OpenRaiser/Intern-Atlas huggingface dataset:
EMPERROR: A Flexible Generative Perception Error Model for Probing Self-Driving Planners
Venue: arXiv cs.RO 2025
Year: 2025

To handle the complexities of real-world traffic, learning planners for self-driving from data is a promising direction. While recent approaches have shown great progress, they typically assume a setting in which the ground-truth world state is available as input. However, when deployed, planning needs to be robust to the long-tail of errors incurred by a noisy perception system, which is often neglected in evaluation. To address this, previous work has proposed drawing adversarial samples from a perception error model (PEM) mimicking the noise characteristics of a target object detector. However, these methods use simple PEMs that fail to accurately capture all failure modes of detection. In this paper, we present EMPERROR, a novel transformer-based generative PEM, apply it to stress-test an imitation learning (IL)-based planner and show that it imitates modern detectors more faithfully than previous work. Furthermore, it is able to produce realistic noisy inputs that increase the planner's collision rate by up to 85%, demonstrating its utility as a valuable tool for a more complete evaluation of self-driving planners.
Efficient Federated Finetuning of Tiny Transformers with Resource-Constrained Devices
Venue: arXiv cs.LG 2025
Year: 2025

In recent years, Large Language Models (LLMs) through Transformer structures have dominated many machine learning tasks, especially text processing. However, these models require massive amounts of data for training and induce high resource requirements, particularly in terms of the large number of Floating Point Operations (FLOPs) and the high amounts of memory needed. To fine-tune such a model in a parameter-efficient way, techniques like Adapter or LoRA have been developed. However, we observe that the application of LoRA, when used in federated learning (FL), while still being parameter-efficient, is memory and FLOP inefficient. Based on that observation, we develop a novel layer finetuning scheme that allows devices in cross-device FL to make use of pretrained neural networks (NNs) while adhering to given resource constraints. We show that our presented scheme outperforms the current state of the art when dealing with homogeneous or heterogeneous computation and memory constraints and is on par with LoRA regarding limited communication, thereby achieving significantly higher accuracies in FL training.
Bayes2IMC: In-Memory Computing for Bayesian Binary Neural Networks
Venue: arXiv cs.ET 2025
Year: 2025

Bayesian Neural Networks (BNNs) provide superior estimates of uncertainty by generating an ensemble of predictive distributions. However, inference via ensembling is resource-intensive, requiring additional entropy sources to generate stochasticity which increases resource consumption. We introduce Bayes2IMC, an in-memory computing (IMC) architecture designed for binary Bayesian neural networks that leverage nanoscale device stochasticity to generate desired distributions. Our novel approach utilizes Phase-Change Memory (PCM) to harness inherent noise characteristics, enabling the creation of a binary neural network. This design eliminates the necessity for a pre-neuron Analog-to-Digital Converter (ADC), significantly improving power and area efficiency. We also develop a hardware-software co-optimized correction method applied solely on the logits in the final layer to reduce device-induced accuracy variations across deployments on hardware. Additionally, we devise a simple compensation technique that ensures no drop in classification accuracy despite conductance drift of PCM. We validate the effectiveness of our approach on the CIFAR-10 dataset with a VGGBinaryConnect model, achieving accuracy metrics comparable to ideal software implementations as well as results reported in the literature using other technologies. Finally, we present a complete core architecture and compare its projected power, performance, and area efficiency against an equivalent SRAM baseline, showing a $3.8$ to $9.6 \times$ improvement in total efficiency (in GOPS/W/mm$^2$) and a $2.2 $ to $5.6 \times$ improvement in power efficiency (in GOPS/W). In addition, the projected hardware performance of Bayes2IMC surpasses that of most of the BNN architectures based on memristive devices reported in the literature, and achieves up to $20\%$ higher power efficiency compared to the state-of-the-art.
MBA-SLAM: Motion Blur Aware Gaussian Splatting SLAM
Venue: arXiv cs.CV 2025
Year: 2025

Emerging 3D scene representations, such as Neural Radiance Fields (NeRF) and 3D Gaussian Splatting (3DGS), have demonstrated their effectiveness in Simultaneous Localization and Mapping (SLAM) for photo-realistic rendering, particularly when using high-quality video sequences as input. However, existing methods struggle with motion-blurred frames, which are common in real-world scenarios like low-light or long-exposure conditions. This often results in a significant reduction in both camera localization accuracy and map reconstruction quality. To address this challenge, we propose a dense visual deblur SLAM pipeline (i.e. MBA-SLAM) to handle severe motion-blurred inputs and enhance image deblurring. Our approach integrates an efficient motion blur-aware tracker with either neural radiance fields or Gaussian Splatting based mapper. By accurately modeling the physical image formation process of motion-blurred images, our method simultaneously learns 3D scene representation and estimates the cameras' local trajectory during exposure time, enabling proactive compensation for motion blur caused by camera movement. In our experiments, we demonstrate that MBA-SLAM surpasses previous state-of-the-art methods in both camera localization and map reconstruction, showcasing superior performance across a range of datasets, including synthetic and real datasets featuring sharp images as well as those affected by motion blur, highlighting the versatility and robustness of our approach. Code is available at https://github.com/WU-CVGL/MBA-SLAM.
Generative AI for Data Augmentation in Wireless Networks: Analysis, Applications, and Case Study
Venue: arXiv cs.NI 2025
Year: 2025

