OpenRaiser/Intern-Atlas huggingface dataset:
Linking Data Citation to Repository Visibility: An Empirical Study
Venue: arXiv cs.DL 2025
Year: 2025

In today's data-driven research landscape, dataset visibility and accessibility play a crucial role in advancing scientific knowledge. At the same time, data citation is essential for maintaining academic integrity, acknowledging contributions, validating research outcomes, and fostering scientific reproducibility. As a critical link, it connects scholarly publications with the datasets that drive scientific progress. This study investigates whether repository visibility influences data citation rates. We hypothesize that repositories with higher visibility, as measured by search engine metrics, are associated with increased dataset citations. Using OpenAlex data and repository impact indicators (including the visibility index from Sistrix, the h-index of repositories, and citation metrics such as mean and median citations), we analyze datasets in Social Sciences and Economics to explore their relationship. Our findings suggest that datasets hosted on more visible web domains tend to receive more citations, with a positive correlation observed between web domain visibility and dataset citation counts, particularly for datasets with at least one citation. However, when analyzing domain-level citation metrics, such as the h-index, mean, and median citations, the correlations are inconsistent and weaker. While higher visibility domains tend to host datasets with greater citation impact, the distribution of citations across datasets varies significantly. These results suggest that while visibility plays a role in increasing citation counts, it is not the sole factor influencing dataset citation impact. Other elements, such as dataset quality, research trends, and disciplinary norms, can also contribute to citation patterns.
AngleRoCL: Angle-Robust Concept Learning for Physically View-Invariant T2I Adversarial Patches
Venue: arXiv cs.CV 2025
Year: 2025

Cutting-edge works have demonstrated that text-to-image (T2I) diffusion models can generate adversarial patches that mislead state-of-the-art object detectors in the physical world, revealing detectors' vulnerabilities and risks. However, these methods neglect the T2I patches' attack effectiveness when observed from different views in the physical world (i.e., angle robustness of the T2I adversarial patches). In this paper, we study the angle robustness of T2I adversarial patches comprehensively, revealing their angle-robust issues, demonstrating that texts affect the angle robustness of generated patches significantly, and task-specific linguistic instructions fail to enhance the angle robustness. Motivated by the studies, we introduce Angle-Robust Concept Learning (AngleRoCL), a simple and flexible approach that learns a generalizable concept (i.e., text embeddings in implementation) representing the capability of generating angle-robust patches. The learned concept can be incorporated into textual prompts and guides T2I models to generate patches with their attack effectiveness inherently resistant to viewpoint variations. Through extensive simulation and physical-world experiments on five SOTA detectors across multiple views, we demonstrate that AngleRoCL significantly enhances the angle robustness of T2I adversarial patches compared to baseline methods. Our patches maintain high attack success rates even under challenging viewing conditions, with over 50% average relative improvement in attack effectiveness across multiple angles. This research advances the understanding of physically angle-robust patches and provides insights into the relationship between textual concepts and physical properties in T2I-generated contents. We released our code at https://github.com/tsingqguo/anglerocl.
3DGeoDet: General-purpose Geometry-aware Image-based 3D Object Detection
Venue: arXiv cs.CV 2025
Year: 2025

This paper proposes 3DGeoDet, a novel geometry-aware 3D object detection approach that effectively handles single- and multi-view RGB images in indoor and outdoor environments, showcasing its general-purpose applicability. The key challenge for image-based 3D object detection tasks is the lack of 3D geometric cues, which leads to ambiguity in establishing correspondences between images and 3D representations. To tackle this problem, 3DGeoDet generates efficient 3D geometric representations in both explicit and implicit manners based on predicted depth information. Specifically, we utilize the predicted depth to learn voxel occupancy and optimize the voxelized 3D feature volume explicitly through the proposed voxel occupancy attention. To further enhance 3D awareness, the feature volume is integrated with an implicit 3D representation, the truncated signed distance function (TSDF). Without requiring supervision from 3D signals, we significantly improve the model's comprehension of 3D geometry by leveraging intermediate 3D representations and achieve end-to-end training. Our approach surpasses the performance of state-of-the-art image-based methods on both single- and multi-view benchmark datasets across diverse environments, achieving a 9.3 mAP@0.5 improvement on the SUN RGB-D dataset, a 3.3 mAP@0.5 improvement on the ScanNetV2 dataset, and a 0.19 AP3D@0.7 improvement on the KITTI dataset. The project page is available at: https://cindy0725.github.io/3DGeoDet/.
STOAT: Spatial-Temporal Probabilistic Causal Inference Network
Venue: arXiv cs.LG 2025
Year: 2025

