OpenRaiser/Intern-Atlas huggingface dataset:
The enshittification of online search? Privacy and quality of Google, Bing and Apple in coding advice
Venue: arXiv cs.CY 2025
Year: 2025

Even though currently being challenged by ChatGPT and other large-language models (LLMs), Google Search remains one of the primary means for many individuals to find information on the internet. Interestingly, the way that we retrieve information on the web has hardly changed ever since Google was established in 1998, raising concerns as to Google's dominance in search and lack of competition. If the market for search was sufficiently competitive, then we should probably see a steady increase in search quality over time as well as alternative approaches to the Google's approach to search. However, hardly any research has so far looked at search quality, which is a key facet of a competitive market, especially not over time. In this report, we conducted a relatively large-scale quantitative comparison of search quality of 1,467 search queries relating to coding advice in October 2023. We focus on coding advice because the study of general search quality is difficult, with the aim of learning more about the assessment of search quality and motivating follow-up research into this important topic. We evaluate the search quality of Google Search, Microsoft Bing, and Apple Search, with a special emphasis on Apple Search, a widely used search engine that has never been explored in previous research. For the assessment of search quality, we use two independent metrics of search quality: 1) the number of trackers on the first search result, as a measure of privacy in web search, and 2) the average rank of the first Stack Overflow search result, under the assumption that Stack Overflow gives the best coding advice. Our results suggest that the privacy of search results is higher on Bing than on Google and Apple. Similarly, the quality of coding advice -- as measured by the average rank of Stack Overflow -- was highest on Bing.
IM HERE: Interaction Model for Human Effort Based Robot Engagement
Venue: arXiv cs.RO 2025
Year: 2025

The effectiveness of human-robot interaction often hinges on the ability to cultivate engagement - a dynamic process of cognitive involvement that supports meaningful exchanges. Many existing definitions and models of engagement are either too vague or lack the ability to generalize across different contexts. We introduce IM HERE, a novel framework that models engagement effectively in human-human, human-robot, and robot-robot interactions. By employing an effort-based description of bilateral relationships between entities, we provide an accurate breakdown of relationship patterns, simplifying them to focus placement and four key states. This framework captures mutual relationships, group behaviors, and actions conforming to social norms, translating them into specific directives for autonomous systems. By integrating both subjective perceptions and objective states, the model precisely identifies and describes miscommunication. The primary objective of this paper is to automate the analysis, modeling, and description of social behavior, and to determine how autonomous systems can behave in accordance with social norms for full social integration while simultaneously pursuing their own social goals.
Lean Unet: A Compact Model for Image Segmentation
Venue: arXiv cs.CV 2025
Year: 2025

Unet and its variations have been standard in semantic image segmentation, especially for computer assisted radiology. Current Unet architectures iteratively downsample spatial resolution while increasing channel dimensions to preserve information content. Such a structure demands a large memory footprint, limiting training batch sizes and increasing inference latency. Channel pruning compresses Unet architecture without accuracy loss, but requires lengthy optimization and may not generalize across tasks and datasets. By investigating Unet pruning, we hypothesize that the final structure is the crucial factor, not the channel selection strategy of pruning. Based on our observations, we propose a lean Unet architecture (LUnet) with a compact, flat hierarchy where channels are not doubled as resolution is halved. We evaluate on a public MRI dataset allowing comparable reporting, as well as on two internal CT datasets. We show that a state-of-the-art pruning solution (STAMP) mainly prunes from the layers with the highest number of channels. Comparatively, simply eliminating a random channel at the pruning-identified layer or at the largest layer achieves similar or better performance. Our proposed LUnet with fixed architectures and over 30 times fewer parameters achieves performance comparable to both conventional Unet counterparts and data-adaptively pruned networks. The proposed lean Unet with constant channel count across layers requires far fewer parameters while achieving performance superior to standard Unet for the same total number of parameters. Skip connections allow Unet bottleneck channels to be largely reduced, unlike standard encoder-decoder architectures requiring increased bottleneck channels for information propagation.
Adhera: A Human-Centered Health Informatics Solution for Reducing Informal Caregiver Burden through Improved Medication Adherence
Venue: arXiv cs.HC 2025
Year: 2025

