OpenRaiser/Intern-Atlas huggingface dataset:
Fault-Tolerant Multi-Robot Coordination with Limited Sensing within Confined Environments
Venue: arXiv cs.RO 2025
Year: 2025

As robots are increasingly deployed to collaborate on tasks within shared workspaces and resources, the failure of an individual robot can critically affect the group's performance. This issue is particularly challenging when robots lack global information or direct communication, relying instead on social interaction for coordination and to complete their tasks. In this study, we propose a novel fault-tolerance technique leveraging physical contact interactions in multi-robot systems, specifically under conditions of limited sensing and spatial confinement. We introduce the "Active Contact Response" (ACR) method, where each robot modulates its behavior based on the likelihood of encountering an inoperative (faulty) robot. Active robots are capable of collectively repositioning stationary and faulty peers to reduce obstructions and maintain optimal group functionality. We implement our algorithm in a team of autonomous robots, equipped with contact-sensing and collision-tolerance capabilities, tasked with collectively excavating cohesive model pellets. Experimental results indicate that the ACR method significantly improves the system's recovery time from robot failures, enabling continued collective excavation with minimal performance degradation. Thus, this work demonstrates the potential of leveraging local, social, and physical interactions to enhance fault tolerance and coordination in multi-robot systems operating in constrained and extreme environments.
Denoising Concept Vectors with Sparse Autoencoders for Improved Language Model Steering
Venue: arXiv cs.CL 2025
Year: 2025

Linear concept vectors effectively steer LLMs, but existing methods suffer from noisy features in diverse datasets that undermine steering robustness. We propose Sparse Autoencoder-Denoised Concept Vectors (SDCV), which selectively keep the most discriminative SAE latents while reconstructing hidden representations. Our key insight is that concept-relevant signals can be explicitly separated from dataset noise by scaling up activations of top-k latents that best differentiate positive and negative samples. Applied to linear probing and difference-in-mean, SDCV consistently improves steering success rates by 4-16\% across six challenging concepts, while maintaining topic relevance.
Self-GIVE: Associative Thinking from Limited Structured Knowledge for Enhanced Large Language Model Reasoning
Venue: arXiv cs.CL 2025
Year: 2025

When addressing complex questions that require new information, people often associate the question with existing knowledge to derive a sensible answer. For instance, when evaluating whether melatonin aids insomnia, one might associate "hormones helping mental disorders" with "melatonin being a hormone and insomnia a mental disorder" to complete the reasoning. Large Language Models (LLMs) also require such associative thinking, particularly in resolving scientific inquiries when retrieved knowledge is insufficient and does not directly answer the question. Graph Inspired Veracity Extrapolation (GIVE) addresses this by using a knowledge graph (KG) to extrapolate structured knowledge. However, it involves the construction and pruning of many hypothetical triplets, which limits efficiency and generalizability. We propose Self-GIVE, a retrieve-RL framework that enhances LLMs with automatic associative thinking through reinforcement learning. Self-GIVE extracts structured information and entity sets to assist the model in linking to the queried concepts. We address GIVE's key limitations: (1) extensive LLM calls and token overhead for knowledge extrapolation, (2) difficulty in deploying on smaller LLMs (3B or 7B) due to complex instructions, and (3) inaccurate knowledge from LLM pruning. Specifically, after fine-tuning using self-GIVE with a 135 node UMLS KG, it improves the performance of the Qwen2.5 3B and 7B models by up to $\textbf{28.5%$\rightarrow$71.4%}$ and $\textbf{78.6$\rightarrow$90.5%}$ in samples $\textbf{unseen}$ in challenging biomedical QA tasks. In particular, Self-GIVE allows the 7B model to match or outperform GPT3.5 turbo with GIVE, while cutting token usage by over 90%. Self-GIVE enhances the scalable integration of structured retrieval and reasoning with associative thinking.
DISCO Balances the Scales: Adaptive Domain- and Difficulty-Aware Reinforcement Learning on Imbalanced Data
Venue: arXiv cs.CL 2025
Year: 2025

