OpenRaiser/Intern-Atlas huggingface dataset:
FindingDory: A Benchmark to Evaluate Memory in Embodied Agents
Venue: arXiv cs.CV 2025
Year: 2025

Large vision-language models have recently demonstrated impressive performance in planning and control tasks, driving interest in their application to real-world robotics. However, deploying these models for reasoning in embodied contexts is limited by their ability to incorporate long-term experience collected across multiple days and represented by vast collections of images. Current VLMs typically struggle to process more than a few hundred images concurrently, highlighting the need for more efficient mechanisms to handle long-term memory in embodied settings. To effectively evaluate these models for long-horizon control, a benchmark must specifically target scenarios where memory is crucial for success. Existing long-video QA benchmarks overlook embodied challenges like object manipulation and navigation, which demand low-level skills and fine-grained reasoning over past interactions. Moreover, effective memory integration in embodied agents involves both recalling relevant historical information and executing actions based on that information, making it essential to study these aspects together rather than in isolation. In this work, we introduce a new benchmark for long-range embodied tasks in the Habitat simulator. This benchmark evaluates memory-based capabilities across 60 tasks requiring sustained engagement and contextual awareness in an environment. The tasks can also be procedurally extended to longer and more challenging versions, enabling scalable evaluation of memory and reasoning. We also present baselines that integrate state-of-the-art VLMs with low level navigation policies, assessing their performance on these memory-intensive tasks and highlight areas for improvement.
AutoRule: Reasoning Chain-of-thought Extracted Rule-based Rewards Improve Preference Learning
Venue: arXiv cs.LG 2025
Year: 2025

Rule-based rewards offer a promising strategy for improving reinforcement learning from human feedback (RLHF), but current approaches often rely on manual rule engineering. We present AutoRule, a fully automated method for extracting rules from preference feedback and formulating them into rule-based rewards. AutoRule extraction operates in three stages: it leverages a reasoning model to interpret user preferences, identifies candidate rules from the reasoning chain of these interpretations, and synthesizes them into a unified rule set. Leveraging the finalized rule set, we employ language-model verifiers to compute the fraction of rules satisfied by each output, using this metric as an auxiliary reward alongside the learned reward model during policy optimization. Training a Llama-3-8B model with AutoRule results in a 28.6\% relative improvement in length-controlled win rate on AlpacaEval2.0, and a 6.1\% relative gain in second-turn performance on a held-out MT-Bench subset, compared to a GRPO baseline trained with the same learned reward model but without the rule-based auxiliary reward. Our analysis confirms that the extracted rules exhibit good agreement with dataset preference. We find that AutoRule demonstrates reduced reward hacking compared to a learned reward model when run over two episodes. Finally, our case study suggests that the extracted rules capture unique qualities valued in different datasets. The extracted rules are provided in the appendix, and the code is open-sourced at https://github.com/cxcscmu/AutoRule.
CC-LEARN: Cohort-based Consistency Learning
Venue: arXiv cs.CL 2025
Year: 2025

Large language models excel at many tasks but still struggle with consistent, robust reasoning. We introduce Cohort-based Consistency Learning (CC-Learn), a reinforcement learning framework that improves the reliability of LLM reasoning by training on cohorts of similar questions derived from shared programmatic abstractions. To enforce cohort-level consistency, we define a composite objective combining cohort accuracy, a retrieval bonus for effective problem decomposition, and a rejection penalty for trivial or invalid lookups that reinforcement learning can directly optimize, unlike supervised fine-tuning. Optimizing this reward guides the model to adopt uniform reasoning patterns across all cohort members. Experiments on challenging reasoning benchmarks (including ARC-Challenge and StrategyQA) show that CC-Learn boosts both accuracy and reasoning stability over pretrained and SFT baselines. These results demonstrate that cohort-level RL effectively enhances reasoning consistency in LLMs.
LLM Web Dynamics: Tracing Model Collapse in a Network of LLMs
Venue: arXiv cs.LG 2025
Year: 2025

