OpenRaiser/Intern-Atlas huggingface dataset:
Neuromorphic Optical Tracking and Imaging of Randomly Moving Targets through Strongly Scattering Media
Venue: arXiv cs.NE 2025
Year: 2025

Tracking and acquiring simultaneous optical images of randomly moving targets obscured by scattering media remains a challenging problem of importance to many applications that require precise object localization and identification. In this work we develop an end-to-end neuromorphic optical engineering and computational approach to demonstrate how to track and image normally invisible objects by combining an event detecting camera with a multistage neuromorphic deep learning strategy. Photons emerging from dense scattering media are detected by the event camera and converted to pixel-wise asynchronized spike trains - a first step in isolating object-specific information from the dominant uninformative background. Spiking data is fed into a deep spiking neural network (SNN) engine where object tracking and image reconstruction are performed by two separate yet interconnected modules running in parallel in discrete time steps over the event duration. Through benchtop experiments we demonstrate tracking and imaging randomly moving objects in dense turbid media as well as image reconstruction of spatially stationary but optically dynamic objects. Standardized character sets serve as representative proxies for geometrically complex objects, underscoring the method's generality. The results highlight the advantages of a fully neuromorphic approach in meeting a major imaging technology with high computational efficiency and low power consumption.
An LSTM-based Test Selection Method for Self-Driving Cars
Venue: arXiv cs.RO 2025
Year: 2025

Self-driving cars require extensive testing, which can be costly in terms of time. To optimize this process, simple and straightforward tests should be excluded, focusing on challenging tests instead. This study addresses the test selection problem for lane-keeping systems for self-driving cars. Road segment features, such as angles and lengths, were extracted and treated as sequences, enabling classification of the test cases as "safe" or "unsafe" using a long short-term memory (LSTM) model. The proposed model is compared against machine learning-based test selectors. Results demonstrated that the LSTM-based method outperformed machine learning-based methods in accuracy and precision metrics while exhibiting comparable performance in recall and F1 scores. This work introduces a novel deep learning-based approach to the road classification problem, providing an effective solution for self-driving car test selection using a simulation environment.
SPECTRE: A Hybrid System for an Adaptative and Optimised Cyber Threats Detection, Response and Investigation in Volatile Memory
Venue: arXiv cs.CR 2025
Year: 2025

The increasing sophistication of modern cyber threats, particularly file-less malware relying on living-off-the-land techniques, poses significant challenges to traditional detection mechanisms. Memory forensics has emerged as a crucial method for uncovering such threats by analysing dynamic changes in memory. This research introduces SPECTRE (Snapshot Processing, Emulation, Comparison, and Threat Reporting Engine), a modular Cyber Incident Response System designed to enhance threat detection, investigation, and visualization. By adopting Volatility JSON format as an intermediate output, SPECTRE ensures compatibility with widely used DFIR tools, minimizing manual data transformations and enabling seamless integration into established workflows. Its emulation capabilities safely replicate realistic attack scenarios, such as credential dumping and malicious process injections, for controlled experimentation and validation. The anomaly detection module addresses critical attack vectors, including RunDLL32 abuse and malicious IP detection, while the IP forensics module enhances threat intelligence by integrating tools like Virus Total and geolocation APIs. SPECTRE advanced visualization techniques transform raw memory data into actionable insights, aiding Red, Blue and Purple teams in refining strategies and responding effectively to threats. Bridging gaps between memory and network forensics, SPECTRE offers a scalable, robust platform for advancing threat detection, team training, and forensic research in combating sophisticated cyber threats.
Explainable Reinforcement Learning via Temporal Policy Decomposition
Venue: arXiv cs.LG 2025
Year: 2025

We investigate the explainability of Reinforcement Learning (RL) policies from a temporal perspective, focusing on the sequence of future outcomes associated with individual actions. In RL, value functions compress information about rewards collected across multiple trajectories and over an infinite horizon, allowing a compact form of knowledge representation. However, this compression obscures the temporal details inherent in sequential decision-making, presenting a key challenge for interpretability. We present Temporal Policy Decomposition (TPD), a novel explainability approach that explains individual RL actions in terms of their Expected Future Outcome (EFO). These explanations decompose generalized value functions into a sequence of EFOs, one for each time step up to a prediction horizon of interest, revealing insights into when specific outcomes are expected to occur. We leverage fixed-horizon temporal difference learning to devise an off-policy method for learning EFOs for both optimal and suboptimal actions, enabling contrastive explanations consisting of EFOs for different state-action pairs. Our experiments demonstrate that TPD generates accurate explanations that (i) clarify the policy's future strategy and anticipated trajectory for a given action and (ii) improve understanding of the reward composition, facilitating fine-tuning of the reward function to align with human expectations.
MixNet: A Runtime Reconfigurable Optical-Electrical Fabric for Distributed Mixture-of-Experts Training
Venue: arXiv cs.NI 2025
Year: 2025

