OpenRaiser/Intern-Atlas huggingface dataset:
Source-Only Cross-Weather LiDAR via Geometry-Aware Point Drop
Venue: arXiv cs.CV 2025
Year: 2025

LiDAR semantic segmentation degrades in adverse weather because refraction, scattering, and point dropouts corrupt geometry. Prior work in weather simulation, mixing-based augmentation, domain randomization, and uncertainty or boundary regularization improves robustness but still overlooks structural vulnerabilities near boundaries, corners, and sparse regions. We present a Light Geometry-aware adapter. The module aligns azimuth and applies horizontal circular padding to preserve neighbor continuity across the 0~360 degree wrap-around boundary. A local-window K-Nearest Neighbors gathers nearby points and computes simple local statistics, which are compressed into compact geometry-aware cues. During training, these cues drive region-aware regularization that stabilizes predictions in structurally fragile areas. The adapter is plug and play, complements augmentation, and can be enabled only during training with negligible inference cost. We adopt a source-only cross-weather setup where models train on SemanticKITTI and are evaluated on SemanticSTF without target labels or fine-tuning. The adapter improves mIoU by 7.9 percentage points over the data-centric augmentation baseline and by 0.6 points over the class-centric regularization baseline. These results indicate that geometry-driven regularization is a key direction for all-weather LiDAR segmentation.
Lyapunov Stability Learning with Nonlinear Control via Inductive Biases
Venue: arXiv cs.LG 2025
Year: 2025

Finding a control Lyapunov function (CLF) in a dynamical system with a controller is an effective way to guarantee stability, which is a crucial issue in safety-concerned applications. Recently, deep learning models representing CLFs have been applied into a learner-verifier framework to identify satisfiable candidates. However, the learner treats Lyapunov conditions as complex constraints for optimisation, which is hard to achieve global convergence. It is also too complicated to implement these Lyapunov conditions for verification. To improve this framework, we treat Lyapunov conditions as inductive biases and design a neural CLF and a CLF-based controller guided by this knowledge. This design enables a stable optimisation process with limited constraints, and allows end-to-end learning of both the CLF and the controller. Our approach achieves a higher convergence rate and larger region of attraction (ROA) in learning the CLF compared to existing methods among abundant experiment cases. We also thoroughly reveal why the success rate decreases with previous methods during learning.
Several classes of three-weight or four-weight linear codes
Venue: arXiv cs.IT 2025
Year: 2025

In this manuscript, we construct a class of projective three-weight linear codes and two classes of projective four-weight linear codes over F2 from the defining sets construction, and determine their weight distributions by using additive characters. Especially, the projective three-weight linear code and one class of projective four-weight linear codes (Theorem 4.1) can be applied in secret sharing schemes.
Model to Model: Understanding the Venus Flytrap Snapping Mechanism and Transferring it to a 3D-printed Bistable Soft Robotic Demonstrator
Venue: arXiv cs.RO 2025
Year: 2025

The Venus flytrap (Dionaea muscipula) does not only serve as the textbook model for a carnivorous plant, but also has long intrigued both botanists and engineers with its rapidly closing leaf trap. The trap closure is triggered by two consecutive touches of a potential prey, after which the lobes rapidly switch from their concave open-state to their convex close-state and catch the prey within 100-500 ms after being triggered. This transformation from concave to convex is initiated by changes in turgor pressure and the release of stored elastic energy from prestresses in the concave state, which accelerate this movement, leading to inversion of the lobes bi-axial curvature. Possessing two low-energy states, the leaves can be characterized as bistable systems. With our research, we seek to deepen the understanding of Venus flytrap motion mechanics and apply its principles to the design of an artificial bistable lobe actuator. We identified geometrical characteristics, such as dimensional ratios and the thickness gradient in the lobe, and transferred these to two 3D-printed bistable actuator models. One actuator parallels the simulated geometry of a Venus flytrap leaf, the other is a lobe model designed with CAD. Both models display concave-convex bi-stability and snap close. These demonstrators are the first step in the development of an artificial Venus flytrap that mimics the mechanical behavior of the biological model and can be used as a soft fast gripper.
Lateral Velocity Model for Vehicle Parking Applications
Venue: arXiv cs.RO 2025
Year: 2025

