OpenRaiser/Intern-Atlas huggingface dataset:
Rethinking Backbone Design for Lightweight 3D Object Detection in LiDAR
Venue: arXiv cs.CV 2025
Year: 2025

Recent advancements in LiDAR-based 3D object detection have significantly accelerated progress toward the realization of fully autonomous driving in real-world environments. Despite achieving high detection performance, most of the approaches still rely on a VGG-based or ResNet-based backbone for feature exploration, which increases the model complexity. Lightweight backbone design is well-explored for 2D object detection, but research on 3D object detection still remains limited. In this work, we introduce Dense Backbone, a lightweight backbone that combines the benefits of high processing speed, lightweight architecture, and robust detection accuracy. We adapt multiple SoTA 3d object detectors, such as PillarNet, with our backbone and show that with our backbone, these models retain most of their detection capability at a significantly reduced computational cost. To our knowledge, this is the first dense-layer-based backbone tailored specifically for 3D object detection from point cloud data. DensePillarNet, our adaptation of PillarNet, achieves a 29% reduction in model parameters and a 28% reduction in latency with just a 2% drop in detection accuracy on the nuScenes test set. Furthermore, Dense Backbone's plug-and-play design allows straightforward integration into existing architectures, requiring no modifications to other network components.
A Simple and Effective Method for Uncertainty Quantification and OOD Detection
Venue: arXiv cs.LG 2025
Year: 2025

Bayesian neural networks and deep ensemble methods have been proposed for uncertainty quantification; however, they are computationally intensive and require large storage. By utilizing a single deterministic model, we can solve the above issue. We propose an effective method based on feature space density to quantify uncertainty for distributional shifts and out-of-distribution (OOD) detection. Specifically, we leverage the information potential field derived from kernel density estimation to approximate the feature space density of the training set. By comparing this density with the feature space representation of test samples, we can effectively determine whether a distributional shift has occurred. Experiments were conducted on a 2D synthetic dataset (Two Moons and Three Spirals) as well as an OOD detection task (CIFAR-10 vs. SVHN). The results demonstrate that our method outperforms baseline models.
MMBERT: Scaled Mixture-of-Experts Multimodal BERT for Robust Chinese Hate Speech Detection under Cloaking Perturbations
Venue: arXiv cs.CL 2025
Year: 2025

Hate speech detection on Chinese social networks presents distinct challenges, particularly due to the widespread use of cloaking techniques designed to evade conventional text-based detection systems. Although large language models (LLMs) have recently improved hate speech detection capabilities, the majority of existing work has concentrated on English datasets, with limited attention given to multimodal strategies in the Chinese context. In this study, we propose MMBERT, a novel BERT-based multimodal framework that integrates textual, speech, and visual modalities through a Mixture-of-Experts (MoE) architecture. To address the instability associated with directly integrating MoE into BERT-based models, we develop a progressive three-stage training paradigm. MMBERT incorporates modality-specific experts, a shared self-attention mechanism, and a router-based expert allocation strategy to enhance robustness against adversarial perturbations. Empirical results in several Chinese hate speech datasets show that MMBERT significantly surpasses fine-tuned BERT-based encoder models, fine-tuned LLMs, and LLMs utilizing in-context learning approaches.
Zero-Shot Anomaly Detection with Dual-Branch Prompt Selection
Venue: arXiv cs.CV 2025
Year: 2025

Zero-shot anomaly detection (ZSAD) enables identifying and localizing defects in unseen categories by relying solely on generalizable features rather than requiring any labeled examples of anomalies. However, existing ZSAD methods, whether using fixed or learned prompts, struggle under domain shifts because their training data are derived from limited training domains and fail to generalize to new distributions. In this paper, we introduce PILOT, a framework designed to overcome these challenges through two key innovations: (1) a novel dual-branch prompt learning mechanism that dynamically integrates a pool of learnable prompts with structured semantic attributes, enabling the model to adaptively weight the most relevant anomaly cues for each input image; and (2) a label-free test-time adaptation strategy that updates the learnable prompt parameters using high-confidence pseudo-labels from unlabeled test data. Extensive experiments on 13 industrial and medical benchmarks demonstrate that PILOT achieves state-of-the-art performance in both anomaly detection and localization under domain shift.
Video Generators are Robot Policies
Venue: arXiv cs.RO 2025
Year: 2025

