OpenRaiser/Intern-Atlas huggingface dataset:
GREEN: Generative Radiology Report Evaluation and Error Notation
Venue: arXiv cs.CL 2025
Year: 2025

Evaluating radiology reports is a challenging problem as factual correctness is extremely important due to the need for accurate medical communication about medical images. Existing automatic evaluation metrics either suffer from failing to consider factual correctness (e.g., BLEU and ROUGE) or are limited in their interpretability (e.g., F1CheXpert and F1RadGraph). In this paper, we introduce GREEN (Generative Radiology Report Evaluation and Error Notation), a radiology report generation metric that leverages the natural language understanding of language models to identify and explain clinically significant errors in candidate reports, both quantitatively and qualitatively. Compared to current metrics, GREEN offers: 1) a score aligned with expert preferences, 2) human interpretable explanations of clinically significant errors, enabling feedback loops with end-users, and 3) a lightweight open-source method that reaches the performance of commercial counterparts. We validate our GREEN metric by comparing it to GPT-4, as well as to error counts of 6 experts and preferences of 2 experts. Our method demonstrates not only higher correlation with expert error counts, but simultaneously higher alignment with expert preferences when compared to previous approaches.
UniDEC : Unified Dual Encoder and Classifier Training for Extreme Multi-Label Classification
Venue: arXiv cs.LG 2025
Year: 2025

Extreme Multi-label Classification (XMC) involves predicting a subset of relevant labels from an extremely large label space, given an input query and labels with textual features. Models developed for this problem have conventionally made use of dual encoder (DE) to embed the queries and label texts and one-vs-all (OvA) classifiers to rerank the shortlisted labels by the DE. While such methods have shown empirical success, a major drawback is their computational cost, often requiring upto 16 GPUs to train on the largest public dataset. Such a high cost is a consequence of calculating the loss over the entire label space. While shortlisting strategies have been proposed for classifiers, we aim to study such methods for the DE framework. In this work, we develop UniDEC, a loss-independent, end-to-end trainable framework which trains the DE and classifier together in a unified manner with a multi-class loss, while reducing the computational cost by 4-16x. This is done via the proposed pick-some-label (PSL) reduction, which aims to compute the loss on only a subset of positive and negative labels. These labels are carefully chosen in-batch so as to maximise their supervisory signals. Not only does the proposed framework achieve state-of-the-art results on datasets with labels in the order of millions, it is also computationally and resource efficient in achieving this performance on a single GPU. Code is made available at https://github.com/the-catalyst/UniDEC.
Algorithmic complexity of $β$-expansions and application to A/D conversion
Venue: arXiv cs.IT 2025
Year: 2025

We establish diverse relationships between the algorithmic (Kolmogorov) complexity of the prefixes of any binary expansion and $β$-expansions. These relationships allow to develop intuitions on the complexity behavior of $β$-expansions, and raise problems related to compressibility of binary sequences generated in the context of A/D conversion relying on $β$-expansions. Our last contribution is to solve these problems.
Perception in Pixels: Effects of Avatar Representation in Video-Mediated Collaborative Interactions
Venue: arXiv cs.HC 2025
Year: 2025

Interactive collaborative video is now a common part of remote work. Despite its prevalence, traditional video conferencing can be challenging, sometimes causing social discomforts that undermine process and outcomes. Avatars on 2D displays offer a promising alternative for enhancing self-representation, bridging the gap between virtual reality (VR) and traditional non-immersive video. However, the use of such avatars in activity-oriented group settings remains underexplored. To address this gap, we conducted a mixed-methods, within-subject study investigating the impacts of avatar-mediated versus traditional video representations on collaboration satisfaction and self-esteem. 32 participants (8 groups of 4 with pre-established relationships) engaged in goal-directed activities, followed by group interviews. Results indicate that avatars significantly enhance self-esteem and collaboration satisfaction, while qualitative insights reveal the dynamic perceptions and experiences of avatars, including benefits, challenges, and factors influencing adoption likelihood. Our study contributes to understanding and implications of avatars as a camera-driven representation in video-mediated collaborative interactions.
Speak the Same Language: Global LiDAR Registration on BIM Using Pose Hough Transform
Venue: arXiv cs.RO 2025
Year: 2025

