OpenRaiser/Intern-Atlas huggingface dataset:
Market-Driven Subset Selection for Budgeted Training
Venue: arXiv cs.LG 2025
Year: 2025

Training large language models on massive datasets is computationally expensive, yet empirical evidence suggests that substantial portions of training examples contribute minimally to final performance. Data subset selection addresses this inefficiency by identifying small, high-utility subsets under resource constraints. However, example utility is inherently multi-faceted, encompassing uncertainty, distributional rarity, and diversity signals that are heterogeneous and typically combined through ad hoc weighted sums lacking theoretical grounding. We propose a market-based framework that treats each training example as a tradeable contract and employs the Logarithmic Market Scoring Rule to aggregate multiple utility signals into coherent prices. Heterogeneous signals act as traders, a single liquidity parameter controls concentration versus smoothing, and topic-wise normalization ensures calibrated aggregation. Token budgets are handled explicitly through a price-per-token decision rule with an interpretable length-bias parameter. We establish theoretical connections to maximum-entropy aggregation and provide utility recovery guarantees under noisy but monotone signals. On GSM8K mathematical reasoning under strict 60k-token budgets, our selector achieves parity with strong single-signal baselines while exhibiting lower variance and incurring less than 0.1 GPU-hour overhead. On AGNews classification at 5-25\% retention rates, the market formulation delivers competitive accuracy with improved stability. Our framework unifies multi-signal data curation under fixed computational budgets for prompt-level reasoning and classification tasks.
ERUPT: An Open Toolkit for Interfacing with Robot Motion Planners in Extended Reality
Venue: arXiv cs.RO 2025
Year: 2025

We propose the Extended Reality Universal Planning Toolkit (ERUPT), an extended reality (XR) system for interactive motion planning. Our system allows users to create and dynamically reconfigure environments while they plan robot paths. In immersive three-dimensional XR environments, users gain a greater spatial understanding. XR also unlocks a broader range of natural interaction capabilities, allowing users to grab and adjust objects in the environment similarly to the real world, rather than using a mouse and keyboard with the scene projected onto a two-dimensional computer screen. Our system integrates with MoveIt, a manipulation planning framework, allowing users to send motion planning requests and visualize the resulting robot paths in virtual or augmented reality. We provide a broad range of interaction modalities, allowing users to modify objects in the environment and interact with a virtual robot. Our system allows operators to visualize robot motions, ensuring desired behavior as it moves throughout the environment, without risk of collisions within a virtual space, and to then deploy planned paths on physical robots in the real world.
SAGE: Streaming Agreement-Driven Gradient Sketches for Representative Subset Selection
Venue: arXiv cs.LG 2025
Year: 2025

Training modern neural networks on large datasets is computationally and energy intensive. We present SAGE, a streaming data-subset selection method that maintains a compact Frequent Directions (FD) sketch of gradient geometry in $O(\ell D)$ memory and prioritizes examples whose sketched gradients align with a consensus direction. The approach eliminates $N \times N$ pairwise similarities and explicit $N \times \ell$ gradient stores, yielding a simple two-pass, GPU-friendly pipeline. Leveraging FD's deterministic approximation guarantees, we analyze how agreement scoring preserves gradient energy within the principal sketched subspace. Across multiple benchmarks, SAGE trains with small kept-rate budgets while retaining competitive accuracy relative to full-data training and recent subset-selection baselines, and reduces end-to-end compute and peak memory. Overall, SAGE offers a practical, constant-memory alternative that complements pruning and model compression for efficient training.
U-LAG: Uncertainty-Aware, Lag-Adaptive Goal Retargeting for Robotic Manipulation
Venue: arXiv cs.RO 2025
Year: 2025

