OpenRaiser/Intern-Atlas huggingface dataset:
SHIFT Planner: Speedy Hybrid Iterative Field and Segmented Trajectory Optimization with IKD-tree for Uniform Lightweight Coverage
Venue: arXiv cs.RO 2025
Year: 2025

This paper introduces a comprehensive planning and navigation framework that address these limitations by integrating semantic mapping, adaptive coverage planning, dynamic obstacle avoidance and precise trajectory tracking. Our framework begins by generating panoptic occupancy local semantic maps and accurate localization information from data aligned between a monocular camera, IMU, and GPS. This information is combined with input terrain point clouds or preloaded terrain information to initialize the planning process. We propose the Radiant Field-Informed Coverage Planning algorithm, which utilizes a diffusion field model to dynamically adjust the robot's coverage trajectory and speed based on environmental attributes such as dirtiness and dryness. By modeling the spatial influence of the robot's actions using a Gaussian field, ensures a speed-optimized, uniform coverage trajectory while adapting to varying environmental conditions.
Crowd: A Social Network Simulation Framework
Venue: arXiv cs.SI 2025
Year: 2025

To observe how individual behavior shapes a larger community's actions, agent-based modeling and simulation (ABMS) has been widely adopted by researchers in social sciences, economics, and epidemiology. While simulations can be run on general-purpose ABMS frameworks, these tools are not specifically designed for social networks and, therefore, provide limited features, increasing the effort required for complex simulations. In this paper, we introduce Crowd, a social network simulator that adopts the agent-based modeling methodology to model real-world phenomena within a network environment. Designed to facilitate easy and quick modeling, Crowd supports simulation setup through YAML configuration and enables further customization with user-defined methods. Other features include no-code simulations for diffusion tasks, interactive visualizations, data aggregation, and chart drawing facilities. Designed in Python, Crowd also supports generative agents and connects easily with Python's libraries for data analysis and machine learning. Finally, we include three case studies to illustrate the use of the framework, including generative agents in epidemics, influence maximization, and networked trust games.
Video Diffusion Transformers are In-Context Learners
Venue: arXiv cs.CV 2025
Year: 2025

This paper investigates a solution for enabling in-context capabilities of video diffusion transformers, with minimal tuning required for activation. Specifically, we propose a simple pipeline to leverage in-context generation: ($\textbf{i}$) concatenate videos along spacial or time dimension, ($\textbf{ii}$) jointly caption multi-scene video clips from one source, and ($\textbf{iii}$) apply task-specific fine-tuning using carefully curated small datasets. Through a series of diverse controllable tasks, we demonstrate qualitatively that existing advanced text-to-video models can effectively perform in-context generation. Notably, it allows for the creation of consistent multi-scene videos exceeding 30 seconds in duration, without additional computational overhead. Importantly, this method requires no modifications to the original models, results in high-fidelity video outputs that better align with prompt specifications and maintain role consistency. Our framework presents a valuable tool for the research community and offers critical insights for advancing product-level controllable video generation systems. The data, code, and model weights are publicly available at: https://github.com/feizc/Video-In-Context.
Fast and Robust Visuomotor Riemannian Flow Matching Policy
Venue: arXiv cs.RO 2025
Year: 2025

Diffusion-based visuomotor policies excel at learning complex robotic tasks by effectively combining visual data with high-dimensional, multi-modal action distributions. However, diffusion models often suffer from slow inference due to costly denoising processes or require complex sequential training arising from recent distilling approaches. This paper introduces Riemannian Flow Matching Policy (RFMP), a model that inherits the easy training and fast inference capabilities of flow matching (FM). Moreover, RFMP inherently incorporates geometric constraints commonly found in realistic robotic applications, as the robot state resides on a Riemannian manifold. To enhance the robustness of RFMP, we propose Stable RFMP (SRFMP), which leverages LaSalle's invariance principle to equip the dynamics of FM with stability to the support of a target Riemannian distribution. Rigorous evaluation on ten simulated and real-world tasks show that RFMP successfully learns and synthesizes complex sensorimotor policies on Euclidean and Riemannian spaces with efficient training and inference phases, outperforming Diffusion Policies and Consistency Policies.
Robust Persian Digit Recognition in Noisy Environments Using Hybrid CNN-BiGRU Model
Venue: arXiv cs.SD 2025
Year: 2025

