OpenRaiser/Intern-Atlas huggingface dataset:
MonoSE(3)-Diffusion: A Monocular SE(3) Diffusion Framework for Robust Camera-to-Robot Pose Estimation
Venue: arXiv cs.CV 2025
Year: 2025

We propose MonoSE(3)-Diffusion, a monocular SE(3) diffusion framework that formulates markerless, image-based robot pose estimation as a conditional denoising diffusion process. The framework consists of two processes: a visibility-constrained diffusion process for diverse pose augmentation and a timestep-aware reverse process for progressive pose refinement. The diffusion process progressively perturbs ground-truth poses to noisy transformations for training a pose denoising network. Importantly, we integrate visibility constraints into the process, ensuring the transformations remain within the camera field of view. Compared to the fixed-scale perturbations used in current methods, the diffusion process generates in-view and diverse training poses, thereby improving the network generalization capability. Furthermore, the reverse process iteratively predicts the poses by the denoising network and refines pose estimates by sampling from the diffusion posterior of current timestep, following a scheduled coarse-to-fine procedure. Moreover, the timestep indicates the transformation scales, which guide the denoising network to achieve more accurate pose predictions. The reverse process demonstrates higher robustness than direct prediction, benefiting from its timestep-aware refinement scheme. Our approach demonstrates improvements across two benchmarks (DREAM and RoboKeyGen), achieving a notable AUC of 66.75 on the most challenging dataset, representing a 32.3% gain over the state-of-the-art.
End-to-end Speech Recognition with similar length speech and text
Venue: arXiv cs.CL 2025
Year: 2025

The mismatch of speech length and text length poses a challenge in automatic speech recognition (ASR). In previous research, various approaches have been employed to align text with speech, including the utilization of Connectionist Temporal Classification (CTC). In earlier work, a key frame mechanism (KFDS) was introduced, utilizing intermediate CTC outputs to guide downsampling and preserve keyframes, but traditional methods (CTC) failed to align speech and text appropriately when downsampling speech to a text-similar length. In this paper, we focus on speech recognition in those cases where the length of speech aligns closely with that of the corresponding text. To address this issue, we introduce two methods for alignment: a) Time Independence Loss (TIL) and b) Aligned Cross Entropy (AXE) Loss, which is based on edit distance. To enhance the information on keyframes, we incorporate frame fusion by applying weights and summing the keyframe with its context 2 frames. Experimental results on AISHELL-1 and AISHELL-2 dataset subsets show that the proposed methods outperform the previous work and achieve a reduction of at least 86\% in the number of frames.
Traj-CoA: Patient Trajectory Modeling via Chain-of-Agents for Lung Cancer Risk Prediction
Venue: arXiv cs.AI 2025
Year: 2025

Large language models (LLMs) offer a generalizable approach for modeling patient trajectories, but suffer from the long and noisy nature of electronic health records (EHR) data in temporal reasoning. To address these challenges, we introduce Traj-CoA, a multi-agent system involving chain-of-agents for patient trajectory modeling. Traj-CoA employs a chain of worker agents to process EHR data in manageable chunks sequentially, distilling critical events into a shared long-term memory module, EHRMem, to reduce noise and preserve a comprehensive timeline. A final manager agent synthesizes the worker agents' summary and the extracted timeline in EHRMem to make predictions. In a zero-shot one-year lung cancer risk prediction task based on five-year EHR data, Traj-CoA outperforms baselines of four categories. Analysis reveals that Traj-CoA exhibits clinically aligned temporal reasoning, establishing it as a promisingly robust and generalizable approach for modeling complex patient trajectories.
Learning from Disagreement: A Group Decision Simulation Framework for Robust Medical Image Segmentation
Venue: arXiv cs.CV 2025
Year: 2025

