OpenRaiser/Intern-Atlas huggingface dataset:
Language-Driven Policy Distillation for Cooperative Driving in Multi-Agent Reinforcement Learning
Venue: arXiv cs.RO 2025
Year: 2025

The cooperative driving technology of Connected and Autonomous Vehicles (CAVs) is crucial for improving the efficiency and safety of transportation systems. Learning-based methods, such as Multi-Agent Reinforcement Learning (MARL), have demonstrated strong capabilities in cooperative decision-making tasks. However, existing MARL approaches still face challenges in terms of learning efficiency and performance. In recent years, Large Language Models (LLMs) have rapidly advanced and shown remarkable abilities in various sequential decision-making tasks. To enhance the learning capabilities of cooperative agents while ensuring decision-making efficiency and cost-effectiveness, we propose LDPD, a language-driven policy distillation method for guiding MARL exploration. In this framework, a teacher agent based on LLM trains smaller student agents to achieve cooperative decision-making through its own decision-making demonstrations. The teacher agent enhances the observation information of CAVs and utilizes LLMs to perform complex cooperative decision-making reasoning, which also leverages carefully designed decision-making tools to achieve expert-level decisions, providing high-quality teaching experiences. The student agent then refines the teacher's prior knowledge into its own model through gradient policy updates. The experiments demonstrate that the students can rapidly improve their capabilities with minimal guidance from the teacher and eventually surpass the teacher's performance. Extensive experiments show that our approach demonstrates better performance and learning efficiency compared to baseline methods.
Robust Gaussian Processes via Relevance Pursuit
Venue: arXiv cs.LG 2025
Year: 2025

Gaussian processes (GPs) are non-parametric probabilistic regression models that are popular due to their flexibility, data efficiency, and well-calibrated uncertainty estimates. However, standard GP models assume homoskedastic Gaussian noise, while many real-world applications are subject to non-Gaussian corruptions. Variants of GPs that are more robust to alternative noise models have been proposed, and entail significant trade-offs between accuracy and robustness, and between computational requirements and theoretical guarantees. In this work, we propose and study a GP model that achieves robustness against sparse outliers by inferring data-point-specific noise levels with a sequential selection procedure maximizing the log marginal likelihood that we refer to as relevance pursuit. We show, surprisingly, that the model can be parameterized such that the associated log marginal likelihood is strongly concave in the data-point-specific noise variances, a property rarely found in either robust regression objectives or GP marginal likelihoods. This in turn implies the weak submodularity of the corresponding subset selection problem, and thereby proves approximation guarantees for the proposed algorithm. We compare the model's performance relative to other approaches on diverse regression and Bayesian optimization tasks, including the challenging but common setting of sparse corruptions of the labels within or close to the function range.
Learning Low-Dimensional Strain Models of Soft Robots by Looking at the Evolution of Their Shape with Application to Model-Based Control
Venue: arXiv cs.RO 2025
Year: 2025

Obtaining dynamic models of continuum soft robots is central to the analysis and control of soft robots, and researchers have devoted much attention to the challenge of proposing both data-driven and first-principle solutions. Both avenues have, however, shown their limitations; the former lacks structure and performs poorly outside training data, while the latter requires significant simplifications and extensive expert knowledge to be used in practice. This paper introduces a streamlined method for learning low-dimensional, physics-based models that are both accurate and easy to interpret. We start with an algorithm that uses image data (i.e., shape evolutions) to determine the minimal necessary segments for describing a soft robot's movement. Following this, we apply a dynamic regression and strain sparsification algorithm to identify relevant strains and define the model's dynamics. We validate our approach through simulations with various planar soft manipulators, comparing its performance against other learning strategies, showing that our models are both computationally efficient and 25x more accurate on out-of-training distribution inputs. Finally, we demonstrate that thanks to the capability of the method of generating physically compatible models, the learned models can be straightforwardly combined with model-based control policies.
Mutual Information Preserving Neural Network Pruning
Venue: arXiv cs.LG 2025
Year: 2025

Pruning has emerged as the primary approach used to limit the resource requirements of large neural networks (NNs). Since the proposal of the lottery ticket hypothesis, researchers have focused either on pruning at initialization or after training. However, recent theoretical findings have shown that the sample efficiency of robust pruned models is proportional to the mutual information (MI) between the pruning masks and the model's training datasets, \textit{whether at initialization or after training}. In this paper, starting from these results, we introduce Mutual Information Preserving Pruning (MIPP), a structured activation-based pruning technique applicable before or after training. The core principle of MIPP is to select nodes in a way that conserves MI shared between the activations of adjacent layers, and consequently between the data and masks. Approaching the pruning problem in this manner means we can prove that there exists a function that can map the pruned upstream layer's activations to the downstream layer's, implying re-trainability. We demonstrate that MIPP consistently outperforms state-of-the-art methods, regardless of whether pruning is performed before or after training.
Understanding the Limits of Vision Language Models Through the Lens of the Binding Problem
Venue: arXiv cs.AI 2025
Year: 2025

