OpenRaiser/Intern-Atlas huggingface dataset:
Active Robot Curriculum Learning from Online Human Demonstrations
Venue: arXiv cs.RO 2025
Year: 2025

Learning from Demonstrations (LfD) allows robots to learn skills from human users, but its effectiveness can suffer due to sub-optimal teaching, especially from untrained demonstrators. Active LfD aims to improve this by letting robots actively request demonstrations to enhance learning. However, this may lead to frequent context switches between various task situations, increasing the human cognitive load and introducing errors to demonstrations. Moreover, few prior studies in active LfD have examined how these active query strategies may impact human teaching in aspects beyond user experience, which can be crucial for developing algorithms that benefit both robot learning and human teaching. To tackle these challenges, we propose an active LfD method that optimizes the query sequence of online human demonstrations via Curriculum Learning (CL), where demonstrators are guided to provide demonstrations in situations of gradually increasing difficulty. We evaluate our method across four simulated robotic tasks with sparse rewards and conduct a user study (N=26) to investigate the influence of active LfD methods on human teaching regarding teaching performance, post-guidance teaching adaptivity, and teaching transferability. Our results show that our method significantly improves learning performance compared to three other LfD baselines in terms of the final success rate of the converged policy and sample efficiency. Additionally, results from our user study indicate that our method significantly reduces the time required from human demonstrators and decreases failed demonstration attempts. It also enhances post-guidance human teaching in both seen and unseen scenarios compared to another active LfD baseline, indicating enhanced teaching performance, greater post-guidance teaching adaptivity, and better teaching transferability achieved by our method.
Model-Based Capacitive Touch Sensing in Soft Robotics: Achieving Robust Tactile Interactions for Artistic Applications
Venue: arXiv cs.RO 2025
Year: 2025

In this paper, we present a touch technology to achieve tactile interactivity for human-robot interaction (HRI) in soft robotics. By combining a capacitive touch sensor with an online solid mechanics simulation provided by the SOFA framework, contact detection is achieved for arbitrary shapes. Furthermore, the implementation of the capacitive touch technology presented here is selectively sensitive to human touch (conductive objects), while it is largely unaffected by the deformations created by the pneumatic actuation of our soft robot. Multi-touch interactions are also possible. We evaluated our approach with an organic soft robotics sculpture that was created by a visual artist. In particular, we evaluate that the touch localization capabilities are robust under the deformation of the device. We discuss the potential this approach has for the arts and entertainment as well as other domains.
Minimizing Age of Detection for a Markov Source over a Lossy Channel
Venue: arXiv cs.IT 2025
Year: 2025

Monitoring a process/phenomenon of specific interest is prevalent in Cyber-Physical Systems (CPS), remote healthcare, smart buildings, intelligent transport, industry 4.0, etc. A key building block of the monitoring system is a sensor sampling the process and communicating the status updates to a monitor for detecting events of interest. Measuring the freshness of the status updates is essential for the timely detection of events, and it has received significant research interest in recent times. In this paper, we propose a new freshness metric, Age of Detection (AoD), for monitoring the state transitions of a Discrete Time Markov Chain (DTMC) source over a lossy wireless channel. We consider the pull model where the sensor samples DTMC state whenever the monitor requests a status update. We formulate a Constrained Markov Decision Problem (CMDP) for optimising the AoD subject to a constraint on the average sampling frequency and solve it using the Lagrangian MDP formulation and Relative Value Iteration (RVI) algorithm. Our numerical results show interesting trade-offs between AoD, sampling frequency, and transmission success probability. Further, the AoD minimizing policy provides a lower estimation error than the Age of Information (AoI) minimizing policy, thus demonstrating the utility of AoD for monitoring DTMC sources.
Sparse Orthogonal Matching Pursuit-based Parameter Estimation for Integrated Sensing and Communications
Venue: arXiv cs.IT 2025
Year: 2025

