OpenRaiser/Intern-Atlas huggingface dataset:
Noise Consistency Regularization for Improved Subject-Driven Image Synthesis
Venue: arXiv cs.GR 2025
Year: 2025

Fine-tuning Stable Diffusion enables subject-driven image synthesis by adapting the model to generate images containing specific subjects. However, existing fine-tuning methods suffer from two key issues: underfitting, where the model fails to reliably capture subject identity, and overfitting, where it memorizes the subject image and reduces background diversity. To address these challenges, we propose two auxiliary consistency losses for diffusion fine-tuning. First, a prior consistency regularization loss ensures that the predicted diffusion noise for prior (non-subject) images remains consistent with that of the pretrained model, improving fidelity. Second, a subject consistency regularization loss enhances the fine-tuned model's robustness to multiplicative noise modulated latent code, helping to preserve subject identity while improving diversity. Our experimental results demonstrate that incorporating these losses into fine-tuning not only preserves subject identity but also enhances image diversity, outperforming DreamBooth in terms of CLIP scores, background variation, and overall visual quality.
Membership Inference Attacks for Unseen Classes
Venue: arXiv cs.LG 2025
Year: 2025

The state-of-the-art for membership inference attacks on machine learning models is a class of attacks based on shadow models that mimic the behavior of the target model on subsets of held-out nonmember data. However, we find that this class of attacks is fundamentally limited because of a key assumption -- that the shadow models can replicate the target model's behavior on the distribution of interest. As a result, we show that attacks relying on shadow models can fail catastrophically on critical AI safety applications where data access is restricted due to legal, ethical, or logistical constraints, so that the shadow models have no reasonable signal on the query examples. Although this problem seems intractable within the shadow model paradigm, we find that quantile regression attacks are a promising approach in this setting, as these models learn features of member examples that can generalize to unseen classes. We demonstrate this both empirically and theoretically, showing that quantile regression attacks achieve up to 11x the TPR of shadow model-based approaches in practice, and providing a theoretical model that outlines the generalization properties required for this approach to succeed. Our work identifies an important failure mode in existing MIAs and provides a cautionary tale for practitioners that aim to directly use existing tools for real-world applications of AI safety.
JGS2: Near Second-order Converging Jacobi/Gauss-Seidel for GPU Elastodynamics
Venue: arXiv cs.GR 2025
Year: 2025

In parallel simulation, convergence and parallelism are often seen as inherently conflicting objectives. Improved parallelism typically entails lighter local computation and weaker coupling, which unavoidably slow the global convergence. This paper presents a novel GPU algorithm that achieves convergence rates comparable to fullspace Newton's method while maintaining good parallelizability just like the Jacobi method. Our approach is built on a key insight into the phenomenon of overshoot. Overshoot occurs when a local solver aggressively minimizes its local energy without accounting for the global context, resulting in a local update that undermines global convergence. To address this, we derive a theoretically second-order optimal solution to mitigate overshoot. Furthermore, we adapt this solution into a pre-computable form. Leveraging Cubature sampling, our runtime cost is only marginally higher than the Jacobi method, yet our algorithm converges nearly quadratically as Newton's method. We also introduce a novel full-coordinate formulation for more efficient pre-computation. Our method integrates seamlessly with the incremental potential contact method and achieves second-order convergence for both stiff and soft materials. Experimental results demonstrate that our approach delivers high-quality simulations and outperforms state-of-the-art GPU methods with 50 to 100 times better convergence.
GS4: Generalizable Sparse Splatting Semantic SLAM
Venue: arXiv cs.CV 2025
Year: 2025

