OpenRaiser/Intern-Atlas huggingface dataset:
Testing the Fault-Tolerance of Multi-Sensor Fusion Perception in Autonomous Driving Systems
Venue: arXiv cs.RO 2025
Year: 2025

High-level Autonomous Driving Systems (ADSs), such as Google Waymo and Baidu Apollo, typically rely on multi-sensor fusion (MSF) based approaches to perceive their surroundings. This strategy increases perception robustness by combining the respective strengths of the camera and LiDAR and directly affects the safety-critical driving decisions of autonomous vehicles (AVs). However, in real-world autonomous driving scenarios, cameras and LiDAR are subject to various faults, which can probably significantly impact the decision-making and behaviors of ADSs. Existing MSF testing approaches only discovered corner cases that the MSF-based perception cannot accurately detected by MSF-based perception, while lacking research on how sensor faults affect the system-level behaviors of ADSs. To address this gap, we conduct the first exploration of the fault tolerance of MSF perception-based ADS for sensor faults. In this paper, we systematically and comprehensively build fault models for cameras and LiDAR in AVs and inject them into the MSF perception-based ADS to test its behaviors in test scenarios. To effectively and efficiently explore the parameter spaces of sensor fault models, we design a feedback-guided differential fuzzer to discover the safety violations of MSF perception-based ADS caused by the injected sensor faults. We evaluate FADE on the representative and practical industrial ADS, Baidu Apollo. Our evaluation results demonstrate the effectiveness and efficiency of FADE, and we conclude some useful findings from the experimental results. To validate the findings in the physical world, we use a real Baidu Apollo 6.0 EDU autonomous vehicle to conduct the physical experiments, and the results show the practical significance of our findings.
Bounded and Uniform Energy-based Out-of-distribution Detection for Graphs
Venue: arXiv cs.LG 2025
Year: 2025

Given the critical role of graphs in real-world applications and their high-security requirements, improving the ability of graph neural networks (GNNs) to detect out-of-distribution (OOD) data is an urgent research problem. The recent work GNNSAFE proposes a framework based on the aggregation of negative energy scores that significantly improves the performance of GNNs to detect node-level OOD data. However, our study finds that score aggregation among nodes is susceptible to extreme values due to the unboundedness of the negative energy scores and logit shifts, which severely limits the accuracy of GNNs in detecting node-level OOD data. In this paper, we propose NODESAFE: reducing the generation of extreme scores of nodes by adding two optimization terms that make the negative energy scores bounded and mitigate the logit shift. Experimental results show that our approach dramatically improves the ability of GNNs to detect OOD data at the node level, e.g., in detecting OOD data induced by Structure Manipulation, the metric of FPR95 (lower is better) in scenarios without (with) OOD data exposure are reduced from the current SOTA by 28.4% (22.7%).
Circular Image Deturbulence using Quasi-conformal Geometry
Venue: arXiv cs.CV 2025
Year: 2025

The presence of inhomogeneous media between optical sensors and objects leads to distorted imaging outputs, significantly complicating downstream image-processing tasks. A key challenge in image restoration is the lack of high-quality, paired-label images required for training supervised models. In this paper, we introduce the Circular Quasi-Conformal Deturbulence (CQCD) framework, an unsupervised approach for removing image distortions through a circular architecture. This design ensures that the restored image remains both geometrically accurate and visually faithful while preventing the accumulation of incorrect estimations. The circular restoration process involves both forward and inverse mapping. To ensure the bijectivity of the estimated non-rigid deformations, computational quasi-conformal geometry theories are leveraged to regularize the mapping, enforcing its homeomorphic properties. This guarantees a well-defined transformation that preserves structural integrity and prevents unwanted artifacts. Furthermore, tight-frame blocks are integrated to encode distortion-sensitive features for precise recovery. To validate the performance of our approach, we conduct evaluations on various synthetic and real-world captured images. Experimental results demonstrate that CQCD not only outperforms existing state-of-the-art deturbulence methods in terms of image restoration quality but also provides highly accurate deformation field estimations.
Are you SURE? Enhancing Multimodal Pretraining with Missing Modalities through Uncertainty Estimation
Venue: arXiv cs.LG 2025
Year: 2025

