OpenRaiser/Intern-Atlas huggingface dataset:
Towards Human Engagement with Realistic AI Combat Pilots
Venue: arXiv cs.AI 2025
Year: 2025

We present a system that enables real-time interaction between human users and agents trained to control fighter jets in simulated 3D air combat scenarios. The agents are trained in a dedicated environment using Multi-Agent Reinforcement Learning. A communication link is developed to allow seamless deployment of trained agents into VR-Forces, a widely used defense simulation tool for realistic tactical scenarios. This integration allows mixed simulations where human-controlled entities engage with intelligent agents exhibiting distinct combat behaviors. Our interaction model creates new opportunities for human-agent teaming, immersive training, and the exploration of innovative tactics in defense contexts.
Learning Egocentric In-Hand Object Segmentation through Weak Supervision from Human Narrations
Venue: arXiv cs.CV 2025
Year: 2025

Pixel-level recognition of objects manipulated by the user from egocentric images enables key applications spanning assistive technologies, industrial safety, and activity monitoring. However, progress in this area is currently hindered by the scarcity of annotated datasets, as existing approaches rely on costly manual labels. In this paper, we propose to learn human-object interaction detection leveraging narrations $\unicode{x2013}$ natural language descriptions of the actions performed by the camera wearer which contain clues about manipulated objects. We introduce Narration-Supervised in-Hand Object Segmentation (NS-iHOS), a novel task where models have to learn to segment in-hand objects by learning from natural-language narrations in a weakly-supervised regime. Narrations are then not employed at inference time. We showcase the potential of the task by proposing Weakly-Supervised In-hand Object Segmentation from Human Narrations (WISH), an end-to-end model distilling knowledge from narrations to learn plausible hand-object associations and enable in-hand object segmentation without using narrations at test time. We benchmark WISH against different baselines based on open-vocabulary object detectors and vision-language models. Experiments on EPIC-Kitchens and Ego4D show that WISH surpasses all baselines, recovering more than 50% of the performance of fully supervised methods, without employing fine-grained pixel-wise annotations. Code and data can be found at https://fpv-iplab.github.io/WISH.
PFDepth: Heterogeneous Pinhole-Fisheye Joint Depth Estimation via Distortion-aware Gaussian-Splatted Volumetric Fusion
Venue: arXiv cs.CV 2025
Year: 2025

In this paper, we present the first pinhole-fisheye framework for heterogeneous multi-view depth estimation, PFDepth. Our key insight is to exploit the complementary characteristics of pinhole and fisheye imagery (undistorted vs. distorted, small vs. large FOV, far vs. near field) for joint optimization. PFDepth employs a unified architecture capable of processing arbitrary combinations of pinhole and fisheye cameras with varied intrinsics and extrinsics. Within PFDepth, we first explicitly lift 2D features from each heterogeneous view into a canonical 3D volumetric space. Then, a core module termed Heterogeneous Spatial Fusion is designed to process and fuse distortion-aware volumetric features across overlapping and non-overlapping regions. Additionally, we subtly reformulate the conventional voxel fusion into a novel 3D Gaussian representation, in which learnable latent Gaussian spheres dynamically adapt to local image textures for finer 3D aggregation. Finally, fused volume features are rendered into multi-view depth maps. Through extensive experiments, we demonstrate that PFDepth sets a state-of-the-art performance on KITTI-360 and RealHet datasets over current mainstream depth networks. To the best of our knowledge, this is the first systematic study of heterogeneous pinhole-fisheye depth estimation, offering both technical novelty and valuable empirical insights.
New Fourth-Order Grayscale Indicator-Based Telegraph Diffusion Model for Image Despeckling
Venue: arXiv cs.CV 2025
Year: 2025

