OpenRaiser/Intern-Atlas huggingface dataset:
Motion-to-Motion Latency Measurement Framework for Connected and Autonomous Vehicle Teleoperation
Venue: arXiv cs.PF 2025
Year: 2025

Latency is a key performance factor for the teleoperation of Connected and Autonomous Vehicles (CAVs). It affects how quickly an operator can perceive changes in the driving environment and apply corrective actions. Most existing work focuses on Glass-to-Glass (G2G) latency, which captures delays only in the video pipeline. However, there is no standard method for measuring Motion-to-Motion (M2M) latency, defined as the delay between the physical steering movement of the remote operator and the corresponding steering motion in the vehicle. This paper presents an M2M latency measurement framework that uses Hall-effect sensors and two synchronized Raspberry Pi~5 devices. The system records interrupt-based timestamps on both sides to estimate M2M latency, independently of the underlying teleoperation architecture. Precision tests show an accuracy of 10--15~ms, while field results indicate that actuator delays dominate M2M latency, with median values above 750~ms.
Hybrid, Unified and Iterative: A Novel Framework for Text-based Person Anomaly Retrieval
Venue: arXiv cs.CV 2025
Year: 2025

Text-based person anomaly retrieval has emerged as a challenging task, with most existing approaches relying on complex deep-learning techniques. This raises a research question: How can the model be optimized to achieve greater fine-grained features? To address this, we propose a Local-Global Hybrid Perspective (LHP) module integrated with a Vision-Language Model (VLM), designed to explore the effectiveness of incorporating both fine-grained features alongside coarse-grained features. Additionally, we investigate a Unified Image-Text (UIT) model that combines multiple objective loss functions, including Image-Text Contrastive (ITC), Image-Text Matching (ITM), Masked Language Modeling (MLM), and Masked Image Modeling (MIM) loss. Beyond this, we propose a novel iterative ensemble strategy, by combining iteratively instead of using model results simultaneously like other ensemble methods. To take advantage of the superior performance of the LHP model, we introduce a novel feature selection algorithm based on its guidance, which helps improve the model's performance. Extensive experiments demonstrate the effectiveness of our method in achieving state-of-the-art (SOTA) performance on PAB dataset, compared with previous work, with a 9.70\% improvement in R@1, 1.77\% improvement in R@5, and 1.01\% improvement in R@10.
AI killed the video star. Audio-driven diffusion model for expressive talking head generation
Venue: arXiv cs.CV 2025
Year: 2025

We propose Dimitra++, a novel framework for audio-driven talking head generation, streamlined to learn lip motion, facial expression, as well as head pose motion. Specifically, we propose a conditional Motion Diffusion Transformer (cMDT) to model facial motion sequences, employing a 3D representation. The cMDT is conditioned on two inputs: a reference facial image, which determines appearance, as well as an audio sequence, which drives the motion. Quantitative and qualitative experiments, as well as a user study on two widely employed datasets, i.e., VoxCeleb2 and CelebV-HQ, suggest that Dimitra++ is able to outperform existing approaches in generating realistic talking heads imparting lip motion, facial expression, and head pose.
List-Decodable Regression via Expander Sketching
Venue: arXiv cs.LG 2025
Year: 2025

We introduce an expander-sketching framework for list-decodable linear regression that achieves sample complexity $\tilde{O}((d+\log(1/δ))/α)$, list size $O(1/α)$, and near input-sparsity running time $\tilde{O}(\mathrm{nnz}(X)+d^{3}/α)$ under standard sub-Gaussian assumptions. Our method uses lossless expanders to synthesize lightly contaminated batches, enabling robust aggregation and a short spectral filtering stage that matches the best known efficient guarantees while avoiding SoS machinery and explicit batch structure.
TransCoder: A Neural-Enhancement Framework for Channel Codes
Venue: arXiv cs.IT 2025
Year: 2025