Light detection and ranging (LiDAR) point clouds and building information modeling (BIM) represent two distinct data modalities in the fields of robot perception and construction. These modalities originate from different sources and are associated with unique reference frames. The primary goal of this study is to align these modalities within a shared reference frame using a global registration approach, effectively enabling them to ``speak the same language''. To achieve this, we propose a cross-modality registration method, spanning from the front end to the back end. At the front end, we extract triangle descriptors by identifying walls and intersected corners, enabling the matching of corner triplets with a complexity independent of the BIM's size. For the back-end transformation estimation, we utilize the Hough transform to map the matched triplets to the transformation space and introduce a hierarchical voting mechanism to hypothesize multiple pose candidates. The final transformation is then verified using our designed occupancy-aware scoring method. To assess the effectiveness of our approach, we conducted real-world multi-session experiments in a large-scale university building, employing two different types of LiDAR sensors. We make the collected datasets and codes publicly available to benefit the community.
pFedLVM: A Large Vision Model (LVM)-Driven and Latent Feature-Based Personalized Federated Learning Framework in Autonomous Driving
Venue: arXiv cs.RO 2025
Year: 2025

Deep learning-based Autonomous Driving (AD) models often exhibit poor generalization due to data heterogeneity in an ever domain-shifting environment. While Federated Learning (FL) could improve the generalization of an AD model (known as FedAD system), conventional models often struggle with under-fitting as the amount of accumulated training data progressively increases. To address this issue, instead of conventional small models, employing Large Vision Models (LVMs) in FedAD is a viable option for better learning of representations from a vast volume of data. However, implementing LVMs in FedAD introduces three challenges: (I) the extremely high communication overheads associated with transmitting LVMs between participating vehicles and a central server; (II) lack of computing resource to deploy LVMs on each vehicle; (III) the performance drop due to LVM focusing on shared features but overlooking local vehicle characteristics. To overcome these challenges, we propose pFedLVM, a LVM-Driven, Latent Feature-Based Personalized Federated Learning framework. In this approach, the LVM is deployed only on central server, which effectively alleviates the computational burden on individual vehicles. Furthermore, the exchange between central server and vehicles are the learned features rather than the LVM parameters, which significantly reduces communication overhead. In addition, we utilize both shared features from all participating vehicles and individual characteristics from each vehicle to establish a personalized learning mechanism. This enables each vehicle's model to learn features from others while preserving its personalized characteristics, thereby outperforming globally shared models trained in general FL. Extensive experiments demonstrate that pFedLVM outperforms the existing state-of-the-art approaches.
Who Wrote This? The Key to Zero-Shot LLM-Generated Text Detection Is GECScore
Venue: arXiv cs.CL 2025
Year: 2025

The efficacy of detectors for texts generated by large language models (LLMs) substantially depends on the availability of large-scale training data. However, white-box zero-shot detectors, which require no such data, are limited by the accessibility of the source model of the LLM-generated text. In this paper, we propose a simple yet effective black-box zero-shot detection approach based on the observation that, from the perspective of LLMs, human-written texts typically contain more grammatical errors than LLM-generated texts. This approach involves calculating the Grammar Error Correction Score (GECScore) for the given text to differentiate between human-written and LLM-generated text. Experimental results show that our method outperforms current state-of-the-art (SOTA) zero-shot and supervised methods, achieving an average AUROC of 98.62% across XSum and Writing Prompts dataset. Additionally, our approach demonstrates strong reliability in the wild, exhibiting robust generalization and resistance to paraphrasing attacks. Data and code are available at: https://github.com/NLP2CT/GECScore.
Non-rigid Structure-from-Motion: Temporally-smooth Procrustean Alignment and Spatially-variant Deformation Modeling
Venue: arXiv cs.CV 2025
Year: 2025

