OpenRaiser/Intern-Atlas huggingface dataset:
Rude Humans and Vengeful Robots: Examining Human Perceptions of Robot Retaliatory Intentions in Professional Settings
Venue: arXiv cs.RO 2025
Year: 2025

Humans and robots are increasingly working in personal and professional settings. In workplace settings, humans and robots may work together as colleagues, potentially leading to social expectations, or violation thereof. Extant research has primarily sought to understand social interactions and expectations in personal rather than professional settings, and none of these studies have examined negative outcomes arising from violations of social expectations. This paper reports the results of a 2x3 online experiment that used a unique first-person perspective video to immerse participants in a collaborative workplace setting. The results are nuanced and reveal that while robots are expected to act in accordance with social expectations despite human behavior, there are benefits for robots perceived as being the bigger person in the face of human rudeness. Theoretical and practical implications are provided which discuss the import of these findings for the design of social robots.
Reachability-Guaranteed Optimal Control for the Interception of Dynamic Targets under Uncertainty
Venue: arXiv cs.RO 2025
Year: 2025

Intercepting dynamic objects in uncertain environments involves a significant unresolved challenge in modern robotic systems. Current control approaches rely solely on estimated information, and results lack guarantees of robustness and feasibility. In this work, we introduce a novel method to tackle the interception of targets whose motion is affected by known and bounded uncertainty. Our approach introduces new techniques of reachability analysis for rigid bodies, leveraged to guarantee feasibility of interception under uncertain conditions. We then propose a Reachability-Guaranteed Optimal Control Problem, ensuring robustness and guaranteed reachability to a target set of configurations. We demonstrate the methodology in the case study of an interception maneuver of a tumbling target in space.
On-Sensor Convolutional Neural Networks with Early-Exits
Venue: arXiv cs.LG 2025
Year: 2025

Tiny Machine Learning (TinyML) is a novel research field aiming at integrating Machine Learning (ML) within embedded devices with limited memory, computation, and energy. Recently, a new branch of TinyML has emerged, focusing on integrating ML directly into the sensors to further reduce the power consumption of embedded devices. Interestingly, despite their state-of-the-art performance in many tasks, none of the current solutions in the literature aims to optimize the implementation of Convolutional Neural Networks (CNNs) operating directly into sensors. In this paper, we introduce for the first time in the literature the optimized design and implementation of Depth-First CNNs operating on the Intelligent Sensor Processing Unit (ISPU) within an Inertial Measurement Unit (IMU) by STMicroelectronics. Our approach partitions the CNN between the ISPU and the microcontroller (MCU) and employs an Early-Exit mechanism to stop the computations on the IMU when enough confidence about the results is achieved, hence significantly reducing power consumption. When using a NUCLEO-F411RE board, this solution achieved an average current consumption of 4.8 mA, marking an 11% reduction compared to the regular inference pipeline on the MCU, while having equal accuracy.
Model-free front-to-end training of a large high performance laser neural network
Venue: arXiv cs.LG 2025
Year: 2025

Artificial neural networks (ANNs), have become ubiquitous and revolutionized many applications ranging from computer vision to medical diagnoses. However, they offer a fundamentally connectionist and distributed approach to computing, in stark contrast to classical computers that use the von Neumann architecture. This distinction has sparked renewed interest in developing unconventional hardware to support more efficient implementations of ANNs, rather than merely emulating them on traditional systems. Photonics stands out as a particularly promising platform, providing scalability, high speed, energy efficiency, and the ability for parallel information processing. However, fully realized autonomous optical neural networks (ONNs) with in-situ learning capabilities are still rare. In this work, we demonstrate a fully autonomous and parallel ONN using a multimode vertical cavity surface emitting laser (VCSEL) using off-the-shelf components. Our ONN is highly efficient and is scalable both in network size and inference bandwidth towards the GHz range. High performance hardware-compatible optimization algorithms are necessary in order to minimize reliance on external von Neumann computers to fully exploit the potential of ONNs. As such we present and extensively study several algorithms which are broadly compatible with a wide range of systems. We then apply these algorithms to optimize our ONN, and benchmark them using the MNIST dataset. We show that our ONN can achieve high accuracy and convergence efficiency, even under limited hardware resources. Crucially, we compare these different algorithms in terms of scaling and optimization efficiency in term of convergence time which is crucial when working with limited external resources. Our work provides some guidance for the design of future ONNs as well as a simple and flexible way to train them.
PE-CLIP: A Parameter-Efficient Fine-Tuning of Vision Language Models for Dynamic Facial Expression Recognition
Venue: arXiv cs.CV 2025
Year: 2025

