OpenRaiser/Intern-Atlas huggingface dataset:
MuJo: Multimodal Joint Feature Space Learning for Human Activity Recognition
Venue: arXiv cs.LG 2025
Year: 2025

Human activity recognition (HAR) is a long-standing problem in artificial intelligence with applications in a broad range of areas, including healthcare, sports and fitness, security, and more. The performance of HAR in real-world settings is strongly dependent on the type and quality of the input signal that can be acquired. Given an unobstructed, high-quality camera view of a scene, computer vision systems, in particular in conjunction with foundation models, can today fairly reliably distinguish complex activities. On the other hand, recognition using modalities such as wearable sensors (which are often more broadly available, e.g., in mobile phones and smartwatches) is a more difficult problem, as the signals often contain less information and labeled training data is more difficult to acquire. To alleviate the need for labeled data, we introduce our comprehensive Fitness Multimodal Activity Dataset (FiMAD) in this work, which can be used with the proposed pre-training method MuJo (Multimodal Joint Feature Space Learning) to enhance HAR performance across various modalities. FiMAD was created using YouTube fitness videos and contains parallel video, language, pose, and simulated IMU sensor data. MuJo utilizes this dataset to learn a joint feature space for these modalities. We show that classifiers pre-trained on FiMAD can increase the performance on real HAR datasets such as MM-Fit, MyoGym, MotionSense, and MHEALTH. For instance, on MM-Fit, we achieve a Macro F1-Score of up to 0.855 when fine-tuning on only 2% of the training data and 0.942 when utilizing the complete training set for classification tasks. We compare our approach with other self-supervised ones and show that, unlike them, ours consistently improves compared to the baseline network performance while also providing better data efficiency.
HeSum: a Novel Dataset for Abstractive Text Summarization in Hebrew
Venue: arXiv cs.CL 2025
Year: 2025

While large language models (LLMs) excel in various natural language tasks in English, their performance in lower-resourced languages like Hebrew, especially for generative tasks such as abstractive summarization, remains unclear. The high morphological richness in Hebrew adds further challenges due to the ambiguity in sentence comprehension and the complexities in meaning construction. In this paper, we address this resource and evaluation gap by introducing HeSum, a novel benchmark specifically designed for abstractive text summarization in Modern Hebrew. HeSum consists of 10,000 article-summary pairs sourced from Hebrew news websites written by professionals. Linguistic analysis confirms HeSum's high abstractness and unique morphological challenges. We show that HeSum presents distinct difficulties for contemporary state-of-the-art LLMs, establishing it as a valuable testbed for generative language technology in Hebrew, and MRLs generative challenges in general.
Culturally Aware and Adapted NLP: A Taxonomy and a Survey of the State of the Art
Venue: arXiv cs.CL 2025
Year: 2025

The surge of interest in "culture" in NLP has inspired much recent research, but a shared understanding of "culture" remains unclear, making it difficult to evaluate progress in this emerging area. Drawing on prior research in NLP and related fields, we propose a fine-grained taxonomy of elements in culture that can provide a systematic framework for analyzing and understanding research progress. Using the taxonomy, we survey existing resources and methods for culturally aware and adapted NLP, providing an overview of the state of the art and the research gaps that still need to be filled.
A Probabilistic Approach to Learning the Degree of Equivariance in Steerable CNNs
Venue: arXiv cs.LG 2025
Year: 2025

Steerable convolutional neural networks (SCNNs) enhance task performance by modelling geometric symmetries through equivariance constraints on weights. Yet, unknown or varying symmetries can lead to overconstrained weights and decreased performance. To address this, this paper introduces a probabilistic method to learn the degree of equivariance in SCNNs. We parameterise the degree of equivariance as a likelihood distribution over the transformation group using Fourier coefficients, offering the option to model layer-wise and shared equivariance. These likelihood distributions are regularised to ensure an interpretable degree of equivariance across the network. Advantages include the applicability to many types of equivariant networks through the flexible framework of SCNNs and the ability to learn equivariance with respect to any subgroup of any compact group without requiring additional layers. Our experiments reveal competitive performance on datasets with mixed symmetries, with learnt likelihood distributions that are representative of the underlying degree of equivariance.
Image-Space Collage and Packing with Differentiable Rendering
Venue: arXiv cs.GR 2025
Year: 2025

