OpenRaiser/Intern-Atlas huggingface dataset:
CloudMamba: Grouped Selective State Spaces for Point Cloud Analysis
Venue: arXiv cs.CV 2025
Year: 2025

Due to the long-range modeling ability and linear complexity property, Mamba has attracted considerable attention in point cloud analysis. Despite some interesting progress, related work still suffers from imperfect point cloud serialization, insufficient high-level geometric perception, and overfitting of the selective state space model (S6) at the core of Mamba. To this end, we resort to an SSM-based point cloud network termed CloudMamba to address the above challenges. Specifically, we propose sequence expanding and sequence merging, where the former serializes points along each axis separately and the latter serves to fuse the corresponding higher-order features causally inferred from different sequences, enabling unordered point sets to adapt more stably to the causal nature of Mamba without parameters. Meanwhile, we design chainedMamba that chains the forward and backward processes in the parallel bidirectional Mamba, capturing high-level geometric information during scanning. In addition, we propose a grouped selective state space model (GS6) via parameter sharing on S6, alleviating the overfitting problem caused by the computational mode in S6. Experiments on various point cloud tasks validate CloudMamba's ability to achieve state-of-the-art results with significantly less complexity.
WaterMod: Modular Token-Rank Partitioning for Probability-Balanced LLM Watermarking
Venue: arXiv cs.AI 2025
Year: 2025

Large language models now draft news, legal analyses, and software code with human-level fluency. At the same time, regulations such as the EU AI Act mandate that each synthetic passage carry an imperceptible, machine-verifiable mark for provenance. Conventional logit-based watermarks satisfy this requirement by selecting a pseudorandom green vocabulary at every decoding step and boosting its logits, yet the random split can exclude the highest-probability token and thus erode fluency. WaterMod mitigates this limitation through a probability-aware modular rule. The vocabulary is first sorted in descending model probability; the resulting ranks are then partitioned by the residue rank mod k, which distributes adjacent-and therefore semantically similar-tokens across different classes. A fixed bias of small magnitude is applied to one selected class. In the zero-bit setting (k=2), an entropy-adaptive gate selects either the even or the odd parity as the green list. Because the top two ranks fall into different parities, this choice embeds a detectable signal while guaranteeing that at least one high-probability token remains available for sampling. In the multi-bit regime (k>2), the current payload digit d selects the color class whose ranks satisfy rank mod k = d. Biasing the logits of that class embeds exactly one base-k digit per decoding step, thereby enabling fine-grained provenance tracing. The same modular arithmetic therefore supports both binary attribution and rich payloads. Experimental results demonstrate that WaterMod consistently attains strong watermark detection performance while maintaining generation quality in both zero-bit and multi-bit settings. This robustness holds across a range of tasks, including natural language generation, mathematical reasoning, and code synthesis. Our code and data are available at https://github.com/Shinwoo-Park/WaterMod.
Visual Bridge: Universal Visual Perception Representations Generating
Venue: arXiv cs.CV 2025
Year: 2025

Recent advances in diffusion models have achieved remarkable success in isolated computer vision tasks such as text-to-image generation, depth estimation, and optical flow. However, these models are often restricted by a ``single-task-single-model'' paradigm, severely limiting their generalizability and scalability in multi-task scenarios. Motivated by the cross-domain generalization ability of large language models, we propose a universal visual perception framework based on flow matching that can generate diverse visual representations across multiple tasks. Our approach formulates the process as a universal flow-matching problem from image patch tokens to task-specific representations rather than an independent generation or regression problem. By leveraging a strong self-supervised foundation model as the anchor and introducing a multi-scale, circular task embedding mechanism, our method learns a universal velocity field to bridge the gap between heterogeneous tasks, supporting efficient and flexible representation transfer. Extensive experiments on classification, detection, segmentation, depth estimation, and image-text retrieval demonstrate that our model achieves competitive performance in both zero-shot and fine-tuned settings, outperforming prior generalist and several specialist models. Ablation studies further validate the robustness, scalability, and generalization of our framework. Our work marks a significant step towards general-purpose visual perception, providing a solid foundation for future research in universal vision modeling.
Algorithm-Relative Trajectory Valuation in Policy Gradient Control
Venue: arXiv cs.LG 2025
Year: 2025

We study how trajectory value depends on the learning algorithm in policy-gradient control. Using Trajectory Shapley in an uncertain LQR, we find a negative correlation between Persistence of Excitation (PE) and marginal value under vanilla REINFORCE ($r\approx-0.38$). We prove a variance-mediated mechanism: (i) for fixed energy, higher PE yields lower gradient variance; (ii) near saddles, higher variance increases escape probability, raising marginal contribution. When stabilized (state whitening or Fisher preconditioning), this variance channel is neutralized and information content dominates, flipping the correlation positive ($r\approx+0.29$). Hence, trajectory value is algorithm-relative. Experiments validate the mechanism and show decision-aligned scores (Leave-One-Out) complement Shapley for pruning, while Shapley identifies toxic subsets.
Confidence-Aware Neural Decoding of Overt Speech from EEG: Toward Robust Brain-Computer Interfaces
Venue: arXiv cs.AI 2025
Year: 2025

