OpenRaiser/Intern-Atlas huggingface dataset:
VLM-CPL: Consensus Pseudo Labels from Vision-Language Models for Annotation-Free Pathological Image Classification
Venue: arXiv cs.CV 2025
Year: 2025

Classification of pathological images is the basis for automatic cancer diagnosis. Despite that deep learning methods have achieved remarkable performance, they heavily rely on labeled data, demanding extensive human annotation efforts. In this study, we present a novel human annotation-free method by leveraging pre-trained Vision-Language Models (VLMs). Without human annotation, pseudo-labels of the training set are obtained by utilizing the zero-shot inference capabilities of VLM, which may contain a lot of noise due to the domain gap between the pre-training and target datasets. To address this issue, we introduce VLM-CPL, a novel approach that contains two noisy label filtering techniques with a semi-supervised learning strategy. Specifically, we first obtain prompt-based pseudo-labels with uncertainty estimation by zero-shot inference with the VLM using multiple augmented views of an input. Then, by leveraging the feature representation ability of VLM, we obtain feature-based pseudo-labels via sample clustering in the feature space. Prompt-feature consensus is introduced to select reliable samples based on the consensus between the two types of pseudo-labels. We further propose High-confidence Cross Supervision by to learn from samples with reliable pseudo-labels and the remaining unlabeled samples. Additionally, we present an innovative open-set prompting strategy that filters irrelevant patches from whole slides to enhance the quality of selected patches. Experimental results on five public pathological image datasets for patch-level and slide-level classification showed that our method substantially outperformed zero-shot classification by VLMs, and was superior to existing noisy label learning methods. The code is publicly available at https://github.com/HiLab-git/VLM-CPL.
iA*: Imperative Learning-based A* Search for Path Planning
Venue: arXiv cs.RO 2025
Year: 2025

Path planning, which aims to find a collision-free path between two locations, is critical for numerous applications ranging from mobile robots to self-driving vehicles. Traditional search-based methods like A* search guarantee path optimality but are often computationally expensive when handling large-scale maps. While learning-based methods alleviate this issue by incorporating learned constraints into their search procedures, they often face challenges like overfitting and reliance on extensive labeled datasets. To address these limitations, we propose Imperative A* (iA*), a novel self-supervised path planning framework leveraging bilevel optimization (BLO) and imperative learning (IL). The iA* framework integrates a neural network that predicts node costs with a differentiable A* search mechanism, enabling efficient self-supervised training via bilevel optimization. This integration significantly enhances the balance between search efficiency and path optimality while improving generalization to previously unseen maps. Extensive experiments demonstrate that iA* outperforms both classical and supervised learning-based methods, achieving an average reduction of 65.7\% in search area and 54.4\% in runtime, underscoring its effectiveness in robot path planning tasks.
ChatDBG: Augmenting Debugging with Large Language Models
Venue: arXiv cs.SE 2025
Year: 2025

Debugging is a critical but challenging task for programmers. This paper proposes ChatDBG, an AI-powered debugging assistant. ChatDBG integrates large language models (LLMs) to significantly enhance the capabilities and user-friendliness of conventional debuggers. ChatDBG lets programmers engage in a collaborative dialogue with the debugger, allowing them to pose complex questions about program state, perform root cause analysis for crashes or assertion failures, and explore open-ended queries like "why is x null?". To handle these queries, ChatDBG grants the LLM autonomy to "take the wheel": it can act as an independent agent capable of querying and controlling the debugger to navigate through stacks and inspect program state. It then reports its findings and yields back control to the programmer. By leveraging the real-world knowledge embedded in LLMs, ChatDBG can diagnose issues identifiable only through the use of domain-specific reasoning. Our ChatDBG prototype integrates with standard debuggers including LLDB and GDB for native code and Pdb for Python. Our evaluation across a diverse set of code, including C/C++ code with known bugs and a suite of Python code including standalone scripts and Jupyter notebooks, demonstrates that ChatDBG can successfully analyze root causes, explain bugs, and generate accurate fixes for a wide range of real-world errors. For the Python programs, a single query led to an actionable bug fix 67% of the time; one additional follow-up query increased the success rate to 85%. ChatDBG has seen rapid uptake; it has already been downloaded more than 75,000 times.
Camera-aware Label Refinement for Unsupervised Person Re-identification
Venue: arXiv cs.CV 2025
Year: 2025

