OpenRaiser/Intern-Atlas huggingface dataset:
GSPlane: Concise and Accurate Planar Reconstruction via Structured Representation
Venue: arXiv cs.CV 2025
Year: 2025

Planes are fundamental primitives of 3D sences, especially in man-made environments such as indoor spaces and urban streets. Representing these planes in a structured and parameterized format facilitates scene editing and physical simulations in downstream applications. Recently, Gaussian Splatting (GS) has demonstrated remarkable effectiveness in the Novel View Synthesis task, with extensions showing great potential in accurate surface reconstruction. However, even state-of-the-art GS representations often struggle to reconstruct planar regions with sufficient smoothness and precision. To address this issue, we propose GSPlane, which recovers accurate geometry and produces clean and well-structured mesh connectivity for plane regions in the reconstructed scene. By leveraging off-the-shelf segmentation and normal prediction models, GSPlane extracts robust planar priors to establish structured representations for planar Gaussian coordinates, which help guide the training process by enforcing geometric consistency. To further enhance training robustness, a Dynamic Gaussian Re-classifier is introduced to adaptively reclassify planar Gaussians with persistently high gradients as non-planar, ensuring more reliable optimization. Furthermore, we utilize the optimized planar priors to refine the mesh layouts, significantly improving topological structure while reducing the number of vertices and faces. We also explore applications of the structured planar representation, which enable decoupling and flexible manipulation of objects on supportive planes. Extensive experiments demonstrate that, with no sacrifice in rendering quality, the introduction of planar priors significantly improves the geometric accuracy of the extracted meshes across various baselines.
Kinesthetic Weight Modulation: The Effects of Whole-Arm Tendon Vibration on the Perceived Heaviness
Venue: arXiv cs.HC 2025
Year: 2025

Kinesthetic illusions, which arise when muscle spindles are activated by vibration, provide a compact means of presenting kinesthetic sensations. Because muscle spindles contribute not only to sensing body movement but also to perceiving heaviness, vibration-induced illusions could potentially modulate weight perception. While prior studies have primarily focused on conveying virtual movement, the modulation of perceived heaviness has received little attention. Presenting a sense of heaviness is essential for enriching haptic interactions with virtual objects. This study investigates whether multi-point tendon vibration can increase or decrease perceived heaviness (Experiment 1) and how the magnitude of the effect can be systematically controlled (Experiment 2). The results show that tendon vibration significantly increases perceived heaviness but does not significantly decrease it, although a decreasing trend was observed. Moreover, the increase can be adjusted across at least three levels within the range from 350 g to 450 g. Finally, we discuss plausible mechanisms underlying this vibration-induced modulation of weight perception.
Verification-Aware Planning for Multi-Agent Systems
Venue: arXiv cs.CL 2025
Year: 2025

Large language model (LLM) agents are increasingly deployed to tackle complex tasks, often necessitating collaboration among multiple specialized agents. However, multi-agent collaboration introduces new challenges in planning, coordination, and verification. Execution failures frequently arise not from flawed reasoning alone, but from subtle misalignments in task interpretation, output format, or inter-agent handoffs. To address these challenges, we present VeriMAP, a framework for multi-agent collaboration with verification-aware planning. The VeriMAP planner decomposes tasks, models subtask dependencies, and encodes planner-defined passing criteria as subtask verification functions (VFs) in Python and natural language. We evaluate VeriMAP on diverse datasets, demonstrating that it outperforms both single- and multi-agent baselines while enhancing system robustness and interpretability. Our analysis highlights how verification-aware planning enables reliable coordination and iterative refinement in multi-agent systems, without relying on external labels or annotations.
KineDiff3D: Kinematic-Aware Diffusion for Category-Level Articulated Object Shape Reconstruction and Generation
Venue: arXiv cs.CV 2025
Year: 2025

