OpenRaiser/Intern-Atlas huggingface dataset:
SAMFusion: Sensor-Adaptive Multimodal Fusion for 3D Object Detection in Adverse Weather
Venue: arXiv cs.CV 2025
Year: 2025

Multimodal sensor fusion is an essential capability for autonomous robots, enabling object detection and decision-making in the presence of failing or uncertain inputs. While recent fusion methods excel in normal environmental conditions, these approaches fail in adverse weather, e.g., heavy fog, snow, or obstructions due to soiling. We introduce a novel multi-sensor fusion approach tailored to adverse weather conditions. In addition to fusing RGB and LiDAR sensors, which are employed in recent autonomous driving literature, our sensor fusion stack is also capable of learning from NIR gated camera and radar modalities to tackle low light and inclement weather. We fuse multimodal sensor data through attentive, depth-based blending schemes, with learned refinement on the Bird's Eye View (BEV) plane to combine image and range features effectively. Our detections are predicted by a transformer decoder that weighs modalities based on distance and visibility. We demonstrate that our method improves the reliability of multimodal sensor fusion in autonomous vehicles under challenging weather conditions, bridging the gap between ideal conditions and real-world edge cases. Our approach improves average precision by 17.2 AP compared to the next best method for vulnerable pedestrians in long distances and challenging foggy scenes. Our project page is available at https://light.princeton.edu/samfusion/
GPL-SLAM: A Laser SLAM Framework with Gaussian Process Based Extended Landmarks
Venue: arXiv cs.RO 2025
Year: 2025

We present a novel Simultaneous Localization and Mapping (SLAM) method that employs Gaussian Process (GP) based landmark (object) representations. Instead of conventional grid maps or point cloud registration, we model the environment on a per object basis using GP based contour representations. These contours are updated online through a recursive scheme, enabling efficient memory usage. The SLAM problem is formulated within a fully Bayesian framework, allowing joint inference over the robot pose and object based map. This representation provides semantic information such as the number of objects and their areas, while also supporting probabilistic measurement to object associations. Furthermore, the GP based contours yield confidence bounds on object shapes, offering valuable information for downstream tasks like safe navigation and exploration. We validate our method on synthetic and real world experiments, and show that it delivers accurate localization and mapping performance across diverse structured environments.
Enhanced Successive Cancellation List Decoder for Long Polar Codes Targeting 6G Air Interface
Venue: arXiv cs.IT 2025
Year: 2025

The 6th generation communication standard's air interface requires innovation in channel coding to fulfill anticipated energy and area cost reduction requirements. In this paper, we propose algorithmic techniques to enable the implementation of long polar codes (e.g., length 8K bits) in next-generation communications standards by addressing key challenges in memory usage and computational complexity presented by successive decoding list (SCL) polar decoding. Perturbation-enhanced (PE) successive cancelation list (SCL) decoders with a list size of $L$ reach the decoding performance of the SCL decoder with a list size of $2L$. The proposed bias-enhanced (BE) SCL decoders, which simplifies the PE SCL decoder based on insights gained by an ablation study, returns similar decoding performance to PE SCL decoders. Also, proposed BE generalized partitioned SCL (GPSCL) decoders with a list size of $8$ have a $67\%$ reduction in the memory usage and similar decoding performance compared to SCL decoders with a list size of $16$. Furthermore, input-distribution-aware (IDA) decoding is applied to BE GPSCL decoders. Up to $5.4\times$ reduction in the computational complexity is achieved compared to SCL decoders with a list size of $16$. The degraded decoding performance is at most $0.05\text{ dB}$ compared to BE GPSCL decoders without IDA decoding.
On Kinodynamic Global Planning in a Simplicial Complex Environment: A Mixed Integer Approach
Venue: arXiv cs.RO 2025
Year: 2025