Multimodal learning has demonstrated incredible successes by integrating diverse data sources, yet it often relies on the availability of all modalities - an assumption that rarely holds in real-world applications. Pretrained multimodal models, while effective, struggle when confronted with small-scale and incomplete datasets (i.e., missing modalities), limiting their practical applicability. Previous studies on reconstructing missing modalities have overlooked the reconstruction's potential unreliability, which could compromise the quality of the final outputs. We present SURE (Scalable Uncertainty and Reconstruction Estimation), a novel framework that extends the capabilities of pretrained multimodal models by introducing latent space reconstruction and uncertainty estimation for both reconstructed modalities and downstream tasks. Our method is architecture-agnostic, reconstructs missing modalities, and delivers reliable uncertainty estimates, improving both interpretability and performance. SURE introduces a unique Pearson Correlation-based loss and applies statistical error propagation in deep networks for the first time, allowing precise quantification of uncertainties from missing data and model predictions. Extensive experiments across tasks such as sentiment analysis, genre classification, and action recognition show that SURE consistently achieves state-of-the-art performance, ensuring robust predictions even in the presence of incomplete data.
HMPE:HeatMap Embedding for Efficient Transformer-Based Small Object Detection
Venue: arXiv cs.CV 2025
Year: 2025

Current Transformer-based methods for small object detection continue emerging, yet they have still exhibited significant shortcomings. This paper introduces HeatMap Position Embedding (HMPE), a novel Transformer Optimization technique that enhances object detection performance by dynamically integrating positional encoding with semantic detection information through heatmap-guided adaptive learning.We also innovatively visualize the HMPE method, offering clear visualization of embedded information for parameter fine-tuning.We then create Multi-Scale ObjectBox-Heatmap Fusion Encoder (MOHFE) and HeatMap Induced High-Quality Queries for Decoder (HIDQ) modules. These are designed for the encoder and decoder, respectively, to generate high-quality queries and reduce background noise queries.Using both heatmap embedding and Linear-Snake Conv(LSConv) feature engineering, we enhance the embedding of massively diverse small object categories and reduced the decoder multihead layers, thereby accelerating both inference and training.In the generalization experiments, our approach outperforme the baseline mAP by 1.9% on the small object dataset (NWPU VHR-10) and by 1.2% on the general dataset (PASCAL VOC). By employing HMPE-enhanced embedding, we are able to reduce the number of decoder layers from eight to a minimum of three, significantly decreasing both inference and training costs.
From Large to Super-Tiny: End-to-End Optimization for Cost-Efficient LLMs
Venue: arXiv cs.CL 2025
Year: 2025

Large Language Models (LLMs) have significantly advanced artificial intelligence by optimizing traditional Natural Language Processing (NLP) workflows, facilitating their integration into various systems. Many such NLP systems, including ours, directly incorporate LLMs. However, this approach either results in expensive costs or yields suboptimal performance after fine-tuning. In this paper, we introduce a three-stage cost-efficient end-to-end LLM deployment pipeline, comprising prototyping, knowledge transfer, and model compression, to effectively tackle the cost-performance dilemma in LLM-based frameworks. Its high cost-efficiency is manifested not only in simplifying system complexity and producing super-tiny online models with enhanced performance and reduced costs in the results, but also in addressing development cycle constraints, the lack of extensive high-quality data, and limited computational resources during the project development process. In the first stage, we construct an optimal performance prototype system by transforming complex tasks into a function call-based LLM-driven pipeline, which serves as a teacher model to generate high-quality data. In the second stage, we combine techniques like rejection sampling fine-tuning, reinforcement learning, and knowledge distillation to transfer knowledge to 0.5B student models, delivering effective performance at minimal cost. In the final stage, we further compress models to 0.4B via quantization and pruning, achieving ultra-low latency and cost. Extensive experimental results and the framework's modular design suggest cross-domain capabilities and potential applicability in other NLP areas.
SFL-LEO: Asynchronous Split-Federated Learning Design for LEO Satellite-Ground Network Framework
Venue: arXiv cs.NI 2025
Year: 2025

Recently, the rapid development of LEO satellite networks spurs another widespread concern-data processing at satellites. However, achieving efficient computation at LEO satellites in highly dynamic satellite networks is challenging and remains an open problem when considering the constrained computation capability of LEO satellites. For the first time, we propose a novel distributed learning framework named SFL-LEO by combining Federated Learning (FL) with Split Learning (SL) to accommodate the high dynamics of LEO satellite networks and the constrained computation capability of LEO satellites by leveraging the periodical orbit traveling feature. The proposed scheme allows training locally by introducing an asynchronous training strategy, i.e., achieving local update when LEO satellites disconnect with the ground station, to provide much more training space and thus increase the training performance. Meanwhile, it aggregates client-side sub-models at the ground station and then distributes them to LEO satellites by borrowing the idea from the federated learning scheme. Experiment results driven by satellite-ground bandwidth measured in Starlink demonstrate that SFL-LEO provides a similar accuracy performance with the conventional SL scheme because it can perform local training even within the disconnection duration.
Cross-Modal Temporal Fusion for Financial Market Forecasting
Venue: arXiv cs.LG 2025
Year: 2025

