OpenRaiser/Intern-Atlas huggingface dataset:
A Landmark-Aided Navigation Approach Using Side-Scan Sonar
Venue: arXiv cs.RO 2025
Year: 2025

Cost-effective localization methods for Autonomous Underwater Vehicle (AUV) navigation are key for ocean monitoring and data collection at high resolution in time and space. Algorithmic solutions suitable for real-time processing that handle nonlinear measurement models and different forms of measurement uncertainty will accelerate the development of field-ready technology. This paper details a Bayesian estimation method for landmark-aided navigation using a Side-scan Sonar (SSS) sensor. The method bounds navigation filter error in the GPS-denied undersea environment and captures the highly nonlinear nature of slant range measurements while remaining computationally tractable. Combining a novel measurement model with the chosen statistical framework facilitates the efficient use of SSS data and, in the future, could be used in real time. The proposed filter has two primary steps: a prediction step using an unscented transform and an update step utilizing particles. The update step performs probabilistic association of sonar detections with known landmarks. We evaluate algorithm performance and tractability using synthetic data and real data collected field experiments. Field experiments were performed using two different marine robotic platforms with two different SSS and at two different sites. Finally, we discuss the computational requirements of the proposed method and how it extends to real-time applications.
Intelligent Framework for Human-Robot Collaboration: Dynamic Ergonomics and Adaptive Decision-Making
Venue: arXiv cs.RO 2025
Year: 2025

The integration of collaborative robots into industrial environments has improved productivity, but has also highlighted significant challenges related to operator safety and ergonomics. This paper proposes an innovative framework that integrates advanced visual perception, continuous ergonomic monitoring, and adaptive Behaviour Tree decision-making to overcome the limitations of traditional methods that typically operate as isolated components. Our approach synthesizes deep learning models, advanced tracking algorithms, and dynamic ergonomic assessments into a modular, scalable, and adaptive system. Experimental validation demonstrates the framework's superiority over existing solutions across multiple dimensions: the visual perception module outperformed previous detection models with 72.4% mAP@50:95; the system achieved high accuracy in recognizing operator intentions (92.5%); it promptly classified ergonomic risks with minimal latency (0.57 seconds); and it dynamically managed robotic interventions with exceptionally responsive decision-making capabilities (0.07 seconds), representing a 56% improvement over benchmark systems. This comprehensive solution provides a robust platform for enhancing human-robot collaboration in industrial environments by prioritizing ergonomic safety, operational efficiency, and real-time adaptability.
Counterfactual Explanations for Model Ensembles Using Entropic Risk Measures
Venue: arXiv cs.LG 2025
Year: 2025

Counterfactual explanations indicate the smallest change in input that can translate to a different outcome for a machine learning model. Counterfactuals have generated immense interest in high-stakes applications such as finance, education, hiring, etc. In several use-cases, the decision-making process often relies on an ensemble of models rather than just one. Despite significant research on counterfactuals for one model, the problem of generating a single counterfactual explanation for an ensemble of models has received limited interest. Each individual model might lead to a different counterfactual, whereas trying to find a counterfactual accepted by all models might significantly increase cost (effort). We propose a novel strategy to find the counterfactual for an ensemble of models using the perspective of entropic risk measure. Entropic risk is a convex risk measure that satisfies several desirable properties. We incorporate our proposed risk measure into a novel constrained optimization to generate counterfactuals for ensembles that stay valid for several models. The main significance of our measure is that it provides a knob that allows for the generation of counterfactuals that stay valid under an adjustable fraction of the models. We also show that a limiting case of our entropic-risk-based strategy yields a counterfactual valid for all models in the ensemble (worst-case min-max approach). We study the trade-off between the cost (effort) for the counterfactual and its validity for an ensemble by varying degrees of risk aversion, as determined by our risk parameter knob. We validate our performance on real-world datasets.
LabelCoRank: Revolutionizing Long Tail Multi-Label Classification with Co-Occurrence Reranking
Venue: arXiv cs.CL 2025
Year: 2025

