OpenRaiser/Intern-Atlas huggingface dataset:
Riemannian Variational Calculus: Optimal Trajectories Under Inertia, Gravity, and Drag Effects
Venue: arXiv cs.RO 2025
Year: 2025

Robotic motion optimization often focuses on task-specific solutions, overlooking fundamental motion principles. Building on Riemannian geometry and the calculus of variations (often appearing as indirect methods of optimal control), we derive an optimal control equation that expresses general forces as functions of configuration and velocity, revealing how inertia, gravity, and drag shape optimal trajectories. Our analysis identifies three key effects: (i) curvature effects of inertia manifold, (ii) curvature effects of potential field, and (iii) shortening effects from resistive force. We validate our approach on a two-link manipulator and a UR5, demonstrating a unified geometric framework for understanding optimal trajectories beyond geodesic-based planning.
Improving Colorectal Cancer Screening and Risk Assessment through Predictive Modeling on Medical Images and Records
Venue: arXiv cs.CV 2025
Year: 2025

Colonoscopy screening effectively identifies and removes polyps before they progress to colorectal cancer (CRC), but current follow-up guidelines rely primarily on histopathological features, overlooking other important CRC risk factors. Variability in polyp characterization among pathologists also hinders consistent surveillance decisions. Advances in digital pathology and deep learning enable the integration of pathology slides and medical records for more accurate CRC risk prediction. Using data from the New Hampshire Colonoscopy Registry, including longitudinal follow-up, we adapted a transformer-based model for histopathology image analysis to predict 5-year CRC risk. We further explored multi-modal fusion strategies to combine clinical records with deep learning-derived image features. Training the model to predict intermediate clinical variables improved 5-year CRC risk prediction (AUC = 0.630) compared to direct prediction (AUC = 0.615, p = 0.013). Incorporating both imaging and non-imaging data, without requiring manual slide review, further improved performance (AUC = 0.674) compared to traditional features from colonoscopy and microscopy reports (AUC = 0.655, p = 0.001). These results highlight the value of integrating diverse data modalities with computational methods to enhance CRC risk stratification.
Physics-informed Neural Mapping and Motion Planning in Unknown Environments
Venue: arXiv cs.RO 2025
Year: 2025

Mapping and motion planning are two essential elements of robot intelligence that are interdependent in generating environment maps and navigating around obstacles. The existing mapping methods create maps that require computationally expensive motion planning tools to find a path solution. In this paper, we propose a new mapping feature called arrival time fields, which is a solution to the Eikonal equation. The arrival time fields can directly guide the robot in navigating the given environments. Therefore, this paper introduces a new approach called Active Neural Time Fields (Active NTFields), which is a physics-informed neural framework that actively explores the unknown environment and maps its arrival time field on the fly for robot motion planning. Our method does not require any expert data for learning and uses neural networks to directly solve the Eikonal equation for arrival time field mapping and motion planning. We benchmark our approach against state-of-the-art mapping and motion planning methods and demonstrate its superior performance in both simulated and real-world environments with a differential drive robot and a 6 degrees-of-freedom (DOF) robot manipulator. The supplementary videos can be found at https://youtu.be/qTPL5a6pRKk, and the implementation code repository is available at https://github.com/Rtlyc/antfields-demo.
Asymptotically Optimal Representation of Palindromic Structure
Venue: arXiv cs.DS 2025
Year: 2025

We introduce an asymptotically optimal representation of the Manacher array of a string that supports constant-time access. The approach relies on the combinatorial properties of palindromes, yielding a compact yet efficient structure. This work fits within the broader study of compressed text indexing and highlights structural aspects of palindromic substrings that may inspire further algorithmic applications.
VideoAgent: Self-Improving Video Generation
Venue: arXiv cs.AI 2025
Year: 2025

