pwc-archive/papers-with-abstracts huggingface dataset:
The Polar Express: Optimal Matrix Sign Methods and Their Application to the Muon Algorithm
Authors: Noah Amsel, David Persson, Christopher Musco, Robert M. Gower
Date: 2025-05-22 00:00:00
Tasks: GPU

Computing the polar decomposition and the related matrix sign function, has been a well-studied problem in numerical analysis for decades. More recently, it has emerged as an important subroutine in deep learning, particularly within the Muon optimization framework. However, the requirements in this setting differ significantly from those of traditional numerical analysis. In deep learning, methods must be highly efficient and GPU-compatible, but high accuracy is often unnecessary. As a result, classical algorithms like Newton-Schulz (which suffers from slow initial convergence) and methods based on rational functions (which rely on QR decompositions or matrix inverses) are poorly suited to this context. In this work, we introduce Polar Express, a GPU-friendly algorithm for computing the polar decomposition. Like classical polynomial methods such as Newton-Schulz, our approach uses only matrix-matrix multiplications, making it GPU-compatible. Motivated by earlier work of Chen & Chow and Nakatsukasa & Freund, Polar Express adapts the polynomial update rule at each iteration by solving a minimax optimization problem, and we prove that it enjoys a strong worst-case optimality guarantee. This property ensures both rapid early convergence and fast asymptotic convergence. We also address finite-precision issues, making it stable in bfloat16 in practice. We apply Polar Express within the Muon optimization framework and show consistent improvements in validation loss on large-scale models such as GPT-2, outperforming recent alternatives across a range of learning rates.
Implicit Neural Shape Optimization for 3D High-Contrast Electrical Impedance Tomography
Authors: Junqing Chen, Haibo Liu
Date: 2025-05-22 00:00:00
Tasks: Defect Detection

We present a novel implicit neural shape optimization framework for 3D high-contrast Electrical Impedance Tomography (EIT), addressing scenarios where conductivity exhibits sharp discontinuities across material interfaces. These high-contrast cases, prevalent in metallic implant monitoring and industrial defect detection, challenge traditional reconstruction methods due to severe ill-posedness. Our approach synergizes shape optimization with implicit neural representations, introducing key innovations including a shape derivative-based optimization scheme that explicitly incorporates high-contrast interface conditions and an efficient latent space representation that reduces variable dimensionality. Through rigorous theoretical analysis of algorithm convergence and extensive numerical experiments, we demonstrate substantial performance improvements, establishing our framework as promising for practical applications in medical imaging with metallic implants and industrial non-destructive testing.
Improving the Predictability of the Madden-Julian Oscillation at Subseasonal Scales with Gaussian Process Models
Authors: HaoYuan Chen, Emil Constantinescu, Vishwas Rao, Cristiana Stan
Date: 2025-05-21 00:00:00

The Madden--Julian Oscillation (MJO) is an influential climate phenomenon that plays a vital role in modulating global weather patterns. In spite of the improvement in MJO predictions made by machine learning algorithms, such as neural networks, most of them cannot provide the uncertainty levels in the MJO forecasts directly. To address this problem, we develop a nonparametric strategy based on Gaussian process (GP) models. We calibrate GPs using empirical correlations and we propose a posteriori covariance correction. Numerical experiments demonstrate that our model has better prediction skills than the ANN models for the first five lead days. Additionally, our posteriori covariance correction extends the probabilistic coverage by more than three weeks.
Graph Neural Networks Based Anomalous RSSI Detection
Authors: Blaž Bertalanič, Matej Vnučec, Carolina Fortuna
Date: 2025-05-19 00:00:00
Tasks: Graph Attention, Graph Neural Network, Time Series

In today's world, modern infrastructures are being equipped with information and communication technologies to create large IoT networks. It is essential to monitor these networks to ensure smooth operations by detecting and correcting link failures or abnormal network behaviour proactively, which can otherwise cause interruptions in business operations. This paper presents a novel method for detecting anomalies in wireless links using graph neural networks. The proposed approach involves converting time series data into graphs and training a new graph neural network architecture based on graph attention networks that successfully detects anomalies at the level of individual measurements of the time series data. The model provides competitive results compared to the state of the art while being computationally more efficient with ~171 times fewer trainable parameters.
Transforming Decoder-Only Transformers for Accurate WiFi-Telemetry Based Indoor Localization
Authors: Nayan Sanjay Bhatia, Katia Obraczka
Date: 2025-05-16 00:00:00
Tasks: Decoder, Indoor Localization

