OpenRaiser/Intern-Atlas huggingface dataset:
Examining the legibility of humanoid robot arm movements in a pointing task
Venue: arXiv cs.RO 2025
Year: 2025

Human--robot interaction requires robots whose actions are legible, allowing humans to interpret, predict, and feel safe around them. This study investigates the legibility of humanoid robot arm movements in a pointing task, aiming to understand how humans predict robot intentions from truncated movements and bodily cues. We designed an experiment using the NICO humanoid robot, where participants observed its arm movements towards targets on a touchscreen. Robot cues varied across conditions: gaze, pointing, and pointing with congruent or incongruent gaze. Arm trajectories were stopped at 60\% or 80\% of their full length, and participants predicted the final target. We tested the multimodal superiority and ocular primacy hypotheses, both of which were supported by the experiment.
Reasoning through Exploration: A Reinforcement Learning Framework for Robust Function Calling
Venue: arXiv cs.LG 2025
Year: 2025

The effective training of Large Language Models (LLMs) for function calling faces a critical challenge: balancing exploration of complex reasoning paths with stable policy optimization. Standard methods like Supervised Fine-Tuning (SFT) fail to instill robust reasoning, and traditional Reinforcement Learning (RL) struggles with inefficient exploration. We propose \textbf{EGPO}, a new RL framework built upon Group Relative Policy Optimization (GRPO), designed to address this challenge directly. The core of EGPO is an entropy-enhanced advantage function that integrates the entropy of the model's Chain-of-Thought (CoT) into the policy gradient computation. This encourages the generation of diverse reasoning strategies. To maintain optimization direction, the entropy bonus is carefully constrained by a clipping mechanism. Complemented by a strict, binary reward signal, EGPO effectively guides the model towards discovering structured and accurate tool invocation patterns. On the challenging Berkeley Function Calling Leaderboard (BFCL), a 4B-parameter model trained with EGPO sets a new state-of-the-art among models of comparable size, surpassing a range of strong competitors, including GPT-4o and Gemini-2.5.
Towards Assessing Medical Ethics from Knowledge to Practice
Venue: arXiv cs.CL 2025
Year: 2025

The integration of large language models into healthcare necessitates a rigorous evaluation of their ethical reasoning, an area current benchmarks often overlook. We introduce PrinciplismQA, a comprehensive benchmark with 3,648 questions designed to systematically assess LLMs' alignment with core medical ethics. Grounded in Principlism, our benchmark features a high-quality dataset. This includes multiple-choice questions curated from authoritative textbooks and open-ended questions sourced from authoritative medical ethics case study literature, all validated by medical experts. Our experiments reveal a significant gap between models' ethical knowledge and their practical application, especially in dynamically applying ethical principles to real-world scenarios. Most LLMs struggle with dilemmas concerning Beneficence, often over-emphasizing other principles. Frontier closed-source models, driven by strong general capabilities, currently lead the benchmark. Notably, medical domain fine-tuning can enhance models' overall ethical competence, but further progress requires better alignment with medical ethical knowledge. PrinciplismQA offers a scalable framework to diagnose these specific ethical weaknesses, paving the way for more balanced and responsible medical AI.
FedGIN: Federated Learning with Dynamic Global Intensity Non-linear Augmentation for Organ Segmentation using Multi-modal Images
Venue: arXiv cs.CV 2025
Year: 2025