Unsupervised person re-identification aims to retrieve images of a specified person without identity labels. Many recent unsupervised Re-ID approaches adopt clustering-based methods to measure cross-camera feature similarity to roughly divide images into clusters. They ignore the feature distribution discrepancy induced by camera domain gap, resulting in the unavoidable performance degradation. Camera information is usually available, and the feature distribution in the single camera usually focuses more on the appearance of the individual and has less intra-identity variance. Inspired by the observation, we introduce a \textbf{C}amera-\textbf{A}ware \textbf{L}abel \textbf{R}efinement~(CALR) framework that reduces camera discrepancy by clustering intra-camera similarity. Specifically, we employ intra-camera training to obtain reliable local pseudo labels within each camera, and then refine global labels generated by inter-camera clustering and train the discriminative model using more reliable global pseudo labels in a self-paced manner. Meanwhile, we develop a camera-alignment module to align feature distributions under different cameras, which could help deal with the camera variance further. Extensive experiments validate the superiority of our proposed method over state-of-the-art approaches. The code is accessible at https://github.com/leeBooMla/CALR.
Hallucination Detection in Foundation Models for Decision-Making: A Flexible Definition and Review of the State of the Art
Venue: arXiv cs.AI 2025
Year: 2025

Autonomous systems are soon to be ubiquitous, spanning manufacturing, agriculture, healthcare, entertainment, and other industries. Most of these systems are developed with modular sub-components for decision-making, planning, and control that may be hand-engineered or learning-based. While these approaches perform well under the situations they were specifically designed for, they can perform especially poorly in out-of-distribution scenarios that will undoubtedly arise at test-time. The rise of foundation models trained on multiple tasks with impressively large datasets has led researchers to believe that these models may provide "common sense" reasoning that existing planners are missing, bridging the gap between algorithm development and deployment. While researchers have shown promising results in deploying foundation models to decision-making tasks, these models are known to hallucinate and generate decisions that may sound reasonable, but are in fact poor. We argue there is a need to step back and simultaneously design systems that can quantify the certainty of a model's decision, and detect when it may be hallucinating. In this work, we discuss the current use cases of foundation models for decision-making tasks, provide a general definition for hallucinations with examples, discuss existing approaches to hallucination detection and mitigation with a focus on decision problems, present guidelines, and explore areas for further research in this exciting field.
Symbolic and User-friendly Geometric Algebra Routines (SUGAR) for Computations in Matlab
Venue: arXiv cs.MS 2025
Year: 2025

Geometric algebra (GA) is a mathematical tool for geometric computing, providing a framework that allows a unified and compact approach to geometric relations which in other mathematical systems are typically described using different more complicated elements. This fact has led to an increasing adoption of GA in applied mathematics and engineering problems. However, the scarcity of symbolic implementations of GA and its inherent complexity, requiring a specific mathematical background, make it challenging and less intuitive for engineers to work with. This prevents wider adoption among more applied professionals. To address this challenge, this paper introduces SUGAR (Symbolic and User-friendly Geometric Algebra Routines), an open-source toolbox designed for Matlab and licensed under the MIT License. SUGAR facilitates the translation of GA concepts into Matlab and provides a collection of user-friendly functions tailored for GA computations, including support for symbolic operations. It supports both numeric and symbolic computations in high-dimensional GAs. Specifically tailored for applied mathematics and engineering applications, SUGAR has been meticulously engineered to represent geometric elements and transformations within two and three-dimensional projective and conformal geometric algebras, aligning with established computational methodologies in the literature. Furthermore, SUGAR efficiently handles functions of multivectors, such as exponential, logarithmic, sinusoidal, and cosine functions, enhancing its applicability across various engineering domains, including robotics, control systems, and power electronics. Finally, this work includes four distinct validation examples, demonstrating SUGAR's capabilities across the above-mentioned fields and its practical utility in addressing real-world applied mathematics and engineering problems.
One-Shot Domain Incremental Learning
Venue: arXiv cs.LG 2025
Year: 2025

