OpenRaiser/Intern-Atlas huggingface dataset:
A Survey of Multi-sensor Fusion Perception for Embodied AI: Background, Methods, Challenges and Prospects
Venue: arXiv cs.MM 2025
Year: 2025

Multi-sensor fusion perception (MSFP) is a key technology for embodied AI, which can serve a variety of downstream tasks (e.g., 3D object detection and semantic segmentation) and application scenarios (e.g., autonomous driving and swarm robotics). Recently, impressive achievements on AI-based MSFP methods have been reviewed in relevant surveys. However, we observe that the existing surveys have some limitations after a rigorous and detailed investigation. For one thing, most surveys are oriented to a single task or research field, such as 3D object detection or autonomous driving. Therefore, researchers in other related tasks often find it difficult to benefit directly. For another, most surveys only introduce MSFP from a single perspective of multi-modal fusion, while lacking consideration of the diversity of MSFP methods, such as multi-view fusion and time-series fusion. To this end, in this paper, we hope to organize MSFP research from a task-agnostic perspective, where methods are reported from various technical views. Specifically, we first introduce the background of MSFP. Next, we review multi-modal and multi-agent fusion methods. A step further, time-series fusion methods are analyzed. In the era of LLM, we also investigate multimodal LLM fusion methods. Finally, we discuss open challenges and future directions for MSFP. We hope this survey can help researchers understand the important progress in MSFP and provide possible insights for future research.
CronusVLA: Towards Efficient and Robust Manipulation via Multi-Frame Vision-Language-Action Modeling
Venue: arXiv cs.RO 2025
Year: 2025

Recent vision-language-action (VLA) models built on pretrained vision-language models (VLMs) have demonstrated strong performance in robotic manipulation. However, these models remain constrained by the single-frame image paradigm and fail to fully leverage the temporal information offered by multi-frame histories, as directly feeding multiple frames into VLM backbones incurs substantial computational overhead and inference latency. We propose CronusVLA, a unified framework that extends single-frame VLA models to the multi-frame paradigm. CronusVLA follows a two-stage process: (1) Single-frame pretraining on large-scale embodied datasets with autoregressive prediction of action tokens, establishing an effective embodied vision-language foundation; (2) Multi-frame post-training, which adapts the prediction of the vision-language backbone from discrete tokens to learnable features, and aggregates historical information via feature chunking. CronusVLA effectively addresses the existing challenges of multi-frame modeling while enhancing performance and observational robustness. To evaluate the robustness under temporal and spatial disturbances, we introduce SimplerEnv-OR, a novel benchmark featuring 24 types of observational disturbances and 120 severity levels. Experiments across three embodiments in simulated and real-world environments demonstrate that CronusVLA achieves leading performance and superior robustness, with a 70.9% success rate on SimplerEnv, a 26.8% improvement over OpenVLA on LIBERO, and the highest robustness score on SimplerEnv-OR. These results highlight the potential of efficient multi-frame adaptation in VLA models for more powerful and robust real-world deployment.
MAM: Modular Multi-Agent Framework for Multi-Modal Medical Diagnosis via Role-Specialized Collaboration
Venue: arXiv cs.CL 2025
Year: 2025

Recent advancements in medical Large Language Models (LLMs) have showcased their powerful reasoning and diagnostic capabilities. Despite their success, current unified multimodal medical LLMs face limitations in knowledge update costs, comprehensiveness, and flexibility. To address these challenges, we introduce the Modular Multi-Agent Framework for Multi-Modal Medical Diagnosis (MAM). Inspired by our empirical findings highlighting the benefits of role assignment and diagnostic discernment in LLMs, MAM decomposes the medical diagnostic process into specialized roles: a General Practitioner, Specialist Team, Radiologist, Medical Assistant, and Director, each embodied by an LLM-based agent. This modular and collaborative framework enables efficient knowledge updates and leverages existing medical LLMs and knowledge bases. Extensive experimental evaluations conducted on a wide range of publicly accessible multimodal medical datasets, incorporating text, image, audio, and video modalities, demonstrate that MAM consistently surpasses the performance of modality-specific LLMs. Notably, MAM achieves significant performance improvements ranging from 18% to 365% compared to baseline models. Our code is released at https://github.com/yczhou001/MAM.
Radial Attention: $O(n\log n)$ Sparse Attention with Energy Decay for Long Video Generation
Venue: arXiv cs.CV 2025
Year: 2025

