OpenRaiser/Intern-Atlas huggingface dataset:
PointCloud-Text Matching: Benchmark Datasets and a Baseline
Venue: arXiv cs.CV 2025
Year: 2025

In this paper, we present and study a new instance-level retrieval task: PointCloud-Text Matching (PTM), which aims to identify the exact cross-modal instance that matches a given point-cloud query or text query. PTM has potential applications in various scenarios, such as indoor/urban-canyon localization and scene retrieval. However, there is a lack of suitable and targeted datasets for PTM in practice. To address this issue, we present a new PTM benchmark dataset, namely SceneDepict-3D2T. We observe that the data poses significant challenges due to its inherent characteristics, such as the sparsity, noise, or disorder of point clouds and the ambiguity, vagueness, or incompleteness of texts, which render existing cross-modal matching methods ineffective for PTM. To overcome these challenges, we propose a PTM baseline, named Robust PointCloud-Text Matching method (RoMa). RoMa consists of two key modules: a Dual Attention Perception module (DAP) and a Robust Negative Contrastive Learning module (RNCL). Specifically, DAP leverages token-level and feature-level attention mechanisms to adaptively focus on useful local and global features, and aggregate them into common representations, thereby reducing the adverse impact of noise and ambiguity. To handle noisy correspondence, RNCL enhances robustness against mismatching by dividing negative pairs into clean and noisy subsets and assigning them forward and reverse optimization directions, respectively. We conduct extensive experiments on our benchmarks and demonstrate the superiority of our RoMa.
FADE-CTP: A Framework for the Analysis and Design of Educational Computational Thinking Problems
Venue: arXiv cs.HC 2025
Year: 2025

In recent years, the emphasis on computational thinking (CT) has intensified as an effect of accelerated digitalisation. While most researchers are concentrating on defining CT and developing tools for its instruction and assessment, we focus on the characteristics of computational thinking problems (CTPs) - activities requiring CT to be solved - and how they influence the skills students can develop. In this paper, we present a comprehensive framework for systematically profiling CTPs by identifying specific components and characteristics, while establishing a link between these attributes and a structured catalogue of CT competencies. The purposes of this framework are (i) facilitating the analysis of existing CTPs to identify which abilities can be developed or measured based on their inherent characteristics, and (ii) guiding the design of new CTPs targeted at specific skills by outlining the necessary characteristics required for CT activation. To illustrate the framework functionalities, we begin by analysing prototypical activities in the literature, a process that leads to the definition of a taxonomy of CTPs across various domains, and we conclude with a case study on the design of a different version of one of these activities, the Cross Array Task (CAT), set in different cognitive environments. This approach allows an understanding of how CTPs in different contexts display unique and recurring characteristics that promote the development of distinct skills. In conclusion, this framework can inform the development of assessment tools, improve teacher training, and facilitate the analysis and comparison of existing CT activities, contributing to a deeper understanding of competency activation and guiding curriculum design in CT education.
Language Models Learn Rare Phenomena from Less Rare Phenomena: The Case of the Missing AANNs
Venue: arXiv cs.CL 2025
Year: 2025

Language models learn rare syntactic phenomena, but the extent to which this is attributable to generalization vs. memorization is a major open question. To that end, we iteratively trained transformer language models on systematically manipulated corpora which were human-scale in size, and then evaluated their learning of a rare grammatical phenomenon: the English Article+Adjective+Numeral+Noun (AANN) construction (``a beautiful five days''). We compared how well this construction was learned on the default corpus relative to a counterfactual corpus in which AANN sentences were removed. We found that AANNs were still learned better than systematically perturbed variants of the construction. Using additional counterfactual corpora, we suggest that this learning occurs through generalization from related constructions (e.g., ``a few days''). An additional experiment showed that this learning is enhanced when there is more variability in the input. Taken together, our results provide an existence proof that LMs can learn rare grammatical phenomena by generalization from less rare phenomena. Data and code: https://github.com/kanishkamisra/aannalysis.
PACC: A Passive-Arm Approach for High-Payload Collaborative Carrying with Quadruped Robots Using Model Predictive Control
Venue: arXiv cs.RO 2025
Year: 2025

In this paper, we introduce the concept of using passive arm structures with intrinsic impedance for robot-robot and human-robot collaborative carrying with quadruped robots. The concept is meant for a leader-follower task and takes a minimalist approach that focuses on exploiting the robots' payload capabilities and reducing energy consumption, without compromising the robot locomotion capabilities. We introduce a preliminary arm mechanical design and describe how to use its joint displacements to guide the robot's motion. To control the robot's locomotion, we propose a decentralized Model Predictive Controller that incorporates an approximation of the arm dynamics and the estimation of the external forces from the collaborative carrying. We validate the overall system experimentally by performing both robot-robot and human-robot collaborative carrying on a stair-like obstacle and on rough terrain.
Computing a Fixed Point of Contraction Maps in Polynomial Queries
Venue: arXiv cs.CC 2025
Year: 2025

