OpenRaiser/Intern-Atlas huggingface dataset:
From Permissioned to Proof-of-Stake Consensus
Venue: arXiv cs.CR 2025
Year: 2025

This paper presents the first generic compiler that transforms any permissioned consensus protocol into a proof-of-stake permissionless consensus protocol. For each of the following properties, if the initial permissioned protocol satisfies that property in the partially synchronous setting, the consequent proof-of-stake protocol also satisfies that property in the partially synchronous and quasi-permissionless setting (with the same fault-tolerance): consistency; liveness; optimistic responsiveness; every composable log-specific property; and message complexity of a given order. Moreover, our transformation ensures that the output protocol satisfies accountability (identifying culprits in the event of a consistency violation), whether or not the original permissioned protocol satisfied it.
Less is More: Undertraining Experts Improves Model Upcycling
Venue: arXiv cs.LG 2025
Year: 2025

Modern deep learning is increasingly characterized by the use of open-weight foundation models that can be fine-tuned on specialized datasets. This has led to a proliferation of expert models and adapters, often shared via platforms like HuggingFace and AdapterHub. To leverage these resources, numerous model upcycling methods have emerged, enabling the reuse of fine-tuned models in multi-task systems. A natural pipeline has thus formed to harness the benefits of transfer learning and amortize sunk training costs: models are pre-trained on general data, fine-tuned on specific tasks, and then upcycled into more general-purpose systems. A prevailing assumption is that improvements at one stage of this pipeline propagate downstream, leading to gains at subsequent steps. In this work, we challenge that assumption by examining how expert fine-tuning affects model upcycling. We show that long fine-tuning of experts that optimizes for their individual performance leads to degraded merging performance, both for fully fine-tuned and LoRA-adapted models, and to worse downstream results when LoRA adapters are upcycled into MoE layers. We trace this degradation to the memorization of a small set of difficult examples that dominate late fine-tuning steps and are subsequently forgotten during merging. Finally, we demonstrate that a task-dependent aggressive early stopping strategy can significantly improve upcycling performance.
A Quantum Annealing Approach for Solving Optimal Feature Selection and Next Release Problems
Venue: arXiv cs.SE 2025
Year: 2025

Search-based software engineering (SBSE) addresses critical optimization challenges in software engineering, including the next release problem (NRP) and feature selection problem (FSP). While traditional heuristic approaches and integer linear programming (ILP) methods have demonstrated efficacy for small to medium-scale problems, their scalability to large-scale instances remains unknown. Here, we introduce quantum annealing (QA) as a subroutine to tackling multi-objective SBSE problems, leveraging the computational potential of quantum systems. We propose two QA-based algorithms tailored to different problem scales. For small-scale problems, we reformulate multi-objective optimization (MOO) as single-objective optimization (SOO) using penalty-based mappings for quantum processing. For large-scale problems, we employ a decomposition strategy guided by maximum energy impact (MEI), integrating QA with a steepest descent method to enhance local search efficiency. Applied to NRP and FSP, our approaches are benchmarked against the heuristic NSGA-II and the ILP-based $ε$-constraint method. Experimental results reveal that while our methods produce fewer non-dominated solutions than $ε$-constraint, they achieve significant reductions in execution time. Moreover, compared to NSGA-II, our methods deliver more non-dominated solutions with superior computational efficiency. These findings underscore the potential of QA in advancing scalable and efficient solutions for SBSE challenges.
Common Benchmarks Undervalue the Generalization Power of Programmatic Policies
Venue: arXiv cs.LG 2025
Year: 2025

