OpenRaiser/Intern-Atlas huggingface dataset:
Learning-based 3D Reconstruction in Autonomous Driving: A Comprehensive Survey
Venue: arXiv cs.CV 2025
Year: 2025

Learning-based 3D reconstruction has emerged as a transformative technique in autonomous driving, enabling precise modeling of environments through advanced neural representations. It has inspired pioneering solutions for vital tasks in autonomous driving, such as dense mapping and closed-loop simulation, as well as comprehensive scene feature for driving scene understanding and reasoning. Given the rapid growth in related research, this survey provides a comprehensive review of both technical evolutions and practical applications in autonomous driving. We begin with an introduction to the preliminaries of learning-based 3D reconstruction to provide a solid technical background foundation, then progress to a rigorous, multi-dimensional examination of cutting-edge methodologies, systematically organized according to the distinctive technical requirements and fundamental challenges of autonomous driving. Through analyzing and summarizing development trends and cutting-edge research, we identify existing technical challenges, along with insufficient disclosure of on-board validation and safety verification details in the current literature, and ultimately suggest potential directions to guide future studies.
PANDORA: Diffusion Policy Learning for Dexterous Robotic Piano Playing
Venue: arXiv cs.LG 2025
Year: 2025

We present PANDORA, a novel diffusion-based policy learning framework designed specifically for dexterous robotic piano performance. Our approach employs a conditional U-Net architecture enhanced with FiLM-based global conditioning, which iteratively denoises noisy action sequences into smooth, high-dimensional trajectories. To achieve precise key execution coupled with expressive musical performance, we design a composite reward function that integrates task-specific accuracy, audio fidelity, and high-level semantic feedback from a large language model (LLM) oracle. The LLM oracle assesses musical expressiveness and stylistic nuances, enabling dynamic, hand-specific reward adjustments. Further augmented by a residual inverse-kinematics refinement policy, PANDORA achieves state-of-the-art performance in the ROBOPIANIST environment, significantly outperforming baselines in both precision and expressiveness. Ablation studies validate the critical contributions of diffusion-based denoising and LLM-driven semantic feedback in enhancing robotic musicianship. Videos available at: https://taco-group.github.io/PANDORA
Assessing Large Language Models for Automated Feedback Generation in Learning Programming Problem Solving
Venue: arXiv cs.SE 2025
Year: 2025

Providing effective feedback is important for student learning in programming problem-solving. In this sense, Large Language Models (LLMs) have emerged as potential tools to automate feedback generation. However, their reliability and ability to identify reasoning errors in student code remain not well understood. This study evaluates the performance of four LLMs (GPT-4o, GPT-4o mini, GPT-4-Turbo, and Gemini-1.5-pro) on a benchmark dataset of 45 student solutions. We assessed the models' capacity to provide accurate and insightful feedback, particularly in identifying reasoning mistakes. Our analysis reveals that 63\% of feedback hints were accurate and complete, while 37\% contained mistakes, including incorrect line identification, flawed explanations, or hallucinated issues. These findings highlight the potential and limitations of LLMs in programming education and underscore the need for improvements to enhance reliability and minimize risks in educational applications.
A Simple Combination of Diffusion Models for Better Quality Trade-Offs in Image Denoising
Venue: arXiv cs.CV 2025
Year: 2025

Diffusion models have garnered considerable interest in computer vision, owing both to their capacity to synthesize photorealistic images and to their proven effectiveness in image reconstruction tasks. However, existing approaches fail to efficiently balance the high visual quality of diffusion models with the low distortion achieved by previous image reconstruction methods. Specifically, for the fundamental task of additive Gaussian noise removal, we first illustrate an intuitive method for leveraging pretrained diffusion models. Further, we introduce our proposed Linear Combination Diffusion Denoiser (LCDD), which unifies two complementary inference procedures - one that leverages the model's generative potential and another that ensures faithful signal recovery. By exploiting the inherent structure of the denoising samples, LCDD achieves state-of-the-art performance and offers controlled, well-behaved trade-offs through a simple scalar hyperparameter adjustment.
Safety-Critical and Distributed Nonlinear Predictive Controllers for Teams of Quadrupedal Robots
Venue: arXiv cs.RO 2025
Year: 2025

