OpenRaiser/Intern-Atlas huggingface dataset:
PointRAFT: 3D deep learning for high-throughput prediction of potato tuber weight from partial point clouds
Venue: arXiv cs.CV 2025
Year: 2025

Potato yield is a key indicator for optimizing cultivation practices in agriculture. Potato yield can be estimated on harvesters using RGB-D cameras, which capture three-dimensional (3D) information of individual tubers moving along the conveyor belt. However, point clouds reconstructed from RGB-D images are incomplete due to self-occlusion, leading to systematic underestimation of tuber weight. To address this, we introduce PointRAFT, a high-throughput point cloud regression network that directly predicts continuous 3D shape properties, such as tuber weight, from partial point clouds. Rather than reconstructing full 3D geometry, PointRAFT infers target values directly from raw 3D data. Its key architectural novelty is an object height embedding that incorporates tuber height as an additional geometric cue, improving weight prediction under practical harvesting conditions. PointRAFT was trained and evaluated on 26,688 partial point clouds collected from 859 potato tubers across four cultivars and three growing seasons on an operational harvester in Japan. On a test set of 5,254 point clouds from 172 tubers, PointRAFT achieved a mean absolute error of 12.0 g and a root mean squared error of 17.2 g, substantially outperforming a linear regression baseline and a standard PointNet++ regression network. With an average inference time of 6.3 ms per point cloud, PointRAFT supports processing rates of up to 150 tubers per second, meeting the high-throughput requirements of commercial potato harvesters. Beyond potato weight estimation, PointRAFT provides a versatile regression network applicable to a wide range of 3D phenotyping and robotic perception tasks. The code, network weights, and a subset of the dataset are publicly available at https://github.com/pieterblok/pointraft.git.
Efficient Decoding of Twisted GRS Codes and Roth--Lempel Codes
Venue: arXiv cs.IT 2025
Year: 2025

MDS codes play a central role in practice due to their broad applications. To date, most known MDS codes are generalized Reed-Solomon (GRS) codes, leaving codes that are not equivalent to GRS codes comparatively less understood. Studying this non-GRS regime is therefore of intrinsic theoretical interest, and is also practically relevant since the strong algebraic structure of GRS codes can be undesirable in cryptographic settings. Among the known non-GRS codes, twisted generalized Reed-Solomon (TGRS) codes and Roth-Lempel codes are two representative families of non-GRS codes that have attracted significant attention. Though substantial work has been devoted to the construction and structural analysis of TGRS and Roth-Lempel codes, comparatively little attention has been paid to their decoding, and many problems remain open. In this paper, we propose list and unique decoding algorithms for TGRS codes and Roth-Lempel codes based on the Guruswami-Sudan algorithm. Under suitable parameter conditions, our algorithms achieve near-linear running time in the code length, improving upon the previously best-known quadratic-time complexity. Our TGRS decoder supports fixed-rate TGRS codes with up to O(n^2) twists, substantially extending prior work that only handled the single-twist case. For Roth-Lempel codes, we provide what appears to be the first efficient decoder. Moreover, our list decoders surpass the classical unique-decoding radius for a broad range of parameters. Finally, we incorporate algebraic manipulation detection (AMD) codes into the list-decoding framework, enabling recovery of the correct message from the output list with high probability.
MambaSeg: Harnessing Mamba for Accurate and Efficient Image-Event Semantic Segmentation
Venue: arXiv cs.CV 2025
Year: 2025

