OpenRaiser/Intern-Atlas huggingface dataset:
What's In My Human Feedback? Learning Interpretable Descriptions of Preference Data
Venue: arXiv cs.CL 2025
Year: 2025

Human feedback can alter language models in unpredictable and undesirable ways, as practitioners lack a clear understanding of what feedback data encodes. While prior work studies preferences over certain attributes (e.g., length or sycophancy), automatically extracting relevant features without pre-specifying hypotheses remains challenging. We introduce What's In My Human Feedback? (WIMHF), a method to explain feedback data using sparse autoencoders. WIMHF characterizes both (1) the preferences a dataset is capable of measuring and (2) the preferences that the annotators actually express. Across 7 datasets, WIMHF identifies a small number of human-interpretable features that account for the majority of the preference prediction signal achieved by black-box models. These features reveal a wide diversity in what humans prefer, and the role of dataset-level context: for example, users on Reddit prefer informality and jokes, while annotators in HH-RLHF and PRISM disprefer them. WIMHF also surfaces potentially unsafe preferences, such as that LMArena users tend to vote against refusals, often in favor of toxic content. The learned features enable effective data curation: re-labeling the harmful examples in Arena yields large safety gains (+37%) with no cost to general performance. They also allow fine-grained personalization: on the Community Alignment dataset, we learn annotator-specific weights over subjective features that improve preference prediction. WIMHF provides a human-centered analysis method for practitioners to better understand and use preference data.
Towards Global Retrieval Augmented Generation: A Benchmark for Corpus-Level Reasoning
Venue: arXiv cs.CL 2025
Year: 2025

Retrieval-augmented generation (RAG) has emerged as a leading approach to reducing hallucinations in large language models (LLMs). Current RAG evaluation benchmarks primarily focus on what we call local RAG: retrieving relevant chunks from a small subset of documents to answer queries that require only localized understanding within specific text chunks. However, many real-world applications require a fundamentally different capability -- global RAG -- which involves aggregating and analyzing information across entire document collections to derive corpus-level insights (for example, "What are the top 10 most cited papers in 2023?"). In this paper, we introduce GlobalQA -- the first benchmark specifically designed to evaluate global RAG capabilities, covering four core task types: counting, extremum queries, sorting, and top-k extraction. Through systematic evaluation across different models and baselines, we find that existing RAG methods perform poorly on global tasks, with the strongest baseline achieving only 1.51 F1 score. To address these challenges, we propose GlobalRAG, a multi-tool collaborative framework that preserves structural coherence through chunk-level retrieval, incorporates LLM-driven intelligent filters to eliminate noisy documents, and integrates aggregation modules for precise symbolic computation. On the Qwen2.5-14B model, GlobalRAG achieves 6.63 F1 compared to the strongest baseline's 1.51 F1, validating the effectiveness of our method.
From req/res to pub/sub: Exploring Media over QUIC Transport for DNS
Venue: arXiv cs.NI 2025
Year: 2025

The DNS is a key component of the Internet. Originally designed to facilitate the resolution of host names to IP addresses, its scope has continuously expanded over the years, today covering use cases such as load balancing or service discovery. While DNS was initially conceived as a rather static directory service in which resource records (RR) only change rarely, we have seen a number of use cases over the years where a DNS flavor that isn't purely based upon requesting and caching RRs, but rather on an active distribution of updates for all resolvers that showed interest in the respective records in the past, would be preferable. In this paper, we thus explore a publish-subscribe variant of DNS based on the Media-over-QUIC architecture, where we devise a strawman system and protocol proposal to enable pushing RR updates. We provide a prototype implementation, finding that DNS can benefit from a publish-subscribe variant: next to limiting update traffic, it can considerably reduce the time it takes for a resolver to receive the latest version of a record, thereby supporting use cases such as load balancing in content distribution networks. The publish-subscribe architecture also brings new challenges to the DNS, including a higher overhead for endpoints due to additional state management, and increased query latencies on first lookup, due to session establishment latencies.
Questionnaire meets LLM: A Benchmark and Empirical Study of Structural Skills for Understanding Questions and Responses
Venue: arXiv cs.AI 2025
Year: 2025