Algorithms for learning programmatic representations for sequential decision-making problems are often evaluated on out-of-distribution (OOD) problems, with the common conclusion that programmatic policies generalize better than neural policies on OOD problems. In this position paper, we argue that commonly used benchmarks undervalue the generalization capabilities of programmatic representations. We analyze the experiments of four papers from the literature and show that neural policies, which were shown not to generalize, can generalize as effectively as programmatic policies on OOD problems. This is achieved with simple changes in the neural policies training pipeline. Namely, we show that simpler neural architectures with the same type of sparse observation used with programmatic policies can help attain OOD generalization. Another modification we have shown to be effective is the use of reward functions that allow for safer policies (e.g., agents that drive slowly can generalize better). Also, we argue for creating benchmark problems highlighting concepts needed for OOD generalization that may challenge neural policies but align with programmatic representations, such as tasks requiring algorithmic constructs like stacks.
ELI-Why: Evaluating the Pedagogical Utility of Language Model Explanations
Venue: arXiv cs.CL 2025
Year: 2025

Language models today are widely used in education, yet their ability to tailor responses for learners with varied informational needs and knowledge backgrounds remains under-explored. To this end, we introduce ELI-Why, a benchmark of 13.4K "Why" questions to evaluate the pedagogical capabilities of language models. We then conduct two extensive human studies to assess the utility of language model-generated explanatory answers (explanations) on our benchmark, tailored to three distinct educational grades: elementary, high-school and graduate school. In our first study, human raters assume the role of an "educator" to assess model explanations' fit to different educational grades. We find that GPT-4-generated explanations match their intended educational background only 50% of the time, compared to 79% for lay human-curated explanations. In our second study, human raters assume the role of a learner to assess if an explanation fits their own informational needs. Across all educational backgrounds, users deemed GPT-4-generated explanations 20% less suited on average to their informational needs, when compared to explanations curated by lay people. Additionally, automated evaluation metrics reveal that explanations generated across different language model families for different informational needs remain indistinguishable in their grade-level, limiting their pedagogical effectiveness.
HRGS: Hierarchical Gaussian Splatting for Memory-Efficient High-Resolution 3D Reconstruction
Venue: arXiv cs.CV 2025
Year: 2025

3D Gaussian Splatting (3DGS) has made significant strides in real-time 3D scene reconstruction, but faces memory scalability issues in high-resolution scenarios. To address this, we propose Hierarchical Gaussian Splatting (HRGS), a memory-efficient framework with hierarchical block-level optimization. First, we generate a global, coarse Gaussian representation from low-resolution data. Then, we partition the scene into multiple blocks, refining each block with high-resolution data. The partitioning involves two steps: Gaussian partitioning, where irregular scenes are normalized into a bounded cubic space with a uniform grid for task distribution, and training data partitioning, where only relevant observations are retained for each block. By guiding block refinement with the coarse Gaussian prior, we ensure seamless Gaussian fusion across adjacent blocks. To reduce computational demands, we introduce Importance-Driven Gaussian Pruning (IDGP), which computes importance scores for each Gaussian and removes those with minimal contribution, speeding up convergence and reducing memory usage. Additionally, we incorporate normal priors from a pretrained model to enhance surface reconstruction quality. Our method enables high-quality, high-resolution 3D scene reconstruction even under memory constraints. Extensive experiments on three benchmarks show that HRGS achieves state-of-the-art performance in high-resolution novel view synthesis (NVS) and surface reconstruction tasks.
Causes in neuron diagrams, and testing causal reasoning in Large Language Models. A glimpse of the future of philosophy?
Venue: arXiv cs.AI 2025
Year: 2025

We propose a test for abstract causal reasoning in AI, based on scholarship in the philosophy of causation, in particular on the neuron diagrams popularized by D. Lewis. We illustrate the test on advanced Large Language Models (ChatGPT, DeepSeek and Gemini). Remarkably, these chatbots are already capable of correctly identifying causes in cases that are hotly debated in the literature. In order to assess the results of these LLMs and future dedicated AI, we propose a definition of cause in neuron diagrams with a wider validity than published hitherto, which challenges the widespread view that such a definition is elusive. We submit that these results are an illustration of how future philosophical research might evolve: as an interplay between human and artificial expertise.
synth-dacl: Does Synthetic Defect Data Enhance Segmentation Accuracy and Robustness for Real-World Bridge Inspections?
Venue: arXiv cs.CV 2025
Year: 2025

