OpenRaiser/Intern-Atlas huggingface dataset:
Data Enrichment Work and AI Labor in Latin America and the Caribbean
Venue: arXiv cs.CY 2025
Year: 2025

The global AI surge demands crowdworkers from diverse languages and cultures. They are pivotal in labeling data for enabling global AI systems. Despite global significance, research has primarily focused on understanding the perspectives and experiences of US and India crowdworkers, leaving a notable gap. To bridge this, we conducted a survey with 100 crowdworkers across 16 Latin American and Caribbean countries. We discovered that these workers exhibited pride and respect for their digital labor, with strong support and admiration from their families. Notably, crowd work was also seen as a stepping stone to financial and professional independence. Surprisingly, despite wanting more connection, these workers also felt isolated from peers and doubtful of others' labor quality. They resisted collaboration and gender-based tools, valuing gender-neutrality. Our work advances HCI understanding of Latin American and Caribbean crowdwork, offering insights for digital resistance tools for the region.
Hand-Object Contact Detection using Grasp Quality Metrics
Venue: arXiv cs.RO 2025
Year: 2025

We propose a novel hand-object contact detection system based on grasp quality metrics extracted from object and hand poses, and evaluated its performance using the DexYCB dataset. Our evaluation demonstrated the system's high accuracy (approaching 90%). Future work will focus on a real-time implementation using vision-based estimation, and integrating it to a robot-to-human handover system.
UNetVL: Enhancing 3D Medical Image Segmentation with Chebyshev KAN Powered Vision-LSTM
Venue: arXiv cs.CV 2025
Year: 2025

3D medical image segmentation has progressed considerably due to Convolutional Neural Networks (CNNs) and Vision Transformers (ViTs), yet these methods struggle to balance long-range dependency acquisition with computational efficiency. To address this challenge, we propose UNETVL (U-Net Vision-LSTM), a novel architecture that leverages recent advancements in temporal information processing. UNETVL incorporates Vision-LSTM (ViL) for improved scalability and memory functions, alongside an efficient Chebyshev Kolmogorov-Arnold Networks (KAN) to handle complex and long-range dependency patterns more effectively. We validated our method on the ACDC and AMOS2022 (post challenge Task 2) benchmark datasets, showing a significant improvement in mean Dice score compared to recent state-of-the-art approaches, especially over its predecessor, UNETR, with increases of 7.3% on ACDC and 15.6% on AMOS, respectively. Extensive ablation studies were conducted to demonstrate the impact of each component in UNETVL, providing a comprehensive understanding of its architecture. Our code is available at https://github.com/tgrex6/UNETVL, facilitating further research and applications in this domain.
A Simple Lower Bound for Set Agreement in Dynamic Networks
Venue: arXiv cs.DC 2025
Year: 2025

Given a positive integer $k$, $k$-set agreement is the distributed task in which each process $i\in [n]$ in a group of $n$ processing nodes starts with an input value $x_i$ in the set $\{0,\dots,k\}$, and must output a value $y_i$ such that (1) for every $i \in [n]$, $y_i$ is the input value of some process, and (2)$|\{y_i : i\in [n]\}|\leq k$. That is, at most $k$ different values in total must be outputted by the processes. The case $k=1$ correspond to (binary) consensus, arguably the most studied problem in distributed computing. While lower bounds for consensus have been obtained for most of the standard distributed computing models, the design of lower bounds for $k$-set agreement with $k>1$ is notoriously known to be much more difficult, and remains open for many models. The main techniques for designing lower bounds for k-set agreement with $k>1$ use tools from algebraic topology. The algebraic topology tools are difficult to manipulate, and require a lot of care for avoiding mistakes. This difficulty increases when the communications are mediated by a network of arbitrary structure. Recently, the KNOWALL model has been specifically designed as a first attempt to understand the LOCAL model through the lens of algebraic topology, and Castañeda et al.(2021) have designed lower bounds for $k$-set agreement in the KNOWALL model, with applications to dynamic networks. In this work, we re-prove the same lower bound for $k$-set agreement in the KNOWALL model. This new proof stands out in its simplicity, which makes it accessible to a broader audience, and increases confidence in the result.
Beam Structured Turbo Receiver for HF Skywave Massive MIMO
Venue: arXiv cs.IT 2025
Year: 2025

