OpenRaiser/Intern-Atlas huggingface dataset:
MUSE: A Real-Time Multi-Sensor State Estimator for Quadruped Robots
Venue: arXiv cs.RO 2025
Year: 2025

This paper introduces an innovative state estimator, MUSE (MUlti-sensor State Estimator), designed to enhance state estimation's accuracy and real-time performance in quadruped robot navigation. The proposed state estimator builds upon our previous work presented in [1]. It integrates data from a range of onboard sensors, including IMUs, encoders, cameras, and LiDARs, to deliver a comprehensive and reliable estimation of the robot's pose and motion, even in slippery scenarios. We tested MUSE on a Unitree Aliengo robot, successfully closing the locomotion control loop in difficult scenarios, including slippery and uneven terrain. Benchmarking against Pronto [2] and VILENS [3] showed 67.6% and 26.7% reductions in translational errors, respectively. Additionally, MUSE outperformed DLIO [4], a LiDAR-inertial odometry system in rotational errors and frequency, while the proprioceptive version of MUSE (P-MUSE) outperformed TSIF [5], with a 45.9% reduction in absolute trajectory error (ATE).
A State Alignment-Centric Approach to Federated System Identification: The FedAlign Framework
Venue: arXiv cs.LG 2025
Year: 2025

This paper presents FedAlign, a Federated Learning (FL) framework particularly designed for System Identification (SYSID) tasks by aligning state representations. Local workers can learn State-Space Models (SSMs) with equivalent representations but different dynamics. We demonstrate that directly aggregating these local SSMs via FedAvg results in a global model with altered system dynamics. FedAlign overcomes this problem by employing similarity transformation matrices to align state representations of local SSMs, thereby establishing a common parameter basin that retains the dynamics of local SSMs. FedAlign computes similarity transformation matrices via two distinct approaches: FedAlign-A and FedAlign-O. In FedAlign-A, we represent the global SSM in controllable canonical form (CCF). We apply control theory to analytically derive similarity transformation matrices that convert each local SSM into this form. Yet, establishing global SSM in CCF brings additional alignment challenges in multi input - multi output SYSID as CCF representation is not unique, unlike in single input - single output SYSID. In FedAlign-O, we address these alignment challenges by reformulating the local parameter basin alignment problem as an optimization task. We determine the parameter basin of a local worker as the common parameter basin and solve least square problems to obtain similarity transformation matrices needed to align the remaining local SSMs. Through the experiments conducted on synthetic and real-world datasets, we show that FedAlign outperforms FedAvg, converges faster, and provides improved stability of the global SSM thanks to the efficient alignment of local parameter basins.
Weighted Graph Structure Learning with Attention Denoising for Node Classification
Venue: arXiv cs.LG 2025
Year: 2025

Node classification in graphs aims to predict the categories of unlabeled nodes by utilizing a small set of labeled nodes. However, weighted graphs often contain noisy edges and anomalous edge weights, which can distort fine-grained relationships between nodes and hinder accurate classification. We propose the Edge Weight-aware Graph Structure Learning (EWGSL) method, which combines weight learning and graph structure learning to address these issues. EWGSL improves node classification by redefining attention coefficients in graph attention networks to incorporate node features and edge weights. It also applies graph structure learning to sparsify attention coefficients and uses a modified InfoNCE loss function to enhance performance by adapting to denoised graph weights. Extensive experimental results show that EWGSL has an average Micro-F1 improvement of 17.8% compared with the best baseline.
Aristotle's Original Idea: For and Against Logic in the era of AI
Venue: arXiv cs.AI 2025
Year: 2025

Aristotle is generally accepted as the father of logic. The ideas that he raised in his study of logical reasoning carried the development of science over the centuries. Today, in the era of AI, this title of the fatherhood of logic has a renewed significance. Behind it lies his original idea that human reasoning could be studied as a process and that perhaps there exist universal systems of reasoning that underly all human reasoning irrespective of the content of what we are reasoning about. In this article, we look into Aristotle's work on human thought, his work on reasoning itself but also on how it relates to science and human endeavor more generally, from a modern perspective of Artificial Intelligence and ask if this can help enlighten our understanding of AI and Science more generally.
AgentDroid: A Multi-Agent Framework for Detecting Fraudulent Android Applications
Venue: arXiv cs.SE 2025
Year: 2025

