OpenRaiser/Intern-Atlas huggingface dataset:
Contrastive Representation Regularization for Vision-Language-Action Models
Venue: arXiv cs.RO 2025
Year: 2025

Vision-Language-Action (VLA) models have shown its capabilities in robot manipulation by leveraging rich representations from pre-trained Vision-Language Models (VLMs). However, their representations arguably remain suboptimal, lacking sensitivity to robotic signals such as control actions and proprioceptive states. To address the issue, we introduce Robot State-aware Contrastive Loss (RS-CL), a simple and effective representation regularization for VLA models, designed to bridge the gap between VLM representations and robotic signals. In particular, RS-CL aligns the representations more closely with the robot's proprioceptive states, by using relative distances between the states as soft supervision. Complementing the original action prediction objective, RS-CL effectively enhances control-relevant representation learning, while being lightweight and fully compatible with standard VLA training pipeline. Our empirical results demonstrate that RS-CL substantially improves the manipulation performance of state-of-the-art VLA models; it pushes the prior art from 30.8% to 41.5% on pick-and-place tasks in RoboCasa-Kitchen, through more accurate positioning during grasping and placing, and boosts success rates from 45.0% to 58.3% on challenging real-robot manipulation tasks.
ActiNet: Activity intensity classification of wrist-worn accelerometers using self-supervised deep learning
Venue: arXiv cs.LG 2025
Year: 2025

The use of reliable and accurate human activity recognition (HAR) models on passively collected wrist-accelerometer data is essential in large-scale epidemiological studies that investigate the association between physical activity and health outcomes. While the use of self-supervised learning has generated considerable excitement in improving HAR, it remains unknown the extent to which these models, coupled with hidden Markov models (HMMs), would make a tangible improvement to classification performance, and the effect this may have on the predicted daily activity intensity compositions. Using 151 CAPTURE-24 participants' data, we trained the ActiNet model, a self-supervised, 18-layer, modified ResNet-V2 model, followed by hidden Markov model (HMM) smoothing to classify labels of activity intensity. The performance of this model, evaluated using 5-fold stratified group cross-validation, was then compared to a baseline random forest (RF) + HMM, established in existing literature. Differences in performance and classification outputs were compared with different subgroups of age and sex within the Capture-24 population. The ActiNet model was able to distinguish labels of activity intensity with a mean macro F1 score of 0.82, and mean Cohen's kappa score of 0.86. This exceeded the performance of the RF + HMM, trained and validated on the same dataset, with mean scores of 0.77 and 0.81, respectively. These findings were consistent across subgroups of age and sex. These findings encourage the use of ActiNet for the extraction of activity intensity labels from wrist-accelerometer data in future epidemiological studies.
PyramidStyler: Transformer-Based Neural Style Transfer with Pyramidal Positional Encoding and Reinforcement Learning
Venue: arXiv cs.CV 2025
Year: 2025

Neural Style Transfer (NST) has evolved from Gatys et al.'s (2015) CNN-based algorithm, enabling AI-driven artistic image synthesis. However, existing CNN and transformer-based models struggle to scale efficiently to complex styles and high-resolution inputs. We introduce PyramidStyler, a transformer framework with Pyramidal Positional Encoding (PPE): a hierarchical, multi-scale encoding that captures both local details and global context while reducing computational load. We further incorporate reinforcement learning to dynamically optimize stylization, accelerating convergence. Trained on Microsoft COCO and WikiArt, PyramidStyler reduces content loss by 62.6% (to 2.07) and style loss by 57.4% (to 0.86) after 4000 epochs--achieving 1.39 s inference--and yields further improvements (content 2.03; style 0.75) with minimal speed penalty (1.40 s) when using RL. These results demonstrate real-time, high-quality artistic rendering, with broad applications in media and design.
Accelerating Attention with Basis Decomposition
Venue: arXiv cs.LG 2025
Year: 2025