Spatial-temporal causal time series (STC-TS) involve region-specific temporal observations driven by causally relevant covariates and interconnected across geographic or network-based spaces. Existing methods often model spatial and temporal dynamics independently and overlook causality-driven probabilistic forecasting, limiting their predictive power. To address this, we propose STOAT (Spatial-Temporal Probabilistic Causal Inference Network), a novel framework for probabilistic forecasting in STC-TS. The proposed method extends a causal inference approach by incorporating a spatial relation matrix that encodes interregional dependencies (e.g. proximity or connectivity), enabling spatially informed causal effect estimation. The resulting latent series are processed by deep probabilistic models to estimate the parameters of the distributions, enabling calibrated uncertainty modeling. We further explore multiple output distributions (e.g., Gaussian, Student's-$t$, Laplace) to capture region-specific variability. Experiments on COVID-19 data across six countries demonstrate that STOAT outperforms state-of-the-art probabilistic forecasting models (DeepAR, DeepVAR, Deep State Space Model, etc.) in key metrics, particularly in regions with strong spatial dependencies. By bridging causal inference and geospatial probabilistic forecasting, STOAT offers a generalizable framework for complex spatial-temporal tasks, such as epidemic management.
IMALL with a Mixed-State Modality: A Logical Approach to Quantum Computation
Venue: arXiv cs.LO 2025
Year: 2025

We introduce a proof language for Intuitionistic Multiplicative Additive Linear Logic (IMALL), extended with a modality B to capture mixed-state quantum computation. The language supports algebraic constructs such as linear combinations, and embeds pure quantum computations within a mixed-state framework via B, interpreted categorically as a functor from a category of Hilbert Spaces to a category of finite-dimensional C*-algebras. Measurement arises as a definable term, not as a constant, and the system avoids the use of quantum configurations, which are part of the theory of the quantum lambda calculus. Cut-elimination is defined via a composite reduction relation, and shown to be sound with respect to the denotational interpretation. We prove n that any linear map on C 2 can be represented within the system, and illustrate this expressiveness with examples such as quantum teleportation and the quantum switch.
Enhancing Human-Robot Collaboration: A Sim2Real Domain Adaptation Algorithm for Point Cloud Segmentation in Industrial Environments
Venue: arXiv cs.RO 2025
Year: 2025

The robust interpretation of 3D environments is crucial for human-robot collaboration (HRC) applications, where safety and operational efficiency are paramount. Semantic segmentation plays a key role in this context by enabling a precise and detailed understanding of the environment. Considering the intense data hunger for real-world industrial annotated data essential for effective semantic segmentation, this paper introduces a pioneering approach in the Sim2Real domain adaptation for semantic segmentation of 3D point cloud data, specifically tailored for HRC. Our focus is on developing a network that robustly transitions from simulated environments to real-world applications, thereby enhancing its practical utility and impact on a safe HRC. In this work, we propose a dual-stream network architecture (FUSION) combining Dynamic Graph Convolutional Neural Networks (DGCNN) and Convolutional Neural Networks (CNN) augmented with residual layers as a Sim2Real domain adaptation algorithm for an industrial environment. The proposed model was evaluated on real-world HRC setups and simulation industrial point clouds, it showed increased state-of-the-art performance, achieving a segmentation accuracy of 97.76%, and superior robustness compared to existing methods.
How Far Have LLMs Come Toward Automated SATD Taxonomy Construction?
Venue: arXiv cs.SE 2025
Year: 2025