Articulated objects, such as laptops and drawers, exhibit significant challenges for 3D reconstruction and pose estimation due to their multi-part geometries and variable joint configurations, which introduce structural diversity across different states. To address these challenges, we propose KineDiff3D: Kinematic-Aware Diffusion for Category-Level Articulated Object Shape Reconstruction and Generation, a unified framework for reconstructing diverse articulated instances and pose estimation from single view input. Specifically, we first encode complete geometry (SDFs), joint angles, and part segmentation into a structured latent space via a novel Kinematic-Aware VAE (KA-VAE). In addition, we employ two conditional diffusion models: one for regressing global pose (SE(3)) and joint parameters, and another for generating the kinematic-aware latent code from partial observations. Finally, we produce an iterative optimization module that bidirectionally refines reconstruction accuracy and kinematic parameters via Chamfer-distance minimization while preserving articulation constraints. Experimental results on synthetic, semi-synthetic, and real-world datasets demonstrate the effectiveness of our approach in accurately reconstructing articulated objects and estimating their kinematic properties.
Physics-Informed Large Language Models for HVAC Anomaly Detection with Autonomous Rule Generation
Venue: arXiv cs.AI 2025
Year: 2025

Heating, Ventilation, and Air-Conditioning (HVAC) systems account for a substantial share of global building energy use, making reliable anomaly detection essential for improving efficiency and reducing emissions. Classical rule-based approaches offer explainability but lack adaptability, while deep learning methods provide predictive power at the cost of transparency, efficiency, and physical plausibility. Recent attempts to use Large Language Models (LLMs) for anomaly detection improve interpretability but largely ignore the physical principles that govern HVAC operations. We present PILLM, a Physics-Informed LLM framework that operates within an evolutionary loop to automatically generate, evaluate, and refine anomaly detection rules. Our approach introduces physics-informed reflection and crossover operators that embed thermodynamic and control-theoretic constraints, enabling rules that are both adaptive and physically grounded. Experiments on the public Building Fault Detection dataset show that PILLM achieves state-of-the-art performance while producing diagnostic rules that are interpretable and actionable, advancing trustworthy and deployable AI for smart building systems.
Mamba4Net: Distilled Hybrid Mamba Large Language Models For Networking
Venue: arXiv cs.NI 2025
Year: 2025

Transformer-based large language models (LLMs) are increasingly being adopted in networking research to address domain-specific challenges. However, their quadratic time complexity and substantial model sizes often result in significant computational overhead and memory constraints, particularly in resource-constrained environments. Drawing inspiration from the efficiency and performance of the Deepseek-R1 model within the knowledge distillation paradigm, this paper introduces Mamba4Net, a novel cross-architecture distillation framework. Mamba4Net transfers networking-specific knowledge from transformer-based LLMs to student models built on the Mamba architecture, which features linear time complexity. This design substantially enhances computational efficiency compared to the quadratic complexity of transformer-based models, while the reduced model size further minimizes computational demands, improving overall performance and resource utilization. To evaluate its effectiveness, Mamba4Net was tested across three diverse networking tasks: viewport prediction, adaptive bitrate streaming, and cluster job scheduling. Compared to existing methods that do not leverage LLMs, Mamba4Net demonstrates superior task performance. Furthermore, relative to direct applications of transformer-based LLMs, it achieves significant efficiency gains, including a throughput 3.96 times higher and a storage footprint of only 5.48% of that required by previous LLM-based approaches. These results highlight Mamba4Net's potential to enable the cost-effective application of LLM-derived knowledge in networking contexts. The source code is openly available to support further research and development.
OmniVIC: A Self-Improving Variable Impedance Controller with Vision-Language In-Context Learning for Safe Robotic Manipulation
Venue: arXiv cs.RO 2025
Year: 2025