Attention is a core operation in large language models (LLMs) and vision-language models (VLMs). We present BD Attention (BDA), the first lossless algorithmic reformulation of attention. BDA is enabled by a simple matrix identity from Basis Decomposition (BD), which restructures multi-head projections into a compact form while preserving exact outputs. Unlike I/O-aware system optimizations such as FlashAttention, BDA provides a mathematically guaranteed acceleration that is architecture-agnostic. On DeepSeek-V2-Lite (16B, FP16), BDA requires only 4s of offline preparation with no retraining required and, on modern GPUs, achieves 32% faster key/value projections and 25% smaller weights, while increasing end-to-end perplexity (PPL) by just 0.02% (FP16) or 0.0004% (FP32), a negligible effect on model performance. These results position BDA as the first theoretically exact method for lossless attention acceleration that is complementary to existing engineering-level optimizations. Our code is available at https://github.com/abcbdf/basis-decomposition-official.
Emotional Text-To-Speech Based on Mutual-Information-Guided Emotion-Timbre Disentanglement
Venue: arXiv cs.SD 2025
Year: 2025

Current emotional Text-To-Speech (TTS) and style transfer methods rely on reference encoders to control global style or emotion vectors, but do not capture nuanced acoustic details of the reference speech. To this end, we propose a novel emotional TTS method that enables fine-grained phoneme-level emotion embedding prediction while disentangling intrinsic attributes of the reference speech. The proposed method employs a style disentanglement method to guide two feature extractors, reducing mutual information between timbre and emotion features, and effectively separating distinct style components from the reference speech. Experimental results demonstrate that our method outperforms baseline TTS systems in generating natural and emotionally rich speech. This work highlights the potential of disentangled and fine-grained representations in advancing the quality and flexibility of emotional TTS systems.
Nav-EE: Navigation-Guided Early Exiting for Efficient Vision-Language Models in Autonomous Driving
Venue: arXiv cs.RO 2025
Year: 2025

Vision-Language Models (VLMs) are increasingly applied in autonomous driving for unified perception and reasoning, but high inference latency hinders real-time deployment. Early-exit reduces latency by terminating inference at intermediate layers, yet its task-dependent nature limits generalization across diverse scenarios. We observe that this limitation aligns with autonomous driving: navigation systems can anticipate upcoming contexts (e.g., intersections, traffic lights), indicating which tasks will be required. We propose Nav-EE, a navigation-guided early-exit framework that precomputes task-specific exit layers offline and dynamically applies them online based on navigation priors. Experiments on CODA, Waymo, and BOSCH show that Nav-EE achieves accuracy comparable to full inference while reducing latency by up to 63.9%. Real-vehicle integration with Autoware Universe further demonstrates reduced inference latency (600ms to 300ms), supporting faster decision-making in complex scenarios. These results suggest that coupling navigation foresight with early-exit offers a viable path toward efficient deployment of large models in autonomous systems. Code and data are available at our anonymous repository: https://anonymous.4open.science/r/Nav-EE-BBC4
List decoding of evaluation codes
Venue: arXiv cs.IT 2025
Year: 2025

Polynomial evaluation codes hold a prominent place in coding theory. In this work, we study the problem of list decoding for a general class of polynomial evaluation codes, also known as Toric codes, that are defined for any given convex polytope P. Special cases, such as Reed-Solomon and Reed-Muller codes, have been studied extensively. We present a generalization of the Guruswami-Sudan algorithm that takes into account the geometry and the combinatorics of P and compute bounds for the decoding radius.
GreenhouseSplat: A Dataset of Photorealistic Greenhouse Simulations for Mobile Robotics
Venue: arXiv cs.RO 2025
Year: 2025

Simulating greenhouse environments is critical for developing and evaluating robotic systems for agriculture, yet existing approaches rely on simplistic or synthetic assets that limit simulation-to-real transfer. Recent advances in radiance field methods, such as Gaussian splatting, enable photorealistic reconstruction but have so far been restricted to individual plants or controlled laboratory conditions. In this work, we introduce GreenhouseSplat, a framework and dataset for generating photorealistic greenhouse assets directly from inexpensive RGB images. The resulting assets are integrated into a ROS-based simulation with support for camera and LiDAR rendering, enabling tasks such as localization with fiducial markers. We provide a dataset of 82 cucumber plants across multiple row configurations and demonstrate its utility for robotics evaluation. GreenhouseSplat represents the first step toward greenhouse-scale radiance-field simulation and offers a foundation for future research in agricultural robotics.
ZK-WAGON: Imperceptible Watermark for Image Generation Models using ZK-SNARKs
Venue: arXiv cs.CR 2025
Year: 2025