Domain incremental learning (DIL) has been discussed in previous studies on deep neural network models for classification. In DIL, we assume that samples on new domains are observed over time. The models must classify inputs on all domains. In practice, however, we may encounter a situation where we need to perform DIL under the constraint that the samples on the new domain are observed only infrequently. Therefore, in this study, we consider the extreme case where we have only one sample from the new domain, which we call one-shot DIL. We first empirically show that existing DIL methods do not work well in one-shot DIL. We have analyzed the reason for this failure through various investigations. According to our analysis, we clarify that the difficulty of one-shot DIL is caused by the statistics in the batch normalization layers. Therefore, we propose a technique regarding these statistics and demonstrate the effectiveness of our technique through experiments on open datasets. The code is available at https://github.com/ToyotaCRDL/OneShotDIL.
As Good As A Coin Toss: Human detection of AI-generated images, videos, audio, and audiovisual stimuli
Venue: arXiv cs.HC 2025
Year: 2025

One of the current principal defenses against weaponized synthetic media continues to be the ability of the targeted individual to visually or auditorily recognize AI-generated content when they encounter it. However, as the realism of synthetic media continues to rapidly improve, it is vital to have an accurate understanding of just how susceptible people currently are to potentially being misled by convincing but false AI generated content. We conducted a perceptual study with 1276 participants to assess how capable people were at distinguishing between authentic and synthetic images, audio, video, and audiovisual media. We find that on average, people struggled to distinguish between synthetic and authentic media, with the mean detection performance close to a chance level performance of 50%. We also find that accuracy rates worsen when the stimuli contain any degree of synthetic content, features foreign languages, and the media type is a single modality. People are also less accurate at identifying synthetic images when they feature human faces, and when audiovisual stimuli have heterogeneous authenticity. Finally, we find that higher degrees of prior knowledgeability about synthetic media does not significantly impact detection accuracy rates, but age does, with older individuals performing worse than their younger counterparts. Collectively, these results highlight that it is no longer feasible to rely on the perceptual capabilities of people to protect themselves against the growing threat of weaponized synthetic media, and that the need for alternative countermeasures is more critical than ever before.
On the Impact of Black-box Deployment Strategies for Edge AI on Latency and Model Performance
Venue: arXiv cs.SE 2025
Year: 2025

Deciding what combination of operators to use across the Edge AI tiers to achieve specific latency and model performance requirements is an open question for MLOps engineers. This study aims to empirically assess the accuracy vs inference time trade-off of different black-box Edge AI deployment strategies, i.e., combinations of deployment operators and deployment tiers. In this paper, we conduct inference experiments involving 3 deployment operators (i.e., Partitioning, Quantization, Early Exit), 3 deployment tiers (i.e., Mobile, Edge, Cloud) and their combinations on four widely used Computer-Vision models to investigate the optimal strategies from the point of view of MLOps developers. Our findings suggest that Edge deployment using the hybrid Quantization + Early Exit operator could be preferred over non-hybrid operators (Quantization/Early Exit on Edge, Partition on Mobile-Edge) when faster latency is a concern at medium accuracy loss. However, when minimizing accuracy loss is a concern, MLOps engineers should prefer using only a Quantization operator on edge at a latency reduction or increase, respectively over the Early Exit/Partition (on edge/mobile-edge) and Quantized Early Exit (on edge) operators. In scenarios constrained by Mobile CPU/RAM resources, a preference for Partitioning across mobile and edge tiers is observed over mobile deployment. For models with smaller input data samples (such as FCN), a network-constrained cloud deployment can also be a better alternative than Mobile/Edge deployment and Partitioning strategies. For models with large input data samples (ResNet, ResNext, DUC), an edge tier having higher network/computational capabilities than Cloud/Mobile can be a more viable option than Partitioning and Mobile/Cloud deployment strategies.
Multi-Contact Inertial Parameters Estimation and Localization in Legged Robots
Venue: arXiv cs.RO 2025
Year: 2025

