OpenRaiser/Intern-Atlas huggingface dataset:
Towards Hierarchical Multi-Agent Workflows for Zero-Shot Prompt Optimization
Venue: arXiv cs.CL 2025
Year: 2025

Large language models (LLMs) have shown great progress in responding to user questions, allowing for a multitude of diverse applications. Yet, the quality of LLM outputs heavily depends on the prompt design, where a good prompt might enable the LLM to answer a very challenging question correctly. Therefore, recent works have developed many strategies for improving the prompt, including both manual crafting and in-domain optimization. However, their efficacy in unrestricted scenarios remains questionable, as the former depends on human design for specific questions and the latter usually generalizes poorly to unseen scenarios. To address these problems, we give LLMs the freedom to design the best prompts according to themselves. Specifically, we include a hierarchy of LLMs, first constructing a prompt with precise instructions and accurate wording in a hierarchical manner, and then using this prompt to generate the final answer to the user query. We term this pipeline Hierarchical Multi-Agent Workflow, or HMAW. In contrast with prior works, HMAW imposes no human restriction and requires no training, and is completely task-agnostic while capable of adjusting to the nuances of the underlying task. Through both quantitative and qualitative experiments across multiple benchmarks, we verify that despite its simplicity, the proposed approach can create detailed and suitable prompts, further boosting the performance of current LLMs.
Vision-based Manipulation from Single Human Video with Open-World Object Graphs
Venue: arXiv cs.RO 2025
Year: 2025

This work presents an object-centric approach to learning vision-based manipulation skills from human videos. We investigate the problem of robot manipulation via imitation in the open-world setting, where a robot learns to manipulate novel objects from a single video demonstration. We introduce ORION, an algorithm that tackles the problem by extracting an object-centric manipulation plan from a single RGB or RGB-D video and deriving a policy that conditions on the extracted plan. Our method enables the robot to learn from videos captured by daily mobile devices and to generalize the policies to deployment environments with varying visual backgrounds, camera angles, spatial layouts, and novel object instances. We systematically evaluate our method on both short-horizon and long-horizon tasks, using RGB-D and RGB-only demonstration videos. Across varied tasks and demonstration types (RGB-D / RGB), we observe an average success rate of 74.4%, demonstrating the efficacy of ORION in learning from a single human video in the open world. Additional materials can be found on our project website: https://ut-austin-rpl.github.io/ORION-release.
Don't drop your samples! Coherence-aware training benefits Conditional diffusion
Venue: arXiv cs.CV 2025
Year: 2025

Conditional diffusion models are powerful generative models that can leverage various types of conditional information, such as class labels, segmentation masks, or text captions. However, in many real-world scenarios, conditional information may be noisy or unreliable due to human annotation errors or weak alignment. In this paper, we propose the Coherence-Aware Diffusion (CAD), a novel method that integrates coherence in conditional information into diffusion models, allowing them to learn from noisy annotations without discarding data. We assume that each data point has an associated coherence score that reflects the quality of the conditional information. We then condition the diffusion model on both the conditional information and the coherence score. In this way, the model learns to ignore or discount the conditioning when the coherence is low. We show that CAD is theoretically sound and empirically effective on various conditional generation tasks. Moreover, we show that leveraging coherence generates realistic and diverse samples that respect conditional information better than models trained on cleaned datasets where samples with low coherence have been discarded.
Shoal++: High Throughput DAG BFT Can Be Fast!
Venue: arXiv cs.DC 2025
Year: 2025