We give an algorithm for finding an $ε$-fixed point of a contraction map $f:[0,1]^k\mapsto[0,1]^k$ under the $\ell_\infty$-norm with query complexity $O (k\log (1/ε) )$.
RealKIE: Five Novel Datasets for Enterprise Key Information Extraction
Venue: arXiv cs.CL 2025
Year: 2025

We introduce RealKIE, a benchmark of five challenging datasets aimed at advancing key information extraction methods, with an emphasis on enterprise applications. The datasets include a diverse range of documents including SEC S1 Filings, US Non-disclosure Agreements, UK Charity Reports, FCC Invoices, and Resource Contracts. Each presents unique challenges: poor text serialization, sparse annotations in long documents, and complex tabular layouts. These datasets provide a realistic testing ground for key information extraction tasks like investment analysis and contract analysis. In addition to presenting these datasets, we offer an in-depth description of the annotation process, document processing techniques, and baseline modeling approaches. This contribution facilitates the development of NLP models capable of handling practical challenges and supports further research into information extraction technologies applicable to industry-specific problems. The annotated data, OCR outputs, and code to reproduce baselines are available to download at https://indicodatasolutions.github.io/RealKIE/.
Preliminaries to artificial consciousness: a multidimensional heuristic approach
Venue: arXiv cs.AI 2025
Year: 2025

The pursuit of artificial consciousness requires conceptual clarity to navigate its theoretical and empirical challenges. This paper introduces a composite, multilevel, and multidimensional model of consciousness as a heuristic framework to guide research in this field. Consciousness is treated as a complex phenomenon, with distinct constituents and dimensions that can be operationalized for study and for evaluating their replication. We argue that this model provides a balanced approach to artificial consciousness research by avoiding binary thinking (e.g., conscious vs. non-conscious) and offering a structured basis for testable hypotheses. To illustrate its utility, we focus on "awareness" as a case study, demonstrating how specific dimensions of consciousness can be pragmatically analyzed and targeted for potential artificial instantiation. By breaking down the conceptual intricacies of consciousness and aligning them with practical research goals, this paper lays the groundwork for a robust strategy to advance the scientific and technical understanding of artificial consciousness.
Review-Based Hyperbolic Cross-Domain Recommendation
Venue: arXiv cs.IR 2025
Year: 2025

The issue of data sparsity poses a significant challenge to recommender systems. In response to this, algorithms that leverage side information such as review texts have been proposed. Furthermore, Cross-Domain Recommendation (CDR), which captures domain-shareable knowledge and transfers it from a richer domain (source) to a sparser one (target), has received notable attention. Nevertheless, the majority of existing methodologies assume a Euclidean embedding space, encountering difficulties in accurately representing richer text information and managing complex interactions between users and items. This paper advocates a hyperbolic CDR approach based on review texts for modeling user-item relationships. We first emphasize that conventional distance-based domain alignment techniques may cause problems because small modifications in hyperbolic geometry result in magnified perturbations, ultimately leading to the collapse of hierarchical structures. To address this challenge, we propose hierarchy-aware embedding and domain alignment schemes that adjust the scale to extract domain-shareable information without disrupting structural forms. The process involves the initial embedding of review texts in hyperbolic space, followed by feature extraction incorporating degree-based normalization and structure alignment. We conducted extensive experiments to substantiate the efficiency, robustness, and scalability of our proposed model in comparison to state-of-the-art baselines.
Hey, Teacher, (Don't) Leave Those Kids Alone: Standardizing HRI Education
Venue: arXiv cs.RO 2025
Year: 2025

Creating a standardized introduction course becomes more critical as the field of human-robot interaction (HRI) becomes more established. This paper outlines the key components necessary to provide an undergraduate with a sufficient foundational understanding of the interdisciplinary nature of this field and provides proposed course content. It emphasizes the importance of creating a course with theoretical and experimental components to accommodate all different learning preferences. This manuscript also advocates creating or adopting a universal platform to standardize the hands-on component of introductory HRI courses, regardless of university funding or size. Next, it recommends formal training in how to read scientific articles and staying up-to-date with the latest relevant papers. Finally, it provides detailed lecture content and project milestones for a 15-week semester. By creating a standardized course, researchers can ensure consistency and quality are maintained across institutions, which will help students as well as industrial and academic employers understand what foundational knowledge is expected.
THEMIS: Time, Heterogeneity, and Energy Minded Scheduling for Fair Multi-Tenant Use in FPGAs
Venue: arXiv cs.OS 2025
Year: 2025

