OpenRaiser/Intern-Atlas huggingface dataset:
Self-Guided Action Diffusion
Venue: arXiv cs.RO 2025
Year: 2025

Recent works have shown the promise of inference-time search over action samples for improving generative robot policies. In particular, optimizing cross-chunk coherence via bidirectional decoding has proven effective in boosting the consistency and reactivity of diffusion policies. However, this approach remains computationally expensive as the diversity of sampled actions grows. In this paper, we introduce self-guided action diffusion, a more efficient variant of bidirectional decoding tailored for diffusion-based policies. At the core of our method is to guide the proposal distribution at each diffusion step based on the prior decision. Experiments in simulation tasks show that the proposed self-guidance enables near-optimal performance at negligible inference cost. Notably, under a tight sampling budget, our method achieves up to 70% higher success rates than existing counterparts on challenging dynamic tasks. See project website at https://rhea-mal.github.io/selfgad.github.io.
Playing telephone with generative models: "verification disability," "compelled reliance," and accessibility in data visualization
Venue: arXiv cs.HC 2025
Year: 2025

This paper is a collaborative piece between two worlds of expertise in the field of data visualization: accessibility and bias. In particular, the rise of generative models playing a role in accessibility is a worrying trend for data visualization. These models are increasingly used to help author visualizations as well as generate descriptions of existing visualizations for people who are blind, low vision, or use assistive technologies such as screen readers. Sighted human-to-human bias has already been established as an area of concern for theory, research, and design in data visualization. But what happens when someone is unable to verify the model output or adequately interrogate algorithmic bias, such as a context where a blind person asks a model to describe a chart for them? In such scenarios, trust from the user is not earned, rather reliance is compelled by the model-to-human relationship. In this work, we explored the dangers of AI-generated descriptions for accessibility, playing a game of telephone between models, observing bias production in model interpretation, and re-interpretation of a data visualization. We unpack ways that model failure in visualization is especially problematic for users with visual impairments, and suggest directions forward for three distinct readers of this piece: technologists who build model-assisted interfaces for end users, users with disabilities leveraging models for their own purposes, and researchers concerned with bias, accessibility, or visualization.
Improving Pre-Trained Vision-Language-Action Policies with Model-Based Search
Venue: arXiv cs.RO 2025
Year: 2025

Pre-trained vision-language-action (VLA) models offer a promising foundation for generalist robot policies, but often produce brittle behaviors or unsafe failures when deployed zero-shot in out-of-distribution scenarios. We present Vision-Language-Action Planning & Search (VLAPS) -- a novel framework and accompanying algorithms that embed model-based search into the inference procedure of pre-trained VLA policies to improve their performance on robotic tasks. Specifically, our method biases a modified Monte Carlo Tree Search (MCTS) algorithm -- run using a model of the target environment -- using action priors defined by the VLA policy. By using VLA-derived abstractions and priors in model-based search, VLAPS efficiently explores language-conditioned robotics tasks whose search spaces would otherwise be intractably large. Conversely, by integrating model-based search with the VLA policy's inference procedure, VLAPS yields behaviors that are more performant than those obtained by directly following the VLA policy's action predictions. VLAPS offers a principled framework to: i) control test-time compute in VLA models, ii) leverage a priori knowledge of the robotic environment, and iii) integrate established planning and reinforcement learning techniques into the VLA inference process. Across all experiments, VLAPS significantly outperforms VLA-only baselines on language-specified tasks that would otherwise be intractable for uninformed search algorithms, increasing success rates by as much as 67 percentage points.
LinkAnchor: An Autonomous LLM-Based Agent for Issue-to-Commit Link Recovery
Venue: arXiv cs.SE 2025
Year: 2025

Issue-to-commit link recovery plays an important role in software traceability and improves project management. However, it remains a challenging task. A study on GitHub shows that only 42.2% of the issues are correctly linked to their commits. This highlights the potential for further development and research in this area. Existing studies have employed various AI/ML-based approaches, and with the recent development of large language models, researchers have leveraged LLMs to tackle this problem. These approaches suffer from two main issues. First, LLMs are constrained by limited context windows and cannot ingest all of the available data sources, such as long commit histories, extensive issue comments, and large code repositories. Second, most methods operate on individual issue-commit pairs; that is, given a single issue-commit pair, they determine whether the commit resolves the issue. This quickly becomes impractical in real-world repositories containing tens of thousands of commits. To address these limitations, we present LinkAnchor, the first autonomous LLM-based agent designed for issue-to-commit link recovery. The lazy-access architecture of LinkAnchor enables the underlying LLM to access the rich context of software, spanning commits, issue comments, and code files, without exceeding the token limit by dynamically retrieving only the most relevant contextual data. Additionally, LinkAnchor is able to automatically pinpoint the target commit rather than exhaustively scoring every possible candidate. Our evaluations show that LinkAnchor outperforms state-of-the-art issue-to-commit link recovery approaches by 60-262% in Hit@1 score across all our case study projects. We also publicly release LinkAnchor as a ready-to-use tool, along with our replication package. LinkAnchor is designed and tested for GitHub and Jira, and is easily extendable to other platforms.
Age of Semantic Information-Aware Wireless Transmission for Remote Monitoring Systems
Venue: arXiv cs.IT 2025
Year: 2025