Automated parking requires accurate localization for quick and precise maneuvering in tight spaces. While the longitudinal velocity can be measured using wheel encoders, the estimation of the lateral velocity remains a key challenge due to the absence of dedicated sensors in consumer-grade vehicles. Existing approaches often rely on simplified vehicle models, such as the zero-slip model, which assumes no lateral velocity at the rear axle. It is well established that this assumption does not hold during low-speed driving and researchers thus introduce additional heuristics to account for differences. In this work, we analyze real-world data from parking scenarios and identify a systematic deviation from the zero-slip assumption. We provide explanations for the observed effects and then propose a lateral velocity model that better captures the lateral dynamics of the vehicle during parking. The model improves estimation accuracy, while relying on only two parameters, making it well-suited for integration into consumer-grade applications.
3D Gaussian Radiation Field Modeling for Integrated RIS-FAS Systems: Analysis and Optimization
Venue: arXiv cs.NI 2025
Year: 2025

The integration of reconfigurable intelligent surfaces (RIS) and fluid antenna systems (FAS) has attracted considerable attention due to its tremendous potential in enhancing wireless communication performance. However, under fast-fading channel conditions, rapidly and effectively performing joint optimization of the antenna positions in an FAS system and the RIS phase configuration remains a critical challenge. Traditional optimization methods typically rely on complex iterative computations, thus making it challenging to obtain optimal solutions in real time within dynamic channel environments. To address this issue, this paper introduces a field information-driven optimization method based on three-dimensional Gaussian radiation-field modeling for real-time optimization of integrated FAS-RIS systems. In the proposed approach, obstacles are treated as virtual transmitters and, by separately learning the amplitude and phase variations, the model can quickly generate high-precision channel information based on the transmitter's position. This design eliminates the need for extensive pilot overhead and cumbersome computations. On this framework, an alternating optimization scheme is presented to jointly optimize the FAS position and the RIS phase configuration. Simulation results demonstrate that the proposed method significantly outperforms existing approaches in terms of spectrum prediction accuracy, convergence speed, and minimum achievable rate, validating its effectiveness and practicality in fast-fading scenarios.
Semantic BIM enrichment for firefighting assets: Fire-ART dataset and panoramic image-based 3D reconstruction
Venue: arXiv cs.CV 2025
Year: 2025

Inventory management of firefighting assets is crucial for emergency preparedness, risk assessment, and on-site fire response. However, conventional methods are inefficient due to limited capabilities in automated asset recognition and reconstruction. To address the challenge, this research introduces the Fire-ART dataset and develops a panoramic image-based reconstruction approach for semantic enrichment of firefighting assets into BIM models. The Fire-ART dataset covers 15 fundamental assets, comprising 2,626 images and 6,627 instances, making it an extensive and publicly accessible dataset for asset recognition. In addition, the reconstruction approach integrates modified cube-map conversion and radius-based spherical camera projection to enhance recognition and localization accuracy. Through validations with two real-world case studies, the proposed approach achieves F1-scores of 73% and 88% and localization errors of 0.620 and 0.428 meters, respectively. The Fire-ART dataset and the reconstruction approach offer valuable resources and robust technical solutions to enhance the accurate digital management of fire safety equipment.
Modulation of temporal decision-making in a deep reinforcement learning agent under the dual-task paradigm
Venue: arXiv cs.AI 2025
Year: 2025

This study explores the interference in temporal processing within a dual-task paradigm from an artificial intelligence (AI) perspective. In this context, the dual-task setup is implemented as a simplified version of the Overcooked environment with two variations, single task (T) and dual task (T+N). Both variations involve an embedded time production task, but the dual task (T+N) additionally involves a concurrent number comparison task. Two deep reinforcement learning (DRL) agents were separately trained for each of these tasks. These agents exhibited emergent behavior consistent with human timing research. Specifically, the dual task (T+N) agent exhibited significant overproduction of time relative to its single task (T) counterpart. This result was consistent across four target durations. Preliminary analysis of neural dynamics in the agents' LSTM layers did not reveal any clear evidence of a dedicated or intrinsic timer. Hence, further investigation is needed to better understand the underlying time-keeping mechanisms of the agents and to provide insights into the observed behavioral patterns. This study is a small step towards exploring parallels between emergent DRL behavior and behavior observed in biological systems in order to facilitate a better understanding of both.
Terrain-Enhanced Resolution-aware Refinement Attention for Off-Road Segmentation
Venue: arXiv cs.CV 2025
Year: 2025