Recent advances in diffusion models have enabled high-quality video generation, but the additional temporal dimension significantly increases computational costs, making training and inference on long videos prohibitively expensive. In this paper, we identify a phenomenon we term Spatiotemporal Energy Decay in video diffusion models: post-softmax attention scores diminish as spatial and temporal distance between tokens increase, akin to the physical decay of signal or waves over space and time in nature. Motivated by this, we propose Radial Attention, a scalable sparse attention mechanism with $\mathcal{O}(n \log n)$ complexity that translates energy decay into exponentially decaying compute density, which is significantly more efficient than standard $\mathcal{O}(n^2)$ dense attention and more expressive than linear attention. Specifically, Radial Attention employs a simple, static attention mask where each token attends to spatially nearby tokens, with the attention window size shrinking with temporal distance. Moreover, it allows pre-trained video diffusion models to extend their generation length with efficient LoRA-based fine-tuning. Extensive experiments show that Radial Attention maintains video quality across Wan2.1-14B, HunyuanVideo, and Mochi 1, achieving up to a 1.9$\times$ speedup over the original dense attention. With minimal tuning, it enables video generation up to 4$\times$ longer while reducing training costs by up to 4.4$\times$ compared to direct fine-tuning and accelerating inference by up to 3.7$\times$ compared to dense attention inference. Code is released at \href{https://github.com/mit-han-lab/radial-attention}{https://github.com/mit-han-lab/radial-attention}.
STIMULUS: Achieving Fast Convergence and Low Sample Complexity in Stochastic Multi-Objective Learning
Venue: arXiv cs.LG 2025
Year: 2025

Recently, multi-objective optimization (MOO) has gained attention for its broad applications in ML, operations research, and engineering. However, MOO algorithm design remains in its infancy and many existing MOO methods suffer from unsatisfactory convergence rate and sample complexity performance. To address this challenge, in this paper, we propose an algorithm called STIMULUS( stochastic path-integrated multi-gradient recursive e\ulstimator), a new and robust approach for solving MOO problems. Different from the traditional methods, STIMULUS introduces a simple yet powerful recursive framework for updating stochastic gradient estimates to improve convergence performance with low sample complexity. In addition, we introduce an enhanced version of STIMULUS, termed STIMULUS-M, which incorporates a momentum term to further expedite convergence. We establish $O(1/T)$ convergence rates of the proposed methods for non-convex settings and $O (\exp{-μT})$ for strongly convex settings, where $T$ is the total number of iteration rounds. Additionally, we achieve the state-of-the-art $O \left(n+\sqrt{n}ε^{-1}\right)$ sample complexities for non-convex settings and $O\left(n+ \sqrt{n} \ln ({μ/ε})\right)$ for strongly convex settings, where $ε>0$ is a desired stationarity error. Moreover, to alleviate the periodic full gradient evaluation requirement in STIMULUS and STIMULUS-M, we further propose enhanced versions with adaptive batching called STIMULUS+/ STIMULUS-M+ and provide their theoretical analysis.
Orthogonal Soft Pruning for Efficient Class Unlearning
Venue: arXiv cs.LG 2025
Year: 2025

Efficient and controllable data unlearning in federated learning remains challenging, due to the trade-off between forgetting and retention performance. Especially under non-independent and identically distributed (non-IID) settings, where deep feature entanglement exacerbates this dilemma. To address this challenge, we propose FedOrtho, a federated unlearning framework that combines orthogonalized deep convolutional kernels with an activation-driven controllable one-shot soft pruning (OSP) mechanism. FedOrtho enforces kernel orthogonality and local-global alignment to decouple feature representations and mitigate client drift. This structural independence enables precise one-shot pruning of forgetting-related kernels while preserving retained knowledge. FedOrtho achieves SOTA performance on CIFAR-10, CIFAR100 and TinyImageNet with ResNet and VGG frameworks, verifying that FedOrtho supports class-, client-, and sample-level unlearning with over 98% forgetting quality. It reduces computational and communication costs by 2-3 orders of magnitude in federated settings and achieves subsecond-level erasure in centralized scenarios while maintaining over 97% retention accuracy and mitigating membership inference risks.
Quantum-Resistant Domain Name System: A Comprehensive System-Level Study
Venue: arXiv cs.CR 2025
Year: 2025

