OpenRaiser/Intern-Atlas huggingface dataset:
Hybrid DQN-TD3 Reinforcement Learning for Autonomous Navigation in Dynamic Environments
Venue: arXiv cs.RO 2025
Year: 2025

This paper presents a hierarchical path-planning and control framework that combines a high-level Deep Q-Network (DQN) for discrete sub-goal selection with a low-level Twin Delayed Deep Deterministic Policy Gradient (TD3) controller for continuous actuation. The high-level module selects behaviors and sub-goals; the low-level module executes smooth velocity commands. We design a practical reward shaping scheme (direction, distance, obstacle avoidance, action smoothness, collision penalty, time penalty, and progress), together with a LiDAR-based safety gate that prevents unsafe motions. The system is implemented in ROS + Gazebo (TurtleBot3) and evaluated with PathBench metrics, including success rate, collision rate, path efficiency, and re-planning efficiency, in dynamic and partially observable environments. Experiments show improved success rate and sample efficiency over single-algorithm baselines (DQN or TD3 alone) and rule-based planners, with better generalization to unseen obstacle configurations and reduced abrupt control changes. Code and evaluation scripts are available at the project repository.
Towards Reliable Sea Ice Drift Estimation in the Arctic Deep Learning Optical Flow on RADARSAT-2
Venue: arXiv cs.CV 2025
Year: 2025

Accurate estimation of sea ice drift is critical for Arctic navigation, climate research, and operational forecasting. While optical flow, a computer vision technique for estimating pixel wise motion between consecutive images, has advanced rapidly in computer vision, its applicability to geophysical problems and to satellite SAR imagery remains underexplored. Classical optical flow methods rely on mathematical models and strong assumptions about motion, which limit their accuracy in complex scenarios. Recent deep learning based approaches have substantially improved performance and are now the standard in computer vision, motivating their application to sea ice drift estimation. We present the first large scale benchmark of 48 deep learning optical flow models on RADARSAT 2 ScanSAR sea ice imagery, evaluated with endpoint error (EPE) and Fl all metrics against GNSS tracked buoys. Several models achieve sub kilometer accuracy (EPE 6 to 8 pixels, 300 to 400 m), a small error relative to the spatial scales of sea ice motion and typical navigation requirements in the Arctic. Our results demonstrate that the models are capable of capturing consistent regional drift patterns and that recent deep learning based optical flow methods, which have substantially improved motion estimation accuracy compared to classical methods, can be effectively transferred to polar remote sensing. Optical flow produces spatially continuous drift fields, providing motion estimates for every image pixel rather than at sparse buoy locations, offering new opportunities for navigation and climate modeling.
Kimi Linear: An Expressive, Efficient Attention Architecture
Venue: arXiv cs.CL 2025
Year: 2025

We introduce Kimi Linear, a hybrid linear attention architecture that, for the first time, outperforms full attention under fair comparisons across various scenarios -- including short-context, long-context, and reinforcement learning (RL) scaling regimes. At its core lies Kimi Delta Attention (KDA), an expressive linear attention module that extends Gated DeltaNet with a finer-grained gating mechanism, enabling more effective use of limited finite-state RNN memory. Our bespoke chunkwise algorithm achieves high hardware efficiency through a specialized variant of the Diagonal-Plus-Low-Rank (DPLR) transition matrices, which substantially reduces computation compared to the general DPLR formulation while remaining more consistent with the classical delta rule. We pretrain a Kimi Linear model with 3B activated parameters and 48B total parameters, based on a layerwise hybrid of KDA and Multi-Head Latent Attention (MLA). Our experiments show that with an identical training recipe, Kimi Linear outperforms full MLA with a sizeable margin across all evaluated tasks, while reducing KV cache usage by up to 75% and achieving up to 6 times decoding throughput for a 1M context. These results demonstrate that Kimi Linear can be a drop-in replacement for full attention architectures with superior performance and efficiency, including tasks with longer input and output lengths. To support further research, we open-source the KDA kernel and vLLM implementations, and release the pre-trained and instruction-tuned model checkpoints.
The Impact and Outlook of 3D Gaussian Splatting
Venue: arXiv cs.CV 2025
Year: 2025

