OpenRaiser/Intern-Atlas huggingface dataset:
On the Importance of Tactile Sensing for Imitation Learning: A Case Study on Robotic Match Lighting
Venue: arXiv cs.RO 2025
Year: 2025

The field of robotic manipulation has advanced significantly in recent years. At the sensing level, several novel tactile sensors have been developed, capable of providing accurate contact information. On a methodological level, learning from demonstrations has proven an efficient paradigm to obtain performant robotic manipulation policies. The combination of both holds the promise to extract crucial contact-related information from the demonstration data and actively exploit it during policy rollouts. However, this integration has so far been underexplored, most notably in dynamic, contact-rich manipulation tasks where precision and reactivity are essential. This work therefore proposes a multimodal, visuotactile imitation learning framework that integrates a modular transformer architecture with a flow-based generative model, enabling efficient learning of fast and dexterous manipulation policies. We evaluate our framework on the dynamic, contact-rich task of robotic match lighting - a task in which tactile feedback influences human manipulation performance. The experimental results highlight the effectiveness of our approach and show that adding tactile information improves policy performance, thereby underlining their combined potential for learning dynamic manipulation from few demonstrations. Project website: https://sites.google.com/view/tactile-il .
Do Prompt Patterns Affect Code Quality? A First Empirical Assessment of ChatGPT-Generated Code
Venue: arXiv cs.SE 2025
Year: 2025

Large Language Models (LLMs) have rapidly transformed software development, especially in code generation. However, their inconsistent performance, prone to hallucinations and quality issues, complicates program comprehension and hinders maintainability. Research indicates that prompt engineering-the practice of designing inputs to direct LLMs toward generating relevant outputs-may help address these challenges. In this regard, researchers have introduced prompt patterns, structured templates intended to guide users in formulating their requests. However, the influence of prompt patterns on code quality has yet to be thoroughly investigated. An improved understanding of this relationship would be essential to advancing our collective knowledge on how to effectively use LLMs for code generation, thereby enhancing their understandability in contemporary software development. This paper empirically investigates the impact of prompt patterns on code quality, specifically maintainability, security, and reliability, using the Dev-GPT dataset. Results show that Zero-Shot prompting is most common, followed by Zero-Shot with Chain-of-Thought and Few-Shot. Analysis of 7583 code files across quality metrics revealed minimal issues, with Kruskal-Wallis tests indicating no significant differences among patterns, suggesting that prompt structure may not substantially impact these quality metrics in ChatGPT-assisted code generation.
Performance Analysis of a Mass-Spring-Damper Deformable Linear Object Model in Robotic Simulation Frameworks
Venue: arXiv cs.RO 2025
Year: 2025

The modelling of Deformable Linear Objects (DLOs) such as cables, wires, and strings presents significant challenges due to their flexible and deformable nature. In robotics, accurately simulating the dynamic behavior of DLOs is essential for automating tasks like wire handling and assembly. The presented study is a preliminary analysis aimed at force data collection through domain randomization (DR) for training a robot in simulation, using a Mass-Spring-Damper (MSD) system as the reference model. The study aims to assess the impact of model parameter variations on DLO dynamics, using Isaac Sim and Gazebo to validate the applicability of DR technique in these scenarios.
Large Language Models Will Change The Way Children Think About Technology And Impact Every Interaction Paradigm
Venue: arXiv cs.HC 2025
Year: 2025

This paper presents a hopeful perspective on the potentially dramatic impacts of Large Language Models on how we children learn and how they will expect to interact with technology. We review the effects of LLMs on education so far, and make the case that these effects are minor compared to the upcoming changes that are occurring. We present a small scenario and self-ethnographic study demonstrating the effects of these changes, and define five significant considerations that interactive systems designers will have to accommodate in the future.
Intelligent Interaction Strategies for Context-Aware Cognitive Augmentation
Venue: arXiv cs.HC 2025
Year: 2025

