OpenRaiser/Intern-Atlas huggingface dataset:
ERR@HRI 2.0 Challenge: Multimodal Detection of Errors and Failures in Human-Robot Conversations
Venue: arXiv cs.RO 2025
Year: 2025

The integration of large language models (LLMs) into conversational robots has made human-robot conversations more dynamic. Yet, LLM-powered conversational robots remain prone to errors, e.g., misunderstanding user intent, prematurely interrupting users, or failing to respond altogether. Detecting and addressing these failures is critical for preventing conversational breakdowns, avoiding task disruptions, and sustaining user trust. To tackle this problem, the ERR@HRI 2.0 Challenge provides a multimodal dataset of LLM-powered conversational robot failures during human-robot conversations and encourages researchers to benchmark machine learning models designed to detect robot failures. The dataset includes 16 hours of dyadic human-robot interactions, incorporating facial, speech, and head movement features. Each interaction is annotated with the presence or absence of robot errors from the system perspective, and perceived user intention to correct for a mismatch between robot behavior and user expectation. Participants are invited to form teams and develop machine learning models that detect these failures using multimodal data. Submissions will be evaluated using various performance metrics, including detection accuracy and false positive rate. This challenge represents another key step toward improving failure detection in human-robot interaction through social signal analysis.
Faster Multi-Source Reachability and Approximate Distances via Shortcuts, Hopsets and Matrix Multiplication
Venue: arXiv cs.DS 2025
Year: 2025

Given an $n$-vertex $m$-edge digraph $G = (V,E)$ and a subset $S \subseteq V$ of $|S| = n^σ$ (for some $0 \le σ\le 1$) designated sources, the $S \times V$ reachability problem is to compute the sets $\mathcal V_s$ of vertices reachable from $s$, for every $s \in S$. Naive centralized algorithms run BFS/DFS from each source in $O(m \cdot n^σ)$ time or compute $G$'s transitive closure in $\hat O(n^ω)$ time, where $ω\le 2.371552\ldots$ is the matrix multiplication exponent. Thus, the best known bound is $\hat O(n^{\min \{ 2 + σ, ω\}})$. Leveraging shortcut constructions by Kogan and Parter [SODA 2022, ICALP 2022], we develop a centralized algorithm with running time $\hat O(n^{1 + \frac{2}{3} ω(σ)})$, where $ω(σ)$ is the rectangular matrix multiplication exponent. Using current estimates on $ω(σ)$, our exponent improves upon $\min \{2 + σ, ω\}$ for $\tilde σ\leq σ\leq 0.53$, where $1/3 < \tilde σ< 0.3336$ is a universal constant. In a classical result, Cohen [Journal of Algorithms, 1996] devised parallel algorithms for $S \times V$ reachability on graphs admitting balanced recursive separators of size $n^ρ$ for $ρ< 1$, requiring polylogarithmic time and work $n^{\max \{ωρ, 2ρ+ σ\} + o(1)}$. We significantly improve, extend, and generalize Cohen's result. First, our parallel algorithm for graphs with small recursive separators has lower work complexity than Cohen's in boraod paramater ranges. Second, we generalize our algorithm to graphs of treewidth at most $n^ρ$ ($ρ< 1$) and provide a centralized algorithm that outperforms existing bounds for $S \times V$ reachability on such graphs. We also do this for some other graph familes with small separators. Finally, we extend these results to $(1 + ε)$-approximate distance computation.
Improving Out-of-distribution Human Activity Recognition via IMU-Video Cross-modal Representation Learning
Venue: arXiv cs.LG 2025
Year: 2025

