OpenRaiser/Intern-Atlas huggingface dataset:
Towards Robust Unsupervised Attention Prediction in Autonomous Driving
Venue: arXiv cs.CV 2025
Year: 2025

Robustly predicting attention regions of interest for self-driving systems is crucial for driving safety but presents significant challenges due to the labor-intensive nature of obtaining large-scale attention labels and the domain gap between self-driving scenarios and natural scenes. These challenges are further exacerbated by complex traffic environments, including camera corruption under adverse weather, noise interferences, and central bias from long-tail distributions. To address these issues, we propose a robust unsupervised attention prediction method. An Uncertainty Mining Branch refines predictions by analyzing commonalities and differences across multiple pre-trained models on natural scenes, while a Knowledge Embedding Block bridges the domain gap by incorporating driving knowledge to adaptively enhance pseudo-labels. Additionally, we introduce RoboMixup, a novel data augmentation method that improves robustness against corruption through soft attention and dynamic augmentation, and mitigates central bias by integrating random cropping into Mixup as a regularizer. To systematically evaluate robustness in self-driving attention prediction, we introduce the DriverAttention-C benchmark, comprising over 100k frames across three subsets: BDD-A-C, DR(eye)VE-C, and DADA-2000-C. Our method achieves performance equivalent to or surpassing fully supervised state-of-the-art approaches on three public datasets and the proposed robustness benchmark, reducing relative corruption degradation by 58.8% and 52.8%, and improving central bias robustness by 12.4% and 11.4% in KLD and CC metrics, respectively. Code and data are available at https://github.com/zaplm/DriverAttention.
Evaluating the Effectiveness of Mobile Game-Based Learning for Raising Adolescent Health Awareness: The Case of "AHlam Na 2.0"
Venue: arXiv cs.HC 2025
Year: 2025

This study addresses a critical gap in adolescent health education strategies in the Philippines, as highlighted by the Young Adult Fertility and Sexuality (YAFS) survey series, which overlooks the use of games as a medium for disseminating health information. To bridge this gap, the research introduces AHlam Na, a game-based mobile application designed to enhance adolescents' awareness and understanding of key health-related topics. Using a single-group pretest-posttest design, the study involved forty junior high school students from a randomly selected school in the Philippines. They interacted with the application that embedded adolescent health topics into its gameplay. Data collected through pretest and post-test surveys revealed a significant improvement in the student's knowledge and attitudes toward adolescent health after engaging in the game, indicating that game-based learning effectively enhances their learning experience. The positive reception and knowledge gains suggest that AHlam Na is a promising tool for promoting adolescent health awareness. Based on these findings, it is recommended that the application be integrated into the adolescent health curriculum in schools across the Philippines. Future studies should examine the long-term impact of game-based learning on health behaviors and expand the sample size to include more diverse demographic groups. This research contributes to the growing body of literature on game-based learning in health education by demonstrating the potential of digital games to address the limitations of traditional teaching methods. The successful implementation of AHlam Na underscores the importance of exploring gamified learning tools to deliver critical health information to young people effectively.
Predictive Modeling and Uncertainty Quantification of Fatigue Life in Metal Alloys using Machine Learning
Venue: arXiv cs.LG 2025
Year: 2025

Recent advancements in machine learning-based methods have demonstrated great potential for improved property prediction in material science. However, reliable estimation of the confidence intervals for the predicted values remains a challenge, due to the inherent complexities in material modeling. This study introduces a novel approach for uncertainty quantification in fatigue life prediction of metal materials based on integrating knowledge from physics-based fatigue life models and machine learning models. The proposed approach employs physics-based input features estimated using the Basquin fatigue model to augment the experimentally collected data of fatigue life. Furthermore, a physics-informed loss function that enforces boundary constraints for the estimated fatigue life of considered materials is introduced for the neural network models. Experimental validation on datasets comprising collected data from fatigue life tests for Titanium alloys and Carbon steel alloys demonstrates the effectiveness of the proposed approach. The synergy between physics-based models and data-driven models enhances the consistency in predicted values and improves uncertainty interval estimates.
Speech Translation Refinement using Large Language Models
Venue: arXiv cs.CL 2025
Year: 2025

