OpenRaiser/Intern-Atlas huggingface dataset:
OrdRankBen: A Novel Ranking Benchmark for Ordinal Relevance in NLP
Venue: arXiv cs.IR 2025
Year: 2025

The evaluation of ranking tasks remains a significant challenge in natural language processing (NLP), particularly due to the lack of direct labels for results in real-world scenarios. Benchmark datasets play a crucial role in providing standardized testbeds that ensure fair comparisons, enhance reproducibility, and enable progress tracking, facilitating rigorous assessment and continuous improvement of ranking models. Existing NLP ranking benchmarks typically use binary relevance labels or continuous relevance scores, neglecting ordinal relevance scores. However, binary labels oversimplify relevance distinctions, while continuous scores lack a clear ordinal structure, making it challenging to capture nuanced ranking differences effectively. To address these challenges, we introduce OrdRankBen, a novel benchmark designed to capture multi-granularity relevance distinctions. Unlike conventional benchmarks, OrdRankBen incorporates structured ordinal labels, enabling more precise ranking evaluations. Given the absence of suitable datasets for ordinal relevance ranking in NLP, we constructed two datasets with distinct ordinal label distributions. We further evaluate various models for three model types, ranking-based language models, general large language models, and ranking-focused large language models on these datasets. Experimental results show that ordinal relevance modeling provides a more precise evaluation of ranking models, improving their ability to distinguish multi-granularity differences among ranked items-crucial for tasks that demand fine-grained relevance differentiation.
Factorized Deep Q-Network for Cooperative Multi-Agent Reinforcement Learning in Victim Tagging
Venue: arXiv cs.MA 2025
Year: 2025

Mass casualty incidents (MCIs) are a growing concern, characterized by complexity and uncertainty that demand adaptive decision-making strategies. The victim tagging step in the emergency medical response must be completed quickly and is crucial for providing information to guide subsequent time-constrained response actions. In this paper, we present a mathematical formulation of multi-agent victim tagging to minimize the time it takes for responders to tag all victims. Five distributed heuristics are formulated and evaluated with simulation experiments. The heuristics considered are on-the go, practical solutions that represent varying levels of situational uncertainty in the form of global or local communication capabilities, showcasing practical constraints. We further investigate the performance of a multi-agent reinforcement learning (MARL) strategy, factorized deep Q-network (FDQN), to minimize victim tagging time as compared to baseline heuristics. Extensive simulations demonstrate that between the heuristics, methods with local communication are more efficient for adaptive victim tagging, specifically choosing the nearest victim with the option to replan. Analyzing all experiments, we find that our FDQN approach outperforms heuristics in smaller-scale scenarios, while heuristics excel in more complex scenarios. Our experiments contain diverse complexities that explore the upper limits of MARL capabilities for real-world applications and reveal key insights.
GPIoT: Tailoring Small Language Models for IoT Program Synthesis and Development
Venue: arXiv cs.SE 2025
Year: 2025

Code Large Language Models (LLMs) enhance software development efficiency by automatically generating code and documentation in response to user requirements. However, code LLMs cannot synthesize specialized programs when tasked with IoT applications that require domain knowledge. While Retrieval-Augmented Generation (RAG) offers a promising solution by fetching relevant domain knowledge, it necessitates powerful cloud LLMs (e.g., GPT-4) to process user requirements and retrieved contents, which raises significant privacy concerns. This approach also suffers from unstable networks and prohibitive LLM query costs. Moreover, it is challenging to ensure the correctness and relevance of the fetched contents. To address these issues, we propose GPIoT, a code generation system for IoT applications by fine-tuning locally deployable Small Language Models (SLMs) on IoT-specialized datasets. SLMs have smaller model sizes, allowing efficient local deployment and execution to mitigate privacy concerns and network uncertainty. Furthermore, by fine-tuning the SLMs with our IoT-specialized datasets, the SLMs' ability to synthesize IoT-related programs can be substantially improved. To evaluate GPIoT's capability in synthesizing programs for IoT applications, we develop a benchmark, IoTBench. Extensive experiments and user trials demonstrate the effectiveness of GPIoT in generating IoT-specialized code, outperforming state-of-the-art code LLMs with an average task accuracy increment of 64.7% and significant improvements in user satisfaction.
How Diversely Can Language Models Solve Problems? Exploring the Algorithmic Diversity of Model-Generated Code
Venue: arXiv cs.SE 2025
Year: 2025