Collage and packing techniques are widely used to organize geometric shapes into cohesive visual representations, facilitating the representation of visual features holistically, as seen in image collages and word clouds. Traditional methods often rely on object-space optimization, requiring intricate geometric descriptors and energy functions to handle complex shapes. In this paper, we introduce a versatile image-space collage technique. Leveraging a differentiable renderer, our method effectively optimizes the object layout with image-space losses, bringing the benefit of fixed complexity and easy accommodation of various shapes. Applying a hierarchical resolution strategy in image space, our method efficiently optimizes the collage with fast convergence, large coarse steps first and then small precise steps. The diverse visual expressiveness of our approach is demonstrated through various examples. Experimental results show that our method achieves an order-of-magnitude speedup compared to state-of-the-art techniques. The project page is https://szuviz.github.io/pixel-space-collage-technique/.
A Survey of Language-Based Communication in Robotics
Venue: arXiv cs.RO 2025
Year: 2025

Embodied robots which can interact with their environment and neighbours are increasingly being used as a test case to develop Artificial Intelligence. This creates a need for multimodal robot controllers that can operate across different types of information, including text. Large Language Models are able to process and generate textual as well as audiovisual data and, more recently, robot actions. Language Models are increasingly being applied to robotic systems; these Language-Based robots leverage the power of language models in a variety of ways. Additionally, the use of language opens up multiple forms of information exchange between members of a human-robot team. This survey motivates the use of language models in robotics, and then delineates works based on the part of the overall control flow in which language is incorporated. Language can be used by human to task a robot, by a robot to inform a human, between robots as a human-like communication medium, and internally for a robot's planning and control. Applications of language-based robots are explored, and numerous limitations and challenges are discussed to provide a summary of the development needed for the future of language-based robotics.
Deterministic Uncertainty Propagation for Improved Model-Based Offline Reinforcement Learning
Venue: arXiv cs.LG 2025
Year: 2025

Current approaches to model-based offline reinforcement learning often incorporate uncertainty-based reward penalization to address the distributional shift problem. These approaches, commonly known as pessimistic value iteration, use Monte Carlo sampling to estimate the Bellman target to perform temporal difference-based policy evaluation. We find out that the randomness caused by this sampling step significantly delays convergence. We present a theoretical result demonstrating the strong dependency of suboptimality on the number of Monte Carlo samples taken per Bellman target calculation. Our main contribution is a deterministic approximation to the Bellman target that uses progressive moment matching, a method developed originally for deterministic variational inference. The resulting algorithm, which we call Moment Matching Offline Model-Based Policy Optimization (MOMBO), propagates the uncertainty of the next state through a nonlinear Q-network in a deterministic fashion by approximating the distributions of hidden layer activations by a normal distribution. We show that it is possible to provide tighter guarantees for the suboptimality of MOMBO than the existing Monte Carlo sampling approaches. We also observe MOMBO to converge faster than these approaches in a large set of benchmark tasks.
AdapJ: An Adaptive Extended Jacobian Controller for Soft Manipulators
Venue: arXiv cs.RO 2025
Year: 2025

The nonlinearity and hysteresis of soft robot motions present challenges for control. To solve these issues, the Jacobian controller has been applied to approximate the nonlinear behaviors in a linear format. Accurate controllers like neural networks can handle delayed and nonlinear motions, but they require large datasets and exhibit low adaptability. Based on a novel analysis on these controllers, we propose an adaptive extended Jacobian controller, AdapJ, for soft manipulators. This controller retains the concise format of the Jacobian controller but introduces independent parameters. Similar to neural networks, its initialization and updating mechanism leverages the inverse model without building the corresponding forward model. In the experiments, we first compare the performance of the Jacobian controller, model predictive controller, neural network controller, iterative feedback controller, and AdapJ in simulation. We further analyze how AdapJ parameters adapt in response to the physical property change. Then, real-world experiments have validated that AdapJ outperforms the neural network controller, model predictive controller, and iterative feedback controller with fewer training samples and adapts robustly to varying conditions, including different control frequencies, material softness, and external disturbances. Future work may include online adjustment of the controller format and adaptability validation in more scenarios.
Promoting the Responsible Development of Speech Datasets for Mental Health and Neurological Disorders Research
Venue: arXiv cs.AI 2025
Year: 2025

Current research in machine learning and artificial intelligence is largely centered on modeling and performance evaluation, less so on data collection. However, recent research demonstrated that limitations and biases in data may negatively impact trustworthiness and reliability. These aspects are particularly impactful on sensitive domains such as mental health and neurological disorders, where speech data are used to develop AI applications for patients and healthcare providers. In this paper, we chart the landscape of available speech datasets for this domain, to highlight possible pitfalls and opportunities for improvement and promote fairness and diversity. We present a comprehensive list of desiderata for building speech datasets for mental health and neurological disorders and distill it into an actionable checklist focused on ethical concerns to foster more responsible research.
Cassandra: Efficient Enforcement of Sequential Execution for Cryptographic Programs (Extended Version)
Venue: arXiv cs.CR 2025
Year: 2025

