OpenRaiser/Intern-Atlas huggingface dataset:
ComparisonQA: Evaluating Factuality Robustness of LLMs Through Knowledge Frequency Control and Uncertainty
Venue: arXiv cs.CL 2025
Year: 2025

The rapid development of LLMs has sparked extensive research into their factual knowledge. Current works find that LLMs fall short on questions around low-frequency entities. However, such proofs are unreliable since the questions can differ not only in entity frequency but also in difficulty themselves. So we introduce ComparisonQA benchmark, containing 283K abstract questions, each instantiated by a pair of high-frequency and low-frequency entities. It ensures a controllable comparison to study the role of knowledge frequency in the performance of LLMs. Because the difference between such a pair is only the entity with different frequencies. In addition, we use both correctness and uncertainty to develop a two-round method to evaluate LLMs' knowledge robustness. It aims to avoid possible semantic shortcuts which is a serious problem of current QA study. Experiments reveal that LLMs, including GPT-4o, exhibit particularly low robustness regarding low-frequency knowledge. Besides, we find that uncertainty can be used to effectively identify high-quality and shortcut-free questions while maintaining the data size. Based on this, we propose an automatic method to select such questions to form a subset called ComparisonQA-Hard, containing only hard low-frequency questions.
EXAdam: The Power of Adaptive Cross-Moments
Venue: arXiv cs.LG 2025
Year: 2025

This paper introduces EXAdam ($\textbf{EX}$tended $\textbf{Adam}$), a novel optimization algorithm that builds upon the widely-used Adam optimizer. EXAdam incorporates two key enhancements: (1) new debiasing terms for improved moment estimation and (2) a gradient-based acceleration mechanism for increased responsiveness to the current loss landscape. These innovations work synergistically to address limitations of the original Adam algorithm, potentially offering improved convergence properties, enhanced ability to escape saddle points, and potentially greater robustness to hyperparameter choices, though this requires further investigation. We provide a theoretical analysis of EXAdam's components and their interactions, highlighting the algorithm's potential advantages in navigating complex optimization landscapes. Empirical evaluations demonstrate EXAdam's superiority over Adam, achieving 38.46% faster convergence and yielding improvements of 1.96%, 2.17%, and 1.17% in training, validation, and testing accuracies, respectively, when applied to a CNN trained on the CIFAR-10 dataset. While these results are promising, further empirical validation across diverse tasks is essential to fully gauge EXAdam's efficacy. Nevertheless, EXAdam represents a significant advancement in adaptive optimization techniques, with promising implications for a wide range of machine learning applications. This work aims to contribute to the ongoing development of more efficient, adaptive, and universally applicable optimization methods in the field of machine learning and artificial intelligence.
Understanding the Impact of Confidence in Retrieval Augmented Generation: A Case Study in the Medical Domain
Venue: arXiv cs.CL 2025
Year: 2025

Retrieval Augmented Generation (RAG) complements the knowledge of Large Language Models (LLMs) by leveraging external information to enhance response accuracy for queries. This approach is widely applied in several fields by taking its advantage of injecting the most up-to-date information, and researchers are focusing on understanding and improving this aspect to unlock the full potential of RAG in such high-stakes applications. However, despite the potential of RAG to address these needs, the mechanisms behind the confidence levels of its outputs remain underexplored. Our study focuses on the impact of RAG, specifically examining whether RAG improves the confidence of LLM outputs in the medical domain. We conduct this analysis across various configurations and models. We evaluate confidence by treating the model's predicted probability as its output and calculating several evaluation metrics which include calibration error method, entropy, the best probability, and accuracy. Experimental results across multiple datasets confirmed that certain models possess the capability to judge for themselves whether an inserted document relates to the correct answer. These results suggest that evaluating models based on their output probabilities determine whether they function as generators in the RAG framework. Our approach allows us to evaluate whether the models handle retrieved documents.
Initial Placement for Fruchterman--Reingold Force Model With Coordinate Newton Direction
Venue: arXiv cs.CG 2025
Year: 2025

