OpenRaiser/Intern-Atlas huggingface dataset:
ECAM: A Contrastive Learning Approach to Avoid Environmental Collision in Trajectory Forecasting
Venue: arXiv cs.CV 2025
Year: 2025

Human trajectory forecasting is crucial in applications such as autonomous driving, robotics and surveillance. Accurate forecasting requires models to consider various factors, including social interactions, multi-modal predictions, pedestrian intention and environmental context. While existing methods account for these factors, they often overlook the impact of the environment, which leads to collisions with obstacles. This paper introduces ECAM (Environmental Collision Avoidance Module), a contrastive learning-based module to enhance collision avoidance ability with the environment. The proposed module can be integrated into existing trajectory forecasting models, improving their ability to generate collision-free predictions. We evaluate our method on the ETH/UCY dataset and quantitatively and qualitatively demonstrate its collision avoidance capabilities. Our experiments show that state-of-the-art methods significantly reduce (-40/50%) the collision rate when integrated with the proposed module. The code is available at https://github.com/CVML-CFU/ECAM.
Multi-level Value Alignment in Agentic AI Systems: Survey and Perspectives
Venue: arXiv cs.AI 2025
Year: 2025

The ongoing evolution of AI paradigms has propelled AI research into the agentic AI stage. Consequently, the focus of research has shifted from single agents and simple applications towards multi-agent autonomous decision-making and task collaboration in complex environments. As Large Language Models (LLMs) advance, their applications become more diverse and complex, leading to increasing situational and systemic risks. This has brought significant attention to value alignment for agentic AI systems, which aims to ensure that an agent's goals, preferences, and behaviors align with human values and societal norms. Addressing socio-governance demands through a Multi-level Value framework, this study comprehensively reviews value alignment in LLM-based multi-agent systems as the representative archetype of agentic AI systems. Our survey systematically examines three interconnected dimensions: First, value principles are structured via a top-down hierarchy across macro, meso, and micro levels. Second, application scenarios are categorized along a general-to-specific continuum explicitly mirroring these value tiers. Third, value alignment methods and evaluation are mapped to this tiered framework through systematic examination of benchmarking datasets and relevant methodologies. Additionally, we delve into value coordination among multiple agents within agentic AI systems. Finally, we propose several potential research directions in this field.
SyncFed: Time-Aware Federated Learning through Explicit Timestamping and Synchronization
Venue: arXiv cs.LG 2025
Year: 2025

As Federated Learning (FL) expands to larger and more distributed environments, consistency in training is challenged by network-induced delays, clock unsynchronicity, and variability in client updates. This combination of factors may contribute to misaligned contributions that undermine model reliability and convergence. Existing methods like staleness-aware aggregation and model versioning address lagging updates heuristically, yet lack mechanisms to quantify staleness, especially in latency-sensitive and cross-regional deployments. In light of these considerations, we introduce \emph{SyncFed}, a time-aware FL framework that employs explicit synchronization and timestamping to establish a common temporal reference across the system. Staleness is quantified numerically based on exchanged timestamps under the Network Time Protocol (NTP), enabling the server to reason about the relative freshness of client updates and apply temporally informed weighting during aggregation. Our empirical evaluation on a geographically distributed testbed shows that, under \emph{SyncFed}, the global model evolves within a stable temporal context, resulting in improved accuracy and information freshness compared to round-based baselines devoid of temporal semantics.
Wasserstein Hypergraph Neural Network
Venue: arXiv cs.LG 2025
Year: 2025

The ability to model relational information using machine learning has driven advancements across various domains, from medicine to social science. While graph representation learning has become mainstream over the past decade, representing higher-order relationships through hypergraphs is rapidly gaining momentum. In the last few years, numerous hypergraph neural networks have emerged, most of them falling under a two-stage, set-based framework. The messages are sent from nodes to edges and then from edges to nodes. However, most of the advancement still takes inspiration from the graph counterpart, often simplifying the aggregations to basic pooling operations. In this paper we are introducing Wasserstein Hypergraph Neural Network, a model that treats the nodes and hyperedge neighbourhood as distributions and aggregate the information using Sliced Wasserstein Pooling. Unlike conventional aggregators such as mean or sum, which only capture first-order statistics, our approach has the ability to preserve geometric properties like the shape and spread of distributions. This enables the learned embeddings to reflect how easily one hyperedge distribution can be transformed into another, following principles of optimal transport. Experimental results demonstrate that applying Wasserstein pooling in a hypergraph setting significantly benefits node classification tasks, achieving top performance on several real-world datasets.
Adding simple structure at inference improves Vision-Language Compositionality
Venue: arXiv cs.CV 2025
Year: 2025

