OpenRaiser/Intern-Atlas huggingface dataset:
FastCoder: Accelerating Repository-level Code Generation via Efficient Retrieval and Verification
Venue: arXiv cs.AI 2025
Year: 2025

Code generation is a latency-sensitive task that demands high timeliness. However, with the growing interest and inherent difficulty in repository-level code generation, most existing code generation studies focus on improving the correctness of generated code while overlooking the inference efficiency, which is substantially affected by the overhead during LLM generation. Although there has been work on accelerating LLM inference, these approaches are not tailored to the specific characteristics of code generation; instead, they treat code the same as natural language sequences and ignore its unique syntax and semantic characteristics, which are also crucial for improving efficiency. Consequently, these approaches exhibit limited effectiveness in code generation tasks, particularly for repository-level scenarios with considerable complexity and difficulty. To alleviate this issue, following draft-verification paradigm, we propose FastCoder, a simple yet highly efficient inference acceleration approach specifically designed for code generation, without compromising the quality of the output. FastCoder constructs a multi-source datastore, providing access to both general and project-specific knowledge, facilitating the retrieval of high-quality draft sequences. Moreover, FastCoder reduces the retrieval cost by controlling retrieval timing, and enhances efficiency through parallel retrieval and a context- and LLM preference-aware cache. Experimental results show that FastCoder can reach up to 2.53x and 2.54x speedup compared to autoregressive decoding in repository-level and standalone code generation tasks, respectively, outperforming state-of-the-art inference acceleration approaches by up to 88%. FastCoder can also be integrated with existing correctness-focused code generation approaches to accelerate the LLM generation process, and reach a speedup exceeding 2.6x.
Programming Really Is Simple Mathematics
Venue: arXiv cs.SE 2025
Year: 2025

A re-construction of the fundamentals of programming as a small mathematical theory (PRISM) based on elementary set theory. Highlights: $\bullet$ Zero axioms. No properties are assumed, all are proved (from standard set theory). $\bullet$ A single concept covers specifications and programs. $\bullet$ Its definition only involves one relation and one set. $\bullet$ Everything proceeds from three operations: choice, composition and restriction. $\bullet$ These techniques suffice to derive the axioms of classic papers on the "laws of programming" as consequences and prove them mechanically. $\bullet$ The ordinary subset operator suffices to define both the notion of program correctness and the concepts of specialization and refinement. $\bullet$ From this basis, the theory deduces dozens of theorems characterizing important properties of programs and programming. $\bullet$ All these theorems have been mechanically verified (using Isabelle/HOL); the proofs are available in a public repository. This paper is a considerable extension and rewrite of an earlier contribution [arXiv:1507.00723]
Intermediate Languages Matter: Formal Choice Drives Neurosymbolic LLM Reasoning
Venue: arXiv cs.AI 2025
Year: 2025

Large language models (LLMs) achieve astonishing results on a wide range of tasks. However, their formal reasoning ability still lags behind. A promising approach is Neurosymbolic LLM reasoning. It works by using LLMs as translators from natural to formal languages and symbolic solvers for deriving correct results. Still, it remains unclear what the contributing factors to the success of Neurosymbolic LLM reasoning are. This paper shows that one important factor is the choice of the formal language. By comparing 4 formal languages on 3 datasets over 6 LLMs, we show that the choice of formal language affects both the syntactic and the semantic reasoning capability. Thereby, we introduce the intermediate language challenge, which is the challenge of picking a suitable formal language for neurosymbolic reasoning. Further, we compare the effects of using different in-context-learning examples in an ablation study. We conclude that on average, context-aware encodings help LLMs to reason, while there is no apparent effect of using comments or markdown syntax.
A Reinforcement Learning Approach to Non-prehensile Manipulation through Sliding
Venue: arXiv cs.RO 2025
Year: 2025

Although robotic applications increasingly demand versatile and dynamic object handling, most existing techniques are predominantly focused on grasp-based manipulation, limiting their applicability in non-prehensile tasks. To address this need, this study introduces a Deep Deterministic Policy Gradient (DDPG) reinforcement learning framework for efficient non-prehensile manipulation, specifically for sliding an object on a surface. The algorithm generates a linear trajectory by precisely controlling the acceleration of a robotic arm rigidly coupled to the horizontal surface, enabling the relative manipulation of an object as it slides on top of the surface. Furthermore, two distinct algorithms have been developed to estimate the frictional forces dynamically during the sliding process. These algorithms provide online friction estimates after each action, which are fed back into the actor model as critical feedback after each action. This feedback mechanism enhances the policy's adaptability and robustness, ensuring more precise control of the platform's acceleration in response to varying surface condition. The proposed algorithm is validated through simulations and real-world experiments. Results demonstrate that the proposed framework effectively generalizes sliding manipulation across varying distances and, more importantly, adapts to different surfaces with diverse frictional properties. Notably, the trained model exhibits zero-shot sim-to-real transfer capabilities.
Baichuan-Audio: A Unified Framework for End-to-End Speech Interaction
Venue: arXiv cs.CL 2025
Year: 2025