Adequate bridge inspection is increasingly challenging in many countries due to growing ailing stocks, compounded with a lack of staff and financial resources. Automating the key task of visual bridge inspection, classification of defects and building components on pixel level, improves efficiency, increases accuracy and enhances safety in the inspection process and resulting building assessment. Models overtaking this task must cope with an assortment of real-world conditions. They must be robust to variations in image quality, as well as background texture, as defects often appear on surfaces of diverse texture and degree of weathering. dacl10k is the largest and most diverse dataset for real-world concrete bridge inspections. However, the dataset exhibits class imbalance, which leads to notably poor model performance particularly when segmenting fine-grained classes such as cracks and cavities. This work introduces "synth-dacl", a compilation of three novel dataset extensions based on synthetic concrete textures. These extensions are designed to balance class distribution in dacl10k and enhance model performance, especially for crack and cavity segmentation. When incorporating the synth-dacl extensions, we observe substantial improvements in model robustness across 15 perturbed test sets. Notably, on the perturbed test set, a model trained on dacl10k combined with all synthetic extensions achieves a 2% increase in mean IoU, F1 score, Recall, and Precision compared to the same model trained solely on dacl10k.
Whole-Body Control Framework for Humanoid Robots with Heavy Limbs: A Model-Based Approach
Venue: arXiv cs.RO 2025
Year: 2025

Humanoid robots often face significant balance issues due to the motion of their heavy limbs. These challenges are particularly pronounced when attempting dynamic motion or operating in environments with irregular terrain. To address this challenge, this manuscript proposes a whole-body control framework for humanoid robots with heavy limbs, using a model-based approach that combines a kino-dynamics planner and a hierarchical optimization problem. The kino-dynamics planner is designed as a model predictive control (MPC) scheme to account for the impact of heavy limbs on mass and inertia distribution. By simplifying the robot's system dynamics and constraints, the planner enables real-time planning of motion and contact forces. The hierarchical optimization problem is formulated using Hierarchical Quadratic Programming (HQP) to minimize limb control errors and ensure compliance with the policy generated by the kino-dynamics planner. Experimental validation of the proposed framework demonstrates its effectiveness. The humanoid robot with heavy limbs controlled by the proposed framework can achieve dynamic walking speeds of up to 1.2~m/s, respond to external disturbances of up to 60~N, and maintain balance on challenging terrains such as uneven surfaces, and outdoor environments.
From What to Respond to When to Respond: Timely Response Generation for Open-domain Dialogue Agents
Venue: arXiv cs.CL 2025
Year: 2025

While research on dialogue response generation has primarily focused on generating coherent responses conditioning on textual context, the critical question of when to respond grounded on the temporal context remains underexplored. To bridge this gap, we propose a novel task called timely dialogue response generation and introduce the TimelyChat benchmark, which evaluates the capabilities of language models to predict appropriate time intervals and generate time-conditioned responses. Additionally, we construct a large-scale training dataset by leveraging unlabeled event knowledge from a temporal commonsense knowledge graph and employing a large language model (LLM) to synthesize 55K event-driven dialogues. We then train Timer, a dialogue agent designed to proactively predict time intervals and generate timely responses that align with those intervals. Experimental results show that Timer outperforms prompting-based LLMs and other fine-tuned baselines in both turn-level and dialogue-level evaluations. We publicly release our data, model, and code.
Steering Robots with Inference-Time Interactions
Venue: arXiv cs.RO 2025
Year: 2025