Dual encoder Vision-Language Models (VLM) such as CLIP are widely used for image-text retrieval tasks. However, those models struggle with compositionality, showing a bag-of-words-like behavior that limits their retrieval performance. Many different training approaches have been proposed to improve the vision-language compositionality capabilities of those models. In comparison, inference-time techniques have received little attention. In this paper, we propose to add simple structure at inference, where, given an image and a caption: i) we divide the image into different smaller crops, ii) we extract text segments, capturing objects, attributes and relations, iii) using a VLM, we find the image crops that better align with text segments obtaining matches, and iv) we compute the final image-text similarity aggregating the individual similarities of the matches. Based on various popular dual encoder VLMs, we evaluate our approach in controlled and natural datasets for VL compositionality. We find that our approach consistently improves the performance of evaluated VLMs without any training, which shows the potential of inference-time techniques. The results are especially good for attribute-object binding as shown in the controlled dataset. As a result of an extensive analysis: i) we show that processing image crops is actually essential for the observed gains in performance, and ii) we identify specific areas to further improve inference-time approaches.
Revisiting Visual Understanding in Multimodal Reasoning through a Lens of Image Perturbation
Venue: arXiv cs.CV 2025
Year: 2025

Despite the rapid progress of multimodal large language models (MLLMs), they have largely overlooked the importance of visual processing. In a simple yet revealing experiment, we interestingly find that language-only models, when provided with image captions, can achieve comparable or even better performance than MLLMs that consume raw visual inputs. This suggests that current MLLMs may generate accurate visual descriptions but fail to effectively integrate them during reasoning. Motivated by this, we propose a simple visual perturbation framework that enhances perceptual robustness without requiring algorithmic modifications or additional training data. Our approach introduces three targeted perturbations: distractor concatenation, dominance-preserving mixup, and random rotation, that can be easily integrated into existing post-training pipelines including SFT, DPO, and GRPO. Through extensive experiments across multiple datasets, we demonstrate consistent improvements in mathematical reasoning performance, with gains comparable to those achieved through algorithmic changes. Additionally, we achieve competitive performance among open-source 7B RL-tuned models by training Qwen2.5-VL-7B with visual perturbation. Through comprehensive ablation studies, we analyze the effectiveness of different perturbation strategies, revealing that each perturbation type contributes uniquely to different aspects of visual reasoning. Our findings highlight the critical role of visual perturbation in multimodal mathematical reasoning: better reasoning begins with better seeing. Our code is available at https://github.com/YutingLi0606/Vision-Matters.
ELBO-T2IAlign: A Generic ELBO-Based Method for Calibrating Pixel-level Text-Image Alignment in Diffusion Models
Venue: arXiv cs.CV 2025
Year: 2025

Diffusion models excel at image generation. Recent studies have shown that these models not only generate high-quality images but also encode text-image alignment information through attention maps or loss functions. This information is valuable for various downstream tasks, including segmentation, text-guided image editing, and compositional image generation. However, current methods heavily rely on the assumption of perfect text-image alignment in diffusion models, which is not the case. In this paper, we propose using zero-shot referring image segmentation as a proxy task to evaluate the pixel-level image and class-level text alignment of popular diffusion models. We conduct an in-depth analysis of pixel-text misalignment in diffusion models from the perspective of training data bias. We find that misalignment occurs in images with small sized, occluded, or rare object classes. Therefore, we propose ELBO-T2IAlign, a simple yet effective method to calibrate pixel-text alignment in diffusion models based on the evidence lower bound (ELBO) of likelihood. Our method is training-free and generic, eliminating the need to identify the specific cause of misalignment and works well across various diffusion model architectures. Extensive experiments on commonly used benchmark datasets on image segmentation and generation have verified the effectiveness of our proposed calibration approach.
Load-Aware Training Scheduling for Model Circulation-based Decentralized Federated Learning
Venue: arXiv cs.LG 2025
Year: 2025

This paper proposes Load-aware Tram-FL, an extension of Tram-FL that introduces a training scheduling mechanism to minimize total training time in decentralized federated learning by accounting for both computational and communication loads. The scheduling problem is formulated as a global optimization task, which-though intractable in its original form-is made solvable by decomposing it into node-wise subproblems. To promote balanced data utilization under non-IID distributions, a variance constraint is introduced, while the overall training latency, including both computation and communication costs, is minimized through the objective function. Simulation results on MNIST and CIFAR-10 demonstrate that Load-aware Tram-FL significantly reduces training time and accelerates convergence compared to baseline methods.
Inverting Black-Box Face Recognition Systems via Zero-Order Optimization in Eigenface Space
Venue: arXiv cs.CV 2025
Year: 2025

