OpenRaiser/Intern-Atlas huggingface dataset:
MonoSpheres: Large-Scale Monocular SLAM-Based UAV Exploration through Perception-Coupled Mapping and Planning
Venue: arXiv cs.RO 2025
Year: 2025

Autonomous exploration of unknown environments is a key capability for mobile robots, but it is largely unsolved for robots equipped with only a single monocular camera and no dense range sensors. In this paper, we present a novel approach to monocular vision-based exploration that can safely cover large-scale unstructured indoor and outdoor 3D environments by explicitly accounting for the properties of a sparse monocular SLAM frontend in both mapping and planning. The mapping module solves the problems of sparse depth data, free-space gaps, and large depth uncertainty by oversampling free space in texture-sparse areas and keeping track of obstacle position uncertainty. The planning module handles the added free-space uncertainty through rapid replanning and perception-aware heading control. We further show that frontier-based exploration is possible with sparse monocular depth data when parallax requirements and the possibility of textureless surfaces are taken into account. We evaluate our approach extensively in diverse real-world and simulated environments, including ablation studies. To the best of the authors' knowledge, the proposed method is the first to achieve 3D monocular exploration in real-world unstructured outdoor environments. We open-source our implementation to support future research.
MuM: Multi-View Masked Image Modeling for 3D Vision
Venue: arXiv cs.CV 2025
Year: 2025

Self-supervised learning on images seeks to extract meaningful visual representations from unlabeled data. When scaled to large datasets, this paradigm has achieved state-of-the-art performance and the resulting trained models such as DINOv3 have seen widespread adoption. However, most prior efforts are optimized for semantic understanding rather than geometric reasoning. One important exception is Cross-View Completion, CroCo, which is a form of masked autoencoding (MAE) tailored for 3D understanding. In this work, we continue on the path proposed by CroCo and focus on learning features tailored for 3D vision. In a nutshell, we extend MAE to arbitrarily many views of the same scene. By uniformly masking all views and employing a lightweight decoder with inter-frame attention, our approach is inherently simpler and more scalable than CroCo. We evaluate the resulting model, MuM, extensively on downstream tasks including feedforward reconstruction, dense image matching and relative pose estimation, finding that it outperforms the state-of-the-art visual encoders DINOv3 and CroCo v2.
NoPe-NeRF++: Local-to-Global Optimization of NeRF with No Pose Prior
Venue: arXiv cs.CV 2025
Year: 2025

In this paper, we introduce NoPe-NeRF++, a novel local-to-global optimization algorithm for training Neural Radiance Fields (NeRF) without requiring pose priors. Existing methods, particularly NoPe-NeRF, which focus solely on the local relationships within images, often struggle to recover accurate camera poses in complex scenarios. To overcome the challenges, our approach begins with a relative pose initialization with explicit feature matching, followed by a local joint optimization to enhance the pose estimation for training a more robust NeRF representation. This method significantly improves the quality of initial poses. Additionally, we introduce global optimization phase that incorporates geometric consistency constraints through bundle adjustment, which integrates feature trajectories to further refine poses and collectively boost the quality of NeRF. Notably, our method is the first work that seamlessly combines the local and global cues with NeRF, and outperforms state-of-the-art methods in both pose estimation accuracy and novel view synthesis. Extensive evaluations on benchmark datasets demonstrate our superior performance and robustness, even in challenging scenes, thus validating our design choices.
ReBaPL: Repulsive Bayesian Prompt Learning
Venue: arXiv cs.LG 2025
Year: 2025

