OpenRaiser/Intern-Atlas huggingface dataset:
Reconfigurable Tendon-Driven Robots: Eliminating Inter-segmental Coupling via Independently Lockable Joints
Venue: arXiv cs.RO 2025
Year: 2025

With a slender redundant body, the tendon-driven robot (TDR) has a large workspace and great maneuverability while working in complex environments. TDR comprises multiple independently controlled robot segments, each with a set of driving tendons. While increasing the number of robot segments enhances dexterity and expands the workspace, this structural expansion also introduces intensified inter-segmental coupling. Therefore, achieving precise TDR control requires more complex models and additional motors. This paper presents a reconfigurable tendon-driven robot (RTR) equipped with innovative lockable joints. Each joint's state (locked/free) can be individually controlled through a pair of antagonistic tendons, and its structure eliminates the need for a continuous power supply to maintain the state. Operators can selectively actuate the targeted robot segments, and this scheme fundamentally eliminates the inter-segmental coupling, thereby avoiding the requirement for complex coordinated control between segments. The workspace of RTR has been simulated and compared with traditional TDRs' workspace, and RTR's advantages are further revealed. The kinematics and statics models of the RTR have been derived and validation experiments have been conducted. Demonstrations have been performed using a seven-joint RTR prototype to show its reconfigurability and moving ability in complex environments with an actuator pack comprising only six motors.
Improving LLMs' Generalized Reasoning Abilities by Graph Problems
Venue: arXiv cs.AI 2025
Year: 2025

Large Language Models (LLMs) have made remarkable strides in reasoning tasks, yet their performance often falters on novel and complex problems. Domain-specific continued pretraining (CPT) methods, such as those tailored for mathematical reasoning, have shown promise but lack transferability to broader reasoning tasks. In this work, we pioneer the use of Graph Problem Reasoning (GPR) to enhance the general reasoning capabilities of LLMs. GPR tasks, spanning pathfinding, network analysis, numerical computation, and topological reasoning, require sophisticated logical and relational reasoning, making them ideal for teaching diverse reasoning patterns. To achieve this, we introduce GraphPile, the first large-scale corpus specifically designed for CPT using GPR data. Spanning 10.9 billion tokens across 23 graph tasks, the dataset includes chain-of-thought, program-of-thought, trace of execution, and real-world graph data. Using GraphPile, we train GraphMind on popular base models Llama 3 and 3.1, as well as Gemma 2, achieving up to 4.9 percent higher accuracy in mathematical reasoning and up to 21.2 percent improvement in non-mathematical reasoning tasks such as logical and commonsense reasoning. By being the first to harness GPR for enhancing reasoning patterns and introducing the first dataset of its kind, our work bridges the gap between domain-specific pretraining and universal reasoning capabilities, advancing the adaptability and robustness of LLMs.
A Scientist Question: Research on the Impact of Super Structured Quadrilateral Meshes on Convergence and Accuracy of Finite Element Analysis
Venue: arXiv cs.GR 2025
Year: 2025

In the current practices of both industry and academia, the convergence and accuracy of finite element calculations are closely related to the methods and quality of mesh generation. For years, the research on high-quality mesh generation in the domestic academic field has mainly referred to the local quality of quadrilaterals and hexahedrons approximating that of squares and cubes. The main contribution of this paper is to propose a brand-new research direction and content: it is necessary to explore and study the influence of the overall global arrangement structure and pattern of super structured quadrilateral meshes on the convergence and calculation accuracy of finite element calculations. Through the research in this new field, it can help solve the non-rigorous state of serious reliance on "experience" in the mesh generation stage during simulation in the current industry and academia, and make clear judgments on which global arrangements of mesh generation can ensure the convergence of finite element calculations. In order to generate and design super-structured quadrilateral meshes with controllable overall arrangement structures, a large number of modern two-dimensional and three-dimensional geometric topology theories are required, such as moduli space, Teichmüller space, harmonic foliations, dynamical systems, surface mappings, meromorphic quadratic differentials, surface mappings, etc.
Optimal Calibrated Signaling in Digital Auctions
Venue: arXiv cs.GT 2025
Year: 2025

