OpenRaiser/Intern-Atlas huggingface dataset:
As easy as PIE: understanding when pruning causes language models to disagree
Venue: arXiv cs.CL 2025
Year: 2025

Language Model (LM) pruning compresses the model by removing weights, nodes, or other parts of its architecture. Typically, pruning focuses on the resulting efficiency gains at the cost of effectiveness. However, when looking at how individual data points are affected by pruning, it turns out that a particular subset of data points always bears most of the brunt (in terms of reduced accuracy) when pruning, but this effect goes unnoticed when reporting the mean accuracy of all data points. These data points are called PIEs and have been studied in image processing, but not in NLP. In a study of various NLP datasets, pruning methods, and levels of compression, we find that PIEs impact inference quality considerably, regardless of class frequency, and that BERT is more prone to this than BiLSTM. We also find that PIEs contain a high amount of data points that have the largest influence on how well the model generalises to unseen data. This means that when pruning, with seemingly moderate loss to accuracy across all data points, we in fact hurt tremendously those data points that matter the most. We trace what makes PIEs both hard and impactful to inference to their overall longer and more semantically complex text. These findings are novel and contribute to understanding how LMs are affected by pruning. The code is available at: https://github.com/pietrotrope/AsEasyAsPIE
CLAIMCHECK: How Grounded are LLM Critiques of Scientific Papers?
Venue: arXiv cs.CL 2025
Year: 2025

A core part of scientific peer review involves providing expert critiques that directly assess the scientific claims a paper makes. While it is now possible to automatically generate plausible (if generic) reviews, ensuring that these reviews are sound and grounded in the papers' claims remains challenging. To facilitate LLM benchmarking on these challenges, we introduce CLAIMCHECK, an annotated dataset of NeurIPS 2023 and 2024 submissions and reviews mined from OpenReview. CLAIMCHECK is richly annotated by ML experts for weakness statements in the reviews and the paper claims that they dispute, as well as fine-grained labels of the validity, objectivity, and type of the identified weaknesses. We benchmark several LLMs on three claim-centric tasks supported by CLAIMCHECK, requiring models to (1) associate weaknesses with the claims they dispute, (2) predict fine-grained labels for weaknesses and rewrite the weaknesses to enhance their specificity, and (3) verify a paper's claims with grounded reasoning. Our experiments reveal that cutting-edge LLMs, while capable of predicting weakness labels in (2), continue to underperform relative to human experts on all other tasks.
Enhancing Underwater Navigation through Cross-Correlation-Aware Deep INS/DVL Fusion
Venue: arXiv cs.RO 2025
Year: 2025

The accurate navigation of autonomous underwater vehicles critically depends on the precision of Doppler velocity log (DVL) velocity measurements. Recent advancements in deep learning have demonstrated significant potential in improving DVL outputs by leveraging spatiotemporal dependencies across multiple sensor modalities. However, integrating these estimates into model-based filters, such as the extended Kalman filter, introduces statistical inconsistencies, most notably, cross-correlations between process and measurement noise. This paper addresses this challenge by proposing a cross-correlation-aware deep INS/DVL fusion framework. Building upon BeamsNet, a convolutional neural network designed to estimate AUV velocity using DVL and inertial data, we integrate its output into a navigation filter that explicitly accounts for the cross-correlation induced between the noise sources. This approach improves filter consistency and better reflects the underlying sensor error structure. Evaluated on two real-world underwater trajectories, the proposed method outperforms both least squares and cross-correlation-neglecting approaches in terms of state uncertainty. Notably, improvements exceed 10% in velocity and misalignment angle confidence metrics. Beyond demonstrating empirical performance, this framework provides a theoretically principled mechanism for embedding deep learning outputs within stochastic filters.
X$^{2}$-Gaussian: 4D Radiative Gaussian Splatting for Continuous-time Tomographic Reconstruction
Venue: arXiv cs.CV 2025
Year: 2025

