OpenRaiser/Intern-Atlas huggingface dataset:
Robust 6DoF Pose Tracking Considering Contour and Interior Correspondence Uncertainty for AR Assembly Guidance
Venue: arXiv cs.CV 2025
Year: 2025

Augmented reality assembly guidance is essential for intelligent manufacturing and medical applications, requiring continuous measurement of the 6DoF poses of manipulated objects. Although current tracking methods have made significant advancements in accuracy and efficiency, they still face challenges in robustness when dealing with cluttered backgrounds, rotationally symmetric objects, and noisy sequences. In this paper, we first propose a robust contour-based pose tracking method that addresses error-prone contour correspondences and improves noise tolerance. It utilizes a fan-shaped search strategy to refine correspondences and models local contour shape and noise uncertainty as mixed probability distribution, resulting in a highly robust contour energy function. Secondly, we introduce a CPU-only strategy to better track rotationally symmetric objects and assist the contour-based method in overcoming local minima by exploring sparse interior correspondences. This is achieved by pre-sampling interior points from sparse viewpoint templates offline and using the DIS optical flow algorithm to compute their correspondences during tracking. Finally, we formulate a unified energy function to fuse contour and interior information, which is solvable using a re-weighted least squares algorithm. Experiments on public datasets and real scenarios demonstrate that our method significantly outperforms state-of-the-art monocular tracking methods and can achieve more than 100 FPS using only a CPU.
Logarithmic Approximation for Road Pricing on Grids
Venue: arXiv cs.DS 2025
Year: 2025

Consider a graph $G = (V, E)$ and some commuters, each specified by a tuple $(u, v, b)$ consisting of two nodes in the graph $u, v \in V$ and a non-negative real number $b$, specifying their budget. The goal is to find a pricing function $p$ of the edges of $G$ that maximizes the revenue generated by the commuters. Here, each commuter $(u, v, b)$ either pays the lowest-cost of a $u$-$v$ path under the pricing $p$, or 0, if this exceeds their budget $b$. We study this problem for the case where $G$ is a bounded-width grid graph and give a polynomial-time approximation algorithm with approximation ratio $O(\log |E|)$. Our approach combines existing ideas with new insights. Most notably, we employ a rather seldom-encountered technique that we coin under the name 'assume-implement dynamic programming.' This technique involves dynamic programming where some information about the future decisions of the dynamic program is guessed in advance and 'assumed' to hold, and then subsequent decisions are forced to 'implement' the guess. This enables computing the cost of the current transition by using information that would normally only be available in the future.
Characterizing Photorealism and Artifacts in Diffusion Model-Generated Images
Venue: arXiv cs.HC 2025
Year: 2025

Diffusion model-generated images can appear indistinguishable from authentic photographs, but these images often contain artifacts and implausibilities that reveal their AI-generated provenance. Given the challenge to public trust in media posed by photorealistic AI-generated images, we conducted a large-scale experiment measuring human detection accuracy on 450 diffusion-model generated images and 149 real images. Based on collecting 749,828 observations and 34,675 comments from 50,444 participants, we find that scene complexity of an image, artifact types within an image, display time of an image, and human curation of AI-generated images all play significant roles in how accurately people distinguish real from AI-generated images. Additionally, we propose a taxonomy characterizing artifacts often appearing in images generated by diffusion models. Our empirical observations and taxonomy offer nuanced insights into the capabilities and limitations of diffusion models to generate photorealistic images in 2024.
MultiFlow: A unified deep learning framework for multi-vessel classification, segmentation and clustering of phase-contrast MRI validated on a multi-site single ventricle patient cohort
Venue: arXiv cs.CV 2025
Year: 2025

We present a deep learning framework with two models for automated segmentation and large-scale flow phenotyping in a registry of single-ventricle patients. MultiFlowSeg simultaneously classifies and segments five key vessels, left and right pulmonary arteries, aorta, superior vena cava, and inferior vena cava, from velocity encoded phase-contrast magnetic resonance (PCMR) data. Trained on 260 CMR exams (5 PCMR scans per exam), it achieved an average Dice score of 0.91 on 50 unseen test cases. The method was then integrated into an automated pipeline where it processed over 5,500 registry exams without human assistance, in exams with all 5 vessels it achieved 98% classification and 90% segmentation accuracy. Flow curves from successful segmentations were used to train MultiFlowDTC, which applied deep temporal clustering to identify distinct flow phenotypes. Survival analysis revealed distinct phenotypes were significantly associated with increased risk of death/transplantation and liver disease, demonstrating the potential of the framework.
Merging Language and Domain Specific Models: The Impact on Technical Vocabulary Acquisition
Venue: arXiv cs.CL 2025
Year: 2025