Video generation has been used to generate visual plans for controlling robotic systems. Given an image observation and a language instruction, previous work has generated video plans which are then converted to robot controls to be executed. However, a major bottleneck in leveraging video generation for control lies in the quality of the generated videos, which often suffer from hallucinatory content and unrealistic physics, resulting in low task success when control actions are extracted from the generated videos. While scaling up dataset and model size provides a partial solution, integrating external feedback is both natural and essential for grounding video generation in the real world. With this observation, we propose VideoAgent for self-improving generated video plans based on external feedback. Instead of directly executing the generated video plan, VideoAgent first refines the generated video plans using a novel procedure which we call self-conditioning consistency, allowing inference-time compute to be turned into better generated video plans. As the refined video plan is being executed, VideoAgent can collect additional data from the environment to further improve video plan generation. Experiments in simulated robotic manipulation from MetaWorld and iTHOR show that VideoAgent drastically reduces hallucination, thereby boosting success rate of downstream manipulation tasks. We further illustrate that VideoAgent can effectively refine real-robot videos, providing an early indicator that robots can be an effective tool in grounding video generation in the physical world. Video demos and code can be found at https://video-as-agent.github.io.
Candidate Monotonicity and Proportionality for Lotteries and Non-Resolute Rules
Venue: arXiv cs.GT 2025
Year: 2025

We study the problem of designing multiwinner voting rules that are candidate monotone and proportional. We show that the set of committees satisfying the proportionality axiom of proportionality for solid coalitions is candidate monotone. We further show that Phragmén's Ordered Rule can be turned into a candidate monotone probabilistic rule which randomizes over committees satisfying proportionality for solid coalitions.
Generative Deep Learning and Signal Processing for Data Augmentation of Cardiac Auscultation Signals: Improving Model Robustness Using Synthetic Audio
Venue: arXiv cs.SD 2025
Year: 2025

Accurately interpreting cardiac auscultation signals plays a crucial role in diagnosing and managing cardiovascular diseases. However, the paucity of labelled data inhibits classification models' training. Researchers have turned to generative deep learning techniques combined with signal processing to augment the existing data and improve cardiac auscultation classification models to overcome this challenge. However, the primary focus of prior studies has been on model performance as opposed to model robustness. Robustness, in this case, is defined as both the in-distribution and out-of-distribution performance by measures such as Matthew's correlation coefficient. This work shows that more robust abnormal heart sound classifiers can be trained using an augmented dataset. The augmentations consist of traditional audio approaches and the creation of synthetic audio conditionally generated using the WaveGrad and DiffWave diffusion models. It is found that both the in-distribution and out-of-distribution performance can be improved over various datasets when training a convolutional neural network-based classification model with this augmented dataset. With the performance increase encompassing not only accuracy but also balanced accuracy and Matthew's correlation coefficient, an augmented dataset significantly contributes to resolving issues of imbalanced datasets. This, in turn, helps provide a more general and robust classifier.
Exploring Semi-Supervised Learning for Online Mapping
Venue: arXiv cs.CV 2025
Year: 2025

The ability to generate online maps using only onboard sensory information is crucial for enabling autonomous driving beyond well-mapped areas. Training models for this task -- predicting lane markers, road edges, and pedestrian crossings -- traditionally require extensive labelled data, which is expensive and labour-intensive to obtain. While semi-supervised learning (SSL) has shown promise in other domains, its potential for online mapping remains largely underexplored. In this work, we bridge this gap by demonstrating the effectiveness of SSL methods for online mapping. Furthermore, we introduce a simple yet effective method leveraging the inherent properties of online mapping by fusing the teacher's pseudo-labels from multiple samples, enhancing the reliability of self-supervised training. If 10% of the data has labels, our method to leverage unlabelled data achieves a 3.5x performance boost compared to only using the labelled data. This narrows the gap to a fully supervised model, using all labels, to just 3.5 mIoU. We also show strong generalization to unseen cities. Specifically, in Argoverse 2, when adapting to Pittsburgh, incorporating purely unlabelled target-domain data reduces the performance gap from 5 to 0.5 mIoU. These results highlight the potential of SSL as a powerful tool for solving the online mapping problem, significantly reducing reliance on labelled data.
Near-Pilotless Single Carrier Communications Using Matrix Decomposition
Venue: arXiv cs.IT 2025
Year: 2025

