OpenRaiser/Intern-Atlas huggingface dataset:
MLATC: Fast Hierarchical Topological Mapping from 3D LiDAR Point Clouds Based on Adaptive Resonance Theory
Venue: arXiv cs.RO 2025
Year: 2025

This paper addresses the problem of building global topological maps from 3D LiDAR point clouds for autonomous mobile robots operating in large-scale, dynamic, and unknown environments. Adaptive Resonance Theory-based Topological Clustering with Different Topologies (ATC-DT) builds global topological maps represented as graphs while mitigating catastrophic forgetting during sequential processing. However, its winner selection mechanism relies on an exhaustive nearest-neighbor search over all existing nodes, leading to scalability limitations as the map grows. To address this challenge, we propose a hierarchical extension called Multi-Layer ATC (MLATC). MLATC organizes nodes into a hierarchy, enabling the nearest-neighbor search to proceed from coarse to fine resolutions, thereby drastically reducing the number of distance evaluations per query. The number of layers is not fixed in advance. MLATC employs an adaptive layer addition mechanism that automatically deepens the hierarchy when lower layers become saturated, keeping the number of user-defined hyperparameters low. Simulation experiments on synthetic large-scale environments show that MLATC accelerates topological map building compared to the original ATC-DT and exhibits a sublinear, approximately logarithmic scaling of search time with respect to the number of nodes. Experiments on campus-scale real-world LiDAR datasets confirm that MLATC maintains a millisecond-level per-frame runtime and enables real-time global topological map building in large-scale environments, significantly outperforming the original ATC-DT in terms of computational efficiency.
Evaluating Embedding Models and Pipeline Optimization for AI Search Quality
Venue: arXiv cs.IR 2025
Year: 2025

We evaluate the performance of various text embedding models and pipeline configurations for AI-driven search systems. We compare sentence-transformer and generative embedding models (e.g., All-MPNet, BGE, GTE, and Qwen) at different dimensions, indexing methods (Milvus HNSW/IVF), and chunking strategies. A custom evaluation dataset of 11,975 query-chunk pairs was synthesized from US City Council meeting transcripts using a local large language model (LLM). The data pipeline includes preprocessing, automated question generation per chunk, manual validation, and continuous integration/continuous deployment (CI/CD) integration. We measure retrieval accuracy using reference-based metrics: Top-K Accuracy and Normalized Discounted Cumulative Gain (NDCG). Our results demonstrate that higher-dimensional embeddings significantly boost search quality (e.g., Qwen3-Embedding-8B/4096 achieves Top-3 accuracy about 0.571 versus 0.412 for GTE-large/1024), and that neural re-rankers (e.g., a BGE cross-encoder) further improve ranking accuracy (Top-3 up to 0.527). Finer-grained chunking (512 characters versus 2000 characters) also improves accuracy. We discuss the impact of these factors and outline future directions for pipeline automation and evaluation.
UNION: A Lightweight Target Representation for Efficient Zero-Shot Image-Guided Retrieval with Optional Textual Queries
Venue: arXiv cs.IR 2025
Year: 2025

Image-Guided Retrieval with Optional Text (IGROT) is a general retrieval setting where a query consists of an anchor image, with or without accompanying text, aiming to retrieve semantically relevant target images. This formulation unifies two major tasks: Composed Image Retrieval (CIR) and Sketch-Based Image Retrieval (SBIR). In this work, we address IGROT under low-data supervision by introducing UNION, a lightweight and generalisable target representation that fuses the image embedding with a null-text prompt. Unlike traditional approaches that rely on fixed target features, UNION enhances semantic alignment with multimodal queries while requiring no architectural modifications to pretrained vision-language models. With only 5,000 training samples - from LlavaSCo for CIR and Training-Sketchy for SBIR - our method achieves competitive results across benchmarks, including CIRCO mAP@50 of 38.5 and Sketchy mAP@200 of 82.7, surpassing many heavily supervised baselines. This demonstrates the robustness and efficiency of UNION in bridging vision and language across diverse query types.
Beyond Query-Level Comparison: Fine-Grained Reinforcement Learning for Text-to-SQL with Automated Interpretable Critiques
Venue: arXiv cs.CL 2025
Year: 2025