Advancements in Natural Language Processing have enabled specialized language models, but integrating domain-specific knowledge into general-purpose models in multilingual settings remains challenging, particularly for technical vocabulary. This paper investigates the integration of technical vocabulary in merged language models and explores the knowledge transfer mechanisms involved when combining a general-purpose language-specific model with a domain-specific model, focusing on the resulting model's comprehension of technical jargon. Our experiments analyze the impact of this merging process on the target model's proficiency in handling specialized terminology. We present a quantitative evaluation of the performance of the merged model, comparing it with that of the individual constituent models. The findings offer insights into the effectiveness of different model merging methods for enhancing domain-specific knowledge and highlight potential challenges and future directions in leveraging these methods for cross-lingual knowledge transfer in Natural Language Processing.
Improved Wildfire Spread Prediction with Time-Series Data and the WSTS+ Benchmark
Venue: arXiv cs.CV 2025
Year: 2025

Recent research has demonstrated the potential of deep neural networks (DNNs) to accurately predict wildfire spread on a given day based upon high-dimensional explanatory data from a single preceding day, or from a time series of T preceding days. For the first time, we investigate a large number of existing data-driven wildfire modeling strategies under controlled conditions, revealing the best modeling strategies and resulting in models that achieve state-of-the-art (SOTA) accuracy for both single-day and multi-day input scenarios, as evaluated on a large public benchmark for next-day wildfire spread, termed the WildfireSpreadTS (WSTS) benchmark. Consistent with prior work, we found that models using time-series input obtained the best overall accuracy, suggesting this is an important future area of research. Furthermore, we create a new benchmark, WSTS+, by incorporating four additional years of historical wildfire data into the WSTS benchmark. Our benchmark doubles the number of unique years of historical data, expands its geographic scope, and, to our knowledge, represents the largest public benchmark for time-series-based wildfire spread prediction.
Evolving Hard Maximum Cut Instances for Quantum Approximate Optimization Algorithms
Venue: arXiv cs.ET 2025
Year: 2025

Variational quantum algorithms, such as the Recursive Quantum Approximate Optimization Algorithm (RQAOA), have become increasingly popular, offering promising avenues for employing Noisy Intermediate-Scale Quantum devices to address challenging combinatorial optimization tasks like the maximum cut problem. In this study, we utilize an evolutionary algorithm equipped with a unique fitness function. This approach targets hard maximum cut instances within the latent space of a Graph Autoencoder, identifying those that pose significant challenges or are particularly tractable for RQAOA, in contrast to the classic Goemans and Williamson algorithm. Our findings not only delineate the distinct capabilities and limitations of each algorithm but also expand our understanding of RQAOA's operational limits. Furthermore, the diverse set of graphs we have generated serves as a crucial benchmarking asset, emphasizing the need for more advanced algorithms to tackle combinatorial optimization challenges. Additionally, our results pave the way for new avenues in graph generation research, offering exciting opportunities for future explorations.
Unsupervised Structural-Counterfactual Generation under Domain Shift
Venue: arXiv cs.LG 2025
Year: 2025

Motivated by the burgeoning interest in cross-domain learning, we present a novel generative modeling challenge: generating counterfactual samples in a target domain based on factual observations from a source domain. Our approach operates within an unsupervised paradigm devoid of parallel or joint datasets, relying exclusively on distinct observational samples and causal graphs for each domain. This setting presents challenges that surpass those of conventional counterfactual generation. Central to our methodology is the disambiguation of exogenous causes into effect-intrinsic and domain-intrinsic categories. This differentiation facilitates the integration of domain-specific causal graphs into a unified joint causal graph via shared effect-intrinsic exogenous variables. We propose leveraging Neural Causal models within this joint framework to enable accurate counterfactual generation under standard identifiability assumptions. Furthermore, we introduce a novel loss function that effectively segregates effect-intrinsic from domain-intrinsic variables during model training. Given a factual observation, our framework combines the posterior distribution of effect-intrinsic variables from the source domain with the prior distribution of domain-intrinsic variables from the target domain to synthesize the desired counterfactuals, adhering to Pearl's causal hierarchy. Intriguingly, when domain shifts are restricted to alterations in causal mechanisms without accompanying covariate shifts, our training regimen parallels the resolution of a conditional optimal transport problem. Empirical evaluations on a synthetic dataset show that our framework generates counterfactuals in the target domain that very closely resemble the ground truth.
Robotic CBCT Meets Robotic Ultrasound
Venue: arXiv cs.RO 2025
Year: 2025

