OpenRaiser/Intern-Atlas huggingface dataset:
Multimodal Fusion and Vision-Language Models: A Survey for Robot Vision
Venue: arXiv cs.RO 2025
Year: 2025

Robot vision has greatly benefited from advancements in multimodal fusion techniques and vision-language models (VLMs). We adopt a task-oriented perspective to systematically review the applications and advancements of multimodal fusion methods and VLMs in the field of robot vision. For semantic scene understanding tasks, we categorize fusion approaches into encoder-decoder frameworks, attention-based architectures, and graph neural networks. Meanwhile, we also analyze the architectural characteristics and practical implementations of these fusion strategies in key tasks such as simultaneous localization and mapping (SLAM), 3D object detection, navigation, and manipulation. We compare the evolutionary paths and applicability of VLMs based on large language models (LLMs) with traditional multimodal fusion methods.Additionally, we conduct an in-depth analysis of commonly used datasets, evaluating their applicability and challenges in real-world robotic scenarios. Building on this analysis, we identify key challenges in current research, including cross-modal alignment, efficient fusion, real-time deployment, and domain adaptation. We propose future directions such as self-supervised learning for robust multimodal representations, structured spatial memory and environment modeling to enhance spatial intelligence, and the integration of adversarial robustness and human feedback mechanisms to enable ethically aligned system deployment. Through a comprehensive review, comparative analysis, and forward-looking discussion, we provide a valuable reference for advancing multimodal perception and interaction in robotic vision. A comprehensive list of studies in this survey is available at https://github.com/Xiaofeng-Han-Res/MF-RV.
We Need Improved Data Curation and Attribution in AI for Scientific Discovery
Venue: arXiv cs.AI 2025
Year: 2025

As the interplay between human-generated and synthetic data evolves, new challenges arise in scientific discovery concerning the integrity of the data and the stability of the models. In this work, we examine the role of synthetic data as opposed to that of real experimental data for scientific research. Our analyses indicate that nearly three-quarters of experimental datasets available on open-access platforms have relatively low adoption rates, opening new opportunities to enhance their discoverability and usability by automated methods. Additionally, we observe an increasing difficulty in distinguishing synthetic from real experimental data. We propose supplementing ongoing efforts in automating synthetic data detection by increasing the focus on watermarking real experimental data, thereby strengthening data traceability and integrity. Our estimates suggest that watermarking even less than half of the real world data generated annually could help sustain model robustness, while promoting a balanced integration of synthetic and human-generated content.
The Self-Learning Agent with a Progressive Neural Network Integrated Transformer
Venue: arXiv cs.AI 2025
Year: 2025

This paper introduces a self-learning agent that integrates LLaMA 3.2 with a Progressive Neural Network (PNN) for continual learning in conversational AI and code generation. The framework dynamically collects data, fine-tunes tasks with minimal samples, and leverages Meta-Learning for rapid adaptation. LoRA optimizes fine-tuning, while Elastic Weight Consolidation (EWC) enhances knowledge retention. Experimental results demonstrate improved adaptability and memory stability, positioning this approach as a scalable step toward Artificial General Intelligence (AGI).
MultiNeRF: Multiple Watermark Embedding for Neural Radiance Fields
Venue: arXiv cs.CV 2025
Year: 2025

We present MultiNeRF, a 3D watermarking method that embeds multiple uniquely keyed watermarks within images rendered by a single Neural Radiance Field (NeRF) model, whilst maintaining high visual quality. Our approach extends the TensoRF NeRF model by incorporating a dedicated watermark grid alongside the existing geometry and appearance grids. This extension ensures higher watermark capacity without entangling watermark signals with scene content. We propose a FiLM-based conditional modulation mechanism that dynamically activates watermarks based on input identifiers, allowing multiple independent watermarks to be embedded and extracted without requiring model retraining. MultiNeRF is validated on the NeRF-Synthetic and LLFF datasets, with statistically significant improvements in robust capacity without compromising rendering quality. By generalizing single-watermark NeRF methods into a flexible multi-watermarking framework, MultiNeRF provides a scalable solution for 3D content. attribution.
SelfMedHPM: Self Pre-training With Hard Patches Mining Masked Autoencoders For Medical Image Segmentation
Venue: arXiv cs.CV 2025
Year: 2025

