OpenRaiser/Intern-Atlas huggingface dataset:
Yummy Operations Robot Initiative: Autonomous Cooking System Utilizing a Modular Robotic Kitchen and a Dual-Arm Proprioceptive Manipulator
Venue: arXiv cs.RO 2025
Year: 2025

This paper presents Yummy Operations Robot Initiative (YORI), a proprioceptive dual-arm robotic system that demonstrates autonomous multi-dish cooking for scalable food service applications. YORI integrates a dual-arm manipulator equipped with proprioceptive actuators, custom-designed tools, appliances, and a structured kitchen environment to address the complexities of cooking tasks. The proprioceptive actuators enable fast, precise, force-controlled movements while mitigating the risks associated with cooking-related impacts. The system's modular kitchen design and flexible tool-changing mechanism support simultaneous multi-dish preparation through torque control and optimization-based motion planning and scheduling. A comprehensive scheduling framework with dynamic rescheduling ensures reliable adaptation to new orders and delays. The system was publicly validated through live demonstrations, reliably preparing steak-frites across multiple convention sessions. This paper details YORI's design and explores future directions in kitchen optimization, task planning, and food quality control, demonstrating its potential as a scalable robotic cooking solution. A system introduction and cooking videos are available online.
Detecting Multimodal Situations with Insufficient Context and Abstaining from Baseless Predictions
Venue: arXiv cs.CV 2025
Year: 2025

Despite the widespread adoption of Vision-Language Understanding (VLU) benchmarks such as VQA v2, OKVQA, A-OKVQA, GQA, VCR, SWAG, and VisualCOMET, our analysis reveals a pervasive issue affecting their integrity: these benchmarks contain samples where answers rely on assumptions unsupported by the provided context. Training models on such data foster biased learning and hallucinations as models tend to make similar unwarranted assumptions. To address this issue, we collect contextual data for each sample whenever available and train a context selection module to facilitate evidence-based model predictions. Strong improvements across multiple benchmarks demonstrate the effectiveness of our approach. Further, we develop a general-purpose Context-AwaRe Abstention (CARA) detector to identify samples lacking sufficient context and enhance model accuracy by abstaining from responding if the required context is absent. CARA exhibits generalization to new benchmarks it wasn't trained on, underscoring its utility for future VLU benchmarks in detecting or cleaning samples with inadequate context. Finally, we curate a Context Ambiguity and Sufficiency Evaluation (CASE) set to benchmark the performance of insufficient context detectors. Overall, our work represents a significant advancement in ensuring that vision-language models generate trustworthy and evidence-based outputs in complex real-world scenarios.
MHPP: Exploring the Capabilities and Limitations of Language Models Beyond Basic Code Generation
Venue: arXiv cs.CL 2025
Year: 2025

Recent advancements in large language models (LLMs) have greatly improved code generation, specifically at the function level. For instance, GPT-4o has achieved a 91.0\% pass rate on HumanEval. However, this draws into question the adequacy of existing benchmarks in thoroughly assessing function-level code generation capabilities. Our study analyzed two common benchmarks, HumanEval and MBPP, and found that these might not thoroughly evaluate LLMs' code generation capacities due to limitations in quality, difficulty, and granularity. To resolve this, we introduce the Mostly Hard Python Problems (MHPP) dataset, consisting of 210 unique human-curated problems. By focusing on the combination of natural language and code reasoning, MHPP gauges LLMs' abilities to comprehend specifications and restrictions, engage in multi-step reasoning, and apply coding knowledge effectively. Initial evaluations of 26 LLMs using MHPP showed many high-performing models on HumanEval failed to achieve similar success on MHPP. Moreover, MHPP highlighted various previously undiscovered limitations within various LLMs, leading us to believe that it could pave the way for a better understanding of LLMs' capabilities and limitations. MHPP, evaluation pipeline, and leaderboard can be found in https://github.com/SparksofAGI/MHPP.
Towards Translating Real-World Code with LLMs: A Study of Translating to Rust
Venue: arXiv cs.SE 2025
Year: 2025

Large language models (LLMs) show promise in code translation - the task of translating code written in one programming language to another language - due to their ability to write code in most programming languages. However, LLM's effectiveness on translating real-world code remains largely unstudied. In this work, we perform the first substantial study on LLM-based translation to Rust by assessing the ability of five state-of-the-art LLMs, GPT4, Claude 3, Claude 2.1, Gemini Pro, and Mixtral. We conduct our study on code extracted from real-world open source projects. To enable our study, we develop FLOURINE, an end-to-end code translation tool that uses differential fuzzing to check if a Rust translation is I/O equivalent to the original source program, eliminating the need for pre-existing test cases. As part of our investigation, we assess both the LLM's ability to produce an initially successful translation, as well as their capacity to fix a previously generated buggy one. If the original and the translated programs are not I/O equivalent, we apply a set of automated feedback strategies, including feedback to the LLM with counterexamples. Our results show that the most successful LLM can translate 47% of our benchmarks, and also provides insights into next steps for improvements.
Overcoming Data and Model Heterogeneities in Decentralized Federated Learning via Synthetic Anchors
Venue: arXiv cs.LG 2025
Year: 2025