The multi-modality imaging system offers optimal fused images for safe and precise interventions in modern clinical practices, such as computed tomography - ultrasound (CT-US) guidance for needle insertion. However, the limited dexterity and mobility of current imaging devices hinder their integration into standardized workflows and the advancement toward fully autonomous intervention systems. In this paper, we present a novel clinical setup where robotic cone beam computed tomography (CBCT) and robotic US are pre-calibrated and dynamically co-registered, enabling new clinical applications. This setup allows registration-free rigid registration, facilitating multi-modal guided procedures in the absence of tissue deformation. First, a one-time pre-calibration is performed between the systems. To ensure a safe insertion path by highlighting critical vasculature on the 3D CBCT, SAM2 segments vessels from B-mode images, using the Doppler signal as an autonomously generated prompt. Based on the registration, the Doppler image or segmented vessel masks are then mapped onto the CBCT, creating an optimally fused image with comprehensive detail. To validate the system, we used a specially designed phantom, featuring lesions covered by ribs and multiple vessels with simulated moving flow. The mapping error between US and CBCT resulted in an average deviation of 1.72+-0.62 mm. A user study demonstrated the effectiveness of CBCT-US fusion for needle insertion guidance, showing significant improvements in time efficiency, accuracy, and success rate. Needle intervention performance improved by approximately 50% compared to the conventional US-guided workflow. We present the first robotic dual-modality imaging system designed to guide clinical applications. The results show significant performance improvements compared to traditional manual interventions.
Enhancing Transparent Object Pose Estimation: A Fusion of GDR-Net and Edge Detection
Venue: arXiv cs.CV 2025
Year: 2025

Object pose estimation of transparent objects remains a challenging task in the field of robot vision due to the immense influence of lighting, background, and reflections. However, the edges of clear objects have the highest contrast, which leads to stable and prominent features. We propose a novel approach by incorporating edge detection in a pre-processing step for the tasks of object detection and object pose estimation. We conducted experiments to investigate the effect of edge detectors on transparent objects. We examine the performance of the state-of-the-art 6D object pose estimation pipeline GDR-Net and the object detector YOLOX when applying different edge detectors as pre-processing steps (i.e., Canny edge detection with and without color information, and holistically-nested edges (HED)). We evaluate the physically-based rendered dataset Trans6D-32 K of transparent objects with parameters proposed by the BOP Challenge. Our results indicate that applying edge detection as a pre-processing enhances performance for certain objects.
How to Upscale Neural Networks with Scaling Law? A Survey and Practical Guidelines
Venue: arXiv cs.CL 2025
Year: 2025

Neural scaling laws have revolutionized the design and optimization of large-scale AI models by revealing predictable relationships between model size, dataset volume, and computational resources. Early research established power-law relationships in model performance, leading to compute-optimal scaling strategies. However, recent studies highlighted their limitations across architectures, modalities, and deployment contexts. Sparse models, mixture-of-experts, retrieval-augmented learning, and multimodal models often deviate from traditional scaling patterns. Moreover, scaling behaviors vary across domains such as vision, reinforcement learning, and fine-tuning, underscoring the need for more nuanced approaches. In this survey, we synthesize insights from over 50 studies, examining the theoretical foundations, empirical findings, and practical implications of scaling laws. We also explore key challenges, including data efficiency, inference scaling, and architecture-specific constraints, advocating for adaptive scaling strategies tailored to real-world applications. We suggest that while scaling laws provide a useful guide, they do not always generalize across all architectures and training strategies.
A Dual-Perspective NLG Meta-Evaluation Framework with Automatic Benchmark and Better Interpretability
Venue: arXiv cs.CL 2025
Year: 2025

In NLG meta-evaluation, evaluation metrics are typically assessed based on their consistency with humans. However, we identify some limitations in traditional NLG meta-evaluation approaches, such as issues in handling human ratings and ambiguous selections of correlation measures, which undermine the effectiveness of meta-evaluation. In this work, we propose a dual-perspective NLG meta-evaluation framework that focuses on different evaluation capabilities, thereby providing better interpretability. In addition, we introduce a method of automatically constructing the corresponding benchmarks without requiring new human annotations. Furthermore, we conduct experiments with 16 representative LLMs as the evaluators based on our proposed framework, comprehensively analyzing their evaluation performance from different perspectives.
CONSTRUCTA: Automating Commercial Construction Schedules in Fabrication Facilities with Large Language Models
Venue: arXiv cs.AI 2025
Year: 2025

Automating planning with LLMs presents transformative opportunities for traditional industries, yet remains underexplored. In commercial construction, the complexity of automated scheduling often requires manual intervention to ensure precision. We propose CONSTRUCTA, a novel framework leveraging LLMs to optimize construction schedules in complex projects like semiconductor fabrication. CONSTRUCTA addresses key challenges by: (1) integrating construction-specific knowledge through static RAG; (2) employing context-sampling techniques inspired by architectural expertise to provide relevant input; and (3) deploying Construction DPO to align schedules with expert preferences using RLHF. Experiments on proprietary data demonstrate performance improvements of +42.3% in missing value prediction, +79.1% in dependency analysis, and +28.9% in automated planning compared to baseline methods, showcasing its potential to revolutionize construction workflows and inspire domain-specific LLM advancements.
APB: Accelerating Distributed Long-Context Inference by Passing Compressed Context Blocks across GPUs
Venue: arXiv cs.LG 2025
Year: 2025