Four-dimensional computed tomography (4D CT) reconstruction is crucial for capturing dynamic anatomical changes but faces inherent limitations from conventional phase-binning workflows. Current methods discretize temporal resolution into fixed phases with respiratory gating devices, introducing motion misalignment and restricting clinical practicality. In this paper, We propose X$^2$-Gaussian, a novel framework that enables continuous-time 4D-CT reconstruction by integrating dynamic radiative Gaussian splatting with self-supervised respiratory motion learning. Our approach models anatomical dynamics through a spatiotemporal encoder-decoder architecture that predicts time-varying Gaussian deformations, eliminating phase discretization. To remove dependency on external gating devices, we introduce a physiology-driven periodic consistency loss that learns patient-specific breathing cycles directly from projections via differentiable optimization. Extensive experiments demonstrate state-of-the-art performance, achieving a 9.93 dB PSNR gain over traditional methods and 2.25 dB improvement against prior Gaussian splatting techniques. By unifying continuous motion modeling with hardware-free period learning, X$^2$-Gaussian advances high-fidelity 4D CT reconstruction for dynamic clinical imaging. Code is publicly available at: https://x2-gaussian.github.io/.
Mobile-VideoGPT: Fast and Accurate Video Understanding Language Model
Venue: arXiv cs.CV 2025
Year: 2025

Video understanding models often struggle with high computational requirements, extensive parameter counts, and slow inference speed, making them inefficient for practical use. To tackle these challenges, we propose Mobile-VideoGPT, an efficient multimodal framework designed to operate with fewer than a billion parameters. Unlike traditional video large multimodal models (LMMs), Mobile-VideoGPT consists of lightweight dual visual encoders, efficient projectors, and a small language model (SLM), enabling real-time throughput. To further improve efficiency, we present an Attention-Based Frame Scoring mechanism to select the key-frames, along with an efficient token projector that prunes redundant visual tokens and preserves essential contextual cues. We evaluate our model across well-established six video understanding benchmarks (e.g., MVBench, EgoSchema, NextQA, and PercepTest). Our results show that Mobile-VideoGPT-0.5B can generate up to 46 tokens per second while outperforming existing state-of-the-art 0.5B-parameter models by 6 points on average with 40% fewer parameters and more than 2x higher throughput. Our code and models are publicly available at: https://github.com/Amshaker/Mobile-VideoGPT.
Meta-Representational Predictive Coding: Biomimetic Self-Supervised Learning
Venue: arXiv cs.NE 2025
Year: 2025

Self-supervised learning has become an increasingly important paradigm in the domain of machine intelligence. Furthermore, evidence for self-supervised adaptation, such as contrastive formulations, has emerged in recent computational neuroscience and brain-inspired research. Nevertheless, current work on self-supervised learning relies on biologically implausible credit assignment -- in the form of backpropagation of errors -- and feedforward inference, typically a forward-locked pass. Predictive coding, in its mechanistic form, offers a biologically plausible means to sidestep these backprop-specific limitations. However, unsupervised predictive coding rests on learning a generative model of raw pixel input (akin to ``generative AI'' approaches), which entails predicting a potentially high dimensional input; on the other hand, supervised predictive coding, which learns a mapping between inputs to target labels, requires human annotation, and thus incurs the drawbacks of supervised learning. In this work, we present a scheme for self-supervised learning within a neurobiologically plausible framework that appeals to the free energy principle, constructing a new form of predictive coding that we call meta-representational predictive coding (MPC). MPC sidesteps the need for learning a generative model of sensory input (e.g., pixel-level features) by learning to predict representations of sensory input across parallel streams, resulting in an encoder-only learning and inference scheme. This formulation rests on active inference (in the form of sensory glimpsing) to drive the learning of representations, i.e., the representational dynamics are driven by sequences of decisions made by the model to sample informative portions of its sensorium.
A Novel Two-Phase Cooperative Co-evolution Framework for Large-Scale Global Optimization with Complex Overlapping
Venue: arXiv cs.NE 2025
Year: 2025