Conventional Federated Learning (FL) involves collaborative training of a global model while maintaining user data privacy. One of its branches, decentralized FL, is a serverless network that allows clients to own and optimize different local models separately, which results in saving management and communication resources. Despite the promising advancements in decentralized FL, it may reduce model generalizability due to lacking a global model. In this scenario, managing data and model heterogeneity among clients becomes a crucial problem, which poses a unique challenge that must be overcome: How can every client's local model learn generalizable representation in a decentralized manner? To address this challenge, we propose a novel Decentralized FL technique by introducing Synthetic Anchors, dubbed as DeSA. Based on the theory of domain adaptation and Knowledge Distillation (KD), we theoretically and empirically show that synthesizing global anchors based on raw data distribution facilitates mutual knowledge transfer. We further design two effective regularization terms for local training: 1) REG loss that regularizes the distribution of the client's latent embedding with the anchors and 2) KD loss that enables clients to learn from others. Through extensive experiments on diverse client data distributions, we showcase the effectiveness of DeSA in enhancing both inter- and intra-domain accuracy of each client.
Hierarchical Selective Classification
Venue: arXiv cs.LG 2025
Year: 2025

Deploying deep neural networks for risk-sensitive tasks necessitates an uncertainty estimation mechanism. This paper introduces hierarchical selective classification, extending selective classification to a hierarchical setting. Our approach leverages the inherent structure of class relationships, enabling models to reduce the specificity of their predictions when faced with uncertainty. In this paper, we first formalize hierarchical risk and coverage, and introduce hierarchical risk-coverage curves. Next, we develop algorithms for hierarchical selective classification (which we refer to as "inference rules"), and propose an efficient algorithm that guarantees a target accuracy constraint with high probability. Lastly, we conduct extensive empirical studies on over a thousand ImageNet classifiers, revealing that training regimes such as CLIP, pretraining on ImageNet21k and knowledge distillation boost hierarchical selective performance.
User-Centric Association and Feedback Bit Allocation for FDD Cell-Free Massive MIMO
Venue: arXiv cs.IT 2025
Year: 2025

In this paper, we introduce a novel approach to user-centric association and feedback bit allocation for the downlink of a cell-free massive MIMO (CF-mMIMO) system, operating under limited feedback constraints. In CF-mMIMO systems employing frequency division duplexing, each access point (AP) relies on channel information provided by its associated user equipments (UEs) for beamforming design. Since the uplink control channel is typically shared among UEs, we take account of each AP's total feedback budget, which is distributed among its associated UEs. By employing the Saleh-Valenzuela multi-resolvable path channel model with different average path gains, we first identify necessary feedback information for each UE, along with an appropriate codebook structure. This structure facilitates adaptive quantization of multiple paths based on their dominance. We then formulate a joint optimization problem addressing user-centric UE-AP association and feedback bit allocation. To address this challenge, we analyze the impact of feedback bit allocation and derive our proposed scheme from the solution of an alternative optimization problem aimed at devising long-term policies, explicitly considering the effects of feedback bit allocation. Numerical results show that our proposed scheme effectively enhances the performance of conventional approaches in CF-mMIMO systems.
Highway Graph to Accelerate Reinforcement Learning
Venue: arXiv cs.LG 2025
Year: 2025

Reinforcement Learning (RL) algorithms often struggle with low training efficiency. A common approach to address this challenge is integrating model-based planning algorithms, such as Monte Carlo Tree Search (MCTS) or Value Iteration (VI), into the environmental model. However, VI requires iterating over a large tensor which updates the value of the preceding state based on the succeeding state through value propagation, resulting in computationally intensive operations. To enhance the RL training efficiency, we propose improving the efficiency of the value learning process. In deterministic environments with discrete state and action spaces, we observe that on the sampled empirical state-transition graph, a non-branching sequence of transitions-termed a highway-can take the agent to another state without deviation through intermediate states. On these non-branching highways, the value-updating process can be streamlined into a single-step operation, eliminating the need for step-by-step updates. Building on this observation, we introduce the highway graph to model state transitions. The highway graph compresses the transition model into a compact representation, where edges can encapsulate multiple state transitions, enabling value propagation across multiple time steps in a single iteration. By integrating the highway graph into RL, the training process is significantly accelerated, particularly in the early stages of training. Experiments across four categories of environments demonstrate that our method learns significantly faster than established and state-of-the-art RL algorithms (often by a factor of 10 to 150) while maintaining equal or superior expected returns. Furthermore, a deep neural network-based agent trained using the highway graph exhibits improved generalization capabilities and reduced storage costs. Code is publicly available at https://github.com/coodest/highwayRL.
(Perhaps) Beyond Human Translation: Harnessing Multi-Agent Collaboration for Translating Ultra-Long Literary Texts
Venue: arXiv cs.CL 2025
Year: 2025

