OpenRaiser/Intern-Atlas huggingface dataset:
GLD-Road:A global-local decoding road network extraction model for remote sensing images
Venue: arXiv cs.CV 2025
Year: 2025

Road networks are crucial for mapping, autonomous driving, and disaster response. While manual annotation is costly, deep learning offers efficient extraction. Current methods include postprocessing (prone to errors), global parallel (fast but misses nodes), and local iterative (accurate but slow). We propose GLD-Road, a two-stage model combining global efficiency and local precision. First, it detects road nodes and connects them via a Connect Module. Then, it iteratively refines broken roads using local searches, drastically reducing computation. Experiments show GLD-Road outperforms state-of-the-art methods, improving APLS by 1.9% (City-Scale) and 0.67% (SpaceNet3). It also reduces retrieval time by 40% vs. Sat2Graph (global) and 92% vs. RNGDet++ (local). The experimental results are available at https://github.com/ucas-dlg/GLD-Road.
Gender Bias in English-to-Greek Machine Translation
Venue: arXiv cs.CL 2025
Year: 2025

As the demand for inclusive language increases, concern has grown over the susceptibility of machine translation (MT) systems to reinforce gender stereotypes. This study investigates gender bias in two commercial MT systems, Google Translate and DeepL, focusing on the understudied English-to-Greek language pair. We address three aspects of gender bias: i) male bias, ii) occupational stereotyping, and iii) errors in anti-stereotypical translations. Additionally, we explore the potential of prompted GPT-4o as a bias mitigation tool that provides both gender-explicit and gender-neutral alternatives when necessary. To achieve this, we introduce GendEL, a manually crafted bilingual dataset of 240 gender-ambiguous and unambiguous sentences that feature stereotypical occupational nouns and adjectives. We find persistent gender bias in translations by both MT systems; while they perform well in cases where gender is explicitly defined, with DeepL outperforming both Google Translate and GPT-4o in feminine gender-unambiguous sentences, they are far from producing gender-inclusive or neutral translations when the gender is unspecified. GPT-4o shows promise, generating appropriate gendered and neutral alternatives for most ambiguous cases, though residual biases remain evident.
The Everyday Security of Living with Conflict
Venue: arXiv cs.CR 2025
Year: 2025

When `cyber' is used as a prefix, attention is typically drawn to the technological and spectacular aspects of war and conflict -- and, by extension, security. We offer a different approach to engaging with and understanding security in such contexts, by foregrounding the everyday -- mundane -- experiences of security within communities living with and fleeing from war. We do so through three vignettes from our field research in Colombia, Lebanon and Sweden, respectively, and by highlighting the significance of ethnography for security research with communities living in regions afflicted by war. We conclude by setting out a call to action for security researchers and practitioners to consider such lived experiences in the design of security technology that aims to cater to the needs of communities in `global conflict and disaster regions'.
Integrating Quantized LLMs into Robotics Systems as Edge AI to Leverage their Natural Language Processing Capabilities
Venue: arXiv cs.RO 2025
Year: 2025

Large Language Models (LLMs) have experienced great advancements in the last year resulting in an increase of these models in several fields to face natural language tasks. The integration of these models in robotics can also help to improve several aspects such as human-robot interaction, navigation, planning and decision-making. Therefore, this paper introduces llama\_ros, a tool designed to integrate quantized Large Language Models (LLMs) into robotic systems using ROS 2. Leveraging llama.cpp, a highly optimized runtime engine, llama\_ros enables the efficient execution of quantized LLMs as edge artificial intelligence (AI) in robotics systems with resource-constrained environments, addressing the challenges of computational efficiency and memory limitations. By deploying quantized LLMs, llama\_ros empowers robots to leverage the natural language understanding and generation for enhanced decision-making and interaction which can be paired with prompt engineering, knowledge graphs, ontologies or other tools to improve the capabilities of autonomous robots. Additionally, this paper provides insights into some use cases of using llama\_ros for planning and explainability in robotics.
Beyond Overconfidence: Foundation Models Redefine Calibration in Deep Neural Networks
Venue: arXiv cs.LG 2025
Year: 2025