Medical image segmentation plays a crucial role in AI-assisted diagnostics, surgical planning, and treatment monitoring. Accurate and robust segmentation models are essential for enabling reliable, data-driven clinical decision making across diverse imaging modalities. Given the inherent variability in image characteristics across modalities, developing a unified model capable of generalizing effectively to multiple modalities would be highly beneficial. This model could streamline clinical workflows and reduce the need for modality-specific training. However, real-world deployment faces major challenges, including data scarcity, domain shift between modalities (e.g., CT vs. MRI), and privacy restrictions that prevent data sharing. To address these issues, we propose FedGIN, a Federated Learning (FL) framework that enables multimodal organ segmentation without sharing raw patient data. Our method integrates a lightweight Global Intensity Non-linear (GIN) augmentation module that harmonizes modality-specific intensity distributions during local training. We evaluated FedGIN using two types of datasets: an imputed dataset and a complete dataset. In the limited dataset scenario, the model was initially trained using only MRI data, and CT data was added to assess its performance improvements. In the complete dataset scenario, both MRI and CT data were fully utilized for training on all clients. In the limited-data scenario, FedGIN achieved a 12 to 18% improvement in 3D Dice scores on MRI test cases compared to FL without GIN and consistently outperformed local baselines. In the complete dataset scenario, FedGIN demonstrated near-centralized performance, with a 30% Dice score improvement over the MRI-only baseline and a 10% improvement over the CT-only baseline, highlighting its strong cross-modality generalization under privacy constraints.
Deep Neural Networks with General Activations: Super-Convergence in Sobolev Norms
Venue: arXiv cs.LG 2025
Year: 2025

This paper establishes a comprehensive approximation result for deep fully-connected neural networks with commonly-used and general activation functions in Sobolev spaces $W^{n,\infty}$, with errors measured in the $W^{m,p}$-norm for $m < n$ and $1\le p \le \infty$. The derived rates surpass those of classical numerical approximation techniques, such as finite element and spectral methods, exhibiting a phenomenon we refer to as \emph{super-convergence}. Our analysis shows that deep networks with general activations can approximate weak solutions of partial differential equations (PDEs) with superior accuracy compared to traditional numerical methods at the approximation level. Furthermore, this work closes a significant gap in the error-estimation theory for neural-network-based approaches to PDEs, offering a unified theoretical foundation for their use in scientific computing.
Tool Graph Retriever: Exploring Dependency Graph-based Tool Retrieval for Large Language Models
Venue: arXiv cs.IR 2025
Year: 2025

With the remarkable advancement of AI agents, the number of their equipped tools is increasing rapidly. However, integrating all tool information into the limited model context becomes impractical, highlighting the need for efficient tool retrieval methods. In this regard, dominant methods primarily rely on semantic similarities between tool descriptions and user queries to retrieve relevant tools. However, they often consider each tool independently, overlooking dependencies between tools, which may lead to the omission of prerequisite tools for successful task execution. To deal with this defect, in this paper, we propose Tool Graph Retriever (TGR), which exploits the dependencies among tools to learn better tool representations for retrieval. First, we construct a dataset termed TDI300K to train a discriminator for identifying tool dependencies. Then, we represent all candidate tools as a tool dependency graph and use graph convolution to integrate the dependencies into their representations. Finally, these updated tool representations are employed for online retrieval. Experimental results on several commonly used datasets show that our TGR can bring a performance improvement to existing dominant methods, achieving SOTA performance. Moreover, in-depth analyses also verify the importance of tool dependencies and the effectiveness of our TGR.
Domain-driven Metrics for Reinforcement Learning: A Case Study on Epidemic Control using Agent-based Simulation
Venue: arXiv cs.LG 2025
Year: 2025

For the development and optimization of agent-based models (ABMs) and rational agent-based models (RABMs), optimization algorithms such as reinforcement learning are extensively used. However, assessing the performance of RL-based ABMs and RABMS models is challenging due to the complexity and stochasticity of the modeled systems, and the lack of well-standardized metrics for comparing RL algorithms. In this study, we are developing domain-driven metrics for RL, while building on state-of-the-art metrics. We demonstrate our ``Domain-driven-RL-metrics'' using policy optimization on a rational ABM disease modeling case study to model masking behavior, vaccination, and lockdown in a pandemic. Our results show the use of domain-driven rewards in conjunction with traditional and state-of-the-art metrics for a few different simulation scenarios such as the differential availability of masks.
X-MoGen: Unified Motion Generation across Humans and Animals
Venue: arXiv cs.CV 2025
Year: 2025