In digital advertising, online platforms allocate ad impressions through real-time auctions, where advertisers typically rely on autobidding agents to optimize bids on their behalf. Unlike traditional auctions for physical goods, the value of an ad impression is uncertain and depends on the unknown click-through rate (CTR). While platforms can estimate CTRs more accurately using proprietary machine learning algorithms, these estimates/algorithms remain opaque to advertisers. This information asymmetry naturally raises the following questions: how can platforms disclose information in a way that is both credible and revenue-optimal? We address these questions through calibrated signaling, where each prior-free bidder receives a private signal that truthfully reflects the conditional expected CTR of the ad impression. Such signals are trustworthy and allow bidders to form unbiased value estimates, even without access to the platform's internal algorithms. We study the design of platform-optimal calibrated signaling in the context of second-price auction. Our first main result fully characterizes the structure of the optimal calibrated signaling, which can also be computed efficiently. We show that this signaling can extract the full surplus -- or even exceed it -- depending on a specific market condition. Our second main result is an FPTAS for computing an approximately optimal calibrated signaling that satisfies an IR condition. Our main technical contributions are: a reformulation of the platform's problem as a two-stage optimization problem that involves optimal transport subject to calibration feasibility constraints on the bidders' marginal bid distributions; and a novel correlation plan that constructs the optimal distribution over second-highest bids.
Vec2Face+ for Face Dataset Generation
Venue: arXiv cs.CV 2025
Year: 2025

When synthesizing identities as face recognition training data, it is generally believed that large inter-class separability and intra-class attribute variation are essential for synthesizing a quality dataset. % This belief is generally correct, and this is what we aim for. However, when increasing intra-class variation, existing methods overlook the necessity of maintaining intra-class identity consistency. % To address this and generate high-quality face training data, we propose Vec2Face+, a generative model that creates images directly from image features and allows for continuous and easy control of face identities and attributes. Using Vec2Face+, we obtain datasets with proper inter-class separability and intra-class variation and identity consistency using three strategies: 1) we sample vectors sufficiently different from others to generate well-separated identities; 2) we propose an AttrOP algorithm for increasing general attribute variations; 3) we propose LoRA-based pose control for generating images with profile head poses, which is more efficient and identity-preserving than AttrOP. % Our system generates VFace10K, a synthetic face dataset with 10K identities, which allows an FR model to achieve state-of-the-art accuracy on seven real-world test sets. Scaling the size to 4M and 12M images, the corresponding VFace100K and VFace300K datasets yield higher accuracy than the real-world training dataset, CASIA-WebFace, on five real-world test sets. This is the first time a synthetic dataset beats the CASIA-WebFace in average accuracy. In addition, we find that only 1 out of 11 synthetic datasets outperforms random guessing (\emph{i.e., 50\%}) in twin verification and that models trained with synthetic identities are more biased than those trained with real identities. Both are important aspects for future investigation. Code is available at https://github.com/HaiyuWu/Vec2Face_plus
Triadic First-Order Logic Queries in Temporal Networks
Venue: arXiv cs.DB 2025
Year: 2025

Motif counting is a fundamental problem in network analysis, and there is a rich literature of theoretical and applied algorithms for this problem. Given a large input network $G$, a motif $H$ is a small "pattern" graph indicative of special local structure. Motif/pattern mining involves finding all matches of this pattern in the input $G$. The simplest, yet challenging, case of motif counting is when $H$ has three vertices, often called a "triadic" query. Recent work has focused on "temporal graph mining", where the network $G$ has edges with timestamps (and directions) and $H$ has time constraints. Inspired by concepts in logic and database theory, we introduce the study of "thresholded First Order Logic (FOL) Motif Analysis" for massive temporal networks. A typical triadic motif query asks for the existence of three vertices that form a desired temporal pattern. An "FOL" motif query is obtained by having both existential and thresholded universal quantifiers. This allows for query semantics that can mine richer information from networks. A typical triadic query would be "find all triples of vertices $u,v,w$ such that they form a triangle within one hour". A thresholded FOL query can express "find all pairs $u,v$ such that for half of $w$ where $(u,w)$ formed an edge, $(v,w)$ also formed an edge within an hour". We design the first algorithm, FOLTY, for mining thresholded FOL triadic queries. The theoretical running time of FOLTY matches the best known running time for temporal triangle counting in sparse graphs. We give an efficient implementation of FOLTY using specialized temporal data structures. FOLTY has excellent empirical behavior, and can answer triadic FOL queries on graphs with nearly 70M edges is less than hour on commodity hardware. Our work has the potential to start a new research direction in the classic well-studied problem of motif analysis.
P3SL: Personalized Privacy-Preserving Split Learning on Heterogeneous Edge Devices
Venue: arXiv cs.LG 2025
Year: 2025