The growing global population of older adults, combined with ongoing healthcare workforce shortages, has increased reliance on informal caregivers, including family members and friends who provide unpaid support to individuals with chronic illnesses. Among their daily responsibilities, medication management remains one of the most demanding and error-prone tasks. Non-adherence to prescribed regimens not only undermines patient outcomes but also intensifies caregiver stress, anxiety, and fatigue. Although digital health technologies have proliferated to address adherence, most solutions focus exclusively on patients and neglect the informational and emotional needs of caregivers. This paper introduces Adhera, a caregiver-inclusive health informatics system designed to support medication adherence while reducing caregiver burden. Using a mixed-methods research design that included fifteen semi-structured caregiver interviews, sixty-five survey responses, and five pharmacist consultations, this study identified three primary challenges: caregiver stress related to uncertainty about medication intake, fragmented communication with healthcare professionals, and distrust in existing digital tools. Informed by the CeHRes Roadmap 2.0 and the Triple Bottom Line by Design and Culture (TBLD+C) framework, as well as recent co-design studies involving caregivers, Adhera integrates a sensor-equipped smart pill organizer with a mobile companion application that records intake events, sends real-time reminders, and provides caregivers with synchronized adherence data. Preliminary evaluation suggests that Adhera enhances visibility, improves caregiver confidence, and streamlines medication routines. This study contributes to the field of health informatics by demonstrating how human-centered design and collaborative frameworks can align technical innovation with empathy-driven care.
Automatic Attack Discovery for Few-Shot Class-Incremental Learning via Large Language Models
Venue: arXiv cs.LG 2025
Year: 2025

Few-shot class incremental learning (FSCIL) is a more realistic and challenging paradigm in continual learning to incrementally learn unseen classes and overcome catastrophic forgetting on base classes with only a few training examples. Previous efforts have primarily centered around studying more effective FSCIL approaches. By contrast, less attention was devoted to thinking the security issues in contributing to FSCIL. This paper aims to provide a holistic study of the impact of attacks on FSCIL. We first derive insights by systematically exploring how human expert-designed attack methods (i.e., PGD, FGSM) affect FSCIL. We find that those methods either fail to attack base classes, or suffer from huge labor costs due to relying on huge expert knowledge. This highlights the need to craft a specialized attack method for FSCIL. Grounded in these insights, in this paper, we propose a simple yet effective ACraft method to automatically steer and discover optimal attack methods targeted at FSCIL by leveraging Large Language Models (LLMs) without human experts. Moreover, to improve the reasoning between LLMs and FSCIL, we introduce a novel Proximal Policy Optimization (PPO) based reinforcement learning to optimize learning, making LLMs generate better attack methods in the next generation by establishing positive feedback. Experiments on mainstream benchmarks show that our ACraft significantly degrades the performance of state-of-the-art FSCIL methods and dramatically beyond human expert-designed attack methods while maintaining the lowest costs of attack.
A Modular Architecture Design for Autonomous Driving Racing in Controlled Environments
Venue: arXiv cs.RO 2025
Year: 2025

This paper presents an Autonomous System (AS) architecture for vehicles in a closed circuit. The AS performs precision tasks including computer vision for environment perception, positioning and mapping for accurate localization, path planning for optimal trajectory generation, and control for precise vehicle actuation. Each subsystem operates independently while connecting data through a cohesive pipeline architecture. The system implements a modular design that combines state-of-the-art technologies for real-time autonomous navigation in controlled environments.
Parameter efficient hybrid spiking-quantum convolutional neural network with surrogate gradient and quantum data-reupload
Venue: arXiv cs.NE 2025
Year: 2025

