OpenRaiser/Intern-Atlas huggingface dataset:
3D Printable Soft Liquid Metal Sensors for Delicate Manipulation Tasks
Venue: arXiv cs.RO 2025
Year: 2025

Robotics and automation are key enablers to increase throughput in ongoing conservation efforts across various threatened ecosystems. Cataloguing, digitisation, husbandry, and similar activities require the ability to interact with delicate, fragile samples without damaging them. Additionally, learning-based solutions to these tasks require the ability to safely acquire data to train manipulation policies through, e.g., reinforcement learning. To address these twin needs, we introduce a novel method to print free-form, highly sensorised soft 'physical twins'. We present an automated design workflow to create complex and customisable 3D soft sensing structures on demand from 3D scans or models. Compared to the state of the art, our soft liquid metal sensors faithfully recreate complex natural geometries and display excellent sensing properties suitable for validating performance in delicate manipulation tasks. We demonstrate the application of our physical twins as 'sensing corals': high-fidelity, 3D printed replicas of scanned corals that eliminate the need for live coral experimentation, whilst increasing data quality, offering an ethical and scalable pathway for advancing autonomous coral handling and soft manipulation broadly. Through extensive bench-top manipulation and underwater grasping experiments, we show that our sensing coral is able to detect grasps under 0.5 N, effectively capturing the delicate interactions and light contact forces required for coral handling. Finally, we showcase the value of our physical twins across two demonstrations: (i) automated coral labelling for lab identification and (ii) robotic coral aquaculture. Sensing physical twins such as ours can provide richer grasping feedback than conventional sensors providing experimental validation of prior to deployment in handling fragile and delicate items.
Optimizing Split Federated Learning with Unstable Client Participation
Venue: arXiv cs.NI 2025
Year: 2025

To enable training of large artificial intelligence (AI) models at the network edge, split federated learning (SFL) has emerged as a promising approach by distributing computation between edge devices and a server. However, while unstable network environments pose significant challenges to SFL, prior schemes often overlook such an effect by assuming perfect client participation, rendering them impractical for real-world scenarios. In this work, we develop an optimization framework for SFL with unstable client participation. We theoretically derive the first convergence upper bound for SFL with unstable client participation by considering activation uploading failures, gradient downloading failures, and model aggregation failures. Based on the theoretical results, we formulate a joint optimization problem for client sampling and model splitting to minimize the upper bound. We then develop an efficient solution approach to solve the problem optimally. Extensive simulations on EMNIST and CIFAR-10 demonstrate the superiority of our proposed framework compared to existing benchmarks.
Efficient Sliced Wasserstein Distance Computation via Adaptive Bayesian Optimization
Venue: arXiv cs.LG 2025
Year: 2025

The sliced Wasserstein distance (SW) reduces optimal transport on $\mathbb{R}^d$ to a sum of one-dimensional projections, and thanks to this efficiency, it is widely used in geometry, generative modeling, and registration tasks. Recent work shows that quasi-Monte Carlo constructions for computing SW (QSW) yield direction sets with excellent approximation error. This paper presents an alternate, novel approach: learning directions with Bayesian optimization (BO), particularly in settings where SW appears inside an optimization loop (e.g., gradient flows). We introduce a family of drop-in selectors for projection directions: BOSW, a one-shot BO scheme on the unit sphere; RBOSW, a periodic-refresh variant; ABOSW, an adaptive hybrid that seeds from competitive QSW sets and performs a few lightweight BO refinements; and ARBOSW, a restarted hybrid that periodically relearns directions during optimization. Our BO approaches can be composed with QSW and its variants (demonstrated by ABOSW/ARBOSW) and require no changes to downstream losses or gradients. We provide numerical experiments where our methods achieve state-of-the-art performance, and on the experimental suite of the original QSW paper, we find that ABOSW and ARBOSW can achieve convergence comparable to the best QSW variants with modest runtime overhead.
Distributionally Robust Safety Verification of Neural Networks via Worst-Case CVaR
Venue: arXiv cs.LG 2025
Year: 2025