Language models (LMs) have exhibited impressive abilities in generating code from natural language requirements. In this work, we highlight the diversity of code generated by LMs as a critical criterion for evaluating their code generation capabilities. There is a lack of studies focused on assessing the diversity of generated code, which overlooks its importance in code LMs. Therefore, we propose a systematic approach to evaluate code diversity, introducing various metrics with inter-code similarity. Specifically, we introduce code clustering methods that leverages LMs' capabilities in code understanding and reasoning, resulting in a set of metrics that represent the number of algorithms in model-generated solutions. We extensively investigate the property of model-generated solutions by contrasting them with human-written ones and quantifying the impact of various factors on code diversity: model size, temperature, instruction tuning, and problem complexity. Our analysis demonstrates that model-generated solutions exhibit low algorithmic diversity, which was neglected by the research community. Moreover, we explore methods to increase code diversity by combining solutions from different models and increasing sampling temperatures. Our findings highlight that code diversity can be enhanced with the help of heterogeneous models and setting temperature beyond 1.0 that has not been fully explored due to the functional correctness degradation. To facilitate our research direction, we publicly share our code and datasets through open-source repositories.
MoSFormer: Augmenting Temporal Context with Memory of Surgery for Surgical Phase Recognition
Venue: arXiv cs.CV 2025
Year: 2025

Surgical phase recognition from video enables various downstream applications. Transformer-based sliding window approaches have set the state-of-the-art by capturing rich spatial-temporal features. However, while transformers can theoretically handle arbitrary-length sequences, in practice they are limited by memory and compute constraints, resulting in fixed context windows that struggle with maintaining temporal consistency across lengthy surgical procedures. This often leads to fragmented predictions and limited procedure-level understanding. To address these challenges, we propose Memory of Surgery (MoS), a framework that enriches temporal modeling by incorporating both semantic interpretable long-term surgical history and short-term impressions. MoSFormer, our enhanced transformer architecture, integrates MoS using a carefully designed encoding and fusion mechanism. We further introduce step filtering to refine history representation and develop a memory caching pipeline to improve training and inference stability, mitigating shortcut learning and overfitting. MoSFormer demonstrates state-of-the-art performance on multiple benchmarks. On the Challenging BernBypass70 benchmark, it attains 88.0 video-level accuracy and phase-level metrics of 70.7 precision, 68.7 recall, and 66.3 F1 score, outperforming its baseline with 2.1 video-level accuracy and phase-level metrics of 4.6 precision, 3.6 recall, and 3.8 F1 score. Further studies confirms the individual and combined benefits of long-term and short-term memory components through ablation and counterfactual inference. Qualitative results shows improved temporal consistency. The augmented temporal context enables procedure-level understanding, paving the way for more comprehensive surgical video analysis.
ICanC: Improving Camera-based Object Detection and Energy Consumption in Low-Illumination Environments
Venue: arXiv cs.RO 2025
Year: 2025

This paper introduces ICanC (pronounced "I Can See"), a novel system designed to enhance object detection and optimize energy efficiency in autonomous vehicles (AVs) operating in low-illumination environments. By leveraging the complementary capabilities of LiDAR and camera sensors, ICanC improves detection accuracy under conditions where camera performance typically declines, while significantly reducing unnecessary headlight usage. This approach aligns with the broader objective of promoting sustainable transportation. ICanC comprises three primary nodes: the Obstacle Detector, which processes LiDAR point cloud data to fit bounding boxes onto detected objects and estimate their position, velocity, and orientation; the Danger Detector, which evaluates potential threats using the information provided by the Obstacle Detector; and the Light Controller, which dynamically activates headlights to enhance camera visibility solely when a threat is detected. Experiments conducted in physical and simulated environments demonstrate ICanC's robust performance, even in the presence of significant noise interference. The system consistently achieves high accuracy in camera-based object detection when headlights are engaged, while significantly reducing overall headlight energy consumption. These results position ICanC as a promising advancement in autonomous vehicle research, achieving a balance between energy efficiency and reliable object detection.
LLMDR: LLM-Driven Deadlock Detection and Resolution in Multi-Agent Pathfinding
Venue: arXiv cs.MA 2025
Year: 2025

Multi-Agent Pathfinding (MAPF) is a core challenge in multi-agent systems. Existing learning-based MAPF methods often struggle with scalability, particularly when addressing complex scenarios that are prone to deadlocks. To address these challenges, we introduce LLMDR (LLM-Driven Deadlock Detection and Resolution), an approach designed to resolve deadlocks and improve the performance of learnt MAPF models. LLMDR integrates the inference capabilities of large language models (LLMs) with learnt MAPF models and prioritized planning, enabling it to detect deadlocks and provide customized resolution strategies. We evaluate LLMDR on standard MAPF benchmark maps with varying agent numbers, measuring its performance when combined with several base models. The results demonstrate that LLMDR improves the performance of learnt MAPF models, particularly in deadlock-prone scenarios, with notable improvements in success rates. These findings show the potential of integrating LLMs to improve the scalability of learning-based MAPF methods. The source code for LLMDR is available at: https://github.com/ssbacc/llmdr-dhc
LADDER: Self-Improving LLMs Through Recursive Problem Decomposition
Venue: arXiv cs.LG 2025
Year: 2025