Medical image segmentation annotation suffers from inter-rater variability (IRV) due to differences in annotators' expertise and the inherent blurriness of medical images. Standard approaches that simply average expert labels are flawed, as they discard the valuable clinical uncertainty revealed in disagreements. We introduce a fundamentally new approach with our group decision simulation framework, which works by mimicking the collaborative decision-making process of a clinical panel. Under this framework, an Expert Signature Generator (ESG) learns to represent individual annotator styles in a unique latent space. A Simulated Consultation Module (SCM) then intelligently generates the final segmentation by sampling from this space. This method achieved state-of-the-art results on challenging CBCT and MRI datasets (92.11% and 90.72% Dice scores). By treating expert disagreement as a useful signal instead of noise, our work provides a clear path toward more robust and trustworthy AI systems for healthcare.
When or What? Understanding Consumer Engagement on Digital Platforms
Venue: arXiv cs.CL 2025
Year: 2025

Understanding what drives popularity is critical in today's digital service economy, where content creators compete for consumer attention. Prior studies have primarily emphasized the role of content features, yet creators often misjudge what audiences actually value. This study applies Latent Dirichlet Allocation (LDA) modeling to a large corpus of TED Talks, treating the platform as a case of digital service provision in which creators (speakers) and consumers (audiences) interact. By comparing the thematic supply of creators with the demand expressed in audience engagement, we identify persistent mismatches between producer offerings and consumer preferences. Our longitudinal analysis further reveals that temporal dynamics exert a stronger influence on consumer engagement than thematic content, suggesting that when content is delivered may matter more than what is delivered. These findings challenge the dominant assumption that content features are the primary drivers of popularity and highlight the importance of timing and contextual factors in shaping consumer responses. The results provide new insights into consumer attention dynamics on digital platforms and carry practical implications for marketers, platform managers, and content creators seeking to optimize audience engagement strategies.
Assessing Large Language Models for Structured Medical Order Extraction
Venue: arXiv cs.CL 2025
Year: 2025

Medical order extraction is essential for structuring actionable clinical information, supporting decision-making, and enabling downstream applications such as documentation and workflow automation. Orders may be embedded in diverse sources, including electronic health records, discharge summaries, and multi-turn doctor-patient dialogues, and can span categories such as medications, laboratory tests, imaging studies, and follow-up actions. The MEDIQA-OE 2025 shared task focuses on extracting structured medical orders from extended conversational transcripts, requiring the identification of order type, description, reason, and provenance. We present the MasonNLP submission, which ranked 5th among 17 participating teams with 105 total submissions. Our approach uses a general-purpose, instruction-tuned LLaMA-4 17B model without domain-specific fine-tuning, guided by a single in-context example. This few-shot configuration achieved an average F1 score of 37.76, with notable improvements in reason and provenance accuracy. These results demonstrate that large, non-domain-specific LLMs, when paired with effective prompt engineering, can serve as strong, scalable baselines for specialized clinical NLP tasks.
Personalized Motion Guidance Framework for Athlete-Centric Coaching
Venue: arXiv cs.HC 2025
Year: 2025

A critical challenge in contemporary sports science lies in filling the gap between group-level insights derived from controlled hypothesis-driven experiments and the real-world need for personalized coaching tailored to individual athletes' unique movement patterns. This study developed a Personalized Motion Guidance Framework (PMGF) to enhance athletic performance by generating individualized motion-refinement guides using generative artificial intelligence techniques. PMGF leverages a vertical autoencoder to encode motion sequences into athlete-specific latent representations, which can then be directly manipulated to generate meaningful guidance motions. Two manipulation strategies were explored: (1) smooth interpolation between the learner's motion and a target (e.g., expert) motion to facilitate observational learning, and (2) shifting the motion pattern in an optimal direction in the latent space using a local optimization technique. The results of the validation experiment with data from 51 baseball pitchers revealed that (1) PMGF successfully generated smooth transitions in motion patterns between individuals across all 1,275 pitcher pairs, and (2) the features significantly altered through PMGF manipulations reflected known performance-enhancing characteristics, such as increased stride length and knee extension associated with higher ball velocity, indicating that PMGF induces biomechanically plausible improvements. We propose a future extension called general-PMGF to enhance the applicability of this framework. This extension incorporates bodily, environmental, and task constraints into the generation process, aiming to provide more realistic and versatile guidance across diverse sports contexts.
MRS-YOLO Railroad Transmission Line Foreign Object Detection Based on Improved YOLO11 and Channel Pruning
Venue: arXiv cs.CV 2025
Year: 2025

