OpenRaiser/Intern-Atlas huggingface dataset:
An Extension of Enumerative Sphere Shaping for Arbitrary Channel Input Distributions
Venue: arXiv cs.IT 2025
Year: 2025

A non-uniform channel input distribution is key for achieving the capacity of arbitrary channels. However, message bits are generally assumed to follow a uniform distribution which must first be transformed to a non-uniform distribution by using a distribution matching algorithm. One such algorithm is enumerative sphere shaping (ESS). Compared to algorithms such as constant composition distribution matching (CCDM), ESS can utilize more channel input symbol sequences, allowing it to achieve a comparably low rate loss. However, the distribution of channel input symbols produced by ESS is fixed, restricting the utility of ESS to channels with Gaussian-like capacity-achieving input distributions. In this paper, we generalize ESS to produce arbitrary discrete channel input distributions, making it usable on most channels. Crucially, our generalization replaces fixed weights used internally by ESS with weights depending on the desired channel input distribution. We present numerical simulations using generalized ESS with probabilistic amplitude shaping (PAS) to transmit sequences of 256 symbols over a simplified model of an unamplified coherent optical link, a channel with a distinctly non-Gaussian capacity-achieving input distribution. In these simulations, we found that generalized ESS improves the maximum transmission rate by 0.0425 bit/symbol at a frame error rate below 10^{-4} compared to CCDM.
Temporal Frictions and Judicial Outcomes: Analyzing the Impact of Time Delays on Criminal Sentencing in Cook County (2020-2024)
Venue: arXiv cs.CY 2025
Year: 2025

This study examines how time delays between criminal offenses and arrests are associated with sentencing outcomes in Cook County, Illinois, during the COVID-19 era. Using administrative court records from 2020 to 2024, the analysis focuses on cases in which arrests did not occur immediately, allowing for systematic variation in procedural delay. The study asks whether longer delays are linked to more severe punishments and whether these associations differ across offense types and institutional contexts during periods of court disruption. The findings indicate that longer delays are consistently associated with harsher sentencing outcomes, even after accounting for demographic characteristics, case complexity, offense category, and pandemic-related disruptions. These associations are particularly pronounced in violent and sexual exploitation cases. While the analysis does not establish causal effects, the consistency of results across multiple empirical approaches suggests that procedural timing is a meaningful feature of judicial decision-making rather than a neutral administrative artifact. By documenting how institutional delays correlate with punishment severity, this study contributes to empirical research on judicial discretion, court efficiency, and inequality in the administration of justice, highlighting the importance of procedural fairness alongside formal legal criteria.
GenEval 2: Addressing Benchmark Drift in Text-to-Image Evaluation
Venue: arXiv cs.CV 2025
Year: 2025

Automating Text-to-Image (T2I) model evaluation is challenging; a judge model must be used to score correctness, and test prompts must be selected to be challenging for current T2I models but not the judge. We argue that satisfying these constraints can lead to benchmark drift over time, where the static benchmark judges fail to keep up with newer model capabilities. We show that benchmark drift is a significant problem for GenEval, one of the most popular T2I benchmarks. Although GenEval was well-aligned with human judgment at the time of its release, it has drifted far from human judgment over time -- resulting in an absolute error of as much as 17.7% for current models. This level of drift strongly suggests that GenEval has been saturated for some time, as we verify via a large-scale human study. To help fill this benchmarking gap, we introduce a new benchmark, GenEval 2, with improved coverage of primitive visual concepts and higher degrees of compositionality, which we show is more challenging for current models. We also introduce Soft-TIFA, an evaluation method for GenEval 2 that combines judgments for visual primitives, which we show is more well-aligned with human judgment and argue is less likely to drift from human-alignment over time (as compared to more holistic judges such as VQAScore). Although we hope GenEval 2 will provide a strong benchmark for many years, avoiding benchmark drift is far from guaranteed and our work, more generally, highlights the importance of continual audits and improvement for T2I and related automated model evaluation benchmarks.
An Upper Bound on the M/M/k Queue With Deterministic Setup Times
Venue: arXiv cs.PF 2025
Year: 2025

