OpenRaiser/Intern-Atlas huggingface dataset:
LF: Online Multi-Robot Path Planning Meets Optimal Trajectory Control
Venue: arXiv cs.RO 2025
Year: 2025

We propose a multi-robot control paradigm to solve point-to-point navigation tasks for a team of holonomic robots with access to the full environment information. The framework invokes two processes asynchronously at high frequency: (i) a centralized, discrete, and full-horizon planner for computing collision- and deadlock-free paths rapidly, leveraging recent advances in multi-agent pathfinding (MAPF), and (ii) dynamics-aware, robot-wise optimal trajectory controllers that ensure all robots independently follow their assigned paths reliably. This hierarchical shift in planning representation from (i) discrete and coupled to (ii) continuous and decoupled domains enables the framework to maintain long-term scalable motion synthesis. As an instantiation of this idea, we present LF, which combines a fast state-of-the-art MAPF solver (LaCAM), and a robust feedback control stack (Freyja) for executing agile robot maneuvers. LF provides a robust and versatile mechanism for lifelong multi-robot navigation even under asynchronous and partial goal updates, and adapts to dynamic workspaces simply by quick replanning. We present various multirotor and ground robot demonstrations, including the deployment of 15 real multirotors with random, consecutive target updates while a person walks through the operational workspace.
Emergent Heterogeneous Swarm Control Through Hebbian Learning
Venue: arXiv cs.NE 2025
Year: 2025

In this paper, we introduce Hebbian learning as a novel method for swarm robotics, enabling the automatic emergence of heterogeneity. Hebbian learning presents a biologically inspired form of neural adaptation that solely relies on local information. By doing so, we resolve several major challenges for learning heterogeneous control: 1) Hebbian learning removes the complexity of attributing emergent phenomena to single agents through local learning rules, thus circumventing the micro-macro problem; 2) uniform Hebbian learning rules across all swarm members limit the number of parameters needed, mitigating the curse of dimensionality with scaling swarm sizes; and 3) evolving Hebbian learning rules based on swarm-level behaviour minimises the need for extensive prior knowledge typically required for optimising heterogeneous swarms. This work demonstrates that with Hebbian learning heterogeneity naturally emerges, resulting in swarm-level behavioural switching and in significantly improved swarm capabilities. It also demonstrates how the evolution of Hebbian learning rules can be a valid alternative to Multi Agent Reinforcement Learning in standard benchmarking tasks.
What cat is that? A re-id model for feral cats
Venue: arXiv cs.CV 2025
Year: 2025

Feral cats exert a substantial and detrimental impact on Australian wildlife, placing them among the most dangerous invasive species worldwide. Therefore, closely monitoring these cats is essential labour in minimising their effects. In this context, the potential application of Re-Identification (re-ID) emerges to enhance monitoring activities for these animals, utilising images captured by camera traps. This project explores different CV approaches to create a re-ID model able to identify individual feral cats in the wild. The main approach consists of modifying a part-pose guided network (PPGNet) model, initially used in the re-ID of Amur tigers, to be applicable for feral cats. This adaptation, resulting in PPGNet-Cat, which incorporates specific modifications to suit the characteristics of feral cats images. Additionally, various experiments were conducted, particularly exploring contrastive learning approaches such as ArcFace loss. The main results indicate that PPGNet-Cat excels in identifying feral cats, achieving high performance with a mean Average Precision (mAP) of 0.86 and a rank-1 accuracy of 0.95. These outcomes establish PPGNet-Cat as a competitive model within the realm of re-ID.
Subjective Evaluation Profile Analysis of Science Fiction Short Stories and its Critical-Theoretical Significance
Venue: arXiv cs.CL 2025
Year: 2025