Non-invasive brain-computer interfaces that decode spoken commands from electroencephalogram must be both accurate and trustworthy. We present a confidence-aware decoding framework that couples deep ensembles of compact, speech-oriented convolutional networks with post-hoc calibration and selective classification. Uncertainty is quantified using ensemble-based predictive entropy, top-two margin, and mutual information, and decisions are made with an abstain option governed by an accuracy-coverage operating point. The approach is evaluated on a multi-class overt speech dataset using a leakage-safe, block-stratified split that respects temporal contiguity. Compared with widely used baselines, the proposed method yields more reliable probability estimates, improved selective performance across operating points, and balanced per-class acceptance. These results suggest that confidence-aware neural decoding can provide robust, deployment-oriented behavior for real-world brain-computer interface communication systems.
Test-driven Reinforcement Learning in Continuous Control
Venue: arXiv cs.LG 2025
Year: 2025

Reinforcement learning (RL) has been recognized as a powerful tool for robot control tasks. RL typically employs reward functions to define task objectives and guide agent learning. However, since the reward function serves the dual purpose of defining the optimal goal and guiding learning, it is challenging to design the reward function manually, which often results in a suboptimal task representation. To tackle the reward design challenge in RL, inspired by the satisficing theory, we propose a Test-driven Reinforcement Learning (TdRL) framework. In the TdRL framework, multiple test functions are used to represent the task objective rather than a single reward function. Test functions can be categorized as pass-fail tests and indicative tests, each dedicated to defining the optimal objective and guiding the learning process, respectively, thereby making defining tasks easier. Building upon such a task definition, we first prove that if a trajectory return function assigns higher returns to trajectories closer to the optimal trajectory set, maximum entropy policy optimization based on this return function will yield a policy that is closer to the optimal policy set. Then, we introduce a lexicographic heuristic approach to compare the relative distance relationship between trajectories and the optimal trajectory set for learning the trajectory return function. Furthermore, we develop an algorithm implementation of TdRL. Experimental results on the DeepMind Control Suite benchmark demonstrate that TdRL matches or outperforms handcrafted reward methods in policy training, with greater design simplicity and inherent support for multi-objective optimization. We argue that TdRL offers a novel perspective for representing task objectives, which could be helpful in addressing the reward design challenges in RL applications.
Last Layer Logits to Logic: Empowering LLMs with Logic-Consistent Structured Knowledge Reasoning
Venue: arXiv cs.CL 2025
Year: 2025

Large Language Models (LLMs) achieve excellent performance in natural language reasoning tasks through pre-training on vast unstructured text, enabling them to understand the logic in natural language and generate logic-consistent responses. However, the representational differences between unstructured and structured knowledge make LLMs inherently struggle to maintain logic consistency, leading to \textit{Logic Drift} challenges in structured knowledge reasoning tasks such as Knowledge Graph Question Answering (KGQA). Existing methods address this limitation by designing complex workflows embedded in prompts to guide LLM reasoning. Nevertheless, these approaches only provide input-level guidance and fail to fundamentally address the \textit{Logic Drift} in LLM outputs. Additionally, their inflexible reasoning workflows cannot adapt to different tasks and knowledge graphs. To enhance LLMs' logic consistency in structured knowledge reasoning, we specifically target the logits output from the autoregressive generation process. We propose the \textit{Logits-to-Logic} framework, which incorporates logits strengthening and logits filtering as core modules to correct logical defects in LLM outputs. Extensive experiments show that our approach significantly improves LLMs' logic consistency in structured knowledge reasoning and achieves state-of-the-art performance on multiple KGQA benchmarks.
Distinct Theta Synchrony across Speech Modes: Perceived, Spoken, Whispered, and Imagined
Venue: arXiv cs.CL 2025
Year: 2025

