OpenRaiser/Intern-Atlas huggingface dataset:
Technical Report for ICRA 2025 GOOSE 2D Semantic Segmentation Challenge: Leveraging Color Shift Correction, RoPE-Swin Backbone, and Quantile-based Label Denoising Strategy for Robust Outdoor Scene Understanding
Venue: arXiv cs.CV 2025
Year: 2025

This report presents our semantic segmentation framework developed by team ACVLAB for the ICRA 2025 GOOSE 2D Semantic Segmentation Challenge, which focuses on parsing outdoor scenes into nine semantic categories under real-world conditions. Our method integrates a Swin Transformer backbone enhanced with Rotary Position Embedding (RoPE) for improved spatial generalization, alongside a Color Shift Estimation-and-Correction module designed to compensate for illumination inconsistencies in natural environments. To further improve training stability, we adopt a quantile-based denoising strategy that downweights the top 2.5\% of highest-error pixels, treating them as noise and suppressing their influence during optimization. Evaluated on the official GOOSE test set, our approach achieved a mean Intersection over Union (mIoU) of 0.848, demonstrating the effectiveness of combining color correction, positional encoding, and error-aware denoising in robust semantic segmentation.
Explainable AI the Latest Advancements and New Trends
Venue: arXiv cs.AI 2025
Year: 2025

In recent years, Artificial Intelligence technology has excelled in various applications across all domains and fields. However, the various algorithms in neural networks make it difficult to understand the reasons behind decisions. For this reason, trustworthy AI techniques have started gaining popularity. The concept of trustworthiness is cross-disciplinary; it must meet societal standards and principles, and technology is used to fulfill these requirements. In this paper, we first surveyed developments from various countries and regions on the ethical elements that make AI algorithms trustworthy; and then focused our survey on the state of the art research into the interpretability of AI. We have conducted an intensive survey on technologies and techniques used in making AI explainable. Finally, we identified new trends in achieving explainable AI. In particular, we elaborate on the strong link between the explainability of AI and the meta-reasoning of autonomous systems. The concept of meta-reasoning is 'reason the reasoning', which coincides with the intention and goal of explainable Al. The integration of the approaches could pave the way for future interpretable AI systems.
MELLM: A Flow-Guided Large Language Model for Micro-Expression Understanding
Venue: arXiv cs.CV 2025
Year: 2025

Micro-expressions (MEs), brief and low-intensity facial movements revealing concealed emotions, are crucial for affective computing. Despite notable progress in ME recognition, existing methods are largely confined to discrete emotion classification, lacking the capacity for comprehensive ME Understanding (MEU), particularly in interpreting subtle facial dynamics and underlying emotional cues. While Multimodal Large Language Models (MLLMs) offer potential for MEU with their advanced reasoning abilities, they still struggle to perceive such subtle facial affective behaviors. To bridge this gap, we propose a ME Large Language Model (MELLM) that integrates optical flow-based sensitivity to subtle facial motions with the powerful inference ability of LLMs. Specifically, an iterative, warping-based optical-flow estimator, named MEFlowNet, is introduced to precisely capture facial micro-movements. For its training and evaluation, we construct MEFlowDataset, a large-scale optical-flow dataset with 54,611 onset-apex image pairs spanning diverse identities and subtle facial motions. Subsequently, we design a Flow-Guided Micro-Expression Understanding paradigm. Under this framework, the optical flow signals extracted by MEFlowNet are leveraged to build MEU-Instruct, an instruction-tuning dataset for MEU. MELLM is then fine-tuned on MEU-Instruct, enabling it to translate subtle motion patterns into human-readable descriptions and generate corresponding emotional inferences. Experiments demonstrate that MEFlowNet significantly outperforms existing optical flow methods in facial and ME-flow estimation, while MELLM achieves state-of-the-art accuracy and generalization across multiple ME benchmarks. To the best of our knowledge, this work presents two key contributions: MEFlowNet as the first dedicated ME flow estimator, and MELLM as the first LLM tailored for MEU.
Incremental Uncertainty-aware Performance Monitoring with Active Labeling Intervention
Venue: arXiv cs.LG 2025
Year: 2025