In this paper, we investigate receiver design for high frequency (HF) skywave massive multiple-input multiple-output (MIMO) communications. We first establish a modified beam based channel model (BBCM) by performing uniform sampling for directional cosine with deterministic sampling interval, where the beam matrix is constructed using a phase-shifted discrete Fourier transform (DFT) matrix. Based on the modified BBCM, we propose a beam structured turbo receiver (BSTR) involving low-dimensional beam domain signal detection for grouped user terminals (UTs), which is proved to be asymptotically optimal in terms of minimizing mean-squared error (MSE). Moreover, we extend it to windowed BSTR by introducing a windowing approach for interference suppression and complexity reduction, and propose a well-designed energy-focusing window. We also present an efficient implementation of the windowed BSTR by exploiting the structure properties of the beam matrix and the beam domain channel sparsity. Simulation results validate the superior performance of the proposed receivers but with remarkably low complexity.
ROSAnnotator: A Web Application for ROSBag Data Analysis in Human-Robot Interaction
Venue: arXiv cs.RO 2025
Year: 2025

Human-robot interaction (HRI) is an interdisciplinary field that utilises both quantitative and qualitative methods. While ROSBags, a file format within the Robot Operating System (ROS), offer an efficient means of collecting temporally synched multimodal data in empirical studies with real robots, there is a lack of tools specifically designed to integrate qualitative coding and analysis functions with ROSBags. To address this gap, we developed ROSAnnotator, a web-based application that incorporates a multimodal Large Language Model (LLM) to support both manual and automated annotation of ROSBag data. ROSAnnotator currently facilitates video, audio, and transcription annotations and provides an open interface for custom ROS messages and tools. By using ROSAnnotator, researchers can streamline the qualitative analysis process, create a more cohesive analysis pipeline, and quickly access statistical summaries of annotations, thereby enhancing the overall efficiency of HRI data analysis. https://github.com/CHRI-Lab/ROSAnnotator
PoAct: Policy and Action Dual-Control Agent for Generalized Applications
Venue: arXiv cs.AI 2025
Year: 2025

Based on their superior comprehension and reasoning capabilities, Large Language Model (LLM) driven agent frameworks have achieved significant success in numerous complex reasoning tasks. ReAct-like agents can solve various intricate problems step-by-step through progressive planning and tool calls, iteratively optimizing new steps based on environmental feedback. However, as the planning capabilities of LLMs improve, the actions invoked by tool calls in ReAct-like frameworks often misalign with complex planning and challenging data organization. Code Action addresses these issues while also introducing the challenges of a more complex action space and more difficult action organization. To leverage Code Action and tackle the challenges of its complexity, this paper proposes Policy and Action Dual-Control Agent (PoAct) for generalized applications. The aim is to achieve higher-quality code actions and more accurate reasoning paths by dynamically switching reasoning policies and modifying the action space. Experimental results on the Agent Benchmark for both legal and generic scenarios demonstrate the superior reasoning capabilities and reduced token consumption of our approach in complex tasks. On the LegalAgentBench, our method shows a 20 percent improvement over the baseline while requiring fewer tokens. We conducted experiments and analyses on the GPT-4o and GLM-4 series models, demonstrating the significant potential and scalability of our approach to solve complex problems.
SFC-GAN: A Generative Adversarial Network for Brain Functional and Structural Connectome Translation
Venue: arXiv cs.CV 2025
Year: 2025

