OpenRaiser/Intern-Atlas huggingface dataset:
The Emergence of Deep Reinforcement Learning for Path Planning
Venue: arXiv cs.RO 2025
Year: 2025

The increasing demand for autonomous systems in complex and dynamic environments has driven significant research into intelligent path planning methodologies. For decades, graph-based search algorithms, linear programming techniques, and evolutionary computation methods have served as foundational approaches in this domain. Recently, deep reinforcement learning (DRL) has emerged as a powerful method for enabling autonomous agents to learn optimal navigation strategies through interaction with their environments. This survey provides a comprehensive overview of traditional approaches as well as the recent advancements in DRL applied to path planning tasks, focusing on autonomous vehicles, drones, and robotic platforms. Key algorithms across both conventional and learning-based paradigms are categorized, with their innovations and practical implementations highlighted. This is followed by a thorough discussion of their respective strengths and limitations in terms of computational efficiency, scalability, adaptability, and robustness. The survey concludes by identifying key open challenges and outlining promising avenues for future research. Special attention is given to hybrid approaches that integrate DRL with classical planning techniques to leverage the benefits of both learning-based adaptability and deterministic reliability, offering promising directions for robust and resilient autonomous navigation.
The Constitutional Controller: Doubt-Calibrated Steering of Compliant Agents
Venue: arXiv cs.RO 2025
Year: 2025

Ensuring reliable and rule-compliant behavior of autonomous agents in uncertain environments remains a fundamental challenge in modern robotics. Our work shows how neuro-symbolic systems, which integrate probabilistic, symbolic white-box reasoning models with deep learning methods, offer a powerful solution to this challenge. This enables the simultaneous consideration of explicit rules and neural models trained on noisy data, combining the strength of structured reasoning with flexible representations. To this end, we introduce the Constitutional Controller (CoCo), a novel framework designed to enhance the safety and reliability of agents by reasoning over deep probabilistic logic programs representing constraints such as those found in shared traffic spaces. Furthermore, we propose the concept of self-doubt, implemented as a probability density conditioned on doubt features such as travel velocity, employed sensors, or health factors. In a real-world aerial mobility study, we demonstrate CoCo's advantages for intelligent autonomous systems to learn appropriate doubts and navigate complex and uncertain environments safely and compliantly.
Advancing Lunar Communication through Inter-domain Space Networks and Dynamic Orchestration
Venue: arXiv cs.ET 2025
Year: 2025

The resurgent era of lunar exploration is defined by a strategic shift from temporary visits to a sustained international and commercial presence, resulting in an unprecedented demand for a robust and continuously available communication infrastructure. The conventional direct-to-Earth communication architecture relies on limited and oversubscribed deep space networks, which are further challenged by the radiative environment and insufficient visibility in certain areas of the cislunar domain. We address these issues by proposing a foundational move toward inter-domain space network cooperation by introducing architectures based on near space networks. They can directly service lunar surface users or, via cislunar relays, by forming a resilient and multi-layered communication backbone. First, we establish a unified link analysis framework incorporating frequently disregarded environmental factors, such as the Moon's variable illumination, to provide a high-fidelity performance evaluation. Second, we assess architectures' reliability based on the outage risk, essential for quantifying the operational robustness of communication links. Finally, to manage the inherent dynamism of architectures, we propose an inter-domain space digital twin: a dynamic decision-making engine that performs real-time analysis to autonomously select the best communication path, ensuring high and stable reliability while simultaneously optimizing power consumption. Overall, our paper provides a holistic architectural and conceptual management framework, emphasizing the necessity of lunar communications to support a permanent human and economic foothold on the Moon.
Off-Policy Corrected Reward Modeling for Reinforcement Learning from Human Feedback
Venue: arXiv cs.LG 2025
Year: 2025