Robots manipulating in changing environments must act on percepts that are late, noisy, or stale. We present U-LAG, a mid-execution goal-retargeting layer that leaves the low-level controller unchanged while re-aiming task goals (pre-contact, contact, post) as new observations arrive. Unlike motion retargeting or generic visual servoing, U-LAG treats in-flight goal re-aiming as a first-class, pluggable module between perception and control. Our main technical contribution is UAR-PF, an uncertainty-aware retargeter that maintains a distribution over object pose under sensing lag and selects goals that maximize expected progress. We instantiate a reproducible Shift x Lag stress test in PyBullet/PandaGym for pick, push, stacking, and peg insertion, where the object undergoes abrupt in-plane shifts while synthetic perception lag is injected during approach. Across 0-10 cm shifts and 0-400 ms lags, UAR-PF and ICP degrade gracefully relative to a no-retarget baseline, achieving higher success with modest end-effector travel and fewer aborts; simple operational safeguards further improve stability. Contributions: (1) UAR-PF for lag-adaptive, uncertainty-aware goal retargeting; (2) a pluggable retargeting interface; and (3) a reproducible Shift x Lag benchmark with evaluation on pick, push, stacking, and peg insertion.
How Confident are Video Models? Empowering Video Models to Express their Uncertainty
Venue: arXiv cs.CV 2025
Year: 2025

Generative video models demonstrate impressive text-to-video capabilities, spurring widespread adoption in many real-world applications. However, like large language models (LLMs), video generation models tend to hallucinate, producing plausible videos even when they are factually wrong. Although uncertainty quantification (UQ) of LLMs has been extensively studied in prior work, no UQ method for video models exists, raising critical safety concerns. To our knowledge, this paper represents the first work towards quantifying the uncertainty of video models. We present a framework for uncertainty quantification of generative video models, consisting of: (i) a metric for evaluating the calibration of video models based on robust rank correlation estimation with no stringent modeling assumptions; (ii) a black-box UQ method for video models (termed S-QUBED), which leverages latent modeling to rigorously decompose predictive uncertainty into its aleatoric and epistemic components; and (iii) a UQ dataset to facilitate benchmarking calibration in video models. By conditioning the generation task in the latent space, we disentangle uncertainty arising due to vague task specifications from that arising from lack of knowledge. Through extensive experiments on benchmark video datasets, we demonstrate that S-QUBED computes calibrated total uncertainty estimates that are negatively correlated with the task accuracy and effectively computes the aleatoric and epistemic constituents.
Efficient Optimal Path Planning in Dynamic Environments Using Koopman MPC
Venue: arXiv cs.RO 2025
Year: 2025

This paper presents a data-driven model predictive control framework for mobile robots navigating in dynamic environments, leveraging Koopman operator theory. Unlike the conventional Koopman-based approaches that focus on the linearization of system dynamics only, our work focuses on finding a global linear representation for the optimal path planning problem that includes both the nonlinear robot dynamics and collision-avoidance constraints. We deploy extended dynamic mode decomposition to identify linear and bilinear Koopman realizations from input-state data. Our open-loop analysis demonstrates that only the bilinear Koopman model can accurately capture nonlinear state-input couplings and quadratic terms essential for collision avoidance, whereas linear realizations fail to do so. We formulate a quadratic program for the robot path planning in the presence of moving obstacles in the lifted space and determine the optimal robot action in an MPC framework. Our approach is capable of finding the safe optimal action 320 times faster than a nonlinear MPC counterpart that solves the path planning problem in the original state space. Our work highlights the potential of bilinear Koopman realizations for linearization of highly nonlinear optimal control problems subject to nonlinear state and input constraints to achieve computational efficiency similar to linear problems.
Key Considerations for Auto-Scaling: Lessons from Benchmark Microservices
Venue: arXiv cs.SE 2025
Year: 2025