Modern brain imaging technologies have enabled the detailed reconstruction of human brain connectomes, capturing structural connectivity (SC) from diffusion MRI and functional connectivity (FC) from functional MRI. Understanding the intricate relationships between SC and FC is vital for gaining deeper insights into the brain's functional and organizational mechanisms. However, obtaining both SC and FC modalities simultaneously remains challenging, hindering comprehensive analyses. Existing deep generative models typically focus on synthesizing a single modality or unidirectional translation between FC and SC, thereby missing the potential benefits of bi-directional translation, especially in scenarios where only one connectome is available. Therefore, we propose Structural-Functional Connectivity GAN (SFC-GAN), a novel framework for bidirectional translation between SC and FC. This approach leverages the CycleGAN architecture, incorporating convolutional layers to effectively capture the spatial structures of brain connectomes. To preserve the topological integrity of these connectomes, we employ a structure-preserving loss that guides the model in capturing both global and local connectome patterns while maintaining symmetry. Our framework demonstrates superior performance in translating between SC and FC, outperforming baseline models in similarity and graph property evaluations compared to ground truth data, each translated modality can be effectively utilized for downstream classification.
MAGNUS: Generating Data Locality to Accelerate Sparse Matrix-Matrix Multiplication on CPUs
Venue: arXiv cs.DC 2025
Year: 2025

Sparse general matrix-matrix multiplication (SpGEMM) is a critical operation in many applications. Current multithreaded implementations are based on Gustavson's algorithm and often perform poorly on large matrices due to limited cache reuse by the accumulators. We present MAGNUS (Matrix Algebra for Gigantic NUmerical Systems), a novel algorithm to maximize data locality in SpGEMM. To generate locality, MAGNUS reorders the intermediate product into discrete cache-friendly chunks using a two-level hierarchical approach. The accumulator is applied to each chunk, where the chunk size is chosen such that the accumulator is cache-efficient. MAGNUS is input- and system-aware: based on the matrix characteristics and target system specifications, the optimal number of chunks is computed by minimizing the storage cost of the necessary data structures. MAGNUS allows for a hybrid accumulation strategy in which each chunk uses a different accumulator based on an input threshold. We consider two accumulators: an AVX-512 vectorized bitonic sorting algorithm and classical dense accumulation. An OpenMP implementation of MAGNUS is compared with several baselines, including Intel MKL, for a variety of different matrices on three Intel architectures. For matrices from the SuiteSparse collection, MAGNUS is faster than all the baselines in most cases and is often an order of magnitude faster than at least one baseline. For massive random matrices, MAGNUS scales to the largest matrix sizes, while the baselines do not. Furthermore, MAGNUS is close to the optimal bound for these matrices, regardless of the matrix size, structure, and density.
SAMKD: Spatial-aware Adaptive Masking Knowledge Distillation for Object Detection
Venue: arXiv cs.CV 2025
Year: 2025

Most of recent attention-guided feature masking distillation methods perform knowledge transfer via global teacher attention maps without delving into fine-grained clues. Instead, performing distillation at finer granularity is conducive to uncovering local details supplementary to global knowledge transfer and reconstructing comprehensive student features. In this study, we propose a Spatial-aware Adaptive Masking Knowledge Distillation (SAMKD) framework for accurate object detection. Different from previous feature distillation methods which mainly perform single-scale feature masking, we develop spatially hierarchical feature masking distillation scheme, such that the object-aware locality is encoded during coarse-to-fine distillation process for improved feature reconstruction. In addition, our spatial-aware feature distillation strategy is combined with a masking logit distillation scheme in which region-specific feature difference between teacher and student networks is utilized to adaptively guide the distillation process. Thus, it can help the student model to better learn from the teacher counterpart with improved knowledge transfer and reduced gap. Extensive experiments for detection task demonstrate the superiority of our method. For example, when FCOS is used as teacher detector with ResNet101 backbone, our method improves the student network from 35.3\% to 38.8\% mAP, outperforming state-of-the-art distillation methods including MGD, FreeKD and DMKD.
RMAvatar: Photorealistic Human Avatar Reconstruction from Monocular Video Based on Rectified Mesh-embedded Gaussians
Venue: arXiv cs.CV 2025
Year: 2025