We present OmniVIC, a universal variable impedance controller (VIC) enhanced by a vision language model (VLM), which improves safety and adaptation in any contact-rich robotic manipulation task to enhance safe physical interaction. Traditional VIC have shown advantages when the robot physically interacts with the environment, but lack generalization in unseen, complex, and unstructured safe interactions in universal task scenarios involving contact or uncertainty. To this end, the proposed OmniVIC interprets task context derived reasoning from images and natural language and generates adaptive impedance parameters for a VIC controller. Specifically, the core of OmniVIC is a self-improving Retrieval-Augmented Generation(RAG) and in-context learning (ICL), where RAG retrieves relevant prior experiences from a structured memory bank to inform the controller about similar past tasks, and ICL leverages these retrieved examples and the prompt of current task to query the VLM for generating context-aware and adaptive impedance parameters for the current manipulation scenario. Therefore, a self-improved RAG and ICL guarantee OmniVIC works in universal task scenarios. The impedance parameter regulation is further informed by real-time force/torque feedback to ensure interaction forces remain within safe thresholds. We demonstrate that our method outperforms baselines on a suite of complex contact-rich tasks, both in simulation and on real-world robotic tasks, with improved success rates and reduced force violations. OmniVIC takes a step towards bridging high-level semantic reasoning and low-level compliant control, enabling safer and more generalizable manipulation. Overall, the average success rate increases from 27% (baseline) to 61.4% (OmniVIC).
HyperSearch: Prediction of New Hyperedges through Unconstrained yet Efficient Search
Venue: arXiv cs.SI 2025
Year: 2025

Higher-order interactions (HOIs) in complex systems, such as scientific collaborations, multi-protein complexes, and multi-user communications, are commonly modeled as hypergraphs, where each hyperedge (i.e., a subset of nodes) represents an HOI among the nodes. Given a hypergraph, hyperedge prediction aims to identify hyperedges that are either missing or likely to form in the future, and it has broad applications, including recommending interest-based social groups, predicting collaborations, and uncovering functional complexes in biological systems. However, the vast search space of hyperedge candidates (i.e., all possible subsets of nodes) poses a significant computational challenge, making naive exhaustive search infeasible. As a result, existing approaches rely on either heuristic sampling to obtain constrained candidate sets or ungrounded assumptions on hypergraph structure to select promising hyperedges. In this work, we propose HyperSearch, a search-based algorithm for hyperedge prediction that efficiently evaluates unconstrained candidate sets, by incorporating two key components: (1) an empirically grounded scoring function derived from observations in real-world hypergraphs and (2) an efficient search mechanism, where we derive and use an anti-monotonic upper bound of the original scoring function (which is not antimonotonic) to prune the search space. This pruning comes with theoretical guarantees, ensuring that discarded candidates are never better than the kept ones w.r.t. the original scoring function. In extensive experiments on 10 real-world hypergraphs across five domains, HyperSearch consistently outperforms state-of-the-art baselines, achieving higher accuracy in predicting new (i.e., not in the training set) hyperedges.
When AI companions become witty: Can human brain recognize AI-generated irony?
Venue: arXiv cs.CL 2025
Year: 2025

As Large Language Models (LLMs) are increasingly deployed as social agents and trained to produce humor and irony, a question emerges: when encountering witty AI remarks, do people interpret these as intentional communication or mere computational output? This study investigates whether people adopt the intentional stance, attributing mental states to explain behavior,toward AI during irony comprehension. Irony provides an ideal paradigm because it requires distinguishing intentional contradictions from unintended errors through effortful semantic reanalysis. We compared behavioral and neural responses to ironic statements from AI versus human sources using established ERP components: P200 reflecting early incongruity detection and P600 indexing cognitive efforts in reinterpreting incongruity as deliberate irony. Results demonstrate that people do not fully adopt the intentional stance toward AI-generated irony. Behaviorally, participants attributed incongruity to deliberate communication for both sources, though significantly less for AI than human, showing greater tendency to interpret AI incongruities as computational errors. Neural data revealed attenuated P200 and P600 effects for AI-generated irony, suggesting reduced effortful detection and reanalysis consistent with diminished attribution of communicative intent. Notably, people who perceived AI as more sincere showed larger P200 and P600 effects for AI-generated irony, suggesting that intentional stance adoption is calibrated by specific mental models of artificial agents. These findings reveal that source attribution shapes neural processing of social-communicative phenomena. Despite current LLMs' linguistic sophistication, achieving genuine social agency requires more than linguistic competence, it necessitates a shift in how humans perceive and attribute intentionality to artificial agents.
Combining ECG Foundation Model and XGBoost to Predict In-Hospital Malignant Ventricular Arrhythmias in AMI Patients
Venue: arXiv cs.AI 2025
Year: 2025