Accurate parameter estimation such as angle of arrival (AOA) is essential to enhance the performance of integrated sensing and communication (ISAC) in mmWave multiple-input multiple-output (MIMO) systems. This work presents a sensing-aided communication channel estimation mechanism, where the sensing channel shares the same AOA with the uplink communication channel. First, we propose a novel orthogonal matching pursuit (OMP)-based method for coarsely estimating the AOA in a sensing channel, offering improved accuracy compared to conventional methods that rely on rotational invariance techniques. Next, we refine the coarse estimates obtained in the first step by modifying the Space-Alternating Generalized Expectation Maximization algorithm for fine parameter estimation. Through simulations and mathematical analysis, we demonstrate that scenarios with shared AOA achieve a better Cramer-Rao lower bound (CRLB) than those without sharing. This finding highlights the potential of leveraging joint sensing and communication channels to enhance parameter estimation accuracy, particularly in channel or location estimation applications.
Diffusion-Based mmWave Radar Point Cloud Enhancement Driven by Range Images
Venue: arXiv cs.RO 2025
Year: 2025

Millimeter-wave (mmWave) radar has attracted significant attention in robotics and autonomous driving. However, despite the perception stability in harsh environments, the point cloud generated by mmWave radar is relatively sparse while containing significant noise, which limits its further development. Traditional mmWave radar enhancement approaches often struggle to leverage the effectiveness of diffusion models in super-resolution, largely due to the unnatural range-azimuth heatmap (RAH) or bird's eye view (BEV) representation. To overcome this limitation, we propose a novel method that pioneers the application of fusing range images with image diffusion models, achieving accurate and dense mmWave radar point clouds that are similar to LiDAR. Benefitting from the projection that aligns with human observation, the range image representation of mmWave radar is close to natural images, allowing the knowledge from pre-trained image diffusion models to be effectively transferred, significantly improving the overall performance. Extensive evaluations on both public datasets and self-constructed datasets demonstrate that our approach provides substantial improvements, establishing a new state-of-the-art performance in generating truly three-dimensional LiDAR-like point clouds via mmWave radar. Code will be released after publication.
On the Relationship Between Double Descent of CNNs and Shape/Texture Bias Under Learning Process
Venue: arXiv cs.CV 2025
Year: 2025

The double descent phenomenon, which deviates from the traditional bias-variance trade-off theory, attracts considerable research attention; however, the mechanism of its occurrence is not fully understood. On the other hand, in the study of convolutional neural networks (CNNs) for image recognition, methods are proposed to quantify the bias on shape features versus texture features in images, determining which features the CNN focuses on more. In this work, we hypothesize that there is a relationship between the shape/texture bias in the learning process of CNNs and epoch-wise double descent, and we conduct verification. As a result, we discover double descent/ascent of shape/texture bias synchronized with double descent of test error under conditions where epoch-wise double descent is observed. Quantitative evaluations confirm this correlation between the test errors and the bias values from the initial decrease to the full increase in test error. Interestingly, double descent/ascent of shape/texture bias is observed in some cases even in conditions without label noise, where double descent is thought not to occur. These experimental results are considered to contribute to the understanding of the mechanisms behind the double descent phenomenon and the learning process of CNNs in image recognition.
Flexible Prefrontal Control over Hippocampal Episodic Memory for Goal-Directed Generalization
Venue: arXiv cs.NE 2025
Year: 2025

Many tasks require flexibly modifying perception and behavior based on current goals. Humans can retrieve episodic memories from days to years ago, using them to contextualize and generalize behaviors across novel but structurally related situations. The brain's ability to control episodic memories based on task demands is often attributed to interactions between the prefrontal cortex (PFC) and hippocampus (HPC). We propose a reinforcement learning model that incorporates a PFC-HPC interaction mechanism for goal-directed generalization. In our model, the PFC learns to generate query-key representations to encode and retrieve goal-relevant episodic memories, modulating HPC memories top-down based on current task demands. Moreover, the PFC adapts its encoding and retrieval strategies dynamically when faced with multiple goals presented in a blocked, rather than interleaved, manner. Our results show that: (1) combining working memory with selectively retrieved episodic memory allows transfer of decisions among similar environments or situations, (2) top-down control from PFC over HPC improves learning of arbitrary structural associations between events for generalization to novel environments compared to a bottom-up sensory-driven approach, and (3) the PFC encodes generalizable representations during both encoding and retrieval of goal-relevant memories, whereas the HPC exhibits event-specific representations. Together, these findings highlight the importance of goal-directed prefrontal control over hippocampal episodic memory for decision-making in novel situations and suggest a computational mechanism by which PFC-HPC interactions enable flexible behavior.
Exploring Simple Siamese Network for High-Resolution Video Quality Assessment
Venue: arXiv cs.CV 2025
Year: 2025

