OpenRaiser/Intern-Atlas huggingface dataset:
Multimodal Perception for Goal-oriented Navigation: A Survey
Venue: arXiv cs.RO 2025
Year: 2025

Goal-oriented navigation presents a fundamental challenge for autonomous systems, requiring agents to navigate complex environments to reach designated targets. This survey offers a comprehensive analysis of multimodal navigation approaches through the unifying perspective of inference domains, exploring how agents perceive, reason about, and navigate environments using visual, linguistic, and acoustic information. Our key contributions include organizing navigation methods based on their primary environmental reasoning mechanisms across inference domains; systematically analyzing how shared computational foundations support seemingly disparate approaches across different navigation tasks; identifying recurring patterns and distinctive strengths across various navigation paradigms; and examining the integration challenges and opportunities of multimodal perception to enhance navigation capabilities. In addition, we review approximately 200 relevant articles to provide an in-depth understanding of the current landscape.
Neural Kinematic Bases for Fluids
Venue: arXiv cs.GR 2025
Year: 2025

We propose mesh-free fluid simulations that exploit a kinematic neural basis for velocity fields represented by an MLP. We design a set of losses that ensures that these neural bases approximate fundamental physical properties such as orthogonality, divergence-free, boundary alignment, and smoothness. Our neural bases can then be used to fit an input sketch of a flow, which will inherit the same fundamental properties from the bases. We then can animate such flow in real-time using standard time integrators. Our neural bases can accommodate different domains, moving boundaries, and naturally extend to three dimensions.
DiTPainter: Efficient Video Inpainting with Diffusion Transformers
Venue: arXiv cs.CV 2025
Year: 2025

Many existing video inpainting algorithms utilize optical flows to construct the corresponding maps and then propagate pixels from adjacent frames to missing areas by mapping. Despite the effectiveness of the propagation mechanism, they might encounter blurry and inconsistencies when dealing with inaccurate optical flows or large masks. Recently, Diffusion Transformer (DiT) has emerged as a revolutionary technique for video generation tasks. However, pretrained DiT models for video generation all contain a large amount of parameters, which makes it very time consuming to apply to video inpainting tasks. In this paper, we present DiTPainter, an end-to-end video inpainting model based on Diffusion Transformer (DiT). DiTPainter uses an efficient transformer network designed for video inpainting, which is trained from scratch instead of initializing from any large pretrained models. DiTPainter can address videos with arbitrary lengths and can be applied to video decaptioning and video completion tasks with an acceptable time cost. Experiments show that DiTPainter outperforms existing video inpainting algorithms with higher quality and better spatial-temporal consistency.
Preprint: Exploring Inevitable Waypoints for Unsolvability Explanation in Hybrid Planning Problems
Venue: arXiv cs.AI 2025
Year: 2025

Explaining unsolvability of planning problems is of significant research interest in Explainable AI Planning. AI planning literature has reported several research efforts on generating explanations of solutions to planning problems. However, explaining the unsolvability of planning problems remains a largely open and understudied problem. A widely practiced approach to plan generation and automated problem solving, in general, is to decompose tasks into sub-problems that help progressively converge towards the goal. In this paper, we propose to adopt the same philosophy of sub-problem identification as a mechanism for analyzing and explaining unsolvability of planning problems in hybrid systems. In particular, for a given unsolvable planning problem, we propose to identify common waypoints, which are universal obstacles to plan existence; in other words, they appear on every plan from the source to the planning goal. This work envisions such waypoints as sub-problems of the planning problem and the unreachability of any of these waypoints as an explanation for the unsolvability of the original planning problem. We propose a novel method of waypoint identification by casting the problem as an instance of the longest common subsequence problem, a widely popular problem in computer science, typically considered as an illustrative example for the dynamic programming paradigm. Once the waypoints are identified, we perform symbolic reachability analysis on them to identify the earliest unreachable waypoint and report it as the explanation of unsolvability. We present experimental results on unsolvable planning problems in hybrid domains.
Vidi: Large Multimodal Models for Video Understanding and Editing
Venue: arXiv cs.CV 2025
Year: 2025