Human Activity Recognition (HAR) based on wearable inertial sensors plays a critical role in remote health monitoring. In patients with movement disorders, the ability to detect abnormal patient movements in their home environments can enable continuous optimization of treatments and help alert caretakers as needed. Machine learning approaches have been proposed for HAR tasks using Inertial Measurement Unit (IMU) data; however, most rely on application-specific labels and lack generalizability to data collected in different environments or populations. To address this limitation, we propose a new cross-modal self-supervised pretraining approach to learn representations from large-sale unlabeled IMU-video data and demonstrate improved generalizability in HAR tasks on out of distribution (OOD) IMU datasets, including a dataset collected from patients with Parkinson's disease. Specifically, our results indicate that the proposed cross-modal pretraining approach outperforms the current state-of-the-art IMU-video pretraining approach and IMU-only pretraining under zero-shot and few-shot evaluations. Broadly, our study provides evidence that in highly dynamic data modalities, such as IMU signals, cross-modal pretraining may be a useful tool to learn generalizable data representations. Our software is available at https://github.com/scheshmi/IMU-Video-OOD-HAR.
AI-Assisted Fixes to Code Review Comments at Scale
Venue: arXiv cs.SE 2025
Year: 2025

Aim. There are 10s of thousands of code review comments each week at Meta. We developed Metamate for Code Review (MetaMateCR) that provides AI-assisted fixes for reviewer comments in production at scale. Method. We developed an internal benchmark of 64k <review comment, patch> data points to fine-tune Llama models. Once our models achieve reasonable offline results, we roll them into production. To ensure that our AI-assisted fixes do not negatively impact the time it takes to do code reviews, we conduct randomized controlled safety trials as well as full production experiments. Offline Results. As a baseline, we compare GPT-4o to our small and large Llama models. In offline results, our LargeLSFT model creates an exact match patch 68% of the time outperforming GPT-4o by 9 percentage points (pp). The internal models also use more modern Hack functions when compared to the PHP functions suggested by GPT-4o. Safety Trial. When we roll MetaMateCR into production in a safety trial that compares no AI patches with AI patch suggestions, we see a large regression with reviewers taking over 5% longer to conduct reviews. After investigation, we modify the UX to only show authors the AI patches, and see no regressions in the time for reviews. Production. When we roll LargeLSFT into production, we see an ActionableToApplied rate of 19.7%, which is a 9.2pp improvement over GPT-4o. Our results illustrate the importance of safety trials in ensuring that AI does not inadvertently slow down engineers, and a successful review comment to AI patch product running at scale.
Sugar-Beet Stress Detection using Satellite Image Time Series
Venue: arXiv cs.CV 2025
Year: 2025

Satellite Image Time Series (SITS) data has proven effective for agricultural tasks due to its rich spectral and temporal nature. In this study, we tackle the task of stress detection in sugar-beet fields using a fully unsupervised approach. We propose a 3D convolutional autoencoder model to extract meaningful features from Sentinel-2 image sequences, combined with acquisition-date-specific temporal encodings to better capture the growth dynamics of sugar-beets. The learned representations are used in a downstream clustering task to separate stressed from healthy fields. The resulting stress detection system can be directly applied to data from different years, offering a practical and accessible tool for stress detection in sugar-beets.
Efficient Decoding of Double-circulant and Wozencraft Codes from Square-root Errors
Venue: arXiv cs.IT 2025
Year: 2025

We present efficient decoding algorithms from square-root errors for two known families of double-circulant codes: A construction based on Sidon sets (Bhargava, Taveres, and Shiva, \emph{IEEE IT 74}; Calderbank, \emph{IEEE IT 83}; Guruswami and Li, \emph{IEEE IT 2025}), and a construction based on cyclic codes (Chen, Peterson, and Weldon, \emph{Information and Control 1969}). We further observe that the work of Guruswami and Li implicitly gives a transformation from double-circulant codes of certain block lengths to Wozencraft codes which preserves that distance of the codes, and we show that this transformation also preserves efficiency of decoding. By instantiating this transformation with the first family of double-circulant codes based on Sidon sets, we obtain an explicit construction of a Wozencraft code that is efficiently decodable from square-root errors. We also discuss limitations on instantiating this transformation with the second family of double-circulant codes based on cyclic codes.
In-Home Social Robots Design for Cognitive Stimulation Therapy in Dementia Care
Venue: arXiv cs.HC 2025
Year: 2025