Large Language Models (LLMs) are increasingly aligned with human preferences through Reinforcement Learning from Human Feedback (RLHF). Among RLHF methods, Group Relative Policy Optimization (GRPO) has gained attention for its simplicity and strong performance, notably eliminating the need for a learned value function. However, GRPO implicitly assumes a balanced domain distribution and uniform semantic alignment across groups, assumptions that rarely hold in real-world datasets. When applied to multi-domain, imbalanced data, GRPO disproportionately optimizes for dominant domains, neglecting underrepresented ones and resulting in poor generalization and fairness. We propose Domain-Informed Self-Consistency Policy Optimization (DISCO), a principled extension to GRPO that addresses inter-group imbalance with two key innovations. Domain-aware reward scaling counteracts frequency bias by reweighting optimization based on domain prevalence. Difficulty-aware reward scaling leverages prompt-level self-consistency to identify and prioritize uncertain prompts that offer greater learning value. Together, these strategies promote more equitable and effective policy learning across domains. Extensive experiments across multiple LLMs and skewed training distributions show that DISCO improves generalization, outperforms existing GRPO variants by 5% on Qwen3 models, and sets new state-of-the-art results on multi-domain alignment benchmarks. Our code and data are available at https://github.com/Tonyzhou98/disco_grpo.
HopWeaver: Cross-Document Synthesis of High-Quality and Authentic Multi-Hop Questions
Venue: arXiv cs.CL 2025
Year: 2025

Multi-Hop Question Answering (MHQA) is crucial for evaluating the model's capability to integrate information from diverse sources. However, creating extensive and high-quality MHQA datasets is challenging: (i) manual annotation is expensive, and (ii) current synthesis methods often produce simplistic questions or require extensive manual guidance. This paper introduces HopWeaver, the first cross-document framework synthesizing authentic multi-hop questions without human intervention. HopWeaver synthesizes bridge and comparison questions through an innovative pipeline that identifies complementary documents and constructs authentic reasoning paths to ensure true multi-hop reasoning. We further present a comprehensive system for evaluating the synthesized multi-hop questions. Empirical evaluations demonstrate that the synthesized questions achieve comparable or superior quality to human-annotated datasets at a lower cost. Our framework provides a valuable tool for the research community: it can automatically generate challenging benchmarks from any raw corpus, which opens new avenues for both evaluation and targeted training to improve the reasoning capabilities of advanced QA models, especially in domains with scarce resources.
Development of Digital Twin Environment through Integration of Commercial Metaverse Platform and IoT Sensors of Smart Building
Venue: arXiv cs.HC 2025
Year: 2025

The digital transformation of smart cities and workplaces requires effective integration of physical and cyber spaces, yet existing digital twin solutions remain limited in supporting real-time, multi-user collaboration. While metaverse platforms enable shared virtual experiences, they have not supported comprehensive integration of IoT sensors on physical spaces, especially for large-scale smart architectural environments. This paper presents a digital twin environment that integrates Kajima Corp.'s smart building facility "The GEAR" in Singapore with a commercial metaverse platform Cluster. Our system consists of three key components: a standardized IoT sensor platform, a real-time data relay system, and an environmental data visualization framework. Quantitative end-to-end latency measurements confirm the feasibility of our approach for real-world applications in large architectural spaces. The proposed framework enables new forms of collaboration that transcend spatial constraints, advancing the development of next-generation interactive environments.
DeFTX: Denoised Sparse Fine-Tuning for Zero-Shot Cross-Lingual Transfer
Venue: arXiv cs.CL 2025
Year: 2025

