OpenRaiser/Intern-Atlas huggingface dataset:
UW-3DGS: Underwater 3D Reconstruction with Physics-Aware Gaussian Splatting
Venue: arXiv cs.CV 2025
Year: 2025

Underwater 3D scene reconstruction faces severe challenges from light absorption, scattering, and turbidity, which degrade geometry and color fidelity in traditional methods like Neural Radiance Fields (NeRF). While NeRF extensions such as SeaThru-NeRF incorporate physics-based models, their MLP reliance limits efficiency and spatial resolution in hazy environments. We introduce UW-3DGS, a novel framework adapting 3D Gaussian Splatting (3DGS) for robust underwater reconstruction. Key innovations include: (1) a plug-and-play learnable underwater image formation module using voxel-based regression for spatially varying attenuation and backscatter; and (2) a Physics-Aware Uncertainty Pruning (PAUP) branch that adaptively removes noisy floating Gaussians via uncertainty scoring, ensuring artifact-free geometry. The pipeline operates in training and rendering stages. During training, noisy Gaussians are optimized end-to-end with underwater parameters, guided by PAUP pruning and scattering modeling. In rendering, refined Gaussians produce clean Unattenuated Radiance Images (URIs) free from media effects, while learned physics enable realistic Underwater Images (UWIs) with accurate light transport. Experiments on SeaThru-NeRF and UWBundle datasets show superior performance, achieving PSNR of 27.604, SSIM of 0.868, and LPIPS of 0.104 on SeaThru-NeRF, with ~65% reduction in floating artifacts.
Beyond Constant Parameters: Hyper Prediction Models and HyperMPC
Venue: arXiv cs.RO 2025
Year: 2025

Model Predictive Control (MPC) is among the most widely adopted and reliable methods for robot control, relying critically on an accurate dynamics model. However, existing dynamics models used in the gradient-based MPC are limited by computational complexity and state representation. To address this limitation, we propose the Hyper Prediction Model (HyperPM) - a novel approach in which we project the unmodeled dynamics onto a time-dependent dynamics model. This time-dependency is captured through time-varying model parameters, whose evolution over the MPC prediction horizon is learned using a neural network. Such formulation preserves the computational efficiency and robustness of the base model while equipping it with the capacity to anticipate previously unmodeled phenomena. We evaluated the proposed approach on several challenging systems, including real-world F1TENTH autonomous racing, and demonstrated that it significantly reduces long-horizon prediction errors. Moreover, when integrated within the MPC framework (HyperMPC), our method consistently outperforms existing state-of-the-art techniques.
AnomalyMoE: Towards a Language-free Generalist Model for Unified Visual Anomaly Detection
Venue: arXiv cs.CV 2025
Year: 2025

Anomaly detection is a critical task across numerous domains and modalities, yet existing methods are often highly specialized, limiting their generalizability. These specialized models, tailored for specific anomaly types like textural defects or logical errors, typically exhibit limited performance when deployed outside their designated contexts. To overcome this limitation, we propose AnomalyMoE, a novel and universal anomaly detection framework based on a Mixture-of-Experts (MoE) architecture. Our key insight is to decompose the complex anomaly detection problem into three distinct semantic hierarchies: local structural anomalies, component-level semantic anomalies, and global logical anomalies. AnomalyMoE correspondingly employs three dedicated expert networks at the patch, component, and global levels, and is specialized in reconstructing features and identifying deviations at its designated semantic level. This hierarchical design allows a single model to concurrently understand and detect a wide spectrum of anomalies. Furthermore, we introduce an Expert Information Repulsion (EIR) module to promote expert diversity and an Expert Selection Balancing (ESB) module to ensure the comprehensive utilization of all experts. Experiments on 8 challenging datasets spanning industrial imaging, 3D point clouds, medical imaging, video surveillance, and logical anomaly detection demonstrate that AnomalyMoE establishes new state-of-the-art performance, significantly outperforming specialized methods in their respective domains.
Overconfidence in LLM-as-a-Judge: Diagnosis and Confidence-Driven Solution
Venue: arXiv cs.AI 2025
Year: 2025