Text-to-SQL, a pivotal natural language processing (NLP) task that converts textual queries into executable SQL, has seen substantial progress in recent years. However, existing evaluation and reward mechanisms used to train and assess the text-to-SQL models remain a critical bottleneck. Current approaches heavily rely on manually annotated gold SQL queries, which are costly to produce and impractical for large-scale evaluation. More importantly, most reinforcement learning (RL) methods in text-to-SQL leverage only the final binary execution outcome as the reward signal, a coarse-grained supervision that overlooks detailed structural and semantic errors from the perspective of rubrics. To address these challenges, we propose RuCo-C, a novel generative judge model for fine-grained, query-specific automatic evaluation using interpretable critiques without human intervention. Our framework first automatically generates query-specific evaluation rubrics for human-free annotation, linking them to interpretable critiques. Subsequently, it integrates densified reward feedback through a "progressive exploration" strategy during the RL training process, which dynamically adjusts the rewards to enhance the model's performance. Comprehensive experiments demonstrate that RuCo-C outperforms existing methods in text-to-SQL evaluation, yielding significant performance gains.
Efficiency and Effectiveness of SPLADE Models on Billion-Scale Web Document Title
Venue: arXiv cs.IR 2025
Year: 2025

This paper presents a comprehensive comparison of BM25, SPLADE, and Expanded-SPLADE models in the context of large-scale web document retrieval. We evaluate the effectiveness and efficiency of these models on datasets spanning from tens of millions to billions of web document titles. SPLADE and Expanded-SPLADE, which utilize sparse lexical representations, demonstrate superior retrieval performance compared to BM25, especially for complex queries. However, these models incur higher computational costs. We introduce pruning strategies, including document-centric pruning and top-k query term selection, boolean query with term threshold to mitigate these costs and improve the models' efficiency without significantly sacrificing retrieval performance. The results show that Expanded-SPLADE strikes the best balance between effectiveness and efficiency, particularly when handling large datasets. Our findings offer valuable insights for deploying sparse retrieval models in large-scale search engines.
Investigating AI in Peer Support via Multi-Module System-Driven Embodied Conversational Agents
Venue: arXiv cs.HC 2025
Year: 2025

Young people's mental well-being is a global concern, with peer support playing a key role in daily emotional regulation. Conversational agents are increasingly viewed as promising tools for delivering accessible, personalised peer support, particularly where professional counselling is limited. However, existing systems often suffer from rigid input formats, scripted responses, and limited emotional sensitivity. The emergence of large language models introduces new possibilities for generating flexible, context-aware, and empathetic responses. To explore how individuals with psychological training perceive such systems in peer support contexts, we developed an LLM-based multi-module system to drive embodied conversational agents informed by Cognitive Behavioral Therapy (CBT). In a user study (N=10), we qualitatively examined participants' perceptions, focusing on trust, response quality, workflow integration, and design opportunities for future mental well-being support systems.
Efficient Trace Frequency Queries in Sparse Graphs
Venue: arXiv cs.DS 2025
Year: 2025

Understanding how a vertex relates to a set of vertices is a fundamental task in graph analysis. Given a graph $G$ and a vertex set $X \subseteq V(G)$, consider the collection of subsets of the form $N(u) \cap X$ where $u$ ranges over all vertices outside $X$. These intersections, which we call the traces of $X$, capture all ways vertices in $G$ connect to $X$, and in this paper we consider the problem of listing these traces efficiently, and the related problem of recording the multiplicity (frequency) of each trace. For a given query set $X$, both problems have obvious algorithms with running time $O(|N(X)| \cdot |X|)$ and conditional lower bounds suggest that, on general graphs, one cannot expect better. However, in certain sparse graph classes, more efficient algorithms are possible: Drange \etal (IPEC 2023) used a data structure that answers trace queries in $d$-degenerate graphs with linear initialisation time and query time that only depends on the query set $X$ and $d$. However, the query time is exponential in $|X|$, which makes this approach impractical. By using a stronger parameter than degeneracy, namely the strong $2$-colouring number $s_2$, we construct a data structure in $O(d \cdot \|G\|)$ time, which answers subsequent trace frequency queries in time $O\big((d^2 + s_2^{d+2})|X|\big)$, where $\|G\|$ is the number of edges of $G$, $s_2$ is the strong $2$-colouring number and $d$ the degeneracy of a suitable ordering of $G$. We demonstrate that this data structure is indeed practical and that it beats the simple, obvious alternative in almost all tested settings, using a collection of 217 real-world networks with up to 1.1M edges. As part of this effort, we demonstrate that computing an ordering with a small strong $2$-colouring number is feasible with a simple heuristic.
Structure is Supervision: Multiview Masked Autoencoders for Radiology
Venue: arXiv cs.CV 2025
Year: 2025

