OpenRaiser/Intern-Atlas huggingface dataset:
Improvement on LiDAR-Camera Calibration Using Square Targets
Venue: arXiv cs.RO 2025
Year: 2025

Precise sensor calibration is critical for autonomous vehicles as a prerequisite for perception algorithms to function properly. Rotation error of one degree can translate to position error of meters in target object detection at large distance, leading to improper reaction of the system or even safety related issues. Many methods for multi-sensor calibration have been proposed. However, there are very few work that comprehensively consider the challenges of the calibration procedure when applied to factory manufacturing pipeline or after-sales service scenarios. In this work, we introduce a fully automatic LiDAR-camera extrinsic calibration algorithm based on targets that is fast, easy to deploy and robust to sensor noises such as missing data. The core of the method include: (1) an automatic multi-stage LiDAR board detection pipeline using only geometry information with no specific material requirement; (2) a fast coarse extrinsic parameter search mechanism that is robust to initial extrinsic errors; (3) a direct optimization algorithm that is robust to sensor noises. We validate the effectiveness of our methods through experiments on data captured in real world scenarios.
GeNeRT: A Physics-Informed Approach to Intelligent Wireless Channel Modeling via Generalizable Neural Ray Tracing
Venue: arXiv cs.LG 2025
Year: 2025

Neural ray tracing (RT) has emerged as a promising paradigm for channel modeling by combining physical propagation principles with neural networks. It enables high modeling accuracy and efficiency. However, current neural RT methods face two key limitations: constrained generalization capability due to strong spatial dependence, and weak adherence to electromagnetic laws. In this paper, we propose GeNeRT, a Generalizable Neural RT framework with enhanced generalization, accuracy and efficiency. GeNeRT supports both intra-scenario spatial transferability and inter-scenario zero-shot generalization. By incorporating Fresnel-inspired neural network design, it also achieves higher accuracy in multipath component (MPC) prediction. Furthermore, a GPU-tensorized acceleration strategy is introduced to improve runtime efficiency. Extensive experiments conducted in outdoor scenarios demonstrate that GeNeRT generalizes well across untrained regions within a scenario and entirely unseen environments, and achieves superior accuracy in MPC prediction compared to baselines. Moreover, it outperforms Wireless Insite in runtime efficiency, particularly in multi-transmitter settings. Ablation experiments validate the effectiveness of the network architecture and training strategy in capturing physical principles of ray-surface interactions.
Rethinking Mean Opinion Scores in Speech Quality Assessment: Aggregation through Quantized Distribution Fitting
Venue: arXiv cs.SD 2025
Year: 2025

Speech quality assessment (SQA) aims to evaluate the quality of speech samples without relying on time-consuming listener questionnaires. Recent efforts have focused on training neural-based SQA models to predict the mean opinion score (MOS) of speech samples produced by text-to-speech or voice conversion systems. This paper targets the enhancement of MOS prediction models' performance. We propose a novel score aggregation method to address the limitations of conventional annotations for MOS, which typically involve ratings on a scale from 1 to 5. Our method is based on the hypothesis that annotators internally consider continuous scores and then choose the nearest discrete rating. By modeling this process, we approximate the generative distribution of ratings by quantizing the latent continuous distribution. We then use the peak of this latent distribution, estimated through the loss between the quantized distribution and annotated ratings, as a new representative value instead of MOS. Experimental results demonstrate that substituting MOSNet's predicted target with this proposed value improves prediction performance.
Bias vs Bias -- Dawn of Justice: A Fair Fight in Recommendation Systems
Venue: arXiv cs.IR 2025
Year: 2025

