OpenRaiser/Intern-Atlas huggingface dataset:
Stabilizing Quantization-Aware Training by Implicit-Regularization on Hessian Matrix
Venue: arXiv cs.CV 2025
Year: 2025

Quantization-Aware Training (QAT) is one of the prevailing neural network compression solutions. However, its stability has been challenged for yielding deteriorating performances as the quantization error is inevitable. We find that the sharp landscape of loss, which leads to a dramatic performance drop, is an essential factor that causes instability. Theoretically, we have discovered that the perturbations in the feature would bring a flat local minima. However, simply adding perturbations into either weight or feature empirically deteriorates the performance of the Full Precision (FP) model. In this paper, we propose Feature-Perturbed Quantization (FPQ) to stochastically perturb the feature and employ the feature distillation method to the quantized model. Our method generalizes well to different network architectures and various QAT methods. Furthermore, we mathematically show that FPQ implicitly regularizes the Hessian norm, which calibrates the smoothness of a loss landscape. Extensive experiments demonstrate that our approach significantly outperforms the current State-Of-The-Art (SOTA) QAT methods and even the FP counterparts.
Unifying Perplexing Behaviors in Modified BP Attributions through Alignment Perspective
Venue: arXiv cs.LG 2025
Year: 2025

Attributions aim to identify input pixels that are relevant to the decision-making process. A popular approach involves using modified backpropagation (BP) rules to reverse decisions, which improves interpretability compared to the original gradients. However, these methods lack a solid theoretical foundation and exhibit perplexing behaviors, such as reduced sensitivity to parameter randomization, raising concerns about their reliability and highlighting the need for theoretical justification. In this work, we present a unified theoretical framework for methods like GBP, RectGrad, LRP, and DTD, demonstrating that they achieve input alignment by combining the weights of activated neurons. This alignment improves the visualization quality and reduces sensitivity to weight randomization. Our contributions include: (1) Providing a unified explanation for multiple behaviors, rather than focusing on just one. (2) Accurately predicting novel behaviors. (3) Offering insights into decision-making processes, including layer-wise information changes and the relationship between attributions and model decisions.
Hand Over or Place On The Table? A Study On Robotic Object Delivery When The Recipient Is Occupied
Venue: arXiv cs.RO 2025
Year: 2025

This study investigates the subjective experiences of users in two robotic object delivery methods: direct handover and table placement, when users are occupied with another task. A user study involving 15 participants engaged in a typing game revealed that table placement significantly enhances user experience compared to direct handovers, particularly in terms of satisfaction, perceived safety and intuitiveness. Additionally, handovers negatively impacted typing performance, while all participants expressed a clear preference for table placement as the delivery method. These findings highlight the advantages of table placement in scenarios requiring minimal user disruption.
GAIPAT -Dataset on Human Gaze and Actions for Intent Prediction in Assembly Tasks
Venue: arXiv cs.RO 2025
Year: 2025

The primary objective of the dataset is to provide a better understanding of the coupling between human actions and gaze in a shared working environment with a cobot, with the aim of signifcantly enhancing the effciency and safety of humancobot interactions. More broadly, by linking gaze patterns with physical actions, the dataset offers valuable insights into cognitive processes and attention dynamics in the context of assembly tasks. The proposed dataset contains gaze and action data from approximately 80 participants, recorded during simulated industrial assembly tasks. The tasks were simulated using controlled scenarios in which participants manipulated educational building blocks. Gaze data was collected using two different eye-tracking setups -head-mounted and remote-while participants worked in two positions: sitting and standing.
Can Large Reasoning Models do Analogical Reasoning under Perceptual Uncertainty?
Venue: arXiv cs.AI 2025
Year: 2025

