OpenRaiser/Intern-Atlas huggingface dataset:
Few to Big: Prototype Expansion Network via Diffusion Learner for Point Cloud Few-shot Semantic Segmentation
Venue: arXiv cs.CV 2025
Year: 2025

Few-shot 3D point cloud semantic segmentation aims to segment novel categories using a minimal number of annotated support samples. While existing prototype-based methods have shown promise, they are constrained by two critical challenges: (1) Intra-class Diversity, where a prototype's limited representational capacity fails to cover a class's full variations, and (2) Inter-set Inconsistency, where prototypes derived from the support set are misaligned with the query feature space. Motivated by the powerful generative capability of diffusion model, we re-purpose its pre-trained conditional encoder to provide a novel source of generalizable features for expanding the prototype's representational range. Under this setup, we introduce the Prototype Expansion Network (PENet), a framework that constructs big-capacity prototypes from two complementary feature sources. PENet employs a dual-stream learner architecture: it retains a conventional fully supervised Intrinsic Learner (IL) to distill representative features, while introducing a novel Diffusion Learner (DL) to provide rich generalizable features. The resulting dual prototypes are then processed by a Prototype Assimilation Module (PAM), which adopts a novel push-pull cross-guidance attention block to iteratively align the prototypes with the query space. Furthermore, a Prototype Calibration Mechanism (PCM) regularizes the final big capacity prototype to prevent semantic drift. Extensive experiments on the S3DIS and ScanNet datasets demonstrate that PENet significantly outperforms state-of-the-art methods across various few-shot settings.
T-SiamTPN: Temporal Siamese Transformer Pyramid Networks for Robust and Efficient UAV Tracking
Venue: arXiv cs.CV 2025
Year: 2025

Aerial object tracking remains a challenging task due to scale variations, dynamic backgrounds, clutter, and frequent occlusions. While most existing trackers emphasize spatial cues, they often overlook temporal dependencies, resulting in limited robustness in long-term tracking and under occlusion. Furthermore, correlation-based Siamese trackers are inherently constrained by the linear nature of correlation operations, making them ineffective against complex, non-linear appearance changes. To address these limitations, we introduce T-SiamTPN, a temporal-aware Siamese tracking framework that extends the SiamTPN architecture with explicit temporal modeling. Our approach incorporates temporal feature fusion and attention-based interactions, strengthening temporal consistency and enabling richer feature representations. These enhancements yield significant improvements over the baseline and achieve performance competitive with state-of-the-art trackers. Crucially, despite the added temporal modules, T-SiamTPN preserves computational efficiency. Deployed on the resource-constrained Jetson Nano, the tracker runs in real time at 7.1 FPS, demonstrating its suitability for real-world embedded applications without notable runtime overhead. Experimental results highlight substantial gains: compared to the baseline, T-SiamTPN improves success rate by 13.7% and precision by 14.7%. These findings underscore the importance of temporal modeling in Siamese tracking frameworks and establish T-SiamTPN as a strong and efficient solution for aerial object tracking. Code is available at: https://github.com/to/be/released
Stochastic Streets: A Walk Through Random LLM Address Generation in four European Cities
Venue: arXiv cs.AI 2025
Year: 2025

Large Language Models (LLMs) are capable of solving complex math problems or answer difficult questions on almost any topic, but can they generate random street addresses for European cities?
Rethinking the Evaluation of Alignment Methods: Insights into Diversity, Generalisation, and Safety
Venue: arXiv cs.LG 2025
Year: 2025

Large language models (LLMs) require careful alignment to balance competing objectives - factuality, safety, conciseness, proactivity, and diversity. Existing studies focus on individual techniques or specific dimensions, lacking a holistic assessment of the inherent trade-offs. We propose a unified evaluation framework that compares LLM alignment methods (PPO, DPO, ORPO, KTO) across these five axes, using both in-distribution and out-of-distribution datasets. Leveraging a specialized LLM-as-Judge prompt, validated through human studies, we reveal that DPO and KTO excel in factual accuracy, PPO and DPO lead in safety, and PPO best balances conciseness with proactivity. Our findings provide insights into trade-offs of common alignment methods, guiding the development of more balanced and reliable LLMs.
Forget What's Sensitive, Remember What Matters: Token-Level Differential Privacy in Memory Sculpting for Continual Learning
Venue: arXiv cs.AI 2025
Year: 2025