Reliable communication over noisy channels requires the design of specialized error-correcting codes (ECCs) tailored to specific system requirements. Recently, neural network-based decoders have emerged as promising tools for enhancing ECC reliability, yet their high computational complexity prevents their potential practical deployment. In this paper, we take a different approach and design a neural transmission scheme that employs the transformer architecture in order to improve the reliability of existing ECCs. We call this approach TransCoder, alluding both to its function and architecture. TransCoder operates as a code-adaptive neural module aimed at performance enhancement that can be implemented flexibly at either the transmitter, receiver, or both. The framework employs an iterative decoding procedure, where both noisy information from the channel and updates from the conventional ECC decoder are processed by a neural decoder block, utilizing a block attention mechanism for efficiency. Through extensive simulations with various conventional codes (LDPC, BCH, Polar, and Turbo) and across a wide range of channel conditions, we demonstrate that TransCoder significantly improves block error rate (BLER) performance while maintaining computational complexity comparable to traditional decoders. Notably, our approach is particularly effective for longer codes (block length >64) and at lower code rates, scenarios in which existing neural decoders often struggle (despite their formidable computational complexity). The results establish TransCoder as a promising practical solution for reliable communication among resource-constrained wireless devices.
Counting Still Counts: Understanding Neural Complex Query Answering Through Query Relaxation
Venue: arXiv cs.AI 2025
Year: 2025

Neural methods for Complex Query Answering (CQA) over knowledge graphs (KGs) are widely believed to learn patterns that generalize beyond explicit graph structure, allowing them to infer answers that are unreachable through symbolic query processing. In this work, we critically examine this assumption through a systematic analysis comparing neural CQA models with an alternative, training-free query relaxation strategy that retrieves possible answers by relaxing query constraints and counting resulting paths. Across multiple datasets and query structures, we find several cases where neural and relaxation-based approaches perform similarly, with no neural model consistently outperforming the latter. Moreover, a similarity analysis reveals that their retrieved answers exhibit little overlap, and that combining their outputs consistently improves performance. These results call for a re-evaluation of progress in neural query answering: despite their complexity, current models fail to subsume the reasoning patterns captured by query relaxation. Our findings highlight the importance of stronger non-neural baselines and suggest that future neural approaches could benefit from incorporating principles of query relaxation.
Text Condition Embedded Regression Network for Automated Dental Abutment Design
Venue: arXiv cs.CV 2025
Year: 2025

The abutment is an important part of artificial dental implants, whose design process is time-consuming and labor-intensive. Long-term use of inappropriate dental implant abutments may result in implant complications, including peri-implantitis. Using artificial intelligence to assist dental implant abutment design can quickly improve the efficiency of abutment design and enhance abutment adaptability. In this paper, we propose a text condition embedded abutment design framework (TCEAD), the novel automated abutment design solution available in literature. The proposed study extends the self-supervised learning framework of the mesh mask autoencoder (MeshMAE) by introducing a text-guided localization (TGL) module to facilitate abutment area localization. As the parameter determination of the abutment is heavily dependent on local fine-grained features (the width and height of the implant and the distance to the opposing tooth), we pre-train the encoder using oral scan data to improve the model's feature extraction ability. Moreover, considering that the abutment area is only a small part of the oral scan data, we designed a TGL module, which introduces the description of the abutment area through the text encoder of Contrastive Language-Image Pre-training (CLIP), enabling the network to quickly locate the abutment area. We validated the performance of TCEAD on a large abutment design dataset. Extensive experiments demonstrate that TCEAD achieves an Intersection over Union (IoU) improvement of 0.8%-12.85% over other mainstream methods, underscoring its potential in automated dental abutment design.
The Multiclass Score-Oriented Loss (MultiSOL) on the Simplex
Venue: arXiv cs.LG 2025
Year: 2025