Since its introduction, 3D Gaussian Splatting (3DGS) has rapidly transformed the landscape of 3D scene representations, inspiring an extensive body of associated research. Follow-up work includes analyses and contributions that enhance the efficiency, scalability, and real-world applicability of 3DGS. In this summary, we present an overview of several key directions that have emerged in the wake of 3DGS. We highlight advances enabling resource-efficient training and rendering, the evolution toward dynamic (or four-dimensional, 4DGS) representations, and deeper exploration of the mathematical foundations underlying its appearance modeling and rendering process. Furthermore, we examine efforts to bring 3DGS to mobile and virtual reality platforms, its extension to massive-scale environments, and recent progress toward near-instant radiance field reconstruction via feed-forward or distributed computation. Collectively, these developments illustrate how 3DGS has evolved from a breakthrough representation into a versatile and foundational tool for 3D vision and graphics.
Value Drifts: Tracing Value Alignment During LLM Post-Training
Venue: arXiv cs.CL 2025
Year: 2025

As LLMs occupy an increasingly important role in society, they are more and more confronted with questions that require them not only to draw on their general knowledge but also to align with certain human value systems. Therefore, studying the alignment of LLMs with human values has become a crucial field of inquiry. Prior work, however, mostly focuses on evaluating the alignment of fully trained models, overlooking the training dynamics by which models learn to express human values. In this work, we investigate how and at which stage value alignment arises during the course of a model's post-training. Our analysis disentangles the effects of post-training algorithms and datasets, measuring both the magnitude and time of value drifts during training. Experimenting with Llama-3 and Qwen-3 models of different sizes and popular supervised fine-tuning (SFT) and preference optimization datasets and algorithms, we find that the SFT phase generally establishes a model's values, and subsequent preference optimization rarely re-aligns these values. Furthermore, using a synthetic preference dataset that enables controlled manipulation of values, we find that different preference optimization algorithms lead to different value alignment outcomes, even when preference data is held constant. Our findings provide actionable insights into how values are learned during post-training and help to inform data curation, as well as the selection of models and algorithms for preference optimization to improve model alignment to human values.
An All-Reduce Compatible Top-K Compressor for Communication-Efficient Distributed Learning
Venue: arXiv cs.LG 2025
Year: 2025

Communication remains a central bottleneck in large-scale distributed machine learning, and gradient sparsification has emerged as a promising strategy to alleviate this challenge. However, existing gradient compressors face notable limitations: Rand-$K$ discards structural information and performs poorly in practice, while Top-$K$ preserves informative entries but loses the contraction property and requires costly All-Gather operations. In this paper, we propose ARC-Top-$K$, an {All-Reduce}-Compatible Top-$K$ compressor that aligns sparsity patterns across nodes using a lightweight sketch of the gradient, enabling index-free All-Reduce while preserving globally significant information. ARC-Top-$K$ is provably contractive and, when combined with momentum error feedback (EF21M), achieves linear speedup and sharper convergence rates than the original EF21M under standard assumptions. Empirically, ARC-Top-$K$ matches the accuracy of Top-$K$ while reducing wall-clock training time by up to 60.7\%, offering an efficient and scalable solution that combines the robustness of Rand-$K$ with the strong performance of Top-$K$.
A General Incentives-Based Framework for Fairness in Multi-agent Resource Allocation
Venue: arXiv cs.MA 2025
Year: 2025

