OpenRaiser/Intern-Atlas huggingface dataset:
CoreNet: Conflict Resolution Network for Point-Pixel Misalignment and Sub-Task Suppression of 3D LiDAR-Camera Object Detection
Venue: arXiv cs.CV 2025
Year: 2025

Fusing multi-modality inputs from different sensors is an effective way to improve the performance of 3D object detection. However, current methods overlook two important conflicts: point-pixel misalignment and sub-task suppression. The former means a pixel feature from the opaque object is projected to multiple point features of the same ray in the world space, and the latter means the classification prediction and bounding box regression may cause mutual suppression. In this paper, we propose a novel method named Conflict Resolution Network (CoreNet) to address the aforementioned issues. Specifically, we first propose a dual-stream transformation module to tackle point-pixel misalignment. It consists of ray-based and point-based 2D-to-BEV transformations. Both of them achieve approximately unique mapping from the image space to the world space. Moreover, we introduce a task-specific predictor to tackle sub-task suppression. It uses the dual-branch structure which adopts class-specific query and Bbox-specific query to corresponding sub-tasks. Each task-specific query is constructed of task-specific feature and general feature, which allows the heads to adaptively select information of interest based on different sub-tasks. Experiments on the large-scale nuScenes dataset demonstrate the superiority of our proposed CoreNet, by achieving 75.6\% NDS and 73.3\% mAP on the nuScenes test set without test-time augmentation and model ensemble techniques. The ample ablation study also demonstrates the effectiveness of each component. The code is released on https://github.com/liyih/CoreNet.
A Comparative Performance Analysis of Classification and Segmentation Models on Bangladeshi Pothole Dataset
Venue: arXiv cs.CV 2025
Year: 2025

The study involves a comprehensive performance analysis of popular classification and segmentation models, applied over a Bangladeshi pothole dataset, being developed by the authors of this research. This custom dataset of 824 samples, collected from the streets of Dhaka and Bogura performs competitively against the existing industrial and custom datasets utilized in the present literature. The dataset was further augmented four-fold for segmentation and ten-fold for classification evaluation. We tested nine classification models (CCT, CNN, INN, Swin Transformer, ConvMixer, VGG16, ResNet50, DenseNet201, and Xception) and four segmentation models (U-Net, ResU-Net, U-Net++, and Attention-Unet) over both the datasets. Among the classification models, lightweight models namely CCT, CNN, INN, Swin Transformer, and ConvMixer were emphasized due to their low computational requirements and faster prediction times. The lightweight models performed respectfully, oftentimes equating to the performance of heavyweight models. In addition, augmentation was found to enhance the performance of all the tested models. The experimental results exhibit that, our dataset performs on par or outperforms the similar classification models utilized in the existing literature, reaching accuracy and f1-scores over 99%. The dataset also performed on par with the existing datasets for segmentation, achieving model Dice Similarity Coefficient up to 67.54% and IoU scores up to 59.39%.
Ultra Memory-Efficient On-FPGA Training of Transformers via Tensor-Compressed Optimization
Venue: arXiv cs.LG 2025
Year: 2025

Transformer models have achieved state-of-the-art performance across a wide range of machine learning tasks. There is growing interest in training transformers on resource-constrained edge devices due to considerations such as privacy, domain adaptation, and on-device scientific machine learning. However, the significant computational and memory demands required for transformer training often exceed the capabilities of an edge device. Leveraging low-rank tensor compression, this paper presents the first on-FPGA accelerator for end-to-end transformer training. On the algorithm side, we present a bi-directional contraction flow for tensorized transformer training, significantly reducing the computational FLOPS and intra-layer memory costs compared to existing tensor operations. On the hardware side, we store all highly compressed model parameters and gradient information on chip, creating an on-chip-memory-only framework for each stage in training. This reduces off-chip communication and minimizes latency and energy costs. Additionally, we implement custom computing kernels for each training stage and employ intra-layer parallelism and pipe-lining to further enhance run-time and memory efficiency. Through experiments on transformer models within $36.7$ to $93.5$ MB using FP-32 data formats on the ATIS dataset, our tensorized FPGA accelerator could conduct single-batch end-to-end training on the AMD Alevo U50 FPGA, with a memory budget of less than $6$-MB BRAM and $22.5$-MB URAM. Compared to uncompressed training on the NVIDIA RTX 3090 GPU, our on-FPGA training achieves a memory reduction of $30\times$ to $51\times$. Our FPGA accelerator also achieves up to $3.6\times$ less energy cost per epoch compared with tensor Transformer training on an NVIDIA RTX 3090 GPU.
Optimizing Age of Information without Knowing the Age of Information
Venue: arXiv cs.NI 2025
Year: 2025