Traditional SLAM algorithms excel at camera tracking, but typically produce incomplete and low-resolution maps that are not tightly integrated with semantics prediction. Recent work integrates Gaussian Splatting (GS) into SLAM to enable dense, photorealistic 3D mapping, yet existing GS-based SLAM methods require per-scene optimization that is slow and consumes an excessive number of Gaussians. We present GS4, the first generalizable GS-based semantic SLAM system. Compared with prior approaches, GS4 runs 10x faster, uses 10x fewer Gaussians, and achieves state-of-the-art performance across color, depth, semantic mapping and camera tracking. From an RGB-D video stream, GS4 incrementally builds and updates a set of 3D Gaussians using a feed-forward network. First, the Gaussian Prediction Model estimates a sparse set of Gaussian parameters from input frame, which integrates both color and semantic prediction with the same backbone. Then, the Gaussian Refinement Network merges new Gaussians with the existing set while avoiding redundancy. Finally, when significant pose changes are detected, we perform only 1-5 iterations of joint Gaussian-pose optimization to correct drift, remove floaters, and further improve tracking accuracy. Experiments on the real-world ScanNet and ScanNet++ benchmarks demonstrate state-of-the-art semantic SLAM performance, with strong generalization capability shown through zero-shot transfer to the NYUv2 and TUM RGB-D datasets.
Hierarchical and Collaborative LLM-Based Control for Multi-UAV Motion and Communication in Integrated Terrestrial and Non-Terrestrial Networks
Venue: arXiv cs.LG 2025
Year: 2025

Unmanned aerial vehicles (UAVs) have been widely adopted in various real-world applications. However, the control and optimization of multi-UAV systems remain a significant challenge, particularly in dynamic and constrained environments. This work explores the joint motion and communication control of multiple UAVs operating within integrated terrestrial and non-terrestrial networks that include high-altitude platform stations (HAPS). Specifically, we consider an aerial highway scenario in which UAVs must accelerate, decelerate, and change lanes to avoid collisions and maintain overall traffic flow. Different from existing studies, we propose a novel hierarchical and collaborative method based on large language models (LLMs). In our approach, an LLM deployed on the HAPS performs UAV access control, while another LLM onboard each UAV handles motion planning and control. This LLM-based framework leverages the rich knowledge embedded in pre-trained models to enable both high-level strategic planning and low-level tactical decisions. This knowledge-driven paradigm holds great potential for the development of next-generation 3D aerial highway systems. Experimental results demonstrate that our proposed collaborative LLM-based method achieves higher system rewards, lower operational costs, and significantly reduced UAV collision rates compared to baseline approaches.
MapleGrasp: Mask-guided Feature Pooling for Language-driven Efficient Robotic Grasping
Venue: arXiv cs.RO 2025
Year: 2025

Robotic manipulation of unseen objects via natural language commands remains challenging. Language driven robotic grasping (LDRG) predicts stable grasp poses from natural language queries and RGB-D images. We propose MapleGrasp, a novel framework that leverages mask-guided feature pooling for efficient vision-language driven grasping. Our two-stage training first predicts segmentation masks from CLIP-based vision-language features. The second stage pools features within these masks to generate pixel-level grasp predictions, improving efficiency, and reducing computation. Incorporating mask pooling results in a 7% improvement over prior approaches on the OCID-VLG benchmark. Furthermore, we introduce RefGraspNet, an open-source dataset eight times larger than existing alternatives, significantly enhancing model generalization for open-vocabulary grasping. MapleGrasp scores a strong grasping accuracy of 89\% when compared with competing methods in the RefGraspNet benchmark. Our method achieves comparable performance to larger Vision-Language-Action models on the LIBERO benchmark, and shows significantly better generalization to unseen tasks. Real-world experiments on a Franka arm demonstrate 73% success rate with unseen objects, surpassing competitive baselines by 11%. Code is provided in our github repository.
Large Language Models Can Be a Viable Substitute for Expert Political Surveys When a Shock Disrupts Traditional Measurement Approaches
Venue: arXiv cs.CY 2025
Year: 2025