Individual cognitive stimulation therapy (iCST) is a non-pharmacological intervention for improving the cognition and quality of life of persons with dementia (PwDs); however, its effectiveness is limited by low adherence to delivery by their family members. In this work, we present the user-centered design and evaluation of a novel socially assistive robotic system to provide iCST therapy to PwDs in their homes for long-term use. We consulted with 16 dementia caregivers and professionals. Through these consultations, we gathered design guidelines and developed the prototype. The prototype was validated by testing it with three dementia professionals and five PwDs. The evaluation revealed PwDs enjoyed using the system and are willing to adopt its use over the long term. One shortcoming was the system's speech-to-text capabilities, where it frequently failed to understand the PwDs.
TexGS-VolVis: Expressive Scene Editing for Volume Visualization via Textured Gaussian Splatting
Venue: arXiv cs.GR 2025
Year: 2025

Advancements in volume visualization (VolVis) focus on extracting insights from 3D volumetric data by generating visually compelling renderings that reveal complex internal structures. Existing VolVis approaches have explored non-photorealistic rendering techniques to enhance the clarity, expressiveness, and informativeness of visual communication. While effective, these methods often rely on complex predefined rules and are limited to transferring a single style, restricting their flexibility. To overcome these limitations, we advocate the representation of VolVis scenes using differentiable Gaussian primitives combined with pretrained large models to enable arbitrary style transfer and real-time rendering. However, conventional 3D Gaussian primitives tightly couple geometry and appearance, leading to suboptimal stylization results. To address this, we introduce TexGS-VolVis, a textured Gaussian splatting framework for VolVis. TexGS-VolVis employs 2D Gaussian primitives, extending each Gaussian with additional texture and shading attributes, resulting in higher-quality, geometry-consistent stylization and enhanced lighting control during inference. Despite these improvements, achieving flexible and controllable scene editing remains challenging. To further enhance stylization, we develop image- and text-driven non-photorealistic scene editing tailored for TexGS-VolVis and 2D-lift-3D segmentation to enable partial editing with fine-grained control. We evaluate TexGS-VolVis both qualitatively and quantitatively across various volume rendering scenes, demonstrating its superiority over existing methods in terms of efficiency, visual quality, and editing flexibility.
Efficient Burst Super-Resolution with One-step Diffusion
Venue: arXiv cs.CV 2025
Year: 2025

While burst Low-Resolution (LR) images are useful for improving their Super Resolution (SR) image compared to a single LR image, prior burst SR methods are trained in a deterministic manner, which produces a blurry SR image. Since such blurry images are perceptually degraded, we aim to reconstruct sharp and high-fidelity SR images by a diffusion model. Our method improves the efficiency of the diffusion model with a stochastic sampler with a high-order ODE as well as one-step diffusion using knowledge distillation. Our experimental results demonstrate that our method can reduce the runtime to 1.6 % of its baseline while maintaining the SR quality measured based on image distortion and perceptual quality.
Large Language Models in Cybersecurity: Applications, Vulnerabilities, and Defense Techniques
Venue: arXiv cs.CR 2025
Year: 2025

Large Language Models (LLMs) are transforming cybersecurity by enabling intelligent, adaptive, and automated approaches to threat detection, vulnerability assessment, and incident response. With their advanced language understanding and contextual reasoning, LLMs surpass traditional methods in tackling challenges across domains such as IoT, blockchain, and hardware security. This survey provides a comprehensive overview of LLM applications in cybersecurity, focusing on two core areas: (1) the integration of LLMs into key cybersecurity domains, and (2) the vulnerabilities of LLMs themselves, along with mitigation strategies. By synthesizing recent advancements and identifying key limitations, this work offers practical insights and strategic recommendations for leveraging LLMs to build secure, scalable, and future-ready cyber defense systems.
Improved particle swarm optimization algorithm: multi-target trajectory optimization for swarm drones
Venue: arXiv cs.RO 2025
Year: 2025