We introduce Baichuan-Audio, an end-to-end audio large language model that seamlessly integrates audio understanding and generation. It features a text-guided aligned speech generation mechanism, enabling real-time speech interaction with both comprehension and generation capabilities. Baichuan-Audio leverages a pre-trained ASR model, followed by multi-codebook discretization of speech at a frame rate of 12.5 Hz. This multi-codebook setup ensures that speech tokens retain both semantic and acoustic information. To further enhance modeling, an independent audio head is employed to process audio tokens, effectively capturing their unique characteristics. To mitigate the loss of intelligence during pre-training and preserve the original capabilities of the LLM, we propose a two-stage pre-training strategy that maintains language understanding while enhancing audio modeling. Following alignment, the model excels in real-time speech-based conversation and exhibits outstanding question-answering capabilities, demonstrating its versatility and efficiency. The proposed model demonstrates superior performance in real-time spoken dialogue and exhibits strong question-answering abilities. Our code, model and training data are available at https://github.com/baichuan-inc/Baichuan-Audio
Detecting Benchmark Contamination Through Watermarking
Venue: arXiv cs.CR 2025
Year: 2025

Benchmark contamination poses a significant challenge to the reliability of Large Language Models (LLMs) evaluations, as it is difficult to assert whether a model has been trained on a test set. We introduce a solution to this problem by watermarking benchmarks before their release. The embedding involves reformulating the original questions with a watermarked LLM, in a way that does not alter the benchmark utility. During evaluation, we can detect ``radioactivity'', \ie traces that the text watermarks leave in the model during training, using a theoretically grounded statistical test. We test our method by pre-training 1B models from scratch on 10B tokens with controlled benchmark contamination, and validate its effectiveness in detecting contamination on ARC-Easy, ARC-Challenge, and MMLU. Results show similar benchmark utility post-watermarking and successful contamination detection when models are contaminated enough to enhance performance, \eg $p$-val $=10^{-3}$ for +5$\%$ on ARC-Easy.
Untold Stories: Unveiling the Scarce Contributions of UX Professionals to Usability Issue Discussions of Open Source Software Projects
Venue: arXiv cs.HC 2025
Year: 2025

Previous work established that open source software (OSS) projects can benefit from the involvement of UX professionals, who offer user-centric perspectives and contributions to improve software usability. However, their participation in OSS issue discussions (places where design and implementation decisions are often made) is relatively scarce since those platforms are created with a developer-centric mindset. Analyzing a dataset sampled from five OSS projects, this study identifies UX professionals' distinct approaches to raising and following up on usability issues. Compared to other contributors, UX professionals addressed a broader range of usability issues, well-supported their stances, and were more factual than emotional. They also actively engage in discussions to provide additional insights and clarifications in comments following up on the issues they posted. Results from this study provide useful insights for increasing UX professionals' involvement in OSS communities to improve usability and end-user satisfaction.
Extracting domain-specific terms using contextual word embeddings
Venue: arXiv cs.CL 2025
Year: 2025

Automated terminology extraction refers to the task of extracting meaningful terms from domain-specific texts. This paper proposes a novel machine learning approach to terminology extraction, which combines features from traditional term extraction systems with novel contextual features derived from contextual word embeddings. Instead of using a predefined list of part-of-speech patterns, we first analyse a new term-annotated corpus RSDO5 for the Slovenian language and devise a set of rules for term candidate selection and then generate statistical, linguistic and context-based features. We use a support-vector machine algorithm to train a classification model, evaluate it on the four domains (biomechanics, linguistics, chemistry, veterinary) of the RSDO5 corpus and compare the results with state-of-art term extraction approaches for the Slovenian language. Our approach provides significant improvements in terms of F1 score over the previous state-of-the-art, which proves that contextual word embeddings are valuable for improving term extraction.
Capability Instruction Tuning: A New Paradigm for Dynamic LLM Routing
Venue: arXiv cs.CL 2025
Year: 2025