Effective cross-lingual transfer remains a critical challenge in scaling the benefits of large language models from high-resource to low-resource languages. Towards this goal, prior studies have explored many approaches to combine task knowledge from task-specific data in a (high-resource) source language and language knowledge from unlabeled text in a (low-resource) target language. One notable approach proposed composable sparse fine-tuning (SFT) for cross-lingual transfer that learns task-specific and language-specific sparse masks to select a subset of the pretrained model's parameters that are further fine-tuned. These sparse fine-tuned vectors (SFTs) are subsequently composed with the pretrained model to facilitate zero-shot cross-lingual transfer to a task in a target language, using only task-specific data from a source language. These sparse masks for SFTs were identified using a simple magnitude-based pruning. In our work, we introduce DeFT-X, a novel composable SFT approach that denoises the weight matrices of a pretrained model before magnitude pruning using singular value decomposition, thus yielding more robust SFTs. We evaluate DeFT-X on a diverse set of extremely low-resource languages for sentiment classification (NusaX) and natural language inference (AmericasNLI) and demonstrate that it performs at par or outperforms SFT and other prominent cross-lingual transfer baselines.
SciCUEval: A Comprehensive Dataset for Evaluating Scientific Context Understanding in Large Language Models
Venue: arXiv cs.CL 2025
Year: 2025

Large Language Models (LLMs) have shown impressive capabilities in contextual understanding and reasoning. However, evaluating their performance across diverse scientific domains remains underexplored, as existing benchmarks primarily focus on general domains and fail to capture the intricate complexity of scientific data. To bridge this gap, we construct SciCUEval, a comprehensive benchmark dataset tailored to assess the scientific context understanding capability of LLMs. It comprises ten domain-specific sub-datasets spanning biology, chemistry, physics, biomedicine, and materials science, integrating diverse data modalities including structured tables, knowledge graphs, and unstructured texts. SciCUEval systematically evaluates four core competencies: Relevant information identification, Information-absence detection, Multi-source information integration, and Context-aware inference, through a variety of question formats. We conduct extensive evaluations of state-of-the-art LLMs on SciCUEval, providing a fine-grained analysis of their strengths and limitations in scientific context understanding, and offering valuable insights for the future development of scientific-domain LLMs.
StepSearch: Igniting LLMs Search Ability via Step-Wise Proximal Policy Optimization
Venue: arXiv cs.CL 2025
Year: 2025

Efficient multi-hop reasoning requires Large Language Models (LLMs) based agents to acquire high-value external knowledge iteratively. Previous work has explored reinforcement learning (RL) to train LLMs to perform search-based document retrieval, achieving notable improvements in QA performance, but underperform on complex, multi-hop QA resulting from the sparse rewards from global signal only. To address this gap in existing research, we introduce StepSearch, a framework for search LLMs that trained with step-wise proximal policy optimization method. It consists of richer and more detailed intermediate search rewards and token-level process supervision based on information gain and redundancy penalties to better guide each search step. We constructed a fine-grained question-answering dataset containing sub-question-level search trajectories based on open source datasets through a set of data pipeline method. On standard multi-hop QA benchmarks, it significantly outperforms global-reward baselines, achieving 11.2% and 4.2% absolute improvements for 3B and 7B models over various search with RL baselines using only 19k training data, demonstrating the effectiveness of fine-grained, stepwise supervision in optimizing deep search LLMs. Our code will be released on https://github.com/Zillwang/StepSearch.
Robust Relevance Feedback for Interactive Known-Item Video Search
Venue: arXiv cs.IR 2025
Year: 2025

Known-item search (KIS) involves only a single search target, making relevance feedback-typically a powerful technique for efficiently identifying multiple positive examples to infer user intent-inapplicable. PicHunter addresses this issue by asking users to select the top-k most similar examples to the unique search target from a displayed set. Under ideal conditions, when the user's perception aligns closely with the machine's perception of similarity, consistent and precise judgments can elevate the target to the top position within a few iterations. However, in practical scenarios, expecting users to provide consistent judgments is often unrealistic, especially when the underlying embedding features used for similarity measurements lack interpretability. To enhance robustness, we first introduce a pairwise relative judgment feedback that improves the stability of top-k selections by mitigating the impact of misaligned feedback. Then, we decompose user perception into multiple sub-perceptions, each represented as an independent embedding space. This approach assumes that users may not consistently align with a single representation but are more likely to align with one or several among multiple representations. We develop a predictive user model that estimates the combination of sub-perceptions based on each user feedback instance. The predictive user model is then trained to filter out the misaligned sub-perceptions. Experimental evaluations on the large-scale open-domain dataset V3C indicate that the proposed model can optimize over 60% search targets to the top rank when their initial ranks at the search depth between 10 and 50. Even for targets initially ranked between 1,000 and 5,000, the model achieves a success rate exceeding 40% in optimizing ranks to the top, demonstrating the enhanced robustness of relevance feedback in KIS despite inconsistent feedback.
Hybrid Audio Detection Using Fine-Tuned Audio Spectrogram Transformers: A Dataset-Driven Evaluation of Mixed AI-Human Speech
Venue: arXiv cs.SD 2025
Year: 2025

