OpenRaiser/Intern-Atlas huggingface dataset:
NuWa: Deriving Lightweight Task-Specific Vision Transformers for Edge Devices
Venue: arXiv cs.CV 2025
Year: 2025

Vision Transformers (ViTs) excel in computer vision tasks but lack flexibility for edge devices' diverse needs. A vital issue is that ViTs pre-trained to cover a broad range of tasks are \textit{over-qualified} for edge devices that usually demand only part of a ViT's knowledge for specific tasks. Their task-specific accuracy on these edge devices is suboptimal. We discovered that small ViTs that focus on device-specific tasks can improve model accuracy and in the meantime, accelerate model inference. This paper presents NuWa, an approach that derives small ViTs from the base ViT for edge devices with specific task requirements. NuWa can transfer task-specific knowledge extracted from the base ViT into small ViTs that fully leverage constrained resources on edge devices to maximize model accuracy with inference latency assurance. Experiments with three base ViTs on three public datasets demonstrate that compared with state-of-the-art solutions, NuWa improves model accuracy by up to $\text{11.83}\%$ and accelerates model inference by 1.29$\times$ - 2.79$\times$. Code for reproduction is available at https://anonymous.4open.science/r/Task_Specific-3A5E.
See-Through Face Display for DHH People: Enhancing Gaze Awareness in Remote Sign Language Conversations with Camera-Behind Displays
Venue: arXiv cs.HC 2025
Year: 2025

This paper presents a sign language conversation system based on the See-Through Face Display to address the challenge of maintaining eye contact in remote sign language interactions. A camera positioned behind a transparent display allows users to look at the face of their conversation partner while appearing to maintain direct eye contact. Unlike conventional methods that rely on software-based gaze correction or large-scale half-mirror setups, this design reduces visual distortions and simplifies installation. We implemented and evaluated a videoconferencing system that integrates See-Through Face Display, comparing it to traditional videoconferencing methods. We explore its potential applications for Deaf and Hard of Hearing (DHH), including multi-party sign language conversations, corpus collection, remote interpretation, and AI-driven sign language avatars. Collaboration with DHH communities will be key to refining the system for real-world use and ensuring its practical deployment.
A Human Digital Twin Architecture for Knowledge-based Interactions and Context-Aware Conversations
Venue: arXiv cs.HC 2025
Year: 2025

Recent developments in Artificial Intelligence (AI) and Machine Learning (ML) are creating new opportunities for Human-Autonomy Teaming (HAT) in tasks, missions, and continuous coordinated activities. A major challenge is enabling humans to maintain awareness and control over autonomous assets, while also building trust and supporting shared contextual understanding. To address this, we present a real-time Human Digital Twin (HDT) architecture that integrates Large Language Models (LLMs) for knowledge reporting, answering, and recommendation, embodied in a visual interface. The system applies a metacognitive approach to enable personalized, context-aware responses aligned with the human teammate's expectations. The HDT acts as a visually and behaviorally realistic team member, integrated throughout the mission lifecycle, from training to deployment to after-action review. Our architecture includes speech recognition, context processing, AI-driven dialogue, emotion modeling, lip-syncing, and multimodal feedback. We describe the system design, performance metrics, and future development directions for more adaptive and realistic HAT systems.
Safe Screening Rules for Group OWL Models
Venue: arXiv cs.LG 2025
Year: 2025

Group Ordered Weighted $L_{1}$-Norm (Group OWL) regularized models have emerged as a useful procedure for high-dimensional sparse multi-task learning with correlated features. Proximal gradient methods are used as standard approaches to solving Group OWL models. However, Group OWL models usually suffer huge computational costs and memory usage when the feature size is large in the high-dimensional scenario. To address this challenge, in this paper, we are the first to propose the safe screening rule for Group OWL models by effectively tackling the structured non-separable penalty, which can quickly identify the inactive features that have zero coefficients across all the tasks. Thus, by removing the inactive features during the training process, we may achieve substantial computational gain and memory savings. More importantly, the proposed screening rule can be directly integrated with the existing solvers both in the batch and stochastic settings. Theoretically, we prove our screening rule is safe and also can be safely applied to the existing iterative optimization algorithms. Our experimental results demonstrate that our screening rule can effectively identify the inactive features and leads to a significant computational speedup without any loss of accuracy.
NuScenes-SpatialQA: A Spatial Understanding and Reasoning Benchmark for Vision-Language Models in Autonomous Driving
Venue: arXiv cs.CV 2025
Year: 2025

