OpenRaiser/Intern-Atlas huggingface dataset:
FTIN: Frequency-Time Integration Network for Inertial Odometry
Venue: arXiv cs.RO 2025
Year: 2025

Inertial odometry (IO) leverages inertial measurement unit (IMU) signals for cost-effective localization. However, high IMU sampling rates introduce substantial redundancy that impedes IO's ability to attend to salient components, thereby creating an information bottleneck. To address this challenge, we propose a cross-domain IO framework that fuses information from the frequency and time domains. Specifically, we exploit the global context and energy-compaction properties of frequency-domain representations to capture holistic motion patterns and alleviate the bottleneck. To the best of our knowledge, this is among the first attempts to incorporate frequency-domain feature processing into IO. Experimental results on multiple public datasets demonstrate the effectiveness of the proposed frequency--time-domain fusion strategy.
StarIO: A Lightweight Inertial Odometry for Nonlinear Motion
Venue: arXiv cs.RO 2025
Year: 2025

Inertial odometry (IO) directly estimates the position of a carrier from inertial sensor measurements and serves as a core technology for the widespread deployment of consumer grade localization systems. While existing IO methods can accurately reconstruct simple and near linear motion trajectories, they often fail to account for drift errors caused by complex motion patterns such as turning. This limitation significantly degrades localization accuracy and restricts the applicability of IO systems in real world scenarios. To address these challenges, we propose a lightweight IO framework. Specifically, inertial data is projected into a high dimensional implicit nonlinear feature space using the Star Operation method, enabling the extraction of complex motion features that are typically overlooked. We further introduce a collaborative attention mechanism that jointly models global motion dynamics across both channel and temporal dimensions. In addition, we design Multi Scale Gated Convolution Units to capture fine grained dynamic variations throughout the motion process, thereby enhancing the model's ability to learn rich and expressive motion representations. Extensive experiments demonstrate that our proposed method consistently outperforms SOTA baselines across six widely used inertial datasets. Compared to baseline models on the RoNIN dataset, it achieves reductions in ATE ranging from 2.26% to 65.78%, thereby establishing a new benchmark in the field.
Benchmarking LLM Privacy Recognition for Social Robot Decision Making
Venue: arXiv cs.RO 2025
Year: 2025

While robots have previously utilized rule-based systems or probabilistic models for user interaction, the rapid evolution of large language models (LLMs) presents new opportunities to develop LLM-powered robots for enhanced human-robot interaction (HRI). To fully realize these capabilities, however, robots need to collect data such as audio, fine-grained images, video, and locations. As a result, LLMs often process sensitive personal information, particularly within private environments, such as homes. Given the tension between utility and privacy risks, evaluating how current LLMs manage sensitive data is critical. Specifically, we aim to explore the extent to which out-of-the-box LLMs are privacy-aware in the context of household robots. In this work, we present a set of privacy-relevant scenarios developed using the Contextual Integrity (CI) framework. We first surveyed users' privacy preferences regarding in-home robot behaviors and then examined how their privacy orientations affected their choices of these behaviors (N = 450). We then provided the same set of scenarios and questions to state-of-the-art LLMs (N = 10) and found that the agreement between humans and LLMs was generally low. To further investigate the capabilities of LLMs as potential privacy controllers, we implemented four additional prompting strategies and compared their results. We discuss the performance of the evaluated models as well as the implications and potential of AI privacy awareness in human-robot interaction.
An Exact Solver for Submodular Knapsack Problems
Venue: arXiv cs.DS 2025
Year: 2025