Prompt learning has emerged as an effective technique for fine-tuning large-scale foundation models for downstream tasks. However, conventional prompt tuning methods are prone to overfitting and can struggle with out-of-distribution generalization. To address these limitations, Bayesian prompt learning has been proposed, which frames prompt optimization as a Bayesian inference problem to enhance robustness. This paper introduces Repulsive Bayesian Prompt Learning (ReBaPL), a novel method for Bayesian prompt learning, designed to efficiently explore the complex and often multimodal posterior landscape of prompts. Our method integrates a cyclical step-size schedule with a stochastic gradient Hamiltonian Monte Carlo (SGHMC) algorithm, enabling alternating phases of exploration to discover new modes, and exploitation to refine existing modes. Furthermore, we introduce a repulsive force derived from a potential function over probability metrics (including Maximum Mean Discrepancy and Wasserstein distance) computed on the distributions of representations produced by different prompts. This representation-space repulsion diversifies exploration and prevents premature collapse to a single mode. Our approach allows for a more comprehensive characterization of the prompt posterior distribution, leading to improved generalization. In contrast to prior Bayesian prompt learning methods, our method provides a modular plug-and-play Bayesian extension of any existing prompt learning method based on maximum likelihood estimation. We demonstrate the efficacy of ReBaPL on several benchmark datasets, showing superior performance over state-of-the-art methods for prompt learning.
Don't Learn, Ground: A Case for Natural Language Inference with Visual Grounding
Venue: arXiv cs.CL 2025
Year: 2025

We propose a zero-shot method for Natural Language Inference (NLI) that leverages multimodal representations by grounding language in visual contexts. Our approach generates visual representations of premises using text-to-image models and performs inference by comparing these representations with textual hypotheses. We evaluate two inference techniques: cosine similarity and visual question answering. Our method achieves high accuracy without task-specific fine-tuning, demonstrating robustness against textual biases and surface heuristics. Additionally, we design a controlled adversarial dataset to validate the robustness of our approach. Our findings suggest that leveraging visual modality as a meaning representation provides a promising direction for robust natural language understanding.
ATAC: Augmentation-Based Test-Time Adversarial Correction for CLIP
Venue: arXiv cs.CV 2025
Year: 2025

Despite its remarkable success in zero-shot image-text matching, CLIP remains highly vulnerable to adversarial perturbations on images. As adversarial fine-tuning is prohibitively costly, recent works explore various test-time defense strategies; however, these approaches still exhibit limited robustness. In this work, we revisit this problem and propose a simple yet effective strategy: Augmentation-based Test-time Adversarial Correction (ATAC). Our method operates directly in the embedding space of CLIP, calculating augmentation-induced drift vectors to infer a semantic recovery direction and correcting the embedding based on the angular consistency of these latent drifts. Across a wide range of benchmarks, ATAC consistently achieves remarkably high robustness, surpassing that of previous state-of-the-art methods by nearly 50\% on average, all while requiring minimal computational overhead. Furthermore, ATAC retains state-of-the-art robustness in unconventional and extreme settings and even achieves nontrivial robustness against adaptive attacks. Our results demonstrate that ATAC is an efficient method in a novel paradigm for test-time adversarial defenses in the embedding space of CLIP.
Characterizing Sets of Theories That Can Be Disjointly Combined
Venue: arXiv cs.LO 2025
Year: 2025

We study properties that allow first-order theories to be disjointly combined, including stable infiniteness, shininess, strong politeness, and gentleness. Specifically, we describe a Galois connection between sets of decidable theories, which picks out the largest set of decidable theories that can be combined with a given set of decidable theories. Using this, we exactly characterize the sets of decidable theories that can be combined with those satisfying well-known theory combination properties. This strengthens previous results and answers in the negative several long-standing open questions about the possibility of improving existing theory combination methods to apply to larger sets of theories. Additionally, the Galois connection gives rise to a complete lattice of theory combination properties, which allows one to generate new theory combination methods by taking meets and joins of elements of this lattice. We provide examples of this process, introducing new combination theorems. We situate both new and old combination methods within this lattice.
MCMoE: Completing Missing Modalities with Mixture of Experts for Incomplete Multimodal Action Quality Assessment
Venue: arXiv cs.CV 2025
Year: 2025