Human cognition is constrained by processing limitations, leading to cognitive overload and inefficiencies in knowledge synthesis and decision-making. Large Language Models (LLMs) present an opportunity for cognitive augmentation, but their current reactive nature limits their real-world applicability. This position paper explores the potential of context-aware cognitive augmentation, where LLMs dynamically adapt to users' cognitive states and task environments to provide appropriate support. Through a think-aloud study in an exhibition setting, we examine how individuals interact with multi-modal information and identify key cognitive challenges in structuring, retrieving, and applying knowledge. Our findings highlight the need for AI-driven cognitive support systems that integrate real-time contextual awareness, personalized reasoning assistance, and socially adaptive interactions. We propose a framework for AI augmentation that seamlessly transitions between real-time cognitive support and post-experience knowledge organization, contributing to the design of more effective human-centered AI systems.
Analysing the Robustness of Vision-Language-Models to Common Corruptions
Venue: arXiv cs.CV 2025
Year: 2025

Vision-language models (VLMs) have demonstrated impressive capabilities in understanding and reasoning about visual and textual content. However, their robustness to common image corruptions remains under-explored. In this work, we present the first comprehensive analysis of VLM robustness across 19 corruption types from the ImageNet-C benchmark, spanning four categories: noise, blur, weather, and digital distortions. We introduce two new benchmarks, TextVQA-C and GQA-C, to systematically evaluate how corruptions affect scene text understanding and object-based reasoning, respectively. Our analysis reveals that transformer-based VLMs exhibit distinct vulnerability patterns across tasks: text recognition deteriorates most severely under blur and snow corruptions, while object reasoning shows higher sensitivity to corruptions such as frost and impulse noise. We connect these observations to the frequency-domain characteristics of different corruptions, revealing how transformers' inherent bias toward low-frequency processing explains their differential robustness patterns. Our findings provide valuable insights for developing more corruption-robust vision-language models for real-world applications.
MEGA: Second-Order Gradient Alignment for Catastrophic Forgetting Mitigation in GFSCIL
Venue: arXiv cs.LG 2025
Year: 2025

Graph Few-Shot Class-Incremental Learning (GFSCIL) enables models to continually learn from limited samples of novel tasks after initial training on a large base dataset. Existing GFSCIL approaches typically utilize Prototypical Networks (PNs) for metric-based class representations and fine-tune the model during the incremental learning stage. However, these PN-based methods oversimplify learning via novel query set fine-tuning and fail to integrate Graph Continual Learning (GCL) techniques due to architectural constraints. To address these challenges, we propose a more rigorous and practical setting for GFSCIL that excludes query sets during the incremental training phase. Building on this foundation, we introduce Model-Agnostic Meta Graph Continual Learning (MEGA), aimed at effectively alleviating catastrophic forgetting for GFSCIL. Specifically, by calculating the incremental second-order gradient during the meta-training stage, we endow the model to learn high-quality priors that enhance incremental learning by aligning its behaviors across both the meta-training and incremental learning stages. Extensive experiments on four mainstream graph datasets demonstrate that MEGA achieves state-of-the-art results and enhances the effectiveness of various GCL methods in GFSCIL. We believe that our proposed MEGA serves as a model-agnostic GFSCIL paradigm, paving the way for future research.
$O(p \log d)$ Subgraph Isomorphism using Stigmergic Swarming Agents
Venue: arXiv cs.MA 2025
Year: 2025

Subgraph isomorphism compares two graphs (sets of nodes joined by edges) to determine whether they contain a common subgraph. Many applications require identifying the subgraph, not just deciding its existence. A particularly common use case, using graphs with labeled nodes, seeks to find instances of a smaller pattern graph with $p$ nodes in the larger data graph with $d$ nodes. The problem is NP-complete, so that naïve solutions are exponential in $p + d$. A wide range of heuristics have been proposed, with the best complexity $O(p^2d^2)$. This paper outlines ASSIST (Approximate Swarming Subgraph Isomorphism through Stigmergy), inspired by the ant colony optimization approach to the traveling salesperson problem. ASSIST is linearithmic, $O(p \log d)$, and also supports matching problems (such as temporally ordered edges, inexact matches, and missing nodes or edges in the data graph) that frustrate other heuristics.
Orientation and mobility test in virtual reality, a tool for quantitative assessment of functional vision: dataset and evaluation in healthy subjects
Venue: arXiv cs.HC 2025
Year: 2025

