: 2025

Machine learning (ML) algorithms can often exhibit discriminatory behavior, negatively affecting certain populations across protected groups. To address this, numerous debiasing methods, and consequently evaluation measures, have been proposed. Current evaluation measures for debiasing methods suffer from two main limitations: (1) they primarily provide a global estimate of unfairness, failing to provide a more fine-grained analysis, and (2) they predominantly analyze the model output on a specific task, failing to generalize the findings to other tasks. In this work, we introduce Pointwise Normalized Kernel Alignment (PNKA), a pointwise representational similarity measure that addresses these limitations by measuring how debiasing measures affect the intermediate representations of individuals. On tabular data, the use of PNKA reveals previously unknown insights: while group fairness predominantly influences a small subset of the population, maintaining high representational similarity for the majority, individual fairness constraints uniformly impact representations across the entire population, altering nearly every data point. We show that by evaluating representations using PNKA, we can reliably predict the behavior of ML models trained on these representations. Moreover, applying PNKA to language embeddings shows that existing debiasing methods may not perform as intended, failing to remove biases from stereotypical words and sentences. Our findings suggest that current evaluation measures for debiasing methods are insufficient, highlighting the need for a deeper understanding of the effects of debiasing methods, and show how pointwise representational similarity metrics can help with fairness audits.
Machine learning with tree tensor networks, CP rank constraints, and tensor dropout
Venue: arXiv cs.LG 2025
Year: 2025

Tensor networks developed in the context of condensed matter physics try to approximate order-$N$ tensors with a reduced number of degrees of freedom that is only polynomial in $N$ and arranged as a network of partially contracted smaller tensors. As we have recently demonstrated in the context of quantum many-body physics, computation costs can be further substantially reduced by imposing constraints on the canonical polyadic (CP) rank of the tensors in such networks [arXiv:2205.15296]. Here, we demonstrate how tree tensor networks (TTN) with CP rank constraints and tensor dropout can be used in machine learning. The approach is found to outperform other tensor-network-based methods in Fashion-MNIST image classification. A low-rank TTN classifier with branching ratio $b=4$ reaches a test set accuracy of 90.3\% with low computation costs. Consisting of mostly linear elements, tensor network classifiers avoid the vanishing gradient problem of deep neural networks. The CP rank constraints have additional advantages: The number of parameters can be decreased and tuned more freely to control overfitting, improve generalization properties, and reduce computation costs. They allow us to employ trees with large branching ratios, substantially improving the representation power.
Studying Evolutionary Solution Adaption Using a Flexibility Benchmark Based on a Metal Cutting Process
Venue: arXiv cs.NE 2025
Year: 2025

We consider optimizing for different production requirements from the viewpoint of a bio-inspired framework for system flexibility that allows us to study the ability of an algorithm to transfer solutions from previous optimization tasks, which also relates to dynamic evolutionary optimization. Optimizing manufacturing process parameters is typically a multi-objective problem with often contradictory objectives such as production quality and production time. If production requirements change, process parameters have to be optimized again. Since optimization usually requires costly simulations based on, for example, the Finite Element method, it is of great interest to have means to reduce the number of evaluations needed for optimization. Based on the extended Oxley model for orthogonal metal cutting, we introduce a multi-objective optimization benchmark where different materials define related optimization tasks. We use the benchmark to study the flexibility of NSGA-II, which we extend by two variants: 1) varying goals, which optimizes solutions for two tasks simultaneously to obtain in-between source solutions expected to be more adaptable, and 2) active-inactive genotype, which accommodates different possibilities that can be activated or deactivated. Results show that adaption, i.e. transferring a solution from a previous optimization task, with standard NSGA-II greatly reduces the number of evaluations required for optimization to a target goal in comparison to starting from scratch. The proposed variants further improve the adaption costs, although further work is needed towards making the methods advantageous for real applications.
On the Capacity of Secure $K$-user Product Computation over a Quantum MAC
Venue: arXiv cs.IT 2025
Year: 2025

Inspired by recent work by Christensen and Popovski on secure $2$-user product computation for finite-fields of prime-order over a quantum multiple access channel, the generalization to $K$ users and arbitrary finite fields is explored. Asymptotically optimal (capacity-achieving for large alphabet) schemes are proposed. Additionally, the capacity of modulo-$d$ ($d\geq 2$) secure $K$-sum computation is shown to be $2/K$ computations/qudit, generalizing a result of Nishimura and Kawachi beyond binary, and improving upon it for odd $K$.
Preference-grounded Token-level Guidance for Language Model Fine-tuning
Venue: arXiv cs.CL 2025
Year: 2025

Aligning language models (LMs) with preferences is an important problem in natural language generation. A key challenge is that preferences are typically provided at the sequence level while LM training and generation both occur at the token level. There is, therefore, a granularity mismatch between the preference and the LM training losses, which may complicate the learning problem. In this paper, we address this issue by developing an alternate training process, where we iterate between grounding the sequence-level preference into token-level training guidance, and improving the LM with the learned guidance. For guidance learning, we design a framework that extends the pairwise-preference learning in imitation learning to both variable-length LM generation and the utilization of the preference among multiple generations. For LM training, based on the amount of supervised data, we present two minimalist learning objectives that utilize the learned guidance. In experiments, our method performs competitively on two distinct representative LM tasks -- discrete-prompt generation and text summarization.
When Does Bottom-up Beat Top-down in Hierarchical Community Detection?
Venue: arXiv cs.SI 2025
Year: 2025