Motivation: Despite recent advancements in semantic representation driven by pre-trained and large-scale language models, addressing long tail challenges in multi-label text classification remains a significant issue. Long tail challenges have persistently posed difficulties in accurately classifying less frequent labels. Current approaches often focus on improving text semantics while neglecting the crucial role of label relationships. Results: This paper introduces LabelCoRank, a novel approach inspired by ranking principles. LabelCoRank leverages label co-occurrence relationships to refine initial label classifications through a dual-stage reranking process. The first stage uses initial classification results to form a preliminary ranking. In the second stage, a label co-occurrence matrix is utilized to rerank the preliminary results, enhancing the accuracy and relevance of the final classifications. By integrating the reranked label representations as additional text features, LabelCoRank effectively mitigates long tail issues in multi-labeltext classification. Experimental evaluations on popular datasets including MAG-CS, PubMed, and AAPD demonstrate the effectiveness and robustness of LabelCoRank.
Exploring Bias in over 100 Text-to-Image Generative Models
Venue: arXiv cs.CV 2025
Year: 2025

We investigate bias trends in text-to-image generative models over time, focusing on the increasing availability of models through open platforms like Hugging Face. While these platforms democratize AI, they also facilitate the spread of inherently biased models, often shaped by task-specific fine-tuning. Ensuring ethical and transparent AI deployment requires robust evaluation frameworks and quantifiable bias metrics. To this end, we assess bias across three key dimensions: (i) distribution bias, (ii) generative hallucination, and (iii) generative miss-rate. Analyzing over 100 models, we reveal how bias patterns evolve over time and across generative tasks. Our findings indicate that artistic and style-transferred models exhibit significant bias, whereas foundation models, benefiting from broader training distributions, are becoming progressively less biased. By identifying these systemic trends, we contribute a large-scale evaluation corpus to inform bias research and mitigation strategies, fostering more responsible AI development. Keywords: Bias, Ethical AI, Text-to-Image, Generative Models, Open-Source Models
Partial differential equation system for binarization of degraded document images
Venue: arXiv cs.CV 2025
Year: 2025

In recent years, partial differential equation (PDE) systems have been successfully applied to the binarization of text images, achieving promising results. Inspired by the DH model and incorporating a novel image modeling approach, this study proposes a new weakly coupled PDE system for degraded text image binarization. In this system, the first equation is designed to estimate the background component, incorporating both diffusion and fidelity terms. The second equation estimates the foreground component and includes diffusion, fidelity, and binarization source terms. The final binarization result is obtained by applying a hard projection to the estimated foreground component. Experimental results on 86 degraded text images demonstrate that the proposed model exhibits significant advantages in handling degraded text images.
Empirical Error Estimates for Graph Sparsification
Venue: arXiv cs.LG 2025
Year: 2025

Graph sparsification is a well-established technique for accelerating graph-based learning algorithms, which uses edge sampling to approximate dense graphs with sparse ones. Because the sparsification error is random and unknown, users must contend with uncertainty about the reliability of downstream computations. Although it is possible for users to obtain conceptual guidance from theoretical error bounds in the literature, such results are typically impractical at a numerical level. Taking an alternative approach, we propose to address these issues from a data-driven perspective by computing empirical error estimates. The proposed error estimates are highly versatile, and we demonstrate this in four use cases: Laplacian matrix approximation, graph cut queries, graph-structured regression, and spectral clustering. Moreover, we provide two theoretical guarantees for the error estimates, and explain why the cost of computing them is manageable in comparison to the overall cost of a typical graph sparsification workflow.
HOFAR: High-Order Augmentation of Flow Autoregressive Transformers
Venue: arXiv cs.CV 2025
Year: 2025