Recommendation systems play a crucial role in our daily lives by impacting user experience across various domains, including e-commerce, job advertisements, entertainment, etc. Given the vital role of such systems in our lives, practitioners must ensure they do not produce unfair and imbalanced recommendations. Previous work addressing bias in recommendations overlooked bias in certain item categories, potentially leaving some biases unaddressed. Additionally, most previous work on fair re-ranking focused on binary-sensitive attributes. In this paper, we address these issues by proposing a fairness-aware re-ranking approach that helps mitigate bias in different categories of items. This re-ranking approach leverages existing biases to correct disparities in recommendations across various demographic groups. We show how our approach can mitigate bias on multiple sensitive attributes, including gender, age, and occupation. We experimented on three real-world datasets to evaluate the effectiveness of our re-ranking scheme in mitigating bias in recommendations. Our results show how this approach helps mitigate social bias with little to no degradation in performance.
End-to-End Fine-Tuning of 3D Texture Generation using Differentiable Rewards
Venue: arXiv cs.CV 2025
Year: 2025

While recent 3D generative models can produce high-quality texture images, they often fail to capture human preferences or meet task-specific requirements. Moreover, a core challenge in the 3D texture generation domain is that most existing approaches rely on repeated calls to 2D text-to-image generative models, which lack an inherent understanding of the 3D structure of the input 3D mesh object. To alleviate these issues, we propose an end-to-end differentiable, reinforcement-learning-free framework that embeds human feedback, expressed as differentiable reward functions, directly into the 3D texture synthesis pipeline. By back-propagating preference signals through both geometric and appearance modules of the proposed framework, our method generates textures that respect the 3D geometry structure and align with desired criteria. To demonstrate its versatility, we introduce three novel geometry-aware reward functions, which offer a more controllable and interpretable pathway for creating high-quality 3D content from natural language. By conducting qualitative, quantitative, and user-preference evaluations against state-of-the-art methods, we demonstrate that our proposed strategy consistently outperforms existing approaches. Our implementation code is publicly available at: https://github.com/AHHHZ975/Differentiable-Texture-Learning
Continuous Map Matching to Paths under Travel Time Constraints
Venue: arXiv cs.CG 2025
Year: 2025

In this paper, we study the problem of map matching with travel time constraints. Given a sequence of $k$ spatio-temporal measurements and an embedded path graph with travel time costs, the goal is to snap each measurement to a close-by location in the graph, such that consecutive locations can be reached from one another along the path within the timestamp difference of the respective measurements. This problem arises in public transit data processing as well as in map matching of movement trajectories to general graphs. We show that the classical approach for this problem, which relies on selecting a finite set of candidate locations in the graph for each measurement, cannot guarantee to find a consistent solution. We propose a new algorithm that can deal with an infinite set of candidate locations per measurement. We prove that our algorithm always detects a consistent map matching path (if one exists). Despite the enlarged candidate set, we also demonstrate that our algorithm has superior running time in theory and practice. For a path graph with $n$ nodes, we show that our algorithm runs in $\mathcal{O}(k^2 n \log {nk})$ and under mild assumptions in $\mathcal{O}(k n ^λ+ n \log^3 n)$ for $λ\approx 0.695$. This is a significant improvement over the baseline, which runs in $\mathcal{O}(k n^2)$ and which might not even identify a correct solution. The performance of our algorithm hinges on an efficient segment-circle intersection data structure. We describe how to design and implement such a data structure for our application. In the experimental evaluation, we demonstrate the usefulness of our novel algorithm on a diverse set of generated measurements as well as GTFS data.
LOGICPO: Efficient Translation of NL-based Logical Problems to FOL using LLMs and Preference Optimization
Venue: arXiv cs.LG 2025
Year: 2025

Logical reasoning is a key task for artificial intelligence due to it's role in major downstream tasks such as Question Answering, Summarization. Recent methods in improving the reasoning ability of LLMs fall short in correctly converting a natural language reasoning problem to an equivalent logical formulation, which hinders the framework's overall ability to reason. Towards this, we propose to use finetuning on a preference optimization dataset to learn to parse and represent a natural language problem as a whole to a consistent logical program by 1) introducing a new supervised and preference optimization dataset LogicPO, and 2) adopting popular techniques such as Direct Preference Optimization (DPO), Kahneman-Tversky optimization (KTO) to finetune open-source LLMs. Our best model with Phi-3.5 consistently outperforms GPT-3.5-turbo's (8-shot) by producing 10% more logically correct and with 14% less syntax errors. Through the framework and our improved evaluation metrics, we offer a promising direction in improving the logical reasoning of LLMs by better representing them in their logical formulations.
Jump Complexity of Deterministic Finite Automata with Translucent Letters
Venue: arXiv cs.FL 2025
Year: 2025

