OpenRaiser/Intern-Atlas huggingface dataset:
RAKOMO: Reachability-Aware K-Order Markov Path Optimization for Quadrupedal Loco-Manipulation
Venue: arXiv cs.RO 2025
Year: 2025

Legged manipulators, such as quadrupeds equipped with robotic arms, require motion planning techniques that account for their complex kinematic constraints in order to perform manipulation tasks both safely and effectively. However, trajectory optimization methods often face challenges due to the hybrid dynamics introduced by contact discontinuities, and tend to neglect leg limitations during planning for computational reasons. In this work, we propose RAKOMO, a path optimization technique that integrates the strengths of K-Order Markov Optimization (KOMO) with a kinematically-aware criterion based on the reachable region defined as reachability margin. We leverage a neural-network to predict the margin and optimize it by incorporating it in the standard KOMO formulation. This approach enables rapid convergence of gradient-based motion planning -- commonly tailored for continuous systems -- while adapting it effectively to legged manipulators, successfully executing loco-manipulation tasks. We benchmark RAKOMO against a baseline KOMO approach through a set of simulations for pick-and-place tasks with the HyQReal quadruped robot equipped with a Kinova Gen3 robotic arm.
SynPAIN: A Synthetic Dataset of Pain and Non-Pain Facial Expressions
Venue: arXiv cs.CV 2025
Year: 2025

Accurate pain assessment in patients with limited ability to communicate, such as older adults with dementia, represents a critical healthcare challenge. Robust automated systems of pain detection may facilitate such assessments. Existing pain detection datasets, however, suffer from limited ethnic/racial diversity, privacy constraints, and underrepresentation of older adults who are the primary target population for clinical deployment. We present SynPAIN, a large-scale synthetic dataset containing 10,710 facial expression images (5,355 neutral/expressive pairs) across five ethnicities/races, two age groups (young: 20-35, old: 75+), and two genders. Using commercial generative AI tools, we created demographically balanced synthetic identities with clinically meaningful pain expressions. Our validation demonstrates that synthetic pain expressions exhibit expected pain patterns, scoring significantly higher than neutral and non-pain expressions using clinically validated pain assessment tools based on facial action unit analysis. We experimentally demonstrate SynPAIN's utility in identifying algorithmic bias in existing pain detection models. Through comprehensive bias evaluation, we reveal substantial performance disparities across demographic characteristics. These performance disparities were previously undetectable with smaller, less diverse datasets. Furthermore, we demonstrate that age-matched synthetic data augmentation improves pain detection performance on real clinical data, achieving a 7.0% improvement in average precision. SynPAIN addresses critical gaps in pain assessment research by providing the first publicly available, demographically diverse synthetic dataset specifically designed for older adult pain detection, while establishing a framework for measuring and mitigating algorithmic bias. The dataset is available at https://doi.org/10.5683/SP3/WCXMAP
Efficient Learning for Product Attributes with Compact Multimodal Models
Venue: arXiv cs.CV 2025
Year: 2025

Image-based product attribute prediction in e-commerce is a crucial task with numerous applications. The supervised fine-tuning of Vision Language Models (VLMs) faces significant scale challenges due to the cost of manual or API based annotation. In this paper, we investigate label-efficient semi-supervised fine-tuning strategies for compact VLMs (2B-3B parameters) that leverage unlabeled product listings through Direct Preference Optimization (DPO). Beginning with a small, API-based, annotated, and labeled set, we first employ PEFT to train low-rank adapter modules. To update the adapter weights with unlabeled data, we generate multiple reasoning-and-answer chains per unlabeled sample and segregate these chains into preferred and dispreferred based on self-consistency. We then fine-tune the model with DPO loss and use the updated model for the next iteration. By using PEFT fine-tuning with DPO, our method achieves efficient convergence with minimal compute overhead. On a dataset spanning twelve e-commerce verticals, DPO-based fine-tuning, which utilizes only unlabeled data, demonstrates a significant improvement over the supervised model. Moreover, experiments demonstrate that accuracy with DPO training improves with more unlabeled data, indicating that a large pool of unlabeled samples can be effectively leveraged to improve performance.
LastMerge: A language-agnostic structured tool for code integration
Venue: arXiv cs.SE 2025
Year: 2025