The Domain Name System (DNS) plays a foundational role in Internet infrastructure, yet its core protocols remain vulnerable to compromise by quantum adversaries. As cryptographically relevant quantum computers become a realistic threat, ensuring DNS confidentiality, authenticity, and integrity in the post-quantum era is imperative. In this paper, we present a comprehensive system-level study of post-quantum DNS security across three widely deployed mechanisms: DNSSEC, DNS-over-TLS (DoT), and DNS-over-HTTPS (DoH). We propose Post-Quantum Cryptographic (PQC)-DNS, a unified framework for benchmarking DNS security under legacy, post-quantum, and hybrid cryptographic configurations. Our implementation leverages the Open Quantum Safe (OQS) libraries and integrates lattice- and hash-based primitives into BIND9 and TLS 1.3 stacks. We formalize performance and threat models and analyze the impact of post-quantum key encapsulation and digital signatures on end-to-end DNS resolution. Experimental results on a containerized testbed reveal that lattice-based primitives such as Module-Lattice-Based Key-Encapsulation Mechanism (MLKEM) and Falcon offer practical latency and resource profiles, while hash-based schemes like SPHINCS+ significantly increase message sizes and processing overhead. We also examine security implications including downgrade risks, fragmentation vulnerabilities, and susceptibility to denial-of-service amplification. Our findings inform practical guidance for deploying quantum-resilient DNS and contribute to the broader effort of securing core Internet protocols for the post-quantum future.
ZIP: Scalable Crowd Counting via Zero-Inflated Poisson Modeling
Venue: arXiv cs.CV 2025
Year: 2025

Most crowd counting methods directly regress blockwise density maps using Mean Squared Error (MSE) losses. This practice has two key limitations: (1) it fails to account for the extreme spatial sparsity of annotations - over 95% of 8x8 blocks are empty across standard benchmarks, so supervision signals in informative regions are diluted by the predominant zeros; (2) MSE corresponds to a Gaussian error model that poorly matches discrete, non-negative count data. To address these issues, we introduce ZIP, a scalable crowd counting framework that models blockwise counts with a Zero-Inflated Poisson likelihood: a zero-inflation term learns the probability a block is structurally empty (handling excess zeros), while the Poisson component captures expected counts when people are present (respecting discreteness). We provide a generalization analysis showing a tighter risk bound for ZIP than MSE-based losses and DMCount provided that the training resolution is moderately large. To assess the scalability of ZIP, we instantiate it on backbones spanning over 100x in parameters/compute. Experiments on ShanghaiTech A & B, UCF-QNRF, and NWPU-Crowd demonstrate that ZIP consistently surpasses state-of-the-art methods across all model scales.
QHackBench: Benchmarking Large Language Models for Quantum Code Generation Using PennyLane Hackathon Challenges
Venue: arXiv cs.AI 2025
Year: 2025

Recent advances in Large Language Models (LLMs) have demonstrated strong potential in code generation, yet their effectiveness in quantum computing remains underexplored. This paper benchmarks LLMs for PennyLane-based quantum code generation using real-world challenges from the Quantum Hackathon (QHack). We introduce QHackBench, a novel benchmark dataset derived from QHack competitions, and evaluate model performance under vanilla prompting and Retrieval-Augmented Generation (RAG). Our structured evaluation framework assesses functional correctness, syntactic validity, and execution success across varying challenge difficulties. Results indicate that RAG-enhanced models, supplemented with an augmented PennyLane dataset, approximately generate similar results as the standard prompting, particularly in complex quantum algorithms. Additionally, we introduce a multi-agent evaluation pipeline that iteratively refines incorrect solutions, further enhancing execution success rates. To foster further research, we commit to publicly releasing QHackBench, along with our evaluation framework and experimental results, enabling continued advancements in AI-assisted quantum programming.
Hierarchical Reinforcement Learning and Value Optimization for Challenging Quadruped Locomotion
Venue: arXiv cs.RO 2025
Year: 2025