Ensuring the safety of neural networks under input uncertainty is a fundamental challenge in safety-critical applications. This paper builds on and expands Fazlyab's quadratic-constraint (QC) and semidefinite-programming (SDP) framework for neural network verification to a distributionally robust and tail-risk-aware setting by integrating worst-case Conditional Value-at-Risk (WC-CVaR) over a moment-based ambiguity set with fixed mean and covariance. The resulting conditions remain SDP-checkable and explicitly account for tail risk. This integration broadens input-uncertainty geometry-covering ellipsoids, polytopes, and hyperplanes-and extends applicability to safety-critical domains where tail-event severity matters. Applications to closed-loop reachability of control systems and classification are demonstrated through numerical experiments, illustrating how the risk level $\varepsilon$ trades conservatism for tolerance to tail events-while preserving the computational structure of prior QC/SDP methods for neural network verification and robustness analysis.
Training-Free Label Space Alignment for Universal Domain Adaptation
Venue: arXiv cs.CV 2025
Year: 2025

Universal domain adaptation (UniDA) transfers knowledge from a labeled source domain to an unlabeled target domain, where label spaces may differ and the target domain may contain private classes. Previous UniDA methods primarily focused on visual space alignment but often struggled with visual ambiguities due to content differences, which limited their robustness and generalizability. To overcome this, we introduce a novel approach that leverages the strong \textit{zero-shot capabilities} of recent vision-language foundation models (VLMs) like CLIP, concentrating solely on label space alignment to enhance adaptation stability. CLIP can generate task-specific classifiers based only on label names. However, adapting CLIP to UniDA is challenging because the label space is not fully known in advance. In this study, we first utilize generative vision-language models to identify unknown categories in the target domain. Noise and semantic ambiguities in the discovered labels -- such as those similar to source labels (e.g., synonyms, hypernyms, hyponyms) -- complicate label alignment. To address this, we propose a training-free label-space alignment method for UniDA (\ours). Our method aligns label spaces instead of visual spaces by filtering and refining noisy labels between the domains. We then construct a \textit{universal classifier} that integrates both shared knowledge and target-private class information, thereby improving generalizability under domain shifts. The results reveal that the proposed method considerably outperforms existing UniDA techniques across key DomainBed benchmarks, delivering an average improvement of \textcolor{blue}{+7.9\%}in H-score and \textcolor{blue}{+6.1\%} in H$^3$-score. Furthermore, incorporating self-training further enhances performance and achieves an additional (\textcolor{blue}{+1.6\%}) increment in both H- and H$^3$-scores.
Explainable AI for Analyzing Person-Specific Patterns in Facial Recognition Tasks
Venue: arXiv cs.CV 2025
Year: 2025

The proliferation of facial recognition systems presents major privacy risks, driving the need for effective countermeasures. Current adversarial techniques apply generalized methods rather than adapting to individual facial characteristics, limiting their effectiveness and inconspicuousness. In this work, we introduce Layer Embedding Activation Mapping (LEAM), a novel technique that identifies which facial areas contribute most to recognition at an individual level. Unlike adversarial attack methods that aim to fool recognition systems, LEAM is an explainability technique designed to understand how these systems work, providing insights that could inform future privacy protection research. We integrate LEAM with a face parser to analyze data from 1000 individuals across 9 pre-trained facial recognition models. Our analysis reveals that while different layers within facial recognition models vary significantly in their focus areas, these models generally prioritize similar facial regions across architectures when considering their overall activation patterns, which show significantly higher similarity between images of the same individual (Bhattacharyya Coefficient: 0.32-0.57) vs. different individuals (0.04-0.13), validating the existence of person-specific recognition patterns. Our results show that facial recognition models prioritize the central region of face images (with nose areas accounting for 18.9-29.7% of critical recognition regions), while still distributing attention across multiple facial fragments. Proper selection of relevant facial areas was confirmed using validation occlusions, based on just 1% of the most relevant, LEAM-identified, image pixels, which proved to be transferable across different models. Our findings establish the foundation for future individually tailored privacy protection systems centered around LEAM's choice of areas to be perturbed.
Open Political Corpora: Structuring, Searching, and Analyzing Political Text Collections with PoliCorp
Venue: arXiv cs.DL 2025
Year: 2025