Cooperative Co-evolution, through the decomposition of the problem space, is a primary approach for solving large-scale global optimization problems. Typically, when the subspaces are disjoint, the algorithms demonstrate significantly both effectiveness and efficiency compared to non-decomposition algorithms. However, the presence of overlapping variables complicates the decomposition process and adversely affects the performance of cooperative co-evolution. In this study, we propose a novel two-phase cooperative co-evolution framework to address large-scale global optimization problems with complex overlapping. An effective method for decomposing overlapping problems, grounded in their mathematical properties, is embedded within the framework. Additionally, a customizable benchmark for overlapping problems is introduced to extend existing benchmarks and facilitate experimentation. Extensive experiments demonstrate that the algorithm instantiated within our framework significantly outperforms existing algorithms. The results reveal the characteristics of overlapping problems and highlight the differing strengths of cooperative co-evolution and non-decomposition algorithms. Our work is open-source and accessible at: https://github.com/GMC-DRL/HCC.
Efficient Joint Prediction of Multiple Future Tokens
Venue: arXiv cs.LG 2025
Year: 2025

In this short report, we introduce joint multi-token prediction (JTP), a lightweight modification of standard next-token prediction designed to enrich hidden state representations by jointly predicting multiple future tokens. Unlike previous multi-token prediction approaches, JTP strategically employs teacher forcing of future-tokens through a carefully designed representation bottleneck, allowing the model to encode rich predictive information with minimal computational overhead during training. We show that the JTP approach achieves a short-horizon belief state representation, while popular alternatives for multi-token prediction fail to do so. We demonstrate the effectiveness of our method on the synthetic star graph navigation task from from Bachmann and Nagarajan [2024], highlighting a significant performance improvement over existing methods. This manuscript presents promising preliminary results intended to stimulate further research.
Optimizing Safe and Aligned Language Generation: A Multi-Objective GRPO Approach
Venue: arXiv cs.CL 2025
Year: 2025

Aligning large language models (LLMs) with human values and safety constraints is challenging, especially when objectives like helpfulness, truthfulness, and avoidance of harm conflict. Reinforcement Learning from Human Feedback (RLHF) has achieved notable success in steering models, but is complex and can be unstable. Recent approaches such as Direct Preference Optimization (DPO) simplify preference-based fine-tuning but may introduce bias or trade-off certain objectives~\cite{dpo}. In this work, we propose a Group Relative Policy Optimization (GRPO) framework with a multi-label reward regression model to achieve safe and aligned language generation. The GRPO algorithm optimizes a policy by comparing groups of sampled responses, eliminating the need for a separate value critic and improving training efficiency~\cite{grpo}. We train a reward model to predict multiple alignment scores (e.g., safety, helpfulness, etc.), which are combined into a single reward signal. We provide a theoretical derivation for using this learned multi-aspect reward within GRPO and discuss its advantages and limitations. Empirically, our approach improves all the safety and quality metrics evaluated in language generation tasks on model scales (0.5B, 7B, and 14B parameters), demonstrating a robust balance of objectives. We compare GRPO to PPO-based RLHF and DPO, highlighting that GRPO achieves alignment with significantly lower computational cost and explicit multi-objective handling. \textbf{We will open-source all trained models at https://huggingface.co/hydroxai.
Foveated Instance Segmentation
Venue: arXiv cs.CV 2025
Year: 2025

Instance segmentation is essential for augmented reality and virtual reality (AR/VR) as it enables precise object recognition and interaction, enhancing the integration of virtual and real-world elements for an immersive experience. However, the high computational overhead of segmentation limits its application on resource-constrained AR/VR devices, causing large processing latency and degrading user experience. In contrast to conventional scenarios, AR/VR users typically focus on only a few regions within their field of view before shifting perspective, allowing segmentation to be concentrated on gaze-specific areas. This insight drives the need for efficient segmentation methods that prioritize processing instance of interest, reducing computational load and enhancing real-time performance. In this paper, we present a foveated instance segmentation (FovealSeg) framework that leverages real-time user gaze data to perform instance segmentation exclusively on instance of interest, resulting in substantial computational savings. Evaluation results show that FSNet achieves an IoU of 0.56 on ADE20K and 0.54 on LVIS, notably outperforming the baseline. The code is available at https://github.com/SAI-
AssistPDA: An Online Video Surveillance Assistant for Video Anomaly Prediction, Detection, and Analysis
Venue: arXiv cs.CV 2025
Year: 2025