Reliable uncertainty calibration is essential for safely deploying deep neural networks in high-stakes applications. Deep neural networks are known to exhibit systematic overconfidence, especially under distribution shifts. Although foundation models such as ConvNeXt, EVA and BEiT have demonstrated significant improvements in predictive performance, their calibration properties remain underexplored. This paper presents a comprehensive investigation into the calibration behavior of foundation models, revealing insights that challenge established paradigms. Our empirical analysis shows that these models tend to be underconfident in in-distribution predictions, resulting in higher calibration errors, while demonstrating improved calibration under distribution shifts. Furthermore, we demonstrate that foundation models are highly responsive to post-hoc calibration techniques in the in-distribution setting, enabling practitioners to effectively mitigate underconfidence bias. However, these methods become progressively less reliable under severe distribution shifts and can occasionally produce counterproductive results. Our findings highlight the complex, non-monotonic effects of architectural and training innovations on calibration, challenging established narratives of continuous improvement.
Analytic Task Scheduler: Recursive Least Squares Based Method for Continual Learning in Embodied Foundation Models
Venue: arXiv cs.RO 2025
Year: 2025

Embodied foundation models are crucial for Artificial Intelligence (AI) interacting with the physical world by integrating multi-modal inputs, such as proprioception, vision and language, to understand human intentions and generate actions to control robots. While these models demonstrate strong generalization and few-shot learning capabilities, they face significant challenges in continually acquiring new skills without forgetting previously learned skills, a problem known as catastrophic forgetting. To address this issue, we propose the Analytic Task Scheduler (ATS), a novel framework for continual learning in embodied foundation models. ATS consists of a task-specific model library, where each model is fine-tuned independently on a single task, and an analytic scheduler trained using recursive least squares (RLS) to learn the mapping between language instructions and task-specific models. This architecture enables accurate task recognition and dynamic model selection while fundamentally avoiding parameter interference across tasks. The scheduler updates its parameters incrementally using only statistics (autocorrelation and cross-correlation matrices), enabling forgetting-resistant learning without the need to revisit historical data. We validate ATS on a real-world robot platform (RM65B), demonstrating superior resistance to forgetting and strong adaptability to task variations. The results highlight ATS as an effective, scalable, and deployable solution for continual learning in embodied foundation models operating in complex, dynamic environments. Our code will be available at https://github.com/MIAA-Embodied-AI/AnalyticTaskScheduler
VideoMat: Extracting PBR Materials from Video Diffusion Models
Venue: arXiv cs.GR 2025
Year: 2025

We leverage finetuned video diffusion models, intrinsic decomposition of videos, and physically-based differentiable rendering to generate high quality materials for 3D models given a text prompt or a single image. We condition a video diffusion model to respect the input geometry and lighting condition. This model produces multiple views of a given 3D model with coherent material properties. Secondly, we use a recent model to extract intrinsics (base color, roughness, metallic) from the generated video. Finally, we use the intrinsics alongside the generated video in a differentiable path tracer to robustly extract PBR materials directly compatible with common content creation tools.
CINeMA: Conditional Implicit Neural Multi-Modal Atlas for a Spatio-Temporal Representation of the Perinatal Brain
Venue: arXiv cs.CV 2025
Year: 2025