Second-order PDE models have been widely used for suppressing multiplicative noise, but they often introduce blocky artifacts in the early stages of denoising. To resolve this, we propose a fourth-order nonlinear PDE model that integrates diffusion and wave properties. The diffusion process, guided by both the Laplacian and intensity values, reduces noise better than gradient-based methods, while the wave part keeps fine details and textures. The effectiveness of the proposed model is evaluated against two second-order anisotropic diffusion approaches using the Peak Signal-to-Noise Ratio (PSNR) and Mean Structural Similarity Index (MSSIM) for images with available ground truth. For SAR images, where a noise-free reference is unavailable, the Speckle Index (SI) is used to measure noise reduction. Additionally, we extend the proposed model to study color images by applying the denoising process independently to each channel, preserving both structure and color consistency. The same quantitative metrics PSNR and MSSIM are used for performance evaluation, ensuring a fair comparison across grayscale and color images. In all the cases, our computed results produce better results compared to existing models in this genre.
Enabling Time-Aware Priority Traffic Management over Distributed FPGA Nodes
Venue: arXiv cs.DC 2025
Year: 2025

Network Interface Cards (NICs) greatly evolved from simple basic devices moving traffic in and out of the network to complex heterogeneous systems offloading host CPUs from performing complex tasks on in-transit packets. These latter comprise different types of devices, ranging from NICs accelerating fixed specific functions (e.g., on-the-fly data compression/decompression, checksum computation, data encryption, etc.) to complex Systems-on-Chip (SoC) equipped with both general purpose processors and specialized engines (Smart-NICs). Similarly, Field Programmable Gate Arrays (FPGAs) moved from pure reprogrammable devices to modern heterogeneous systems comprising general-purpose processors, real-time cores and even AI-oriented engines. Furthermore, the availability of high-speed network interfaces (e.g., SFPs) makes modern FPGAs a good choice for implementing Smart-NICs. In this work, we extended the functionalities offered by an open-source NIC implementation (Corundum) by enabling time-aware traffic management in hardware, and using this feature to control the bandwidth associated with different traffic classes. By exposing dedicated control registers on the AXI bus, the driver of the NIC can easily configure the transmission bandwidth of different prioritized queues. Basically, each control register is associated with a specific transmission queue (Corundum can expose up to thousands of transmission and receiving queues), and sets up the fraction of time in a transmission window which the queue is supposed to get access the output port and transmit the packets. Queues are then prioritized and associated to different traffic classes through the Linux QDISC mechanism. Experimental evaluation demonstrates that the approach allows to properly manage the bandwidth reserved to the different transmission flows.
Experiversum: an Ecosystem for Curating and Enhancing Data-Driven Experimental Science
Venue: arXiv cs.DB 2025
Year: 2025

This paper introduces Experiversum, a lakehouse-based ecosystem that supports the curation, documentation and reproducibility of exploratory experiments. Experiversum enables structured research through iterative data cycles, while capturing metadata and collaborative decisions. Demonstrated through case studies in Earth, Life and Political Sciences, Experiversum promotes transparent workflows and multi-perspective result interpretation. Experiversum bridges exploratory and reproducible research, encouraging accountable and robust data-driven practices across disciplines.
Items Proxy Bridging: Enabling Frictionless Critiquing in Knowledge Graph Recommendations
Venue: arXiv cs.IR 2025
Year: 2025

Modern recommender systems place great inclination towards facilitating user experience, as more applications enabling users to critique and then refine recommendations immediately. Considering the real-time requirements, critique-able recommender systems typically straight modify the model parameters and update the recommend list through analyzing the user critiquing keyphrases in the inference phase. Current critiquing methods require first constructing a specially designated model which establish direct correlations between users and keyphrases during the training phase allowing for innovative recommendations upon the critiquing,restricting the applicable scenarios. Additionally, all these approaches ignore the catastrophic forgetting problem, where the cumulative changes in parameters during continuous multi-step critiquing may lead to a collapse in model performance. Thus, We conceptualize a proxy bridging users and keyphrases, proposing a streamlined yet potent Items Proxy Generic Critiquing Framework (IPGC) framework, which can serve as a universal plugin for most knowledge graph recommender models based on collaborative filtering (CF) strategies. IPGC provides a new paradigm for frictionless integration of critique mechanisms to enable iterative recommendation refinement in mainstream recommendation scenarios. IPGC describes the items proxy mechanism for transforming the critiquing optimization objective of user-keyphrase pairs into user-item pairs, adapting it for general CF recommender models without the necessity of specifically designed user-keyphrase correlation module. Furthermore, an anti-forgetting regularizer is introduced in order to efficiently mitigate the catastrophic forgetting problem of the model as a prior for critiquing optimization.
Agent-based code generation for the Gammapy framework
Venue: arXiv cs.SE 2025
Year: 2025