This paper presents a novel hierarchical, safety-critical control framework that integrates distributed nonlinear model predictive controllers (DNMPCs) with control barrier functions (CBFs) to enable cooperative locomotion of multi-agent quadrupedal robots in complex environments. While NMPC-based methods are widely adopted for enforcing safety constraints and navigating multi-robot systems (MRSs) through intricate environments, ensuring the safety of MRSs requires a formal definition grounded in the concept of invariant sets. CBFs, typically implemented via quadratic programs (QPs) at the planning layer, provide formal safety guarantees. However, their zero-control horizon limits their effectiveness for extended trajectory planning in inherently unstable, underactuated, and nonlinear legged robot models. Furthermore, the integration of CBFs into real-time NMPC for sophisticated MRSs, such as quadrupedal robot teams, remains underexplored. This paper develops computationally efficient, distributed NMPC algorithms that incorporate CBF-based collision safety guarantees within a consensus protocol, enabling longer planning horizons for safe cooperative locomotion under disturbances and rough terrain conditions. The optimal trajectories generated by the DNMPCs are tracked using full-order, nonlinear whole-body controllers at the low level. The proposed approach is validated through extensive numerical simulations with up to four Unitree A1 robots and hardware experiments involving two A1 robots subjected to external pushes, rough terrain, and uncertain obstacle information. Comparative analysis demonstrates that the proposed CBF-based DNMPCs achieve a 27.89% higher success rate than conventional NMPCs without CBF constraints.
ConQuer: A Framework for Concept-Based Quiz Generation
Venue: arXiv cs.CL 2025
Year: 2025

Quizzes play a crucial role in education by reinforcing students' understanding of key concepts and encouraging self-directed exploration. However, compiling high-quality quizzes can be challenging and require deep expertise and insight into specific subject matter. Although LLMs have greatly enhanced the efficiency of quiz generation, concerns remain regarding the quality of these AI-generated quizzes and their educational impact on students. To address these issues, we introduce ConQuer, a concept-based quiz generation framework that leverages external knowledge sources. We employ comprehensive evaluation dimensions to assess the quality of the generated quizzes, using LLMs as judges. Our experiment results demonstrate a 4.8% improvement in evaluation scores and a 77.52% win rate in pairwise comparisons against baseline quiz sets. Ablation studies further underscore the effectiveness of each component in our framework. Code available at https://github.com/sofyc/ConQuer.
Sepsyn-OLCP: An Online Learning-based Framework for Early Sepsis Prediction with Uncertainty Quantification using Conformal Prediction
Venue: arXiv cs.LG 2025
Year: 2025

Sepsis is a life-threatening syndrome with high morbidity and mortality in hospitals. Early prediction of sepsis plays a crucial role in facilitating early interventions for septic patients. However, early sepsis prediction systems with uncertainty quantification and adaptive learning are scarce. This paper proposes Sepsyn-OLCP, a novel online learning algorithm for early sepsis prediction by integrating conformal prediction for uncertainty quantification and Bayesian bandits for adaptive decision-making. By combining the robustness of Bayesian models with the statistical uncertainty guarantees of conformal prediction methodologies, this algorithm delivers accurate and trustworthy predictions, addressing the critical need for reliable and adaptive systems in high-stakes healthcare applications such as early sepsis prediction. We evaluate the performance of Sepsyn-OLCP in terms of regret in stochastic bandit setting, the area under the receiver operating characteristic curve (AUROC), and F-measure. Our results show that Sepsyn-OLCP outperforms existing individual models, increasing AUROC of a neural network from 0.64 to 0.73 without retraining and high computational costs. And the model selection policy converges to the optimal strategy in the long run. We propose a novel reinforcement learning-based framework integrated with conformal prediction techniques to provide uncertainty quantification for early sepsis prediction. The proposed methodology delivers accurate and trustworthy predictions, addressing a critical need in high-stakes healthcare applications like early sepsis prediction.
Model Predictive Path Integral Control of I2RIS Robot Using RBF Identifier and Extended Kalman Filter
Venue: arXiv cs.RO 2025
Year: 2025

