OpenRaiser/Intern-Atlas huggingface dataset:
Booster Gym: An End-to-End Reinforcement Learning Framework for Humanoid Robot Locomotion
Venue: arXiv cs.RO 2025
Year: 2025

Recent advancements in reinforcement learning (RL) have led to significant progress in humanoid robot locomotion, simplifying the design and training of motion policies in simulation. However, the numerous implementation details make transferring these policies to real-world robots a challenging task. To address this, we have developed a comprehensive code framework that covers the entire process from training to deployment, incorporating common RL training methods, domain randomization, reward function design, and solutions for handling parallel structures. This library is made available as a community resource, with detailed descriptions of its design and experimental results. We validate the framework on the Booster T1 robot, demonstrating that the trained policies seamlessly transfer to the physical platform, enabling capabilities such as omnidirectional walking, disturbance resistance, and terrain adaptability. We hope this work provides a convenient tool for the robotics community, accelerating the development of humanoid robots. The code can be found in https://github.com/BoosterRobotics/booster_gym.
SynPo: Boosting Training-Free Few-Shot Medical Segmentation via High-Quality Negative Prompts
Venue: arXiv cs.CV 2025
Year: 2025

The advent of Large Vision Models (LVMs) offers new opportunities for few-shot medical image segmentation. However, existing training-free methods based on LVMs fail to effectively utilize negative prompts, leading to poor performance on low-contrast medical images. To address this issue, we propose SynPo, a training-free few-shot method based on LVMs (e.g., SAM), with the core insight: improving the quality of negative prompts. To select point prompts in a more reliable confidence map, we design a novel Confidence Map Synergy Module by combining the strengths of DINOv2 and SAM. Based on the confidence map, we select the top-k pixels as the positive points set and choose the negative points set using a Gaussian distribution, followed by independent K-means clustering for both sets. Then, these selected points are leveraged as high-quality prompts for SAM to get the segmentation results. Extensive experiments demonstrate that SynPo achieves performance comparable to state-of-the-art training-based few-shot methods.
Enhancing point cloud analysis via neighbor aggregation correction based on cross-stage structure correlation
Venue: arXiv cs.CV 2025
Year: 2025

Point cloud analysis is the cornerstone of many downstream tasks, among which aggregating local structures is the basis for understanding point cloud data. While numerous works aggregate neighbor using three-dimensional relative coordinates, there are irrelevant point interference and feature hierarchy gap problems due to the limitation of local coordinates. Although some works address this limitation by refining spatial description though explicit modeling of cross-stage structure, these enhancement methods based on direct geometric structure encoding have problems of high computational overhead and noise sensitivity. To overcome these problems, we propose the Point Distribution Set Abstraction module (PDSA) that utilizes the correlation in the high-dimensional space to correct the feature distribution during aggregation, which improves the computational efficiency and robustness. PDSA distinguishes the point correlation based on a lightweight cross-stage structural descriptor, and enhances structural homogeneity by reducing the variance of the neighbor feature matrix and increasing classes separability though long-distance modeling. Additionally, we introducing a key point mechanism to optimize the computational overhead. The experimental result on semantic segmentation and classification tasks based on different baselines verify the generalization of the method we proposed, and achieve significant performance improvement with less parameter cost. The corresponding ablation and visualization results demonstrate the effectiveness and rationality of our method. The code and training weight is available at: https://github.com/AGENT9717/PointDistribution
ImprovDML: Improved Trade-off in Private Byzantine-Resilient Distributed Machine Learning
Venue: arXiv cs.LG 2025
Year: 2025

Jointly addressing Byzantine attacks and privacy leakage in distributed machine learning (DML) has become an important issue. A common strategy involves integrating Byzantine-resilient aggregation rules with differential privacy mechanisms. However, the incorporation of these techniques often results in a significant degradation in model accuracy. To address this issue, we propose a decentralized DML framework, named ImprovDML, that achieves high model accuracy while simultaneously ensuring privacy preservation and resilience to Byzantine attacks. The framework leverages a kind of resilient vector consensus algorithms that can compute a point within the normal (non-Byzantine) agents' convex hull for resilient aggregation at each iteration. Then, multivariate Gaussian noises are introduced to the gradients for privacy preservation. We provide convergence guarantees and derive asymptotic learning error bounds under non-convex settings, which are tighter than those reported in existing works. For the privacy analysis, we adopt the notion of concentrated geo-privacy, which quantifies privacy preservation based on the Euclidean distance between inputs. We demonstrate that it enables an improved trade-off between privacy preservation and model accuracy compared to differential privacy. Finally, numerical simulations validate our theoretical results.
Active Learning-Guided Seq2Seq Variational Autoencoder for Multi-target Inhibitor Generation
Venue: arXiv cs.LG 2025
Year: 2025