Reinforcement Learning from Human Feedback (RLHF) allows us to train models, such as language models (LMs), to follow complex human preferences. In RLHF for LMs, we first train an LM using supervised fine-tuning, sample pairs of responses, obtain human feedback, and use the resulting data to train a reward model (RM). RL methods are then used to train the LM to maximize the reward given by the RM. As training progresses, the responses generated by the LM no longer resemble the responses seen by the RM during training, leading to the RM becoming inaccurate. The score given by the RM keeps increasing, but the learned behavior no longer matches the human preferences. This issue is known as overoptimization. We investigate overoptimization from the point of view of distribution shift and show that the shift results in an inconsistent estimate of the RM parameters, leading to an inconsistent estimate of the policy gradient. We propose Off-Policy Corrected Reward Modeling (OCRM), which iteratively off-policy corrects the RM using importance weighting, without requiring new labels or samples. This results in a more accurate RM, which empirically leads to an improved final policy. We validate our approach in experiments with summarization and chatbot datasets and show that it performs significantly better than standard RLHF methods and baselines. Our implementation is available at https://github.com/JohannesAck/OffPolicyCorrectedRewardModeling
RankMixer: Scaling Up Ranking Models in Industrial Recommenders
Venue: arXiv cs.IR 2025
Year: 2025

Recent progress on large language models (LLMs) has spurred interest in scaling up recommendation systems, yet two practical obstacles remain. First, training and serving cost on industrial Recommenders must respect strict latency bounds and high QPS demands. Second, most human-designed feature-crossing modules in ranking models were inherited from the CPU era and fail to exploit modern GPUs, resulting in low Model Flops Utilization (MFU) and poor scalability. We introduce RankMixer, a hardware-aware model design tailored towards a unified and scalable feature-interaction architecture. RankMixer retains the transformer's high parallelism while replacing quadratic self-attention with multi-head token mixing module for higher efficiency. Besides, RankMixer maintains both the modeling for distinct feature subspaces and cross-feature-space interactions with Per-token FFNs. We further extend it to one billion parameters with a Sparse-MoE variant for higher ROI. A dynamic routing strategy is adapted to address the inadequacy and imbalance of experts training. Experiments show RankMixer's superior scaling abilities on a trillion-scale production dataset. By replacing previously diverse handcrafted low-MFU modules with RankMixer, we boost the model MFU from 4.5\% to 45\%, and scale our ranking model parameters by 100x while maintaining roughly the same inference latency. We verify RankMixer's universality with online A/B tests across two core application scenarios (Recommendation and Advertisement). Finally, we launch 1B Dense-Parameters RankMixer for full traffic serving without increasing the serving cost, which improves user active days by 0.3\% and total in-app usage duration by 1.08\%.
GeMix: Conditional GAN-Based Mixup for Improved Medical Image Augmentation
Venue: arXiv cs.CV 2025
Year: 2025

Mixup has become a popular augmentation strategy for image classification, yet its naive pixel-wise interpolation often produces unrealistic images that can hinder learning, particularly in high-stakes medical applications. We propose GeMix, a two-stage framework that replaces heuristic blending with a learned, label-aware interpolation powered by class-conditional GANs. First, a StyleGAN2-ADA generator is trained on the target dataset. During augmentation, we sample two label vectors from Dirichlet priors biased toward different classes and blend them via a Beta-distributed coefficient. Then, we condition the generator on this soft label to synthesize visually coherent images that lie along a continuous class manifold. We benchmark GeMix on the large-scale COVIDx-CT-3 dataset using three backbones (ResNet-50, ResNet-101, EfficientNet-B0). When combined with real data, our method increases macro-F1 over traditional mixup for all backbones, reducing the false negative rate for COVID-19 detection. GeMix is thus a drop-in replacement for pixel-space mixup, delivering stronger regularization and greater semantic fidelity, without disrupting existing training pipelines. We publicly release our code at https://github.com/hugocarlesso/GeMix to foster reproducibility and further research.
We Need to Rethink Benchmarking in Anomaly Detection
Venue: arXiv cs.LG 2025
Year: 2025