Off-road semantic segmentation suffers from thick, inconsistent boundaries, sparse supervision for rare classes, and pervasive label noise. Designs that fuse only at low resolution blur edges and propagate local errors, whereas maintaining high-resolution pathways or repeating high-resolution fusions is costly and fragile to noise. We introduce a resolutionaware token decoder that balances global semantics, local consistency, and boundary fidelity under imperfect supervision. Most computation occurs at a low-resolution bottleneck; a gated cross-attention injects fine-scale detail, and only a sparse, uncertainty-selected set of pixels is refined. The components are co-designed and tightly integrated: global self-attention with lightweight dilated depthwise refinement restores local coherence; a gated cross-attention integrates fine-scale features from a standard high-resolution encoder stream without amplifying noise; and a class-aware point refinement corrects residual ambiguities with negligible overhead. During training, we add a boundary-band consistency regularizer that encourages coherent predictions in a thin neighborhood around annotated edges, with no inference-time cost. Overall, the results indicate competitive performance and improved stability across transitions.
Reforming research funding: Combining editorial preregistration with grant peer review
Venue: arXiv cs.DL 2025
Year: 2025

Competitive grant funding is associated with high costs and a potential bias to favor conservative research. This comment proposes integrating editorial preregistration, in the form of registered reports, into grant peer review processes as a reform strategy. Linking funding decisions to in principle accepted study protocols would reduce reviewer burden, strengthen methodological rigor, and provide an institutional foundation for (more) replication, theory driven research, and high risk research. Our proposal also minimizes strategic proposal writing and ensures scholarly output through the publication of preregistered protocols, regardless of funding outcomes. Possible implementation models include direct coupling of journal acceptance with funding, co review mechanisms, voucher systems, and lotteries. While challenges remain in aligning journal and funding agency procedures, the integration of preregistration and funding offers a promising pathway toward a more transparent and efficient research ecosystem.
Efficiently Training A Flat Neural Network Before It has been Quantizated
Venue: arXiv cs.CV 2025
Year: 2025

Post-training quantization (PTQ) for vision transformers (ViTs) has garnered significant attention due to its efficiency in compressing models. However, existing methods typically overlook the relationship between a well-trained NN and the quantized model, leading to considerable quantization error for PTQ. However, it is unclear how to efficiently train a model-agnostic neural network which is tailored for a predefined precision low-bit model. In this paper, we firstly discover that a flat full precision neural network is crucial for low-bit quantization. To achieve this, we propose a framework that proactively pre-conditions the model by measuring and disentangling the error sources. Specifically, both the Activation Quantization Error (AQE) and the Weight Quantization Error (WQE) are statistically modeled as independent Gaussian noises. We study several noise injection optimization methods to obtain a flat minimum. Experimental results attest to the effectiveness of our approach. These results open novel pathways for obtaining low-bit PTQ models.
MO-SeGMan: Rearrangement Planning Framework for Multi Objective Sequential and Guided Manipulation in Constrained Environments
Venue: arXiv cs.RO 2025
Year: 2025