The purpose of this study was to develop and evaluate a novel virtual reality seated orientation and mobility (VR-S-O&M) test protocol designed to assess functional vision. This study aims to provide a dataset of healthy subjects using this protocol and preliminary analyses. We introduced a VR-based O&M test protocol featuring a novel seated displacement method, diverse lighting conditions, and varying course configurations within a virtual environment. Normally sighted participants (N=42) completed the test, which required them to navigate a path and destroy identified obstacles. We assessed basic performance metrics, including time duration, number of missed objects, and time before the first step, under different environmental conditions to verify ecological validity. Additionally, we analyzed participants' behaviors regarding missed objects, demonstrating the potential of integrating behavioral and interactive data for a more precise functional vision assessment. Our VR-S-O&M test protocol, along with the first O&M behavior dataset, presents significant opportunities for developing more refined performance metrics for assessing functional vision and enhancing the quality of life.
LimitNet: Progressive, Content-Aware Image Offloading for Extremely Weak Devices & Networks
Venue: arXiv cs.CV 2025
Year: 2025

IoT devices have limited hardware capabilities and are often deployed in remote areas. Consequently, advanced vision models surpass such devices' processing and storage capabilities, requiring offloading of such tasks to the cloud. However, remote areas often rely on LPWANs technology with limited bandwidth, high packet loss rates, and extremely low duty cycles, which makes fast offloading for time-sensitive inference challenging. Today's approaches, which are deployable on weak devices, generate a non-progressive bit stream, and therefore, their decoding quality suffers strongly when data is only partially available on the cloud at a deadline due to limited bandwidth or packet losses. In this paper, we introduce LimitNet, a progressive, content-aware image compression model designed for extremely weak devices and networks. LimitNet's lightweight progressive encoder prioritizes critical data during transmission based on the content of the image, which gives the cloud the opportunity to run inference even with partial data availability. Experimental results demonstrate that LimitNet, on average, compared to SOTA, achieves 14.01 p.p. (percentage point) higher accuracy on ImageNet1000, 18.01 pp on CIFAR100, and 0.1 higher mAP@0.5 on COCO. Also, on average, LimitNet saves 61.24% bandwidth on ImageNet1000, 83.68% on CIFAR100, and 42.25% on the COCO dataset compared to SOTA, while it only has 4% more encoding time compared to JPEG (with a fixed quality) on STM32F7 (Cortex-M7).
Breaking ECDSA with Two Affinely Related Nonces
Venue: arXiv cs.CR 2025
Year: 2025

The security of the Elliptic Curve Digital Signature Algorithm (ECDSA) depends on the uniqueness and secrecy of the nonce, which is used in each signature. While it is well understood that nonce $k$ reuse across two distinct messages can leak the private key, we show that even if a distinct value is used for $k_2$, where an affine relationship exists in the form of: \(k_m = a \cdot k_n + b\), we can also recover the private key. Our method requires only two signatures (even over the same message) and relies purely on algebra, with no need for lattice reduction or brute-force search(if the relationship, or offset, is known). To our knowledge, this is the first closed-form derivation of the ECDSA private key from only two signatures over the same message, under a known affine relationship between nonces.
Equivalence of Serial and Parallel A-Posteriori Probabilities in the Decoding of DAB Systems
Venue: arXiv cs.IT 2025
Year: 2025

