OpenRaiser/Intern-Atlas huggingface dataset:
AgRegNet: A Deep Regression Network for Flower and Fruit Density Estimation, Localization, and Counting in Orchards
Venue: arXiv cs.CV 2025
Year: 2025

One of the major challenges for the agricultural industry today is the uncertainty in manual labor availability and the associated cost. Automated flower and fruit density estimation, localization, and counting could help streamline harvesting, yield estimation, and crop-load management strategies such as flower and fruitlet thinning. This article proposes a deep regression-based network, AgRegNet, to estimate density, count, and location of flower and fruit in tree fruit canopies without explicit object detection or polygon annotation. Inspired by popular U-Net architecture, AgRegNet is a U-shaped network with an encoder-to-decoder skip connection and modified ConvNeXt-T as an encoder feature extractor. AgRegNet can be trained based on information from point annotation and leverages segmentation information and attention modules (spatial and channel) to highlight relevant flower and fruit features while suppressing non-relevant background features. Experimental evaluation in apple flower and fruit canopy images under an unstructured orchard environment showed that AgRegNet achieved promising accuracy as measured by Structural Similarity Index (SSIM), percentage Mean Absolute Error (pMAE) and mean Average Precision (mAP) to estimate flower and fruit density, count, and centroid location, respectively. Specifically, the SSIM, pMAE, and mAP values for flower images were 0.938, 13.7%, and 0.81, respectively. For fruit images, the corresponding values were 0.910, 5.6%, and 0.93. Since the proposed approach relies on information from point annotation, it is suitable for sparsely and densely located objects. This simplified technique will be highly applicable for growers to accurately estimate yields and decide on optimal chemical and mechanical flower thinning practices.
Crafting Synthetic Realities: Examining Visual Realism and Misinformation Potential of Photorealistic AI-Generated Images
Venue: arXiv cs.CY 2025
Year: 2025

Advances in generative models have created Artificial Intelligence-Generated Images (AIGIs) nearly indistinguishable from real photographs. Leveraging a large corpus of 30,824 AIGIs collected from Instagram and Twitter, and combining quantitative content analysis with qualitative analysis, this study unpacks AI photorealism of AIGIs from four key dimensions, content, human, aesthetic, and production features. We find that photorealistic AIGIs often depict human figures, especially celebrities and politicians, with a high degree of surrealism and aesthetic professionalism, alongside a low degree of overt signals of AI production. This study is the first to empirically investigate photorealistic AIGIs across multiple platforms using a mixed-methods approach. Our findings provide important implications and insights for understanding visual misinformation and mitigating potential risks associated with photorealistic AIGIs. We also propose design recommendations to enhance the responsible use of AIGIs.
Human Mobility Modeling with Household Coordination Activities under Limited Information via Retrieval-Augmented LLMs
Venue: arXiv cs.AI 2025
Year: 2025

Understanding human mobility patterns has long been a challenging task in transportation modeling. Due to the difficulties in obtaining high-quality training datasets across diverse locations, conventional activity-based models and learning-based human mobility modeling algorithms are particularly limited by the availability and quality of datasets. Current approaches primarily focus on spatial-temporal patterns while neglecting semantic relationships such as logical connections or dependencies between activities and household coordination activities like joint shopping trips or family meal times, both crucial for realistic mobility modeling. We propose a retrieval-augmented large language model (LLM) framework that generates activity chains with household coordination using only public accessible statistical and socio-demographic information, reducing the need for sophisticated mobility data. The retrieval-augmentation mechanism enables household coordination and maintains statistical consistency across generated patterns, addressing a key gap in existing methods. Our validation with NHTS and SCAG-ABM datasets demonstrates effective mobility synthesis and strong adaptability for regions with limited mobility data availability.
AI Delegates with a Dual Focus: Ensuring Privacy and Strategic Self-Disclosure
Venue: arXiv cs.AI 2025
Year: 2025