Wireless Fidelity (WiFi) based indoor positioning is a widely researched area for determining the position of devices within a wireless network. Accurate indoor location has numerous applications, such as asset tracking and indoor navigation. Despite advances in WiFi localization techniques -- in particular approaches that leverage WiFi telemetry -- their adoption in practice remains limited due to several factors including environmental changes that cause signal fading, multipath effects, interference, which, in turn, impact positioning accuracy. In addition, telemetry data differs depending on the WiFi device vendor, offering distinct features and formats; use case requirements can also vary widely. Currently, there is no unified model to handle all these variations effectively. In this paper, we present WiFiGPT, a Generative Pretrained Transformer (GPT) based system that is able to handle these variations while achieving high localization accuracy. Our experiments with WiFiGPT demonstrate that GPTs, in particular Large Language Models (LLMs), can effectively capture subtle spatial patterns in noisy wireless telemetry, making them reliable regressors. Compared to existing state-of-the-art methods, our method matches and often surpasses conventional approaches for multiple types of telemetry. Achieving sub-meter accuracy for RSSI and FTM and centimeter-level precision for CSI demonstrates the potential of LLM-based localisation to outperform specialized techniques, all without handcrafted signal processing or calibration.
Generative AI-Aided QoE Maximization for RIS-Assisted Digital Twin Interaction
Authors: Jiayuan Chen, Yuxiang Li, Changyan Yi, Shimin Gong
Date: 2025-05-15 00:00:00

In this paper, we investigate a quality of experience (QoE)-aware resource allocation problem for reconfigurable intelligent surface (RIS)-assisted digital twin (DT) interaction with uncertain evolution. In the considered system, mobile users are expected to interact with a DT model maintained on a DT server that is deployed on a base station, via effective uplink and downlink channels assisted by an RIS. Our goal is to maximize the sum of all mobile users' joint subjective and objective QoE in DT interactions across various DT scenes, by jointly optimizing phase shift matrix, receive/transmit beamforming matrix, rendering resolution configuration and computing resource allocation. While solving this problem is challenging mainly due to the uncertain evolution of the DT model, which leads to multiple scene-specific problems, and require us to constantly re-solve each of them whenever DT model evolves. To this end, leveraging the dynamic optimization capabilities of decision transformers and the generalization strengths of generative artificial intelligence (GAI), we propose a novel GAI-aided approach, called the prompt-guided decision transformer integrated with zero-forcing optimization (PG-ZFO). Simulations are conducted to evaluate the proposed PG-ZFO, demonstrating its effectiveness and superiority over counterparts.
HyGenar: An LLM-Driven Hybrid Genetic Algorithm for Few-Shot Grammar Generation
Authors: Weizhi Tang, Yixuan Li, Chris Sypherd, Elizabeth Polgreen, Vaishak Belle
Date: 2025-05-22 00:00:00
Tasks: Code Generation

Grammar plays a critical role in natural language processing and text/code generation by enabling the definition of syntax, the creation of parsers, and guiding structured outputs. Although large language models (LLMs) demonstrate impressive capabilities across domains, their ability to infer and generate grammars has not yet been thoroughly explored. In this paper, we aim to study and improve the ability of LLMs for few-shot grammar generation, where grammars are inferred from sets of a small number of positive and negative examples and generated in Backus-Naur Form. To explore this, we introduced a novel dataset comprising 540 structured grammar generation challenges, devised 6 metrics, and evaluated 8 various LLMs against it. Our findings reveal that existing LLMs perform sub-optimally in grammar generation. To address this, we propose an LLM-driven hybrid genetic algorithm, namely HyGenar, to optimize grammar generation. HyGenar achieves substantial improvements in both the syntactic and semantic correctness of generated grammars across LLMs.
AutoMCQ -- Automatically Generate Code Comprehension Questions using GenAI
Authors: Martin Goodfellow, Robbie Booth, Andrew Fagan, Alasdair Lambert
Date: 2025-05-22 00:00:00
Tasks: Multiple-choice