Modeling and controlling cable-driven snake robots is a challenging problem due to nonlinear mechanical properties such as hysteresis, variable stiffness, and unknown friction between the actuation cables and the robot body. This challenge is more significant for snake robots in ophthalmic surgery applications, such as the Improved Integrated Robotic Intraocular Snake (I$^2$RIS), given its small size and lack of embedded sensory feedback. Data-driven models take advantage of global function approximations, reducing complicated analytical models' challenge and computational costs. However, their performance might deteriorate in case of new data unseen in the training phase. Therefore, adding an adaptation mechanism might improve these models' performance during snake robots' interactions with unknown environments. In this work, we applied a model predictive path integral (MPPI) controller on a data-driven model of the I$^2$RIS based on the Gaussian mixture model (GMM) and Gaussian mixture regression (GMR). To analyze the performance of the MPPI in unseen robot-tissue interaction situations, unknown external disturbances and environmental loads are simulated and added to the GMM-GMR model. These uncertainties of the robot model are then identified online using a radial basis function (RBF) whose weights are updated using an extended Kalman filter (EKF). Simulation results demonstrated the robustness of the optimal control solutions of the MPPI algorithm and its computational superiority over a conventional model predictive control (MPC) algorithm.
Authenticity as Aesthetics: Enabling the Client to Dominate Decision-making in Co-design
Venue: arXiv cs.HC 2025
Year: 2025

This paper revises aesthetics theory through the lens of authenticity and investigates practical applications using a co-design approach. We encourage designers to include ordinary clients as co-creators in the co-design process, guiding them in expressing their aesthetics, values, and preferences while stimulating their creativity. This paper proposes a bespoke design process framework for authenticity aesthetics that incorporates empathy, defining, ideating, prototyping, and testing. This framework delineates the roles and responsibilities of clients and designers at different phases and highlights evolving material mediums that enable their communication. The paper concludes by reflecting on consumerist aesthetics, advocating for designers to focus on the insights of ordinary clients, design for their authentic uniqueness, and recognize the broad prospects of bespoke design methods.
Second language Korean Universal Dependency treebank v1.2: Focus on data augmentation and annotation scheme refinement
Venue: arXiv cs.CL 2025
Year: 2025

We expand the second language (L2) Korean Universal Dependencies (UD) treebank with 5,454 manually annotated sentences. The annotation guidelines are also revised to better align with the UD framework. Using this enhanced treebank, we fine-tune three Korean language models and evaluate their performance on in-domain and out-of-domain L2-Korean datasets. The results show that fine-tuning significantly improves their performance across various metrics, thus highlighting the importance of using well-tailored L2 datasets for fine-tuning first-language-based, general-purpose language models for the morphosyntactic analysis of L2 data.
LeakageDetector: An Open Source Data Leakage Analysis Tool in Machine Learning Pipelines
Venue: arXiv cs.SE 2025
Year: 2025

Code quality is of paramount importance in all types of software development settings. Our work seeks to enable Machine Learning (ML) engineers to write better code by helping them find and fix instances of Data Leakage in their models. Data Leakage often results from bad practices in writing ML code. As a result, the model effectively ''memorizes'' the data on which it trains, leading to an overly optimistic estimate of the model performance and an inability to make generalized predictions. ML developers must carefully separate their data into training, evaluation, and test sets to avoid introducing Data Leakage into their code. Training data should be used to train the model, evaluation data should be used to repeatedly confirm a model's accuracy, and test data should be used only once to determine the accuracy of a production-ready model. In this paper, we develop LEAKAGEDETECTOR, a Python plugin for the PyCharm IDE that identifies instances of Data Leakage in ML code and provides suggestions on how to remove the leakage.
Bayesian Modeling of Zero-Shot Classifications for Urban Flood Detection
Venue: arXiv cs.LG 2025
Year: 2025