Vision-Language Models (VLMs) like CLIP offer promising solutions for Dynamic Facial Expression Recognition (DFER) but face challenges such as inefficient full fine-tuning, high complexity, and poor alignment between textual and visual representations. Additionally, existing methods struggle with ineffective temporal modeling. To address these issues, we propose PE-CLIP, a parameter-efficient fine-tuning (PEFT) framework that adapts CLIP for DFER while significantly reducing trainable parameters while maintaining high accuracy. PE-CLIP introduces two specialized adapters: a Temporal Dynamic Adapter (TDA) and a Shared Adapter (ShA). The TDA is a GRU-based module with dynamic scaling that captures sequential dependencies while emphasizing informative temporal features and suppressing irrelevant variations. The ShA is a lightweight adapter that refines representations within both textual and visual encoders, ensuring consistency and efficiency. Additionally, we integrate Multi-modal Prompt Learning (MaPLe), introducing learnable prompts for visual and action unit-based textual inputs, enhancing semantic alignment between modalities and enabling efficient CLIP adaptation for dynamic tasks. We evaluate PE-CLIP on two benchmark datasets, DFEW and FERV39K, achieving competitive performance compared to state-of-the-art methods while requiring fewer trainable parameters. By balancing efficiency and accuracy, PE-CLIP sets a new benchmark in resource-efficient DFER. The source code of the proposed PE-CLIP will be publicly available at https://github.com/Ibtissam-SAADI/PE-CLIP .
GeoT: Geometry-guided Instance-dependent Transition Matrix for Semi-supervised Tooth Point Cloud Segmentation
Venue: arXiv cs.CV 2025
Year: 2025

Achieving meticulous segmentation of tooth point clouds from intra-oral scans stands as an indispensable prerequisite for various orthodontic applications. Given the labor-intensive nature of dental annotation, a significant amount of data remains unlabeled, driving increasing interest in semi-supervised approaches. One primary challenge of existing semi-supervised medical segmentation methods lies in noisy pseudo labels generated for unlabeled data. To address this challenge, we propose GeoT, the first framework that employs instance-dependent transition matrix (IDTM) to explicitly model noise in pseudo labels for semi-supervised dental segmentation. Specifically, to handle the extensive solution space of IDTM arising from tens of thousands of dental points, we introduce tooth geometric priors through two key components: point-level geometric regularization (PLGR) to enhance consistency between point adjacency relationships in 3D and IDTM spaces, and class-level geometric smoothing (CLGS) to leverage the fixed spatial distribution of tooth categories for optimal IDTM estimation. Extensive experiments performed on the public Teeth3DS dataset and private dataset demonstrate that our method can make full utilization of unlabeled data to facilitate segmentation, achieving performance comparable to fully supervised methods with only $20\%$ of the labeled data.
Friend or Foe? Navigating and Re-configuring "Snipers' Alley"
Venue: arXiv cs.HC 2025
Year: 2025

In a 'digital by default' society, essential services must be accessed online. This opens users to digital deception not only from criminal fraudsters but from a range of actors in a marketised digital economy. Using grounded empirical research from northern England, we show how supposedly 'trusted' actors, such as governments,(re)produce the insecurities and harms that they seek to prevent. Enhanced by a weakening of social institutions amid a drive for efficiency and scale, this has built a constricted, unpredictable digital channel. We conceptualise this as a "snipers' alley". Four key snipers articulated by participants' lived experiences are examined: 1) Governments; 2) Business; 3) Criminal Fraudsters; and 4) Friends and Family to explore how snipers are differentially experienced and transfigure through this constricted digital channel. We discuss strategies to re-configure the alley, and how crafting and adopting opportunity models can enable more equitable forms of security for all.
Exploring the Role of Women in Hugging Face Organizations
Venue: arXiv cs.SE 2025
Year: 2025

