OpenRaiser/Intern-Atlas huggingface dataset:
Entriever: Energy-based Retriever for Knowledge-Grounded Dialog Systems
Venue: arXiv cs.CL 2025
Year: 2025

A retriever, which retrieves relevant knowledge pieces from a knowledge base given a context, is an important component in many natural language processing (NLP) tasks. Retrievers have been introduced in knowledge-grounded dialog systems to improve knowledge acquisition. In knowledge-grounded dialog systems, when conditioning on a given context, there may be multiple relevant and correlated knowledge pieces. However, knowledge pieces are usually assumed to be conditionally independent in current retriever models. To address this issue, we propose Entriever, an energy-based retriever. Entriever directly models the candidate retrieval results as a whole instead of modeling the knowledge pieces separately, with the relevance score defined by an energy function. We explore various architectures of energy functions and different training methods for Entriever, and show that Entriever substantially outperforms the strong cross-encoder baseline in knowledge retrieval tasks. Furthermore, we show that in semi-supervised training of knowledge-grounded dialog systems, Entriever enables effective scoring of retrieved knowledge pieces and significantly improves end-to-end performance of dialog systems.
Temporal Chunking Enhances Recognition of Implicit Sequential Patterns
Venue: arXiv cs.LG 2025
Year: 2025

In this pilot study, we propose a neuro-inspired approach that compresses temporal sequences into context-tagged chunks, where each tag represents a recurring structural unit or``community'' in the sequence. These tags are generated during an offline sleep phase and serve as compact references to past experience, allowing the learner to incorporate information beyond its immediate input range. We evaluate this idea in a controlled synthetic environment designed to reveal the limitations of traditional neural network based sequence learners, such as recurrent neural networks (RNNs), when facing temporal patterns on multiple timescales. We evaluate this idea in a controlled synthetic environment designed to reveal the limitations of traditional neural network based sequence learners, such as recurrent neural networks (RNNs), when facing temporal patterns on multiple timescales. Our results, while preliminary, suggest that temporal chunking can significantly enhance learning efficiency under resource constrained settings. A small-scale human pilot study using a Serial Reaction Time Task further motivates the idea of structural abstraction. Although limited to synthetic tasks, this work serves as an early proof-of-concept, with initial evidence that learned context tags can transfer across related task, offering potential for future applications in transfer learning.
XYZ-IBD: A High-precision Bin-picking Dataset for Object 6D Pose Estimation Capturing Real-world Industrial Complexity
Venue: arXiv cs.CV 2025
Year: 2025

We introduce XYZ-IBD, a bin-picking dataset for 6D pose estimation that captures real-world industrial complexity, including challenging object geometries, reflective materials, severe occlusions, and dense clutter. The dataset reflects authentic robotic manipulation scenarios with millimeter-accurate annotations. Unlike existing datasets that primarily focus on household objects, which approach saturation,XYZ-IBD represents the unsolved realistic industrial conditions. The dataset features 15 texture-less, metallic, and mostly symmetrical objects of varying shapes and sizes. These objects are heavily occluded and randomly arranged in bins with high density, replicating the challenges of real-world bin-picking. XYZ-IBD was collected using two high-precision industrial cameras and one commercially available camera, providing RGB, grayscale, and depth images. It contains 75 multi-view real-world scenes, along with a large-scale synthetic dataset rendered under simulated bin-picking conditions. We employ a meticulous annotation pipeline that includes anti-reflection spray, multi-view depth fusion, and semi-automatic annotation, achieving millimeter-level pose labeling accuracy required for industrial manipulation. Quantification in simulated environments confirms the reliability of the ground-truth annotations. We benchmark state-of-the-art methods on 2D detection, 6D pose estimation, and depth estimation tasks on our dataset, revealing significant performance degradation in our setups compared to current academic household benchmarks. By capturing the complexity of real-world bin-picking scenarios, XYZ-IBD introduces more realistic and challenging problems for future research. The dataset and benchmark are publicly available at https://xyz-ibd.github.io/XYZ-IBD/.
Dual-UAV-Aided Covert Communications for Air-to-Ground ISAC Networks
Venue: arXiv cs.IT 2025
Year: 2025