Students often do not fully understand the code they have written. This sometimes does not become evident until later in their education, which can mean it is harder to fix their incorrect knowledge or misunderstandings. In addition, being able to fully understand code is increasingly important in a world where students have access to generative artificial intelligence (GenAI) tools, such as GitHub Copilot. One effective solution is to utilise code comprehension questions, where a marker asks questions about a submission to gauge understanding, this can also have the side effect of helping to detect plagiarism. However, this approach is time consuming and can be difficult and/or expensive to scale. This paper introduces AutoMCQ, which uses GenAI for the automatic generation of multiple-choice code comprehension questions. This is integrated with the CodeRunner automated assessment platform.
Data-driven Verification of Procedural Programs with Integer Arrays
Authors: Ahmed Bouajjani, Wael-Amine Boutglay, Peter Habermehl
Date: 2025-05-21 00:00:00

We address the problem of verifying automatically procedural programs manipulating parametric-size arrays of integers, encoded as a constrained Horn clauses solving problem. We propose a new algorithmic method for synthesizing loop invariants and procedure pre/post-conditions represented as universally quantified first-order formulas constraining the array elements and program variables. We adopt a data-driven approach that extends the decision tree Horn-ICE framework to handle arrays. We provide a powerful learning technique based on reducing a complex classification problem of vectors of integer arrays to a simpler classification problem of vectors of integers. The obtained classifier is generalized to get universally quantified invariants and procedure pre/post-conditions. We have implemented our method and shown its efficiency and competitiveness w.r.t. state-of-the-art tools on a significant benchmark.
Interactive Post-Training for Vision-Language-Action Models
Authors: Shuhan Tan, Kairan Dou, Yue Zhao, Philipp Krähenbühl
Date: 2025-05-22 00:00:00
Tasks: Vision-Language-Action

We introduce RIPT-VLA, a simple and scalable reinforcement-learning-based interactive post-training paradigm that fine-tunes pretrained Vision-Language-Action (VLA) models using only sparse binary success rewards. Existing VLA training pipelines rely heavily on offline expert demonstration data and supervised imitation, limiting their ability to adapt to new tasks and environments under low-data regimes. RIPT-VLA addresses this by enabling interactive post-training with a stable policy optimization algorithm based on dynamic rollout sampling and leave-one-out advantage estimation. RIPT-VLA has the following characteristics. First, it applies to various VLA models, resulting in an improvement on the lightweight QueST model by 21.2%, and the 7B OpenVLA-OFT model to an unprecedented 97.5% success rate. Second, it is computationally efficient and data-efficient: with only one demonstration, RIPT-VLA enables an unworkable SFT model (4%) to succeed with a 97% success rate within 15 iterations. Furthermore, we demonstrate that the policy learned by RIPT-VLA generalizes across different tasks and scenarios and is robust to the initial state context. These results highlight RIPT-VLA as a practical and effective paradigm for post-training VLA models through minimal supervision.
CoMo: Learning Continuous Latent Motion from Internet Videos for Scalable Robot Learning
Authors: Jiange Yang, Yansong Shi, Haoyi Zhu, MingYu Liu, Kaijing Ma, Yating Wang, Gangshan Wu, Tong He, LiMin Wang
Date: 2025-05-22 00:00:00
Tasks: Zero-shot Generalization