In recent years, deep learning methods such as convolutional neural network (CNN) and transformers have made significant progress in CT multi-organ segmentation. However, CT multi-organ segmentation methods based on masked image modeling (MIM) are very limited. There are already methods using MAE for CT multi-organ segmentation task, we believe that the existing methods do not identify the most difficult areas to reconstruct. To this end, we propose a MIM self-training framework with hard patches mining masked autoencoders for CT multi-organ segmentation tasks (selfMedHPM). The method performs ViT self-pretraining on the training set of the target data and introduces an auxiliary loss predictor, which first predicts the patch loss and determines the location of the next mask. SelfMedHPM implementation is better than various competitive methods in abdominal CT multi-organ segmentation and body CT multi-organ segmentation. We have validated the performance of our method on the Multi Atlas Labeling Beyond The Cranial Vault (BTCV) dataset for abdomen mult-organ segmentation and the SinoMed Whole Body (SMWB) dataset for body multi-organ segmentation tasks.
MAD: Makeup All-in-One with Cross-Domain Diffusion Model
Venue: arXiv cs.CV 2025
Year: 2025

Existing makeup techniques often require designing multiple models to handle different inputs and align features across domains for different makeup tasks, e.g., beauty filter, makeup transfer, and makeup removal, leading to increased complexity. Another limitation is the absence of text-guided makeup try-on, which is more user-friendly without needing reference images. In this study, we make the first attempt to use a single model for various makeup tasks. Specifically, we formulate different makeup tasks as cross-domain translations and leverage a cross-domain diffusion model to accomplish all tasks. Unlike existing methods that rely on separate encoder-decoder configurations or cycle-based mechanisms, we propose using different domain embeddings to facilitate domain control. This allows for seamless domain switching by merely changing embeddings with a single model, thereby reducing the reliance on additional modules for different tasks. Moreover, to support precise text-to-makeup applications, we introduce the MT-Text dataset by extending the MT dataset with textual annotations, advancing the practicality of makeup technologies.
Language Models reach higher Agreement than Humans in Historical Interpretation
Venue: arXiv cs.CL 2025
Year: 2025

This paper compares historical annotations by humans and Large Language Models. The findings reveal that both exhibit some cultural bias, but Large Language Models achieve a higher consensus on the interpretation of historical facts from short texts. While humans tend to disagree on the basis of their personal biases, Large Models disagree when they skip information or produce hallucinations. These findings have significant implications for digital humanities, enabling large-scale annotation and quantitative analysis of historical data. This offers new educational and research opportunities to explore historical interpretations from different Language Models, fostering critical thinking about bias.
Legal Mathematical Reasoning with LLMs: Procedural Alignment through Two-Stage Reinforcement Learning
Venue: arXiv cs.CL 2025
Year: 2025

Legal mathematical reasoning is essential for applying large language models (LLMs) in high-stakes legal contexts, where outputs must be both mathematically accurate and procedurally compliant. However, existing legal LLMs lack structured numerical reasoning, and open-domain models, though capable of calculations, often overlook mandatory legal steps. To address this, we present LexNum, the first Chinese legal mathematical reasoning benchmark, covering three representative scenarios where each instance reflects legally grounded procedural flows. We further propose LexPam, a two-stage reinforcement learning framework for efficient legal reasoning training. Leveraging curriculum learning, we use a stronger teacher model to partition data into basic and challenging subsets. A lightweight 1.5B student model is then fine-tuned with Group Relative Policy Optimization, which avoids costly value networks and enables stable training from sparse, end-of-sequence rewards. The first stage improves accuracy and format; the second introduces a novel reward to guide procedural alignment via task-specific legal elements. Experiments show that existing models perform poorly on LexNum, while LexPam enhances both mathematical accuracy and legal coherence, and generalizes effectively across tasks and domains.
Multi-SWE-bench: A Multilingual Benchmark for Issue Resolving
Venue: arXiv cs.SE 2025
Year: 2025