Even though Non-rigid Structure-from-Motion (NRSfM) has been extensively studied and great progress has been made, there are still key challenges that hinder their broad real-world applications: 1) the inherent motion/rotation ambiguity requires either explicit camera motion recovery with extra constraint or complex Procrustean Alignment; 2) existing low-rank modeling of the global shape can over-penalize drastic deformations in the 3D shape sequence. This paper proposes to resolve the above issues from a spatial-temporal modeling perspective. First, we propose a novel Temporally-smooth Procrustean Alignment module that estimates 3D deforming shapes and adjusts the camera motion by aligning the 3D shape sequence consecutively. Our new alignment module remedies the requirement of complex reference 3D shape during alignment, which is more conductive to non-isotropic deformation modeling. Second, we propose a spatial-weighted approach to enforce the low-rank constraint adaptively at different locations to accommodate drastic spatially-variant deformation reconstruction better. Our modeling outperform existing low-rank based methods, and extensive experiments across different datasets validate the effectiveness of our method.
A transversality theorem for semi-algebraic sets with application to signal recovery from the second moment and cryo-EM
Venue: arXiv cs.IT 2025
Year: 2025

Semi-algebraic priors are ubiquitous in signal processing and machine learning. Prevalent examples include a) linear models where the signal lies in a low-dimensional subspace; b) sparse models where the signal can be represented by only a few coefficients under a suitable basis; and c) a large family of neural network generative models. In this paper, we prove a transversality theorem for semi-algebraic sets in orthogonal or unitary representations of groups: with a suitable dimension bound, a generic translate of any semi-algebraic set is transverse to the orbits of the group action. This, in turn, implies that if a signal lies in a low-dimensional semi-algebraic set, then it can be recovered uniquely from measurements that separate orbits. As an application, we consider the implications of the transversality theorem to the problem of recovering signals that are translated by random group actions from their second moment. As a special case, we discuss cryo-EM: a leading technology to constitute the spatial structure of biological molecules, which serves as our prime motivation. In particular, we derive explicit bounds for recovering a molecular structure from the second moment under a semi-algebraic prior and deduce information-theoretic implications. We also obtain information-theoretic bounds for three additional applications: factoring Gram matrices, multi-reference alignment, and phase retrieval. Finally, we deduce bounds for designing permutation invariant separators in machine learning.
S3Former: Self-supervised High-resolution Transformer for Solar PV Profiling
Venue: arXiv cs.CV 2025
Year: 2025

As the impact of climate change escalates, the global necessity to transition to sustainable energy sources becomes increasingly evident. Renewable energies have emerged as a viable solution for users, with Photovoltaic energy being a favored choice for small installations due to its reliability and efficiency. Accurate mapping of PV installations is crucial for understanding the extension of its adoption and informing energy policy. To meet this need, we introduce S3Former, designed to segment solar panels from aerial imagery and provide size and location information critical for analyzing the impact of such installations on the grid. Solar panel identification is challenging due to factors such as varying weather conditions, roof characteristics, Ground Sampling Distance variations and lack of appropriate initialization weights for optimized training. To tackle these complexities, S3Former features a Masked Attention Mask Transformer incorporating a self-supervised learning pretrained backbone. Specifically, our model leverages low-level and high-level features extracted from the backbone and incorporates an instance query mechanism incorporated on the Transformer architecture to enhance the localization of solar PV installations. We introduce a self-supervised learning phase (pretext task) to improve the initialization weights on the backbone of S3Former. We evaluated S3Former using diverse datasets, demonstrate improvement state-of-the-art models.
Untangling Lariats: Subgradient Following of Variationally Penalized Objectives
Venue: arXiv cs.LG 2025
Year: 2025