We introduce RMAvatar, a novel human avatar representation with Gaussian splatting embedded on mesh to learn clothed avatar from a monocular video. We utilize the explicit mesh geometry to represent motion and shape of a virtual human and implicit appearance rendering with Gaussian Splatting. Our method consists of two main modules: Gaussian initialization module and Gaussian rectification module. We embed Gaussians into triangular faces and control their motion through the mesh, which ensures low-frequency motion and surface deformation of the avatar. Due to the limitations of LBS formula, the human skeleton is hard to control complex non-rigid transformations. We then design a pose-related Gaussian rectification module to learn fine-detailed non-rigid deformations, further improving the realism and expressiveness of the avatar. We conduct extensive experiments on public datasets, RMAvatar shows state-of-the-art performance on both rendering quality and quantitative evaluations. Please see our project page at https://rm-avatar.github.io.
Robust Single Object Tracking in LiDAR Point Clouds under Adverse Weather Conditions
Venue: arXiv cs.CV 2025
Year: 2025

3D single object tracking (3DSOT) in LiDAR point clouds is a critical task for outdoor perception, enabling real-time perception of object location, orientation, and motion. Despite the impressive performance of current 3DSOT methods, evaluating them on clean datasets inadequately reflects their comprehensive performance, as the adverse weather conditions in real-world surroundings has not been considered. One of the main obstacles is the lack of adverse weather benchmarks for the evaluation of 3DSOT. To this end, this work proposes a challenging benchmark for LiDAR-based 3DSOT in adverse weather, which comprises two synthetic datasets (KITTI-A and nuScenes-A) and one real-world dataset (CADC-SOT) spanning three weather types: rain, fog, and snow. Based on this benchmark, five representative 3D trackers from different tracking frameworks conducted robustness evaluation, resulting in significant performance degradations. This prompts the question: What are the factors that cause current advanced methods to fail on such adverse weather samples? Consequently, we explore the impacts of adverse weather and answer the above question from three perspectives: 1) target distance; 2) template shape corruption; and 3) target shape corruption. Finally, based on domain randomization and contrastive learning, we designed a dual-branch tracking framework for adverse weather, named DRCT, achieving excellent performance in benchmarks.
Pantomime: Motion Data Anonymization using Foundation Motion Models
Venue: arXiv cs.CR 2025
Year: 2025

Human motion is a behavioral biometric trait that can be used to identify individuals and infer private attributes such as medical conditions. This poses a serious threat to privacy as motion extraction from video and motion capture are increasingly used for a variety of applications, including mixed reality, robotics, medicine, and the quantified self. In order to protect the privacy of the tracked individuals, anonymization techniques that preserve the utility of the data are required. However, anonymizing motion data is a challenging task because there are many dependencies in motion sequences (such as physiological constraints) that, if ignored, make the anonymized motion sequence appear unnatural. In this paper, we propose Pantomime, a full-body anonymization technique for motion data, which uses foundation motion models to generate motion sequences that adhere to the dependencies in the data, thus keeping the utility of the anonymized data high. Our results show that Pantomime can maintain the naturalness of the motion sequences while reducing the identification accuracy to 10%.
Eye Sclera for Fair Face Image Quality Assessment
Venue: arXiv cs.CV 2025
Year: 2025

Fair operational systems are crucial in gaining and maintaining society's trust in face recognition systems (FRS). FRS start with capturing an image and assessing its quality before using it further for enrollment or verification. Fair Face Image Quality Assessment (FIQA) schemes therefore become equally important in the context of fair FRS. This work examines the sclera as a quality assessment region for obtaining a fair FIQA. The sclera region is agnostic to demographic variations and skin colour for assessing the quality of a face image. We analyze three skin tone related ISO/IEC face image quality assessment measures and assess the sclera region as an alternative area for assessing FIQ. Our analysis of the face dataset of individuals from different demographic groups representing different skin tones indicates sclera as an alternative to measure dynamic range, over- and under-exposure of face using sclera region alone. The sclera region being agnostic to skin tone, i.e., demographic factors, provides equal utility as a fair FIQA as shown by our Error-vs-Discard Characteristic (EDC) curve analysis.
Unveiling Code Clone Patterns in Open Source VR Software: An Empirical Study
Venue: arXiv cs.SE 2025
Year: 2025

