OpenRaiser/Intern-Atlas huggingface dataset:
Systematic Evaluation of Trade-Offs in Motion Planning Algorithms for Optimal Industrial Robotic Work Cell Design
Venue: arXiv cs.RO 2025
Year: 2025

The performance of industrial robotic work cells depends on optimizing various hyperparameters referring to the cell layout, such as robot base placement, tool placement, and kinematic design. Achieving this requires a bilevel optimization approach, where the high-level optimization adjusts these hyperparameters, and the low-level optimization computes robot motions. However, computing the optimal robot motion is computationally infeasible, introducing trade-offs in motion planning to make the problem tractable. These trade-offs significantly impact the overall performance of the bilevel optimization, but their effects still need to be systematically evaluated. In this paper, we introduce metrics to assess these trade-offs regarding optimality, time gain, robustness, and consistency. Through extensive simulation studies, we investigate how simplifications in motion-level optimization affect the high-level optimization outcomes, balancing computational complexity with solution quality. The proposed algorithms are applied to find the time-optimal kinematic design for a modular robot in two palletization scenarios.
Conditional-$t^3$VAE: Equitable Latent Space Allocation for Fair Generation
Venue: arXiv cs.LG 2025
Year: 2025

Variational Autoencoders (VAEs) with global priors mirror the training set's class frequency in latent space, underrepresenting tail classes and reducing generative fairness on imbalanced datasets. While $t^3$VAE improves robustness via heavy-tailed Student's t-distribution priors, it still allocates latent volume proportionally to the class frequency.In this work, we address this issue by explicitly enforcing equitable latent space allocation across classes. To this end, we propose Conditional-$t^3$VAE, which defines a per-class \mbox{Student's t} joint prior over latent and output variables, preventing dominance by majority classes. Our model is optimized using a closed-form objective derived from the $γ$-power divergence. Moreover, for class-balanced generation, we derive an equal-weight latent mixture of Student's t-distributions. On SVHN-LT, CIFAR100-LT, and CelebA, Conditional-$t^3$VAE consistently achieves lower FID scores than both $t^3$VAE and Gaussian-based VAE baselines, particularly under severe class imbalance. In per-class F1 evaluations, Conditional-$t^3$VAE also outperforms the conditional Gaussian VAE across all highly imbalanced settings. While Gaussian-based models remain competitive under mild imbalance ratio ($ρ\lesssim 3$), our approach substantially improves generative fairness and diversity in more extreme regimes.
DEViaN-LM: An R Package for Detecting Abnormal Values in the Gaussian Linear Model
Venue: arXiv cs.MS 2025
Year: 2025

The DEViaN-LM is a R package that allows to detect the values poorly explained by a Gaussian linear model. The procedure is based on the maximum of the absolute value of the studentized residuals, which is a free statistic of the parameters of the model. This approach makes it possible to generalize several procedures used to detect abnormal values during longitudinal monitoring of certain biological markers. In this article, we describe the method used, and we show how to implement it on different real datasets.
Autoencoder-based non-intrusive model order reduction in continuum mechanics
Venue: arXiv cs.CE 2025
Year: 2025

We propose a non-intrusive, Autoencoder-based framework for reduced-order modeling in continuum mechanics. Our method integrates three stages: (i) an unsupervised Autoencoder compresses high-dimensional finite element solutions into a compact latent space, (ii) a supervised regression network maps problem parameters to latent codes, and (iii) an end-to-end surrogate reconstructs full-field solutions directly from input parameters. To overcome limitations of existing approaches, we propose two key extensions: a force-augmented variant that jointly predicts displacement fields and reaction forces at Neumann boundaries, and a multi-field architecture that enables coupled field predictions, such as in thermo-mechanical systems. The framework is validated on nonlinear benchmark problems involving heterogeneous composites, anisotropic elasticity with geometric variation, and thermo-mechanical coupling. Across all cases, it achieves accurate reconstructions of high-fidelity solutions while remaining fully non-intrusive. These results highlight the potential of combining deep learning with dimensionality reduction to build efficient and extensible surrogate models. Our publicly available implementation provides a foundation for integrating data-driven model order reduction into uncertainty quantification, optimization, and digital twin applications.
Think2Sing: Orchestrating Structured Motion Subtitles for Singing-Driven 3D Head Animation
Venue: arXiv cs.GR 2025
Year: 2025