We investigate a dynamical complexity measure defined for finite automata with translucent letters (FAwtl). Roughly, this measure counts the minimal number of necessary jumps for such an automaton in order to accept an input. The model considered here is the deterministic finite automaton with translucent letters (DFAwtl). Unlike in the case of the nondeterministic variant, the function describing the jump complexity of any DFAwtl is either bounded by a constant or it is linear. We give a polynomial-time algorithm for deciding whether the jump complexity of a DFAwtl is constant-bounded or linear and we prove that the equivalence problem for DFAwtl of $\bigo(1)$ jump complexity is decidable. We also consider another fundamental problem for extensions of finite automata models, deciding whether the language accepted by a FAwtl is regular. We give a positive partial answer for DFAwtl over the binary alphabet, in contrast with the case of NFAwtl, where the problem is undecidable.
The Debugging Decay Index: Rethinking Debugging Strategies for Code LLMs
Venue: arXiv cs.SE 2025
Year: 2025

The effectiveness of AI debugging follows a predictable exponential decay pattern; most models lose 60-80% of their debugging capability within just 2-3 attempts, despite iterative debugging being a critical capability for practical code generation systems. We introduce the Debugging Decay Index (DDI), a mathematical framework that quantifies when debugging becomes ineffective and predicts intervention points. Our strategic fresh start approach shifts from exploitation to exploration at strategic points in the debugging process, demonstrating that well-timed interventions can rescue the effectiveness of debugging. DDI reveals a fundamental limitation in current AI debugging and provides the first quantitative framework for optimising iterative code generation strategies.
Neural-operator element method: Efficient and scalable finite element method enabled by reusable neural operators
Venue: arXiv cs.CE 2025
Year: 2025

The finite element method (FEM) is a well-established numerical method for solving partial differential equations (PDEs). However, its mesh-based nature gives rise to substantial computational costs, especially for complex multiscale simulations. Emerging machine learning-based methods (e.g., neural operators) provide data-driven solutions to PDEs, yet they present challenges, including high training cost and low model reusability. Here, we propose the neural-operator element method (NOEM) by synergistically combining FEM with operator learning to address these challenges. NOEM leverages neural operators (NOs) to simulate subdomains where a large number of finite elements would be required if FEM was used. In each subdomain, an NO is used to build a single element, namely a neural-operator element (NOE). NOEs are then integrated with standard finite elements to represent the entire solution through the variational framework. Thereby, NOEM does not necessitate dense meshing and offers efficient simulations. We demonstrate the accuracy, efficiency, and scalability of NOEM by performing extensive and systematic numerical experiments, including nonlinear PDEs, multiscale problems, PDEs on complex geometries, and discontinuous coefficient fields.
Frequency-Domain Fusion Transformer for Image Inpainting
Venue: arXiv cs.CV 2025
Year: 2025

Image inpainting plays a vital role in restoring missing image regions and supporting high-level vision tasks, but traditional methods struggle with complex textures and large occlusions. Although Transformer-based approaches have demonstrated strong global modeling capabilities, they often fail to preserve high-frequency details due to the low-pass nature of self-attention and suffer from high computational costs. To address these challenges, this paper proposes a Transformer-based image inpainting method incorporating frequency-domain fusion. Specifically, an attention mechanism combining wavelet transform and Gabor filtering is introduced to enhance multi-scale structural modeling and detail preservation. Additionally, a learnable frequency-domain filter based on the fast Fourier transform is designed to replace the feedforward network, enabling adaptive noise suppression and detail retention. The model adopts a four-level encoder-decoder structure and is guided by a novel loss strategy to balance global semantics and fine details. Experimental results demonstrate that the proposed method effectively improves the quality of image inpainting by preserving more high-frequency information.
Mirror Eyes: Explainable Human-Robot Interaction at a Glance
Venue: arXiv cs.RO 2025
Year: 2025

