pwc-archive/papers-with-abstracts huggingface dataset:
Object detection in adverse weather conditions for autonomous vehicles using Instruct Pix2Pix
Authors: Unai Gurbindo, Axel Brando, Jaume Abella, Caroline König
Date: 2025-05-13 00:00:00
Tasks: Autonomous Driving, Autonomous Vehicles, Data Augmentation, Object, object-detection, Object Detection

Enhancing the robustness of object detection systems under adverse weather conditions is crucial for the advancement of autonomous driving technology. This study presents a novel approach leveraging the diffusion model Instruct Pix2Pix to develop prompting methodologies that generate realistic datasets with weather-based augmentations aiming to mitigate the impact of adverse weather on the perception capabilities of state-of-the-art object detection models, including Faster R-CNN and YOLOv10. Experiments were conducted in two environments, in the CARLA simulator where an initial evaluation of the proposed data augmentation was provided, and then on the real-world image data sets BDD100K and ACDC demonstrating the effectiveness of the approach in real environments. The key contributions of this work are twofold: (1) identifying and quantifying the performance gap in object detection models under challenging weather conditions, and (2) demonstrating how tailored data augmentation strategies can significantly enhance the robustness of these models. This research establishes a solid foundation for improving the reliability of perception systems in demanding environmental scenarios, and provides a pathway for future advancements in autonomous driving.
Reinforcement Learning-based Fault-Tolerant Control for Quadrotor with Online Transformer Adaptation
Authors: Dohyun Kim, Jayden Dongwoo Lee, Hyochoong Bang, Jungho Bae
Date: 2025-05-13 00:00:00
Tasks: Reinforcement Learning (RL)

Multirotors play a significant role in diverse field robotics applications but remain highly susceptible to actuator failures, leading to rapid instability and compromised mission reliability. While various fault-tolerant control (FTC) strategies using reinforcement learning (RL) have been widely explored, most previous approaches require prior knowledge of the multirotor model or struggle to adapt to new configurations. To address these limitations, we propose a novel hybrid RL-based FTC framework integrated with a transformer-based online adaptation module. Our framework leverages a transformer architecture to infer latent representations in real time, enabling adaptation to previously unseen system models without retraining. We evaluate our method in a PyBullet simulation under loss-of-effectiveness actuator faults, achieving a 95% success rate and a positional root mean square error (RMSE) of 0.129 m, outperforming existing adaptation methods with 86% success and an RMSE of 0.153 m. Further evaluations on quadrotors with varying configurations confirm the robustness of our framework across untrained dynamics. These results demonstrate the potential of our framework to enhance the adaptability and reliability of multirotors, enabling efficient fault management in dynamic and uncertain environments. Website is available at http://00dhkim.me/paper/rl-ftc
Policy-labeled Preference Learning: Is Preference Enough for RLHF?
Authors: Taehyun Cho, Seokhun Ju, Seungyub Han, Dohyeong Kim, Kyungjae Lee, Jungwoo Lee
Date: 2025-05-06 00:00:00
Tasks: continuous-control, Continuous Control, Decision Making, reinforcement-learning, Reinforcement Learning, Sequential Decision Making

To design rewards that align with human goals, Reinforcement Learning from Human Feedback (RLHF) has emerged as a prominent technique for learning reward functions from human preferences and optimizing policies via reinforcement learning algorithms. However, existing RLHF methods often misinterpret trajectories as being generated by an optimal policy, causing inaccurate likelihood estimation and suboptimal learning. Inspired by Direct Preference Optimization framework which directly learns optimal policy without explicit reward, we propose policy-labeled preference learning (PPL), to resolve likelihood mismatch issues by modeling human preferences with regret, which reflects behavior policy information. We also provide a contrastive KL regularization, derived from regret-based principles, to enhance RLHF in sequential decision making. Experiments in high-dimensional continuous control tasks demonstrate PPL's significant improvements in offline RLHF performance and its effectiveness in online settings.
Scaling Multi Agent Reinforcement Learning for Underwater Acoustic Tracking via Autonomous Vehicles
Authors: Matteo Gallici, Ivan Masmitja, Mario Martín
Date: 2025-05-13 00:00:00
Tasks: Autonomous Vehicles, GPU, Multi-agent Reinforcement Learning, Reinforcement Learning (RL)