Today's practical partially synchronous Byzantine Fault Tolerant (BFT) consensus protocols trade off low latency and high throughput. On the one end, traditional BFT protocols such as PBFT and its derivatives optimize for latency. They require, in fault-free executions, only 3 message exchanges to commit, the optimum for BFT consensus. However, this class of protocols typically relies on a single leader, hampering throughput scalability. On the other end, a new class of so-called DAG-BFT protocols demonstrates how to achieve highly scalable throughput by separating data dissemination from consensus, and using every replica as proposer. Unfortunately, existing DAG-BFT protocols pay a steep latency premium, requiring on average 10.5 message exchanges to commit a transactions. This work aims to soften this tension and proposes Shoal++, a novel DAG-based BFT consensus system that offers the throughput of DAGs while reducing commit latency to an average of 4.5 message exchanges. Our empirical findings are encouraging, showing that Shoal++ achieves throughput comparable to state-of-the-art DAG BFT solutions while reducing latency by up to 60%.
Uncertainty Quantification for Deep Learning
Venue: arXiv cs.LG 2025
Year: 2025

We present a critical survey on the consistency of uncertainty quantification used in deep learning and highlight partial uncertainty coverage and many inconsistencies. We then provide a comprehensive and statistically consistent framework for uncertainty quantification in deep learning that accounts for all major sources of uncertainty: input data, training and testing data, neural network weights, and machine-learning model imperfections, targeting regression problems. We systematically quantify each source by applying Bayes' theorem and conditional probability densities and introduce a fast, practical implementation method. We demonstrate its effectiveness on a simple regression problem and a real-world application: predicting cloud autoconversion rates using a neural network trained on aircraft measurements from the Azores and guided by a two-moment bin model of the stochastic collection equation. In this application, uncertainty from the training and testing data dominates, followed by input data, neural network model, and weight variability. Finally, we highlight the practical advantages of this methodology, showing that explicitly modeling training data uncertainty improves robustness to new inputs that fall outside the training data, and enhances model reliability in real-world scenarios.
Deep Learning without Weight Symmetry
Venue: arXiv cs.LG 2025
Year: 2025

Backpropagation, a foundational algorithm for training artificial neural networks, predominates in contemporary deep learning. Although highly successful, it is widely considered biologically implausible, because it relies on precise symmetry between feedforward and feedback weights to accurately propagate gradient signals that assign credit. The so-called weight transport problem concerns how biological brains learn to align feedforward and feedback paths while avoiding the non-biological transport of feedforward weights into feedback weights. To address this, several credit assignment algorithms, such as feedback alignment and the Kollen-Pollack rule, have been proposed. While they can achieve the desired weight alignment, these algorithms imply that if a neuron sends a feedforward synapse to another neuron, it should also receive an identical or at least partially correlated feedback synapse from the latter neuron, thereby forming a bidirectional connection. However, this idealized connectivity pattern contradicts experimental observations in the brain, a discrepancy we refer to as the weight symmetry problem. To address this challenge posed by considering biological constraints on connectivity, we introduce the Product Feedback Alignment (PFA) algorithm. We demonstrate that PFA can eliminate explicit weight symmetry entirely while closely approximating backpropagation and achieving comparable performance in deep convolutional networks. Our results offer a novel approach to solve the longstanding problem of credit assignment in the brain, leading to more biologically plausible learning in deep networks compared to previous methods.
Expert-Token Resonance MoE: Bidirectional Routing with Efficiency Affinity-Driven Active Selection
Venue: arXiv cs.CL 2025
Year: 2025