Text-driven motion generation has attracted increasing attention due to its broad applications in virtual reality, animation, and robotics. While existing methods typically model human and animal motion separately, a joint cross-species approach offers key advantages, such as a unified representation and improved generalization. However, morphological differences across species remain a key challenge, often compromising motion plausibility. To address this, we propose X-MoGen, the first unified framework for cross-species text-driven motion generation covering both humans and animals. X-MoGen adopts a two-stage architecture. First, a conditional graph variational autoencoder learns canonical T-pose priors, while an autoencoder encodes motion into a shared latent space regularized by morphological loss. In the second stage, we perform masked motion modeling to generate motion embeddings conditioned on textual descriptions. During training, a morphological consistency module is employed to promote skeletal plausibility across species. To support unified modeling, we construct UniMo4D, a large-scale dataset of 115 species and 119k motion sequences, which integrates human and animal motions under a shared skeletal topology for joint training. Extensive experiments on UniMo4D demonstrate that X-MoGen outperforms state-of-the-art methods on both seen and unseen species.
Near Optimal Inference for the Best-Performing Algorithm
Venue: arXiv cs.LG 2025
Year: 2025

Consider a collection of competing machine learning algorithms. Given their performance on a benchmark of datasets, we would like to identify the best performing algorithm. Specifically, which algorithm is most likely to rank highest on a future, unseen dataset. A natural approach is to select the algorithm that demonstrates the best performance on the benchmark. However, in many cases the performance differences are marginal and additional candidates may also be considered. This problem is formulated as subset selection for multinomial distributions. Formally, given a sample from a countable alphabet, our goal is to identify a minimal subset of symbols that includes the most frequent symbol in the population with high confidence. In this work, we introduce a novel framework for the subset selection problem. We provide both asymptotic and finite-sample schemes that significantly improve upon currently known methods. In addition, we provide matching lower bounds, demonstrating the favorable performance of our proposed schemes.
Learning to See and Act: Task-Aware Virtual View Exploration for Robotic Manipulation
Venue: arXiv cs.RO 2025
Year: 2025

Recent vision-language-action (VLA) models for multi-task robotic manipulation commonly rely on static viewpoints and shared visual encoders, which limit 3D perception and cause task interference, hindering robustness and generalization. In this work, we propose Task-aware Virtual View Exploration (TVVE), a framework designed to overcome these challenges by integrating virtual view exploration with task-specific representation learning. TVVE employs an efficient exploration policy, accelerated by a novel pseudo-environment, to acquire informative views. Furthermore, we introduce a Task-aware Mixture-of-Experts (TaskMoE) visual encoder to disentangle features across different tasks, boosting both representation fidelity and task generalization. By learning to see the world in a task-aware way, TVVE generates more complete and discriminative visual representations, demonstrating significantly enhanced action prediction across a wide array of manipulation challenges. To further validate the robustness and generalization capability of TVVE under out-of-distribution (OOD) settings, we construct a challenging benchmark, RLBench-OG, covering various visual perturbations and camera pose variations. Extensive experiments on RLBench and RLBench-OG show that our TVVE achieves superior performance over state-of-the-art approaches. In real-robot experiments, TVVE demonstrates exceptional performance and generalizes robustly in multiple OOD settings, including visual disturbances and unseen instructions. Visual results and code are provided at: https://hcplab-sysu.github.io/TAVP.
Refining Gaussian Splatting: A Volumetric Densification Approach
Venue: arXiv cs.GR 2025
Year: 2025

Achieving high-quality novel view synthesis in 3D Gaussian Splatting (3DGS) often depends on effective point primitive management. The underlying Adaptive Density Control (ADC) process addresses this issue by automating densification and pruning. Yet, the vanilla 3DGS densification strategy shows key shortcomings. To address this issue, in this paper we introduce a novel density control method, which exploits the volumes of inertia associated to each Gaussian function to guide the refinement process. Furthermore, we study the effect of both traditional Structure from Motion (SfM) and Deep Image Matching (DIM) methods for point cloud initialization. Extensive experimental evaluations on the Mip-NeRF 360 dataset demonstrate that our approach surpasses 3DGS in reconstruction quality, delivering encouraging performance across diverse scenes.
EndoMatcher: Generalizable Endoscopic Image Matcher via Multi-Domain Pre-training for Robot-Assisted Surgery
Venue: arXiv cs.CV 2025
Year: 2025