Artificial intelligence (AI) has significantly advanced speech recognition applications. However, many existing neural network-based methods struggle with noise, reducing accuracy in real-world environments. This study addresses isolated spoken Persian digit recognition (zero to nine) under noisy conditions, particularly for phonetically similar numbers. A hybrid model combining residual convolutional neural networks and bidirectional gated recurrent units (BiGRU) is proposed, utilizing word units instead of phoneme units for speaker-independent recognition. The FARSDIGIT1 dataset, augmented with various approaches, is processed using Mel-Frequency Cepstral Coefficients (MFCC) for feature extraction. Experimental results demonstrate the model's effectiveness, achieving 98.53%, 96.10%, and 95.92% accuracy on training, validation, and test sets, respectively. In noisy conditions, the proposed approach improves recognition by 26.88% over phoneme unit-based LSTM models and surpasses the Mel-scale Two Dimension Root Cepstrum Coefficients (MTDRCC) feature extraction technique along with MLP model (MTDRCC+MLP) by 7.61%.
Automatically Detecting Checked-In Secrets in Android Apps: How Far Are We?
Venue: arXiv cs.CR 2025
Year: 2025

Mobile apps are predominantly integrated with cloud services to benefit from enhanced functionalities. Adopting authentication using secrets such as API keys is crucial to ensure secure mobile-cloud interactions. However, developers often overlook the proper storage of such secrets, opting to put them directly into their projects. These secrets are checked into the projects and can be easily extracted and exploited by malicious adversaries. While many researchers investigated the issue of checked-in secret in open-source projects, there is a notable research gap concerning checked-in secrets in Android apps deployed on platforms such as Google Play Store. Unlike open-source projects, the lack of direct access to the source code and the presence of obfuscation complicates the checked-in secret detection for Android apps. This motivates us to conduct an empirical analysis to measure and compare the performance of different checked-in secret detection tools on Android apps. We first conducted a literature review to find all the checked-in secret detection tools that can be applied to Android apps. Then, we evaluate three representative tools on 5,135 Android apps, comparing their performance and analyzing their limitations. Our experiment reveals 2,142 checked-in secrets affecting 2,115 Android apps. We also disclose that the current checked-in secret detection techniques suffer from key limitations. All of the evaluated tools can miss a significant number of checked-in secrets in Android apps. Nevertheless, we observed that the tools are complimentary, suggesting the possibility of developing a more effective checked-in secret detection tool by combining their insights. Additionally, we propose that analyzing string groups within methods containing checked-in secrets may provide a more effective strategy to overcome obfuscation challenges.
Facial Surgery Preview Based on the Orthognathic Treatment Prediction
Venue: arXiv cs.CV 2025
Year: 2025

Orthognathic surgery consultation is essential to help patients understand the changes to their facial appearance after surgery. However, current visualization methods are often inefficient and inaccurate due to limited pre- and post-treatment data and the complexity of the treatment. To overcome these challenges, this study aims to develop a fully automated pipeline that generates accurate and efficient 3D previews of postsurgical facial appearances for patients with orthognathic treatment without requiring additional medical images. The study introduces novel aesthetic losses, such as mouth-convexity and asymmetry losses, to improve the accuracy of facial surgery prediction. Additionally, it proposes a specialized parametric model for 3D reconstruction of the patient, medical-related losses to guide latent code prediction network optimization, and a data augmentation scheme to address insufficient data. The study additionally employs FLAME, a parametric model, to enhance the quality of facial appearance previews by extracting facial latent codes and establishing dense correspondences between pre- and post-surgery geometries. Quantitative comparisons showed the algorithm's effectiveness, and qualitative results highlighted accurate facial contour and detail predictions. A user study confirmed that doctors and the public could not distinguish between machine learning predictions and actual postoperative results. This study aims to offer a practical, effective solution for orthognathic surgery consultations, benefiting doctors and patients.
Adapter-Enhanced Semantic Prompting for Continual Learning
Venue: arXiv cs.CV 2025
Year: 2025

