OpenRaiser/Intern-Atlas huggingface dataset:
CAT-RRT: Motion Planning that Admits Contact One Link at a Time
Venue: arXiv cs.RO 2025
Year: 2025

Current motion planning approaches rely on binary collision checking to evaluate the validity of a state and thereby dictate where the robot is allowed to move. This approach leaves little room for robots to engage in contact with an object, as is often necessary when operating in densely cluttered spaces. In this work, we propose an alternative method that considers contact states as high-cost states that the robot should avoid but can traverse if necessary to complete a task. More specifically, we introduce Contact Admissible Transition-based Rapidly exploring Random Trees (CAT-RRT), a planner that uses a novel per-link cost heuristic to find a path by traversing high-cost obstacle regions. Through extensive testing, we find that state-of-the-art optimization planners tend to over-explore low-cost states, which leads to slow and inefficient convergence to contact regions. Conversely, CAT-RRT searches both low and high-cost regions simultaneously with an adaptive thresholding mechanism carried out at each robot link. This leads to paths with a balance between efficiency, path length, and contact cost.
Domain Generalization by Rejecting Extreme Augmentations
Venue: arXiv cs.LG 2025
Year: 2025

Data augmentation is one of the most effective techniques for regularizing deep learning models and improving their recognition performance in a variety of tasks and domains. However, this holds for standard in-domain settings, in which the training and test data follow the same distribution. For the out-of-domain case, where the test data follow a different and unknown distribution, the best recipe for data augmentation is unclear. In this paper, we show that for out-of-domain and domain generalization settings, data augmentation can provide a conspicuous and robust improvement in performance. To do that, we propose a simple training procedure: (i) use uniform sampling on standard data augmentation transformations; (ii) increase the strength transformations to account for the higher data variance expected when working out-of-domain, and (iii) devise a new reward function to reject extreme transformations that can harm the training. With this procedure, our data augmentation scheme achieves a level of accuracy that is comparable to or better than state-of-the-art methods on benchmark domain generalization datasets. Code: https://github.com/Masseeh/DCAug
A New Causal Rule Learning Approach to Interpretable Estimation of Heterogeneous Treatment Effect
Venue: arXiv cs.LG 2025
Year: 2025

Interpretability plays a crucial role in the application of statistical learning to estimate heterogeneous treatment effects (HTE) in complex diseases. In this study, we leverage a rule-based workflow, namely causal rule learning (CRL), to estimate and improve our understanding of HTE for atrial septal defect, addressing an overlooked question in the previous literature: what if an individual simultaneously belongs to multiple groups with different average treatment effects? The CRL process consists of three steps: rule discovery, which generates a set of causal rules with corresponding subgroup average treatment effects; rule selection, which identifies a subset of these rules to deconstruct individual-level treatment effects as a linear combination of subgroup-level effects; and rule analysis, which presents a detailed procedure for further analyzing each selected rule from multiple perspectives to identify the most promising rules for validation. Extensive simulation studies and real-world data analysis demonstrate that CRL outperforms other methods in providing interpretable estimates of HTE, especially when dealing with complex ground truth and sufficient sample sizes.
Distillation Improves Visual Place Recognition for Low Quality Images
Venue: arXiv cs.CV 2025
Year: 2025

Real-time visual localization often utilizes online computing, for which query images or videos are transmitted to remote servers for visual place recognition (VPR). However, limited network bandwidth necessitates image-quality reduction and thus the degradation of global image descriptors, reducing VPR accuracy. We address this issue at the descriptor extraction level with a knowledge-distillation methodology that learns feature representations from high-quality images to extract more discriminative descriptors from low-quality images. Our approach includes the Inter-channel Correlation Knowledge Distillation (ICKD) loss, Mean Squared Error (MSE) loss, and Triplet loss. We validate the proposed losses on multiple VPR methods and datasets subjected to JPEG compression, resolution reduction, and video quantization. We obtain significant improvements in VPR recall rates under all three tested modalities of lowered image quality. Furthermore, we fill a gap in VPR literature on video-based data and its influence on VPR performance. This work contributes to more reliable place recognition in resource-constrained environments.
Sanitizing Hidden Information with Diffusion Models
Venue: arXiv cs.CR 2025
Year: 2025