Large Language Models (LLMs) are widely used as automated judges, where practical value depends on both accuracy and trustworthy, risk-aware judgments. Existing approaches predominantly focus on accuracy, overlooking the necessity of well-calibrated confidence, which is vital for adaptive and reliable evaluation pipelines. In this work, we advocate a shift from accuracy-centric evaluation to confidence-driven, risk-aware LLM-as-a-Judge systems, emphasizing the necessity of well-calibrated confidence for trustworthy and adaptive evaluation. We systematically identify the Overconfidence Phenomenon in current LLM-as-a-Judges, where predicted confidence significantly overstates actual correctness, undermining reliability in practical deployment. To quantify this phenomenon, we introduce TH-Score, a novel metric measuring confidence-accuracy alignment. Furthermore, we propose LLM-as-a-Fuser, an ensemble framework that transforms LLMs into reliable, risk-aware evaluators. Extensive experiments demonstrate that our approach substantially improves calibration and enables adaptive, confidence-driven evaluation pipelines, achieving superior reliability and accuracy compared to existing baselines.
Depth Jitter: Seeing through the Depth
Venue: arXiv cs.CV 2025
Year: 2025

Depth information is essential in computer vision, particularly in underwater imaging, robotics, and autonomous navigation. However, conventional augmentation techniques overlook depth aware transformations, limiting model robustness in real world depth variations. In this paper, we introduce Depth-Jitter, a novel depth-based augmentation technique that simulates natural depth variations to improve generalization. Our approach applies adaptive depth offsetting, guided by depth variance thresholds, to generate synthetic depth perturbations while preserving structural integrity. We evaluate Depth-Jitter on two benchmark datasets, FathomNet and UTDAC2020 demonstrating its impact on model stability under diverse depth conditions. Extensive experiments compare Depth-Jitter against traditional augmentation strategies such as ColorJitter, analyzing performance across varying learning rates, encoders, and loss functions. While Depth-Jitter does not always outperform conventional methods in absolute performance, it consistently enhances model stability and generalization in depth-sensitive environments. These findings highlight the potential of depth-aware augmentation for real-world applications and provide a foundation for further research into depth-based learning strategies. The proposed technique is publicly available to support advancements in depth-aware augmentation. The code is publicly available on \href{https://github.com/mim-team/Depth-Jitter}{github}.
REBot: Reflexive Evasion Robot for Instantaneous Dynamic Obstacle Avoidance
Venue: arXiv cs.RO 2025
Year: 2025

Dynamic obstacle avoidance (DOA) is critical for quadrupedal robots operating in environments with moving obstacles or humans. Existing approaches typically rely on navigation-based trajectory replanning, which assumes sufficient reaction time and leading to fails when obstacles approach rapidly. In such scenarios, quadrupedal robots require reflexive evasion capabilities to perform instantaneous, low-latency maneuvers. This paper introduces Reflexive Evasion Robot (REBot), a control framework that enables quadrupedal robots to achieve real-time reflexive obstacle avoidance. REBot integrates an avoidance policy and a recovery policy within a finite-state machine. With carefully designed learning curricula and by incorporating regularization and adaptive rewards, REBot achieves robust evasion and rapid stabilization in instantaneous DOA tasks. We validate REBot through extensive simulations and real-world experiments, demonstrating notable improvements in avoidance success rates, energy efficiency, and robustness to fast-moving obstacles. Videos and appendix are available on https://rebot-2025.github.io/.
SIFThinker: Spatially-Aware Image Focus for Visual Reasoning
Venue: arXiv cs.CV 2025
Year: 2025