Motivated by applications to digital audio broadcasting (DAB) systems, we study the a-posteriori probabilities (APPs) of the coded and information bits of the serial concatenation of multiple convolutional codewords. The main result of this correspondence is a proof that the APPs of the input bits do not change when considering the concatenation of multiple codewords as a received sequence. This is a purely theoretical result, which remains valid for every convolutional code, as long as the encoder goes back to the zero state at the end of each codeword. An equivalent heuristic for serial concatenation in Viterbi decoding is described. The applicability of our result to DAB systems, where interleaving and modulation are accounted for, is investigated through Matlab simulations. We show that the Bit Error Rate (BER) of the simulated DAB system does not change when decoding multiple transmitted codewords as one serially concatenated sequence, even when considering all the features of a DAB system.
RefComp: A Reference-guided Unified Framework for Unpaired Point Cloud Completion
Venue: arXiv cs.CV 2025
Year: 2025

The unpaired point cloud completion task aims to complete a partial point cloud by using models trained with no ground truth. Existing unpaired point cloud completion methods are class-aware, i.e., a separate model is needed for each object class. Since they have limited generalization capabilities, these methods perform poorly in real-world scenarios when confronted with a wide range of point clouds of generic 3D objects. In this paper, we propose a novel unpaired point cloud completion framework, namely the Reference-guided Completion (RefComp) framework, which attains strong performance in both the class-aware and class-agnostic training settings. The RefComp framework transforms the unpaired completion problem into a shape translation problem, which is solved in the latent feature space of the partial point clouds. To this end, we introduce the use of partial-complete point cloud pairs, which are retrieved by using the partial point cloud to be completed as a template. These point cloud pairs are used as reference data to guide the completion process. Our RefComp framework uses a reference branch and a target branch with shared parameters for shape fusion and shape translation via a Latent Shape Fusion Module (LSFM) to enhance the structural features along the completion pipeline. Extensive experiments demonstrate that the RefComp framework achieves not only state-of-the-art performance in the class-aware training setting but also competitive results in the class-agnostic training setting on both virtual scans and real-world datasets.
Binary and Ternary Quantization Can Enhance Feature Discrimination
Venue: arXiv cs.LG 2025
Year: 2025

Quantization is widely applied in machine learning to reduce computational and storage costs for both data and models. Considering that classification tasks are fundamental to the field, it is crucial to investigate how quantization impacts classification performance. Traditional research has focused on quantization errors, assuming that larger errors generally lead to lower classification accuracy. However, this assumption lacks a solid theoretical foundation and often contradicts empirical observations. For example, despite introducing significant errors, $\{0,1\}$-binary and $\{0, \pm1\}$-ternary quantized data have sometimes achieved classification accuracy comparable or even superior to full-precision data. To reasonably explain this phenomenon, a more accurate evaluation of classification performance is required. To achieve this, we propose a direct analysis of the feature discrimination of quantized data, instead of focusing on quantization errors. Our analysis reveals that both binary and ternary quantization can potentially enhance, rather than degrade, the feature discrimination of the original data. This finding is supported by classification experiments conducted on both synthetic and real data.
Active Learning of Symbolic NetKAT Automata
Venue: arXiv cs.PL 2025
Year: 2025

NetKAT is a domain-specific programming language and logic that has been successfully used to specify and verify the behavior of packet-switched networks. This paper develops techniques for automatically learning NetKAT models of unknown networks using active learning. Prior work has explored active learning for a wide range of automata (e.g., deterministic, register, Büchi, timed etc.) and also developed applications, such as validating implementations of network protocols. We present algorithms for learning different types of NetKAT automata, including symbolic automata proposed in recent work. We prove the soundness of these algorithms, build a prototype implementation, and evaluate it on a standard benchmark. Our results highlight the applicability of symbolic NetKAT learning for realistic network configurations and topologies.
Meta-Learning and Knowledge Discovery based Physics-Informed Neural Network for Remaining Useful Life Prediction
Venue: arXiv cs.LG 2025
Year: 2025