Optimal estimation is a promising tool for estimation of payloads' inertial parameters and localization of robots in the presence of multiple contacts. To harness its advantages in robotics, it is crucial to solve these large and challenging optimization problems efficiently. To tackle this, we (i) develop a multiple shooting solver that exploits both temporal and parametric structures through a parametrized Riccati recursion. Additionally, we (ii) propose an inertial manifold that ensures the full physical consistency of inertial parameters and enhances convergence. To handle its manifold singularities, we (iii) introduce a nullspace approach in our optimal estimation solver. Finally, we (iv) develop the analytical derivatives of contact dynamics for both inertial parametrizations. Our framework can successfully solve estimation problems for complex maneuvers such as brachiation in humanoids, achieving higher accuracy than conventional least squares approaches. We demonstrate its numerical capabilities across various robotics tasks and its benefits in experimental trials with the Go1 robot.
Histogram Layers for Neural Engineered Features
Venue: arXiv cs.CV 2025
Year: 2025

In the computer vision literature, many effective histogram-based features have been developed. These engineered features include local binary patterns and edge histogram descriptors among others and they have been shown to be informative features for a variety of computer vision tasks. In this paper, we explore whether these features can be learned through histogram layers embedded in a neural network and, therefore, be leveraged within deep learning frameworks. By using histogram features, local statistics of the feature maps from the convolution neural networks can be used to better represent the data. We present neural versions of local binary pattern and edge histogram descriptors that jointly improve the feature representation and perform image classification. Experiments are presented on benchmark and real-world datasets.
Learning Traffic Signal Control via Genetic Programming
Venue: arXiv cs.AI 2025
Year: 2025

The control of traffic signals is crucial for improving transportation efficiency. Recently, learning-based methods, especially Deep Reinforcement Learning (DRL), garnered substantial success in the quest for more efficient traffic signal control strategies. However, the design of rewards in DRL highly demands domain knowledge to converge to an effective policy, and the final policy also presents difficulties in terms of explainability. In this work, a new learning-based method for signal control in complex intersections is proposed. In our approach, we design a concept of phase urgency for each signal phase. During signal transitions, the traffic light control strategy selects the next phase to be activated based on the phase urgency. We then proposed to represent the urgency function as an explainable tree structure. The urgency function can calculate the phase urgency for a specific phase based on the current road conditions. Genetic programming is adopted to perform gradient-free optimization of the urgency function. We test our algorithm on multiple public traffic signal control datasets. The experimental results indicate that the tree-shaped urgency function evolved by genetic programming outperforms the baselines, including a state-of-the-art method in the transportation field and a well-known DRL-based method. Our code is available online.
LaRE$^2$: Latent Reconstruction Error Based Method for Diffusion-Generated Image Detection
Venue: arXiv cs.CV 2025
Year: 2025