The increasing use of synthetic data from the public Internet has enhanced data usage efficiency in large language model (LLM) training. However, the potential threat of model collapse remains insufficiently explored. Existing studies primarily examine model collapse in a single model setting or rely solely on statistical surrogates. In this work, we introduce LLM Web Dynamics (LWD), an efficient framework for investigating model collapse at the network level. By simulating the Internet with a retrieval-augmented generation (RAG) database, we analyze the convergence pattern of model outputs. Furthermore, we provide theoretical guarantees for this convergence by drawing an analogy to interacting Gaussian Mixture Models.
SimuGen: Multi-modal Agentic Framework for Constructing Block Diagram-Based Simulation Models
Venue: arXiv cs.LG 2025
Year: 2025

Recent advances in large language models (LLMs) have shown impressive performance in mathematical reasoning and code generation. However, LLMs still struggle in the simulation domain, particularly in generating Simulink models, which are essential tools in engineering and scientific research. Our preliminary experiments indicate that LLM agents often fail to produce reliable and complete Simulink simulation code from text-only inputs, likely due to the lack of Simulink-specific data in their pretraining. To address this challenge, we propose SimuGen, a multimodal agent-based framework that automatically generates accurate Simulink simulation code by leveraging both the visual Simulink diagram and domain knowledge. SimuGen coordinates several specialized agents, including an investigator, unit test reviewer, code generator, executor, debug locator, and report writer, supported by a domain-specific knowledge base. This collaborative and modular design enables interpretable, robust, and reproducible Simulink simulation generation. Our source code is publicly available at https://github.com/renxinxing123/SimuGen_beta.
BuildingBRep-11K: Precise Multi-Storey B-Rep Building Solids with Rich Layout Metadata
Venue: arXiv cs.LG 2025
Year: 2025

With the rise of artificial intelligence, the automatic generation of building-scale 3-D objects has become an active research topic, yet training such models still demands large, clean and richly annotated datasets. We introduce BuildingBRep-11K, a collection of 11 978 multi-storey (2-10 floors) buildings (about 10 GB) produced by a shape-grammar-driven pipeline that encodes established building-design principles. Every sample consists of a geometrically exact B-rep solid-covering floors, walls, slabs and rule-based openings-together with a fast-loading .npy metadata file that records detailed per-floor parameters. The generator incorporates constraints on spatial scale, daylight optimisation and interior layout, and the resulting objects pass multi-stage filters that remove Boolean failures, undersized rooms and extreme aspect ratios, ensuring compliance with architectural standards. To verify the dataset's learnability we trained two lightweight PointNet baselines. (i) Multi-attribute regression. A single encoder predicts storey count, total rooms, per-storey vector and mean room area from a 4 000-point cloud. On 100 unseen buildings it attains 0.37-storey MAE (87 \% within $\pm1$), 5.7-room MAE, and 3.2 m$^2$ MAE on mean area. (ii) Defect detection. With the same backbone we classify GOOD versus DEFECT; on a balanced 100-model set the network reaches 54 \% accuracy, recalling 82 \% of true defects at 53 \% precision (41 TP, 9 FN, 37 FP, 13 TN). These pilots show that BuildingBRep-11K is learnable yet non-trivial for both geometric regression and topological quality assessment
Data-Driven Heat Pump Management: Combining Machine Learning with Anomaly Detection for Residential Hot Water Systems
Venue: arXiv cs.LG 2025
Year: 2025