While long-context inference is crucial for advancing large language model (LLM) applications, its prefill speed remains a significant bottleneck. Current approaches, including sequence parallelism strategies and compute reduction through approximate attention mechanisms, still fall short of delivering optimal inference efficiency. This hinders scaling the inputs to longer sequences and processing long-context queries in a timely manner. To address this, we introduce APB, an efficient long-context inference framework that leverages multi-host approximate attention to enhance prefill speed by reducing compute and enhancing parallelism simultaneously. APB introduces a communication mechanism for essential key-value pairs within a sequence parallelism framework, enabling a faster inference speed while maintaining task performance. We implement APB by incorporating a tailored FlashAttn kernel alongside optimized distribution strategies, supporting diverse models and parallelism configurations. APB achieves speedups of up to 9.2x, 4.2x, and 1.6x compared with FlashAttn, RingAttn, and StarAttn, respectively, without any observable task performance degradation. We provide the implementation and experiment code of APB in https://github.com/thunlp/APB.
Small Models Struggle to Learn from Strong Reasoners
Venue: arXiv cs.AI 2025
Year: 2025

Large language models (LLMs) excel in complex reasoning tasks, and distilling their reasoning capabilities into smaller models has shown promise. However, we uncover an interesting phenomenon, which we term the Small Model Learnability Gap: small models ($\leq$3B parameters) do not consistently benefit from long chain-of-thought (CoT) reasoning or distillation from larger models. Instead, they perform better when fine-tuned on shorter, simpler reasoning chains that better align with their intrinsic learning capacity. To address this, we propose Mix Distillation, a simple yet effective strategy that balances reasoning complexity by combining long and short CoT examples or reasoning from both larger and smaller models. Our experiments demonstrate that Mix Distillation significantly improves small model reasoning performance compared to training on either data alone. These findings highlight the limitations of direct strong model distillation and underscore the importance of adapting reasoning complexity for effective reasoning capability transfer.
HARBOR: Exploring Persona Dynamics in Multi-Agent Competition
Venue: arXiv cs.MA 2025
Year: 2025

We investigate factors contributing to LLM agents' success in competitive multi-agent environments, using auctions as a testbed where agents bid to maximize profit. The agents are equipped with bidding domain knowledge, distinct personas that reflect item preferences, and a memory of auction history. Our work extends the classic auction scenario by creating a realistic environment where multiple agents bid on houses, weighing aspects such as size, location, and budget to secure the most desirable homes at the lowest prices. Particularly, we investigate three key questions: (a) How does a persona influence an agent's behavior in a competitive setting? (b) Can an agent effectively profile its competitors' behavior during auctions? (c) How can persona profiling be leveraged to create an advantage using strategies such as theory of mind? Through a series of experiments, we analyze the behaviors of LLM agents and shed light on new findings. Our testbed, called HARBOR, offers a valuable platform for deepening our understanding of multi-agent workflows in competitive environments.
Robust blue-green urban flood risk management optimised with a genetic algorithm for multiple rainstorm return periods
Venue: arXiv cs.NE 2025
Year: 2025

Flood risk managers seek to optimise Blue-Green Infrastructure (BGI) designs to maximise return on investment. Current systems often use optimisation algorithms and detailed flood models to maximise benefit-cost ratios for single rainstorm return periods. However, these schemes may lack robustness in mitigating flood risks across different storm magnitudes. For example, a BGI scheme optimised for a 100-year return period may differ from one optimised for a 10-year return period. This study introduces a novel methodology incorporating five return periods (T = 10, 20, 30, 50, and 100 years) into a multi-objective BGI optimisation framework. The framework combines a Non-dominated Sorting Genetic Algorithm II (NSGA-II) with a fully distributed hydrodynamic model to optimise the spatial placement and combined size of BGI features. For the first time, direct damage cost (DDC) and expected annual damage (EAD), calculated for various building types, are used as risk objective functions, transforming a many-objective problem into a multi-objective one. Performance metrics such as Median Risk Difference (MedRD), Maximum Risk Difference (MaxRD), and Area Under Pareto Front (AUPF) reveal that a 100-year optimised BGI design performs poorly when evaluated for other return periods, particularly shorter ones. In contrast, a BGI design optimised using composite return periods enhances performance metrics across all return periods, with the greatest improvements observed in MedRD (22%) and AUPF (73%) for the 20-year return period, and MaxRD (23%) for the 50-year return period. Furthermore, climate uplift stress testing confirms the robustness of the proposed design to future rainfall extremes. This study advocates a paradigm shift in flood risk management, moving from single maximum to multiple rainstorm return period-based designs to enhance resilience and adaptability to future climate extremes.