OpenRaiser/Intern-Atlas huggingface dataset:
RobotIQ: Empowering Mobile Robots with Human-Level Planning for Real-World Execution
Venue: arXiv cs.RO 2025
Year: 2025

This paper introduces RobotIQ, a framework that empowers mobile robots with human-level planning capabilities, enabling seamless communication via natural language instructions through any Large Language Model. The proposed framework is designed in the ROS architecture and aims to bridge the gap between humans and robots, enabling robots to comprehend and execute user-expressed text or voice commands. Our research encompasses a wide spectrum of robotic tasks, ranging from fundamental logical, mathematical, and learning reasoning for transferring knowledge in domains like navigation, manipulation, and object localization, enabling the application of learned behaviors from simulated environments to real-world operations. All encapsulated within a modular crafted robot library suite of API-wise control functions, RobotIQ offers a fully functional AI-ROS-based toolset that allows researchers to design and develop their own robotic actions tailored to specific applications and robot configurations. The effectiveness of the proposed system was tested and validated both in simulated and real-world experiments focusing on a home service scenario that included an assistive application designed for elderly people. RobotIQ with an open-source, easy-to-use, and adaptable robotic library suite for any robot can be found at https://github.com/emmarapt/RobotIQ.
Resolving Nondeterminism with Randomness
Venue: arXiv cs.FL 2025
Year: 2025

In automata theory, while determinisation provides a standard route to solving many common problems in automata theory, some weak forms of nondeterminism can be dealt with in some problems without costly determinisation. For example, the handling of specifications given by nondeterministic automata over infinite words for the problems of reactive synthesis or runtime verification requires resolving nondeterministic choices without knowing the future of the input word. We define and study classes of $ω$-regular automata for which the nondeterminism can be resolved by a policy that uses a combination of memory and randomness on any input word, based solely on the prefix read so far. We examine two settings for providing the input word to an automaton. In the first setting, called adversarial resolvability, the input word is constructed letter-by-letter by an adversary, dependent on the resolver's previous decisions. In the second setting, called stochastic resolvability, the adversary pre-commits to an infinite word and reveals it letter-by-letter. In each setting, we require the existence of an almost-sure resolver, i.e., a policy that ensures that as long as the adversary provides a word in the language of the underlying nondeterministic automaton, the run constructed by the policy is accepting with probability 1. The class of automata that are adversarially resolvable is the well-studied class of history-deterministic automata. The case of stochastically resolvable automata, on the other hand, defines a novel class. Restricting the class of resolvers in both settings to stochastic policies without memory introduces two additional new classes of automata. We show that the new automaton classes offer interesting trade-offs between succinctness, expressivity, and computational complexity, providing a fine gradation between deterministic automata and nondeterministic automata.
Continuous Learning Conversational AI: A Personalized Agent Framework via A2C Reinforcement Learning
Venue: arXiv cs.AI 2025
Year: 2025

Creating personalized and adaptable conversational AI remains a key challenge. This paper introduces a Continuous Learning Conversational AI (CLCA) approach, implemented using A2C reinforcement learning, to move beyond static Large Language Models (LLMs). We use simulated sales dialogues, generated by LLMs, to train an A2C agent. This agent learns to optimize conversation strategies for personalization, focusing on engagement and delivering value. Our system architecture integrates reinforcement learning with LLMs for both data creation and response selection. This method offers a practical way to build personalized AI companions that evolve through continuous learning, advancing beyond traditional static LLM techniques.
How desirable is alignment between LLMs and linguistically diverse human users?
Venue: arXiv cs.CL 2025
Year: 2025

We discuss how desirable it is that Large Language Models (LLMs) be able to adapt or align their language behavior with users who may be diverse in their language use. User diversity may come about among others due to i) age differences; ii) gender characteristics, and/or iii) multilingual experience, and associated differences in language processing and use. We consider potential consequences for usability, communication, and LLM development.
Query Rewriting via LLMs
Venue: arXiv cs.DB 2025
Year: 2025