In this work, we present PoliCorp (https://demo-pollux.gesis.org/), a web portal designed to facilitate the search and analysis of political text corpora. PoliCorp provides researchers with access to rich textual data, enabling in-depth analysis of parliamentary discourse over time. The platform currently features a collection of transcripts from debates in the German parliament, spanning 76 years of proceedings. With the advanced search functionality, researchers can apply logical operations to combine or exclude search criteria, making it easier to filter through vast amounts of parliamentary debate data. The search can be customised by combining multiple fields and applying logical operators to uncover complex patterns and insights within the data. Additional data processing steps were performed to enable web-based search and incorporate extra features. A key feature that differentiates PoliCorp is its intuitive web-based interface that enables users to query processed political texts without requiring programming skills. The user-friendly platform allows for the creation of custom subcorpora via search parameters, which can be freely downloaded in JSON format for further analysis.
Diagnosing Model Editing via Knowledge Spectrum
Venue: arXiv cs.CL 2025
Year: 2025

Model editing, the process of efficiently modifying factual knowledge in pre-trained language models, is critical for maintaining their accuracy and relevance. However, existing editing methods often introduce unintended side effects, degrading model performance in unpredictable ways. While much research has focused on improving editing algorithms, the role of the target knowledge's intrinsic properties remains a significant, underexplored factor. This paper addresses this gap by first proposing the ``Knowledge Spectrum,'' a systematic framework for categorizing knowledge based on its real-world popularity, the model's pre-edit familiarity, and the linguistic structure of the eliciting question. Our empirical analysis reveals that these characteristics are strong predictors of editing success and stability. Informed by these findings, we introduce the ``Knowledge-Diagnostic Framework,'' an adaptive strategy that tailors editing intensity to the diagnosed difficulty of a knowledge item. We demonstrate that this framework significantly improves success rates for challenging edits while optimizing computational resources. Our work provides a more comprehensive understanding of the factors governing model editing.
Multimodal Medical Image Classification via Synergistic Learning Pre-training
Venue: arXiv cs.CV 2025
Year: 2025

Multimodal pathological images are usually in clinical diagnosis, but computer vision-based multimodal image-assisted diagnosis faces challenges with modality fusion, especially in the absence of expert-annotated data. To achieve the modality fusion in multimodal images with label scarcity, we propose a novel ``pretraining + fine-tuning" framework for multimodal semi-supervised medical image classification. Specifically, we propose a synergistic learning pretraining framework of consistency, reconstructive, and aligned learning. By treating one modality as an augmented sample of another modality, we implement a self-supervised learning pre-train, enhancing the baseline model's feature representation capability. Then, we design a fine-tuning method for multimodal fusion. During the fine-tuning stage, we set different encoders to extract features from the original modalities and provide a multimodal fusion encoder for fusion modality. In addition, we propose a distribution shift method for multimodal fusion features, which alleviates the prediction uncertainty and overfitting risks caused by the lack of labeled samples. We conduct extensive experiments on the publicly available gastroscopy image datasets Kvasir and Kvasirv2. Quantitative and qualitative results demonstrate that the proposed method outperforms the current state-of-the-art classification methods. The code will be released at: https://github.com/LQH89757/MICS.
pBeeGees: A Prudent Approach to Certificate-Decoupled BFT Consensus
Venue: arXiv cs.DC 2025
Year: 2025