Reconstructing facial images from black-box recognition models poses a significant privacy threat. While many methods require access to embeddings, we address the more challenging scenario of model inversion using only similarity scores. This paper introduces DarkerBB, a novel approach that reconstructs color faces by performing zero-order optimization within a PCA-derived eigenface space. Despite this highly limited information, experiments on LFW, AgeDB-30, and CFP-FP benchmarks demonstrate that DarkerBB achieves state-of-the-art verification accuracies in the similarity-only setting, with competitive query efficiency.
ComfyUI-R1: Exploring Reasoning Models for Workflow Generation
Venue: arXiv cs.CL 2025
Year: 2025

AI-generated content has evolved from monolithic models to modular workflows, particularly on platforms like ComfyUI, enabling customization in creative pipelines. However, crafting effective workflows requires great expertise to orchestrate numerous specialized components, presenting a steep learning curve for users. To address this challenge, we introduce ComfyUI-R1, the first large reasoning model for automated workflow generation. Starting with our curated dataset of 4K workflows, we construct long chain-of-thought (CoT) reasoning data, including node selection, workflow planning, and code-level workflow representation. ComfyUI-R1 is trained through a two-stage framework: (1) CoT fine-tuning for cold start, adapting models to the ComfyUI domain; (2) reinforcement learning for incentivizing reasoning capability, guided by a fine-grained rule-metric hybrid reward, ensuring format validity, structural integrity, and node-level fidelity. Experiments show that our 7B-parameter model achieves a 97\% format validity rate, along with high pass rate, node-level and graph-level F1 scores, significantly surpassing prior state-of-the-art methods that employ leading closed-source models such as GPT-4o and Claude series. Further analysis highlights the critical role of the reasoning process and the advantage of transforming workflows into code. Qualitative comparison reveals our strength in synthesizing intricate workflows with diverse nodes, underscoring the potential of long CoT reasoning in AI art creation.
Learning Quality from Complexity and Structure: A Feature-Fused XGBoost Model for Video Quality Assessment
Venue: arXiv cs.MM 2025
Year: 2025

This paper presents a novel approach for reduced-reference video quality assessment (VQA), developed as part of the recent VQA Grand Challenge. Our method leverages low-level complexity and structural information from reference and test videos to predict perceptual quality scores. Specifically, we extract spatio-temporal features using Video Complexity Analyzer (VCA) and compute SSIM values from the test video to capture both texture and structural characteristics. These features are aggregated through temporal pooling, and residual features are calculated by comparing the original and distorted feature sets. The combined features are used to train an XGBoost regression model that estimates the overall video quality. The pipeline is fully automated, interpretable, and highly scalable, requiring no deep neural networks or GPU inference. Experimental results on the challenge dataset demonstrate that our proposed method achieves competitive correlation with subjective quality scores while maintaining a low computational footprint. The model's lightweight design and strong generalization performance suit real-time streaming quality monitoring and adaptive encoding scenarios.
Physical Layer-Based Device Fingerprinting for Wireless Security: From Theory to Practice
Venue: arXiv cs.CR 2025
Year: 2025

The identification of the devices from which a message is received is part of security mechanisms to ensure authentication in wireless communications. Conventional authentication approaches are cryptography-based, which, however, are usually computationally expensive and not adequate in the Internet of Things (IoT), where devices tend to be low-cost and with limited resources. This paper provides a comprehensive survey of physical layer-based device fingerprinting, which is an emerging device authentication for wireless security. In particular, this article focuses on hardware impairment-based identity authentication and channel features-based authentication. They are passive techniques that are readily applicable to legacy IoT devices. Their intrinsic hardware and channel features, algorithm design methodologies, application scenarios, and key research questions are extensively reviewed here. The remaining research challenges are discussed, and future work is suggested that can further enhance the physical layer-based device fingerprinting.
Virtualizing RAN: Science, Strategy, and Architecture of Software-Defined Mobile Networks
Venue: arXiv cs.NI 2025
Year: 2025

Virtualizing the Radio-Access Network (RAN) is increasingly viewed as an enabler of affordable 5G expansion and a stepping-stone toward AI-native 6G. Most discussions, however, still approach spectrum policy, cloud engineering and organizational practice as separate topics. This paper offers an integrated perspective spanning four pillars -- science, technology, business strategy and culture. A comparative U.S.\ case study illustrates how mid-band contiguity, complemented by selective mmWave capacity layers, can improve both coverage and churn when orchestrated through software-defined carrier aggregation. We derive analytic capacity and latency bounds for Split 7.2 $\times$ vRAN/O-RAN deployments, quantify the throughput penalty of end-to-end 256-bit encryption, and show how GPU/FPGA off-load plus digital-twin-driven automation keeps the hybrid-automatic-repeat request (HARQ) round-trip within a 0.5 ms budget. When these technical enablers are embedded in a physics-first delivery roadmap, average vRAN cycle time drops an order of magnitude -- even in the presence of cultural head-winds such as dual-ladder'' erosion. Three cybernetic templates -- the Clock-Hierarchy Law, Ashby's Requisite Variety and a delay-cost curve -- are then used to explain why silo-constrained automation can amplify, rather than absorb, integration debt. Looking forward, silicon-paced 6G evolution (9-12 month node shrinks, sub-THz joint communication-and-sensing, chiplet architectures and optical I/O) calls for a dual-resolution planning grid that couples five-year spectrum physics with six-month silicon sprints.'' The paper closes with balanced, action-oriented recommendations for operators, vendors and researchers on sub-THz fronthaul, AI-native security, energy-proportional accelerators and zero-touch assurance.
Discrete Scale-invariant Metric Learning for Efficient Collaborative Filtering
Venue: arXiv cs.IR 2025
Year: 2025