When complex SQL queries suffer slow executions despite query optimization, DBAs typically invoke automated query rewriting tools to recommend ``lean'' equivalents that are conducive to faster execution. The rewritings are usually achieved via transformation rules, but these rules are limited in scope and difficult to update in a production system. Recently, LLM-based techniques have also been suggested, but they are prone to semantic and syntactic errors. We investigate here how the remarkable cognitive capabilities of LLMs can be leveraged for performant query rewriting while incorporating safeguards and optimizations to ensure correctness and efficiency. Our study shows that these goals can be progressively achieved through incorporation of (a) an ensemble suite of basic prompts, (b) database-sensitive prompts via redundancy removal and selectivity-based rewriting rules, and (c) LLM token probability-guided rewrite paths. Further, a suite of logic-based and statistical tools can be used to check for semantic violations in the rewrites prior to DBA consideration. We have implemented the above LLM-infused techniques in the LITHE system, and evaluated complex analytic queries from standard benchmarks on contemporary database platforms. The results show significant performance improvements for slow queries, over both SOTA rewriters and the native optimizer. For instance, with TPC-DS on PostgreSQL, the GM of runtime speedups was a high 13.2 over the native optimizer, whereas SOTA only gave 4.9. Overall, LITHE is a promising step toward viable LLM-based advisory tools for ameliorating enterprise query performance.
Towards more Contextual Agents: An extractor-Generator Optimization Framework
Venue: arXiv cs.AI 2025
Year: 2025

Large Language Model (LLM)-based agents have demonstrated remarkable success in solving complex tasks across a wide range of general-purpose applications. However, their performance often degrades in context-specific scenarios, such as specialized industries or research domains, where the absence of domain-relevant knowledge leads to imprecise or suboptimal outcomes. To address this challenge, our work introduces a systematic approach to enhance the contextual adaptability of LLM-based agents by optimizing their underlying prompts-critical components that govern agent behavior, roles, and interactions. Manually crafting optimized prompts for context-specific tasks is labor-intensive, error-prone, and lacks scalability. In this work, we introduce an Extractor-Generator framework designed to automate the optimization of contextual LLM-based agents. Our method operates through two key stages: (i) feature extraction from a dataset of gold-standard input-output examples, and (ii) prompt generation via a high-level optimization strategy that iteratively identifies underperforming cases and applies self-improvement techniques. This framework substantially improves prompt adaptability by enabling more precise generalization across diverse inputs, particularly in context-specific tasks where maintaining semantic consistency and minimizing error propagation are critical for reliable performance. Although developed with single-stage workflows in mind, the approach naturally extends to multi-stage workflows, offering broad applicability across various agent-based systems. Empirical evaluations demonstrate that our framework significantly enhances the performance of prompt-optimized agents, providing a structured and efficient approach to contextual LLM-based agents.
Every Expert Matters: Towards Effective Knowledge Distillation for Mixture-of-Experts Language Models
Venue: arXiv cs.CL 2025
Year: 2025

With the emergence of Mixture-of-Experts (MoE), the efficient scaling of model size has accelerated the development of large language models in recent years. However, their high memory requirements prevent their use in resource-constrained environments. While knowledge distillation (KD) has been a proven method for model compression, its application to MoE teacher models remains underexplored. Through our investigation, we discover that non-activated experts in MoE models possess valuable knowledge that benefits student models. We further demonstrate that existing KD methods are not optimal for compressing MoE models, as they fail to leverage this knowledge effectively. To address this, we propose two intuitive MoE-specific KD methods for the first time: Knowledge Augmentation (KA) and Student-Aware Router (SAR), both designed to effectively extract knowledge from all experts. Specifically, KA augments knowledge by sampling experts multiple times, while SAR uses all experts and adjusts the expert weights through router training to provide optimal knowledge. Extensive experiments show that our methods outperform conventional KD methods, demonstrating their effectiveness for MoE teacher models.
Task-Informed Anti-Curriculum by Masking Improves Downstream Performance on Text
Venue: arXiv cs.CL 2025
Year: 2025

