OpenRaiser/Intern-Atlas huggingface dataset:
An Image-based Typology for Visualization
Venue: arXiv cs.HC 2025
Year: 2025

We present and discuss the results of a qualitative analysis of visualization images to derive an image-based typology of visualizations. For each image, we seek to identify its main focus or the essential stimuli. As a result, we derived 10 image-based visualization types. We describe coding decisions we made in the derivation process. The resulting image typology can serve a number of purposes: enabling researchers and practitioners to identify visual design styles, facilitating the categorization of visualization images for the purpose of research and teaching, enabling researchers to study the evolution of the community and its research output over time, and facilitating a discussion of standardization in visualization. In addition, the tool and dataset enable scholars to closely examine the images and how they are published and communicated in our community. osf.io/dxjwt presents a pre-registration and all supplemental materials.
Prepared for the Worst: A Learning-Based Adversarial Attack for Resilience Analysis of the ICP Algorithm
Venue: arXiv cs.RO 2025
Year: 2025

This paper presents a novel method for assessing the resilience of the ICP algorithm via learning-based, worst-case attacks on lidar point clouds. For safety-critical applications such as autonomous navigation, ensuring the resilience of algorithms before deployments is crucial. The ICP algorithm is the standard for lidar-based localization, but its accuracy can be greatly affected by corrupted measurements from various sources, including occlusions, adverse weather, or mechanical sensor issues. Unfortunately, the complex and iterative nature of ICP makes assessing its resilience to corruption challenging. While there have been efforts to create challenging datasets and develop simulations to evaluate the resilience of ICP, our method focuses on finding the maximum possible ICP error that can arise from corrupted measurements at a location. We demonstrate that our perturbation-based adversarial attacks can be used pre-deployment to identify locations on a map where ICP is particularly vulnerable to corruptions in the measurements. With such information, autonomous robots can take safer paths when deployed, to mitigate against their measurements being corrupted. The proposed attack outperforms baselines more than 88% of the time across a wide range of scenarios.
Autonomous Guidewire Navigation for Robot-assisted Endovascular Interventions: A Knowledge-Driven Visual Guidance Approach
Venue: arXiv cs.RO 2025
Year: 2025

Autonomous robots for endovascular interventions hold significant potential to enhance procedural safety and reliability by navigating guidewires with precision, minimizing human error, and reducing surgical time. However, existing methods of guidewire navigation rely on manual demonstration data and have a suboptimal success rate. In this work, we propose a knowledge-driven visual guidance (KVG) method that leverages available visual information from interventional imaging to facilitate guidewire navigation. Our approach integrates image segmentation and detection techniques to extract surgical knowledge, including vascular maps and guidewire positions. We introduce BDA-star, a novel path planning algorithm with boundary distance constraints, to optimize trajectory planning for guidewire navigation. To validate the method, we developed the KVD-Reinforcement Learning environment, where observations consist of real-time guidewire feeding images highlighting the guidewire tip position and the planned path. We proposed a reward function based on the distances from both the guidewire tip to the planned path and the target to evaluate the agent's actions.Additionally, to address stability issues and slow convergence rates associated with direct learning from raw pixels, we incorporated a pre-trained convolutional neural network into the policy network for feature extraction. Experiments conducted on the aortic simulation autonomous guidewire navigation platform demonstrated that the proposed method, targeting the left subclavian artery, left carotid artery and the brachiocephalic artery, achieved a 100\% guidewire navigation success rate, along with reduced movement and retraction distances and trajectories tend to the center of the vessels.
Distributional Successor Features Enable Zero-Shot Policy Optimization
Venue: arXiv cs.LG 2025
Year: 2025