Generalizable dense feature matching in endoscopic images is crucial for robot-assisted tasks, including 3D reconstruction, navigation, and surgical scene understanding. Yet, it remains a challenge due to difficult visual conditions (e.g., weak textures, large viewpoint variations) and a scarcity of annotated data. To address these challenges, we propose EndoMatcher, a generalizable endoscopic image matcher via large-scale, multi-domain data pre-training. To address difficult visual conditions, EndoMatcher employs a two-branch Vision Transformer to extract multi-scale features, enhanced by dual interaction blocks for robust correspondence learning. To overcome data scarcity and improve domain diversity, we construct Endo-Mix6, the first multi-domain dataset for endoscopic matching. Endo-Mix6 consists of approximately 1.2M real and synthetic image pairs across six domains, with correspondence labels generated using Structure-from-Motion and simulated transformations. The diversity and scale of Endo-Mix6 introduce new challenges in training stability due to significant variations in dataset sizes, distribution shifts, and error imbalance. To address them, a progressive multi-objective training strategy is employed to promote balanced learning and improve representation quality across domains. This enables EndoMatcher to generalize across unseen organs and imaging conditions in a zero-shot fashion. Extensive zero-shot matching experiments demonstrate that EndoMatcher increases the number of inlier matches by 140.69% and 201.43% on the Hamlyn and Bladder datasets over state-of-the-art methods, respectively, and improves the Matching Direction Prediction Accuracy (MDPA) by 9.40% on the Gastro-Matching dataset, achieving dense and accurate matching under challenging endoscopic conditions. The code is publicly available at https://github.com/Beryl2000/EndoMatcher.
CWEFS: Brain volume conduction effects inspired channel-wise EEG feature selection for multi-dimensional emotion recognition
Venue: arXiv cs.HC 2025
Year: 2025

Due to the intracranial volume conduction effects, high-dimensional multi-channel electroencephalography (EEG) features often contain substantial redundant and irrelevant information. This issue not only hinders the extraction of discriminative emotional representations but also compromises the real-time performance. Feature selection has been established as an effective approach to address the challenges while enhancing the transparency and interpretability of emotion recognition models. However, existing EEG feature selection research overlooks the influence of latent EEG feature structures on emotional label correlations and assumes uniform importance across various channels, directly limiting the precise construction of EEG feature selection models for multi-dimensional affective computing. To address these limitations, a novel channel-wise EEG feature selection (CWEFS) method is proposed for multi-dimensional emotion recognition. Specifically, inspired by brain volume conduction effects, CWEFS integrates EEG emotional feature selection into a shared latent structure model designed to construct a consensus latent space across diverse EEG channels. To preserve the local geometric structure, this consensus space is further integrated with the latent semantic analysis of multi-dimensional emotional labels. Additionally, CWEFS incorporates adaptive channel-weight learning to automatically determine the significance of different EEG channels in the emotional feature selection task. The effectiveness of CWEFS was validated using three popular EEG datasets with multi-dimensional emotional labels. Comprehensive experimental results, compared against nineteen feature selection methods, demonstrate that the EEG feature subsets chosen by CWEFS achieve optimal emotion recognition performance across six evaluation metrics.
CodeBoost: Boosting Code LLMs by Squeezing Knowledge from Code Snippets with RL
Venue: arXiv cs.CL 2025
Year: 2025