We propose a novel hierarchical reinforcement learning framework for quadruped locomotion over challenging terrain. Our approach incorporates a two-layer hierarchy in which a high-level policy (HLP) selects optimal goals for a low-level policy (LLP). The LLP is trained using an on-policy actor-critic RL algorithm and is given footstep placements as goals. We propose an HLP that does not require any additional training or environment samples and instead operates via an online optimization process over the learned value function of the LLP. We demonstrate the benefits of this framework by comparing it with an end-to-end reinforcement learning (RL) approach. We observe improvements in its ability to achieve higher rewards with fewer collisions across an array of different terrains, including terrains more difficult than any encountered during training.
DiT-SGCR: Directed Temporal Structural Representation with Global-Cluster Awareness for Ethereum Malicious Account Detection
Venue: arXiv cs.CE 2025
Year: 2025

The detection of malicious accounts on Ethereum - the preeminent DeFi platform - is critical for protecting digital assets and maintaining trust in decentralized finance. Recent advances highlight that temporal transaction evolution reveals more attack signatures than static graphs. However, current methods either fail to model continuous transaction dynamics or incur high computational costs that limit scalability to large-scale transaction networks. Furthermore, current methods fail to consider two higher-order behavioral fingerprints: (1) direction in temporal transaction flows, which encodes money movement trajectories, and (2) account clustering, which reveals coordinated behavior of organized malicious collectives. To address these challenges, we propose DiT-SGCR, an unsupervised graph encoder for malicious account detection. Specifically, DiT-SGCR employs directional temporal aggregation to capture dynamic account interactions, then coupled with differentiable clustering and graph Laplacian regularization to generate high-quality, low-dimensional embeddings. Our approach simultaneously encodes directional temporal dynamics, global topology, and cluster-specific behavioral patterns, thereby enhancing the discriminability and robustness of account representations. Furthermore, DiT-SGCR bypasses conventional graph propagation mechanisms, yielding significant scalability advantages. Extensive experiments on three datasets demonstrate that DiT-SGCR consistently outperforms state-of-the-art methods across all benchmarks, achieving F1-score improvements ranging from 3.62% to 10.83%.
CCRS: A Zero-Shot LLM-as-a-Judge Framework for Comprehensive RAG Evaluation
Venue: arXiv cs.CL 2025
Year: 2025

RAG systems enhance LLMs by incorporating external knowledge, which is crucial for domains that demand factual accuracy and up-to-date information. However, evaluating the multifaceted quality of RAG outputs, spanning aspects such as contextual coherence, query relevance, factual correctness, and informational completeness, poses significant challenges. Existing evaluation methods often rely on simple lexical overlap metrics, which are inadequate for capturing these nuances, or involve complex multi-stage pipelines with intermediate steps like claim extraction or require finetuning specialized judge models, hindering practical efficiency. To address these limitations, we propose CCRS (Contextual Coherence and Relevance Score), a novel suite of five metrics that utilizes a single, powerful, pretrained LLM as a zero-shot, end-to-end judge. CCRS evaluates: Contextual Coherence (CC), Question Relevance (QR), Information Density (ID), Answer Correctness (AC), and Information Recall (IR). We apply CCRS to evaluate six diverse RAG system configurations on the challenging BioASQ dataset. Our analysis demonstrates that CCRS effectively discriminates between system performances, confirming, for instance, that the Mistral-7B reader outperforms Llama variants. We provide a detailed analysis of CCRS metric properties, including score distributions, convergent/discriminant validity, tie rates, population statistics, and discriminative power. Compared to the complex RAGChecker framework, CCRS offers comparable or superior discriminative power for key aspects like recall and faithfulness, while being significantly more computationally efficient. CCRS thus provides a practical, comprehensive, and efficient framework for evaluating and iteratively improving RAG systems.
Towards Efficient Exemplar Based Image Editing with Multimodal VLMs
Venue: arXiv cs.CV 2025
Year: 2025

