OpenRaiser/Intern-Atlas huggingface dataset:
When Autonomous Vehicle Meets V2X Cooperative Perception: How Far Are We?
Venue: arXiv cs.AI 2025
Year: 2025

With the tremendous advancement of deep learning and communication technology, Vehicle-to-Everything (V2X) cooperative perception has the potential to address limitations in sensing distant objects and occlusion for a single-agent perception system. V2X cooperative perception systems are software systems characterized by diverse sensor types and cooperative agents, varying fusion schemes, and operation under different communication conditions. Therefore, their complex composition gives rise to numerous operational challenges. Furthermore, when cooperative perception systems produce erroneous predictions, the types of errors and their underlying causes remain insufficiently explored. To bridge this gap, we take an initial step by conducting an empirical study of V2X cooperative perception. To systematically evaluate the impact of cooperative perception on the ego vehicle's perception performance, we identify and analyze six prevalent error patterns in cooperative perception systems. We further conduct a systematic evaluation of the critical components of these systems through our large-scale study and identify the following key findings: (1) The LiDAR-based cooperation configuration exhibits the highest perception performance; (2) Vehicle-to-infrastructure (V2I) and vehicle-to-vehicle (V2V) communication exhibit distinct cooperative perception performance under different fusion schemes; (3) Increased cooperative perception errors may result in a higher frequency of driving violations; (4) Cooperative perception systems are not robust against communication interference when running online. Our results reveal potential risks and vulnerabilities in critical components of cooperative perception systems. We hope that our findings can better promote the design and repair of cooperative perception systems.
The Dialogue That Heals: A Comprehensive Evaluation of Doctor Agents' Inquiry Capability
Venue: arXiv cs.CL 2025
Year: 2025

An effective physician should possess a combination of empathy, expertise, patience, and clear communication when treating a patient. Recent advances have successfully endowed AI doctors with expert diagnostic skills, particularly the ability to actively seek information through inquiry. However, other essential qualities of a good doctor remain overlooked. To bridge this gap, we present MAQuE(Medical Agent Questioning Evaluation), the largest-ever benchmark for the automatic and comprehensive evaluation of medical multi-turn questioning. It features 3,000 realistically simulated patient agents that exhibit diverse linguistic patterns, cognitive limitations, emotional responses, and tendencies for passive disclosure. We also introduce a multi-faceted evaluation framework, covering task success, inquiry proficiency, dialogue competence, inquiry efficiency, and patient experience. Experiments on different LLMs reveal substantial challenges across the evaluation aspects. Even state-of-the-art models show significant room for improvement in their inquiry capabilities. These models are highly sensitive to variations in realistic patient behavior, which considerably impacts diagnostic accuracy. Furthermore, our fine-grained metrics expose trade-offs between different evaluation perspectives, highlighting the challenge of balancing performance and practicality in real-world clinical settings.
Double Descent as a Lens for Sample Efficiency in Autoregressive vs. Discrete Diffusion Models
Venue: arXiv cs.LG 2025
Year: 2025

Data scarcity drives the need for more sample-efficient large language models. In this work, we use the double descent phenomenon to holistically compare the sample efficiency of discrete diffusion and autoregressive models. We show that discrete diffusion models require larger capacity and more training epochs to escape their underparameterized regime and reach the interpolation threshold. In the strongly overparameterized regime, both models exhibit similar behavior, with neither exhibiting a pronounced second descent in test loss across a large range of model sizes. Overall, our results indicate that autoregressive models are more sample-efficient on small-scale datasets, while discrete diffusion models only become competitive when given sufficient capacity and compute.
Video Generation with Stable Transparency via Shiftable RGB-A Distribution Learner
Venue: arXiv cs.CV 2025
Year: 2025