This study positions large language models (LLMs) as "subjective literary critics" to explore aesthetic preferences and evaluation patterns in literary assessment. Ten Japanese science fiction short stories were translated into English and evaluated by six state-of-the-art LLMs across seven independent sessions. Principal component analysis and clustering techniques revealed significant variations in evaluation consistency (α ranging from 1.00 to 0.35) and five distinct evaluation patterns. Additionally, evaluation variance across stories differed by up to 4.5-fold, with TF-IDF analysis confirming distinctive evaluation vocabularies for each model. Our seven-session within-day protocol using an original Science Fiction corpus strategically minimizes external biases, allowing us to observe implicit value systems shaped by RLHF and their influence on literary judgment. These findings suggest that LLMs may possess individual evaluation characteristics similar to human critical schools, rather than functioning as neutral benchmarkers.
Synthetic Tabular Data Generation: A Comparative Survey for Modern Techniques
Venue: arXiv cs.LG 2025
Year: 2025

As privacy regulations become more stringent and access to real-world data becomes increasingly constrained, synthetic data generation has emerged as a vital solution, especially for tabular datasets, which are central to domains like finance, healthcare and the social sciences. This survey presents a comprehensive and focused review of recent advances in synthetic tabular data generation, emphasizing methods that preserve complex feature relationships, maintain statistical fidelity, and satisfy privacy requirements. A key contribution of this work is the introduction of a novel taxonomy based on practical generation objectives, including intended downstream applications, privacy guarantees, and data utility, directly informing methodological design and evaluation strategies. Therefore, this review prioritizes the actionable goals that drive synthetic data creation, including conditional generation and risk-sensitive modeling. Additionally, the survey proposes a benchmark framework to align technical innovation with real-world demands. By bridging theoretical foundations with practical deployment, this work serves as both a roadmap for future research and a guide for implementing synthetic tabular data in privacy-critical environments.
Learning Representations of Event Time Series with Sparse Autoencoders for Anomaly Detection, Similarity Search, and Unsupervised Classification
Venue: arXiv cs.LG 2025
Year: 2025

Event time series are sequences of discrete events occurring at irregular time intervals, each associated with a domain-specific observational modality. They are common in domains such as high-energy astrophysics, computational social science, cybersecurity, finance, healthcare, neuroscience, and seismology. Their unstructured and irregular structure poses significant challenges for extracting meaningful patterns and identifying salient phenomena using conventional techniques. We propose novel two- and three-dimensional tensor representations for event time series, coupled with sparse autoencoders that learn physically meaningful latent representations. These embeddings support a variety of downstream tasks, including anomaly detection, similarity-based retrieval, semantic clustering, and unsupervised classification. We demonstrate our approach on a real-world dataset from X-ray astronomy, showing that these representations successfully capture temporal and spectral signatures and isolate diverse classes of X-ray transients. Our framework offers a flexible, scalable, and generalizable solution for analyzing complex, irregular event time series across scientific and industrial domains.
MapIQ: Evaluating Multimodal Large Language Models for Map Question Answering
Venue: arXiv cs.CL 2025
Year: 2025

Recent advancements in multimodal large language models (MLLMs) have driven researchers to explore how well these models read data visualizations, e.g., bar charts, scatter plots. More recently, attention has shifted to visual question answering with maps (Map-VQA). However, Map-VQA research has primarily focused on choropleth maps, which cover only a limited range of thematic categories and visual analytical tasks. To address these gaps, we introduce MapIQ, a benchmark dataset comprising 14,706 question-answer pairs across three map types: choropleth maps, cartograms, and proportional symbol maps spanning topics from six distinct themes (e.g., housing, crime). We evaluate multiple MLLMs using six visual analytical tasks, comparing their performance against one another and a human baseline. An additional experiment examining the impact of map design changes (e.g., altered color schemes, modified legend designs, and removal of map elements) provides insights into the robustness and sensitivity of MLLMs, their reliance on internal geographic knowledge, and potential avenues for improving Map-VQA performance.
ZKP-FedEval: Verifiable and Privacy-Preserving Federated Evaluation using Zero-Knowledge Proofs
Venue: arXiv cs.LG 2025
Year: 2025