The rapid advancements in large language models (LLMs) have spurred growing interest in LLM-based video anomaly detection (VAD). However, existing approaches predominantly focus on video-level anomaly question answering or offline detection, ignoring the real-time nature essential for practical VAD applications. To bridge this gap and facilitate the practical deployment of LLM-based VAD, we introduce AssistPDA, the first online video anomaly surveillance assistant that unifies video anomaly prediction, detection, and analysis (VAPDA) within a single framework. AssistPDA enables real-time inference on streaming videos while supporting interactive user engagement. Notably, we introduce a novel event-level anomaly prediction task, enabling proactive anomaly forecasting before anomalies fully unfold. To enhance the ability to model intricate spatiotemporal relationships in anomaly events, we propose a Spatio-Temporal Relation Distillation (STRD) module. STRD transfers the long-term spatiotemporal modeling capabilities of vision-language models (VLMs) from offline settings to real-time scenarios. Thus it equips AssistPDA with a robust understanding of complex temporal dependencies and long-sequence memory. Additionally, we construct VAPDA-127K, the first large-scale benchmark designed for VLM-based online VAPDA. Extensive experiments demonstrate that AssistPDA outperforms existing offline VLM-based approaches, setting a new state-of-the-art for real-time VAPDA. Our dataset and code will be open-sourced to facilitate further research in the community.
Reward Design for Reinforcement Learning Agents
Venue: arXiv cs.LG 2025
Year: 2025

Reward functions are central in reinforcement learning (RL), guiding agents towards optimal decision-making. The complexity of RL tasks requires meticulously designed reward functions that effectively drive learning while avoiding unintended consequences. Effective reward design aims to provide signals that accelerate the agent's convergence to optimal behavior. Crafting rewards that align with task objectives, foster desired behaviors, and prevent undesirable actions is inherently challenging. This thesis delves into the critical role of reward signals in RL, highlighting their impact on the agent's behavior and learning dynamics and addressing challenges such as delayed, ambiguous, or intricate rewards. In this thesis work, we tackle different aspects of reward shaping. First, we address the problem of designing informative and interpretable reward signals from a teacher's/expert's perspective (teacher-driven). Here, the expert, equipped with the optimal policy and the corresponding value function, designs reward signals that expedite the agent's convergence to optimal behavior. Second, we build on this teacher-driven approach by introducing a novel method for adaptive interpretable reward design. In this scenario, the expert tailors the rewards based on the learner's current policy, ensuring alignment and optimal progression. Third, we propose a meta-learning approach, enabling the agent to self-design its reward signals online without expert input (agent-driven). This self-driven method considers the agent's learning and exploration to establish a self-improving feedback loop.
Average-Case Hardness of Parity Problems: Orthogonal Vectors, k-SUM and More
Venue: arXiv cs.CC 2025
Year: 2025

This work establishes conditional lower bounds for average-case {\em parity}-counting versions of the problems $k$-XOR, $k$-SUM, and $k$-OV. The main contribution is a set of self-reductions for the problems, providing the first specific distributions, for which: $\mathsf{parity}\text{-}k\text{-}OV$ is $n^{Ω(\sqrt{k})}$ average-case hard, under the $k$-OV hypothesis (and hence under SETH), $\mathsf{parity}\text{-}k\text{-}SUM$ is $n^{Ω(\sqrt{k})}$ average-case hard, under the $k$-SUM hypothesis, and $\mathsf{parity}\text{-}k\text{-}XOR$ is $n^{Ω(\sqrt{k})}$ average-case hard, under the $k$-XOR hypothesis. Under the very believable hypothesis that at least one of the $k$-OV, $k$-SUM, $k$-XOR or $k$-Clique hypotheses is true, we show that parity-$k$-XOR, parity-$k$-SUM, and parity-$k$-OV all require at least $n^{Ω(k^{1/3})}$ (and sometimes even more) time on average (for specific distributions). To achieve these results, we present a novel and improved framework for worst-case to average-case fine-grained reductions, building on the work of Dalirooyfard, Lincoln, and Vassilevska Williams, FOCS 2020.
Bresa: Bio-inspired Reflexive Safe Reinforcement Learning for Contact-Rich Robotic Tasks
Venue: arXiv cs.RO 2025
Year: 2025