Code cloning is frequently observed in software development, often leading to a variety of maintenance and security issues. While substantial research has been conducted on code cloning in traditional software, to the best of my knowledge, there is a lack of studies on cloning in VR software that consider its unique nature, particularly the presence of numerous serialized files in conjunction with the source code. In this paper, we conduct the first large-scale quantitative empirical analysis of software clones in 345 open-source VR projects, using the NiCad detector for source code clone detection and large language models (LLMs) for identifying serialized file clones. Our study leads to a number of insights into cloning phenomena in VR software, guided by seven carefully formulated research questions. These findings, along with their implications, are anticipated to provide useful guidance for both researchers and software developers within the VR field.
Uncertainty Guarantees on Automated Precision Weeding using Conformal Prediction
Venue: arXiv cs.CV 2025
Year: 2025

Precision agriculture in general, and precision weeding in particular, have greatly benefited from the major advancements in deep learning and computer vision. A large variety of commercial robotic solutions are already available and deployed. However, the adoption by farmers of such solutions is still low for many reasons, an important one being the lack of trust in these systems. This is in great part due to the opaqueness and complexity of deep neural networks and the manufacturers' inability to provide valid guarantees on their performance. Conformal prediction, a well-established methodology in the machine learning community, is an efficient and reliable strategy for providing trustworthy guarantees on the predictions of any black-box model under very minimal constraints. Bridging the gap between the safe machine learning and precision agriculture communities, this article showcases conformal prediction in action on the task of precision weeding through deep learning-based image classification. After a detailed presentation of the conformal prediction methodology and the development of a precision spraying pipeline based on a ''conformalized'' neural network and well-defined spraying decision rules, the article evaluates this pipeline on two real-world scenarios: one under in-distribution conditions, the other reflecting a near out-of-distribution setting. The results show that we are able to provide formal, i.e. certifiable, guarantees on spraying at least 90% of the weeds.
A4O: All Trigger for One sample
Venue: arXiv cs.CR 2025
Year: 2025

Backdoor attacks have become a critical threat to deep neural networks (DNNs), drawing many research interests. However, most of the studied attacks employ a single type of trigger. Consequently, proposed backdoor defenders often rely on the assumption that triggers would appear in a unified way. In this paper, we show that this naive assumption can create a loophole, allowing more sophisticated backdoor attacks to bypass. We design a novel backdoor attack mechanism that incorporates multiple types of backdoor triggers, focusing on stealthiness and effectiveness. Our journey begins with the intriguing observation that the performance of a backdoor attack in deep learning models, as well as its detectability and removability, are all proportional to the magnitude of the trigger. Based on this correlation, we propose reducing the magnitude of each trigger type and combining them to achieve a strong backdoor relying on the combined trigger while still staying safely under the radar of defenders. Extensive experiments on three standard datasets demonstrate that our method can achieve high attack success rates (ASRs) while consistently bypassing state-of-the-art defenses.
Teaching Empirical Research Methods in Software Engineering: An Editorial Introduction
Venue: arXiv cs.SE 2025
Year: 2025

Empirical Software Engineering has received much attention in recent years and became a de-facto standard for scientific practice in Software Engineering. However, while extensive guidelines are nowadays available for designing, conducting, reporting, and reviewing empirical studies, similar attention has not yet been paid to teaching empirical software engineering. Closing this gap is the scope of this edited book. In the following editorial introduction, we, the editors, set the foundation by laying out the larger context of the discipline for a positioning of the remainder of this book.