Intelligent agents must be generalists, capable of quickly adapting to various tasks. In reinforcement learning (RL), model-based RL learns a dynamics model of the world, in principle enabling transfer to arbitrary reward functions through planning. However, autoregressive model rollouts suffer from compounding error, making model-based RL ineffective for long-horizon problems. Successor features offer an alternative by modeling a policy's long-term state occupancy, reducing policy evaluation under new rewards to linear regression. Yet, zero-shot policy optimization for new tasks with successor features can be challenging. This work proposes a novel class of models, i.e., Distributional Successor Features for Zero-Shot Policy Optimization (DiSPOs), that learn a distribution of successor features of a stationary dataset's behavior policy, along with a policy that acts to realize different successor features achievable within the dataset. By directly modeling long-term outcomes in the dataset, DiSPOs avoid compounding error while enabling a simple scheme for zero-shot policy optimization across reward functions. We present a practical instantiation of DiSPOs using diffusion models and show their efficacy as a new class of transferable models, both theoretically and empirically across various simulated robotics problems. Videos and code available at https://weirdlabuw.github.io/dispo/.
Repeated Padding+: Simple yet Effective Data Augmentation Plugin for Sequential Recommendation
Venue: arXiv cs.IR 2025
Year: 2025

Sequential recommendation aims to provide users with personalized suggestions based on their historical interactions. When training sequential models, padding is a widely adopted technique for two main reasons: 1) The vast majority of models can only handle fixed-length sequences; 2) Batching-based training needs to ensure that the sequences in each batch have the same length. The special value \emph{0} is usually used as the padding content, which does not contain the actual information and is ignored in the model calculations. This common-sense padding strategy leads us to a problem that has never been explored before: Can we fully utilize this idle input space by padding other content to further improve model performance and training efficiency? In this work, we propose a simple yet effective padding method called Repeated Padding+ (RepPad+). Specifically, we use the original interaction sequences as the padding content and fill it to the padding positions during model training. This operation can be performed a finite number of times or repeated until the input sequences' length reaches the maximum limit. For those sequences that can not pad full original data, we draw inspiration from the Sliding Windows strategy and intercept consecutive subsequences to fill in the idle space. Our RepPad+ can be viewed as a sequence-level data augmentation strategy. Unlike most existing works, our method contains no trainable parameters or hyperparameters and is a plug-and-play data augmentation operation. Extensive experiments on various categories of sequential models and seven real-world datasets demonstrate the effectiveness and efficiency of our approach. The average recommendation performance improvement is up to 84.11% on GRU4Rec and 35.34% on SASRec. We also provide in-depth analysis and explanation of what makes RepPad+ effective from multiple perspectives.
PointSeg: A Training-Free Paradigm for 3D Scene Segmentation via Foundation Models
Venue: arXiv cs.CV 2025
Year: 2025

Recent success of vision foundation models have shown promising performance for the 2D perception tasks. However, it is difficult to train a 3D foundation network directly due to the limited dataset and it remains under explored whether existing foundation models can be lifted to 3D space seamlessly. In this paper, we present PointSeg, a novel training-free paradigm that leverages off-the-shelf vision foundation models to address 3D scene perception tasks. PointSeg can segment anything in 3D scene by acquiring accurate 3D prompts to align their corresponding pixels across frames. Concretely, we design a two-branch prompts learning structure to construct the 3D point-box prompts pairs, combining with the bidirectional matching strategy for accurate point and proposal prompts generation. Then, we perform the iterative post-refinement adaptively when cooperated with different vision foundation models. Moreover, we design a affinity-aware merging algorithm to improve the final ensemble masks. PointSeg demonstrates impressive segmentation performance across various datasets, all without training. Specifically, our approach significantly surpasses the state-of-the-art specialist training-free model by 14.1$\%$, 12.3$\%$, and 12.6$\%$ mAP on ScanNet, ScanNet++, and KITTI-360 datasets, respectively. On top of that, PointSeg can incorporate with various foundation models and even surpasses the specialist training-based methods by 3.4$\%$-5.4$\%$ mAP across various datasets, serving as an effective generalist model.
SARDet-100K: Towards Open-Source Benchmark and ToolKit for Large-Scale SAR Object Detection
Venue: arXiv cs.CV 2025
Year: 2025

