OpenRaiser/Intern-Atlas huggingface dataset:
Transtiff: A Stylus-shaped Interface for Rendering Perceived Stiffness of Virtual Objects via Stylus Stiffness Control
Venue: arXiv cs.HC 2025
Year: 2025

The replication of object stiffness is essential for enhancing haptic feedback in virtual environments. However, existing research has overlooked how stylus stiffness influences the perception of virtual object stiffness during tool-mediated interactions. To address this, we conducted a psychophysical experiment demonstrating that changing stylus stiffness combined with visual stimuli altered users' perception of virtual object stiffness. Based on these insights, we developed Transtiff, a stylus-shaped interface capable of on-demand stiffness control using a McKibben artificial muscle mechanism. Unlike previous approaches, our method manipulates the perceived stiffness of virtual objects via the stylus by controlling the stiffness of the stylus without altering the properties of the real object being touched, creating the illusion of a hard object feeing soft. Our user study confirmed that Transtiff effectively simulates a range of material properties, such as sponge, plastic, and tennis balls, providing haptic rendering that is closely aligned with the perceived material characteristics. By addressing the challenge of delivering realistic haptic feedback through tool-based interactions, Transtiff represents a significant advancement in the haptic interface design for VR applications.
Breaking the Familiarity Bias: Employing Virtual Reality Environments to Enhance Team Formation and Inclusion
Venue: arXiv cs.HC 2025
Year: 2025

Team closeness provides the foundations of trust and communication, contributing to teams' success and viability. However, newcomers often struggle to be included in a team since incumbents tend to interact more with other existing members. Previous research suggests that online communication technologies can help team inclusion by mitigating members' perceived differences. In this study, we test how virtual reality (VR) can promote team closeness when forming teams. We conducted a between-subject experiment with teams working in-person and VR, where two members interacted first, and then a third member was added later to conduct a hidden-profile task. Participants evaluated how close they felt with their teammates after the task was completed. Our results show that VR newcomers felt closer to the incumbents than in-person newcomers. However, incumbents' closeness to newcomers did not vary across conditions. We discuss the implications of these findings and offer suggestions for how VR can promote inclusion.
A Deep Learning Approach to Interface Color Quality Assessment in HCI
Venue: arXiv cs.HC 2025
Year: 2025

In this paper, a quantitative evaluation model for the color quality of human-computer interaction interfaces is proposed by combining deep convolutional neural networks (CNN). By extracting multidimensional features of interface images, including hue, brightness, purity, etc., CNN is used for efficient feature modeling and quantitative analysis, and the relationship between interface design and user perception is studied. The experiment is based on multiple international mainstream website interface datasets, covering e-commerce platforms, social media, education platforms, etc., and verifies the evaluation effect of the model on indicators such as contrast, clarity, color coordination, and visual appeal. The results show that the CNN evaluation is highly consistent with the user rating, with a correlation coefficient of up to 0.96, and it also shows high accuracy in mean square error and absolute error. Compared with traditional experience-based evaluation methods, the proposed model can efficiently and scientifically capture the visual characteristics of the interface and avoid the influence of subjective factors. Future research can explore the introduction of multimodal data (such as text and interactive behavior) into the model to further enhance the evaluation ability of dynamic interfaces and expand it to fields such as smart homes, medical systems, and virtual reality. This paper provides new methods and new ideas for the scientific evaluation and optimization of interface design.
Dual Control for Interactive Autonomous Merging with Model Predictive Diffusion
Venue: arXiv cs.RO 2025
Year: 2025

Interactive decision-making is essential in applications such as autonomous driving, where the agent must infer the behavior of nearby human drivers while planning in real-time. Traditional predict-then-act frameworks are often insufficient or inefficient because accurate inference of human behavior requires a continuous interaction rather than isolated prediction. To address this, we propose an active learning framework in which we rigorously derive predicted belief distributions. Additionally, we introduce a novel model-based diffusion solver tailored for online receding horizon control problems, demonstrated through a complex, non-convex highway merging scenario. Our approach extends previous high-fidelity dual control simulations to hardware experiments, which may be viewed at https://youtu.be/Q_JdZuopGL4, and verifies behavior inference in human-driven traffic scenarios, moving beyond idealized models. The results show improvements in adaptive planning under uncertainty, advancing the field of interactive decision-making for real-world applications.
Robust Anomaly Detection via Tensor Pseudoskeleton Decomposition
Venue: arXiv cs.LG 2025
Year: 2025