As image generation models grow increasingly powerful and accessible, concerns around authenticity, ownership, and misuse of synthetic media have become critical. The ability to generate lifelike images indistinguishable from real ones introduces risks such as misinformation, deepfakes, and intellectual property violations. Traditional watermarking methods either degrade image quality, are easily removed, or require access to confidential model internals - making them unsuitable for secure and scalable deployment. We are the first to introduce ZK-WAGON, a novel system for watermarking image generation models using the Zero-Knowledge Succinct Non Interactive Argument of Knowledge (ZK-SNARKs). Our approach enables verifiable proof of origin without exposing model weights, generation prompts, or any sensitive internal information. We propose Selective Layer ZK-Circuit Creation (SL-ZKCC), a method to selectively convert key layers of an image generation model into a circuit, reducing proof generation time significantly. Generated ZK-SNARK proofs are imperceptibly embedded into a generated image via Least Significant Bit (LSB) steganography. We demonstrate this system on both GAN and Diffusion models, providing a secure, model-agnostic pipeline for trustworthy AI image generation.
Pure-Pass: Fine-Grained, Adaptive Masking for Dynamic Token-Mixing Routing in Lightweight Image Super-Resolution
Venue: arXiv cs.CV 2025
Year: 2025

Image Super-Resolution (SR) aims to reconstruct high-resolution images from low-resolution counterparts, but the computational complexity of deep learning-based methods often hinders practical deployment. CAMixer is the pioneering work to integrate the advantages of existing lightweight SR methods and proposes a content-aware mixer to route token mixers of varied complexities according to the difficulty of content recovery. However, several limitations remain, such as poor adaptability, coarse-grained masking and spatial inflexibility, among others. We propose Pure-Pass (PP), a pixel-level masking mechanism that identifies pure pixels and exempts them from expensive computations. PP utilizes fixed color center points to classify pixels into distinct categories, enabling fine-grained, spatially flexible masking while maintaining adaptive flexibility. Integrated into the state-of-the-art ATD-light model, PP-ATD-light achieves superior SR performance with minimal overhead, outperforming CAMixer-ATD-light in reconstruction quality and parameter efficiency when saving a similar amount of computation.
Performance Analysis of RIS-Assisted UAV Communication in NOMA Networks
Venue: arXiv cs.IT 2025
Year: 2025

This paper investigates the performance of downlink non-orthogonal multiple access (NOMA) communication in unmanned aerial vehicle (UAV) networks enhanced by partitionable reconfigurable intelligent surfaces (RISs). We analyze three types of links between base station (BS) and UAVs: direct, RIS-only indirect, and composite links, under both Line-of-Sight (LoS) and Non-LoS (NLoS) propagation. The RIS-only indirect link and direct link are modeled using double Nakagami-m and Nakagami-m fading, respectively, while the composite link follows a combined fading channel model. Closed-form expressions for the cumulative distribution function (CDF) of the received signal-to-noise ratio (SNR) are derived for all links, enabling tractable outage probability analysis. Then, we formulate a fairness-efficiency bilevel optimization problem to minimize the maximum outage probability among UAVs while minimizing the total number of required RIS reflecting elements. Accordingly, an RIS-assisted UAV Outage Minimization (RUOM) algorithm is proposed, which fairly allocates the NOMA power coefficients while minimizing the total number of RIS reflecting elements required, subject to NOMA-defined constraints, RIS resource limitations, and maximum allowable outage threshold. Simulation results validate the analytical models and demonstrate that the proposed RUOM algorithm significantly improves fairness and efficiency in BS-UAV communication.
The Current State of AI Bias Bounties: An Overview of Existing Programmes and Research
Venue: arXiv cs.CY 2025
Year: 2025