Single Input-Multiple Output (SIMO) systems are key enablers of high data rates in the next generation wireless communications. However in SIMO systems, channel estimation and equalization are challenging particularly in the presence of rapidly changing channels. The high pilot overhead required for channel estimation can reduce the system throughput for large antenna configuration. In this paper, we provide an iterative matrix decomposition algorithm for near-pilotless or blind decoding of SIMO signals, in a single carrier system with frequency domain equalization. This novel approach replaces the standard equalization and estimates both the transmitted data and the channel without the knowledge of any prior distributions, by making use of only one pilot. Our simulations demonstrate improved performance, in terms of error rates, compared to the more widely used pilot-based Maximal Ratio Combining (MRC) method.
TMGBench: A Systematic Game Benchmark for Evaluating Strategic Reasoning Abilities of LLMs
Venue: arXiv cs.AI 2025
Year: 2025

The rapid advancement of large language models has accelerated their application in reasoning, with strategic reasoning drawing increasing attention. To evaluate the strategic reasoning capabilities of LLMs, game theory, with its concise structure, has become the preferred approach for many researchers. However, current research typically focuses on a limited selection of games, resulting in low coverage of game types. Additionally, classic game scenarios carry risks of data leakage, and the benchmarks used often lack extensibility, rendering them inadequate for evaluating state-of-the-art models. To address these challenges, we propose TMGBench, characterized by comprehensive game type coverage, diverse scenarios and flexible game organization. Specifically, we incorporate all 144 game types summarized by the Robinson-Goforth topology of 2x2 games, constructed as classic games in our benchmark; we also synthetize diverse, higher-quality game scenarios for each classic game, which we refer to as story-based games. Lastly, to provide a sustainable evaluation framework adaptable to increasingly powerful LLMs, we treat the aforementioned games as atomic units and organize them into more complex forms through sequential, parallel, and nested structures. We conducted a comprehensive evaluation of mainstream LLMs, covering tests on rational reasoning, reasoning robustness, Theory-of-Mind capabilities, and reasoning in complex game forms. The results revealed LLMs still have flaws in the accuracy and consistency of strategic reasoning processes, and their levels of mastery over Theory-of-Mind also vary. Additionally, SOTA models like o3-mini, Qwen3 and deepseek-reasoner, were also evaluated across the sequential, parallel, and nested game structures while the results highlighted the challenges posed by TMGBench.
Transparent Networks for Multivariate Time Series
Venue: arXiv cs.LG 2025
Year: 2025

Transparent models, which provide inherently interpretable predictions, are receiving significant attention in high-stakes domains. However, despite much real-world data being collected as time series, there is a lack of studies on transparent time series models. To address this gap, we propose a novel transparent neural network model for time series called Generalized Additive Time Series Model (GATSM). GATSM consists of two parts: 1) independent feature networks to learn feature representations, and 2) a transparent temporal module to learn temporal patterns across different time steps using the feature representations. This structure allows GATSM to effectively capture temporal patterns and handle varying-length time series while preserving transparency. Empirical experiments show that GATSM significantly outperforms existing generalized additive models and achieves comparable performance to black-box time series models, such as recurrent neural networks and Transformer. In addition, we demonstrate that GATSM finds interesting patterns in time series.
Regularized Robustly Reliable Learners and Instance Targeted Attacks
Venue: arXiv cs.LG 2025
Year: 2025