Unstructured line-based merge tools are widely used in practice. Structured AST-based merge tools show significantly improved merge accuracy, but are rarely used in practice because they are language specific and costly, consequently not being available for many programming languages. To improve merge accuracy for a wide range of languages, we propose LastMerge, a generic structured merge tool that can be configured through a thin interface that significantly reduces the effort of supporting structured merge. To understand the impact that generic structured merge might have on merge accuracy and performance, we run an experiment with four structured merge tools: two Java specific tools, jDime and Spork, and their generic counterparts, respectively LastMerge and Mergiraf. Using each tool, we replay merge scenarios from a significant dataset, and collect data on runtime, behavioral divergences, and merge accuracy. Our results show no evidence that generic structured merge significantly impacts merge accuracy. Although we observe a difference rate of approximately 10% between the Java specific tools and their generic counterparts, most of the differences stem from implementation details and could be avoided. We find that LastMerge reports 15% fewer false positives than jDime while Mergiraf misses 42% fewer false negatives than Spork. Both generic tools exhibit comparable runtime performance to the state of the art language specific implementations. These results suggest that generic structured merge tools can effectively replace language-specific ones, paving the way for broader adoption of structured merge in industry.
Polar Coding and Linear Decoding
Venue: arXiv cs.IT 2025
Year: 2025

Polar encoding, described by Arikan in IEEE Transactions on Information Theory, Vol. 55, No. 7, July 2009, was a milestone for telecommunications. A Polar code distributes information among high and low-capacity channels, showing the possibility of achieving perfect channel capacity. The high-capacity channels allow almost noiseless transmission of data. When these channels are not high noise, reliability is achieved in the signal transmission. It starts to compete against codes such a Low-Density Parity-Check (LDPC) codes. Polar code can be also considered error correcting, based on the redundancy inherent in its structure. This feature makes polar encoding also applicable to digital quantum-resistant cryptography protocols. This work explores linear decoding at a first or single trial in the case of small losses or small number of bit-flipping, and repeated transmission for medium level losses. This is distinct from Arikans successive probabilistic decoding by application of probabilistic rules. Linear decoding is done directly from solving the linear equations connecting the codewords x and the received signals y after transmission via noisy channels. Numerical examples will be shown. Along with this work, programming in Mathematica language was used. Codes are available for copy-and-paste for Mathematica users to immediately try the described formalism.
Basic Reading Distillation
Venue: arXiv cs.CL 2025
Year: 2025

Large language models (LLMs) have demonstrated remarkable abilities in various natural language processing areas, but they demand high computation resources which limits their deployment in real-world. Distillation is one technique to solve this problem through either knowledge distillation or task distillation. Both distillation approaches train small models to imitate specific features of LLMs, but they all neglect basic reading education for small models on generic texts that are \emph{unrelated} to downstream tasks. In this paper, we propose basic reading distillation (BRD) which educates a small model to imitate LLMs basic reading behaviors, such as named entity recognition, question raising and answering, on each sentence. After such basic education, we apply the small model on various tasks including language inference benchmarks and BIG-bench tasks. It shows that the small model can outperform or perform comparable to over 20x bigger LLMs. Analysis reveals that BRD effectively influences the probability distribution of the small model, and has orthogonality to either knowledge distillation or task distillation.
UloRL:An Ultra-Long Output Reinforcement Learning Approach for Advancing Large Language Models' Reasoning Abilities
Venue: arXiv cs.CL 2025
Year: 2025