We introduce LADDER (Learning through Autonomous Difficulty-Driven Example Recursion), a framework which enables Large Language Models to autonomously improve their problem-solving capabilities through self-guided learning by recursively generating and solving progressively simpler variants of complex problems. Unlike prior approaches that require curated datasets or human feedback, LADDER leverages a model's own capabilities to generate easier question variants. We demonstrate LADDER's effectiveness in the subject of mathematical integration, improving Llama 3.2 3B's accuracy from 1% to 82% on undergraduate-level problems and enabling Qwen2.5 7B Deepseek-R1 Distilled to achieve 73% on the MIT Integration Bee qualifying examination. We also introduce TTRL (Test-Time Reinforcement Learning), where we perform reinforcement learning on variants of test problems at inference time. TTRL enables Qwen2.5 7B Deepseek-R1 Distilled to achieve a state-of-the-art score of 90% on the MIT Integration Bee qualifying examination, surpassing OpenAI o1's performance. These results show how self-directed strategic learning can achieve significant capability improvements without relying on architectural scaling or human supervision.
Confounder-Aware Medical Data Selection for Fine-Tuning Pretrained Vision Models
Venue: arXiv cs.CV 2025
Year: 2025

The emergence of large-scale pre-trained vision foundation models has greatly advanced the medical imaging field through the pre-training and fine-tuning paradigm. However, selecting appropriate medical data for downstream fine-tuning remains a significant challenge considering its annotation cost, privacy concerns, and the detrimental effects of confounding variables. In this work, we present a confounder-aware medical data selection approach for medical dataset curation aiming to select minimal representative data by strategically mitigating the undesirable impact of confounding variables while preserving the natural distribution of the dataset. Our approach first identifies confounding variables within data and then develops a distance-based data selection strategy for confounder-aware sampling with a constrained budget in the data size. We validate the superiority of our approach through extensive experiments across diverse medical imaging modalities, highlighting its effectiveness in addressing the substantial impact of confounding variables and enhancing the fine-tuning efficiency in the medical imaging domain, compared to other data selection approaches.
Phantom: Training Robots Without Robots Using Only Human Videos
Venue: arXiv cs.RO 2025
Year: 2025

Scaling robotics data collection is critical to advancing general-purpose robots. Current approaches often rely on teleoperated demonstrations which are difficult to scale. We propose a novel data collection method that eliminates the need for robotics hardware by leveraging human video demonstrations. By training imitation learning policies on this human data, our approach enables zero-shot deployment on robots without collecting any robot-specific data. To bridge the embodiment gap between human and robot appearances, we utilize a data editing approach on the input observations that aligns the image distributions between training data on humans and test data on robots. Our method significantly reduces the cost of diverse data collection by allowing anyone with an RGBD camera to contribute. We demonstrate that our approach works in diverse, unseen environments and on varied tasks.
Expandora: Broadening Design Exploration with Text-to-Image Model
Venue: arXiv cs.HC 2025
Year: 2025

Broad exploration of references is critical in the visual design process. While text-to-image (T2I) models offer efficiency and customization of exploration, they often limit support for divergence in exploration. We conducted a formative study (N=6) to investigate the limitations of current interaction with the T2I model for broad exploration and found that designers struggle to articulate exploratory intentions and manage iterative, non-linear workflows. To address these challenges, we developed Expandora. Users can specify their exploratory intentions and desired diversity levels through structured input, and using an LLM-based pipeline, Expandora generates tailored prompt variations. The results are displayed in a mindmap-like interface that encourages non-linear workflows. A user study (N=8) demonstrated that Expandora significantly increases prompt diversity, the number of prompts users tried within a given time, and user satisfaction compared to the baseline. Nonetheless, its limitations in supporting convergent thinking suggest opportunities for holistically improving creative processes.
Detecting Heel Strike and toe off Events Using Kinematic Methods and LSTM Models
Venue: arXiv cs.RO 2025
Year: 2025

Accurate gait event detection is crucial for gait analysis, rehabilitation, and assistive technology, particularly in exoskeleton control, where precise identification of stance and swing phases is essential. This study evaluated the performance of seven kinematics-based methods and a Long Short-Term Memory (LSTM) model for detecting heel strike and toe-off events across 4363 gait cycles from 588 able-bodied subjects. The results indicated that while the Zeni et al. method achieved the highest accuracy among kinematics-based approaches, other methods exhibited systematic biases or required dataset-specific tuning. The LSTM model performed comparably to Zeni et al., providing a data-driven alternative without systematic bias. These findings highlight the potential of deep learning-based approaches for gait event detection while emphasizing the need for further validation in clinical populations and across diverse gait conditions. Future research will explore the generalizability of these methods in pathological populations, such as individuals with post-stroke conditions and knee osteoarthritis, as well as their robustness across varied gait conditions and data collection settings to enhance their applicability in rehabilitation and exoskeleton control.
DELST: Dual Entailment Learning for Hyperbolic Image-Gene Pretraining in Spatial Transcriptomics
Venue: arXiv cs.CV 2025
Year: 2025