Accurate forecasting in financial markets requires integrating diverse data sources, from historical prices to macroeconomic indicators and financial news. However, existing models often fail to align these modalities effectively, limiting their practical use. In this paper, we introduce a transformer-based deep learning framework, Cross-Modal Temporal Fusion (CMTF), that fuses structured and unstructured financial data for improved market prediction. The model incorporates a tensor interpretation module for feature selection and an auto-training pipeline for efficient hyperparameter tuning. Experimental results using FTSE 100 stock data demonstrate that CMTF achieves superior performance in price direction classification compared to classical and deep learning baselines. These findings suggest that our framework is an effective and scalable solution for real-world cross-modal financial forecasting tasks.
Irregular Sampling of High-Dimensional Functions in Reproducing Kernel Hilbert Spaces
Venue: arXiv cs.LG 2025
Year: 2025

We develop sampling formulas for high-dimensional functions in reproducing kernel Hilbert spaces, where we rely on irregular samples that are taken at determining sequences of data points. We place particular emphasis on sampling formulas for tensor product kernels, where we show that determining irregular samples in lower dimensions can be composed to obtain a tensor of determining irregular samples in higher dimensions. This in turn reduces the computational complexity of sampling formulas for high-dimensional functions quite significantly.
Task Assignment and Exploration Optimization for Low Altitude UAV Rescue via Generative AI Enhanced Multi-agent Reinforcement Learning
Venue: arXiv cs.AI 2025
Year: 2025

The integration of emerging uncrewed aerial vehicles (UAVs) with artificial intelligence (AI) and ground-embedded robots (GERs) has transformed emergency rescue operations in unknown environments. However, the high computational demands often exceed a single UAV's capacity, making it difficult to continuously provide stable high-level services. To address this, this paper proposes a cooperation framework involving UAVs, GERs, and airships. The framework enables resource pooling through UAV-to-GER (U2G) and UAV-to-airship (U2A) links, offering computing services for offloaded tasks. Specifically, we formulate the multi-objective problem of task assignment and exploration as a dynamic long-term optimization problem aiming to minimize task completion time and energy use while ensuring stability. Using Lyapunov optimization, we transform it into a per-slot deterministic problem and propose HG-MADDPG, which combines the Hungarian algorithm with a GDM-based multi-agent deep deterministic policy gradient. Simulations demonstrate significant improvements in offloading efficiency, latency, and system stability over baselines.
MSTIM: A MindSpore-Based Model for Traffic Flow Prediction
Venue: arXiv cs.LG 2025
Year: 2025

Aiming at the problems of low accuracy and large error fluctuation of traditional traffic flow predictionmodels when dealing with multi-scale temporal features and dynamic change patterns. this paperproposes a multi-scale time series information modelling model MSTIM based on the Mindspore framework, which integrates long and short-term memory networks (LSTMs), convolutional neural networks (CNN), and the attention mechanism to improve the modelling accuracy and stability. The Metropolitan Interstate Traffic Volume (MITV) dataset was used for the experiments and compared and analysed with typical LSTM-attention models, CNN-attention models and LSTM-CNN models. The experimental results show that the MSTIM model achieves better results in the metrics of Mean Absolute Error (MAE), Mean Square Error (MSE), and Root Mean Square Error (RMSE), which significantly improves the accuracy and stability of the traffic volume prediction.
RAG Without the Lag: Interactive Debugging for Retrieval-Augmented Generation Pipelines
Venue: arXiv cs.HC 2025
Year: 2025

Retrieval-augmented generation (RAG) pipelines have become the de-facto approach for building AI assistants with access to external, domain-specific knowledge. Given a user query, RAG pipelines typically first retrieve (R) relevant information from external sources, before invoking a Large Language Model (LLM), augmented (A) with this information, to generate (G) responses. Modern RAG pipelines frequently chain multiple retrieval and generation components, in any order. However, developing effective RAG pipelines is challenging because retrieval and generation components are intertwined, making it hard to identify which component(s) cause errors in the eventual output. The parameters with the greatest impact on output quality often require hours of pre-processing after each change, creating prohibitively slow feedback cycles. To address these challenges, we present RAGGY, a developer tool that combines a Python library of composable RAG primitives with an interactive interface for real-time debugging. We contribute the design and implementation of RAGGY, insights into expert debugging patterns through a qualitative study with 12 engineers, and design implications for future RAG tools that better align with developers' natural workflows.
Robust Humanoid Walking on Compliant and Uneven Terrain with Deep Reinforcement Learning
Venue: arXiv cs.RO 2025
Year: 2025