This work presents a first evaluation of two state-of-the-art Large Reasoning Models (LRMs), OpenAI's o3-mini and DeepSeek R1, on analogical reasoning, focusing on well-established nonverbal human IQ tests based on Raven's progressive matrices. We benchmark with the I-RAVEN dataset and its extension, I-RAVEN-X, which tests the ability to generalize to longer reasoning rules and ranges of the attribute values. To assess the influence of visual uncertainties on these symbolic analogical reasoning tests, we extend the I-RAVEN-X dataset, which otherwise assumes an oracle perception. We adopt a two-fold strategy to simulate this imperfect visual perception: 1) we introduce confounding attributes which, being sampled at random, do not contribute to the prediction of the correct answer of the puzzles, and 2) we smoothen the distributions of the input attributes' values. We observe a sharp decline in OpenAI's o3-mini task accuracy, dropping from 86.6% on the original I-RAVEN to just 17.0% -- approaching random chance -- on the more challenging I-RAVEN-X, which increases input length and range and emulates perceptual uncertainty. This drop occurred despite spending 3.4x more reasoning tokens. A similar trend is also observed for DeepSeek R1: from 80.6% to 23.2%. On the other hand, a neuro-symbolic probabilistic abductive model, ARLC, that achieves state-of-the-art performances on I-RAVEN, can robustly reason under all these out-of-distribution tests, maintaining strong accuracy with only a modest accuracy reduction from 98.6% to 88.0%. Our code is available at https://github.com/IBM/raven-large-language-models.
Deep Joint Distribution Optimal Transport for Universal Domain Adaptation on Time Series
Venue: arXiv cs.LG 2025
Year: 2025

Universal Domain Adaptation (UniDA) aims to transfer knowledge from a labeled source domain to an unlabeled target domain, even when their classes are not fully shared. Few dedicated UniDA methods exist for Time Series (TS), which remains a challenging case. In general, UniDA approaches align common class samples and detect unknown target samples from emerging classes. Such detection often results from thresholding a discriminability metric. The threshold value is typically either a fine-tuned hyperparameter or a fixed value, which limits the ability of the model to adapt to new data. Furthermore, discriminability metrics exhibit overconfidence for unknown samples, leading to misclassifications. This paper introduces UniJDOT, an optimal-transport-based method that accounts for the unknown target samples in the transport cost. Our method also proposes a joint decision space to improve the discriminability of the detection module. In addition, we use an auto-thresholding algorithm to reduce the dependence on fixed or fine-tuned thresholds. Finally, we rely on a Fourier transform-based layer inspired by the Fourier Neural Operator for better TS representation. Experiments on TS benchmarks demonstrate the discriminability, robustness, and state-of-the-art performance of UniJDOT.
Towards General Multimodal Visual Tracking
Venue: arXiv cs.CV 2025
Year: 2025

Existing multimodal tracking studies focus on bi-modal scenarios such as RGB-Thermal, RGB-Event, and RGB-Language. Although promising tracking performance is achieved through leveraging complementary cues from different sources, it remains challenging in complex scenes due to the limitations of bi-modal scenarios. In this work, we introduce a general multimodal visual tracking task that fully exploits the advantages of four modalities, including RGB, thermal infrared, event, and language, for robust tracking under challenging conditions. To provide a comprehensive evaluation platform for general multimodal visual tracking, we construct QuadTrack600, a large-scale, high-quality benchmark comprising 600 video sequences (totaling 384.7K high-resolution (640x480) frame groups). In each frame group, all four modalities are spatially aligned and meticulously annotated with bounding boxes, while 21 sequence-level challenge attributes are provided for detailed performance analysis. Despite quad-modal data provides richer information, the differences in information quantity among modalities and the computational burden from four modalities are two challenging issues in fusing four modalities. To handle these issues, we propose a novel approach called QuadFusion, which incorporates an efficient Multiscale Fusion Mamba with four different scanning scales to achieve sufficient interactions of the four modalities while overcoming the exponential computational burden, for general multimodal visual tracking. Extensive experiments on the QuadTrack600 dataset and three bi-modal tracking datasets, including LasHeR, VisEvent, and TNL2K, validate the effectiveness of our QuadFusion.
Addressing Information Loss and Interaction Collapse: A Dual Enhanced Attention Framework for Feature Interaction
Venue: arXiv cs.IR 2025
Year: 2025