After a disruptive event or shock, such as the Department of Government Efficiency (DOGE) federal layoffs of 2025, expert judgments are colored by knowledge of the outcome. This can make it difficult or impossible to reconstruct the pre-event perceptions needed to study the factors associated with the event. This position paper argues that large language models (LLMs), trained on vast amounts of digital media data, can be a viable substitute for expert political surveys when a shock disrupts traditional measurement. We analyze the DOGE layoffs as a specific case study for this position. We use pairwise comparison prompts with LLMs and derive ideology scores for federal executive agencies. These scores replicate pre-layoff expert measures and predict which agencies were targeted by DOGE. We also use this same approach and find that the perceptions of certain federal agencies as knowledge institutions predict which agencies were targeted by DOGE, even when controlling for ideology. This case study demonstrates that using LLMs allows us to rapidly and easily test the associated factors hypothesized behind the shock. More broadly, our case study of this recent event exemplifies how LLMs offer insights into the correlational factors of the shock when traditional measurement techniques fail. We conclude by proposing a two-part criterion for when researchers can turn to LLMs as a substitute for expert political surveys.
NeSyPack: A Neuro-Symbolic Framework for Bimanual Logistics Packing
Venue: arXiv cs.RO 2025
Year: 2025

This paper presents NeSyPack, a neuro-symbolic framework for bimanual logistics packing. NeSyPack combines data-driven models and symbolic reasoning to build an explainable hierarchical system that is generalizable, data-efficient, and reliable. It decomposes a task into subtasks via hierarchical reasoning, and further into atomic skills managed by a symbolic skill graph. The graph selects skill parameters, robot configurations, and task-specific control strategies for execution. This modular design enables robustness, adaptability, and efficient reuse - outperforming end-to-end models that require large-scale retraining. Using NeSyPack, our team won the First Prize in the What Bimanuals Can Do (WBCD) competition at the 2025 IEEE International Conference on Robotics and Automation.
A Deep Learning Approach for Facial Attribute Manipulation and Reconstruction in Surveillance and Reconnaissance
Venue: arXiv cs.CV 2025
Year: 2025

Surveillance systems play a critical role in security and reconnaissance, but their performance is often compromised by low-quality images and videos, leading to reduced accuracy in face recognition. Additionally, existing AI-based facial analysis models suffer from biases related to skin tone variations and partially occluded faces, further limiting their effectiveness in diverse real-world scenarios. These challenges are the results of data limitations and imbalances, where available training datasets lack sufficient diversity, resulting in unfair and unreliable facial recognition performance. To address these issues, we propose a data-driven platform that enhances surveillance capabilities by generating synthetic training data tailored to compensate for dataset biases. Our approach leverages deep learning-based facial attribute manipulation and reconstruction using autoencoders and Generative Adversarial Networks (GANs) to create diverse and high-quality facial datasets. Additionally, our system integrates an image enhancement module, improving the clarity of low-resolution or occluded faces in surveillance footage. We evaluate our approach using the CelebA dataset, demonstrating that the proposed platform enhances both training data diversity and model fairness. This work contributes to reducing bias in AI-based facial analysis and improving surveillance accuracy in challenging environments, leading to fairer and more reliable security applications.
AI Simulation by Digital Twins: Systematic Survey, Reference Framework, and Mapping to a Standardized Architecture
Venue: arXiv cs.AI 2025
Year: 2025

Insufficient data volume and quality are particularly pressing challenges in the adoption of modern subsymbolic AI. To alleviate these challenges, AI simulation uses virtual training environments in which AI agents can be safely and efficiently developed with simulated, synthetic data. Digital twins open new avenues in AI simulation, as these high-fidelity virtual replicas of physical systems are equipped with state-of-the-art simulators and the ability to further interact with the physical system for additional data collection. In this article, we report on our systematic survey of digital twin-enabled AI simulation. By analyzing 22 primary studies, we identify technological trends and derive a reference framework to situate digital twins and AI components. Based on our findings, we derive a reference framework and provide architectural guidelines by mapping it onto the ISO 23247 reference architecture for digital twins. Finally, we identify challenges and research opportunities for prospective researchers.
EV-LayerSegNet: Self-supervised Motion Segmentation using Event Cameras
Venue: arXiv cs.CV 2025
Year: 2025