Semantic segmentation is a fundamental task in computer vision with wide-ranging applications, including autonomous driving and robotics. While RGB-based methods have achieved strong performance with CNNs and Transformers, their effectiveness degrades under fast motion, low-light, or high dynamic range conditions due to limitations of frame cameras. Event cameras offer complementary advantages such as high temporal resolution and low latency, yet lack color and texture, making them insufficient on their own. To address this, recent research has explored multimodal fusion of RGB and event data; however, many existing approaches are computationally expensive and focus primarily on spatial fusion, neglecting the temporal dynamics inherent in event streams. In this work, we propose MambaSeg, a novel dual-branch semantic segmentation framework that employs parallel Mamba encoders to efficiently model RGB images and event streams. To reduce cross-modal ambiguity, we introduce the Dual-Dimensional Interaction Module (DDIM), comprising a Cross-Spatial Interaction Module (CSIM) and a Cross-Temporal Interaction Module (CTIM), which jointly perform fine-grained fusion along both spatial and temporal dimensions. This design improves cross-modal alignment, reduces ambiguity, and leverages the complementary properties of each modality. Extensive experiments on the DDD17 and DSEC datasets demonstrate that MambaSeg achieves state-of-the-art segmentation performance while significantly reducing computational cost, showcasing its promise for efficient, scalable, and robust multimodal perception.
Data Heterogeneity-Aware Client Selection for Federated Learning in Wireless Networks
Venue: arXiv cs.DC 2025
Year: 2025

Federated Learning (FL) enables mobile edge devices, functioning as clients, to collaboratively train a decentralized model while ensuring local data privacy. However, the efficiency of FL in wireless networks is limited not only by constraints on communication and computational resources but also by significant data heterogeneity among clients, particularly in large-scale networks. This paper first presents a theoretical analysis of the impact of client data heterogeneity on global model generalization error, which can result in repeated training cycles, increased energy consumption, and prolonged latency. Based on the theoretical insights, an optimization problem is formulated to jointly minimize learning latency and energy consumption while constraining generalization error. A joint client selection and resource allocation (CSRA) approach is then proposed, employing a series of convex optimization and relaxation techniques. Extensive simulation results demonstrate that the proposed CSRA scheme yields higher test accuracy, reduced learning latency, and lower energy consumption compared to baseline methods that do not account for data heterogeneity.
Empower Low-Altitude Economy: A Reliability-Aware Dynamic Weighting Allocation for Multi-modal UAV Beam Prediction
Venue: arXiv cs.LG 2025
Year: 2025

The low-altitude economy (LAE) is rapidly expanding driven by urban air mobility, logistics drones, and aerial sensing, while fast and accurate beam prediction in uncrewed aerial vehicles (UAVs) communications is crucial for achieving reliable connectivity. Current research is shifting from single-signal to multi-modal collaborative approaches. However, existing multi-modal methods mostly employ fixed or empirical weights, assuming equal reliability across modalities at any given moment. Indeed, the importance of different modalities fluctuates dramatically with UAV motion scenarios, and static weighting amplifies the negative impact of degraded modalities. Furthermore, modal mismatch and weak alignment further undermine cross-scenario generalization. To this end, we propose a reliability-aware dynamic weighting scheme applied to a semantic-aware multi-modal beam prediction framework, named SaM2B. Specifically, SaM2B leverages lightweight cues such as environmental visual, flight posture, and geospatial data to adaptively allocate contributions across modalities at different time points through reliability-aware dynamic weight updates. Moreover, by utilizing cross-modal contrastive learning, we align the "multi-source representation beam semantics" associated with specific beam information to a shared semantic space, thereby enhancing discriminative power and robustness under modal noise and distribution shifts. Experiments on real-world low-altitude UAV datasets show that SaM2B achieves more satisfactory results than baseline methods.
3D Path-Following Guidance via Nonlinear Model Predictive Control for Fixed-Wing Small UAS
Venue: arXiv cs.RO 2025
Year: 2025