Street scene datasets, collected from Street View or dashboard cameras, offer a promising means of detecting urban objects and incidents like street flooding. However, a major challenge in using these datasets is their lack of reliable labels: there are myriad types of incidents, many types occur rarely, and ground-truth measures of where incidents occur are lacking. Here, we propose BayFlood, a two-stage approach which circumvents this difficulty. First, we perform zero-shot classification of where incidents occur using a pretrained vision-language model (VLM). Second, we fit a spatial Bayesian model on the VLM classifications. The zero-shot approach avoids the need to annotate large training sets, and the Bayesian model provides frequent desiderata in urban settings - principled measures of uncertainty, smoothing across locations, and incorporation of external data like stormwater accumulation zones. We comprehensively validate this two-stage approach, showing that VLMs provide strong zero-shot signal for floods across multiple cities and time periods, the Bayesian model improves out-of-sample prediction relative to baseline methods, and our inferred flood risk correlates with known external predictors of risk. Having validated our approach, we show it can be used to improve urban flood detection: our analysis reveals 113,738 people who are at high risk of flooding overlooked by current methods, identifies demographic biases in existing methods, and suggests locations for new flood sensors. More broadly, our results showcase how Bayesian modeling of zero-shot LM annotations represents a promising paradigm because it avoids the need to collect large labeled datasets and leverages the power of foundation models while providing the expressiveness and uncertainty quantification of Bayesian models.
Applying Large-Scale Distributed Computing to Structural Bioinformatics -- Bridging Legacy HPC Clusters With Big Data Technologies Using kafka-slurm-agent
Venue: arXiv cs.DC 2025
Year: 2025

This paper presents the Kafka Slurm Agent (KSA), an open source (Apache 2.0 license) distributed computing and stream processing engine designed to help researchers distribute Python-based computational tasks across multiple Slurm-managed HPC clusters and workstations. Written entirely in Python, this extensible framework utilizes an Apache Kafka broker for asynchronous communication between its components. It is intended for non-expert users and does not require administrative privileges or additional libraries to run on Slurm. The framework's development was driven by the introduction of the AlphaFold protein structure prediction model, specifically, it was first created to facilitate the detection of knots in protein chains within structures predicted by AlphaFold. KSA has since been applied to several structural bioinformatics research projects, among others, leading to the discovery of new knotted proteins with previously unknown knot types. These knotted structures are now part of the AlphaKnot 2.0 web server and database, where KSA is applied to manage the knot detection process for user-uploaded structures.
Think Like Human Developers: Harnessing Community Knowledge for Structured Code Reasoning
Venue: arXiv cs.SE 2025
Year: 2025

Large Language Models (LLMs) have significantly advanced automated code generation, yet they struggle with complex coding tasks requiring multi-step logical reasoning. High-quality reasoning data is crucial for improving LLMs' reasoning capabilities, but such datasets remain scarce. Existing approaches either rely on computationally expensive reinforcement learning (RL) or error-prone reasoning chains synthesized by LLMs, posing challenges in scalability and accuracy. To address this challenge, we propose SVRC (Structured and Validated Reasoning Chains for Code Generation), a novel framework that mines, restructures, and enriches reasoning chains from community-driven discussions on software engineering platforms. SVRC refines unstructured and incomplete discussions of coding problems by aligning them with Software Development Life Cycle (SDLC) principles, ensuring that reasoning chains capture real-world problem-solving strategies and support iterative refinement. To evaluate the effectiveness of SVRC, we introduce CodeThinker, an LLM fine-tuned on 12,444 reasoning-augmented samples generated by SVRC. Experiments on LiveCodeBench show that CodeThinker surpasses its base model by 42.86\% on medium-level code problems in terms of pass@1 and outperforms GPT-4o-mini and GPT-4o by 73.14\% and 115.86\%, respectively. Our ablation study further highlights that each component of SVRC contributes to the reasoning capabilities of CodeThinker.
Pseudo Relevance Feedback is Enough to Close the Gap Between Small and Large Dense Retrieval Models
Venue: arXiv cs.IR 2025
Year: 2025