Large language model (LLM)-based AI delegates are increasingly utilized to act on behalf of users, assisting them with a wide range of tasks through conversational interfaces. Despite their advantages, concerns arise regarding the potential risk of privacy leaks, particularly in scenarios involving social interactions. While existing research has focused on protecting privacy by limiting the access of AI delegates to sensitive user information, many social scenarios require disclosing private details to achieve desired social goals, necessitating a balance between privacy protection and disclosure. To address this challenge, we first conduct a pilot study to investigate user perceptions of AI delegates across various social relations and task scenarios, and then propose a novel AI delegate system that enables privacy-conscious self-disclosure. Our user study demonstrates that the proposed AI delegate strategically protects privacy, pioneering its use in diverse and dynamic social interactions.
A Fuzzy-based Approach to Predict Human Interaction by Functional Near-Infrared Spectroscopy
Venue: arXiv cs.AI 2025
Year: 2025

The paper introduces a Fuzzy-based Attention (Fuzzy Attention Layer) mechanism, a novel computational approach to enhance the interpretability and efficacy of neural models in psychological research. The proposed Fuzzy Attention Layer mechanism is integrated as a neural network layer within the Transformer Encoder model to facilitate the analysis of complex psychological phenomena through neural signals, such as those captured by functional Near-Infrared Spectroscopy (fNIRS). By leveraging fuzzy logic, the Fuzzy Attention Layer is capable of learning and identifying interpretable patterns of neural activity. This capability addresses a significant challenge when using Transformer: the lack of transparency in determining which specific brain activities most contribute to particular predictions. Our experimental results demonstrated on fNIRS data from subjects engaged in social interactions involving handholding reveal that the Fuzzy Attention Layer not only learns interpretable patterns of neural activity but also enhances model performance. Additionally, the learned patterns provide deeper insights into the neural correlates of interpersonal touch and emotional exchange. The application of our model shows promising potential in deciphering the subtle complexities of human social behaviors, thereby contributing significantly to the fields of social neuroscience and psychological AI.
Episodic Memory Verbalization using Hierarchical Representations of Life-Long Robot Experience
Venue: arXiv cs.RO 2025
Year: 2025

Verbalization of robot experience, i.e., summarization of and question answering about a robot's past, is a crucial ability for improving human-robot interaction. Previous works applied rule-based systems or fine-tuned deep models to verbalize short (several-minute-long) streams of episodic data, limiting generalization and transferability. In our work, we apply large pretrained models to tackle this task with zero or few examples, and specifically focus on verbalizing life-long experiences. For this, we derive a tree-like data structure from episodic memory (EM), with lower levels representing raw perception and proprioception data, and higher levels abstracting events to natural language concepts. Given such a hierarchical representation built from the experience stream, we apply a large language model as an agent to interactively search the EM given a user's query, dynamically expanding (initially collapsed) tree nodes to find the relevant information. The approach keeps computational costs low even when scaling to months of robot experience data. We evaluate our method on simulated household robot data, human egocentric videos, and real-world robot recordings, demonstrating its flexibility and scalability.
From Innermost to Full Probabilistic Term Rewriting: Almost-Sure Termination, Complexity, and Modularity
Venue: arXiv cs.LO 2025
Year: 2025

There are many evaluation strategies for term rewrite systems, but automatically proving termination or analyzing complexity is usually easiest for innermost rewriting. Several syntactic criteria exist when innermost termination implies (full) termination or when runtime complexity and innermost runtime complexity coincide. We adapt these criteria to the probabilistic setting, e.g., we show when it suffices to analyze almost-sure termination w.r.t. innermost rewriting in order to prove (full) almost-sure termination of probabilistic term rewrite systems. These criteria can be applied for both termination and complexity analysis in the probabilistic setting. We implemented and evaluated our new contributions in the tool AProVE. Moreover, we also use our new results to investigate the modularity of probabilistic termination properties.
Differentiable Contact Dynamics for Stable Object Placement Under Geometric Uncertainties
Venue: arXiv cs.RO 2025
Year: 2025