Simultaneously optimizing molecules against multiple therapeutic targets remains a profound challenge in drug discovery, particularly due to sparse rewards and conflicting design constraints. We propose a structured active learning (AL) paradigm integrating a sequence-to-sequence (Seq2Seq) variational autoencoder (VAE) into iterative loops designed to balance chemical diversity, molecular quality, and multi-target affinity. Our method alternates between expanding chemically feasible regions of latent space and progressively constraining molecules based on increasingly stringent multi-target docking thresholds. In a proof-of-concept study targeting three related coronavirus main proteases (SARS-CoV-2, SARS-CoV, MERS-CoV), our approach efficiently generated a structurally diverse set of pan-inhibitor candidates. We demonstrate that careful timing and strategic placement of chemical filters within this active learning pipeline markedly enhance exploration of beneficial chemical space, transforming the sparse-reward, multi-objective drug design problem into an accessible computational task. Our framework thus provides a generalizable roadmap for efficiently navigating complex polypharmacological landscapes.
Building Blocks of a User Experience Research Point of View
Venue: arXiv cs.HC 2025
Year: 2025

This paper presents three User Experience Research (UXR) perspectives based on data, evidence and insights - known as Point of View (POV) - showcasing how the strategies and methods of building a POV work in an enterprise setting. The POV are: 1. Smart Visuals: Use AI to extract and translate text from visuals in videos (2019). 2. Assessable Code Editor: Focus on direct AI-feedback to the learner as it is the loop that requires the least effort for the highest impact(2023). 3. Opportunity Landscape: Identify high-impact opportunities at the intersection of emergent technical capabilities that unlock novel approaches to critical user needs while addressing business strategic priorities (2019). They all seemed far-fetched and went against common practice. All were adopted and had long-lasting impact.
Knowledge Distillation Framework for Accelerating High-Accuracy Neural Network-Based Molecular Dynamics Simulations
Venue: arXiv cs.LG 2025
Year: 2025

Neural network potentials (NNPs) offer a powerful alternative to traditional force fields for molecular dynamics (MD) simulations. Accurate and stable MD simulations, crucial for evaluating material properties, require training data encompassing both low-energy stable structures and high-energy structures. Conventional knowledge distillation (KD) methods fine-tune a pre-trained NNP as a teacher model to generate training data for a student model. However, in material-specific models, this fine-tuning process increases energy barriers, making it difficult to create training data containing high-energy structures. To address this, we propose a novel KD framework that leverages a non-fine-tuned, off-the-shelf pre-trained NNP as a teacher. Its gentler energy landscape facilitates the exploration of a wider range of structures, including the high-energy structures crucial for stable MD simulations. Our framework employs a two-stage training process: first, the student NNP is trained with a dataset generated by the off-the-shelf teacher; then, it is fine-tuned with a smaller, high-accuracy density functional theory (DFT) dataset. We demonstrate the effectiveness of our framework by applying it to both organic (polyethylene glycol) and inorganic (L$_{10}$GeP$_{2}$S$_{12}$) materials, achieving comparable or superior accuracy in reproducing physical properties compared to existing methods. Importantly, our method reduces the number of expensive DFT calculations by 10x compared to existing NNP generation methods, without sacrificing accuracy. Furthermore, the resulting student NNP achieves up to 106x speedup in inference compared to the teacher NNP, enabling significantly faster and more efficient MD simulations.
Acoustic Waveform Inversion with Image-to-Image Schrödinger Bridges
Venue: arXiv cs.LG 2025
Year: 2025

Recent developments in application of deep learning models to acoustic Full Waveform Inversion (FWI) are marked by the use of diffusion models as prior distributions for Bayesian-like inference procedures. The advantage of these methods is the ability to generate high-resolution samples, which are otherwise unattainable with classical inversion methods or other deep learning-based solutions. However, the iterative and stochastic nature of sampling from diffusion models along with heuristic nature of output control remain limiting factors for their applicability. For instance, an optimal way to include the approximate velocity model into diffusion-based inversion scheme remains unclear, even though it is considered an essential part of FWI pipeline. We address the issue by employing a Schrödinger Bridge that interpolates between the distributions of ground truth and smoothed velocity models. To facilitate the learning of nonlinear drifts that transfer samples between distributions we extend the concept of Image-to-Image Schrödinger Bridge ($\text{I}^2\text{SB}$) to conditional sampling, resulting in a conditional Image-to-Image Schrödinger Bridge (c$\text{I}^2\text{SB}$) framework. To validate our method, we assess its effectiveness in reconstructing the reference velocity model from its smoothed approximation, coupled with the observed seismic signal of fixed shape. Our experiments demonstrate that the proposed solution outperforms our reimplementation of conditional diffusion model suggested in earlier works, while requiring only a few neural function evaluations (NFEs) to achieve sample fidelity superior to that attained with supervised learning-based approach. The supplementary code implementing the algorithms described in this paper can be found in the repository https://github.com/stankevich-mipt/seismic_inversion_via_I2SB.
Open-World Object Counting in Videos
Venue: arXiv cs.CV 2025
Year: 2025

