OpenRaiser/Intern-Atlas huggingface dataset:
Nteasee: Understanding Needs in AI for Health in Africa -- A Mixed-Methods Study of Expert and General Population Perspectives
Venue: arXiv cs.LG 2025
Year: 2025

Artificial Intelligence (AI) for health has the potential to significantly change and improve healthcare. However in most African countries, identifying culturally and contextually attuned approaches for deploying these solutions is not well understood. To bridge this gap, we conduct a qualitative study to investigate the best practices, fairness indicators, and potential biases to mitigate when deploying AI for health in African countries, as well as explore opportunities where artificial intelligence could make a positive impact in health. We used a mixed methods approach combining in-depth interviews (IDIs) and surveys. We conduct 1.5-2 hour long IDIs with 50 experts in health, policy, and AI across 17 countries, and through an inductive approach we conduct a qualitative thematic analysis on expert IDI responses. We administer a blinded 30-minute survey with case studies to 672 general population participants across 5 countries in Africa and analyze responses on quantitative scales, statistically comparing responses by country, age, gender, and level of familiarity with AI. We thematically summarize open-ended responses from surveys. Our results find generally positive attitudes, high levels of trust, accompanied by moderate levels of concern among general population participants for AI usage for health in Africa. This contrasts with expert responses, where major themes revolved around trust/mistrust, ethical concerns, and systemic barriers to integration, among others. This work presents the first-of-its-kind qualitative research study of the potential of AI for health in Africa from an algorithmic fairness angle, with perspectives from both experts and the general population. We hope that this work guides policymakers and drives home the need for further research and the inclusion of general population perspectives in decision-making around AI usage.
Rest Shape Optimization for Sag-Free Discrete Elastic Rods
Venue: arXiv cs.GR 2025
Year: 2025

We propose a new rest shape optimization framework to achieve sag-free simulations of discrete elastic rods. To optimize rest shape parameters, we formulate a minimization problem based on the kinetic energy with a regularizer while imposing box constraints on these parameters to ensure the system's stability. Our method solves the resulting constrained minimization problem via the Gauss-Newton algorithm augmented with penalty methods. We demonstrate that the optimized rest shape parameters enable discrete elastic rods to achieve static equilibrium for a wide range of strand geometries and material parameters.
Familiarity-Aware Evidence Compression for Retrieval-Augmented Generation
Venue: arXiv cs.CL 2025
Year: 2025

Retrieval-augmented generation (RAG) improves large language models (LMs) by incorporating non-parametric knowledge through evidence retrieved from external sources. However, it often struggles to cope with inconsistent and irrelevant information that can distract the LM from its tasks, especially when multiple evidence pieces are required. While compressing the retrieved evidence with a compression model aims to address this issue, the compressed evidence may still be unfamiliar to the target model used for downstream tasks, potentially failing to utilize the evidence effectively. We propose FaviComp (Familarity-Aware Evidence Compression), a novel training-free evidence compression technique that makes retrieved evidence more familiar to the target model, while seamlessly integrating parametric knowledge from the model. Experimental results show that FaviComp consistently outperforms most recent evidence compression baselines across multiple open-domain QA datasets, improving accuracy by up to 28.1% while achieving high compression rates. Additionally, we demonstrate the effective integration of both parametric and non-parametric knowledge during evidence compression.
METDrive: Multi-modal End-to-end Autonomous Driving with Temporal Guidance
Venue: arXiv cs.RO 2025
Year: 2025

Multi-modal end-to-end autonomous driving has shown promising advancements in recent work. By embedding more modalities into end-to-end networks, the system's understanding of both static and dynamic aspects of the driving environment is enhanced, thereby improving the safety of autonomous driving. In this paper, we introduce METDrive, an end-to-end system that leverages temporal guidance from the embedded time series features of ego states, including rotation angles, steering, throttle signals, and waypoint vectors. The geometric features derived from perception sensor data and the time series features of ego state data jointly guide the waypoint prediction with the proposed temporal guidance loss function. We evaluated METDrive on the CARLA leaderboard benchmarks, achieving a driving score of 70%, a route completion score of 94%, and an infraction score of 0.78.
A Signal Temporal Logic Approach for Task-Based Coordination of Multi-Aerial Systems: a Wind Turbine Inspection Case Study
Venue: arXiv cs.RO 2025
Year: 2025