From serving a cup of coffee to positioning mechanical parts during assembly, stable object placement is a crucial skill for future robots. It becomes particularly challenging under geometric uncertainties, e.g., when the object pose or shape is not known accurately. This work leverages a differentiable simulation model of contact dynamics to tackle this challenge. We derive a novel gradient that relates force-torque sensor readings to geometric uncertainties, thus enabling uncertainty estimation by minimizing discrepancies between sensor data and model predictions via gradient descent. Gradient-based methods are sensitive to initialization. To mitigate this effect, we maintain a belief over multiple estimates and choose the robot action based on the current belief at each timestep. In experiments on a Franka robot arm, our method achieved promising results on multiple objects under various geometric uncertainties, including the in-hand pose uncertainty of a grasped object, the object shape uncertainty, and the environment uncertainty.
SECURE: Semantics-aware Embodied Conversation under Unawareness for Lifelong Robot Learning
Venue: arXiv cs.RO 2025
Year: 2025

This paper addresses a challenging interactive task learning scenario we call rearrangement under unawareness: an agent must manipulate a rigid-body environment without knowing a key concept necessary for solving the task and must learn about it during deployment. For example, the user may ask to "put the two granny smith apples inside the basket", but the agent cannot correctly identify which objects in the environment are "granny smith" as the agent has not been exposed to such a concept before. We introduce SECURE, an interactive task learning policy designed to tackle such scenarios. The unique feature of SECURE is its ability to enable agents to engage in semantic analysis when processing embodied conversations and making decisions. Through embodied conversation, a SECURE agent adjusts its deficient domain model by engaging in dialogue to identify and learn about previously unforeseen possibilities. The SECURE agent learns from the user's embodied corrective feedback when mistakes are made and strategically engages in dialogue to uncover useful information about novel concepts relevant to the task. These capabilities enable the SECURE agent to generalize to new tasks with the acquired knowledge. We demonstrate in the simulated Blocksworld and the real-world apple manipulation environments that the SECURE agent, which solves such rearrangements under unawareness, is more data-efficient than agents that do not engage in embodied conversation or semantic analysis.
Harnessing Shared Relations via Multimodal Mixup Contrastive Learning for Multimodal Classification
Venue: arXiv cs.CV 2025
Year: 2025

Deep multimodal learning has shown remarkable success by leveraging contrastive learning to capture explicit one-to-one relations across modalities. However, real-world data often exhibits shared relations beyond simple pairwise associations. We propose M3CoL, a Multimodal Mixup Contrastive Learning approach to capture nuanced shared relations inherent in multimodal data. Our key contribution is a Mixup-based contrastive loss that learns robust representations by aligning mixed samples from one modality with their corresponding samples from other modalities thereby capturing shared relations between them. For multimodal classification tasks, we introduce a framework that integrates a fusion module with unimodal prediction modules for auxiliary supervision during training, complemented by our proposed Mixup-based contrastive loss. Through extensive experiments on diverse datasets (N24News, ROSMAP, BRCA, and Food-101), we demonstrate that M3CoL effectively captures shared multimodal relations and generalizes across domains. It outperforms state-of-the-art methods on N24News, ROSMAP, and BRCA, while achieving comparable performance on Food-101. Our work highlights the significance of learning shared relations for robust multimodal learning, opening up promising avenues for future research. Our code is publicly available at https://github.com/RaghavSinghal10/M3CoL.
Auction-based Adaptive Resource Allocation Optimization in Dense and Heterogeneous IoT Networks
Venue: arXiv cs.GT 2025
Year: 2025