Millions of people take surveys every day, from market polls and academic studies to medical questionnaires and customer feedback forms. These datasets capture valuable insights, but their scale and structure present a unique challenge for large language models (LLMs), which otherwise excel at few-shot reasoning over open-ended text. Yet, their ability to process questionnaire data or lists of questions crossed with hundreds of respondent rows remains underexplored. Current retrieval and survey analysis tools (e.g., Qualtrics, SPSS, REDCap) are typically designed for humans in the workflow, limiting such data integration with LLM and AI-empowered automation. This gap leaves scientists, surveyors, and everyday users without evidence-based guidance on how to best represent questionnaires for LLM consumption. We address this by introducing QASU (Questionnaire Analysis and Structural Understanding), a benchmark that probes six structural skills, including answer lookup, respondent count, and multi-hop inference, across six serialization formats and multiple prompt strategies. Experiments on contemporary LLMs show that choosing an effective format and prompt combination can improve accuracy by up to 8.8% points compared to suboptimal formats. For specific tasks, carefully adding a lightweight structural hint through self-augmented prompting can yield further improvements of 3-4% points on average. By systematically isolating format and prompting effects, our open source benchmark offers a simple yet versatile foundation for advancing both research and real-world practice in LLM-based questionnaire analysis.
Which Way Does Time Flow? A Psychophysics-Grounded Evaluation for Vision-Language Models
Venue: arXiv cs.CV 2025
Year: 2025

Modern vision-language models (VLMs) excel at many multimodal tasks, yet their grasp of temporal information in video remains weak and, crucially, under-evaluated. We probe this gap with a deceptively simple but revealing challenge: judging the arrow of time (AoT)-whether a short clip is played forward or backward. We introduce AoT-PsyPhyBENCH, a psychophysically validated benchmark that tests whether VLMs can infer temporal direction in natural videos using the same stimuli and behavioral baselines established for humans. Our comprehensive evaluation of open-weight and proprietary, reasoning and non-reasoning VLMs reveals that most models perform near chance, and even the best lag far behind human accuracy on physically irreversible processes (e.g., free fall, diffusion/explosion) and causal manual actions (division/addition) that humans recognize almost instantly. These results highlight a fundamental gap in current multimodal systems: while they capture rich visual-semantic correlations, they lack the inductive biases required for temporal continuity and causal understanding. We release the code and data for AoT-PsyPhyBENCH to encourage further progress in the physical and temporal reasoning capabilities of VLMs.
Look at That Distractor: Dynamic Translation Gain under Low Perceptual Load in Virtual Reality
Venue: arXiv cs.HC 2025
Year: 2025

Redirected walking utilizes gain adjustments within perceptual thresholds to allow natural navigation in large scale virtual environments within confined physical environments. Previous research has found that when users are distracted by some scene elements, they are less sensitive to gain values. However, the effects on detection thresholds have not been quantitatively measured. In this paper, we present a novel method that dynamically adjusts translation gain by leveraging visual distractors. We place distractors within the user's field of view and apply a larger translation gain when their attention is drawn to them. Because the magnitude of gain adjustment depends on the user's level of engagement with the distractors, the redirection process remains smooth and unobtrusive. To evaluate our method, we developed a task oriented virtual environment for a user study. Results show that introducing distractors in the virtual environment significantly raises users' translation gain thresholds. Furthermore, assessments using the Simulator Sickness Questionnaire and Igroup Presence Questionnaire indicate that the method maintains user comfort and acceptance, supporting its effectiveness for RDW systems.
Empirical Bayesian Multi-Bandit Learning
Venue: arXiv cs.LG 2025
Year: 2025