Recent advancements in large language models (LLMs) have demonstrated their remarkable capabilities across various language tasks. Inspired by the success of text-to-text translation refinement, this paper investigates how LLMs can improve the performance of speech translation by introducing a joint refinement process. Through the joint refinement of speech translation (ST) and automatic speech recognition (ASR) transcription via LLMs, the performance of the ST model is significantly improved in both training-free in-context learning and parameter-efficient fine-tuning scenarios. Additionally, we explore the effect of document-level context on refinement under the context-aware fine-tuning scenario. Experimental results on the MuST-C and CoVoST 2 datasets, which include seven translation tasks, demonstrate the effectiveness of the proposed approach using several popular LLMs including GPT-3.5-turbo, LLaMA3-8B, and Mistral-12B. Further analysis further suggests that jointly refining both transcription and translation yields better performance compared to refining translation alone. Meanwhile, incorporating document-level context significantly enhances refinement performance. We release our code and datasets on GitHub.
Comprehensive Evaluation of Cloaking Backdoor Attacks on Object Detector in Real-World
Venue: arXiv cs.CR 2025
Year: 2025

The exploration of backdoor vulnerabilities in object detectors, particularly in real-world scenarios, remains limited. A significant challenge lies in the absence of a natural physical backdoor dataset, and constructing such a dataset is both time- and labor-intensive. In this work, we address this gap by creating a large-scale dataset comprising approximately 11,800 images/frames with annotations featuring natural objects (e.g., T-shirts and hats) as triggers to incur cloaking adversarial effects in diverse real-world scenarios. This dataset is tailored for the study of physical backdoors in object detectors. Leveraging this dataset, we conduct a comprehensive evaluation of an insidious cloaking backdoor effect against object detectors, wherein the bounding box around a person vanishes when the individual is near a natural object (e.g., a commonly available T-shirt) in front of the detector. Our evaluations encompass three prevalent attack surfaces: data outsourcing, model outsourcing, and the use of pretrained models. The cloaking effect is successfully implanted in object detectors across all three attack surfaces. We extensively evaluate four popular object detection algorithms (anchor-based Yolo-V3, Yolo-V4, Faster R-CNN, and anchor-free CenterNet) using 19 videos (totaling approximately 11,800 frames) in real-world scenarios. Our results demonstrate that the backdoor attack exhibits remarkable robustness against various factors, including movement, distance, angle, non-rigid deformation, and lighting. In data and model outsourcing scenarios, the attack success rate (ASR) in most videos reaches 100% or near it, while the clean data accuracy of the backdoored model remains indistinguishable from that of the clean model, making it impossible to detect backdoor behavior through a validation set.
Two-sorted algebraic decompositions of Brookes's shared-state denotational semantics
Venue: arXiv cs.PL 2025
Year: 2025

We use a two sorted equational theory of algebraic effects to model concurrent shared state with preemptive interleaving, recovering Brookes's seminal 1996 trace-based model precisely. The decomposition allows us to analyse Brookes's model algebraically in terms of separate but interacting components. The multiple sorts partition terms into layers. We use two sorts: a "hold" sort for layers that disallow interleaving of environment memory accesses, analogous to holding a global lock on the memory; and a "cede" sort for the opposite. The algebraic signature comprises of independent interlocking components: two new operators that switch between these sorts, delimiting the atomic layers, thought of as acquiring and releasing the global lock; non-deterministic choice; and state-accessing operators. The axioms similarly divide cleanly: the delimiters behave as a closure pair; all operators are strict, and distribute over non-empty non-deterministic choice; and non-deterministic global state obeys Plotkin and Power's presentation of global state. Our representation theorem expresses the free algebras over a two-sorted family of variables as sets of traces with suitable closure conditions. When the held sort has no variables, we recover Brookes's trace semantics.
Knowledge Hierarchy Guided Biological-Medical Dataset Distillation for Domain LLM Training
Venue: arXiv cs.CL 2025
Year: 2025