Anomaly detection plays a critical role in modern data-driven applications, from identifying fraudulent transactions and safeguarding network infrastructure to monitoring sensor systems for irregular patterns. Traditional approaches, such as distance, density, or cluster-based methods, face significant challenges when applied to high dimensional tensor data, where complex interdependencies across dimensions amplify noise and computational complexity. To address these limitations, this paper leverages Tensor Chidori pseudoskeleton decomposition within a tensor-robust principal component analysis framework to extract low Tucker rank structure while isolating sparse anomalies, ensuring robustness to anomaly detection. We establish theoretical results regarding convergence, and estimation error, demonstrating the stability and accuracy of the proposed approach. Numerical experiments on real-world spatiotemporal data from New York City taxi trip records validate the effectiveness of the proposed method in detecting anomalous urban events compared to existing benchmark methods. Our results suggest that tensor pseudoskeleton decomposition may offer potential for enhancing anomaly detection in large-scale, high-dimensional data.
TransGUNet: Transformer Meets Graph-based Skip Connection for Medical Image Segmentation
Venue: arXiv cs.CV 2025
Year: 2025

Skip connection engineering is primarily employed to address the semantic gap between the encoder and decoder, while also integrating global dependencies to understand the relationships among complex anatomical structures in medical image segmentation. Although several models have proposed transformer-based approaches to incorporate global dependencies within skip connections, they often face limitations in capturing detailed local features with high computational complexity. In contrast, graph neural networks (GNNs) exploit graph structures to effectively capture local and global features. Leveraging these properties, we introduce an attentional cross-scale graph neural network (ACS-GNN), which enhances the skip connection framework by converting cross-scale feature maps into a graph structure and capturing complex anatomical structures through node attention. Additionally, we observed that deep learning models often produce uninformative feature maps, which degrades the quality of spatial attention maps. To address this problem, we integrated entropy-driven feature selection (EFS) with spatial attention, calculating an entropy score for each channel and filtering out high-entropy feature maps. Our innovative framework, TransGUNet, comprises ACS-GNN and EFS-based spatial attentio} to effectively enhance domain generalizability across various modalities by leveraging GNNs alongside a reliable spatial attention map, ensuring more robust features within the skip connection. Through comprehensive experiments and analysis, TransGUNet achieved superior segmentation performance on six seen and eight unseen datasets, demonstrating significantly higher efficiency compared to previous methods.
On Space Folds of ReLU Neural Networks
Venue: arXiv cs.LG 2025
Year: 2025

Recent findings suggest that the consecutive layers of ReLU neural networks can be understood geometrically as space folding transformations of the input space, revealing patterns of self-similarity. In this paper, we present the first quantitative analysis of this space folding phenomenon in ReLU neural networks. Our approach focuses on examining how straight paths in the Euclidean input space are mapped to their counterparts in the Hamming activation space. In this process, the convexity of straight lines is generally lost, giving rise to non-convex folding behavior. To quantify this effect, we introduce a novel measure based on range metrics, similar to those used in the study of random walks, and provide the proof for the equivalence of convexity notions between the input and activation spaces. Furthermore, we provide empirical analysis on a geometrical analysis benchmark (CantorNet) as well as an image classification benchmark (MNIST). Our work advances the understanding of the activation space in ReLU neural networks by leveraging the phenomena of geometric folding, providing valuable insights on how these models process input information.
InteRecon: Towards Reconstructing Interactivity of Personal Memorable Items in Mixed Reality
Venue: arXiv cs.HC 2025
Year: 2025

Digital capturing of memorable personal items is a key way to archive personal memories. Although current digitization methods (e.g., photos, videos, 3D scanning) can replicate the physical appearance of an item, they often cannot preserve its real-world interactivity. We present Interactive Digital Item (IDI), a concept of reconstructing both the physical appearance and, more importantly, the interactivity of an item. We first conducted a formative study to understand users' expectations of IDI, identifying key physical interactivity features, including geometry, interfaces, and embedded content of items. Informed by these findings, we developed InteRecon, an AR prototype enabling personal reconstruction functions for IDI creation. An exploratory study was conducted to assess the feasibility of using InteRecon and explore the potential of IDI to enrich personal memory archives. Results show that InteRecon is feasible for IDI creation, and the concept of IDI brings new opportunities for augmenting personal memory archives.
A Differential Equation Approach to the Most-Informative Boolean Function Conjecture
Venue: arXiv cs.IT 2025
Year: 2025

We study the most-informative Boolean function conjecture using a differential equation approach. This leads to a formulation of a functional inequality on finite-dimensional random variables. We also develop a similar inequality in the case of the Hellinger conjecture. Finally, we conjecture a specific finite dimensional inequality that, if proved, will lead to a proof of the Boolean function conjecture in the balanced case. We further show that the above inequality holds modulo four explicit inequalities (all of which seems to hold via numerical simulation) with the first three containing just two variables and a final one involving four variables.
Diffusion Trajectory-guided Policy for Long-horizon Robot Manipulation
Venue: arXiv cs.RO 2025
Year: 2025

