OpenRaiser/Intern-Atlas huggingface dataset:
Training Trajectory Predictors Without Ground-Truth Data
Venue: arXiv cs.RO 2025
Year: 2025

This paper presents a framework capable of accurately and smoothly estimating position, heading, and velocity. Using this high-quality input, we propose a system based on Trajectron++, able to consistently generate precise trajectory predictions. Unlike conventional models that require ground-truth data for training, our approach eliminates this dependency. Our analysis demonstrates that poor quality input leads to noisy and unreliable predictions, which can be detrimental to navigation modules. We evaluate both input data quality and model output to illustrate the impact of input noise. Furthermore, we show that our estimation system enables effective training of trajectory prediction models even with limited data, producing robust predictions across different environments. Accurate estimations are crucial for deploying trajectory prediction models in real-world scenarios, and our system ensures meaningful and reliable results across various application contexts.
Quantum Approaches for Dysphonia Assessment in Small Speech Datasets
Venue: arXiv cs.ET 2025
Year: 2025

Dysphonia, a prevalent medical condition, leads to voice loss, hoarseness, or speech interruptions. To assess it, researchers have been investigating various machine learning techniques alongside traditional medical assessments. Convolutional Neural Networks (CNNs) have gained popularity for their success in audio classification and speech recognition. However, the limited availability of speech data, poses a challenge for CNNs. This study evaluates the performance of CNNs against a novel hybrid quantum-classical approach, Quanvolutional Neural Networks (QNNs), which are well-suited for small datasets. The audio data was preprocessed into Mel spectrograms, comprising 243 training samples and 61 testing samples in total, and used in ten experiments. Four models were developed (two QNNs and two CNNs) with the second models incorporating additional layers to boost performance. The results revealed that QNN models consistently outperformed CNN models in accuracy and stability across most experiments.
Masked Modulation: High-Throughput Half-Duplex ISAC Transmission Waveform Design
Venue: arXiv cs.IT 2025
Year: 2025

Integrated sensing and communication (ISAC) enables numerous innovative wireless applications. Communication-centric design is a practical choice for the construction of the sixth generation (6G) ISAC networks. Continuous-wave-based ISAC systems, with orthogonal frequency-division multiplexing (OFDM) being a representative example, suffer from the self-interference (SI) problem, and hence are less suitable for long-range sensing. On the other hand, pulse-based half-duplex ISAC systems are free of SI, but are also less favourable for high-throughput communication scenarios. In this treatise, we propose MASked Modulation (MASM), a half-duplex ISAC waveform design scheme, which minimises a range blindness metric, termed as "mainlobe fluctuation", given a duty cycle (proportional to communication throughput) constraint. In particular, MASM is capable of supporting high-throughput communication ($\sim$50% duty cycle) under mild mainlobe fluctuation. Moreover, MASM can be flexibly adapted to frame-level waveform designs by operating on the slow-time scale. In terms of optimal transmit mask design, a set of masks is shown to be ideal in the sense of sidelobe level and mainlobe fluctuation intensity.
Optimal Contest Design with Entry Restriction
Venue: arXiv cs.GT 2025
Year: 2025

This paper explores the design of contests involving $n$ contestants, focusing on how the designer decides on the number of contestants allowed and the prize structure with a fixed budget. We characterize the unique symmetric Bayesian Nash equilibrium of contestants and find the optimal contests design for the maximum individual effort objective and the total effort objective.
AoI-Sensitive Data Forwarding with Distributed Beamforming in UAV-Assisted IoT
Venue: arXiv cs.AI 2025
Year: 2025

This paper proposes a UAV-assisted forwarding system based on distributed beamforming to enhance age of information (AoI) in Internet of Things (IoT). Specifically, UAVs collect and relay data between sensor nodes (SNs) and the remote base station (BS). However, flight delays increase the AoI and degrade the network performance. To mitigate this, we adopt distributed beamforming to extend the communication range, reduce the flight frequency and ensure the continuous data relay and efficient energy utilization. Then, we formulate an optimization problem to minimize AoI and UAV energy consumption, by jointly optimizing the UAV trajectories and communication schedules. The problem is non-convex and with high dynamic, and thus we propose a deep reinforcement learning (DRL)-based algorithm to solve the problem, thereby enhancing the stability and accelerate convergence speed. Simulation results show that the proposed algorithm effectively addresses the problem and outperforms other benchmark algorithms.
AIDE: Agentically Improve Visual Language Model with Domain Experts
Venue: arXiv cs.CV 2025
Year: 2025