Constant-time programming is a widely deployed approach to harden cryptographic programs against side channel attacks. However, modern processors often violate the underlying assumptions of standard constant-time policies by transiently executing unintended paths of the program. Despite many solutions proposed, addressing control flow misspeculations in an efficient way without losing performance is an open problem. In this work, we propose Cassandra, a novel hardware/software mechanism to enforce sequential execution for constant-time cryptographic code in a highly efficient manner. Cassandra explores the radical design point of disabling the branch predictor and recording-and-replaying sequential control flow of the program. Two key insights that enable our design are that (1) the sequential control flow of a constant-time program is mostly static over different runs, and (2) cryptographic programs are loop-intensive and their control flow patterns repeat in a highly compressible way. These insights allow us to perform an upfront branch analysis that significantly compresses control flow traces. We add a small component to a typical processor design, the Branch Trace Unit, to store compressed traces and determine fetch redirections according to the sequential model of the program. Despite providing a strong security guarantee, Cassandra counterintuitively provides an average 1.85% speedup compared to an unsafe baseline processor, mainly due to enforcing near-perfect fetch redirections.
From Spikes to Heavy Tails: Unveiling the Spectral Evolution of Neural Networks
Venue: arXiv cs.LG 2025
Year: 2025

Training strategies for modern deep neural networks (NNs) tend to induce a heavy-tailed (HT) empirical spectral density (ESD) in the layer weights. While previous efforts have shown that the HT phenomenon correlates with good generalization in large NNs, a theoretical explanation of its occurrence is still lacking. Especially, understanding the conditions which lead to this phenomenon can shed light on the interplay between generalization and weight spectra. Our work aims to bridge this gap by presenting a simple, rich setting to model the emergence of HT ESD. In particular, we present a theory-informed setup for 'crafting' heavy tails in the ESD of two-layer NNs and present a systematic analysis of the HT ESD emergence without any gradient noise. This is the first work to analyze a noise-free setting, and we also incorporate optimizer (GD/Adam) dependent (large) learning rates into the HT ESD analysis. Our results highlight the role of learning rates on the Bulk+Spike and HT shape of the ESDs in the early phase of training, which can facilitate generalization in the two-layer NN. These observations shed light on the behavior of large-scale NNs, albeit in a much simpler setting.
Optimizing Automatic Differentiation with Deep Reinforcement Learning
Venue: arXiv cs.LG 2025
Year: 2025

Computing Jacobians with automatic differentiation is ubiquitous in many scientific domains such as machine learning, computational fluid dynamics, robotics and finance. Even small savings in the number of computations or memory usage in Jacobian computations can already incur massive savings in energy consumption and runtime. While there exist many methods that allow for such savings, they generally trade computational efficiency for approximations of the exact Jacobian. In this paper, we present a novel method to optimize the number of necessary multiplications for Jacobian computation by leveraging deep reinforcement learning (RL) and a concept called cross-country elimination while still computing the exact Jacobian. Cross-country elimination is a framework for automatic differentiation that phrases Jacobian accumulation as ordered elimination of all vertices on the computational graph where every elimination incurs a certain computational cost. We formulate the search for the optimal elimination order that minimizes the number of necessary multiplications as a single player game which is played by an RL agent. We demonstrate that this method achieves up to 33% improvements over state-of-the-art methods on several relevant tasks taken from diverse domains. Furthermore, we show that these theoretical gains translate into actual runtime improvements by providing a cross-country elimination interpreter in JAX that can efficiently execute the obtained elimination orders.
How to Strategize Human Content Creation in the Era of GenAI?
Venue: arXiv cs.GT 2025
Year: 2025

Generative AI (GenAI) will have significant impact on content creation platforms. In this paper, we study the dynamic competition between a GenAI and a human contributor. Unlike the human, the GenAI's content only improves when more contents are created by the human over time; however, GenAI has the advantage of generating content at a lower cost. We study the algorithmic problem in this dynamic competition model about how the human contributor can maximize her utility when competing against the GenAI for content generation over a set of topics. In time-sensitive content domains (e.g., news or pop music creation) where contents' value diminishes over time, we show that there is no polynomial time algorithm for finding the human's optimal (dynamic) strategy, unless the randomized exponential time hypothesis is false. Fortunately, we are able to design a polynomial time algorithm that naturally cycles between myopically optimizing over a short time window and pausing and provably guarantees an approximation ratio of $\frac{1}{2}$. We then turn to time-insensitive content domains where contents do not lose their value (e.g., contents on history facts). Interestingly, we show that this setting permits a polynomial time algorithm that maximizes the human's utility in the long run. Finally, we conduct simulations that demonstrate the advantage of our algorithms in comparison to a collection of baselines.
Toward Reliable Ad-hoc Scientific Information Extraction: A Case Study on Two Materials Datasets
Venue: arXiv cs.CL 2025
Year: 2025