Despite the continuous proposal of new anomaly detection algorithms and extensive benchmarking efforts, progress seems to stagnate, with only minor performance differences between established baselines and new algorithms. In this position paper, we argue that this stagnation is due to limitations in how we evaluate anomaly detection algorithms. Current benchmarking does not, for example, sufficiently reflect the diversity of anomalies in applications ranging from predictive maintenance to scientific discovery. Consequently, we need to rethink benchmarking in anomaly detection. In our opinion, anomaly detection should be studied using scenarios that capture the relevant characteristics of different applications. We identify three key areas for improvement: First, we need to identify anomaly detection scenarios based on a common taxonomy. Second, anomaly detection pipelines should be analyzed end-to-end and by component. Third, evaluating anomaly detection algorithms should be meaningful regarding the scenario's objectives.
Being-H0: Vision-Language-Action Pretraining from Large-Scale Human Videos
Venue: arXiv cs.CV 2025
Year: 2025

We introduce Being-H0, a dexterous Vision-Language-Action model (VLA) trained on large-scale human videos. Existing VLAs struggle with complex manipulation tasks requiring high dexterity and generalize poorly to novel scenarios and tasks, primarily due to their reliance on synthetic data with significant sim-to-real gaps or teleoperated demonstrations lacking scale and diversity. To address this data bottleneck, we propose leveraging human hands as a foundation manipulator, capitalizing on the rich dexterity and scalability present in web data. Our approach centers on physical instruction tuning, a novel training paradigm that combines large-scale VLA pretraining from human videos, physical space alignment for 3D reasoning, and post-training adaptation for robotic tasks. Additionally, we introduce a part-level motion tokenization method which achieves millimeter-level reconstruction accuracy to model precise hand trajectories for action learning. To support our proposed paradigm, we further develop a comprehensive data curation pipeline that integrates heterogeneous sources -- including motion capture, VR, and RGB-only videos -- into a large-scale dataset with millions of motion-based instructional instances. We empirically show the excellence of Being-H0 in hand motion generation and instruction following, and it also scales well with model and data sizes. Importantly, we observe the expected gains of Being-H0 in real-world robotic manipulation as physical instruction tuning is applied. More details are available at https://beingbeyond.github.io/Being-H0.
A Universal Vehicle-Trailer Navigation System with Neural Kinematics and Online Residual Learning
Venue: arXiv cs.RO 2025
Year: 2025

Autonomous navigation of vehicle-trailer systems is crucial in environments like airports, supermarkets, and concert venues, where various types of trailers are needed to navigate with different payloads and conditions. However, accurately modeling such systems remains challenging, especially for trailers with castor wheels. In this work, we propose a novel universal vehicle-trailer navigation system that integrates a hybrid nominal kinematic model--combining classical nonholonomic constraints for vehicles and neural network-based trailer kinematics--with a lightweight online residual learning module to correct real-time modeling discrepancies and disturbances. Additionally, we develop a model predictive control framework with a weighted model combination strategy that improves long-horizon prediction accuracy and ensures safer motion planning. Our approach is validated through extensive real-world experiments involving multiple trailer types and varying payload conditions, demonstrating robust performance without manual tuning or trailer-specific calibration.
Multi-Stage Prompt Inference Attacks on Enterprise LLM Systems
Venue: arXiv cs.CR 2025
Year: 2025