In many systems, servers do not turn on instantly; instead, a setup time must pass before a server can begin work. These "setup times" can wreak havoc on a system's queueing; this is especially true in modern systems, where servers are regularly turned on and off as a way to reduce operating costs (energy, labor, CO2, etc.). To design modern systems which are both efficient and performant, we need to understand how setup times affect queues. Unfortunately, despite successes in understanding setup in a single-server system, setup in a multiserver system remains poorly understood. To circumvent the main difficulty in analyzing multiserver setup, all existing results assume that setup times are memoryless, i.e. distributed Exponentially. However, in most practical settings, setup times are close to Deterministic, and the widely used Exponential-setup assumption leads to unrealistic model behavior and a dramatic underestimation of the true harm caused by setup times. This paper provides a comprehensive characterization of the average waiting time in a multiserver system with Deterministic setup times, the M/M/k/Setup-Deterministic. In particular, we derive upper and lower bounds on the average waiting time in this system, and show these bounds are within a multiplicative constant of each other. These bounds are the first closed-form characterization of waiting time in any finite-server system with setup times. Further, we demonstrate how to combine our upper and lower bounds to derive a simple and accurate approximation for the average waiting time. These results are all made possible via a new technique for analyzing random time integrals that we named the Method of Intervening Stopping Times, or MIST.
RePlan: Reasoning-guided Region Planning for Complex Instruction-based Image Editing
Venue: arXiv cs.CV 2025
Year: 2025

Instruction-based image editing enables natural-language control over visual modifications, yet existing models falter under Instruction-Visual Complexity (IV-Complexity), where intricate instructions meet cluttered or ambiguous scenes. We introduce RePlan (Region-aligned Planning), a plan-then-execute framework that couples a vision-language planner with a diffusion editor. The planner decomposes instructions via step-by-step reasoning and explicitly grounds them to target regions; the editor then applies changes using a training-free attention-region injection mechanism, enabling precise, parallel multi-region edits without iterative inpainting. To strengthen planning, we apply GRPO-based reinforcement learning using 1K instruction-only examples, yielding substantial gains in reasoning fidelity and format reliability. We further present IV-Edit, a benchmark focused on fine-grained grounding and knowledge-intensive edits. Across IV-Complex settings, RePlan consistently outperforms strong baselines trained on far larger datasets, improving regional precision and overall fidelity. Our project page: https://replan-iv-edit.github.io
PolaRiS: Scalable Real-to-Sim Evaluations for Generalist Robot Policies
Venue: arXiv cs.RO 2025
Year: 2025

A significant challenge for robot learning research is our ability to accurately measure and compare the performance of robot policies. Benchmarking in robotics is historically challenging due to the stochasticity, reproducibility, and time-consuming nature of real-world rollouts. This challenge is exacerbated for recent generalist policies, which has to be evaluated across a wide variety of scenes and tasks. Evaluation in simulation offers a scalable complement to real world evaluations, but the visual and physical domain gap between existing simulation benchmarks and the real world has made them an unreliable signal for policy improvement. Furthermore, building realistic and diverse simulated environments has traditionally required significant human effort and expertise. To bridge the gap, we introduce Policy Evaluation and Environment Reconstruction in Simulation (PolaRiS), a scalable real-to-sim framework for high-fidelity simulated robot evaluation. PolaRiS utilizes neural reconstruction methods to turn short video scans of real-world scenes into interactive simulation environments. Additionally, we develop a simple simulation data co-training recipe that bridges remaining real-to-sim gaps and enables zero-shot evaluation in unseen simulation environments. Through extensive paired evaluations between simulation and the real world, we demonstrate that PolaRiS evaluations provide a much stronger correlation to real world generalist policy performance than existing simulated benchmarks. Its simplicity also enables rapid creation of diverse simulated environments. As such, this work takes a step towards distributed and democratized evaluation for the next generation of robotic foundation models.
LinkedOut: Linking World Knowledge Representation Out of Video LLM for Next-Generation Video Recommendation
Venue: arXiv cs.CV 2025
Year: 2025