Synthetic Aperture Radar (SAR) object detection has gained significant attention recently due to its irreplaceable all-weather imaging capabilities. However, this research field suffers from both limited public datasets (mostly comprising <2K images with only mono-category objects) and inaccessible source code. To tackle these challenges, we establish a new benchmark dataset and an open-source method for large-scale SAR object detection. Our dataset, SARDet-100K, is a result of intense surveying, collecting, and standardizing 10 existing SAR detection datasets, providing a large-scale and diverse dataset for research purposes. To the best of our knowledge, SARDet-100K is the first COCO-level large-scale multi-class SAR object detection dataset ever created. With this high-quality dataset, we conducted comprehensive experiments and uncovered a crucial challenge in SAR object detection: the substantial disparities between the pretraining on RGB datasets and finetuning on SAR datasets in terms of both data domain and model structure. To bridge these gaps, we propose a novel Multi-Stage with Filter Augmentation (MSFA) pretraining framework that tackles the problems from the perspective of data input, domain transition, and model migration. The proposed MSFA method significantly enhances the performance of SAR object detection models while demonstrating exceptional generalizability and flexibility across diverse models. This work aims to pave the way for further advancements in SAR object detection. The dataset and code is available at https://github.com/zcablii/SARDet_100K.
PLOOD: Partial Label Learning with Out-of-distribution Objects
Venue: arXiv cs.CV 2025
Year: 2025

Existing Partial Label Learning (PLL) methods posit that training and test data adhere to the same distribution, a premise that frequently does not hold in practical application where Out-of-Distribution (OOD) objects are present. We introduce the OODPLL paradigm to tackle this significant yet underexplored issue. And our newly proposed PLOOD framework enables PLL to tackle OOD objects through Positive-Negative Sample Augmented (PNSA) feature learning and Partial Energy (PE)-based label refinement. The PNSA module enhances feature discrimination and OOD recognition by simulating in- and out-of-distribution instances, which employ structured positive and negative sample augmentation, in contrast to conventional PLL methods struggling to distinguish OOD samples. The PE scoring mechanism combines label confidence with energy-based uncertainty estimation, thereby reducing the impact of imprecise supervision and effectively achieving label disambiguation. Experimental results on CIFAR-10 and CIFAR-100, alongside various OOD datasets, demonstrate that conventional PLL methods exhibit substantial degradation in OOD scenarios, underscoring the necessity of incorporating OOD considerations in PLL approaches. Ablation studies show that PNSA feature learning and PE-based label refinement are necessary for PLOOD to work, offering a robust solution for open-set PLL problems.
Average Calibration Error: A Differentiable Loss for Improved Reliability in Image Segmentation
Venue: arXiv cs.CV 2025
Year: 2025

Deep neural networks for medical image segmentation often produce overconfident results misaligned with empirical observations. Such miscalibration, challenges their clinical translation. We propose to use marginal L1 average calibration error (mL1-ACE) as a novel auxiliary loss function to improve pixel-wise calibration without compromising segmentation quality. We show that this loss, despite using hard binning, is directly differentiable, bypassing the need for approximate but differentiable surrogate or soft binning approaches. Our work also introduces the concept of dataset reliability histograms which generalises standard reliability diagrams for refined visual assessment of calibration in semantic segmentation aggregated at the dataset level. Using mL1-ACE, we reduce average and maximum calibration error by 45% and 55% respectively, maintaining a Dice score of 87% on the BraTS 2021 dataset. We share our code here: https://github.com/cai4cai/ACE-DLIRIS
Advancing Generalizable Remote Physiological Measurement through the Integration of Explicit and Implicit Prior Knowledge
Venue: arXiv cs.CV 2025
Year: 2025