Mixture-of-Expert (MoE) models outperform conventional models by selectively activating different subnets, named experts, on a per-token basis. This gated computation generates dynamic communications that cannot be determined beforehand, challenging the existing GPU interconnects that remain static during the distributed training process. In this paper, we advocate for a first-of-its-kind system, called MixNet, that unlocks topology reconfiguration during distributed MoE training. Towards this vision, we first perform a production measurement study and show that the MoE dynamic communication pattern has strong locality, alleviating the requirement of global reconfiguration. Based on this, we design and implement a regionally reconfigurable high-bandwidth domain on top of existing electrical interconnects using optical circuit switching (OCS), achieving scalability while maintaining rapid adaptability. We have built a fully functional MixNet prototype with commodity hardware and a customized collective communication runtime that trains state-of-the-art MoE models with in-training topology reconfiguration across 32 A100 GPUs. Large-scale packet-level simulations show that MixNet delivers comparable performance as the non-blocking fat-tree fabric while boosting the training cost efficiency (e.g., performance per dollar) of four representative MoE models by 1.2x-1.5x and 1.9x-2.3x at 100 Gbps and 400 Gbps link bandwidths, respectively.
Visual question answering: from early developments to recent advances -- a survey
Venue: arXiv cs.CV 2025
Year: 2025

Visual Question Answering (VQA) is an evolving research field aimed at enabling machines to answer questions about visual content by integrating image and language processing techniques such as feature extraction, object detection, text embedding, natural language understanding, and language generation. With the growth of multimodal data research, VQA has gained significant attention due to its broad applications, including interactive educational tools, medical image diagnosis, customer service, entertainment, and social media captioning. Additionally, VQA plays a vital role in assisting visually impaired individuals by generating descriptive content from images. This survey introduces a taxonomy of VQA architectures, categorizing them based on design choices and key components to facilitate comparative analysis and evaluation. We review major VQA approaches, focusing on deep learning-based methods, and explore the emerging field of Large Visual Language Models (LVLMs) that have demonstrated success in multimodal tasks like VQA. The paper further examines available datasets and evaluation metrics essential for measuring VQA system performance, followed by an exploration of real-world VQA applications. Finally, we highlight ongoing challenges and future directions in VQA research, presenting open questions and potential areas for further development. This survey serves as a comprehensive resource for researchers and practitioners interested in the latest advancements and future
A GPU Implementation of Multi-Guiding Spark Fireworks Algorithm for Efficient Black-Box Neural Network Optimization
Venue: arXiv cs.NE 2025
Year: 2025

Swarm intelligence optimization algorithms have gained significant attention due to their ability to solve complex optimization problems. However, the efficiency of optimization in large-scale problems limits the use of related methods. This paper presents a GPU-accelerated version of the Multi-Guiding Spark Fireworks Algorithm (MGFWA), which significantly improves the computational efficiency compared to its traditional CPU-based counterpart. We benchmark the GPU-MGFWA on several neural network black-box optimization problems and demonstrate its superior performance in terms of both speed and solution quality. By leveraging the parallel processing power of modern GPUs, the proposed GPU-MGFWA results in faster convergence and reduced computation time for large-scale optimization tasks. The proposed implementation offers a promising approach to accelerate swarm intelligence algorithms, making them more suitable for real-time applications and large-scale industrial problems. Source code is released at https://github.com/mxxxr/MGFWA.
A comparative study of uncertainty quantification methods in gust response analysis of a Lift-Plus-Cruise eVTOL aircraft wing
Venue: arXiv cs.CE 2025
Year: 2025

Wind gusts, being inherently stochastic, can significantly influence the safety and performance of aircraft. This study investigates a three-dimensional uncertainty quantification (UQ) problem to explore how uncertainties in gust and flight conditions affect the structural response of a Lift-Plus-Cruise eVTOL aircraft wing. The analysis employs an unsteady aeroelastic model with a one-way coupling between a panel method aerodynamic solver and a shell analysis structural solver to predict the wing's response under varying conditions. Additionally, this paper presents a comparative evaluation of commonly used non-intrusive UQ methods, including non-intrusive polynomial chaos, kriging, Monte Carlo, univariate dimension reduction, and gradient-enhanced univariate dimension reduction. These methods are assessed based on their effectiveness in estimating various risk measures-mean, standard deviation, and 95th percentile-of critical structural response outputs such as maximum tip displacement and average strain energy. The numerical results reveal significant variability in the structural response outputs, even under relatively small ranges of uncertain inputs. This highlights the sensitivity of the system to uncertainties in gust and flight conditions. Furthermore, the performance of the implemented UQ methods varies significantly depending on the specific risk measures and the quantity of interest being analyzed.
Temporal Feature Weaving for Neonatal Echocardiographic Viewpoint Video Classification
Venue: arXiv cs.CV 2025
Year: 2025