Microservices have become the dominant architectural paradigm for building scalable and modular cloud-native systems. However, achieving effective auto-scaling in such systems remains a non-trivial challenge, as it depends not only on advanced scaling techniques but also on sound design, implementation, and deployment practices. Yet, these foundational aspects are often overlooked in existing benchmarks, making it difficult to evaluate autoscaling methods under realistic conditions. In this paper, we identify a set of practical auto-scaling considerations by applying several state-of-the-art autoscaling methods to widely used microservice benchmarks. To structure these findings, we classify the issues based on when they arise during the software lifecycle: Architecture, Implementation, and Deployment. The Architecture phase covers high-level decisions such as service decomposition and inter-service dependencies. The Implementation phase includes aspects like initialization overhead, metrics instrumentation, and error propagation. The Deployment phase focuses on runtime configurations such as resource limits and health checks. We validate these considerations using the Sock-Shop benchmark and evaluate diverse auto-scaling strategies, including threshold-based, control-theoretic, learning-based, black-box optimization, and dependency-aware approaches. Our findings show that overlooking key lifecycle concerns can degrade autoscaler performance, while addressing them leads to more stable and efficient scaling. These results underscore the importance of lifecycle-aware engineering for unlocking the full potential of auto-scaling in microservice-based systems.
Use the Online Network If You Can: Towards Fast and Stable Reinforcement Learning
Venue: arXiv cs.LG 2025
Year: 2025

The use of target networks is a popular approach for estimating value functions in deep Reinforcement Learning (RL). While effective, the target network remains a compromise solution that preserves stability at the cost of slowly moving targets, thus delaying learning. Conversely, using the online network as a bootstrapped target is intuitively appealing, albeit well-known to lead to unstable learning. In this work, we aim to obtain the best out of both worlds by introducing a novel update rule that computes the target using the MINimum estimate between the Target and Online network, giving rise to our method, MINTO. Through this simple, yet effective modification, we show that MINTO enables faster and stable value function learning, by mitigating the potential overestimation bias of using the online network for bootstrapping. Notably, MINTO can be seamlessly integrated into a wide range of value-based and actor-critic algorithms with a negligible cost. We evaluate MINTO extensively across diverse benchmarks, spanning online and offline RL, as well as discrete and continuous action spaces. Across all benchmarks, MINTO consistently improves performance, demonstrating its broad applicability and effectiveness.
Multimodal Large Language Model Framework for Safe and Interpretable Grid-Integrated EVs
Venue: arXiv cs.AI 2025
Year: 2025

The integration of electric vehicles (EVs) into smart grids presents unique opportunities to enhance both transportation systems and energy networks. However, ensuring safe and interpretable interactions between drivers, vehicles, and the surrounding environment remains a critical challenge. This paper presents a multi-modal large language model (LLM)-based framework to process multimodal sensor data - such as object detection, semantic segmentation, and vehicular telemetry - and generate natural-language alerts for drivers. The framework is validated using real-world data collected from instrumented vehicles driving on urban roads, ensuring its applicability to real-world scenarios. By combining visual perception (YOLOv8), geocoded positioning, and CAN bus telemetry, the framework bridges raw sensor data and driver comprehension, enabling safer and more informed decision-making in urban driving scenarios. Case studies using real data demonstrate the framework's effectiveness in generating context-aware alerts for critical situations, such as proximity to pedestrians, cyclists, and other vehicles. This paper highlights the potential of LLMs as assistive tools in e-mobility, benefiting both transportation systems and electric networks by enabling scalable fleet coordination, EV load forecasting, and traffic-aware energy planning. Index Terms - Electric vehicles, visual perception, large language models, YOLOv8, semantic segmentation, CAN bus, prompt engineering, smart grid.
PEO: Training-Free Aesthetic Quality Enhancement in Pre-Trained Text-to-Image Diffusion Models with Prompt Embedding Optimization
Venue: arXiv cs.CV 2025
Year: 2025