Software code generation using Large Language Models (LLMs) is one of the most successful applications of modern artificial intelligence. Foundational models are very effective for popular frameworks that benefit from documentation, examples, and strong community support. In contrast, specialized scientific libraries often lack these resources and may expose unstable APIs under active development, making it difficult for models trained on limited or outdated data. We address these issues for the Gammapy library by developing an agent capable of writing, executing, and validating code in a controlled environment. We present a minimal web demo and an accompanying benchmarking suite. This contribution summarizes the design, reports our current status, and outlines next steps.
The Hunger Game Debate: On the Emergence of Over-Competition in Multi-Agent Systems
Venue: arXiv cs.CL 2025
Year: 2025

LLM-based multi-agent systems demonstrate great potential for tackling complex problems, but how competition shapes their behavior remains underexplored. This paper investigates the over-competition in multi-agent debate, where agents under extreme pressure exhibit unreliable, harmful behaviors that undermine both collaboration and task performance. To study this phenomenon, we propose HATE, the Hunger Game Debate, a novel experimental framework that simulates debates under a zero-sum competition arena. Our experiments, conducted across a range of LLMs and tasks, reveal that competitive pressure significantly stimulates over-competition behaviors and degrades task performance, causing discussions to derail. We further explore the impact of environmental feedback by adding variants of judges, indicating that objective, task-focused feedback effectively mitigates the over-competition behaviors. We also probe the post-hoc kindness of LLMs and form a leaderboard to characterize top LLMs, providing insights for understanding and governing the emergent social dynamics of AI community.
MGen: Millions of Naturally Occurring Generics in Context
Venue: arXiv cs.CL 2025
Year: 2025

MGen is a dataset of over 4 million naturally occurring generic and quantified sentences extracted from diverse textual sources. Sentences in the dataset have long context documents, corresponding to websites and academic papers, and cover 11 different quantifiers. We analyze the features of generics sentences in the dataset, with interesting insights: generics can be long sentences (averaging over 16 words) and speakers often use them to express generalisations about people. MGen is the biggest and most diverse dataset of naturally occurring generic sentences, opening the door to large-scale computational research on genericity. It is publicly available at https://gustavocilleruelo.com/mgen
Beyond Overall Accuracy: Pose- and Occlusion-driven Fairness Analysis in Pedestrian Detection for Autonomous Driving
Venue: arXiv cs.CV 2025
Year: 2025

Pedestrian detection plays a critical role in autonomous driving (AD), where ensuring safety and reliability is important. While many detection models aim to reduce miss-rates and handle challenges such as occlusion and long-range recognition, fairness remains an underexplored yet equally important concern. In this work, we systematically investigate how variations in the pedestrian pose -- including leg status, elbow status, and body orientation -- as well as individual joint occlusions, affect detection performance. We evaluate five pedestrian-specific detectors (F2DNet, MGAN, ALFNet, CSP, and Cascade R-CNN) alongside three general-purpose models (YOLOv12 variants) on the EuroCity Persons Dense Pose (ECP-DP) dataset. Fairness is quantified using the Equal Opportunity Difference (EOD) metric across various confidence thresholds. To assess statistical significance and robustness, we apply the Z-test. Our findings highlight biases against pedestrians with parallel legs, straight elbows, and lateral views. Occlusion of lower body joints has a more negative impact on the detection rate compared to the upper body and head. Cascade R-CNN achieves the lowest overall miss-rate and exhibits the smallest bias across all attributes. To the best of our knowledge, this is the first comprehensive pose- and occlusion-aware fairness evaluation in pedestrian detection for AD.
Neighbor-aware informal settlement mapping with graph convolutional networks
Venue: arXiv cs.LG 2025
Year: 2025