We study the problem of maximizing a monotone increasing submodular function over a set of weighted elements subject to a knapsack constraint. Although this problem is NP-hard, many applications require exact solutions, as approximate solutions are often insufficient in practice. To address this need, we propose an exact branch-and-bound algorithm tailored for the submodular knapsack problem and introduce several acceleration techniques to enhance its efficiency. We evaluate these techniques on artificial instances of three benchmark problems as well as on instances derived from real-world data. We compare the proposed solver with two solvers by Sakaue and Ishihata (2018), which currently achieve the strongest performance reported in the literature, as well as with a branch-and-cut algorithm implemented using Gurobi that solves a binary linear reformulation of the submodular knapsack problem, demonstrating that our methods are highly successful.
Parallel Ray Tracing of Black Hole Images Using the Schwarzschild Metric
Venue: arXiv cs.DC 2025
Year: 2025

Rendering images of black holes by utilizing ray tracing techniques is a common methodology employed in many aspects of scientific and astrophysical visualizations. Similarly, general ray tracing techniques are widely used in areas related to computer graphics. In this work we describe the implementation of a parallel open-source program that can ray trace images in the presence of a black hole geometry. We do this by combining a couple of different techniques usually present in parallel scientific computing, such as, mathematical approximations, utilization of scientific libraries, shared-memory and distributed-memory parallelism.
LABNet: A Lightweight Attentive Beamforming Network for Ad-hoc Multichannel Microphone Invariant Real-Time Speech Enhancement
Venue: arXiv cs.SD 2025
Year: 2025

Multichannel speech enhancement (SE) aims to restore clean speech from noisy measurements by leveraging spatiotemporal signal features. In ad-hoc array conditions, microphone invariance (MI) requires systems to handle different microphone numbers and array geometries. From a practical perspective, multichannel recordings inevitably increase the computational burden for edge-device applications, highlighting the necessity of lightweight and efficient deployments. In this work, we propose a lightweight attentive beamforming network (LABNet) to integrate MI in a low-complexity real-time SE system. We design a three-stage framework for efficient intra-channel modeling and inter-channel interaction. A cross-channel attention module is developed to aggregate features from each channel selectively. Experimental results demonstrate our LABNet achieves impressive performance with ultra-light resource overhead while maintaining the MI, indicating great potential for ad-hoc array processing. The code is available:https://github.com/Jokejiangv/LABNet.git
Explicit Context Reasoning with Supervision for Visual Tracking
Venue: arXiv cs.CV 2025
Year: 2025

Contextual reasoning with constraints is crucial for enhancing temporal consistency in cross-frame modeling for visual tracking. However, mainstream tracking algorithms typically associate context by merely stacking historical information without explicitly supervising the association process, making it difficult to effectively model the target's evolving dynamics. To alleviate this problem, we propose RSTrack, which explicitly models and supervises context reasoning via three core mechanisms. \textit{1) Context Reasoning Mechanism}: Constructs a target state reasoning pipeline, converting unconstrained contextual associations into a temporal reasoning process that predicts the current representation based on historical target states, thereby enhancing temporal consistency. \textit{2) Forward Supervision Strategy}: Utilizes true target features as anchors to constrain the reasoning pipeline, guiding the predicted output toward the true target distribution and suppressing drift in the context reasoning process. \textit{3) Efficient State Modeling}: Employs a compression-reconstruction mechanism to extract the core features of the target, removing redundant information across frames and preventing ineffective contextual associations. These three mechanisms collaborate to effectively alleviate the issue of contextual association divergence in traditional temporal modeling. Experimental results show that RSTrack achieves state-of-the-art performance on multiple benchmark datasets while maintaining real-time running speeds. Our code is available at https://github.com/GXNU-ZhongLab/RSTrack.
LMM4Edit: Benchmarking and Evaluating Multimodal Image Editing with LMMs
Venue: arXiv cs.CV 2025
Year: 2025