Pipelined Byzantine Fault Tolerant (BFT) consensus is fundamental to permissioned blockchains. However, many existing protocols are limited by the requirement for view-consecutive quorum certificates (QCs). This constraint impairs performance and creates liveness vulnerabilities under adverse network conditions. Achieving "certificate decoupling"-committing blocks without this requirement-is therefore a key research goal. While the recent BeeGees algorithm achieves this, our work reveals that it suffers from security and liveness issues. To address this problem, this paper makes two primary contributions. First, we formally define these flaws as the Invalid Block Problem and the Hollow Chain Problem. Second, we propose pBeeGees, a new algorithm that addresses these issues while preserving certificate decoupling with no additional computational overhead. To achieve this, pBeeGees integrates traceback and pre-commit validation to solve the Invalid Block Problem.Further, to mitigate the Hollow Chain Problem, we introduce a prudent validation mechanism, which prevents unverified branches from growing excessively. To summarize, pBeeGees is the first protocol to simultaneously achieve safety, liveness, and certificate decoupling in a pipelined BFT framework. Experiments confirm that our design significantly reduces block commit latency compared to classic algorithms, particularly under frequent stopping faults.
SAMSON: 3rd Place Solution of LSVOS 2025 VOS Challenge
Venue: arXiv cs.CV 2025
Year: 2025

Large-scale Video Object Segmentation (LSVOS) addresses the challenge of accurately tracking and segmenting objects in long video sequences, where difficulties stem from object reappearance, small-scale targets, heavy occlusions, and crowded scenes. Existing approaches predominantly adopt SAM2-based frameworks with various memory mechanisms for complex video mask generation. In this report, we proposed Segment Anything with Memory Strengthened Object Navigation (SAMSON), the 3rd place solution in the MOSE track of ICCV 2025, which integrates the strengths of stateof-the-art VOS models into an effective paradigm. To handle visually similar instances and long-term object disappearance in MOSE, we incorporate a long-term memorymodule for reliable object re-identification. Additionly, we adopt SAM2Long as a post-processing strategy to reduce error accumulation and enhance segmentation stability in long video sequences. Our method achieved a final performance of 0.8427 in terms of J &F in the test-set leaderboard.
4D-MoDe: Towards Editable and Scalable Volumetric Streaming via Motion-Decoupled 4D Gaussian Compression
Venue: arXiv cs.CV 2025
Year: 2025

Volumetric video has emerged as a key medium for immersive telepresence and augmented/virtual reality, enabling six-degrees-of-freedom (6DoF) navigation and realistic spatial interactions. However, delivering high-quality dynamic volumetric content at scale remains challenging due to massive data volume, complex motion, and limited editability of existing representations. In this paper, we present 4D-MoDe, a motion-decoupled 4D Gaussian compression framework designed for scalable and editable volumetric video streaming. Our method introduces a layered representation that explicitly separates static backgrounds from dynamic foregrounds using a lookahead-based motion decomposition strategy, significantly reducing temporal redundancy and enabling selective background/foreground streaming. To capture continuous motion trajectories, we employ a multi-resolution motion estimation grid and a lightweight shared MLP, complemented by a dynamic Gaussian compensation mechanism to model emergent content. An adaptive grouping scheme dynamically inserts background keyframes to balance temporal consistency and compression efficiency. Furthermore, an entropy-aware training pipeline jointly optimizes the motion fields and Gaussian parameters under a rate-distortion (RD) objective, while employing range-based and KD-tree compression to minimize storage overhead. Extensive experiments on multiple datasets demonstrate that 4D-MoDe consistently achieves competitive reconstruction quality with an order of magnitude lower storage cost (e.g., as low as \textbf{11.4} KB/frame) compared to state-of-the-art methods, while supporting practical applications such as background replacement and foreground-only streaming.
Community Covert Communication - Dynamic Mass Covert Communication Through Social Media
Venue: arXiv cs.CR 2025
Year: 2025

Since the early 2010s, social network-based influence technologies have grown almost exponentially. Initiated by the U.S. Army's early OEV system in 2011, a number of companies specializing in this field have emerged. The most (in)famous cases are Bell Pottinger, Cambridge Analytica, Aggregate-IQ and, more recently, Team Jorge. In this paper, we consider the use-case of sock puppet master activities, which consist in creating hundreds or even thousands of avatars, in organizing them into communities and implement influence operations. On-purpose software is used to automate these operations (e.g. Ripon software, AIMS) and organize these avatar populations into communities. The aim is to organize targeted and directed influence communication to rather large communities (influence targets). The goal of the present research work is to show how these community management techniques (social networks) can also be used to communicate/disseminate relatively large volumes (up to a few tens of Mb) of multi-level encrypted information to a limited number of actors. To a certain extent, this can be compared to a Dark Post-type function, with a number of much more powerful potentialities. As a consequence, the concept of communication has been totally redefined and disrupted, so that eavesdropping, interception and jamming operations no longer make sense.
Leveraging Audio-Visual Data to Reduce the Multilingual Gap in Self-Supervised Speech Models
Venue: arXiv cs.CL 2025
Year: 2025

