OpenRaiser/Intern-Atlas huggingface dataset:
INPC: Implicit Neural Point Clouds for Radiance Field Rendering
Venue: arXiv cs.CV 2025
Year: 2025

We introduce a new approach for reconstruction and novel view synthesis of unbounded real-world scenes. In contrast to previous methods using either volumetric fields, grid-based models, or discrete point cloud proxies, we propose a hybrid scene representation, which implicitly encodes the geometry in a continuous octree-based probability field and view-dependent appearance in a multi-resolution hash grid. This allows for extraction of arbitrary explicit point clouds, which can be rendered using rasterization. In doing so, we combine the benefits of both worlds and retain favorable behavior during optimization: Our novel implicit point cloud representation and differentiable bilinear rasterizer enable fast rendering while preserving the fine geometric detail captured by volumetric neural fields. Furthermore, this representation does not depend on priors like structure-from-motion point clouds. Our method achieves state-of-the-art image quality on common benchmarks. Furthermore, we achieve fast inference at interactive frame rates, and can convert our trained model into a large, explicit point cloud to further enhance performance.
AI Consciousness is Inevitable: A Theoretical Computer Science Perspective
Venue: arXiv cs.AI 2025
Year: 2025

We look at consciousness through the lens of Theoretical Computer Science, a branch of mathematics that studies computation under resource limitations, distinguishing functions that are efficiently computable from those that are not. From this perspective, we develop a formal machine model for consciousness. The model is inspired by Alan Turing's simple yet powerful model of computation and Bernard Baars' theater model of consciousness. Though extremely simple, the model (1) aligns at a high level with many of the major scientific theories of human and animal consciousness, (2) provides explanations at a high level for many phenomena associated with consciousness, (3) gives insight into how a machine can have subjective consciousness, and (4) is clearly buildable. This combination supports our claim that machine consciousness is not only plausible but inevitable.
Text Understanding in GPT-4 vs Humans
Venue: arXiv cs.CL 2025
Year: 2025

We examine whether a leading AI system GPT4 understands text as well as humans do, first using a well-established standardized test of discourse comprehension. On this test, GPT4 performs slightly, but not statistically significantly, better than humans given the very high level of human performance. Both GPT4 and humans make correct inferences about information that is not explicitly stated in the text, a critical test of understanding. Next, we use more difficult passages to determine whether that could allow larger differences between GPT4 and humans. GPT4 does considerably better on this more difficult text than do the high school and university students for whom these the text passages are designed, as admission tests of student reading comprehension. Deeper exploration of GPT4 performance on material from one of these admission tests reveals generally accepted signatures of genuine understanding, namely generalization and inference.
Output Format Biases in the Evaluation of Large Language Models for Code Translation
Venue: arXiv cs.SE 2025
Year: 2025

Code translation between programming languages (PLs) is a critical task in software engineering, facilitating the modernization of legacy systems, ensuring cross-platform compatibility, and enhancing software performance. Most existing studies instruct LLMs to perform code translation and evaluate their performance by either running the generated outputs through test suites or comparing them to reference outputs (ground truth). These outputs, however, may contain not only executable source code but also additional non-code elements, such as natural language explanations or formatting tokens. We refer to the combination of source code and non-code elements as the output format. It is crucial to understand and address variations in output format, as non-code elements can interfere with evaluation metrics, resulting in biased assessments of model performance and comparisons. We conduct an empirical analysis of the outputs from eleven instruct-tuned open-source LLMs, across five PLs: C, C++, Go, Java, and Python. The results show that between 26.4% and 73.7% of outputs produced by our evaluated LLMs necessitate post-processing. To mitigate output format bias, we propose a strategic combination of prompt engineering and regular expressions that effectively extracts source code from mixed-format outputs, enabling the eleven open-source models to achieve an average Code Extraction Success Rate (CSR) of 92.73%. Our empirical study confirms that output format bias affects widely used execution-based metrics, i.e., Computational Accuracy (CA), and text-based metrics, i.e., BLEU, CodeBLEU and CrystalBLEU. Additionally, we test five closed-source LLMs and observe that they also generate varying distributions of output formats, which could lead to output format biases. Our results highlight the need to mitigate the output format bias to enable reliable evaluations in LLMs for code translation.
To Err is Machine: Vulnerability Detection Challenges LLM Reasoning
Venue: arXiv cs.SE 2025
Year: 2025