Learning latent motion from Internet videos is crucial for building generalist robots. However, existing discrete latent action methods suffer from information loss and struggle with complex and fine-grained dynamics. We propose CoMo, which aims to learn more informative continuous motion representations from diverse, internet-scale videos. CoMo employs a early temporal feature difference mechanism to prevent model collapse and suppress static appearance noise, effectively discouraging shortcut learning problem. Furthermore, guided by the information bottleneck principle, we constrain the latent motion embedding dimensionality to achieve a better balance between retaining sufficient action-relevant information and minimizing the inclusion of action-irrelevant appearance noise. Additionally, we also introduce two new metrics for more robustly and affordably evaluating motion and guiding motion learning methods development: (i) the linear probing MSE of action prediction, and (ii) the cosine similarity between past-to-current and future-to-current motion embeddings. Critically, CoMo exhibits strong zero-shot generalization, enabling it to generate continuous pseudo actions for previously unseen video domains. This capability facilitates unified policy joint learning using pseudo actions derived from various action-less video datasets (such as cross-embodiment videos and, notably, human demonstration videos), potentially augmented with limited labeled robot data. Extensive experiments show that policies co-trained with CoMo pseudo actions achieve superior performance with both diffusion and autoregressive architectures in simulated and real-world settings.
Extremely Simple Multimodal Outlier Synthesis for Out-of-Distribution Detection and Segmentation
Authors: Moru Liu, Hao Dong, Jessica Kelly, Olga Fink, Mario Trapp
Date: 2025-05-22 00:00:00
Tasks: Autonomous Driving, Out-of-Distribution Detection, Out of Distribution (OOD) Detection

Out-of-distribution (OOD) detection and segmentation are crucial for deploying machine learning models in safety-critical applications such as autonomous driving and robot-assisted surgery. While prior research has primarily focused on unimodal image data, real-world applications are inherently multimodal, requiring the integration of multiple modalities for improved OOD detection. A key challenge is the lack of supervision signals from unknown data, leading to overconfident predictions on OOD samples. To address this challenge, we propose Feature Mixing, an extremely simple and fast method for multimodal outlier synthesis with theoretical support, which can be further optimized to help the model better distinguish between in-distribution (ID) and OOD data. Feature Mixing is modality-agnostic and applicable to various modality combinations. Additionally, we introduce CARLA-OOD, a novel multimodal dataset for OOD segmentation, featuring synthetic OOD objects across diverse scenes and weather conditions. Extensive experiments on SemanticKITTI, nuScenes, CARLA-OOD datasets, and the MultiOOD benchmark demonstrate that Feature Mixing achieves state-of-the-art performance with a $10 \times$ to $370 \times$ speedup. Our source code and dataset will be available at https://github.com/mona4399/FeatureMixing.
Beyond Needle(s) in the Embodied Haystack: Environment, Architecture, and Training Considerations for Long Context Reasoning
Authors: Bosung Kim, Prithviraj Ammanabrolu
Date: 2025-05-22 00:00:00
Tasks: Long-Context Understanding

We introduce $\infty$-THOR, a new framework for long-horizon embodied tasks that advances long-context understanding in embodied AI. $\infty$-THOR provides: (1) a generation framework for synthesizing scalable, reproducible, and unlimited long-horizon trajectories; (2) a novel embodied QA task, Needle(s) in the Embodied Haystack, where multiple scattered clues across extended trajectories test agents' long-context reasoning ability; and (3) a long-horizon dataset and benchmark suite featuring complex tasks that span hundreds of environment steps, each paired with ground-truth action sequences. To enable this capability, we explore architectural adaptations, including interleaved Goal-State-Action modeling, context extension techniques, and Context Parallelism, to equip LLM-based agents for extreme long-context reasoning and interaction. Experimental results and analyses highlight the challenges posed by our benchmark and provide insights into training strategies and model behaviors under long-horizon conditions. Our work provides a foundation for the next generation of embodied AI systems capable of robust, long-term reasoning and planning.
RealEngine: Simulating Autonomous Driving in Realistic Context
Authors: Junzhe Jiang, Nan Song, Jingyu Li, Xiatian Zhu, Li Zhang
Date: 2025-05-22 00:00:00
Tasks: 3D Scene Reconstruction, Autonomous Driving, Computational Efficiency, Novel View Synthesis