We study the problem of monitoring machine learning models under gradual distribution shifts, where circumstances change slowly over time, often leading to unnoticed yet significant declines in accuracy. To address this, we propose Incremental Uncertainty-aware Performance Monitoring (IUPM), a novel label-free method that estimates performance changes by modeling gradual shifts using optimal transport. In addition, IUPM quantifies the uncertainty in the performance prediction and introduces an active labeling procedure to restore a reliable estimate under a limited labeling budget. Our experiments show that IUPM outperforms existing performance estimation baselines in various gradual shift scenarios and that its uncertainty awareness guides label acquisition more effectively compared to other strategies.
Empirical Analysis of Asynchronous Federated Learning on Heterogeneous Devices: Efficiency, Fairness, and Privacy Trade-offs
Venue: arXiv cs.DC 2025
Year: 2025

Device heterogeneity poses major challenges in Federated Learning (FL), where resource-constrained clients slow down synchronous schemes that wait for all updates before aggregation. Asynchronous FL addresses this by incorporating updates as they arrive, substantially improving efficiency. While its efficiency gains are well recognized, its privacy costs remain largely unexplored, particularly for high-end devices that contribute updates more frequently, increasing their cumulative privacy exposure. This paper presents the first comprehensive analysis of the efficiency-fairness-privacy trade-off in synchronous vs. asynchronous FL under realistic device heterogeneity. We empirically compare FedAvg and staleness-aware FedAsync using a physical testbed of five edge devices spanning diverse hardware tiers, integrating Local Differential Privacy (LDP) and the Moments Accountant to quantify per-client privacy loss. Using Speech Emotion Recognition (SER) as a privacy-critical benchmark, we show that FedAsync achieves up to 10x faster convergence but exacerbates fairness and privacy disparities: high-end devices contribute 6-10x more updates and incur up to 5x higher privacy loss, while low-end devices suffer amplified accuracy degradation due to infrequent, stale, and noise-perturbed updates. These findings motivate the need for adaptive FL protocols that jointly optimize aggregation and privacy mechanisms based on client capacity and participation dynamics, moving beyond static, one-size-fits-all solutions.
Unlocking Non-Block-Structured Decisions: Inductive Mining with Choice Graphs
Venue: arXiv cs.AI 2025
Year: 2025

Process discovery aims to automatically derive process models from event logs, enabling organizations to analyze and improve their operational processes. Inductive mining algorithms, while prioritizing soundness and efficiency through hierarchical modeling languages, often impose a strict block-structured representation. This limits their ability to accurately capture the complexities of real-world processes. While recent advancements like the Partially Ordered Workflow Language (POWL) have addressed the block-structure limitation for concurrency, a significant gap remains in effectively modeling non-block-structured decision points. In this paper, we bridge this gap by proposing an extension of POWL to handle non-block-structured decisions through the introduction of choice graphs. Choice graphs offer a structured yet flexible approach to model complex decision logic within the hierarchical framework of POWL. We present an inductive mining discovery algorithm that uses our extension and preserves the quality guarantees of the inductive mining framework. Our experimental evaluation demonstrates that the discovered models, enriched with choice graphs, more precisely represent the complex decision-making behavior found in real-world processes, without compromising the high scalability inherent in inductive mining techniques.
RefPentester: A Knowledge-Informed Self-Reflective Penetration Testing Framework Based on Large Language Models
Venue: arXiv cs.AI 2025
Year: 2025