Continual learning (CL) enables models to adapt to evolving data streams. A major challenge of CL is catastrophic forgetting, where new knowledge will overwrite previously acquired knowledge. Traditional methods usually retain the past data for replay or add additional branches in the model to learn new knowledge, which has high memory requirements. In this paper, we propose a novel lightweight CL framework, Adapter-Enhanced Semantic Prompting (AESP), which integrates prompt tuning and adapter techniques. Specifically, we design semantic-guided prompts to enhance the generalization ability of visual features and utilize adapters to efficiently fuse the semantic information, aiming to learn more adaptive features for the continual learning task. Furthermore, to choose the right task prompt for feature adaptation, we have developed a novel matching mechanism for prompt selection. Extensive experiments on three CL datasets demonstrate that our approach achieves favorable performance across multiple metrics, showing its potential for advancing CL.
AD-LLM: Benchmarking Large Language Models for Anomaly Detection
Venue: arXiv cs.CL 2025
Year: 2025

Anomaly detection (AD) is an important machine learning task with many real-world uses, including fraud detection, medical diagnosis, and industrial monitoring. Within natural language processing (NLP), AD helps detect issues like spam, misinformation, and unusual user activity. Although large language models (LLMs) have had a strong impact on tasks such as text generation and summarization, their potential in AD has not been studied enough. This paper introduces AD-LLM, the first benchmark that evaluates how LLMs can help with NLP anomaly detection. We examine three key tasks: (i) zero-shot detection, using LLMs' pre-trained knowledge to perform AD without tasks-specific training; (ii) data augmentation, generating synthetic data and category descriptions to improve AD models; and (iii) model selection, using LLMs to suggest unsupervised AD models. Through experiments with different datasets, we find that LLMs can work well in zero-shot AD, that carefully designed augmentation methods are useful, and that explaining model selection for specific datasets remains challenging. Based on these results, we outline six future research directions on LLMs for AD.
A Report on Financial Regulations Challenge at COLING 2025
Venue: arXiv cs.CE 2025
Year: 2025

Financial large language models (FinLLMs) have been applied to various tasks in business, finance, accounting, and auditing. Complex financial regulations and standards are critical to financial services, which LLMs must comply with. However, FinLLMs' performance in understanding and interpreting financial regulations has rarely been studied. Therefore, we organize the Regulations Challenge, a shared task at COLING 2025. It encourages the academic community to explore the strengths and limitations of popular LLMs. We create 9 novel tasks and corresponding question sets. In this paper, we provide an overview of these tasks and summarize participants' approaches and results. We aim to raise awareness of FinLLMs' professional capability in financial regulations.
PGD-Imp: Rethinking and Unleashing Potential of Classic PGD with Dual Strategies for Imperceptible Adversarial Attacks
Venue: arXiv cs.LG 2025
Year: 2025

Imperceptible adversarial attacks have recently attracted increasing research interests. Existing methods typically incorporate external modules or loss terms other than a simple $l_p$-norm into the attack process to achieve imperceptibility, while we argue that such additional designs may not be necessary. In this paper, we rethink the essence of imperceptible attacks and propose two simple yet effective strategies to unleash the potential of PGD, the common and classical attack, for imperceptibility from an optimization perspective. Specifically, the Dynamic Step Size is introduced to find the optimal solution with minimal attack cost towards the decision boundary of the attacked model, and the Adaptive Early Stop strategy is adopted to reduce the redundant strength of adversarial perturbations to the minimum level. The proposed PGD-Imperceptible (PGD-Imp) attack achieves state-of-the-art results in imperceptible adversarial attacks for both untargeted and targeted scenarios. When performing untargeted attacks against ResNet-50, PGD-Imp attains 100$\%$ (+0.3$\%$) ASR, 0.89 (-1.76) $l_2$ distance, and 52.93 (+9.2) PSNR with 57s (-371s) running time, significantly outperforming existing methods.
Neural Port-Hamiltonian Differential Algebraic Equations for Compositional Learning of Electrical Networks
Venue: arXiv cs.LG 2025
Year: 2025