Current multimodal large language models (MLLMs) still face significant challenges in complex visual tasks (e.g., spatial understanding, fine-grained perception). Prior methods have tried to incorporate visual reasoning, however, they fail to leverage attention correction with spatial cues to iteratively refine their focus on prompt-relevant regions. In this paper, we introduce SIFThinker, a spatially-aware "think-with-images" framework that mimics human visual perception. Specifically, SIFThinker enables attention correcting and image region focusing by interleaving depth-enhanced bounding boxes and natural language. Our contributions are twofold: First, we introduce a reverse-expansion-forward-inference strategy that facilitates the generation of interleaved image-text chains of thought for process-level supervision, which in turn leads to the construction of the SIF-50K dataset. Besides, we propose GRPO-SIF, a reinforced training paradigm that integrates depth-informed visual grounding into a unified reasoning pipeline, teaching the model to dynamically correct and focus on prompt-relevant regions. Extensive experiments demonstrate that SIFThinker outperforms state-of-the-art methods in spatial understanding and fine-grained visual perception, while maintaining strong general capabilities, highlighting the effectiveness of our method. Code: https://github.com/zhangquanchen/SIFThinker.
Analysis and Constructive Criticism of the Official Data Protection Impact Assessment of the German Corona-Warn-App
Venue: arXiv cs.CY 2025
Year: 2025

On June 15, 2020, the official data protection impact assessment (DPIA) for the German Corona-Warn-App (CWA) was made publicly available. Shortly thereafter, the app was made available for download in the app stores. However, the first version of the DPIA had significant weaknesses, as this paper argues. However since then, the quality of the official DPIA increased immensely due to interventions and interactions such as an alternative DPIA produced by external experts and extensive public discussions. To illustrate the development and improvement, the initial weaknesses of the official DPIA are documented and analyzed here. For this paper to meaningfully do this, first the purpose of a DPIA is briefly summarized. According to Article 35 of the GDPR, it consists primarily of identifying the risks to the fundamental rights and freedoms of natural persons. This paper documents at least specific methodological, technical and legal shortcomings of the initial DPIA of the CWA: 1) It only focused on the app itself, neither on the whole processing procedure nor on the infrastructure used. 2) It only briefly touched on the main data protection specific attacker, the processing organization itself. And 3) The discussion of effective safeguards to all risks including such as the ones posed by Google and Apple has only insufficiently been worked out. Finally, this paper outlines the constructive criticism and suggestions uttered, also by the authors of this paper, regarding the initial release. As of now, some of those constructive contributions have been worked into the current DPIA, such as 1) and 2), but some central ones still haven't, such as 3). This paper aims to provide an opportunity to improve the practical knowledge and academic discourse regarding high-quality DPIAs.
Large Language Model Data Generation for Enhanced Intent Recognition in German Speech
Venue: arXiv cs.CL 2025
Year: 2025

Intent recognition (IR) for speech commands is essential for artificial intelligence (AI) assistant systems; however, most existing approaches are limited to short commands and are predominantly developed for English. This paper addresses these limitations by focusing on IR from speech by elderly German speakers. We propose a novel approach that combines an adapted Whisper ASR model, fine-tuned on elderly German speech (SVC-de), with Transformer-based language models trained on synthetic text datasets generated by three well-known large language models (LLMs): LeoLM, Llama3, and ChatGPT. To evaluate the robustness of our approach, we generate synthetic speech with a text-to-speech model and conduct extensive cross-dataset testing. Our results show that synthetic LLM-generated data significantly boosts classification performance and robustness to different speaking styles and unseen vocabulary. Notably, we find that LeoLM, a smaller, domain-specific 13B LLM, surpasses the much larger ChatGPT (175B) in dataset quality for German intent recognition. Our approach demonstrates that generative AI can effectively bridge data gaps in low-resource domains. We provide detailed documentation of our data generation and training process to ensure transparency and reproducibility.
Surrogate-Enhanced Modeling and Adaptive Modular Control of All-Electric Heavy-Duty Robotic Manipulators
Venue: arXiv cs.RO 2025
Year: 2025