The task of issue resolving is to modify a codebase to generate a patch that addresses a given issue. However, existing benchmarks, such as SWE-bench, focus almost exclusively on Python, making them insufficient for evaluating Large Language Models (LLMs) across diverse software ecosystems. To address this, we introduce a multilingual issue-resolving benchmark, called Multi-SWE-bench, covering Java, TypeScript, JavaScript, Go, Rust, C, and C++. It includes a total of 1,632 high-quality instances, which were carefully annotated from 2,456 candidates by 68 expert annotators, ensuring that the benchmark can provide an accurate and reliable evaluation. Based on Multi-SWE-bench, we evaluate a series of state-of-the-art models using three representative methods (Agentless, SWE-agent, and OpenHands) and present a comprehensive analysis with key empirical insights. In addition, we launch a Multi-SWE-RL open-source community, aimed at building large-scale reinforcement learning (RL) training datasets for issue-resolving tasks. As an initial contribution, we release a set of 4,723 well-structured instances spanning seven programming languages, laying a solid foundation for RL research in this domain. More importantly, we open-source our entire data production pipeline, along with detailed tutorials, encouraging the open-source community to continuously contribute and expand the dataset. We envision our Multi-SWE-bench and the ever-growing Multi-SWE-RL community as catalysts for advancing RL toward its full potential, bringing us one step closer to the dawn of AGI.
Improving Counterfactual Truthfulness for Molecular Property Prediction through Uncertainty Quantification
Venue: arXiv cs.LG 2025
Year: 2025

Explainable AI (xAI) interventions aim to improve interpretability for complex black-box models, not only to improve user trust but also as a means to extract scientific insights from high-performing predictive systems. In molecular property prediction, counterfactual explanations offer a way to understand predictive behavior by highlighting which minimal perturbations in the input molecular structure cause the greatest deviation in the predicted property. However, such explanations only allow for meaningful scientific insights if they reflect the distribution of the true underlying property -- a feature we define as counterfactual truthfulness. To increase this truthfulness, we propose the integration of uncertainty estimation techniques to filter counterfactual candidates with high predicted uncertainty. Through computational experiments with synthetic and real-world datasets, we demonstrate that traditional uncertainty estimation methods, such as ensembles and mean-variance estimation, can already substantially reduce the average prediction error and increase counterfactual truthfulness, especially for out-of-distribution settings. Our results highlight the importance and potential impact of incorporating uncertainty estimation into explainability methods, especially considering the relatively high effectiveness of low-effort interventions like model ensembles.
PicoPose: Progressive Pixel-to-Pixel Correspondence Learning for Novel Object Pose Estimation
Venue: arXiv cs.CV 2025
Year: 2025

RGB-based novel object pose estimation is critical for rapid deployment in robotic applications, yet zero-shot generalization remains a key challenge. In this paper, we introduce PicoPose, a novel framework designed to tackle this task using a three-stage pixel-to-pixel correspondence learning process. Firstly, PicoPose matches features from the RGB observation with those from rendered object templates, identifying the best-matched template and establishing coarse correspondences. Secondly, PicoPose smooths the correspondences by globally regressing a 2D affine transformation, including in-plane rotation, scale, and 2D translation, from the coarse correspondence map. Thirdly, PicoPose applies the affine transformation to the feature map of the best-matched template and learns correspondence offsets within local regions to achieve fine-grained correspondences. By progressively refining the correspondences, PicoPose significantly improves the accuracy of object poses computed via PnP/RANSAC. PicoPose achieves state-of-the-art performance on the seven core datasets of the BOP benchmark, demonstrating exceptional generalization to novel objects. Code and trained models are available at https://github.com/foollh/PicoPose.
Dynamic Directional Routing of Freight in the Physical Internet
Venue: arXiv cs.NI 2025
Year: 2025