Generating RGB-A videos, which include alpha channels for transparency, has wide applications. However, current methods often suffer from low quality due to confusion between RGB and alpha. In this paper, we address this problem by learning shiftable RGB-A distributions. We adjust both the latent space and noise space, shifting the alpha distribution outward while preserving the RGB distribution, thereby enabling stable transparency generation without compromising RGB quality. Specifically, for the latent space, we propose a transparency-aware bidirectional diffusion loss during VAE training, which shifts the RGB-A distribution according to likelihood. For the noise space, we propose shifting the mean of diffusion noise sampling and applying a Gaussian ellipse mask to provide transparency guidance and controllability. Additionally, we construct a high-quality RGB-A video dataset. Compared to state-of-the-art methods, our model excels in visual quality, naturalness, transparency rendering, inference convenience, and controllability. The released model is available on our website: https://donghaotian123.github.io/Wan-Alpha/.
CLASP: Adaptive Spectral Clustering for Unsupervised Per-Image Segmentation
Venue: arXiv cs.CV 2025
Year: 2025

We introduce CLASP (Clustering via Adaptive Spectral Processing), a lightweight framework for unsupervised image segmentation that operates without any labeled data or finetuning. CLASP first extracts per patch features using a self supervised ViT encoder (DINO); then, it builds an affinity matrix and applies spectral clustering. To avoid manual tuning, we select the segment count automatically with a eigengap silhouette search, and we sharpen the boundaries with a fully connected DenseCRF. Despite its simplicity and training free nature, CLASP attains competitive mIoU and pixel accuracy on COCO Stuff and ADE20K, matching recent unsupervised baselines. The zero training design makes CLASP a strong, easily reproducible baseline for large unannotated corpora especially common in digital advertising and marketing workflows such as brand safety screening, creative asset curation, and social media content moderation
AIRoA MoMa Dataset: A Large-Scale Hierarchical Dataset for Mobile Manipulation
Venue: arXiv cs.RO 2025
Year: 2025

As robots transition from controlled settings to unstructured human environments, building generalist agents that can reliably follow natural language instructions remains a central challenge. Progress in robust mobile manipulation requires large-scale multimodal datasets that capture contact-rich and long-horizon tasks, yet existing resources lack synchronized force-torque sensing, hierarchical annotations, and explicit failure cases. We address this gap with the AIRoA MoMa Dataset, a large-scale real-world multimodal dataset for mobile manipulation. It includes synchronized RGB images, joint states, six-axis wrist force-torque signals, and internal robot states, together with a novel two-layer annotation schema of sub-goals and primitive actions for hierarchical learning and error analysis. The initial dataset comprises 25,469 episodes (approx. 94 hours) collected with the Human Support Robot (HSR) and is fully standardized in the LeRobot v2.1 format. By uniquely integrating mobile manipulation, contact-rich interaction, and long-horizon structure, AIRoA MoMa provides a critical benchmark for advancing the next generation of Vision-Language-Action models. The first version of our dataset is now available at https://huggingface.co/datasets/airoa-org/airoa-moma .
Capacity Achieving Design for Hybrid Beamforming in Millimeter Wave Massive MIMO Systems
Venue: arXiv cs.IT 2025
Year: 2025

Hybrid digital and analog beamforming is a highly effective technique for implementing beamforming methods in millimeter wave (mmWave) systems. It provides a viable solution to replace the complex fully digital beamforming techniques. However, the current design of precoding and combining matrices in hybrid beamforming solely relies on the channel information, neglecting the crucial consideration of the structure of covariance matrices of the transmit signals. In this paper, we present a novel approach for the joint design of hybrid beamforming matrices at the transmitter and receiver. This approach is centered around the optimization of the covariance matrix of the transmitted signals. Our goal is to maximize the downlink sum rate capacity of the system by achieving an optimal design of the transmit covariance matrix. We tackle the non-convex nature of this problem by leveraging the dual relationship between the broadcast channel (BC) and the multiple access channel (MAC). Through extensive simulations in various scenarios, including point-to-point multi-input multi-output (MIMO), multi-user (MU) multi-input single-output (MISO), and MU-MIMO, we demonstrate the superiority of our proposed method over traditional designs. These results highlight the effectiveness and versatility of our approach in optimizing beamforming for mmWave systems.
Optimizing Privacy-Preserving Primitives to Support LLM-Scale Applications
Venue: arXiv cs.CR 2025
Year: 2025