Flow Matching and Transformer architectures have demonstrated remarkable performance in image generation tasks, with recent work FlowAR [Ren et al., 2024] synergistically integrating both paradigms to advance synthesis fidelity. However, current FlowAR implementations remain constrained by first-order trajectory modeling during the generation process. This paper introduces a novel framework that systematically enhances flow autoregressive transformers through high-order supervision. We provide theoretical analysis and empirical evaluation showing that our High-Order FlowAR (HOFAR) demonstrates measurable improvements in generation quality compared to baseline models. The proposed approach advances the understanding of flow-based autoregressive modeling by introducing a systematic framework for analyzing trajectory dynamics through high-order expansion.
Group Preference Alignment: Customized LLM Response Generation from In-Situ Conversations
Venue: arXiv cs.CL 2025
Year: 2025

LLMs often fail to meet the specialized needs of distinct user groups due to their one-size-fits-all training paradigm \cite{lucy-etal-2024-one} and there is limited research on what personalization aspects each group expect. To address these limitations, we propose a group-aware personalization framework, Group Preference Alignment (GPA), that identifies context-specific variations in conversational preferences across user groups and then steers LLMs to address those preferences. Our approach consists of two steps: (1) Group-Aware Preference Extraction, where maximally divergent user-group preferences are extracted from real-world conversation logs and distilled into interpretable rubrics, and (2) Tailored Response Generation, which leverages these rubrics through two methods: a) Context-Tuned Inference (GAP-CT), that dynamically adjusts responses via context-dependent prompt instructions, and b) Rubric-Finetuning Inference (GPA-FT), which uses the rubrics to generate contrastive synthetic data for personalization of group-specific models via alignment. Experiments demonstrate that our framework significantly improves alignment of the output with respect to user preferences and outperforms baseline methods, while maintaining robust performance on standard benchmarks.
Generalized Kullback-Leibler Divergence Loss
Venue: arXiv cs.LG 2025
Year: 2025

In this paper, we delve deeper into the Kullback-Leibler (KL) Divergence loss and mathematically prove that it is equivalent to the Decoupled Kullback-Leibler (DKL) Divergence loss that consists of (1) a weighted Mean Square Error (wMSE) loss and (2) a Cross-Entropy loss incorporating soft labels. Thanks to the decoupled structure of DKL loss, we have identified two areas for improvement. Firstly, we address the limitation of KL loss in scenarios like knowledge distillation by breaking its asymmetric optimization property along with a smoother weight function. This modification effectively alleviates convergence challenges in optimization, particularly for classes with high predicted scores in soft labels. Secondly, we introduce class-wise global information into KL/DKL to reduce bias arising from individual samples. With these two enhancements, we derive the Generalized Kullback-Leibler (GKL) Divergence loss and evaluate its effectiveness by conducting experiments on CIFAR-10/100, ImageNet, and vision-language datasets, focusing on adversarial training, and knowledge distillation tasks. Specifically, we achieve new state-of-the-art adversarial robustness on the public leaderboard -- RobustBench and competitive knowledge distillation performance across CIFAR/ImageNet models and CLIP models, demonstrating the substantial practical merits. Our code is available at https://github.com/jiequancui/DKL.
MultiConIR: Towards multi-condition Information Retrieval
Venue: arXiv cs.IR 2025
Year: 2025

Multi-condition information retrieval (IR) presents a significant, yet underexplored challenge for existing systems. This paper introduces MultiConIR, a benchmark specifically designed to evaluate retrieval and reranking models under nuanced multi-condition query scenarios across five diverse domains. We systematically assess model capabilities through three critical tasks: complexity robustness, relevance monotonicity, and query format sensitivity. Our extensive experiments on 15 models reveal a critical vulnerability: most retrievers and rerankers exhibit severe performance degradation as query complexity increases. Key deficiencies include widespread failure to maintain relevance monotonicity, and high sensitivity to query style and condition placement. The superior performance of GPT-4o reveals the performance gap between IR systems and advanced LLM for handling sophisticated natural language queries. Furthermore, this work delves into the factors contributing to reranker performance deterioration and examines how condition positioning within queries affects similarity assessment, providing crucial insights for advancing IR systems towards complex search scenarios. The code and datasets are available at https://github.com/EIT-NLP/MultiConIR
Continual Learning for Multiple Modalities
Venue: arXiv cs.CV 2025
Year: 2025