In this paper, we present a challenging code reasoning task: vulnerability detection. Large Language Models (LLMs) have shown promising results in natural-language and math reasoning, but state-of-the-art (SOTA) models reported only 54.5% Balanced Accuracy in our vulnerability detection evaluation, even those models pre-trained on large amounts of source code. Our error analysis on LLM responses shows that the models struggle to reason about the code semantics relevant to identifying vulnerabilities, especially subtle semantic differences caused by small textual changes. We explored prominent models and training settings to understand their effects on vulnerability detection performance -- including better prompts, larger models, more pre-training data, and fine-tuning -- but none led to significant improvements. This raises the question of whether simply scaling training data and model size will allow us to "solve" complex code reasoning tasks like vulnerability detection, or if a fundamental shift in modeling and training techniques is required. We also explored adding domain knowledge to prompts; although it helped certain models understand some code semantics, vulnerability detection requires multi-step reasoning, and these models still failed in steps, such as reasoning about variable relations. Our results suggest that new models, new training methods, or more execution-specific pretraining data may be needed to conquer vulnerability detection. We speculate that auto-regressive pre-training on source code may not effectively extract code semantics, especially on the current pretraining mixtures, in which execution data is scarce. Success on vulnerability detection as a code reasoning task can benefit many areas of software engineering such as debugging, test input generation, and program repair. Our code and data are available at https://doi.org/10.6084/m9.figshare.27368025.
Application-Driven Innovation in Machine Learning
Venue: arXiv cs.LG 2025
Year: 2025

In this position paper, we argue that application-driven research has been systemically under-valued in the machine learning community. As applications of machine learning proliferate, innovative algorithms inspired by specific real-world challenges have become increasingly important. Such work offers the potential for significant impact not merely in domains of application but also in machine learning itself. In this paper, we describe the paradigm of application-driven research in machine learning, contrasting it with the more standard paradigm of methods-driven research. We illustrate the benefits of application-driven machine learning and how this approach can productively synergize with methods-driven work. Despite these benefits, we find that reviewing, hiring, and teaching practices in machine learning often hold back application-driven innovation. We outline how these processes may be improved.
Design and Preliminary Evaluation of a Torso Stabiliser for Individuals with Spinal Cord Injury
Venue: arXiv cs.RO 2025
Year: 2025

Spinal cord injuries generally result in sensory and mobility impairments, with torso instability being particularly debilitating. Existing torso stabilisers are often rigid and restrictive. We present an early investigation into a non-restrictive 1 degree-of-freedom (DoF) mechanical torso stabiliser inspired by devices such as centrifugal clutches and seat-belt mechanisms. First, the paper presents a motion-capture (MoCap) and OpenSim-based kinematic analysis of the cable-based system to understand the requisite device characteristics. The evaluation in simulation resulted in the cable-based device to require 55-60\,cm of unrestricted travel, and to lock at a threshold cable velocity of 80-100\,cm/s. Next, the developed 1-DoF device is introduced. The proposed mechanical device is transparent during activities of daily living, and transitions to compliant blocking when incipient fall is detected. Prototype behaviour was then validated using a MoCap-based kinematic analysis to verify non-restrictive movement, reliable transition to blocking, and compliance of the blocking.
Online Tree Reconstruction and Forest Inventory on a Mobile Robotic System
Venue: arXiv cs.RO 2025
Year: 2025