Current bias evaluation methods rarely engage with communities impacted by AI systems. Inspired by bug bounties, bias bounties have been proposed as a reward-based method that involves communities in AI bias detection by asking users of AI systems to report biases they encounter when interacting with such systems. In the absence of a state-of-the-art review, this survey aimed to identify and analyse existing AI bias bounty programmes and to present academic literature on bias bounties. Google, Google Scholar, PhilPapers, and IEEE Xplore were searched, and five bias bounty programmes, as well as five research publications, were identified. All bias bounties were organised by U.S.-based organisations as time-limited contests, with public participation in four programmes and prize pools ranging from 7,000 to 24,000 USD. The five research publications included a report on the application of bug bounties to algorithmic harms, an article addressing Twitter's bias bounty, a proposal for bias bounties as an institutional mechanism to increase AI scrutiny, a workshop discussing bias bounties from queer perspectives, and an algorithmic framework for bias bounties. We argue that reducing the technical requirements to enter bounty programmes is important to include those without coding experience. Given the limited adoption of bias bounties, future efforts should explore the transferability of the best practices from bug bounties and examine how such programmes can be designed to be sensitive to underrepresented groups while lowering adoption barriers for organisations.
Zero-shot Human Pose Estimation using Diffusion-based Inverse solvers
Venue: arXiv cs.CV 2025
Year: 2025

Pose estimation refers to tracking a human's full body posture, including their head, torso, arms, and legs. The problem is challenging in practical settings where the number of body sensors are limited. Past work has shown promising results using conditional diffusion models, where the pose prediction is conditioned on both <location, rotation> measurements from the sensors. Unfortunately, nearly all these approaches generalize poorly across users, primarly because location measurements are highly influenced by the body size of the user. In this paper, we formulate pose estimation as an inverse problem and design an algorithm capable of zero-shot generalization. Our idea utilizes a pre-trained diffusion model and conditions it on rotational measurements alone; the priors from this model are then guided by a likelihood term, derived from the measured locations. Thus, given any user, our proposed InPose method generatively estimates the highly likely sequence of poses that best explains the sparse on-body measurements.
Variational Secret Common Randomness Extraction
Venue: arXiv cs.IT 2025
Year: 2025

This paper studies the problem of extracting common randomness (CR) or secret keys from correlated random sources observed by two legitimate parties, Alice and Bob, through public discussion in the presence of an eavesdropper, Eve. We propose a practical two-stage CR extraction framework. In the first stage, the variational probabilistic quantization (VPQ) step is introduced, where Alice and Bob employ probabilistic neural network (NN) encoders to map their observations into discrete, nearly uniform random variables (RVs) with high agreement probability while minimizing information leakage to Eve. This is realized through a variational learning objective combined with adversarial training. In the second stage, a secure sketch using code-offset construction reconciles the encoder outputs into identical secret keys, whose secrecy is guaranteed by the VPQ objective. As a representative application, we study physical layer key (PLK) generation. Beyond the traditional methods, which rely on the channel reciprocity principle and require two-way channel probing, thus suffering from large protocol overhead and being unsuitable in high mobility scenarios, we propose a sensing-based PLK generation method for integrated sensing and communications (ISAC) systems, where paired range-angle (RA) maps measured at Alice and Bob serve as correlated sources. The idea is verified through both end-to-end simulations and real-world software-defined radio (SDR) measurements, including scenarios where Eve has partial knowledge about Bob's position. The results demonstrate the feasibility and convincing performance of both the proposed CR extraction framework and sensing-based PLK generation method.
EC3R-SLAM: Efficient and Consistent Monocular Dense SLAM with Feed-Forward 3D Reconstruction
Venue: arXiv cs.RO 2025
Year: 2025