The rapid advancement of artificial intelligence (AI) has enabled sophisticated audio generation and voice cloning technologies, posing significant security risks for applications reliant on voice authentication. While existing datasets and models primarily focus on distinguishing between human and fully synthetic speech, real-world attacks often involve audio that combines both genuine and cloned segments. To address this gap, we construct a novel hybrid audio dataset incorporating human, AI-generated, cloned, and mixed audio samples. We further propose fine-tuned Audio Spectrogram Transformer (AST)-based models tailored for detecting these complex acoustic patterns. Extensive experiments demonstrate that our approach significantly outperforms existing baselines in mixed-audio detection, achieving 97\% classification accuracy. Our findings highlight the importance of hybrid datasets and tailored models in advancing the robustness of speech-based authentication systems.
CineTechBench: A Benchmark for Cinematographic Technique Understanding and Generation
Venue: arXiv cs.CV 2025
Year: 2025

Cinematography is a cornerstone of film production and appreciation, shaping mood, emotion, and narrative through visual elements such as camera movement, shot composition, and lighting. Despite recent progress in multimodal large language models (MLLMs) and video generation models, the capacity of current models to grasp and reproduce cinematographic techniques remains largely uncharted, hindered by the scarcity of expert-annotated data. To bridge this gap, we present CineTechBench, a pioneering benchmark founded on precise, manual annotation by seasoned cinematography experts across key cinematography dimensions. Our benchmark covers seven essential aspects-shot scale, shot angle, composition, camera movement, lighting, color, and focal length-and includes over 600 annotated movie images and 120 movie clips with clear cinematographic techniques. For the understanding task, we design question answer pairs and annotated descriptions to assess MLLMs' ability to interpret and explain cinematographic techniques. For the generation task, we assess advanced video generation models on their capacity to reconstruct cinema-quality camera movements given conditions such as textual prompts or keyframes. We conduct a large-scale evaluation on 15+ MLLMs and 5+ video generation models. Our results offer insights into the limitations of current models and future directions for cinematography understanding and generation in automatically film production and appreciation. The code and benchmark can be accessed at https://github.com/PRIS-CV/CineTechBench.
Privacy-Preserving Socialized Recommendation based on Multi-View Clustering in a Cloud Environment
Venue: arXiv cs.CR 2025
Year: 2025

Recommendation as a service has improved the quality of our lives and plays a significant role in variant aspects. However, the preference of users may reveal some sensitive information, so that the protection of privacy is required. In this paper, we propose a privacy-preserving, socialized, recommendation protocol that introduces information collected from online social networks to enhance the quality of the recommendation. The proposed scheme can calculate the similarity between users to determine their potential relationships and interests, and it also can protect the users' privacy from leaking to an untrusted third party. The security analysis and experimental results showed that our proposed scheme provides excellent performance and is feasible for real-world applications.
AI Solutionism and Digital Self-Tracking with Wearables
Venue: arXiv cs.HC 2025
Year: 2025

