OpenRaiser/Intern-Atlas huggingface dataset:
RoadFormer : Local-Global Feature Fusion for Road Surface Classification in Autonomous Driving
Venue: arXiv cs.CV 2025
Year: 2025

The classification of the type of road surface (RSC) aims to utilize pavement features to identify the roughness, wet and dry conditions, and material information of the road surface. Due to its ability to effectively enhance road safety and traffic management, it has received widespread attention in recent years. In autonomous driving, accurate RSC allows vehicles to better understand the road environment, adjust driving strategies, and ensure a safer and more efficient driving experience. For a long time, vision-based RSC has been favored. However, existing visual classification methods have overlooked the exploration of fine-grained classification of pavement types (such as similar pavement textures). In this work, we propose a pure vision-based fine-grained RSC method for autonomous driving scenarios, which fuses local and global feature information through the stacking of convolutional and transformer modules. We further explore the stacking strategies of local and global feature extraction modules to find the optimal feature extraction strategy. In addition, since fine-grained tasks also face the challenge of relatively large intra-class differences and relatively small inter-class differences, we propose a Foreground-Background Module (FBM) that effectively extracts fine-grained context features of the pavement, enhancing the classification ability for complex pavements. Experiments conducted on a large-scale pavement dataset containing one million samples and a simplified dataset reorganized from this dataset achieved Top-1 classification accuracies of 92.52% and 96.50%, respectively, improving by 5.69% to 12.84% compared to SOTA methods. These results demonstrate that RoadFormer outperforms existing methods in RSC tasks, providing significant progress in improving the reliability of pavement perception in autonomous driving systems.
EyeNavGS: A 6-DoF Navigation Dataset and Record-n-Replay Software for Real-World 3DGS Scenes in VR
Venue: arXiv cs.MM 2025
Year: 2025

3D Gaussian Splatting (3DGS) is an emerging media representation that reconstructs real-world 3D scenes in high fidelity, enabling 6-degrees-of-freedom (6-DoF) navigation in virtual reality (VR). However, developing and evaluating 3DGS-enabled applications and optimizing their rendering performance, require realistic user navigation data. Such data is currently unavailable for photorealistic 3DGS reconstructions of real-world scenes. This paper introduces EyeNavGS (EyeNavGS), the first publicly available 6-DoF navigation dataset featuring traces from 46 participants exploring twelve diverse, real-world 3DGS scenes. The dataset was collected at two sites, using the Meta Quest Pro headsets, recording the head pose and eye gaze data for each rendered frame during free world standing 6-DoF navigation. For each of the twelve scenes, we performed careful scene initialization to correct for scene tilt and scale, ensuring a perceptually-comfortable VR experience. We also release our open-source SIBR viewer software fork with record-and-replay functionalities and a suite of utility tools for data processing, conversion, and visualization. The EyeNavGS dataset and its accompanying software tools provide valuable resources for advancing research in 6-DoF viewport prediction, adaptive streaming, 3D saliency, and foveated rendering for 3DGS scenes. The EyeNavGS dataset is available at: https://symmru.github.io/EyeNavGS/.
AERO: A Redirection-Based Optimization Framework Inspired by Judo for Robust Probabilistic Forecasting
Venue: arXiv cs.LG 2025
Year: 2025

Optimization remains a fundamental pillar of machine learning, yet existing methods often struggle to maintain stability and adaptability in dynamic, non linear systems, especially under uncertainty. We introduce AERO (Adversarial Energy-based Redirection Optimization), a novel framework inspired by the redirection principle in Judo, where external disturbances are leveraged rather than resisted. AERO reimagines optimization as a redirection process guided by 15 interrelated axioms encompassing adversarial correction, energy conservation, and disturbance-aware learning. By projecting gradients, integrating uncertainty driven dynamics, and managing learning energy, AERO offers a principled approach to stable and robust model updates. Applied to probabilistic solar energy forecasting, AERO demonstrates substantial gains in predictive accuracy, reliability, and adaptability, especially in noisy and uncertain environments. Our findings highlight AERO as a compelling new direction in the theoretical and practical landscape of optimization.
Breaking the Barriers of Text-Hungry and Audio-Deficient AI
Venue: arXiv cs.SD 2025
Year: 2025