Large Language Models (LLMs) deployed in enterprise settings (e.g., as Microsoft 365 Copilot) face novel security challenges. One critical threat is prompt inference attacks: adversaries chain together seemingly benign prompts to gradually extract confidential data. In this paper, we present a comprehensive study of multi-stage prompt inference attacks in an enterprise LLM context. We simulate realistic attack scenarios where an attacker uses mild-mannered queries and indirect prompt injections to exploit an LLM integrated with private corporate data. We develop a formal threat model for these multi-turn inference attacks and analyze them using probability theory, optimization frameworks, and information-theoretic leakage bounds. The attacks are shown to reliably exfiltrate sensitive information from the LLM's context (e.g., internal SharePoint documents or emails), even when standard safety measures are in place. We propose and evaluate defenses to counter such attacks, including statistical anomaly detection, fine-grained access control, prompt sanitization techniques, and architectural modifications to LLM deployment. Each defense is supported by mathematical analysis or experimental simulation. For example, we derive bounds on information leakage under differential privacy-based training and demonstrate an anomaly detection method that flags multi-turn attacks with high AUC. We also introduce an approach called "spotlighting" that uses input transformations to isolate untrusted prompt content, reducing attack success by an order of magnitude. Finally, we provide a formal proof of concept and empirical validation for a combined defense-in-depth strategy. Our work highlights that securing LLMs in enterprise settings requires moving beyond single-turn prompt filtering toward a holistic, multi-stage perspective on both attacks and defenses.
Hot Topics and Common Challenges: an Empirical Study of React Discussions on Stack Overflow
Venue: arXiv cs.SE 2025
Year: 2025

React is a JavaScript library used to build user interfaces for single-page applications. Although recent studies have shown the popularity and advantages of React in web development, the specific challenges users face remain unknown. Thus, this study aims to analyse the React-related questions shared on Stack Overflow. The study utilizes an exploratory data analysis to investigate the most frequently discussed keywords, error classification, and user reputation-based errors, which is the novelty of this work. The results show the top eight most frequently used keywords on React-related questions, namely, code, link, vir, href, connect, azure, windows, and website. The error classification of questions from the sample shows that algorithmic error is the most frequent issue faced by all groups of users, where mid-reputation users contribute the most, accounting for 55.77%. This suggests the need for the community to provide guidance materials in solving algorithm-related problems. We expect that the results of this study will provide valuable insight into future research to support the React community during the early stages of implementation, facilitating their ability to effectively overcome challenges to adoption.
A Survey on Efficiency Optimization Techniques for DNN-based Video Analytics: Process Systems, Algorithms, and Applications
Venue: arXiv cs.CV 2025
Year: 2025

The explosive growth of video data in recent years has brought higher demands for video analytics, where accuracy and efficiency remain the two primary concerns. Deep neural networks (DNNs) have been widely adopted to ensure accuracy; however, improving their efficiency in video analytics remains an open challenge. Different from existing surveys that make summaries of DNN-based video mainly from the accuracy optimization aspect, in this survey, we aim to provide a thorough review of optimization techniques focusing on the improvement of the efficiency of DNNs in video analytics. We organize existing methods in a bottom-up manner, covering multiple perspectives such as hardware support, data processing, operational deployment, etc. Finally, based on the optimization framework and existing works, we analyze and discuss the problems and challenges in the performance optimization of DNN-based video analytics.
HW-MLVQA: Elucidating Multilingual Handwritten Document Understanding with a Comprehensive VQA Benchmark
Venue: arXiv cs.CV 2025
Year: 2025

The proliferation of MultiLingual Visual Question Answering (MLVQA) benchmarks augments the capabilities of large language models (LLMs) and multi-modal LLMs, thereby enabling them to adeptly capture the intricate linguistic subtleties and visual complexities inherent across diverse languages. Despite its potential, the current MLVQA model struggles to fully utilize its capabilities when dealing with the extensive variety of handwritten documents. This article delineates HW-MLVQA, an avant-garde VQA benchmark meticulously crafted to mitigate the dearth of authentic Multilingual Handwritten document comprehension. HW-MLVQA encompasses an extensive collection of 1,600 handwritten Pages complemented by 2,400 question-answers. Furthermore, it provides a robust benchmark evaluation framework spanning three distinct modalities: text, image, and an integrated image & text modality. To simulate authentic real-world contexts devoid of ground truth textual transcriptions, we facilitates a rigorous assessment of proprietary and open-source OCR models. The benchmark aspires to facilitate pivotal advancements in multilingual handwritten document interpretation, fostering innovation and scholarly inquiry within this specialized domain.
Modeling CubeSat Storage Battery Discharge: Equivalent Circuit Versus Machine Learning Approaches
Venue: arXiv cs.SE 2025
Year: 2025