Driving simulation plays a crucial role in developing reliable driving agents by providing controlled, evaluative environments. To enable meaningful assessments, a high-quality driving simulator must satisfy several key requirements: multi-modal sensing capabilities (e.g., camera and LiDAR) with realistic scene rendering to minimize observational discrepancies; closed-loop evaluation to support free-form trajectory behaviors; highly diverse traffic scenarios for thorough evaluation; multi-agent cooperation to capture interaction dynamics; and high computational efficiency to ensure affordability and scalability. However, existing simulators and benchmarks fail to comprehensively meet these fundamental criteria. To bridge this gap, this paper introduces RealEngine, a novel driving simulation framework that holistically integrates 3D scene reconstruction and novel view synthesis techniques to achieve realistic and flexible closed-loop simulation in the driving context. By leveraging real-world multi-modal sensor data, RealEngine reconstructs background scenes and foreground traffic participants separately, allowing for highly diverse and realistic traffic scenarios through flexible scene composition. This synergistic fusion of scene reconstruction and view synthesis enables photorealistic rendering across multiple sensor modalities, ensuring both perceptual fidelity and geometric accuracy. Building upon this environment, RealEngine supports three essential driving simulation categories: non-reactive simulation, safety testing, and multi-agent interaction, collectively forming a reliable and comprehensive benchmark for evaluating the real-world performance of driving agents.
Efficient Online RL Fine Tuning with Offline Pre-trained Policy Only
Authors: Wei Xiao, Jiacheng Liu, Zifeng Zhuang, Runze Suo, Shangke Lyu, Donglin Wang
Date: 2025-05-22 00:00:00
Tasks: Imitation Learning, Offline RL, reinforcement-learning, Reinforcement Learning, Reinforcement Learning (RL)

Improving the performance of pre-trained policies through online reinforcement learning (RL) is a critical yet challenging topic. Existing online RL fine-tuning methods require continued training with offline pretrained Q-functions for stability and performance. However, these offline pretrained Q-functions commonly underestimate state-action pairs beyond the offline dataset due to the conservatism in most offline RL methods, which hinders further exploration when transitioning from the offline to the online setting. Additionally, this requirement limits their applicability in scenarios where only pre-trained policies are available but pre-trained Q-functions are absent, such as in imitation learning (IL) pre-training. To address these challenges, we propose a method for efficient online RL fine-tuning using solely the offline pre-trained policy, eliminating reliance on pre-trained Q-functions. We introduce PORL (Policy-Only Reinforcement Learning Fine-Tuning), which rapidly initializes the Q-function from scratch during the online phase to avoid detrimental pessimism. Our method not only achieves competitive performance with advanced offline-to-online RL algorithms and online RL approaches that leverage data or policies prior, but also pioneers a new path for directly fine-tuning behavior cloning (BC) policies.
Perceptual Quality Assessment for Embodied AI
Authors: Chunyi Li, Jiaohao Xiao, Jianbo Zhang, Farong Wen, ZiCheng Zhang, Yuan Tian, Xiangyang Zhu, Xiaohong Liu, Zhengxue Cheng, Weisi Lin, Guangtao Zhai
Date: 2025-05-22 00:00:00
Tasks: Image Quality Assessment, Vision-Language-Action

Embodied AI has developed rapidly in recent years, but it is still mainly deployed in laboratories, with various distortions in the Real-world limiting its application. Traditionally, Image Quality Assessment (IQA) methods are applied to predict human preferences for distorted images; however, there is no IQA method to assess the usability of an image in embodied tasks, namely, the perceptual quality for robots. To provide accurate and reliable quality indicators for future embodied scenarios, we first propose the topic: IQA for Embodied AI. Specifically, we (1) based on the Mertonian system and meta-cognitive theory, constructed a perception-cognition-decision-execution pipeline and defined a comprehensive subjective score collection process; (2) established the Embodied-IQA database, containing over 36k reference/distorted image pairs, with more than 5m fine-grained annotations provided by Vision Language Models/Vision Language Action-models/Real-world robots; (3) trained and validated the performance of mainstream IQA methods on Embodied-IQA, demonstrating the need to develop more accurate quality indicators for Embodied AI. We sincerely hope that through evaluation, we can promote the application of Embodied AI under complex distortions in the Real-world. Project page: https://github.com/lcysyzxdxc/EmbodiedIQA