Event cameras are novel bio-inspired sensors that capture motion dynamics with much higher temporal resolution than traditional cameras, since pixels react asynchronously to brightness changes. They are therefore better suited for tasks involving motion such as motion segmentation. However, training event-based networks still represents a difficult challenge, as obtaining ground truth is very expensive, error-prone and limited in frequency. In this article, we introduce EV-LayerSegNet, a self-supervised CNN for event-based motion segmentation. Inspired by a layered representation of the scene dynamics, we show that it is possible to learn affine optical flow and segmentation masks separately, and use them to deblur the input events. The deblurring quality is then measured and used as self-supervised learning loss. We train and test the network on a simulated dataset with only affine motion, achieving IoU and detection rate up to 71% and 87% respectively.
Attention-Based Convolutional Neural Network Model for Human Lower Limb Activity Recognition using sEMG
Venue: arXiv cs.RO 2025
Year: 2025

Accurate classification of lower limb movements using surface electromyography (sEMG) signals plays a crucial role in assistive robotics and rehabilitation systems. In this study, we present a lightweight attention-based deep neural network (DNN) for real-time movement classification using multi-channel sEMG data from the publicly available BASAN dataset. The proposed model consists of only 62,876 parameters and is designed without the need for computationally expensive preprocessing, making it suitable for real-time deployment. We employed a leave-oneout validation strategy to ensure generalizability across subjects, and evaluated the model on three movement classes: walking, standing with knee flexion, and sitting with knee extension. The network achieved 86.74% accuracy on the validation set and 85.38% on the test set, demonstrating strong classification performance under realistic conditions. Comparative analysis with existing models in the literature highlights the efficiency and effectiveness of our approach, especially in scenarios where computational cost and real-time response are critical. The results indicate that the proposed model is a promising candidate for integration into upper-level controllers in human-robot interaction systems.
GELD: A Unified Neural Model for Efficiently Solving Traveling Salesman Problems Across Different Scales
Venue: arXiv cs.AI 2025
Year: 2025

The Traveling Salesman Problem (TSP) is a well-known combinatorial optimization problem with broad real-world applications. Recent advancements in neural network-based TSP solvers have shown promising results. Nonetheless, these models often struggle to efficiently solve both small- and large-scale TSPs using the same set of pre-trained model parameters, limiting their practical utility. To address this issue, we introduce a novel neural TSP solver named GELD, built upon our proposed broad global assessment and refined local selection framework. Specifically, GELD integrates a lightweight Global-view Encoder (GE) with a heavyweight Local-view Decoder (LD) to enrich embedding representation while accelerating the decision-making process. Moreover, GE incorporates a novel low-complexity attention mechanism, allowing GELD to achieve low inference latency and scalability to larger-scale TSPs. Additionally, we propose a two-stage training strategy that utilizes training instances of different sizes to bolster GELD's generalization ability. Extensive experiments conducted on both synthetic and real-world datasets demonstrate that GELD outperforms seven state-of-the-art models considering both solution quality and inference speed. Furthermore, GELD can be employed as a post-processing method to significantly elevate the quality of the solutions derived by existing neural TSP solvers via spending affordable additional computing time. Notably, GELD is shown as capable of solving TSPs with up to 744,710 nodes, first-of-its-kind to solve this large size TSP without relying on divide-and-conquer strategies to the best of our knowledge.
Parametric Gaussian Human Model: Generalizable Prior for Efficient and Realistic Human Avatar Modeling
Venue: arXiv cs.CV 2025
Year: 2025