With the increasing prevalence of fraudulent Android applications such as fake and malicious applications, it is crucial to detect them with high accuracy and adaptability. We present AgentDroid, a novel tool for Android fraudulent application detection based on multi-modal analysis and multi-agent systems. AgentDroid overcomes the limitations of traditional detection methods such as the inability to handle multimodal data and high false alarm rates. It processes Android applications and extracts a series of multi-modal data for analysis. Multiple LLM-based agents with specialized roles analyze the relevant data and collaborate to detect complex fraud effectively. We curated a dataset containing various categories of fraudulent applications and legitimate applications and validated our tool on this dataset. Experimental results indicate that our multi-agent tool based on GPT-4o achieves an accuracy of 91.7% and an F1-Score of 91.68%, outperforming the baseline methods. A video of AgentDroid is available at https://youtu.be/YOM9Ex-nBts.
The "recognition," "belief," and "action" regarding conspiracy theories: An empirical study using large-scale samples from Japan and the United States
Venue: arXiv cs.CY 2025
Year: 2025

Conspiracy theories present significant societal challenges, shaping political behavior, eroding public trust, and disrupting social cohesion. Addressing their impact requires recognizing that conspiracy engagement is not a singular act but a multi-stage process involving distinct cognitive and behavioral transitions. In this study, we investigate this sequential progression, "recognition," "belief," and "action" (demonstrative action and diffusion action), using nationally representative surveys from the United States (N=13,578) and Japan (N=16,693). Applying a Bayesian hierarchical model, we identify the key social, political, and economic factors that drive engagement at each stage, providing a structured framework for understanding the mechanisms underlying conspiracy theory adoption and dissemination. We find that recognition serves as a crucial gateway determining who transitions to belief, and that demonstrative and diffusion actions are shaped by distinct factors. Demonstrative actions are more prevalent among younger, higher-status individuals with strong political alignments, whereas diffusion actions occur across broader demographics, particularly among those engaged with diverse media channels. Our findings further reveal that early-life economic and cultural capital significantly influence the shape of conspiratorial engagement, emphasizing the role of life-course experiences. These insights highlight the necessity of distinguishing between different forms of conspiracy engagement and highlight the importance of targeted interventions that account for structural, cultural, and psychological factors to mitigate their spread and societal impact.
DiffAD: A Unified Diffusion Modeling Approach for Autonomous Driving
Venue: arXiv cs.RO 2025
Year: 2025

End-to-end autonomous driving (E2E-AD) has rapidly emerged as a promising approach toward achieving full autonomy. However, existing E2E-AD systems typically adopt a traditional multi-task framework, addressing perception, prediction, and planning tasks through separate task-specific heads. Despite being trained in a fully differentiable manner, they still encounter issues with task coordination, and the system complexity remains high. In this work, we introduce DiffAD, a novel diffusion probabilistic model that redefines autonomous driving as a conditional image generation task. By rasterizing heterogeneous targets onto a unified bird's-eye view (BEV) and modeling their latent distribution, DiffAD unifies various driving objectives and jointly optimizes all driving tasks in a single framework, significantly reducing system complexity and harmonizing task coordination. The reverse process iteratively refines the generated BEV image, resulting in more robust and realistic driving behaviors. Closed-loop evaluations in Carla demonstrate the superiority of the proposed method, achieving a new state-of-the-art Success Rate and Driving Score.
MODRIC: A Cost Effective MODular Data Center Network Architecture with Rich InterConnections
Venue: arXiv cs.NI 2025
Year: 2025