Remote photoplethysmography (rPPG) is a promising technology that captures physiological signals from face videos, with potential applications in medical health, emotional computing, and biosecurity recognition. The demand for rPPG tasks has expanded from demonstrating good performance on intra-dataset testing to cross-dataset testing (i.e., domain generalization). However, most existing methods have overlooked the prior knowledge of rPPG, resulting in poor generalization ability. In this paper, we propose a novel framework that simultaneously utilizes explicit and implicit prior knowledge in the rPPG task. Specifically, we systematically analyze the causes of noise sources (e.g., different camera, lighting, skin types, and movement) across different domains and incorporate these prior knowledge into the network. Additionally, we leverage a two-branch network to disentangle the physiological feature distribution from noises through implicit label correlation. Our extensive experiments demonstrate that the proposed method not only outperforms state-of-the-art methods on RGB cross-dataset evaluation but also generalizes well from RGB datasets to NIR datasets. The code is available at https://github.com/keke-nice/Greip.
Cramming Contextual Bandits for On-policy Statistical Evaluation
Venue: arXiv cs.LG 2025
Year: 2025

We introduce the cram method as a general statistical framework for evaluating the final learned policy from a multi-armed contextual bandit algorithm, using the dataset generated by the same bandit algorithm. The proposed on-policy evaluation methodology differs from most existing methods that focus on off-policy performance evaluation of contextual bandit algorithms. Cramming utilizes an entire bandit sequence through a single pass of data, leading to both statistically and computationally efficient evaluation. We prove that if a bandit algorithm satisfies a certain stability condition, the resulting crammed evaluation estimator is consistent and asymptotically normal under mild regularity conditions. Furthermore, we show that this stability condition holds for commonly used linear contextual bandit algorithms, including epsilon-greedy, Thompson Sampling, and Upper Confidence Bound algorithms. Using both synthetic and publicly available datasets, we compare the empirical performance of cramming with the state-of-the-art methods. The results demonstrate that the proposed cram method reduces the evaluation standard error by approximately 40% relative to off-policy evaluation methods while preserving unbiasedness and valid confidence interval coverage.
SPA: Towards A Computational Friendly Cloud-Base and On-Devices Collaboration Seq2seq Personalized Generation with Casual Inference
Venue: arXiv cs.CL 2025
Year: 2025

Large language models(LLMs) have shown its outperforming ability on various tasks and question answering. However, LLMs require substantial memory storage on low-resource devices. More critically, the computational speed on these devices is also severely limited. In this paper, we propose SPA(Side Plugin Adaption), a lightweight architecture for fast on-devices inference on the constraints of strict on-devices computation and memory constraints. Compared with other on-devices seq2seq generation, SPA could make a fast and stable inference on low-resource constraints, allowing it to obtain cost effiency. Our method establish an interaction between a pretrained LLMs on-cloud and additive parameters on-devices, which could provide the knowledge on both pretrained LLMs and featured personal feature. Further more, SPA provides a framework to keep feature-base parameters on low computational devices while leave the parameters containing general information on the high computational devices.
Gaussian Loss Smoothing Enables Certified Training with Tight Convex Relaxations
Venue: arXiv cs.LG 2025
Year: 2025

Training neural networks with high certified accuracy against adversarial examples remains an open challenge despite significant efforts. While certification methods can effectively leverage tight convex relaxations for bound computation, in training, these methods, perhaps surprisingly, can perform worse than looser relaxations. Prior work hypothesized that this phenomenon is caused by the discontinuity, non-smoothness, and perturbation sensitivity of the loss surface induced by tighter relaxations. In this work, we theoretically show that applying Gaussian Loss Smoothing (GLS) on the loss surface can alleviate these issues. We confirm this empirically by instantiating GLS with two variants: a zeroth-order optimization algorithm, called PGPE, which allows training with non-differentiable relaxations, and a first-order optimization algorithm, called RGS, which requires gradients of the relaxation but is much more efficient than PGPE. Extensive experiments show that when combined with tight relaxations, these methods surpass state-of-the-art methods when training on the same network architecture for many settings. Our results clearly demonstrate the promise of Gaussian Loss Smoothing for training certifiably robust neural networks and pave a path towards leveraging tighter relaxations for certified training.
PISA: An Adversarial Approach To Comparing Task Graph Scheduling Algorithms
Venue: arXiv cs.DC 2025
Year: 2025