The application of monocular dense Simultaneous Localization and Mapping (SLAM) is often hindered by high latency, large GPU memory consumption, and reliance on camera calibration. To relax this constraint, we propose EC3R-SLAM, a novel calibration-free monocular dense SLAM framework that jointly achieves high localization and mapping accuracy, low latency, and low GPU memory consumption. This enables the framework to achieve efficiency through the coupling of a tracking module, which maintains a sparse map of feature points, and a mapping module based on a feed-forward 3D reconstruction model that simultaneously estimates camera intrinsics. In addition, both local and global loop closures are incorporated to ensure mid-term and long-term data association, enforcing multi-view consistency and thereby enhancing the overall accuracy and robustness of the system. Experiments across multiple benchmarks show that EC3R-SLAM achieves competitive performance compared to state-of-the-art methods, while being faster and more memory-efficient. Moreover, it runs effectively even on resource-constrained platforms such as laptops and Jetson Orin NX, highlighting its potential for real-world robotics applications.
Policy Gradient Guidance Enables Test Time Control
Venue: arXiv cs.LG 2025
Year: 2025

We introduce Policy Gradient Guidance (PGG), a simple extension of classifier-free guidance from diffusion models to classical policy gradient methods. PGG augments the policy gradient with an unconditional branch and interpolates conditional and unconditional branches, yielding a test-time control knob that modulates behavior without retraining. We provide a theoretical derivation showing that the additional normalization term vanishes under advantage estimation, leading to a clean guided policy gradient update. Empirically, we evaluate PGG on discrete and continuous control benchmarks. We find that conditioning dropout-central to diffusion guidance-offers gains in simple discrete tasks and low sample regimes, but dropout destabilizes continuous control. Training with modestly larger guidance ($γ>1$) consistently improves stability, sample efficiency, and controllability. Our results show that guidance, previously confined to diffusion policies, can be adapted to standard on-policy methods, opening new directions for controllable online reinforcement learning.
Reinforcement Learning with Action-Triggered Observations
Venue: arXiv cs.LG 2025
Year: 2025

We study reinforcement learning problems where state observations are stochastically triggered by actions, a constraint common in many real-world applications. This framework is formulated as Action-Triggered Sporadically Traceable Markov Decision Processes (ATST-MDPs), where each action has a specified probability of triggering a state observation. We derive tailored Bellman optimality equations for this framework and introduce the action-sequence learning paradigm in which agents commit to executing a sequence of actions until the next observation arrives. Under the linear MDP assumption, value-functions are shown to admit linear representations in an induced action-sequence feature map. Leveraging this structure, we propose off-policy estimators with statistical error guarantees for such feature maps and introduce ST-LSVI-UCB, a variant of LSVI-UCB adapted for action-triggered settings. ST-LSVI-UCB achieves regret $\widetilde O(\sqrt{Kd^3(1-γ)^{-3}})$, where $K$ is the number of episodes, $d$ the feature dimension, and $γ$ the discount factor (per-step episode non-termination probability). Crucially, this work establishes the theoretical foundation for learning with sporadic, action-triggered observations while demonstrating that efficient learning remains feasible under such observation constraints.
Mirage Fools the Ear, Mute Hides the Truth: Precise Targeted Adversarial Attacks on Polyphonic Sound Event Detection Systems
Venue: arXiv cs.CR 2025
Year: 2025

Sound Event Detection (SED) systems are increasingly deployed in safety-critical applications such as industrial monitoring and audio surveillance. However, their robustness against adversarial attacks has not been well explored. Existing audio adversarial attacks targeting SED systems, which incorporate both detection and localization capabilities, often lack effectiveness due to SED's strong contextual dependencies or lack precision by focusing solely on misclassifying the target region as the target event, inadvertently affecting non-target regions. To address these challenges, we propose the Mirage and Mute Attack (M2A) framework, which is designed for targeted adversarial attacks on polyphonic SED systems. In our optimization process, we impose specific constraints on the non-target output, which we refer to as preservation loss, ensuring that our attack does not alter the model outputs for non-target region, thus achieving precise attacks. Furthermore, we introduce a novel evaluation metric Editing Precison (EP) that balances effectiveness and precision, enabling our method to simultaneously enhance both. Comprehensive experiments show that M2A achieves 94.56% and 99.11% EP on two state-of-the-art SED models, demonstrating that the framework is sufficiently effective while significantly enhancing attack precision.