The paper addresses task assignment and trajectory generation for collaborative inspection missions using a fleet of multi-rotors, focusing on the wind turbine inspection scenario. The proposed solution enables safe and feasible trajectories while accommodating heterogeneous time-bound constraints and vehicle physical limits. An optimization problem is formulated to meet mission objectives and temporal requirements encoded as Signal Temporal Logic (STL) specifications. Additionally, an event-triggered replanner is introduced to address unforeseen events and compensate for lost time. Furthermore, a generalized robustness scoring method is employed to reflect user preferences and mitigate task conflicts. The effectiveness of the proposed approach is demonstrated through MATLAB and Gazebo simulations, as well as field multi-robot experiments in a mock-up scenario.
Edu-Values: Towards Evaluating the Chinese Education Values of Large Language Models
Venue: arXiv cs.CL 2025
Year: 2025

In this paper, we present Edu-Values, the first Chinese education values evaluation benchmark that includes seven core values: professional philosophy, teachers' professional ethics, education laws and regulations, cultural literacy, educational knowledge and skills, basic competencies and subject knowledge. We meticulously design 1,418 questions, covering multiple-choice, multi-modal question answering, subjective analysis, adversarial prompts, and Chinese traditional culture (short answer) questions. We conduct human feedback based automatic evaluation over 21 state-of-the-art (SoTA) LLMs, and highlight three main findings: (1) due to differences in educational culture, Chinese LLMs outperform English LLMs, with Qwen 2 ranking the first with a score of 81.37; (2) LLMs often struggle with teachers' professional ethics and professional philosophy; (3) leveraging Edu-Values to build an external knowledge repository for RAG significantly improves LLMs' alignment. This demonstrates the effectiveness of the proposed benchmark.
EdgeGaussians -- 3D Edge Mapping via Gaussian Splatting
Venue: arXiv cs.CV 2025
Year: 2025

With their meaningful geometry and their omnipresence in the 3D world, edges are extremely useful primitives in computer vision. 3D edges comprise of lines and curves, and methods to reconstruct them use either multi-view images or point clouds as input. State-of-the-art image-based methods first learn a 3D edge point cloud then fit 3D edges to it. The edge point cloud is obtained by learning a 3D neural implicit edge field from which the 3D edge points are sampled on a specific level set (0 or 1). However, such methods present two important drawbacks: i) it is not realistic to sample points on exact level sets due to float imprecision and training inaccuracies. Instead, they are sampled within a range of levels so the points do not lie accurately on the 3D edges and require further processing. ii) Such implicit representations are computationally expensive and require long training times. In this paper, we address these two limitations and propose a 3D edge mapping that is simpler, more efficient, and preserves accuracy. Our method learns explicitly the 3D edge points and their edge direction hence bypassing the need for point sampling. It casts a 3D edge point as the center of a 3D Gaussian and the edge direction as the principal axis of the Gaussian. Such a representation has the advantage of being not only geometrically meaningful but also compatible with the efficient training optimization defined in Gaussian Splatting. Results show that the proposed method produces edges as accurate and complete as the state-of-the-art while being an order of magnitude faster. Code is released at https://github.com/kunalchelani/EdgeGaussians.
Geometric Interpretation of Layer Normalization and a Comparative Analysis with RMSNorm
Venue: arXiv cs.LG 2025
Year: 2025