Large Language Models (LLMs) have demonstrated human-like instruction-following abilities, particularly those exceeding 100 billion parameters. The combined capability of some smaller, resource-friendly LLMs can address most of the instructions that larger LLMs excel at. In this work, we explore how to route the best-performing LLM for each instruction to achieve better overall performance. We develop a new paradigm, constructing capability instructions with model capability representation, user instruction, and performance inquiry prompts to assess the performance. To learn from capability instructions, we introduce a new end-to-end framework called Model Selection with Aptitude Test (Model-SAT), which generates positive and negative samples based on what different models perform well or struggle with. Model-SAT uses a model capability encoder that extends its model representation to a lightweight LLM. Our experiments show that Model-SAT understands the performance dimensions of candidate models and provides the probabilities of their capability to handle various instructions. Additionally, during deployment, a new model can quickly infer its aptitude test results across 50 tasks, each with 20 shots. Model-SAT performs state-of-the-art model routing without candidate inference and in real-world new model-released scenarios. The code is available at https://github.com/Now-Join-Us/CIT-LLM-Routing
A novel approach to navigate the taxonomic hierarchy to address the Open-World Scenarios in Medicinal Plant Classification
Venue: arXiv cs.AI 2025
Year: 2025

In this article, we propose a novel approach for plant hierarchical taxonomy classification by posing the problem as an open class problem. It is observed that existing methods for medicinal plant classification often fail to perform hierarchical classification and accurately identifying unknown species, limiting their effectiveness in comprehensive plant taxonomy classification. Thus we address the problem of unknown species classification by assigning it best hierarchical labels. We propose a novel method, which integrates DenseNet121, Multi-Scale Self-Attention (MSSA) and cascaded classifiers for hierarchical classification. The approach systematically categorizes medicinal plants at multiple taxonomic levels, from phylum to species, ensuring detailed and precise classification. Using multi scale space attention, the model captures both local and global contextual information from the images, improving the distinction between similar species and the identification of new ones. It uses attention scores to focus on important features across multiple scales. The proposed method provides a solution for hierarchical classification, showcasing superior performance in identifying both known and unknown species. The model was tested on two state-of-art datasets with and without background artifacts and so that it can be deployed to tackle real word application. We used unknown species for testing our model. For unknown species the model achieved an average accuracy of 83.36%, 78.30%, 60.34% and 43.32% for predicting correct phylum, class, order and family respectively. Our proposed model size is almost four times less than the existing state of the art methods making it easily deploy able in real world application.
TDMPBC: Self-Imitative Reinforcement Learning for Humanoid Robot Control
Venue: arXiv cs.RO 2025
Year: 2025

Complex high-dimensional spaces with high Degree-of-Freedom and complicated action spaces, such as humanoid robots equipped with dexterous hands, pose significant challenges for reinforcement learning (RL) algorithms, which need to wisely balance exploration and exploitation under limited sample budgets. In general, feasible regions for accomplishing tasks within complex high-dimensional spaces are exceedingly narrow. For instance, in the context of humanoid robot motion control, the vast majority of space corresponds to falling, while only a minuscule fraction corresponds to standing upright, which is conducive to the completion of downstream tasks. Once the robot explores into a potentially task-relevant region, it should place greater emphasis on the data within that region. Building on this insight, we propose the $\textbf{S}$elf-$\textbf{I}$mitative $\textbf{R}$einforcement $\textbf{L}$earning ($\textbf{SIRL}$) framework, where the RL algorithm also imitates potentially task-relevant trajectories. Specifically, trajectory return is utilized to determine its relevance to the task and an additional behavior cloning is adopted whose weight is dynamically adjusted based on the trajectory return. As a result, our proposed algorithm achieves 120% performance improvement on the challenging HumanoidBench with 5% extra computation overhead. With further visualization, we find the significant performance gain does lead to meaningful behavior improvement that several tasks are solved successfully.
Modeling, Simulation, and Application of Spatio-Temporal Characteristics Detection in Incipient Slip
Venue: arXiv cs.RO 2025
Year: 2025

Incipient slip detection provides critical feedback for robotic grasping and manipulation tasks. However, maintaining its adaptability under diverse object properties and complex working conditions remains challenging. This article highlights the importance of completely representing spatio-temporal features of slip, and proposes a novel approach for incipient slip modeling and detection. Based on the analysis of localized displacement phenomenon, we establish the relationship between the characteristic strain rate extreme events and the local slip state. This approach enables the detection of both the spatial distribution and temporal dynamics of stick-slip regions. Also, the proposed method can be applied to strain distribution sensing devices, such as vision-based tactile sensors. Simulations and prototype experiments validated the effectiveness of this approach under varying contact conditions, including different contact geometries, friction coefficients, and combined loads. Experiments demonstrated that this method not only accurately and reliably delineates incipient slip, but also facilitates friction parameter estimation and adaptive grasping control.
SoFFT: Spatial Fourier Transform for Modeling Continuum Soft Robots
Venue: arXiv cs.RO 2025
Year: 2025