Mixture-of-Experts (MoE) architectures enable efficient scaling of large language models by activating only a subset of parameters per input. However, existing MoE models suffer from two critical limitations: (1) inefficient token-to-expert routing that causes excessive communication overhead, and (2) expert homogenization that leads to redundant computations. Current approaches address these challenges separately, failing to achieve simultaneous improvements in both training efficiency and model performance. We present Expert-Token Resonance (ETR), a theoretically-grounded bidirectional routing mechanism that fundamentally reimagines expert-token interactions in MoE architectures. Our key insight is that optimal routing requires adaptive coordination between token-choice routing (TCR) during early training phases and expert-choice routing (ECR) in later stages. We prove that this dynamic approach maximizes training success rate (the probability of correct token-expert assignments) while reducing the expert capacity lower bound by up to 40%. ETR incorporates three technical innovations: (1) an affinity-based routing architecture using Grouped Average Pooling (GrAP) that reduces computational complexity from O(d^2) to O(d^2/D) while maintaining orthogonality to prevent expert homogenization; (2) a bidirectional selection mechanism that enables both tokens and experts to actively participate in the routing process based on cosine similarity scores; and (3) an adaptive capacity strategy that dynamically adjusts expert bounds based on training progress, eliminating communication bubbles in All-to-All operations. Extensive experiments on Ascend NPU clusters demonstrate that ETR achieves 5.4%-46.6% improvements in end-to-end training efficiency compared to baseline MoE implementations, with 9.7%-14.5% performance gains across GDAD, GPQA, HumanEval, and TeleQnA benchmarks.
Reward Machines for Deep RL in Noisy and Uncertain Environments
Venue: arXiv cs.LG 2025
Year: 2025

Reward Machines provide an automaton-inspired structure for specifying instructions, safety constraints, and other temporally extended reward-worthy behaviour. By exposing the underlying structure of a reward function, they enable the decomposition of an RL task, leading to impressive gains in sample efficiency. Although Reward Machines and similar formal specifications have a rich history of application towards sequential decision-making problems, they critically rely on a ground-truth interpretation of the domain-specific vocabulary that forms the building blocks of the reward function--such ground-truth interpretations are elusive in the real world due in part to partial observability and noisy sensing. In this work, we explore the use of Reward Machines for Deep RL in noisy and uncertain environments. We characterize this problem as a POMDP and propose a suite of RL algorithms that exploit task structure under uncertain interpretation of the domain-specific vocabulary. Through theory and experiments, we expose pitfalls in naive approaches to this problem while simultaneously demonstrating how task structure can be successfully leveraged under noisy interpretations of the vocabulary.
HumanEvalComm: Benchmarking the Communication Competence of Code Generation for LLMs and LLM Agent
Venue: arXiv cs.SE 2025
Year: 2025

Large language models (LLMs) have significantly improved their ability to perform tasks in the field of code generation. However, there is still a gap between LLMs being capable coders and being top-tier software engineers. Based on the observation that top-level software engineers often ask clarifying questions to reduce ambiguity in both requirements and coding solutions, we argue that the same should be applied to LLMs for code generation tasks. In this work, we conducted an empirical study on the benchmark and analysis of the communication skills of LLMs for code generation. We define communication skills of LLMs as ``being able to ask clarifying questions when the description of the code generation problem has issues''. We created a new benchmark, HumanEvalComm, by modifying problem descriptions according to three issues: inconsistency, ambiguity, incompleteness. We defined new evaluation metrics such as Communication Rate and Good Question Rate, and then experimented on HumanEvalComm with different Code LLMs, and a new LLM agent approach, Okanagan, to identify and ask questions in ambiguous parts from code and descriptions for further refining the generated code. Finally, we discussed evaluation results by comparing Code LLMs and Okanagan with our findings.
Evaluating Uncertainty-based Failure Detection for Closed-Loop LLM Planners
Venue: arXiv cs.RO 2025
Year: 2025

Recently, Large Language Models (LLMs) have witnessed remarkable performance as zero-shot task planners for robotic manipulation tasks. However, the open-loop nature of previous works makes LLM-based planning error-prone and fragile. On the other hand, failure detection approaches for closed-loop planning are often limited by task-specific heuristics or following an unrealistic assumption that the prediction is trustworthy all the time. As a general-purpose reasoning machine, LLMs or Multimodal Large Language Models (MLLMs) are promising for detecting failures. However, However, the appropriateness of the aforementioned assumption diminishes due to the notorious hullucination problem. In this work, we attempt to mitigate these issues by introducing a framework for closed-loop LLM-based planning called KnowLoop, backed by an uncertainty-based MLLMs failure detector, which is agnostic to any used MLLMs or LLMs. Specifically, we evaluate three different ways for quantifying the uncertainty of MLLMs, namely token probability, entropy, and self-explained confidence as primary metrics based on three carefully designed representative prompting strategies. With a self-collected dataset including various manipulation tasks and an LLM-based robot system, our experiments demonstrate that token probability and entropy are more reflective compared to self-explained confidence. By setting an appropriate threshold to filter out uncertain predictions and seek human help actively, the accuracy of failure detection can be significantly enhanced. This improvement boosts the effectiveness of closed-loop planning and the overall success rate of tasks.
VeriSplit: Secure and Practical Offloading of Machine Learning Inferences across IoT Devices
Venue: arXiv cs.CR 2025
Year: 2025