The rapid advancement of artificial intelligence (AI) and deep learning (DL) has catalyzed the emergence of several optimization-driven subfields, notably neuromorphic computing and quantum machine learning. Leveraging the differentiable nature of hybrid models, researchers have explored their potential to address complex problems through unified optimization strategies. One such development is the Spiking Quantum Neural Network (SQNN), which combines principles from spiking neural networks (SNNs) and quantum computing. However, existing SQNN implementations often depend on pretrained SNNs due to the non-differentiable nature of spiking activity and the limited scalability of current SNN encoders. In this work, we propose a novel architecture, Spiking-Quantum Data Re-upload Convolutional Neural Network (SQDR-CNN), that enables joint training of convolutional SNNs and quantum circuits within a single backpropagation framework. Unlike its predecessor, SQDR-CNN allow convergence to reasonable performance without the reliance of pretrained spiking encoder and subsetting datasets. We also clarified some theoretical foundations, testing new design using quantum data-reupload with different training algorithm-initialization and evaluate the performance of the proposed model under noisy simulated quantum environments. As a result, we were able to achieve 86% of the mean top-performing accuracy of the SOTA SNN baselines, yet uses only 0.5% of the smallest spiking model's parameters. Through this integration of neuromorphic and quantum paradigms, we aim to open new research directions and foster technological progress in multi-modal, learnable systems.
Autonomous Reinforcement Learning Robot Control with Intel's Loihi 2 Neuromorphic Hardware
Venue: arXiv cs.RO 2025
Year: 2025

We present an end-to-end pipeline for deploying reinforcement learning (RL) trained Artificial Neural Networks (ANNs) on neuromorphic hardware by converting them into spiking Sigma-Delta Neural Networks (SDNNs). We demonstrate that an ANN policy trained entirely in simulation can be transformed into an SDNN compatible with Intel's Loihi 2 architecture, enabling low-latency and energy-efficient inference. As a test case, we use an RL policy for controlling the Astrobee free-flying robot, similar to a previously hardware in space-validated controller. The policy, trained with Rectified Linear Units (ReLUs), is converted to an SDNN and deployed on Intel's Loihi 2, then evaluated in NVIDIA's Omniverse Isaac Lab simulation environment for closed-loop control of Astrobee's motion. We compare execution performance between GPU and Loihi 2. The results highlight the feasibility of using neuromorphic platforms for robotic control and establish a pathway toward energy-efficient, real-time neuromorphic computation in future space and terrestrial robotics applications.
Beyond the Ground Truth: Enhanced Supervision for Image Restoration
Venue: arXiv cs.CV 2025
Year: 2025

Deep learning-based image restoration has achieved significant success. However, when addressing real-world degradations, model performance is limited by the quality of ground-truth images in datasets due to practical constraints in data acquisition. To address this limitation, we propose a novel framework that enhances existing ground truth images to provide higher-quality supervision for real-world restoration. Our framework generates perceptually enhanced ground truth images using super-resolution by incorporating adaptive frequency masks, which are learned by a conditional frequency mask generator. These masks guide the optimal fusion of frequency components from the original ground truth and its super-resolved variants, yielding enhanced ground truth images. This frequency-domain mixup preserves the semantic consistency of the original content while selectively enriching perceptual details, preventing hallucinated artifacts that could compromise fidelity. The enhanced ground truth images are used to train a lightweight output refinement network that can be seamlessly integrated with existing restoration models. Extensive experiments demonstrate that our approach consistently improves the quality of restored images. We further validate the effectiveness of both supervision enhancement and output refinement through user studies. Code is available at https://github.com/dhryougit/Beyond-the-Ground-Truth.
Driving is a Game: Combining Planning and Prediction with Bayesian Iterative Best Response
Venue: arXiv cs.RO 2025
Year: 2025