Technical debt refers to suboptimal code that degrades software quality. When developers intentionally introduce such debt, it is called self-admitted technical debt (SATD). Since SATD hinders maintenance, identifying its categories is key to uncovering quality issues. Traditionally, constructing such taxonomies requires manually inspecting SATD comments and surrounding code, which is time-consuming, labor-intensive, and often inconsistent due to annotator subjectivity. In this study, we investigated to what extent large language models (LLMs) could generate SATD taxonomies. We designed a structured, LLM-driven pipeline that mirrors the taxonomy construction steps researchers typically follow. We evaluated it on SATD datasets from three domains: quantum software, smart contracts, and machine learning. It successfully recovered domain-specific categories reported in prior work, such as Layer Configuration in machine learning. It also completed taxonomy generation in under two hours and for less than $1, even on the largest dataset. These results suggest that, while full automation remains challenging, LLMs can support semi-automated SATD taxonomy construction. Furthermore, our work opens up avenues for future work, such as automated taxonomy generation in other areas.
Benchmarking Debiasing Methods for LLM-based Parameter Estimates
Venue: arXiv cs.CL 2025
Year: 2025

Large language models (LLMs) offer an inexpensive yet powerful way to annotate text, but are often inconsistent when compared with experts. These errors can bias downstream estimates of population parameters such as regression coefficients and causal effects. To mitigate this bias, researchers have developed debiasing methods such as Design-based Supervised Learning (DSL) and Prediction-Powered Inference (PPI), which promise valid estimation by combining LLM annotations with a limited number of expensive expert annotations. Although these methods produce consistent estimates under theoretical assumptions, it is unknown how they compare in finite samples of sizes encountered in applied research. We make two contributions. First, we study how each methods performance scales with the number of expert annotations, highlighting regimes where LLM bias or limited expert labels significantly affect results. Second, we compare DSL and PPI across a range of tasks, finding that although both achieve low bias with large datasets, DSL often outperforms PPI on bias reduction and empirical efficiency, but its performance is less consistent across datasets. Our findings indicate that there is a bias-variance tradeoff at the level of debiasing methods, calling for more research on developing metrics for quantifying their efficiency in finite samples.
R-CARLA: High-Fidelity Sensor Simulations with Interchangeable Dynamics for Autonomous Racing
Venue: arXiv cs.RO 2025
Year: 2025

Autonomous racing has emerged as a crucial testbed for autonomous driving algorithms, necessitating a simulation environment for both vehicle dynamics and sensor behavior. Striking the right balance between vehicle dynamics and sensor accuracy is crucial for pushing vehicles to their performance limits. However, autonomous racing developers often face a trade-off between accurate vehicle dynamics and high-fidelity sensor simulations. This paper introduces R-CARLA, an enhancement of the CARLA simulator that supports holistic full-stack testing, from perception to control, using a single system. By seamlessly integrating accurate vehicle dynamics with sensor simulations, opponents simulation as NPCs, and a pipeline for creating digital twins from real-world robotic data, R-CARLA empowers researchers to push the boundaries of autonomous racing development. Furthermore, it is developed using CARLA's rich suite of sensor simulations. Our results indicate that incorporating the proposed digital-twin framework into R-CARLA enables more realistic full-stack testing, demonstrating a significant reduction in the Sim-to-Real gap of car dynamics simulation by 42% and by 82% in the case of sensor simulation across various testing scenarios.
FedVLMBench: Benchmarking Federated Fine-Tuning of Vision-Language Models
Venue: arXiv cs.LG 2025
Year: 2025