Information hiding is the process of embedding data within another form of data, often to conceal its existence or prevent unauthorized access. This process is commonly used in various forms of secure communications (steganography) that can be used by bad actors to propagate malware, exfiltrate victim data, and discreetly communicate. Recent work has utilized deep neural networks to remove this hidden information in a defense mechanism known as sanitization. Previous deep learning works, however, are unable to scale efficiently beyond the MNIST dataset. In this work, we present a novel sanitization method called DM-SUDS that utilizes a diffusion model framework to sanitize/remove hidden information from image-into-image universal and dependent steganography from CIFAR-10 and ImageNet datasets. We evaluate DM-SUDS against three different baselines using MSE, PSNR, SSIM, and NCC metrics and provide further detailed analysis through an ablation study. DM-SUDS outperforms all three baselines and significantly improves image preservation MSE by 50.44%, PSNR by 12.69%, SSIM by 11.49%, and NCC by 3.26% compared to previous deep learning approaches. Additionally, we introduce a novel evaluation specification that considers the successful removal of hidden information (safety) as well as the resulting quality of the sanitized image (utility). We further demonstrate the versatility of this method with an application in an audio case study, demonstrating its broad applicability to additional domains.
Proof Repair across Quotient Type Equivalences
Venue: arXiv cs.PL 2025
Year: 2025

Proofs in proof assistants like Rocq can be brittle, breaking easily in response to changes. To address this, recent work introduced an algorithm and tool in Rocq to automatically repair broken proofs in response to changes that correspond to type equivalences. However, many changes remained out of the scope of this algorithm and tool -- especially changes in underlying \emph{behavior}. We extend this proof repair algorithm so that it can express certain changes in behavior that were previously out of scope. We focus in particular on equivalences between \emph{quotient types} -- types equipped with a relation that describes what it means for any two elements of that type to be equal. Quotient type equivalences can be used to express interesting changes in representations of mathematical structures, as well as changes in the implementations of data structures. We extend this algorithm and tool to support quotient type equivalences in Rocq. Notably, since Rocq lacks quotient types entirely, our extensions use Rocq's setoid machinery in place of quotients. Specifically, (1) our extension to the algorithm supports new changes corresponding to setoids, and (2) our extension to the tool supports this new class of changes and further automates away some of the new proof obligations. We demonstrate our extensions on proof repair case studies for previously unsupported changes. We also perform manual proof repair in Cubical Agda, a language with a univalent metatheory, which allows us to construct the first ever internal proofs of correctness for proof repair.
OptiReduce: Resilient and Tail-Optimal AllReduce for Distributed Deep Learning in the Cloud
Venue: arXiv cs.DC 2025
Year: 2025

We present OptiReduce, a new collective-communication system for the cloud with bounded, predictable completion times for deep-learning jobs in the presence of varying computation (stragglers) and communication (congestion and gradient drops) variabilities. OptiReduce exploits the inherent resiliency and the stochastic nature of distributed deep-learning (DDL) training and fine-tuning to work with approximated (or lost) gradients -- providing an efficient balance between (tail) performance and the resulting accuracy of the trained models. Exploiting this domain-specific characteristic of DDL, OptiReduce introduces (1) mechanisms (e.g., unreliable bounded transport with adaptive timeout) to improve the DDL jobs' tail execution time, and (2) strategies (e.g., Transpose AllReduce and Hadamard Transform) to mitigate the impact of gradient drops on model accuracy. Our evaluation shows that OptiReduce achieves 70% and 30% faster time-to-accuracy (TTA), on average, when operating in shared, cloud environments (e.g., CloudLab) compared to Gloo and NCCL, respectively.
Comparing Styles across Languages: A Cross-Cultural Exploration of Politeness
Venue: arXiv cs.CL 2025
Year: 2025