For the deployment of legged robots in real-world environments, it is essential to develop robust locomotion control methods for challenging terrains that may exhibit unexpected deformability and irregularity. In this paper, we explore the application of sim-to-real deep reinforcement learning (RL) for the design of bipedal locomotion controllers for humanoid robots on compliant and uneven terrains. Our key contribution is to show that a simple training curriculum for exposing the RL agent to randomized terrains in simulation can achieve robust walking on a real humanoid robot using only proprioceptive feedback. We train an end-to-end bipedal locomotion policy using the proposed approach, and show extensive real-robot demonstration on the HRP-5P humanoid over several difficult terrains inside and outside the lab environment. Further, we argue that the robustness of a bipedal walking policy can be improved if the robot is allowed to exhibit aperiodic motion with variable stepping frequency. We propose a new control policy to enable modification of the observed clock signal, leading to adaptive gait frequencies depending on the terrain and command velocity. Through simulation experiments, we show the effectiveness of this policy specifically for walking over challenging terrains by controlling swing and stance durations. The code for training and evaluation is available online at https://github.com/rohanpsingh/LearningHumanoidWalking. Demo video is available at https://www.youtube.com/watch?v=ZgfNzGAkk2Q.
Efficient algorithms for the Hadamard decomposition
Venue: arXiv cs.LG 2025
Year: 2025

The Hadamard decomposition is a powerful technique for data analysis and matrix compression, which decomposes a given matrix into the element-wise product of two or more low-rank matrices. In this paper, we develop an efficient algorithm to solve this problem, leveraging an alternating optimization approach that decomposes the global non-convex problem into a series of convex sub-problems. To improve performance, we explore advanced initialization strategies inspired by the singular value decomposition (SVD) and incorporate acceleration techniques by introducing momentum-based updates. Beyond optimizing the two-matrix case, we also extend the Hadamard decomposition framework to support more than two low-rank matrices, enabling approximations with higher effective ranks while preserving computational efficiency. Finally, we conduct extensive experiments to compare our method with the existing gradient descent-based approaches for the Hadamard decomposition and with traditional low-rank approximation techniques. The results highlight the effectiveness of our proposed method across diverse datasets.
Simulating Before Planning: Constructing Intrinsic User World Model for User-Tailored Dialogue Policy Planning
Venue: arXiv cs.CL 2025
Year: 2025

Recent advancements in dialogue policy planning have emphasized optimizing system agent policies to achieve predefined goals, focusing on strategy design, trajectory acquisition, and efficient training paradigms. However, these approaches often overlook the critical role of user characteristics, which are essential in real-world scenarios like conversational search and recommendation, where interactions must adapt to individual user traits such as personality, preferences, and goals. To address this gap, we first conduct a comprehensive study utilizing task-specific user personas to systematically assess dialogue policy planning under diverse user behaviors. By leveraging realistic user profiles for different tasks, our study reveals significant limitations in existing approaches, highlighting the need for user-tailored dialogue policy planning. Building on this foundation, we present the User-Tailored Dialogue Policy Planning (UDP) framework, which incorporates an Intrinsic User World Model to model user traits and feedback. UDP operates in three stages: (1) User Persona Portraying, using a diffusion model to dynamically infer user profiles; (2) User Feedback Anticipating, leveraging a Brownian Bridge-inspired anticipator to predict user reactions; and (3) User-Tailored Policy Planning, integrating these insights to optimize response strategies. To ensure robust performance, we further propose an active learning approach that prioritizes challenging user personas during training. Comprehensive experiments on benchmarks, including collaborative and non-collaborative settings, demonstrate the effectiveness of UDP in learning user-specific dialogue strategies. Results validate the protocol's utility and highlight UDP's robustness, adaptability, and potential to advance user-centric dialogue systems.
Broadcasting under Structural Restrictions
Venue: arXiv cs.DS 2025
Year: 2025

In the Telephone Broadcast problem we are given a graph $G=(V,E)$ with a designated source vertex $s\in V$. Our goal is to transmit a message, which is initially known only to $s$, to all vertices of the graph by using a process where in each round an informed vertex may transmit the message to one of its uninformed neighbors. The optimization objective is to minimize the number of rounds. Following up on several recent works, we investigate the structurally parameterized complexity of Telephone Broadcast. In particular, we first strengthen existing NP-hardness results by showing that the problem remains NP-complete on graphs of bounded tree-depth and also on cactus graphs which are one vertex deletion away from being path forests. Motivated by this (severe) hardness, we study several other parameterizations of the problem and obtain FPT algorithms parameterized by vertex integrity (generalizing a recent FPT algorithm parameterized by vertex cover by Fomin, Fraigniaud, and Golovach [TCS 2024]) and by distance to clique, as well as FPT approximation algorithms parameterized by clique-cover and cluster vertex deletion. Furthermore, we obtain structural results that relate the length of the optimal broadcast protocol of a graph $G$ with its pathwidth and tree-depth. By presenting a substantial improvement over the best previously known bound for pathwidth (Aminian, Kamali, Seyed-Javadi, and Sumedha [arXiv 2025]) we exponentially improve the approximation ratio achievable in polynomial time on graphs of bounded pathwidth from $\mathcal{O}(4^\mathrm{pw})$ to $\mathcal{O}(\mathrm{pw})$.