Code large language models (LLMs) have become indispensable tools for building efficient and automated coding pipelines. Existing models are typically post-trained using reinforcement learning (RL) from general-purpose LLMs using "human instruction-final answer" pairs, where the instructions are usually from manual annotations. However, collecting high-quality coding instructions is both labor-intensive and difficult to scale. On the other hand, code snippets are abundantly available from various sources. This imbalance presents a major bottleneck in instruction-based post-training. We propose CodeBoost, a post-training framework that enhances code LLMs purely from code snippets, without relying on human-annotated instructions. CodeBoost introduces the following key components: (1) maximum-clique curation, which selects a representative and diverse training corpus from code; (2) bi-directional prediction, which enables the model to learn from both forward and backward prediction objectives; (3) error-aware prediction, which incorporates learning signals from both correct and incorrect outputs; (4) heterogeneous augmentation, which diversifies the training distribution to enrich code semantics; and (5) heterogeneous rewarding, which guides model learning through multiple reward types including format correctness and execution feedback from both successes and failures. Extensive experiments across several code LLMs and benchmarks verify that CodeBoost consistently improves performance, demonstrating its effectiveness as a scalable and effective training pipeline.
MoBE: Mixture-of-Basis-Experts for Compressing MoE-based LLMs
Venue: arXiv cs.LG 2025
Year: 2025

The Mixture-of-Experts (MoE) architecture has become a predominant paradigm for scaling large language models (LLMs). Despite offering strong performance and computational efficiency, large MoE-based LLMs like DeepSeek-V3-0324 and Kimi-K2-Instruct present serious challenges due to substantial memory requirements in deployment. While recent works have explored MoE compression to address this issue, existing methods often suffer from considerable accuracy drops (e.g., 7-14% relatively) even at modest compression rates. This paper introduces a novel Mixture-of-Basis-Experts (MoBE) method that achieves model compression while incurring minimal accuracy drops. Specifically, each up/gate matrix in an expert is decomposed via a rank decomposition as W = AB, where matrix A is unique to each expert. The relatively larger matrix B is further re-parameterized as a linear combination of basis matrices {Bi} shared across all experts within a given MoE layer. The factorization is learned by minimizing the reconstruction error relative to the original weight matrices. Experiments demonstrate that MoBE achieves notably lower accuracy drops compared to prior works. For instance, MoBE can reduce the parameter counts of Qwen3-235B-A22B-2507, DeepSeek-V3-0324 (671B) and Kimi-K2-Instruct (1T) by 24%-30% with only 1%-2% accuracy drop (about 2% drops when measured relatively).
B4DL: A Benchmark for 4D LiDAR LLM in Spatio-Temporal Understanding
Venue: arXiv cs.CV 2025
Year: 2025

Understanding dynamic outdoor environments requires capturing complex object interactions and their evolution over time. LiDAR-based 4D point clouds provide precise spatial geometry and rich temporal cues, making them ideal for representing real-world scenes. However, despite their potential, 4D LiDAR remains underexplored in the context of Multimodal Large Language Models (MLLMs) due to the absence of high-quality, modality-specific annotations and the lack of MLLM architectures capable of processing its high-dimensional composition. To address these challenges, we introduce B4DL, a new benchmark specifically designed for training and evaluating MLLMs on 4D LiDAR understanding. In addition, we propose a scalable data generation pipeline and an MLLM model that, for the first time, directly processes raw 4D LiDAR by bridging it with language understanding. Combined with our dataset and benchmark, our model offers a unified solution for spatio-temporal reasoning in dynamic outdoor environments. We provide rendered 4D LiDAR videos, generated dataset, and inference outputs on diverse scenarios at: https://mmb4dl.github.io/mmb4dl/
Everything You Need to Know About CS Education: Open Results from a Survey of More Than 18,000 Participants
Venue: arXiv cs.CY 2025
Year: 2025

Computer science education is a dynamic field with many aspects that influence the learner's path. While these aspects are usually studied in depth separately, it is also important to carry out broader large-scale studies that touch on many topics, because they allow us to put different results into each other's perspective. Past large-scale surveys have provided valuable insights, however, the emergence of new trends (e.g., AI), new learning formats (e.g., in-IDE learning), and the increasing learner diversity highlight the need for an updated comprehensive study. To address this, we conducted a survey with 18,032 learners from 173 countries, ensuring diverse representation and exploring a wide range of topics - formal education, learning formats, AI usage, challenges, motivation, and more. This paper introduces the results of this survey as an open dataset, describes our methodology and the survey questions, and highlights, as a motivating example, three possible research directions within this data: challenges in learning, emerging formats, and insights into the in-IDE format. The dataset aims to support further research and foster advancements in computer education.