Privacy-preserving technologies have introduced a paradigm shift that allows for realizable secure computing in real-world systems. The significant barrier to the practical adoption of these primitives is the computational and communication overhead that is incurred when applied at scale. In this paper, we present an overview of our efforts to bridge the gap between this overhead and practicality for privacy-preserving learning systems using multi-party computation (MPC), zero-knowledge proofs (ZKPs), and fully homomorphic encryption (FHE). Through meticulous hardware/software/algorithm co-design, we show progress towards enabling LLM-scale applications in privacy-preserving settings. We demonstrate the efficacy of our solutions in several contexts, including DNN IP ownership, ethical LLM usage enforcement, and transformer inference.
GEM: 3D Gaussian Splatting for Efficient and Accurate Cryo-EM Reconstruction
Venue: arXiv cs.CV 2025
Year: 2025

Cryo-electron microscopy (cryo-EM) has become a central tool for high-resolution structural biology, yet the massive scale of datasets (often exceeding 100k particle images) renders 3D reconstruction both computationally expensive and memory intensive. Traditional Fourier-space methods are efficient but lose fidelity due to repeated transforms, while recent real-space approaches based on neural radiance fields (NeRFs) improve accuracy but incur cubic memory and computation overhead. Therefore, we introduce GEM, a novel cryo-EM reconstruction framework built on 3D Gaussian Splatting (3DGS) that operates directly in real-space while maintaining high efficiency. Instead of modeling the entire density volume, GEM represents proteins with compact 3D Gaussians, each parameterized by only 11 values. To further improve the training efficiency, we designed a novel gradient computation to 3D Gaussians that contribute to each voxel. This design substantially reduced both memory footprint and training cost. On standard cryo-EM benchmarks, GEM achieves up to 48% faster training and 12% lower memory usage compared to state-of-the-art methods, while improving local resolution by as much as 38.8%. These results establish GEM as a practical and scalable paradigm for cryo-EM reconstruction, unifying speed, efficiency, and high-resolution accuracy. Our code is available at https://github.com/UNITES-Lab/GEM.
MANI-Pure: Magnitude-Adaptive Noise Injection for Adversarial Purification
Venue: arXiv cs.CV 2025
Year: 2025

Adversarial purification with diffusion models has emerged as a promising defense strategy, but existing methods typically rely on uniform noise injection, which indiscriminately perturbs all frequencies, corrupting semantic structures and undermining robustness. Our empirical study reveals that adversarial perturbations are not uniformly distributed: they are predominantly concentrated in high-frequency regions, with heterogeneous magnitude intensity patterns that vary across frequencies and attack types. Motivated by this observation, we introduce MANI-Pure, a magnitude-adaptive purification framework that leverages the magnitude spectrum of inputs to guide the purification process. Instead of injecting homogeneous noise, MANI-Pure adaptively applies heterogeneous, frequency-targeted noise, effectively suppressing adversarial perturbations in fragile high-frequency, low-magnitude bands while preserving semantically critical low-frequency content. Extensive experiments on CIFAR-10 and ImageNet-1K validate the effectiveness of MANI-Pure. It narrows the clean accuracy gap to within 0.59 of the original classifier, while boosting robust accuracy by 2.15, and achieves the top-1 robust accuracy on the RobustBench leaderboard, surpassing the previous state-of-the-art method.
Crop Spirals: Re-thinking the field layout for future robotic agriculture
Venue: arXiv cs.RO 2025
Year: 2025