Multimodal Action Quality Assessment (AQA) has recently emerged as a promising paradigm. By leveraging complementary information across shared contextual cues, it enhances the discriminative evaluation of subtle intra-class variations in highly similar action sequences. However, partial modalities are frequently unavailable at the inference stage in reality. The absence of any modality often renders existing multimodal models inoperable. Furthermore, it triggers catastrophic performance degradation due to interruptions in cross-modal interactions. To address this issue, we propose a novel Missing Completion Framework with Mixture of Experts (MCMoE) that unifies unimodal and joint representation learning in single-stage training. Specifically, we propose an adaptive gated modality generator that dynamically fuses available information to reconstruct missing modalities. We then design modality experts to learn unimodal knowledge and dynamically mix the knowledge of all experts to extract cross-modal joint representations. With a mixture of experts, missing modalities are further refined and complemented. Finally, in the training phase, we mine the complete multimodal features and unimodal expert knowledge to guide modality generation and generation-based joint representation extraction. Extensive experiments demonstrate that our MCMoE achieves state-of-the-art results in both complete and incomplete multimodal learning on three public AQA benchmarks. Code is available at https://github.com/XuHuangbiao/MCMoE.
SPEAR-1: Scaling Beyond Robot Demonstrations via 3D Understanding
Venue: arXiv cs.RO 2025
Year: 2025

Robotic Foundation Models (RFMs) hold great promise as generalist, end-to-end systems for robot control. Yet their ability to generalize across new environments, tasks, and embodiments remains limited. We argue that a major bottleneck lies in their foundations: most RFMs are built by fine-tuning internet-pretrained Vision-Language Models (VLMs). However, these VLMs are trained on 2D image-language tasks and lack the 3D spatial reasoning inherently required for embodied control in the 3D world. Bridging this gap directly with large-scale robotic data is costly and difficult to scale. Instead, we propose to enrich easy-to-collect non-robotic image data with 3D annotations and enhance a pretrained VLM with 3D understanding capabilities. Following this strategy, we train SPEAR-VLM, a 3D-aware VLM that infers object coordinates in 3D space from a single 2D image. Building on SPEAR-VLM, we introduce our main contribution, $~\textbf{SPEAR-1}$: a robotic foundation model that integrates grounded 3D perception with language-instructed embodied control. Trained on $\sim$45M frames from 24 Open X-Embodiment datasets, SPEAR-1 outperforms or matches state-of-the-art models such as $π_0$-FAST and $π_{0.5}$, while it uses 20$\times$ fewer robot demonstrations. This carefully-engineered training strategy unlocks new VLM capabilities and as a consequence boosts the reliability of embodied control beyond what is achievable with only robotic data. We make our model weights and 3D-annotated datasets publicly available.
RoboCOIN: An Open-Sourced Bimanual Robotic Data COllection for INtegrated Manipulation
Venue: arXiv cs.RO 2025
Year: 2025

Bimanual manipulation is essential for achieving human-like dexterity in robots, but the large-scale and diverse bimanual robot datasets remain scarce due to hardware heterogeneity across robotic platforms. To address the challenge, we present RoboCOIN, a comprehensive multi-embodiment bimanual manipulation dataset with over 180,000 demonstrations collected from 15 distinct robotic platforms. The dataset covers 16 scenarios, including residential, commercial, and working environments, with 421 tasks systematically organized by bimanual coordination patterns and object properties. Our key innovation is a hierarchical capability pyramid that provides multi-level annotations, spanning trajectory-level concepts, segment-level subtasks, and frame-level kinematics. We further develop CoRobot, a comprehensive processing framework featuring Robot Trajectory Markup Language (RTML) for quality assessment, automated annotation generation, and unified multi-embodiment management. Extensive experiments demonstrate the reliability and effectiveness of RoboCOIN in multi-embodiment bimanual learning, with significant performance improvements across various model architectures and robotic platforms. The complete dataset and framework are open-sourced and publicly available for further research purposes. Project website: https://FlagOpen.github.io/RoboCOIN/.
GRAPHIC--Guidelines for Reviewing Algorithmic Practices in Human-centred Design and Interaction for Creativity
Venue: arXiv cs.HC 2025
Year: 2025