Video Large Language Models (VLLMs) unlock world-knowledge-aware video understanding through pretraining on internet-scale data and have already shown promise on tasks such as movie analysis and video question answering. However, deploying VLLMs for downstream tasks such as video recommendation remains challenging, since real systems require multi-video inputs, lightweight backbones, low-latency sequential inference, and rapid response. In practice, (1) decode-only generation yields high latency for sequential inference, (2) typical interfaces do not support multi-video inputs, and (3) constraining outputs to language discards fine-grained visual details that matter for downstream vision tasks. We argue that these limitations stem from the absence of a representation that preserves pixel-level detail while leveraging world knowledge. We present LinkedOut, a representation that extracts VLLM world knowledge directly from video to enable fast inference, supports multi-video histories, and removes the language bottleneck. LinkedOut extracts semantically grounded, knowledge-aware tokens from raw frames using VLLMs, guided by promptable queries and optional auxiliary modalities. We introduce a cross-layer knowledge fusion MoE that selects the appropriate level of abstraction from the rich VLLM features, enabling personalized, interpretable, and low-latency recommendation. To our knowledge, LinkedOut is the first VLLM-based video recommendation method that operates on raw frames without handcrafted labels, achieving state-of-the-art results on standard benchmarks. Interpretability studies and ablations confirm the benefits of layer diversity and layer-wise fusion, pointing to a practical path that fully leverages VLLM world-knowledge priors and visual reasoning for downstream vision tasks such as recommendation.
Sceniris: A Fast Procedural Scene Generation Framework
Venue: arXiv cs.RO 2025
Year: 2025

Synthetic 3D scenes are essential for developing Physical AI and generative models. Existing procedural generation methods often have low output throughput, creating a significant bottleneck in scaling up dataset creation. In this work, we introduce Sceniris, a highly efficient procedural scene generation framework for rapidly generating large-scale, collision-free scene variations. Sceniris also provides an optional robot reachability check, providing manipulation-feasible scenes for robot tasks. Sceniris is designed for maximum efficiency by addressing the primary performance limitations of the prior method, Scene Synthesizer. Leveraging batch sampling and faster collision checking in cuRobo, Sceniris achieves at least 234x speed-up over Scene Synthesizer. Sceniris also expands the object-wise spatial relationships available in prior work to support diverse scene requirements. Our code is available at https://github.com/rai-inst/sceniris
Checking the HAL Interface Specification Continuously, Right from the Start
Venue: arXiv cs.LO 2025
Year: 2025

The correct use of a Hardware Abstraction Layer (HAL) interface in embedded applications is crucial to prevent malfunctions, crashes, or even hardware damage. Software model checking has been successfully applied to check interface specifications in application programs, but its employment in industrial practice is hindered by its unpredictability (whether it succeeds for a given application program or not). In this paper, we present a novel approach to address this problem by checking the HAL interface specification continuously and right from the start of the development. I.e., we develop an embedded application in several iterations without a formal connection between the steps. The steps start from a program skeleton which does nothing but calling HAL functions. Actual functionality is added consecutively. The HAL interface specification is checked in each step of the sequence. The idea of the approach is to exploit a specific feature of software model checking: Its attempt to compute exactly the abstraction that is needed for the check to succeed may carry over from one step to the next, even if there is no formal connection between the steps. The experience from a preliminary experimental evaluation of our approach in the development of embedded applications is very promising. Following our approach, the check succeeds in each step and in particular in the final application program.
SceneDiff: A Benchmark and Method for Multiview Object Change Detection
Venue: arXiv cs.CV 2025
Year: 2025