Multi-task learning in contextual bandits has attracted significant research interest due to its potential to enhance decision-making across multiple related tasks by leveraging shared structures and task-specific heterogeneity. In this article, we propose a novel hierarchical Bayesian framework for learning in various bandit instances. This framework captures both the heterogeneity and the correlations among different bandit instances through a hierarchical Bayesian model, enabling effective information sharing while accommodating instance-specific variations. Unlike previous methods that overlook the learning of the covariance structure across bandits, we introduce an empirical Bayesian approach to estimate the covariance matrix of the prior distribution. This enhances both the practicality and flexibility of learning across multi-bandits. Building on this approach, we develop two efficient algorithms: ebmTS (Empirical Bayesian Multi-Bandit Thompson Sampling) and ebmUCB (Empirical Bayesian Multi-Bandit Upper Confidence Bound), both of which incorporate the estimated prior into the decision-making process. We provide the frequentist regret upper bounds for the proposed algorithms, thereby filling a research gap in the field of multi-bandit problems. Extensive experiments on both synthetic and real-world datasets demonstrate the superior performance of our algorithms, particularly in complex environments. Our methods achieve lower cumulative regret compared to existing techniques, highlighting their effectiveness in balancing exploration and exploitation across multi-bandits.
Unravelling the Mechanisms of Manipulating Numbers in Language Models
Venue: arXiv cs.CL 2025
Year: 2025

Recent work has shown that different large language models (LLMs) converge to similar and accurate input embedding representations for numbers. These findings conflict with the documented propensity of LLMs to produce erroneous outputs when dealing with numeric information. In this work, we aim to explain this conflict by exploring how language models manipulate numbers and quantify the lower bounds of accuracy of these mechanisms. We find that despite surfacing errors, different language models learn interchangeable representations of numbers that are systematic, highly accurate and universal across their hidden states and the types of input contexts. This allows us to create universal probes for each LLM and to trace information -- including the causes of output errors -- to specific layers. Our results lay a fundamental understanding of how pre-trained LLMs manipulate numbers and outline the potential of more accurate probing techniques in addressed refinements of LLMs' architectures.
Beyond Imitation: Constraint-Aware Trajectory Generation with Flow Matching For End-to-End Autonomous Driving
Venue: arXiv cs.CV 2025
Year: 2025

Planning is a critical component of end-to-end autonomous driving. However, prevailing imitation learning methods often suffer from mode collapse, failing to produce diverse trajectory hypotheses. Meanwhile, existing generative approaches struggle to incorporate crucial safety and physical constraints directly into the generative process, necessitating an additional optimization stage to refine their outputs. To address these limitations, we propose CATG, a novel planning framework that leverages Constrained Flow Matching. Concretely, CATG explicitly models the flow matching process, which inherently mitigates mode collapse and allows for flexible guidance from various conditioning signals. Our primary contribution is the novel imposition of explicit constraints directly within the flow matching process, ensuring that the generated trajectories adhere to vital safety and kinematic rules. Secondly, CATG parameterizes driving aggressiveness as a control signal during generation, enabling precise manipulation of trajectory style. Notably, on the NavSim v2 challenge, CATG achieved 2nd place with an EPDMS score of 51.31 and was honored with the Innovation Award.
UnifiedFL: A Dynamic Unified Learning Framework for Equitable Federation
Venue: arXiv cs.LG 2025
Year: 2025

Federated learning (FL) has emerged as a key paradigm for collaborative model training across multiple clients without sharing raw data, enabling privacy-preserving applications in areas such as radiology and pathology. However, works on collaborative training across clients with fundamentally different neural architectures and non-identically distributed datasets remain scarce. Existing FL frameworks face several limitations. Despite claiming to support architectural heterogeneity, most recent FL methods only tolerate variants within a single model family (e.g., shallower, deeper, or wider CNNs), still presuming a shared global architecture and failing to accommodate federations where clients deploy fundamentally different network types (e.g., CNNs, GNNs, MLPs). Moreover, existing approaches often address only statistical heterogeneity while overlooking the domain-fracture problem, where each client's data distribution differs markedly from that faced at testing time, undermining model generalizability. When clients use different architectures, have non-identically distributed data, and encounter distinct test domains, current methods perform poorly. To address these challenges, we propose UnifiedFL, a dynamic federated learning framework that represents heterogeneous local networks as nodes and edges in a directed model graph optimized by a shared graph neural network (GNN). UnifiedFL introduces (i) a common GNN to parameterize all architectures, (ii) distance-driven clustering via Euclidean distances between clients' parameters, and (iii) a two-tier aggregation policy balancing convergence and diversity. Experiments on MedMNIST classification and hippocampus segmentation benchmarks demonstrate UnifiedFL's superior performance. Code and data: https://github.com/basiralab/UnifiedFL
AgriGS-SLAM: Orchard Mapping Across Seasons via Multi-View Gaussian Splatting SLAM
Venue: arXiv cs.RO 2025
Year: 2025