Malignant ventricular arrhythmias (VT/VF) following acute myocardial infarction (AMI) are a major cause of in-hospital death, yet early identification remains a clinical challenge. While traditional risk scores have limited performance, end-to-end deep learning models often lack the interpretability needed for clinical trust. This study aimed to develop a hybrid predictive framework that integrates a large-scale electrocardiogram (ECG) foundation model (ECGFounder) with an interpretable XGBoost classifier to improve both accuracy and interpretability. We analyzed 6,634 ECG recordings from AMI patients, among whom 175 experienced in-hospital VT/VF. The ECGFounder model was used to extract 150-dimensional diagnostic probability features , which were then refined through feature selection to train the XGBoost classifier. Model performance was evaluated using AUC and F1-score , and the SHAP method was used for interpretability. The ECGFounder + XGBoost hybrid model achieved an AUC of 0.801 , outperforming KNN (AUC 0.677), RNN (AUC 0.676), and an end-to-end 1D-CNN (AUC 0.720). SHAP analysis revealed that model-identified key features, such as "premature ventricular complexes" (risk predictor) and "normal sinus rhythm" (protective factor), were highly consistent with clinical knowledge. We conclude that this hybrid framework provides a novel paradigm for VT/VF risk prediction by validating the use of foundation model outputs as effective, automated feature engineering for building trustworthy, explainable AI-based clinical decision support systems.
A Standardized Benchmark for Machine-Learned Molecular Dynamics using Weighted Ensemble Sampling
Venue: arXiv cs.LG 2025
Year: 2025

The rapid evolution of molecular dynamics (MD) methods, including machine-learned dynamics, has outpaced the development of standardized tools for method validation. Objective comparison between simulation approaches is often hindered by inconsistent evaluation metrics, insufficient sampling of rare conformational states, and the absence of reproducible benchmarks. To address these challenges, we introduce a modular benchmarking framework that systematically evaluates protein MD methods using enhanced sampling analysis. Our approach uses weighted ensemble (WE) sampling via The Weighted Ensemble Simulation Toolkit with Parallelization and Analysis (WESTPA), based on progress coordinates derived from Time-lagged Independent Component Analysis (TICA), enabling fast and efficient exploration of protein conformational space. The framework includes a flexible, lightweight propagator interface that supports arbitrary simulation engines, allowing both classical force fields and machine learning-based models. Additionally, the framework offers a comprehensive evaluation suite capable of computing more than 19 different metrics and visualizations across a variety of domains. We further contribute a dataset of nine diverse proteins, ranging from 10 to 224 residues, that span a variety of folding complexities and topologies. Each protein has been extensively simulated at 300K for one million MD steps per starting point (4 ns). To demonstrate the utility of our framework, we perform validation tests using classic MD simulations with implicit solvent and compare protein conformational sampling using a fully trained versus under-trained CGSchNet model. By standardizing evaluation protocols and enabling direct, reproducible comparisons across MD approaches, our open-source platform lays the groundwork for consistent, rigorous benchmarking across the molecular simulation community.
D2C-HRHR: Discrete Actions with Double Distributional Critics for High-Risk-High-Return Tasks
Venue: arXiv cs.LG 2025
Year: 2025