Automated viewpoint classification in echocardiograms can help under-resourced clinics and hospitals in providing faster diagnosis and screening when expert technicians may not be available. We propose a novel approach towards echocardiographic viewpoint classification. We show that treating viewpoint classification as video classification rather than image classification yields advantage. We propose a CNN-GRU architecture with a novel temporal feature weaving method, which leverages both spatial and temporal information to yield a 4.33\% increase in accuracy over baseline image classification while using only four consecutive frames. The proposed approach incurs minimal computational overhead. Additionally, we publish the Neonatal Echocardiogram Dataset (NED), a professionally-annotated dataset providing sixteen viewpoints and associated echocardipgraphy videos to encourage future work and development in this field. Code available at: https://github.com/satchelfrench/NED
Impact of Leg Stiffness on Energy Efficiency in One Legged Hopping
Venue: arXiv cs.RO 2025
Year: 2025

In the fields of robotics and biomechanics, the integration of elastic elements such as springs and tendons in legged systems has long been recognized for enabling energy-efficient locomotion. Yet, a significant challenge persists: designing a robotic leg that perform consistently across diverse operating conditions, especially varying average forward speeds. It remains unclear whether, for such a range of operating conditions, the stiffness of the elastic elements needs to be varied or if a similar performance can be obtained by changing the motion and actuation while keeping the stiffness fixed. This work explores the influence of the leg stiffness on the energy efficiency of a monopedal robot through an extensive parametric study of its periodic hopping motion. To this end, we formulate an optimal control problem parameterized by average forward speed and leg stiffness, solving it numerically using direct collocation. Our findings indicate that, compared to the use of a fixed stiffness, employing variable stiffness in legged systems improves energy efficiency by 20 % maximally and by 6.8 % on average across a range of speeds.
Cyber Spectrum Intelligence: Security Applications, Challenges and Road Ahead
Venue: arXiv cs.CR 2025
Year: 2025

Cyber Spectrum Intelligence (SpecInt) is emerging as a concept that extends beyond basic {\em spectrum sensing} and {\em signal intelligence} to encompass a broader set of capabilities and technologies aimed at monitoring the use of the radio spectrum and extracting information. SpecInt merges traditional spectrum sensing techniques with Artificial Intelligence (AI) and parallel processing to enhance the ability to extract and correlate simultaneous events occurring on various frequencies, allowing for a new wave of intelligence applications. This paper provides an overview of the emerging SpecInt research area, characterizing the system architecture and the most relevant applications for cyber-physical security. We identify five subcategories of spectrum intelligence for cyber-physical security, encompassing Device Intelligence, Channel Intelligence, Location Intelligence, Communication Intelligence, and Ambient Intelligence. We also provide preliminary results based on an experimental testbed showing the viability, feasibility, and potential of this emerging application area. Finally, we point out current research challenges and future directions paving the way for further research in this domain.
Sa2VA: Marrying SAM2 with LLaVA for Dense Grounded Understanding of Images and Videos
Venue: arXiv cs.CV 2025
Year: 2025

This work presents Sa2VA, the first comprehensive, unified model for dense grounded understanding of both images and videos. Unlike existing multi-modal large language models, which are often limited to specific modalities and tasks, Sa2VA supports a wide range of image and video tasks, including referring segmentation and conversation, with minimal one-shot instruction tuning. Sa2VA combines SAM-2, a foundation video segmentation model, with MLLM, the advanced vision-language model, and unifies text, image, and video into a shared LLM token space. Using the LLM, Sa2VA generates instruction tokens that guide SAM-2 in producing precise masks, enabling a grounded, multi-modal understanding of both static and dynamic visual content. Additionally, we introduce Ref-SAV, an auto-labeled dataset containing over 72k object expressions in complex video scenes, designed to boost model performance. We also manually validate 2k video objects in the Ref-SAV datasets to benchmark referring video object segmentation in complex environments. Experiments show that Sa2VA achieves strong performance across multiple tasks, particularly in referring video object segmentation, highlighting its potential for complex real-world applications. In addition, Sa2VA can be easily extended into various VLMs, including Qwen-VL and Intern-VL, which can be updated with rapid process in current open-sourced VLMs. Code and models have been provided to the community.
LargeAD: Large-Scale Cross-Sensor Data Pretraining for Autonomous Driving
Venue: arXiv cs.CV 2025
Year: 2025