Predicting the remaining useful life (RUL) of rotating machinery is critical for industrial safety and maintenance, but existing methods struggle with scarce target-domain data and unclear degradation dynamics. We propose a Meta-Learning and Knowledge Discovery-based Physics-Informed Neural Network (MKDPINN) to address these challenges. The method first maps noisy sensor data to a low-dimensional hidden state space via a Hidden State Mapper (HSM). A Physics-Guided Regulator (PGR) then learns unknown nonlinear PDEs governing degradation evolution, embedding these physical constraints into the PINN framework. This integrates data-driven and physics-based approaches. The framework uses meta-learning, optimizing across source-domain meta-tasks to enable few-shot adaptation to new target tasks. Experiments on industrial data and the C-MAPSS benchmark show MKDPINN outperforms baselines in generalization and accuracy, proving its effectiveness for RUL prediction under data scarcity
Transformer Encoder and Multi-features Time2Vec for Financial Prediction
Venue: arXiv cs.LG 2025
Year: 2025

Financial prediction is a complex and challenging task of time series analysis and signal processing, expected to model both short-term fluctuations and long-term temporal dependencies. Transformers have remarkable success mostly in natural language processing using attention mechanism, which also influenced the time series community. The ability to capture both short and long-range dependencies helps to understand the financial market and to recognize price patterns, leading to successful applications of Transformers in stock prediction. Although, the previous research predominantly focuses on individual features and singular predictions, that limits the model's ability to understand broader market trends. In reality, within sectors such as finance and technology, companies belonging to the same industry often exhibit correlated stock price movements. In this paper, we develop a novel neural network architecture by integrating Time2Vec with the Encoder of the Transformer model. Based on the study of different markets, we propose a novel correlation feature selection method. Through a comprehensive fine-tuning of multiple hyperparameters, we conduct a comparative analysis of our results against benchmark models. We conclude that our method outperforms other state-of-the-art encoding methods such as positional encoding, and we also conclude that selecting correlation features enhance the accuracy of predicting multiple stock prices.
Imitation Learning with Precisely Labeled Human Demonstrations
Venue: arXiv cs.RO 2025
Year: 2025

Within the imitation learning paradigm, training generalist robots requires large-scale datasets obtainable only through diverse curation. Due to the relative ease to collect, human demonstrations constitute a valuable addition when incorporated appropriately. However, existing methods utilizing human demonstrations face challenges in inferring precise actions, ameliorating embodiment gaps, and fusing with frontier generalist robot training pipelines. In this work, building on prior studies that demonstrate the viability of using hand-held grippers for efficient data collection, we leverage the user's control over the gripper's appearance--specifically by assigning it a unique, easily segmentable color--to enable simple and reliable application of the RANSAC and ICP registration method for precise end-effector pose estimation. We show in simulation that precisely labeled human demonstrations on their own allow policies to reach on average 88.1% of the performance of using robot demonstrations, and boost policy performance when combined with robot demonstrations, despite the inherent embodiment gap.
Not All Rollouts are Useful: Down-Sampling Rollouts in LLM Reinforcement Learning
Venue: arXiv cs.LG 2025
Year: 2025

Reinforcement learning with verifiable rewards (RLVR) has emerged as the leading approach for enhancing reasoning capabilities in large language models. However, it faces a fundamental compute and memory asymmetry: rollout generation is embarrassingly parallel and memory-light, whereas policy updates are communication-heavy and memory-intensive. To address this, we introduce PODS (Policy Optimization with Down-Sampling), which decouples rollout generation from policy updates by training only on a strategically selected subset of rollouts, maintaining learning quality while dramatically reducing update costs. We propose a principled subset selection criterion, max-variance down-sampling, that maximizes reward diversity, and provide an efficient $O(n\log n)$ implementation. Empirically, Group Relative Policy Optimization (GRPO) with PODS achieves the peak test accuracy of vanilla GRPO at least $\mathbf{1.7\times}$ faster across the different reasoning benchmarks and hardware configurations we tested.