We develop compositional learning algorithms for coupled dynamical systems, with a particular focus on electrical networks. While deep learning has proven effective at modeling complex relationships from data, compositional couplings between system components typically introduce algebraic constraints on state variables, posing challenges to many existing data-driven approaches to modeling dynamical systems. Towards developing deep learning models for constrained dynamical systems, we introduce neural port-Hamiltonian differential algebraic equations (N-PHDAEs), which use neural networks to parameterize unknown terms in both the differential and algebraic components of a port-Hamiltonian DAE. To train these models, we propose an algorithm that uses automatic differentiation to perform index reduction, automatically transforming the neural DAE into an equivalent system of neural ordinary differential equations (N-ODEs), for which established model inference and backpropagation methods exist. Experiments simulating the dynamics of nonlinear circuits exemplify the benefits of our approach: the proposed N-PHDAE model achieves an order of magnitude improvement in prediction accuracy and constraint satisfaction when compared to a baseline N-ODE over long prediction time horizons. We also validate the compositional capabilities of our approach through experiments on a simulated DC microgrid: we train individual N-PHDAE models for separate grid components, before coupling them to accurately predict the behavior of larger-scale networks.
WhisperFlow: speech foundation models in real time
Venue: arXiv cs.SD 2025
Year: 2025

Speech foundation models, such as OpenAI's Whisper, become the state of the art in speech understanding due to their strong accuracy and generalizability. Yet, their applications are mostly limited to processing pre-recorded speech, whereas processing of streaming speech, in particular doing it efficiently, remains rudimentary. Behind this inefficiency are multiple fundamental reasons: (1) speech foundation models are trained to process long, fixed-length voice inputs (often 30 seconds); (2) encoding each voice input requires encoding as many as 1,500 tokens with tens of transformer layers; (3) decoding each output entails an irregular, complex beam search. As such, streaming speech processing on resource-constrained client devices is more expensive than other AI tasks, e.g., text generation. To this end, we present a novel framework, WhisperFlow, which embodies both model and system optimizations. (1) Hush word as a short, learnable audio segment; appended to a voice input, a hush word gracefully stops the speech model from processing more input without hallucination; (2) Beam pruning, which aligns streaming audio buffers over time and reuses results from earlier decoding rounds, therefore significantly accelerating decoding; and (3) CPU/GPU pipelining, which not only maps to the encoding/decoding stages dynamically, but also tunes to an optimal resource ratio, respecting the encoding/decoding speed that varies across voice inputs, models, and hardware. We test WhisperFlow on commodity ARM platforms with 4-12 CPU cores and 10-30 GPU cores. It reduces per-word latency by 1.6x-4.7x to as low as 0.5 second, while seeing negligible accuracy degradation. On an entry-level MacBook Air, WhisperFlow can keep the per-word latency around 1 second, with the whole device drawing only 7 Watts in total.
A Comparative Study on Dynamic Graph Embedding based on Mamba and Transformers
Venue: arXiv cs.LG 2025
Year: 2025