Efficient and reliable resource allocation within densely-deployed massive IoT networks remains a key challenge due to resource constraints among low-size, weight, and power (SWaP) IoT devices and within the network and limitations of conventional centralized methods under incomplete information. We propose a novel auction-based framework for adaptive resource allocation, combining space-time-frequency spreading (STFS) techniques with Bayesian Game approaches. We introduce novel modified Simultaneous Ascending Auction (mSAA) mechanism tailored to densely-deployed and low-complexity IoT networks, enabling distributed computation and reduced power consumption. By incorporating Bayesian game-based bidding strategies and optimizing dispersion matrices for signal transmission, the proposed approach ensures enhanced channel throughput and energy efficiency. Comparative analysis against traditional auction types, including First-Price and Second-Price Sealed-Bid Auctions, as well as the Vickery-Clarke-Groves (VCG) mechanism, demonstrates the superiority of mSAA in terms of surplus maximization, revenue efficiency, and robustness in risk-prone bidding environments. Simulation results validate the model's adaptability to heterogeneous IoT nodes and its potential for dense deployment across different environments and verticals.
Spatiotemporal Graph Learning with Direct Volumetric Information Passing and Feature Enhancement
Venue: arXiv cs.LG 2025
Year: 2025

Data-driven learning of physical systems has kindled significant attention, where many neural models have been developed. In particular, mesh-based graph neural networks (GNNs) have demonstrated significant potential in modeling spatiotemporal dynamics across arbitrary geometric domains. However, the existing node-edge message-passing and aggregation mechanism in GNNs limits the representation learning ability. In this paper, we proposed a dual-module framework, Cell-embedded and Feature-enhanced Graph Neural Network (aka, CeFeGNN), for learning spatiotemporal dynamics. Specifically, we embed learnable cell attributions to the common node-edge message passing process, which better captures the spatial dependency of regional features. Such a strategy essentially upgrades the local aggregation scheme from first order (e.g., from edge to node) to a higher order (e.g., from volume and edge to node), which takes advantage of volumetric information in message passing. Meanwhile, a novel feature-enhanced block is designed to further improve the model's performance and alleviate the over-smoothness problem. Extensive experiments on various PDE systems and one real-world dataset demonstrate that CeFeGNN achieves superior performance compared with other baselines.
Using dynamic loss weighting to boost improvements in forecast stability
Venue: arXiv cs.LG 2025
Year: 2025

Rolling origin forecast instability refers to variability in forecasts for a specific period induced by updating the forecast when new data points become available. Recently, an extension to the N-BEATS model for univariate time series point forecasting was proposed to include forecast stability as an additional optimization objective, next to accuracy. It was shown that more stable forecasts can be obtained without harming accuracy by minimizing a composite loss function that contains both a forecast error and a forecast instability component, with a static hyperparameter to control the impact of stability. In this paper, we empirically investigate whether further improvements in stability can be obtained without compromising accuracy by applying dynamic loss weighting algorithms, which change the loss weights during training. We show that existing dynamic loss weighting methods can achieve this objective and provide insights into why this might be the case. Additionally, we propose an extension to the Random Weighting approach -- Task-Aware Random Weighting -- which also achieves this objective.
Criticality and Safety Margins for Reinforcement Learning
Venue: arXiv cs.LG 2025
Year: 2025

State of the art reinforcement learning methods sometimes encounter unsafe situations. Identifying when these situations occur is of interest both for post-hoc analysis and during deployment, where it might be advantageous to call out to a human overseer for help. Efforts to gauge the criticality of different points in time have been developed, but their accuracy is not well established due to a lack of ground truth, and they are not designed to be easily interpretable by end users. Therefore, we seek to define a criticality framework with both a quantifiable ground truth and a clear significance to users. We introduce true criticality as the expected drop in reward when an agent deviates from its policy for n consecutive random actions. We also introduce the concept of proxy criticality, a low-overhead metric that has a statistically monotonic relationship to true criticality. Safety margins make these interpretable, when defined as the number of random actions for which performance loss will not exceed some tolerance with high confidence. We demonstrate this approach in several environment-agent combinations; for an A3C agent in an Atari Beamrider environment, the lowest 5% of safety margins contain 47% of agent losses; i.e., supervising only 5% of decisions could potentially prevent roughly half of an agent's errors. This criticality framework measures the potential impacts of bad decisions, even before those decisions are made, allowing for more effective debugging and oversight of autonomous agents.
Conformal Prediction: A Theoretical Note and Benchmarking Transductive Node Classification in Graphs
Venue: arXiv cs.LG 2025
Year: 2025