Singing-driven 3D head animation is a challenging yet promising task with applications in virtual avatars, entertainment, and education. Unlike speech, singing involves richer emotional nuance, dynamic prosody, and lyric-based semantics, requiring the synthesis of fine-grained, temporally coherent facial motion. Existing speech-driven approaches often produce oversimplified, emotionally flat, and semantically inconsistent results, which are insufficient for singing animation. To address this, we propose Think2Sing, a diffusion-based framework that leverages pretrained large language models to generate semantically coherent and temporally consistent 3D head animations, conditioned on both lyrics and acoustics. A key innovation is the introduction of motion subtitles, an auxiliary semantic representation derived through a novel Singing Chain-of-Thought reasoning process combined with acoustic-guided retrieval. These subtitles contain precise timestamps and region-specific motion descriptions, serving as interpretable motion priors. We frame the task as a motion intensity prediction problem, enabling finer control over facial regions and improving the modeling of expressive motion. To support this, we create a multimodal singing dataset with synchronized video, acoustic descriptors, and motion subtitles, enabling diverse and expressive motion learning. Extensive experiments show that Think2Sing outperforms state-of-the-art methods in realism, expressiveness, and emotional fidelity, while also offering flexible, user-controllable animation editing.
AI Agent Communication from Internet Architecture Perspective: Challenges and Opportunities
Venue: arXiv cs.NI 2025
Year: 2025

The rapid development of AI agents leads to a surge in communication demands. Alongside this rise, a variety of frameworks and protocols emerge. While these efforts demonstrate the vitality of the field, they also highlight increasing fragmentation, with redundant innovation and siloed designs hindering cross-domain interoperability. These challenges underscore the need for a systematic perspective to guide the development of scalable, secure, and sustainable AI agent ecosystems. To address this need, this paper provides the first systematic analysis of AI agent communication from the standpoint of Internet architecture-the most successful global-scale distributed system in history. Specifically, we distill decades of Internet evolution into five key elements that are directly relevant to agent communication: scalability, security, real-time performance, high performance, and manageability. We then use these elements to examine both the opportunities and the bottlenecks in developing robust multi-agent ecosystems. Overall, this paper bridges Internet architecture and AI agent communication for the first time, providing a new lens for guiding the sustainable growth of AI agent communication ecosystems.
OmniActor: A Generalist GUI and Embodied Agent for 2D&3D Worlds
Venue: arXiv cs.CV 2025
Year: 2025

Multimodal large language models are evolving toward multimodal agents capable of proactively executing tasks. Most agent research focuses on GUI or embodied scenarios, which correspond to agents interacting with 2D virtual worlds or 3D real worlds, respectively. However, many complex tasks typically require agents to interleavely interact with these two types of environment. We initially mix GUI and embodied data to train, but find the performance degeneration brought by the data conflict. Further analysis reveals that GUI and embodied data exhibit synergy and conflict at the shallow and deep layers, respectively, which resembles the cerebrum-cerebellum mechanism in the human brain. To this end, we propose a high-performance generalist agent OmniActor, designed from both structural and data perspectives. First, we propose Layer-heterogeneity MoE to eliminate the conflict between GUI and embodied data by separating deep-layer parameters, while leverage their synergy by sharing shallow-layer parameters. By successfully leveraging the synergy and eliminating the conflict, OmniActor outperforms agents only trained by GUI or embodied data in GUI or embodied tasks. Furthermore, we unify the action spaces of GUI and embodied tasks, and collect large-scale GUI and embodied data from various sources for training. This significantly improves OmniActor under different scenarios, especially in GUI tasks. The code will be publicly available.
Ordinal Adaptive Correction: A Data-Centric Approach to Ordinal Image Classification with Noisy Labels
Venue: arXiv cs.CV 2025
Year: 2025