Hierarchical clustering of networks consists in finding a tree of communities, such that lower levels of the hierarchy reveal finer-grained community structures. There are two main classes of algorithms tackling this problem. Divisive (top-down) algorithms recursively partition the nodes into two communities, until a stopping rule indicates that no further split is needed. In contrast, agglomerative (bottom-up) algorithms first identify the smallest community structure and then repeatedly merge the communities using a linkage method. In this article, we establish theoretical guarantees for the recovery of the hierarchical tree and community structure of a Hierarchical Stochastic Block Model by a bottom-up algorithm. We also establish that this bottom-up algorithm attains the information-theoretic threshold for exact recovery at intermediate levels of the hierarchy. Notably, these recovery conditions are less restrictive compared to those existing for top-down algorithms. This shows that bottom-up algorithms extend the feasible region for achieving exact recovery at intermediate levels. Numerical experiments on both synthetic and real data sets confirm the superiority of bottom-up algorithms over top-down algorithms. We also observe that top-down algorithms can produce dendrograms with inversions. These findings contribute to a better understanding of hierarchical clustering techniques and their applications in network analysis.
Learning-Based Rich Feedback HARQ for Energy-Efficient Uplink Short Packet Transmission
Venue: arXiv cs.IT 2025
Year: 2025

The trade-off between reliability, latency, and energy efficiency is a central problem in communication systems. Advanced hybrid automated repeat request (HARQ) techniques reduce retransmissions required for reliable communication but incur high computational costs. Strict energy constraints apply mainly to devices, while the access point receiving their packets is usually connected to the electrical grid. Therefore, moving the computational complexity from the transmitter to the receiver may provide a way to improve this trade-off. We propose the reinforcement-based adaptive feedback (RAF) scheme, a departure from traditional single-bit feedback HARQ, introducing adaptive rich feedback where the receiver requests the coded retransmission of specific symbols. Simulation results show that RAF achieves a better trade-off between energy efficiency, reliability, and latency, compared to existing HARQ solutions. Our RAF scheme can easily adapt to different modulation schemes and can also generalize to different channel statistics.
Representative set statements for delta-matroids and the Mader delta-matroid
Venue: arXiv cs.DS 2025
Year: 2025

We present representative sets-style statements for linear delta-matroids, which are set systems that generalize matroids, with important connections to matching theory and graph embeddings. Furthermore, our proof uses a new approach of sieving polynomial families, which generalizes the linear algebra approach of the representative sets lemma to a setting of bounded-degree polynomials. The representative sets statements for linear delta-matroids then follow by analyzing the Pfaffian of the skew-symmetric matrix representing the delta-matroid. Applying the same framework to the determinant instead of the Pfaffian recovers the representative sets lemma for linear matroids. Altogether, this significantly extends the toolbox available for kernelization. As an application, we show an exact sparsification result for Mader networks: Let $G=(V,E)$ be a graph and $\mathcal{T}$ a partition of a set of terminals $T \subseteq V(G)$, $|T|=k$. A $\mathcal{T}$-path in $G$ is a path with endpoints in distinct parts of $\mathcal{T}$ and internal vertices disjoint from $T$. In polynomial time, we can derive a graph $G'=(V',E')$ with $T \subseteq V(G')$, such that for every subset $S \subseteq T$ there is a packing of $\mathcal{T}$-paths with endpoints $S$ in $G$ if and only if there is one in $G'$, and $|V(G')|=O(k^3)$. This generalizes the (undirected version of the) cut-covering lemma, which corresponds to the case that $\mathcal{T}$ contains only two blocks. To prove the Mader network sparsification result, we furthermore define the class of Mader delta-matroids, and show that they have linear representations. This should be of independent interest.
Agent Performing Autonomous Stock Trading under Good and Bad Situations
Venue: arXiv cs.LG 2025
Year: 2025

Stock trading is one of the popular ways for financial management. However, the market and the environment of economy is unstable and usually not predictable. Furthermore, engaging in stock trading requires time and effort to analyze, create strategies, and make decisions. It would be convenient and effective if an agent could assist or even do the task of analyzing and modeling the past data and then generate a strategy for autonomous trading. Recently, reinforcement learning has been shown to be robust in various tasks that involve achieving a goal with a decision making strategy based on time-series data. In this project, we have developed a pipeline that simulates the stock trading environment and have trained an agent to automate the stock trading process with deep reinforcement learning methods, including deep Q-learning, deep SARSA, and the policy gradient method. We evaluate our platform during relatively good (before 2021) and bad (2021 - 2022) situations. The stocks we've evaluated on including Google, Apple, Tesla, Meta, Microsoft, and IBM. These stocks are among the popular ones, and the changes in trends are representative in terms of having good and bad situations. We showed that before 2021, the three reinforcement methods we have tried always provide promising profit returns with total annual rates around $70\%$ to $90\%$, while maintain a positive profit return after 2021 with total annual rates around 2% to 7%.