Building robust medical machine learning systems requires pretraining strategies that exploit the intrinsic structure present in clinical data. We introduce Multiview Masked Autoencoder (MVMAE), a self-supervised framework that leverages the natural multi-view organization of radiology studies to learn view-invariant and disease-relevant representations. MVMAE combines masked image reconstruction with cross-view alignment, transforming clinical redundancy across projections into a powerful self-supervisory signal. We further extend this approach with MVMAE-V2T, which incorporates radiology reports as an auxiliary text-based learning signal to enhance semantic grounding while preserving fully vision-based inference. Evaluated on a downstream disease classification task on three large-scale public datasets, MIMIC-CXR, CheXpert, and PadChest, MVMAE consistently outperforms supervised and vision-language baselines. Furthermore, MVMAE-V2T provides additional gains, particularly in low-label regimes where structured textual supervision is most beneficial. Together, these results establish the importance of structural and textual supervision as complementary paths toward scalable, clinically grounded medical foundation models.
DeXposure: A Dataset and Benchmarks for Inter-protocol Credit Exposure in Decentralized Financial Networks
Venue: arXiv cs.LG 2025
Year: 2025

We curate the DeXposure dataset, the first large-scale dataset for inter-protocol credit exposure in decentralized financial networks, covering global markets of 43.7 million entries across 4.3 thousand protocols, 602 blockchains, and 24.3 thousand tokens, from 2020 to 2025. A new measure, value-linked credit exposure between protocols, is defined as the inferred financial dependency relationships derived from changes in Total Value Locked (TVL). We develop a token-to-protocol model using DefiLlama metadata to infer inter-protocol credit exposure from the token's stock dynamics, as reported by the protocols. Based on the curated dataset, we develop three benchmarks for machine learning research with financial applications: (1) graph clustering for global network measurement, tracking the structural evolution of credit exposure networks, (2) vector autoregression for sector-level credit exposure dynamics during major shocks (Terra and FTX), and (3) temporal graph neural networks for dynamic link prediction on temporal graphs. From the analysis, we observe (1) a rapid growth of network volume, (2) a trend of concentration to key protocols, (3) a decline of network density (the ratio of actual connections to possible connections), and (4) distinct shock propagation across sectors, such as lending platforms, trading exchanges, and asset management protocols. The DeXposure dataset and code have been released publicly. We envision they will help with research and practice in machine learning as well as financial risk monitoring, policy analysis, DeFi market modeling, amongst others. The dataset also contributes to machine learning research by offering benchmarks for graph clustering, vector autoregression, and temporal graph analysis.
SingleQuant: Efficient Quantization of Large Language Models in a Single Pass
Venue: arXiv cs.LG 2025
Year: 2025