Magnetic resonance imaging of fetal and neonatal brains reveals rapid neurodevelopment marked by substantial anatomical changes unfolding within days. Studying this critical stage of the developing human brain, therefore, requires accurate brain models-referred to as atlases-of high spatial and temporal resolution. To meet these demands, established traditional atlases and recently proposed deep learning-based methods rely on large and comprehensive datasets. This poses a major challenge for studying brains in the presence of pathologies for which data remains scarce. We address this limitation with CINeMA (Conditional Implicit Neural Multi-Modal Atlas), a novel framework for creating high-resolution, spatio-temporal, multimodal brain atlases, suitable for low-data settings. Unlike established methods, CINeMA operates in latent space, avoiding compute-intensive image registration and reducing atlas construction times from days to minutes. Furthermore, it enables flexible conditioning on anatomical features including GA, birth age, and pathologies like ventriculomegaly (VM) and agenesis of the corpus callosum (ACC). CINeMA supports downstream tasks such as tissue segmentation and age prediction whereas its generative properties enable synthetic data creation and anatomically informed data augmentation. Surpassing state-of-the-art methods in accuracy, efficiency, and versatility, CINeMA represents a powerful tool for advancing brain research. We release the code and atlases at https://github.com/m-dannecker/CINeMA.
DHoTT: A Temporal Extension of Homotopy Type Theory for Semantic Drift
Venue: arXiv cs.LO 2025
Year: 2025

Dynamic HoTT (DHoTT) is a conservative extension of Homotopy Type Theory designed for evolving texts in conversational AI. In a chat system, a large language model (LLM) is queried with a growing prefix: at turn tau the input is C(tau), the concatenation of all previous prompts and replies, and the new answer extends C(tau+1). We study the logical semantics of these time indexed texts and how their meanings drift or break over time, linking Homotopy Type Theory with distributional semantics and topological data analysis on embedding spaces. For each turn we embed all tokens seen so far using a frozen encoder and map them to the unit sphere, build a good cover by spherical caps, and form the Cech nerve. A Kan fibrant replacement yields a Kan complex ET(tau), the Evolving Text at time tau, where identity types are path spaces and dependent types support ordinary HoTT transport. Time is treated functorially so that all HoTT rules interpret fibrewise and standard substitution and conservativity properties hold. On top of this fibrewise HoTT layer we add a small cross time calculus for semantic change. A carry records when a later use has a certified path back into an earlier fibre under an admissibility policy. A rupture is a positive sigma type storing finite, policy checked failed attempts together with an open horn tag. An append only ledger accumulates carries and ruptures so that earlier failures are not erased when later alignments appear. We illustrate the construction on small, replicable examples from real human LLM dialogues using a concrete DeBERTa based embedding pipeline. This provides a principled, geometrically grounded core for analysing and auditing semantic drift in large language models and other embedding based systems.
BF-Max: an Efficient Bit Flipping Decoder with Predictable Decoding Failure Rate
Venue: arXiv cs.IT 2025
Year: 2025

The Bit-Flipping (BF) decoder, thanks to its very low computational complexity, is widely employed in post-quantum cryptographic schemes based on Moderate Density Parity Check codes in which, ultimately, decryption boils down to syndrome decoding. In such a setting, for security concerns, one must guarantee that the Decoding Failure Rate (DFR) is negligible. Such a condition, however, is very difficult to guarantee, because simulations are of little help and the decoder performance is difficult to model theoretically. In this paper, we introduce a new version of the BF decoder, that we call BF-Max, characterized by the fact that in each iteration only one bit (the least reliable) is flipped. When the number of iterations is equal to the number of errors to be corrected, we are able to develop a theoretical characterization of the DFR that tightly matches with numerical simulations. We also show how BF-Max can be implemented efficiently, achieving low complexity and making it inherently constant time. With our modeling, we are able to accurately predict values of DFR that are remarkably lower than those estimated by applying other approaches.
CHIP: A multi-sensor dataset for 6D pose estimation of chairs in industrial settings
Venue: arXiv cs.CV 2025
Year: 2025

Accurate 6D pose estimation of complex objects in 3D environments is essential for effective robotic manipulation. Yet, existing benchmarks fall short in evaluating 6D pose estimation methods under realistic industrial conditions, as most datasets focus on household objects in domestic settings, while the few available industrial datasets are limited to artificial setups with objects placed on tables. To bridge this gap, we introduce CHIP, the first dataset designed for 6D pose estimation of chairs manipulated by a robotic arm in a real-world industrial environment. CHIP includes seven distinct chairs captured using three different RGBD sensing technologies and presents unique challenges, such as distractor objects with fine-grained differences and severe occlusions caused by the robotic arm and human operators. CHIP comprises 77,811 RGBD images annotated with ground-truth 6D poses automatically derived from the robot's kinematics, averaging 11,115 annotations per chair. We benchmark CHIP using three zero-shot 6D pose estimation methods, assessing performance across different sensor types, localization priors, and occlusion levels. Results show substantial room for improvement, highlighting the unique challenges posed by the dataset. CHIP will be publicly released.
ABS: Enforcing Constraint Satisfaction On Generated Sequences Via Automata-Guided Beam Search
Venue: arXiv cs.LG 2025
Year: 2025