In the research of video quality assessment (VQA), two-branch network has emerged as a promising solution. It decouples VQA with separate technical and aesthetic branches to measure the perception of low-level distortions and high-level semantics respectively. However, we argue that while technical and aesthetic perspectives are complementary, the technical perspective itself should be measured in semantic-aware manner. We hypothesize that existing technical branch struggles to perceive the semantics of high-resolution videos, as it is trained on local mini-patches sampled from videos. This issue can be hidden by apparently good results on low-resolution videos, but indeed becomes critical for high-resolution VQA. This work introduces SiamVQA, a simple but effective Siamese network for highre-solution VQA. SiamVQA shares weights between technical and aesthetic branches, enhancing the semantic perception ability of technical branch to facilitate technical-quality representation learning. Furthermore, it integrates a dual cross-attention layer for fusing technical and aesthetic features. SiamVQA achieves state-of-the-art accuracy on high-resolution benchmarks, and competitive results on lower-resolution benchmarks. Codes will be available at: https://github.com/srcn-ivl/SiamVQA
YOLO-PRO: Enhancing Instance-Specific Object Detection with Full-Channel Global Self-Attention
Venue: arXiv cs.CV 2025
Year: 2025

This paper addresses the inherent limitations of conventional bottleneck structures (diminished instance discriminability due to overemphasis on batch statistics) and decoupled heads (computational redundancy) in object detection frameworks by proposing two novel modules: the Instance-Specific Bottleneck with full-channel global self-attention (ISB) and the Instance-Specific Asymmetric Decoupled Head (ISADH). The ISB module innovatively reconstructs feature maps to establish an efficient full-channel global attention mechanism through synergistic fusion of batch-statistical and instance-specific features. Complementing this, the ISADH module pioneers an asymmetric decoupled architecture enabling hierarchical multi-dimensional feature integration via dual-stream batch-instance representation fusion. Extensive experiments on the MS-COCO benchmark demonstrate that the coordinated deployment of ISB and ISADH in the YOLO-PRO framework achieves state-of-the-art performance across all computational scales. Specifically, YOLO-PRO surpasses YOLOv8 by 1.0-1.6% AP (N/S/M/L/X scales) and outperforms YOLO11 by 0.1-0.5% AP in critical N/M/L/X groups, while maintaining competitive computational efficiency. This work provides practical insights for developing high-precision detectors deployable on edge devices.
EchoQA: A Large Collection of Instruction Tuning Data for Echocardiogram Reports
Venue: arXiv cs.AI 2025
Year: 2025

We introduce a novel question-answering (QA) dataset using echocardiogram reports sourced from the Medical Information Mart for Intensive Care database. This dataset is specifically designed to enhance QA systems in cardiology, consisting of 771,244 QA pairs addressing a wide array of cardiac abnormalities and their severity. We compare large language models (LLMs), including open-source and biomedical-specific models for zero-shot evaluation, and closed-source models for zero-shot and three-shot evaluation. Our results show that fine-tuning LLMs improves performance across various QA metrics, validating the value of our dataset. Clinicians also qualitatively evaluate the best-performing model to assess the LLM responses for correctness. Further, we conduct fine-grained fairness audits to assess the bias-performance trade-off of LLMs across various social determinants of health. Our objective is to propel the field forward by establishing a benchmark for LLM AI agents aimed at supporting clinicians with cardiac differential diagnoses, thereby reducing the documentation burden that contributes to clinician burnout and enabling healthcare professionals to focus more on patient care.
Evolutionary Guided Decoding: Iterative Value Refinement for LLMs
Venue: arXiv cs.CL 2025
Year: 2025