Continuum soft robots, composed of flexible materials, exhibit theoretically infinite degrees of freedom, enabling notable adaptability in unstructured environments. Cosserat Rod Theory has emerged as a prominent framework for modeling these robots efficiently, representing continuum soft robots as time-varying curves, known as backbones. In this work, we propose viewing the robot's backbone as a signal in space and time, applying the Fourier transform to describe its deformation compactly. This approach unifies existing modeling strategies within the Cosserat Rod Theory framework, offering insights into commonly used heuristic methods. Moreover, the Fourier transform enables the development of a data-driven methodology to experimentally capture the robot's deformation. The proposed approach is validated through numerical simulations and experiments on a real-world prototype, demonstrating a reduction in the degrees of freedom while preserving the accuracy of the deformation representation.
How Scientists Use Large Language Models to Program
Venue: arXiv cs.SE 2025
Year: 2025

Scientists across disciplines write code for critical activities like data collection and generation, statistical modeling, and visualization. As large language models that can generate code have become widely available, scientists may increasingly use these models during research software development. We investigate the characteristics of scientists who are early-adopters of code generating models and conduct interviews with scientists at a public, research-focused university. Through interviews and reviews of user interaction logs, we see that scientists often use code generating models as an information retrieval tool for navigating unfamiliar programming languages and libraries. We present findings about their verification strategies and discuss potential vulnerabilities that may emerge from code generation practices unknowingly influencing the parameters of scientific analyses.
Experimental validation of UAV search and detection system in real wilderness environment
Venue: arXiv cs.CV 2025
Year: 2025

Search and rescue (SAR) missions require reliable search methods to locate survivors, especially in challenging or inaccessible environments. This is why introducing unmanned aerial vehicles (UAVs) can be of great help to enhance the efficiency of SAR missions while simultaneously increasing the safety of everyone involved in the mission. Motivated by this, we design and experiment with autonomous UAV search for humans in a Mediterranean karst environment. The UAVs are directed using Heat equation-driven area coverage (HEDAC) ergodic control method according to known probability density and detection function. The implemented sensing framework consists of a probabilistic search model, motion control system, and computer vision object detection. It enables calculation of the probability of the target being detected in the SAR mission, and this paper focuses on experimental validation of proposed probabilistic framework and UAV control. The uniform probability density to ensure the even probability of finding the targets in the desired search area is achieved by assigning suitably thought-out tasks to 78 volunteers. The detection model is based on YOLO and trained with a previously collected ortho-photo image database. The experimental search is carefully planned and conducted, while as many parameters as possible are recorded. The thorough analysis consists of the motion control system, object detection, and the search validation. The assessment of the detection and search performance provides strong indication that the designed detection model in the UAV control algorithm is aligned with real-world results.
COSMOS: A Hybrid Adaptive Optimizer for Memory-Efficient Training of LLMs
Venue: arXiv cs.LG 2025
Year: 2025

Large Language Models (LLMs) have demonstrated remarkable success across various domains, yet their optimization remains a significant challenge due to the complex and high-dimensional loss landscapes they inhabit. While adaptive optimizers such as AdamW are widely used, they suffer from critical limitations, including an inability to capture interdependencies between coordinates and high memory consumption. Subsequent research, exemplified by SOAP, attempts to better capture coordinate interdependence but incurs greater memory overhead, limiting scalability for massive LLMs. An alternative approach aims to reduce memory consumption through low-dimensional projection, but this leads to substantial approximation errors, resulting in less effective optimization (e.g., in terms of per-token efficiency). In this paper, we propose COSMOS, a novel hybrid optimizer that leverages the varying importance of eigensubspaces in the gradient matrix to achieve memory efficiency without compromising optimization performance. The design of COSMOS is motivated by our empirical insights and practical considerations. Specifically, COSMOS applies SOAP to the leading eigensubspace, which captures the primary optimization dynamics, and MUON to the remaining eigensubspace, which is less critical but computationally expensive to handle with SOAP. This hybrid strategy significantly reduces memory consumption while maintaining robust optimization performance, making it particularly suitable for massive LLMs. Numerical experiments on various datasets and transformer architectures are provided to demonstrate the effectiveness of COSMOS. Our code is available at https://github.com/lliu606/COSMOS.
Fractal Generative Models
Venue: arXiv cs.LG 2025
Year: 2025

Modularization is a cornerstone of computer science, abstracting complex functions into atomic building blocks. In this paper, we introduce a new level of modularization by abstracting generative models into atomic generative modules. Analogous to fractals in mathematics, our method constructs a new type of generative model by recursively invoking atomic generative modules, resulting in self-similar fractal architectures that we call fractal generative models. As a running example, we instantiate our fractal framework using autoregressive models as the atomic generative modules and examine it on the challenging task of pixel-by-pixel image generation, demonstrating strong performance in both likelihood estimation and generation quality. We hope this work could open a new paradigm in generative modeling and provide a fertile ground for future research. Code is available at https://github.com/LTH14/fractalgen.