Shipping container based modular architectures provide design flexibility in data centers with building blocks to expand the network as and when needed. In this paper, high capacity Modular Data Center (MDC) network architecture with Rich Inter Connections named MODRIC is proposed. MODRIC is a cost-effective switch-centric network design which allows building a flexible MDC network with commodity switches. It uses an inter-container connectivity similar to the structure of generalized hypercube in order to provide high inter-container bandwidth. Further, a hybrid Clos topology is used to build the container network. MODRIC is highly suitable for cost effectively building mega data centers requiring high throughput capacity and resilience against failures. This paper presents the proposed architecture, discusses its relevant properties, and proposes suitable addressing, routing and network construction schemes. The paper also presents comparative studies on its cost and performance with existing network topologies.
Adaptive Label Correction for Robust Medical Image Segmentation with Noisy Labels
Venue: arXiv cs.CV 2025
Year: 2025

Deep learning has shown remarkable success in medical image analysis, but its reliance on large volumes of high-quality labeled data limits its applicability. While noisy labeled data are easier to obtain, directly incorporating them into training can degrade model performance. To address this challenge, we propose a Mean Teacher-based Adaptive Label Correction (ALC) self-ensemble framework for robust medical image segmentation with noisy labels. The framework leverages the Mean Teacher architecture to ensure consistent learning under noise perturbations. It includes an adaptive label refinement mechanism that dynamically captures and weights differences across multiple disturbance versions to enhance the quality of noisy labels. Additionally, a sample-level uncertainty-based label selection algorithm is introduced to prioritize high-confidence samples for network updates, mitigating the impact of noisy annotations. Consistency learning is integrated to align the predictions of the student and teacher networks, further enhancing model robustness. Extensive experiments on two public datasets demonstrate the effectiveness of the proposed framework, showing significant improvements in segmentation performance. By fully exploiting the strengths of the Mean Teacher structure, the ALC framework effectively processes noisy labels, adapts to challenging scenarios, and achieves competitive results compared to state-of-the-art methods.
United we stand, Divided we fall: Handling Weak Complementary Relationships for Audio-Visual Emotion Recognition in Valence-Arousal Space
Venue: arXiv cs.CV 2025
Year: 2025

Audio and visual modalities are two predominant contact-free channels in videos, which are often expected to carry a complementary relationship with each other. However, they may not always complement each other, resulting in poor audio-visual feature representations. In this paper, we introduce Gated Recursive Joint Cross Attention (GRJCA) using a gating mechanism that can adaptively choose the most relevant features to effectively capture the synergic relationships across audio and visual modalities. Specifically, we improve the performance of Recursive Joint Cross-Attention (RJCA) by introducing a gating mechanism to control the flow of information between the input features and the attended features of multiple iterations depending on the strength of their complementary relationship. For instance, if the modalities exhibit strong complementary relationships, the gating mechanism emphasizes cross-attended features, otherwise non-attended features. To further improve the performance of the system, we also explored a hierarchical gating approach by introducing a gating mechanism at every iteration, followed by high-level gating across the gated outputs of each iteration. The proposed approach improves the performance of RJCA model by adding more flexibility to deal with weak complementary relationships across audio and visual modalities. Extensive experiments are conducted on the challenging Affwild2 dataset to demonstrate the robustness of the proposed approach. By effectively handling the weak complementary relationships across the audio and visual modalities, the proposed model achieves a Concordance Correlation Coefficient (CCC) of 0.561 (0.623) and 0.620 (0.660) for valence and arousal respectively on the test set (validation set).
Leveraging Vision Capabilities of Multimodal LLMs for Automated Data Extraction from Plots
Venue: arXiv cs.CV 2025
Year: 2025

Automated data extraction from research texts has been steadily improving, with the emergence of large language models (LLMs) accelerating progress even further. Extracting data from plots in research papers, however, has been such a complex task that it has predominantly been confined to manual data extraction. We show that current multimodal large language models, with proper instructions and engineered workflows, are capable of accurately extracting data from plots. This capability is inherent to the pretrained models and can be achieved with a chain-of-thought sequence of zero-shot engineered prompts we call PlotExtract, without the need to fine-tune. We demonstrate PlotExtract here and assess its performance on synthetic and published plots. We consider only plots with two axes in this analysis. For plots identified as extractable, PlotExtract finds points with over 90% precision (and around 90% recall) and errors in x and y position of around 5% or lower. These results prove that multimodal LLMs are a viable path for high-throughput data extraction for plots and in many circumstances can replace the current manual methods of data extraction.
CapArena: Benchmarking and Analyzing Detailed Image Captioning in the LLM Era
Venue: arXiv cs.CV 2025
Year: 2025