Large Language Models (LLMs) quantization facilitates deploying LLMs in resource-limited settings, but existing methods that combine incompatible gradient optimization and quantization truncation lead to serious convergence pathology. This prolongs quantization time and degrades LLMs' task performance. Our studies confirm that Straight-Through Estimator (STE) on Stiefel manifolds introduce non-smoothness and gradient noise, obstructing optimization convergence and blocking high-fidelity quantized LLM development despite extensive training. To tackle the above limitations, we propose SingleQuant, a single-pass quantization framework that decouples from quantization truncation, thereby eliminating the above non-smoothness and gradient noise factors. Specifically, SingleQuant constructs Alignment Rotation Transformation (ART) and Uniformity Rotation Transformation (URT) targeting distinct activation outliers, where ART achieves smoothing of outlier values via closed-form optimal rotations, and URT reshapes distributions through geometric mapping. Both matrices comprise strictly formulated Givens rotations with predetermined dimensions and rotation angles, enabling promising LLMs task performance within a short time. Experimental results demonstrate SingleQuant's superiority over the selected baselines across diverse tasks on 7B-70B LLMs. To be more precise, SingleQuant enables quantized LLMs to achieve higher task performance while necessitating less time for quantization. For example, when quantizing LLaMA-2-13B, SingleQuant achieves 1,400$\times$ quantization speedup and increases +0.57\% average task performance compared to the selected best baseline.
AnchorFlow: Training-Free 3D Editing via Latent Anchor-Aligned Flows
Venue: arXiv cs.CV 2025
Year: 2025

Training-free 3D editing aims to modify 3D shapes based on human instructions without model finetuning. It plays a crucial role in 3D content creation. However, existing approaches often struggle to produce strong or geometrically stable edits, largely due to inconsistent latent anchors introduced by timestep-dependent noise during diffusion sampling. To address these limitations, we introduce AnchorFlow, which is built upon the principle of latent anchor consistency. Specifically, AnchorFlow establishes a global latent anchor shared between the source and target trajectories, and enforces coherence using a relaxed anchor-alignment loss together with an anchor-aligned update rule. This design ensures that transformations remain stable and semantically faithful throughout the editing process. By stabilizing the latent reference space, AnchorFlow enables more pronounced semantic modifications. Moreover, AnchorFlow is mask-free. Without mask supervision, it effectively preserves geometric fidelity. Experiments on the Eval3DEdit benchmark show that AnchorFlow consistently delivers semantically aligned and structurally robust edits across diverse editing types. Code is at https://github.com/ZhenglinZhou/AnchorFlow.
BINDER: Instantly Adaptive Mobile Manipulation with Open-Vocabulary Commands
Venue: arXiv cs.RO 2025
Year: 2025

Open-vocabulary mobile manipulation (OVMM) requires robots to follow language instructions, navigate, and manipulate while updating their world representation under dynamic environmental changes. However, most prior approaches update their world representation only at discrete update points such as navigation targets, waypoints, or the end of an action step, leaving robots blind between updates and causing cascading failures: overlooked objects, late error detection, and delayed replanning. To address this limitation, we propose BINDER (Bridging INstant and DEliberative Reasoning), a dual process framework that decouples strategic planning from continuous environment monitoring. Specifically, BINDER integrates a Deliberative Response Module (DRM, a multimodal LLM for task planning) with an Instant Response Module (IRM, a VideoLLM for continuous monitoring). The two modules play complementary roles: the DRM performs strategic planning with structured 3D scene updates and guides what the IRM attends to, while the IRM analyzes video streams to update memory, correct ongoing actions, and trigger replanning when necessary. Through this bidirectional coordination, the modules address the trade off between maintaining awareness and avoiding costly updates, enabling robust adaptation under dynamic conditions. Evaluated in three real world environments with dynamic object placement, BINDER achieves substantially higher success and efficiency than SoTA baselines, demonstrating its effectiveness for real world deployment.
Skating System Unveiled: Exploring Preference Aggregation in Ballroom Tournaments
Venue: arXiv cs.GT 2025
Year: 2025

The Skating System, which originated from the scrutineering system in dance sport tournaments, can be formulated as a voting system: We introduce and formalize the Skating System Single (SkS, for short), a new voting system embedded into the framework of computational social choice. Although SkS has similarities with Bucklin voting, it differs from it because it is subject to additional constraints when determining the election winners. Through an analysis of the axiomatic properties of SkS and of its vulnerability to manipulative and electoral control attacks, we compare SkS with Bucklin voting and provide insights into its potential strengths and weaknesses. In particular, we show that SkS satisfies nondictatorship as well as the majority criterion, positive responsiveness, monotonicity, and citizens' sovereignty but violates the Condorcet criterion, strong monotonicity, independence of clones, consistency, participation, resoluteness, and strategy-proofness. Further, we study manipulation, i.e., where (groups of) voters vote strategically to improve the outcome of an election in their favor, showing that the constructive coalitional weighted manipulation problem for SkS is NP-complete, while the destructive variant can be solved in polynomial time. Lastly, we initiate the study of electoral control, where an external agent attempts to change the election outcome by interfering with the structure of the election. Here, we show NP-completeness for constructive and destructive control by deleting candidates as well as for constructive control by adding voters, whereas we show that the problem of destructive control by adding voters can be solved in polynomial time.
Logic of (Common or Distributed) Knowledge
Venue: arXiv cs.LO 2025
Year: 2025