This paper presents the design, implementation, and flight test results of two novel 3D path-following guidance algorithms based on nonlinear model predictive control (MPC), with specific application to fixed-wing small uncrewed aircraft systems. To enable MPC, control-augmented modelling and system identification of the RAAVEN small uncrewed aircraft is presented. Two formulations of MPC are then showcased. The first schedules a static reference path rate over the MPC horizon, incentivizing a constant inertial speed. The second, with inspiration from model predictive contouring control, dynamically optimizes for the reference path rate over the controller horizon as the system operates. This allows for a weighted tradeoff between path progression and distance from path, two competing objectives in path-following guidance. Both controllers are formulated to operate over general smooth 3D arc-length parameterized curves. The MPC guidance algorithms are flown over several high-curvature test paths, with comparison to a baseline lookahead guidance law. The results showcase the real-world feasibility and superior performance of nonlinear MPC for 3D path-following guidance at ground speeds up to 36 meters per second.
FedSecureFormer: A Fast, Federated and Secure Transformer Framework for Lightweight Intrusion Detection in Connected and Autonomous Vehicles
Venue: arXiv cs.CR 2025
Year: 2025

This works presents an encoder-only transformer built with minimum layers for intrusion detection in the domain of Connected and Autonomous Vehicles using Federated Learning.
Lifting Vision: Ground to Aerial Localization with Reasoning Guided Planning
Venue: arXiv cs.LG 2025
Year: 2025

Multimodal intelligence development recently show strong progress in visual understanding and high level reasoning. Though, most reasoning system still reply on textual information as the main medium for inference. This limit their effectiveness in spatial tasks such as visual navigation and geo-localization. This work discuss about the potential scope of this field and eventually propose an idea visual reasoning paradigm Geo-Consistent Visual Planning, our introduced framework called Visual Reasoning for Localization, or ViReLoc, which performs planning and localization using only visual representations. The proposed framework learns spatial dependencies and geometric relations that text based reasoning often suffer to understand. By encoding step by step inference in the visual domain and optimizing with reinforcement based objectives, ViReLoc plans routes between two given ground images. The system also integrates contrastive learning and adaptive feature interaction to align cross view perspectives and reduce viewpoint differences. Experiments across diverse navigation and localization scenarios show consistent improvements in spatial reasoning accuracy and cross view retrieval performance. These results establish visual reasoning as a strong complementary approach for navigation and localization, and show that such tasks can be performed without real time global positioning system data, leading to more secure navigation solutions.
AI-Driven Evaluation of Surgical Skill via Action Recognition
Venue: arXiv cs.CV 2025
Year: 2025

The development of effective training and evaluation strategies is critical. Conventional methods for assessing surgical proficiency typically rely on expert supervision, either through onsite observation or retrospective analysis of recorded procedures. However, these approaches are inherently subjective, susceptible to inter-rater variability, and require substantial time and effort from expert surgeons. These demands are often impractical in low- and middle-income countries, thereby limiting the scalability and consistency of such methods across training programs. To address these limitations, we propose a novel AI-driven framework for the automated assessment of microanastomosis performance. The system integrates a video transformer architecture based on TimeSformer, improved with hierarchical temporal attention and weighted spatial attention mechanisms, to achieve accurate action recognition within surgical videos. Fine-grained motion features are then extracted using a YOLO-based object detection and tracking method, allowing for detailed analysis of instrument kinematics. Performance is evaluated along five aspects of microanastomosis skill, including overall action execution, motion quality during procedure-critical actions, and general instrument handling. Experimental validation using a dataset of 58 expert-annotated videos demonstrates the effectiveness of the system, achieving 87.7% frame-level accuracy in action segmentation that increased to 93.62% with post-processing, and an average classification accuracy of 76% in replicating expert assessments across all skill aspects. These findings highlight the system's potential to provide objective, consistent, and interpretable feedback, thereby enabling more standardized, data-driven training and evaluation in surgical education.
Document Data Matching for Blockchain-Supported Real Estate
Venue: arXiv cs.CR 2025
Year: 2025