Continual Learning (CL) models, while adept at sequential knowledge acquisition, face significant and often overlooked privacy challenges due to accumulating diverse information. Traditional privacy methods, like a uniform Differential Privacy (DP) budget, indiscriminately protect all data, leading to substantial model utility degradation and hindering CL deployment in privacy-sensitive areas. To overcome this, we propose a privacy-enhanced continual learning (PeCL) framework that forgets what's sensitive and remembers what matters. Our approach first introduces a token-level dynamic Differential Privacy strategy that adaptively allocates privacy budgets based on the semantic sensitivity of individual tokens. This ensures robust protection for private entities while minimizing noise injection for non-sensitive, general knowledge. Second, we integrate a privacy-guided memory sculpting module. This module leverages the sensitivity analysis from our dynamic DP mechanism to intelligently forget sensitive information from the model's memory and parameters, while explicitly preserving the task-invariant historical knowledge crucial for mitigating catastrophic forgetting. Extensive experiments show that PeCL achieves a superior balance between privacy preserving and model utility, outperforming baseline models by maintaining high accuracy on previous tasks while ensuring robust privacy.
Dual-Stage Reweighted MoE for Long-Tailed Egocentric Mistake Detection
Venue: arXiv cs.CV 2025
Year: 2025

In this report, we address the problem of determining whether a user performs an action incorrectly from egocentric video data. To handle the challenges posed by subtle and infrequent mistakes, we propose a Dual-Stage Reweighted Mixture-of-Experts (DR-MoE) framework. In the first stage, features are extracted using a frozen ViViT model and a LoRA-tuned ViViT model, which are combined through a feature-level expert module. In the second stage, three classifiers are trained with different objectives: reweighted cross-entropy to mitigate class imbalance, AUC loss to improve ranking under skewed distributions, and label-aware loss with sharpness-aware minimization to enhance calibration and generalization. Their predictions are fused using a classification-level expert module. The proposed method achieves strong performance, particularly in identifying rare and ambiguous mistake instances. The code is available at https://github.com/boyuh/DR-MoE.
Drone Detection Using a Low-Power Neuromorphic Virtual Tripwire
Venue: arXiv cs.CV 2025
Year: 2025

Small drones are an increasing threat to both military personnel and civilian infrastructure, making early and automated detection crucial. In this work we develop a system that uses spiking neural networks and neuromorphic cameras (event cameras) to detect drones. The detection model is deployed on a neuromorphic chip making this a fully neuromorphic system. Multiple detection units can be deployed to create a virtual tripwire which detects when and where drones enter a restricted zone. We show that our neuromorphic solution is several orders of magnitude more energy efficient than a reference solution deployed on an edge GPU, allowing the system to run for over a year on battery power. We investigate how synthetically generated data can be used for training, and show that our model most likely relies on the shape of the drone rather than the temporal characteristics of its propellers. The small size and low power consumption allows easy deployment in contested areas or locations that lack power infrastructure.
Green Recommender Systems: Understanding and Minimizing the Carbon Footprint of AI-Powered Personalization
Venue: arXiv cs.IR 2025
Year: 2025