Terrestrial laser scanning (TLS) is the standard technique used to create accurate point clouds for digital forest inventories. However, the measurement process is demanding, requiring up to two days per hectare for data collection, significant data storage, as well as resource-heavy post-processing of 3D data. In this work, we present a real-time mapping and analysis system that enables online generation of forest inventories using mobile laser scanners that can be mounted e.g. on mobile robots. Given incrementally created and locally accurate submaps-data payloads-our approach extracts tree candidates using a custom, Voronoi-inspired clustering algorithm. Tree candidates are reconstructed using an adapted Hough algorithm, which enables robust modeling of the tree stem. Further, we explicitly incorporate the incremental nature of the data collection by consistently updating the database using a pose graph LiDAR SLAM system. This enables us to refine our estimates of the tree traits if an area is revisited later during a mission. We demonstrate competitive accuracy to TLS or manual measurements using laser scanners that we mounted on backpacks or mobile robots operating in conifer, broad-leaf and mixed forests. Our results achieve RMSE of 1.93 cm, a bias of 0.65 cm and a standard deviation of 1.81 cm (averaged across these sequences)-with no post-processing required after the mission is complete.
Hierarchical Light Transformer Ensembles for Multimodal Trajectory Forecasting
Venue: arXiv cs.CV 2025
Year: 2025

Accurate trajectory forecasting is crucial for the performance of various systems, such as advanced driver-assistance systems and self-driving vehicles. These forecasts allow us to anticipate events that lead to collisions and, therefore, to mitigate them. Deep Neural Networks have excelled in motion forecasting, but overconfidence and weak uncertainty quantification persist. Deep Ensembles address these concerns, yet applying them to multimodal distributions remains challenging. In this paper, we propose a novel approach named Hierarchical Light Transformer Ensembles (HLT-Ens) aimed at efficiently training an ensemble of Transformer architectures using a novel hierarchical loss function. HLT-Ens leverages grouped fully connected layers, inspired by grouped convolution techniques, to capture multimodal distributions effectively. We demonstrate that HLT-Ens achieves state-of-the-art performance levels through extensive experimentation, offering a promising avenue for improving trajectory forecasting techniques.
A Large Language Model Guided Topic Refinement Mechanism for Short Text Modeling
Venue: arXiv cs.CL 2025
Year: 2025

Modeling topics effectively in short texts, such as tweets and news snippets, is crucial to capturing rapidly evolving social trends. Existing topic models often struggle to accurately capture the underlying semantic patterns of short texts, primarily due to the sparse nature of such data. This nature of texts leads to an unavoidable lack of co-occurrence information, which hinders the coherence and granularity of mined topics. This paper introduces a novel model-agnostic mechanism, termed Topic Refinement, which leverages the advanced text comprehension capabilities of Large Language Models (LLMs) for short-text topic modeling. Unlike traditional methods, this post-processing mechanism enhances the quality of topics extracted by various topic modeling methods through prompt engineering. We guide LLMs in identifying semantically intruder words within the extracted topics and suggesting coherent alternatives to replace these words. This process mimics human-like identification, evaluation, and refinement of the extracted topics. Extensive experiments on four diverse datasets demonstrate that Topic Refinement boosts the topic quality and improves the performance in topic-related text classification tasks.
Juru: Legal Brazilian Large Language Model from Reputable Sources
Venue: arXiv cs.CL 2025
Year: 2025

The high compute cost associated with pretraining large language models limits their research. Two strategies have emerged to address this issue: domain specialization and pretraining with high-quality data. To explore these strategies, we specialized the Mistral-7B model with 1.9 billion unique tokens from reputable Brazilian legal sources and conducted few-shot evaluations on legal and general knowledge test suites. Our model, Juru, demonstrates the benefits of domain specialization by achieving improved performance on legal benchmarks, even with a reduced amount of pretraining data. However, this domain specialization through continued pretraining comes at the cost of increased forgetting in unrelated domains, as evidenced by performance degradation on general knowledge test suites in both Portuguese and English. This study contributes to the growing body of scientific evidence showing that pretraining data selection may enhance the performance of large language models, enabling the exploration of these models at a lower cost. Juru is publicly available at https://huggingface.co/roseval/Juru-7B .
SCANet: Correcting LEGO Assembly Errors with Self-Correct Assembly Network
Venue: arXiv cs.RO 2025
Year: 2025