Background: Despite its impact on innovation, gender diversity remains far from fully being achieved in open-source projects. Aims: We examine gender diversity in Hugging Face (HF) organizations, investigating its impact on innovation and team dynamics in open-source development projects. Method: We conducted a repository mining study, focusing on ML model development projects on HF, to explore the involvement of women in collaborative processes. Results: Women are highly underrepresented in both organizations and commits distribution, which is also found when analyzing individual developers. Conclusions: Addressing gender disparities is essential to create more equitable, diverse, and inclusive open-source ecosystems.
An Attentive Representative Sample Selection Strategy Combined with Balanced Batch Training for Skin Lesion Segmentation
Venue: arXiv cs.CV 2025
Year: 2025

An often overlooked problem in medical image segmentation research is the effective selection of training subsets to annotate from a complete set of unlabelled data. Many studies select their training sets at random, which may lead to suboptimal model performance, especially in the minimal supervision setting where each training image has a profound effect on performance outcomes. This work aims to address this issue. We use prototypical contrasting learning and clustering to extract representative and diverse samples for annotation. We improve upon prior works with a bespoke cluster-based image selection process. Additionally, we introduce the concept of unsupervised balanced batch dataloading to medical image segmentation, which aims to improve model learning with minimally annotated data. We evaluated our method on a public skin lesion dataset (ISIC 2018) and compared it to another state-of-the-art data sampling method. Our method achieved superior performance in a low annotation budget scenario.
Demonstration of Cooperative Transport Interface over Open Source 7.2 split RAN and Virtualised Open PON Network
Venue: arXiv cs.NI 2025
Year: 2025

We demonstrate end-to-end 5G Open RAN over PON using off-the-shelf open networking hardware and open source RAN software. The implementation of the Cooperative Transport Interface provides timely synchronisation of PON and RAN schedulers.
A Thorough Assessment of the Non-IID Data Impact in Federated Learning
Venue: arXiv cs.LG 2025
Year: 2025

Federated learning (FL) allows collaborative machine learning (ML) model training among decentralized clients' information, ensuring data privacy. The decentralized nature of FL deals with non-independent and identically distributed (non-IID) data. This open problem has notable consequences, such as decreased model performance and more significant convergence times. Despite its importance, experimental studies systematically addressing all types of data heterogeneity (a.k.a. non-IIDness) remain scarce. We aim to fill this gap by assessing and quantifying the non-IID effect through a thorough empirical analysis. We use the Hellinger Distance (HD) to measure differences in distribution among clients. Our study benchmarks four state-of-the-art strategies for handling non-IID data, including label, feature, quantity, and spatiotemporal skewness, under realistic and controlled conditions. This is the first comprehensive analysis of the spatiotemporal skew effect in FL. Our findings highlight the significant impact of label and spatiotemporal skew non-IID types on FL model performance, with notable performance drops occurring at specific HD thresholds. Additionally, the FL performance is heavily affected mainly when the non-IIDness is extreme. Thus, we provide recommendations for FL research to tackle data heterogeneity effectively. Our work represents the most extensive examination of non-IIDness in FL, offering a robust foundation for future research.
Multi-Span Optical Power Spectrum Evolution Modeling using ML-based Multi-Decoder Attention Framework
Venue: arXiv cs.LG 2025
Year: 2025

We implement a ML-based attention framework with component-specific decoders, improving optical power spectrum prediction in multi-span networks. By reducing the need for in-depth training on each component, the framework can be scaled to multi-span topologies with minimal data collection, making it suitable for brown-field scenarios.
A Study into Investigating Temporal Robustness of LLMs
Venue: arXiv cs.CL 2025
Year: 2025