Text-to-Image Diffusion models have enabled a wide array of image editing applications. However, capturing all types of edits through text alone can be challenging and cumbersome. The ambiguous nature of certain image edits is better expressed through an exemplar pair, i.e., a pair of images depicting an image before and after an edit respectively. In this work, we tackle exemplar-based image editing -- the task of transferring an edit from an exemplar pair to a content image(s), by leveraging pretrained text-to-image diffusion models and multimodal VLMs. Even though our end-to-end pipeline is optimization-free, our experiments demonstrate that it still outperforms baselines on multiple types of edits while being ~4x faster.
Personalized Mental State Evaluation in Human-Robot Interaction using Federated Learning
Venue: arXiv cs.RO 2025
Year: 2025

With the advent of Industry 5.0, manufacturers are increasingly prioritizing worker well-being alongside mass customization. Stress-aware Human-Robot Collaboration (HRC) plays a crucial role in this paradigm, where robots must adapt their behavior to human mental states to improve collaboration fluency and safety. This paper presents a novel framework that integrates Federated Learning (FL) to enable personalized mental state evaluation while preserving user privacy. By leveraging physiological signals, including EEG, ECG, EDA, EMG, and respiration, a multimodal model predicts an operator's stress level, facilitating real-time robot adaptation. The FL-based approach allows distributed on-device training, ensuring data confidentiality while improving model generalization and individual customization. Results demonstrate that the deployment of an FL approach results in a global model with performance in stress prediction accuracy comparable to a centralized training approach. Moreover, FL allows for enhancing personalization, thereby optimizing human-robot interaction in industrial settings, while preserving data privacy. The proposed framework advances privacy-preserving, adaptive robotics to enhance workforce well-being in smart manufacturing.
UniCode$^2$: Cascaded Large-scale Codebooks for Unified Multimodal Understanding and Generation
Venue: arXiv cs.CV 2025
Year: 2025

Unified multimodal large language models (MLLMs) have shown promise in jointly advancing multimodal understanding and generation, with visual codebooks discretizing images into tokens for autoregressive modeling. Existing codebook-based methods either rely on small vocabularies (~16K entries) that lack fine-grained semantics or naively scale up, resulting in low token utilization and unstable training. We propose UniCode$^2$, a cascaded codebook framework enabling large-scale, semantically aligned, and stable visual tokenization. By clustering millions of SigLIP sequence embeddings, we build a 500K-entry codebook that preserves vision-language alignment while expanding capacity. Stability is ensured via a cascaded design: a frozen codebook anchors the embedding space, and a trainable codebook refines task-specific semantics. This decoupling promotes high utilization and robust learning. Moreover, the alignment of our visual tokens with textual semantics enables seamless integration with pretrained diffusion decoders, supporting high-quality visual synthesis with minimal adaptation. UniCode^2 delivers strong performance across diverse benchmarks, demonstrating the viability of scaling visual token spaces without sacrificing stability, semantics, or modularity.
The role of preprints in open science: Accelerating knowledge transfer from science to technology
Venue: arXiv cs.DL 2025
Year: 2025

Preprints have become increasingly essential in the landscape of open science, facilitating not only the exchange of knowledge within the scientific community but also bridging the gap between science and technology. However, the impact of preprints on technological innovation, given their unreviewed nature, remains unclear. This study fills this gap by conducting a comprehensive scientometric analysis of patent citations to bioRxiv preprints submitted between 2013 and 2021, measuring and accessing the contribution of preprints in accelerating knowledge transfer from science to technology. Our findings reveal a growing trend of patent citations to bioRxiv preprints, with a notable surge in 2020, primarily driven by the COVID-19 pandemic. Preprints play a critical role in accelerating innovation, not only expedite the dissemination of scientific knowledge into technological innovation but also enhance the visibility of early research results in the patenting process, while journals remain essential for academic rigor and reliability. The substantial number of post-online-publication patent citations highlights the critical role of the open science model-particularly the "open access" effect of preprints-in amplifying the impact of science on technological innovation. This study provides empirical evidence that open science policies encouraging the early sharing of research outputs, such as preprints, contribute to more efficient linkage between science and technology, suggesting an acceleration in the pace of innovation, higher innovation quality, and economic benefits.