Scaling dense retrievers to larger large language model (LLM) backbones has been a dominant strategy for improving their retrieval effectiveness. However, this has substantial cost implications: larger backbones require more expensive hardware (e.g. GPUs with more memory) and lead to higher indexing and querying costs (latency, energy consumption). In this paper, we challenge this paradigm by introducing PromptPRF, a feature-based pseudo-relevance feedback (PRF) framework that enables small LLM-based dense retrievers to achieve effectiveness comparable to much larger models. PromptPRF uses LLMs to extract query-independent, structured and unstructured features (e.g., entities, summaries, chain-of-thought keywords, essay) from top-ranked documents. These features are generated offline and integrated into dense query representations via prompting, enabling efficient retrieval without additional training. Unlike prior methods such as GRF, which rely on online, query-specific generation and sparse retrieval, PromptPRF decouples feedback generation from query processing and supports dense retrievers in a fully zero-shot setting. Experiments on TREC DL and BEIR benchmarks demonstrate that PromptPRF consistently improves retrieval effectiveness and offers favourable cost-effectiveness trade-offs. We further present ablation studies to understand the role of positional feedback and analyse the interplay between feature extractor size, PRF depth, and model performance. Our findings demonstrate that with effective PRF design, scaling the retriever is not always necessary, narrowing the gap between small and large models while reducing inference cost.
Mitigating Object Hallucinations in MLLMs via Multi-Frequency Perturbations
Venue: arXiv cs.CV 2025
Year: 2025

Recently, multimodal large language models (MLLMs) have demonstrated remarkable performance in visual-language tasks. However, the authenticity of the responses generated by MLLMs is often compromised by object hallucinations. We identify that a key cause of these hallucinations is the model's over-susceptibility to specific image frequency features in detecting objects. In this paper, we introduce Multi-Frequency Perturbations (MFP), a simple, cost-effective, and pluggable method that leverages both low-frequency and high-frequency features of images to perturb visual feature representations and explicitly suppress redundant frequency-domain features during inference, thereby mitigating hallucinations. Experimental results demonstrate that our method significantly mitigates object hallucinations across various model architectures. Furthermore, as a training-time method, MFP can be combined with inference-time methods to achieve state-of-the-art performance on the CHAIR benchmark.
Deep Contrastive Unlearning for Language Models
Venue: arXiv cs.CL 2025
Year: 2025

The past a few years have witnessed the great success of large language models, demonstrating powerful capabilities in comprehending textual data and generating human-like languages. Large language models achieve success by being trained on vast amounts of textual data, including online sources with copyrighted content and user-generated knowledge. However, this comes at a cost: the potential risk of exposing users' privacy and violating copyright protections. Thus, to safeguard individuals' "right to be forgotten", there has been increasing interests in machine unlearning -- the process of removing information carried by particular training samples from a model while not deteriorating its predictive quality. This is a challenging task due to the black-box nature of language models. Most existing studies focus on mitigating the impact of those forgot samples upon a model's outputs, and do not explicitly consider the geometric distributions of samples in the latent space of a model. To address this issue, we propose a machine unlearning framework, named Deep Contrastive Unlearning for fine-Tuning (DeepCUT) language models. Our proposed model achieves machine unlearning by directly optimizing the latent space of a model. Comprehensive experiments on real-world datasets demonstrate the effectiveness and efficiency of DeepCUT with consistent and significant improvement over baseline methods.