Self-supervised learning (SSL) has made significant advances in speech representation learning. Models like wav2vec 2.0 and HuBERT have achieved state-of-the-art results in tasks such as speech recognition, particularly in monolingual settings. However, multilingual SSL models tend to underperform their monolingual counterparts on each individual language, especially in multilingual scenarios with few languages such as the bilingual setting. In this work, we investigate a novel approach to reduce this performance gap by introducing limited visual grounding into bilingual speech SSL models. Our results show that visual grounding benefits both monolingual and bilingual models, with especially pronounced gains for the latter, reducing the multilingual performance gap on zero-shot phonetic discrimination from 31.5% for audio-only models to 8.04% with grounding.
Evaluating the Energy Efficiency of NPU-Accelerated Machine Learning Inference on Embedded Microcontrollers
Venue: arXiv cs.ET 2025
Year: 2025

The deployment of machine learning (ML) models on microcontrollers (MCUs) is constrained by strict energy, latency, and memory requirements, particularly in battery-operated and real-time edge devices. While software-level optimizations such as quantization and pruning reduce model size and computation, hardware acceleration has emerged as a decisive enabler for efficient embedded inference. This paper evaluates the impact of Neural Processing Units (NPUs) on MCU-based ML execution, using the ARM Cortex-M55 core combined with the Ethos-U55 NPU on the Alif Semiconductor Ensemble E7 development board as a representative platform. A rigorous measurement methodology was employed, incorporating per-inference net energy accounting via GPIO-triggered high-resolution digital multimeter synchronization and idle-state subtraction, ensuring accurate attribution of energy costs. Experimental results across six representative ML models -including MiniResNet, MobileNetV2, FD-MobileNet, MNIST, TinyYolo, and SSD-MobileNet-demonstrate substantial efficiency gains when inference is offloaded to the NPU. For moderate to large networks, latency improvements ranged from 7x to over 125x, with per-inference net energy reductions up to 143x. Notably, the NPU enabled execution of models unsupported on CPU-only paths, such as SSD-MobileNet, highlighting its functional as well as efficiency advantages. These findings establish NPUs as a cornerstone of energy-aware embedded AI, enabling real-time, power-constrained ML inference at the MCU level.
MontePrep: Monte-Carlo-Driven Automatic Data Preparation without Target Data Instances
Venue: arXiv cs.AI 2025
Year: 2025

In commercial systems, a pervasive requirement for automatic data preparation (ADP) is to transfer relational data from disparate sources to targets with standardized schema specifications. Previous methods rely on labor-intensive supervision signals or target table data access permissions, limiting their usage in real-world scenarios. To tackle these challenges, we propose an effective end-to-end ADP framework MontePrep, which enables training-free pipeline synthesis with zero target-instance requirements. MontePrep is formulated as an open-source large language model (LLM) powered tree-structured search problem. It consists of three pivot components, i.e., a data preparation action sandbox (DPAS), a fundamental pipeline generator (FPG), and an execution-aware pipeline optimizer (EPO). We first introduce DPAS, a lightweight action sandbox, to navigate the search-based pipeline generation. The design of DPAS circumvents exploration of infeasible pipelines. Then, we present FPG to build executable DP pipelines incrementally, which explores the predefined action sandbox by the LLM-powered Monte Carlo Tree Search. Furthermore, we propose EPO, which invokes pipeline execution results from sources to targets to evaluate the reliability of the generated pipelines in FPG. In this way, unreasonable pipelines are eliminated, thus facilitating the search process from both efficiency and effectiveness perspectives. Extensive experimental results demonstrate the superiority of MontePrep with significant improvement against five state-of-the-art competitors.