We introduce a new task of open-world object counting in videos: given a text description, or an image example, that specifies the target object, the objective is to enumerate all the unique instances of the target objects in the video. This task is especially challenging in crowded scenes with occlusions and objects of similar appearance, where avoiding double counting and identifying reappearances is crucial. To this end, we make the following contributions: we introduce a model, CountVid, for this task. It leverages an image-based counting model, and a promptable video segmentation and tracking model, to enable automated open-world object counting across video frames. To evaluate its performance, we introduce VideoCount, a new dataset for this novel task built from the TAO and MOT20 tracking datasets, as well as from videos of penguins and metal alloy crystallization captured by x-rays. Using this dataset, we demonstrate that CountVid provides accurate object counts, and significantly outperforms strong baselines. The VideoCount dataset, the CountVid model, and all the code are available at https://www.robots.ox.ac.uk/~vgg/research/countvid/.
Comparison of Innovative Strategies for the Coverage Problem: Path Planning, Search Optimization, and Applications in Underwater Robotics
Venue: arXiv cs.RO 2025
Year: 2025

In many applications, including underwater robotics, the coverage problem requires an autonomous vehicle to systematically explore a defined area while minimizing redundancy and avoiding obstacles. This paper investigates coverage path planning strategies to enhance the efficiency of underwater gliders, particularly in maximizing the probability of detecting a radioactive source while ensuring safe navigation. We evaluate three path-planning approaches: the Traveling Salesman Problem (TSP), Minimum Spanning Tree (MST), and Optimal Control Problem (OCP). Simulations were conducted in MATLAB, comparing processing time, uncovered areas, path length, and traversal time. Results indicate that OCP is preferable when traversal time is constrained, although it incurs significantly higher computational costs. Conversely, MST-based approaches provide faster but less optimal solutions. These findings offer insights into selecting appropriate algorithms based on mission priorities, balancing efficiency and computational feasibility.
Evaluation Pipeline for systematically searching for Anomaly Detection Systems
Venue: arXiv cs.CR 2025
Year: 2025

Digitalization in the medical world provides major benefits while making it a target for attackers and thus hard to secure. To deal with network intruders we propose an anomaly detection system on hardware to detect malicious clients in real-time. We meet real-time and power restrictions using FPGAs. Overall system performance is achieved via the presented holistic system evaluation.
Exploring Fast Fourier Transforms on the Tenstorrent Wormhole
Venue: arXiv cs.DC 2025
Year: 2025

Whilst numerous areas of computing have adopted the RISC-V Instruction Set Architecture (ISA) wholesale in recent years, it is yet to become widespread in HPC. RISC-V accelerators offer a compelling option where the HPC community can benefit from the specialisation offered by the open nature of the standard but without the extensive ecosystem changes required when adopting RISC-V CPUs. In this paper we explore porting the Cooley-Tukey Fast Fourier Transform (FFT) algorithm to the Tenstorrent Wormhole PCIe RISC-V based accelerator. Built upon Tenstorrent's Tensix architecture, this technology decouples the movement of data from compute, potentially offering increased control to the programmer. Exploring different optimisation techniques to address the bottlenecks inherent in data movement, we demonstrate that for a 2D FFT whilst the Wormhole n300 is slower than a server-grade 24-core Xeon Platinum CPU, the Wormhole draws around 8 times less power and consumes around 2.8 times less energy than the CPU when computing the Fourier transform.
Uncovering Intention through LLM-Driven Code Snippet Description Generation
Venue: arXiv cs.SE 2025
Year: 2025

Documenting code snippets is essential to pinpoint key areas where both developers and users should pay attention. Examples include usage examples and other Application Programming Interfaces (APIs), which are especially important for third-party libraries. With the rise of Large Language Models (LLMs), the key goal is to investigate the kinds of description developers commonly use and evaluate how well an LLM, in this case Llama, can support description generation. We use NPM Code Snippets, consisting of 185,412 packages with 1,024,579 code snippets. From there, we use 400 code snippets (and their descriptions) as samples. First, our manual classification found that the majority of original descriptions (55.5%) highlight example-based usage. This finding emphasizes the importance of clear documentation, as some descriptions lacked sufficient detail to convey intent. Second, the LLM correctly identified the majority of original descriptions as "Example" (79.75%), which is identical to our manual finding, showing a propensity for generalization. Third, compared to the originals, the produced description had an average similarity score of 0.7173, suggesting relevance but room for improvement. Scores below 0.9 indicate some irrelevance. Our results show that depending on the task of the code snippet, the intention of the document may differ from being instructions for usage, installations, or descriptive learning examples for any user of a library.
GenHOI: Generalizing Text-driven 4D Human-Object Interaction Synthesis for Unseen Objects
Venue: arXiv cs.CV 2025
Year: 2025