We investigate the problem of identifying objects that have been added, removed, or moved between a pair of captures (images or videos) of the same scene at different times. Detecting such changes is important for many applications, such as robotic tidying or construction progress and safety monitoring. A major challenge is that varying viewpoints can cause objects to falsely appear changed. We introduce SceneDiff Benchmark, the first multiview change detection benchmark with object instance annotations, comprising 350 diverse video pairs with thousands of changed objects. We also introduce the SceneDiff method, a new training-free approach for multiview object change detection that leverages pretrained 3D, segmentation, and image encoding models to robustly predict across multiple benchmarks. Our method aligns the captures in 3D, extracts object regions, and compares spatial and semantic region features to detect changes. Experiments on multi-view and two-view benchmarks demonstrate that our method outperforms existing approaches by large margins (94% and 37.4% relative AP improvements). The benchmark and code will be publicly released.
Posterior Behavioral Cloning: Pretraining BC Policies for Efficient RL Finetuning
Venue: arXiv cs.LG 2025
Year: 2025

Standard practice across domains from robotics to language is to first pretrain a policy on a large-scale demonstration dataset, and then finetune this policy, typically with reinforcement learning (RL), in order to improve performance on deployment domains. This finetuning step has proved critical in achieving human or super-human performance, yet while much attention has been given to developing more effective finetuning algorithms, little attention has been given to ensuring the pretrained policy is an effective initialization for RL finetuning. In this work we seek to understand how the pretrained policy affects finetuning performance, and how to pretrain policies in order to ensure they are effective initializations for finetuning. We first show theoretically that standard behavioral cloning (BC) -- which trains a policy to directly match the actions played by the demonstrator -- can fail to ensure coverage over the demonstrator's actions, a minimal condition necessary for effective RL finetuning. We then show that if, instead of exactly fitting the observed demonstrations, we train a policy to model the posterior distribution of the demonstrator's behavior given the demonstration dataset, we do obtain a policy that ensures coverage over the demonstrator's actions, enabling more effective finetuning. Furthermore, this policy -- which we refer to as the posterior behavioral cloning (PostBC) policy -- achieves this while ensuring pretrained performance is no worse than that of the BC policy. We then show that PostBC is practically implementable with modern generative models in robotic control domains -- relying only on standard supervised learning -- and leads to significantly improved RL finetuning performance on both realistic robotic control benchmarks and real-world robotic manipulation tasks, as compared to standard behavioral cloning.
Depth Any Panoramas: A Foundation Model for Panoramic Depth Estimation
Venue: arXiv cs.CV 2025
Year: 2025

In this work, we present a panoramic metric depth foundation model that generalizes across diverse scene distances. We explore a data-in-the-loop paradigm from the view of both data construction and framework design. We collect a large-scale dataset by combining public datasets, high-quality synthetic data from our UE5 simulator and text-to-image models, and real panoramic images from the web. To reduce domain gaps between indoor/outdoor and synthetic/real data, we introduce a three-stage pseudo-label curation pipeline to generate reliable ground truth for unlabeled images. For the model, we adopt DINOv3-Large as the backbone for its strong pre-trained generalization, and introduce a plug-and-play range mask head, sharpness-centric optimization, and geometry-centric optimization to improve robustness to varying distances and enforce geometric consistency across views. Experiments on multiple benchmarks (e.g., Stanford2D3D, Matterport3D, and Deep360) demonstrate strong performance and zero-shot generalization, with particularly robust and stable metric predictions in diverse real-world scenes. The project page can be found at: \href{https://insta360-research-team.github.io/DAP_website/} {https://insta360-research-team.github.io/DAP\_website/}
Probing Scientific General Intelligence of LLMs with Scientist-Aligned Workflows
Venue: arXiv cs.AI 2025
Year: 2025