Data augmentation as a technique can mitigate data scarcity in machine learning. However, owing to fundamental differences in wireless data structures, traditional data augmentation techniques may not be suitable for wireless data. Fortunately, Generative Artificial Intelligence (GenAI) can be an effective solution to wireless data augmentation due to its excellent data generation capability. This article systematically explores the potential and effectiveness of generative data augmentation in wireless networks. We first briefly review data augmentation techniques, discuss their limitations in wireless networks, and introduce generative data augmentation, including reviewing GenAI models and their applications in data augmentation. We then explore the application prospects of generative data augmentation in wireless networks from the physical, network, and application layers, providing a generative data augmentation architecture for each application. Subsequently, we propose a general generative data augmentation framework for Wi-Fi gesture recognition. Specifically, we leverage transformer-based diffusion models to generate high-quality channel state information data. To evaluate the effectiveness of the proposed framework, we conduct a case study using the Widar 3.0 dataset, which employs a residual network model for Wi-Fi gesture recognition. Simulation results demonstrate that the proposed framework can enhance the performance of Wi-Fi gesture recognition. Finally, we discuss research directions for generative data augmentation.
Properties of fairness measures in the context of varying class imbalance and protected group ratios
Venue: arXiv cs.LG 2025
Year: 2025

Society is increasingly relying on predictive models in fields like criminal justice, credit risk management, or hiring. To prevent such automated systems from discriminating against people belonging to certain groups, fairness measures have become a crucial component in socially relevant applications of machine learning. However, existing fairness measures have been designed to assess the bias between predictions for protected groups without considering the imbalance in the classes of the target variable. Current research on the potential effect of class imbalance on fairness focuses on practical applications rather than dataset-independent measure properties. In this paper, we study the general properties of fairness measures for changing class and protected group proportions. For this purpose, we analyze the probability mass functions of six of the most popular group fairness measures. We also measure how the probability of achieving perfect fairness changes for varying class imbalance ratios. Moreover, we relate the dataset-independent properties of fairness measures described in this paper to classifier fairness in real-life tasks. Our results show that measures such as Equal Opportunity and Positive Predictive Parity are more sensitive to changes in class imbalance than Accuracy Equality. These findings can help guide researchers and practitioners in choosing the most appropriate fairness measures for their classification problems.
A Detection Region Method-Based Evolutionary Algorithm for Binary Constrained Multiobjective Optimization
Venue: arXiv cs.NE 2025
Year: 2025

Solving constrained multi-objective optimization problems (CMOPs) is a challenging task. While many practical algorithms have been developed to tackle CMOPs, real-world scenarios often present cases where the constraint functions are unknown or unquantifiable, resulting in only binary outcomes (feasible or infeasible). This limitation reduces the effectiveness of constraint violation guidance, which can negatively impact the performance of existing algorithms that rely on this approach. Such challenges are particularly detrimental for algorithms employing the epsilon-based method, as they hinder effective relaxation of the feasible region. To address these challenges, this paper proposes a novel algorithm called DRMCMO based on the detection region method. In DRMCMO, detection regions dynamic monitor feasible solutions to enhance convergence, helping the population escape local optima. Additionally, these regions collaborate with the neighbor pairing strategy to improve population diversity within narrow feasible areas. We have modified three existing test suites to serve as benchmark test problems for CMOPs with binary constraints(CMOP/BC) and conducted comprehensive comparative experiments with state-of-the-art algorithms on these test suites and real-world problems. The results demonstrate the strong competitiveness of DRMCMO against state-of-the-art algorithms. Given the limited research on CMOP/BC, our study offers a new perspective for advancing this field.
Synthesis with Privacy Against an Observer
Venue: arXiv cs.LO 2025
Year: 2025