The enhancement of Visual Language Models (VLMs) has traditionally relied on knowledge distillation from larger, more capable models. This dependence creates a fundamental bottleneck for improving state-of-the-art systems, particularly when no superior models exist. We introduce AIDE (Agentic Improvement through Domain Experts), a novel framework that enables VLMs to autonomously enhance their capabilities by leveraging specialized domain expert models. AIDE operates through a four-stage process: (1) identifying instances for refinement, (2) engaging domain experts for targeted analysis, (3) synthesizing expert outputs with existing data, and (4) integrating enhanced instances into the training pipeline. Experiments on multiple benchmarks, including MMMU, MME, MMBench, etc., demonstrate AIDE's ability to achieve notable performance gains without relying on larger VLMs nor human supervision. Our framework provides a scalable, resource-efficient approach to continuous VLM improvement, addressing critical limitations in current methodologies, particularly valuable when larger models are unavailable to access.
Game Theory Meets Large Language Models: A Systematic Survey with Taxonomy and New Frontiers
Venue: arXiv cs.AI 2025
Year: 2025

Game theory is a foundational framework for analyzing strategic interactions, and its intersection with large language models (LLMs) is a rapidly growing field. However, existing surveys mainly focus narrowly on using game theory to evaluate LLM behavior. This paper provides the first comprehensive survey of the bidirectional relationship between Game Theory and LLMs. We propose a novel taxonomy that categorizes the research in this intersection into four distinct perspectives: (1) evaluating LLMs in game-based scenarios; (2) improving LLMs using game-theoretic concepts for better interpretability and alignment; (3) modeling the competitive landscape of LLM development and its societal impact; and (4) leveraging LLMs to advance game models and to solve corresponding game theory problems. Furthermore, we identify key challenges and outline future research directions. By systematically investigating this interdisciplinary landscape, our survey highlights the mutual influence of game theory and LLMs, fostering progress at the intersection of these fields.
Adapting Language-Specific LLMs to a Reasoning Model in One Day via Model Merging -- An Open Recipe
Venue: arXiv cs.CL 2025
Year: 2025

This paper investigates data selection and model merging methodologies aimed at incorporating advanced reasoning capabilities such as those of DeepSeek R1 into language-specific large language models (LLMs), with a particular focus on the Thai LLM. Our goal is to enhance the reasoning capabilities of language-specific LLMs while maintaining their target language abilities. DeepSeek R1 excels in reasoning but primarily benefits high-resource languages such as English and Chinese. However, low-resource languages remain underserved due to the dominance of English-centric training data and model optimizations, which limit performance in these languages. This limitation results in unreliable code-switching and diminished effectiveness on tasks in low-resource languages. Meanwhile, local and regional LLM initiatives have attempted to bridge this gap by developing language-specific LLMs that focus on improving local linguistic fidelity. We demonstrate that, with only publicly available datasets and a computational budget of $120, it is possible to enhance the reasoning capabilities of language-specific LLMs to match the level of DeepSeek R1, without compromising their performance on target language tasks.
Lowering the Error Floor of Error Correction Code Transformer
Venue: arXiv cs.IT 2025
Year: 2025

With the success of transformer architectures across diverse applications, the error correction code transformer (ECCT) has gained significant attention for its superior decoding performance. In spite of its advantages, the error floor problem in ECCT decoding remains unexplored. We present the first investigation into this issue, revealing that ECCT encounters error floors, limiting its effectiveness in practical settings. To address this error floor problem, we adopt a hybrid decoding framework that integrates ECCT with conventional hard decision decoders. Unlike prior hybrid decoding schemes, our key contribution lies in proposing a novel loss function that explicitly takes into account the interaction between ECCT and hard decision decoders during training. The proposed loss function guides ECCT to focus on residual errors that are not corrected by the hard decision stages, effectively lowering the error floor. Simulation results confirm that the hybrid decoder trained with the proposed loss function achieves substantial performance gains over standard ECCT in both the waterfall and the error floor regions.
FlowAR: une plateforme uniformisée pour la reconnaissance des activités humaines à partir de capteurs binaires
Venue: arXiv cs.LG 2025
Year: 2025

This demo showcases a platform for developing human activity recognition (AR) systems, focusing on daily activities using sensor data, like binary sensors. With a data-driven approach, this platform, named FlowAR, features a three-step pipeline (flow): data cleaning, segmentation, and personalized classification. Its modularity allows flexibility to test methods, datasets, and ensure rigorous evaluations. A concrete use case demonstrates its effectiveness.
Semantic Ads Retrieval at Walmart eCommerce with Language Models Progressively Trained on Multiple Knowledge Domains
Venue: arXiv cs.IR 2025
Year: 2025