Despite advances in scientific AI, a coherent framework for Scientific General Intelligence (SGI)-the ability to autonomously conceive, investigate, and reason across scientific domains-remains lacking. We present an operational SGI definition grounded in the Practical Inquiry Model (PIM: Deliberation, Conception, Action, Perception) and operationalize it via four scientist-aligned tasks: deep research, idea generation, dry/wet experiments, and experimental reasoning. SGI-Bench comprises over 1,000 expert-curated, cross-disciplinary samples inspired by Science's 125 Big Questions, enabling systematic evaluation of state-of-the-art LLMs. Results reveal gaps: low exact match (10--20%) in deep research despite step-level alignment; ideas lacking feasibility and detail; high code executability but low execution result accuracy in dry experiments; low sequence fidelity in wet protocols; and persistent multimodal comparative-reasoning challenges. We further introduce Test-Time Reinforcement Learning (TTRL), which optimizes retrieval-augmented novelty rewards at inference, enhancing hypothesis novelty without reference answer. Together, our PIM-grounded definition, workflow-centric benchmark, and empirical insights establish a foundation for AI systems that genuinely participate in scientific discovery.
A Women's Health Benchmark for Large Language Models
Venue: arXiv cs.CL 2025
Year: 2025

As large language models (LLMs) become primary sources of health information for millions, their accuracy in women's health remains critically unexamined. We introduce the Women's Health Benchmark (WHB), the first benchmark evaluating LLM performance specifically in women's health. Our benchmark comprises 96 rigorously validated model stumps covering five medical specialties (obstetrics and gynecology, emergency medicine, primary care, oncology, and neurology), three query types (patient query, clinician query, and evidence/policy query), and eight error types (dosage/medication errors, missing critical information, outdated guidelines/treatment recommendations, incorrect treatment advice, incorrect factual information, missing/incorrect differential diagnosis, missed urgency, and inappropriate recommendations). We evaluated 13 state-of-the-art LLMs and revealed alarming gaps: current models show approximately 60\% failure rates on the women's health benchmark, with performance varying dramatically across specialties and error types. Notably, models universally struggle with "missed urgency" indicators, while newer models like GPT-5 show significant improvements in avoiding inappropriate recommendations. Our findings underscore that AI chatbots are not yet fully able of providing reliable advice in women's health.
GB-DQN: Gradient Boosted DQN Models for Non-stationary Reinforcement Learning
Venue: arXiv cs.LG 2025
Year: 2025

Non-stationary environments pose a fundamental challenge for deep reinforcement learning, as changes in dynamics or rewards invalidate learned value functions and cause catastrophic forgetting. We propose \emph{Gradient-Boosted Deep Q-Networks (GB-DQN)}, an adaptive ensemble method that addresses model drift through incremental residual learning. Instead of retraining a single Q-network, GB-DQN constructs an additive ensemble in which each new learner is trained to approximate the Bellman residual of the current ensemble after drift. We provide theoretical results showing that each boosting step reduces the empirical Bellman residual and that the ensemble converges to the post-drift optimal value function under standard assumptions. Experiments across a diverse set of control tasks with controlled dynamics changes demonstrate faster recovery, improved stability, and greater robustness compared to DQN and common non-stationary baselines.
Toward Optimal Approximations for Resource-Minimization for Fire Containment on Trees and Non-Uniform k-Center
Venue: arXiv cs.DS 2025
Year: 2025

One of the most elementary spreading models on graphs can be described by a fire spreading from a burning vertex in discrete time steps. At each step, all neighbors of burning vertices catch fire. A well-studied extension to model fire containment is to allow for fireproofing a number $B$ of non-burning vertices at each step. Interestingly, basic computational questions about this model are computationally hard even on trees. One of the most prominent such examples is Resource Minimization for Fire Containment (RMFC), which asks how small $B$ can be chosen so that a given subset of vertices will never catch fire. Despite recent progress on RMFC on trees, prior work left a significant gap in terms of its approximability. We close this gap by providing an optimal $2$-approximation and an asymptotic PTAS, resolving two open questions in the literature. Both results are obtained in a unified way, by first designing a PTAS for a smooth variant of RMFC, which is obtained through a careful LP-guided enumeration procedure. Moreover, we show that our new techniques, with several additional ingredients, carry over to the non-uniform $k$-center problem (NUkC), by exploiting a link between RMFC on trees and NUkC established by Chakrabarty, Goyal, and Krishnaswamy. This leads to the first approximation algorithm for NUkC that is optimal in terms of the number of additional centers that have to be opened.