Literary translation remains one of the most challenging frontiers in machine translation due to the complexity of capturing figurative language, cultural nuances, and unique stylistic elements. In this work, we introduce TransAgents, a novel multi-agent framework that simulates the roles and collaborative practices of a human translation company, including a CEO, Senior Editor, Junior Editor, Translator, Localization Specialist, and Proofreader. The translation process is divided into two stages: a preparation stage where the team is assembled and comprehensive translation guidelines are drafted, and an execution stage that involves sequential translation, localization, proofreading, and a final quality check. Furthermore, we propose two innovative evaluation strategies: Monolingual Human Preference (MHP), which evaluates translations based solely on target language quality and cultural appropriateness, and Bilingual LLM Preference (BLP), which leverages large language models like GPT-4} for direct text comparison. Although TransAgents achieves lower d-BLEU scores, due to the limited diversity of references, its translations are significantly better than those of other baselines and are preferred by both human evaluators and LLMs over traditional human references and GPT-4} translations. Our findings highlight the potential of multi-agent collaboration in enhancing translation quality, particularly for longer texts.
"Set It Up!": Functional Object Arrangement with Compositional Generative Models
Venue: arXiv cs.RO 2025
Year: 2025

This paper studies the challenge of developing robots capable of understanding under-specified instructions for creating functional object arrangements, such as "set up a dining table for two"; previous arrangement approaches have focused on much more explicit instructions, such as "put object A on the table." We introduce a framework, SetItUp, for learning to interpret under-specified instructions. SetItUp takes a small number of training examples and a human-crafted program sketch to uncover arrangement rules for specific scene types. By leveraging an intermediate graph-like representation of abstract spatial relationships among objects, SetItUp decomposes the arrangement problem into two subproblems: i) learning the arrangement patterns from limited data and ii) grounding these abstract relationships into object poses. SetItUp leverages large language models (LLMs) to propose the abstract spatial relationships among objects in novel scenes as the constraints to be satisfied; then, it composes a library of diffusion models associated with these abstract relationships to find object poses that satisfy the constraints. We validate our framework on a dataset comprising study desks, dining tables, and coffee tables, with the results showing superior performance in generating physically plausible, functional, and aesthetically pleasing object arrangements compared to existing models.
Exploring Commonalities in Explanation Frameworks: A Multi-Domain Survey Analysis
Venue: arXiv cs.LG 2025
Year: 2025

This study presents insights gathered from surveys and discussions with specialists in three domains, aiming to find essential elements for a universal explanation framework that could be applied to these and other similar use cases. The insights are incorporated into a software tool that utilizes GP algorithms, known for their interpretability. The applications analyzed include a medical scenario (involving predictive ML), a retail use case (involving prescriptive ML), and an energy use case (also involving predictive ML). We interviewed professionals from each sector, transcribing their conversations for further analysis. Additionally, experts and non-experts in these fields filled out questionnaires designed to probe various dimensions of explanatory methods. The findings indicate a universal preference for sacrificing a degree of accuracy in favor of greater explainability. Additionally, we highlight the significance of feature importance and counterfactual explanations as critical components of such a framework. Our questionnaires are publicly available to facilitate the dissemination of knowledge in the field of XAI.
Assessing the Probabilistic Fit of Neural Regressors via Conditional Congruence
Venue: arXiv cs.LG 2025
Year: 2025

While significant progress has been made in specifying neural networks capable of representing uncertainty, deep networks still often suffer from overconfidence and misaligned predictive distributions. Existing approaches for measuring this misalignment are primarily developed under the framework of calibration, with common metrics such as Expected Calibration Error (ECE). However, calibration can only provide a strictly marginal assessment of probabilistic alignment. Consequently, calibration metrics such as ECE are $\textit{distribution-wise}$ measures and cannot diagnose the $\textit{point-wise}$ reliability of individual inputs, which is important for real-world decision-making. We propose a stronger condition, which we term $\textit{conditional congruence}$, for assessing probabilistic fit. We also introduce a metric, Conditional Congruence Error (CCE), that uses conditional kernel mean embeddings to estimate the distance, at any point, between the learned predictive distribution and the empirical, conditional distribution in a dataset. We perform several high dimensional regression tasks and show that CCE exhibits four critical properties: $\textit{correctness}$, $\textit{monotonicity}$, $\textit{reliability}$, and $\textit{robustness}$.
The Power of Two in Token Systems
Venue: arXiv cs.GT 2025
Year: 2025