While global linguistic diversity spans more than 7164 recognized languages, the current dominant architecture of machine intelligence remains fundamentally biased toward written text. This bias excludes over 700 million people particularly in rural and remote regions who are audio-literate. In this work, we introduce a fully textless, audio-to-audio machine intelligence framework designed to serve this underserved population, and all the people who prefer audio-efficiency. Our contributions include novel Audio-to-Audio translation architectures that bypass text entirely, including spectrogram-, scalogram-, wavelet-, and unit-based models. Central to our approach is the Multiscale Audio-Semantic Transform (MAST), a representation that encodes tonal, prosodic, speaker, and expressive features. We further integrate MAST into a fractional diffusion of mean-field-type framework powered by fractional Brownian motion. It enables the generation of high-fidelity, semantically consistent speech without reliance on textual supervision. The result is a robust and scalable system capable of learning directly from raw audio, even in languages that are unwritten or rarely digitized. This work represents a fundamental shift toward audio-native machine intelligence systems, expanding access to language technologies for communities historically left out of the current machine intelligence ecosystem.
IP-Dialog: Evaluating Implicit Personalization in Dialogue Systems with Synthetic Data
Venue: arXiv cs.CL 2025
Year: 2025

In modern dialogue systems, the ability to implicitly infer user backgrounds from conversations and leverage this information for personalized assistance is crucial. However, the scarcity of high-quality data remains a fundamental challenge to evaluating and improving this capability. Traditional dataset construction methods are labor-intensive, resource-demanding, and raise privacy concerns. To address these issues, we propose a novel approach for automatic synthetic data generation and introduce the Implicit Personalized Dialogue (IP-Dialog) benchmark along with a training dataset, covering 10 tasks and 12 user attribute types. Additionally, we develop a systematic evaluation framework with four metrics to assess both attribute awareness and reasoning capabilities. We further propose five causal graphs to elucidate models' reasoning pathways during implicit personalization. Extensive experiments yield insightful observations and prove the reliability of our dataset.
ReSpace: Text-Driven 3D Indoor Scene Synthesis and Editing with Preference Alignment
Venue: arXiv cs.CV 2025
Year: 2025

Scene synthesis and editing has emerged as a promising direction in computer graphics. Current trained approaches for 3D indoor scenes either oversimplify object semantics through one-hot class encodings (e.g., 'chair' or 'table'), require masked diffusion for editing, ignore room boundaries, or rely on floor plan renderings that fail to capture complex layouts. LLM-based methods enable richer semantics via natural language (e.g., 'modern studio with light wood furniture'), but lack editing functionality, are limited to rectangular layouts, or rely on weak spatial reasoning from implicit world models. We introduce ReSpace, a generative framework for text-driven 3D indoor scene synthesis and editing using autoregressive language models. Our approach features a compact structured scene representation with explicit room boundaries that enables asset-agnostic deployment and frames scene editing as a next-token prediction task. We leverage a dual-stage training approach combining supervised fine-tuning and preference alignment, enabling a specially trained language model for object addition that accounts for user instructions, spatial geometry, object semantics, and scene-level composition. For scene editing, we employ a zero-shot LLM to handle object removal and prompts for addition. We further introduce a voxelization-based evaluation capturing fine-grained geometry beyond 3D bounding boxes. Experimental results surpass state-of-the-art on addition and achieve superior human-perceived quality on full scene synthesis.
HRTR: A Single-stage Transformer for Fine-grained Sub-second Action Segmentation in Stroke Rehabilitation
Venue: arXiv cs.CV 2025
Year: 2025