Consider a network where a wireless base station (BS) connects multiple source-destination pairs. Packets from each source are generated according to a renewal process and are enqueued in a single-packet queue that stores only the freshest packet. The BS decides, at each time slot, which sources to schedule. Selected sources transmit their packet to the BS via unreliable links. Successfully received packets are forwarded to corresponding destinations. The connection between the BS and destinations is assumed unreliable and delayed. Information freshness is captured by the Age of Information (AoI) metric. The objective of the scheduling decisions is leveraging the delayed and unreliable AoI knowledge to keep the information fresh. In this paper, we derive a lower bound on the achievable AoI by any scheduling policy. Then, we develop an optimal randomized policy for any packet generation processes. Next, we develop minimum mean square error estimators of the AoI and system times, and a Max-Weight Policy that leverages these estimators. We evaluate the AoI of the Optimal Randomized Policy and the Max-Weight Policy both analytically and through simulations. The numerical results suggest that the Max-Weight Policy with estimation outperforms the Optimal Randomized Policy even when the BS has no AoI knowledge.
PGP-SAM: Prototype-Guided Prompt Learning for Efficient Few-Shot Medical Image Segmentation
Venue: arXiv cs.CV 2025
Year: 2025

The Segment Anything Model (SAM) has demonstrated strong and versatile segmentation capabilities, along with intuitive prompt-based interactions. However, customizing SAM for medical image segmentation requires massive amounts of pixel-level annotations and precise point- or box-based prompt designs. To address these challenges, we introduce PGP-SAM, a novel prototype-based few-shot tuning approach that uses limited samples to replace tedious manual prompts. Our key idea is to leverage inter- and intra-class prototypes to capture class-specific knowledge and relationships. We propose two main components: (1) a plug-and-play contextual modulation module that integrates multi-scale information, and (2) a class-guided cross-attention mechanism that fuses prototypes and features for automatic prompt generation. Experiments on a public multi-organ dataset and a private ventricle dataset demonstrate that PGP-SAM achieves superior mean Dice scores compared with existing prompt-free SAM variants, while using only 10\% of the 2D slices.
Mell: Memory-Efficient Large Language Model Serving via Multi-GPU KV Cache Management
Venue: arXiv cs.DC 2025
Year: 2025

Serving large language models (LLMs) for massive users is challenged by the significant memory footprint of the transient state, known as the key-value (KV) cache, which scales with sequence length and number of requests. Instead of renting or buying more expensive GPUs, the load imbalance of the KV cache across GPUs, coupled with recent advances in inter-GPU communication, provides an opportunity to serve more requests via request migration. However, high migration overhead and unpredictable request patterns make it challenging. Therefore, this paper proposes MELL, a memory-efficient LLM serving system via multi-GPU KV cache management. It saves the number of GPUs needed in the system by considering the dynamic KV cache load and the costly request migration. Specifically, we first develop an adaptive request migration mechanism to balance the computational and communication overheads and adapt to diverse resource conditions. Then, we design an online algorithm tailored to a multi-LLM request and multi-GPU scheduling problem with migration enabled. It aims to minimise the required GPUs while limiting the number of migrations. Finally, we implement a prototype of MELL and demonstrate that it reduces the number of GPUs by 31% and increases the GPU utilization by 43% at most compared to existing LLM serving systems.
Hierarchical Sampling-based Planner with LTL Constraints and Text Prompting
Venue: arXiv cs.RO 2025
Year: 2025