The Transformer has proven to be a significant approach in feature interaction for CTR prediction, achieving considerable success in previous works. However, it also presents potential challenges in handling feature interactions. Firstly, Transformers may encounter information loss when capturing feature interactions. By relying on inner products to represent pairwise relationships, they compress raw interaction information, which can result in a degradation of fidelity. Secondly, due to the long-tail features distribution, feature fields with low information-abundance embeddings constrain the information abundance of other fields, leading to collapsed embedding matrices. To tackle these issues, we propose a Dual Attention Framework for Enhanced Feature Interaction, known as Dual Enhanced Attention. This framework integrates two attention mechanisms: the Combo-ID attention mechanism and the collapse-avoiding attention mechanism. The Combo-ID attention mechanism directly retains feature interaction pairs to mitigate information loss, while the collapse-avoiding attention mechanism adaptively filters out low information-abundance interaction pairs to prevent interaction collapse. Extensive experiments conducted on industrial datasets have shown the effectiveness of Dual Enhanced Attention.
Collaboration is all you need: LLM Assisted Safe Code Translation
Venue: arXiv cs.AI 2025
Year: 2025

This paper introduces UniTranslator, a visionary framework that re-imagines code translation as a collaborative endeavor among multiple, compact LLMs. By orchestrating the interaction of specialized agents, each focused on different aspects of the translation process and grounded in a deep understanding of programming concepts, UniTranslator achieves a level of accuracy and efficiency that rivals larger, monolithic models. Our preliminary evaluation demonstrates the potential of UniTranslator to overcome the limitations of existing approaches and unlock the power of smaller LLMs for complex code translation tasks. We explore the effectiveness of this dynamic multi-agent paradigm in handling diverse language pairs, including low-resource languages, and in mitigating common issues such as code artifacts and hallucinations through the use of Natural Language Inference (NLI) grounding and iterative feedback mechanisms
Dark Noise Diffusion: Noise Synthesis for Low-Light Image Denoising
Venue: arXiv cs.CV 2025
Year: 2025

Low-light photography produces images with low signal-to-noise ratios due to limited photons. In such conditions, common approximations like the Gaussian noise model fall short, and many denoising techniques fail to remove noise effectively. Although deep-learning methods perform well, they require large datasets of paired images that are impractical to acquire. As a remedy, synthesizing realistic low-light noise has gained significant attention. In this paper, we investigate the ability of diffusion models to capture the complex distribution of low-light noise. We show that a naive application of conventional diffusion models is inadequate for this task and propose three key adaptations that enable high-precision noise generation: a two-branch architecture to better model signal-dependent and signal-independent noise, the incorporation of positional information to capture fixed-pattern noise, and a tailored diffusion noise schedule. Consequently, our model enables the generation of large datasets for training low-light denoising networks, leading to state-of-the-art performance. Through comprehensive analysis, including statistical evaluation and noise decomposition, we provide deeper insights into the characteristics of the generated data.
Are formal and functional linguistic mechanisms dissociated in language models?
Venue: arXiv cs.CL 2025
Year: 2025

Although large language models (LLMs) are increasingly capable, these capabilities are unevenly distributed: they excel at formal linguistic tasks, such as producing fluent, grammatical text, but struggle more with functional linguistic tasks like reasoning and consistent fact retrieval. Inspired by neuroscience, recent work suggests that to succeed on both formal and functional linguistic tasks, LLMs should use different mechanisms for each; such localization could either be built-in or emerge spontaneously through training. In this paper, we ask: do current models, with fast-improving functional linguistic abilities, exhibit distinct localization of formal and functional linguistic mechanisms? We answer this by finding and comparing the "circuits", or minimal computational subgraphs, responsible for various formal and functional tasks. Comparing 5 LLMs across 10 distinct tasks, we find that while there is indeed little overlap between circuits for formal and functional tasks, there is also little overlap between formal linguistic tasks, as exists in the human brain. Thus, a single formal linguistic network, unified and distinct from functional task circuits, remains elusive. However, in terms of cross-task faithfulness - the ability of one circuit to solve another's task - we observe a separation between formal and functional mechanisms, suggesting that shared mechanisms between formal tasks may exist.
Open-Set Plankton Recognition
Venue: arXiv cs.CV 2025
Year: 2025