Heat pumps (HPs) have emerged as a cost-effective and clean technology for sustainable energy systems, but their efficiency in producing hot water remains restricted by conventional threshold-based control methods. Although machine learning (ML) has been successfully implemented for various HP applications, optimization of household hot water demand forecasting remains understudied. This paper addresses this problem by introducing a novel approach that combines predictive ML with anomaly detection to create adaptive hot water production strategies based on household-specific consumption patterns. Our key contributions include: (1) a composite approach combining ML and isolation forest (iForest) to forecast household demand for hot water and steer responsive HP operations; (2) multi-step feature selection with advanced time-series analysis to capture complex usage patterns; (3) application and tuning of three ML models: Light Gradient Boosting Machine (LightGBM), Long Short-Term Memory (LSTM), and Bi-directional LSTM with the self-attention mechanism on data from different types of real HP installations; and (4) experimental validation on six real household installations. Our experiments show that the best-performing model LightGBM achieves superior performance, with RMSE improvements of up to 9.37\% compared to LSTM variants with $R^2$ values between 0.748-0.983. For anomaly detection, our iForest implementation achieved an F1-score of 0.87 with a false alarm rate of only 5.2\%, demonstrating strong generalization capabilities across different household types and consumption patterns, making it suitable for real-world HP deployments.
A Study of Hybrid and Evolutionary Metaheuristics for Single Hidden Layer Feedforward Neural Network Architecture
Venue: arXiv cs.NE 2025
Year: 2025

Training Artificial Neural Networks (ANNs) with Stochastic Gradient Descent (SGD) frequently encounters difficulties, including substantial computing expense and the risk of converging to local optima, attributable to its dependence on partial weight gradients. Therefore, this work investigates Particle Swarm Optimization (PSO) and Genetic Algorithms (GAs) - two population-based Metaheuristic Optimizers (MHOs) - as alternatives to SGD to mitigate these constraints. A hybrid PSO-SGD strategy is developed to improve local search efficiency. The findings indicate that the hybrid PSO-SGD technique decreases the median training MSE by 90 to 95 percent relative to conventional GA and PSO across various network sizes (e.g., from around 0.02 to approximately 0.001 in the Sphere function). RMHC attains substantial enhancements, reducing MSE by roughly 85 to 90 percent compared to GA. Simultaneously, RS consistently exhibits errors exceeding 0.3, signifying subpar performance. These findings underscore that hybrid and evolutionary procedures significantly improve training efficiency and accuracy compared to conventional optimization methods and imply that the Building Block Hypothesis (BBH) may still be valid, indicating that advantageous weight structures are retained during evolutionary search.
Implicit 3D scene reconstruction using deep learning towards efficient collision understanding in autonomous driving
Venue: arXiv cs.CV 2025
Year: 2025

In crowded urban environments where traffic is dense, current technologies struggle to oversee tight navigation, but surface-level understanding allows autonomous vehicles to safely assess proximity to surrounding obstacles. 3D or 2D scene mapping of the surrounding objects is an essential task in addressing the above problem. Despite its importance in dense vehicle traffic conditions, 3D scene reconstruction of object shapes with higher boundary level accuracy is not yet entirely considered in current literature. The sign distance function represents any shape through parameters that calculate the distance from any point in space to the closest obstacle surface, making it more efficient in terms of storage. In recent studies, researchers have started to formulate problems with Implicit 3D reconstruction methods in the autonomous driving domain, highlighting the possibility of using sign distance function to map obstacles effectively. This research addresses this gap by developing a learning-based 3D scene reconstruction methodology that leverages LiDAR data and a deep neural network to build a the static Signed Distance Function (SDF) maps. Unlike traditional polygonal representations, this approach has the potential to map 3D obstacle shapes with more boundary-level details. Our preliminary results demonstrate that this method would significantly enhance collision detection performance, particularly in congested and dynamic environments.
Architecture is All You Need: Improving LLM Recommenders by Dropping the Text
Venue: arXiv cs.IR 2025
Year: 2025