Autonomous assembly in robotics and 3D vision presents significant challenges, particularly in ensuring assembly correctness. Presently, predominant methods such as MEPNet focus on assembling components based on manually provided images. However, these approaches often fall short in achieving satisfactory results for tasks requiring long-term planning. Concurrently, we observe that integrating a self-correction module can partially alleviate such issues. Motivated by this concern, we introduce the Single-Step Assembly Error Correction Task, which involves identifying and rectifying misassembled components. To support research in this area, we present the LEGO Error Correction Assembly Dataset (LEGO-ECA), comprising manual images for assembly steps and instances of assembly failures. Additionally, we propose the Self-Correct Assembly Network (SCANet), a novel method to address this task. SCANet treats assembled components as queries, determining their correctness in manual images and providing corrections when necessary. Finally, we utilize SCANet to correct the assembly results of MEPNet. Experimental results demonstrate that SCANet can identify and correct MEPNet's misassembled results, significantly improving the correctness of assembly. Our code and dataset could be found at https://scanet-iros2024.github.io/.
The Metric Distortion of Randomized Social Choice Functions: C1 Maximal Lottery Rules and Simulations
Venue: arXiv cs.GT 2025
Year: 2025

The metric distortion of a randomized social choice function (RSCF) quantifies its worst-case approximation ratio to the optimal social cost when the voters' costs for alternatives are given by distances in a metric space. This notion has recently attracted significant attention as numerous RSCFs that aim to minimize the metric distortion have been suggested. Since such tailored voting rules have, however, little normative appeal other than their low metric distortion, we will study the metric distortion of well-established RSCFs. Specifically, we first show that C1 maximal lottery rules, a well-known class of RSCFs, have a metric distortion of $4$, which is optimal within the class of majoritarian RSCFs. Secondly, we conduct extensive computer experiments on the metric distortion of RSCFs to obtain insights into their average-case performance. These computer experiments are based on a new linear program for computing the metric distortion of a lottery and reveal that the average-case metric distortion of some classical RSCFs is often only slightly worse than that of RSCFs tailored to minimize the metric distortion. Finally, we also analytically study the expected metric distortion of RSCFs for the impartial culture distribution. Specifically, we show that, under this distribution, every reasonable RSCF has an expected metric distortion close to $2$ when the number of voters is large.
Safety-Critical Planning and Control for Dynamic Obstacle Avoidance Using Control Barrier Functions
Venue: arXiv cs.RO 2025
Year: 2025

Dynamic obstacle avoidance is a challenging topic for optimal control and optimization-based trajectory planning problems. Many existing works use Control Barrier Functions (CBFs) to enforce safety constraints for control systems. CBFs are typically formulated based on the distance to obstacles, or integrated with path planning algorithms as a safety enhancement tool. However, these approaches usually require knowledge of the obstacle boundary equations or have very slow computational efficiency. In this paper, we propose a framework based on model predictive control (MPC) with discrete-time high-order CBFs (DHOCBFs) to generate a collision-free trajectory. The DHOCBFs are first obtained from convex polytopes generated through grid mapping, without the need to know the boundary equations of obstacles. Additionally, a path planning algorithm is incorporated into this framework to ensure the global optimality of the generated trajectory. We demonstrate through numerical examples that our framework allows a unicycle robot to safely and efficiently navigate tight, dynamically changing environments with both convex and nonconvex obstacles. By comparing our method to established CBF-based benchmarks, we demonstrate superior computing efficiency, length optimality, and feasibility in trajectory generation and obstacle avoidance.
On the Performance of Low-complexity Decoders of LDPC Codes
Venue: arXiv cs.IT 2025
Year: 2025