Federated Learning (FL) enables collaborative model training on decentralized data without exposing raw data. However, the evaluation phase in FL may leak sensitive information through shared performance metrics. In this paper, we propose a novel protocol that incorporates Zero-Knowledge Proofs (ZKPs) to enable privacy-preserving and verifiable evaluation for FL. Instead of revealing raw loss values, clients generate a succinct proof asserting that their local loss is below a predefined threshold. Our approach is implemented without reliance on external APIs, using self-contained modules for federated learning simulation, ZKP circuit design, and experimental evaluation on both the MNIST and Human Activity Recognition (HAR) datasets. We focus on a threshold-based proof for a simple Convolutional Neural Network (CNN) model (for MNIST) and a multi-layer perceptron (MLP) model (for HAR), and evaluate the approach in terms of computational overhead, communication cost, and verifiability.
Decision Models for Selecting Architecture Patterns and Strategies in Quantum Software Systems
Venue: arXiv cs.SE 2025
Year: 2025

Quantum software represents disruptive technologies in terms of quantum-specific software systems, services, and applications - leverage the principles of quantum mechanics via programmable quantum bits (Qubits) that manipulate quantum gates (QuGates) - to achieve quantum supremacy in computing. Quantum software architecture enables quantum software developers to abstract away implementation-specific details (i.e., mapping of Qubits and QuGates to high-level architectural components and connectors). Architectural patterns and strategies can provide reusable knowledge and best practices to engineer quantum software systems effectively and efficiently. However, quantum software practitioners face significant challenges in selecting and implementing appropriate patterns and strategies due to the complexity of quantum software systems and the lack of guidelines. To address these challenges, this study proposes decision models for selecting patterns and strategies in six critical design areas in quantum software systems: Communication, Decomposition, Data Processing, Fault Tolerance, Integration and Optimization, and Algorithm Implementation. These decision models are constructed based on data collected from both a mining study (i.e., GitHub and Stack Exchange) and a Systematic Literature Review, which were used to identify relevant patterns and strategies with their involved Quality Attributes (QAs). We then conducted semi-structured interviews with 16 quantum software practitioners to evaluate the familiarity, understandability, completeness, and usefulness of the proposed decision models. The results show that the proposed decision models can aid practitioners in selecting suitable patterns and strategies to address the challenges related to the architecture design of quantum software systems. The dataset is available at [6], allowing the community to reproduce and build upon our findings.
Anthem 2.0: Automated Reasoning for Answer Set Programming
Venue: arXiv cs.LO 2025
Year: 2025

Anthem 2.0 is a tool to aid in the verification of logic programs written in an expressive fragment of Clingo's input language named mini-gringo, which includes arithmetic operations and simple choice rules but not aggregates. It can translate logic programs into formula representations in the logic of here-and-there, and analyze properties of logic programs such as tightness. Most importantly, Anthem 2.0 can support program verification by invoking first-order theorem provers to confirm that a program adheres to a first-order specification, or to establish strong and external equivalence of programs. This paper serves as an overview of the system's capabilities. We demonstrate how to use Anthem 2.0 effectively and interpret its results.
Reinforcement Learning from Adversarial Preferences in Tabular MDPs
Venue: arXiv cs.LG 2025
Year: 2025