Graph drawing is a fundamental task in information visualization, with the Fruchterman--Reingold (FR) force model being one of the most popular choices. We can interpret this visualization task as a continuous optimization problem, which can be solved using the FR algorithm, the original algorithm for this force model, or the L-BFGS algorithm, a quasi-Newton method. However, both algorithms suffer from twist problems and are computationally expensive per iteration, which makes achieving high-quality visualizations for large-scale graphs challenging. In this research, we propose a new initial placement based on the stochastic coordinate descent to accelerate the optimization process. We first reformulate the problem as a discrete optimization problem using a hexagonal lattice and then iteratively update a randomly selected vertex along the coordinate Newton direction. We can use the FR or L-BFGS algorithms to obtain the final placement. We demonstrate the effectiveness of our proposed approach through experiments, highlighting the potential of coordinate descent methods for graph drawing tasks. Additionally, we suggest combining our method with other graph drawing techniques for further improvement. We also discuss the relationship between our proposed method and broader graph-related applications.
Distilling Desired Comments for Enhanced Code Review with Large Language Models
Venue: arXiv cs.SE 2025
Year: 2025

There has been a growing interest in using Large Language Models (LLMs) for code review thanks to their proven proficiency in code comprehension. The primary objective of most review scenarios is to generate desired review comments (DRCs) that explicitly identify issues to trigger code fixes. However, existing LLM-based solutions are not so effective in generating DRCs for various reasons such as hallucination. To enhance their code review ability, they need to be fine-tuned with a customized dataset that is ideally full of DRCs. Nevertheless, such a dataset is not yet available, while manual annotation of DRCs is too laborious to be practical. In this paper, we propose a dataset distillation method, Desiview, which can automatically construct a distilled dataset by identifying DRCs from a code review dataset. Experiments on the CodeReviewer dataset comprising more than 150K review entries show that Desiview achieves an impressive performance of 88.93%, 80.37%, 86.67%, and 84.44% in terms of Precision, Recall, Accuracy, and F1, respectively, surpassing state-of-the-art methods. To validate the effect of such a distilled dataset on enhancing LLMs' code review ability, we first fine-tune the latest LLaMA series (i.e., LLaMA 3 and LLaMA 3.1) to build model Desiview4FT. We then enhance the model training effect through KTO alignment by feeding those review comments identified as non-DRCs to the LLMs, resulting in model Desiview4FA. Verification results indicate that Desiview4FA slightly outperforms Desiview4FT, while both models have significantly improved against the base models in terms of generating DRCs. Human evaluation confirms that both models identify issues more accurately and tend to generate review comments that better describe the issues contained in the code than the base LLMs do.
Safe Multiagent Coordination via Entropic Exploration
Venue: arXiv cs.MA 2025
Year: 2025

Many real-world multiagent learning problems involve safety concerns. In these setups, typical safe reinforcement learning algorithms constrain agents' behavior, limiting exploration -- a crucial component for discovering effective cooperative multiagent behaviors. Moreover, the multiagent literature typically models individual constraints for each agent and has yet to investigate the benefits of using joint team constraints. In this work, we analyze these team constraints from a theoretical and practical perspective and propose entropic exploration for constrained multiagent reinforcement learning (E2C) to address the exploration issue. E2C leverages observation entropy maximization to incentivize exploration and facilitate learning safe and effective cooperative behaviors. Experiments across increasingly complex domains show that E2C agents match or surpass common unconstrained and constrained baselines in task performance while reducing unsafe behaviors by up to $50\%$.
Scalable Bayesian Optimization via Focalized Sparse Gaussian Processes
Venue: arXiv cs.LG 2025
Year: 2025