Autonomous vehicles (AV) offer a cost-effective solution for scientific missions such as underwater tracking. Recently, reinforcement learning (RL) has emerged as a powerful method for controlling AVs in complex marine environments. However, scaling these techniques to a fleet--essential for multi-target tracking or targets with rapid, unpredictable motion--presents significant computational challenges. Multi-Agent Reinforcement Learning (MARL) is notoriously sample-inefficient, and while high-fidelity simulators like Gazebo's LRAUV provide 100x faster-than-real-time single-robot simulations, they offer no significant speedup for multi-vehicle scenarios, making MARL training impractical. To address these limitations, we propose an iterative distillation method that transfers high-fidelity simulations into a simplified, GPU-accelerated environment while preserving high-level dynamics. This approach achieves up to a 30,000x speedup over Gazebo through parallelization, enabling efficient training via end-to-end GPU acceleration. Additionally, we introduce a novel Transformer-based architecture (TransfMAPPO) that learns multi-agent policies invariant to the number of agents and targets, significantly improving sample efficiency. Following large-scale curriculum learning conducted entirely on GPU, we perform extensive evaluations in Gazebo, demonstrating that our method maintains tracking errors below 5 meters over extended durations, even in the presence of multiple fast-moving targets. This work bridges the gap between large-scale MARL training and high-fidelity deployment, providing a scalable framework for autonomous fleet control in real-world sea missions.
Unveiling the Best Practices for Applying Speech Foundation Models to Speech Intelligibility Prediction for Hearing-Impaired People
Authors: Haoshuai Zhou, Boxuan Cao, Changgeng Mo, Linkai Li, Shan Xiang Wang
Date: 2025-05-13 00:00:00
Tasks: Prediction

Speech foundation models (SFMs) have demonstrated strong performance across a variety of downstream tasks, including speech intelligibility prediction for hearing-impaired people (SIP-HI). However, optimizing SFMs for SIP-HI has been insufficiently explored. In this paper, we conduct a comprehensive study to identify key design factors affecting SIP-HI performance with 5 SFMs, focusing on encoder layer selection, prediction head architecture, and ensemble configurations. Our findings show that, contrary to traditional use-all-layers methods, selecting a single encoder layer yields better results. Additionally, temporal modeling is crucial for effective prediction heads. We also demonstrate that ensembling multiple SFMs improves performance, with stronger individual models providing greater benefit. Finally, we explore the relationship between key SFM attributes and their impact on SIP-HI performance. Our study offers practical insights into effectively adapting SFMs for speech intelligibility prediction for hearing-impaired populations.
A Head to Predict and a Head to Question: Pre-trained Uncertainty Quantification Heads for Hallucination Detection in LLM Outputs
Authors: Artem Shelmanov, Ekaterina Fadeeva, Akim Tsvigun, Ivan Tsvigun, Zhuohan Xie, Igor Kiselev, Nico Daheim, Caiqi Zhang, Artem Vazhentsev, Mrinmaya Sachan, Preslav Nakov, Timothy Baldwin
Date: 2025-05-13 00:00:00
Tasks: Hallucination, Uncertainty Quantification

Large Language Models (LLMs) have the tendency to hallucinate, i.e., to sporadically generate false or fabricated information. This presents a major challenge, as hallucinations often appear highly convincing and users generally lack the tools to detect them. Uncertainty quantification (UQ) provides a framework for assessing the reliability of model outputs, aiding in the identification of potential hallucinations. In this work, we introduce pre-trained UQ heads: supervised auxiliary modules for LLMs that substantially enhance their ability to capture uncertainty compared to unsupervised UQ methods. Their strong performance stems from the powerful Transformer architecture in their design and informative features derived from LLM attention maps. Experimental evaluation shows that these heads are highly robust and achieve state-of-the-art performance in claim-level hallucination detection across both in-domain and out-of-domain prompts. Moreover, these modules demonstrate strong generalization to languages they were not explicitly trained on. We pre-train a collection of UQ heads for popular LLM series, including Mistral, Llama, and Gemma 2. We publicly release both the code and the pre-trained heads.
Aitomia: Your Intelligent Assistant for AI-Driven Atomistic and Quantum Chemical Simulations
Authors: Jinming Hu, Hassan Nawaz, Yuting Rui, Lijie Chi, Arif Ullah, Pavlo O. Dral
Date: 2025-05-13 00:00:00
Tasks: Computational chemistry, RAG, Retrieval-augmented Generation