As global warming soars, the need to assess and reduce the environmental impact of recommender systems is becoming increasingly urgent. Despite this, the recommender systems community hardly understands, addresses, and evaluates the environmental impact of their work. In this study, we examine the environmental impact of recommender systems research by reproducing typical experimental pipelines. Based on our results, we provide guidelines for researchers and practitioners on how to minimize the environmental footprint of their work and implement green recommender systems - recommender systems designed to minimize their energy consumption and carbon footprint. Our analysis covers 79 papers from the 2013 and 2023 ACM RecSys conferences, comparing traditional "good old-fashioned AI" models with modern deep learning models. We designed and reproduced representative experimental pipelines for both years, measuring energy consumption using a hardware energy meter and converting it into CO2 equivalents. Our results show that papers utilizing deep learning models emit approximately 42 times more CO2 equivalents than papers using traditional models. On average, a single deep learning-based paper generates 2,909 kilograms of CO2 equivalents - more than the carbon emissions of a person flying from New York City to Melbourne or the amount of CO2 sequestered by one tree over 260 years. This work underscores the urgent need for the recommender systems and wider machine learning communities to adopt green AI principles, balancing algorithmic advancements and environmental responsibility to build a sustainable future with AI-powered personalization.
GView: A Survey of Binary Forensics via Visual, Semantic, and AI-Enhanced Analysis
Venue: arXiv cs.SE 2025
Year: 2025

Cybersecurity threats continue to become more sophisticated and diverse in their artifacts, boosting both their volume and complexity. To overcome those challenges, we present GView, an open-source forensic analysis framework with visual and AI-enhanced reasoning. It started with focus on the practical cybersecurity industry. It has evolved significantly, incorporating large language models (LLMs) to dynamically enhance reasoning and ease the forensic workflows. This paper surveys both the current state of GView with its published papers alongside those that are in the publishing process. It also includes its innovative use of logical inference through predicates and inference rules for both the analyzed documents and the user's actions for better suggestions. We highlight the extensible architecture, showcasing its potential as a bridge between the practical forensics worlds with the academic research.
The Hidden Strength of Costrong Functors
Venue: arXiv cs.LO 2025
Year: 2025

Strong functors and monads are ubiquitous in Computer Science. More recently, comonads have demonstrated their use in structuring context-dependent notions of computation. However, the dualisation of ``being strong'' property passed somehow unobserved so far. We argue that ``being costrong'' gives a different understanding of how functors can interact with monoidal structures. This work in progress aims to explore costrong functors and their natural properties, with an eye towards the semantics of computations.
Intuitionistic modal logics: epistemic reasoning with distributed knowledge
Venue: arXiv cs.LO 2025
Year: 2025

In this article, we add a diamond to the parametrized box-based propositional language of intuitionistic doxastic logic and intuitionistic epistemic logic introduced by Artemov and Protopopescu. The main results of this article are the proofs of completeness with respect to their appropriate relational semantics of the resulting intuitionistic doxastic logic and intuitionistic epistemic logic with distributed knowledge.
Winds Through Time: Interactive Data Visualization and Physicalization for Paleoclimate Communication
Venue: arXiv cs.HC 2025
Year: 2025

We describe a multidisciplinary collaboration to iteratively design an interactive exhibit for a public science center on paleoclimate, the study of past climates. We created a data physicalisation of mountains and ice sheets that can be tangibly manipulated by visitors to interact with a wind simulation visualisation that demonstrates how the climate of North America differed dramatically between now and the peak of the last ice age. We detail the system for interaction and visualisation plus design choices to appeal to an audience that ranges from children to scientists and responds to site requirements.
TFANet: Three-Stage Image-Text Feature Alignment Network for Robust Referring Image Segmentation
Venue: arXiv cs.CV 2025
Year: 2025

Referring Image Segmentation (RIS) is a task that segments image regions based on language expressions, requiring fine-grained alignment between two modalities. However, existing methods often struggle with multimodal misalignment and language semantic loss, especially in complex scenes containing multiple visually similar objects, where uniquely described targets are frequently mislocalized or incompletely segmented. To tackle these challenges, this paper proposes TFANet, a Three-stage Image-Text Feature Alignment Network that systematically enhances multimodal alignment through a hierarchical framework comprising three stages: Knowledge Plus Stage (KPS), Knowledge Fusion Stage (KFS), and Knowledge Intensification Stage (KIS). In the first stage, we design the Multiscale Linear Cross-Attention Module (MLAM), which facilitates bidirectional semantic exchange between visual features and textual representations across multiple scales. This establishes rich and efficient alignment between image regions and different granularities of linguistic descriptions. Subsequently, the KFS further strengthens feature alignment through the Cross-modal Feature Scanning Module (CFSM), which applies multimodal selective scanning to capture long-range dependencies and construct a unified multimodal representation. This is essential for modeling long-range cross-modal dependencies and enhancing alignment accuracy in complex scenes. Finally, in the KIS, we propose the Word-level Linguistic Feature-guided Semantic Deepening Module (WFDM) to compensate for semantic degradation introduced in earlier stages.
A Synthetic Data Pipeline for Supporting Manufacturing SMEs in Visual Assembly Control
Venue: arXiv cs.CV 2025
Year: 2025