Continual learning aims to learn knowledge of tasks observed in sequential time steps while mitigating the forgetting of previously learned knowledge. Existing methods were designed to learn a single modality (e.g., image) over time, which limits their applicability in scenarios involving multiple modalities. In this work, we propose a novel continual learning framework that accommodates multiple modalities (image, video, audio, depth, and text). We train a model to align various modalities with text, leveraging its rich semantic information. However, this increases the risk of forgetting previously learned knowledge, exacerbated by the differing input traits across tasks. To alleviate the overwriting of previous knowledge of modalities, we propose a framework that consolidates intra-modal knowledge while incorporating relevant inter-modal information. This is achieved by self-regulating shifts in learned representations to gradually integrating novel knowledge into the information retained across modalities. Simultaneously, it mitigates inter-modal interference by selectively integrating knowledge from previously encountered modalities based on their mutual relevance. Furthermore, we introduce a strategy to re-align modality embeddings, effectively addressing biased alignment between modalities. We evaluate the proposed method in a wide range of continual learning scenarios using multiple datasets with different modalities. Extensive experiments demonstrate that ours outperforms existing methods in the scenarios, regardless of whether the identity of the modality is given.
Predicting Volleyball Season Performance Using Pre-Season Wearable Data and Machine Learning
Venue: arXiv cs.HC 2025
Year: 2025

Predicting performance outcomes has the potential to transform training approaches, inform coaching strategies, and deepen our understanding of the factors that contribute to athletic success. Traditional non-automated data analysis in sports are often difficult to scale. To address this gap, this study analyzes factors influencing athletic performance by leveraging passively collected sensor data from smartwatches and ecological momentary assessments (EMA). The study aims to differentiate between 14 collegiate volleyball players who go on to perform well or poorly, using data collected prior to the beginning of the season. This is achieved through an integrated feature set creation approach. The model, validated using leave-one-subject-out cross-validation, achieved promising predictive performance (F1 score = 0.75). Importantly, by utilizing data collected before the season starts, our approach offers an opportunity for players predicted to perform poorly to improve their projected outcomes through targeted interventions by virtue of daily model predictions. The findings from this study not only demonstrate the potential of machine learning in sports performance prediction but also shed light on key features along with subjective psycho-physiological states that are predictive of, or associated with, athletic success.
Permanent of bipartite graphs in terms of determinants
Venue: arXiv cs.DM 2025
Year: 2025

Computing the permanent of a $(0,1)$-matrix is a well-known $\#P$-complete problem. In this paper, we present an expression for the permanent of a bipartite graph in terms of the determinant of the graph and its subgraphs, obtained by successively removing rows and columns corresponding to vertices involved in vertex-disjoint $4k$-cycles. Our formula establishes a general relationship between the permanent and the determinant for any bipartite graph. Since computing the permanent of a biadjacency matrix is equivalent to counting the number of its perfect matchings, this approach also provides a more efficient method for counting perfect matchings in certain types of bipartite graphs.
Large Scale Multi-Task Bayesian Optimization with Large Language Models
Venue: arXiv cs.LG 2025
Year: 2025