Instance-targeted data poisoning attacks, where an adversary corrupts a training set to induce errors on specific test points, have raised significant concerns. Balcan et al (2022) proposed an approach to addressing this challenge by defining a notion of robustly-reliable learners that provide per-instance guarantees of correctness under well-defined assumptions, even in the presence of data poisoning attacks. They then give a generic optimal (but computationally inefficient) robustly reliable learner as well as a computationally efficient algorithm for the case of linear separators over log-concave distributions. In this work, we address two challenges left open by Balcan et al (2022). The first is that the definition of robustly-reliable learners in Balcan et al (2022) becomes vacuous for highly-flexible hypothesis classes: if there are two classifiers h_0, h_1 \in H both with zero error on the training set such that h_0(x) \neq h_1(x), then a robustly-reliable learner must abstain on x. We address this problem by defining a modified notion of regularized robustly-reliable learners that allows for nontrivial statements in this case. The second is that the generic algorithm of Balcan et al (2022) requires re-running an ERM oracle (essentially, retraining the classifier) on each test point x, which is generally impractical even if ERM can be implemented efficiently. To tackle this problem, we show that at least in certain interesting cases we can design algorithms that can produce their outputs in time sublinear in training time, by using techniques from dynamic algorithm design.
Test smells in LLM-Generated Unit Tests
Venue: arXiv cs.SE 2025
Year: 2025

LLMs promise to transform unit test generation from a manual burden into an automated solution. Yet, beyond metrics such as compilability or coverage, little is known about the quality of LLM-generated tests, particularly their susceptibility to test smells, design flaws that undermine readability and maintainability. This paper presents the first multi-benchmark, large-scale analysis of test smell diffusion in LLM-generated unit tests. We contrast LLM outputs with human-written suites (as the reference for real-world practices) and SBST-generated tests from EvoSuite (as the automated baseline), disentangling whether LLMs reproduce human-like flaws or artifacts of synthetic generation. Our study draws on 20,505 class-level suites from four LLMs (GPT-3.5, GPT-4, Mistral 7B, Mixtral 8x7B), 972 method-level cases from TestBench, 14,469 EvoSuite tests, and 779,585 human-written tests from 34,635 open-source Java projects. Using two complementary detection tools (TsDetect and JNose), we analyze prevalence, co-occurrence, and correlations with software attributes and generation parameters. Results show that LLM-generated tests consistently manifest smells such as Assertion Roulette and Magic Number Test, with patterns strongly influenced by prompting strategy, context length, and model scale. Comparisons reveal overlaps with human-written tests, raising concerns of potential data leakage from training corpora while EvoSuite exhibits distinct, generator-specific flaws. These findings highlight both the promise and the risks of LLM-based test generation, and call for the design of smell-aware generation frameworks, prompt engineering strategies, and enhanced detection tools to ensure maintainable, high-quality test code.
MLP-SLAM: Multilayer Perceptron-Based Simultaneous Localization and Mapping
Venue: arXiv cs.RO 2025
Year: 2025

The Visual Simultaneous Localization and Mapping (V-SLAM) system has seen significant development in recent years, demonstrating high precision in environments with limited dynamic objects. However, their performance significantly deteriorates when deployed in settings with a higher presence of movable objects, such as environments with pedestrians, cars, and buses, which are common in outdoor scenes. To address this issue, we propose a Multilayer Perceptron (MLP)-based real-time stereo SLAM system that leverages complete geometry information to avoid information loss. Moreover, there is currently no publicly available dataset for directly evaluating the effectiveness of dynamic and static feature classification methods, and to bridge this gap, we have created a publicly available dataset containing over 50,000 feature points. Experimental results demonstrate that our MLP-based dynamic and static feature point discriminator has achieved superior performance compared to other methods on this dataset. Furthermore, the MLP-based real-time stereo SLAM system has shown the highest average precision and fastest speed on the outdoor KITTI tracking datasets compared to other dynamic SLAM systems.The open-source code and datasets are available at https://github.com/TaozheLi/MLP-SLAM.
From Anchors to Answers: A Novel Node Tokenizer for Integrating Graph Structure into Large Language Models
Venue: arXiv cs.AI 2025
Year: 2025