Using correct design metrics and understanding the limitations of the underlying technology is critical to developing effective scheduling algorithms. Unfortunately, existing scheduling techniques used \emph{incorrect} metrics and had \emph{unrealistic} assumptions for fair scheduling of multi-tenant FPGAs where each tenant is aimed to share approximately the same number of resources both spatially and temporally. This paper introduces an enhanced fair scheduling algorithm for multi-tenant FPGA use, addressing previous metric and assumption issues, with three specific improvements claimed First, our method ensures spatiotemporal fairness by considering both spatial and temporal aspects, addressing the limitation of prior work that assumed uniform task latency. Second, we incorporate energy considerations into fairness by adjusting scheduling intervals and accounting for energy overhead, thereby balancing energy efficiency with fairness. Third, we acknowledge overlooked aspects of FPGA multi-tenancy, including heterogeneous regions and the constraints on dynamically merging/splitting partially reconfigurable regions. We develop and evaluate our improved fair scheduling algorithm with these three enhancements. Inspired by the Greek goddess of law and personification of justice, we name our fair scheduling solution THEMIS: \underline{T}ime, \underline{H}eterogeneity, and \underline{E}nergy \underline{Mi}nded \underline{S}cheduling. We used the Xilinx Zedboard XC7Z020 to quantify our approach's savings. Compared to previous algorithms, our improved scheduling algorithm enhances fairness between 24.2--98.4\% and allows a trade-off between 55.3$\times$ in energy vs. 69.3$\times$ in fairness. The paper thus informs cloud providers about future scheduling optimizations for fairness with related challenges and opportunities.
UFID: A Unified Framework for Input-level Backdoor Detection on Diffusion Models
Venue: arXiv cs.CR 2025
Year: 2025

Diffusion models are vulnerable to backdoor attacks, where malicious attackers inject backdoors by poisoning certain training samples during the training stage. This poses a significant threat to real-world applications in the Model-as-a-Service (MaaS) scenario, where users query diffusion models through APIs or directly download them from the internet. To mitigate the threat of backdoor attacks under MaaS, black-box input-level backdoor detection has drawn recent interest, where defenders aim to build a firewall that filters out backdoor samples in the inference stage, with access only to input queries and the generated results from diffusion models. Despite some preliminary explorations on the traditional classification tasks, these methods cannot be directly applied to the generative tasks due to two major challenges: (1) more diverse failures and (2) a multi-modality attack surface. In this paper, we propose a black-box input-level backdoor detection framework on diffusion models, called UFID. Our defense is motivated by an insightful causal analysis: Backdoor attacks serve as the confounder, introducing a spurious path from input to target images, which remains consistent even when we perturb the input samples with Gaussian noise. We further validate the intuition with theoretical analysis. Extensive experiments across different datasets on both conditional and unconditional diffusion models show that our method achieves superb performance on detection effectiveness and run-time efficiency.
Collaborative Pareto Set Learning in Multiple Multi-Objective Optimization Problems
Venue: arXiv cs.LG 2025
Year: 2025

Pareto Set Learning (PSL) is an emerging research area in multi-objective optimization, focusing on training neural networks to learn the mapping from preference vectors to Pareto optimal solutions. However, existing PSL methods are limited to addressing a single Multi-objective Optimization Problem (MOP) at a time. When faced with multiple MOPs, this limitation results in significant inefficiencies and hinders the ability to exploit potential synergies across varying MOPs. In this paper, we propose a Collaborative Pareto Set Learning (CoPSL) framework, which learns the Pareto sets of multiple MOPs simultaneously in a collaborative manner. CoPSL particularly employs an architecture consisting of shared and MOP-specific layers. The shared layers are designed to capture commonalities among MOPs collaboratively, while the MOP-specific layers tailor these general insights to generate solution sets for individual MOPs. This collaborative approach enables CoPSL to efficiently learn the Pareto sets of multiple MOPs in a single execution while leveraging the potential relationships among various MOPs. To further understand these relationships, we experimentally demonstrate that shareable representations exist among MOPs. Leveraging these shared representations effectively improves the capability to approximate Pareto sets. Extensive experiments underscore the superior efficiency and robustness of CoPSL in approximating Pareto sets compared to state-of-the-art approaches on a variety of synthetic and real-world MOPs. Code is available at https://github.com/ckshang/CoPSL.
A Design Space for Multiscale Visualization
Venue: arXiv cs.HC 2025
Year: 2025