The gaze of a person tends to reflect their interest. This work explores what happens when this statement is taken literally and applied to robots. Here we present a robot system that employs a moving robot head with a screen-based eye model that can direct the robot's gaze to points in physical space and present a reflection-like mirror image of the attended region on top of each eye. We conducted a user study with 33 participants, who were asked to instruct the robot to perform pick-and-place tasks, monitor the robot's task execution, and interrupt it in case of erroneous actions. Despite a deliberate lack of instructions about the role of the eyes and a very brief system exposure, participants felt more aware about the robot's information processing, detected erroneous actions earlier, and rated the user experience higher when eye-based mirroring was enabled compared to non-reflective eyes. These results suggest a beneficial and intuitive utilization of the introduced method in cooperative human-robot interaction.
Normality Prior Guided Multi-Semantic Fusion Network for Unsupervised Image Anomaly Detection
Venue: arXiv cs.CV 2025
Year: 2025

Recently, detecting logical anomalies is becoming a more challenging task compared to detecting structural ones. Existing encoder decoder based methods typically compress inputs into low-dimensional bottlenecks on the assumption that the compression process can effectively suppress the transmission of logical anomalies to the decoder. However, logical anomalies present a particular difficulty because, while their local features often resemble normal semantics, their global semantics deviate significantly from normal patterns. Thanks to the generalisation capabilities inherent in neural networks, these abnormal semantic features can propagate through low-dimensional bottlenecks. This ultimately allows the decoder to reconstruct anomalous images with misleading fidelity. To tackle the above challenge, we propose a novel normality prior guided multi-semantic fusion network for unsupervised anomaly detection. Instead of feeding the compressed bottlenecks to the decoder directly, we introduce the multi-semantic features of normal samples into the reconstruction process. To this end, we first extract abstract global semantics of normal cases by a pre-trained vision-language network, then the learnable semantic codebooks are constructed to store representative feature vectors of normal samples by vector quantisation. Finally, the above multi-semantic features are fused and employed as input to the decoder to guide the reconstruction of anomalies to approximate normality. Extensive experiments are conducted to validate the effectiveness of our proposed method, and it achieves the SOTA performance on the MVTec LOCO AD dataset with improvements of 5.7% in pixel-sPRO and 2.6% in image-AUROC. The source code is available at https://github.com/Xmh-L/NPGMF.
T-CPDL: A Temporal Causal Probabilistic Description Logic for Developing Logic-RAG Agent
Venue: arXiv cs.AI 2025
Year: 2025

Large language models excel at generating fluent text but frequently struggle with structured reasoning involving temporal constraints, causal relationships, and probabilistic reasoning. To address these limitations, we propose Temporal Causal Probabilistic Description Logic (T-CPDL), an integrated framework that extends traditional Description Logic with temporal interval operators, explicit causal relationships, and probabilistic annotations. We present two distinct variants of T-CPDL: one capturing qualitative temporal relationships through Allen's interval algebra, and another variant enriched with explicit timestamped causal assertions. Both variants share a unified logical structure, enabling complex reasoning tasks ranging from simple temporal ordering to nuanced probabilistic causation. Empirical evaluations on temporal reasoning and causal inference benchmarks confirm that T-CPDL substantially improves inference accuracy, interpretability, and confidence calibration of language model outputs. By delivering transparent reasoning paths and fine-grained temporal and causal semantics, T-CPDL significantly enhances the capability of language models to support robust, explainable, and trustworthy decision-making. This work also lays the groundwork for developing advanced Logic-Retrieval-Augmented Generation (Logic-RAG) frameworks, potentially boosting the reasoning capabilities and efficiency of knowledge graph-enhanced RAG systems.
PG-LIO: Photometric-Geometric fusion for Robust LiDAR-Inertial Odometry
Venue: arXiv cs.RO 2025
Year: 2025