Sequence generation and prediction form a cornerstone of modern machine learning, with applications spanning natural language processing, program synthesis, and time-series forecasting. These tasks are typically modeled in an autoregressive fashion, where each token is generated conditional on the preceding ones, and beam search is commonly used to balance exploration and fluency during decoding. While deep learning models and Large Language Models (LLMs) excel at capturing statistical patterns in this setting, they remain ill-equipped to guarantee compliance with formal constraints. In this paper, we introduce ABS: a general and model-agnostic inference-time algorithm that guarantees compliance with any constraint that can be compiled into a Deterministic Finite Automaton (DFA), without requiring retraining. ABS leverages the DFA to guide a constrained variant of beam search: at each decoding step, transitions leading to violations are masked, while remaining paths are dynamically re-ranked according to both the model's probabilities and the automaton's acceptance structure. We formally prove that the resulting sequences are guaranteed to satisfy the given constraints, and we empirically demonstrate that ABS also improves output quality. We validate our approach on three distinct tasks: constrained image-stream classification, controlled text generation, and text infilling. In all settings, ABS achieves perfect constraint satisfaction, while outperforming or matching state-of-the-art baselines on standard quality metrics and efficiency.
Mapping NVD Records to Their VFCs: How Hard is it?
Venue: arXiv cs.SE 2025
Year: 2025

Mapping National Vulnerability Database (NVD) records to vulnerability-fixing commits (VFCs) is crucial for vulnerability analysis but challenging due to sparse explicit links in NVD references.This study explores this mapping's feasibility through an empirical approach. Manual analysis of NVD references showed Git references enable over 86% success, while non-Git references achieve under 14%. Using these findings, we built an automated pipeline extracting 31,942 VFCs from 20,360 NVD records (8.7% of 235,341) with 87% precision, mainly from Git references. To fill gaps, we mined six external security databases, yielding 29,254 VFCs for 18,985 records (8.1%) at 88.4% precision, and GitHub repositories, adding 3,686 VFCs for 2,795 records (1.2%) at 73% precision. Combining these, we mapped 26,710 unique records (11.3% coverage) from 7,634 projects, with overlap between NVD and external databases, plus unique GitHub contributions. Despite success with Git references, 88.7% of records remain unmapped, highlighting the difficulty without Git links. This study offers insights for enhancing vulnerability datasets and guiding future automated security research.
The Path is the Goal: a Study on the Nature and Effects of Shortest-Path Stability Under Perturbation of Destination
Venue: arXiv cs.CY 2025
Year: 2025

This work examines the phenomenon of path variability in urban navigation, where small changes in destination might lead to significantly different suggested routes. Starting from an observation of this variability over the city of Barcelona, we explore whether this is a localized or widespread occurrence and identify factors influencing path variability. We introduce the concept of "path stability", a measure of how robust a suggested route is to minor destination adjustments, define a detailed experimentation process and apply it across multiple cities worldwide. Our analysis shows that path stability is shaped by city-specific factors and trip characteristics, also identifying some common patterns. Results reveal significant heterogeneity in path stability across cities, allowing for categorization into "stable" and "unstable" cities. These findings offer new insights for urban planning and traffic management, highlighting opportunities for optimizing navigation systems to enhance route consistency and urban mobility.
Feature Engineering for Agents: An Adaptive Cognitive Architecture for Interpretable ML Monitoring
Venue: arXiv cs.LG 2025
Year: 2025