In this paper, we generalize epistemic logic so that it can help reason about ways of combining common knowledge and distributed knowledge such as "common distributed knowledge", "distributed common knowledge", "distributed common distributed knowledge" and so on. Moreover, we study the logic of its dynamic update by arbitrary reading events. We axiomatize these logics and prove their soundness and completeness.
On Circuit Description Languages, Indexed Monads, and Resource Analysis
Venue: arXiv cs.PL 2025
Year: 2025

In this paper, a monad-based denotational model is introduced and shown adequate for the Proto-Quipper family of calculi, themselves being idealized versions of the Quipper programming language. The use of a monadic approach allows us to separate the value to which a term reduces from the circuit that the term itself produces as a side effect. In turn, this enables the denotational interpretation and validation of rich type systems in which the size of the produced circuit can be controlled. Notably, the proposed semantic framework, through the novel concept of circuit algebra, suggests forms of effect typing guaranteeing quantitative properties about the resulting circuit, even in presence of optimizations.
ABounD: Adversarial Boundary-Driven Few-Shot Learning for Multi-Class Anomaly Detection
Venue: arXiv cs.CV 2025
Year: 2025

Few-shot multi-class industrial anomaly detection remains a challenging task. Vision-language models need to be both category-adaptive and sharply discriminative, yet data scarcity often blurs the boundary between normal and abnormal states. This ambiguity leads to missed subtle defects and the rejection of atypical normal samples. We propose ABounD, an Adversarial Boundary-Driven few-shot learning for multi-class anomaly detection, which is a unified learning framework that integrates semantic concept learning with decision boundary shaping. The Dynamic Concept Fusion (DCF) module produces class-adaptive prompts by fusing generalizable priors with class-specific cues, conditioned on image features. Meanwhile, Adversarial Boundary Forging (ABF) sculpts a more precise decision margin by generating boundary-level fence features via PGD-style perturbations. Training is conducted in a single stage under a Concept-Boundary Loss, where ABF provides the main supervisory signal and semantic-spatial regularizers stabilize the optimization. This synergy yields a decision boundary that closely follows normal data while preserving flexibility and robust semantic alignment. Experiments on MVTec-AD and VisA datasets demonstrate state-of-the-art performance in the task of few-shot multi-class anomaly detection.
Benchmarking machine learning models for multi-class state recognition in double quantum dot data
Venue: arXiv cs.CV 2025
Year: 2025

Semiconductor quantum dots (QDs) are a leading platform for scalable quantum processors. However, scaling to large arrays requires reliable, automated tuning strategies for devices' bootstrapping, calibration, and operation, with many tuning aspects depending on accurately identifying QD device states from charge-stability diagrams (CSDs). In this work, we present a comprehensive benchmarking study of four modern machine learning (ML) architectures for multi-class state recognition in double-QD CSDs. We evaluate their performance across different data budgets and normalization schemes using both synthetic and experimental data. We find that the more resource-intensive models -- U-Nets and visual transformers (ViTs) -- achieve the highest MSE score (defined as $1-\mathrm{MSE}$) on synthetic data (over $0.98$) but fail to generalize to experimental data. MDNs are the most computationally efficient and exhibit highly stable training, but with substantially lower peak performance. CNNs offer the most favorable trade-off on experimental CSDs, achieving strong accuracy with two orders of magnitude fewer parameters than the U-Nets and ViTs. Normalization plays a nontrivial role: min-max scaling generally yields higher MSE scores but less stable convergence, whereas z-score normalization produces more predictable training dynamics but at reduced accuracy for most models. Overall, our study shows that CNNs with min-max normalization are a practical approach for QD CSDs.