We study automatic synthesis of systems that interact with their environment and maintain privacy against an observer to the interaction. The system and the environment interact via sets $I$ and $O$ of input and output signals. The input to the synthesis problem contains, in addition to a specification, also a list of secrets, a function $cost: I\cup O\rightarrow\mathbb{N}$, which maps each signal to the cost of hiding it, and a bound $b\in\mathbb{N}$ on the budget that the system may use for hiding of signals. The desired output is an $(I/O)$-transducer $T$ and a set $H\subseteq I\cup O$ of signals that respects the bound on the budget, thus $\sum_{s\in H} cost(s)\leq b$, such that for every possible interaction of $T$, the generated computation satisfies the specification, yet an observer, from whom the signals in $H$ are hidden, cannot evaluate the secrets. We first show that the problem's complexity is 2EXPTIME-complete for specifications and secrets in LTL, making it no harder than synthesis without privacy requirements. We then analyze the complexity further, isolating the two aspects that do not exist in traditional synthesis: the need to hide secret values and the need to choose the set $H$. We do this by studying settings in which traditional synthesis is solvable in polynomial time -- when the specification formalism is deterministic automata and when the system is closed -- and show that each of these aspects adds an exponential blow-up in complexity. We continue and study bounded synthesis with privacy, where the input includes a bound on the synthesized transducer size, as well as a variant of the problem in which the observer has knowledge, either about the specification or about the system, which can be helpful in evaluating the secrets. Additionally, we study certified privacy, where the synthesis algorithm provides certification that the secrets remain hidden.
Finite-Alphabet-Aware Trajectory and Precoder Optimization for UAV Relaying
Venue: arXiv cs.IT 2025
Year: 2025

Unmanned aerial vehicles (UAVs) have become key enablers in relay-assisted wireless communications thanks to their flexibility and line-of-sight channel advantage. However, most existing trajectory optimization frameworks assume ideal Gaussian inputs, overlooking the fact that practical wireless systems rely on structured, finite-alphabet constellations. This mismatch can lead to suboptimal, and sometimes misleading, design choices. In this paper, we challenge that convention by introducing a finite-alphabet-aware framework for joint trajectory and precoder optimization in UAV-assisted relay systems. We formulate a non-convex design problem that directly accounts for discrete signal structures and propose an efficient solution based on alternating optimization and successive convex approximation. Simulation results reveal that strategies optimized under Gaussian assumptions can waste energy and degrade throughput in real deployments. In contrast, our approach adapts both the UAV's trajectory and transmission strategy to the underlying modulation format, delivering consistent performance gains under practical system constraints. This work takes a key step toward aligning UAV communication design with the realities of modern wireless systems: discrete signals, power limits, and intelligent mobility.
FedSub: Introducing Class-aware Subnetworks Fusion to Enhance Personalized Federated Learning
Venue: arXiv cs.LG 2025
Year: 2025

Personalized Federated Learning aims at addressing the challenges of non-IID data in collaborative model training. However, existing methods struggle to balance personalization and generalization, often oversimplifying client similarities or relying too heavily on global models. In this paper, we propose FedSub, a novel approach that introduces class-aware model updates based on data prototypes and model subnetworks fusion to enhance personalization. Prototypes serve as compact representations of client data for each class, clustered on the server to capture label-specific similarities among the clients. Meanwhile, model subnetworks encapsulate the most relevant components to process each class and they are then fused on the server based on the identified clusters to generate fine-grained, class-specific, and highly personalized model updates for each client. Experimental results in three real-world scenarios with high data heterogeneity in human activity recognition and mobile health applications demonstrate the effectiveness of FedSub with respect to state-of-the-art methods to achieve fast convergence and high classification performance.
Are Triggers Needed for Document-Level Event Extraction?
Venue: arXiv cs.CL 2025
Year: 2025

Most existing work on event extraction has focused on sentence-level texts and presumes the identification of a trigger-span -- a word or phrase in the input that evokes the occurrence of an event of interest. Event arguments are then extracted with respect to the trigger. Indeed, triggers are treated as integral to, and trigger detection as an essential component of, event extraction. In this paper, we provide the first investigation of the role of triggers for the more difficult and much less studied task of document-level event extraction. We analyze their usefulness in multiple end-to-end and pipelined transformer-based event extraction models for three document-level event extraction datasets, measuring performance using triggers of varying quality (human-annotated, LLM-generated, keyword-based, and random). We find that whether or not systems benefit from explicitly extracting triggers depends both on dataset characteristics (i.e. the typical number of events per document) and task-specific information available during extraction (i.e. natural language event schemas). Perhaps surprisingly, we also observe that the mere existence of triggers in the input, even random ones, is important for prompt-based in-context learning approaches to the task.
Short note on the mapping of heritage sites impacted by the 2024 floods in Valencia, Spain
Venue: arXiv cs.CY 2025
Year: 2025