The evolution of Diffusion Models has dramatically improved image generation quality, making it increasingly difficult to differentiate between real and generated images. This development, while impressive, also raises significant privacy and security concerns. In response to this, we propose a novel Latent REconstruction error guided feature REfinement method (LaRE^2) for detecting the diffusion-generated images. We come up with the Latent Reconstruction Error (LaRE), the first reconstruction-error based feature in the latent space for generated image detection. LaRE surpasses existing methods in terms of feature extraction efficiency while preserving crucial cues required to differentiate between the real and the fake. To exploit LaRE, we propose an Error-Guided feature REfinement module (EGRE), which can refine the image feature guided by LaRE to enhance the discriminativeness of the feature. Our EGRE utilizes an align-then-refine mechanism, which effectively refines the image feature for generated-image detection from both spatial and channel perspectives. Extensive experiments on the large-scale GenImage benchmark demonstrate the superiority of our LaRE^2, which surpasses the best SoTA method by up to 11.9%/12.1% average ACC/AP across 8 different image generators. LaRE also surpasses existing methods in terms of feature extraction cost, delivering an impressive speed enhancement of 8 times. Code is available.
A Unified Kernel for Neural Network Learning
Venue: arXiv cs.LG 2025
Year: 2025

Past decades have witnessed a great interest in the distinction and connection between neural network learning and kernel learning. Recent advancements have made theoretical progress in connecting infinite-wide neural networks and Gaussian processes. Two predominant approaches have emerged: the Neural Network Gaussian Process (NNGP) and the Neural Tangent Kernel (NTK). The former, rooted in Bayesian inference, represents a zero-order kernel, while the latter, grounded in the tangent space of gradient descents, is a first-order kernel. In this paper, we present the Unified Neural Kernel (UNK), which {is induced by the inner product of produced variables and characterizes the learning dynamics of neural networks with gradient descents and parameter initialization.} The proposed UNK kernel maintains the limiting properties of both NNGP and NTK, exhibiting behaviors akin to NTK with a finite learning step and converging to NNGP as the learning step approaches infinity. Besides, we also theoretically characterize the uniform tightness and learning convergence of the UNK kernel, providing comprehensive insights into this unified kernel. Experimental results underscore the effectiveness of our proposed method.
Equipping Sketch Patches with Context-Aware Positional Encoding for Graphic Sketch Representation
Venue: arXiv cs.CV 2025
Year: 2025

When benefiting graphic sketch representation with sketch drawing orders, recent studies have linked sketch patches as graph edges by drawing orders in accordance to a temporal-based nearest neighboring strategy. However, such constructed graph edges may be unreliable, since the contextual relationships between patches may be inconsistent with the sequential positions in drawing orders, due to variants of sketch drawings. In this paper, we propose a variant-drawing-protected method by equipping sketch patches with context-aware positional encoding (PE) to make better use of drawing orders for sketch learning. We introduce a sinusoidal absolute PE to embed the sequential positions in drawing orders, and a learnable relative PE to encode the unseen contextual relationships between patches. Both types of PEs never attend the construction of graph edges, but are injected into graph nodes to cooperate with the visual patterns captured from patches. After linking nodes by semantic proximity, during message aggregation via graph convolutional networks, each node receives both semantic features from patches and contextual information from PEs from its neighbors, which equips local patch patterns with global contextual information, further obtaining drawing-order-enhanced sketch representations. Experimental results indicate that our method significantly improves sketch healing and controllable sketch synthesis. The source codes could be found at https://github.com/SCZang/DC-gra2seq.
S+t-SNE -- Bringing Dimensionality Reduction to Data Streams
Venue: arXiv cs.AI 2025
Year: 2025

We present S+t-SNE, an adaptation of the t-SNE algorithm designed to handle infinite data streams. The core idea behind S+t-SNE is to update the t-SNE embedding incrementally as new data arrives, ensuring scalability and adaptability to handle streaming scenarios. By selecting the most important points at each step, the algorithm ensures scalability while keeping informative visualisations. By employing a blind method for drift management, the algorithm adjusts the embedding space, which facilitates the visualisation of evolving data dynamics. Our experimental evaluations demonstrate the effectiveness and efficiency of S+t-SNE, whilst highlighting its ability to capture patterns in a streaming scenario. We hope our approach offers researchers and practitioners a real-time tool for understanding and interpreting high-dimensional data.