Recent work has documented striking heterogeneity in the performance of state-of-the-art vision language models (VLMs), including both multimodal language models and text-to-image models. These models are able to describe and generate a diverse array of complex, naturalistic images, yet they exhibit surprising failures on basic multi-object reasoning tasks -- such as counting, localization, and simple forms of visual analogy -- that humans perform with near perfect accuracy. To better understand this puzzling pattern of successes and failures, we turn to theoretical accounts of the binding problem in cognitive science and neuroscience, a fundamental problem that arises when a shared set of representational resources must be used to represent distinct entities (e.g., to represent multiple objects in an image), necessitating the use of serial processing to avoid interference. We find that many of the puzzling failures of state-of-the-art VLMs can be explained as arising due to the binding problem, and that these failure modes are strikingly similar to the limitations exhibited by rapid, feedforward processing in the human brain.
Direct Preference Optimization for Primitive-Enabled Hierarchical Reinforcement Learning
Venue: arXiv cs.LG 2025
Year: 2025

Hierarchical reinforcement learning (HRL) enables agents to solve complex, long-horizon tasks by decomposing them into manageable sub-tasks. However, HRL methods often suffer from two fundamental challenges: (i) non-stationarity, caused by the changing behavior of the lower-level policy during training, which destabilizes higher-level policy learning, and (ii) the generation of infeasible subgoals that lower-level policies cannot achieve. In this work, we introduce DIPPER, a novel HRL framework that formulates hierarchical policy learning as a bi-level optimization problem and leverages direct preference optimization (DPO) to train the higher-level policy using preference feedback. By optimizing the higher-level policy with DPO, we decouple higher-level learning from the non-stationary lower-level reward signal, thus mitigating non-stationarity. To further address the infeasible subgoal problem, DIPPER incorporates a regularization that tries to ensure the feasibility of subgoal tasks within the capabilities of the lower-level policy. Extensive experiments on challenging robotic navigation and manipulation benchmarks demonstrate that DIPPER achieves up to 40\% improvement over state-of-the-art baselines in sparse reward scenarios, highlighting its effectiveness in overcoming longstanding limitations of HRL.
STEM-POM: Evaluating Language Models Math-Symbol Reasoning in Document Parsing
Venue: arXiv cs.CL 2025
Year: 2025

Advances in large language models (LLMs) have spurred research into enhancing their reasoning capabilities, particularly in math-rich STEM (Science, Technology, Engineering, and Mathematics) documents. While LLMs can generate equations or solve math-related queries, their ability to fully understand and interpret abstract mathematical symbols in long, math-rich documents remains limited. In this paper, we introduce STEM-PoM, a comprehensive benchmark dataset designed to evaluate LLMs' reasoning abilities on math symbols within contextual scientific text. The dataset, sourced from real-world ArXiv documents, contains over 2K math symbols classified as main attributes of variables, constants, operators, and unit descriptors, with additional sub-attributes including scalar/vector/matrix for variables and local/global/discipline-specific labels for both constants and operators. Our extensive experiments demonstrate that state-of-the-art LLMs achieve an average accuracy of 20-60% under in-context learning and 50-60% with fine-tuning, highlighting a substantial gap in their ability to classify mathematical symbols. By improving LLMs' mathematical symbol classification, STEM-PoM further enhances models' downstream mathematical reasoning capabilities. The code and data are available at https://github.com/jiaruzouu/STEM-PoM.
Adapting While Learning: Grounding LLMs for Scientific Problems with Intelligent Tool Usage Adaptation
Venue: arXiv cs.LG 2025
Year: 2025

Large Language Models (LLMs) demonstrate promising capabilities in solving scientific problems but often suffer from the issue of hallucination. While integrating LLMs with tools can mitigate this issue, models fine-tuned on tool usage become overreliant on them and incur unnecessary costs. Inspired by how human experts assess problem complexity before selecting solutions, we propose a novel two-component fine-tuning method, Adapting While Learning (AWL). In the first component, World Knowledge Learning (WKL), LLMs internalize scientific knowledge by learning from tool-generated solutions. In the second component, Tool Usage Adaptation (TUA), we categorize problems as easy or hard based on the model's accuracy, and train it to maintain direct reasoning for easy problems while switching to tools for hard ones. We validate our method on six scientific benchmark datasets across climate science, epidemiology, physics, and other domains. Compared to the original instruct model (8B), models post-trained with AWL achieve 29.11% higher answer accuracy and 12.72% better tool usage accuracy, even surpassing state-of-the-art models including GPT-4o and Claude-3.5 on four custom-created datasets. Our code is open-source at https://github.com/Rose-STL-Lab/Adapting-While-Learning.
Diffusion Models as Network Optimizers: Explorations and Analysis
Venue: arXiv cs.LG 2025
Year: 2025