Autonomous driving planning systems perform nearly perfectly in routine scenarios using lightweight, rule-based methods but still struggle in dense urban traffic, where lane changes and merges require anticipating and influencing other agents. Modern motion predictors offer highly accurate forecasts, yet their integration into planning is mostly rudimental: discarding unsafe plans. Similarly, end-to-end models offer a one-way integration that avoids the challenges of joint prediction and planning modeling under uncertainty. In contrast, game-theoretic formulations offer a principled alternative but have seen limited adoption in autonomous driving. We present Bayesian Iterative Best Response (BIBeR), a framework that unifies motion prediction and game-theoretic planning into a single interaction-aware process. BIBeR is the first to integrate a state-of-the-art predictor into an Iterative Best Response (IBR) loop, repeatedly refining the strategies of the ego vehicle and surrounding agents. This repeated best-response process approximates a Nash equilibrium, enabling bidirectional adaptation where the ego both reacts to and shapes the behavior of others. In addition, our proposed Bayesian confidence estimation quantifies prediction reliability and modulates update strength, more conservative under low confidence and more decisive under high confidence. BIBeR is compatible with modern predictors and planners, combining the transparency of structured planning with the flexibility of learned models. Experiments show that BIBeR achieves an 11% improvement over state-of-the-art planners on highly interactive interPlan lane-change scenarios, while also outperforming existing approaches on standard nuPlan benchmarks.
Classification of User Satisfaction in HRI with Social Signals in the Wild
Venue: arXiv cs.HC 2025
Year: 2025

Socially interactive agents (SIAs) are being used in various scenarios and are nearing productive deployment. Evaluating user satisfaction with SIAs' performance is a key factor in designing the interaction between the user and SIA. Currently, subjective user satisfaction is primarily assessed manually through questionnaires or indirectly via system metrics. This study examines the automatic classification of user satisfaction through analysis of social signals, aiming to enhance both manual and autonomous evaluation methods for SIAs. During a field trial at the Deutsches Museum Bonn, a Furhat Robotics head was employed as a service and information hub, collecting an "in-the-wild" dataset. This dataset comprises 46 single-user interactions, including questionnaire responses and video data. Our method focuses on automatically classifying user satisfaction based on time series classification. We use time series of social signal metrics derived from the body pose, time series of facial expressions, and physical distance. This study compares three feature engineering approaches on different machine learning models. The results confirm the method's effectiveness in reliably identifying interactions with low user satisfaction without the need for manually annotated datasets. This approach offers significant potential for enhancing SIA performance and user experience through automated feedback mechanisms.
OOPredictor: Predicting Object-Oriented Accesses using Static Analysis
Venue: arXiv cs.PL 2025
Year: 2025

Object-oriented Programming has become one of the most dominant design paradigms as the separation of concerns and adaptability of design reduce development and maintenance costs. However, the convenience is not without cost. The added indirection inherent in such designs causes excessive pointer chasing, negatively affecting locality, which in turn degrades the performance of cache structures. Furthermore, modern hardware prefetchers are mostly stride prefetchers that are ill-equipped to handle the unpredictability of access patterns generated by pointer chasing. Most software approaches that seek to address this problem resort to profiling the program as it runs, which comes with a significant run-time overhead or requires data from previous runs. In this paper, we propose the use of compile-time static analysis to predict the most common access patterns displayed by a program during run time. Since Java is one of the most popular object-oriented languages, we implement our prototype within the OpenJ9 JVM, inside the OMR optimizer infrastructure. The outputs of our proposed predictor are Markov chains that model the expected behavior of the program. The effectiveness of the proposed predictor is evaluated by comparing the model with the actual run-time behavior of the program measured using an instrumented interpreter. Our experiments show that the proposed predictor exhibits good accuracy and can be used to inform minimally intrusive load stall mitigation strategies, e.g. informing copying GCs on more locality-friendly copying orders
DirectDrag: High-Fidelity, Mask-Free, Prompt-Free Drag-based Image Editing via Readout-Guided Feature Alignment
Venue: arXiv cs.CV 2025
Year: 2025