Quality control of assembly processes is essential in manufacturing to ensure not only the quality of individual components but also their proper integration into the final product. To assist in this matter, automated assembly control using computer vision methods has been widely implemented. However, the costs associated with image acquisition, annotation, and training of computer vision algorithms pose challenges for integration, especially for small- and medium-sized enterprises (SMEs), which often lack the resources for extensive training, data collection, and manual image annotation. Synthetic data offers the potential to reduce manual data collection and labeling. Nevertheless, its practical application in the context of assembly quality remains limited. In this work, we present a novel approach for easily integrable and data-efficient visual assembly control. Our approach leverages simulated scene generation based on computer-aided design (CAD) data and object detection algorithms. The results demonstrate a time-saving pipeline for generating image data in manufacturing environments, achieving a mean Average Precision (mAP@0.5:0.95) up to 99,5% for correctly identifying instances of synthetic planetary gear system components within our simulated training data, and up to 93% when transferred to real-world camera-captured testing data. This research highlights the effectiveness of synthetic data generation within an adaptable pipeline and underscores its potential to support SMEs in implementing resource-efficient visual assembly control solutions.
Empowering Multi-Robot Cooperation via Sequential World Models
Venue: arXiv cs.RO 2025
Year: 2025

Model-based reinforcement learning (MBRL) has shown significant potential in robotics due to its high sample efficiency and planning capability. However, extending MBRL to multi-robot cooperation remains challenging due to the complexity of joint dynamics and the reliance on synchronous communication. SeqWM employs independent, autoregressive agent-wise world models to represent joint dynamics, where each agent generates its future trajectory and plans its actions based on the predictions of its predecessors. This design lowers modeling complexity, alleviates the reliance on communication synchronization, and enables the emergence of advanced cooperative behaviors through explicit intention sharing. Experiments in challenging simulated environments (Bi-DexHands and Multi-Quad) demonstrate that SeqWM outperforms existing state-of-the-art model-based and model-free baselines in both overall performance and sample efficiency, while exhibiting advanced cooperative behaviors such as predictive adaptation, temporal alignment, and role division. Furthermore, SeqWM has been success fully deployed on physical quadruped robots, demonstrating its effectiveness in real-world multi-robot systems. Demos and code are available at: https://sites.google.com/view/seqwm-marl
Weakly and Self-Supervised Class-Agnostic Motion Prediction for Autonomous Driving
Venue: arXiv cs.CV 2025
Year: 2025

Understanding motion in dynamic environments is critical for autonomous driving, thereby motivating research on class-agnostic motion prediction. In this work, we investigate weakly and self-supervised class-agnostic motion prediction from LiDAR point clouds. Outdoor scenes typically consist of mobile foregrounds and static backgrounds, allowing motion understanding to be associated with scene parsing. Based on this observation, we propose a novel weakly supervised paradigm that replaces motion annotations with fully or partially annotated (1%, 0.1%) foreground/background masks for supervision. To this end, we develop a weakly supervised approach utilizing foreground/background cues to guide the self-supervised learning of motion prediction models. Since foreground motion generally occurs in non-ground regions, non-ground/ground masks can serve as an alternative to foreground/background masks, further reducing annotation effort. Leveraging non-ground/ground cues, we propose two additional approaches: a weakly supervised method requiring fewer (0.01%) foreground/background annotations, and a self-supervised method without annotations. Furthermore, we design a Robust Consistency-aware Chamfer Distance loss that incorporates multi-frame information and robust penalty functions to suppress outliers in self-supervised learning. Experiments show that our weakly and self-supervised models outperform existing self-supervised counterparts, and our weakly supervised models even rival some supervised ones. This demonstrates that our approaches effectively balance annotation effort and performance.
An elementary proof that linking problems are hard
Venue: arXiv cs.CC 2025
Year: 2025