Artificial Intelligence (AI) has been increasingly applied to creative domains, leading to the development of systems that collaborate with humans in design processes. In Graphic Design, integrating computational systems into co-creative workflows presents specific challenges, as it requires balancing scientific rigour with the subjective and visual nature of design practice. Following the PRISMA methodology, we identified 872 articles, resulting in a final corpus of 71 publications describing 68 unique systems. Based on this review, we introduce GRAPHIC (Guidelines for Reviewing Algorithmic Practices in Human-centred Design and Interaction for Creativity), a framework for analysing computational systems applied to Graphic Design. Its goal is to understand how current systems support human-AI collaboration in the Graphic Design discipline. The framework comprises main dimensions, which our analysis revealed to be essential across diverse system types: (1) Collaborative Panorama, (2) Processes and Modalities, and (3) Graphic Design Principles. Its application revealed research gaps, including the need to balance initiative and control between agents, improve communication through explainable interaction models, and promote systems that support transformational creativity grounded in core design principles.
Motivational Climate Effects on Communications, Emotional-Social States, and Performance in Collaborative Gaming Environment
Venue: arXiv cs.HC 2025
Year: 2025

The study explores the effects of motivational climate on communication features, emotional states, collective efficacy, and performance in collaborative gaming environments. Forty participants with no prior gaming experience were randomly assigned to 20 gender-matched teams of three (including one confederate) across two motivational climates: positive-supportive (PS) or neutral-unsupported (NU) (10 teams per condition). Team members completed three progressively difficult levels of Overcooked! 2 during which communication contents, emotional responses, collective efficacy, and performance outcomes were observed and coded. Mixed-design MANOVAs and ANOVAs were employed to examine the effects of motivational climate and task difficulty on communication patterns, emotions, collective efficacy, and performance. Chi-square analyses were performed to test communication content differences between conditions. Results revealed that PS team members significantly outperformed NU teams at lower task difficulty level, but this advantage diminished as task complexity increased. Communication analysis revealed that PS team members utilized significantly more action-oriented, factual, and emotional/motivational statements, while NU team members used more statements of uncertainty and non-task-related communication. The percentage of the talk time increased with difficulty across both climate conditions. PS team members maintained more positive emotional profiles throughout, with higher excitement and happiness scores and lower anxiety, dejection, and anger compared to NU team members. Furthermore, PS team members reported consistently higher collective efficacy beliefs across all difficulty levels. These findings reveal that positive motivational climate enhances team communication effectiveness, emotional resilience, and performance outcomes in challenging collaborative environments.
XAI-on-RAN: Explainable, AI-native, and GPU-Accelerated RAN Towards 6G
Venue: arXiv cs.NI 2025
Year: 2025

Artificial intelligence (AI)-native radio access networks (RANs) will serve vertical industries with stringent requirements: smart grids, autonomous vehicles, remote healthcare, industrial automation, etc. To achieve these requirements, modern 5G/6G design increasingly leverage AI for network optimization, but the opacity of AI decisions poses risks in mission-critical domains. These use cases are often delivered via non-public networks (NPNs) or dedicated network slices, where reliability and safety are vital. In this paper, we motivate the need for transparent and trustworthy AI in high-stakes communications (e.g., healthcare, industrial automation, and robotics) by drawing on 3rd generation partnership project (3GPP)'s vision for non-public networks. We design a mathematical framework to model the trade-offs between transparency (explanation fidelity and fairness), latency, and graphics processing unit (GPU) utilization in deploying explainable AI (XAI) models. Empirical evaluations demonstrate that our proposed hybrid XAI model xAI-Native, consistently surpasses conventional baseline models in performance.
DyPBP: Dynamic Peer Beneficialness Prediction for Cryptocurrency P2P Networking
Venue: arXiv cs.NI 2025
Year: 2025