Recent advances in large language models (LLMs) have highlighted the potential of reinforcement learning with verifiable rewards (RLVR) to enhance reasoning capabilities through extended output sequences. However, traditional RL frameworks face inefficiencies when handling ultra-long outputs due to long-tail sequence distributions and entropy collapse during training. To address these challenges, we propose an Ultra-Long Output Reinforcement Learning (UloRL) approach for advancing large language models' reasoning abilities. Specifically, we divide ultra long output decoding into short segments, enabling efficient training by mitigating delays caused by long-tail samples. Additionally, we introduce dynamic masking of well-Mastered Positive Tokens (MPTs) to prevent entropy collapse. Experimental results demonstrate the effectiveness of our approach. On the Qwen3-30B-A3B model, RL with segment rollout achieved 2.06x increase in training speed, while RL training with 128k-token outputs improves the model's performance on AIME2025 from 70.9\% to 85.1\% and on BeyondAIME from 50.7\% to 61.9\%, even surpassing Qwen3-235B-A22B with remarkable gains. These findings underscore the potential of our methods to advance the reasoning capabilities of LLMs with ultra-long sequence generation. We will release our code and model for further use by the community.
Self-Guided Masked Autoencoder
Venue: arXiv cs.CV 2025
Year: 2025

Masked Autoencoder (MAE) is a self-supervised approach for representation learning, widely applicable to a variety of downstream tasks in computer vision. In spite of its success, it is still not fully uncovered what and how MAE exactly learns. In this paper, with an in-depth analysis, we discover that MAE intrinsically learns pattern-based patch-level clustering from surprisingly early stages of pretraining. Upon this understanding, we propose self-guided masked autoencoder, which internally generates informed mask by utilizing its progress in patch clustering, substituting the naive random masking of the vanilla MAE. Our approach significantly boosts its learning process without relying on any external models or supplementary information, keeping the benefit of self-supervised nature of MAE intact. Comprehensive experiments on various downstream tasks verify the effectiveness of the proposed method.
TransFlow: Motion Knowledge Transfer from Video Diffusion Models to Video Salient Object Detection
Venue: arXiv cs.CV 2025
Year: 2025

Video salient object detection (SOD) relies on motion cues to distinguish salient objects from backgrounds, but training such models is limited by scarce video datasets compared to abundant image datasets. Existing approaches that use spatial transformations to create video sequences from static images fail for motion-guided tasks, as these transformations produce unrealistic optical flows that lack semantic understanding of motion. We present TransFlow, which transfers motion knowledge from pre-trained video diffusion models to generate realistic training data for video SOD. Video diffusion models have learned rich semantic motion priors from large-scale video data, understanding how different objects naturally move in real scenes. TransFlow leverages this knowledge to generate semantically-aware optical flows from static images, where objects exhibit natural motion patterns while preserving spatial boundaries and temporal coherence. Our method achieves improved performance across multiple benchmarks, demonstrating effective motion knowledge transfer.
Analyzing and Mitigating Repetitions in Trip Recommendation
Venue: arXiv cs.IR 2025
Year: 2025

Trip recommendation has emerged as a highly sought-after service over the past decade. Although current studies significantly understand human intention consistency, they struggle with undesired repetitive outcomes that need resolution. We make two pivotal discoveries using statistical analyses and experimental designs: (1) The occurrence of repetitions is intricately linked to the models and decoding strategies. (2) During training and decoding, adding perturbations to logits can reduce repetition. Motivated by these observations, we introduce AR-Trip (Anti Repetition for Trip Recommendation), which incorporates a cycle-aware predictor comprising three mechanisms to avoid duplicate Points-of-Interest (POIs) and demonstrates their effectiveness in alleviating repetition. Experiments on four public datasets illustrate that AR-Trip successfully mitigates repetition issues while enhancing precision.
CleANN: Efficient Full Dynamism in Graph-based Approximate Nearest Neighbor Search
Venue: arXiv cs.DB 2025
Year: 2025