Dynamic graph embedding has emerged as an important technique for modeling complex time-evolving networks across diverse domains. While transformer-based models have shown promise in capturing long-range dependencies in temporal graph data, they face scalability challenges due to quadratic computational complexity. This study presents a comparative analysis of dynamic graph embedding approaches using transformers and the recently proposed Mamba architecture, a state-space model with linear complexity. We introduce three novel models: TransformerG2G augment with graph convolutional networks, \mathcal{DG}-Mamba, and \mathcal{GDG}-Mamba with graph isomorphism network edge convolutions. Our experiments on multiple benchmark datasets demonstrate that Mamba-based models achieve comparable or superior performance to transformer-based approaches in link prediction tasks while offering significant computational efficiency gains on longer sequences. Notably, \mathcal{DG}-Mamba variants consistently outperform transformer-based models on datasets with high temporal variability, such as UCI, Bitcoin, and Reality Mining, while maintaining competitive performance on more stable graphs like SBM. We provide insights into the learned temporal dependencies through analysis of attention weights and state matrices, revealing the models' ability to capture complex temporal patterns. By effectively combining state-space models with graph neural networks, our work addresses key limitations of previous approaches and contributes to the growing body of research on efficient temporal graph representation learning. These findings offer promising directions for scaling dynamic graph embedding to larger, more complex real-world networks, potentially enabling new applications in areas such as social network analysis, financial modeling, and biological system dynamics.
Efficient Multiagent Planning via Shared Action Suggestions
Venue: arXiv cs.MA 2025
Year: 2025

Decentralized partially observable Markov decision processes with communication (Dec-POMDP-Com) provide a framework for multiagent decision making under uncertainty, but the NEXP-complete complexity for finite-horizon problems renders solutions intractable in general. While sharing actions and observations can reduce the complexity to PSPACE-complete, we propose an approach that bridges POMDPs and Dec-POMDPs by communicating only suggested joint actions, eliminating the need to share observations while retaining near-centralized performance. Our algorithm estimates joint beliefs using shared actions to prune infeasible beliefs. Each agent maintains possible belief sets for other agents, pruning them based on suggested actions to form an estimated joint belief usable with any centralized policy. This approach requires solving a POMDP for each agent, reducing computational complexity while preserving performance. We demonstrate its effectiveness on several Dec-POMDP benchmarks, showing performance comparable to centralized methods when shared actions enable effective belief pruning. This action-based communication framework offers a natural avenue for integrating human-agent cooperation, opening new directions for scalable multiagent planning under uncertainty, with applications in both autonomous systems and human-agent teams.
MERaLiON-SpeechEncoder: Towards a Speech Foundation Model for Singapore and Beyond
Venue: arXiv cs.CL 2025
Year: 2025

This technical report describes the MERaLiON-SpeechEncoder, a foundation model designed to support a wide range of downstream speech applications. Developed as part of Singapore's National Multimodal Large Language Model Programme, the MERaLiON-SpeechEncoder is tailored to address the speech processing needs in Singapore and the surrounding Southeast Asian region. The model currently supports mainly English, including the variety spoken in Singapore. We are actively expanding our datasets to gradually cover other languages in subsequent releases. The MERaLiON-SpeechEncoder was pre-trained from scratch on 200,000 hours of unlabelled speech data using a self-supervised learning approach based on masked language modelling. We describe our training procedure and hyperparameter tuning experiments in detail below. Our evaluation demonstrates improvements to spontaneous and Singapore speech benchmarks for speech recognition, while remaining competitive to other state-of-the-art speech encoders across ten other speech tasks. We commit to releasing our model, supporting broader research endeavours, both in Singapore and beyond.
Training Strategies for Isolated Sign Language Recognition
Venue: arXiv cs.CV 2025
Year: 2025

Accurate recognition and interpretation of sign language are crucial for enhancing communication accessibility for deaf and hard of hearing individuals. However, current approaches of Isolated Sign Language Recognition (ISLR) often face challenges such as low data quality and variability in gesturing speed. This paper introduces a comprehensive model training pipeline for ISLR designed to accommodate the distinctive characteristics and constraints of the Sign Language (SL) domain. The constructed pipeline incorporates carefully selected image and video augmentations to tackle the challenges of low data quality and varying sign speeds. Including an additional regression head combined with IoU-balanced classification loss enhances the model's awareness of the gesture and simplifies capturing temporal information. Extensive experiments demonstrate that the developed training pipeline easily adapts to different datasets and architectures. Additionally, the ablation study shows that each proposed component expands the potential to consider ISLR task specifics. The presented strategies enhance recognition performance across various ISLR benchmarks and achieve state-of-the-art results on the WLASL and Slovo datasets.