Mapping informal settlements is crucial for addressing challenges related to urban planning, public health, and infrastructure in rapidly growing cities. Geospatial machine learning has emerged as a key tool for detecting and mapping these areas from remote sensing data. However, existing approaches often treat spatial units independently, neglecting the relational structure of the urban fabric. We propose a graph-based framework that explicitly incorporates local geographical context into the classification process. Each spatial unit (cell) is embedded in a graph structure along with its adjacent neighbors, and a lightweight Graph Convolutional Network (GCN) is trained to classify whether the central cell belongs to an informal settlement. Experiments are conducted on a case study in Rio de Janeiro using spatial cross-validation across five distinct zones, ensuring robustness and generalizability across heterogeneous urban landscapes. Our method outperforms standard baselines, improving Kappa coefficient by 17 points over individual cell classification. We also show that graph-based modeling surpasses simple feature concatenation of neighboring cells, demonstrating the benefit of encoding spatial structure for urban scene understanding.
AttriGen: Automated Multi-Attribute Annotation for Blood Cell Datasets
Venue: arXiv cs.CV 2025
Year: 2025

We introduce AttriGen, a novel framework for automated, fine-grained multi-attribute annotation in computer vision, with a particular focus on cell microscopy where multi-attribute classification remains underrepresented compared to traditional cell type categorization. Using two complementary datasets: the Peripheral Blood Cell (PBC) dataset containing eight distinct cell types and the WBC Attribute Dataset (WBCAtt) that contains their corresponding 11 morphological attributes, we propose a dual-model architecture that combines a CNN for cell type classification, as well as a Vision Transformer (ViT) for multi-attribute classification achieving a new benchmark of 94.62\% accuracy. Our experiments demonstrate that AttriGen significantly enhances model interpretability and offers substantial time and cost efficiency relative to conventional full-scale human annotation. Thus, our framework establishes a new paradigm that can be extended to other computer vision classification tasks by effectively automating the expansion of multi-attribute labels.
Self-supervised learning for phase retrieval
Venue: arXiv cs.IR 2025
Year: 2025

In recent years, deep neural networks have emerged as a solution for inverse imaging problems. These networks are generally trained using pairs of images: one degraded and the other of high quality, the latter being called 'ground truth'. However, in medical and scientific imaging, the lack of fully sampled data limits supervised learning. Recent advances have made it possible to reconstruct images from measurement data alone, eliminating the need for references. However, these methods remain limited to linear problems, excluding non-linear problems such as phase retrieval. We propose a self-supervised method that overcomes this limitation in the case of phase retrieval by using the natural invariance of images to translations.
TSalV360: A Method and Dataset for Text-driven Saliency Detection in 360-Degrees Videos
Venue: arXiv cs.CV 2025
Year: 2025

In this paper, we deal with the task of text-driven saliency detection in 360-degrees videos. For this, we introduce the TSV360 dataset which includes 16,000 triplets of ERP frames, textual descriptions of salient objects/events in these frames, and the associated ground-truth saliency maps. Following, we extend and adapt a SOTA visual-based approach for 360-degrees video saliency detection, and develop the TSalV360 method that takes into account a user-provided text description of the desired objects and/or events. This method leverages a SOTA vision-language model for data representation and integrates a similarity estimation module and a viewport spatio-temporal cross-attention mechanism, to discover dependencies between the different data modalities. Quantitative and qualitative evaluations using the TSV360 dataset, showed the competitiveness of TSalV360 compared to a SOTA visual-based approach and documented its competency to perform customized text-driven saliency detection in 360-degrees videos.
Comparative Analysis of Ant Colony Optimization and Google OR-Tools for Solving the Open Capacitated Vehicle Routing Problem in Logistics
Venue: arXiv cs.CL 2025
Year: 2025