Humans naturally share information with those they are connected to, and video has become one of the dominant mediums for communication and expression on the Internet. To support the creation of high-quality large-scale video content, a modern pipeline requires a comprehensive understanding of both the raw input materials (e.g., the unedited footage captured by cameras) and the editing components (e.g., visual effects). In video editing scenarios, models must process multiple modalities (e.g., vision, audio, text) with strong background knowledge and handle flexible input lengths (e.g., hour-long raw videos), which poses significant challenges for traditional models. In this report, we introduce Vidi, a family of Large Multimodal Models (LMMs) for a wide range of video understand editing scenarios. The first release focuses on temporal retrieval, i.e., identifying the time ranges within the input videos corresponding to a given text query, which plays a critical role in intelligent editing. The model is capable of processing hour-long videos with strong temporal understanding capability, e.g., retrieve time ranges for certain queries. To support a comprehensive evaluation in real-world scenarios, we also present the VUE-TR benchmark, which introduces five key advancements. 1) Video duration: significantly longer than videos of existing temporal retrival datasets, 2) Audio support: includes audio-based queries, 3) Query format: diverse query lengths/formats, 4) Annotation quality: ground-truth time ranges are manually annotated. 5) Evaluation metric: a refined IoU metric to support evaluation over multiple time ranges. Remarkably, Vidi significantly outperforms leading proprietary models, e.g., GPT-4o and Gemini, on the temporal retrieval task, indicating its superiority in video editing scenarios.
Invariant Learning with Annotation-free Environments
Venue: arXiv cs.LG 2025
Year: 2025

Invariant learning is a promising approach to improve domain generalization compared to Empirical Risk Minimization (ERM). However, most invariant learning methods rely on the assumption that training examples are pre-partitioned into different known environments. We instead infer environments without the need for additional annotations, motivated by observations of the properties within the representation space of a trained ERM model. We show the preliminary effectiveness of our approach on the ColoredMNIST benchmark, achieving performance comparable to methods requiring explicit environment labels and on par with an annotation-free method that poses strong restrictions on the ERM reference model.
A Data Literacy Competence Model for Higher Education and Research
Venue: arXiv cs.CY 2025
Year: 2025

In an increasingly data-driven world, the ability to understand, interpret, and use data - data literacy - is emerging as a critical competence across all academic disciplines. The Data Literacy Initiative (DaLI) at TH Köln addresses this need by developing a comprehensive competence model for promoting data literacy in higher education. Based on interdisciplinary collaboration and empirical research, the DaLI model defines seven overarching competence areas: "Establish Data Culture", "Provide Data", "Manage Data", "Analyze Data", "Evaluate Data", "Interpret Data", and "Publish Data". Each area is further detailed by specific competence dimensions and progression levels, providing a structured framework for curriculum design, teaching, and assessment. Intended for use across disciplines, the model supports the strategic integration of data literacy into university programs. By providing a common language and orientation for educators and institutions, the DaLI model contributes to the broader goal of preparing students to navigate and shape a data-informed society.
You Sense Only Once Beneath: Ultra-Light Real-Time Underwater Object Detection
Venue: arXiv cs.CV 2025
Year: 2025

Despite the remarkable achievements in object detection, the model's accuracy and efficiency still require further improvement under challenging underwater conditions, such as low image quality and limited computational resources. To address this, we propose an Ultra-Light Real-Time Underwater Object Detection framework, You Sense Only Once Beneath (YSOOB). Specifically, we utilize a Multi-Spectrum Wavelet Encoder (MSWE) to perform frequency-domain encoding on the input image, minimizing the semantic loss caused by underwater optical color distortion. Furthermore, we revisit the unique characteristics of even-sized and transposed convolutions, allowing the model to dynamically select and enhance key information during the resampling process, thereby improving its generalization ability. Finally, we eliminate model redundancy through a simple yet effective channel compression and reconstructed large kernel convolution (RLKC) to achieve model lightweight. As a result, forms a high-performance underwater object detector YSOOB with only 1.2 million parameters. Extensive experimental results demonstrate that, with the fewest parameters, YSOOB achieves mAP50 of 83.1% and 82.9% on the URPC2020 and DUO datasets, respectively, comparable to the current SOTA detectors. The inference speed reaches 781.3 FPS and 57.8 FPS on the T4 GPU (TensorRT FP16) and the edge computing device Jetson Xavier NX (TensorRT FP16), surpassing YOLOv12-N by 28.1% and 22.5%, respectively.
Assessing FAIRness of the Digital Shadow Reference Model
Venue: arXiv cs.DB 2025
Year: 2025