Stroke rehabilitation often demands precise tracking of patient movements to monitor progress, with complexities of rehabilitation exercises presenting two critical challenges: fine-grained and sub-second (under one-second) action detection. In this work, we propose the High Resolution Temporal Transformer (HRTR), to time-localize and classify high-resolution (fine-grained), sub-second actions in a single-stage transformer, eliminating the need for multi-stage methods and post-processing. Without any refinements, HRTR outperforms state-of-the-art systems on both stroke related and general datasets, achieving Edit Score (ES) of 70.1 on StrokeRehab Video, 69.4 on StrokeRehab IMU, and 88.4 on 50Salads.
Co-Evidential Fusion with Information Volume for Medical Image Segmentation
Venue: arXiv cs.CV 2025
Year: 2025

Although existing semi-supervised image segmentation methods have achieved good performance, they cannot effectively utilize multiple sources of voxel-level uncertainty for targeted learning. Therefore, we propose two main improvements. First, we introduce a novel pignistic co-evidential fusion strategy using generalized evidential deep learning, extended by traditional D-S evidence theory, to obtain a more precise uncertainty measure for each voxel in medical samples. This assists the model in learning mixed labeled information and establishing semantic associations between labeled and unlabeled data. Second, we introduce the concept of information volume of mass function (IVUM) to evaluate the constructed evidence, implementing two evidential learning schemes. One optimizes evidential deep learning by combining the information volume of the mass function with original uncertainty measures. The other integrates the learning pattern based on the co-evidential fusion strategy, using IVUM to design a new optimization objective. Experiments on four datasets demonstrate the competitive performance of our method.
Technical Report for Ego4D Long-Term Action Anticipation Challenge 2025
Venue: arXiv cs.CV 2025
Year: 2025

In this report, we present a novel three-stage framework developed for the Ego4D Long-Term Action Anticipation (LTA) task. Inspired by recent advances in foundation models, our method consists of three stages: feature extraction, action recognition, and long-term action anticipation. First, visual features are extracted using a high-performance visual encoder. The features are then fed into a Transformer to predict verbs and nouns, with a verb-noun co-occurrence matrix incorporated to enhance recognition accuracy. Finally, the predicted verb-noun pairs are formatted as textual prompts and input into a fine-tuned large language model (LLM) to anticipate future action sequences. Our framework achieves first place in this challenge at CVPR 2025, establishing a new state-of-the-art in long-term action prediction. Our code will be released at https://github.com/CorrineQiu/Ego4D-LTA-Challenge-2025.
Response-Level Rewards Are All You Need for Online Reinforcement Learning in LLMs: A Mathematical Perspective
Venue: arXiv cs.LG 2025
Year: 2025

We study a common challenge in reinforcement learning for large language models (LLMs): the Zero-Reward Assumption, where non-terminal actions (i.e., intermediate token generations) receive zero task-specific immediate reward, while only the final token receives a reward for the entire response. This assumption arises frequently in practice, as precise token-level rewards are often difficult or infeasible to obtain in LLM applications. In this work, we provide a unifying theoretical perspective. We introduce the Trajectory Policy Gradient Theorem, which shows that the policy gradient based on true, unknown token-level rewards can be unbiasedly estimated using only a response-level reward model, regardless of whether the Zero-Reward Assumption holds or not, for algorithms in the REINFORCE and Actor-Critic families. This result reveals that widely used methods such as PPO, GRPO, ReMax, and RLOO inherently possess the capacity to model token-level reward signals, offering a theoretical justification for response-level reward approaches. Our findings pave the way for more practical, efficient LLM fine-tuning, allowing developers to treat training algorithms as black boxes and focus on improving the response-level reward model with auxiliary sub-models. We also offer a detailed analysis of popular RL and non-RL methods, comparing their theoretical foundations and practical advantages across common LLM tasks. Finally, we propose a new algorithm: Token-Reinforced Policy Optimization (TRePO), a theoretically grounded method that is simpler than PPO, matches GRPO in memory efficiency, and holds promise for broad applicability.
HiLO: High-Level Object Fusion for Autonomous Driving using Transformers
Venue: arXiv cs.RO 2025
Year: 2025