This paper considers open-set recognition (OSR) of plankton images. Plankton include a diverse range of microscopic aquatic organisms that have an important role in marine ecosystems as primary producers and as a base of food webs. Given their sensitivity to environmental changes, fluctuations in plankton populations offer valuable information about oceans' health and climate change motivating their monitoring. Modern automatic plankton imaging devices enable the collection of large-scale plankton image datasets, facilitating species-level analysis. Plankton species recognition can be seen as an image classification task and is typically solved using deep learning-based image recognition models. However, data collection in real aquatic environments results in imaging devices capturing a variety of non-plankton particles and plankton species not present in the training set. This creates a challenging fine-grained OSR problem, characterized by subtle differences between taxonomically close plankton species. We address this challenge by conducting extensive experiments on three OSR approaches using both phyto- and zooplankton images analyzing also on the effect of the rejection thresholds for OSR. The results demonstrate that high OSR accuracy can be obtained promoting the use of these methods in operational plankton research. We have made the data publicly available to the research community.
Self-Supervised Pretraining for Fine-Grained Plankton Recognition
Venue: arXiv cs.CV 2025
Year: 2025

Plankton recognition is an important computer vision problem due to plankton's essential role in ocean food webs and carbon capture, highlighting the need for species-level monitoring. However, this task is challenging due to its fine-grained nature and dataset shifts caused by different imaging instruments and varying species distributions. As new plankton image datasets are collected at an increasing pace, there is a need for general plankton recognition models that require minimal expert effort for data labeling. In this work, we study large-scale self-supervised pretraining for fine-grained plankton recognition. We first employ masked autoencoding and a large volume of diverse plankton image data to pretrain a general-purpose plankton image encoder. Then we utilize fine-tuning to obtain accurate plankton recognition models for new datasets with a very limited number of labeled training images. Our experiments show that self-supervised pretraining with diverse plankton data clearly increases plankton recognition accuracy compared to standard ImageNet pretraining when the amount of training data is limited. Moreover, the accuracy can be further improved when unlabeled target data is available and utilized during the pretraining.
Enhancing Hand Palm Motion Gesture Recognition by Eliminating Reference Frame Bias via Frame-Invariant Similarity Measures
Venue: arXiv cs.RO 2025
Year: 2025

The ability of robots to recognize human gestures facilitates a natural and accessible human-robot collaboration. However, most work in gesture recognition remains rooted in reference frame-dependent representations. This poses a challenge when reference frames vary due to different work cell layouts, imprecise frame calibrations, or other environmental changes. This paper investigated the use of invariant trajectory descriptors for robust hand palm motion gesture recognition under reference frame changes. First, a novel dataset of recorded Hand Palm Motion (HPM) gestures is introduced. The motion gestures in this dataset were specifically designed to be distinguishable without dependence on specific reference frames or directional cues. Afterwards, multiple invariant trajectory descriptor approaches were benchmarked to assess how their performances generalize to this novel HPM dataset. After this offline benchmarking, the best scoring approach is validated for online recognition by developing a real-time Proof of Concept (PoC). In this PoC, hand palm motion gestures were used to control the real-time movement of a manipulator arm. The PoC demonstrated a high recognition reliability in real-time operation, achieving an $F_1$-score of 92.3%. This work demonstrates the effectiveness of the invariant descriptor approach as a standalone solution. Moreover, we believe that the invariant descriptor approach can also be utilized within other state-of-the-art pattern recognition and learning systems to improve their robustness against reference frame variations.
Efficient Distributed MLLM Training with Cornstarch
Venue: arXiv cs.DC 2025
Year: 2025