Understanding how styles differ across languages is advantageous for training both humans and computers to generate culturally appropriate text. We introduce an explanation framework to extract stylistic differences from multilingual LMs and compare styles across languages. Our framework (1) generates comprehensive style lexica in any language and (2) consolidates feature importances from LMs into comparable lexical categories. We apply this framework to compare politeness, creating the first holistic multilingual politeness dataset and exploring how politeness varies across four languages. Our approach enables an effective evaluation of how distinct linguistic categories contribute to stylistic variations and provides interpretable insights into how people communicate differently around the world.
QFT: Quantized Full-parameter Tuning of LLMs with Affordable Resources
Venue: arXiv cs.CL 2025
Year: 2025

Large Language Models (LLMs) have showcased remarkable impacts across a wide spectrum of natural language processing tasks. Fine-tuning these pretrained models on downstream datasets provides further significant performance gains; however, this process typically requires a large number of expensive, high-end GPUs. Although there have been efforts focused on parameter-efficient fine-tuning, they cannot fully unlock the powerful potential of full-parameter fine-tuning. In this paper, we propose QFT, a Quantized Full-parameter Tuning framework for LLMs that quantizes and stores all training states, including weights, gradients, and optimizer states, in INT8 format to reduce training memory, thereby enabling full-parameter fine-tuning on existing GPUs at an affordable cost. To ensure training performance, we make two key efforts: i) for quantized gradients and optimizer states, we theoretically prove that the Lion optimizer, with its property of consistent update magnitudes, is highly robust to quantization; ii) and for quantized weights, we employ the hybrid feature quantizer, which identifies and protects a small subset of sparse critical features while quantizing the remaining dense features, thus ensuring accurate weight updates without FP32 backups. Moreover, to support backpropagation in the integer context, we develop a stack-based gradient flow scheme with O(1) complexity, forming a unified integer training pipeline. As a result, QFT reduces the model state memory to 21% of the standard solution while achieving comparable performance, e.g., tuning a LLaMA-7B model requires only <30GB of memory, making it feasible on a single A6000 GPU.
Uncovering Hidden Connections: Iterative Search and Reasoning for Video-grounded Dialog
Venue: arXiv cs.CV 2025
Year: 2025

In contrast to conventional visual question answering, video-grounded dialog necessitates a profound understanding of both dialog history and video content for accurate response generation. Despite commendable progress made by existing approaches, they still face the challenges of incrementally understanding complex dialog history and assimilating video information. In response to these challenges, we present an iterative search and reasoning framework, which consists of a textual encoder, a visual encoder, and a generator. Specifically, we devise a path search and aggregation strategy in the textual encoder, mining core cues from dialog history that are pivotal to understanding the posed questions. Concurrently, our visual encoder harnesses an iterative reasoning network to extract and emphasize critical visual markers from videos, enhancing the depth of visual comprehension. Finally, we utilize the pre-trained GPT-2 model as our answer generator to decode the mined hidden clues into coherent and contextualized answers. Extensive experiments on three public datasets demonstrate the effectiveness and generalizability of our proposed framework.
Hypergraph Neural Networks through the Lens of Message Passing: A Common Perspective to Homophily and Architecture Design
Venue: arXiv cs.AI 2025
Year: 2025