Aiming at the problems of missed detection, false detection and low detection efficiency in transmission line foreign object detection under railway environment, we proposed an improved algorithm MRS-YOLO based on YOLO11. Firstly, a multi-scale Adaptive Kernel Depth Feature Fusion (MAKDF) module is proposed and fused with the C3k2 module to form C3k2_MAKDF, which enhances the model's feature extraction capability for foreign objects of different sizes and shapes. Secondly, a novel Re-calibration Feature Fusion Pyramid Network (RCFPN) is designed as a neck structure to enhance the model's ability to integrate and utilize multi-level features effectively. Then, Spatial and Channel Reconstruction Detect Head (SC_Detect) based on spatial and channel preprocessing is designed to enhance the model's overall detection performance. Finally, the channel pruning technique is used to reduce the redundancy of the improved model, drastically reduce Parameters and Giga Floating Point Operations Per Second (GFLOPs), and improve the detection efficiency. The experimental results show that the mAP50 and mAP50:95 of the MRS-YOLO algorithm proposed in this paper are improved to 94.8% and 86.4%, respectively, which are 0.7 and 2.3 percentage points higher compared to the baseline, while Parameters and GFLOPs are reduced by 44.2% and 17.5%, respectively. It is demonstrated that the improved algorithm can be better applied to the task of foreign object detection in railroad transmission lines.
Multi-scale Frequency-Aware Adversarial Network for Parkinson's Disease Assessment Using Wearable Sensors
Venue: arXiv cs.LG 2025
Year: 2025

Severity assessment of Parkinson's disease (PD) using wearable sensors offers an effective, objective basis for clinical management. However, general-purpose time series models often lack pathological specificity in feature extraction, making it difficult to capture subtle signals highly correlated with PD.Furthermore, the temporal sparsity of PD symptoms causes key diagnostic features to be easily "diluted" by traditional aggregation methods, further complicating assessment. To address these issues, we propose the Multi-scale Frequency-Aware Adversarial Multi-Instance Network (MFAM). This model enhances feature specificity through a frequency decomposition module guided by medical prior knowledge. Furthermore, by introducing an attention-based multi-instance learning (MIL) framework, the model can adaptively focus on the most diagnostically valuable sparse segments.We comprehensively validated MFAM on both the public PADS dataset for PD versus differential diagnosis (DD) binary classification and a private dataset for four-class severity assessment. Experimental results demonstrate that MFAM outperforms general-purpose time series models in handling complex clinical time series with specificity, providing a promising solution for automated assessment of PD severity.
Understanding Self-supervised Contrastive Learning through Supervised Objectives
Venue: arXiv cs.LG 2025
Year: 2025

Self-supervised representation learning has achieved impressive empirical success, yet its theoretical understanding remains limited. In this work, we provide a theoretical perspective by formulating self-supervised representation learning as an approximation to supervised representation learning objectives. Based on this formulation, we derive a loss function closely related to popular contrastive losses such as InfoNCE, offering insight into their underlying principles. Our derivation naturally introduces the concepts of prototype representation bias and a balanced contrastive loss, which help explain and improve the behavior of self-supervised learning algorithms. We further show how components of our theoretical framework correspond to established practices in contrastive learning. Finally, we empirically validate the effect of balancing positive and negative pair interactions. All theoretical proofs are provided in the appendix, and our code is included in the supplementary material.
Compositional Symmetry as Compression: Lie Pseudogroup Structure in Algorithmic Agents
Venue: arXiv cs.LG 2025
Year: 2025