Despite tremendous progress in dexterous manipulation, current visuomotor policies remain fundamentally limited by two challenges: they struggle to generalize under perceptual or behavioral distribution shifts, and their performance is constrained by the size of human demonstration data. In this paper, we use video generation as a proxy for robot policy learning to address both limitations simultaneously. We propose Video Policy, a modular framework that combines video and action generation that can be trained end-to-end. Our results demonstrate that learning to generate videos of robot behavior allows for the extraction of policies with minimal demonstration data, significantly improving robustness and sample efficiency. Our method shows strong generalization to unseen objects, backgrounds, and tasks, both in simulation and the real world. We further highlight that task success is closely tied to the generated video, with action-free video data providing critical benefits for generalizing to novel tasks. By leveraging large-scale video generative models, we achieve superior performance compared to traditional behavior cloning, paving the way for more scalable and data-efficient robot policy learning.
Finance Agent Benchmark: Benchmarking LLMs on Real-world Financial Research Tasks
Venue: arXiv cs.CE 2025
Year: 2025

Artificial Intelligence (AI) technology has emerged as a transformative force in financial analysis and the finance industry, though significant questions remain about the full capabilities of Large Language Model (LLM) agents in this domain. We present the Finance Agent Benchmark, featuring challenging and diverse real-world finance research problems that require LLMs to perform complex analysis using recent SEC filings. We construct the benchmark using a taxonomy of nine financial task categories, developed in consultation with experts from banks, hedge funds, and private equity firms. The dataset includes 537 expert-authored questions covering tasks from information retrieval to complex financial modeling, each validated through a rigorous review process to ensure accuracy and relevance. Moreover, we implement an agentic harness that equips LLMs with tools sufficient to produce accurate responses, including Google Search and EDGAR database access. Overall, the Finance Agent Benchmark provides a comprehensive testbed for measuring the progress of LLM-driven finance agents. Our evaluation reveals significant limitations in current AI capabilities - even the best-performing model (OpenAI o3) achieved only 46.8% accuracy at an average cost of $3.79 per query. This underscores the need for further advancements before reliable deployment in high-stakes finance settings.
Deep Kernel Bayesian Optimisation for Closed-Loop Electrode Microstructure Design with User-Defined Properties based on GANs
Venue: arXiv cs.CE 2025
Year: 2025

The generation of multiphase porous electrode microstructures with optimum morphological and transport properties is essential in the design of improved electrochemical energy storage devices, such as lithium-ion batteries. Electrode characteristics directly influence battery performance by acting as the main sites where the electrochemical reactions coupled with transport processes occur. This work presents a generation-optimisation closed-loop algorithm for the design of microstructures with tailored properties. A deep convolutional Generative Adversarial Network is used as a deep kernel and employed to generate synthetic three-phase three-dimensional images of a porous lithium-ion battery cathode material. A Gaussian Process Regression uses the latent space of the generator and serves as a surrogate model to correlate the morphological and transport properties of the synthetic microstructures. This surrogate model is integrated into a deep kernel Bayesian optimisation framework, which optimises cathode properties as a function of the latent space of the generator. A set of objective functions were defined to perform the maximisation of morphological properties (e.g., volume fraction, specific surface area) and transport properties (relative diffusivity). We demonstrate the ability to perform simultaneous maximisation of correlated properties (specific surface area and relative diffusivity), as well as constrained optimisation of these properties. This is the maximisation of morphological or transport properties constrained by constant values of the volume fraction of the phase of interest. Visualising the optimised latent space reveals its correlation with morphological properties, enabling the fast generation of visually realistic microstructures with customised properties.
Cognitive Exoskeleton: Augmenting Human Cognition with an AI-Mediated Intelligent Visual Feedback
Venue: arXiv cs.HC 2025
Year: 2025