We introduce a new framework of episodic tabular Markov decision processes (MDPs) with adversarial preferences, which we refer to as preference-based MDPs (PbMDPs). Unlike standard episodic MDPs with adversarial losses, where the numerical value of the loss is directly observed, in PbMDPs the learner instead observes preferences between two candidate arms, which represent the choices being compared. In this work, we focus specifically on the setting where the reward functions are determined by Borda scores. We begin by establishing a regret lower bound for PbMDPs with Borda scores. As a preliminary step, we present a simple instance to prove a lower bound of $Ω(\sqrt{HSAT})$ for episodic MDPs with adversarial losses, where $H$ is the number of steps per episode, $S$ is the number of states, $A$ is the number of actions, and $T$ is the number of episodes. Leveraging this construction, we then derive a regret lower bound of $Ω( (H^2 S K)^{1/3} T^{2/3} )$ for PbMDPs with Borda scores, where $K$ is the number of arms. Next, we develop algorithms that achieve a regret bound of order $T^{2/3}$. We first propose a global optimization approach based on online linear optimization over the set of all occupancy measures, achieving a regret bound of $\tilde{O}((H^2 S^2 K)^{1/3} T^{2/3} )$ under known transitions. However, this approach suffers from suboptimal dependence on the potentially large number of states $S$ and computational inefficiency. To address this, we propose a policy optimization algorithm whose regret is roughly bounded by $\tilde{O}( (H^6 S K^5)^{1/3} T^{2/3} )$ under known transitions, and further extend the result to the unknown-transition setting.
A Cellular Automata Approach to Donation Game
Venue: arXiv cs.MA 2025
Year: 2025

The donation game is a well-established framework for studying the emergence and evolution of cooperation in multi-agent systems. The cooperative behavior can be influenced by the environmental noise in partially observable settings and by the decision-making strategies of agents, which may incorporate not only reputation but also traits such as generosity and forgiveness. Traditional simulations often assume fully random interactions, where cooperation is tested between randomly selected agent pairs. In this paper, we investigate cooperation dynamics using the concept of Stephen Wolfram's one-dimensional binary cellular automata. This approach allows us to explore how cooperation evolves when interactions are limited to neighboring agents. We define binary cellular automata rules that conform to the donation game mechanics. Additionally, we introduce models of perceptual and action noise, along with a mutation matrix governing the probabilistic evolution of agent strategies. Our empirical results demonstrate that cooperation is significantly affected by agents' mobility and their spatial locality on the game board. These findings highlight the importance of distinguishing between entirely random multi-agent systems and those in which agents are more likely to interact with their nearest neighbors.
Real-Time Cloth Simulation Using WebGPU: Evaluating Limits of High-Resolution
Venue: arXiv cs.GR 2025
Year: 2025

This study explores the capabilities of WebGPU, an emerging web graphics paradigm, for real-time cloth simulation. Traditional WebGL-based methods have been in handling complex physical simulations due to their emphasis on graphics rendering rather than general-purpose GPU (GPGPU) operations. WebGPU, designed to provide modern 3D graphics and computational capabilities, offers significant improvements through parallel processing and support for computational shaders. In this work, we implemented a cloth simulation system using the Mass-Spring Method within the WebGPU framework, integrating collision detection and response handling with the 3D surface model. First, comparative performance evaluations demonstrate that WebGPU substantially outperforms WebGL, particularly in high-resolution simulations, maintaining 60 frames per second (fps) even with up to 640K nodes. The second experiment aimed to determine the real-time limitations of WebGPU and confirmed that WebGPU can handle real-time collisions between 4K and 100k cloth node models and a 100K triangle surface model in real-time. These experiments also highlight the importance of balancing real-time performance with realistic rendering when handling collisions between cloth models and complex 3D objects. Our source code is available at https://github.com/nakjun/Cloth-Simulation-WebGPU
Tracing Facts or just Copies? A critical investigation of the Competitions of Mechanisms in Large Language Models
Venue: arXiv cs.CL 2025
Year: 2025

This paper presents a reproducibility study examining how Large Language Models (LLMs) manage competing factual and counterfactual information, focusing on the role of attention heads in this process. We attempt to reproduce and reconcile findings from three recent studies by Ortu et al., Yu, Merullo, and Pavlick and McDougall et al. that investigate the competition between model-learned facts and contradictory context information through Mechanistic Interpretability tools. Our study specifically examines the relationship between attention head strength and factual output ratios, evaluates competing hypotheses about attention heads' suppression mechanisms, and investigates the domain specificity of these attention patterns. Our findings suggest that attention heads promoting factual output do so via general copy suppression rather than selective counterfactual suppression, as strengthening them can also inhibit correct facts. Additionally, we show that attention head behavior is domain-dependent, with larger models exhibiting more specialized and category-sensitive patterns.
The Evolving Role of Large Language Models in Scientific Innovation: Evaluator, Collaborator, and Scientist
Venue: arXiv cs.DL 2025
Year: 2025