Network optimization is a fundamental challenge in the Internet of Things (IoT) network, often characterized by complex features that make it difficult to solve these problems. Recently, generative diffusion models (GDMs) have emerged as a promising new approach to network optimization, with the potential to directly address these optimization problems. However, the application of GDMs in this field is still in its early stages, and there is a noticeable lack of theoretical research and empirical findings. In this study, we first explore the intrinsic characteristics of generative models. Next, we provide a concise theoretical proof and intuitive demonstration of the advantages of generative models over discriminative models in network optimization. Based on this exploration, we implement GDMs as optimizers aimed at learning high-quality solution distributions for given inputs, sampling from these distributions during inference to approximate or achieve optimal solutions. Specifically, we utilize denoising diffusion probabilistic models (DDPMs) and employ a classifier-free guidance mechanism to manage conditional guidance based on input parameters. We conduct extensive experiments across three challenging network optimization problems. By investigating various model configurations and the principles of GDMs as optimizers, we demonstrate the ability to overcome prediction errors and validate the convergence of generated solutions to optimal solutions. We provide code and data at https://github.com/qiyu3816/DiffSG.
PlanScope: Learning to Plan Within Decision Scope for Urban Autonomous Driving
Venue: arXiv cs.RO 2025
Year: 2025

In the context of urban autonomous driving, imitation learning-based methods have shown remarkable effectiveness, with a typical practice to minimize the discrepancy between expert driving logs and predictive decision sequences. As expert driving logs natively contain future short-term decisions with respect to events, such as sudden obstacles or rapidly changing traffic signals. We believe that unpredictable future events and corresponding expert reactions can introduce reasoning disturbances, negatively affecting the convergence efficiency of planning models. At the same time, long-term decision information, such as maintaining a reference lane or avoiding stationary obstacles, is essential for guiding short-term decisions. Our preliminary experiments on shortening the planning horizon show a rise-and-fall trend in driving performance, supporting these hypotheses. Based on these insights, we present PlanScope, a sequential-decision-learning framework with novel techniques for separating short-term and long-term decisions in decision logs. To identify and extract each decision component, the Wavelet Transform on trajectory profiles is proposed. After that, to enhance the detail-generating ability of Neural Networks, extra Detail Decoders are proposed. Finally, to enable in-scope decision supervision across detail levels, Multi-Scope Supervision strategies are adopted during training. The proposed methods, especially the time-dependent normalization, outperform baseline models in closed-loop evaluations on the nuPlan dataset, offering a plug-and-play solution to enhance existing planning models.
Extracting narrative signals from public discourse: a network-based approach
Venue: arXiv cs.CL 2025
Year: 2025

Narratives are key interpretative devices by which humans make sense of political reality. As the significance of narratives for understanding current societal issues such as polarization and misinformation becomes increasingly evident, there is a growing demand for methods that support their empirical analysis. To this end, we propose a graph-based formalism and machine-guided method for extracting, representing, and analyzing selected narrative signals from digital textual corpora, based on Abstract Meaning Representation (AMR). The formalism and method introduced here specifically cater to the study of political narratives that figure in texts from digital media such as archived political speeches, social media posts, transcripts of parliamentary debates, and political manifestos on party websites. We approach the study of such political narratives as a problem of information retrieval: starting from a textual corpus, we first extract a graph-like representation of the meaning of each sentence in the corpus using AMR. Drawing on transferable concepts from narratology, we then apply a set of heuristics to filter these graphs for representations of 1) actors and their relationships, 2) the events in which these actors figure, and 3) traces of the perspectivization of these events. We approach these references to actors, events, and instances of perspectivization as core narrative signals that allude to larger political narratives. By systematically analyzing and re-assembling these signals into networks that guide the researcher to the relevant parts of the text, the underlying narratives can be reconstructed through a combination of distant and close reading. A case study of State of the European Union addresses (2010 -- 2023) demonstrates how the formalism can be used to inductively surface signals of political narratives from public discourse.
Mitigating Tail Narrowing in LLM Self-Improvement via Socratic-Guided Sampling
Venue: arXiv cs.CL 2025
Year: 2025