The rapid advancement of Text-guided Image Editing (TIE) enables image modifications through text prompts. However, current TIE models still struggle to balance image quality, editing alignment, and consistency with the original image, limiting their practical applications. Existing TIE evaluation benchmarks and metrics have limitations on scale or alignment with human perception. To this end, we introduce EBench-18K, the first large-scale image Editing Benchmark including 18K edited images with fine-grained human preference annotations for evaluating TIE. Specifically, EBench-18K includes 1,080 source images with corresponding editing prompts across 21 tasks, 18K+ edited images produced by 17 state-of-the-art TIE models, 55K+ mean opinion scores (MOSs) assessed from three evaluation dimensions, and 18K+ question-answering (QA) pairs. Based on EBench-18K, we employ outstanding LMMs to assess edited images, while the evaluation results, in turn, provide insights into assessing the alignment between the LMMs' understanding ability and human preferences. Then, we propose LMM4Edit, a LMM-based metric for evaluating image Editing models from perceptual quality, editing alignment, attribute preservation, and task-specific QA accuracy in an all-in-one manner. Extensive experiments show that LMM4Edit achieves outstanding performance and aligns well with human preference. Zero-shot validation on the other datasets also shows the generalization ability of our model. The dataset and code are available at https://github.com/IntMeGroup/LMM4Edit.
Do Large Language Models Have a Planning Theory of Mind? Evidence from MindGames: a Multi-Step Persuasion Task
Venue: arXiv cs.CL 2025
Year: 2025

Recent evidence suggests Large Language Models (LLMs) display Theory of Mind (ToM) abilities. Most ToM experiments place participants in a spectatorial role, wherein they predict and interpret other agents' behavior. However, human ToM also contributes to dynamically planning action and strategically intervening on others' mental states. We present MindGames: a novel `planning theory of mind' (PToM) task which requires agents to infer an interlocutor's beliefs and desires to persuade them to alter their behavior. Unlike previous evaluations, we explicitly evaluate use cases of ToM. We find that humans significantly outperform o1-preview (an LLM) at our PToM task (11% higher; $p=0.006$). We hypothesize this is because humans have an implicit causal model of other agents (e.g., they know, as our task requires, to ask about people's preferences). In contrast, o1-preview outperforms humans in a baseline condition which requires a similar amount of planning but minimal mental state inferences (e.g., o1-preview is better than humans at planning when already given someone's preferences). These results suggest a significant gap between human-like social reasoning and LLM abilities.
METER: Multi-modal Evidence-based Thinking and Explainable Reasoning -- Algorithm and Benchmark
Venue: arXiv cs.LG 2025
Year: 2025

With the rapid advancement of generative AI, synthetic content across images, videos, and audio has become increasingly realistic, amplifying the risk of misinformation. Existing detection approaches predominantly focus on binary classification while lacking detailed and interpretable explanations of forgeries, which limits their applicability in safety-critical scenarios. Moreover, current methods often treat each modality separately, without a unified benchmark for cross-modal forgery detection and interpretation. To address these challenges, we introduce METER, a unified, multi-modal benchmark for interpretable forgery detection spanning images, videos, audio, and audio-visual content. Our dataset comprises four tracks, each requiring not only real-vs-fake classification but also evidence-chain-based explanations, including spatio-temporal localization, textual rationales, and forgery type tracing. Compared to prior benchmarks, METER offers broader modality coverage and richer interpretability metrics such as spatial/temporal IoU, multi-class tracing, and evidence consistency. We further propose a human-aligned, three-stage Chain-of-Thought (CoT) training strategy combining SFT, DPO, and a novel GRPO stage that integrates a human-aligned evaluator with CoT reasoning. We hope METER will serve as a standardized foundation for advancing generalizable and interpretable forgery detection in the era of generative media.
Distilled Large Language Model in Confidential Computing Environment for System-on-Chip Design
Venue: arXiv cs.AI 2025
Year: 2025