This work casts the kinodynamic planning problem for car-like vehicles as an optimization task to compute a minimum-time trajectory and its associated velocity profile, subject to boundary conditions on velocity, acceleration, and steering. The approach simultaneously optimizes both the spatial path and the sequence of acceleration and steering controls, ensuring continuous motion from a specified initial position and velocity to a target end position and velocity.The method analyzes the admissible control space and terrain to avoid local minima. The proposed method operates efficiently in simplicial complex environments, a preferred terrain representation for capturing intricate 3D landscapes. The problem is initially posed as a mixed-integer fractional program with quadratic constraints, which is then reformulated into a mixed-integer bilinear objective through a variable transformation and subsequently relaxed to a mixed-integer linear program using McCormick envelopes. Comparative simulations against planners such as MPPI and log-MPPI demonstrate that the proposed approach generates solutions 104 times faster while strictly adhering to the specified constraints
Sparse but Wrong: Incorrect L0 Leads to Incorrect Features in Sparse Autoencoders
Venue: arXiv cs.LG 2025
Year: 2025

Sparse Autoencoders (SAEs) extract features from LLM internal activations, meant to correspond to interpretable concepts. A core SAE training hyperparameter is L0: how many SAE features should fire per token on average. Existing work compares SAE algorithms using sparsity-reconstruction tradeoff plots, implying L0 is a free parameter with no single correct value aside from its effect on reconstruction. In this work we study the effect of L0 on SAEs, and show that if L0 is not set correctly, the SAE fails to disentangle the underlying features of the LLM. If L0 is too low, the SAE will mix correlated features to improve reconstruction. If L0 is too high, the SAE finds degenerate solutions that also mix features. Further, we present a proxy metric that can help guide the search for the correct L0 for an SAE on a given training distribution. We show that our method finds the correct L0 in toy models and coincides with peak sparse probing performance in LLM SAEs. We find that most commonly used SAEs have an L0 that is too low. Our work shows that L0 must be set correctly to train SAEs with correct features.
MV-RAG: Retrieval Augmented Multiview Diffusion
Venue: arXiv cs.CV 2025
Year: 2025

Text-to-3D generation approaches have advanced significantly by leveraging pretrained 2D diffusion priors, producing high-quality and 3D-consistent outputs. However, they often fail to produce out-of-domain (OOD) or rare concepts, yielding inconsistent or inaccurate results. To this end, we propose MV-RAG, a novel text-to-3D pipeline that first retrieves relevant 2D images from a large in-the-wild 2D database and then conditions a multiview diffusion model on these images to synthesize consistent and accurate multiview outputs. Training such a retrieval-conditioned model is achieved via a novel hybrid strategy bridging structured multiview data and diverse 2D image collections. This involves training on multiview data using augmented conditioning views that simulate retrieval variance for view-specific reconstruction, alongside training on sets of retrieved real-world 2D images using a distinctive held-out view prediction objective: the model predicts the held-out view from the other views to infer 3D consistency from 2D data. To facilitate a rigorous OOD evaluation, we introduce a new collection of challenging OOD prompts. Experiments against state-of-the-art text-to-3D, image-to-3D, and personalization baselines show that our approach significantly improves 3D consistency, photorealism, and text adherence for OOD/rare concepts, while maintaining competitive performance on standard benchmarks.
Predicting User Grasp Intentions in Virtual Reality
Venue: arXiv cs.HC 2025
Year: 2025