Automated penetration testing (AutoPT) powered by large language models (LLMs) has gained attention for its ability to automate ethical hacking processes and identify vulnerabilities in target systems by leveraging the inherent knowledge of LLMs. However, existing LLM-based AutoPT frameworks often underperform compared to human experts in challenging tasks for several reasons: the imbalanced knowledge used in LLM training, short-sightedness in the planning process, and hallucinations during command generation. Moreover, the trial-and-error nature of the PT process is constrained by existing frameworks lacking mechanisms to learn from previous failures, restricting adaptive improvement of PT strategies. To address these limitations, we propose a knowledge-informed, self-reflective PT framework powered by LLMs, called RefPentester. This AutoPT framework is designed to assist human operators in identifying the current stage of the PT process, selecting appropriate tactics and techniques for each stage, choosing suggested actions, providing step-by-step operational guidance, and reflecting on and learning from previous failed operations. We also modeled the PT process as a seven-state Stage Machine to integrate the proposed framework effectively. The evaluation shows that RefPentester can successfully reveal credentials on Hack The Box's Sau machine, outperforming the baseline GPT-4o model by 16.7%. Across PT stages, RefPentester also demonstrates superior success rates on PT stage transitions.
X-Sim: Cross-Embodiment Learning via Real-to-Sim-to-Real
Venue: arXiv cs.RO 2025
Year: 2025

Human videos offer a scalable way to train robot manipulation policies, but lack the action labels needed by standard imitation learning algorithms. Existing cross-embodiment approaches try to map human motion to robot actions, but often fail when the embodiments differ significantly. We propose X-Sim, a real-to-sim-to-real framework that uses object motion as a dense and transferable signal for learning robot policies. X-Sim starts by reconstructing a photorealistic simulation from an RGBD human video and tracking object trajectories to define object-centric rewards. These rewards are used to train a reinforcement learning (RL) policy in simulation. The learned policy is then distilled into an image-conditioned diffusion policy using synthetic rollouts rendered with varied viewpoints and lighting. To transfer to the real world, X-Sim introduces an online domain adaptation technique that aligns real and simulated observations during deployment. Importantly, X-Sim does not require any robot teleoperation data. We evaluate it across 5 manipulation tasks in 2 environments and show that it: (1) improves task progress by 30% on average over hand-tracking and sim-to-real baselines, (2) matches behavior cloning with 10x less data collection time, and (3) generalizes to new camera viewpoints and test-time changes. Code and videos are available at https://portal-cornell.github.io/X-Sim/.
The $K_\infty$ Homotopy $λ$-Model
Venue: arXiv cs.LO 2025
Year: 2025

We extend the complete ordered set Dana Scott's $D_\infty$ to a complete weakly ordered Kan complex $K_\infty$, with properties that guarantee the non-equivalence of the interpretation of some higher conversions of $βη$-conversions of $λ$-terms.
DeepSORT-Driven Visual Tracking Approach for Gesture Recognition in Interactive Systems
Venue: arXiv cs.HC 2025
Year: 2025

Based on the DeepSORT algorithm, this study explores the application of visual tracking technology in intelligent human-computer interaction, especially in the field of gesture recognition and tracking. With the rapid development of artificial intelligence and deep learning technology, visual-based interaction has gradually replaced traditional input devices and become an important way for intelligent systems to interact with users. The DeepSORT algorithm can achieve accurate target tracking in dynamic environments by combining Kalman filters and deep learning feature extraction methods. It is especially suitable for complex scenes with multi-target tracking and fast movements. This study experimentally verifies the superior performance of DeepSORT in gesture recognition and tracking. It can accurately capture and track the user's gesture trajectory and is superior to traditional tracking methods in terms of real-time and accuracy. In addition, this study also combines gesture recognition experiments to evaluate the recognition ability and feedback response of the DeepSORT algorithm under different gestures (such as sliding, clicking, and zooming). The experimental results show that DeepSORT can not only effectively deal with target occlusion and motion blur but also can stably track in a multi-target environment, achieving a smooth user interaction experience. Finally, this paper looks forward to the future development direction of intelligent human-computer interaction systems based on visual tracking and proposes future research focuses such as algorithm optimization, data fusion, and multimodal interaction in order to promote a more intelligent and personalized interactive experience. Keywords-DeepSORT, visual tracking, gesture recognition, human-computer interaction
Efficient Implementation of RISC-V Vector Permutation Instructions
Venue: arXiv cs.AR 2025
Year: 2025