Large Language Models (LLMs) encapsulate a surprising amount of factual world knowledge. However, their performance on temporal questions and historical knowledge is limited because they often cannot understand temporal scope and orientation or neglect the temporal aspect altogether. In this study, we aim to measure precisely how robust LLMs are for question answering based on their ability to process temporal information and perform tasks requiring temporal reasoning and temporal factual knowledge. Specifically, we design eight time-sensitive robustness tests for factual information to check the sensitivity of six popular LLMs in the zero-shot setting. Overall, we find LLMs lacking temporal robustness, especially to temporal reformulations and the use of different granularities of temporal references. We show how a selection of these eight tests can be used automatically to judge a model's temporal robustness for user questions on the fly. Finally, we apply the findings of this study to improve the temporal QA performance by up to 55 percent.
Interference Identification in Multi-User Optical Spectrum as a Service using Convolutional Neural Networks
Venue: arXiv cs.NI 2025
Year: 2025

We introduce a ML-based architecture for network operators to detect impairments from specific OSaaS users while blind to the users' internal spectrum details. Experimental studies with three OSaaS users demonstrate the model's capability to accurately classify the source of impairments, achieving classification accuracy of 94.2%.
GAA-TSO: Geometry-Aware Assisted Depth Completion for Transparent and Specular Objects
Venue: arXiv cs.CV 2025
Year: 2025

Transparent and specular objects are frequently encountered in daily life, factories, and laboratories. However, due to the unique optical properties, the depth information on these objects is usually incomplete and inaccurate, which poses significant challenges for downstream robotics tasks. Therefore, it is crucial to accurately restore the depth information of transparent and specular objects. Previous depth completion methods for these objects usually use RGB information as an additional channel of the depth image to perform depth prediction. Due to the poor-texture characteristics of transparent and specular objects, these methods that rely heavily on color information tend to generate structure-less depth predictions. Moreover, these 2D methods cannot effectively explore the 3D structure hidden in the depth channel, resulting in depth ambiguity. To this end, we propose a geometry-aware assisted depth completion method for transparent and specular objects, which focuses on exploring the 3D structural cues of the scene. Specifically, besides extracting 2D features from RGB-D input, we back-project the input depth to a point cloud and build the 3D branch to extract hierarchical scene-level 3D structural features. To exploit 3D geometric information, we design several gated cross-modal fusion modules to effectively propagate multi-level 3D geometric features to the image branch. In addition, we propose an adaptive correlation aggregation strategy to appropriately assign 3D features to the corresponding 2D features. Extensive experiments on ClearGrasp, OOD, TransCG, and STD datasets show that our method outperforms other state-of-the-art methods. We further demonstrate that our method significantly enhances the performance of downstream robotic grasping tasks.
Range Avoidance in Boolean Circuits via Turan-type Bounds
Venue: arXiv cs.CC 2025
Year: 2025

Given a circuit $C : \{0,1\}^n \to \{0,1\}^m$ from a circuit class $F$, with $m > n$, finding a $y \in \{0,1\}^m$ such that $\forall x \in \{0,1\}^n$, $C(x) \ne y$, is the range avoidance problem (denoted by $F$-$avoid$). Deterministic polynomial time algorithms (even with access to $NP$ oracles) solving this problem is known to imply explicit constructions of various pseudorandom objects like hard Boolean functions, linear codes, PRGs etc. Deterministic polynomial time algorithms are known for $NC^0_2$-$avoid$ when $m > n$, and for $NC^0_3$-$avoid$ when $m \ge \frac{n^2}{\log n}$, where $NC^0_k$ is the class of circuits with bounded fan-in which have constant depth and the output depends on at most $k$ of the input bits. On the other hand, it is also known that $NC^0_3$-$avoid$ when $m = n+O\left(n^{2/3}\right)$ is at least as hard as explicit construction of rigid matrices. In this paper, we propose a new approach to solving range avoidance problem via hypergraphs. We formulate the problem in terms of Turan-type problems in hypergraphs of the following kind - for a fixed $k$-uniform hypergraph $H'$, what is the maximum number of edges that can exist in a $k$-uniform hypergraph $H$ which does not have a sub-hypergraph isomorphic to $H'$? We use our approach to show (using known Turan-type bounds) that there is a constant $c$ such that $mon$-$NC^0_3$-$avoid$ can be solved in deterministic polynomial time when $m > cn^2$. To improve the stretch constraint to linear, we show a new Turan-type theorem for a hypergraph structure (which we call the the loose $chi$-cycles) and use it to show that $mon$-$NC^0_3$-$avoid$ can be solved in deterministic polynomial time when $m > n$, thus improving the known bounds of $NC^0_3$-avoid for the case of monotone circuits.
Temporal-Guided Spiking Neural Networks for Event-Based Human Action Recognition
Venue: arXiv cs.CV 2025
Year: 2025