Scheduling a task graph representing an application over a heterogeneous network of computers is a fundamental problem in distributed computing. It is known to be not only NP-hard but also not polynomial-time approximable within a constant factor. As a result, many heuristic algorithms have been proposed over the past few decades. Yet it remains largely unclear how these algorithms compare to each other in terms of the quality of schedules they produce. We identify gaps in the traditional benchmarking approach to comparing task scheduling algorithms and propose a simulated annealing-based adversarial analysis approach called PISA to help address them. We also introduce SAGA, a new open-source library for comparing task scheduling algorithms. We use SAGA to benchmark 15 algorithms on 16 datasets and PISA to compare the algorithms in a pairwise manner. Algorithms that appear to perform similarly on benchmarking datasets are shown to perform very differently on adversarially chosen problem instances. Interestingly, the results indicate that this is true even when the adversarial search is constrained to selecting among well-structured, application-specific problem instances. This work represents an important step towards a more general understanding of the performance boundaries between task scheduling algorithms on different families of problem instances.
Harnessing the Continuous Structure: Utilizing the First-order Approach in Online Contract Design
Venue: arXiv cs.GT 2025
Year: 2025

This work studies the online contract design problem. The principal's goal is to learn the optimal contract that maximizes her utility through repeated interactions, without prior knowledge of the agent's type (i.e., the agent's cost and production functions). We leverage the structure provided by continuous action spaces, which allows the application of first-order conditions (FOC) to characterize the agent's behavior. In some cases, we utilize conditions from the first-order approach (FOA) in economics, but in certain settings, we are able to apply FOC without additional assumptions, leading to simpler and more principled algorithms. We illustrate this approach in three problem settings. Firstly, we study the problem of learning the optimal contract when there can be many outcomes. In contrast to prior works that design highly specialized algorithms, we show that the problem can be directly reduced to Lipschitz bandits. Secondly, we study the problem of learning linear contracts. While the contracting problem involves hidden action (moral hazard) and the pricing problem involves hidden value (adverse selection), the two problems share a similar optimization structure, which enables direct reduction between the problem of learning linear contracts and dynamic pricing. Thirdly, we study the problem of learning contracts with many outcomes when agents are identical and provide an algorithm with polynomial sample complexity.
History-Aware and Dynamic Client Contribution in Federated Learning
Venue: arXiv cs.LG 2025
Year: 2025

Federated Learning (FL) is a collaborative machine learning (ML) approach, where multiple clients participate in training an ML model without exposing their private data. Fair and accurate assessment of client contributions facilitates incentive allocation in FL and encourages diverse clients to participate in a unified model training. Existing methods for contribution assessment adopts a co-operative game-theoretic concept, called Shapley value, but under restricted assumptions, e.g., all clients' participating in all epochs or at least in one epoch of FL. We propose a history-aware client contribution assessment framework, called FLContrib, where client-participation is dynamic, i.e., a subset of clients participates in each epoch. The theoretical underpinning of FLContrib is based on the Markovian training process of FL. Under this setting, we directly apply the linearity property of Shapley value and compute a historical timeline of client contributions. Considering the possibility of a limited computational budget, we propose a two-sided fairness criteria to schedule Shapley value computation in a subset of epochs. Empirically, FLContrib is efficient and consistently accurate in estimating contribution across multiple utility functions. As a practical application, we apply FLContrib to detect dishonest clients in FL based on historical Shaplee values.