Multimodal large language models (MLLMs) extend the capabilities of large language models (LLMs) by combining heterogeneous model architectures to handle diverse modalities like images and audio. However, this inherent heterogeneity in MLLM model structure and data types makes makeshift extensions to existing LLM training frameworks unsuitable for efficient MLLM training. While there are a few works that have attempted to address the heterogeneity in MLLM training, their approaches are limited to only superficially considering the characteristics of MLLMs. In this paper, we present Cornstarch, an efficient distributed MLLM training framework that contemplates MLLM's unique characteristics in both model and data parallelization. Cornstarch introduces frozen-aware pipeline parallelism and token workload-balanced context parallelism to improve MLLM training throughput. Our extensive evaluation shows that Cornstarch outperforms state-of-the-art solutions by $2.26\times$ on average in terms of MLLM training throughput. Cornstarch is an open-source project available at https://github.com/cornstarch-org/Cornstarch.
Exploring Performance-Complexity Trade-Offs in Sound Event Detection Models
Venue: arXiv cs.SD 2025
Year: 2025

We target the problem of developing new low-complexity networks for the sound event detection task. Our goal is to meticulously analyze the performance-complexity trade-off, aiming to be competitive with the large state-of-the-art models, at a fraction of the computational requirements. We find that low-complexity convolutional models previously proposed for audio tagging can be effectively adapted for event detection (which requires frame-wise prediction) by adjusting convolutional strides, removing the global pooling, and, importantly, adding a sequence model before the (now frame-wise) classification heads. Systematic experiments reveal that the best choice for the sequence model type depends on which complexity metric is most important for the given application. We also investigate the impact of enhanced training strategies such as knowledge distillation. In the end, we show that combined with an optimized training strategy, we can reach event detection performance comparable to state-of-the-art transformers while requiring only around 5% of the parameters. We release all our pre-trained models and the code for reproducing this work to support future research in low-complexity sound event detection at https://github.com/theMoro/EfficientSED.
On the Limits of Distributed Quantum Computing
Venue: arXiv cs.DC 2025
Year: 2025

Quantum advantage is well-established in centralized computing, where quantum algorithms can solve certain problems exponentially faster than classical ones. In the distributed setting, significant progress has been made in bandwidth-limited networks, where quantum distributed networks have shown computational advantages over classical counterparts. However, the potential of quantum computing in networks that are constrained only by large distances is not yet understood. We focus on the LOCAL model of computation (Linial, FOCS 1987), a distributed computational model where computational power and communication bandwidth are unconstrained, and its quantum generalization. In this brief survey, we summarize recent progress on the quantum-LOCAL model outlining its limitations with respect to its classical counterpart: we discuss emerging techniques, and highlight open research questions that could guide future efforts in the field.
AQUA-SLAM: Tightly-Coupled Underwater Acoustic-Visual-Inertial SLAM with Sensor Calibration
Venue: arXiv cs.RO 2025
Year: 2025

Underwater environments pose significant challenges for visual Simultaneous Localization and Mapping (SLAM) systems due to limited visibility, inadequate illumination, and sporadic loss of structural features in images. Addressing these challenges, this paper introduces a novel, tightly-coupled Acoustic-Visual-Inertial SLAM approach, termed AQUA-SLAM, to fuse a Doppler Velocity Log (DVL), a stereo camera, and an Inertial Measurement Unit (IMU) within a graph optimization framework. Moreover, we propose an efficient sensor calibration technique, encompassing multi-sensor extrinsic calibration (among the DVL, camera and IMU) and DVL transducer misalignment calibration, with a fast linear approximation procedure for real-time online execution. The proposed methods are extensively evaluated in a tank environment with ground truth, and validated for offshore applications in the North Sea. The results demonstrate that our method surpasses current state-of-the-art underwater and visual-inertial SLAM systems in terms of localization accuracy and robustness. The proposed system will be made open-source for the community.