Conformal prediction has become increasingly popular for quantifying the uncertainty associated with machine learning models. Recent work in graph uncertainty quantification has built upon this approach for conformal graph prediction. The nascent nature of these explorations has led to conflicting choices for implementations, baselines, and method evaluation. In this work, we analyze the design choices made in the literature and discuss the tradeoffs associated with existing methods. Building on the existing implementations, we introduce techniques to scale existing methods to large-scale graph datasets without sacrificing performance. Our theoretical and empirical results justify our recommendations for future scholarship in graph conformal prediction.
Speech to Reality: On-Demand Production using Natural Language, 3D Generative AI, and Discrete Robotic Assembly
Venue: arXiv cs.RO 2025
Year: 2025

We present a system that transforms speech into physical objects using 3D generative AI and discrete robotic assembly. By leveraging natural language, the system makes design and manufacturing more accessible to people without expertise in 3D modeling or robotic programming. While generative AI models can produce a wide range of 3D meshes, AI-generated meshes are not directly suitable for robotic assembly or account for fabrication constraints. To address this, we contribute a workflow that integrates natural language, 3D generative AI, geometric processing, and discrete robotic assembly. The system discretizes the AI-generated geometry and modifies it to meet fabrication constraints such as component count, overhangs, and connectivity to ensure feasible physical assembly. The results are demonstrated through the assembly of various objects, ranging from chairs to shelves, which are prompted via speech and realized within 5 minutes using a robotic arm.
Hi-Drive: Hierarchical POMDP Planning for Safe Autonomous Driving in Diverse Urban Environments
Venue: arXiv cs.RO 2025
Year: 2025

Uncertainties in dynamic road environments pose significant challenges for behavior and trajectory planning in autonomous driving. This paper introduces Hi-Drive, a hierarchical planning algorithm addressing uncertainties at both behavior and trajectory levels using a hierarchical Partially Observable Markov Decision Process (POMDP) formulation. Hi-Drive employs driver models to represent uncertain behavioral intentions of other vehicles and uses their parameters to infer hidden driving styles. By treating driver models as high-level decision-making actions, our approach effectively manages the exponential complexity inherent in POMDPs. To further enhance safety and robustness, Hi-Drive integrates a trajectory optimization based on importance sampling, refining trajectories using a comprehensive analysis of critical agents. Evaluations on real-world urban driving datasets demonstrate that Hi-Drive significantly outperforms state-of-the-art planning-based and learning-based methods across diverse urban driving situations in real-world benchmarks.
Search3D: Hierarchical Open-Vocabulary 3D Segmentation
Venue: arXiv cs.CV 2025
Year: 2025

Open-vocabulary 3D segmentation enables exploration of 3D spaces using free-form text descriptions. Existing methods for open-vocabulary 3D instance segmentation primarily focus on identifying object-level instances but struggle with finer-grained scene entities such as object parts, or regions described by generic attributes. In this work, we introduce Search3D, an approach to construct hierarchical open-vocabulary 3D scene representations, enabling 3D search at multiple levels of granularity: fine-grained object parts, entire objects, or regions described by attributes like materials. Unlike prior methods, Search3D shifts towards a more flexible open-vocabulary 3D search paradigm, moving beyond explicit object-centric queries. For systematic evaluation, we further contribute a scene-scale open-vocabulary 3D part segmentation benchmark based on MultiScan, along with a set of open-vocabulary fine-grained part annotations on ScanNet++. Search3D outperforms baselines in scene-scale open-vocabulary 3D part segmentation, while maintaining strong performance in segmenting 3D objects and materials. Our project page is http://search3d-segmentation.github.io.