In the supervised binary classification setting, score-oriented losses have been introduced with the aim of optimizing a chosen performance metric directly during the training phase, thus avoiding \textit{a posteriori} threshold tuning. To do this, in their construction, the decision threshold is treated as a random variable provided with a certain \textit{a priori} distribution. In this paper, we use a recently introduced multidimensional threshold-based classification framework to extend such score-oriented losses to multiclass classification, defining the Multiclass Score-Oriented Loss (MultiSOL) functions. As also demonstrated by several classification experiments, this proposed family of losses is designed to preserve the main advantages observed in the binary setting, such as the direct optimization of the target metric and the robustness to class imbalance, achieving performance comparable to other state-of-the-art loss functions and providing new insights into the interaction between simplex geometry and score-oriented learning.
GazeTrack: High-Precision Eye Tracking Based on Regularization and Spatial Computing
Venue: arXiv cs.CV 2025
Year: 2025

Eye tracking has become increasingly important in virtual and augmented reality applications; however, the current gaze accuracy falls short of meeting the requirements for spatial computing. We designed a gaze collection framework and utilized high-precision equipment to gather the first precise benchmark dataset, GazeTrack, encompassing diverse ethnicities, ages, and visual acuity conditions for pupil localization and gaze tracking. We propose a novel shape error regularization method to constrain pupil ellipse fitting and train on open-source datasets, enhancing semantic segmentation and pupil position prediction accuracy. Additionally, we invent a novel coordinate transformation method similar to paper unfolding to accurately predict gaze vectors on the GazeTrack dataset. Finally, we built a gaze vector generation model that achieves reduced gaze angle error with lower computational complexity compared to other methods.
Improving LLM-based Ontology Matching with fine-tuning on synthetic data
Venue: arXiv cs.CL 2025
Year: 2025

Large Language Models (LLMs) are increasingly being integrated into various components of Ontology Matching pipelines. This paper investigates the capability of LLMs to perform ontology matching directly on ontology modules and generate the corresponding alignments. Furthermore, it is explored how a dedicated fine-tuning strategy can enhance the model's matching performance in a zero-shot setting. The proposed method incorporates a search space reduction technique to select relevant subsets from both source and target ontologies, which are then used to automatically construct prompts. Recognizing the scarcity of reference alignments for training, a novel LLM-based approach is introduced for generating a synthetic dataset. This process creates a corpus of ontology submodule pairs and their corresponding reference alignments, specifically designed to fine-tune an LLM for the ontology matching task. The proposed approach was evaluated on the Conference, Geolink, Enslaved, Taxon, and Hydrography datasets from the OAEI complex track. The results demonstrate that the LLM fine-tuned on the synthetically generated data exhibits superior performance compared to the non-fine-tuned base model. The key contribution is a strategy that combines automatic dataset generation with fine-tuning to effectively adapt LLMs for ontology matching tasks.
Stable-Drift: A Patient-Aware Latent Drift Replay Method for Stabilizing Representations in Continual Learning
Venue: arXiv cs.CV 2025
Year: 2025

When deep learning models are sequentially trained on new data, they tend to abruptly lose performance on previously learned tasks, a critical failure known as catastrophic forgetting. This challenge severely limits the deployment of AI in medical imaging, where models must continually adapt to data from new hospitals without compromising established diagnostic knowledge. To address this, we introduce a latent drift-guided replay method that identifies and replays samples with high representational instability. Specifically, our method quantifies this instability via latent drift, the change in a sample internal feature representation after naive domain adaptation. To ensure diversity and clinical relevance, we aggregate drift at the patient level, our memory buffer stores the per patient slices exhibiting the greatest multi-layer representation shift. Evaluated on a cross-hospital COVID-19 CT classification task using state-of-the-art CNN and Vision Transformer backbones, our method substantially reduces forgetting compared to naive fine-tuning and random replay. This work highlights latent drift as a practical and interpretable replay signal for advancing robust continual learning in real world medical settings.
A deep learning perspective on Rubens' attribution
Venue: arXiv cs.CV 2025
Year: 2025