This short note presents preliminary findings on the impact of the October 2024 floods on cultural heritage sites in Valencia, Spain. Using publicly available data, we assess the extent of potential damage by overlaying flood maps with heritage site coordinates. We identify that 3.3% of heritage sites in the region have been potentially impacted, with churches and shrines (81), outdoor religious iconography (78), and historic irrigation features (45) being the most heavily affected. Our analysis utilizes data from OpenStreetMap and listings from the Generalitat Valenciana, suggesting that while OpenStreetMap's crowd-sourced data can provide useful estimates of the proportion of impacted sites, it may not be suitable for a detailed damage assessment. By sharing this data openly, we aim to contribute to international efforts in preserving cultural heritage after the disaster and provide a foundation for future assessments of heritage site vulnerability to climate-related events.
Analyst Reports and Stock Performance: Evidence from the Chinese Market
Venue: arXiv cs.CL 2025
Year: 2025

This article applies natural language processing (NLP) to extract and quantify textual information to predict stock performance. Using an extensive dataset of Chinese analyst reports and employing a customized BERT deep learning model for Chinese text, this study categorizes the sentiment of the reports as positive, neutral, or negative. The findings underscore the predictive capacity of this sentiment indicator for stock volatility, excess returns, and trading volume. Specifically, analyst reports with strong positive sentiment will increase excess return and intraday volatility, and vice versa, reports with strong negative sentiment also increase volatility and trading volume, but decrease future excess return. The magnitude of this effect is greater for positive sentiment reports than for negative sentiment reports. This article contributes to the empirical literature on sentiment analysis and the response of the stock market to news in the Chinese stock market.
Locally Private Sampling with Public Data
Venue: arXiv cs.LG 2025
Year: 2025

Local differential privacy (LDP) is increasingly employed in privacy-preserving machine learning to protect user data before sharing it with an untrusted aggregator. Most LDP methods assume that users possess only a single data record, which is a significant limitation since users often gather extensive datasets (e.g., images, text, time-series data) and frequently have access to public datasets. To address this limitation, we propose a locally private sampling framework that leverages both the private and public datasets of each user. Specifically, we assume each user has two distributions: $p$ and $q$ that represent their private dataset and the public dataset, respectively. The objective is to design a mechanism that generates a private sample approximating $p$ while simultaneously preserving $q$. We frame this objective as a minimax optimization problem using $f$-divergence as the utility measure. We fully characterize the minimax optimal mechanisms for general $f$-divergences provided that $p$ and $q$ are discrete distributions. Remarkably, we demonstrate that this optimal mechanism is universal across all $f$-divergences. Experiments validate the effectiveness of our minimax optimal sampler compared to the state-of-the-art locally private sampler.
PyGen: A Collaborative Human-AI Approach to Python Package Creation
Venue: arXiv cs.SE 2025
Year: 2025

The principles of automation and innovation serve as foundational elements for advancement in contemporary science and technology. Here, we introduce Pygen, an automation platform designed to empower researchers, technologists, and hobbyists to bring abstract ideas to life as core, usable software tools written in Python. Pygen leverages the immense power of autoregressive large language models to augment human creativity during the ideation, iteration, and innovation process. By combining state-of-the-art language models with open-source code generation technologies, Pygen has significantly reduced the manual overhead of tool development. From a user prompt, Pygen automatically generates Python packages for a complete workflow from concept to package generation and documentation. The findings of our work show that Pygen considerably enhances the researcher's productivity by enabling the creation of resilient, modular, and well-documented packages for various specialized purposes. We employ a prompt enhancement approach to distill the user's package description into increasingly specific and actionable. While being inherently an open-ended task, we have evaluated the generated packages and the documentation using Human Evaluation, LLM-based evaluation, and CodeBLEU, with detailed results in the results section. Furthermore, we documented our results, analyzed the limitations, and suggested strategies to alleviate them. Pygen is our vision of ethical automation, a framework that promotes inclusivity, accessibility, and collaborative development. This project marks the beginning of a large-scale effort towards creating tools where intelligent agents collaborate with humans to improve scientific and technological development substantially. Our code and generated examples are open-sourced at [https://github.com/GitsSaikat/Pygen]
P-MMEval: A Parallel Multilingual Multitask Benchmark for Consistent Evaluation of LLMs
Venue: arXiv cs.CL 2025
Year: 2025

Recent advancements in large language models (LLMs) showcase varied multilingual capabilities across tasks like translation, code generation, and reasoning. Previous assessments often limited their scope to fundamental natural language processing (NLP) or isolated capability-specific tasks. To alleviate this drawback, we aim to present a comprehensive multilingual multitask benchmark. First, we introduce P-MMEval, a large-scale benchmark covering effective fundamental and capability-specialized datasets. Furthermore, P-MMEval delivers consistent language coverage across various datasets and provides parallel samples. Finally, we conduct extensive experiments on representative multilingual model series to compare performances across models and tasks, explore the relationship between multilingual performances and factors such as tasks, model sizes, languages, and prompts, and examine the effectiveness of knowledge transfer from English to other languages. The resulting insights are intended to offer valuable guidance for future research. The dataset is available at https://huggingface.co/datasets/Qwen/P-MMEval.