Self-tracking technologies and wearables automate the process of data collection and insight generation with the support of artificial intelligence systems, with many emerging studies exploring ways to evolve these features further through large-language models (LLMs). This is done with the intent to reduce capture burden and the cognitive stress of health-based decision making, but studies neglect to consider how automation has stymied the agency and independent reflection of users of self-tracking interventions. In this position paper, we explore the consequences of automation in self-tracking by relating it to our experiences with investigating the Oura Ring, a sleep wearable, and navigate potential remedies.
A Unified Gradient-based Framework for Task-agnostic Continual Learning-Unlearning
Venue: arXiv cs.LG 2025
Year: 2025

Recent advancements in deep models have highlighted the need for intelligent systems that combine continual learning (CL) for knowledge acquisition with machine unlearning (MU) for data removal, forming the Continual Learning-Unlearning (CLU) paradigm. While existing work treats CL and MU as separate processes, we reveal their intrinsic connection through a unified optimization framework based on Kullback-Leibler divergence minimization. This framework decomposes gradient updates for approximate CLU into four components: learning new knowledge, unlearning targeted data, preserving existing knowledge, and modulation via weight saliency. A critical challenge lies in balancing knowledge update and retention during sequential learning-unlearning cycles. To resolve this stability-plasticity dilemma, we introduce a remain-preserved manifold constraint to induce a remaining Hessian compensation for CLU iterations. A fast-slow weight adaptation mechanism is designed to efficiently approximate the second-order optimization direction, combined with adaptive weighting coefficients and a balanced weight saliency mask, proposing a unified implementation framework for gradient-based CLU. Furthermore, we pioneer task-agnostic CLU scenarios that support fine-grained unlearning at the cross-task category and random sample levels beyond the traditional task-aware setups. Experiments demonstrate that the proposed UG-CLU framework effectively coordinates incremental learning, precise unlearning, and knowledge stability across multiple datasets and model architectures, providing a theoretical foundation and methodological support for dynamic, compliant intelligent systems.
GAMA: Geometry-Aware Manifold Alignment via Structured Adversarial Perturbations for Robust Domain Adaptation
Venue: arXiv cs.CV 2025
Year: 2025

Domain adaptation remains a challenge when there is significant manifold discrepancy between source and target domains. Although recent methods leverage manifold-aware adversarial perturbations to perform data augmentation, they often neglect precise manifold alignment and systematic exploration of structured perturbations. To address this, we propose GAMA (Geometry-Aware Manifold Alignment), a structured framework that achieves explicit manifold alignment via adversarial perturbation guided by geometric information. GAMA systematically employs tangent space exploration and manifold-constrained adversarial optimization, simultaneously enhancing semantic consistency, robustness to off-manifold deviations, and cross-domain alignment. Theoretical analysis shows that GAMA tightens the generalization bound via structured regularization and explicit alignment. Empirical results on DomainNet, VisDA, and Office-Home demonstrate that GAMA consistently outperforms existing adversarial and adaptation methods in both unsupervised and few-shot settings, exhibiting superior robustness, generalization, and manifold alignment capability.
ReGUIDE: Data Efficient GUI Grounding via Spatial Reasoning and Search
Venue: arXiv cs.LG 2025
Year: 2025

Recent advances in Multimodal Large Language Models (MLLMs) have enabled autonomous agents to interact with computers via Graphical User Interfaces (GUIs), where accurately localizing the coordinates of interface elements (e.g., buttons) is often required for fine-grained actions. However, this remains significantly challenging, leading prior works to rely on large-scale web datasets to improve the grounding accuracy. In this work, we propose Reasoning Graphical User Interface Grounding for Data Efficiency (ReGUIDE), a novel and effective framework for web grounding that enables MLLMs to learn data efficiently through self-generated reasoning and spatial-aware criticism. More specifically, ReGUIDE learns to (i) self-generate a language reasoning process for the localization via online reinforcement learning, and (ii) criticize the prediction using spatial priors that enforce equivariance under input transformations. At inference time, ReGUIDE further boosts performance through a test-time scaling strategy, which combines spatial search with coordinate aggregation. Our experiments demonstrate that ReGUIDE significantly advances web grounding performance across multiple benchmarks, outperforming baselines with substantially fewer training data points (e.g., only 0.2% samples compared to the best open-sourced baselines).