Imitation learning has driven the development of generalist policies capable of autonomously solving multiple tasks. However, when a pretrained policy makes errors during deployment, there are limited mechanisms for users to correct its behavior. While collecting additional data for finetuning can address such issues, doing so for each downstream use case is inefficient at deployment. My research proposes an alternative: keeping pretrained policies frozen as a fixed skill repertoire while allowing user interactions to guide behavior generation toward user preferences at inference time. By making pretrained policies steerable, users can help correct policy errors when the model struggles to generalize-without needing to finetune the policy. Specifically, I propose (1) inference-time steering, which leverages user interactions to switch between discrete skills, and (2) task and motion imitation, which enables user interactions to edit continuous motions while satisfying task constraints defined by discrete symbolic plans. These frameworks correct misaligned policy predictions without requiring additional training, maximizing the utility of pretrained models while achieving inference-time user objectives.
Uncertainty-Driven Radar-Inertial Fusion for Instantaneous 3D Ego-Velocity Estimation
Venue: arXiv cs.RO 2025
Year: 2025

We present a method for estimating ego-velocity in autonomous navigation by integrating high-resolution imaging radar with an inertial measurement unit. The proposed approach addresses the limitations of traditional radar-based ego-motion estimation techniques by employing a neural network to process complex-valued raw radar data and estimate instantaneous linear ego-velocity along with its associated uncertainty. This uncertainty-aware velocity estimate is then integrated with inertial measurement unit data using an Extended Kalman Filter. The filter leverages the network-predicted uncertainty to refine the inertial sensor's noise and bias parameters, improving the overall robustness and accuracy of the ego-motion estimation. We evaluated the proposed method on the publicly available ColoRadar dataset. Our approach achieves significantly lower error compared to the closest publicly available method and also outperforms both instantaneous and scan matching-based techniques.
AviationLLM: An LLM-based Knowledge System for Aviation Training
Venue: arXiv cs.AI 2025
Year: 2025

Aviation training is a core link in ensuring flight safety, improving industry efficiency and promoting sustainable development. It not only involves flight simulation but also requires the learning of a great deal of professional aviation theory knowledge. In the existing training system, the knowledge is mainly imparted by the the instructors. However, the number of instructors is limited and the professional answers obtained from the Internet are not accurate enough, resulting in low training efficiency. To address this, we introduced LLM, but the basic pre-trained model cannot provide accurate answers to professional fields, so we fine-tuned it. Traditional Supervised Fine-Tuning (SFT) risk generating superficially plausible but factually incorrect responses due to insufficient data coverage. To address this, we employ Direct Preference Optimization(DPO). This paper proposes Retrieval-Augmented LLM Alignment via Direct Preference Optimization(RALA-DPO). We select open source pre-trained LLM Qwen and adapt it to aviation theory training through DPO-based domain alignment. Simultaneously, to mitigate hallucinations caused by training data biases, knowledge obsolescence, or domain knowledge gaps, we implement Retrieval-Augmented Generation(RAG) technology that combines generative and retrieval models. RALA-DPO effectively retrieves relevant information from external knowledge bases and delivers precise and high-quality responses through the generative model. Experimental results demonstrate that RALA-DPO can improve accuracy in response to professional aviation knowledge. With integrated RAG mechanisms, this system can further improve the accuracy of answers and achieve zero-cost knowledge updates simultaneously.
EVA02-AT: Egocentric Video-Language Understanding with Spatial-Temporal Rotary Positional Embeddings and Symmetric Optimization
Venue: arXiv cs.CV 2025
Year: 2025