Ensuring safety in reinforcement learning (RL)-based robotic systems is a critical challenge, especially in contact-rich tasks within unstructured environments. While the state-of-the-art safe RL approaches mitigate risks through safe exploration or high-level recovery mechanisms, they often overlook low-level execution safety, where reflexive responses to potential hazards are crucial. Similarly, variable impedance control (VIC) enhances safety by adjusting the robot's mechanical response, yet lacks a systematic way to adapt parameters, such as stiffness and damping throughout the task. In this paper, we propose Bresa, a Bio-inspired Reflexive Hierarchical Safe RL method inspired by biological reflexes. Our method decouples task learning from safety learning, incorporating a safety critic network that evaluates action risks and operates at a higher frequency than the task solver. Unlike existing recovery-based methods, our safety critic functions at a low-level control layer, allowing real-time intervention when unsafe conditions arise. The task-solving RL policy, running at a lower frequency, focuses on high-level planning (decision-making), while the safety critic ensures instantaneous safety corrections. We validate Bresa on multiple tasks including a contact-rich robotic task, demonstrating its reflexive ability to enhance safety, and adaptability in unforeseen dynamic environments. Our results show that Bresa outperforms the baseline, providing a robust and reflexive safety mechanism that bridges the gap between high-level planning and low-level execution. Real-world experiments and supplementary material are available at project website https://jack-sherman01.github.io/Bresa.
Performance Characterizations and Usage Guidelines of Samsung CXL Memory Module Hybrid Prototype
Venue: arXiv cs.AR 2025
Year: 2025

The growing prevalence of data-intensive workloads, such as artificial intelligence (AI), machine learning (ML), high-performance computing (HPC), in-memory databases, and real-time analytics, has exposed limitations in conventional memory technologies like DRAM. While DRAM offers low latency and high throughput, it is constrained by high costs, scalability challenges, and volatility, making it less viable for capacity-bound and persistent applications in modern datacenters. Recently, Compute Express Link (CXL) has emerged as a promising alternative, enabling high-speed, cacheline-granular communication between CPUs and external devices. By leveraging CXL technology, NAND flash can now be used as memory expansion, offering three-fold benefits: byte-addressability, scalable capacity, and persistence at a low cost. Samsung's CXL Memory Module Hybrid (CMM-H) is the first product to deliver these benefits through a hardware-only solution, i.e., it does not incur any OS and IO overheads like conventional block devices. In particular, CMM-H integrates a DRAM cache with NAND flash in a single device to deliver near-DRAM latency. This paper presents the first publicly available study for comprehensive characterizations of an FPGA-based CMM-H prototype. Through this study, we address users' concerns about whether a wide variety of applications can successfully run on a memory device backed by NAND flash medium. Additionally, based on these characterizations, we provide key insights into how to best take advantage of the CMM-H device.
Beyond Subjectivity: Continuous Cybersickness Detection Using EEG-based Multitaper Spectrum Estimation
Venue: arXiv cs.HC 2025
Year: 2025

Virtual reality (VR) presents immersive opportunities across many applications, yet the inherent risk of developing cybersickness during interaction can severely reduce enjoyment and platform adoption. Cybersickness is marked by symptoms such as dizziness and nausea, which previous work primarily assessed via subjective post-immersion questionnaires and motion-restricted controlled setups. In this paper, we investigate the \emph{dynamic nature} of cybersickness while users experience and freely interact in VR. We propose a novel method to \emph{continuously} identify and quantitatively gauge cybersickness levels from users' \emph{passively monitored} electroencephalography (EEG) and head motion signals. Our method estimates multitaper spectrums from EEG, integrating specialized EEG processing techniques to counter motion artifacts, and, thus, tracks cybersickness levels in real-time. Unlike previous approaches, our method requires no user-specific calibration or personalization for detecting cybersickness. Our work addresses the considerable challenge of reproducibility and subjectivity in cybersickness research.