While guided decoding, especially value-guided methods, has emerged as a cost-effective alternative for controlling language model outputs without re-training models, its effectiveness is limited by the accuracy of the value function. We identify that this inaccuracy stems from a core distributional gap: existing methods train static value functions on trajectories sampled exclusively from the base policy, which inherently confines their training to a narrow and suboptimal view of the potential output space. We propose Iterative Value Refinement, a novel framework designed to bridge this gap. It employs Value Exploration to provide a more comprehensive and robust training signal, complemented by Iterative Self-Refinement, which uses the improved value function from one iteration to guide the generation of higher-quality data for the next. Extensive experiments on text summarization, multi-turn dialogue, and instruction following demonstrate the effectiveness of our framework in aligning language models. Our approach not only achieves alignment but also significantly reduces computational costs by leveraging principled value function optimization for efficient and effective control.
Trace of the Times: Rootkit Detection through Temporal Anomalies in Kernel Activity
Venue: arXiv cs.CR 2025
Year: 2025

Kernel rootkits provide adversaries with permanent high-privileged access to compromised systems and are often a key element of sophisticated attack chains. At the same time, they enable stealthy operation and are thus difficult to detect. Thereby, they inject code into kernel functions to appear invisible to users, for example, by manipulating file enumerations. Existing detection approaches are insufficient, because they rely on signatures that are unable to detect novel rootkits or require domain knowledge about the rootkits to be detected. To overcome this challenge, our approach leverages the fact that runtimes of kernel functions targeted by rootkits increase when additional code is executed. The framework outlined in this paper injects probes into the kernel to measure time stamps of functions within relevant system calls, computes distributions of function execution times, and uses statistical tests to detect time shifts. The evaluation of our open-source implementation on publicly available data sets indicates high detection accuracy with an F1 score of 98.7\% across five scenarios with varying system states.
PANTHER: Pluginizable Testing Environment for Network Protocols
Venue: arXiv cs.SE 2025
Year: 2025

In this paper, we introduce PANTHER, a modular framework for testing network protocols and formally verifying their specification. The framework incorporates a plugin architecture to enhance flexibility and extensibility for diverse testing scenarios, facilitate reproducible and scalable experiments leveraging Ivy and Shadow, and improve testing efficiency by enabling automated workflows through YAML-based configuration management. Its modular design validates complex protocol properties, adapts to dynamic behaviors, and facilitates seamless plugin integration for scalability. Moreover, the framework enables a stateful fuzzer plugin to enhance implementation robustness checks.
InfoGNN: End-to-end deep learning on mesh via graph neural networks
Venue: arXiv cs.CV 2025
Year: 2025

3D models are widely used in various industries, and mesh data has become an indispensable part of 3D modeling because of its unique advantages. Mesh data can provide an intuitive and practical expression of rich 3D information. However, its disordered, irregular data structure and complex surface information make it challenging to apply with deep learning models directly. Traditional mesh data processing methods often rely on mesh models with many limitations, such as manifold, which restrict their application scopes in reality and do not fully utilize the advantages of mesh models. This paper proposes a novel end-to-end framework for addressing the challenges associated with deep learning in mesh models centered around graph neural networks (GNN) and is titled InfoGNN. InfoGNN treats the mesh model as a graph, which enables it to handle irregular mesh data efficiently. Moreover, we propose InfoConv and InfoMP modules, which utilize the position information of the points and fully use the static information such as face normals, dihedral angles, and dynamic global feature information to fully use all kinds of data. In addition, InfoGNN is an end-to-end framework, and we simplify the network design to make it more efficient, paving the way for efficient deep learning of complex 3D models. We conducted experiments on several publicly available datasets, and the results show that InfoGNN achieves excellent performance in mesh classification and segmentation tasks.
AILS-NTUA at SemEval-2025 Task 3: Leveraging Large Language Models and Translation Strategies for Multilingual Hallucination Detection
Venue: arXiv cs.CL 2025
Year: 2025