Vision-Language Models (VLMs) have demonstrated remarkable capabilities in cross-modal understanding and generation by integrating visual and textual information. While instruction tuning and parameter-efficient fine-tuning methods have substantially improved the generalization of VLMs, most existing approaches rely on centralized training, posing challenges for deployment in domains with strict privacy requirements like healthcare. Recent efforts have introduced Federated Learning (FL) into VLM fine-tuning to address these privacy concerns, yet comprehensive benchmarks for evaluating federated fine-tuning strategies, model architectures, and task generalization remain lacking. In this work, we present \textbf{FedVLMBench}, the first systematic benchmark for federated fine-tuning of VLMs. FedVLMBench integrates two mainstream VLM architectures (encoder-based and encoder-free), four fine-tuning strategies, five FL algorithms, six multimodal datasets spanning four cross-domain single-task scenarios and two cross-domain multitask settings, covering four distinct downstream task categories. Through extensive experiments, we uncover key insights into the interplay between VLM architectures, fine-tuning strategies, data heterogeneity, and multi-task federated optimization. Notably, we find that a 2-layer multilayer perceptron (MLP) connector with concurrent connector and LLM tuning emerges as the optimal configuration for encoder-based VLMs in FL. Furthermore, current FL methods exhibit significantly higher sensitivity to data heterogeneity in vision-centric tasks than text-centric ones, across both encoder-free and encoder-based VLM architectures. Our benchmark provides essential tools, datasets, and empirical guidance for the research community, offering a standardized platform to advance privacy-preserving, federated training of multimodal foundation models.
Using Sign Language Production as Data Augmentation to enhance Sign Language Translation
Venue: arXiv cs.CL 2025
Year: 2025

Machine learning models fundamentally rely on large quantities of high-quality data. Collecting the necessary data for these models can be challenging due to cost, scarcity, and privacy restrictions. Signed languages are visual languages used by the deaf community and are considered low-resource languages. Sign language datasets are often orders of magnitude smaller than their spoken language counterparts. Sign Language Production is the task of generating sign language videos from spoken language sentences, while Sign Language Translation is the reverse translation task. Here, we propose leveraging recent advancements in Sign Language Production to augment existing sign language datasets and enhance the performance of Sign Language Translation models. For this, we utilize three techniques: a skeleton-based approach to production, sign stitching, and two photo-realistic generative models, SignGAN and SignSplat. We evaluate the effectiveness of these techniques in enhancing the performance of Sign Language Translation models by generating variation in the signer's appearance and the motion of the skeletal data. Our results demonstrate that the proposed methods can effectively augment existing datasets and enhance the performance of Sign Language Translation models by up to 19%, paving the way for more robust and accurate Sign Language Translation systems, even in resource-constrained environments.
On the Ding and Helleseth's 8th open problem about optimal ternary cyclic codes
Venue: arXiv cs.IT 2025
Year: 2025

The cyclic code is a subclass of linear codes and has applications in consumer electronics, data storage systems and communication systems due to the efficient encoding and decoding algorithms. In 2013, Ding, et al. presented nine open problems about optimal ternary cyclic codes. Till now, the 1st, 2nd, 6th and 7th problems were completely solved, the 3rd, 8th and 9th problems were incompletely solved. In this manuscript, we focus on the 8th problem. By determining the root set of some special polynomials over finite fields, we present a counterexample and a sufficient condition for the ternary cyclic code $\mathcal{C}_{(1, e)}$ optimal. Furthermore, basing on the properties of finite fields, we construct a class of optimal ternary cyclic codes with respect to the Sphere Packing Bound, and show that these codes are not equivalent to any known codes.
Human-robot collaborative transport personalization via Dynamic Movement Primitives and velocity scaling
Venue: arXiv cs.RO 2025
Year: 2025

Nowadays, industries are showing a growing interest in human-robot collaboration, particularly for shared tasks. This requires intelligent strategies to plan a robot's motions, considering both task constraints and human-specific factors such as height and movement preferences. This work introduces a novel approach to generate personalized trajectories using Dynamic Movement Primitives (DMPs), enhanced with real-time velocity scaling based on human feedback. The method was rigorously tested in industrial-grade experiments, focusing on the collaborative transport of an engine cowl lip section. Comparative analysis between DMP-generated trajectories and a state-of-the-art motion planner (BiTRRT) highlights their adaptability combined with velocity scaling. Subjective user feedback further demonstrates a clear preference for DMP- based interactions. Objective evaluations, including physiological measurements from brain and skin activity, reinforce these findings, showcasing the advantages of DMPs in enhancing human-robot interaction and improving user experience.
Hierarchical Image Matching for UAV Absolute Visual Localization via Semantic and Structural Constraints
Venue: arXiv cs.CV 2025
Year: 2025