This paper presents a novel geometric interpretation of LayerNorm and explores how LayerNorm influences the norm and orientation of hidden vectors in the representation space. With these geometric insights, we prepare the foundation for comparing LayerNorm with RMSNorm. We show that the definition of LayerNorm is innately linked to the uniform vector, defined as $\boldsymbol{1} = [1, 1, 1, 1, \cdots, 1]^T \in \mathbb{R}^d$. We then show that the standardization step in LayerNorm can be understood in three simple steps: (i) remove the component of a vector along the uniform vector, (ii) normalize the remaining vector, and (iii) scale the resultant vector by $\sqrt{d}$, where $d$ is the dimensionality of the representation space. We also provide additional insights into how LayerNorm operates at inference time. Finally, we compare the hidden representations of LayerNorm-based LLMs with models trained using RMSNorm and show that all LLMs naturally operate orthogonal to the uniform vector at inference time, that is, on average they do not have a component along the uniform vector during inference. This presents the first mechanistic evidence that removing the component along the uniform vector in LayerNorm is a redundant step. These results advocate for using RMSNorm over LayerNorm which is also more computationally efficient.
MuCodec: Ultra Low-Bitrate Music Codec
Venue: arXiv cs.SD 2025
Year: 2025

Music codecs are a vital aspect of audio codec research, and ultra low-bitrate compression holds significant importance for music transmission and generation. Due to the complexity of music backgrounds and the richness of vocals, solely relying on modeling semantic or acoustic information cannot effectively reconstruct music with both vocals and backgrounds. To address this issue, we propose MuCodec, specifically targeting music compression and reconstruction tasks at ultra low bitrates. MuCodec employs MuEncoder to extract both acoustic and semantic features, discretizes them with RVQ, and obtains Mel-VAE features via flow-matching. The music is then reconstructed using a pre-trained MEL-VAE decoder and HiFi-GAN. MuCodec can reconstruct high-fidelity music at ultra low (0.35kbps) or high bitrates (1.35kbps), achieving the best results to date in both subjective and objective metrics. Code and Demo: https://xuyaoxun.github.io/MuCodec_demo/.
Optimizing RLHF Training for Large Language Models with Stage Fusion
Venue: arXiv cs.LG 2025
Year: 2025

We present RLHFuse, an efficient training system with stage fusion for Reinforcement Learning from Human Feedback (RLHF). Due to the intrinsic nature of RLHF training, i.e., the data skewness in the generation stage and the pipeline bubbles in the training stage, existing RLHF systems suffer from low GPU utilization. RLHFuse breaks the traditional view of RLHF workflow as a composition of individual tasks, splitting each task into finer-grained subtasks, and performing stage fusion to improve GPU utilization. RLHFuse contains two key ideas. First, for generation and inference tasks, RLHFuse splits them into sample-level subtasks, enabling efficient inter-stage fusion to overlap the execution of generation and inference stages, thus mitigating the original generation bottleneck dominated by long-tailed samples. Second, for training tasks, RLHFuse breaks them into subtasks of micro-batches and performs intra-stage fusion to concurrently execute these subtasks in the training stage with a fused pipeline schedule, effectively mitigating the pipeline bubbles. The experiments show that RLHFuse increases the training throughput by up to $3.7\times$, compared to existing systems.
Efficient Training of Deep Neural Operator Networks via Randomized Sampling
Venue: arXiv cs.LG 2025
Year: 2025

Neural operators (NOs) employ deep neural networks to learn mappings between infinite-dimensional function spaces. Deep operator network (DeepONet), a popular NO architecture, has demonstrated success in the real-time prediction of complex dynamics across various scientific and engineering applications. In this work, we introduce a random sampling technique to be adopted during the training of DeepONet, aimed at improving the generalization ability of the model, while significantly reducing the computational time. The proposed approach targets the trunk network of the DeepONet model that outputs the basis functions corresponding to the spatiotemporal locations of the bounded domain on which the physical system is defined. While constructing the loss function, DeepONet training traditionally considers a uniform grid of spatiotemporal points at which all the output functions are evaluated for each iteration. This approach leads to a larger batch size, resulting in poor generalization and increased memory demands, due to the limitations of the stochastic gradient descent (SGD) optimizer. The proposed random sampling over the inputs of the trunk net mitigates these challenges, improving generalization and reducing memory requirements during training, resulting in significant computational gains. We validate our hypothesis through three benchmark examples, demonstrating substantial reductions in training time while achieving comparable or lower overall test errors relative to the traditional training approach. Our results indicate that incorporating randomization in the trunk network inputs during training enhances the efficiency and robustness of DeepONet, offering a promising avenue for improving the framework's performance in modeling complex physical systems.
Invisible Servoing: a Visual Servoing Approach with Return-Conditioned Latent Diffusion
Venue: arXiv cs.RO 2025
Year: 2025