Many Internet-of-Things (IoT) devices rely on cloud computation resources to perform machine learning inferences. This is expensive and may raise privacy concerns for users. Consumers of these devices often have hardware such as gaming consoles and PCs with graphics accelerators that are capable of performing these computations, which may be left idle for significant periods of time. While this presents a compelling potential alternative to cloud offloading, concerns about the integrity of inferences, the confidentiality of model parameters, and the privacy of users' data mean that device vendors may be hesitant to offload their inferences to a platform managed by another manufacturer. We propose VeriSplit, a framework for offloading machine learning inferences to locally-available devices that address these concerns. We introduce masking techniques to protect data privacy and model confidentiality, and a commitment-based verification protocol to address integrity. Unlike much prior work aimed at addressing these issues, our approach does not rely on computation over finite field elements, which may interfere with floating-point computation supports on hardware accelerators and require modification to existing models. We implemented a prototype of VeriSplit and our evaluation results show that, compared to performing computation locally, our secure and private offloading solution can reduce inference latency by 28%--83%.
Unsupervised contrastive analysis for anomaly detection in brain MRIs via conditional diffusion models
Venue: arXiv cs.CV 2025
Year: 2025

Contrastive Analysis (CA) detects anomalies by contrasting patterns unique to a target group (e.g., unhealthy subjects) from those in a background group (e.g., healthy subjects). In the context of brain MRIs, existing CA approaches rely on supervised contrastive learning or variational autoencoders (VAEs) using both healthy and unhealthy data, but such reliance on target samples is challenging in clinical settings. Unsupervised Anomaly Detection (UAD) offers an alternative by learning a reference representation of healthy anatomy without the need for target samples. Deviations from this reference distribution can indicate potential anomalies. In this context, diffusion models have been increasingly adopted in UAD due to their superior performance in image generation compared to VAEs. Nonetheless, precisely reconstructing the anatomy of the brain remains a challenge. In this work, we propose an unsupervised framework to improve the reconstruction quality by training a self-supervised contrastive encoder on healthy images to extract meaningful anatomical features. These features are used to condition a diffusion model to reconstruct the healthy appearance of a given image, enabling interpretable anomaly localization via pixel-wise comparison. We validate our approach through a proof-of-concept on a facial image dataset and further demonstrate its effectiveness on four brain MRI datasets, achieving state-of-the-art anomaly localization performance on the NOVA benchmark.
Depth-Bounded Epistemic Planning
Venue: arXiv cs.AI 2025
Year: 2025

We propose a novel algorithm for epistemic planning based on dynamic epistemic logic (DEL). The novelty is that we limit the depth of reasoning of the planning agent to an upper bound b, meaning that the planning agent can only reason about higher-order knowledge to at most (modal) depth b. We then compute a plan requiring the lowest reasoning depth by iteratively incrementing the value of b. The algorithm relies at its core on a new type of "canonical" b-bisimulation contraction that guarantees unique minimal models by construction. This yields smaller states wrt. standard bisimulation contractions, and enables to efficiently check for visited states. We show soundness and completeness of our planning algorithm, under suitable bounds on reasoning depth, and that, for a bound b, it runs in (b+1)-EXPTIME. We implement the algorithm in a novel epistemic planner, DAEDALUS, and compare it to the EFP 2.0 planner on several benchmarks from the literature, showing effective performance improvements.
MultiMax: Sparse and Multi-Modal Attention Learning
Venue: arXiv cs.LG 2025
Year: 2025