Semantic communication is emerging as an effective means of facilitating intelligent and context-aware communication for next-generation communication systems. In this paper, we propose a novel metric called Age of Incorrect Semantics (AoIS) for the transmission of video frames over multiple-input multiple-output (MIMO) channels in a monitoring system. Different from the conventional age-based approaches, we jointly consider the information freshness and the semantic importance, and then formulate a time-averaged AoIS minimization problem by jointly optimizing the semantic actuation indicator, transceiver beamformer, and the semantic symbol design. We first transform the original problem into a low-complexity problem via the Lyapunov optimization. Then, we decompose the transformed problem into multiple subproblems and adopt the alternative optimization (AO) method to solve each subproblem. Specifically, we propose two efficient algorithms, i.e., the successive convex approximation (SCA) algorithm and the low-complexity zero-forcing (ZF) algorithm for optimizing transceiver beamformer. We adopt exhaustive search methods to solve the semantic actuation policy indicator optimization problem and the transmitted semantic symbol design problem. Experimental results demonstrate that our scheme can preserve more than 50\% of the original information under the same AoIS compared to the constrained baselines.
WXSOD: A Benchmark for Robust Salient Object Detection in Adverse Weather Conditions
Venue: arXiv cs.CV 2025
Year: 2025

Salient object detection (SOD) in complex environments remains a challenging research topic. Most existing methods perform well in natural scenes with negligible noise, and tend to leverage multi-modal information (e.g., depth and infrared) to enhance accuracy. However, few studies are concerned with the damage of weather noise on SOD performance due to the lack of dataset with pixel-wise annotations. To bridge this gap, this paper introduces a novel Weather-eXtended Salient Object Detection (WXSOD) dataset. It consists of 14,945 RGB images with diverse weather noise, along with the corresponding ground truth annotations and weather labels. To verify algorithm generalization, WXSOD contains two test sets, i.e., a synthesized test set and a real test set. The former is generated by adding weather noise to clean images, while the latter contains real-world weather noise. Based on WXSOD, we propose an efficient baseline, termed Weather-aware Feature Aggregation Network (WFANet), which adopts a fully supervised two-branch architecture. Specifically, the weather prediction branch mines weather-related deep features, while the saliency detection branch fuses semantic features extracted from the backbone with weather features for SOD. Comprehensive comparisons against 17 SOD methods shows that our WFANet achieves superior performance on WXSOD. The code and benchmark results will be made publicly available at https://github.com/C-water/WXSOD
What do Speech Foundation Models Learn? Analysis and Applications
Venue: arXiv cs.CL 2025
Year: 2025

Speech foundation models (SFMs) are designed to serve as general-purpose representations for a wide range of speech-processing tasks. The last five years have seen an influx of increasingly successful self-supervised and supervised pre-trained models with impressive performance on various downstream tasks. Although the zoo of SFMs continues to grow, our understanding of the knowledge they acquire lags behind. This thesis presents a lightweight analysis framework using statistical tools and training-free tasks to investigate the acoustic and linguistic knowledge encoded in SFM layers. We conduct a comparative study across multiple SFMs and statistical tools. Our study also shows that the analytical insights have concrete implications for downstream task performance. The effectiveness of an SFM is ultimately determined by its performance on speech applications. Yet it remains unclear whether the benefits extend to spoken language understanding (SLU) tasks that require a deeper understanding than widely studied ones, such as speech recognition. The limited exploration of SLU is primarily due to a lack of relevant datasets. To alleviate that, this thesis contributes tasks, specifically spoken named entity recognition (NER) and named entity localization (NEL), to the Spoken Language Understanding Evaluation benchmark. We develop SFM-based approaches for NER and NEL, and find that end-to-end (E2E) models leveraging SFMs can surpass traditional cascaded (speech recognition followed by a text model) approaches. Further, we evaluate E2E SLU models across SFMs and adaptation strategies to assess the impact on task performance. Collectively, this thesis tackles previously unanswered questions about SFMs, providing tools and datasets to further our understanding and to enable the community to make informed design choices for future model development and adoption.
Fortifying the Agentic Web: A Unified Zero-Trust Architecture Against Logic-layer Threats
Venue: arXiv cs.CR 2025
Year: 2025