Models play a critical role in managing the vast amounts of data and increasing complexity found in the IoT, IIoT, and IoP domains. The Digital Shadow Reference Model, which serves as a foundational metadata schema for linking data and metadata in these environments, is an example of such a model. Ensuring FAIRness (adherence to the FAIR Principles) is critical because it improves data findability, accessibility, interoperability, and reusability, facilitating efficient data management and integration across systems. This paper presents an evaluation of the FAIRness of the Digital Shadow Reference Model using a structured evaluation framework based on the FAIR Data Principles. Using the concept of FAIR Implementation Profiles (FIPs), supplemented by a mini-questionnaire, we systematically evaluate the model's adherence to these principles. Our analysis identifies key strengths, including the model's metadata schema that supports rich descriptions and authentication techniques, and highlights areas for improvement, such as the need for globally unique identifiers and consequent support for different Web standards. The results provide actionable insights for improving the FAIRness of the model and promoting better data management and reuse. This research contributes to the field by providing a detailed assessment of the Digital Shadow Reference Model and recommending next steps to improve its FAIRness and usability.
CaRoSaC: A Reinforcement Learning-Based Kinematic Control of Cable-Driven Parallel Robots by Addressing Cable Sag through Simulation
Venue: arXiv cs.RO 2025
Year: 2025

This paper introduces the Cable Robot Simulation and Control (CaRoSaC) Framework, which integrates a simulation environment with a model-free reinforcement learning control methodology for suspended Cable-Driven Parallel Robots (CDPRs), accounting for cable sag. Our approach seeks to bridge the knowledge gap of the intricacies of CDPRs due to aspects such as cable sag and precision control necessities by establishing a simulation platform that captures the real-world behaviors of CDPRs, including the impacts of cable sag. The framework offers researchers and developers a tool to further develop estimation and control strategies within the simulation for understanding and predicting the performance nuances, especially in complex operations where cable sag can be significant. Using this simulation framework, we train a model-free control policy in Reinforcement Learning (RL). This approach is chosen for its capability to adaptively learn from the complex dynamics of CDPRs. The policy is trained to discern optimal cable control inputs, ensuring precise end-effector positioning. Unlike traditional feedback-based control methods, our RL control policy focuses on kinematic control and addresses the cable sag issues without being tethered to predefined mathematical models. We also demonstrate that our RL-based controller, coupled with the flexible cable simulation, significantly outperforms the classical kinematics approach, particularly in dynamic conditions and near the boundary regions of the workspace. The combined strength of the described simulation and control approach offers an effective solution in manipulating suspended CDPRs even at workspace boundary conditions where traditional approach fails, as proven from our experiments, ensuring that CDPRs function optimally in various applications while accounting for the often neglected but critical factor of cable sag.
Enhancing Tennis Training with Real-Time Swing Data Visualisation in Immersive Virtual Reality
Venue: arXiv cs.HC 2025
Year: 2025

Recent advances in immersive technology have opened new possibilities in sports training, especially for activities requiring precise motor skills, such as tennis. In this paper, we present a virtual reality (VR) tennis training system integrating real-time performance feedback through a wearable sensor device. Ten participants wore the sensor on their dominant hand to capture motion data, including swing speed and swing power, while engaging in a VR tennis environment. Initially, participants performed baseline tests without access to performance metrics. In subsequent tests, participants executed similar routines with their swing data displayed in real-time via a VR overlay. Qualitative and quantitative results indicated that real-time visual feedback led to improved performance behaviors and enhanced situational awareness. Some participants exhibited increased swing consistency and strategic decision-making, though improvements in accuracy varied individually. Additionally, subjective feedback highlighted that the immersive experience, combined with instantaneous performance metrics, enhanced player engagement and motivation. These findings illustrate the effectiveness of VR-based data visualisation in sports training, suggesting broader applicability in performance enhancement.
Towards prediction of morphological heart age from computed tomography angiography
Venue: arXiv cs.CV 2025
Year: 2025

Age prediction from medical images or other health-related non-imaging data is an important approach to data-driven aging research, providing knowledge of how much information a specific tissue or organ carries about the chronological age of the individual. In this work, we studied the prediction of age from computed tomography angiography (CTA) images, which provide detailed representations of the heart morphology, with the goals of (i) studying the relationship between morphology and aging, and (ii) developing a novel \emph{morphological heart age} biomarker. We applied an image registration-based method that standardizes the images from the whole cohort into a single space. We then extracted supervoxels (using unsupervised segmentation), and corresponding robust features of density and local volume, which provide a detailed representation of the heart morphology while being robust to registration errors. Machine learning models are then trained to fit regression models from these features to the chronological age. We applied the method to a subset of the images from the Swedish CArdioPulomonary bioImage Study (SCAPIS) dataset, consisting of 721 females and 666 males. We observe a mean absolute error of $2.74$ years for females and $2.77$ years for males. The predictions from different sub-regions of interest were observed to be more highly correlated with the predictions from the whole heart, compared to the chronological age, revealing a high consistency in the predictions from morphology. Saliency analysis was also performed on the prediction models to study what regions are associated positively and negatively with the predicted age. This resulted in detailed association maps where the density and volume of known, as well as some novel sub-regions of interest, are determined to be important. The saliency analysis aids in the interpretability of the models and their predictions.
Crisp complexity of fuzzy classifiers
Venue: arXiv cs.AI 2025
Year: 2025