Split Learning (SL) is an emerging privacy-preserving machine learning technique that enables resource constrained edge devices to participate in model training by partitioning a model into client-side and server-side sub-models. While SL reduces computational overhead on edge devices, it encounters significant challenges in heterogeneous environments where devices vary in computing resources, communication capabilities, environmental conditions, and privacy requirements. Although recent studies have explored heterogeneous SL frameworks that optimize split points for devices with varying resource constraints, they often neglect personalized privacy requirements and local model customization under varying environmental conditions. To address these limitations, we propose P3SL, a Personalized Privacy-Preserving Split Learning framework designed for heterogeneous, resource-constrained edge device systems. The key contributions of this work are twofold. First, we design a personalized sequential split learning pipeline that allows each client to achieve customized privacy protection and maintain personalized local models tailored to their computational resources, environmental conditions, and privacy needs. Second, we adopt a bi-level optimization technique that empowers clients to determine their own optimal personalized split points without sharing private sensitive information (i.e., computational resources, environmental conditions, privacy requirements) with the server. This approach balances energy consumption and privacy leakage risks while maintaining high model accuracy. We implement and evaluate P3SL on a testbed consisting of 7 devices including 4 Jetson Nano P3450 devices, 2 Raspberry Pis, and 1 laptop, using diverse model architectures and datasets under varying environmental conditions.
Hiord#: An Approach to the Specification and Verification of Higher-Order (C)LP Programs
Venue: arXiv cs.PL 2025
Year: 2025

Higher-order constructs enable more expressive and concise code by allowing procedures to be parameterized by other procedures. Assertions allow expressing partial program specifications, which can be verified either at compile time (statically) or run time (dynamically). In higher-order programs, assertions can also describe higher-order arguments. While in the context of (constraint) logic programming ((C)LP), run-time verification of higher-order assertions has received some attention, compile-time verification remains relatively unexplored. We propose a novel approach for statically verifying higher-order (C)LP programs with higher-order assertions. Although we use the Ciao assertion language for illustration, our approach is quite general and we believe is applicable to similar contexts. Higher-order arguments are described using predicate properties -- a special kind of property which exploits the (Ciao) assertion language. We refine the syntax and semantics of these properties and introduce an abstract criterion to determine conformance to a predicate property at compile time, based on a semantic order relation comparing the predicate property with the predicate assertions. We then show how to handle these properties using an abstract interpretation-based static analyzer for programs with first-order assertions by reducing predicate properties to first-order properties. Finally, we report on a prototype implementation and evaluate it through various examples within the Ciao system.
MaskedCLIP: Bridging the Masked and CLIP Space for Semi-Supervised Medical Vision-Language Pre-training
Venue: arXiv cs.CV 2025
Year: 2025

Foundation models have recently gained tremendous popularity in medical image analysis. State-of-the-art methods leverage either paired image-text data via vision-language pre-training or unpaired image data via self-supervised pre-training to learn foundation models with generalizable image features to boost downstream task performance. However, learning foundation models exclusively on either paired or unpaired image data limits their ability to learn richer and more comprehensive image features. In this paper, we investigate a novel task termed semi-supervised vision-language pre-training, aiming to fully harness the potential of both paired and unpaired image data for foundation model learning. To this end, we propose MaskedCLIP, a synergistic masked image modeling and contrastive language-image pre-training framework for semi-supervised vision-language pre-training. The key challenge in combining paired and unpaired image data for learning a foundation model lies in the incompatible feature spaces derived from these two types of data. To address this issue, we propose to connect the masked feature space with the CLIP feature space with a bridge transformer. In this way, the more semantic specific CLIP features can benefit from the more general masked features for semantic feature extraction. We further propose a masked knowledge distillation loss to distill semantic knowledge of original image features in CLIP feature space back to the predicted masked image features in masked feature space. With this mutually interactive design, our framework effectively leverages both paired and unpaired image data to learn more generalizable image features for downstream tasks. Extensive experiments on retinal image analysis demonstrate the effectiveness and data efficiency of our method.
Decentralized Federated Learning of Probabilistic Generative Classifiers
Venue: arXiv cs.LG 2025
Year: 2025

Federated learning is a paradigm of increasing relevance in real world applications, aimed at building a global model across a network of heterogeneous users without requiring the sharing of private data. We focus on model learning over decentralized architectures, where users collaborate directly to update the global model without relying on a central server. In this context, the current paper proposes a novel approach to collaboratively learn probabilistic generative classifiers with a parametric form. The framework is composed by a communication network over a set of local nodes, each of one having its own local data, and a local updating rule. The proposal involves sharing local statistics with neighboring nodes, where each node aggregates the neighbors' information and iteratively learns its own local classifier, which progressively converges to a global model. Extensive experiments demonstrate that the algorithm consistently converges to a globally competitive model across a wide range of network topologies, network sizes, local dataset sizes, and extreme non-i.i.d. data distributions.
On Temporal Guidance and Iterative Refinement in Audio Source Separation
Venue: arXiv cs.SD 2025
Year: 2025