In this work, we introduce MO-SeGMan, a Multi-Objective Sequential and Guided Manipulation planner for highly constrained rearrangement problems. MO-SeGMan generates object placement sequences that minimize both replanning per object and robot travel distance while preserving critical dependency structures with a lazy evaluation method. To address highly cluttered, non-monotone scenarios, we propose a Selective Guided Forward Search (SGFS) that efficiently relocates only critical obstacles and to feasible relocation points. Furthermore, we adopt a refinement method for adaptive subgoal selection to eliminate unnecessary pick-and-place actions, thereby improving overall solution quality. Extensive evaluations on nine benchmark rearrangement tasks demonstrate that MO-SeGMan generates feasible motion plans in all cases, consistently achieving faster solution times and superior solution quality compared to the baselines. These results highlight the robustness and scalability of the proposed framework for complex rearrangement planning problems.
PCD-ReID: Occluded Person Re-Identification for Base Station Inspection
Venue: arXiv cs.CV 2025
Year: 2025

Occluded pedestrian re-identification (ReID) in base station environments is a critical task in computer vision, particularly for surveillance and security applications. This task faces numerous challenges, as occlusions often obscure key body features, increasing the complexity of identification. Traditional ResNet-based ReID algorithms often fail to address occlusions effectively, necessitating new ReID methods. We propose the PCD-ReID (Pedestrian Component Discrepancy) algorithm to address these issues. The contributions of this work are as follows: To tackle the occlusion problem, we design a Transformer-based PCD network capable of extracting shared component features, such as helmets and uniforms. To mitigate overfitting on public datasets, we collected new real-world patrol surveillance images for model training, covering six months, 10,000 individuals, and over 50,000 images. Comparative experiments with existing ReID algorithms demonstrate that our model achieves a mean Average Precision (mAP) of 79.0% and a Rank-1 accuracy of 82.7%, marking a 15.9% Rank-1 improvement over ResNet50-based methods. Experimental evaluations indicate that PCD-ReID effectively achieves occlusion-aware ReID performance for personnel in tower inspection scenarios, highlighting its potential for practical deployment in surveillance and security applications.
Real-time Continual Learning on Intel Loihi 2
Venue: arXiv cs.LG 2025
Year: 2025

AI systems on edge devices face a critical challenge in open-world environments: adapting when data distributions shift and novel classes emerge. While offline training dominates current paradigms, online continual learning (OCL)--where models learn incrementally from non-stationary streams without catastrophic forgetting--remains challenging in power-constrained settings. We present a neuromorphic solution called CLP-SNN: a spiking neural network architecture for Continually Learning Prototypes and its implementation on Intel's Loihi 2 chip. Our approach introduces three innovations: (1) event-driven and spatiotemporally sparse local learning, (2) a self-normalizing three-factor learning rule maintaining weight normalization, and (3) integrated neurogenesis and metaplasticity for capacity expansion and forgetting mitigation. On OpenLORIS few-shot learning experiments, CLP-SNN achieves accuracy competitive with replay methods while being rehearsal-free. CLP-SNN delivers transformative efficiency gains: 70\times faster (0.33ms vs 23.2ms), and 5,600\times more energy efficient (0.05mJ vs 281mJ) than the best alternative OCL on edge GPU. This demonstrates that co-designed brain-inspired algorithms and neuromorphic hardware can break traditional accuracy-efficiency trade-offs for future edge AI systems.
PixelVLA: Advancing Pixel-level Understanding in Vision-Language-Action Model
Venue: arXiv cs.CV 2025
Year: 2025

Vision-Language-Action models (VLAs) are emerging as powerful tools for learning generalizable visuomotor control policies. However, current VLAs are mostly trained on large-scale image-text-action data and remain limited in two key ways: (i) they struggle with pixel-level scene understanding, and (ii) they rely heavily on textual prompts, which reduces their flexibility in real-world settings. To address these challenges, we introduce PixelVLA, the first VLA model designed to support both pixel-level reasoning and multimodal prompting with text and visual inputs. Our approach is built on a new visuomotor instruction tuning framework that integrates a multiscale pixel-aware encoder with a visual prompting encoder. To train PixelVLA effectively, we further propose a two-stage automated annotation pipeline that generates Pixel-160K, a large-scale dataset with pixel-level annotations derived from existing robot data. Experiments on three standard VLA benchmarks and two VLA model variants show that PixelVLA improves manipulation success rates by 10.1%-17.8% over OpenVLA, while requiring only 1.5% of its pretraining cost. These results demonstrate that PixelVLA can be integrated into existing VLAs to enable more accurate, efficient, and versatile robot control in complex environments. The dataset and code will be released as open source.
Generative Adversarial Synthesis and Deep Feature Discrimination of Brain Tumor MRI Images
Venue: arXiv cs.CV 2025
Year: 2025