Recent advancements in Vision-Language Models (VLMs) have demonstrated strong potential for autonomous driving tasks. However, their spatial understanding and reasoning-key capabilities for autonomous driving-still exhibit significant limitations. Notably, none of the existing benchmarks systematically evaluate VLMs' spatial reasoning capabilities in driving scenarios. To fill this gap, we propose NuScenes-SpatialQA, the first large-scale ground-truth-based Question-Answer (QA) benchmark specifically designed to evaluate the spatial understanding and reasoning capabilities of VLMs in autonomous driving. Built upon the NuScenes dataset, the benchmark is constructed through an automated 3D scene graph generation pipeline and a QA generation pipeline. The benchmark systematically evaluates VLMs' performance in both spatial understanding and reasoning across multiple dimensions. Using this benchmark, we conduct extensive experiments on diverse VLMs, including both general and spatial-enhanced models, providing the first comprehensive evaluation of their spatial capabilities in autonomous driving. Surprisingly, the experimental results show that the spatial-enhanced VLM outperforms in qualitative QA but does not demonstrate competitiveness in quantitative QA. In general, VLMs still face considerable challenges in spatial understanding and reasoning.
Throughput-Optimal Random Access: A Queueing-Theoretical Analysis for Learning-Based Access Design
Venue: arXiv cs.NI 2025
Year: 2025

Random access networks have long been observed to suffer from low throughput if nodes' access strategy is not properly designed. To improve the throughput performance, learning-based approaches, with which each node learns from the observations and experience to determine its own access strategy, have shown immense potential, but are often designed empirically due to the lack of theoretical guidance. As we will demonstrate in this paper, the queueing-theoretical analysis can be leveraged as a powerful tool for optimal design of learning-based access. Specifically, based on a Multi-Armed-Bandit (MAB) framework, two random access schemes, MTOA-L with local rewards and MTOA-G with global rewards, are proposed for throughput optimization. Though both can achieve the maximum throughput of 1, they have different short-term fairness performance. Through identifying the access strategies learned via MTOA-L and MTOA-G and feeding them into the proposed unified queueing-theoretical framework, the throughput-fairness tradeoff of each is characterized and optimized by properly tuning the key parameters. The comparison of the optimal tradeoffs shows that MTOA-G is much superior to MTOA-L especially when the number of nodes is large.
Unlocking Neural Transparency: Jacobian Maps for Explainable AI in Alzheimer's Detection
Venue: arXiv cs.CV 2025
Year: 2025

Alzheimer's disease (AD) leads to progressive cognitive decline, making early detection crucial for effective intervention. While deep learning models have shown high accuracy in AD diagnosis, their lack of interpretability limits clinical trust and adoption. This paper introduces a novel pre-model approach leveraging Jacobian Maps (JMs) within a multi-modal framework to enhance explainability and trustworthiness in AD detection. By capturing localized brain volume changes, JMs establish meaningful correlations between model predictions and well-known neuroanatomical biomarkers of AD. We validate JMs through experiments comparing a 3D CNN trained on JMs versus on traditional preprocessed data, which demonstrates superior accuracy. We also employ 3D Grad-CAM analysis to provide both visual and quantitative insights, further showcasing improved interpretability and diagnostic reliability.
Robot Localization Using a Learned Keypoint Detector and Descriptor with a Floor Camera and a Feature Rich Industrial Floor
Venue: arXiv cs.CV 2025
Year: 2025

The localization of moving robots depends on the availability of good features from the environment. Sensor systems like Lidar are popular, but unique features can also be extracted from images of the ground. This work presents the Keypoint Localization Framework (KOALA), which utilizes deep neural networks that extract sufficient features from an industrial floor for accurate localization without having readable markers. For this purpose, we use a floor covering that can be produced as cheaply as common industrial floors. Although we do not use any filtering, prior, or temporal information, we can estimate our position in 75.7 % of all images with a mean position error of 2 cm and a rotation error of 2.4 %. Thus, the robot kidnapping problem can be solved with high precision in every frame, even while the robot is moving. Furthermore, we show that our framework with our detector and descriptor combination is able to outperform comparable approaches.
TQD-Track: Temporal Query Denoising for 3D Multi-Object Tracking
Venue: arXiv cs.CV 2025
Year: 2025

Query denoising has become a standard training strategy for DETR-based detectors by addressing the slow convergence issue. Besides that, query denoising can be used to increase the diversity of training samples for modeling complex scenarios which is critical for Multi-Object Tracking (MOT), showing its potential in MOT application. Existing approaches integrate query denoising within the tracking-by-attention paradigm. However, as the denoising process only happens within the single frame, it cannot benefit the tracker to learn temporal-related information. In addition, the attention mask in query denoising prevents information exchange between denoising and object queries, limiting its potential in improving association using self-attention. To address these issues, we propose TQD-Track, which introduces Temporal Query Denoising (TQD) tailored for MOT, enabling denoising queries to carry temporal information and instance-specific feature representation. We introduce diverse noise types onto denoising queries that simulate real-world challenges in MOT. We analyze our proposed TQD for different tracking paradigms, and find out the paradigm with explicit learned data association module, e.g. tracking-by-detection or alternating detection and association, benefit from TQD by a larger margin. For these paradigms, we further design an association mask in the association module to ensure the consistent interaction between track and detection queries as during inference. Extensive experiments on the nuScenes dataset demonstrate that our approach consistently enhances different tracking methods by only changing the training process, especially the paradigms with explicit association module.
Multi-Flow: Multi-View-Enriched Normalizing Flows for Industrial Anomaly Detection
Venue: arXiv cs.CV 2025
Year: 2025