Monitoring Machine Learning (ML) models in production environments is crucial, yet traditional approaches often yield verbose, low-interpretability outputs that hinder effective decision-making. We propose a cognitive architecture for ML monitoring that applies feature engineering principles to agents based on Large Language Models (LLMs), significantly enhancing the interpretability of monitoring outputs. Central to our approach is a Decision Procedure module that simulates feature engineering through three key steps: Refactor, Break Down, and Compile. The Refactor step improves data representation to better capture feature semantics, allowing the LLM to focus on salient aspects of the monitoring data while reducing noise and irrelevant information. Break Down decomposes complex information for detailed analysis, and Compile integrates sub-insights into clear, interpretable outputs. This process leads to a more deterministic planning approach, reducing dependence on LLM-generated planning, which can sometimes be inconsistent and overly general. The combination of feature engineering-driven planning and selective LLM utilization results in a robust decision support system, capable of providing highly interpretable and actionable insights. Experiments using multiple LLMs demonstrate the efficacy of our approach, achieving significantly higher accuracy compared to various baselines across several domains.
Accurate and efficient zero-shot 6D pose estimation with frozen foundation models
Venue: arXiv cs.CV 2025
Year: 2025

Estimating the 6D pose of objects from RGBD data is a fundamental problem in computer vision, with applications in robotics and augmented reality. A key challenge is achieving generalization to novel objects that were not seen during training. Most existing approaches address this by scaling up training on synthetic data tailored to the task, a process that demands substantial computational resources. But is task-specific training really necessary for accurate and efficient 6D pose estimation of novel objects? To answer No!, we introduce FreeZeV2, the second generation of FreeZe: a training-free method that achieves strong generalization to unseen objects by leveraging geometric and vision foundation models pre-trained on unrelated data. FreeZeV2 improves both accuracy and efficiency over FreeZe through three key contributions: (i) a sparse feature extraction strategy that reduces inference-time computation without sacrificing accuracy; (ii) a feature-aware scoring mechanism that improves both pose selection during RANSAC-based 3D registration and the final ranking of pose candidates; and (iii) a modular design that supports ensembles of instance segmentation models, increasing robustness to segmentation masks errors. We evaluate FreeZeV2 on the seven core datasets of the BOP Benchmark, where it establishes a new state-of-the-art in 6D pose estimation of unseen objects. When using the same segmentation masks, FreeZeV2 achieves a remarkable 8x speedup over FreeZe while also improving accuracy by 5%. When using ensembles of segmentation models, FreeZeV2 gains an additional 8% in accuracy while still running 2.5x faster than FreeZe. FreeZeV2 was awarded Best Overall Method at the BOP Challenge 2024.
A theoretical framework for self-supervised contrastive learning for continuous dependent data
Venue: arXiv cs.LG 2025
Year: 2025

Self-supervised learning (SSL) has emerged as a powerful approach to learning representations, particularly in the field of computer vision. However, its application to dependent data, such as temporal and spatio-temporal domains, remains underexplored. Besides, traditional contrastive SSL methods often assume \emph{semantic independence between samples}, which does not hold for dependent data exhibiting complex correlations. We propose a novel theoretical framework for contrastive SSL tailored to \emph{continuous dependent data}, which allows the nearest samples to be semantically close to each other. In particular, we propose two possible \textit{ground truth similarity measures} between objects -- \emph{hard} and \emph{soft} closeness. Under it, we derive an analytical form for the \textit{estimated similarity matrix} that accommodates both types of closeness between samples, thereby introducing dependency-aware loss functions. We validate our approach, \emph{Dependent TS2Vec}, on temporal and spatio-temporal downstream problems. Given the dependency patterns presented in the data, our approach surpasses modern ones for dependent data, highlighting the effectiveness of our theoretically grounded loss functions for SSL in capturing spatio-temporal dependencies. Specifically, we outperform TS2Vec on the standard UEA and UCR benchmarks, with accuracy improvements of $4.17$\% and $2.08$\%, respectively. Furthermore, on the drought classification task, which involves complex spatio-temporal patterns, our method achieves a $7$\% higher ROC-AUC score.