In economies without monetary transfers, token systems serve as an alternative to sustain cooperation, alleviate free riding, and increase efficiency. This paper studies whether a token-based economy can be effective in marketplaces with thin exogenous supply. We consider a marketplace in which at each time period one agent requests a service, one agent provides the service, and one token (artificial currency) is used to pay for service provision. The number of tokens each agent has represents the difference between the amount of service provisions and service requests by the agent. We are interested in the behavior of this economy when very few agents are available to provide the requested service. Since balancing the number of tokens across agents is key to sustain cooperation, the agent with the minimum amount of tokens is selected to provide service among the available agents. When exactly one random agent is available to provide service, we show that the token distribution is unstable. However, already when just two random agents are available to provide service, the token distribution is stable, in the sense that agents' token balance is unlikely to deviate much from their initial endowment, and agents return to their initial endowment in finite expected time. Our results mirror the power of two choices paradigm in load balancing problems. Supported by numerical simulations using kidney exchange data, our findings suggest that token systems may generate efficient outcomes in kidney exchange marketplaces by sustaining cooperation between hospitals.
Visualizing, Rethinking, and Mining the Loss Landscape of Deep Neural Networks
Venue: arXiv cs.LG 2025
Year: 2025

The loss landscape of deep neural networks (DNNs) is commonly considered complex and wildly fluctuated. However, an interesting observation is that the loss surfaces plotted along Gaussian noise directions are almost v-basin ones with the perturbed model lying on the basin. This motivates us to rethink whether the 1D or 2D subspace could cover more complex local geometry structures, and how to mine the corresponding perturbation directions. This paper systematically and gradually categorizes the 1D curves from simple to complex, including v-basin, v-side, w-basin, w-peak, and vvv-basin curves. Notably, the latter two types are already hard to obtain via the intuitive construction of specific perturbation directions, and we need to propose proper mining algorithms to plot the corresponding 1D curves. Combining these 1D directions, various types of 2D surfaces are visualized such as the saddle surfaces and the bottom of a bottle of wine that are only shown by demo functions in previous works. Finally, we propose theoretical insights from the lens of the Hessian matrix to explain the observed several interesting phenomena.
LAGA: Layered 3D Avatar Generation and Customization via Gaussian Splatting
Venue: arXiv cs.GR 2025
Year: 2025

Creating and customizing a 3D clothed avatar from textual descriptions is a critical and challenging task. Traditional methods often treat the human body and clothing as inseparable, limiting users' ability to freely mix and match garments. In response to this limitation, we present LAyered Gaussian Avatar (LAGA), a carefully designed framework enabling the creation of high-fidelity decomposable avatars with diverse garments. By decoupling garments from avatar, our framework empowers users to conviniently edit avatars at the garment level. Our approach begins by modeling the avatar using a set of Gaussian points organized in a layered structure, where each layer corresponds to a specific garment or the human body itself. To generate high-quality garments for each layer, we introduce a coarse-to-fine strategy for diverse garment generation and a novel dual-SDS loss function to maintain coherence between the generated garments and avatar components, including the human body and other garments. Moreover, we introduce three regularization losses to guide the movement of Gaussians for garment transfer, allowing garments to be freely transferred to various avatars. Extensive experimentation demonstrates that our approach surpasses existing methods in the generation of 3D clothed humans.
Large Language Models Meet NLP: A Survey
Venue: arXiv cs.CL 2025
Year: 2025

While large language models (LLMs) like ChatGPT have shown impressive capabilities in Natural Language Processing (NLP) tasks, a systematic investigation of their potential in this field remains largely unexplored. This study aims to address this gap by exploring the following questions: (1) How are LLMs currently applied to NLP tasks in the literature? (2) Have traditional NLP tasks already been solved with LLMs? (3) What is the future of the LLMs for NLP? To answer these questions, we take the first step to provide a comprehensive overview of LLMs in NLP. Specifically, we first introduce a unified taxonomy including (1) parameter-frozen paradigm and (2) parameter-tuning paradigm to offer a unified perspective for understanding the current progress of LLMs in NLP. Furthermore, we summarize the new frontiers and the corresponding challenges, aiming to inspire further groundbreaking advancements. We hope this work offers valuable insights into the potential and limitations of LLMs, while also serving as a practical guide for building effective LLMs in NLP.