Photorealistic and animatable human avatars are a key enabler for virtual/augmented reality, telepresence, and digital entertainment. While recent advances in 3D Gaussian Splatting (3DGS) have greatly improved rendering quality and efficiency, existing methods still face fundamental challenges, including time-consuming per-subject optimization and poor generalization under sparse monocular inputs. In this work, we present the Parametric Gaussian Human Model (PGHM), a generalizable and efficient framework that integrates human priors into 3DGS for fast and high-fidelity avatar reconstruction from monocular videos. PGHM introduces two core components: (1) a UV-aligned latent identity map that compactly encodes subject-specific geometry and appearance into a learnable feature tensor; and (2) a disentangled Multi-Head U-Net that predicts Gaussian attributes by decomposing static, pose-dependent, and view-dependent components via conditioned decoders. This design enables robust rendering quality under challenging poses and viewpoints, while allowing efficient subject adaptation without requiring multi-view capture or long optimization time. Experiments show that PGHM is significantly more efficient than optimization-from-scratch methods, requiring only approximately 20 minutes per subject to produce avatars with comparable visual quality, thereby demonstrating its practical applicability for real-world monocular avatar creation.
Through the Gaps: Uncovering Tactical Line-Breaking Passes with Clustering
Venue: arXiv cs.LG 2025
Year: 2025

Line-breaking passes (LBPs) are crucial tactical actions in football, allowing teams to penetrate defensive lines and access high-value spaces. In this study, we present an unsupervised, clustering-based framework for detecting and analysing LBPs using synchronised event and tracking data from elite matches. Our approach models opponent team shape through vertical spatial segmentation and identifies passes that disrupt defensive lines within open play. Beyond detection, we introduce several tactical metrics, including the space build-up ratio (SBR) and two chain-based variants, LBPCh$^1$ and LBPCh$^2$, which quantify the effectiveness of LBPs in generating immediate or sustained attacking threats. We evaluate these metrics across teams and players in the 2022 FIFA World Cup, revealing stylistic differences in vertical progression and structural disruption. The proposed methodology is explainable, scalable, and directly applicable to modern performance analysis and scouting workflows.
An Efficient Digital Watermarking Technique for Small Scale devices
Venue: arXiv cs.MM 2025
Year: 2025

In the age of IoT and mobile platforms, ensuring that content stay authentic whilst avoiding overburdening limited hardware is a key problem. This study introduces hybrid Fast Wavelet Transform & Additive Quantization index Modulation (FWT-AQIM) scheme, a lightweight watermarking approach that secures digital pictures on low-power, memory-constrained small scale devices to achieve a balanced trade-off among robustness, imperceptibility, and computational efficiency. The method embeds watermark in the luminance component of YCbCr color space using low-frequency FWT sub-bands, minimizing perceptual distortion, using additive QIM for simplicity. Both the extraction and embedding processes run in less than 40 ms and require minimum RAM when tested on a Raspberry Pi 5. Quality assessments on standard and high-resolution images yield PSNR greater than equal to 34 dB and SSIM greater than equal to 0.97, while robustness verification includes various geometric and signal-processing attacks demonstrating near-zero bit error rates and NCC greater than equal to 0.998. Using a mosaic-based watermark, redundancy added enhancing robustness without reducing throughput, which peaks at 11 MP/s. These findings show that FWT-AQIM provides an efficient, scalable solution for real-time, secure watermarking in bandwidth- and power-constrained contexts, opening the way for dependable content protection in developing IoT and multimedia applications.
Design and Implementation of a RISC-V SoC with Custom DSP Accelerators for Edge Computing
Venue: arXiv cs.AR 2025
Year: 2025

This paper presents a comprehensive analysis of the RISC-V instruction set architecture, focusing on its modular design, implementation challenges, and performance characteristics. We examine the RV32I base instruction set with extensions for multiplication (M) and atomic operations (A). Through cycle-accurate simulation of a pipelined implementation, we evaluate performance metrics including CPI (cycles per instruction) and power efficiency. Our results demonstrate RISC-V's advantages in embedded systems and its scalability for custom accelerators. Comparative analysis shows a 17% reduction in power consumption compared to ARM Cortex-M0 implementations in similar process nodes. The open-standard nature of RISC-V provides significant flexibility for domain-specific optimizations.