In recent years, there has been an explosion of interest in the applications of large pre-trained language models (PLMs) to recommender systems, with many studies showing strong performance of PLMs on common benchmark datasets. PLM-based recommender models benefit from flexible and customizable prompting, an unlimited vocabulary of recommendable items, and general ``world knowledge'' acquired through pre-training on massive text corpora. While PLM-based recommenders show promise in settings where data is limited, they are hard to implement in practice due to their large size and computational cost. Additionally, fine-tuning PLMs to improve performance on collaborative signals may degrade the model's capacity for world knowledge and generalizability. We propose a recommender model that uses the architecture of large language models (LLMs) while reducing layer count and dimensions and replacing the text-based subword tokenization of a typical LLM with discrete tokens that uniquely represent individual content items. We find that this simplified approach substantially outperforms both traditional sequential recommender models and PLM-based recommender models at a tiny fraction of the size and computational complexity of PLM-based models. Our results suggest that the principal benefit of LLMs in recommender systems is their architecture, rather than the world knowledge acquired during extensive pre-training.
A Sea of Cyber Threats: Maritime Cybersecurity from the Perspective of Mariners
Venue: arXiv cs.CR 2025
Year: 2025

Maritime systems, including ships and ports, are critical components of global infrastructure, essential for transporting over 80% of the world's goods and supporting internet connectivity. However, these systems face growing cybersecurity threats, as shown by recent attacks disrupting Maersk, one of the world's largest shipping companies, causing widespread impacts on international trade. The unique challenges of the maritime environment--such as diverse operational conditions, extensive physical access points, fragmented regulatory frameworks, and its deeply interconnected structure--require maritime-specific cybersecurity research. Despite the sector's importance, maritime cybersecurity remains underexplored, leaving significant gaps in understanding its challenges and risks. To address these gaps, we investigate how maritime system operators perceive and navigate cybersecurity challenges within this complex landscape. We conducted a user study comprising surveys and semi-structured interviews with 21 officer-level mariners. Participants reported direct experiences with shipboard cyber-attacks, including GPS spoofing and logistics-disrupting ransomware, demonstrating the real-world impact of these threats. Our findings reveal systemic and human-centric issues, such as training poorly aligned with maritime needs, insufficient detection and response tools, and serious gaps in mariners' cybersecurity understanding. Our contributions include a categorization of threats identified by mariners and recommendations for improving maritime security, including better training, response protocols, and regulation. These insights aim to guide future research and policy to strengthen the resilience of maritime systems.
Uncertainty Estimation by Human Perception versus Neural Models
Venue: arXiv cs.LG 2025
Year: 2025

Modern neural networks (NNs) often achieve high predictive accuracy but are poorly calibrated, producing overconfident predictions even when wrong. This miscalibration poses serious challenges in applications where reliable uncertainty estimates are critical. In this work, we investigate how human perceptual uncertainty compares to uncertainty estimated by NNs. Using three vision benchmarks annotated with both human disagreement and crowdsourced confidence, we assess the correlation between model-predicted uncertainty and human-perceived uncertainty. Our results show that current methods only weakly align with human intuition, with correlations varying significantly across tasks and uncertainty metrics. Notably, we find that incorporating human-derived soft labels into the training process can improve calibration without compromising accuracy. These findings reveal a persistent gap between model and human uncertainty and highlight the potential of leveraging human insights to guide the development of more trustworthy AI systems.
Assessing the impact of Binarization for Writer Identification in Greek Papyrus
Venue: arXiv cs.CV 2025
Year: 2025

This paper tackles the task of writer identification for Greek papyri. A common preprocessing step in writer identification pipelines is image binarization, which prevents the model from learning background features. This is challenging in historical documents, in our case Greek papyri, as background is often non-uniform, fragmented, and discolored with visible fiber structures. We compare traditional binarization methods to state-of-the-art Deep Learning (DL) models, evaluating the impact of binarization quality on subsequent writer identification performance. DL models are trained with and without a custom data augmentation technique, as well as different model selection criteria are applied. The performance of these binarization methods, is then systematically evaluated on the DIBCO 2019 dataset. The impact of binarization on writer identification is subsequently evaluated using a state-of-the-art approach for writer identification. The results of this analysis highlight the influence of data augmentation for DL methods. Furthermore, findings indicate a strong correlation between binarization effectiveness on papyri documents of DIBCO 2019 and downstream writer identification performance.
Understanding Online Polarization Through Human-Agent Interaction in a Synthetic LLM-Based Social Network
Venue: arXiv cs.SI 2025
Year: 2025