The rapid advancement of large language models (LLMs) in biological-medical applications has highlighted a gap between their potential and the limited scale and often low quality of available open-source annotated textual datasets. In addition, the inherent complexity of the biomedical knowledge hierarchy significantly hampers efforts to bridge this gap.Can LLMs themselves play a pivotal role in overcoming this limitation? Motivated by this question, we investigate this challenge in the present study.We propose a framework that automates the distillation of high-quality textual training data from the extensive scientific literature. Our approach self-evaluates and generates questions that are more closely aligned with the biomedical domain, guided by the biomedical knowledge hierarchy through medical subject headings (MeSH). This comprehensive framework establishes an automated workflow, thereby eliminating the need for manual intervention. Furthermore, we conducted comprehensive experiments to evaluate the impact of our framework-generated data on downstream language models of varying sizes. Our approach substantially improves question-answering tasks compared to pre-trained models from the life sciences domain and powerful close-source models represented by GPT-4. Notably, the generated AI-Ready dataset enabled the Llama3-70B base model to outperform GPT-4 using MedPrompt with multiple times the number of parameters. Detailed case studies and ablation experiments underscore the significance of each component within our framework
Does the Tool Matter? Exploring Some Causes of Threats to Validity in Mining Software Repositories
Venue: arXiv cs.SE 2025
Year: 2025

Software repositories are an essential source of information for software engineering research on topics such as project evolution and developer collaboration. Appropriate mining tools and analysis pipelines are therefore an indispensable precondition for many research activities. Ideally, valid results should not depend on technical details of data collection and processing. It is, however, widely acknowledged that mining pipelines are complex, with a multitude of implementation decisions made by tool authors based on their interests and assumptions. This raises the questions if (and to what extent) tools agree on their results and are interchangeable. In this study, we use two tools to extract and analyse ten large software projects, quantitatively and qualitatively comparing results and derived data to better understand this concern. We analyse discrepancies from a technical point of view, and adjust code and parametrisation to minimise replication differences. Our results indicate that despite similar trends, even simple metrics such as the numbers of commits and developers may differ by up to 500%. We find that such substantial differences are often caused by minor technical details. We show how tool-level and data post-processing changes can overcome these issues, but find they may require considerable efforts. We summarise identified causes in our lessons learned to help researchers and practitioners avoid common pitfalls, and reflect on implementation decisions and their influence in ensuring obtained data meets explicit and implicit expectations. Our findings lead us to hypothesise that similar uncertainties exist in other analysis tools, which may limit the validity of conclusions drawn in tool-centric research.
EvoRL: A GPU-accelerated Framework for Evolutionary Reinforcement Learning
Venue: arXiv cs.NE 2025
Year: 2025

Evolutionary Reinforcement Learning (EvoRL) has emerged as a promising approach to overcoming the limitations of traditional reinforcement learning (RL) by integrating the Evolutionary Computation (EC) paradigm with RL. However, the population-based nature of EC significantly increases computational costs, thereby restricting the exploration of algorithmic design choices and scalability in large-scale settings. To address this challenge, we introduce $\texttt{$\textbf{EvoRL}$}$, the first end-to-end EvoRL framework optimized for GPU acceleration. The framework executes the entire training pipeline on accelerators, including environment simulations and EC processes, leveraging hierarchical parallelism through vectorization and compilation techniques to achieve superior speed and scalability. This design enables the efficient training of large populations on a single machine. In addition to its performance-oriented design, $\texttt{$\textbf{EvoRL}$}$ offers a comprehensive platform for EvoRL research, encompassing implementations of traditional RL algorithms (e.g., A2C, PPO, DDPG, TD3, SAC), Evolutionary Algorithms (e.g., CMA-ES, OpenES, ARS), and hybrid EvoRL paradigms such as Evolutionary-guided RL (e.g., ERL, CEM-RL) and Population-Based AutoRL (e.g., PBT). The framework's modular architecture and user-friendly interface allow researchers to seamlessly integrate new components, customize algorithms, and conduct fair benchmarking and ablation studies. The project is open-source and available at: https://github.com/EMI-Group/evorl.
TranStable: Towards Robust Pixel-level Online Video Stabilization by Jointing Transformer and CNN
Venue: arXiv cs.CV 2025
Year: 2025