Predicting user intentions in virtual reality (VR) is crucial for creating immersive experiences, particularly in tasks involving complex grasping motions where accurate haptic feedback is essential. In this work, we leverage time-series data from hand movements to evaluate both classification and regression approaches across 810 trials with varied object types, sizes, and manipulations. Our findings reveal that classification models struggle to generalize across users, leading to inconsistent performance. In contrast, regression-based approaches, particularly those using Long Short Term Memory (LSTM) networks, demonstrate more robust performance, with timing errors within 0.25 seconds and distance errors around 5-20 cm in the critical two-second window before a grasp. Despite these improvements, predicting precise hand postures remains challenging. Through a comprehensive analysis of user variability and model interpretability, we explore why certain models fail and how regression models better accommodate the dynamic and complex nature of user behavior in VR. Our results underscore the potential of machine learning models to enhance VR interactions, particularly through adaptive haptic feedback, and lay the groundwork for future advancements in real-time prediction of user actions in VR.
Multimodal Appearance based Gaze-Controlled Virtual Keyboard with Synchronous Asynchronous Interaction for Low-Resource Settings
Venue: arXiv cs.HC 2025
Year: 2025

Over the past decade, the demand for communication devices has increased among individuals with mobility and speech impairments. Eye-gaze tracking has emerged as a promising solution for hands-free communication; however, traditional appearance-based interfaces often face challenges such as accuracy issues, involuntary eye movements, and difficulties with extensive command sets. This work presents a multimodal appearance-based gaze-controlled virtual keyboard that utilises deep learning in conjunction with standard camera hardware, incorporating both synchronous and asynchronous modes for command selection. The virtual keyboard application supports menu-based selection with nine commands, enabling users to spell and type up to 56 English characters, including uppercase and lowercase letters, punctuation, and a delete function for corrections. The proposed system was evaluated with twenty able-bodied participants who completed specially designed typing tasks using three input modalities: (i) a mouse, (ii) an eye-tracker, and (iii) an unmodified webcam. Typing performance was measured in terms of speed and information transfer rate (ITR) at both command and letter levels. Average typing speeds were 18.3+-5.31 letters/min (mouse), 12.60+-2.99letters/min (eye-tracker, synchronous), 10.94 +- 1.89 letters/min (webcam, synchronous), 11.15 +- 2.90 letters/min (eye-tracker, asynchronous), and 7.86 +- 1.69 letters/min (webcam, asynchronous). ITRs were approximately 80.29 +- 15.72 bits/min (command level) and 63.56 +- 11 bits/min (letter level) with webcam in synchronous mode. The system demonstrated good usability and low workload with webcam input, highlighting its user-centred design and promise as an accessible communication tool in low-resource settings.
Interactive AI and Human Behavior: Challenges and Pathways for AI Governance
Venue: arXiv cs.CY 2025
Year: 2025

As Generative AI systems increasingly engage in long-term, personal, and relational interactions, human-AI engagements are becoming significantly complex, making them more challenging to understand and govern. These Interactive AI systems adapt to users over time, build ongoing relationships, and even can take proactive actions on behalf of users. This new paradigm requires us to rethink how such human-AI interactions can be studied effectively to inform governance and policy development. In this paper, we draw on insights from a collaborative interdisciplinary workshop with policymakers, behavioral scientists, Human-Computer Interaction researchers, and civil society practitioners, to identify challenges and methodological opportunities arising within new forms of human-AI interactions. Based on these insights, we discuss an outcome-focused regulatory approach that integrates behavioral insights to address both the risks and benefits of emerging human-AI relationships. In particular, we emphasize the need for new methods to study the fluid, dynamic, and context-dependent nature of these interactions. We provide practical recommendations for developing human-centric AI governance, informed by behavioral insights, that can respond to the complexities of Interactive AI systems.
The Impact of Artificial Intelligence on Human Thought
Venue: arXiv cs.CY 2025
Year: 2025

This research paper examines, from a multidimensional perspective (cognitive, social, ethical, and philosophical), how AI is transforming human thought. It highlights a cognitive offloading effect: the externalization of mental functions to AI can reduce intellectual engagement and weaken critical thinking. On the social level, algorithmic personalization creates filter bubbles that limit the diversity of opinions and can lead to the homogenization of thought and polarization. This research also describes the mechanisms of algorithmic manipulation (exploitation of cognitive biases, automated disinformation, etc.) that amplify AI's power of influence. Finally, the question of potential artificial consciousness is discussed, along with its ethical implications. The report as a whole underscores the risks that AI poses to human intellectual autonomy and creativity, while proposing avenues (education, transparency, governance) to align AI development with the interests of humanity.
Recurrent Transformer U-Net Surrogate for Flow Modeling and Data Assimilation in Subsurface Formations with Faults
Venue: arXiv cs.LG 2025
Year: 2025