Human speech production encompasses multiple modes such as perceived, overt, whispered, and imagined, each reflecting distinct neural mechanisms. Among these, theta-band synchrony has been closely associated with language processing, attentional control, and inner speech. However, previous studies have largely focused on a single mode, such as overt speech, and have rarely conducted an integrated comparison of theta synchrony across different speech modes. In this study, we analyzed differences in theta-band neural synchrony across speech modes based on connectivity metrics, focusing on region-wise variations. The results revealed that overt and whispered speech exhibited broader and stronger frontotemporal synchrony, reflecting active motor-phonological coupling during overt articulation, whereas perceived speech showed dominant posterior and temporal synchrony patterns, consistent with auditory perception and comprehension processes. In contrast, imagined speech demonstrated a more spatially confined but internally coherent synchronization pattern, primarily involving frontal and supplementary motor regions. These findings indicate that the extent and spatial distribution of theta synchrony differ substantially across modes, with overt articulation engaging widespread cortical interactions, whispered speech showing intermediate engagement, and perception relying predominantly on temporoparietal networks. Therefore, this study aims to elucidate the differences in theta-band neural synchrony across various speech modes, thereby uncovering both the shared and distinct neural dynamics underlying language perception and imagined speech.
HD$^2$-SSC: High-Dimension High-Density Semantic Scene Completion for Autonomous Driving
Venue: arXiv cs.CV 2025
Year: 2025

Camera-based 3D semantic scene completion (SSC) plays a crucial role in autonomous driving, enabling voxelized 3D scene understanding for effective scene perception and decision-making. Existing SSC methods have shown efficacy in improving 3D scene representations, but suffer from the inherent input-output dimension gap and annotation-reality density gap, where the 2D planner view from input images with sparse annotated labels leads to inferior prediction of real-world dense occupancy with a 3D stereoscopic view. In light of this, we propose the corresponding High-Dimension High-Density Semantic Scene Completion (HD$^2$-SSC) framework with expanded pixel semantics and refined voxel occupancies. To bridge the dimension gap, a High-dimension Semantic Decoupling module is designed to expand 2D image features along a pseudo third dimension, decoupling coarse pixel semantics from occlusions, and then identify focal regions with fine semantics to enrich image features. To mitigate the density gap, a High-density Occupancy Refinement module is devised with a "detect-and-refine" architecture to leverage contextual geometric and semantic structures for enhanced semantic density with the completion of missing voxels and correction of erroneous ones. Extensive experiments and analyses on the SemanticKITTI and SSCBench-KITTI-360 datasets validate the effectiveness of our HD$^2$-SSC framework.
Federated CLIP for Resource-Efficient Heterogeneous Medical Image Classification
Venue: arXiv cs.CV 2025
Year: 2025

Despite the remarkable performance of deep models in medical imaging, they still require source data for training, which limits their potential in light of privacy concerns. Federated learning (FL), as a decentralized learning framework that trains a shared model with multiple hospitals (a.k.a., FL clients), provides a feasible solution. However, data heterogeneity and resource costs hinder the deployment of FL models, especially when using vision language models (VLM). To address these challenges, we propose a novel contrastive language-image pre-training (CLIP) based FL approach for medical image classification (FedMedCLIP). Specifically, we introduce a masked feature adaptation module (FAM) as a communication module to reduce the communication load while freezing the CLIP encoders to reduce the computational overhead. Furthermore, we propose a masked multi-layer perceptron (MLP) as a private local classifier to adapt to the client tasks. Moreover, we design an adaptive Kullback-Leibler (KL) divergence-based distillation regularization method to enable mutual learning between FAM and MLP. Finally, we incorporate model compression to transmit the FAM parameters while using ensemble predictions for classification. Extensive experiments on four publicly available medical datasets demonstrate that our model provides feasible performance (e.g., 8\% higher compared to second best baseline on ISIC2019) with reasonable resource cost (e.g., 120$\times$ faster than FedAVG).
DiffRegCD: Integrated Registration and Change Detection with Diffusion Features
Venue: arXiv cs.CV 2025
Year: 2025

Change detection (CD) is fundamental to computer vision and remote sensing, supporting applications in environmental monitoring, disaster response, and urban development. Most CD models assume co-registered inputs, yet real-world imagery often exhibits parallax, viewpoint shifts, and long temporal gaps that cause severe misalignment. Traditional two stage methods that first register and then detect, as well as recent joint frameworks (e.g., BiFA, ChangeRD), still struggle under large displacements, relying on regression only flow, global homographies, or synthetic perturbations. We present DiffRegCD, an integrated framework that unifies dense registration and change detection in a single model. DiffRegCD reformulates correspondence estimation as a Gaussian smoothed classification task, achieving sub-pixel accuracy and stable training. It leverages frozen multi-scale features from a pretrained denoising diffusion model, ensuring robustness to illumination and viewpoint variation. Supervision is provided through controlled affine perturbations applied to standard CD datasets, yielding paired ground truth for both flow and change detection without pseudo labels. Extensive experiments on aerial (LEVIR-CD, DSIFN-CD, WHU-CD, SYSU-CD) and ground level (VL-CMU-CD) datasets show that DiffRegCD consistently surpasses recent baselines and remains reliable under wide temporal and geometric variation, establishing diffusion features and classification based correspondence as a strong foundation for unified change detection.
Toward Practical BCI: A Real-time Wireless Imagined Speech EEG Decoding System
Venue: arXiv cs.AI 2025
Year: 2025