Recently, Vision-Language-Action models (VLA) have advanced robot imitation learning, but high data collection costs and limited demonstrations hinder generalization and current imitation learning methods struggle in out-of-distribution scenarios, especially for long-horizon tasks. A key challenge is how to mitigate compounding errors in imitation learning, which lead to cascading failures over extended trajectories. To address these challenges, we propose the Diffusion Trajectory-guided Policy (DTP) framework, which generates 2D trajectories through a diffusion model to guide policy learning for long-horizon tasks. By leveraging task-relevant trajectories, DTP provides trajectory-level guidance to reduce error accumulation. Our two-stage approach first trains a generative vision-language model to create diffusion-based trajectories, then refines the imitation policy using them. Experiments on the CALVIN benchmark show that DTP outperforms state-of-the-art baselines by 25% in success rate, starting from scratch without external pretraining. Moreover, DTP significantly improves real-world robot performance.
ViRAC: A Vision-Reasoning Agent Head Movement Control Framework in Arbitrary Virtual Environments
Venue: arXiv cs.GR 2025
Year: 2025

Creating lifelike virtual agents capable of interacting with their environments is a longstanding goal in computer graphics. This paper addresses the challenge of generating natural head rotations, a critical aspect of believable agent behavior for visual information gathering and dynamic responses to environmental cues. Although earlier methods have made significant strides, many rely on data-driven or saliency-based approaches, which often underperform in diverse settings and fail to capture deeper cognitive factors such as risk assessment, information seeking, and contextual prioritization. Consequently, generated behaviors can appear rigid or overlook critical scene elements, thereby diminishing the sense of realism. In this paper, we propose \textbf{ViRAC}, a \textbf{Vi}sion-\textbf{R}easoning \textbf{A}gent Head Movement \textbf{C}ontrol framework, which exploits the common-sense knowledge and reasoning capabilities of large-scale models, including Vision-Language Models (VLMs) and Large-Language Models (LLMs). Rather than explicitly modeling every cognitive mechanism, ViRAC leverages the biases and patterns internalized by these models from extensive training, thus emulating human-like perceptual processes without hand-tuned heuristics. Experimental results in multiple scenarios reveal that ViRAC produces more natural and context-aware head rotations than recent state-of-the-art techniques. Quantitative evaluations show a closer alignment with real human head-movement data, while user studies confirm improved realism and cognitive plausibility.
ORI: O Routing Intelligence
Venue: arXiv cs.CL 2025
Year: 2025

Single large language models (LLMs) often fall short when faced with the ever-growing range of tasks, making a single-model approach insufficient. We address this challenge by proposing ORI (O Routing Intelligence), a dynamic framework that leverages a set of LLMs. By intelligently routing incoming queries to the most suitable model, ORI not only improves task-specific accuracy, but also maintains efficiency. Comprehensive evaluations across diverse benchmarks demonstrate consistent accuracy gains while controlling computational overhead. By intelligently routing queries, ORI outperforms the strongest individual models by up to 2.7 points on MMLU and 1.8 points on MuSR, ties the top performance on ARC, and on BBH. These results underscore the benefits of a multi-model strategy and demonstrate how ORI's adaptive architecture can more effectively handle diverse tasks, offering a scalable, high-performance solution for a system of multiple large language models.
Adaptive Bi-Level Multi-Robot Task Allocation and Learning under Uncertainty with Temporal Logic Constraints
Venue: arXiv cs.RO 2025
Year: 2025

This work addresses the problem of multi-robot coordination under unknown robot transition models, ensuring that tasks specified by Time Window Temporal Logic are satisfied with user-defined probability thresholds. We present a bi-level framework that integrates (i) high-level task allocation, where tasks are assigned based on the robots' estimated task completion probabilities and expected rewards, and (ii) low-level distributed policy learning and execution, where robots independently optimize auxiliary rewards while fulfilling their assigned tasks. To handle uncertainty in robot dynamics, our approach leverages real-time task execution data to iteratively refine expected task completion probabilities and rewards, enabling adaptive task allocation without explicit robot transition models. We theoretically validate the proposed algorithm, demonstrating that the task assignments meet the desired probability thresholds with high confidence. Finally, we demonstrate the effectiveness of our framework through comprehensive simulations.
Towards Empowerment Gain through Causal Structure Learning in Model-Based RL
Venue: arXiv cs.AI 2025
Year: 2025