This study explores the use of deep learning for the authentication and attribution of paintings, focusing on the complex case of Peter Paul Rubens and his workshop. A convolutional neural network was trained on a curated dataset of verified and comparative artworks to identify micro-level stylistic features characteristic of the master s hand. The model achieved high classification accuracy and demonstrated the potential of computational analysis to complement traditional art historical expertise, offering new insights into authorship and workshop collaboration.
Integrated Transcriptomic-proteomic Biomarker Identification for Radiation Response Prediction in Non-small Cell Lung Cancer Cell Lines
Venue: arXiv cs.LG 2025
Year: 2025

To develop an integrated transcriptome-proteome framework for identifying concurrent biomarkers predictive of radiation response, as measured by survival fraction at 2 Gy (SF2), in non-small cell lung cancer (NSCLC) cell lines. RNA sequencing (RNA-seq) and data-independent acquisition mass spectrometry (DIA-MS) proteomic data were collected from 73 and 46 NSCLC cell lines, respectively. Following preprocessing, 1,605 shared genes were retained for analysis. Feature selection was performed using least absolute shrinkage and selection operator (Lasso) regression with a frequency-based ranking criterion under five-fold cross-validation repeated ten times. Support vector regression (SVR) models were constructed using transcriptome-only, proteome-only, and combined transcriptome-proteome feature sets. Model performance was assessed by the coefficient of determination (R2) and root mean square error (RMSE). Correlation analyses evaluated concordance between RNA and protein expression and the relationships of selected biomarkers with SF2. RNA-protein expression exhibited significant positive correlations (median Pearson's r = 0.363). Independent pipelines identified 20 prioritized gene signatures from transcriptomic, proteomic, and combined datasets. Models trained on single-omic features achieved limited cross-omic generalizability, while the combined model demonstrated balanced predictive accuracy in both datasets (R2=0.461, RMSE=0.120 for transcriptome; R2=0.604, RMSE=0.111 for proteome). This study presents the first proteotranscriptomic framework for SF2 prediction in NSCLC, highlighting the complementary value of integrating transcriptomic and proteomic data. The identified concurrent biomarkers capture both transcriptional regulation and functional protein activity, offering mechanistic insights and translational potential.
Beyond Egocentric Limits: Multi-View Depth-Based Learning for Robust Quadrupedal Locomotion
Venue: arXiv cs.RO 2025
Year: 2025

Recent progress in legged locomotion has allowed highly dynamic and parkour-like behaviors for robots, similar to their biological counterparts. Yet, these methods mostly rely on egocentric (first-person) perception, limiting their performance, especially when the viewpoint of the robot is occluded. A promising solution would be to enhance the robot's environmental awareness by using complementary viewpoints, such as multiple actors exchanging perceptual information. Inspired by this idea, this work proposes a multi-view depth-based locomotion framework that combines egocentric and exocentric observations to provide richer environmental context during agile locomotion. Using a teacher-student distillation approach, the student policy learns to fuse proprioception with dual depth streams while remaining robust to real-world sensing imperfections. To further improve robustness, we introduce extensive domain randomization, including stochastic remote-camera dropouts and 3D positional perturbations that emulate aerial-ground cooperative sensing. Simulation results show that multi-viewpoints policies outperform single-viewpoint baseline in gap crossing, step descent, and other dynamic maneuvers, while maintaining stability when the exocentric camera is partially or completely unavailable. Additional experiments show that moderate viewpoint misalignment is well tolerated when incorporated during training. This study demonstrates that heterogeneous visual feedback improves robustness and agility in quadrupedal locomotion. Furthermore, to support reproducibility, the implementation accompanying this work is publicly available at https://anonymous.4open.science/r/multiview-parkour-6FB8
Modeling Romanized Hindi and Bengali: Dataset Creation and Multilingual LLM Integration
Venue: arXiv cs.CL 2025
Year: 2025