Video stabilization often struggles with distortion and excessive cropping. This paper proposes a novel end-to-end framework, named TranStable, to address these challenges, comprising a genera tor and a discriminator. We establish TransformerUNet (TUNet) as the generator to utilize the Hierarchical Adaptive Fusion Module (HAFM), integrating Transformer and CNN to leverage both global and local features across multiple visual cues. By modeling frame-wise relationships, it generates robust pixel-level warping maps for stable geometric transformations. Furthermore, we design the Stability Discriminator Module (SDM), which provides pixel-wise supervision for authenticity and consistency in training period, ensuring more complete field-of-view while minimizing jitter artifacts and enhancing visual fidelity. Extensive experiments on NUS, DeepStab, and Selfie benchmarks demonstrate state-of-the-art performance.
Exploring Primitive Visual Measurement Understanding and the Role of Output Format in Learning in Vision-Language Models
Venue: arXiv cs.CV 2025
Year: 2025

This work investigates the capabilities of current vision-language models (VLMs) in visual understanding and attribute measurement of primitive shapes using a benchmark focused on controlled 2D shape configurations with variations in spatial positioning, occlusion, rotation, size, and shape attributes such as type, quadrant, center-coordinates, rotation, occlusion status, and color as shown in Figure 1 and supplementary Figures S3-S81. We fine-tune state-of-the-art VLMs (2B-8B parameters) using Low-Rank Adaptation (LoRA) and validate them on multiple out-of-domain (OD) scenarios from our proposed benchmark. Our findings reveal that coherent sentence-based outputs outperform tuple formats, particularly in OD scenarios with large domain gaps. Additionally, we demonstrate that scaling numeric tokens during loss computation enhances numerical approximation capabilities, further improving performance on spatial and measurement tasks. These results highlight the importance of output format design, loss scaling strategies, and robust generalization techniques in enhancing the training and fine-tuning of VLMs, particularly for tasks requiring precise spatial approximations and strong OD generalization.
Prediction of Received Power in Low-Power and Lossy Networks Deployed in Rough Environments
Venue: arXiv cs.NI 2025
Year: 2025

Cost-efficient and low-power sensing nodes enable to monitor various physical environments. Some of these impose extreme operating conditions, subjecting the nodes to excessive heat or rainfall or motion. Rough operating conditions affect the stability of the wireless links the nodes establish and cause a significant amount of packet loss. Adaptive transmission power control (ATPC) enables nodes to adapt to extreme conditions and maintain stable wireless links and often rely on knowledge of the received power as a closed-feedback system to adjust the power of outgoing packets. However, in the presence of a significant packet loss, this knowledge may not reflect the current state of the receiver. In this paper we propose a lightweight n-step predictor which enables transmitters to adapt transmission power in the presence of lost packets. Through extensive practical deployments and testing we demonstrate that the predictor avoids expensive computation and still achieves an average prediction accuracy exceeding 90% with a low-power radio that supports a transmission rate of 250 kbps (CC2538) and 85\% with a low-power radio that supports 50 kbps (CC1200).
Towards Conscious Service Robots
Venue: arXiv cs.RO 2025
Year: 2025