To enhance both the sensing and covert communication performance, a dual-unmanned aerial vehicle (UAV)-aided scheme is proposed for integrated sensing and communication networks, in which one UAV maneuvers as the aerial dual-functional base-station (BS), while another UAV flies as the cooperative jammer. Artificial noise (AN) transmitted by the jamming UAV is utilized not only to confuse the ground warden but also to aid the aerial BS to sense multiple ground targets by combing the target-echoed dual-functional waveform and AN components from a perspective of the hybrid monostatitc-bistatic radar. We employ the distance-normalized beampattern sum-gain to measure the sensing performance. To maximize the average covert rate (ACR) from the aerial BS to the ground user, the dual-functional BS beamforming, jamming UAV beamforming, and dual-UAV trajectory are co-designed, subject to transmit power budgets, UAV maneuver constraint, covertness requirement, and sensing performance constraint. The imperfect successive interference cancellation (SIC) effects on the received signal-to-interference-plus-noise ratio are also considered in maximizing the ACR. To tackle the highly complicated non-convex ACR maximization problem, dual-UAV beamforming and dual-UAV trajectory are optimized in a block coordinate descent way using the trust-region successive convex approximation and semidefinite relaxation. To find the dual-UAV maneuver locations suitable for sensing the ground targets, we first optimize the dual-UAV trajectory for the covert communication purpose only and then solve a weighted distance minimization problem for the covert communication and sensing purpose.
Enhancing Clinical Multiple-Choice Questions Benchmarks with Knowledge Graph Guided Distractor Generation
Venue: arXiv cs.CL 2025
Year: 2025

Clinical tasks such as diagnosis and treatment require strong decision-making abilities, highlighting the importance of rigorous evaluation benchmarks to assess the reliability of large language models (LLMs). In this work, we introduce a knowledge-guided data augmentation framework that enhances the difficulty of clinical multiple-choice question (MCQ) datasets by generating distractors (i.e., incorrect choices that are similar to the correct one and may confuse existing LLMs). Using our KG-based pipeline, the generated choices are both clinically plausible and deliberately misleading. Our approach involves multi-step, semantically informed walks on a medical knowledge graph to identify distractor paths-associations that are medically relevant but factually incorrect-which then guide the LLM in crafting more deceptive distractors. We apply the designed knowledge graph guided distractor generation (KGGDG) pipline, to six widely used medical QA benchmarks and show that it consistently reduces the accuracy of state-of-the-art LLMs. These findings establish KGGDG as a powerful tool for enabling more robust and diagnostic evaluations of medical LLMs.
SATA-BENCH: Select All That Apply Benchmark for Multiple Choice Questions
Venue: arXiv cs.CL 2025
Year: 2025

Large language models (LLMs) are increasingly evaluated on single-answer multiple-choice tasks, yet many real-world problems require identifying all correct answers from a set of options. This capability remains underexplored. We introduce SATA-BENCH, the first dedicated benchmark for evaluating LLMs on Select All That Apply (SATA) questions across diverse domains, including reading comprehension, law, and biomedicine. Our evaluation of 27 open-source and proprietary models reveals a significant gap: even the strongest model achieves only 41.8% exact match, exposing LLMs' inability to reliably identify all correct answers. We find that this weakness stems from two core challenges: selection bias - models favor certain choices regardless of content, and count bias - models fail to predict the correct number of answers. To address these issues, we propose Choice Funnel, a decoding strategy that combines token debiasing with adaptive thresholding to guide models toward complete and accurate selections. Choice Funnel achieves up to 29% higher exact match than competitive baselines while reducing inference cost by over 64%. Our findings expose fundamental limitations in current LLMs and introduce a new framework for diagnosing and improving multi-answer reasoning. We release SATA-BENCH and Choice Funnel to promote LLM development for robust decision-making in realistic, multi-answer applications.
AWML: An Open-Source ML-based Robotics Perception Framework to Deploy for ROS-based Autonomous Driving Software
Venue: arXiv cs.RO 2025
Year: 2025