We describe an apparatus for subgradient-following of the optimum of convex problems with variational penalties. In this setting, we receive a sequence $y_i,\ldots,y_n$ and seek a smooth sequence $x_1,\ldots,x_n$. The smooth sequence needs to attain the minimum Bregman divergence to an input sequence with additive variational penalties in the general form of $\sum_i{}g_i(x_{i+1}-x_i)$. We derive known algorithms such as the fused lasso and isotonic regression as special cases of our approach. Our approach also facilitates new variational penalties such as non-smooth barrier functions. We then derive a novel lattice-based procedure for subgradient following of variational penalties characterized through the output of arbitrary convolutional filters. This paradigm yields efficient solvers for high-order filtering problems of temporal sequences in which sparse discrete derivatives such as acceleration and jerk are desirable. We also introduce and analyze new multivariate problems in which $\mathbf{x}_i,\mathbf{y}_i\in\mathbb{R}^d$ with variational penalties that depend on $\|\mathbf{x}_{i+1}-\mathbf{x}_i\|$. The norms we consider are $\ell_2$ and $\ell_\infty$ which promote group sparsity.
One-Bit Phase Retrieval: Optimal Rates and Efficient Algorithms
Venue: arXiv cs.IT 2025
Year: 2025

In this paper, we study the sample complexity and develop efficient optimal algorithms for 1-bit phase retrieval: recovering a signal $\mathbf{x}\in\mathbb{R}^n$ from $m$ phaseless bits $\{\mathrm{sign}(|\mathbf{a}_i^\top\mathbf{x}|-τ)\}_{i=1}^m$ generated by standard Gaussian $\mathbf{a}_i$s. By investigating a phaseless version of random hyperplane tessellation, we show that (constrained) hamming distance minimization uniformly recovers all unstructured signals with Euclidean norm bounded away from zero and infinity to the error $\mathcal{O}((n/m)\log(m/n))$, and $\mathcal{O}((k/m)\log(mn/k^2))$ when restricting to $k$-sparse signals. Both error rates are shown to be information-theoretically optimal, up to a logarithmic factor. Intriguingly, the optimal rate for sparse recovery matches that of 1-bit compressed sensing, suggesting that the phase information is non-essential for 1-bit compressed sensing. We also develop efficient algorithms for 1-bit (sparse) phase retrieval that can achieve these error rates. Specifically, we prove that (thresholded) gradient descent with respect to the one-sided $\ell_1$-loss, when initialized via spectral methods, converges linearly and attains the near optimal reconstruction error, with sample complexity $\mathcal{O}(n)$ for unstructured signals and $\mathcal{O}(k^2\log(n)\log^2(m/k))$ for $k$-sparse signals. Our proof is based upon the observation that a certain local (restricted) approximate invertibility condition is respected by Gaussian measurements. Our results establish the major findings of (memoryless) 1-bit compressed sensing in a phaseless setting.
From LLMs to Actions: Latent Codes as Bridges in Hierarchical Robot Control
Venue: arXiv cs.RO 2025
Year: 2025

Hierarchical control for robotics has long been plagued by the need to have a well defined interface layer to communicate between high-level task planners and low-level policies. With the advent of LLMs, language has been emerging as a prospective interface layer. However, this has several limitations. Not all tasks can be decomposed into steps that are easily expressible in natural language (e.g. performing a dance routine). Further, it makes end-to-end finetuning on embodied data challenging due to domain shift and catastrophic forgetting. We introduce our method -- Learnable Latent Codes as Bridges (LCB) -- as an alternate architecture to overcome these limitations. \method~uses a learnable latent code to act as a bridge between LLMs and low-level policies. This enables LLMs to flexibly communicate goals in the task plan without being entirely constrained by language limitations. Additionally, it enables end-to-end finetuning without destroying the embedding space of word tokens learned during pre-training. Through experiments on Language Table and Calvin, two common language based benchmarks for embodied agents, we find that \method~outperforms baselines (including those w/ GPT-4V) that leverage pure language as the interface layer on tasks that require reasoning and multi-step behaviors.
A Dual-Motor Actuator for Ceiling Robots with High Force and High Speed Capabilities
Venue: arXiv cs.RO 2025
Year: 2025