We have developed Aitomia - a platform powered by AI to assist in performing AI-driven atomistic and quantum chemical (QC) simulations. This intelligent assistant platform is equipped with chatbots and AI agents to help experts and guide non-experts in setting up and running the atomistic simulations, monitoring their computation status, analyzing the simulation results, and summarizing them for the user in text and graphical forms. We achieve these goals by exploiting fine-tuned open-source large language models (LLMs), rule-based agents, and a retrieval-augmented generation (RAG) system. Aitomia leverages the versatility of our MLatom ecosystem for AI-enhanced computational chemistry. This intelligent assistant is going to be integrated into the Aitomistic Hub and XACS online computing services, with some functionality already publicly available as described at http://mlatom.com/aitomia. Aitomia is expected to lower the barrier to performing atomistic simulations, accelerating research and development in the relevant fields.
DSADF: Thinking Fast and Slow for Decision Making
Authors: Alex Zhihao Dou, Dongfei Cui, Jun Yan, Weida Wang, Benteng Chen, Haoming Wang, Zeke Xie, Shufei Zhang
Date: 2025-05-13 00:00:00
Tasks: Decision Making, Reinforcement Learning (RL)

Although Reinforcement Learning (RL) agents are effective in well-defined environments, they often struggle to generalize their learned policies to dynamic settings due to their reliance on trial-and-error interactions. Recent work has explored applying Large Language Models (LLMs) or Vision Language Models (VLMs) to boost the generalization of RL agents through policy optimization guidance or prior knowledge. However, these approaches often lack seamless coordination between the RL agent and the foundation model, leading to unreasonable decision-making in unfamiliar environments and efficiency bottlenecks. Making full use of the inferential capabilities of foundation models and the rapid response capabilities of RL agents and enhancing the interaction between the two to form a dual system is still a lingering scientific question. To address this problem, we draw inspiration from Kahneman's theory of fast thinking (System 1) and slow thinking (System 2), demonstrating that balancing intuition and deep reasoning can achieve nimble decision-making in a complex world. In this study, we propose a Dual-System Adaptive Decision Framework (DSADF), integrating two complementary modules: System 1, comprising an RL agent and a memory space for fast and intuitive decision making, and System 2, driven by a VLM for deep and analytical reasoning. DSADF facilitates efficient and adaptive decision-making by combining the strengths of both systems. The empirical study in the video game environment: Crafter and Housekeep demonstrates the effectiveness of our proposed method, showing significant improvements in decision abilities for both unseen and known tasks.
Feasibility-Aware Pessimistic Estimation: Toward Long-Horizon Safety in Offline RL
Authors: Zhikun Tao, Gang Xiong, He Fang, Zhen Shen, Yunjun Han, Qing-Shan Jia
Date: 2025-05-13 00:00:00
Tasks: Offline RL, Safe Reinforcement Learning

Offline safe reinforcement learning(OSRL) derives constraint-satisfying policies from pre-collected datasets, offers a promising avenue for deploying RL in safety-critical real-world domains such as robotics. However, the majority of existing approaches emphasize only short-term safety, neglecting long-horizon considerations. Consequently, they may violate safety constraints and fail to ensure sustained protection during online deployment. Moreover, the learned policies often struggle to handle states and actions that are not present or out-of-distribution(OOD) from the offline dataset, and exhibit limited sample efficiency. To address these challenges, we propose a novel framework Feasibility-Aware offline Safe Reinforcement Learning with CVAE-based Pessimism (FASP). First, we employ Hamilton-Jacobi (H-J) reachability analysis to generate reliable safety labels, which serve as supervisory signals for training both a conditional variational autoencoder (CVAE) and a safety classifier. This approach not only ensures high sampling efficiency but also provides rigorous long-horizon safety guarantees. Furthermore, we utilize pessimistic estimation methods to estimate the Q-value of reward and cost, which mitigates the extrapolation errors induces by OOD actions, and penalize unsafe actions to enabled the agent to proactively avoid high-risk behaviors. Moreover, we theoretically prove the validity of this pessimistic estimation. Extensive experiments on DSRL benchmarks demonstrate that FASP algorithm achieves competitive performance across multiple experimental tasks, particularly outperforming state-of-the-art algorithms in terms of safety.
Behind the Noise: Conformal Quantile Regression Reveals Emergent Representations
Authors: Petrus H. Zwart, Tamas Varga, Odeta Qafoku, James A. Sethian
Date: 2025-05-13 00:00:00
Tasks: Denoising, Experimental Design, Image Restoration, quantile regression, regression