Self-improvement methods enable large language models (LLMs) to generate solutions themselves and iteratively train on filtered, high-quality rationales. This process proves effective and reduces the reliance on human supervision in LLMs' reasoning, but the performance soon plateaus. We delve into the process and find that models tend to over-sample on easy queries and under-sample on queries they have yet to master. As iterations proceed, this imbalance in sampling is exacerbated, leading to a long-tail distribution where solutions to difficult queries almost diminish. This phenomenon limits the performance gain of self-improving models. A straightforward solution is brute-force sampling to balance the distribution, which significantly raises computational costs. In this paper, we introduce Guided Self-Improvement (GSI), a strategy aimed at improving the efficiency of sampling challenging heavy-tailed data. It leverages Socratic-style guidance signals to help LLM reasoning with complex queries, reducing the exploration effort and minimizing computational overhead. Experiments on four models across diverse mathematical tasks show that GSI strikes a balance between performance and efficiency, while also being effective on held-out tasks.
FIRE: Fact-checking with Iterative Retrieval and Verification
Venue: arXiv cs.IR 2025
Year: 2025

Fact-checking long-form text is challenging, and it is therefore common practice to break it down into multiple atomic claims. The typical approach to fact-checking these atomic claims involves retrieving a fixed number of pieces of evidence, followed by a verification step. However, this method is usually not cost-effective, as it underutilizes the verification model's internal knowledge of the claim and fails to replicate the iterative reasoning process in human search strategies. To address these limitations, we propose FIRE, a novel agent-based framework that integrates evidence retrieval and claim verification in an iterative manner. Specifically, FIRE employs a unified mechanism to decide whether to provide a final answer or generate a subsequent search query, based on its confidence in the current judgment. We compare FIRE with other strong fact-checking frameworks and find that it achieves slightly better performance while reducing large language model (LLM) costs by an average of 7.6 times and search costs by 16.5 times. These results indicate that FIRE holds promise for application in large-scale fact-checking operations. Our code is available at https://github.com/mbzuai-nlp/fire.git.
Designing a Dataset for Convolutional Neural Networks to Predict Space Groups Consistent with Extinction Laws
Venue: arXiv cs.NE 2025
Year: 2025

In this paper, a dataset of one-dimensional powder diffraction patterns was designed with new strategy to train Convolutional Neural Networks for predicting space groups. The diffraction pattern was calculated based on lattice parameters and Extinction Laws, instead of the traditional approach of generating it from a crystallographic database. This paper demonstrates that the new strategy is more effective than the conventional method. As a result, the model trained on the cubic and tetragonal training set from the newly designed dataset achieves prediction accuracy that matches the theoretical maximums calculated based on Extinction Laws. These results demonstrate that machine learning-based prediction can be both physically reasonable and reliable. Additionally, the model trained on our newly designed dataset shows excellent generalization capability, much better than the one trained on a traditionally designed dataset.
Higher-Order Causal Message Passing for Experimentation with Complex Interference
Venue: arXiv cs.LG 2025
Year: 2025

Accurate estimation of treatment effects is essential for decision-making across various scientific fields. This task, however, becomes challenging in areas like social sciences and online marketplaces, where treating one experimental unit can influence outcomes for others through direct or indirect interactions. Such interference can lead to biased treatment effect estimates, particularly when the structure of these interactions is unknown. We address this challenge by introducing a new class of estimators based on causal message-passing, specifically designed for settings with pervasive, unknown interference. Our estimator draws on information from the sample mean and variance of unit outcomes and treatments over time, enabling efficient use of observed data to estimate the evolution of the system state. Concretely, we construct non-linear features from the moments of unit outcomes and treatments and then learn a function that maps these features to future mean and variance of unit outcomes. This allows for the estimation of the treatment effect over time. Extensive simulations across multiple domains, using synthetic and real network data, demonstrate the efficacy of our approach in estimating total treatment effect dynamics, even in cases where interference exhibits non-monotonic behavior in the probability of treatment.
Self-Consistency Falls Short! The Adverse Effects of Positional Bias on Long-Context Problems
Venue: arXiv cs.CL 2025
Year: 2025

Self-consistency (SC) improves the performance of large language models (LLMs) across various tasks and domains that involve short content. However, does this support its effectiveness for long-context problems? We challenge the assumption that SC's benefits generalize to long-context settings, where LLMs often struggle with position bias, the systematic over-reliance on specific context regions-which hinders their ability to utilize information effectively from all parts of their context. Through comprehensive experimentation with varying state-of-the-art models, tasks, and SC formulations, we find that SC not only fails to improve but actively degrades performance on long-context tasks. This degradation is driven by persistent position bias, which worsens with longer context lengths and smaller model sizes but remains invariant to prompt format or task type. Unlike short-context tasks, where SC diversifies reasoning paths, long-context SC amplifies positional errors. These comprehensive results provide valuable insight into the limitations of current LLMs in long-context understanding and highlight the need for more sophisticated approaches.