Sponsored search in e-commerce poses several unique and complex challenges. These challenges stem from factors such as the asymmetric language structure between search queries and product names, the inherent ambiguity in user search intent, and the vast volume of sparse and imbalanced search corpus data. The role of the retrieval component within a sponsored search system is pivotal, serving as the initial step that directly affects the subsequent ranking and bidding systems. In this paper, we present an end-to-end solution tailored to optimize the ads retrieval system on Walmart.com. Our approach is to pretrain the BERT-like classification model with product category information, enhancing the model's understanding of Walmart product semantics. Second, we design a two-tower Siamese Network structure for embedding structures to augment training efficiency. Third, we introduce a Human-in-the-loop Progressive Fusion Training method to ensure robust model performance. Our results demonstrate the effectiveness of this pipeline. It enhances the search relevance metric by up to 16% compared to a baseline DSSM-based model. Moreover, our large-scale online A/B testing demonstrates that our approach surpasses the ad revenue of the existing production model.
Interpreting and Steering Protein Language Models through Sparse Autoencoders
Venue: arXiv cs.LG 2025
Year: 2025

The rapid advancements in transformer-based language models have revolutionized natural language processing, yet understanding the internal mechanisms of these models remains a significant challenge. This paper explores the application of sparse autoencoders (SAE) to interpret the internal representations of protein language models, specifically focusing on the ESM-2 8M parameter model. By performing a statistical analysis on each latent component's relevance to distinct protein annotations, we identify potential interpretations linked to various protein characteristics, including transmembrane regions, binding sites, and specialized motifs. We then leverage these insights to guide sequence generation, shortlisting the relevant latent components that can steer the model towards desired targets such as zinc finger domains. This work contributes to the emerging field of mechanistic interpretability in biological sequence models, offering new perspectives on model steering for sequence design.
Trust Me, I Know the Way: Predictive Uncertainty in the Presence of Shortcut Learning
Venue: arXiv cs.LG 2025
Year: 2025

The correct way to quantify predictive uncertainty in neural networks remains a topic of active discussion. In particular, it is unclear whether the state-of-the art entropy decomposition leads to a meaningful representation of model, or epistemic, uncertainty (EU) in the light of a debate that pits ignorance against disagreement perspectives. We aim to reconcile the conflicting viewpoints by arguing that both are valid but arise from different learning situations. Notably, we show that the presence of shortcuts is decisive for EU manifesting as disagreement.
Zebrafix: Mitigating Memory-Centric Side-Channel Leakage via Interleaving
Venue: arXiv cs.CR 2025
Year: 2025

Constant-time code has become the de-facto standard for secure cryptographic implementations. However, some memory-based leakage classes such as ciphertext side-channels and silent stores remain unaddressed. Prior work proposed three different methods for ciphertext side-channel mitigation, for which one, the practicality of interleaving data with counter values, remains to be explored. To close this gap, we define design choices and requirements to leverage interleaving for a generic ciphertext side-channel mitigation. Based on these results, we implement Zebrafix, a compiler-based tool to ensure freshness of memory stores. We evaluate Zebrafix and find that interleaving can perform much better than other ciphertext side-channel mitigations, at the cost of a high practical complexity. We further observe that ciphertext side-channels and silent stores belong to a broader attack category: memory-centric side-channels. Under this unified view, we show that interleaving-based ciphertext side-channel mitigations can be used to prevent silent stores as well.
LLM-Driven Augmented Reality Puppeteer: Controller-Free Voice-Commanded Robot Teleoperation
Venue: arXiv cs.HC 2025
Year: 2025

The integration of robotics and augmented reality (AR) presents transformative opportunities for advancing human-robot interaction (HRI) by improving usability, intuitiveness, and accessibility. This work introduces a controller-free, LLM-driven voice-commanded AR puppeteering system, enabling users to teleoperate a robot by manipulating its virtual counterpart in real time. By leveraging natural language processing (NLP) and AR technologies, our system -- prototyped using Meta Quest 3 -- eliminates the need for physical controllers, enhancing ease of use while minimizing potential safety risks associated with direct robot operation. A preliminary user demonstration successfully validated the system's functionality, demonstrating its potential for safer, more intuitive, and immersive robotic control.
Feature-based Graph Attention Networks Improve Online Continual Learning
Venue: arXiv cs.CV 2025
Year: 2025

Online continual learning for image classification is crucial for models to adapt to new data while retaining knowledge of previously learned tasks. This capability is essential to address real-world challenges involving dynamic environments and evolving data distributions. Traditional approaches predominantly employ Convolutional Neural Networks, which are limited to processing images as grids and primarily capture local patterns rather than relational information. Although the emergence of transformer architectures has improved the ability to capture relationships, these models often require significantly larger resources. In this paper, we present a novel online continual learning framework based on Graph Attention Networks (GATs), which effectively capture contextual relationships and dynamically update the task-specific representation via learned attention weights. Our approach utilizes a pre-trained feature extractor to convert images into graphs using hierarchical feature maps, representing information at varying levels of granularity. These graphs are then processed by a GAT and incorporate an enhanced global pooling strategy to improve classification performance for continual learning. In addition, we propose the rehearsal memory duplication technique that improves the representation of the previous tasks while maintaining the memory budget. Comprehensive evaluations on benchmark datasets, including SVHN, CIFAR10, CIFAR100, and MiniImageNet, demonstrate the superiority of our method compared to the state-of-the-art methods.
Integrated Sensing and Communication with Distributed Rate-Limited Helpers
Venue: arXiv cs.IT 2025
Year: 2025