Scientific imaging often involves long acquisition times to obtain high-quality data, especially when probing complex, heterogeneous systems. However, reducing acquisition time to increase throughput inevitably introduces significant noise into the measurements. We present a machine learning approach that not only denoises low-quality measurements with calibrated uncertainty bounds, but also reveals emergent structure in the latent space. By using ensembles of lightweight, randomly structured neural networks trained via conformal quantile regression, our method performs reliable denoising while uncovering interpretable spatial and chemical features -- without requiring labels or segmentation. Unlike conventional approaches focused solely on image restoration, our framework leverages the denoising process itself to drive the emergence of meaningful representations. We validate the approach on real-world geobiochemical imaging data, showing how it supports confident interpretation and guides experimental design under resource constraints.
Fast Text-to-Audio Generation with Adversarial Post-Training
Authors: Zachary Novack, Zach Evans, Zack Zukowski, Josiah Taylor, CJ Carr, Julian Parker, Adnan Al-Sinan, Gian Marco Iodice, Julian McAuley, Taylor Berg-Kirkpatrick, Jordi Pons
Date: 2025-05-13 00:00:00
Tasks: ARC, Audio Generation

Text-to-audio systems, while increasingly performant, are slow at inference time, thus making their latency unpractical for many creative applications. We present Adversarial Relativistic-Contrastive (ARC) post-training, the first adversarial acceleration algorithm for diffusion/flow models not based on distillation. While past adversarial post-training methods have struggled to compare against their expensive distillation counterparts, ARC post-training is a simple procedure that (1) extends a recent relativistic adversarial formulation to diffusion/flow post-training and (2) combines it with a novel contrastive discriminator objective to encourage better prompt adherence. We pair ARC post-training with a number optimizations to Stable Audio Open and build a model capable of generating $\approx$12s of 44.1kHz stereo audio in $\approx$75ms on an H100, and $\approx$7s on a mobile edge-device, the fastest text-to-audio model to our knowledge.
Exploiting Text Semantics for Few and Zero Shot Node Classification on Text-attributed Graph
Authors: Yuxiang Wang, Xiao Yan, Shiyu Jin, Quanqing Xu, Chuang Hu, Yuanyuan Zhu, Bo Du, Jia Wu, Jiawei Jiang
Date: 2025-05-13 00:00:00
Tasks: Node Classification, TAG

Text-attributed graph (TAG) provides a text description for each graph node, and few- and zero-shot node classification on TAGs have many applications in fields such as academia and social networks. Existing work utilizes various graph-based augmentation techniques to train the node and text embeddings, while text-based augmentations are largely unexplored. In this paper, we propose Text Semantics Augmentation (TSA) to improve accuracy by introducing more text semantic supervision signals. Specifically, we design two augmentation techniques, i.e., positive semantics matching and negative semantics contrast, to provide more reference texts for each graph node or text description. Positive semantic matching retrieves texts with similar embeddings to match with a graph node. Negative semantic contrast adds a negative prompt to construct a text description with the opposite semantics, which is contrasted with the original node and text. We evaluate TSA on 5 datasets and compare with 13 state-of-the-art baselines. The results show that TSA consistently outperforms all baselines, and its accuracy improvements over the best-performing baseline are usually over 5%.
Fusing Bidirectional Chains of Thought and Reward Mechanisms A Method for Enhancing Question-Answering Capabilities of Large Language Models for Chinese Intangible Cultural Heritage
Authors: Ruilin Liu, Zhixiao Zhao, Jieqiong Li, Chang Liu, Dongbo Wang
Date: 2025-05-13 00:00:00
Tasks: Knowledge Distillation, Large Language Model, Question Answering, StrategyQA