RISC-V CPUs leverage the RVV (RISC-V Vector) extension to accelerate data-parallel workloads. In addition to arithmetic operations, RVV includes powerful permutation instructions that enable flexible element rearrangement within vector registers --critical for optimizing performance in tasks such as matrix operations and cryptographic computations. However, the diverse control mechanisms of these instructions complicate their execution within a unified datapath while maintaining the fixed-latency requirement of cryptographic accelerators. To address this, we propose a unified microarchitecture capable of executing all RVV permutation instructions efficiently, regardless of their control information structure. This approach minimizes area and hardware costs while ensuring single-cycle execution for short vector machines (up to 256 bits) and enabling efficient pipelining for longer vectors. The proposed design is integrated into an open-source RISC-V vector processor and implemented at 7 nm using the OpenRoad physical synthesis flow. Experimental results validate the efficiency of our unified vector permutation unit, demonstrating that it only incurs 1.5% area overhead to the total vector processor. Furthermore, this area overhead decreases to near-0% as the minimum supported element width for vector permutations increases.
KOKKAI DOC: An LLM-driven framework for scaling parliamentary representatives
Venue: arXiv cs.CY 2025
Year: 2025

This paper introduces an LLM-driven framework designed to accurately scale the political issue stances of parliamentary representatives. By leveraging advanced natural language processing techniques and large language models, the proposed methodology refines and enhances previous approaches by addressing key challenges such as noisy speech data, manual bias in selecting political axes, and the lack of dynamic, diachronic analysis. The framework incorporates three major innovations: (1) de-noising parliamentary speeches via summarization to produce cleaner, more consistent opinion embeddings; (2) automatic extraction of axes of political controversy from legislators' speech summaries; and (3) a diachronic analysis that tracks the evolution of party positions over time. We conduct quantitative and qualitative evaluations to verify our methodology. Quantitative evaluations demonstrate high correlation with expert predictions across various political topics, while qualitative analyses reveal meaningful associations between language patterns and political ideologies. This research aims to have an impact beyond the field of academia by making the results accessible by the public on teh web application: kokkaidoc.com. We are hoping that through our application, Japanese voters can gain a data-driven insight into the political landscape which aids them to make more nuanced voting decisions. Overall, this work contributes to the growing body of research that applies LLMs in political science, offering a flexible and reliable framework for scaling political positions from parliamentary speeches. But also explores the practical applications of the research in the real world to have real world impact.
Triangulating PL functions and the existence of efficient ReLU DNNs
Venue: arXiv cs.LG 2025
Year: 2025

We show that every piecewise linear function $f:R^d \to R$ with compact support a polyhedron $P$ has a representation as a sum of so-called `simplex functions'. Such representations arise from degree 1 triangulations of the relative homology class (in $R^{d+1}$) bounded by $P$ and the graph of $f$, and give a short elementary proof of the existence of efficient universal ReLU neural networks that simultaneously compute all such functions $f$ of bounded complexity.
KDH-MLTC: Knowledge Distillation for Healthcare Multi-Label Text Classification
Venue: arXiv cs.CL 2025
Year: 2025