Image captioning has been a longstanding challenge in vision-language research. With the rise of LLMs, modern Vision-Language Models (VLMs) generate detailed and comprehensive image descriptions. However, benchmarking the quality of such captions remains unresolved. This paper addresses two key questions: (1) How well do current VLMs actually perform on image captioning, particularly compared to humans? We built CapArena, a platform with over 6000 pairwise caption battles and high-quality human preference votes. Our arena-style evaluation marks a milestone, showing that leading models like GPT-4o achieve or even surpass human performance, while most open-source models lag behind. (2) Can automated metrics reliably assess detailed caption quality? Using human annotations from CapArena, we evaluate traditional and recent captioning metrics, as well as VLM-as-a-Judge. Our analysis reveals that while some metrics (e.g., METEOR) show decent caption-level agreement with humans, their systematic biases lead to inconsistencies in model ranking. In contrast, VLM-as-a-Judge demonstrates robust discernment at both the caption and model levels. Building on these insights, we release CapArena-Auto, an accurate and efficient automated benchmark for detailed captioning, achieving 94.3% correlation with human rankings at just $4 per test. Data and resources will be open-sourced at https://caparena.github.io.
GameChat: Multi-LLM Dialogue for Safe, Agile, and Socially Optimal Multi-Agent Navigation in Constrained Environments
Venue: arXiv cs.RO 2025
Year: 2025

Safe, agile, and socially compliant multi-robot navigation in cluttered and constrained environments remains a critical challenge. This is especially difficult with self-interested agents in decentralized settings, where there is no central authority to resolve conflicts induced by spatial symmetry. We address this challenge by proposing a novel approach, GameChat, which facilitates safe, agile, and deadlock-free navigation for both cooperative and self-interested agents. Key to our approach is the use of natural language communication to resolve conflicts, enabling agents to prioritize more urgent tasks and break spatial symmetry in a socially optimal manner. Our algorithm ensures subgame perfect equilibrium, preventing agents from deviating from agreed-upon behaviors and supporting cooperation. Furthermore, we guarantee safety through control barrier functions and preserve agility by minimizing disruptions to agents' planned trajectories. We evaluate GameChat in simulated environments with doorways and intersections. The results show that even in the worst case, GameChat reduces the time for all agents to reach their goals by over 35% from a naive baseline and by over 20% from SMG-CBF in the intersection scenario, while doubling the rate of ensuring the agent with a higher priority task reaches the goal first, from 50% (equivalent to random chance) to a 100% perfect performance at maximizing social welfare.
EXPRESS: An LLM-Generated Explainable Property Valuation System with Neighbor Imputation
Venue: arXiv cs.LG 2025
Year: 2025

The demand for property valuation has attracted significant attention from sellers, buyers, and customers applying for loans. Reviews of existing approaches have revealed shortcomings in terms of not being able to handle missing value situations, as well as lacking interpretability, which means they cannot be used in real-world applications. To address these challenges, we propose an LLM-Generated EXplainable PRopErty valuation SyStem with neighbor imputation called EXPRESS, which provides the customizable missing value imputation technique, and addresses the opaqueness of prediction by providing the feature-wise explanation generated by LLM. The dynamic nearest neighbor search finds similar properties depending on different application scenarios by property configuration set by users (e.g., house age as criteria for the house in rural areas, and locations for buildings in urban areas). Motivated by the human appraisal procedure, we generate feature-wise explanations to provide users with a more intuitive understanding of the prediction results.
ProbDiffFlow: An Efficient Learning-Free Framework for Probabilistic Single-Image Optical Flow Estimation
Venue: arXiv cs.CV 2025
Year: 2025