The fusion of sensor data is essential for a robust perception of the environment in autonomous driving. Learning-based fusion approaches mainly use feature-level fusion to achieve high performance, but their complexity and hardware requirements limit their applicability in near-production vehicles. High-level fusion methods offer robustness with lower computational requirements. Traditional methods, such as the Kalman filter, dominate this area. This paper modifies the Adapted Kalman Filter (AKF) and proposes a novel transformer-based high-level object fusion method called HiLO. Experimental results demonstrate improvements of $25.9$ percentage points in $\textrm{F}_1$ score and $6.1$ percentage points in mean IoU. Evaluation on a new large-scale real-world dataset demonstrates the effectiveness of the proposed approaches. Their generalizability is further validated by cross-domain evaluation between urban and highway scenarios. Code, data, and models are available at https://github.com/rst-tu-dortmund/HiLO .
Sign Language: Towards Sign Understanding for Robot Autonomy
Venue: arXiv cs.RO 2025
Year: 2025

Navigational signs are common aids for human wayfinding and scene understanding, but are underutilized by robots. We argue that they benefit robot navigation and scene understanding, by directly encoding privileged information on actions, spatial regions, and relations. Interpreting signs in open-world settings remains a challenge owing to the complexity of scenes and signs, but recent advances in vision-language models (VLMs) make this feasible. To advance progress in this area, we introduce the task of navigational sign understanding which parses locations and associated directions from signs. We offer a benchmark for this task, proposing appropriate evaluation metrics and curating a test set capturing signs with varying complexity and design across diverse public spaces, from hospitals to shopping malls to transport hubs. We also provide a baseline approach using VLMs, and demonstrate their promise on navigational sign understanding. Code and dataset are available on Github.
Towards Generating Controllable and Solvable Geometry Problem by Leveraging Symbolic Deduction Engine
Venue: arXiv cs.AI 2025
Year: 2025

Generating high-quality geometry problems is both an important and challenging task in education. Compared to math word problems, geometry problems further emphasize multi-modal formats and the translation between informal and formal languages. In this paper, we introduce a novel task for geometry problem generation and propose a new pipeline method: the Symbolic Deduction Engine-based Geometry Problem Generation framework (SDE-GPG). The framework leverages a symbolic deduction engine and contains four main steps: (1) searching a predefined mapping table from knowledge points to extended definitions, (2) sampling extended definitions and performing symbolic deduction, (3) filtering out unqualified problems, and (4) generating textual problems and diagrams. Specifically, our method supports to avoid inherent biases in translating natural language into formal language by designing the mapping table, and guarantees to control the generated problems in terms of knowledge points and difficulties by an elaborate checking function. With obtained formal problems, they are translated to natural language and the accompanying diagrams are automatically drew by rule-based methods. We conduct experiments using real-world combinations of knowledge points from two public datasets. The results demonstrate that the SDE-GPG can effectively generate readable, solvable and controllable geometry problems.
One-Step Diffusion-based Real-World Image Super-Resolution with Visual Perception Distillation
Venue: arXiv cs.CV 2025
Year: 2025