Deep learning's success in perception, natural language processing, etc. inspires hopes for advancements in autonomous robotics. However, real-world robotics face challenges like variability, high-dimensional state spaces, non-linear dependencies, and partial observability. A key issue is non-stationarity of robots, environments, and tasks, leading to performance drops with out-of-distribution data. Unlike current machine learning models, humans adapt quickly to changes and new tasks due to a cognitive architecture that enables systematic generalization and meta-cognition. Human brain's System 1 handles routine tasks unconsciously, while System 2 manages complex tasks consciously, facilitating flexible problem-solving and self-monitoring. For robots to achieve human-like learning and reasoning, they need to integrate causal models, working memory, planning, and metacognitive processing. By incorporating human cognition insights, the next generation of service robots will handle novel situations and monitor themselves to avoid risks and mitigate errors.
Faster Machine Translation Ensembling with Reinforcement Learning and Competitive Correction
Venue: arXiv cs.CL 2025
Year: 2025

Ensembling neural machine translation (NMT) models to produce higher-quality translations than the $L$ individual models has been extensively studied. Recent methods typically employ a candidate selection block (CSB) and an encoder-decoder fusion block (FB), requiring inference across \textit{all} candidate models, leading to significant computational overhead, generally $Ω(L)$. This paper introduces \textbf{SmartGen}, a reinforcement learning (RL)-based strategy that improves the CSB by selecting a small, fixed number of candidates and identifying optimal groups to pass to the fusion block for each input sentence. Furthermore, previously, the CSB and FB were trained independently, leading to suboptimal NMT performance. Our DQN-based \textbf{SmartGen} addresses this by using feedback from the FB block as a reward during training. We also resolve a key issue in earlier methods, where candidates were passed to the FB without modification, by introducing a Competitive Correction Block (CCB). Finally, we validate our approach with extensive experiments on English-Hindi translation tasks in both directions.
Large-Scale Riemannian Meta-Optimization via Subspace Adaptation
Venue: arXiv cs.LG 2025
Year: 2025

Riemannian meta-optimization provides a promising approach to solving non-linear constrained optimization problems, which trains neural networks as optimizers to perform optimization on Riemannian manifolds. However, existing Riemannian meta-optimization methods take up huge memory footprints in large-scale optimization settings, as the learned optimizer can only adapt gradients of a fixed size and thus cannot be shared across different Riemannian parameters. In this paper, we propose an efficient Riemannian meta-optimization method that significantly reduces the memory burden for large-scale optimization via a subspace adaptation scheme. Our method trains neural networks to individually adapt the row and column subspaces of Riemannian gradients, instead of directly adapting the full gradient matrices in existing Riemannian meta-optimization methods. In this case, our learned optimizer can be shared across Riemannian parameters with different sizes. Our method reduces the model memory consumption by six orders of magnitude when optimizing an orthogonal mainstream deep neural network (e.g., ResNet50). Experiments on multiple Riemannian tasks show that our method can not only reduce the memory consumption but also improve the performance of Riemannian meta-optimization.
Hardware-Aware DNN Compression for Homogeneous Edge Devices
Venue: arXiv cs.LG 2025
Year: 2025

Deploying deep neural networks (DNNs) across homogeneous edge devices (the devices with the same SKU labeled by the manufacturer) often assumes identical performance among them. However, once a device model is widely deployed, the performance of each device becomes different after a period of running. This is caused by the differences in user configurations, environmental conditions, manufacturing variances, battery degradation, etc. Existing DNN compression methods have not taken this scenario into consideration and can not guarantee good compression results in all homogeneous edge devices. To address this, we propose Homogeneous-Device Aware Pruning (HDAP), a hardware-aware DNN compression framework explicitly designed for homogeneous edge devices, aiming to achieve optimal average performance of the compressed model across all devices. To deal with the difficulty of time-consuming hardware-aware evaluations for thousands or millions of homogeneous edge devices, HDAP partitions all the devices into several device clusters, which can dramatically reduce the number of devices to evaluate and use the surrogate-based evaluation instead of hardware evaluation in real-time. Experiments on ResNet50 and MobileNetV1 with the ImageNet dataset show that HDAP consistently achieves lower average inference latency compared with state-of-the-art methods, with substantial speedup gains (e.g., 2.86 $\times$ speedup at 1.0G FLOPs for ResNet50) on the homogeneous device clusters. HDAP offers an effective solution for scalable, high-performance DNN deployment methods for homogeneous edge devices.