Real-time trajectory planning for unmanned aerial vehicles (UAVs) in dynamic environments remains a key challenge due to high computational demands and the need for fast, adaptive responses. Traditional Particle Swarm Optimization (PSO) methods, while effective for offline planning, often struggle with premature convergence and latency in real-time scenarios. To overcome these limitations, we propose PE-PSO, an enhanced PSO-based online trajectory planner. The method introduces a persistent exploration mechanism to preserve swarm diversity and an entropy-based parameter adjustment strategy to dynamically adapt optimization behavior. UAV trajectories are modeled using B-spline curves, which ensure path smoothness while reducing optimization complexity. To extend this capability to UAV swarms, we develop a multi-agent framework that combines genetic algorithm (GA)-based task allocation with distributed PE-PSO, supporting scalable and coordinated trajectory generation. The distributed architecture allows for parallel computation and decentralized control, enabling effective cooperation among agents while maintaining real-time performance. Comprehensive simulations demonstrate that the proposed framework outperforms conventional PSO and other swarm-based planners across several metrics, including trajectory quality, energy efficiency, obstacle avoidance, and computation time. These results confirm the effectiveness and applicability of PE-PSO in real-time multi-UAV operations under complex environmental conditions.
Safe Robotic Capsule Cleaning with Integrated Transpupillary and Intraocular Optical Coherence Tomography
Venue: arXiv cs.RO 2025
Year: 2025

Secondary cataract is one of the most common complications of vision loss due to the proliferation of residual lens materials that naturally grow on the lens capsule after cataract surgery. A potential treatment is capsule cleaning, a surgical procedure that requires enhanced visualization of the entire capsule and tool manipulation on the thin membrane. This article presents a robotic system capable of performing the capsule cleaning procedure by integrating a standard transpupillary and an intraocular optical coherence tomography probe on a surgical instrument for equatorial capsule visualization and real-time tool-to-tissue distance feedback. Using robot precision, the developed system enables complete capsule mapping in the pupillary and equatorial regions with in-situ calibration of refractive index and fiber offset, which are still current challenges in obtaining an accurate capsule model. To demonstrate effectiveness, the capsule mapping strategy was validated through five experimental trials on an eye phantom that showed reduced root-mean-square errors in the constructed capsule model, while the cleaning strategy was performed in three ex-vivo pig eyes without tissue damage.
When Person Re-Identification Meets Event Camera: A Benchmark Dataset and An Attribute-guided Re-Identification Framework
Venue: arXiv cs.CV 2025
Year: 2025

Recent researchers have proposed using event cameras for person re-identification (ReID) due to their promising performance and better balance in terms of privacy protection, event camera-based person ReID has attracted significant attention. Currently, mainstream event-based person ReID algorithms primarily focus on fusing visible light and event stream, as well as preserving privacy. Although significant progress has been made, these methods are typically trained and evaluated on small-scale or simulated event camera datasets, making it difficult to assess their real identification performance and generalization ability. To address the issue of data scarcity, this paper introduces a large-scale RGB-event based person ReID dataset, called EvReID. The dataset contains 118,988 image pairs and covers 1200 pedestrian identities, with data collected across multiple seasons, scenes, and lighting conditions. We also evaluate 15 state-of-the-art person ReID algorithms, laying a solid foundation for future research in terms of both data and benchmarking. Based on our newly constructed dataset, this paper further proposes a pedestrian attribute-guided contrastive learning framework to enhance feature learning for person re-identification, termed TriPro-ReID. This framework not only effectively explores the visual features from both RGB frames and event streams, but also fully utilizes pedestrian attributes as mid-level semantic features. Extensive experiments on the EvReID dataset and MARS datasets fully validated the effectiveness of our proposed RGB-Event person ReID framework. The benchmark dataset and source code will be released on https://github.com/Event-AHU/Neuromorphic_ReID
Managing level of detail through peripheral degradation: Effects on search performance with a head-mounted display
Venue: arXiv cs.HC 2025
Year: 2025

Two user studies were performed to evaluate the effect of level-of-detail (LOD) degradation in the periphery of head-mounted displays on visual search performance. In the first study, spatial detail was degraded by reducing resolution. In the second study, detail was degraded in the color domain by using grayscale in the periphery. In each study, 10 subjects were given a complex search task that required users to indicate whether or not a target object was present among distracters. Subjects used several different displays varying in the amount of detail presented. Frame rate, object location, subject input method, and order of display use were all controlled. The primary dependent measures were search time on correctly performed trials and the percentage of all trials correctly performed. Results indicated that peripheral LOD degradation can be used to reduce color or spatial visual complexity by almost half in some search tasks with out significantly reducing performance.
Density Evolution Analysis of Sparse-Block IDMA
Venue: arXiv cs.IT 2025
Year: 2025