Masked language modeling has become a widely adopted unsupervised technique to pre-train large language models (LLMs). However, the process of selecting tokens for masking is random, and the percentage of masked tokens is typically fixed for the entire training process. In this paper, we propose to adjust the masking ratio and to decide which tokens to mask based on a novel task-informed anti-curriculum learning scheme. First, we harness task-specific knowledge about useful and harmful tokens in order to determine which tokens to mask. Second, we propose a cyclic decaying masking ratio, which corresponds to an anti-curriculum schedule (from hard to easy). We exemplify our novel task-informed anti-curriculum by masking (TIACBM) approach across three diverse downstream tasks: sentiment analysis, text classification by topic, and authorship attribution. Our findings suggest that TIACBM enhances the ability of the model to focus on key task-relevant features, contributing to statistically significant performance gains across tasks. We release our code at https://github.com/JarcaAndrei/TIACBM.
Instance-Level Moving Object Segmentation from a Single Image with Events
Venue: arXiv cs.CV 2025
Year: 2025

Moving object segmentation plays a crucial role in understanding dynamic scenes involving multiple moving objects, while the difficulties lie in taking into account both spatial texture structures and temporal motion cues. Existing methods based on video frames encounter difficulties in distinguishing whether pixel displacements of an object are caused by camera motion or object motion due to the complexities of accurate image-based motion modeling. Recent advances exploit the motion sensitivity of novel event cameras to counter conventional images' inadequate motion modeling capabilities, but instead lead to challenges in segmenting pixel-level object masks due to the lack of dense texture structures in events. To address these two limitations imposed by unimodal settings, we propose the first instance-level moving object segmentation framework that integrates complementary texture and motion cues. Our model incorporates implicit cross-modal masked attention augmentation, explicit contrastive feature learning, and flow-guided motion enhancement to exploit dense texture information from a single image and rich motion information from events, respectively. By leveraging the augmented texture and motion features, we separate mask segmentation from motion classification to handle varying numbers of independently moving objects. Through extensive evaluations on multiple datasets, as well as ablation experiments with different input settings and real-time efficiency analysis of the proposed framework, we believe that our first attempt to incorporate image and event data for practical deployment can provide new insights for future work in event-based motion related works. The source code with model training and pre-trained weights is released at https://npucvr.github.io/EvInsMOS
Ensemble Kalman filter in latent space using a variational autoencoder pair
Venue: arXiv cs.LG 2025
Year: 2025

Popular (ensemble) Kalman filter data assimilation (DA) approaches assume that the errors in both the a priori estimate of the state and those in the observations are Gaussian. For constrained variables, e.g. sea ice concentration or stress, such an assumption does not hold. The variational autoencoder (VAE) is a machine learning (ML) technique that allows to map an arbitrary distribution to/from a latent space in which the distribution is supposedly closer to a Gaussian. We propose a novel hybrid DA-ML approach in which VAEs are incorporated in the DA procedure. Specifically, we introduce a variant of the popular ensemble transform Kalman filter (ETKF) in which the analysis is applied in the latent space of a single VAE or a pair of VAEs. In twin experiments with a simple circular model, whereby the circle represents an underlying submanifold to be respected, we find that the use of a VAE ensures that a posteri ensemble members lie close to the manifold containing the truth. Furthermore, online updating of the VAE is necessary and achievable when this manifold varies in time, i.e. when it is non-stationary. We demonstrate that introducing an additional second latent space for the observational innovations improves robustness against detrimental effects of non-Gaussianity and bias in the observational errors but it slightly lessens the performance if observational errors are strictly Gaussian.
Beyond Profile: From Surface-Level Facts to Deep Persona Simulation in LLMs
Venue: arXiv cs.CL 2025
Year: 2025