In this paper, we present a novel visual servoing (VS) approach based on latent Denoising Diffusion Probabilistic Models (DDPMs), that explores the application of generative models for vision-based navigation of UAVs (Uncrewed Aerial Vehicles). Opposite to classical VS methods, the proposed approach allows reaching the desired target view, even when the target is initially not visible. This is possible thanks to the learning of a latent representation that the DDPM uses for planning and a dataset of trajectories encompassing target-invisible initial views. A compact representation is learned from raw images using a Cross-Modal Variational Autoencoder. Given the current image, the DDPM generates trajectories in the latent space driving the robotic platform to the desired visual target. The approach has been validated in simulation using two generic multi-rotor UAVs (a quadrotor and a hexarotor). The results show that we can successfully reach the visual target, even if not visible in the initial view.
Feature-Centered First Order Structure Tensor Scale-Space in 2D and 3D
Venue: arXiv cs.CV 2025
Year: 2025

The structure tensor method is often used for 2D and 3D analysis of imaged structures, but its results are in many cases very dependent on the user's choice of method parameters. We simplify this parameter choice in first order structure tensor scale-space by directly connecting the width of the derivative filter to the size of image features. By introducing a ring-filter step, we substitute the Gaussian integration/smoothing with a method that more accurately shifts the derivative filter response from feature edges to their center. We further demonstrate how extracted structural measures can be used to correct known inaccuracies in the scale map, resulting in a reliable representation of the feature sizes both in 2D and 3D. Compared to the traditional first order structure tensor, or previous structure tensor scale-space approaches, our solution is much more accurate and can serve as an out-of-the-box method for extracting a wide range of structural parameters with minimal user input.
A Survey on Moral Foundation Theory and Pre-Trained Language Models: Current Advances and Challenges
Venue: arXiv cs.CL 2025
Year: 2025

Moral values have deep roots in early civilizations, codified within norms and laws that regulated societal order and the common good. They play a crucial role in understanding the psychological basis of human behavior and cultural orientation. The Moral Foundation Theory (MFT) is a well-established framework that identifies the core moral foundations underlying the manner in which different cultures shape individual and social lives. Recent advancements in natural language processing, particularly Pre-trained Language Models (PLMs), have enabled the extraction and analysis of moral dimensions from textual data. This survey presents a comprehensive review of MFT-informed PLMs, providing an analysis of moral tendencies in PLMs and their application in the context of the MFT. We also review relevant datasets and lexicons and discuss trends, limitations, and future directions. By providing a structured overview of the intersection between PLMs and MFT, this work bridges moral psychology insights within the realm of PLMs, paving the way for further research and development in creating morally aware AI systems.
Generating Visual Stories with Grounded and Coreferent Characters
Venue: arXiv cs.CL 2025
Year: 2025

Characters are important in narratives. They move the plot forward, create emotional connections, and embody the story's themes. Visual storytelling methods focus more on the plot and events relating to it, without building the narrative around specific characters. As a result, the generated stories feel generic, with character mentions being absent, vague, or incorrect. To mitigate these issues, we introduce the new task of character-centric story generation and present the first model capable of predicting visual stories with consistently grounded and coreferent character mentions. Our model is finetuned on a new dataset which we build on top of the widely used VIST benchmark. Specifically, we develop an automated pipeline to enrich VIST with visual and textual character coreference chains. We also propose new evaluation metrics to measure the richness of characters and coreference in stories. Experimental results show that our model generates stories with recurring characters which are consistent and coreferent to larger extent compared to baselines and state-of-the-art systems.
Deep Learning and Machine Learning, Advancing Big Data Analytics and Management: Tensorflow Pretrained Models
Venue: arXiv cs.LG 2025
Year: 2025