Tasks involving high-risk-high-return (HRHR) actions, such as obstacle crossing, often exhibit multimodal action distributions and stochastic returns. Most reinforcement learning (RL) methods assume unimodal Gaussian policies and rely on scalar-valued critics, which limits their effectiveness in HRHR settings. We formally define HRHR tasks and theoretically show that Gaussian policies cannot guarantee convergence to the optimal solution. To address this, we propose a reinforcement learning framework that (i) discretizes continuous action spaces to approximate multimodal distributions, (ii) employs entropy-regularized exploration to improve coverage of risky but rewarding actions, and (iii) introduces a dual-critic architecture for more accurate discrete value distribution estimation. The framework scales to high-dimensional action spaces, supporting complex control domains. Experiments on locomotion and manipulation benchmarks with high risks of failure demonstrate that our method outperforms baselines, underscoring the importance of explicitly modeling multimodality and risk in RL.
Visibility Allocation Systems: How Algorithmic Design Shapes Online Visibility and Societal Outcomes
Venue: arXiv cs.CY 2025
Year: 2025

Throughout application domains, we now rely extensively on algorithmic systems to engage with ever-expanding datasets of information. Despite their benefits, these systems are often complex (comprising of many intricate tools, e.g., moderation, recommender systems, prediction models), of unknown structure (due to the lack of accompanying documentation), and having hard-to-predict yet potentially severe downstream consequences (due to the extensive use, systematic enactment of existing errors, and many comprising feedback loops). As such, understanding and evaluating these systems as a whole remains a challenge for both researchers and legislators. To aid ongoing efforts, we introduce a formal framework for such visibility allocation systems (VASs) which we define as (semi-)automated systems deciding which (processed) data to present a human user with. We review typical tools comprising VASs and define the associated computational problems they solve. By doing so, VASs can be decomposed into sub-processes and illustrated via data flow diagrams. Moreover, we survey metrics for evaluating VASs throughout the pipeline, thus aiding system diagnostics. Using forecasting-based recommendations in school choice as a case study, we demonstrate how our framework can support VAS evaluation. We also discuss how our framework can support ongoing AI-legislative efforts to locate obligations, quantify systemic risks, and enable adaptive compliance.
An adaptive hierarchical control framework for quadrupedal robots in planetary exploration
Venue: arXiv cs.RO 2025
Year: 2025

Planetary exploration missions require robots capable of navigating extreme and unknown environments. While wheeled rovers have dominated past missions, their mobility is limited to traversable surfaces. Legged robots, especially quadrupeds, can overcome these limitations by handling uneven, obstacle-rich, and deformable terrains. However, deploying such robots in unknown conditions is challenging due to the need for environment-specific control, which is infeasible when terrain and robot parameters are uncertain. This work presents a modular control framework that combines model-based dynamic control with online model adaptation and adaptive footstep planning to address uncertainties in both robot and terrain properties. The framework includes state estimation for quadrupeds with and without contact sensing, supports runtime reconfiguration, and is integrated into ROS 2 with open-source availability. Its performance was validated on two quadruped platforms, multiple hardware architectures, and in a volcano field test, where the robot walked over 700 m.
Augmented Web Usage Mining and User Experience Optimization with CAWAL's Enriched Analytics Data
Venue: arXiv cs.HC 2025
Year: 2025

Understanding user behavior on the web is increasingly critical for optimizing user experience (UX). This study introduces Augmented Web Usage Mining (AWUM), a methodology designed to enhance web usage mining and improve UX by enriching the interaction data provided by CAWAL (Combined Application Log and Web Analytics), a framework for advanced web analytics. Over 1.2 million session records collected in one month (~8.5GB of data) were processed and transformed into enriched datasets. AWUM analyzes session structures, page requests, service interactions, and exit methods. Results show that 87.16% of sessions involved multiple pages, contributing 98.05% of total pageviews; 40% of users accessed various services and 50% opted for secure exits. Association rule mining revealed patterns of frequently accessed services, highlighting CAWAL's precision and efficiency over conventional methods. AWUM offers a comprehensive understanding of user behavior and strong potential for large-scale UX optimization.