The real estate sector remains highly dependent on manual document handling and verification, making processes inefficient and prone to fraud. This work presents a system that integrates optical character recognition (OCR), natural language processing (NLP), and verifiable credentials (VCs) to automate document extraction, verification, and management. The approach standardizes heterogeneous document formats into VCs and applies automated data matching to detect inconsistencies, while the blockchain provides a decentralized trust layer that reinforces transparency and integrity. A prototype was developed that comprises (i) an OCR-NLP extraction pipeline trained on synthetic datasets, (ii) a backend for credential issuance and management, and (iii) a frontend supporting issuer, holder, and verifier interactions. Experimental results show that the models achieve competitive accuracy across multiple document types and that the end-to-end pipeline reduces verification time while preserving reliability. The proposed framework demonstrates the potential to streamline real estate transactions, strengthen stakeholder trust, and enable scalable, secure digital processes.
"Game Changer" or "Overenthusiastic Drunk Acquaintance"? Generative AI Use by Blind and Low Vision Software Professionals in the Workplace
Venue: arXiv cs.SE 2025
Year: 2025

The software development workplace poses numerous technical and collaborative accessibility challenges for blind and low vision software professionals (BLVSPs). Though Generative AI (GenAI) is increasingly adopted within the software development industry and has been a rapidly growing topic of interest in research, to date, the unique perspectives of BLVSPs have yet to be consulted. We report on a qualitative study involving 39 semi-structured interviews with BLVSPs about what the introduction of GenAI has meant for their work. We found that BLVSPs used GenAI for many software development tasks, resulting in benefits such as increased productivity and accessibility. However, significant costs were also accompanied by GenAI use as they were more vulnerable to hallucinations than their sighted colleagues. Sometimes, organizational policies prevented use. Based on our findings, we discuss the higher-risks and higher-returns that BLVSPs had to carefully weigh when deciding whether and when to use GenAI tools for work.
Can Small Training Runs Reliably Guide Data Curation? Rethinking Proxy-Model Practice
Venue: arXiv cs.LG 2025
Year: 2025

Data teams at frontier AI companies routinely train small proxy models to make critical decisions about pretraining data recipes for full-scale training runs. However, the community has a limited understanding of whether and when conclusions drawn from small-scale experiments reliably transfer to full-scale model training. In this work, we uncover a subtle yet critical issue in the standard experimental protocol for data recipe assessment: the use of identical small-scale model training configurations across all data recipes in the name of "fair" comparison. We show that the experiment conclusions about data quality can flip with even minor adjustments to training hyperparameters, as the optimal training configuration is inherently data-dependent. Moreover, this fixed-configuration protocol diverges from full-scale model development pipelines, where hyperparameter optimization is a standard step. Consequently, we posit that the objective of data recipe assessment should be to identify the recipe that yields the best performance under data-specific tuning. To mitigate the high cost of hyperparameter tuning, we introduce a simple patch to the evaluation protocol: using reduced learning rates for proxy model training. We show that this approach yields relative performance that strongly correlates with that of fully tuned large-scale LLM pretraining runs. Theoretically, we prove that for random-feature models, this approach preserves the ordering of datasets according to their optimal achievable loss. Empirically, we validate this approach across 23 data recipes covering four critical dimensions of data curation, demonstrating dramatic improvements in the reliability of small-scale experiments.
Localized Calibrated Uncertainty in Code Language Models
Venue: arXiv cs.SE 2025
Year: 2025

Large Language models (LLMs) can generate complicated source code from natural language prompts. However, LLMs can generate output that deviates from what the user wants, requiring supervision and editing. To support this process, we offer techniques to localize where generations might be misaligned from user intent. We first create a dataset of "Minimal Intent Aligning Patches" of repaired LLM generated programs. Each program uses test cases to verify correctness. After creating a dataset of programs, we measure how well various techniques can assign a well-calibrated probability to indicate which parts of code will be edited in a minimal patch (i.e., give a probability that corresponds with empirical odds it is edited). We compare white-box probing (where we propose a technique for efficient arbitrary-span querying), against black-box reflective and self-consistency based approaches. We find probes with a small supervisor model can achieve low calibration error and Brier Skill Score of approx 0.2 estimating edited lines on code generated by models many orders of magnitude larger. We discuss the generalizability of the techniques, and the connections to AI oversight and control, finding a probe trained only on code shows some signs of generalizing to natural language errors if new probability scaling is allowed.
HaluNet: Multi-Granular Uncertainty Modeling for Efficient Hallucination Detection in LLM Question Answering
Venue: arXiv cs.CL 2025
Year: 2025