We introduce the General Incentives-based Framework for Fairness (GIFF), a novel approach for fair multi-agent resource allocation that infers fair decision-making from standard value functions. In resource-constrained settings, agents optimizing for efficiency often create inequitable outcomes. Our approach leverages the action-value (Q-)function to balance efficiency and fairness without requiring additional training. Specifically, our method computes a local fairness gain for each action and introduces a counterfactual advantage correction term to discourage over-allocation to already well-off agents. This approach is formalized within a centralized control setting, where an arbitrator uses the GIFF-modified Q-values to solve an allocation problem. Empirical evaluations across diverse domains, including dynamic ridesharing, homelessness prevention, and a complex job allocation task-demonstrate that our framework consistently outperforms strong baselines and can discover far-sighted, equitable policies. The framework's effectiveness is supported by a theoretical foundation; we prove its fairness surrogate is a principled lower bound on the true fairness improvement and that its trade-off parameter offers monotonic tuning. Our findings establish GIFF as a robust and principled framework for leveraging standard reinforcement learning components to achieve more equitable outcomes in complex multi-agent systems.
Defeating the Training-Inference Mismatch via FP16
Venue: arXiv cs.LG 2025
Year: 2025

Reinforcement learning (RL) fine-tuning of large language models (LLMs) often suffers from instability due to the numerical mismatch between the training and inference policies. While prior work has attempted to mitigate this issue through algorithmic corrections or engineering alignments, we show that its root cause lies in the floating point precision itself. The widely adopted BF16, despite its large dynamic range, introduces large rounding errors that breaks the consistency between training and inference. In this work, we demonstrate that simply reverting to \textbf{FP16} effectively eliminates this mismatch. The change is simple, fully supported by modern frameworks with only a few lines of code change, and requires no modification to the model architecture or learning algorithm. Our results suggest that using FP16 uniformly yields more stable optimization, faster convergence, and stronger performance across diverse tasks, algorithms and frameworks. We hope these findings motivate a broader reconsideration of precision trade-offs in RL fine-tuning.
Gistify! Codebase-Level Understanding via Runtime Execution
Venue: arXiv cs.CL 2025
Year: 2025

As coding agents are increasingly deployed in large codebases, the need to automatically design challenging, codebase-level evaluation is central. We propose Gistify, a task where a coding LLM must create a single, minimal, self-contained file that can reproduce a specific functionality of a codebase. The coding LLM is given full access to a codebase along with a specific entrypoint (e.g., a python command), and the generated file must replicate the output of the same command ran under the full codebase, while containing only the essential components necessary to execute the provided command. Success on Gistify requires both structural understanding of the codebase, accurate modeling of its execution flow as well as the ability to produce potentially large code patches. Our findings show that current state-of-the-art models struggle to reliably solve Gistify tasks, especially ones with long executions traces.
Optimized Log Parsing with Syntactic Modifications
Venue: arXiv cs.SE 2025
Year: 2025

Logs provide valuable insights into system runtime and assist in software development and maintenance. Log parsing, which converts semi-structured log data into structured log data, is often the first step in automated log analysis. Given the wide range of log parsers utilizing diverse techniques, it is essential to evaluate them to understand their characteristics and performance. In this paper, we conduct a comprehensive empirical study comparing syntax- and semantic-based log parsers, as well as single-phase and two-phase parsing architectures. Our experiments reveal that semantic-based methods perform better at identifying the correct templates and syntax-based log parsers are 10 to 1,000 times more efficient and provide better grouping accuracy although they fall short in accurate template identification. Moreover, two-phase architecture consistently improves accuracy compared to single-phase architecture. Based on the findings of this study, we propose SynLog+, a template identification module that acts as the second phase in a two-phase log parsing architecture. SynLog+ improves the parsing accuracy of syntax-based and semantic-based log parsers by 236\% and 20\% on average, respectively, with virtually no additional runtime cost.
The Quest for Generalizable Motion Generation: Data, Model, and Evaluation
Venue: arXiv cs.CV 2025
Year: 2025