Patient transfer devices allow to move patients passively in hospitals and care centers. Instead of hoisting the patient, it would be beneficial in some cases to assist their movement, enabling them to move by themselves. However, patient assistance requires devices capable of precisely controlling output forces at significantly higher speeds than those used for patient transfers alone, and a single motor solution would be over-sized and show poor efficiency to do both functions. This paper presents a dual-motor actuator and control schemes adapted for a patient mobility equipment that can be used to transfer patients, assist patient in their movement, and help prevent falls. The prototype is shown to be able to lift patients weighing up to 318 kg, to assist a patient with a desired force of up to 100 kg with a precision of 7.8%. Also, a smart control scheme to manage falls is shown to be able to stop a patient who is falling by applying a desired deceleration.
BenthicNet: A global compilation of seafloor images for deep learning applications
Venue: arXiv cs.CV 2025
Year: 2025

Advances in underwater imaging enable collection of extensive seafloor image datasets necessary for monitoring important benthic ecosystems. The ability to collect seafloor imagery has outpaced our capacity to analyze it, hindering mobilization of this crucial environmental information. Machine learning approaches provide opportunities to increase the efficiency with which seafloor imagery is analyzed, yet large and consistent datasets to support development of such approaches are scarce. Here we present BenthicNet: a global compilation of seafloor imagery designed to support the training and evaluation of large-scale image recognition models. An initial set of over 11.4 million images was collected and curated to represent a diversity of seafloor environments using a representative subset of 1.3 million images. These are accompanied by 3.1 million annotations translated to the CATAMI scheme, which span 190,000 of the images. A large deep learning model was trained on this compilation and preliminary results suggest it has utility for automating large and small-scale image analysis tasks. The compilation and model are made openly available for reuse at https://doi.org/10.20383/103.0614.
QuaLLM: An LLM-based Framework to Extract Quantitative Insights from Online Forums
Venue: arXiv cs.CL 2025
Year: 2025

Online discussion forums provide crucial data to understand the concerns of a wide range of real-world communities. However, the typical qualitative and quantitative methodologies used to analyze those data, such as thematic analysis and topic modeling, are infeasible to scale or require significant human effort to translate outputs to human readable forms. This study introduces QuaLLM, a novel LLM-based framework to analyze and extract quantitative insights from text data on online forums. The framework consists of a novel prompting and human evaluation methodology. We applied this framework to analyze over one million comments from two of Reddit's rideshare worker communities, marking the largest study of its type. We uncover significant worker concerns regarding AI and algorithmic platform decisions, responding to regulatory calls about worker insights. In short, our work sets a new precedent for AI-assisted quantitative data analysis to surface concerns from online forums.
Characteristic Learning for Provable One Step Generation
Venue: arXiv cs.LG 2025
Year: 2025

We propose the characteristic generator, a novel one-step generative model that combines the efficiency of sampling in Generative Adversarial Networks (GANs) with the stable performance of flow-based models. Our model is driven by characteristics, along which the probability density transport can be described by ordinary differential equations (ODEs). Specifically, we first estimate the underlying velocity field and use the Euler method to solve the probability flow ODE, generating discrete approximations of the characteristics. A deep neural network is then trained to fit these characteristics, creating a one-step map that pushes a simple Gaussian distribution to the target distribution. In the theoretical aspect, we provide a comprehensive analysis of the errors arising from velocity matching, Euler discretization, and characteristic fitting to establish a non-asymptotic convergence rate in the 2-Wasserstein distance under mild data assumptions. Crucially, we demonstrate that under a standard manifold assumption, this convergence rate depends only on the intrinsic dimension of data rather than the much larger ambient dimension, proving our model's ability to mitigate the curse of dimensionality. To our knowledge, this is the first rigorous convergence analysis for a flow-based one-step generative model. Experiments on both synthetic and real-world datasets demonstrate that the characteristic generator achieves high-quality and high-resolution sample generation with the efficiency of just a single neural network evaluation.