Bayesian optimization is an effective technique for black-box optimization, but its applicability is typically limited to low-dimensional and small-budget problems due to the cubic complexity of computing the Gaussian process (GP) surrogate. While various approximate GP models have been employed to scale Bayesian optimization to larger sample sizes, most suffer from overly-smooth estimation and focus primarily on problems that allow for large online samples. In this work, we argue that Bayesian optimization algorithms with sparse GPs can more efficiently allocate their representational power to relevant regions of the search space. To achieve this, we propose focalized GP, which leverages a novel variational loss function to achieve stronger local prediction, as well as FocalBO, which hierarchically optimizes the focalized GP acquisition function over progressively smaller search spaces. Experimental results demonstrate that FocalBO can efficiently leverage large amounts of offline and online data to achieve state-of-the-art performance on robot morphology design and to control a 585-dimensional musculoskeletal system.
Bringing Objects to Life: training-free 4D generation from 3D objects through view consistent noise
Venue: arXiv cs.CV 2025
Year: 2025

Recent advancements in generative models have enabled the creation of dynamic 4D content - 3D objects in motion - based on text prompts, which holds potential for applications in virtual worlds, media, and gaming. Existing methods provide control over the appearance of generated content, including the ability to animate 3D objects. However, their ability to generate dynamics is limited to the mesh datasets they were trained on, lacking any growth or structural development capability. In this work, we introduce a training-free method for animating 3D objects by conditioning on textual prompts to guide 4D generation, enabling custom general scenes while maintaining the original object's identity. We first convert a 3D mesh into a static 4D Neural Radiance Field (NeRF) that preserves the object's visual attributes. Then, we animate the object using an Image-to-Video diffusion model driven by text. To improve motion realism, we introduce a view-consistent noising protocol that aligns object perspectives with the noising process to promote lifelike movement, and a masked Score Distillation Sampling (SDS) loss that leverages attention maps to focus optimization on relevant regions, better preserving the original object. We evaluate our model on two different 3D object datasets for temporal coherence, prompt adherence, and visual fidelity, and find that our method outperforms the baseline based on multiview training, achieving better consistency with the textual prompt in hard scenarios.
Multi-Scenario Reasoning: Unlocking Cognitive Autonomy in Humanoid Robots for Multimodal Understanding
Venue: arXiv cs.RO 2025
Year: 2025

To improve the cognitive autonomy of humanoid robots, this research proposes a multi-scenario reasoning architecture to solve the technical shortcomings of multi-modal understanding in this field. It draws on simulation based experimental design that adopts multi-modal synthesis (visual, auditory, tactile) and builds a simulator "Maha" to perform the experiment. The findings demonstrate the feasibility of this architecture in multimodal data. It provides reference experience for the exploration of cross-modal interaction strategies for humanoid robots in dynamic environments. In addition, multi-scenario reasoning simulates the high-level reasoning mechanism of the human brain to humanoid robots at the cognitive level. This new concept promotes cross-scenario practical task transfer and semantic-driven action planning. It heralds the future development of self-learning and autonomous behavior of humanoid robots in changing scenarios.
Can Robots "Taste" Grapes? Estimating SSC with Simple RGB Sensors
Venue: arXiv cs.CV 2025
Year: 2025

In table grape cultivation, harvesting depends on accurately assessing fruit quality. While some characteristics, like color, are visible, others, such as Soluble Solid Content (SSC), or sugar content measured in degrees Brix (°Brix), require specific tools. SSC is a key quality factor that correlates with ripeness, but lacks a direct causal relationship with color. Hyperspectral cameras can estimate SSC with high accuracy under controlled laboratory conditions, but their practicality in field environments is limited. This study investigates the potential of simple RGB sensors under uncontrolled lighting to estimate SSC and color, enabling cost-effective, robot-assisted harvesting. Over the 2021 and 2022 summer seasons, we collected grape images with corresponding SSC and color labels to evaluate algorithmic solutions for SSC estimation, specifically testing for cross-seasonal and cross-device robustness. We propose two approaches: a computationally efficient histogram-based method for resource-constrained robots and a Deep Neural Network (DNN) model for more complex applications. Our results demonstrate high performance, with the DNN model achieving a Mean Absolute Error (MAE) as low as $1.05$ °Brix on a challenging cross-device test set. The lightweight histogram-based method also proved effective, reaching an MAE of $1.46$ °Brix. These results are highly competitive with those from hyperspectral systems, which report errors in the $1.27$--$2.20$ °Brix range in similar field applications.
Towards a Systematic Evaluation of Hallucinations in Large-Vision Language Models
Venue: arXiv cs.CV 2025
Year: 2025