Compared to traditional methods, Deep Learning (DL) becomes a key technology for computer vision tasks. Synthetic data generation is an interesting use case for DL, especially in the field of medical imaging such as Magnetic Resonance Imaging (MRI). The need for this task since the original MRI data is limited. The generation of realistic medical images is completely difficult and challenging. Generative Adversarial Networks (GANs) are useful for creating synthetic medical images. In this paper, we propose a DL based methodology for creating synthetic MRI data using the Deep Convolutional Generative Adversarial Network (DC-GAN) to address the problem of limited data. We also employ a Convolutional Neural Network (CNN) classifier to classify the brain tumor using synthetic data and real MRI data. CNN is used to evaluate the quality and utility of the synthetic images. The classification result demonstrates comparable performance on real and synthetic images, which validates the effectiveness of GAN-generated images for downstream tasks.
Vote-in-Context: Turning VLMs into Zero-Shot Rank Fusers
Venue: arXiv cs.CV 2025
Year: 2025

In the retrieval domain, candidates' fusion from heterogeneous retrievers is a long-standing challenge, particularly for complex, multi-modal data such as videos. While typical fusion techniques are training-free, they rely solely on rank or score signals, disregarding candidates' representations. This work introduces Vote-in-Context (ViC), a generalized, training-free framework that re-thinks list-wise reranking and fusion as a zero-shot reasoning task for a Vision-Language Model (VLM). The core insight is to serialize both content evidence and retriever metadata directly within the VLM's prompt, allowing the model to adaptively weigh retriever consensus against visual-linguistic content. We demonstrate the generality of this framework by applying it to the challenging domain of cross-modal video retrieval. To this end, we introduce the S-Grid, a compact serialization map that represents each video as an image grid, optionally paired with subtitles to enable list-wise reasoning over video candidates. ViC is evaluated both as a single-list reranker, where it dramatically improves the precision of individual retrievers, and as an ensemble fuser, where it consistently outperforms strong baselines like CombSUM. Across video retrieval benchmarks including ActivityNet and VATEX, the framework establishes new state-of-the-art zero-shot retrieval performance, demonstrating its effectiveness in handling complex visual and temporal signals alongside text. In zero-shot settings, ViC achieves Recall@1 scores of 87.1% (t2v) / 89.0% (v2t) on MSR-VTT and 99.6% (v2t) on VATEX, representing massive gains of up to +40 Recall@1 over previous state-of-the-art baselines. We present ViC as a simple, reproducible, and highly effective recipe for turning modern VLMs into powerful zero-shot rerankers and fusers. Code and resources are publicly available at: https://github.com/mohammad2012191/ViC
ParlaSpeech 3.0: Richly Annotated Spoken Parliamentary Corpora of Croatian, Czech, Polish, and Serbian
Venue: arXiv cs.CL 2025
Year: 2025

ParlaSpeech is a collection of spoken parliamentary corpora currently spanning four Slavic languages - Croatian, Czech, Polish and Serbian - all together 6 thousand hours in size. The corpora were built in an automatic fashion from the ParlaMint transcripts and their corresponding metadata, which were aligned to the speech recordings of each corresponding parliament. In this release of the dataset, each of the corpora is significantly enriched with various automatic annotation layers. The textual modality of all four corpora has been enriched with linguistic annotations and sentiment predictions. Similar to that, their spoken modality has been automatically enriched with occurrences of filled pauses, the most frequent disfluency in typical speech. Two out of the four languages have been additionally enriched with detailed word- and grapheme-level alignments, and the automatic annotation of the position of primary stress in multisyllabic words. With these enrichments, the usefulness of the underlying corpora has been drastically increased for downstream research across multiple disciplines, which we showcase through an analysis of acoustic correlates of sentiment. All the corpora are made available for download in JSONL and TextGrid formats, as well as for search through a concordancer.