Scientific innovation is undergoing a paradigm shift driven by the rapid advancement of Large Language Models (LLMs). As science faces mounting challenges including information overload, disciplinary silos, and diminishing returns on conventional research methods, LLMs are emerging as powerful agents capable not only of enhancing scientific workflows but also of participating in and potentially leading the innovation process. Existing surveys mainly focus on different perspectives, phrases, and tasks in scientific research and discovery, while they have limitations in understanding the transformative potential and role differentiation of LLM. This survey proposes a comprehensive framework to categorize the evolving roles of LLMs in scientific innovation across three hierarchical levels: Evaluator, Collaborator, and Scientist. We distinguish between LLMs' contributions to structured scientific research processes and open-ended scientific discovery, thereby offering a unified taxonomy that clarifies capability boundaries, evaluation criteria, and human-AI interaction patterns at each level. Through an extensive analysis of current methodologies, benchmarks, systems, and evaluation metrics, this survey delivers an in-depth and systematic synthesis on LLM-driven scientific innovation. We present LLMs not only as tools for automating existing processes, but also as catalysts capable of reshaping the epistemological foundations of science itself. This survey offers conceptual clarity, practical guidance, and theoretical foundations for future research, while also highlighting open challenges and ethical considerations in the pursuit of increasingly autonomous AI-driven science. Resources related to this survey can be accessed on GitHub at: https://github.com/haoxuan-unt2024/llm4innovation.
Towards Autonomous Riding: A Review of Perception, Planning, and Control in Intelligent Two-Wheelers
Venue: arXiv cs.RO 2025
Year: 2025

The rapid adoption of micromobility solutions, particularly two-wheeled vehicles like e-scooters and e-bikes, has created an urgent need for reliable autonomous riding (AR) technologies. While autonomous driving (AD) systems have matured significantly, AR presents unique challenges due to the inherent instability of two-wheeled platforms, limited size, limited power, and unpredictable environments, which pose very serious concerns about road users' safety. This review provides a comprehensive analysis of AR systems by systematically examining their core components, perception, planning, and control, through the lens of AD technologies. We identify critical gaps in current AR research, including a lack of comprehensive perception systems for various AR tasks, limited industry and government support for such developments, and insufficient attention from the research community. The review analyses the gaps of AR from the perspective of AD to highlight promising research directions, such as multimodal sensor techniques for lightweight platforms and edge deep learning architectures. By synthesising insights from AD research with the specific requirements of AR, this review aims to accelerate the development of safe, efficient, and scalable autonomous riding systems for future urban mobility.
COLA-GEC: A Bidirectional Framework for Enhancing Grammatical Acceptability and Error Correction
Venue: arXiv cs.CL 2025
Year: 2025

Grammatical Error Correction (GEC) and grammatical acceptability judgment (COLA) are core tasks in natural language processing, sharing foundational grammatical knowledge yet typically evolving independently. This paper introduces COLA-GEC, a novel bidirectional framework that enhances both tasks through mutual knowledge transfer. First, we augment grammatical acceptability models using GEC datasets, significantly improving their performance across multiple languages. Second, we integrate grammatical acceptability signals into GEC model training via a dynamic loss function, effectively guiding corrections toward grammatically acceptable outputs. Our approach achieves state-of-the-art results on several multilingual benchmarks. Comprehensive error analysis highlights remaining challenges, particularly in punctuation error correction, providing insights for future improvements in grammatical modeling.