This project introduces a hierarchical planner integrating Linear Temporal Logic (LTL) constraints with natural language prompting for robot motion planning. The framework decomposes maps into regions, generates directed graphs, and converts them into transition systems for high-level planning. Text instructions are translated into LTL formulas and converted to Deterministic Finite Automata (DFA) for sequential goal-reaching tasks while adhering to safety constraints. High-level plans, derived via Breadth-First Search (BFS), guide low-level planners like Exploring Random Trees (RRT) and Probabilistic Roadmaps (PRM) for obstacle-avoidant navigation along with LTL tasks. The approach demonstrates adaptability to various task complexities, though challenges such as graph construction overhead and suboptimal path generation remain. Future directions include extending to considering terrain conditions and incorporating higher-order dynamics.
On the effect of the average clustering coefficient on topology-based link prediction in featureless graphs
Venue: arXiv cs.SI 2025
Year: 2025

Link prediction is a fundamental problem in graph theory with diverse applications, including recommender systems, community detection, and identifying spurious connections. While feature-based methods achieve high accuracy, their reliance on node attributes limits their applicability in featureless graphs. For such graphs, structure-based approaches, including common neighbor-based and degree-dependent methods, are commonly employed. However, the effectiveness of these methods depends on graph density, with common neighbor-based algorithms performing well in dense graphs and degree-dependent methods being more suitable for sparse or tree-like graphs. Despite this, the literature lacks a clear criterion to distinguish between dense and sparse graphs. This paper introduces the average clustering coefficient as a criterion for assessing graph density to assist with the choice of link prediction algorithms. To address the scarcity of datasets for empirical analysis, we propose a novel graph generation method based on the Barabasi-Albert model, which enables controlled variation of graph density while preserving structural heterogeneity. Through comprehensive experiments on synthetic and real-world datasets, we establish an empirical boundary for the average clustering coefficient that facilitates the selection of effective link prediction techniques.
Better Prompt Compression Without Multi-Layer Perceptrons
Venue: arXiv cs.CL 2025
Year: 2025

Prompt compression is a promising approach to speeding up language model inference without altering the generative model. Prior works compress prompts into smaller sequences of learned tokens using an encoder that is trained as a LowRank Adaptation (LoRA) of the inference language model. However, we show that the encoder does not need to keep the original language model's architecture to achieve useful compression. We introduce the Attention-Only Compressor (AOC), which learns a prompt compression encoder after removing the multilayer perceptron (MLP) layers in the Transformer blocks of a language model, resulting in an encoder with roughly 67% less parameters compared to the original model. Intriguingly we find that, across a range of compression ratios up to 480x, AOC can better regenerate prompts and outperform a baseline compression encoder that is a LoRA of the inference language model without removing MLP layers. These results demonstrate that the architecture of prompt compression encoders does not need to be identical to that of the original decoder language model, paving the way for further research into architectures and approaches for prompt compression.
Metaprism Design for Wireless Communications: Angle-Frequency Analysis, Physical Realizability Constraints, and Performance Optimization
Venue: arXiv cs.IT 2025
Year: 2025