Spatial transcriptomics (ST) maps gene expression within tissue at individual spots, making it a valuable resource for multimodal representation learning. Additionally, ST inherently contains rich hierarchical information both across and within modalities. For instance, different spots exhibit varying numbers of nonzero gene expressions, corresponding to different levels of cellular activity and semantic hierarchies. However, existing methods rely on contrastive alignment of image-gene pairs, failing to accurately capture the intricate hierarchical relationships in ST data. Here, we propose DELST, the first framework to embed hyperbolic representations while modeling hierarchy for image-gene pretraining at two levels: (1) Cross-modal entailment learning, which establishes an order relationship between genes and images to enhance image representation generalization; (2) Intra-modal entailment learning, which encodes gene expression patterns as hierarchical relationships, guiding hierarchical learning across different samples at a global scale and integrating biological insights into single-modal representations. Extensive experiments on ST benchmarks annotated by pathologists demonstrate the effectiveness of our framework, achieving improved predictive performance compared to existing methods. Our code and models are available at: https://github.com/XulinChen/DELST.
Tailless Flapping-Wing Robot With Bio-Inspired Elastic Passive Legs for Multi-Modal Locomotion
Venue: arXiv cs.RO 2025
Year: 2025

Flapping-wing robots offer significant versatility; however, achieving efficient multi-modal locomotion remains challenging. This paper presents the design, modeling, and experimentation of a novel tailless flapping-wing robot with three independently actuated pairs of wings. Inspired by the leg morphology of juvenile water striders, the robot incorporates bio-inspired elastic passive legs that convert flapping-induced vibrations into directional ground movement, enabling locomotion without additional actuators. This vibration-driven mechanism facilitates lightweight, mechanically simplified multi-modal mobility. An SE(3)-based controller coordinates flight and mode transitions with minimal actuation. To validate the robot's feasibility, a functional prototype was developed, and experiments were conducted to evaluate its flight, ground locomotion, and mode-switching capabilities. Results show satisfactory performance under constrained actuation, highlighting the potential of multi-modal flapping-wing designs for future aerial-ground robotic applications. These findings provide a foundation for future studies on frequency-based terrestrial control and passive yaw stabilization in hybrid locomotion systems.
PINN-MG: A physics-informed neural network for mesh generation
Venue: arXiv cs.CE 2025
Year: 2025

In numerical simulation, structured mesh generation often requires a lot of time and manpower investment. The general scheme for structured quad mesh generation is to find a mapping between the computational domain and the physical domain. This mapping can be obtained by solving partial differential equations. However, existing structured mesh generation methods are difficult to ensure both efficiency and mesh quality. In this paper, we propose a structured mesh generation method based on physics-informed neural network, PINN-MG. It takes boundary curves as input and then utilizes an attention network to capture the potential mapping between computational and physical domains, generating structured meshes for the input physical domain. PINN-MG introduces the Navier-Lamé equation in linear elastic as a partial differential equation term in the loss function, ensuring that the neural network conforms to the law of elastic body deformation when optimizing the loss value. The training process of PINN-MG is completely unsupervised and does not require any prior knowledge or datasets, which greatly reduces the previous workload of producing structured mesh datasets. Experimental results show that PINN-MG can generate higher quality structured quad meshes than other methods, and has the advantages of traditional algebraic methods and differential methods.
DUAL: Diversity and Uncertainty Active Learning for Text Summarization
Venue: arXiv cs.CL 2025
Year: 2025

With the rise of large language models, neural text summarization has advanced significantly in recent years. However, even state-of-the-art models continue to rely heavily on high-quality human-annotated data for training and evaluation. Active learning is frequently used as an effective way to collect such datasets, especially when annotation resources are scarce. Active learning methods typically prioritize either uncertainty or diversity but have shown limited effectiveness in summarization, often being outperformed by random sampling. We present Diversity and Uncertainty Active Learning (DUAL), a novel algorithm that combines uncertainty and diversity to iteratively select and annotate samples that are both representative of the data distribution and challenging for the current model. DUAL addresses the selection of noisy samples in uncertainty-based methods and the limited exploration scope of diversity-based methods. Through extensive experiments with different summarization models and benchmark datasets, we demonstrate that DUAL consistently matches or outperforms the best performing strategies. Using visualizations and quantitative metrics, we provide valuable insights into the effectiveness and robustness of different active learning strategies, in an attempt to understand why these strategies haven't performed consistently in text summarization. Finally, we show that DUAL strikes a good balance between diversity and robustness.