This paper presents a unified system-level modeling and control framework for an all-electric heavy-duty robotic manipulator (HDRM) driven by electromechanical linear actuators (EMLAs). A surrogate-enhanced actuator model, combining integrated electromechanical dynamics with a neural network trained on a dedicated testbed, is integrated into an extended virtual decomposition control (VDC) architecture augmented by a natural adaptation law. The derived analytical HDRM model supports a hierarchical control structure that seamlessly maps high-level force and velocity objectives to real-time actuator commands, accompanied by a Lyapunov-based stability proof. In multi-domain simulations of both cubic and a custom planar triangular trajectory, the proposed adaptive modular controller achieves sub-centimeter Cartesian tracking accuracy. Experimental validation of the same 1-DoF platform under realistic load emulation confirms the efficacy of the proposed control strategy. These findings demonstrate that a surrogate-enhanced EMLA model embedded in the VDC approach can enable modular, real-time control of an all-electric HDRM, supporting its deployment in next-generation mobile working machines.
Street View Sociability: Interpretable Analysis of Urban Social Behavior Across 15 Cities
Venue: arXiv cs.CV 2025
Year: 2025

Designing socially active streets has long been a goal of urban planning, yet existing quantitative research largely measures pedestrian volume rather than the quality of social interactions. We hypothesize that street view imagery -- an inexpensive data source with global coverage -- contains latent social information that can be extracted and interpreted through established social science theory. As a proof of concept, we analyzed 2,998 street view images from 15 cities using a multimodal large language model guided by Mehta's taxonomy of passive, fleeting, and enduring sociability -- one illustrative example of a theory grounded in urban design that could be substituted or complemented by other sociological frameworks. We then used linear regression models, controlling for factors like weather, time of day, and pedestrian counts, to test whether the inferred sociability measures correlate with city-level place attachment scores from the World Values Survey and with environmental predictors (e.g., green, sky, and water view indices) derived from individual street view images. Results aligned with long-standing urban planning theory: the sky view index was associated with all three sociability types, the green view index predicted enduring sociability, and place attachment was positively associated with fleeting sociability. These results provide preliminary evidence that street view images can be used to infer relationships between specific types of social interactions and built environment variables. Further research could establish street view imagery as a scalable, privacy-preserving tool for studying urban sociability, enabling cross-cultural theory testing and evidence-based design of socially vibrant cities.
Structural Equation-VAE: Disentangled Latent Representations for Tabular Data
Venue: arXiv cs.LG 2025
Year: 2025

Learning interpretable latent representations from tabular data remains a challenge in deep generative modeling. We introduce SE-VAE (Structural Equation-Variational Autoencoder), a novel architecture that embeds measurement structure directly into the design of a variational autoencoder. Inspired by structural equation modeling, SE-VAE aligns latent subspaces with known indicator groupings and introduces a global nuisance latent to isolate construct-specific confounding variation. This modular architecture enables disentanglement through design rather than through statistical regularizers alone. We evaluate SE-VAE on a suite of simulated tabular datasets and benchmark its performance against a series of leading baselines using standard disentanglement metrics. SE-VAE consistently outperforms alternatives in factor recovery, interpretability, and robustness to nuisance variation. Ablation results reveal that architectural structure, rather than regularization strength, is the key driver of performance. SE-VAE offers a principled framework for white-box generative modeling in scientific and social domains where latent constructs are theory-driven and measurement validity is essential.
An Implemention of Two-Phase Image Segmentation using the Split Bregman Method
Venue: arXiv cs.CV 2025
Year: 2025

In this paper, we describe an implementation of the two-phase image segmentation algorithm proposed by Goldstein, Bresson, Osher in \cite{gold:bre}. This algorithm partitions the domain of a given 2d image into foreground and background regions, and each pixel of the image is assigned membership to one of these two regions. The underlying assumption for the segmentation model is that the pixel values of the input image can be summarized by two distinct average values, and that the region boundaries are smooth. Accordingly, the model is defined as an energy in which the variable is a region membership function to assign pixels to either region, originally proposed by Chan and Vese in \cite{chan:vese}. This energy is the sum of image data terms in the regions and a length penalty for region boundaries. Goldstein, Bresson, Osher modify the energy of Chan-Vese in \cite{gold:bre} so that their new energy can be minimized efficiently using the split Bregman method to produce an equivalent two-phase segmentation. We provide a detailed implementation of this method \cite{gold:bre}, and document its performance with several images over a range of algorithm parameters.
LLMs vs. Chinese Anime Enthusiasts: A Comparative Study on Emotionally Supportive Role-Playing
Venue: arXiv cs.CL 2025
Year: 2025