Approximate nearest neighbor search (ANNS) has become a quintessential algorithmic problem for various other foundational data tasks for AI workloads. Graph-based ANNS indexes have superb empirical trade-offs in indexing cost, query efficiency, and query approximation quality. Most existing graph-based indexes are designed for the static scenario, where there are no updates to the data after the index is constructed. However, full dynamism (insertions, deletions, and searches) is crucial to providing up-to-date responses in applications using vector databases. It is desirable that the index efficiently supports updates and search queries concurrently. Existing dynamic graph-based indexes suffer from at least one of the following problems: (1) the query quality degrades as updates happen; and (2) the graph structure updates used to maintain the index quality upon updates are global and thus expensive. To solve these problems, we propose the CleANN system which consists of three main components: (1) workload-aware linking of diverse search tree descendants to combat distribution shift; (2)query-adaptive on-the-fly neighborhood consolidation to efficiently handle deleted nodes; and (3) semi-lazy memory cleaning to clean up stale information in the data structure and reduce the work spent by the first two components. We evaluate CleANN on 7 diverse datasets on fully dynamic workloads and find that CleANN has query quality at least as good as if the index had been built statically using the corresponding data. In the in-memory setting using 56 hyper-threads, with all types of queries running concurrently, at the same recall level, CleANN achieves 7-1200x throughput improvement on million-scale real-world datasets. To the best of our knowledge, CleANN is the first concurrent ANNS index to achieve such efficiency while maintaining quality under full dynamism.
HCAttention: Extreme KV Cache Compression via Heterogeneous Attention Computing for LLMs
Venue: arXiv cs.CL 2025
Year: 2025

Processing long-context inputs with large language models presents a significant challenge due to the enormous memory requirements of the Key-Value (KV) cache during inference. Existing KV cache compression methods exhibit noticeable performance degradation when memory is reduced by more than 85%. Additionally, strategies that leverage GPU-CPU collaboration for approximate attention remain underexplored in this setting. We propose HCAttention, a heterogeneous attention computation framework that integrates key quantization, value offloading, and dynamic KV eviction to enable efficient inference under extreme memory constraints. The method is compatible with existing transformer architectures and does not require model fine-tuning. Experimental results on the LongBench benchmark demonstrate that our approach preserves the accuracy of full-attention model while shrinking the KV cache memory footprint to 25% of its original size. Remarkably, it stays competitive with only 12.5% of the cache, setting a new state-of-the-art in LLM KV cache compression. To the best of our knowledge, HCAttention is the first to extend the Llama-3-8B model to process 4 million tokens on a single A100 GPU with 80GB memory.
VAE-GAN Based Price Manipulation in Coordinated Local Energy Markets
Venue: arXiv cs.LG 2025
Year: 2025

This paper introduces a model for coordinating prosumers with heterogeneous distributed energy resources (DERs), participating in the local energy market (LEM) that interacts with the market-clearing entity. The proposed LEM scheme utilizes a data-driven, model-free reinforcement learning approach based on the multi-agent deep deterministic policy gradient (MADDPG) framework, enabling prosumers to make real-time decisions on whether to buy, sell, or refrain from any action while facilitating efficient coordination for optimal energy trading in a dynamic market. In addition, we investigate a price manipulation strategy using a variational auto encoder-generative adversarial network (VAE-GAN) model, which allows utilities to adjust price signals in a way that induces financial losses for the prosumers. Our results show that under adversarial pricing, heterogeneous prosumer groups, particularly those lacking generation capabilities, incur financial losses. The same outcome holds across LEMs of different sizes. As the market size increases, trading stabilizes and fairness improves through emergent cooperation among agents.
Think, Act, Learn: A Framework for Autonomous Robotic Agents using Closed-Loop Large Language Models
Venue: arXiv cs.RO 2025
Year: 2025