Labeled data is a fundamental component in training supervised deep learning models for computer vision tasks. However, the labeling process, especially for ordinal image classification where class boundaries are often ambiguous, is prone to error and noise. Such label noise can significantly degrade the performance and reliability of machine learning models. This paper addresses the problem of detecting and correcting label noise in ordinal image classification tasks. To this end, a novel data-centric method called ORDinal Adaptive Correction (ORDAC) is proposed for adaptive correction of noisy labels. The proposed approach leverages the capabilities of Label Distribution Learning (LDL) to model the inherent ambiguity and uncertainty present in ordinal labels. During training, ORDAC dynamically adjusts the mean and standard deviation of the label distribution for each sample. Rather than discarding potentially noisy samples, this approach aims to correct them and make optimal use of the entire training dataset. The effectiveness of the proposed method is evaluated on benchmark datasets for age estimation (Adience) and disease severity detection (Diabetic Retinopathy) under various asymmetric Gaussian noise scenarios. Results show that ORDAC and its extended versions (ORDAC_C and ORDAC_R) lead to significant improvements in model performance. For instance, on the Adience dataset with 40% noise, ORDAC_R reduced the mean absolute error from 0.86 to 0.62 and increased the recall metric from 0.37 to 0.49. The method also demonstrated its effectiveness in correcting intrinsic noise present in the original datasets. This research indicates that adaptive label correction using label distributions is an effective strategy to enhance the robustness and accuracy of ordinal classification models in the presence of noisy data.
When Agents go Astray: Course-Correcting SWE Agents with PRMs
Venue: arXiv cs.AI 2025
Year: 2025

Large Language Model (LLM) agents are increasingly deployed for complex, multi-step software engineering (SWE) tasks. However, their trajectories often contain costly inefficiencies, such as redundant exploration, looping, and failure to terminate once a solution is reached. Prior work has largely treated these errors in a post-hoc manner, diagnosing failures only after execution. In this paper, we introduce SWE-PRM, an inference-time Process Reward Model (PRM) that intervenes during execution to detect and course-correct trajectory-level errors. Our PRM design leverages a taxonomy of common inefficiencies and delivers lightweight, interpretable feedback without modifying the underlying policy. On SWE-bench Verified, closed-source PRMs improve resolution from 40.0% to 50.6% (+10.6 p.p.), with the largest gains on medium and hard tasks. Among feedback strategies, taxonomy-guided PRMs outperform unguided or explicit action-prescriptive variants, increasing success rate while reducing trajectory length. These benefits come at an acceptable added inference cost of as low as $0.2, making PRMs a practical and scalable mechanism for improving SWE agents' reliability and efficiency.
Upcycling Candidate Tokens of Large Language Models for Query Expansion
Venue: arXiv cs.IR 2025
Year: 2025

Query Expansion (QE) improves retrieval performance by enriching queries with related terms. Recently, Large Language Models (LLMs) have been used for QE, but existing methods face a trade-off: generating diverse terms boosts performance but increases computational cost. To address this challenge, we propose Candidate Token Query Expansion (CTQE), which extracts diverse and relevant terms from a single LLM decoding pass by leveraging unselected candidate tokens. These tokens, though not part of the final output, are conditioned on the full query and capture useful information. By aggregating them, CTQE achieves both relevance and diversity without extra inference, reducing overhead and latency. Experiments show that CTQE delivers strong retrieval performance with significantly lower cost, outperforming or comparable to more expensive methods. Code is available at: https://github.com/bluejeans8/CTQE
Cache Management for Mixture-of-Experts LLMs -- extended version
Venue: arXiv cs.LG 2025
Year: 2025