The rise of social media has fundamentally transformed how people engage in public discourse and form opinions. While these platforms offer unprecedented opportunities for democratic engagement, they have been implicated in increasing social polarization and the formation of ideological echo chambers. Previous research has primarily relied on observational studies of social media data or theoretical modeling approaches, leaving a significant gap in our understanding of how individuals respond to and are influenced by polarized online environments. Here we present a novel experimental framework for investigating polarization dynamics that allows human users to interact with LLM-based artificial agents in a controlled social network simulation. Through a user study with 122 participants, we demonstrate that this approach can successfully reproduce key characteristics of polarized online discourse while enabling precise manipulation of environmental factors. Our results provide empirical validation of theoretical predictions about online polarization, showing that polarized environments significantly increase perceived emotionality and group identity salience while reducing expressed uncertainty. These findings extend previous observational and theoretical work by providing causal evidence for how specific features of online environments influence user perceptions and behaviors. More broadly, this research introduces a powerful new methodology for studying social media dynamics, offering researchers unprecedented control over experimental conditions while maintaining ecological validity.
A Small-Scale Robot for Autonomous Driving: Design, Challenges, and Best Practices
Venue: arXiv cs.RO 2025
Year: 2025

Small-scale autonomous vehicle platforms provide a cost-effective environment for developing and testing advanced driving systems. However, specific configurations within this scale are underrepresented, limiting full awareness of their potential. This paper focuses on a one-sixth-scale setup, offering a high-level overview of its design, hardware and software integration, and typical challenges encountered during development. We discuss methods for addressing mechanical and electronic issues common to this scale and propose guidelines for improving reliability and performance. By sharing these insights, we aim to expand the utility of small-scale vehicles for testing autonomous driving algorithms and to encourage further research in this domain.
Language Models can perform Single-Utterance Self-Correction of Perturbed Reasoning
Venue: arXiv cs.CL 2025
Year: 2025

Large Language Models (LLMs) have demonstrated impressive mathematical reasoning capabilities, yet their performance remains brittle to minor variations in problem description and prompting strategy. Furthermore, reasoning is vulnerable to sampling-induced errors which autoregressive models must primarily address using self-correction via additionally-generated tokens. To better understand self-correction capabilities of recent models, we conduct experiments measuring models' ability to self-correct synthetic perturbations introduced into their Chain of Thought (CoT) reasoning. We observe robust single-utterance intrinsic self-correction behavior across a range of open-weight models and datasets, ranging from subtle, implicit corrections to explicit acknowledgments and corrections of errors. Our findings suggest that LLMs, including those not finetuned for long CoT, may possess stronger intrinsic self-correction capabilities than commonly shown in the literature. The presence of this ability suggests that recent "reasoning" model work involves amplification of traits already meaningfully present in models.
Early Attentive Sparsification Accelerates Neural Speech Transcription
Venue: arXiv cs.LG 2025
Year: 2025

Transformer-based neural speech processing has achieved state-of-the-art performance. Since speech audio signals are known to be highly compressible, here we seek to accelerate neural speech transcription by time-domain signal sparsification early in the neural encoding stage, taking advantage of the interpretability of the self-attention mechanism in transformer audio encoders. With the Whisper family of models, we perform a systematic architecture search over the joint space of sparsification stage (a certain encoder layer) and compression ratio (sparsity). We found that the best resulting solutions under 1% accuracy degradation choose to sparsify the hidden state to 40-60% sparsity at an early encoding stage, and thereby achieve up to 1.6x runtime acceleration in English speech transcription tasks on Nvidia GPUs without any fine-tuning.