Large Language Models (LLMs) are increasingly used in circuit design tasks and have typically undergone multiple rounds of training. Both the trained models and their associated training data are considered confidential intellectual property (IP) and must be protected from exposure. Confidential Computing offers a promising solution to protect data and models through Trusted Execution Environments (TEEs). However, existing TEE implementations are not designed to support the resource-intensive nature of LLMs efficiently. In this work, we first present a comprehensive evaluation of the LLMs within a TEE-enabled confidential computing environment, specifically utilizing Intel Trust Domain Extensions (TDX). We constructed experiments on three environments: TEE-based, CPU-only, and CPU-GPU hybrid implementations, and evaluated their performance in terms of tokens per second. Our first observation is that distilled models, i.e., DeepSeek, surpass other models in performance due to their smaller parameters, making them suitable for resource-constrained devices. Also, in the quantized models such as 4-bit quantization (Q4) and 8-bit quantization (Q8), we observed a performance gain of up to 3x compared to FP16 models. Our findings indicate that for fewer parameter sets, such as DeepSeek-r1-1.5B, the TDX implementation outperforms the CPU version in executing computations within a secure environment. We further validate the results using a testbench designed for SoC design tasks. These validations demonstrate the potential of efficiently deploying lightweight LLMs on resource-constrained systems for semiconductor CAD applications.
LLM-Enhanced Reranking for Complementary Product Recommendation
Venue: arXiv cs.IR 2025
Year: 2025

Complementary product recommendation, which aims to suggest items that are used together to enhance customer value, is a crucial yet challenging task in e-commerce. While existing graph neural network (GNN) approaches have made significant progress in capturing complex product relationships, they often struggle with the accuracy-diversity tradeoff, particularly for long-tail items. This paper introduces a model-agnostic approach that leverages Large Language Models (LLMs) to enhance the reranking of complementary product recommendations. Unlike previous works that use LLMs primarily for data preprocessing and graph augmentation, our method applies LLM-based prompting strategies directly to rerank candidate items retrieved from existing recommendation models, eliminating the need for model retraining. Through extensive experiments on public datasets, we demonstrate that our approach effectively balances accuracy and diversity in complementary product recommendations, with at least 50% lift in accuracy metrics and 2% lift in diversity metrics on average for the top recommended items across datasets.
Animal Interaction with Autonomous Mobility Systems: Designing for Multi-Species Coexistence
Venue: arXiv cs.HC 2025
Year: 2025

Autonomous mobility systems increasingly operate in environments shared with animals, from urban pets to wildlife. However, their design has largely focused on human interaction, with limited understanding of how non-human species perceive, respond to, or are affected by these systems. Motivated by research in Animal-Computer Interaction (ACI) and more-than-human design, this study investigates animal interactions with autonomous mobility through a multi-method approach combining a scoping review (45 articles), online ethnography (39 YouTube videos and 11 Reddit discussions), and expert interviews (8 participants). Our analysis surfaces five key areas of concern: Physical Impact (e.g., collisions, failures to detect), Behavioural Effects (e.g., avoidance, stress), Accessibility Concerns (particularly for service animals), Ethics and Regulations, and Urban Disturbance. We conclude with design and policy directions aimed at supporting multispecies coexistence in the age of autonomous systems. This work underscores the importance of incorporating non-human perspectives to ensure safer, more inclusive futures for all species.
iShumei-Chinchunmei at SemEval-2025 Task 4: A balanced forgetting and retention multi-task framework using effective unlearning loss
Venue: arXiv cs.CL 2025
Year: 2025

As the Large Language Model (LLM) gains widespread adoption, increasing attention has been given to the challenge of making LLM forget non-compliant data memorized during its pre-training. Machine Unlearning focuses on efficiently erasing sensitive information from LLM under limited computational resources. To advance research in this area, SemEval 2025 Task 4: "Unlearning Sensitive Content from Large Language Models" introduces three unlearning datasets and establishes a benchmark by evaluating both forgetting effectiveness and the preservation of standard capabilities. In this work, we propose a more controllable forgetting loss, Effective Unlearning Loss, and explore its integration with various techniques to achieve more efficient and controlled unlearning. Our system ultimately ranked 5th on the competition leaderboard.
Beyond Isolated Dots: Benchmarking Structured Table Construction as Deep Knowledge Extraction
Venue: arXiv cs.CL 2025
Year: 2025