Sparse block interleaver division multiple access (SB-IDMA) is a recently introduced unsourced multiple access protocol that aims to improve the performance of the grant-free two-step random access transmission protocol of the 3GPP 5G New Radio standard. We introduced a density evolution analysis of the successive interference cancellation receiver of SB-IDMA, providing a theoretical characterization of its performance.
Consistent Explainers or Unreliable Narrators? Understanding LLM-generated Group Recommendations
Venue: arXiv cs.CL 2025
Year: 2025

Large Language Models (LLMs) are increasingly being implemented as joint decision-makers and explanation generators for Group Recommender Systems (GRS). In this paper, we evaluate these recommendations and explanations by comparing them to social choice-based aggregation strategies. Our results indicate that LLM-generated recommendations often resembled those produced by Additive Utilitarian (ADD) aggregation. However, the explanations typically referred to averaging ratings (resembling but not identical to ADD aggregation). Group structure, uniform or divergent, did not impact the recommendations. Furthermore, LLMs regularly claimed additional criteria such as user or item similarity, diversity, or used undefined popularity metrics or thresholds. Our findings have important implications for LLMs in the GRS pipeline as well as standard aggregation strategies. Additional criteria in explanations were dependent on the number of ratings in the group scenario, indicating potential inefficiency of standard aggregation methods at larger item set sizes. Additionally, inconsistent and ambiguous explanations undermine transparency and explainability, which are key motivations behind the use of LLMs for GRS.
GOSPA and T-GOSPA quasi-metrics for evaluation of multi-object tracking algorithms
Venue: arXiv cs.CV 2025
Year: 2025

This paper introduces two quasi-metrics for performance assessment of multi-object tracking (MOT) algorithms. In particular, one quasi-metric is an extension of the generalised optimal subpattern assignment (GOSPA) metric and measures the discrepancy between sets of objects. The other quasi-metric is an extension of the trajectory GOSPA (T-GOSPA) metric and measures the discrepancy between sets of trajectories. Similar to the GOSPA-based metrics, these quasi-metrics include costs for localisation error for properly detected objects, the number of false objects and the number of missed objects. The T-GOSPA quasi-metric also includes a track switching cost. Differently from the GOSPA and T-GOSPA metrics, the proposed quasi-metrics have the flexibility of penalising missed and false objects with different costs, and the localisation costs are not required to be symmetric. These properties can be useful in MOT evaluation in certain applications. The performance of several Bayesian MOT algorithms is assessed with the T-GOSPA quasi-metric via simulations.
Learning Deformable Body Interactions With Adaptive Spatial Tokenization
Venue: arXiv cs.LG 2025
Year: 2025

Simulating interactions between deformable bodies is vital in fields like material science, mechanical design, and robotics. While learning-based methods with Graph Neural Networks (GNNs) are effective at solving complex physical systems, they encounter scalability issues when modeling deformable body interactions. To model interactions between objects, pairwise global edges have to be created dynamically, which is computationally intensive and impractical for large-scale meshes. To overcome these challenges, drawing on insights from geometric representations, we propose an Adaptive Spatial Tokenization (AST) method for efficient representation of physical states. By dividing the simulation space into a grid of cells and mapping unstructured meshes onto this structured grid, our approach naturally groups adjacent mesh nodes. We then apply a cross-attention module to map the sparse cells into a compact, fixed-length embedding, serving as tokens for the entire physical state. Self-attention modules are employed to predict the next state over these tokens in latent space. This framework leverages the efficiency of tokenization and the expressive power of attention mechanisms to achieve accurate and scalable simulation results. Extensive experiments demonstrate that our method significantly outperforms state-of-the-art approaches in modeling deformable body interactions. Notably, it remains effective on large-scale simulations with meshes exceeding 100,000 nodes, where existing methods are hindered by computational limitations. Additionally, we contribute a novel large-scale dataset encompassing a wide range of deformable body interactions to support future research in this area.