This paper presents a Unified Security Architecture that fortifies the Agentic Web through a Zero-Trust IAM framework. This architecture is built on a foundation of rich, verifiable agent identities using Decentralized Identifiers (DIDs) and Verifiable Credentials (VCs), with discovery managed by a protocol-agnostic Agent Name Service (ANS). Security is operationalized through a multi-layered Trust Fabric which introduces significant innovations, including Trust-Adaptive Runtime Environments (TARE), Causal Chain Auditing, and Dynamic Identity with Behavioral Attestation. By explicitly linking the LPCI threat to these enhanced architectural countermeasures within a formal security model, we propose a comprehensive and forward-looking blueprint for a secure, resilient, and trustworthy agentic ecosystem. Our formal analysis demonstrates that the proposed architecture provides provable security guarantees against LPCI attacks with bounded probability of success.
Region-Level Context-Aware Multimodal Understanding
Venue: arXiv cs.CV 2025
Year: 2025

Despite significant progress, existing research on Multimodal Large Language Models (MLLMs) mainly focuses on general visual understanding, overlooking the ability to integrate textual context associated with objects for a more context-aware multimodal understanding -- an ability we refer to as Region-level Context-aware Multimodal Understanding (RCMU). To address this limitation, we first formulate the RCMU task, which requires models to respond to user instructions by integrating both image content and textual information of regions or objects. To equip MLLMs with RCMU capabilities, we propose Region-level Context-aware Visual Instruction Tuning (RCVIT), which incorporates object information into the model input and enables the model to utilize bounding box coordinates to effectively associate objects' visual content with their textual information. To address the lack of datasets, we introduce the RCMU dataset, a large-scale visual instruction tuning dataset that covers multiple RCMU tasks. We also propose RC\&P-Bench, a comprehensive benchmark that can evaluate the performance of MLLMs in RCMU and multimodal personalized understanding tasks. Additionally, we propose a reference-free evaluation metric to perform a comprehensive and fine-grained evaluation of the region-level context-aware image descriptions. By performing RCVIT on Qwen2-VL models with the RCMU dataset, we developed RC-Qwen2-VL models. Experimental results indicate that RC-Qwen2-VL models not only achieve outstanding performance on multiple RCMU tasks but also demonstrate successful applications in multimodal RAG and personalized conversation. Our data, model and benchmark are available at https://github.com/hongliang-wei/RC-MLLM
The Self-Execution Benchmark: Measuring LLMs' Attempts to Overcome Their Lack of Self-Execution
Venue: arXiv cs.CL 2025
Year: 2025

Large language models (LLMs) are commonly evaluated on tasks that test their knowledge or reasoning abilities. In this paper, we explore a different type of evaluation: whether an LLM can predict aspects of its own responses. Since LLMs lack the ability to execute themselves, we introduce the Self-Execution Benchmark, which measures a model's ability to anticipate properties of its output, such as whether a question will be difficult for it, whether it will refuse to answer, or what kinds of associations it is likely to produce. Our experiments show that models generally perform poorly on this benchmark, and that increased model size or capability does not consistently lead to better performance. These results suggest a fundamental limitation in how LLMs represent and reason about their own behavior.
AutoPower: Automated Few-Shot Architecture-Level Power Modeling by Power Group Decoupling
Venue: arXiv cs.AR 2025
Year: 2025

Power efficiency is a critical design objective in modern CPU design. Architects need a fast yet accurate architecture-level power evaluation tool to perform early-stage power estimation. However, traditional analytical architecture-level power models are inaccurate. The recently proposed machine learning (ML)-based architecture-level power model requires sufficient data from known configurations for training, making it unrealistic. In this work, we propose AutoPower targeting fully automated architecture-level power modeling with limited known design configurations. We have two key observations: (1) The clock and SRAM dominate the power consumption of the processor, and (2) The clock and SRAM power correlate with structural information available at the architecture level. Based on these two observations, we propose the power group decoupling in AutoPower. First, AutoPower decouples across power groups to build individual power models for each group. Second, AutoPower designs power models by further decoupling the model into multiple sub-models within each power group. In our experiments, AutoPower can achieve a low mean absolute percentage error (MAPE) of 4.36\% and a high $R^2$ of 0.96 even with only two known configurations for training. This is 5\% lower in MAPE and 0.09 higher in $R^2$ compared with McPAT-Calib, the representative ML-based power model.
Improving Densification in 3D Gaussian Splatting for High-Fidelity Rendering
Venue: arXiv cs.CV 2025
Year: 2025