Large Vision-Language Models (LVLMs) have demonstrated remarkable performance in complex multimodal tasks. However, these models still suffer from hallucinations, particularly when required to implicitly recognize or infer diverse visual entities from images for complex vision-language tasks. To address this challenge, we propose HALLUCINOGEN, a novel visual question answering (VQA) benchmark that employs contextual reasoning prompts as hallucination attacks to evaluate the extent of hallucination in state-of-the-art LVLMs. Our benchmark provides a comprehensive study of the implicit reasoning capabilities of these models by first categorizing visual entities based on the ease of recognition in an image as either salient (prominent, visibly recognizable objects such as a car) or latent entities (such as identifying a disease from a chest X-ray), which are not readily visible and require domain knowledge or contextual reasoning for accurate inference. Next, we design hallucination attacks for both types of entities to assess hallucinations in LVLMs while performing various vision-language tasks, such as locating or reasoning about specific entities within an image, where models must perform implicit reasoning by verifying the existence of the queried entity within the image before generating responses. Finally, our extensive evaluations of eleven LVLMs, including powerful open-source models (like LLaMA-3.2 and DeepSeek-V2), commercial models like Gemini, and two hallucination mitigation strategies across multiple datasets, demonstrate that current LVLMs remain susceptible to hallucination attacks.
Slow Perception: Let's Perceive Geometric Figures Step-by-step
Venue: arXiv cs.CV 2025
Year: 2025

Recently, "visual o1" began to enter people's vision, with expectations that this slow-thinking design can solve visual reasoning tasks, especially geometric math problems. However, the reality is that current LVLMs (Large Vision Language Models) can hardly even accurately copy a geometric figure, let alone truly understand the complex inherent logic and spatial relationships within geometric shapes. We believe accurate copying (strong perception) is the first step to visual o1. Accordingly, we introduce the concept of "slow perception" (SP), which guides the model to gradually perceive basic point-line combinations, as our humans, reconstruct complex geometric structures progressively. There are two-fold stages in SP: a) perception decomposition. Perception is not instantaneous. In this stage, complex geometric figures are broken down into basic simple units to unify geometry representation. b) perception flow, which acknowledges that accurately tracing a line is not an easy task. This stage aims to avoid "long visual jumps" in regressing line segments by using a proposed "perceptual ruler" to trace each line stroke-by-stroke. Surprisingly, such a human-like perception manner enjoys an inference time scaling law -- the slower, the better. Researchers strive to speed up the model's perception in the past, but we slow it down again, allowing the model to read the image step-by-step and carefully.
Air-Ground Collaborative Robots for Fire and Rescue Missions: Towards Mapping and Navigation Perspective
Venue: arXiv cs.RO 2025
Year: 2025

Air-ground collaborative robots have shown great potential in the field of fire and rescue, which can quickly respond to rescue needs and improve the efficiency of task execution. Mapping and navigation, as the key foundation for air-ground collaborative robots to achieve efficient task execution, have attracted a great deal of attention. This growing interest in collaborative robot mapping and navigation is conducive to improving the intelligence of fire and rescue task execution, but there has been no comprehensive investigation of this field to highlight their strengths. In this paper, we present a systematic review of the ground-to-ground cooperative robots for fire and rescue from a new perspective of mapping and navigation. First, an air-ground collaborative robots framework for fire and rescue missions based on unmanned aerial vehicle (UAV) mapping and unmanned ground vehicle (UGV) navigation is introduced. Then, the research progress of mapping and navigation under this framework is systematically summarized, including UAV mapping, UAV/UGV co-localization, and UGV navigation, with their main achievements and limitations. Based on the needs of fire and rescue missions, the collaborative robots with different numbers of UAVs and UGVs are classified, and their practicality in fire and rescue tasks is elaborated, with a focus on the discussion of their merits and demerits. In addition, the application examples of air-ground collaborative robots in various firefighting and rescue scenarios are given. Finally, this paper emphasizes the current challenges and potential research opportunities, rounding up references for practitioners and researchers willing to engage in this vibrant area of air-ground collaborative robots.
4D Gaussian Splatting: Modeling Dynamic Scenes with Native 4D Primitives
Venue: arXiv cs.CV 2025
Year: 2025