In the algorithmic (Kolmogorov) view, agents are programs that track and compress sensory streams using generative programs. We propose a framework where the relevant structural prior is simplicity (Solomonoff) understood as \emph{compositional symmetry}: natural streams are well described by (local) actions of finite-parameter Lie pseudogroups on geometrically and topologically complex low-dimensional configuration manifolds (latent spaces). Modeling the agent as a generic neural dynamical system coupled to such streams, we show that accurate world-tracking imposes (i) \emph{structural constraints} -- equivariance of the agent's constitutive equations and readouts -- and (ii) \emph{dynamical constraints}: under static inputs, symmetry induces conserved quantities (Noether-style labels) in the agent dynamics and confines trajectories to reduced invariant manifolds; under slow drift, these manifolds move but remain low-dimensional. This yields a hierarchy of reduced manifolds aligned with the compositional factorization of the pseudogroup, providing a geometric account of the ``blessing of compositionality'' in deep models. We connect these ideas to the Spencer formalism for Lie pseudogroups and formulate a symmetry-based, self-contained version of predictive coding in which higher layers receive only \emph{coarse-grained residual transformations} (prediction-error coordinates) along symmetry directions unresolved at lower layers.
A Distance Measure for Random Permutation Set: From the Layer-2 Belief Structure Perspective
Venue: arXiv cs.AI 2025
Year: 2025

Random permutation set (RPS) is a recently proposed framework designed to represent order-structured uncertain information. Measuring the distance between permutation mass functions is a key research topic in RPS theory (RPST). This paper conducts an in-depth analysis of distances between RPSs from two different perspectives: random finite set (RFS) and transferable belief model (TBM). Adopting the layer-2 belief structure interpretation of RPS, we regard RPST as a refinement of TBM, where the order in the ordered focus set represents qualitative propensity. Starting from the permutation, we introduce a new definition of the cumulative Jaccard index to quantify the similarity between two permutations and further propose a distance measure method for RPSs based on the cumulative Jaccard index matrix. The metric and structural properties of the proposed distance measure are investigated, including the positive definiteness analysis of the cumulative Jaccard index matrix, and a correction scheme is provided. The proposed method has a natural top-weightiness property: inconsistencies between higher-ranked elements tend to result in greater distance values. Two parameters are provided to the decision-maker to adjust the weight and truncation depth. Several numerical examples are used to compare the proposed method with the existing method. The experimental results show that the proposed method not only overcomes the shortcomings of the existing method and is compatible with the Jousselme distance, but also has higher sensitivity and flexibility.
Dynamic Topic Evolution with Temporal Decay and Attention in Large Language Models
Venue: arXiv cs.CL 2025
Year: 2025

This paper proposes a modeling framework for dynamic topic evolution based on temporal large language models. The method first uses a large language model to obtain contextual embeddings of text and then introduces a temporal decay function and an attention mechanism. These components allow the model to adjust the importance of semantic units according to time intervals and capture topic variations across different periods. The temporal representations are then mapped into a latent topic space, where a state transition matrix is applied to describe the dynamic evolution of topics. A joint optimization objective constrains both semantic modeling and temporal consistency, ensuring diversity and smoothness in topic generation. The design emphasizes the unified modeling of semantic representation and temporal evolution, which improves topic coherence and diversity while enhancing stability and interpretability over time. Experiments on real-world corpora show that the framework effectively captures the generation, expansion, and decline of topics and outperforms existing models across multiple metrics. Overall, the proposed method provides a systematic solution for understanding dynamic semantic patterns in large-scale text, enriches the research paradigm of topic modeling, and supports complex text analysis tasks in multiple domains.
ADiP: Adaptive Precision Systolic Array for Matrix Multiplication Acceleration
Venue: arXiv cs.AR 2025
Year: 2025