In this paper, we introduce an AI-mediated framework that can provide intelligent feedback to augment human cognition. Specifically, we leverage deep reinforcement learning (DRL) to provide adaptive time pressure feedback to improve user performance in a math arithmetic task. Time pressure feedback could either improve or deteriorate user performance by regulating user attention and anxiety. Adaptive time pressure feedback controlled by a DRL policy according to users' real-time performance could potentially solve this trade-off problem. However, the DRL training and hyperparameter tuning may require large amounts of data and iterative user studies. Therefore, we propose a dual-DRL framework that trains a regulation DRL agent to regulate user performance by interacting with another simulation DRL agent that mimics user cognition behaviors from an existing dataset. Our user study demonstrates the feasibility and effectiveness of the dual-DRL framework in augmenting user performance, in comparison to the baseline group.
FairFedMed: Benchmarking Group Fairness in Federated Medical Imaging with FairLoRA
Venue: arXiv cs.CY 2025
Year: 2025

Fairness remains a critical concern in healthcare, where unequal access to services and treatment outcomes can adversely affect patient health. While Federated Learning (FL) presents a collaborative and privacy-preserving approach to model training, ensuring fairness is challenging due to heterogeneous data across institutions, and current research primarily addresses non-medical applications. To fill this gap, we establish the first experimental benchmark for fairness in medical FL, evaluating six representative FL methods across diverse demographic attributes and imaging modalities. We introduce FairFedMed, the first medical FL dataset specifically designed to study group fairness (i.e., demographics). It comprises two parts: FairFedMed-Oph, featuring 2D fundus and 3D OCT ophthalmology samples with six demographic attributes; and FairFedMed-Chest, which simulates real cross-institutional FL using subsets of CheXpert and MIMIC-CXR. Together, they support both simulated and real-world FL across diverse medical modalities and demographic groups. Existing FL models often underperform on medical images and overlook fairness across demographic groups. To address this, we propose FairLoRA, a fairness-aware FL framework based on SVD-based low-rank approximation. It customizes singular value matrices per demographic group while sharing singular vectors, ensuring both fairness and efficiency. Experimental results on the FairFedMed dataset demonstrate that FairLoRA not only achieves state-of-the-art performance in medical image classification but also significantly improves fairness across diverse populations. Our code and dataset can be accessible via link: https://wang.hms.harvard.edu/fairfedmed/.
Reproducibility of Machine Learning-Based Fault Detection and Diagnosis for HVAC Systems in Buildings: An Empirical Study
Venue: arXiv cs.LG 2025
Year: 2025

Reproducibility is a cornerstone of scientific research, enabling independent verification and validation of empirical findings. The topic gained prominence in fields such as psychology and medicine, where concerns about non - replicable results sparked ongoing discussions about research practices. In recent years, the fast-growing field of Machine Learning (ML) has become part of this discourse, as it faces similar concerns about transparency and reliability. Some reproducibility issues in ML research are shared with other fields, such as limited access to data and missing methodological details. In addition, ML introduces specific challenges, including inherent nondeterminism and computational constraints. While reproducibility issues are increasingly recognized by the ML community and its major conferences, less is known about how these challenges manifest in applied disciplines. This paper contributes to closing this gap by analyzing the transparency and reproducibility standards of ML applications in building energy systems. The results indicate that nearly all articles are not reproducible due to insufficient disclosure across key dimensions of reproducibility. 72% of the articles do not specify whether the dataset used is public, proprietary, or commercially available. Only two papers share a link to their code - one of which was broken. Two-thirds of the publications were authored exclusively by academic researchers, yet no significant differences in reproducibility were observed compared to publications with industry-affiliated authors. These findings highlight the need for targeted interventions, including reproducibility guidelines, training for researchers, and policies by journals and conferences that promote transparency and reproducibility.
Multi-Grained Temporal-Spatial Graph Learning for Stable Traffic Flow Forecasting
Venue: arXiv cs.LG 2025
Year: 2025