The development of robust transliteration techniques to enhance the effectiveness of transforming Romanized scripts into native scripts is crucial for Natural Language Processing tasks, including sentiment analysis, speech recognition, information retrieval, and intelligent personal assistants. Despite significant advancements, state-of-the-art multilingual models still face challenges in handling Romanized script, where the Roman alphabet is adopted to represent the phonetic structure of diverse languages. Within the South Asian context, where the use of Romanized script for Indo-Aryan languages is widespread across social media and digital communication platforms, such usage continues to pose significant challenges for cutting-edge multilingual models. While a limited number of transliteration datasets and models are available for Indo-Aryan languages, they generally lack sufficient diversity in pronunciation and spelling variations, adequate code-mixed data for large language model (LLM) training, and low-resource adaptation. To address this research gap, we introduce a novel transliteration dataset for two popular Indo-Aryan languages, Hindi and Bengali, which are ranked as the 3rd and 7th most spoken languages worldwide. Our dataset comprises nearly 1.8 million Hindi and 1 million Bengali transliteration pairs. In addition to that, we pre-train a custom multilingual seq2seq LLM based on Marian architecture using the developed dataset. Experimental results demonstrate significant improvements compared to existing relevant models in terms of BLEU and CER metrics.
Improving Robotic Manipulation Robustness via NICE Scene Surgery
Venue: arXiv cs.RO 2025
Year: 2025

Learning robust visuomotor policies for robotic manipulation remains a challenge in real-world settings, where visual distractors can significantly degrade performance and safety. In this work, we propose an effective and scalable framework, Naturalistic Inpainting for Context Enhancement (NICE). Our method minimizes out-of-distribution (OOD) gap in imitation learning by increasing visual diversity through construction of new experiences using existing demonstrations. By utilizing image generative frameworks and large language models, NICE performs three editing operations, object replacement, restyling, and removal of distracting (non-target) objects. These changes preserve spatial relationships without obstructing target objects and maintain action-label consistency. Unlike previous approaches, NICE requires no additional robot data collection, simulator access, or custom model training, making it readily applicable to existing robotic datasets. Using real-world scenes, we showcase the capability of our framework in producing photo-realistic scene enhancement. For downstream tasks, we use NICE data to finetune a vision-language model (VLM) for spatial affordance prediction and a vision-language-action (VLA) policy for object manipulation. Our evaluations show that NICE successfully minimizes OOD gaps, resulting in over 20% improvement in accuracy for affordance prediction in highly cluttered scenes. For manipulation tasks, success rate increases on average by 11% when testing in environments populated with distractors in different quantities. Furthermore, we show that our method improves visual robustness, lowering target confusion by 6%, and enhances safety by reducing collision rate by 7%.
Distracted Robot: How Visual Clutter Undermine Robotic Manipulation
Venue: arXiv cs.RO 2025
Year: 2025

In this work, we propose an evaluation protocol for examining the performance of robotic manipulation policies in cluttered scenes. Contrary to prior works, we approach evaluation from a psychophysical perspective, therefore we use a unified measure of clutter that accounts for environmental factors as well as the distractors quantity, characteristics, and arrangement. Using this measure, we systematically construct evaluation scenarios in both hyper-realistic simulation and real-world and conduct extensive experimentation on manipulation policies, in particular vision-language-action (VLA) models. Our experiments highlight the significant impact of scene clutter, lowering the performance of the policies, by as much as 34% and show that despite achieving similar average performance across the tasks, different VLA policies have unique vulnerabilities and a relatively low agreement on success scenarios. We further show that our clutter measure is an effective indicator of performance degradation and analyze the impact of distractors in terms of their quantity and occluding influence. At the end, we show that finetuning on enhanced data, although effective, does not equally remedy all negative impacts of clutter on performance.