Most of the current hypergraph learning methodologies and benchmarking datasets in the hypergraph realm are obtained by lifting procedures from their graph analogs, leading to overshadowing specific characteristics of hypergraphs. This paper attempts to confront some pending questions in that regard: Q1 Can the concept of homophily play a crucial role in Hypergraph Neural Networks (HNNs)? Q2 Is there room for improving current HNN architectures by carefully addressing specific characteristics of higher-order networks? Q3 Do existing datasets provide a meaningful benchmark for HNNs? To address them, we first introduce a novel conceptualization of homophily in higher-order networks based on a Message Passing (MP) scheme, unifying both the analytical examination and the modeling of higher-order networks. Further, we investigate some natural, yet mostly unexplored, strategies for processing higher-order structures within HNNs such as keeping hyperedge-dependent node representations, or performing node/hyperedge stochastic samplings, leading us to the most general MP formulation up to date -MultiSet-, as well as to an original architecture design, MultiSetMixer. Finally, we conduct an extensive set of experiments that contextualize our proposals and successfully provide insights about our inquiries.
Energy-Aware Routing Algorithm for Mobile Ground-to-Air Charging
Venue: arXiv cs.RO 2025
Year: 2025

We investigate the problem of energy-constrained planning for a cooperative system of an Unmanned Ground Vehicles (UGV) and an Unmanned Aerial Vehicle (UAV). In scenarios where the UGV serves as a mobile base to ferry the UAV and as a charging station to recharge the UAV, we formulate a novel energy-constrained routing problem. To tackle this problem, we design an energy-aware routing algorithm, aiming to minimize the overall mission duration under the energy limitations of both vehicles. The algorithm first solves a Traveling Salesman Problem (TSP) to generate a guided tour. Then, it employs the Monte-Carlo Tree Search (MCTS) algorithm to refine the tour and generate paths for the two vehicles. We evaluate the performance of our algorithm through extensive simulations and a proof-of-concept experiment. The results show that our algorithm consistently achieves near-optimal mission time and maintains fast running time across a wide range of problem instances.
Language-Guided Reinforcement Learning for Hard Attention in Few-Shot Learning
Venue: arXiv cs.AI 2025
Year: 2025

Attention mechanisms have demonstrated significant potential in enhancing learning models by identifying key portions of input data, particularly in scenarios with limited training samples. Inspired by human perception, we propose that focusing on essential data segments, rather than the entire dataset, can improve the accuracy and reliability of the learning models. However, identifying these critical data segments, or "hard attention finding," is challenging, especially in few-shot learning, due to the scarcity of training data and the complexity of model parameters. To address this, we introduce LaHA, a novel framework that leverages language-guided deep reinforcement learning to identify and utilize informative data regions, thereby improving both interpretability and performance. Extensive experiments on benchmark datasets validate the effectiveness of LaHA.
A Review of Machine Learning Techniques in Imbalanced Data and Future Trends
Venue: arXiv cs.LG 2025
Year: 2025

For over two decades, detecting rare events has been a challenging task among researchers in the data mining and machine learning domain. Real-life problems inspire researchers to navigate and further improve data processing and algorithmic approaches to achieve effective and computationally efficient methods for imbalanced learning. In this paper, we have collected and reviewed 258 peer-reviewed papers from archival journals and conference papers in an attempt to provide an in-depth review of various approaches in imbalanced learning from technical and application perspectives. This work aims to provide a structured review of methods used to address the problem of imbalanced data in various domains and create a general guideline for researchers in academia or industry who want to dive into the broad field of machine learning using large-scale imbalanced data.
LGL-BCI: A Motor-Imagery-Based Brain-Computer Interface with Geometric Learning
Venue: arXiv cs.LG 2025
Year: 2025

Brain--computer interfaces are groundbreaking technology whereby brain signals are used to control external devices. Despite some advances in recent years, electroencephalogram (EEG)-based motor-imagery tasks face challenges, such as amplitude and phase variability and complex spatial correlations, with a need for smaller models and faster inference. In this study, we develop a prototype, called the Lightweight Geometric Learning Brain--Computer Interface (LGL-BCI), which uses our customized geometric deep learning architecture for swift model inference without sacrificing accuracy. LGL-BCI contains an EEG channel selection module via a feature decomposition algorithm to reduce the dimensionality of a symmetric positive definite matrix, providing adaptiveness among the continuously changing EEG signal. Meanwhile, a built-in lossless transformation helps boost the inference speed. The performance of our solution was evaluated using two real-world EEG devices and two public EEG datasets. LGL-BCI demonstrated significant improvements, achieving an accuracy of 82.54% compared to 62.22% for the state-of-the-art approach. Furthermore, LGL-BCI uses fewer parameters (64.9K vs. 183.7K), highlighting its computational efficiency. These findings underscore both the superior accuracy and computational efficiency of LGL-BCI, demonstrating the feasibility and robustness of geometric deep learning in motor-imagery brain--computer interface applications.
Interpreting Learned Feedback Patterns in Large Language Models
Venue: arXiv cs.LG 2025
Year: 2025