Conventional linear crop layouts, optimised for tractors, hinder robotic navigation with tight turns, long travel distances, and perceptual aliasing. We propose a robot-centric square spiral layout with a central tramline, enabling simpler motion and more efficient coverage. To exploit this geometry, we develop a navigation stack combining DH-ResNet18 waypoint regression, pixel-to-odometry mapping, A* planning, and model predictive control (MPC). In simulations, the spiral layout yields up to 28% shorter paths and about 25% faster execution for waypoint-based tasks across 500 waypoints than linear layouts, while full-field coverage performance is comparable to an optimised linear U-turn strategy. Multi-robot studies demonstrate efficient coordination on the spirals rule-constrained graph, with a greedy allocator achieving 33-37% lower batch completion times than a Hungarian assignment under our setup. These results highlight the potential of redesigning field geometry to better suit autonomous agriculture.
Towards Reliable Generation of Executable Workflows by Foundation Models
Venue: arXiv cs.SE 2025
Year: 2025

Recent advancements in Foundation Models (FMs) have demonstrated significant progress in comprehending complex natural language to perform intricate tasks. Successfully executing these tasks often requires orchestrating calls to FMs alongside other software components. However, manually decomposing a task into a coherent sequence of smaller, logically aggregated steps, commonly referred to as workflows, demands considerable effort and specialized domain knowledge. While FMs can assist in generating such workflows specified in domain-specific languages (DSLs), achieving accuracy and reliability in this process remains a challenge. This work introduces a framework that leverages static analysis feedback to enable FMs to detect and repair defects in the DSL-based workflows they generate. We begin by presenting the first-ever taxonomy of incidences of defects in FM-generated DSL workflows, categorizing them into 18 distinct types. Furthermore, we observe a high prevalence of defects across FM-generated DSL workflows, with 87.27% of the studied instances containing at least one defect. This, in turn, emphasizes the magnitude of the problem in practice and underscores the necessity for implementing mitigation strategies. Following this, we demonstrate that nine types of these defects can be effectively identified through static analysis of the workflows. For this purpose, we develop Timon, the first-of-its-kind static analyzer specifically designed for FM-generated DSL workflows. Finally, we show that by incorporating feedback from Timon, we can guide Pumbaa, an FM-based tool, to repair the detected defect incidences. By systematically detecting and repairing defects, our work provides a crucial step towards the reliable and automated generation of executable workflows from natural language requirements.
Rethinking Entropy Regularization in Large Reasoning Models
Venue: arXiv cs.LG 2025
Year: 2025

Reinforcement learning with verifiable rewards (RLVR) has shown great promise in enhancing the reasoning abilities of large reasoning models (LRMs). However, it suffers from a critical issue: entropy collapse and premature convergence. Naive entropy regularization, a common approach for encouraging exploration in the traditional RL literature, fails to address this problem in the context of LRM. Our analysis reveals that this failure stems from the vast action space and long trajectories in LRMs, which easily trigger a global entropy explosion as the model indiscriminately explores all possible actions and states. To address this, we propose SIREN (SelectIve entRopy rEgularizatioN), a method that confines exploration to a meaningful subset of actions and states. SIREN achieves this through a two-step entropy masking mechanism, consisting of a top-p mask and a peak-entropy mask. In addition, regularization is transformed into a self-anchored form to stabilize training. Across five mathematical benchmarks, SIREN attains superior average performance over previous entropy-related RLVR approaches, exemplified by a +6.6 maj@k improvement on AIME24/25 with Qwen2.5-Math-7B. Further analysis confirms that SIREN promotes greater response diversity and maintains entropy at an appropriate level, which helps to preserve the validation pass@k throughout training. This effectively mitigates the premature convergence problem common in RLVR for LRM.
Fast Feature Field ($\text{F}^3$): A Predictive Representation of Events
Venue: arXiv cs.CV 2025
Year: 2025