Dynamic 3D scene representation and novel view synthesis are crucial for enabling immersive experiences required by AR/VR and metaverse applications. It is a challenging task due to the complexity of unconstrained real-world scenes and their temporal dynamics. In this paper, we reformulate the reconstruction of a time-varying 3D scene as approximating its underlying spatiotemporal 4D volume by optimizing a collection of native 4D primitives, i.e., 4D Gaussians, with explicit geometry and appearance modeling. Equipped with a tailored rendering pipeline, our representation can be end-to-end optimized using only photometric supervision while free viewpoint viewing at interactive frame rate, making it suitable for representing real world scene with complex dynamic. This approach has been the first solution to achieve real-time rendering of high-resolution, photorealistic novel views for complex dynamic scenes. To facilitate real-world applications, we derive several compact variants that effectively reduce the memory footprint to address its storage bottleneck. Extensive experiments validate the superiority of 4DGS in terms of visual quality and efficiency across a range of dynamic scene-related tasks (e.g., novel view synthesis, 4D generation, scene understanding) and scenarios (e.g., single object, indoor scenes, driving environments, synthetic and real data).
HunyuanProver: A Scalable Data Synthesis Framework and Guided Tree Search for Automated Theorem Proving
Venue: arXiv cs.AI 2025
Year: 2025

We introduce HunyuanProver, an language model finetuned from the Hunyuan 7B for interactive automatic theorem proving with LEAN4. To alleviate the data sparsity issue, we design a scalable framework to iterative synthesize data with low cost. Besides, guided tree search algorithms are designed to enable effective ``system 2 thinking`` of the prover. HunyuanProver achieves state-of-the-art (SOTA) performances on major benchmarks. Specifically, it achieves a pass of 68.4% on the miniF2F-test compared to 65.9%, the current SOTA results. It proves 4 IMO statements (imo_1960_p2, imo_1962_p2}, imo_1964_p2 and imo_1983_p6) in miniF2F-test. To benefit the community, we will open-source a dataset of 30k synthesized instances, where each instance contains the original question in natural language, the converted statement by autoformalization, and the proof by HunyuanProver.
High-Performance Vision-Based Tactile Sensing Enhanced by Microstructures and Lightweight CNN
Venue: arXiv cs.RO 2025
Year: 2025

Tactile sensing is critical in advanced interactive systems by emulating the human sense of touch to detect stimuli. Vision-based tactile sensors are promising for providing multimodal capabilities and high robustness, yet existing technologies still have limitations in sensitivity, spatial resolution, and high computational demands of deep learning-based image processing. This paper presents a comprehensive approach combining a novel microstructure-based sensor design and efficient image processing, demonstrating that carefully engineered microstructures can significantly enhance performance while reducing computational load. Without traditional tracking markers, our sensor incorporates an surface with micromachined trenches, as an example of microstructures, which modulate light transmission and amplify the response to applied force. The amplified image features can be extracted by a ultra lightweight convolutional neural network to accurately inferring contact location, displacement, and applied force with high precision. Through theoretical analysis, we demonstrated that the micro trenches significantly amplified the visual effects of shape distortion. Using only a commercial webcam, the sensor system effectively detected forces below 5 mN, and achieved a millimetre-level single-point spatial resolution. Using a model with only one convolutional layer, a mean absolute error below 0.05 mm was achieved. Its soft sensor body allows seamless integration with soft robots, while its immunity to electrical crosstalk and interference guarantees reliability in complex human-machine environments.