This paper explores the promising interplay between spiking neural networks (SNNs) and event-based cameras for privacy-preserving human action recognition (HAR). The unique feature of event cameras in capturing only the outlines of motion, combined with SNNs' proficiency in processing spatiotemporal data through spikes, establishes a highly synergistic compatibility for event-based HAR. Previous studies, however, have been limited by SNNs' ability to process long-term temporal information, essential for precise HAR. In this paper, we introduce two novel frameworks to address this: temporal segment-based SNN (\textit{TS-SNN}) and 3D convolutional SNN (\textit{3D-SNN}). The \textit{TS-SNN} extracts long-term temporal information by dividing actions into shorter segments, while the \textit{3D-SNN} replaces 2D spatial elements with 3D components to facilitate the transmission of temporal information. To promote further research in event-based HAR, we create a dataset, \textit{FallingDetection-CeleX}, collected using the high-resolution CeleX-V event camera $(1280 \times 800)$, comprising 7 distinct actions. Extensive experimental results show that our proposed frameworks surpass state-of-the-art SNN methods on our newly collected dataset and three other neuromorphic datasets, showcasing their effectiveness in handling long-range temporal information for event-based HAR.
CoKe: Customizable Fine-Grained Story Evaluation via Chain-of-Keyword Rationalization
Venue: arXiv cs.CL 2025
Year: 2025

Evaluating creative text such as human-written stories using language models has always been a challenging task -- owing to the subjectivity of multi-annotator ratings. To mimic the thinking process of humans, chain of thought (CoT) generates free-text explanations that help guide a model's predictions and Self-Consistency (SC) marginalizes predictions over multiple generated explanations. In this study, we discover that the widely-used self-consistency reasoning methods cause suboptimal results due to an objective mismatch between generating 'fluent-looking' explanations vs. actually leading to a good rating prediction for an aspect of a story. To overcome this challenge, we propose $\textbf{C}$hain-$\textbf{o}$f-$\textbf{Ke}$ywords (CoKe), that generates a sequence of keywords $\textit{before}$ generating a free-text rationale, that guide the rating prediction of our evaluation language model. Then, we generate a diverse set of such keywords, and aggregate the scores corresponding to these generations. On the StoryER dataset, CoKe based on our small fine-tuned evaluation models not only reach human-level performance and significantly outperform GPT-4 with a 2x boost in correlation with human annotators, but also requires drastically less number of parameters.
Semigroup-homomorphic Signature
Venue: arXiv cs.CR 2025
Year: 2025

In 2002, Johnson et al. posed an open problem at the Cryptographers' Track of the RSA Conference: how to construct a secure homomorphic signature on a semigroup, rather than on a group. In this paper, we introduce, for the first time, a semigroup-homomorphic signature scheme. Under certain conditions, we prove that the security of this scheme is based on the hardness of the Short Integer Solution (SIS) problem and is tightly secure. Furthermore, we extend it to a linear semigroup-homomorphic signature scheme over lattices, and this scheme can also ensure privacy.
HiFi-Stream: Streaming Speech Enhancement with Generative Adversarial Networks
Venue: arXiv cs.SD 2025
Year: 2025

Speech Enhancement techniques have become core technologies in mobile devices and voice software. Still, modern deep learning solutions often require high amount of computational resources what makes their usage on low-resource devices challenging. We present HiFi-Stream, an optimized version of recently published HiFi++ model. Our experiments demonstrate that HiFi-Stream saves most of the qualities of the original model despite its size and computational complexity improved in comparison to the original HiFi++ making it one of the smallest and fastest models available. The model is evaluated in streaming setting where it demonstrates its superior performance in comparison to modern baselines.