The rapid development of large language models (LLMs) has provided significant support and opportunities for the advancement of domain-specific LLMs. However, fine-tuning these large models using Intangible Cultural Heritage (ICH) data inevitably faces challenges such as bias, incorrect knowledge inheritance, and catastrophic forgetting. To address these issues, we propose a novel training method that integrates a bidirectional chains of thought and a reward mechanism. This method is built upon ICH-Qwen, a large language model specifically designed for the field of intangible cultural heritage. The proposed method enables the model to not only perform forward reasoning but also enhances the accuracy of the generated answers by utilizing reverse questioning and reverse reasoning to activate the model's latent knowledge. Additionally, a reward mechanism is introduced during training to optimize the decision-making process. This mechanism improves the quality of the model's outputs through structural and content evaluations with different weighting schemes. We conduct comparative experiments on ICH-Qwen, with results demonstrating that our method outperforms 0-shot, step-by-step reasoning, knowledge distillation, and question augmentation methods in terms of accuracy, Bleu-4, and Rouge-L scores on the question-answering task. Furthermore, the paper highlights the effectiveness of combining the bidirectional chains of thought and reward mechanism through ablation experiments. In addition, a series of generalizability experiments are conducted, with results showing that the proposed method yields improvements on various domain-specific datasets and advanced models in areas such as Finance, Wikidata, and StrategyQA. This demonstrates that the method is adaptable to multiple domains and provides a valuable approach for model training in future applications across diverse fields.
Knowledge Guided Encoder-Decoder Framework: Integrating Multiple Physical Models for Agricultural Ecosystem Modeling
Authors: Qi Cheng, Licheng Liu, Yao Zhang, Mu Hong, Shiyuan Luo, Zhenong Jin, Yiqun Xie, Xiaowei Jia
Date: 2025-05-05 00:00:00
Tasks: Decoder, Language Modeling, Language Modelling, Model Selection

Agricultural monitoring is critical for ensuring food security, maintaining sustainable farming practices, informing policies on mitigating food shortage, and managing greenhouse gas emissions. Traditional process-based physical models are often designed and implemented for specific situations, and their parameters could also be highly uncertain. In contrast, data-driven models often use black-box structures and does not explicitly model the inter-dependence between different ecological variables. As a result, they require extensive training data and lack generalizability to different tasks with data distribution shifts and inconsistent observed variables. To address the need for more universal models, we propose a knowledge-guided encoder-decoder model, which can predict key crop variables by leveraging knowledge of underlying processes from multiple physical models. The proposed method also integrates a language model to process complex and inconsistent inputs and also utilizes it to implement a model selection mechanism for selectively combining the knowledge from different physical models. Our evaluations on predicting carbon and nitrogen fluxes for multiple sites demonstrate the effectiveness and robustness of the proposed model under various scenarios.
A Survey on GUI Agents with Foundation Models Enhanced by Reinforcement Learning
Authors: Jiahao Li, Kaer Huang
Date: 2025-04-29 00:00:00
Tasks: Action Generation, Prompt Engineering, Reinforcement Learning (RL)

Graphical User Interface (GUI) agents, driven by Multi-modal Large Language Models (MLLMs), have emerged as a promising paradigm for enabling intelligent interaction with digital systems. This paper provides a structured survey of recent advances in GUI agents, focusing on architectures enhanced by Reinforcement Learning (RL). We first formalize GUI agent tasks as Markov Decision Processes and discuss typical execution environments and evaluation metrics. We then review the modular architecture of (M)LLM-based GUI agents, covering Perception, Planning, and Acting modules, and trace their evolution through representative works. Furthermore, we categorize GUI agent training methodologies into Prompt-based, Supervised Fine-Tuning (SFT)-based, and RL-based approaches, highlighting the progression from simple prompt engineering to dynamic policy learning via RL. Our summary illustrates how recent innovations in multimodal perception, decision reasoning, and adaptive action generation have significantly improved the generalization and robustness of GUI agents in complex real-world environments. We conclude by identifying key challenges and future directions for building more capable and reliable GUI agents.