With more well-performing anomaly detection methods proposed, many of the single-view tasks have been solved to a relatively good degree. However, real-world production scenarios often involve complex industrial products, whose properties may not be fully captured by one single image. While normalizing flow based approaches already work well in single-camera scenarios, they currently do not make use of the priors in multi-view data. We aim to bridge this gap by using these flow-based models as a strong foundation and propose Multi-Flow, a novel multi-view anomaly detection method. Multi-Flow makes use of a novel multi-view architecture, whose exact likelihood estimation is enhanced by fusing information across different views. For this, we propose a new cross-view message-passing scheme, letting information flow between neighboring views. We empirically validate it on the real-world multi-view data set Real-IAD and reach a new state-of-the-art, surpassing current baselines in both image-wise and sample-wise anomaly detection tasks.
Evaluating Compact LLMs for Zero-Shot Iberian Language Tasks on End-User Devices
Venue: arXiv cs.CL 2025
Year: 2025

Large Language Models have significantly advanced natural language processing, achieving remarkable performance in tasks such as language generation, translation, and reasoning. However, their substantial computational requirements restrict deployment to high-end systems, limiting accessibility on consumer-grade devices. This challenge is especially pronounced for under-resourced languages like those spoken in the Iberian Peninsula, where relatively limited linguistic resources and benchmarks hinder effective evaluation. This work presents a comprehensive evaluation of compact state-of-the-art LLMs across several essential NLP tasks tailored for Iberian languages. The results reveal that while some models consistently excel in certain tasks, significant performance gaps remain, particularly for languages such as Basque. These findings highlight the need for further research on balancing model compactness with robust multilingual performance
Steerable Anatomical Shape Synthesis with Implicit Neural Representations
Venue: arXiv cs.CV 2025
Year: 2025

Generative modeling of anatomical structures plays a crucial role in virtual imaging trials, which allow researchers to perform studies without the costs and constraints inherent to in vivo and phantom studies. For clinical relevance, generative models should allow targeted control to simulate specific patient populations rather than relying on purely random sampling. In this work, we propose a steerable generative model based on implicit neural representations. Implicit neural representations naturally support topology changes, making them well-suited for anatomical structures with varying topology, such as the thyroid. Our model learns a disentangled latent representation, enabling fine-grained control over shape variations. Evaluation includes reconstruction accuracy and anatomical plausibility. Our results demonstrate that the proposed model achieves high-quality shape generation while enabling targeted anatomical modifications.
Ethics Readiness of Technology: The case for aligning ethical approaches with technological maturity
Venue: arXiv cs.CY 2025
Year: 2025

The ethics of emerging technologies faces an anticipation dilemma: engaging too early risks overly speculative concerns, while engaging too late may forfeit the chance to shape a technology's trajectory. Despite various methods to address this challenge, no framework exists to assess their suitability across different stages of technological development. This paper proposes such a framework. I conceptualise two main ethical approaches: outcomes-oriented ethics, which assesses the potential consequences of a technology's materialisation, and meaning-oriented ethics, which examines how (social) meaning is attributed to a technology. I argue that the strengths and limitations of outcomes- and meaning-oriented ethics depend on the uncertainties surrounding a technology, which shift as it matures. To capture this evolution, I introduce the concept of ethics readiness: the readiness of a technology to undergo detailed ethical scrutiny. Building on the widely known Technology Readiness Levels (TRLs), I propose Ethics Readiness Levels (ERLs) to illustrate how the suitability of ethical approaches evolves with a technology's development. At lower ERLs, where uncertainties are most pronounced, meaning-oriented ethics proves more effective, while at higher ERLs, as impacts become clearer, outcomes-oriented ethics gains relevance. By linking Ethics Readiness to Technology Readiness, this framework underscores that the appropriateness of ethical approaches evolves alongside technological maturity, ensuring scrutiny remains grounded and relevant. Finally, I demonstrate the practical value of this framework by applying it to quantum technologies, showing how Ethics Readiness can guide effective ethical engagement.
QIRL: Boosting Visual Question Answering via Optimized Question-Image Relation Learning
Venue: arXiv cs.CV 2025
Year: 2025