This paper introduces a novel approach to aesthetic quality improvement in pre-trained text-to-image diffusion models when given a simple prompt. Our method, dubbed Prompt Embedding Optimization (PEO), leverages a pre-trained text-to-image diffusion model as a backbone and optimizes the text embedding of a given simple and uncurated prompt to enhance the visual quality of the generated image. We achieve this by a tripartite objective function that improves the aesthetic fidelity of the generated image, ensures adherence to the optimized text embedding, and minimal divergence from the initial prompt. The latter is accomplished through a prompt preservation term. Additionally, PEO is training-free and backbone-independent. Quantitative and qualitative evaluations confirm the effectiveness of the proposed method, exceeding or equating the performance of state-of-the-art text-to-image and prompt adaptation methods.
On the Role of Temperature Sampling in Test-Time Scaling
Venue: arXiv cs.AI 2025
Year: 2025

Large language models (LLMs) can improve reasoning at inference time through test-time scaling (TTS), where multiple reasoning traces are generated and the best one is selected. Prior work shows that increasing the number of samples K steadily improves accuracy. In this paper, we demonstrate that this trend does not hold indefinitely: at large K, further scaling yields no gains, and certain hard questions remain unsolved regardless of the number of traces. Interestingly, we find that different sampling temperatures solve different subsets of problems, implying that single-temperature scaling explores only part of a model's potential. We therefore propose scaling along the temperature dimension, which enlarges the reasoning boundary of LLMs. Averaged over Qwen3 (0.6B, 1.7B, 4B, 8B) and five representative reasoning benchmarks (AIME 2024/2025, MATH500, LiveCodeBench, Hi-ToM), temperature scaling yields an additional 7.3 points over single-temperature TTS. Temperature scaling also enables base models to reach performance comparable to reinforcement learning (RL)-trained counterparts, without additional post-training. We further provide a comprehensive analysis of this phenomenon and design a multi-temperature voting method that reduces the overhead of temperature scaling. Overall, our findings suggest that TTS is more powerful than previously thought, and that temperature scaling offers a simple and effective way to unlock the latent potential of base models.
Evaluation Framework for Highlight Explanations of Context Utilisation in Language Models
Venue: arXiv cs.CL 2025
Year: 2025

Context utilisation, the ability of Language Models (LMs) to incorporate relevant information from the provided context when generating responses, remains largely opaque to users, who cannot determine whether models draw from parametric memory or provided context, nor identify which specific context pieces inform the response. Highlight explanations (HEs) offer a natural solution as they can point the exact context pieces and tokens that influenced model outputs. However, no existing work evaluates their effectiveness in accurately explaining context utilisation. We address this gap by introducing the first gold standard HE evaluation framework for context attribution, using controlled test cases with known ground-truth context usage, which avoids the limitations of existing indirect proxy evaluations. To demonstrate the framework's broad applicability, we evaluate four HE methods -- three established techniques and MechLight, a mechanistic interpretability approach we adapt for this task -- across four context scenarios, four datasets, and five LMs. Overall, we find that MechLight performs best across all context scenarios. However, all methods struggle with longer contexts and exhibit positional biases, pointing to fundamental challenges in explanation accuracy that require new approaches to deliver reliable context utilisation explanations at scale.
HyperAdaLoRA: Accelerating LoRA Rank Allocation During Training via Hypernetworks without Sacrificing Performance
Venue: arXiv cs.LG 2025
Year: 2025

Parameter-Efficient Fine-Tuning (PEFT), especially Low-Rank Adaptation (LoRA), has emerged as a promising approach to fine-tuning large language models(LLMs) while reducing computational and memory overhead. However, LoRA assumes a uniform rank \textit{r} for each incremental matrix, not accounting for the varying significance of weight matrices across different modules and layers. AdaLoRA leverages Singular Value Decomposition (SVD) to parameterize updates and employs pruning of singular values to introduce dynamic rank allocation, thereby enhancing adaptability. However, during the training process, it often encounters issues of slow convergence speed and high computational overhead. To address this issue, we propose HyperAdaLoRA, a novel framework that accelerates the convergence of AdaLoRA by leveraging a hypernetwork. Instead of directly optimizing the components of Singular Value Decomposition $(P, Λ, Q)$, HyperAdaLoRA employs a hypernetwork based on attention mechanisms to dynamically generate these parameters. By pruning the outputs of the hypernetwork that generates the singular values, dynamic rank allocation is achieved. Comprehensive experiments on various datasets and models demonstrate that our method achieves faster convergence without sacrificing performance. Additionally, further extension experiments on other LoRA-based approaches validate the broad applicability of our method.
Visualizing Spatial Point Clouds: A Task-Oriented Taxonomy
Venue: arXiv cs.GR 2025
Year: 2025