The subject of the article is the study and comparison of two approaches to modelling the battery discharge of a CubeSat satellite: analytical using equivalent circuit and machine learning. The article aims to make a reasoned choice of the approach to modelling the battery discharge of a CubeSat satellite. Modelling the battery discharge of a satellite will enable the prediction of the consequences of disconnecting the autonomous power system and ensure the fault tolerance of equipment in orbit. Therefore, the selected study is relevant and promising. This study focuses on the analysis of CubeSat satellite data, based explicitly on orbital data samples of the power system, which include data available at the time of the article publication. The dataset contains data on the voltage, current, and temperature of the battery and solar panels attached to the five sides of the satellite. In this context, two approaches are considered: analytical modelling based on physical laws and machine learning, which uses empirical data to create a predictive model. Results: A comparative analysis of the modeling results reveals that the equivalent circuit approach has the advantage of transparency, as it identifies possible parameters that facilitate understanding of the relationships. However, the model is less flexible to environmental changes or non-standard satellite behavior. The machine learning model demonstrated more accurate results, as it can account for complex dependencies and adapt to actual conditions, even when they deviate from theoretical assumptions.
BugScope: Learn to Find Bugs Like Human
Venue: arXiv cs.SE 2025
Year: 2025

Detecting software bugs remains a fundamental challenge due to the extensive diversity of real-world defects. Traditional static analysis tools often rely on symbolic workflows, which restrict their coverage and hinder adaptability to customized bugs with diverse anti-patterns. While recent advances incorporate large language models (LLMs) to enhance bug detection, these methods continue to struggle with sophisticated bugs and typically operate within limited analysis contexts. To address these challenges, we propose BugScope, an LLM-driven multi-agent system that emulates how human auditors learn new bug patterns from representative examples and apply that knowledge during code auditing. Given a set of examples illustrating both buggy and non-buggy behaviors, BugScope synthesizes a retrieval strategy to extract relevant detection contexts via program slicing and then constructs a tailored detection prompt to guide accurate reasoning by the LLM. Our evaluation on a curated dataset of 40 real-world bugs drawn from 21 widely-used open-source projects demonstrates that BugScope achieves 87.04% precision and 90.00% recall, surpassing state-of-the-art industrial tools by 0.44 in F1 score. Further testing on large-scale open-source systems, including the Linux kernel, uncovered 141 previously unknown bugs, of which 78 have been fixed and 7 confirmed by developers, highlighting BugScope's substantial practical impact.
DWTGS: Rethinking Frequency Regularization for Sparse-view 3D Gaussian Splatting
Venue: arXiv cs.CV 2025
Year: 2025

Sparse-view 3D Gaussian Splatting (3DGS) presents significant challenges in reconstructing high-quality novel views, as it often overfits to the widely-varying high-frequency (HF) details of the sparse training views. While frequency regularization can be a promising approach, its typical reliance on Fourier transforms causes difficult parameter tuning and biases towards detrimental HF learning. We propose DWTGS, a framework that rethinks frequency regularization by leveraging wavelet-space losses that provide additional spatial supervision. Specifically, we supervise only the low-frequency (LF) LL subbands at multiple DWT levels, while enforcing sparsity on the HF HH subband in a self-supervised manner. Experiments across benchmarks show that DWTGS consistently outperforms Fourier-based counterparts, as this LF-centric strategy improves generalization and reduces HF hallucinations.