Rule-based systems are a very popular form of explainable AI, particularly in the fuzzy community, where fuzzy rules are widely used for control and classification problems. However, fuzzy rule-based classifiers struggle to reach bigger traction outside of fuzzy venues, because users sometimes do not know about fuzzy and because fuzzy partitions are not so easy to interpret in some situations. In this work, we propose a methodology to reduce fuzzy rule-based classifiers to crisp rule-based classifiers. We study different possible crisp descriptions and implement an algorithm to obtain them. Also, we analyze the complexity of the resulting crisp classifiers. We believe that our results can help both fuzzy and non-fuzzy practitioners understand better the way in which fuzzy rule bases partition the feature space and how easily one system can be translated to another and vice versa. Our complexity metric can also help to choose between different fuzzy classifiers based on what the equivalent crisp partitions look like.
Development and evaluation of a deep learning algorithm for German word recognition from lip movements
Venue: arXiv cs.CV 2025
Year: 2025

When reading lips, many people benefit from additional visual information from the lip movements of the speaker, which is, however, very error prone. Algorithms for lip reading with artificial intelligence based on artificial neural networks significantly improve word recognition but are not available for the German language. A total of 1806 video clips with only one German-speaking person each were selected, split into word segments, and assigned to word classes using speech-recognition software. In 38,391 video segments with 32 speakers, 18 polysyllabic, visually distinguishable words were used to train and validate a neural network. The 3D Convolutional Neural Network and Gated Recurrent Units models and a combination of both models (GRUConv) were compared, as were different image sections and color spaces of the videos. The accuracy was determined in 5000 training epochs. Comparison of the color spaces did not reveal any relevant different correct classification rates in the range from 69% to 72%. With a cut to the lips, a significantly higher accuracy of 70% was achieved than when cut to the entire speaker's face (34%). With the GRUConv model, the maximum accuracies were 87% with known speakers and 63% in the validation with unknown speakers. The neural network for lip reading, which was first developed for the German language, shows a very high level of accuracy, comparable to English-language algorithms. It works with unknown speakers as well and can be generalized with more word classes.
Bridging Bond Beyond Life: Designing VR Memorial Space with Stakeholder Collaboration via Research through Design
Venue: arXiv cs.HC 2025
Year: 2025

The integration of digital technologies into memorialization practices offers opportunities to transcend physical and temporal limitations. However, designing personalized memorial spaces that address the diverse needs of the dying and the bereaved remains underexplored. Using a Research through Design (RtD) approach, we conducted a three-phase study: participatory design, VR memorial space development, and user testing. This study highlights three key aspects: 1) the value of VR memorial spaces as bonding mediums, 2) the role of a design process that engages users through co-design, development, and user testing in addressing the needs of the dying and the bereaved, and 3) design elements that enhance the VR memorial experience. This research lays the foundation for personalized VR memorialization practices, providing insights into how technology can enrich remembrance and relational experiences.
Insights from Verification: Training a Verilog Generation LLM with Reinforcement Learning with Testbench Feedback
Venue: arXiv cs.AR 2025
Year: 2025

Large language models (LLMs) have shown strong performance in Verilog generation from natural language description. However, ensuring the functional correctness of the generated code remains a significant challenge. This paper introduces a method that integrates verification insights from testbench into the training of Verilog generation LLMs, aligning the training with the fundamental goal of hardware design: functional correctness. The main obstacle in using LLMs for Verilog code generation is the lack of sufficient functional verification data, particularly testbenches paired with design specifications and code. To address this problem, we introduce an automatic testbench generation pipeline that decomposes the process and uses feedback from the Verilog compiler simulator (VCS) to reduce hallucination and ensure correctness. We then use the testbench to evaluate the generated codes and collect them for further training, where verification insights are introduced. Our method applies reinforcement learning (RL), specifically direct preference optimization (DPO), to align Verilog code generation with functional correctness by training preference pairs based on testbench outcomes. In evaluations on VerilogEval-Machine, VerilogEval-Human, RTLLM v1.1, RTLLM v2, and VerilogEval v2, our approach consistently outperforms state-of-the-art baselines in generating functionally correct Verilog code. We open source all training code, data, and models at https://anonymous.4open.science/r/VeriPrefer-E88B.