In recent years, machine learning technologies have played an important role in robotics, particularly in the development of autonomous robots and self-driving vehicles. As the industry matures, robotics frameworks like ROS 2 have been developed and provides a broad range of applications from research to production. In this work, we introduce AWML, a framework designed to support MLOps for robotics. AWML provides a machine learning infrastructure for autonomous driving, supporting not only the deployment of trained models to robotic systems, but also an active learning pipeline that incorporates auto-labeling, semi-auto-labeling, and data mining techniques.
Scene Detection Policies and Keyframe Extraction Strategies for Large-Scale Video Analysis
Venue: arXiv cs.CV 2025
Year: 2025

Robust scene segmentation and keyframe extraction are essential preprocessing steps in video understanding pipelines, supporting tasks such as indexing, summarization, and semantic retrieval. However, existing methods often lack generalizability across diverse video types and durations. We present a unified, adaptive framework for automatic scene detection and keyframe selection that handles formats ranging from short-form media to long-form films, archival content, and surveillance footage. Our system dynamically selects segmentation policies based on video length: adaptive thresholding for short videos, hybrid strategies for mid-length ones, and interval-based splitting for extended recordings. This ensures consistent granularity and efficient processing across domains. For keyframe selection, we employ a lightweight module that scores sampled frames using a composite metric of sharpness, luminance, and temporal spread, avoiding complex saliency models while ensuring visual relevance. Designed for high-throughput workflows, the system is deployed in a commercial video analysis platform and has processed content from media, education, research, and security domains. It offers a scalable and interpretable solution suitable for downstream applications such as UI previews, embedding pipelines, and content filtering. We discuss practical implementation details and outline future enhancements, including audio-aware segmentation and reinforcement-learned frame scoring.
DeepRAG: Integrating Hierarchical Reasoning and Process Supervision for Biomedical Multi-Hop QA
Venue: arXiv cs.CL 2025
Year: 2025

We propose DeepRAG, a novel framework that integrates DeepSeek hierarchical question decomposition capabilities with RAG Gym unified retrieval-augmented generation optimization using process level supervision. Targeting the challenging MedHopQA biomedical question answering task, DeepRAG systematically decomposes complex queries into precise sub-queries and employs concept level reward signals informed by the UMLS ontology to enhance biomedical accuracy. Preliminary evaluations on the MedHopQA dataset indicate that DeepRAG significantly outperforms baseline models, including standalone DeepSeek and RAG Gym, achieving notable improvements in both Exact Match and concept level accuracy.
Learning to Upsample and Upmix Audio in the Latent Domain
Venue: arXiv cs.SD 2025
Year: 2025

Neural audio autoencoders create compact latent representations that preserve perceptually important information, serving as the foundation for both modern audio compression systems and generation approaches like next-token prediction and latent diffusion. Despite their prevalence, most audio processing operations, such as spatial and spectral up-sampling, still inefficiently operate on raw waveforms or spectral representations rather than directly on these compressed representations. We propose a framework that performs audio processing operations entirely within an autoencoder's latent space, eliminating the need to decode to raw audio formats. Our approach dramatically simplifies training by operating solely in the latent domain, with a latent L1 reconstruction term, augmented by a single latent adversarial discriminator. This contrasts sharply with raw-audio methods that typically require complex combinations of multi-scale losses and discriminators. Through experiments in bandwidth extension and mono-to-stereo up-mixing, we demonstrate computational efficiency gains of up to 100x while maintaining quality comparable to post-processing on raw audio. This work establishes a more efficient paradigm for audio processing pipelines that already incorporate autoencoders, enabling significantly faster and more resource-efficient workflows across various audio tasks.
Measuring Faithfulness and Abstention: An Automated Pipeline for Evaluating LLM-Generated 3-ply Case-Based Legal Arguments
Venue: arXiv cs.CL 2025
Year: 2025