The application of TensorFlow pre-trained models in deep learning is explored, with an emphasis on practical guidance for tasks such as image classification and object detection. The study covers modern architectures, including ResNet, MobileNet, and EfficientNet, and demonstrates the effectiveness of transfer learning through real-world examples and experiments. A comparison of linear probing and model fine-tuning is presented, supplemented by visualizations using techniques like PCA, t-SNE, and UMAP, allowing for an intuitive understanding of the impact of these approaches. The work provides complete example code and step-by-step instructions, offering valuable insights for both beginners and advanced users. By integrating theoretical concepts with hands-on practice, the paper equips readers with the tools necessary to address deep learning challenges efficiently.
Parameterised Holant Problems
Venue: arXiv cs.CC 2025
Year: 2025

We investigate the complexity of parameterised holant problems p-$\mathrm{Holant}(\mathcal{S})$ for families of signatures $\mathcal{S}$. The parameterised holant framework was introduced by Curticapean in 2015 as a counter-part to the classical theory of holographic reductions and algorithms and it constitutes an extensive family of coloured and weighted counting constraint satisfaction problems on graph-like structures, encoding as special cases various well-studied counting problems in parameterised and fine-grained complexity theory such as counting edge-colourful $k$-matchings, graph-factors, Eulerian orientations or, subgraphs with weighted degree constraints. We establish an exhaustive complexity trichotomy along the set of signatures $\mathcal{S}$: Depending on $\mathcal{S}$, p-$\mathrm{Holant}(\mathcal{S})$ is: (1) solvable in FPT-near-linear time (i.e. $f(k)\cdot \tilde{\mathcal{O}}(|x|)$); (2) solvable in "FPT-matrix-multiplication time" (i.e. $f(k)\cdot {\mathcal{O}}(n^ω)$) but not solvable in FPT-near-linear time unless the Triangle Conjecture fails; or (3) #W[1]-complete and no significant improvement over brute force is possible unless ETH fails. This classification reveals a significant and surprising gap in the complexity landscape of parameterised Holants: Not only is every instance either fixed-parameter tractable or #W[1]-complete, but additionally, every FPT instance is solvable in time $f(k)\cdot {\mathcal{O}}(n^ω)$. We also establish a complete classification for a natural uncoloured version of parameterised holant problem p-$\mathrm{UnColHolant}(\mathcal{S})$, which encodes as special cases the non-coloured analogues of the aforementioned examples. We show that the complexity of p-$\mathrm{UnColHolant}(\mathcal{S})$ is different: Depending on $\mathcal{S}$ all instances are either solvable in FPT-near-linear time, or #W[1]-complete.
MaPPER: Multimodal Prior-guided Parameter Efficient Tuning for Referring Expression Comprehension
Venue: arXiv cs.CV 2025
Year: 2025

Referring Expression Comprehension (REC), which aims to ground a local visual region via natural language, is a task that heavily relies on multimodal alignment. Most existing methods utilize powerful pre-trained models to transfer visual/linguistic knowledge by full fine-tuning. However, full fine-tuning the entire backbone not only breaks the rich prior knowledge embedded in the pre-training, but also incurs significant computational costs. Motivated by the recent emergence of Parameter-Efficient Transfer Learning (PETL) methods, we aim to solve the REC task in an effective and efficient manner. Directly applying these PETL methods to the REC task is inappropriate, as they lack the specific-domain abilities for precise local visual perception and visual-language alignment. Therefore, we propose a novel framework of Multimodal Prior-guided Parameter Efficient Tuning, namely MaPPER. Specifically, MaPPER comprises Dynamic Prior Adapters guided by an aligned prior, and Local Convolution Adapters to extract precise local semantics for better visual perception. Moreover, the Prior-Guided Text module is proposed to further utilize the prior for facilitating the cross-modal alignment. Experimental results on three widely-used benchmarks demonstrate that MaPPER achieves the best accuracy compared to the full fine-tuning and other PETL methods with only 1.41% tunable backbone parameters. Our code is available at https://github.com/liuting20/MaPPER.