LiDAR-Inertial Odometry (LIO) is widely used for accurate state estimation and mapping which is an essential requirement for autonomous robots. Conventional LIO methods typically rely on formulating constraints from the geometric structure sampled by the LiDAR. Hence, in the lack of geometric structure, these tend to become ill-conditioned (degenerate) and fail. Robustness of LIO to such conditions is a necessity for its broader deployment. To address this, we propose PG-LIO, a real-time LIO method that fuses photometric and geometric information sampled by the LiDAR along with inertial constraints from an Inertial Measurement Unit (IMU). This multi-modal information is integrated into a factor graph optimized over a sliding window for real-time operation. We evaluate PG-LIO on multiple datasets that include both geometrically well-conditioned as well as self-similar scenarios. Our method achieves accuracy on par with state-of-the-art LIO in geometrically well-structured settings while significantly improving accuracy in degenerate cases including against methods that also fuse intensity. Notably, we demonstrate only 1 m drift over a 1 km manually piloted aerial trajectory through a geometrically self-similar tunnel at an average speed of 7.5m/s (max speed 10.8 m/s). For the benefit of the community, we shall also release our source code https://github.com/ntnu-arl/mimosa
SpaNN: Detecting Multiple Adversarial Patches on CNNs by Spanning Saliency Thresholds
Venue: arXiv cs.CV 2025
Year: 2025

State-of-the-art convolutional neural network models for object detection and image classification are vulnerable to physically realizable adversarial perturbations, such as patch attacks. Existing defenses have focused, implicitly or explicitly, on single-patch attacks, leaving their sensitivity to the number of patches as an open question or rendering them computationally infeasible or inefficient against attacks consisting of multiple patches in the worst cases. In this work, we propose SpaNN, an attack detector whose computational complexity is independent of the expected number of adversarial patches. The key novelty of the proposed detector is that it builds an ensemble of binarized feature maps by applying a set of saliency thresholds to the neural activations of the first convolutional layer of the victim model. It then performs clustering on the ensemble and uses the cluster features as the input to a classifier for attack detection. Contrary to existing detectors, SpaNN does not rely on a fixed saliency threshold for identifying adversarial regions, which makes it robust against white box adversarial attacks. We evaluate SpaNN on four widely used data sets for object detection and classification, and our results show that SpaNN outperforms state-of-the-art defenses by up to 11 and 27 percentage points in the case of object detection and the case of image classification, respectively. Our code is available at https://github.com/gerkbyrd/SpaNN.
BulletGen: Improving 4D Reconstruction with Bullet-Time Generation
Venue: arXiv cs.GR 2025
Year: 2025

Transforming casually captured, monocular videos into fully immersive dynamic experiences is a highly ill-posed task, and comes with significant challenges, e.g., reconstructing unseen regions, and dealing with the ambiguity in monocular depth estimation. In this work we introduce BulletGen, an approach that takes advantage of generative models to correct errors and complete missing information in a Gaussian-based dynamic scene representation. This is done by aligning the output of a diffusion-based video generation model with the 4D reconstruction at a single frozen "bullet-time" step. The generated frames are then used to supervise the optimization of the 4D Gaussian model. Our method seamlessly blends generative content with both static and dynamic scene components, achieving state-of-the-art results on both novel-view synthesis, and 2D/3D tracking tasks.
Policy gradient methods for ordinal policies
Venue: arXiv cs.LG 2025
Year: 2025

In reinforcement learning, the softmax parametrization is the standard approach for policies over discrete action spaces. However, it fails to capture the order relationship between actions. Motivated by a real-world industrial problem, we propose a novel policy parametrization based on ordinal regression models adapted to the reinforcement learning setting. Our approach addresses practical challenges, and numerical experiments demonstrate its effectiveness in real applications and in continuous action tasks, where discretizing the action space and applying the ordinal policy yields competitive performance.