Recent advancements in smart radio environment technologies aim to enhance wireless network performance through the use of low-cost electromagnetic (EM) devices. Among these, reconfigurable intelligent surfaces (RIS) have garnered attention for their ability to modify incident waves via programmable scattering elements. An RIS is a nearly passive device, in which the tradeoff between performance, power consumption, and optimization overhead depend on how often the RIS needs to be reconfigured. This paper focuses on the metaprism (MTP), a static frequency-selective metasurface which relaxes the reconfiguration requirements of RISs and allows for the creation of different beams at various frequencies. In particular, we address the design of an ideal MTP based on its frequency-dependent reflection coefficients, defining the general properties necessary to achieve the desired beam steering function in the angle-frequency domain. We also discuss the limitations of previous studies that employed oversimplified models, which may compromise performance. Key contributions include a detailed exploration of the equivalence of the MTP to an ideal S-parameter multiport model and an analysis of its implementation using Foster's circuits. Additionally, we introduce a realistic multiport network model that incorporates aspects overlooked by ideal scattering models, along with an ad hoc optimization strategy for this model. The performance of the proposed optimization approach and circuits implementation are validated through simulations using a commercial full-wave EM simulator, confirming the effectiveness of the proposed method.
3DCoMPaT200: Language-Grounded Compositional Understanding of Parts and Materials of 3D Shapes
Venue: arXiv cs.CV 2025
Year: 2025

Understanding objects in 3D at the part level is essential for humans and robots to navigate and interact with the environment. Current datasets for part-level 3D object understanding encompass a limited range of categories. For instance, the ShapeNet-Part and PartNet datasets only include 16, and 24 object categories respectively. The 3DCoMPaT dataset, specifically designed for compositional understanding of parts and materials, contains only 42 object categories. To foster richer and fine-grained part-level 3D understanding, we introduce 3DCoMPaT200, a large-scale dataset tailored for compositional understanding of object parts and materials, with 200 object categories with $\approx$5 times larger object vocabulary compared to 3DCoMPaT and $\approx$ 4 times larger part categories. Concretely, 3DCoMPaT200 significantly expands upon 3DCoMPaT, featuring 1,031 fine-grained part categories and 293 distinct material classes for compositional application to 3D object parts. Additionally, to address the complexities of compositional 3D modeling, we propose a novel task of Compositional Part Shape Retrieval using ULIP to provide a strong 3D foundational model for 3D Compositional Understanding. This method evaluates the model shape retrieval performance given one, three, or six parts described in text format. These results show that the model's performance improves with an increasing number of style compositions, highlighting the critical role of the compositional dataset. Such results underscore the dataset's effectiveness in enhancing models' capability to understand complex 3D shapes from a compositional perspective. Code and Data can be found at http://github.com/3DCoMPaT200/3DCoMPaT200
How Low Can We Go? Minimizing Interaction Samples for Configurable Systems
Venue: arXiv cs.SE 2025
Year: 2025

Modern software systems are typically configurable, a fundamental prerequisite for wide applicability and reusability. This flexibility poses an extraordinary challenge for quality assurance, as the enormous number of possible configurations makes it impractical to test each of them separately. This is where t-wise interaction sampling can be used to systematically cover the configuration space and detect unknown feature interactions. Over the last two decades, numerous algorithms for computing small interaction samples have been studied, providing improvements for a range of heuristic results; nevertheless, it has remained unclear how much these results can still be improved. We present a significant breakthrough: a fundamental framework, based on the mathematical principle of duality, for combining near-optimal solutions with provable lower bounds on the required sample size. This implies that we no longer need to work on heuristics with marginal or no improvement, but can certify the solution quality by establishing a limit on the remaining gap; in many cases, we can even prove optimality of achieved solutions. This theoretical contribution also provides extensive practical improvements: Our algorithm SampLNS was tested on 47 small and medium-sized configurable systems from the existing literature. SampLNS can reliably find samples of smaller size than previous methods in 85% of the cases; moreover, we can achieve and prove optimality of solutions for 63% of all instances. This makes it possible to avoid cumbersome efforts of minimizing samples by researchers as well as practitioners, and substantially save testing resources for most configurable systems.
Bridging the Fairness Gap: Enhancing Pre-trained Models with LLM-Generated Sentences
Venue: arXiv cs.CL 2025
Year: 2025