This paper studies optical flow estimation, a critical task in motion analysis with applications in autonomous navigation, action recognition, and film production. Traditional optical flow methods require consecutive frames, which are often unavailable due to limitations in data acquisition or real-world scene disruptions. Thus, single-frame optical flow estimation is emerging in the literature. However, existing single-frame approaches suffer from two major limitations: (1) they rely on labeled training data, making them task-specific, and (2) they produce deterministic predictions, failing to capture motion uncertainty. To overcome these challenges, we propose ProbDiffFlow, a training-free framework that estimates optical flow distributions from a single image. Instead of directly predicting motion, ProbDiffFlow follows an estimation-by-synthesis paradigm: it first generates diverse plausible future frames using a diffusion-based model, then estimates motion from these synthesized samples using a pre-trained optical flow model, and finally aggregates the results into a probabilistic flow distribution. This design eliminates the need for task-specific training while capturing multiple plausible motions. Experiments on both synthetic and real-world datasets demonstrate that ProbDiffFlow achieves superior accuracy, diversity, and efficiency, outperforming existing single-image and two-frame baselines.
VRsketch2Gaussian: 3D VR Sketch Guided 3D Object Generation with Gaussian Splatting
Venue: arXiv cs.CV 2025
Year: 2025

We propose VRSketch2Gaussian, a first VR sketch-guided, multi-modal, native 3D object generation framework that incorporates a 3D Gaussian Splatting representation. As part of our work, we introduce VRSS, the first large-scale paired dataset containing VR sketches, text, images, and 3DGS, bridging the gap in multi-modal VR sketch-based generation. Our approach features the following key innovations: 1) Sketch-CLIP feature alignment. We propose a two-stage alignment strategy that bridges the domain gap between sparse VR sketch embeddings and rich CLIP embeddings, facilitating both VR sketch-based retrieval and generation tasks. 2) Fine-Grained multi-modal conditioning. We disentangle the 3D generation process by using explicit VR sketches for geometric conditioning and text descriptions for appearance control. To facilitate this, we propose a generalizable VR sketch encoder that effectively aligns different modalities. 3) Efficient and high-fidelity 3D native generation. Our method leverages a 3D-native generation approach that enables fast and texture-rich 3D object synthesis. Experiments conducted on our VRSS dataset demonstrate that our method achieves high-quality, multi-modal VR sketch-based 3D generation. We believe our VRSS dataset and VRsketch2Gaussian method will be beneficial for the 3D generation community.
SAM2-ELNet: Label Enhancement and Automatic Annotation for Remote Sensing Segmentation
Venue: arXiv cs.CV 2025
Year: 2025

Remote sensing image segmentation is crucial for environmental monitoring, disaster assessment, and resource management, but its performance largely depends on the quality of the dataset. Although several high-quality datasets are broadly accessible, data scarcity remains for specialized tasks like marine oil spill segmentation. Such tasks still rely on manual annotation, which is both time-consuming and influenced by subjective human factors. The segment anything model 2 (SAM2) has strong potential as an automatic annotation framework but struggles to perform effectively on heterogeneous, low-contrast remote sensing imagery. To address these challenges, we introduce a novel label enhancement and automatic annotation framework, termed SAM2-ELNet (Enhancement and Labeling Network). Specifically, we employ the frozen Hiera backbone from the pretrained SAM2 as the encoder, while fine-tuning the adapter and decoder for different remote sensing tasks. In addition, the proposed framework includes a label quality evaluator for filtering, ensuring the reliability of the generated labels. We design a series of experiments targeting resource-limited remote sensing tasks and evaluate our method on two datasets: the Deep-SAR Oil Spill (SOS) dataset with Synthetic Aperture Radar (SAR) imagery, and the CHN6-CUG Road dataset with Very High Resolution (VHR) optical imagery. The proposed framework can enhance coarse annotations and generate reliable training data under resource-limited conditions. Fine-tuned on only 30% of the training data, it generates automatically labeled data. A model trained solely on these achieves slightly lower performance than using the full original annotations, while greatly reducing labeling costs and offering a practical solution for large-scale remote sensing interpretation.