Recent advancements in vision foundation models (VFMs) have revolutionized visual perception in 2D, yet their potential for 3D scene understanding, particularly in autonomous driving applications, remains underexplored. In this paper, we introduce LargeAD, a versatile and scalable framework designed for large-scale 3D pretraining across diverse real-world driving datasets. Our framework leverages VFMs to extract semantically rich superpixels from 2D images, which are aligned with LiDAR point clouds to generate high-quality contrastive samples. This alignment facilitates cross-modal representation learning, enhancing the semantic consistency between 2D and 3D data. We introduce several key innovations: (i) VFM-driven superpixel generation for detailed semantic representation, (ii) a VFM-assisted contrastive learning strategy to align multimodal features, (iii) superpoint temporal consistency to maintain stable representations across time, and (iv) multi-source data pretraining to generalize across various LiDAR configurations. Our approach achieves substantial gains over state-of-the-art methods in linear probing and fine-tuning for LiDAR-based segmentation and object detection. Extensive experiments on 11 large-scale multi-sensor datasets highlight our superior performance, demonstrating adaptability, efficiency, and robustness in real-world autonomous driving scenarios.
A Bayesian Modeling Framework for Estimation and Ground Segmentation of Cluttered Staircases
Venue: arXiv cs.RO 2025
Year: 2025

Autonomous robot navigation in complex environments requires robust perception as well as high-level scene understanding due to perceptual challenges, such as occlusions, and uncertainty introduced by robot movement. For example, a robot climbing a cluttered staircase can misinterpret clutter as a step, misrepresenting the state and compromising safety. This requires robust state estimation methods capable of inferring the underlying structure of the environment even from incomplete sensor data. In this paper, we introduce a novel method for robust state estimation of staircases. To address the challenge of perceiving occluded staircases extending beyond the robot's field-of-view, our approach combines an infinite-width staircase representation with a finite endpoint state to capture the overall staircase structure. This representation is integrated into a Bayesian inference framework to fuse noisy measurements enabling accurate estimation of staircase location even with partial observations and occlusions. Additionally, we present a segmentation algorithm that works in conjunction with the staircase estimation pipeline to accurately identify clutter-free regions on a staircase. Our method is extensively evaluated on real robot across diverse staircases, demonstrating significant improvements in estimation accuracy and segmentation performance compared to baseline approaches.
Partition Constraints for Conjunctive Queries: Bounds and Worst-Case Optimal Joins
Venue: arXiv cs.DB 2025
Year: 2025

In the last decade, various works have used statistics on relations to improve both the theory and practice of conjunctive query execution. Starting with the AGM bound which took advantage of relation sizes, later works incorporated statistics like functional dependencies and degree constraints. Each new statistic prompted work along two lines; bounding the size of conjunctive query outputs and worst-case optimal join algorithms. In this work, we continue in this vein by introducing a new statistic called a \emph{partition constraint}. This statistic captures latent structure within relations by partitioning them into sub-relations which each have much tighter degree constraints. We show that this approach can both refine existing cardinality bounds and improve existing worst-case optimal join algorithms.
Recognition-Oriented Low-Light Image Enhancement based on Global and Pixelwise Optimization
Venue: arXiv cs.CV 2025
Year: 2025

In this paper, we propose a novel low-light image enhancement method aimed at improving the performance of recognition models. Despite recent advances in deep learning, the recognition of images under low-light conditions remains a challenge. Although existing low-light image enhancement methods have been developed to improve image visibility for human vision, they do not specifically focus on enhancing recognition model performance. Our proposed low-light image enhancement method consists of two key modules: the Global Enhance Module, which adjusts the overall brightness and color balance of the input image, and the Pixelwise Adjustment Module, which refines image features at the pixel level. These modules are trained to enhance input images to improve downstream recognition model performance effectively. Notably, the proposed method can be applied as a frontend filter to improve low-light recognition performance without requiring retraining of downstream recognition models. Experimental results demonstrate that our method improves the performance of pretrained recognition models under low-light conditions and its effectiveness.
Constraints as Rewards: Reinforcement Learning for Robots without Reward Functions
Venue: arXiv cs.RO 2025
Year: 2025

Reinforcement learning has become an essential algorithm for generating complex robotic behaviors. However, to learn such behaviors, it is necessary to design a reward function that describes the task, which often consists of multiple objectives that needs to be balanced. This tuning process is known as reward engineering and typically involves extensive trial-and-error. In this paper, to avoid this trial-and-error process, we propose the concept of Constraints as Rewards (CaR). CaR formulates the task objective using multiple constraint functions instead of a reward function and solves a reinforcement learning problem with constraints using the Lagrangian-method. By adopting this approach, different objectives are automatically balanced, because Lagrange multipliers serves as the weights among the objectives. In addition, we will demonstrate that constraints, expressed as inequalities, provide an intuitive interpretation of the optimization target designed for the task. We apply the proposed method to the standing-up motion generation task of a six-wheeled-telescopic-legged robot and demonstrate that the proposed method successfully acquires the target behavior, even though it is challenging to learn with manually designed reward functions.