In multi-task Bayesian optimization, the goal is to leverage experience from optimizing existing tasks to improve the efficiency of optimizing new ones. While approaches using multi-task Gaussian processes or deep kernel transfer exist, the performance improvement is marginal when scaling beyond a moderate number of tasks. We introduce a novel approach leveraging large language models (LLMs) to learn from, and improve upon, previous optimization trajectories, scaling to approximately 1500 distinct tasks. Specifically, we propose a feedback loop in which an LLM is fine-tuned on the high quality solutions to specific tasks found by Bayesian optimization (BO). This LLM is then used to generate initialization points for future BO searches for new tasks. The trajectories of these new searches provide additional training data for fine-tuning the LLM, completing the loop. We evaluate our method on two distinct domains: database query optimization and antimicrobial peptide design. Results demonstrate that our approach creates a positive feedback loop, where the LLM's generated initializations gradually improve, leading to better optimization performance. As this feedback loop continues, we find that the LLM is eventually able to generate solutions to new tasks in just a few shots that are better than the solutions produced by "from scratch" by Bayesian optimization while simultaneously requiring significantly fewer oracle calls.
Scaling Probabilistic Circuits via Data Partitioning
Venue: arXiv cs.LG 2025
Year: 2025

Probabilistic circuits (PCs) enable us to learn joint distributions over a set of random variables and to perform various probabilistic queries in a tractable fashion. Though the tractability property allows PCs to scale beyond non-tractable models such as Bayesian Networks, scaling training and inference of PCs to larger, real-world datasets remains challenging. To remedy the situation, we show how PCs can be learned across multiple machines by recursively partitioning a distributed dataset, thereby unveiling a deep connection between PCs and federated learning (FL). This leads to federated circuits (FCs) -- a novel and flexible federated learning (FL) framework that (1) allows one to scale PCs on distributed learning environments (2) train PCs faster and (3) unifies for the first time horizontal, vertical, and hybrid FL in one framework by re-framing FL as a density estimation problem over distributed datasets. We demonstrate FC's capability to scale PCs on various large-scale datasets. Also, we show FC's versatility in handling horizontal, vertical, and hybrid FL within a unified framework on multiple classification tasks.
U-StyDiT: Ultra-high Quality Artistic Style Transfer Using Diffusion Transformers
Venue: arXiv cs.CV 2025
Year: 2025

Ultra-high quality artistic style transfer refers to repainting an ultra-high quality content image using the style information learned from the style image. Existing artistic style transfer methods can be categorized into style reconstruction-based and content-style disentanglement-based style transfer approaches. Although these methods can generate some artistic stylized images, they still exhibit obvious artifacts and disharmonious patterns, which hinder their ability to produce ultra-high quality artistic stylized images. To address these issues, we propose a novel artistic image style transfer method, U-StyDiT, which is built on transformer-based diffusion (DiT) and learns content-style disentanglement, generating ultra-high quality artistic stylized images. Specifically, we first design a Multi-view Style Modulator (MSM) to learn style information from a style image from local and global perspectives, conditioning U-StyDiT to generate stylized images with the learned style information. Then, we introduce a StyDiT Block to learn content and style conditions simultaneously from a style image. Additionally, we propose an ultra-high quality artistic image dataset, Aes4M, comprising 10 categories, each containing 400,000 style images. This dataset effectively solves the problem that the existing style transfer methods cannot produce high-quality artistic stylized images due to the size of the dataset and the quality of the images in the dataset. Finally, the extensive qualitative and quantitative experiments validate that our U-StyDiT can create higher quality stylized images compared to state-of-the-art artistic style transfer methods. To our knowledge, our proposed method is the first to address the generation of ultra-high quality stylized images using transformer-based diffusion.
Mimicking How Humans Interpret Out-of-Context Sentences Through Controlled Toxicity Decoding
Venue: arXiv cs.CL 2025
Year: 2025

Interpretations of a single sentence can vary, particularly when its context is lost. This paper aims to simulate how readers perceive content with varying toxicity levels by generating diverse interpretations of out-of-context sentences. By modeling toxicity, we can anticipate misunderstandings and reveal hidden toxic meanings. Our proposed decoding strategy explicitly controls toxicity in the set of generated interpretations by (i) aligning interpretation toxicity with the input, (ii) relaxing toxicity constraints for more toxic input sentences, and (iii) promoting diversity in toxicity levels within the set of generated interpretations. Experimental results show that our method improves alignment with human-written interpretations in both syntax and semantics while reducing model prediction uncertainty.