Despite recent advances in 3D human motion generation (MoGen) on standard benchmarks, existing models still face a fundamental bottleneck in their generalization capability. In contrast, adjacent generative fields, most notably video generation (ViGen), have demonstrated remarkable generalization in modeling human behaviors, highlighting transferable insights that MoGen can leverage. Motivated by this observation, we present a comprehensive framework that systematically transfers knowledge from ViGen to MoGen across three key pillars: data, modeling, and evaluation. First, we introduce ViMoGen-228K, a large-scale dataset comprising 228,000 high-quality motion samples that integrates high-fidelity optical MoCap data with semantically annotated motions from web videos and synthesized samples generated by state-of-the-art ViGen models. The dataset includes both text-motion pairs and text-video-motion triplets, substantially expanding semantic diversity. Second, we propose ViMoGen, a flow-matching-based diffusion transformer that unifies priors from MoCap data and ViGen models through gated multimodal conditioning. To enhance efficiency, we further develop ViMoGen-light, a distilled variant that eliminates video generation dependencies while preserving strong generalization. Finally, we present MBench, a hierarchical benchmark designed for fine-grained evaluation across motion quality, prompt fidelity, and generalization ability. Extensive experiments show that our framework significantly outperforms existing approaches in both automatic and human evaluations. The code, data, and benchmark will be made publicly available.
Category-Aware Semantic Caching for Heterogeneous LLM Workloads
Venue: arXiv cs.DB 2025
Year: 2025

LLM serving systems process heterogeneous query workloads where different categories exhibit different characteristics. Code queries cluster densely in embedding space while conversational queries distribute sparsely. Content staleness varies from minutes (stock data) to months (code patterns). Query repetition patterns range from power-law (code) to uniform (conversation), producing long tail cache hit rate distributions: high-repetition categories achieve 40-60% hit rates while low-repetition or volatile categories achieve 5-15% hit rates. Vector databases must exclude the long tail because remote search costs (30ms) require 15--20% hit rates to break even, leaving 20-30% of production traffic uncached. Uniform cache policies compound this problem: fixed thresholds cause false positives in dense spaces and miss valid paraphrases in sparse spaces; fixed TTLs waste memory or serve stale data. This paper presents category-aware semantic caching where similarity thresholds, TTLs, and quotas vary by query category. We present a hybrid architecture separating in-memory HNSW search from external document storage, reducing miss cost from 30ms to 2ms. This reduction makes low-hit-rate categories economically viable (break-even at 3-5% versus 15-20%), enabling cache coverage across the entire workload distribution. Adaptive load-based policies extend this framework to respond to downstream model load, dynamically adjusting thresholds and TTLs to reduce traffic to overloaded models by 9-17% in theoretical projections.
Broken-Token: Filtering Obfuscated Prompts by Counting Characters-Per-Token
Venue: arXiv cs.CR 2025
Year: 2025

Large Language Models (LLMs) are susceptible to jailbreak attacks where malicious prompts are disguised using ciphers and character-level encodings to bypass safety guardrails. While these guardrails often fail to interpret the encoded content, the underlying models can still process the harmful instructions. We introduce CPT-Filtering, a novel, model-agnostic with negligible-costs and near-perfect accuracy guardrail technique that aims to mitigate these attacks by leveraging the intrinsic behavior of Byte-Pair Encoding (BPE) tokenizers. Our method is based on the principle that tokenizers, trained on natural language, represent out-of-distribution text, such as ciphers, using a significantly higher number of shorter tokens. Our technique uses a simple yet powerful artifact of using language models: the average number of Characters Per Token (CPT) in the text. This approach is motivated by the high compute cost of modern methods - relying on added modules such as dedicated LLMs or perplexity models. We validate our approach across a large dataset of over 100,000 prompts, testing numerous encoding schemes with several popular tokenizers. Our experiments demonstrate that a simple CPT threshold robustly identifies encoded text with high accuracy, even for very short inputs. CPT-Filtering provides a practical defense layer that can be immediately deployed for real-time text filtering and offline data curation.
Do Vision-Language Models Measure Up? Benchmarking Visual Measurement Reading with MeasureBench
Venue: arXiv cs.CV 2025
Year: 2025