Although 3D Gaussian Splatting (3DGS) has achieved impressive performance in real-time rendering, its densification strategy often results in suboptimal reconstruction quality. In this work, we present a comprehensive improvement to the densification pipeline of 3DGS from three perspectives: when to densify, how to densify, and how to mitigate overfitting. Specifically, we propose an Edge-Aware Score to effectively select candidate Gaussians for splitting. We further introduce a Long-Axis Split strategy that reduces geometric distortions introduced by clone and split operations. To address overfitting, we design a set of techniques, including Recovery-Aware Pruning, Multi-step Update, and Growth Control. Our method enhances rendering fidelity without introducing additional training or inference overhead, achieving state-of-the-art performance with fewer Gaussians.
Neural Cellular Automata for Weakly Supervised Segmentation of White Blood Cells
Venue: arXiv cs.CV 2025
Year: 2025

The detection and segmentation of white blood cells in blood smear images is a key step in medical diagnostics, supporting various downstream tasks such as automated blood cell counting, morphological analysis, cell classification, and disease diagnosis and monitoring. Training robust and accurate models requires large amounts of labeled data, which is both time-consuming and expensive to acquire. In this work, we propose a novel approach for weakly supervised segmentation using neural cellular automata (NCA-WSS). By leveraging the feature maps generated by NCA during classification, we can extract segmentation masks without the need for retraining with segmentation labels. We evaluate our method on three white blood cell microscopy datasets and demonstrate that NCA-WSS significantly outperforms existing weakly supervised approaches. Our work illustrates the potential of NCA for both classification and segmentation in a weakly supervised framework, providing a scalable and efficient solution for medical image analysis.
Geometry-Aware Video Inpainting for Joint Headset Occlusion Removal and Face Reconstruction in Social XR
Venue: arXiv cs.CV 2025
Year: 2025

Head-mounted displays (HMDs) are essential for experiencing extended reality (XR) environments and observing virtual content. However, they obscure the upper part of the user's face, complicating external video recording and significantly impacting social XR applications such as teleconferencing, where facial expressions and eye gaze details are crucial for creating an immersive experience. This study introduces a geometry-aware learning-based framework to jointly remove HMD occlusions and reconstruct complete 3D facial geometry from RGB frames captured from a single viewpoint. The method integrates a GAN-based video inpainting network, guided by dense facial landmarks and a single occlusion-free reference frame, to restore missing facial regions while preserving identity. Subsequently, a SynergyNet-based module regresses 3D Morphable Model (3DMM) parameters from the inpainted frames, enabling accurate 3D face reconstruction. Dense landmark optimization is incorporated throughout the pipeline to improve both the inpainting quality and the fidelity of the recovered geometry. Experimental results demonstrate that the proposed framework can successfully remove HMDs from RGB facial videos while maintaining facial identity and realism, producing photorealistic 3D face geometry outputs. Ablation studies further show that the framework remains robust across different landmark densities, with only minor quality degradation under sparse landmark configurations.
An ECC-based Fault Tolerance Approach for DNNs
Venue: arXiv cs.AR 2025
Year: 2025

Deep Neural Network (DNN) has achieve great success in solving a wide range of machine learning problems. Recently, they have been deployed in datacenters (potentially for business-critical or industrial applications) and safety-critical systems such as self-driving cars. So, their correct functionality in the presence of potential bit-flip errors on DNN parameters stored in memories plays the key role in their applicability in safety-critical applications. In this paper, a fault tolerance approach based on Error Correcting Codes (ECC), called SPW, is proposed to ensure the correct functionality of DNNs in the presence of bit-flip faults. In the proposed approach, error occurrence is detected by the stored ECC and then, it is correct in case of a single-bit error or the weight is completely set to zero (i.e. masked) otherwise. A statistical fault injection campaign is proposed and utilized to investigate the efficacy of the proposed approach. The experimental results show that the accuracy of the DNN increases by more than 300% in the presence with Bit Error Rate of 10^(-1) in comparison to the case where ECC technique is applied, in expense of just 47.5% area overhead.
Contrastive Multi-View Graph Hashing
Venue: arXiv cs.IR 2025
Year: 2025

Multi-view graph data, which both captures node attributes and rich relational information from diverse sources, is becoming increasingly prevalent in various domains. The effective and efficient retrieval of such data is an important task. Although multi-view hashing techniques have offered a paradigm for fusing diverse information into compact binary codes, they typically assume attributes-based inputs per view. This makes them unsuitable for multi-view graph data, where effectively encoding and fusing complex topological information from multiple heterogeneous graph views to generate unified binary embeddings remains a significant challenge. In this work, we propose Contrastive Multi-view Graph Hashing (CMGHash), a novel end-to-end framework designed to learn unified and discriminative binary embeddings from multi-view graph data. CMGHash learns a consensus node representation space using a contrastive multi-view graph loss, which aims to pull $k$-nearest neighbors from all graphs closer while pushing away negative pairs, i.e., non-neighbor nodes. Moreover, we impose binarization constraints on this consensus space, enabling its conversion to a corresponding binary embedding space at minimal cost. Extensive experiments on several benchmark datasets demonstrate that CMGHash significantly outperforms existing approaches in terms of retrieval accuracy.