While diffusion models and large-scale motion datasets have advanced text-driven human motion synthesis, extending these advances to 4D human-object interaction (HOI) remains challenging, mainly due to the limited availability of large-scale 4D HOI datasets. In our study, we introduce GenHOI, a novel two-stage framework aimed at achieving two key objectives: 1) generalization to unseen objects and 2) the synthesis of high-fidelity 4D HOI sequences. In the initial stage of our framework, we employ an Object-AnchorNet to reconstruct sparse 3D HOI keyframes for unseen objects, learning solely from 3D HOI datasets, thereby mitigating the dependence on large-scale 4D HOI datasets. Subsequently, we introduce a Contact-Aware Diffusion Model (ContactDM) in the second stage to seamlessly interpolate sparse 3D HOI keyframes into densely temporally coherent 4D HOI sequences. To enhance the quality of generated 4D HOI sequences, we propose a novel Contact-Aware Encoder within ContactDM to extract human-object contact patterns and a novel Contact-Aware HOI Attention to effectively integrate the contact signals into diffusion models. Experimental results show that we achieve state-of-the-art results on the publicly available OMOMO and 3D-FUTURE datasets, demonstrating strong generalization abilities to unseen objects, while enabling high-fidelity 4D HOI generation.
NTIRE 2025 Image Shadow Removal Challenge Report
Venue: arXiv cs.CV 2025
Year: 2025

This work examines the findings of the NTIRE 2025 Shadow Removal Challenge. A total of 306 participants have registered, with 17 teams successfully submitting their solutions during the final evaluation phase. Following the last two editions, this challenge had two evaluation tracks: one focusing on reconstruction fidelity and the other on visual perception through a user study. Both tracks were evaluated with images from the WSRD+ dataset, simulating interactions between self- and cast-shadows with a large number of diverse objects, textures, and materials.
A Simplified Analysis of SGD for Linear Regression with Weight Averaging
Venue: arXiv cs.LG 2025
Year: 2025

Theoretically understanding stochastic gradient descent (SGD) in overparameterized models has led to the development of several optimization algorithms that are widely used in practice today. Recent work by~\citet{zou2021benign} provides sharp rates for SGD optimization in linear regression using constant learning rate, both with and without tail iterate averaging, based on a bias-variance decomposition of the risk. In our work, we provide a simplified analysis recovering the same bias and variance bounds provided in~\citep{zou2021benign} based on simple linear algebra tools, bypassing the requirement to manipulate operators on positive semi-definite (PSD) matrices. We believe our work makes the analysis of SGD on linear regression very accessible and will be helpful in further analyzing mini-batching and learning rate scheduling, leading to improvements in the training of realistic models.
Automatic Metadata Capture and Processing for High-Performance Workflows
Venue: arXiv cs.DC 2025
Year: 2025

Modern workflows run on increasingly heterogeneous computing architectures and with this heterogeneity comes additional complexity. We aim to apply the FAIR principles for research reproducibility by developing software to collect metadata annotations for workflows run on HPC systems. We experiment with two possible formats to uniformly store these metadata, and reorganize the collected metadata to be as easy to use as possible for researchers studying their workflow performance.
RaCalNet: Radar Calibration Network for Sparse-Supervised Metric Depth Estimation
Venue: arXiv cs.CV 2025
Year: 2025

Dense depth estimation using millimeter-wave radar typically requires dense LiDAR supervision, generated via multi-frame projection and interpolation, for guiding the learning of accurate depth from sparse radar measurements and RGB images. However, this paradigm is both costly and data-intensive. To address this, we propose RaCalNet, a novel framework that eliminates the need for dense supervision by using sparse LiDAR to supervise the learning of refined radar measurements, resulting in a supervision density of merely around 1\% compared to dense-supervised methods. RaCalNet is composed of two key modules. The Radar Recalibration module performs radar point screening and pixel-wise displacement refinement, producing accurate and reliable depth priors from sparse radar inputs. These priors are then used by the Metric Depth Optimization module, which learns to infer scene-level scale priors and fuses them with monocular depth predictions to achieve metrically accurate outputs. This modular design enhances structural consistency and preserves fine-grained geometric details. Despite relying solely on sparse supervision, RaCalNet produces depth maps with clear object contours and fine-grained textures, demonstrating superior visual quality compared to state-of-the-art dense-supervised methods. Quantitatively, it achieves performance comparable to existing methods on the ZJU-4DRadarCam dataset and yields a 34.89\% RMSE reduction in real-world deployment scenarios. We plan to gradually release the code and models in the future at https://github.com/818slam/RaCalNet.git.