Time-evolving traffic flow forecasting are playing a vital role in intelligent transportation systems and smart cities. However, the dynamic traffic flow forecasting is a highly nonlinear problem with complex temporal-spatial dependencies. Although the existing methods has provided great contributions to mine the temporal-spatial patterns in the complex traffic networks, they fail to encode the globally temporal-spatial patterns and are prone to overfit on the pre-defined geographical correlations, and thus hinder the model's robustness on the complex traffic environment. To tackle this issue, in this work, we proposed a multi-grained temporal-spatial graph learning framework to adaptively augment the globally temporal-spatial patterns obtained from a crafted graph transformer encoder with the local patterns from the graph convolution by a crafted gated fusion unit with residual connection techniques. Under these circumstances, our proposed model can mine the hidden global temporal-spatial relations between each monitor stations and balance the relative importance of local and global temporal-spatial patterns. Experiment results demonstrate the strong representation capability of our proposed method and our model consistently outperforms other strong baselines on various real-world traffic networks.
Benefits of Feature Extraction and Temporal Sequence Analysis for Video Frame Prediction: An Evaluation of Hybrid Deep Learning Models
Venue: arXiv cs.CV 2025
Year: 2025

In recent years, advances in Artificial Intelligence have significantly impacted computer science, particularly in the field of computer vision, enabling solutions to complex problems such as video frame prediction. Video frame prediction has critical applications in weather forecasting or autonomous systems and can provide technical improvements, such as video compression and streaming. Among Artificial Intelligence methods, Deep Learning has emerged as highly effective for solving vision-related tasks, although current frame prediction models still have room for enhancement. This paper evaluates several hybrid deep learning approaches that combine the feature extraction capabilities of autoencoders with temporal sequence modelling using Recurrent Neural Networks (RNNs), 3D Convolutional Neural Networks (3D CNNs), and related architectures. The proposed solutions were rigorously evaluated on three datasets that differ in terms of synthetic versus real-world scenarios and grayscale versus color imagery. Results demonstrate that the approaches perform well, with SSIM metrics increasing from 0.69 to 0.82, indicating that hybrid models utilizing 3DCNNs and ConvLSTMs are the most effective, and greyscale videos with real data are the easiest to predict.
Filtering with Self-Attention and Storing with MLP: One-Layer Transformers Can Provably Acquire and Extract Knowledge
Venue: arXiv cs.LG 2025
Year: 2025

Modern large language models (LLMs) demonstrate exceptional performance on knowledge-intensive tasks, yet the theoretical mechanisms underlying knowledge acquisition (storage and memorization) during pre-training and extraction (retrieval and recall) during inference after fine-tuning remain poorly understood. Although prior theoretical studies have explored these processes through analyses of training dynamics, they overlook critical components essential for a comprehensive theory: (1) the multi-layer perceptron (MLP), empirically identified as the primary module for knowledge storage; (2) out-of-distribution (OOD) adaptivity, which enables LLMs to generalize to unseen scenarios post-pre-training; and (3) next-token prediction, the standard autoregressive objective that encodes knowledge as conditional probabilities. In this work, we introduce, to the best of our knowledge, the first theoretical framework that addresses these limitations by examining the training dynamics of one-layer transformers. Under regularity assumptions, we establish that: (i) transformers attain near-optimal training loss during pre-training, demonstrating effective knowledge acquisition; (ii) given a sufficiently large fine-tuning dataset and appropriate data multiplicity conditions, transformers achieve low generalization error on factual knowledge acquired during pre-training but not revisited in fine-tuning, indicating robust knowledge extraction; and (iii) violation of these conditions leads to elevated generalization error, manifesting as hallucinations. Our analysis encompasses both full fine-tuning and low-rank fine-tuning, yielding insights into the efficacy of practical low-rank adaptation methods. We validate our theoretical findings through experiments on synthetic datasets and the real-world PopQA benchmark, employing GPT-2 and Llama-3.2-1B models.
Accessibility and Social Inclusivity: A Literature Review of Music Technology for Blind and Low Vision People
Venue: arXiv cs.HC 2025
Year: 2025