Reading measurement instruments is effortless for humans and requires relatively little domain expertise, yet it remains surprisingly challenging for current vision-language models (VLMs) as we find in preliminary evaluation. In this work, we introduce MeasureBench, a benchmark on visual measurement reading covering both real-world and synthesized images of various types of measurements, along with an extensible pipeline for data synthesis. Our pipeline procedurally generates a specified type of gauge with controllable visual appearance, enabling scalable variation in key details such as pointers, scales, fonts, lighting, and clutter. Evaluation on popular proprietary and open-weight VLMs shows that even the strongest frontier VLMs struggle measurement reading in general. A consistent failure mode is indicator localization: models can read digits or labels but misidentify the key positions of pointers or alignments, leading to big numeric errors despite plausible textual reasoning. We have also conducted preliminary experiments with reinforcement learning over synthetic data, and find encouraging results on in-domain synthetic subset but less promising for real-world images. Our analysis highlights a fundamental limitation of current VLMs in fine-grained spatial grounding. We hope this resource can help future advances on visually grounded numeracy and precise spatial perception of VLMs, bridging the gap between recognizing numbers and measuring the world.
Market Equilibria With Buying Rights
Venue: arXiv cs.GT 2025
Year: 2025

We embed buying rights into a (repeated) Arrow-Debreu model to study the long-term effects of regulation through buying rights on arising inequality. Our motivation stems from situations that typically call for regulatory interventions, such as rationing, namely, distribution crises in which demand and supply are persistently misaligned. In such settings, scarce resources tend to become increasingly concentrated among more affluent individuals, while the needs of the broader population remain unmet. While fully centralized distribution may be logistically or politically unfeasible, issuing buying rights offers a more practical alternative: they can be implemented digitally, e.g., via tokens traded on online platforms, making them significantly easier to administer. We model a scenario in which a regulator periodically distributes buying rights with the aim of promoting a more equitable allocation. Our contributions include (i) the definition of the (iterated) market where in each round the buying rights are distributed and then traded alongside the resource, (ii) the approximation algorithm of the market-clearing prices in every round, and (iii) the upper bound on \textit{frustration} -- a notion conceptually similar to the Price of Anarchy, but for systems regulated through buying rights, defined as the arising loss in fairness the individual buyers have to take when the distribution is handled via the market.
LLM-based Multi-class Attack Analysis and Mitigation Framework in IoT/IIoT Networks
Venue: arXiv cs.CR 2025
Year: 2025

The Internet of Things has expanded rapidly, transforming communication and operations across industries but also increasing the attack surface and security breaches. Artificial Intelligence plays a key role in securing IoT, enabling attack detection, attack behavior analysis, and mitigation suggestion. Despite advancements, evaluations remain purely qualitative, and the lack of a standardized, objective benchmark for quantitatively measuring AI-based attack analysis and mitigation hinders consistent assessment of model effectiveness. In this work, we propose a hybrid framework combining Machine Learning (ML) for multi-class attack detection with Large Language Models (LLMs) for attack behavior analysis and mitigation suggestion. After benchmarking several ML and Deep Learning (DL) classifiers on the Edge-IIoTset and CICIoT2023 datasets, we applied structured role-play prompt engineering with Retrieval-Augmented Generation (RAG) to guide ChatGPT-o3 and DeepSeek-R1 in producing detailed, context-aware responses. We introduce novel evaluation metrics for quantitative assessment to guide us and an ensemble of judge LLMs, namely ChatGPT-4o, DeepSeek-V3, Mixtral 8x7B Instruct, Gemini 2.5 Flash, Meta Llama 4, TII Falcon H1 34B Instruct, xAI Grok 3, and Claude 4 Sonnet, to independently evaluate the responses. Results show that Random Forest has the best detection model, and ChatGPT-o3 outperformed DeepSeek-R1 in attack analysis and mitigation.