We give a new, elementary proof of what we believe is the simplest known example of a ``natural'' problem in computational 3-dimensional topology that is $\mathsf{NP}$-hard -- namely, the \emph{Trivial Sublink Problem}: given a diagram $L$ of a link in $S^3$ and a positive integer $k$, decide if $L$ contains a $k$ component sublink that is trivial. This problem was previously shown to be $\mathsf{NP}$-hard in independent works of Koenig-Tsvietkova and de Mesmay-Rieck-Sedgwick-Tancer, both of which used reductions from $\mathsf{3SAT}$. The reduction we describe instead starts with the Independent Set Problem, and allows us to avoid the use of Brunnian links such as the Borromean rings. On the technical level, this entails a new conceptual insight: the Trivial Sublink Problem is hard entirely due to mod 2 pairwise linking, with no need for integral or higher order linking. On the pedagogical level, the reduction we describe is entirely elementary, and thus suitable for introducing undergraduates and non-experts to complexity-theoretic low-dimensional topology. To drive this point home, in this work we assume no familiarity with low-dimensional topology, and -- other than Reidemeister's Theorem and Karp's result that the Clique Problem is $\mathsf{NP}$-hard -- we provide more-or-less complete definitions and proofs. We have also constructed a web app that accompanies this work and allows a user to visualize the new reduction interactively.
Empowering LLMs with Parameterized Skills for Adversarial Long-Horizon Planning
Venue: arXiv cs.CL 2025
Year: 2025

Recent advancements in Large Language Models(LLMs) have led to the development of LLM-based AI agents. A key challenge is the creation of agents that can effectively ground themselves in complex, adversarial long-horizon environments. Existing methods mainly focus on (1) using LLMs as policies to interact with the environment through generating low-level feasible actions, and (2) utilizing LLMs to generate high-level tasks or language guides to stimulate action generation. However, the former struggles to generate reliable actions, while the latter relies heavily on expert experience to translate high-level tasks into specific action sequences. To address these challenges, we introduce the Plan with Language, Act with Parameter (PLAP) planning framework that facilitates the grounding of LLM-based agents in long-horizon environments. The PLAP method comprises three key components: (1) a skill library containing environment-specific parameterized skills, (2) a skill planner powered by LLMs, and (3) a skill executor converting the parameterized skills into executable action sequences. We implement PLAP in MicroRTS, a long-horizon real-time strategy game that provides an unfamiliar and challenging environment for LLMs. The experimental results demonstrate the effectiveness of PLAP. In particular, GPT-4o-driven PLAP in a zero-shot setting outperforms 80% of baseline agents, and Qwen2-72B-driven PLAP, with carefully crafted few-shot examples, surpasses the top-tier scripted agent, CoacAI. Additionally, we design comprehensive evaluation metrics and test 6 closed-source and 2 open-source LLMs within the PLAP framework, ultimately releasing an LLM leaderboard ranking long-horizon skill planning ability. Our code is available at https://github.com/AI-Research-TeamX/PLAP.
Try-Mopsa: Relational Static Analysis in Your Pocket
Venue: arXiv cs.PL 2025
Year: 2025

Static analyzers are complex pieces of software with large dependencies. They can be difficult to install, which hinders adoption and creates barriers for students learning static analysis. This work introduces Try-Mopsa: a scaled-down version of the Mopsa static analysis platform, compiled into JavaScript to run purely as a client-side application in web browsers. Try-Mopsa provides a responsive interface that works on both desktop and mobile devices. Try-Mopsa features all the core components of Mopsa. In particular, it supports relational numerical domains. We present the interface, changes and adaptations required to have a pure JavaScript version of Mopsa. We envision Try-Mopsa as a convenient platform for onboarding or teaching purposes.