Multilingual hallucination detection stands as an underexplored challenge, which the Mu-SHROOM shared task seeks to address. In this work, we propose an efficient, training-free LLM prompting strategy that enhances detection by translating multilingual text spans into English. Our approach achieves competitive rankings across multiple languages, securing two first positions in low-resource languages. The consistency of our results highlights the effectiveness of our translation strategy for hallucination detection, demonstrating its applicability regardless of the source language.
2DGS-Avatar: Animatable High-fidelity Clothed Avatar via 2D Gaussian Splatting
Venue: arXiv cs.CV 2025
Year: 2025

Real-time rendering of high-fidelity and animatable avatars from monocular videos remains a challenging problem in computer vision and graphics. Over the past few years, the Neural Radiance Field (NeRF) has made significant progress in rendering quality but behaves poorly in run-time performance due to the low efficiency of volumetric rendering. Recently, methods based on 3D Gaussian Splatting (3DGS) have shown great potential in fast training and real-time rendering. However, they still suffer from artifacts caused by inaccurate geometry. To address these problems, we propose 2DGS-Avatar, a novel approach based on 2D Gaussian Splatting (2DGS) for modeling animatable clothed avatars with high-fidelity and fast training performance. Given monocular RGB videos as input, our method generates an avatar that can be driven by poses and rendered in real-time. Compared to 3DGS-based methods, our 2DGS-Avatar retains the advantages of fast training and rendering while also capturing detailed, dynamic, and photo-realistic appearances. We conduct abundant experiments on popular datasets such as AvatarRex and THuman4.0, demonstrating impressive performance in both qualitative and quantitative metrics.
Deep Robust Reversible Watermarking
Venue: arXiv cs.CV 2025
Year: 2025

Robust Reversible Watermarking (RRW) enables perfect recovery of cover images and watermarks in lossless channels while ensuring robust watermark extraction in lossy channels. Existing RRW methods, mostly non-deep learning-based, face complex designs, high computational costs, and poor robustness, limiting their practical use. This paper proposes Deep Robust Reversible Watermarking (DRRW), a deep learning-based RRW scheme. DRRW uses an Integer Invertible Watermark Network (iIWN) to map integer data distributions invertibly, addressing conventional RRW limitations. Unlike traditional RRW, which needs distortion-specific designs, DRRW employs an encoder-noise layer-decoder framework for adaptive robustness via end-to-end training. In inference, cover image and watermark map to an overflowed stego image and latent variables, compressed by arithmetic coding into a bitstream embedded via reversible data hiding for lossless recovery. We introduce an overflow penalty loss to reduce pixel overflow, shortening the auxiliary bitstream while enhancing robustness and stego image quality. An adaptive weight adjustment strategy avoids manual watermark loss weighting, improving training stability and performance. Experiments show DRRW outperforms state-of-the-art RRW methods, boosting robustness and cutting embedding, extraction, and recovery complexities by 55.14\(\times\), 5.95\(\times\), and 3.57\(\times\), respectively. The auxiliary bitstream shrinks by 43.86\(\times\), with reversible embedding succeeding on 16,762 PASCAL VOC 2012 images, advancing practical RRW. DRRW exceeds irreversible robust watermarking in robustness and quality while maintaining reversibility.
Energy efficiency of cache eviction algorithms for Zipf distributed objects
Venue: arXiv cs.PF 2025
Year: 2025

This paper presents a summary analysis of the Least Frequently Used (LFU) and Perfect Least Frequently Used (PLFU) cache eviction algorithms on real data, transferred on Content Delivery Nettworks (CDNs), as well as on Zipf distributed samples. In light of the growing emphasis on energy efficiency in CDNs in recent years due to rising energy costs, this paper considers and discusses the total CPU time required to run a cache algorithm. The total CPU time represents a novel metric for evaluating cache performance, and it is contrasted with the conventional Cache Hit Ratio (CHR) metric. Furthermore, a new algorithm with an admission policy and the eviction strategy that of PLFU is presented. The results demonstrate that it is a simple and straightforward algorithm to implement and offers high CHR and low CPU time.