Spatial semantic segmentation of sound scenes (S5) involves the accurate identification of active sound classes and the precise separation of their sources from complex acoustic mixtures. Conventional systems rely on a two-stage pipeline - audio tagging followed by label-conditioned source separation - but are often constrained by the absence of fine-grained temporal information critical for effective separation. In this work, we address this limitation by introducing a novel approach for S5 that enhances the synergy between the event detection and source separation stages. Our key contributions are threefold. First, we fine-tune a pre-trained Transformer to detect active sound classes. Second, we utilize a separate instance of this fine-tuned Transformer to perform sound event detection (SED), providing the separation module with detailed, time-varying guidance. Third, we implement an iterative refinement mechanism that progressively enhances separation quality by recursively reusing the separator's output from previous iterations. These advancements lead to significant improvements in both audio tagging and source separation performance, as demonstrated by our system's second-place finish in Task 4 of the DCASE Challenge 2025. Our implementation and model checkpoints are available in our GitHub repository: https://github.com/theMoro/dcase25task4 .
HuNavSim 2.0: An Enhanced Human Navigation Simulator for Human-Aware Robot Navigation
Venue: arXiv cs.RO 2025
Year: 2025

This work presents a new iteration of the Human Navigation Simulator (HuNavSim), a novel open-source tool for the simulation of different human-agent navigation behaviors in scenarios with mobile robots. The tool, programmed under the ROS 2 framework, can be used together with different well-known robotics simulators such as Gazebo or NVidia Isaac Sim. The main goal is to facilitate the development and evaluation of human-aware robot navigation systems in simulation. In this new version, several features have been improved and new ones added, such as the extended set of actions and conditions that can be combined in Behavior Trees to compound complex and realistic human behaviors.
Construction of Self-Orthogonal Quasi-Cyclic Codes and Their Application to Quantum Error-Correcting Codes
Venue: arXiv cs.IT 2025
Year: 2025

In this paper, necessary and sufficient conditions for the self-orthogonality of t-generator quasi-cyclic (QC) codes are presented under the Euclidean, Hermitian, and symplectic inner products, respectively. Particularly, by studying the structure of the dual codes of a class of 2-generator QC codes, we derive necessary and sufficient conditions for the QC codes to be dual-containing under the above three inner products. This class of 2-generator QC codes generalizes many known codes in the literature. Based on the above conditions, we construct several quantum stabilizer codes and quantum synchronizable codes with good parameters, some of which share parameters with certain best-known codes listed in Grassl's code table.
EndoFinder: Online Lesion Retrieval for Explainable Colorectal Polyp Diagnosis Leveraging Latent Scene Representations
Venue: arXiv cs.IR 2025
Year: 2025

Colorectal cancer (CRC) remains a leading cause of cancer-related mortality, underscoring the importance of timely polyp detection and diagnosis. While deep learning models have improved optical-assisted diagnostics, they often demand extensive labeled datasets and yield "black-box" outputs with limited interpretability. In this paper, we propose EndoFinder, an online polyp retrieval framework that leverages multi-view scene representations for explainable and scalable CRC diagnosis. First, we develop a Polyp-aware Image Encoder by combining contrastive learning and a reconstruction task, guided by polyp segmentation masks. This self-supervised approach captures robust features without relying on large-scale annotated data. Next, we treat each polyp as a three-dimensional "scene" and introduce a Scene Representation Transformer, which fuses multiple views of the polyp into a single latent representation. By discretizing this representation through a hashing layer, EndoFinder enables real-time retrieval from a compiled database of historical polyp cases, where diagnostic information serves as interpretable references for new queries. We evaluate EndoFinder on both public and newly collected polyp datasets for re-identification and pathology classification. Results show that EndoFinder outperforms existing methods in accuracy while providing transparent, retrieval-based insights for clinical decision-making. By contributing a novel dataset and a scalable, explainable framework, our work addresses key challenges in polyp diagnosis and offers a promising direction for more efficient AI-driven colonoscopy workflows. The source code is available at https://github.com/ku262/EndoFinder-Scene.
TransLPRNet: Lite Vision-Language Network for Single/Dual-line Chinese License Plate Recognition
Venue: arXiv cs.CV 2025
Year: 2025

License plate recognition in open environments is widely applicable across various domains; however, the diversity of license plate types and imaging conditions presents significant challenges. To address the limitations encountered by CNN and CRNN-based approaches in license plate recognition, this paper proposes a unified solution that integrates a lightweight visual encoder with a text decoder, within a pre-training framework tailored for single and double-line Chinese license plates. To mitigate the scarcity of double-line license plate datasets, we constructed a single/double-line license plate dataset by synthesizing images, applying texture mapping onto real scenes, and blending them with authentic license plate images. Furthermore, to enhance the system's recognition accuracy, we introduce a perspective correction network (PTN) that employs license plate corner coordinate regression as an implicit variable, supervised by license plate view classification information. This network offers improved stability, interpretability, and low annotation costs. The proposed algorithm achieves an average recognition accuracy of 99.34% on the corrected CCPD test set under coarse localization disturbance. When evaluated under fine localization disturbance, the accuracy further improves to 99.58%. On the double-line license plate test set, it achieves an average recognition accuracy of 98.70%, with processing speeds reaching up to 167 frames per second, indicating strong practical applicability.