Autonomous robots in orchards require real-time 3D scene understanding despite repetitive row geometry, seasonal appearance changes, and wind-driven foliage motion. We present AgriGS-SLAM, a Visual--LiDAR SLAM framework that couples direct LiDAR odometry and loop closures with multi-camera 3D Gaussian Splatting (3DGS) rendering. Batch rasterization across complementary viewpoints recovers orchard structure under occlusions, while a unified gradient-driven map lifecycle executed between keyframes preserves fine details and bounds memory. Pose refinement is guided by a probabilistic LiDAR-based depth consistency term, back-propagated through the camera projection to tighten geometry-appearance coupling. We deploy the system on a field platform in apple and pear orchards across dormancy, flowering, and harvesting, using a standardized trajectory protocol that evaluates both training-view and novel-view synthesis to reduce 3DGS overfitting in evaluation. Across seasons and sites, AgriGS-SLAM delivers sharper, more stable reconstructions and steadier trajectories than recent state-of-the-art 3DGS-SLAM baselines while maintaining real-time performance on-tractor. While demonstrated in orchard monitoring, the approach can be applied to other outdoor domains requiring robust multimodal perception.
Cooperative Task Spaces for Multi-Arm Manipulation Control based on Similarity Transformations
Venue: arXiv cs.RO 2025
Year: 2025

Many tasks in human environments require collaborative behavior between multiple kinematic chains, either to provide additional support for carrying big and bulky objects or to enable the dexterity that is required for in-hand manipulation. Since these complex systems often have a very high number of degrees of freedom coordinating their movements is notoriously difficult to model. In this article, we present the derivation of the theoretical foundations for cooperative task spaces of multi-arm robotic systems based on geometric primitives defined using conformal geometric algebra. Based on the similarity transformations of these cooperative geometric primitives, we derive an abstraction of complex robotic systems that enables representing these systems in a way that directly corresponds to single-arm systems. By deriving the associated analytic and geometric Jacobian matrices, we then show the straightforward integration of our approach into classical control techniques rooted in operational space control. We demonstrate this using bimanual manipulators, humanoids and multi-fingered hands in optimal control experiments for reaching desired geometric primitives and in teleoperation experiments using differential kinematics control. We then discuss how the geometric primitives naturally embed nullspace structures into the controllers that can be exploited for introducing secondary control objectives. This work, represents the theoretical foundations of this cooperative manipulation control framework, and thus the experiments are presented in an abstract way, while giving pointers towards potential future applications.
AI Mathematician as a Partner in Advancing Mathematical Discovery -- A Case Study in Homogenization Theory
Venue: arXiv cs.AI 2025
Year: 2025

Artificial intelligence (AI) has demonstrated impressive progress in mathematical reasoning, yet its integration into the practice of mathematical research remains limited. In this study, we investigate how the AI Mathematician (AIM) system can operate as a research partner rather than a mere problem solver. Focusing on a challenging problem in homogenization theory, we analyze the autonomous reasoning trajectories of AIM and incorporate targeted human interventions to structure the discovery process. Through iterative decomposition of the problem into tractable subgoals, selection of appropriate analytical methods, and validation of intermediate results, we reveal how human intuition and machine computation can complement one another. This collaborative paradigm enhances the reliability, transparency, and interpretability of the resulting proofs, while retaining human oversight for formal rigor and correctness. The approach leads to a complete and verifiable proof, and more broadly, demonstrates how systematic human-AI co-reasoning can advance the frontier of mathematical discovery.
Scales++: Compute Efficient Evaluation Subset Selection with Cognitive Scales Embeddings
Venue: arXiv cs.AI 2025
Year: 2025