Large Language Models (LLMs) demonstrate potential in complex legal tasks like argument generation, yet their reliability remains a concern. Building upon pilot work assessing LLM generation of 3-ply legal arguments using human evaluation, this paper introduces an automated pipeline to evaluate LLM performance on this task, specifically focusing on faithfulness (absence of hallucination), factor utilization, and appropriate abstention. We define hallucination as the generation of factors not present in the input case materials and abstention as the model's ability to refrain from generating arguments when instructed and no factual basis exists. Our automated method employs an external LLM to extract factors from generated arguments and compares them against the ground-truth factors provided in the input case triples (current case and two precedent cases). We evaluated eight distinct LLMs on three tests of increasing difficulty: 1) generating a standard 3-ply argument, 2) generating an argument with swapped precedent roles, and 3) recognizing the impossibility of argument generation due to lack of shared factors and abstaining. Our findings indicate that while current LLMs achieve high accuracy (over 90%) in avoiding hallucination on viable argument generation tests (Tests 1 & 2), they often fail to utilize the full set of relevant factors present in the cases. Critically, on the abstention test (Test 3), most models failed to follow instructions to stop, instead generating spurious arguments despite the lack of common factors. This automated pipeline provides a scalable method for assessing these crucial LLM behaviors, highlighting the need for improvements in factor utilization and robust abstention capabilities before reliable deployment in legal settings. Link: https://lizhang-aiandlaw.github.io/An-Automated-Pipeline-for-Evaluating-LLM-Generated-3-ply-Case-Based-Legal-Arguments/
Vid2Coach: Transforming How-To Videos into Task Assistants
Venue: arXiv cs.HC 2025
Year: 2025

People use videos to learn new recipes, exercises, and crafts. Such videos remain difficult for blind and low vision (BLV) people to follow as they rely on visual comparison. Our observations of visual rehabilitation therapists (VRTs) guiding BLV people to follow how-to videos revealed that VRTs provide both proactive and responsive support including detailed descriptions, non-visual workarounds, and progress feedback. We propose Vid2Coach, a system that transforms how-to videos into wearable camera-based assistants that provide accessible instructions and mixed-initiative feedback. From the video, Vid2Coach generates accessible instructions by augmenting narrated instructions with demonstration details and completion criteria for each step. It then uses retrieval-augmented-generation to extract relevant non-visual workarounds from BLV-specific resources. Vid2Coach then monitors user progress with a camera embedded in commercial smart glasses to provide context-aware instructions, proactive feedback, and answers to user questions. BLV participants (N=8) using Vid2Coach completed cooking tasks with 58.5\% fewer errors than when using their typical workflow and wanted to use Vid2Coach in their daily lives. Vid2Coach demonstrates an opportunity for AI visual assistance that strengthens rather than replaces non-visual expertise.
Common Inpainted Objects In-N-Out of Context
Venue: arXiv cs.CV 2025
Year: 2025

We present Common Inpainted Objects In-N-Out of Context (COinCO), a novel dataset addressing the scarcity of out-of-context examples in existing vision datasets. By systematically replacing objects in COCO images through diffusion-based inpainting, we create 97,722 unique images featuring both contextually coherent and inconsistent scenes, enabling effective context learning. Each inpainted object is meticulously verified and categorized as in- or out-of-context through a multimodal large language model assessment. Our analysis reveals significant patterns in semantic priors that influence inpainting success across object categories. We demonstrate three key tasks enabled by COinCO: (1) training context classifiers that effectively determine whether existing objects belong in their context; (2) a novel Objects-from-Context prediction task that determines which new objects naturally belong in given scenes at both instance and clique levels, and (3) context-enhanced fake detection on state-of-the-art methods without fine-tuning. COinCO provides a controlled testbed with contextual variations, establishing a foundation for advancing context-aware visual understanding in computer vision and image forensics. Our code and data are at: https://github.com/YangTianze009/COinCO.
A condensing approach to multiple shooting neural ordinary differential equation
Venue: arXiv cs.LG 2025
Year: 2025