The Physical Internet (PI) envisions an interconnected, modular, and dynamically managed logistics system inspired by the Digital Internet. It enables open-access networks where shipments traverse a hyperconnected system of hubs, adjusting routes based on real-time conditions. A key challenge in scalable and adaptive freight movement is routing determining how shipments navigate the network to balance service levels, consolidation, and adaptability. This paper introduces directional routing, a dynamic approach that flexibly adjusts shipment paths, optimizing efficiency and consolidation using real-time logistics data. Unlike shortest-path routing, which follows fixed routes, directional routing dynamically selects feasible next-hop hubs based on network conditions, consolidation opportunities, and service level constraints. It consists of two phases: area discovery, which identifies candidate hubs, and node selection, which determines the next hub based on real-time parameters. This paper advances the area discovery phase by introducing a Reduced Search Space Breadth-First Search (RSS-BFS) method to systematically identify feasible routing areas while balancing service levels and consolidation. The proposed approach enhances network fluidity, scalability, and adaptability in PI-based logistics, advancing autonomous and sustainable freight movement.
Enhancing LLM Robustness to Perturbed Instructions: An Empirical Study
Venue: arXiv cs.CL 2025
Year: 2025

Large Language Models (LLMs) are highly vulnerable to input perturbations, as even a small prompt change may result in a substantially different output. Existing methods to enhance LLM robustness are primarily focused on perturbed data samples, whereas improving resiliency to perturbations of task-level instructions has remained relatively underexplored. In this work, we focus on character- and word-level edits of task-specific instructions, which substantially degrade downstream performance. We experiment with a variety of techniques to enhance the robustness of LLMs, including self-denoising and representation alignment, testing different models (Llama 3 and Flan-T5), datasets (CoLA, QNLI, SST-2) and instructions (both task-oriented and role-oriented). We find that, on average, self-denoising -- whether performed by a frozen LLM or a fine-tuned model -- achieves substantially higher performance gains than alternative strategies, including more complex baselines such as ensembling and supervised methods.
RBT4DNN: Requirements-based Testing of Neural Networks
Venue: arXiv cs.SE 2025
Year: 2025

Testing allows developers to determine whether a system functions as expected. When such systems include deep neural networks (DNNs), Testing becomes challenging, as DNNs approximate functions for which the formalization of functional requirements is intractable. This prevents the application of well-developed approaches to requirements-based testing to DNNs. To address this, we propose a requirements-based testing method (RBT4DNN) that uses natural language requirements statements. These statements use a glossary of terms to define a semantic feature space that can be leveraged for test input generation. RBT4DNN formalizes preconditions of functional requirements as logical combinations of those semantic features. Training data matching these feature combinations can be used to fine-tune a generative model to reliably produce test inputs satisfying the precondition. Executing these tests on a trained DNN enables comparing its output to the expected requirement postcondition behavior. We propose two use cases for RBT4DNN: (1) given requirements defining DNN correctness properties, RBT4DNN comprises a novel approach for detecting faults, and (2) during development, requirements-guided exploration of model behavior can provide developers with feedback on model generalization. Our further evaluation shows that RBT4DNN-generated tests are realistic, diverse, and aligned with requirement preconditions, enabling targeted analysis of model behavior and effective fault detection.
From Consumption to Collaboration: Measuring Interaction Patterns to Augment Human Cognition in Open-Ended Tasks
Venue: arXiv cs.HC 2025
Year: 2025