Egocentric video-language understanding demands both high efficiency and accurate spatial-temporal modeling. Existing approaches face three key challenges: 1) Excessive pre-training cost arising from multi-stage pre-training pipelines, 2) Ineffective spatial-temporal encoding due to manually split 3D rotary positional embeddings that hinder feature interactions, and 3) Imprecise learning objectives in soft-label multi-instance retrieval, which neglect negative pair correlations. In this paper, we introduce EVA02-AT, a suite of EVA02-based video-language foundation models tailored to egocentric video understanding tasks. EVA02-AT first efficiently transfers an image-based CLIP model into a unified video encoder via a single-stage pretraining. Second, instead of applying rotary positional embeddings to isolated dimensions, we introduce spatial-temporal rotary positional embeddings along with joint attention, which can effectively encode both spatial and temporal information on the entire hidden dimension. This joint encoding of spatial-temporal features enables the model to learn cross-axis relationships, which are crucial for accurately modeling motion and interaction in videos. Third, focusing on multi-instance video-language retrieval tasks, we introduce the Symmetric Multi-Similarity (SMS) loss and a novel training framework that advances all soft labels for both positive and negative pairs, providing a more precise learning objective. Extensive experiments on Ego4D, EPIC-Kitchens-100, and Charades-Ego under zero-shot and fine-tuning settings demonstrate that EVA02-AT achieves state-of-the-art performance across diverse egocentric video-language tasks with fewer parameters. Models with our SMS loss also show significant performance gains on multi-instance retrieval benchmarks. Our code and models are publicly available at https://github.com/xqwang14/EVA02-AT .
Identification for Molecular Communication Based on Diffusion Channel with Poisson Reception Process
Venue: arXiv cs.IT 2025
Year: 2025

Molecular communication (MC) enables information exchange at the nano- and microscale, with applications in areas like drug delivery and health monitoring. These event-driven scenarios often require alternatives to traditional transmission. Identification communication, introduced by Ahlswede and Dueck, offers such an approach, in which the receiver only determines whether a specific message was sent, suiting resource-limited and event-triggered systems. This paper combines MC with identification and proposes a one-dimensional (1D) diffusion-based model. Diffusion noise is modeled as a Poisson process, and a lower bound on channel capacity is derived. Simulations, microscopic, and with short-length deterministic codes, validate theoretical results, including the channel impulse response and error bounds. The findings support the design of practical MC systems, with potential use in testbed development.
HydroChronos: Forecasting Decades of Surface Water Change
Venue: arXiv cs.CV 2025
Year: 2025

Forecasting surface water dynamics is crucial for water resource management and climate change adaptation. However, the field lacks comprehensive datasets and standardized benchmarks. In this paper, we introduce HydroChronos, a large-scale, multi-modal spatiotemporal dataset for surface water dynamics forecasting designed to address this gap. We couple the dataset with three forecasting tasks. The dataset includes over three decades of aligned Landsat 5 and Sentinel-2 imagery, climate data, and Digital Elevation Models for diverse lakes and rivers across Europe, North America, and South America. We also propose AquaClimaTempo UNet, a novel spatiotemporal architecture with a dedicated climate data branch, as a strong benchmark baseline. Our model significantly outperforms a Persistence baseline for forecasting future water dynamics by +14% and +11% F1 across change detection and direction of change classification tasks, and by +0.1 MAE on the magnitude of change regression. Finally, we conduct an Explainable AI analysis to identify the key climate variables and input channels that influence surface water change, providing insights to inform and guide future modeling efforts.
Between Regulation and Accessibility: How Chinese University Students Navigate Global and Domestic Generative AI
Venue: arXiv cs.CY 2025
Year: 2025

Despite the rapid proliferation of generative AI in higher education, students in China face significant barriers in accessing global tools like ChatGPT due to regulations and constraints. Grounded in the Unified Theory of Acceptance and Use of Technology 2 (UTAUT2) model, this study employs qualitative interviews to investigate how Chinese university students interact with both global and domestic generative AIs in the learning process. Findings reveal that engagement is shaped by accessibility, language proficiency, and cultural relevance. Students often employ workarounds (e.g., VPNs) to access global generative AIs, raising ethical and privacy concerns. Domestic generative AIs, while offering language and cultural advantages, are limited by content filtering and output constraints. This research contributes to understanding generative AI adoption in non-Western contexts by highlighting the complex interplay of political, linguistic, and cultural factors. It advocates for human-centered, multilingual, domestic context-sensitive AI integration to ensure equitable and inclusive digital learning environments.