Multiple-shooting is a parameter estimation approach for ordinary differential equations. In this approach, the trajectory is broken into small intervals, each of which can be integrated independently. Equality constraints are then applied to eliminate the shooting gap between the end of the previous trajectory and the start of the next trajectory. Unlike single-shooting, multiple-shooting is more stable, especially for highly oscillatory and long trajectories. In the context of neural ordinary differential equations, multiple-shooting is not widely used due to the challenge of incorporating general equality constraints. In this work, we propose a condensing-based approach to incorporate these shooting equality constraints while training a multiple-shooting neural ordinary differential equation (MS-NODE) using first-order optimization methods such as Adam.
Structured Gradient Guidance for Few-Shot Adaptation in Large Language Models
Venue: arXiv cs.CL 2025
Year: 2025

This paper presents a gradient-informed fine-tuning method for large language models under few-shot conditions. The goal is to enhance task adaptability and training stability when data is limited. The method builds on a base loss function and introduces two gradient-related regularization terms. The first enforces gradient direction consistency to guide parameter updates along task-relevant directions and prevent drift. The second controls gradient magnitude to avoid abnormal updates. Together, these components support a more efficient and stable optimization path. To further improve cross-task generalization, the method incorporates a gradient alignment mechanism. This mechanism measures the consistency between optimization directions of the source and target tasks. It enhances fine-tuning performance in multi-task and cross-domain scenarios. Across various natural language understanding tasks, the method outperforms existing fine-tuning strategies in average accuracy, gradient stability, and directional alignment. Empirical evaluations under different sample sizes and domain-specific tasks confirm the method's robustness and broad applicability in low-resource environments. In particular, the method shows clear advantages in controlling parameter update paths. The results demonstrate that a gradient-based fine-tuning framework can effectively leverage the representational power of large language models. It ensures training stability while reducing dependence on large volumes of labeled data.
Adaptive Plane Reformatting for 4D Flow MRI using Deep Reinforcement Learning
Venue: arXiv cs.LG 2025
Year: 2025

Background and Objective: Plane reformatting for four-dimensional phase contrast MRI (4D flow MRI) is time-consuming and prone to inter-observer variability, which limits fast cardiovascular flow assessment. Deep reinforcement learning (DRL) trains agents to iteratively adjust plane position and orientation, enabling accurate plane reformatting without the need for detailed landmarks, making it suitable for images with limited contrast and resolution such as 4D flow MRI. However, current DRL methods assume that test volumes share the same spatial alignment as the training data, limiting generalization across scanners and institutions. To address this limitation, we introduce AdaPR (Adaptive Plane Reformatting), a DRL framework that uses a local coordinate system to navigate volumes with arbitrary positions and orientations. Methods: We implemented AdaPR using the Asynchronous Advantage Actor-Critic (A3C) algorithm and validated it on 88 4D flow MRI datasets acquired from multiple vendors, including patients with congenital heart disease. Results: AdaPR achieved a mean angular error of 6.32 +/- 4.15 degrees and a distance error of 3.40 +/- 2.75 mm, outperforming global-coordinate DRL methods and alternative non-DRL methods. AdaPR maintained consistent accuracy under different volume orientations and positions. Flow measurements from AdaPR planes showed no significant differences compared to two manual observers, with excellent correlation (R^2 = 0.972 and R^2 = 0.968), comparable to inter-observer agreement (R^2 = 0.969). Conclusion: AdaPR provides robust, orientation-independent plane reformatting for 4D flow MRI, achieving flow quantification comparable to expert observers. Its adaptability across datasets and scanners makes it a promising candidate for medical imaging applications beyond 4D flow MRI.