The rise of Generative AI, and Large Language Models (LLMs) in particular, is fundamentally changing cognitive processes in knowledge work, raising critical questions about their impact on human reasoning and problem-solving capabilities. As these AI systems become increasingly integrated into workflows, they offer unprecedented opportunities for augmenting human thinking while simultaneously risking cognitive erosion through passive consumption of generated answers. This tension is particularly pronounced in open-ended tasks, where effective solutions require deep contextualization and integration of domain knowledge. Unlike structured tasks with established metrics, measuring the quality of human-LLM interaction in such open-ended tasks poses significant challenges due to the absence of ground truth and the iterative nature of solution development. To address this, we present a framework that analyzes interaction patterns along two dimensions: cognitive activity mode (exploration vs. exploitation) and cognitive engagement mode (constructive vs. detrimental). This framework provides systematic measurements to evaluate when LLMs are effective tools for thought rather than substitutes for human cognition, advancing theoretical understanding and practical guidance for developing AI systems that protect and augment human cognitive capabilities.
Towards Green AI-Native Networks: Evaluation of Neural Circuit Policy for Estimating Energy Consumption of Base Stations
Venue: arXiv cs.LG 2025
Year: 2025

Optimization of radio hardware and AI-based network management software yield significant energy savings in radio access networks. The execution of underlying Machine Learning (ML) models, which enable energy savings through recommended actions, may require additional compute and energy, highlighting the opportunity to explore and adopt accurate and energy-efficient ML technologies. This work evaluates the novel use of sparsely structured Neural Circuit Policies (NCPs) in a use case to estimate the energy consumption of base stations. Sparsity in ML models yields reduced memory, computation and energy demand, hence facilitating a low-cost and scalable solution. We also evaluate the generalization capability of NCPs in comparison to traditional and widely used ML models such as Long Short Term Memory (LSTM), via quantifying their sensitivity to varying model hyper-parameters (HPs). NCPs demonstrated a clear reduction in computational overhead and energy consumption. Moreover, results indicated that the NCPs are robust to varying HPs such as number of epochs and neurons in each layer, making them a suitable option to ease model management and to reduce energy consumption in Machine Learning Operations (MLOps) in telecommunications.
Spline-based Transformers
Venue: arXiv cs.LG 2025
Year: 2025

We introduce Spline-based Transformers, a novel class of Transformer models that eliminate the need for positional encoding. Inspired by workflows using splines in computer animation, our Spline-based Transformers embed an input sequence of elements as a smooth trajectory in latent space. Overcoming drawbacks of positional encoding such as sequence length extrapolation, Spline-based Transformers also provide a novel way for users to interact with transformer latent spaces by directly manipulating the latent control points to create new latent trajectories and sequences. We demonstrate the superior performance of our approach in comparison to conventional positional encoding on a variety of datasets, ranging from synthetic 2D to large-scale real-world datasets of images, 3D shapes, and animations.
Systematic Evaluation of Large Vision-Language Models for Surgical Artificial Intelligence
Venue: arXiv cs.CV 2025
Year: 2025

Large Vision-Language Models offer a new paradigm for AI-driven image understanding, enabling models to perform tasks without task-specific training. This flexibility holds particular promise across medicine, where expert-annotated data is scarce. Yet, VLMs' practical utility in intervention-focused domains--especially surgery, where decision-making is subjective and clinical scenarios are variable--remains uncertain. Here, we present a comprehensive analysis of 11 state-of-the-art VLMs across 17 key visual understanding tasks in surgical AI--from anatomy recognition to skill assessment--using 13 datasets spanning laparoscopic, robotic, and open procedures. In our experiments, VLMs demonstrate promising generalizability, at times outperforming supervised models when deployed outside their training setting. In-context learning, incorporating examples during testing, boosted performance up to three-fold, suggesting adaptability as a key strength. Still, tasks requiring spatial or temporal reasoning remained difficult. Beyond surgery, our findings offer insights into VLMs' potential for tackling complex and dynamic scenarios in clinical and broader real-world applications.