Transformers are at the core of modern AI nowadays. They rely heavily on matrix multiplication and require efficient acceleration due to their substantial memory and computational requirements. Quantization plays a vital role in reducing memory usage, and can be exploited for computations by designing reconfigurable architectures that enhance matrix multiplication by dynamically adjusting the precision. This paper proposes ADiP, a novel adaptive-precision systolic array architecture designed for efficient matrix multiplication acceleration.The proposed architecture consists of NxN adaptive-precision processing elements (PEs) and shared accumulators. ADiP supports multiple computation modes, including symmetric single-matrix multiplication as well as asymmetric multi-matrix multiplication with a shared input matrix, thereby improving data-reuse and PE utilization. In addition, ADiP maximizes the computational density by adapting to different precisions, such as 8bitx8bit, 8bitx4bit, and 8bitx2bit. Analytical models are developed for ADiP architecture, including latency and throughput for versatile architecture configurations. A comprehensive hardware design space exploration is demonstrated using 22nm commercial technology, achieving up to a 4x higher computational throughput. Furthermore, ADiP is evaluated on different transformer workloads from GPT-2 Medium, BERT Large, and BitNet-1.58B models, delivering latency improvement up to 53.6%, and energy improvement up to 24.4% for BitNet-1.58B MHA workloads. At a 64x64 size with 4096 PEs, ADiP achieves a peak throughput of 8.192 TOPS, 16.384 TOPS, and 32.768 TOPS for 8bitx8bit, 8bitx4bit, and 8bitx2bit operations, respectively.
High-Fidelity Simulated Data Generation for Real-World Zero-Shot Robotic Manipulation Learning with Gaussian Splatting
Venue: arXiv cs.RO 2025
Year: 2025

The scalability of robotic learning is fundamentally bottlenecked by the significant cost and labor of real-world data collection. While simulated data offers a scalable alternative, it often fails to generalize to the real world due to significant gaps in visual appearance, physical properties, and object interactions. To address this, we propose RoboSimGS, a novel Real2Sim2Real framework that converts multi-view real-world images into scalable, high-fidelity, and physically interactive simulation environments for robotic manipulation. Our approach reconstructs scenes using a hybrid representation: 3D Gaussian Splatting (3DGS) captures the photorealistic appearance of the environment, while mesh primitives for interactive objects ensure accurate physics simulation. Crucially, we pioneer the use of a Multi-modal Large Language Model (MLLM) to automate the creation of physically plausible, articulated assets. The MLLM analyzes visual data to infer not only physical properties (e.g., density, stiffness) but also complex kinematic structures (e.g., hinges, sliding rails) of objects. We demonstrate that policies trained entirely on data generated by RoboSimGS achieve successful zero-shot sim-to-real transfer across a diverse set of real-world manipulation tasks. Furthermore, data from RoboSimGS significantly enhances the performance and generalization capabilities of SOTA methods. Our results validate RoboSimGS as a powerful and scalable solution for bridging the sim-to-real gap.
Automatic Piecewise Linear Regression for Predicting Student Learning Satisfaction
Venue: arXiv cs.AI 2025
Year: 2025

Although student learning satisfaction has been widely studied, modern techniques such as interpretable machine learning and neural networks have not been sufficiently explored. This study demonstrates that a recent model that combines boosting with interpretability, automatic piecewise linear regression(APLR), offers the best fit for predicting learning satisfaction among several state-of-the-art approaches. Through the analysis of APLR's numerical and visual interpretations, students' time management and concentration abilities, perceived helpfulness to classmates, and participation in offline courses have the most significant positive impact on learning satisfaction. Surprisingly, involvement in creative activities did not positively affect learning satisfaction. Moreover, the contributing factors can be interpreted on an individual level, allowing educators to customize instructions according to student profiles.