The prohibitive cost of evaluating large language models (LLMs) on comprehensive benchmarks necessitates the creation of small yet representative data subsets (i.e., tiny benchmarks) that enable efficient assessment while retaining predictive fidelity. Current methods for this task operate under a model-centric paradigm, selecting benchmarking items based on the collective performance of existing models. Such approaches are limited by large upfront costs, an inability to immediately handle new benchmarks (`cold-start'), and the fragile assumption that future models will share the failure patterns of their predecessors. In this work, we challenge this paradigm and propose a item-centric approach to benchmark subset selection, arguing that selection should be based on the intrinsic properties of the task items themselves, rather than on model-specific failure patterns. We instantiate this item-centric efficient benchmarking approach via a novel method, Scales++, where data selection is based on the cognitive demands of the benchmark samples. Empirically, we show Scales++ reduces the upfront selection cost by over 18x while achieving competitive predictive fidelity. On the Open LLM Leaderboard, using just a 0.5\% data subset, we predict full benchmark scores with a 2.9% mean absolute error. We demonstrate that this item-centric approach enables more efficient model evaluation without significant fidelity degradation, while also providing better cold-start performance and more interpretable benchmarking.
A Pragmatic View of AI Personhood
Venue: arXiv cs.AI 2025
Year: 2025

The emergence of agentic Artificial Intelligence (AI) is set to trigger a "Cambrian explosion" of new kinds of personhood. This paper proposes a pragmatic framework for navigating this diversification by treating personhood not as a metaphysical property to be discovered, but as a flexible bundle of obligations (rights and responsibilities) that societies confer upon entities for a variety of reasons, especially to solve concrete governance problems. We argue that this traditional bundle can be unbundled, creating bespoke solutions for different contexts. This will allow for the creation of practical tools -- such as facilitating AI contracting by creating a target "individual" that can be sanctioned -- without needing to resolve intractable debates about an AI's consciousness or rationality. We explore how individuals fit in to social roles and discuss the use of decentralized digital identity technology, examining both "personhood as a problem", where design choices can create "dark patterns" that exploit human social heuristics, and "personhood as a solution", where conferring a bundle of obligations is necessary to ensure accountability or prevent conflict. By rejecting foundationalist quests for a single, essential definition of personhood, this paper offers a more pragmatic and flexible way to think about integrating AI agents into our society.
PointSt3R: Point Tracking through 3D Grounded Correspondence
Venue: arXiv cs.CV 2025
Year: 2025

Recent advances in foundational 3D reconstruction models, such as DUSt3R and MASt3R, have shown great potential in 2D and 3D correspondence in static scenes. In this paper, we propose to adapt them for the task of point tracking through 3D grounded correspondence. We first demonstrate that these models are competitive point trackers when focusing on static points, present in current point tracking benchmarks ($+33.5\%$ on EgoPoints vs. CoTracker2). We propose to combine the reconstruction loss with training for dynamic correspondence along with a visibility head, and fine-tuning MASt3R for point tracking using a relatively small amount of synthetic data. Importantly, we only train and evaluate on pairs of frames where one contains the query point, effectively removing any temporal context. Using a mix of dynamic and static point correspondences, we achieve competitive or superior point tracking results on four datasets (e.g. competitive on TAP-Vid-DAVIS 73.8 $δ_{avg}$ / 85.8\% occlusion acc. for PointSt3R compared to 75.7 / 88.3\% for CoTracker2; and significantly outperform CoTracker3 on EgoPoints 61.3 vs 54.2 and RGB-S 87.0 vs 82.8). We also present results on 3D point tracking along with several ablations on training datasets and percentage of dynamic correspondences.