In modern logistics management systems, route planning requires high efficiency. The Open Capacitated Vehicle Routing Problem (OCVRP) deals with finding optimal delivery routes for a fleet of vehicles serving geographically distributed customers, without requiring the vehicles to return to the depot after deliveries. The present study is comparative in nature and speaks of two algorithms for OCVRP solution: Ant Colony Optimization (ACO), a nature-inspired metaheuristic; and Google OR-Tools, an industry-standard toolkit for optimization. Both implementations were developed in Python and using a custom dataset. Performance appraisal was based on routing efficiency, computation time, and scalability. The results show that ACO allows flexibility in routing parameters while OR-Tools runs much faster with more consistency and requires less input. This could help choose among routing strategies for scalable real-time logistics systems.
Marginal Flow: a flexible and efficient framework for density estimation
Venue: arXiv cs.LG 2025
Year: 2025

Current density modeling approaches suffer from at least one of the following shortcomings: expensive training, slow inference, approximate likelihood, mode collapse or architectural constraints like bijective mappings. We propose a simple yet powerful framework that overcomes these limitations altogether. We define our model $q_θ(x)$ through a parametric distribution $q(x|w)$ with latent parameters $w$. Instead of directly optimizing the latent variables $w$, our idea is to marginalize them out by sampling $w$ from a learnable distribution $q_θ(w)$, hence the name Marginal Flow. In order to evaluate the learned density $q_θ(x)$ or to sample from it, we only need to draw samples from $q_θ(w)$, which makes both operations efficient. The proposed model allows for exact density evaluation and is orders of magnitude faster than competing models both at training and inference. Furthermore, Marginal Flow is a flexible framework: it does not impose any restrictions on the neural network architecture, it enables learning distributions on lower-dimensional manifolds (either known or to be learned), it can be trained efficiently with any objective (e.g. forward and reverse KL divergence), and it easily handles multi-modal targets. We evaluate Marginal Flow extensively on various tasks including synthetic datasets, simulation-based inference, distributions on positive definite matrices and manifold learning in latent spaces of images.
Terrain-Awared LiDAR-Inertial Odometry for Legged-Wheel Robots Based on Radial Basis Function Approximation
Venue: arXiv cs.RO 2025
Year: 2025

An accurate odometry is essential for legged-wheel robots operating in unstructured terrains such as bumpy roads and staircases. Existing methods often suffer from pose drift due to their ignorance of terrain geometry. We propose a terrain-awared LiDAR-Inertial odometry (LIO) framework that approximates the terrain using Radial Basis Functions (RBF) whose centers are adaptively selected and weights are recursively updated. The resulting smooth terrain manifold enables ``soft constraints" that regularize the odometry optimization and mitigates the $z$-axis pose drift under abrupt elevation changes during robot's maneuver. To ensure the LIO's real-time performance, we further evaluate the RBF-related terms and calculate the inverse of the sparse kernel matrix with GPU parallelization. Experiments on unstructured terrains demonstrate that our method achieves higher localization accuracy than the state-of-the-art baselines, especially in the scenarios that have continuous height changes or sparse features when abrupt height changes occur.
3DiFACE: Synthesizing and Editing Holistic 3D Facial Animation
Venue: arXiv cs.GR 2025
Year: 2025

Creating personalized 3D animations with precise control and realistic head motions remains challenging for current speech-driven 3D facial animation methods. Editing these animations is especially complex and time consuming, requires precise control and typically handled by highly skilled animators. Most existing works focus on controlling style or emotion of the synthesized animation and cannot edit/regenerate parts of an input animation. They also overlook the fact that multiple plausible lip and head movements can match the same audio input. To address these challenges, we present 3DiFACE, a novel method for holistic speech-driven 3D facial animation. Our approach produces diverse plausible lip and head motions for a single audio input and allows for editing via keyframing and interpolation. Specifically, we propose a fully-convolutional diffusion model that can leverage the viseme-level diversity in our training corpus. Additionally, we employ a speaking-style personalization and a novel sparsely-guided motion diffusion to enable precise control and editing. Through quantitative and qualitative evaluations, we demonstrate that our method is capable of generating and editing diverse holistic 3D facial animations given a single audio input, with control between high fidelity and diversity. Code and models are available here: https://balamuruganthambiraja.github.io/3DiFACE