Previous approaches to persona simulation large language models (LLMs) have typically relied on learning basic biographical information, or using limited role-play dialogue datasets to capture a character's responses. However, a holistic representation of an individual goes beyond surface-level facts or conversations to deeper thoughts and thinking. In this work, we introduce CharacterBot, a model designed to replicate both the linguistic patterns and distinctive thought patterns as manifested in the textual works of a character. Using Lu Xun, a renowned Chinese writer as a case study, we propose four training tasks derived from his 17 essay collections. These include a pre-training task focused on mastering external linguistic structures and knowledge, as well as three fine-tuning tasks: multiple-choice question answering, generative question answering, and style transfer, each aligning the LLM with Lu Xun's internal ideation and writing style. To optimize learning across these tasks, we introduce a CharLoRA parameter updating mechanism, where a general linguistic style expert collaborates with other task-specific experts to better study both the language style and the understanding of deeper thoughts. We evaluate CharacterBot on three tasks for linguistic accuracy and opinion comprehension, demonstrating that it significantly outperforms the baselines on our adapted metrics. We hope this work inspires future research on deep character persona simulation LLMs while considering the importance of ethical standards.
Approximate Tree Completion and Learning-Augmented Algorithms for Metric Minimum Spanning Trees
Venue: arXiv cs.DS 2025
Year: 2025

Finding a minimum spanning tree (MST) for $n$ points in an arbitrary metric space is a fundamental primitive for hierarchical clustering and many other ML tasks, but this takes $Ω(n^2)$ time to even approximate. We introduce a framework for metric MSTs that first (1) finds a forest of disconnected components using practical heuristics, and then (2) finds a small weight set of edges to connect disjoint components of the forest into a spanning tree. We prove that optimally solving the second step still takes $Ω(n^2)$ time, but we provide a subquadratic 2.62-approximation algorithm. In the spirit of learning-augmented algorithms, we then show that if the forest found in step (1) overlaps with an optimal MST, we can approximate the original MST problem in subquadratic time, where the approximation factor depends on a measure of overlap. In practice, we find nearly optimal spanning trees for a wide range of metrics, while being orders of magnitude faster than exact algorithms.
Oreo: A Plug-in Context Reconstructor to Enhance Retrieval-Augmented Generation
Venue: arXiv cs.CL 2025
Year: 2025

Retrieval-Augmented Generation (RAG) aims to augment the capabilities of Large Language Models (LLMs) by retrieving and incorporate external documents or chunks prior to generation. However, even improved retriever relevance can brings erroneous or contextually distracting information, undermining the effectiveness of RAG in downstream tasks. We introduce a compact, efficient, and pluggable module designed to refine retrieved chunks before using them for generation. The module aims to extract and reorganize the most relevant and supportive information into a concise, query-specific format. Through a three-stage training paradigm - comprising supervised fine - tuning, contrastive multi-task learning, and reinforcement learning-based alignment - it prioritizes critical knowledge and aligns it with the generator's preferences. This approach enables LLMs to produce outputs that are more accurate, reliable, and contextually appropriate.
Evaluating the Robustness of Multimodal Agents Against Active Environmental Injection Attacks
Venue: arXiv cs.CL 2025
Year: 2025