Many subsurface formations, including some of those under consideration for large-scale geological carbon storage, include extensive faults that can strongly impact fluid flow. In this study, we develop a new recurrent transformer U-Net surrogate model to provide very fast predictions for pressure and CO2 saturation in realistic faulted subsurface aquifer systems. The geomodel includes a target aquifer (into which supercritical CO2 is injected), surrounding regions, caprock, two extensive faults, and two overlying aquifers. The faults can act as leakage pathways between the three aquifers. The heterogeneous property fields in the target aquifer are characterized by hierarchical uncertainty, meaning both the geological metaparameters (e.g., mean and standard deviation of log-permeability) and the detailed cell properties of each realization, are uncertain. Fault permeabilities are also treated as uncertain. The model is trained with simulation results for (up to) 4000 randomly sampled realizations. Error assessments show that this model is more accurate than a previous recurrent residual U-Net, and that it maintains accuracy for qualitatively different leakage scenarios. The new surrogate is then used for global sensitivity analysis and data assimilation. A hierarchical Markov chain Monte Carlo data assimilation procedure is applied. Different monitoring strategies, corresponding to different amounts and types of observed data collected at monitoring wells, are considered for three synthetic true models. Detailed results demonstrate the degree of uncertainty reduction achieved with the various monitoring strategies. Posterior results for 3D saturation plumes and leakage volumes indicate the benefits of measuring pressure and saturation in all three aquifers.
A Novel Unified Extended Matrix for Graph Signal Processing: Theory and Application
Venue: arXiv cs.LG 2025
Year: 2025

Graph signal processing has become an essential tool for analyzing data structured on irregular domains. While conventional graph shift operators (GSOs) are effective for certain tasks, they inherently lack flexibility in modeling dependencies between non-adjacent nodes, limiting their ability to represent complex graph structures. To address this limitation, this paper proposes the unified extended matrix (UEM) framework, which integrates the extended-adjacency matrix and the unified graph representation matrix through parametric design, so as to be able to flexibly adapt to different graph structures and reveal more graph signal information. Theoretical analysis of the UEM is conducted, demonstrating positive semi-definiteness and eigenvalue monotonicity under specific conditions. Then, we propose graph Fourier transform based on UEM (UEM-GFT), which can adaptively tune spectral properties to enhance signal processing performance. Experimental results on synthetic and real-world datasets demonstrate that the UEM-GFT outperforms existing GSO-based methods in anomaly detection tasks, achieving superior performance across varying network topologies.
Passive Hack-Back Strategies for Cyber Attribution: Covert Vectors in Denied Environment
Venue: arXiv cs.CR 2025
Year: 2025

Attributing cyberattacks remains a central challenge in modern cybersecurity, particularly within denied environments where defenders have limited visibility into attacker infrastructure and are restricted by legal or operational rules of engagement. This perspective examines the strategic value of passive hack-back techniques that enable covert attribution and intelligence collection without initiating direct offensive actions. Key vectors include tracking beacons, honeytokens, environment-specific payloads, and supply-chain-based traps embedded within exfiltrated or leaked assets. These approaches rely on the assumption that attackers will interact with compromised data in traceable ways, allowing defenders to gather signals without violating engagement policies. The paper also explores the role of Artificial Intelligence (AI) in enhancing passive hack-back operations. Topics include the deployment of autonomous agents for forensic reconnaissance, the use of Large Language Models (LLMs) to generate dynamic payloads, and Adversarial Machine Learning (AML) techniques for evasion and counter-deception. A dedicated section discusses the implications of quantum technologies in this context, both as future threats to cryptographic telemetry and as potential tools for stealthy communication and post-quantum resilience. Finally, the paper advocates for hybrid defensive frameworks that combine passive attribution with delayed or conditional active responses, while maintaining compliance with legal, ethical, and operational constraints.
Leveraging Multi-Source Textural UGC for Neighbourhood Housing Quality Assessment: A GPT-Enhanced Framework
Venue: arXiv cs.CY 2025
Year: 2025