Pre-trained language models (PLMs) are trained on data that inherently contains gender biases, leading to undesirable impacts. Traditional debiasing methods often rely on external corpora, which may lack quality, diversity, or demographic balance, affecting the effectiveness of debiasing. With the rise of large language models and their extensive knowledge, we propose enhancing fairness (Fair-Gender) in PLMs by absorbing coherent, attribute-balanced, and semantically rich sentences. However, these sentences cannot be directly used for debiasing due to alignment issues and the risk of negative transfer. We address this by applying causal analysis to estimate causal effects, filtering out unaligned sentences, and identifying aligned ones for incorporation into PLMs, thereby ensuring positive transfer. Experiments show that our approach significantly reduces gender biases in PLMs while preserving their language expressiveness.
Soft Vision-Based Tactile-Enabled SixthFinger: Advancing Daily Objects Manipulation for Stroke Survivors
Venue: arXiv cs.RO 2025
Year: 2025

The presence of post-stroke grasping deficiencies highlights the critical need for the development and implementation of advanced compensatory strategies. This paper introduces a novel system to aid chronic stroke survivors through the development of a soft, vision-based, tactile-enabled extra robotic finger. By incorporating vision-based tactile sensing, the system autonomously adjusts grip force in response to slippage detection. This synergy not only ensures mechanical stability but also enriches tactile feedback, mimicking the dynamics of human-object interactions. At the core of our approach is a transformer-based framework trained on a comprehensive tactile dataset encompassing objects with a wide range of morphological properties, including variations in shape, size, weight, texture, and hardness. Furthermore, we validated the system's robustness in real-world applications, where it successfully manipulated various everyday objects. The promising results highlight the potential of this approach to improve the quality of life for stroke survivors.
Faithful Counterfactual Visual Explanations (FCVE)
Venue: arXiv cs.CV 2025
Year: 2025

Deep learning models in computer vision have made remarkable progress, but their lack of transparency and interpretability remains a challenge. The development of explainable AI can enhance the understanding and performance of these models. However, existing techniques often struggle to provide convincing explanations that non-experts easily understand, and they cannot accurately identify models' intrinsic decision-making processes. To address these challenges, we propose to develop a counterfactual explanation (CE) model that balances plausibility and faithfulness. This model generates easy-to-understand visual explanations by making minimum changes necessary in images without altering the pixel data. Instead, the proposed method identifies internal concepts and filters learned by models and leverages them to produce plausible counterfactual explanations. The provided explanations reflect the internal decision-making process of the model, thus ensuring faithfulness to the model.
Virtual Reality-Based Telerehabilitation for Upper Limb Recovery Post-Stroke: A Systematic Review of Design Principles, Monitoring, Safety, and Engagement Strategies
Venue: arXiv cs.HC 2025
Year: 2025

Stroke rehabilitation continues to face challenges in accessibility and patient engagement, where traditional approaches often fall short. Virtual reality (VR)-based telerehabilitation offers a promising avenue, by enabling home-based recovery through immersive environments and gamification. This systematic review evaluates current VR solutions for upper-limb post-stroke recovery, focusing on design principles, safety measures, patient-therapist communication, and strategies to promote motivation and adherence. Following PRISMA 2020 guidelines, a comprehensive search was conducted across PubMed, IEEE Xplore, and ScienceDirect. The review reveals a scarcity of studies meeting the inclusion criteria, possibly reflecting the challenges inherent in the current paradigm of VR telerehabilitation systems. Although these systems have potential to enhance accessibility and patient autonomy, they often lack standardized safety protocols and reliable real-time monitoring. Human-centered design principles are evident in some solutions, but inconsistent patient involvement during the development process limits their usability and clinical relevance. Furthermore, communication between patients and therapists remains constrained by technological barriers, although advancements in real-time feedback and adaptive systems offer promising solutions. This review underscores the potential of VR telerehabilitation to address critical needs in upper-limb stroke recovery while highlighting the importance of addressing existing limitations to ensure broader clinical implementation and improved patient outcomes.