We explore the ability of GPT-4 to perform ad-hoc schema based information extraction from scientific literature. We assess specifically whether it can, with a basic prompting approach, replicate two existing material science datasets, given the manuscripts from which they were originally manually extracted. We employ materials scientists to perform a detailed manual error analysis to assess where the model struggles to faithfully extract the desired information, and draw on their insights to suggest research directions to address this broadly important task.
ChatSR: Multimodal Large Language Models for Scientific Formula Discovery
Venue: arXiv cs.AI 2025
Year: 2025

Formulas are the language of communication between humans and nature. The discovery of formulas to describe natural laws from observational data is the purpose of scientific research. It is also an important research topic in artificial intelligence, which is called a symbolic regression problem. Most of the existing symbolic regression methods generate expressions directly from observed data. Although in some methods, we can inject some prior knowledge into the model by adding constraints or introducing some special character hints. However, these methods can only introduce a limited amount of prior knowledge specified in advance. Not to mention understanding natural language instructions. In this article, based on the powerful knowledge reserve and language understanding ability of multi-modal large language models, we present ChatSR, which acts like a knowledgeable human scientist, and we can tell it any prior knowledge through natural language to guide it in formula generation. By testing on 13 datasets, ChatSR not only shows state-of-the-art performance on traditional symbolic regression tasks. More notably, ChatSR can well understand the prior knowledge contained in natural language prompts and improve the quality of generated expressions. In addition, it is exciting that ChatSR has a good zero-shot capability to understand prior knowledge that is not present in the training data.
Exploring Bridges Between Algorithmic and AI-generated Art
Venue: arXiv cs.HC 2025
Year: 2025

In this paper, we bridge algorithmic and AI art by adding functionality to the creative coding environment. We create two systems that demonstrate how AI features can enhance algorithmic art and, conversely, how AI art can be styled based on algorithmically-generated artifacts. The first library, GenP5, extends p5.js to allow the artist to apply diffusion models to style and 'condition' their algorithmically-constructed art. The second, P52Style, can learn the 'style' of an algorithmically generated artifact and apply that when creating new AI art.
Which Backbone to Use: A Resource-efficient Domain Specific Comparison for Computer Vision
Venue: arXiv cs.CV 2025
Year: 2025

In contemporary computer vision applications, particularly image classification, architectural backbones pre-trained on large datasets like ImageNet are commonly employed as feature extractors. Despite the widespread use of these pre-trained convolutional neural networks (CNNs), there remains a gap in understanding the performance of various resource-efficient backbones across diverse domains and dataset sizes. Our study systematically evaluates multiple lightweight, pre-trained CNN backbones under consistent training settings across a variety of datasets, including natural images, medical images, galaxy images, and remote sensing images. This comprehensive analysis aims to aid machine learning practitioners in selecting the most suitable backbone for their specific problem, especially in scenarios involving small datasets where fine-tuning a pre-trained network is crucial. Even though attention-based architectures are gaining popularity, we observed that they tend to perform poorly under low data finetuning tasks compared to CNNs. We also observed that some CNN architectures such as ConvNeXt, RegNet and EfficientNet performs well compared to others on a diverse set of domains consistently. Our findings provide actionable insights into the performance trade-offs and effectiveness of different backbones, facilitating informed decision-making in model selection for a broad spectrum of computer vision domains. Our code is available here: https://github.com/pranavphoenix/Backbones
Distributed Motion Control of Multiple Mobile Manipulators for Reducing Interaction Wrench in Object Manipulation
Venue: arXiv cs.RO 2025
Year: 2025

In real-world cooperative manipulation of objects, multiple mobile manipulator systems may suffer from disturbances and asynchrony, leading to excessive interaction wrenches and potentially causing object damage or emergency stops. Existing methods often rely on torque control and dynamic models, which are uncommon in many industrial robots and settings. Additionally, dynamic models often neglect joint friction forces and are not accurate. These methods are challenging to implement and validate in physical systems. To address the problems, this paper presents a novel distributed motion control approach aimed at reducing these unnecessary interaction wrenches. The control law is only based on local information and joint velocity control to enhance practical applicability. The communication delays within the distributed architecture are considered. The stability of the control law is rigorously proven by the Lyapunov theorem. In the simulations, the effectiveness is shown, and the impact of communication graph connectivity and communication delays has been studied. A comparison with other methods shows the advantages of the proposed control law in terms of convergence speed and robustness. Finally, the control law has been validated in physical experiments. It does not require dynamic modeling or torque control, and thus is more user-friendly for physical robots.