Drag-based image editing using generative models provides intuitive control over image structures. However, existing methods rely heavily on manually provided masks and textual prompts to preserve semantic fidelity and motion precision. Removing these constraints creates a fundamental trade-off: visual artifacts without masks and poor spatial control without prompts. To address these limitations, we propose DirectDrag, a novel mask- and prompt-free editing framework. DirectDrag enables precise and efficient manipulation with minimal user input while maintaining high image fidelity and accurate point alignment. DirectDrag introduces two key innovations. First, we design an Auto Soft Mask Generation module that intelligently infers editable regions from point displacement, automatically localizing deformation along movement paths while preserving contextual integrity through the generative model's inherent capacity. Second, we develop a Readout-Guided Feature Alignment mechanism that leverages intermediate diffusion activations to maintain structural consistency during point-based edits, substantially improving visual fidelity. Despite operating without manual mask or prompt, DirectDrag achieves superior image quality compared to existing methods while maintaining competitive drag accuracy. Extensive experiments on DragBench and real-world scenarios demonstrate the effectiveness and practicality of DirectDrag for high-quality, interactive image manipulation. Project Page: https://frakw.github.io/DirectDrag/. Code is available at: https://github.com/frakw/DirectDrag.
HEART-Watch: A multimodal physiological dataset from a Google Pixel Watch across different physical states
Venue: arXiv cs.HC 2025
Year: 2025

Consumer-grade smartwatches offer a new personalized health monitoring option for general consumers globally as cardiovascular diseases continue to prevail as the leading cause of global mortality. The development and validation of reliable cardiovascular monitoring algorithms for these consumer-grade devices requires realistic biosignal data from diverse sets of participants. However, the availability of public consumer-grade smartwatch datasets with synchronized cardiovascular biosignals is limited, and existing datasets do not offer rich demographic diversity in their participant cohorts, leading to potentially biased algorithm development. This paper presents HEART-Watch, a multimodal physiological dataset collected from temporally synchronized wrist-worn Google Pixel Watch 2 electrocardiogram (ECG), photoplethysmography, and accelerometer signals from a diverse cohort of 40 healthy adults across three physical states - sitting, standing and walking with reference chest ECG. Intermittent upper arm blood pressure measurements and concurrent biosignals were collected as an additional biomarker for future research. The motivation, methodology, and initial analyses of results are presented. HEART-Watch is intended to support the development and benchmarking of robust algorithms for cardiovascular analyses on consumer-grade smartwatches across diverse populations.
DIQ-H: Evaluating Hallucination Persistence in VLMs Under Temporal Visual Degradation
Venue: arXiv cs.CV 2025
Year: 2025

Vision-Language Models (VLMs) deployed in safety-critical applications such as autonomous driving must handle continuous visual streams under imperfect conditions. However, existing benchmarks focus on static, high-quality images and ignore temporal degradation and error propagation, which are critical failure modes where transient visual corruption induces hallucinations that persist across subsequent frames. We introduce DIQ-H, the first benchmark for evaluating VLM robustness under dynamic visual degradation in temporal sequences. DIQ-H applies physics-based corruptions including motion blur, sensor noise, and compression artifacts, and measures hallucination persistence, error recovery, and temporal consistency through multi-turn question-answering tasks. To enable scalable annotation, we propose Uncertainty-Guided Iterative Refinement (UIR), which generates reliable pseudo-ground-truth using lightweight VLMs with uncertainty filtering, achieving a 15.3 percent accuracy improvement. Experiments on 16 state-of-the-art VLMs reveal substantial robustness gaps: even advanced models such as GPT-4o achieve only a 78.5 percent recovery rate, while open-source models struggle with temporal consistency at less than 60 percent. DIQ-H provides a comprehensive platform for evaluating VLM reliability in real-world deployments.