In Model-Based Reinforcement Learning (MBRL), incorporating causal structures into dynamics models provides agents with a structured understanding of the environments, enabling efficient decision. Empowerment as an intrinsic motivation enhances the ability of agents to actively control their environments by maximizing the mutual information between future states and actions. We posit that empowerment coupled with causal understanding can improve controllability, while enhanced empowerment gain can further facilitate causal reasoning in MBRL. To improve learning efficiency and controllability, we propose a novel framework, Empowerment through Causal Learning (ECL), where an agent with the awareness of causal dynamics models achieves empowerment-driven exploration and optimizes its causal structure for task learning. Specifically, ECL operates by first training a causal dynamics model of the environment based on collected data. We then maximize empowerment under the causal structure for exploration, simultaneously using data gathered through exploration to update causal dynamics model to be more controllable than dense dynamics model without causal structure. In downstream task learning, an intrinsic curiosity reward is included to balance the causality, mitigating overfitting. Importantly, ECL is method-agnostic and is capable of integrating various causal discovery methods. We evaluate ECL combined with 3 causal discovery methods across 6 environments including pixel-based tasks, demonstrating its superior performance compared to other causal MBRL methods, in terms of causal discovery, sample efficiency, and asymptotic performance.
NeuroXVocal: Detection and Explanation of Alzheimer's Disease through Non-invasive Analysis of Picture-prompted Speech
Venue: arXiv cs.LG 2025
Year: 2025

The early diagnosis of Alzheimer's Disease (AD) through non invasive methods remains a significant healthcare challenge. We present NeuroXVocal, a novel dual-component system that not only classifies but also explains potential AD cases through speech analysis. The classification component (Neuro) processes three distinct data streams: acoustic features capturing speech patterns and voice characteristics, textual features extracted from speech transcriptions, and precomputed embeddings representing linguistic patterns. These streams are fused through a custom transformer-based architecture that enables robust cross-modal interactions. The explainability component (XVocal) implements a Retrieval-Augmented Generation (RAG) approach, leveraging Large Language Models combined with a domain-specific knowledge base of AD research literature. This architecture enables XVocal to retrieve relevant clinical studies and research findings to generate evidence-based context-sensitive explanations of the acoustic and linguistic markers identified in patient speech. Using the IS2021 ADReSSo Challenge benchmark dataset, our system achieved state-of-the-art performance with 95.77% accuracy in AD classification, significantly outperforming previous approaches. The explainability component was qualitatively evaluated using a structured questionnaire completed by medical professionals, validating its clinical relevance. NeuroXVocal's unique combination of high-accuracy classification and interpretable, literature-grounded explanations demonstrates its potential as a practical tool for supporting clinical AD diagnosis.
COMBINEX: A Unified Counterfactual Explainer for Graph Neural Networks via Node Feature and Structural Perturbations
Venue: arXiv cs.LG 2025
Year: 2025

Counterfactual explanations have emerged as a powerful tool to unveil the opaque decision-making processes of graph neural networks (GNNs). However, existing techniques primarily focus on edge modifications, often overlooking the crucial role of node feature perturbations in shaping model predictions. To address this limitation, we propose COMBINEX, a novel GNN explainer that generates counterfactual explanations for both node and graph classification tasks. Unlike prior methods, which treat structural and feature-based changes independently, COMBINEX optimally balances modifications to edges and node features by jointly optimizing these perturbations. This unified approach ensures minimal yet effective changes required to flip a model's prediction, resulting in realistic and interpretable counterfactuals. Additionally, COMBINEX seamlessly handles both continuous and discrete node features, enhancing its versatility across diverse datasets and GNN architectures. Extensive experiments on real-world datasets and various GNN architectures demonstrate the effectiveness and robustness of our approach over existing baselines.
Compress image to patches for Vision Transformer
Venue: arXiv cs.CV 2025
Year: 2025

The Vision Transformer (ViT) has made significant strides in the field of computer vision. However, as the depth of the model and the resolution of the input images increase, the computational cost associated with training and running ViT models has surged dramatically. This paper proposes a hybrid model based on CNN and Vision Transformer, named CI2P-ViT. The model incorporates a module called CI2P, which utilizes the CompressAI encoder to compress images and subsequently generates a sequence of patches through a series of convolutions. CI2P can replace the Patch Embedding component in the ViT model, enabling seamless integration into existing ViT models. Compared to ViT-B/16, CI2P-ViT has the number of patches input to the self-attention layer reduced to a quarter of the original. This design not only significantly reduces the computational cost of the ViT model but also effectively enhances the model's accuracy by introducing the inductive bias properties of CNN. The ViT model's precision is markedly enhanced. When trained from the ground up on the Animals-10 dataset, CI2P-ViT achieved an accuracy rate of 92.37%, representing a 3.3% improvement over the ViT-B/16 baseline. Additionally, the model's computational operations, measured in floating-point operations per second (FLOPs), were diminished by 63.35%, and it exhibited a 2-fold increase in training velocity on identical hardware configurations.