The increasing volume of healthcare textual data requires computationally efficient, yet highly accurate classification approaches able to handle the nuanced and complex nature of medical terminology. This research presents Knowledge Distillation for Healthcare Multi-Label Text Classification (KDH-MLTC), a framework leveraging model compression and Large Language Models (LLMs). The proposed approach addresses conventional healthcare Multi-Label Text Classification (MLTC) challenges by integrating knowledge distillation and sequential fine-tuning, subsequently optimized through Particle Swarm Optimization (PSO) for hyperparameter tuning. KDH-MLTC transfers knowledge from a more complex teacher LLM (i.e., BERT) to a lighter student LLM (i.e., DistilBERT) through sequential training adapted to MLTC that preserves the teacher's learned information while significantly reducing computational requirements. As a result, the classification is enabled to be conducted locally, making it suitable for healthcare textual data characterized by sensitivity and, therefore, ensuring HIPAA compliance. The experiments conducted on three medical literature datasets of different sizes, sampled from the Hallmark of Cancer (HoC) dataset, demonstrate that KDH-MLTC achieves superior performance compared to existing approaches, particularly for the largest dataset, reaching an F1 score of 82.70%. Additionally, statistical validation and an ablation study are carried out, proving the robustness of KDH-MLTC. Furthermore, the PSO-based hyperparameter optimization process allowed the identification of optimal configurations. The proposed approach contributes to healthcare text classification research, balancing efficiency requirements in resource-constrained healthcare settings with satisfactory accuracy demands.
Internet of Agents: Fundamentals, Applications, and Challenges
Venue: arXiv cs.MA 2025
Year: 2025

With the rapid proliferation of large language models and vision-language models, AI agents have evolved from isolated, task-specific systems into autonomous, interactive entities capable of perceiving, reasoning, and acting without human intervention. As these agents proliferate across virtual and physical environments, from virtual assistants to embodied robots, the need for a unified, agent-centric infrastructure becomes paramount. In this survey, we introduce the Internet of Agents (IoA) as a foundational framework that enables seamless interconnection, dynamic discovery, and collaborative orchestration among heterogeneous agents at scale. We begin by presenting a general IoA architecture, highlighting its hierarchical organization, distinguishing features relative to the traditional Internet, and emerging applications. Next, we analyze the key operational enablers of IoA, including capability notification and discovery, adaptive communication protocols, dynamic task matching, consensus and conflict-resolution mechanisms, and incentive models. Finally, we identify open research directions toward building resilient and trustworthy IoA ecosystems.
An Empirical Study: MEMS as a Static Performance Metric
Venue: arXiv cs.SE 2025
Year: 2025

Static performance estimation is essential during compile-time analysis, yet traditional runtime-based methods are costly and platform-dependent. We investigate mems, the number of memory accesses, as a static and architecture-independent performance metric. We develop a Clang-based automated instrumentation tool that rewrites source code to insert path tracing and \textit{mems} counting logic. This allows us to evaluate mems-based performance estimation across ten classical algorithm programs. Experimental results show that within the same program, execution paths with higher mems values consistently exhibit longer runtime. However, this correlation weakens between different programs, suggesting that mems is best suited for comparing performance of different execution paths in a program.
Towards user-centered interactive medical image segmentation in VR with an assistive AI agent
Venue: arXiv cs.HC 2025
Year: 2025

Crucial in disease analysis and surgical planning, manual segmentation of volumetric medical scans (e.g. MRI, CT) is laborious, error-prone, and challenging to master, while fully automatic algorithms can benefit from user feedback. Therefore, with the complementary power of the latest radiological AI foundation models and virtual reality (VR)'s intuitive data interaction, we propose SAMIRA, a novel conversational AI agent for medical VR that assists users with localizing, segmenting, and visualizing 3D medical concepts. Through speech-based interaction, the agent helps users understand radiological features, locate clinical targets, and generate segmentation masks that can be refined with just a few point prompts. The system also supports true-to-scale 3D visualization of segmented pathology to enhance patient-specific anatomical understanding. Furthermore, to determine the optimal interaction paradigm under near-far attention-switching for refining segmentation masks in an immersive, human-in-the-loop workflow, we compare VR controller pointing, head pointing, and eye tracking as input modes. With a user study, evaluations demonstrated a high usability score (SUS=90.0 $\pm$ 9.0), low overall task load, as well as strong support for the proposed VR system's guidance, training potential, and integration of AI in radiological segmentation tasks.