Large language models (LLMs) have demonstrated remarkable capabilities across a variety of tasks. One of the main challenges towards the successful deployment of LLMs is memory management, since they typically involve billions of parameters. To this end, architectures based on Mixture-of-Experts have been proposed, which aim to reduce the size of the parameters that are activated when producing a token. This raises the equally critical issue of efficiently managing the limited cache of the system, in that frequently used experts should be stored in the fast cache rather than in the slower secondary memory. In this work, we introduce and study a new paging problem that models expert management optimization. Our formulation captures both the layered architecture of LLMs and the requirement that experts are cached efficiently. We first present lower bounds on the competitive ratio of both deterministic and randomized algorithms, which show that under mild assumptions, LRU-like policies have good theoretical competitive performance. We then propose a layer-based extension of LRU that is tailored to the problem at hand. Extensive simulations on both synthetic datasets and actual traces of MoE usage show that our algorithm outperforms policies for the classic paging problem, such as the standard LRU.
Learnable Loss Geometries with Mirror Descent for Scalable and Convergent Meta-Learning
Venue: arXiv cs.LG 2025
Year: 2025

Utilizing task-invariant knowledge acquired from related tasks as prior information, meta-learning offers a principled approach to learning a new task with limited data records. Sample-efficient adaptation of this prior information is a major challenge facing meta-learning, and plays an important role because it facilitates training the sought task-specific model with just a few optimization steps. Past works deal with this challenge through preconditioning that speeds up convergence of the per-task training. Though effective in representing locally quadratic loss curvatures, simple linear preconditioning can be hardly potent with complex loss geometries. Instead of relying on a quadratic distance metric, the present contribution copes with complex loss metrics by learning a versatile distance-generating function, which induces a nonlinear mirror map to effectively capture and optimize a wide range of loss geometries. With suitable parameterization, this generating function is effected by an expressive neural network that is provably a valid distance. Analytical results establish convergence of not only the proposed method, but also all meta-learning approaches based on preconditioning. To attain gradient norm less than $ε$, the convergence rate of $\mathcal{O}(ε^{-2})$ is on par with standard gradient-based meta-learning methods. Numerical tests on few-shot learning datasets demonstrate the superior empirical performance of the novel algorithm, as well as its rapid per-task convergence, which markedly reduces the number of adaptation steps, hence also accommodating large-scale meta-learning models.
From Noisy Labels to Intrinsic Structure: A Geometric-Structural Dual-Guided Framework for Noise-Robust Medical Image Segmentation
Venue: arXiv cs.CV 2025
Year: 2025

The effectiveness of convolutional neural networks in medical image segmentation relies on large-scale, high-quality annotations, which are costly and time-consuming to obtain. Even expert-labeled datasets inevitably contain noise arising from subjectivity and coarse delineations, which disrupt feature learning and adversely impact model performance. To address these challenges, this study propose a Geometric-Structural Dual-Guided Network (GSD-Net), which integrates geometric and structural cues to improve robustness against noisy annotations. It incorporates a Geometric Distance-Aware module that dynamically adjusts pixel-level weights using geometric features, thereby strengthening supervision in reliable regions while suppressing noise. A Structure-Guided Label Refinement module further refines labels with structural priors, and a Knowledge Transfer module enriches supervision and improves sensitivity to local details. To comprehensively assess its effectiveness, we evaluated GSD-Net on six publicly available datasets: four containing three types of simulated label noise, and two with multi-expert annotations that reflect real-world subjectivity and labeling inconsistencies. Experimental results demonstrate that GSD-Net achieves state-of-the-art performance under noisy annotations, achieving improvements of 2.52% on Kvasir, 22.76% on Shenzhen, 8.87% on BU-SUC, and 4.59% on BraTS2020 under SR simulated noise. The codes of this study are available at https://github.com/ortonwang/GSD-Net.
From Traces to Program Incorrectness: A Type-Theoretic Approach
Venue: arXiv cs.PL 2025
Year: 2025