Diffusion-based models have been widely used in various visual generation tasks, showing promising results in image super-resolution (SR), while typically being limited by dozens or even hundreds of sampling steps. Although existing methods aim to accelerate the inference speed of multi-step diffusion-based SR methods through knowledge distillation, their generated images exhibit insufficient semantic alignment with real images, resulting in suboptimal perceptual quality reconstruction, specifically reflected in the CLIPIQA score. These methods still have many challenges in perceptual quality and semantic fidelity. Based on the challenges, we propose VPD-SR, a novel visual perception diffusion distillation framework specifically designed for SR, aiming to construct an effective and efficient one-step SR model. Specifically, VPD-SR consists of two components: Explicit Semantic-aware Supervision (ESS) and High-Frequency Perception (HFP) loss. Firstly, the ESS leverages the powerful visual perceptual understanding capabilities of the CLIP model to extract explicit semantic supervision, thereby enhancing semantic consistency. Then, Considering that high-frequency information contributes to the visual perception quality of images, in addition to the vanilla distillation loss, the HFP loss guides the student model to restore the missing high-frequency details in degraded images that are critical for enhancing perceptual quality. Lastly, we expand VPD-SR in adversarial training manner to further enhance the authenticity of the generated content. Extensive experiments conducted on synthetic and real-world datasets demonstrate that the proposed VPD-SR achieves superior performance compared to both previous state-of-the-art methods and the teacher model with just one-step sampling.
High Performance Space Debris Tracking in Complex Skylight Backgrounds with a Large-Scale Dataset
Venue: arXiv cs.CV 2025
Year: 2025

With the rapid development of space exploration, space debris has attracted more attention due to its potential extreme threat, leading to the need for real-time and accurate debris tracking. However, existing methods are mainly based on traditional signal processing, which cannot effectively process the complex background and dense space debris. In this paper, we propose a deep learning-based Space Debris Tracking Network~(SDT-Net) to achieve highly accurate debris tracking. SDT-Net effectively represents the feature of debris, enhancing the efficiency and stability of end-to-end model learning. To train and evaluate this model effectively, we also produce a large-scale dataset Space Debris Tracking Dataset (SDTD) by a novel observation-based data simulation scheme. SDTD contains 18,040 video sequences with a total of 62,562 frames and covers 250,000 synthetic space debris. Extensive experiments validate the effectiveness of our model and the challenging of our dataset. Furthermore, we test our model on real data from the Antarctic Station, achieving a MOTA score of 73.2%, which demonstrates its strong transferability to real-world scenarios. Our dataset and code will be released soon.
Compositional Learning for Modular Multi-Agent Self-Organizing Networks
Venue: arXiv cs.LG 2025
Year: 2025

Self-organizing networks face challenges from complex parameter interdependencies and conflicting objectives. This study introduces two compositional learning approaches-Compositional Deep Reinforcement Learning (CDRL) and Compositional Predictive Decision-Making (CPDM)-and evaluates their performance under training time and safety constraints in multi-agent systems. We propose a modular, two-tier framework with cell-level and cell-pair-level agents to manage heterogeneous agent granularities while reducing model complexity. Numerical simulations reveal a significant reduction in handover failures, along with improved throughput and latency, outperforming conventional multi-agent deep reinforcement learning approaches. The approach also demonstrates superior scalability, faster convergence, higher sample efficiency, and safer training in large-scale self-organizing networks.
HORUS: A Mixed Reality Interface for Managing Teams of Mobile Robots
Venue: arXiv cs.RO 2025
Year: 2025

Mixed Reality (MR) interfaces have been extensively explored for controlling mobile robots, but there is limited research on their application to managing teams of robots. This paper presents HORUS: Holistic Operational Reality for Unified Systems, a Mixed Reality interface offering a comprehensive set of tools for managing multiple mobile robots simultaneously. HORUS enables operators to monitor individual robot statuses, visualize sensor data projected in real time, and assign tasks to single robots, subsets of the team, or the entire group, all from a Mini-Map (Ground Station). The interface also provides different teleoperation modes: a mini-map mode that allows teleoperation while observing the robot model and its transform on the mini-map, and a semi-immersive mode that offers a flat, screen-like view in either single or stereo view (3D). We conducted a user study in which participants used HORUS to manage a team of mobile robots tasked with finding clues in an environment, simulating search and rescue tasks. This study compared HORUS's full-team management capabilities with individual robot teleoperation. The experiments validated the versatility and effectiveness of HORUS in multi-robot coordination, demonstrating its potential to advance human-robot collaboration in dynamic, team-based environments.