Large Language Models (LLMs) excel at question answering (QA) but often generate hallucinations, including factual errors or fabricated content. Detecting hallucinations from internal uncertainty signals is attractive due to its scalability and independence from external resources. Existing methods often aim to accurately capture a single type of uncertainty while overlooking the complementarity among different sources, particularly between token-level probability uncertainty and the uncertainty conveyed by internal semantic representations, which provide complementary views on model reliability. We present \textbf{HaluNet}, a lightweight and trainable neural framework that integrates multi granular token level uncertainties by combining semantic embeddings with probabilistic confidence and distributional uncertainty. Its multi branch architecture adaptively fuses what the model knows with the uncertainty expressed in its outputs, enabling efficient one pass hallucination detection. Experiments on SQuAD, TriviaQA, and Natural Questions show that HaluNet delivers strong detection performance and favorable computational efficiency, with or without access to context, highlighting its potential for real time hallucination detection in LLM based QA systems.
Improving Few-Shot Change Detection Visual Question Answering via Decision-Ambiguity-guided Reinforcement Fine-Tuning
Venue: arXiv cs.CV 2025
Year: 2025

Change detection visual question answering (CDVQA) requires answering text queries by reasoning about semantic changes in bi-temporal remote sensing images. A straightforward approach is to boost CDVQA performance with generic vision-language models via supervised fine-tuning (SFT). Despite recent progress, we observe that a significant portion of failures do not stem from clearly incorrect predictions, but from decision ambiguity, where the model assigns similar confidence to the correct answer and strong distractors. To formalize this challenge, we define Decision-Ambiguous Samples (DAS) as instances with a small probability margin between the ground-truth answer and the most competitive alternative. We argue that explicitly optimizing DAS is crucial for improving the discriminability and robustness of CDVQA models. To this end, we propose DARFT, a Decision-Ambiguity-guided Reinforcement Fine-Tuning framework that first mines DAS using an SFT-trained reference policy and then applies group-relative policy optimization on the mined subset. By leveraging multi-sample decoding and intra-group relative advantages, DARFT suppresses strong distractors and sharpens decision boundaries without additional supervision. Extensive experiments demonstrate consistent gains over SFT baselines, particularly under few-shot settings.
Chat-Driven Optimal Management for Virtual Network Services
Venue: arXiv cs.NI 2025
Year: 2025

This paper proposes a chat-driven network management framework that integrates natural language processing (NLP) with optimization-based virtual network allocation, enabling intuitive and reliable reconfiguration of virtual network services. Conventional intent-based networking (IBN) methods depend on statistical language models to interpret user intent but cannot guarantee the feasibility of generated configurations. To overcome this, we develop a two-stage framework consisting of an Interpreter, which extracts intent from natural language prompts using NLP, and an Optimizer, which computes feasible virtual machine (VM) placement and routing via an integer linear programming. In particular, the Interpreter translates user chats into update directions, i.e., whether to increase, decrease, or maintain parameters such as CPU demand and latency bounds, thereby enabling iterative refinement of the network configuration. In this paper, two intent extractors, which are a Sentence-BERT model with support vector machine (SVM) classifiers and a large language model (LLM), are introduced. Experiments in single-user and multi-user settings show that the framework dynamically updates VM placement and routing while preserving feasibility. The LLM-based extractor achieves higher accuracy with fewer labeled samples, whereas the Sentence-BERT with SVM classifiers provides significantly lower latency suitable for real-time operation. These results underscore the effectiveness of combining NLP-driven intent extraction with optimization-based allocation for safe, interpretable, and user-friendly virtual network management.