SoftMax is a ubiquitous ingredient of modern machine learning algorithms. It maps an input vector onto a probability simplex and reweights the input by concentrating the probability mass at large entries. Yet, as a smooth approximation to the Argmax function, a significant amount of probability mass is distributed to other, residual entries, leading to poor interpretability and noise. Although sparsity can be achieved by a family of SoftMax variants, they often require an alternative loss function and do not preserve multi-modality. We show that this trade-off between multi-modality and sparsity limits the expressivity of SoftMax as well as its variants. We provide a solution to this tension between objectives by proposing a piece-wise differentiable function, termed MultiMax, which adaptively modulates the output distribution according to input entry range. Through comprehensive analysis and evaluation, we show that MultiMax successfully produces a distribution that supresses irrelevant entries while preserving multimodality, with benefits in image classification, language modeling and machine translation. The code is available at https://github.com/ZhouYuxuanYX/MultiMax.
Adapting Prediction Sets to Distribution Shifts Without Labels
Venue: arXiv cs.LG 2025
Year: 2025

Recently there has been a surge of interest to deploy confidence set predictions rather than point predictions in machine learning. Unfortunately, the effectiveness of such prediction sets is frequently impaired by distribution shifts in practice, and the challenge is often compounded by the lack of ground truth labels at test time. Focusing on a standard set-valued prediction framework called conformal prediction (CP), this paper studies how to improve its practical performance using only unlabeled data from the shifted test domain. This is achieved by two new methods called ECP and EACP, whose main idea is to adjust the score function in CP according to its base model's own uncertainty evaluation. Through extensive experiments on a number of large-scale datasets and neural network architectures, we show that our methods provide consistent improvement over existing baselines and nearly match the performance of fully supervised methods.
ManiCM: Real-time 3D Diffusion Policy via Consistency Model for Robotic Manipulation
Venue: arXiv cs.RO 2025
Year: 2025

Diffusion models have been verified to be effective in generating complex distributions from natural images to motion trajectories. Recent diffusion-based methods show impressive performance in 3D robotic manipulation tasks, whereas they suffer from severe runtime inefficiency due to multiple denoising steps, especially with high-dimensional observations. To this end, we propose a real-time robotic manipulation model named ManiCM that imposes the consistency constraint to the diffusion process, so that the model can generate robot actions in only one-step inference. Specifically, we formulate a consistent diffusion process in the robot action space conditioned on the point cloud input, where the original action is required to be directly denoised from any point along the ODE trajectory. To model this process, we design a consistency distillation technique to predict the action sample directly instead of predicting the noise within the vision community for fast convergence in the low-dimensional action manifold. We evaluate ManiCM on 31 robotic manipulation tasks from Adroit and Metaworld, and the results demonstrate that our approach accelerates the state-of-the-art method by 10 times in average inference speed while maintaining competitive average success rate.
A Diffusion Model Framework for Unsupervised Neural Combinatorial Optimization
Venue: arXiv cs.LG 2025
Year: 2025

Learning to sample from intractable distributions over discrete sets without relying on corresponding training data is a central problem in a wide range of fields, including Combinatorial Optimization. Currently, popular deep learning-based approaches rely primarily on generative models that yield exact sample likelihoods. This work introduces a method that lifts this restriction and opens the possibility to employ highly expressive latent variable models like diffusion models. Our approach is conceptually based on a loss that upper bounds the reverse Kullback-Leibler divergence and evades the requirement of exact sample likelihoods. We experimentally validate our approach in data-free Combinatorial Optimization and demonstrate that our method achieves a new state-of-the-art on a wide range of benchmark problems.