The integration of Large Language Models (LLMs) into robotics has unlocked unprecedented capabilities in high-level task planning. However, most current systems operate in an open-loop fashion, where LLMs act as one-shot planners, rendering them brittle and unable to adapt to unforeseen circumstances in dynamic physical environments. To overcome this limitation, this paper introduces the "Think, Act, Learn" (T-A-L) framework, a novel architecture that enables an embodied agent to autonomously learn and refine its policies through continuous interaction. Our framework establishes a closed-loop cycle where an LLM first "thinks" by decomposing high-level commands into actionable plans. The robot then "acts" by executing these plans while gathering rich, multimodal sensory feedback. Critically, the "learn" module processes this feedback to facilitate LLM-driven self-reflection, allowing the agent to perform causal analysis on its failures and generate corrective strategies. These insights are stored in an experiential memory to guide future planning cycles. We demonstrate through extensive experiments in both simulation and the real world that our T-A-L agent significantly outperforms baseline methods, including open-loop LLMs, Behavioral Cloning, and traditional Reinforcement Learning. Our framework achieves over a 97% success rate on complex, long-horizon tasks, converges to a stable policy in an average of just 9 trials, and exhibits remarkable generalization to unseen tasks. This work presents a significant step towards developing more robust, adaptive, and truly autonomous robotic agents.
Anchoring Trends: Mitigating Social Media Popularity Prediction Drift via Feature Clustering and Expansion
Venue: arXiv cs.MM 2025
Year: 2025

Predicting online video popularity faces a critical challenge: prediction drift, where models trained on historical data rapidly degrade due to evolving viral trends and user behaviors. To address this temporal distribution shift, we propose an Anchored Multi-modal Clustering and Feature Generation (AMCFG) framework that discovers temporally-invariant patterns across data distributions. Our approach employs multi-modal clustering to reveal content structure, then leverages Large Language Models (LLMs) to generate semantic Anchor Features, such as audience demographics, content themes, and engagement patterns that transcend superficial trend variations. These semantic anchors, combined with cluster-derived statistical features, enable prediction based on stable principles rather than ephemeral signals. Experiments demonstrate that AMCFG significantly enhances both predictive accuracy and temporal robustness, achieving superior performance on out-of-distribution data and providing a viable solution for real-world video popularity prediction.
The Polish Vocabulary Size Test: A Novel Adaptive Test for Receptive Vocabulary Assessment
Venue: arXiv cs.CL 2025
Year: 2025

We present the Polish Vocabulary Size Test (PVST), a novel tool for assessing the receptive vocabulary size of both native and non-native Polish speakers. Based on Item Response Theory and Computerized Adaptive Testing, PVST dynamically adjusts to each test-taker's proficiency level, ensuring high accuracy while keeping the test duration short. To validate the test, a pilot study was conducted with 1.475 participants. Native Polish speakers demonstrated significantly larger vocabularies compared to non-native speakers. For native speakers, vocabulary size showed a strong positive correlation with age. The PVST is available online at myvocab.info/pl.
RestoreAI -- Pattern-based Risk Estimation Of Remaining Explosives
Venue: arXiv cs.LG 2025
Year: 2025

Landmine removal is a slow, resource-intensive process affecting over 60 countries. While AI has been proposed to enhance explosive ordnance (EO) detection, existing methods primarily focus on object recognition, with limited attention to prediction of landmine risk based on spatial pattern information. This work aims to answer the following research question: How can AI be used to predict landmine risk from landmine patterns to improve clearance time efficiency? To that effect, we introduce RestoreAI, an AI system for pattern-based risk estimation of remaining explosives. RestoreAI is the first AI system that leverages landmine patterns for risk prediction, improving the accuracy of estimating the residual risk of missing EO prior to land release. We particularly focus on the implementation of three instances of RestoreAI, respectively, linear, curved and Bayesian pattern deminers. First, the linear pattern deminer uses linear landmine patterns from a principal component analysis (PCA) for the landmine risk prediction. Second, the curved pattern deminer uses curved landmine patterns from principal curves. Finally, the Bayesian pattern deminer incorporates prior expert knowledge by using a Bayesian pattern risk prediction. Evaluated on real-world landmine data, RestoreAI significantly boosts clearance efficiency. The top-performing pattern-based deminers achieved a 14.37 percentage point increase in the average share of cleared landmines per timestep and required 24.45% less time than the best baseline deminer to locate all landmines. Interestingly, linear and curved pattern deminers showed no significant performance difference, suggesting that more efficient linear patterns are a viable option for risk prediction.