We present a type-theoretic framework for reasoning about incorrectness in functional programs that interact with effectful, opaque library APIs. Our approach centers on traces -- temporally-ordered sequences of library API invocations -- which naturally characterize both the preconditions of individual APIs and their composite behavior. We represent these traces using symbolic regular expressions (SREs), enabling formal specification of incorrect abstract data type (ADT) behaviors across function boundaries. The core contribution is a novel type inference algorithm that operates modulo specified incorrectness properties and leverages the symbolic finite automata (SFAs) representations of regexes for compositional reasoning of traces. When the algorithm succeeds, the inferred types witness that an ADT implementation can exhibit some subset of the specified incorrect behaviors. This represents the first systematic approach to underapproximate reasoning against trace-based incorrectness specifications, enabling a new form of trace-guided compositional analysis.
Efficient Pyramidal Analysis of Gigapixel Images on a Decentralized Modest Computer Cluster
Venue: arXiv cs.DC 2025
Year: 2025

Analyzing gigapixel images is recognized as computationally demanding. In this paper, we introduce PyramidAI, a technique for analyzing gigapixel images with reduced computational cost. The proposed approach adopts a gradual analysis of the image, beginning with lower resolutions and progressively concentrating on regions of interest for detailed examination at higher resolutions. We investigated two strategies for tuning the accuracy-computation performance trade-off when implementing the adaptive resolution selection, validated against the Camelyon16 dataset of biomedical images. Our results demonstrate that PyramidAI substantially decreases the amount of processed data required for analysis by up to 2.65x, while preserving the accuracy in identifying relevant sections on a single computer. To ensure democratization of gigapixel image analysis, we evaluated the potential to use mainstream computers to perform the computation by exploiting the parallelism potential of the approach. Using a simulator, we estimated the best data distribution and load balancing algorithm according to the number of workers. The selected algorithms were implemented and highlighted the same conclusions in a real-world setting. Analysis time is reduced from more than an hour to a few minutes using 12 modest workers, offering a practical solution for efficient large-scale image analysis.
SpecEval: Evaluating Model Adherence to Behavior Specifications
Venue: arXiv cs.CL 2025
Year: 2025

Companies that develop foundation models publish behavioral guidelines they pledge their models will follow, but it remains unclear if models actually do so. While providers such as OpenAI, Anthropic, and Google have published detailed specifications describing both desired safety constraints and qualitative traits for their models, there has been no systematic audit of adherence to these guidelines. We introduce an automated framework that audits models against their providers specifications by parsing behavioral statements, generating targeted prompts, and using models to judge adherence. Our central focus is on three way consistency between a provider specification, its model outputs, and its own models as judges; an extension of prior two way generator validator consistency. This establishes a necessary baseline: at minimum, a foundation model should consistently satisfy the developer behavioral specifications when judged by the developer evaluator models. We apply our framework to 16 models from six developers across more than 100 behavioral statements, finding systematic inconsistencies including compliance gaps of up to 20 percent across providers.
Exploring Variational Graph Autoencoders for Distribution Grid Data Generation
Venue: arXiv cs.LG 2025
Year: 2025

To address the lack of public power system data for machine learning research in energy networks, we investigate the use of variational graph autoencoders (VGAEs) for synthetic distribution grid generation. Using two open-source datasets, ENGAGE and DINGO, we evaluate four decoder variants and compare generated networks against the original grids using structural and spectral metrics. Results indicate that simple decoders fail to capture realistic topologies, while GCN-based approaches achieve strong fidelity on ENGAGE but struggle on the more complex DINGO dataset, producing artifacts such as disconnected components and repeated motifs. These findings highlight both the promise and limitations of VGAEs for grid synthesis, underscoring the need for more expressive generative models and robust evaluation. We release our models and analysis as open source to support benchmarking and accelerate progress in ML-driven power system research.