Distributed peer-to-peer (P2P) networking delivers the new blocks and transactions and is critical for the cryptocurrency blockchain system operations. Having poor P2P connectivity reduces the financial rewards from the mining consensus protocol. Previous research defines beneficalness of each Bitcoin peer connection and estimates the beneficialness based on the observations of the blocks and transactions delivery, which are after they are delivered. However, due to the infrequent block arrivals and the sporadic and unstable peer connections, the peers do not stay connected long enough to have the beneficialness score to converge to its expected beneficialness. We design and build Dynamic Peer Beneficialness Prediction (DyPBP) which predicts a peer's beneficialness by using networking behavior observations beyond just the block and transaction arrivals. DyPBP advances the previous research by estimating the beneficialness of a peer connection before it delivers new blocks and transactions. To achieve such goal, DyPBP introduces a new feature for remembrance to address the dynamic connectivity issue, as Bitcoin's peers using distributed networking often disconnect and re-connect. We implement DyPBP on an active Bitcoin node connected to the Mainnet and use machine learning for the beneficialness prediction. Our experimental results validate and evaluate the effectiveness of DyPBP; for example, the error performance improves by 2 to 13 orders of magnitude depending on the machine-learning model selection. DyPBP's use of the remembrance feature also informs our model selection. DyPBP enables the P2P connection's beneficialness estimation from the connection start before a new block arrives.
Evo* 2025 -- Late-Breaking Abstracts Volume
Venue: arXiv cs.NE 2025
Year: 2025

Volume containing the Late-Breaking Abstracts submitted to the Evo* 2025 Conference, held in Trieste (Italy) from April 23rd to 25th. These extended abstracts showcase ongoing research and preliminary findings exploring the application of various Bioinspired Methods (primarily Evolutionary Computation) to a range of problems, many of which address real-world scenarios.
Practical Machine Learning for Aphasic Discourse Analysis
Venue: arXiv cs.LG 2025
Year: 2025

Analyzing spoken discourse is a valid means of quantifying language ability in persons with aphasia. There are many ways to quantify discourse, one common way being to evaluate the informativeness of the discourse. That is, given the total number of words produced, how many of those are context-relevant and accurate. This type of analysis is called Correct Information Unit (CIU) analysis and is one of the most prevalent discourse analyses used by speech-language pathologists (SLPs). Despite this, CIU analysis in the clinic remains limited due to the manual labor needed by SLPs to code and analyze collected speech. Recent advances in machine learning (ML) seek to augment such labor by automating modeling of propositional, macrostructural, pragmatic, and multimodal dimensions of discourse. To that end, this study evaluated five ML models for reliable identification of Correct Information Units (CIUs, Nicholas & Brookshire, 1993), during a picture description task. The five supervised ML models were trained using randomly selected human-coded transcripts and accompanying words and CIUs from persons with aphasia. The baseline model training produced a high accuracy across transcripts for word vs non-word, with all models achieving near perfect performance (0.995) with high AUC range (0.914 min, 0.995 max). In contrast, CIU vs non-CIU showed a greater variability, with the k-nearest neighbor (k-NN) model the highest accuracy (0.824) and second highest AUC (0.787). These findings indicate that while the supervised ML models can distinguish word from not word, identifying CIUs is challenging.
Beyond the Rubric: Cultural Misalignment in LLM Benchmarks for Sexual and Reproductive Health
Venue: arXiv cs.CY 2025
Year: 2025

Large Language Models (LLMs) have been positioned as having the potential to expand access to health information in the Global South, yet their evaluation remains heavily dependent on benchmarks designed around Western norms. We present insights from a preliminary benchmarking exercise with a chatbot for sexual and reproductive health (SRH) for an underserved community in India. We evaluated using HealthBench, a benchmark for conversational health models by OpenAI. We extracted 637 SRH queries from the dataset and evaluated on the 330 single-turn conversations. Responses were evaluated using HealthBench's rubric-based automated grader, which rated responses consistently low. However, qualitative analysis by trained annotators and public health experts revealed that many responses were actually culturally appropriate and medically accurate. We highlight recurring issues, particularly a Western bias, such as for legal framing and norms (e.g., breastfeeding in public), diet assumptions (e.g., fish safe to eat during pregnancy), and costs (e.g., insurance models). Our findings demonstrate the limitations of current benchmarks in capturing the effectiveness of systems built for different cultural and healthcare contexts. We argue for the development of culturally adaptive evaluation frameworks that meet quality standards while recognizing needs of diverse populations.