Large Language Models (LLMs) have demonstrated impressive capabilities in role-playing conversations and providing emotional support as separate research directions. However, there remains a significant research gap in combining these capabilities to enable emotionally supportive interactions with virtual characters. To address this research gap, we focus on anime characters as a case study because of their well-defined personalities and large fan bases. This choice enables us to effectively evaluate how well LLMs can provide emotional support while maintaining specific character traits. We introduce ChatAnime, the first Emotionally Supportive Role-Playing (ESRP) dataset. We first thoughtfully select 20 top-tier characters from popular anime communities and design 60 emotion-centric real-world scenario questions. Then, we execute a nationwide selection process to identify 40 Chinese anime enthusiasts with profound knowledge of specific characters and extensive experience in role-playing. Next, we systematically collect two rounds of dialogue data from 10 LLMs and these 40 Chinese anime enthusiasts. To evaluate the ESRP performance of LLMs, we design a user experience-oriented evaluation system featuring 9 fine-grained metrics across three dimensions: basic dialogue, role-playing and emotional support, along with an overall metric for response diversity. In total, the dataset comprises 2,400 human-written and 24,000 LLM-generated answers, supported by over 132,000 human annotations. Experimental results show that top-performing LLMs surpass human fans in role-playing and emotional support, while humans still lead in response diversity. We hope this work can provide valuable resources and insights for future research on optimizing LLMs in ESRP. Our datasets are available at https://github.com/LanlanQiu/ChatAnime.
Identity Increases Stability in Neural Cellular Automata
Venue: arXiv cs.NE 2025
Year: 2025

Neural Cellular Automata (NCAs) offer a way to study the growth of two-dimensional artificial organisms from a single seed cell. From the outset, NCA-grown organisms have had issues with stability, their natural boundary often breaking down and exhibiting tumour-like growth or failing to maintain the expected shape. In this paper, we present a method for improving the stability of NCA-grown organisms by introducing an 'identity' layer with simple constraints during training. Results show that NCAs grown in close proximity are more stable compared with the original NCA model. Moreover, only a single identity value is required to achieve this increase in stability. We observe emergent movement from the stable organisms, with increasing prevalence for models with multiple identity values. This work lays the foundation for further study of the interaction between NCA-grown organisms, paving the way for studying social interaction at a cellular level in artificial organisms. Code/Videos available at: https://github.com/jstovold/ALIFE2025
Sample-efficient LLM Optimization with Reset Replay
Venue: arXiv cs.LG 2025
Year: 2025

Recent advancements in post-training Large Language Models (LLMs), particularly through Reinforcement Learning (RL) and preference optimization methods, are key drivers for enhancing their reasoning capabilities. However, these methods are often plagued by low sample efficiency and a susceptibility to primacy bias, where overfitting to initial experiences degrades policy quality and damages the learning process. To address these challenges, we introduce LLM optimization with Reset Replay (LoRR), a general and powerful plugin designed to enhance sample efficiency in any preference-based optimization framework. LoRR core mechanism enables training at a high replay number, maximizing the utility of each collected data batch. To counteract the risk of overfitting inherent in high-replay training, LoRR incorporates a periodic reset strategy with reusing initial data, which preserves network plasticity. Furthermore, it leverages a hybrid optimization objective, combining supervised fine-tuning (SFT) and preference-based losses to further bolster data exploitation. Our extensive experiments demonstrate that LoRR significantly boosts the performance of various preference optimization methods on both mathematical and general reasoning benchmarks. Notably, an iterative DPO approach augmented with LoRR achieves comparable performance on challenging math tasks, outperforming some complex and computationally intensive RL-based algorithms. These findings highlight that LoRR offers a practical, sample-efficient, and highly effective paradigm for LLM finetuning, unlocking greater performance from limited data.