Existing debiasing approaches in Visual Question Answering (VQA) primarily focus on enhancing visual learning, integrating auxiliary models, or employing data augmentation strategies. However, these methods exhibit two major drawbacks. First, current debiasing techniques fail to capture the superior relation between images and texts because prevalent learning frameworks do not enable models to extract deeper correlations from highly contrasting samples. Second, they do not assess the relevance between the input question and image during inference, as no prior work has examined the degree of input relevance in debiasing studies. Motivated by these limitations, we propose a novel framework, Optimized Question-Image Relation Learning (QIRL), which employs a generation-based self-supervised learning strategy. Specifically, two modules are introduced to address the aforementioned issues. The Negative Image Generation (NIG) module automatically produces highly irrelevant question-image pairs during training to enhance correlation learning, while the Irrelevant Sample Identification (ISI) module improves model robustness by detecting and filtering irrelevant inputs, thereby reducing prediction errors. Furthermore, to validate our concept of reducing output errors through filtering unrelated question-image inputs, we propose a specialized metric to evaluate the performance of the ISI module. Notably, our approach is model-agnostic and can be integrated with various VQA models. Extensive experiments on VQA-CPv2 and VQA-v2 demonstrate the effectiveness and generalization ability of our method. Among data augmentation strategies, our approach achieves state-of-the-art results.
A metrological framework for uncertainty evaluation in machine learning classification models
Venue: arXiv cs.LG 2025
Year: 2025

Machine learning (ML) classification models are increasingly being used in a wide range of applications where it is important that predictions are accompanied by uncertainties, including in climate and earth observation, medical diagnosis and bioaerosol monitoring. The output of an ML classification model is a type of categorical variable known as a nominal property in the International Vocabulary of Metrology (VIM). However, concepts related to uncertainty evaluation for nominal properties are not defined in the VIM, nor is such evaluation addressed by the Guide to the Expression of Uncertainty in Measurement (GUM). In this paper we propose a metrological conceptual uncertainty evaluation framework for nominal properties. This framework is based on probability mass functions and summary statistics thereof, and it is applicable to ML classification. We also illustrate its use in the context of two applications that exemplify the issues and have significant societal impact, namely, climate and earth observation and medical diagnosis. Our framework would enable an extension of the GUM to uncertainty for nominal properties, which would make both applicable to ML classification models.
MultiClear: Multimodal Soft Exoskeleton Glove for Transparent Object Grasping Assistance
Venue: arXiv cs.RO 2025
Year: 2025

Grasping is a fundamental skill for interacting with the environment. However, this ability can be difficult for some (e.g. due to disability). Wearable robotic solutions can enhance or restore hand function, and recent advances have leveraged computer vision to improve grasping capabilities. However, grasping transparent objects remains challenging due to their poor visual contrast and ambiguous depth cues. Furthermore, while multimodal control strategies incorporating tactile and auditory feedback have been explored to grasp transparent objects, the integration of vision with these modalities remains underdeveloped. This paper introduces MultiClear, a multimodal framework designed to enhance grasping assistance in a wearable soft exoskeleton glove for transparent objects by fusing RGB data, depth data, and auditory signals. The exoskeleton glove integrates a tendon-driven actuator with an RGB-D camera and a built-in microphone. To achieve precise and adaptive control, a hierarchical control architecture is proposed. For the proposed hierarchical control architecture, a high-level control layer provides contextual awareness, a mid-level control layer processes multimodal sensory inputs, and a low-level control executes PID motor control for fine-tuned grasping adjustments. The challenge of transparent object segmentation was managed by introducing a vision foundation model for zero-shot segmentation. The proposed system achieves a Grasping Ability Score of 70.37%, demonstrating its effectiveness in transparent object manipulation.
Improved Circular Dictionary Matching
Venue: arXiv cs.DS 2025
Year: 2025

The circular dictionary matching problem is an extension of the classical dictionary matching problem where every string in the dictionary is interpreted as a circular string: after reading the last character of a string, we can move back to its first character. The circular dictionary matching problem is motivated by applications in bioinformatics and computational geometry. In 2011, Hon et al. [ISAAC 2011] showed how to efficiently solve circular dictionary matching queries within compressed space by building on Mantaci et al.'s eBWT and Sadakane's compressed suffix tree. The proposed solution is based on the assumption that the strings in the dictionary are all distinct and non-periodic, no string is a circular rotation of some other string, and the strings in the dictionary have similar lengths. In this paper, we consider arbitrary dictionaries, and we show how to solve circular dictionary matching queries in $ O((m + occ) \log n) $ time within compressed space using $ n \log σ(1 + o(1)) + O(n) + O(d \log n) $ bits, where $ n $ is the total length of the dictionary, $ m $ is the length of the pattern, $ occ $ is the number of occurrences, $ d $ is the number of strings in the dictionary and $ σ$ is the size of the alphabet. Our solution is based on an extension of the suffix array to arbitrary dictionaries and a sampling mechanism for the LCP array of a dictionary inspired by recent results in graph indexing and compression.