This paper studies integrated sensing and communication (ISAC) systems with two rate-limited helpers who observe the channel state sequence and the feedback sequence, respectively. Depending on the timing of compressing and using the state information, our proposed coding scheme gives an inner bound of the capacity-compression-distortion tradeoff region. The tradeoff is realized by sending part of the state information at the beginning of the transmission to facilitate the communication and compressing the remaining part together with the feedback signal. The inner bound becomes tight bounds in several special cases.
Musical Heritage Historical Entity Linking
Venue: arXiv cs.CL 2025
Year: 2025

Linking named entities occurring in text to their corresponding entity in a Knowledge Base (KB) is challenging, especially when dealing with historical texts. In this work, we introduce Musical Heritage named Entities Recognition, Classification and Linking (MHERCL), a novel benchmark consisting of manually annotated sentences extrapolated from historical periodicals of the music domain. MHERCL contains named entities under-represented or absent in the most famous KBs. We experiment with several State-of-the-Art models on the Entity Linking (EL) task and show that MHERCL is a challenging dataset for all of them. We propose a novel unsupervised EL model and a method to extend supervised entity linkers by using Knowledge Graphs (KGs) to tackle the main difficulties posed by historical documents. Our experiments reveal that relying on unsupervised techniques and improving models with logical constraints based on KGs and heuristics to predict NIL entities (entities not represented in the KB of reference) results in better EL performance on historical documents.
LimSim Series: An Autonomous Driving Simulation Platform for Validation and Enhancement
Venue: arXiv cs.RO 2025
Year: 2025

Closed-loop simulation environments play a crucial role in the validation and enhancement of autonomous driving systems (ADS). However, certain challenges warrant significant attention, including balancing simulation accuracy with duration, reconciling functionality with practicality, and establishing comprehensive evaluation mechanisms. This paper addresses these challenges by introducing the LimSim Series, a comprehensive simulation platform designed to support the rapid deployment and efficient iteration of ADS. The LimSim Series integrates multi-type information from road networks, employs human-like decision-making and planning algorithms for background vehicles, and introduces the concept of the Area of Interest (AoI) to optimize computational resources. The platform offers a variety of baseline algorithms and user-friendly interfaces, facilitating flexible validation of multiple technical pipelines. Additionally, the LimSim Series incorporates multi-dimensional evaluation metrics, delivering thorough insights into system performance, thus enabling researchers to promptly identify issues for further improvements. Experiments demonstrate that the LimSim Series is compatible with modular, end-to-end, and VLM-based knowledge-driven systems. It can assist in the iteration and updating of ADS by evaluating performance across various scenarios. The code of the LimSim Series is released at: https://github.com/PJLab-ADG/LimSim.
Modular Stochastic Rewritable Petri Nets
Venue: arXiv cs.PF 2025
Year: 2025

Petri Nets (PN) are widely used for modeling concurrent and distributed systems, but face challenges in modeling adaptive systems. To address this, we have formalized "rewritable" PT nets (RwPT) using Maude, a declarative language with sound rewriting logic semantics. Recently, we introduced a modular approach that utilizes algebraic operators to construct large RwPT models. This technique employs composite node labeling to outline symmetries in hierarchical organization, preserved through net rewrites. Once stochastic parameters are added to the formalism, we present an automated process to derive a lumped CTMC from the quotient graph generated by an RwPT.
Graphical Conditions for the Existence, Unicity and Number of Regular Models
Venue: arXiv cs.LO 2025
Year: 2025

The regular models of a normal logic program are a particular type of partial (i.e. 3-valued) models which correspond to stable partial models with minimal undefinedness. In this paper, we explore graphical conditions on the dependency graph of a finite ground normal logic program to analyze the existence, unicity and number of regular models for the program. We show three main results: 1) a necessary condition for the existence of non-trivial (i.e. non-2-valued) regular models, 2) a sufficient condition for the unicity of regular models, and 3) two upper bounds for the number of regular models based on positive feedback vertex sets. The first two conditions generalize the finite cases of the two existing results obtained by You and Yuan (1994) for normal logic programs with well-founded stratification. The third result is also new to the best of our knowledge. Key to our proofs is a connection that we establish between finite ground normal logic programs and Boolean network theory.