Reinforcement learning from human feedback (RLHF) is widely used to train large language models (LLMs). However, it is unclear whether LLMs accurately learn the underlying preferences in human feedback data. We coin the term \textit{Learned Feedback Pattern} (LFP) for patterns in an LLM's activations learned during RLHF that improve its performance on the fine-tuning task. We hypothesize that LLMs with LFPs accurately aligned to the fine-tuning feedback exhibit consistent activation patterns for outputs that would have received similar feedback during RLHF. To test this, we train probes to estimate the feedback signal implicit in the activations of a fine-tuned LLM. We then compare these estimates to the true feedback, measuring how accurate the LFPs are to the fine-tuning feedback. Our probes are trained on a condensed, sparse and interpretable representation of LLM activations, making it easier to correlate features of the input with our probe's predictions. We validate our probes by comparing the neural features they correlate with positive feedback inputs against the features GPT-4 describes and classifies as related to LFPs. Understanding LFPs can help minimize discrepancies between LLM behavior and training objectives, which is essential for the safety of LLMs.
Path To Gain Functional Transparency In Artificial Intelligence With Meaningful Explainability
Venue: arXiv cs.AI 2025
Year: 2025

Artificial Intelligence (AI) is rapidly integrating into various aspects of our daily lives, influencing decision-making processes in areas such as targeted advertising and matchmaking algorithms. As AI systems become increasingly sophisticated, ensuring their transparency and explainability becomes crucial. Functional transparency is a fundamental aspect of algorithmic decision-making systems, allowing stakeholders to comprehend the inner workings of these systems and enabling them to evaluate their fairness and accuracy. However, achieving functional transparency poses significant challenges that need to be addressed. In this paper, we propose a design for user-centered compliant-by-design transparency in transparent systems. We emphasize that the development of transparent and explainable AI systems is a complex and multidisciplinary endeavor, necessitating collaboration among researchers from diverse fields such as computer science, artificial intelligence, ethics, law, and social science. By providing a comprehensive understanding of the challenges associated with transparency in AI systems and proposing a user-centered design framework, we aim to facilitate the development of AI systems that are accountable, trustworthy, and aligned with societal values.
Open X-Embodiment: Robotic Learning Datasets and RT-X Models
Venue: arXiv cs.RO 2025
Year: 2025

Large, high-capacity models trained on diverse datasets have shown remarkable successes on efficiently tackling downstream applications. In domains from NLP to Computer Vision, this has led to a consolidation of pretrained models, with general pretrained backbones serving as a starting point for many applications. Can such a consolidation happen in robotics? Conventionally, robotic learning methods train a separate model for every application, every robot, and even every environment. Can we instead train generalist X-robot policy that can be adapted efficiently to new robots, tasks, and environments? In this paper, we provide datasets in standardized data formats and models to make it possible to explore this possibility in the context of robotic manipulation, alongside experimental results that provide an example of effective X-robot policies. We assemble a dataset from 22 different robots collected through a collaboration between 21 institutions, demonstrating 527 skills (160266 tasks). We show that a high-capacity model trained on this data, which we call RT-X, exhibits positive transfer and improves the capabilities of multiple robots by leveraging experience from other platforms. More details can be found on the project website https://robotics-transformer-x.github.io.