This study leverages GPT-4o to assess neighbourhood housing quality using multi-source textural user-generated content (UGC) from Dianping, Weibo, and the Government Message Board. The analysis involves filtering relevant texts, extracting structured evaluation units, and conducting sentiment scoring. A refined housing quality assessment system with 46 indicators across 11 categories was developed, highlighting an objective-subjective method gap and platform-specific differences in focus. GPT-4o outperformed rule-based and BERT models, achieving 92.5% accuracy in fine-tuned settings. The findings underscore the value of integrating UGC and GPT-driven analysis for scalable, resident-centric urban assessments, offering practical insights for policymakers and urban planners.
Reflective Paper-to-Code Reproduction Enabled by Fine-Grained Verification
Venue: arXiv cs.SE 2025
Year: 2025

Reproducing machine learning papers is essential for scientific progress but remains challenging for both humans and automated agents. Existing agent-based methods often struggle to fully and accurately reproduce implementation details such as mathematical formulas and algorithmic logic. Previous studies show that reflection with explicit feedback improves agent performance. However, current paper reproduction methods fail to effectively adopt this strategy. This gap mainly arises from the diverse paper patterns, complex method modules, and varied configurations encountered in research papers. Motivated by how humans use systematic checklists to efficiently debug complex code, we propose \textbf{RePro}, a \textbf{Re}flective Paper-to-Code \textbf{Repro}duction framework that automatically extracts a paper's fingerprint, referring to a comprehensive set of accurate and atomic criteria serving as high-quality supervisory signals. The framework first generates code based on the extracted information, and then leverages the fingerprint within iterative verification and refinement loop. This approach systematically detects discrepancies and produces targeted revisions to align generated code with the paper's implementation details. Extensive experiments on the PaperBench Code-Dev benchmark have been conducted, RePro achieves 13.0\% performance gap over baselines, and it correctly revises complex logical and mathematical criteria in reflecting, on which the effectiveness is obvious.
Native Logical and Hierarchical Representations with Subspace Embeddings
Venue: arXiv cs.LG 2025
Year: 2025

Traditional neural embeddings represent concepts as points, excelling at similarity but struggling with higher-level reasoning and asymmetric relationships. We introduce a novel paradigm: embedding concepts as linear subspaces. This framework inherently models generality via subspace dimensionality and hierarchy through subspace inclusion. It naturally supports set-theoretic operations like intersection (conjunction), linear sum (disjunction) and orthogonal complements (negations), aligning with classical formal semantics. To enable differentiable learning, we propose a smooth relaxation of orthogonal projection operators, allowing for the learning of both subspace orientation and dimension. Our method achieves state-of-the-art results in reconstruction and link prediction on WordNet. Furthermore, on natural language inference benchmarks, our subspace embeddings surpass bi-encoder baselines, offering an interpretable formulation of entailment that is both geometrically grounded and amenable to logical operations.
DecoMind: A Generative AI System for Personalized Interior Design Layouts
Venue: arXiv cs.GR 2025
Year: 2025

This paper introduces a system for generating interior design layouts based on user inputs, such as room type, style, and furniture preferences. CLIP extracts relevant furniture from a dataset, and a layout that contains furniture and a prompt are fed to Stable Diffusion with ControlNet to generate a design that incorporates the selected furniture. The design is then evaluated by classifiers to ensure alignment with the user's inputs, offering an automated solution for realistic interior design.