Efficient decoding is crucial to high-throughput and power-sensitive wireless communication scenarios. A theoretical analysis of the performance-complexity tradeoff toward low-complexity decoding is required for a better understanding of the fundamental limits in the above-mentioned scenarios. This study aims to explore the performance of LDPC codes under belief propagation (BP) decoding with complexity constraints. In other words, for a small number of iterations, we present a closed-form lower bound on the bit error rate (BER) of LDPC codes as a function of complexity. Specifically, for the regular LDPC code ensembles, the dominant term in the order of the lower bound we provide matches that of the upper bound given by Lentmaier. Furthermore, for irregular LDPC code ensembles, in addition to adopting the approach used for regular codes, we also propose a method to iteratively obtain the lower bound on the average BER.
TableLLM: Enabling Tabular Data Manipulation by LLMs in Real Office Usage Scenarios
Venue: arXiv cs.CL 2025
Year: 2025

We introduce TableLLM, a robust large language model (LLM) with 8 billion parameters, purpose-built for proficiently handling tabular data manipulation tasks, whether they are embedded within documents or spreadsheets, catering to real-world office scenarios. We propose a distant supervision method for training, which comprises a reasoning process extension strategy, aiding in training LLMs to understand reasoning patterns more effectively as well as a cross-way validation strategy, ensuring the quality of the automatically generated data. To evaluate the performance of TableLLM, we have crafted benchmarks tailored to address both document and spreadsheet formats as well as constructed a well-organized evaluation pipeline capable of handling both scenarios. Thorough evaluations underscore the advantages of TableLLM when compared to various existing general-purpose and tabular data-focused LLMs. We have publicly released the model checkpoint, source code, benchmarks, and a web application for user interaction. Our codes and data are publicly available at https://github.com/TableLLM/TableLLM.
Constants of Motion for Conserved and Non-conserved Dynamics
Venue: arXiv cs.LG 2025
Year: 2025

This paper begins with a dynamical model that was obtained by applying a machine learning technique (FJet) to time-series data; this dynamical model is then analyzed with Lie symmetry techniques to obtain constants of motion. This analysis is performed on both the conserved and non-conserved cases of the 1D and 2D harmonic oscillators. For the 1D oscillator, constants are found in the cases where the system is underdamped, overdamped, and critically damped. The novel existence of such a constant for a non-conserved model is interpreted as a manifestation of the conservation of energy of the {\em total} system (i.e., oscillator plus dissipative environment). For the 2D oscillator, constants are found for the isotropic and anisotropic cases, including when the frequencies are incommensurate; it is also generalized to arbitrary dimensions. In addition, a constant is identified which generalizes angular momentum for all ratios of the frequencies. The approach presented here can produce {\em multiple} constants of motion from a {\em single}, generic data set.
On the Robustness of LDP Protocols for Numerical Attributes under Data Poisoning Attacks
Venue: arXiv cs.CR 2025
Year: 2025

Recent studies reveal that local differential privacy (LDP) protocols are vulnerable to data poisoning attacks where an attacker can manipulate the final estimate on the server by leveraging the characteristics of LDP and sending carefully crafted data from a small fraction of controlled local clients. This vulnerability raises concerns regarding the robustness and reliability of LDP in hostile environments. In this paper, we conduct a systematic investigation of the robustness of state-of-the-art LDP protocols for numerical attributes, i.e., categorical frequency oracles (CFOs) with binning and consistency, and distribution reconstruction. We evaluate protocol robustness through an attack-driven approach and propose new metrics for cross-protocol attack gain measurement. The results indicate that Square Wave and CFO-based protocols in the Server setting are more robust against the attack compared to the CFO-based protocols in the User setting. Our evaluation also unfolds new relationships between LDP security and its inherent design choices. We found that the hash domain size in local-hashing-based LDP has a profound impact on protocol robustness beyond the well-known effect on utility. Further, we propose a zero-shot attack detection by leveraging the rich reconstructed distribution information. The experiment show that our detection significantly improves the existing methods and effectively identifies data manipulation in challenging scenarios.