This paper develops a mathematical argument and algorithms for building representations of data from event-based cameras, that we call Fast Feature Field ($\text{F}^3$). We learn this representation by predicting future events from past events and show that it preserves scene structure and motion information. $\text{F}^3$ exploits the sparsity of event data and is robust to noise and variations in event rates. It can be computed efficiently using ideas from multi-resolution hash encoding and deep sets - achieving 120 Hz at HD and 440 Hz at VGA resolutions. $\text{F}^3$ represents events within a contiguous spatiotemporal volume as a multi-channel image, enabling a range of downstream tasks. We obtain state-of-the-art performance on optical flow estimation, semantic segmentation, and monocular metric depth estimation, on data from three robotic platforms (a car, a quadruped robot and a flying platform), across different lighting conditions (daytime, nighttime), environments (indoors, outdoors, urban, as well as off-road) and dynamic vision sensors (resolutions and event rates). Our implementations can predict these tasks at 25-75 Hz at HD resolution.
Mitigating Hallucination in Multimodal LLMs with Layer Contrastive Decoding
Venue: arXiv cs.CV 2025
Year: 2025

Multimodal Large Language Models (MLLMs) have shown impressive perception and reasoning capabilities, yet they often suffer from hallucinations -- generating outputs that are linguistically coherent but inconsistent with the context of the input image, including inaccuracies in objects, attributes, and relations. To address this challenge, we propose a simple approach called Layer Contrastive Decoding (LayerCD). Our design is motivated by the observation that shallow visual features are much more likely than deep visual features to cause an MLLM to hallucinate as they only capture biased, low-level information that is insufficient for high-level reasoning. Therefore, LayerCD aims to filter out hallucinations by contrasting the output distributions generated from visual features of different levels, specifically those from the shallow and deep layers of the vision encoder, respectively. We conduct extensive experiments on two hallucination benchmarks and show that LayerCD significantly outperforms current state-of-the-art. The code for LayerCD is available at https://github.com/maifoundations/LayerCD .
DC-VideoGen: Efficient Video Generation with Deep Compression Video Autoencoder
Venue: arXiv cs.CV 2025
Year: 2025

We introduce DC-VideoGen, a post-training acceleration framework for efficient video generation. DC-VideoGen can be applied to any pre-trained video diffusion model, improving efficiency by adapting it to a deep compression latent space with lightweight fine-tuning. The framework builds on two key innovations: (i) a Deep Compression Video Autoencoder with a novel chunk-causal temporal design that achieves 32x/64x spatial and 4x temporal compression while preserving reconstruction quality and generalization to longer videos; and (ii) AE-Adapt-V, a robust adaptation strategy that enables rapid and stable transfer of pre-trained models into the new latent space. Adapting the pre-trained Wan-2.1-14B model with DC-VideoGen requires only 10 GPU days on the NVIDIA H100 GPU. The accelerated models achieve up to 14.8x lower inference latency than their base counterparts without compromising quality, and further enable 2160x3840 video generation on a single GPU. Code: https://github.com/dc-ai-projects/DC-VideoGen.
InfoAgent: Advancing Autonomous Information-Seeking Agents
Venue: arXiv cs.CL 2025
Year: 2025

Building Large Language Model agents that expand their capabilities by interacting with external tools represents a new frontier in AI research and applications. In this paper, we introduce InfoAgent, a deep research agent powered by an innovative data synthesis pipeline and orchestrated web search tools. To construct challenging, hard-to-find queries,we build entity trees and apply sub-tree sampling with entity fuzzification to systematically increase question difficulty. Unlike prior work that relies heavily on commercial search tools, we develop a dedicated self-hosted search infrastructure, enhancing transparency of agent environments and facilitating further advancement of agent capacity. We evaluate the effectiveness of our data pipeline by measuring the average number of tool calls required to correctly answer a question, and also show that our agent yields better performance when equipped with our tools. Our \mbox{InfoAgent} is post-trained from Qwen3-14B using a two-stage recipe: cold-start supervised finetuning to instill long-horizon search behaviors, followed by reinforcement learning which significantly improves reasoning-driven tool use. With our methods, InfoAgent achieves 15.3\% accuracy on BrowseComp, 29.2\% on BrowseComp-ZH, and 40.4\% on Xbench-DS, outperforming prior open-source deep research agents such as WebSailor-72B and DeepDive-32B.