Enabling large language models (LLMs) to effectively process and reason with graph-structured data remains a significant challenge despite their remarkable success in natural language tasks. Current approaches either convert graph structures into verbose textual descriptions, consuming substantial computational resources, or employ complex graph neural networks as tokenizers, which introduce significant training overhead. To bridge this gap, we present NT-LLM, a novel framework with an anchor-based positional encoding scheme for graph representation. Our approach strategically selects reference nodes as anchors and encodes each node's position relative to these anchors, capturing essential topological information without the computational burden of existing methods. Notably, we identify and address a fundamental issue: the inherent misalignment between discrete hop-based distances in graphs and continuous distances in embedding spaces. By implementing a rank-preserving objective for positional encoding pretraining, NT-LLM achieves superior performance across diverse graph tasks ranging from basic structural analysis to complex reasoning scenarios. Our comprehensive evaluation demonstrates that this lightweight yet powerful approach effectively enhances LLMs' ability to understand and reason with graph-structured information, offering an efficient solution for graph-based applications of language models.
Tex4D: Zero-shot 4D Scene Texturing with Video Diffusion Models
Venue: arXiv cs.CV 2025
Year: 2025

3D meshes are widely used in computer vision and graphics for their efficiency in animation and minimal memory use, playing a crucial role in movies, games, AR, and VR. However, creating temporally consistent and realistic textures for mesh sequences remains labor-intensive for professional artists. On the other hand, while video diffusion models excel at text-driven video generation, they often lack 3D geometry awareness and struggle with achieving multi-view consistent texturing for 3D meshes. In this work, we present Tex4D, a zero-shot approach that integrates inherent 3D geometry knowledge from mesh sequences with the expressiveness of video diffusion models to produce multi-view and temporally consistent 4D textures. Given an untextured mesh sequence and a text prompt as inputs, our method enhances multi-view consistency by synchronizing the diffusion process across different views through latent aggregation in the UV space. To ensure temporal consistency, we leverage prior knowledge from a conditional video generation model for texture synthesis. However, straightforwardly combining the video diffusion model and the UV texture aggregation leads to blurry results. We analyze the underlying causes and propose a simple yet effective modification to the DDIM sampling process to address this issue. Additionally, we introduce a reference latent texture to strengthen the correlation between frames during the denoising process. To the best of our knowledge, Tex4D is the first method specifically designed for 4D scene texturing. Extensive experiments demonstrate its superiority in producing multi-view and multi-frame consistent videos based on untextured mesh sequences.
Exploring the Personality Traits of LLMs through Latent Features Steering
Venue: arXiv cs.CL 2025
Year: 2025

Large language models (LLMs) have significantly advanced dialogue systems and role-playing agents through their ability to generate human-like text. While prior studies have shown that LLMs can exhibit distinct and consistent personalities, the mechanisms through which these models encode and express specific personality traits remain poorly understood. To address this, we investigate how various factors, such as cultural norms and environmental stressors, encoded within LLMs, shape their personality traits, guided by the theoretical framework of social determinism. Inspired by related work on LLM interpretability, we propose a training-free approach to modify the model's behavior by extracting and steering latent features corresponding to factors within the model, thereby eliminating the need for retraining. Furthermore, we analyze the implications of these factors for model safety, focusing on their impact through the lens of personality.
A Combinatorial Approach to Avoiding Weak Keys in the BIKE Cryptosystem
Venue: arXiv cs.IT 2025
Year: 2025

Bit Flipping Key Encapsulation (BIKE) is a code-based cryptosystem that was considered in Round 4 of the NIST Post-Quantum Cryptography Standardization process. It is based on quasi-cyclic moderate-density parity-check (QC-MDPC) codes paired with an iterative decoder. While (low-density) parity-check codes have been shown to perform well in practice, their capabilities are governed by the code's graphical representation and the choice of decoder rather than the traditional code parameters, making it difficult to determine the decoder failure rate (DFR). Moreover, decoding failures have been demonstrated to lead to attacks that recover the BIKE private key. In this paper, we demonstrate a strong correlation between weak keys and $4$-cycles in their associated Tanner graphs. We give concrete ways to enumerate the number of 4-cycles in a BIKE key and use these results to present a filtering algorithm that will filter BIKE keys with large numbers of 4-cycles. These results also apply to more general parity check codes.