The visualization of 3D point cloud data is essential in fields such as autonomous navigation, environmental monitoring, and disaster response, where tasks like object recognition, structural analysis, and spatiotemporal exploration rely on clear and effective visual representation. Despite advancements in AI-driven processing, visualization remains a critical tool for interpreting complex spatial datasets. However, designing effective point cloud visualizations presents significant challenges due to the sparsity, density variations, and scale of the data. In this work, we analyze the design space of spatial point cloud visualization, highlighting a gap in systematically mapping visualization techniques to analytical objectives. We introduce a taxonomy that categorizes four decades of visualization design choices, linking them to fundamental challenges in modern applications. By structuring visualization strategies based on data types, user objectives, and visualization techniques, our framework provides a foundation for advancing more effective, interpretable, and user-centered visualization techniques.
FSFSplatter: Build Surface and Novel Views with Sparse-Views within 2min
Venue: arXiv cs.CV 2025
Year: 2025

Gaussian Splatting has become a leading reconstruction technique, known for its high-quality novel view synthesis and detailed reconstruction. However, most existing methods require dense, calibrated views. Reconstructing from free sparse images often leads to poor surface due to limited overlap and overfitting. We introduce FSFSplatter, a new approach for fast surface reconstruction from free sparse images. Our method integrates end-to-end dense Gaussian initialization, camera parameter estimation, and geometry-enhanced scene optimization. Specifically, FSFSplatter employs a large Transformer to encode multi-view images and generates a dense and geometrically consistent Gaussian scene initialization via a self-splitting Gaussian head. It eliminates local floaters through contribution-based pruning and mitigates overfitting to limited views by leveraging depth and multi-view feature supervision with differentiable camera parameters during rapid optimization. FSFSplatter outperforms current state-of-the-art methods on widely used DTU, Replica, and BlendedMVS datasets.
A Novel Unified Lightweight Temporal-Spatial Transformer Approach for Intrusion Detection in Drone Networks
Venue: arXiv cs.LG 2025
Year: 2025

The growing integration of drones across commercial, industrial, and civilian domains has introduced significant cybersecurity challenges, particularly due to the susceptibility of drone networks to a wide range of cyberattacks. Existing intrusion detection mechanisms often lack the adaptability, efficiency, and generalizability required for the dynamic and resource constrained environments in which drones operate. This paper proposes TSLT-Net, a novel lightweight and unified Temporal Spatial Transformer based intrusion detection system tailored specifically for drone networks. By leveraging self attention mechanisms, TSLT-Net effectively models both temporal patterns and spatial dependencies in network traffic, enabling accurate detection of diverse intrusion types. The framework includes a streamlined preprocessing pipeline and supports both multiclass attack classification and binary anomaly detection within a single architecture. Extensive experiments conducted on the ISOT Drone Anomaly Detection Dataset, consisting of more than 2.3 million labeled records, demonstrate the superior performance of TSLT-Net with 99.99 percent accuracy in multiclass detection and 100 percent in binary anomaly detection, while maintaining a minimal memory footprint of only 0.04 MB and 9722 trainable parameters. These results establish TSLT-Net as an effective and scalable solution for real time drone cybersecurity, particularly suitable for deployment on edge devices in mission critical UAV systems.