As researchers continue to optimize AI agents for more effective task execution within operating systems, they often overlook a critical security concern: the ability of these agents to detect "impostors" within their environment. Through an analysis of the agents' operational context, we identify a significant threat-attackers can disguise malicious attacks as environmental elements, injecting active disturbances into the agents' execution processes to manipulate their decision-making. We define this novel threat as the Active Environment Injection Attack (AEIA). Focusing on the interaction mechanisms of the Android OS, we conduct a risk assessment of AEIA and identify two critical security vulnerabilities: (1) Adversarial content injection in multimodal interaction interfaces, where attackers embed adversarial instructions within environmental elements to mislead agent decision-making; and (2) Reasoning gap vulnerabilities in the agent's task execution process, which increase susceptibility to AEIA attacks during reasoning. To evaluate the impact of these vulnerabilities, we propose AEIA-MN, an attack scheme that exploits interaction vulnerabilities in mobile operating systems to assess the robustness of MLLM-based agents. Experimental results show that even advanced MLLMs are highly vulnerable to this attack, achieving a maximum attack success rate of 93% on the AndroidWorld benchmark by combining two vulnerabilities.
Variable Read Disturbance: An Experimental Analysis of Temporal Variation in DRAM Read Disturbance
Venue: arXiv cs.AR 2025
Year: 2025

Modern DRAM chips are subject to read disturbance errors. State-of-the-art read disturbance mitigations rely on accurate and exhaustive characterization of the read disturbance threshold (RDT) (e.g., the number of aggressor row activations needed to induce the first RowHammer or RowPress bitflip) of every DRAM row (of which there are millions or billions in a modern system) to prevent read disturbance bitflips securely and with low overhead. We experimentally demonstrate for the first time that the RDT of a DRAM row significantly and unpredictably changes over time. We call this new phenomenon variable read disturbance (VRD). Our experiments using 160 DDR4 chips and 4 HBM2 chips from three major manufacturers yield two key observations. First, it is very unlikely that relatively few RDT measurements can accurately identify the RDT of a DRAM row. The minimum RDT of a DRAM row appears after tens of thousands of measurements (e.g., up to 94,467), and the minimum RDT of a DRAM row is 3.5X smaller than the maximum RDT observed for that row. Second, the probability of accurately identifying a row's RDT with a relatively small number of measurements reduces with increasing chip density or smaller technology node size. Our empirical results have implications for the security guarantees of read disturbance mitigation techniques: if the RDT of a DRAM row is not identified accurately, these techniques can easily become insecure. We discuss and evaluate using a guardband for RDT and error-correcting codes for mitigating read disturbance bitflips in the presence of RDTs that change unpredictably over time. We conclude that a >10% guardband for the minimum observed RDT combined with SECDED or Chipkill-like SSC error-correcting codes could prevent read disturbance bitflips at the cost of large read disturbance mitigation performance overheads (e.g., 45% performance loss for an RDT guardband of 50%).
L4P: Towards Unified Low-Level 4D Vision Perception
Venue: arXiv cs.CV 2025
Year: 2025

The spatio-temporal relationship between the pixels of a video carries critical information for low-level 4D perception tasks. A single model that reasons about it should be able to solve several such tasks well. Yet, most state-of-the-art methods rely on architectures specialized for the task at hand. We present L4P, a feedforward, general-purpose architecture that solves low-level 4D perception tasks in a unified framework. L4P leverages a pre-trained ViT-based video encoder and combines it with per-task heads that are lightweight and therefore do not require extensive training. Despite its general and feedforward formulation, our method is competitive with existing specialized methods on both dense tasks, such as depth or optical flow estimation, and sparse tasks, such as 2D/3D tracking. Moreover, it solves all tasks at once in a time comparable to that of single-task methods.
tn4ml: Tensor Network Training and Customization for Machine Learning
Venue: arXiv cs.LG 2025
Year: 2025

Tensor Networks have emerged as a prominent alternative to neural networks for addressing Machine Learning challenges in foundational sciences, paving the way for their applications to real-life problems. This paper introduces tn4ml, a novel library designed to seamlessly integrate Tensor Networks into optimization pipelines for Machine Learning tasks. Inspired by existing Machine Learning frameworks, the library offers a user-friendly structure with modules for data embedding, objective function definition, and model training using diverse optimization strategies. We demonstrate its versatility through two examples: supervised learning on tabular data and unsupervised learning on an image dataset. Additionally, we analyze how customizing the parts of the Machine Learning pipeline for Tensor Networks influences performance metrics.