This paper presents a systematic literature review of music technology tailored for blind and low vision (BLV) individuals. Music activities can be particularly beneficial for BLV people. However, a systematic approach to organizing knowledge on designing accessible technology for BLV people has yet to be attempted. We categorize the existing studies based on the type of technology and the extent of BLV people's involvement in the research. We identify six main categories of BLV people-oriented music technology and highlight four key trends in design goals. Based on these categories, we propose four general insights focusing on (1) spatial awareness, (2) access to information, (3) (non-verbal) communication, and (4) memory. The identified trends suggest that more empirical studies involving BLV people in real-world scenarios are needed to ensure that technological advancements can enhance musical experiences and social inclusion. This research proposes collaborative music technology and inclusive real-world testing with the target group as two key areas missing in current research. They serve as a foundational step in shifting the focus from ``accessible technology'' to ``inclusive technology'' for BLV individuals within the broader field of accessibility research.
Stakeholder Perspectives on Digital Twin Implementation Challenges in Healthcare: Insights from a Provider Digital Twin Case Study
Venue: arXiv cs.CY 2025
Year: 2025

Digital twin (DT) technology holds immense potential for transforming healthcare systems through real-time monitoring, predictive analysis, and agile interventions to support various decision-making needs. However, its successful implementation depends on addressing a range of complex sociotechnical challenges. Using a case study of provider workload DT, this research investigates DT implementation challenges in healthcare by capturing the perspectives of four distinct stakeholders: family medicine specialists (FMS), organizational psychologists (OP), engineers (EE), and implementation scientists (IS). We conducted semi-structured interviews guided by the updated Consolidated Framework for Implementation Research (CFIR 2.0), a widely used implementation science framework for understanding factors that influence implementation outcomes. We then mapped each stakeholder group's preferences and concerns, revealing a nuanced landscape of converging and diverging perspectives that highlight both shared and group-specific implementation barriers. Through thematic coding, the 66 identified challenges were categorized into seven domains: data-related, financial and economic, operational, organizational, personnel, regulatory and ethical, and technological. Our findings reveal shared concerns such as data privacy and security, interoperability, and regulatory compliance. However, divergences also emerged, reflecting each group's functional focus. These findings emphasize the need for a multidisciplinary, stakeholder-sensitive approach that addresses both functional and practical concerns, highlighting the importance of tailored implementation strategies to support successful DT adoption in healthcare.
Learning Unified User Quantized Tokenizers for User Representation
Venue: arXiv cs.LG 2025
Year: 2025

Multi-source user representation learning plays a critical role in enabling personalized services on web platforms (e.g., Alipay). While prior works have adopted late-fusion strategies to combine heterogeneous data sources, they suffer from three key limitations: lack of unified representation frameworks, scalability and storage issues in data compression, and inflexible cross-task generalization. To address these challenges, we propose U2QT (Unified User Quantized Tokenizers), a novel framework that integrates cross-domain knowledge transfer with early fusion of heterogeneous domains. Our framework employs a two-stage architecture: first, we use the Qwen3 Embedding model to derive a compact yet expressive feature representation; second, a multi-view RQ-VAE discretizes causal embeddings into compact tokens through shared and source-specific codebooks, enabling efficient storage while maintaining semantic coherence. Experimental results showcase U2QT's advantages across diverse downstream tasks, outperforming task-specific baselines in future behavior prediction and recommendation tasks while achieving efficiency gains in storage and computation. The unified tokenization framework enables seamless integration with language models and supports industrial-scale applications.