Metric learning has attracted extensive interest for its ability to provide personalized recommendations based on the importance of observed user-item interactions. Current metric learning methods aim to push negative items away from the corresponding users and positive items by an absolute geometrical distance margin. However, items may come from imbalanced categories with different intra-class variations. Thus, the absolute distance margin may not be ideal for estimating the difference between user preferences over imbalanced items. To this end, we propose a new method, named discrete scale-invariant metric learning (DSIML), by adding binary constraints to users and items, which maps users and items into binary codes of a shared Hamming subspace to speed up the online recommendation. Specifically, we firstly propose a scale-invariant margin based on angles at the negative item points in the shared Hamming subspace. Then, we derive a scale-invariant triple hinge loss based on the margin. To capture more preference difference information, we integrate a pairwise ranking loss into the scale-invariant loss in the proposed model. Due to the difficulty of directly optimizing the mixed integer optimization problem formulated with \textit{log-sum-exp} functions, we seek to optimize its variational quadratic upper bound and learn hash codes with an alternating optimization strategy. Experiments on benchmark datasets clearly show that our proposed method is superior to competitive metric learning and hashing-based baselines for recommender systems.
Assessing a Safety Case: Bottom-up Guidance for Claims and Evidence Evaluation
Venue: arXiv cs.SE 2025
Year: 2025

As Automated Driving Systems (ADS) technology advances, ensuring safety and public trust requires robust assurance frameworks, with safety cases emerging as a critical tool toward such a goal. This paper explores an approach to assess how a safety case is supported by its claims and evidence, toward establishing credibility for the overall case. Starting from a description of the building blocks of a safety case (claims, evidence, and optional format-dependent entries), this paper delves into the assessment of support of each claim through the provided evidence. Two domains of assessment are outlined for each claim: procedural support (formalizing process specification) and implementation support (demonstrating process application). Additionally, an assessment of evidence status is also undertaken, independently from the claims support. Scoring strategies and evaluation guidelines are provided, including detailed scoring tables for claim support and evidence status assessment. The paper further discusses governance, continual improvement, and timing considerations for safety case assessments. Reporting of results and findings is contextualized within its primary use for internal decision-making on continual improvement efforts. The presented approach builds on state of the art auditing practices, but specifically tackles the question of judging the credibility of a safety case. While not conclusive on its own, it provides a starting point toward a comprehensive "Case Credibility Assessment" (CCA), starting from the evaluation of the support for each claim (individually and in aggregate), as well as every piece of evidence provided. By delving into the technical intricacies of ADS safety cases, this work contributes to the ongoing discourse on safety assurance and aims to facilitate the responsible integration of ADS technology into society.
LEO-VL: Efficient Scene Representation for Scalable 3D Vision-Language Learning
Venue: arXiv cs.CV 2025
Year: 2025

Developing vision-language models (VLMs) capable of understanding 3D scenes has been a longstanding goal in the 3D-VL community. Despite recent progress, 3D VLMs still fall short of their 2D counterparts in capability and robustness. A key bottleneck is that current scene representations struggle to balance performance and efficiency: competitive performance comes at the cost of heavy token overhead, which in turn hampers the scalability of 3D-VL learning. To address this, we propose the condensed feature grid (CFG), an efficient scene representation featuring significantly reduced token overhead and strong perception capability. Building on CFG, we introduce LEO-VL, a 3D VLM trained on 700k 3D-VL data spanning four real-world indoor domains and five tasks such as captioning and dialogue. To enhance the robustness of 3D VLM, we further propose SceneDPO for post-training, which involves contrasts across answers and scenes. LEO-VL achieves state-of-the-art performance on various 3D QA benchmarks, including SQA3D, MSQA, and Beacon3D. Our extensive experiments highlight the efficiency of our representation, the benefit of task and scene diversity, consistent scaling effects, and the advantages of SceneDPO compared to SFT and GRPO. We hope our findings advance the efficiency, scalability, and robustness of future 3D VLMs.