Designing multiscale visualizations, particularly when the ratio between the largest scale and the smallest item is large, can be challenging, and designers have developed many approaches to overcome this challenge. We present a design space for visualization with multiple scales. The design space includes three dimensions, with eight total subdimensions. We demonstrate its descriptive power by using it to code approaches from a corpus we compiled of 52 examples, created by a mix of academics and practitioners. We demonstrate descriptive power by analyzing and partitioning these examples into four high-level strategies for designing multiscale visualizations, which are shared approaches with respect to design space dimension choices. We demonstrate generative power by analyzing missed opportunities within the corpus of examples, identified through analysis of the design space, where we note how certain examples could have benefited from different choices. We discuss patterns in the use of different dimension and strategy choices in the different visualization contexts of analysis and presentation. Supplemental materials: https://osf.io/wbrdm/ Design space website: https://marasolen.github.io/multiscale-vis-ds/
WaveDH: Wavelet Sub-bands Guided ConvNet for Efficient Image Dehazing
Venue: arXiv cs.CV 2025
Year: 2025

The surge in interest regarding image dehazing has led to notable advancements in deep learning-based single image dehazing approaches, exhibiting impressive performance in recent studies. Despite these strides, many existing methods fall short in meeting the efficiency demands of practical applications. In this paper, we introduce WaveDH, a novel and compact ConvNet designed to address this efficiency gap in image dehazing. Our WaveDH leverages wavelet sub-bands for guided up-and-downsampling and frequency-aware feature refinement. The key idea lies in utilizing wavelet decomposition to extract low-and-high frequency components from feature levels, allowing for faster processing while upholding high-quality reconstruction. The downsampling block employs a novel squeeze-and-attention scheme to optimize the feature downsampling process in a structurally compact manner through wavelet domain learning, preserving discriminative features while discarding noise components. In our upsampling block, we introduce a dual-upsample and fusion mechanism to enhance high-frequency component awareness, aiding in the reconstruction of high-frequency details. Departing from conventional dehazing methods that treat low-and-high frequency components equally, our feature refinement block strategically processes features with a frequency-aware approach. By employing a coarse-to-fine methodology, it not only refines the details at frequency levels but also significantly optimizes computational costs. The refinement is performed in a maximum 8x downsampled feature space, striking a favorable efficiency-vs-accuracy trade-off. Extensive experiments demonstrate that our method, WaveDH, outperforms many state-of-the-art methods on several image dehazing benchmarks with significantly reduced computational costs. Our code is available at https://github.com/AwesomeHwang/WaveDH.
Generalizable, Fast, and Accurate DeepQSPR with fastprop
Venue: arXiv cs.LG 2025
Year: 2025

Quantitative Structure Property Relationship studies aim to define a mapping between molecular structure and arbitrary quantities of interest. This was historically accomplished via the development of descriptors which requires significant domain expertise and struggles to generalize. Thus the field has morphed into Molecular Property Prediction and been given over to learned representations which are highly generalizable. The paper introduces fastprop, a DeepQSPR framework which uses a cogent set of molecular level descriptors to meet and exceed the performance of learned representations on diverse datasets in dramatically less time. fastprop is freely available on github at github.com/JacksonBurns/fastprop.
ImageNot: A contrast with ImageNet preserves model rankings
Venue: arXiv cs.LG 2025
Year: 2025

We introduce ImageNot, a dataset constructed explicitly to be drastically different than ImageNet while matching its scale. ImageNot is designed to test the external validity of deep learning progress on ImageNet. We show that key model architectures developed for ImageNet over the years rank identically to how they rank on ImageNet when trained from scratch and evaluated on ImageNot. Moreover, the relative improvements of each model over earlier models strongly correlate in both datasets. Our work demonstrates a surprising degree of external validity in the relative performance of image classification models when trained and evaluated on an entirely different dataset. This stands in contrast with absolute accuracy numbers that typically drop sharply even under small changes to a dataset.
Attribution Regularization for Multimodal Paradigms
Venue: arXiv cs.LG 2025
Year: 2025

Multimodal machine learning has gained significant attention in recent years due to its potential for integrating information from multiple modalities to enhance learning and decision-making processes. However, it is commonly observed that unimodal models outperform multimodal models, despite the latter having access to richer information. Additionally, the influence of a single modality often dominates the decision-making process, resulting in suboptimal performance. This research project aims to address these challenges by proposing a novel regularization term that encourages multimodal models to effectively utilize information from all modalities when making decisions. The focus of this project lies in the video-audio domain, although the proposed regularization technique holds promise for broader applications in embodied AI research, where multiple modalities are involved. By leveraging this regularization term, the proposed approach aims to mitigate the issue of unimodal dominance and improve the performance of multimodal machine learning systems. Through extensive experimentation and evaluation, the effectiveness and generalizability of the proposed technique will be assessed. The findings of this research project have the potential to significantly contribute to the advancement of multimodal machine learning and facilitate its application in various domains, including multimedia analysis, human-computer interaction, and embodied AI research.