Brain-computer interface (BCI) research, while promising, has largely been confined to static and fixed environments, limiting real-world applicability. To move towards practical BCI, we introduce a real-time wireless imagined speech electroencephalogram (EEG) decoding system designed for flexibility and everyday use. Our framework focuses on practicality, demonstrating extensibility beyond wired EEG devices to portable, wireless hardware. A user identification module recognizes the operator and provides a personalized, user-specific service. To achieve seamless, real-time operation, we utilize the lab streaming layer to manage the continuous streaming of live EEG signals to the personalized decoder. This end-to-end pipeline enables a functional real-time application capable of classifying user commands from imagined speech EEG signals, achieving an overall 4-class accuracy of 62.00 % on a wired device and 46.67 % on a portable wireless headset. This paper demonstrates a significant step towards truly practical and accessible BCI technology, establishing a clear direction for future research in robust, practical, and personalized neural interfaces.
Is It Truly Necessary to Process and Fit Minutes-Long Reference Videos for Personalized Talking Face Generation?
Venue: arXiv cs.CV 2025
Year: 2025

Talking Face Generation (TFG) aims to produce realistic and dynamic talking portraits, with broad applications in fields such as digital education, film and television production, e-commerce live streaming, and other related areas. Currently, TFG methods based on Neural Radiated Field (NeRF) or 3D Gaussian sputtering (3DGS) are received widespread attention. They learn and store personalized features from reference videos of each target individual to generate realistic speaking videos. To ensure models can capture sufficient 3D information and successfully learns the lip-audio mapping, previous studies usually require meticulous processing and fitting several minutes of reference video, which always takes hours. The computational burden of processing and fitting long reference videos severely limits the practical application value of these methods.However, is it really necessary to fit such minutes of reference video? Our exploratory case studies show that using some informative reference video segments of just a few seconds can achieve performance comparable to or even better than the full reference video. This indicates that video informative quality is much more important than its length. Inspired by this observation, we propose the ISExplore (short for Informative Segment Explore), a simple-yet-effective segment selection strategy that automatically identifies the informative 5-second reference video segment based on three key data quality dimensions: audio feature diversity, lip movement amplitude, and number of camera views. Extensive experiments demonstrate that our approach increases data processing and training speed by more than 5x for NeRF and 3DGS methods, while maintaining high-fidelity output. Project resources are available at xx.
Balance Equation-based Distributionally Robust Offline Imitation Learning
Venue: arXiv cs.LG 2025
Year: 2025

Imitation Learning (IL) has proven highly effective for robotic and control tasks where manually designing reward functions or explicit controllers is infeasible. However, standard IL methods implicitly assume that the environment dynamics remain fixed between training and deployment. In practice, this assumption rarely holds where modeling inaccuracies, real-world parameter variations, and adversarial perturbations can all induce shifts in transition dynamics, leading to severe performance degradation. We address this challenge through Balance Equation-based Distributionally Robust Offline Imitation Learning, a framework that learns robust policies solely from expert demonstrations collected under nominal dynamics, without requiring further environment interaction. We formulate the problem as a distributionally robust optimization over an uncertainty set of transition models, seeking a policy that minimizes the imitation loss under the worst-case transition distribution. Importantly, we show that this robust objective can be reformulated entirely in terms of the nominal data distribution, enabling tractable offline learning. Empirical evaluations on continuous-control benchmarks demonstrate that our approach achieves superior robustness and generalization compared to state-of-the-art offline IL baselines, particularly under perturbed or shifted environments.
Speech Emotion Recognition with Phonation Excitation Information and Articulatory Kinematics
Venue: arXiv cs.SD 2025
Year: 2025

Speech emotion recognition (SER) has advanced significantly for the sake of deep-learning methods, while textual information further enhances its performance. However, few studies have focused on the physiological information during speech production, which also encompasses speaker traits, including emotional states. To bridge this gap, we conducted a series of experiments to investigate the potential of the phonation excitation information and articulatory kinematics for SER. Due to the scarcity of training data for this purpose, we introduce a portrayed emotional dataset, STEM-E2VA, which includes audio and physiological data such as electroglottography (EGG) and electromagnetic articulography (EMA). EGG and EMA provide information of phonation excitation and articulatory kinematics, respectively. Additionally, we performed emotion recognition using estimated physiological data derived through inversion methods from speech, instead of collected EGG and EMA, to explore the feasibility of applying such physiological information in real-world SER. Experimental results confirm the effectiveness of incorporating physiological information about speech production for SER and demonstrate its potential for practical use in real-world scenarios.