Absolute localization, aiming to determine an agent's location with respect to a global reference, is crucial for unmanned aerial vehicles (UAVs) in various applications, but it becomes challenging when global navigation satellite system (GNSS) signals are unavailable. Vision-based absolute localization methods, which locate the current view of the UAV in a reference satellite map to estimate its position, have become popular in GNSS-denied scenarios. However, existing methods mostly rely on traditional and low-level image matching, suffering from difficulties due to significant differences introduced by cross-source discrepancies and temporal variations. To overcome these limitations, in this paper, we introduce a hierarchical cross-source image matching method designed for UAV absolute localization, which integrates a semantic-aware and structure-constrained coarse matching module with a lightweight fine-grained matching module. Specifically, in the coarse matching module, semantic features derived from a vision foundation model first establish region-level correspondences under semantic and structural constraints. Then, the fine-grained matching module is applied to extract fine features and establish pixel-level correspondences. Building upon this, a UAV absolute visual localization pipeline is constructed without any reliance on relative localization techniques, mainly by employing an image retrieval module before the proposed hierarchical image matching modules. Experimental evaluations on public benchmark datasets and a newly introduced CS-UAV dataset demonstrate superior accuracy and robustness of the proposed method under various challenging conditions, confirming its effectiveness.
Learning to Optimize Package Picking for Large-Scale, Real-World Robot Induction
Venue: arXiv cs.RO 2025
Year: 2025

Warehouse automation plays a pivotal role in enhancing operational efficiency, minimizing costs, and improving resilience to workforce variability. While prior research has demonstrated the potential of machine learning (ML) models to increase picking success rates in large-scale robotic fleets by prioritizing high-probability picks and packages, these efforts primarily focused on predicting success probabilities for picks sampled using heuristic methods. Limited attention has been given, however, to leveraging data-driven approaches to directly optimize sampled picks for better performance at scale. In this study, we propose an ML-based framework that predicts transform adjustments as well as improving the selection of suction cups for multi-suction end effectors for sampled picks to enhance their success probabilities. The framework was integrated and evaluated in test workcells that resemble the operations of Amazon Robotics' Robot Induction (Robin) fleet, which is used for package manipulation. Evaluated on over 2 million picks, the proposed method achieves a 20\% reduction in pick failure rates compared to a heuristic-based pick sampling baseline, demonstrating its effectiveness in large-scale warehouse automation scenarios.
Guided Graph Compression for Quantum Graph Neural Networks
Venue: arXiv cs.LG 2025
Year: 2025

Graph Neural Networks (GNNs) are effective for processing graph-structured data but face challenges with large graphs due to high memory requirements and inefficient sparse matrix operations on GPUs. Quantum Computing (QC) offers a promising avenue to address these issues and inspires new algorithmic approaches. In particular, Quantum Graph Neural Networks (QGNNs) have been explored in recent literature. However, current quantum hardware limits the dimension of the data that can be effectively encoded. Existing approaches either simplify datasets manually or use artificial graph datasets. This work introduces the Guided Graph Compression (GGC) framework, which uses a graph autoencoder to reduce both the number of nodes and the dimensionality of node features. The compression is guided to enhance the performance of a downstream classification task, which can be applied either with a quantum or a classical classifier. The framework is evaluated on the Jet Tagging task, a classification problem of fundamental importance in high energy physics that involves distinguishing particle jets initiated by quarks from those by gluons. The GGC is compared against using the autoencoder as a standalone preprocessing step and against a baseline classical GNN classifier. Our numerical results demonstrate that GGC outperforms both alternatives, while also facilitating the testing of novel QGNN ansatzes on realistic datasets.