With the emergence of large language models (LLMs), there is an expectation that LLMs can effectively extract explicit information from complex real-world documents (e.g., papers, reports). However, most LLMs generate paragraph-style answers that are chaotic, disorganized, and untraceable. To bridge this gap, we introduce the Arranged and Organized Extraction Benchmark (AOE), a new bilingual benchmark with data and documents of varying lengths designed to systematically evaluate the ability of LLMs to comprehend fragmented documents and reconstruct isolated information into one organized table. Unlike conventional text-to-table tasks, which rely on fixed schema and narrow task domains, AOE includes 11 carefully crafted tasks across three diverse domains, requiring models to generate context-specific schema tailored to varied input queries. In the experiment, we evaluated both open-source and closed-source state-of-the-art LLMs. The results show that even the most advanced models struggled significantly. The benchmark is available at https://anonymous.4open.science/r/AOE-Benchmark/.
STAlloc: Enhancing Memory Efficiency in Large-Scale Model Training with Spatio-Temporal Planning
Venue: arXiv cs.LG 2025
Year: 2025

The rapid scaling of large language models (LLMs) has significantly increased GPU memory pressure, which is further aggravated by training optimization techniques such as virtual pipeline and recomputation that disrupt tensor lifespans and introduce considerable memory fragmentation. Such fragmentation stems from the use of online GPU memory allocators in popular deep learning frameworks like PyTorch, which disregard tensor lifespans. As a result, this inefficiency can waste as much as 43% of memory and trigger out-of-memory errors, undermining the effectiveness of optimization methods. To address this, we introduce STAlloc, a GPU memory allocator for deep learning frameworks that reduces fragmentation by exploiting the spatial and temporal regularity in memory allocation behaviors of training workloads. STAlloc introduces a novel paradigm that combines offline planning with online allocation. The offline planning leverages spatio-temporal regularities to generate a near-optimal allocation plan, while the online allocation handles complex and dynamic models such as Mixture-of-Experts (MoE). Built as a pluggable PyTorch memory allocator, STAlloc reduces fragmentation ratio on average by 85.1% (up to 100%) across both dense and MoE models, with negligible overhead. This enables more efficient, high-throughput training configurations and improves throughput performance by up to 32.5%.
MAN++: Scaling Momentum Auxiliary Network for Supervised Local Learning in Vision Tasks
Venue: arXiv cs.CV 2025
Year: 2025

Deep learning typically relies on end-to-end backpropagation for training, a method that inherently suffers from issues such as update locking during parameter optimization, high GPU memory consumption, and a lack of biological plausibility. In contrast, supervised local learning seeks to mitigate these challenges by partitioning the network into multiple local blocks and designing independent auxiliary networks to update each block separately. However, because gradients are propagated solely within individual local blocks, performance degradation occurs, preventing supervised local learning from supplanting end-to-end backpropagation. To address these limitations and facilitate inter-block information flow, we propose the Momentum Auxiliary Network++ (MAN++). MAN++ introduces a dynamic interaction mechanism by employing the Exponential Moving Average (EMA) of parameters from adjacent blocks to enhance communication across the network. The auxiliary network, updated via EMA, effectively bridges the information gap between blocks. Notably, we observed that directly applying EMA parameters can be suboptimal due to feature discrepancies between local blocks. To resolve this issue, we introduce a learnable scaling bias that balances feature differences, thereby further improving performance. We validate MAN++ through extensive experiments on tasks that include image classification, object detection, and image segmentation, utilizing multiple network architectures. The experimental results demonstrate that MAN++ achieves performance comparable to end-to-end training while significantly reducing GPU memory usage. Consequently, MAN++ offers a novel perspective for supervised local learning and presents a viable alternative to conventional training methods.