OpenRaiser/Intern-Atlas huggingface dataset:
VLMPlanner: Integrating Visual Language Models with Motion Planning
Venue: arXiv cs.AI 2025
Year: 2025

Integrating large language models (LLMs) into autonomous driving motion planning has recently emerged as a promising direction, offering enhanced interpretability, better controllability, and improved generalization in rare and long-tail scenarios. However, existing methods often rely on abstracted perception or map-based inputs, missing crucial visual context, such as fine-grained road cues, accident aftermath, or unexpected obstacles, which are essential for robust decision-making in complex driving environments. To bridge this gap, we propose VLMPlanner, a hybrid framework that combines a learning-based real-time planner with a vision-language model (VLM) capable of reasoning over raw images. The VLM processes multi-view images to capture rich, detailed visual information and leverages its common-sense reasoning capabilities to guide the real-time planner in generating robust and safe trajectories. Furthermore, we develop the Context-Adaptive Inference Gate (CAI-Gate) mechanism that enables the VLM to mimic human driving behavior by dynamically adjusting its inference frequency based on scene complexity, thereby achieving an optimal balance between planning performance and computational efficiency. We evaluate our approach on the large-scale, challenging nuPlan benchmark, with comprehensive experimental results demonstrating superior planning performance in scenarios with intricate road conditions and dynamic elements. Code will be available.
CineVision: An Interactive Pre-visualization Storyboard System for Director-Cinematographer Collaboration
Venue: arXiv cs.HC 2025
Year: 2025

Effective communication between directors and cinematographers is fundamental in film production, yet traditional approaches relying on visual references and hand-drawn storyboards often lack the efficiency and precision necessary during pre-production. We present CineVision, an AI-driven platform that integrates scriptwriting with real-time visual pre-visualization to bridge this communication gap. By offering dynamic lighting control, style emulation based on renowned filmmakers, and customizable character design, CineVision enables directors to convey their creative vision with heightened clarity and rapidly iterate on scene composition. In a 24-participant lab study, CineVision yielded shorter task times and higher usability ratings than two baseline methods, suggesting a potential to ease early-stage communication and accelerate storyboard drafts under controlled conditions. These findings underscore CineVision's potential to streamline pre-production processes and foster deeper creative synergy among filmmaking teams, particularly for new collaborators. Our code and demo are available at https://github.com/TonyHongtaoWu/CineVision.
Advancing Shared and Multi-Agent Autonomy in Underwater Missions: Integrating Knowledge Graphs and Retrieval-Augmented Generation
Venue: arXiv cs.RO 2025
Year: 2025

Robotic platforms have become essential for marine operations by providing regular and continuous access to offshore assets, such as underwater infrastructure inspection, environmental monitoring, and resource exploration. However, the complex and dynamic nature of underwater environments, characterized by limited visibility, unpredictable currents, and communication constraints, presents significant challenges that demand advanced autonomy while ensuring operator trust and oversight. Central to addressing these challenges are knowledge representation and reasoning techniques, particularly knowledge graphs and retrieval-augmented generation (RAG) systems, that enable robots to efficiently structure, retrieve, and interpret complex environmental data. These capabilities empower robotic agents to reason, adapt, and respond effectively to changing conditions. The primary goal of this work is to demonstrate both multi-agent autonomy and shared autonomy, where multiple robotic agents operate independently while remaining connected to a human supervisor. We show how a RAG-powered large language model, augmented with knowledge graph data and domain taxonomy, enables autonomous multi-agent decision-making and facilitates seamless human-robot interaction, resulting in 100\% mission validation and behavior completeness. Finally, ablation studies reveal that without structured knowledge from the graph and/or taxonomy, the LLM is prone to hallucinations, which can compromise decision quality.
Set-based Implicit Likelihood Inference of Galaxy Cluster Mass
Venue: arXiv cs.LG 2025
Year: 2025

We present a set-based machine learning framework that infers posterior distributions of galaxy cluster masses from projected galaxy dynamics. Our model combines Deep Sets and conditional normalizing flows to incorporate both positional and velocity information of member galaxies to predict residual corrections to the $M$-$σ$ relation for improved interpretability. Trained on the Uchuu-UniverseMachine simulation, our approach significantly reduces scatter and provides well-calibrated uncertainties across the full mass range compared to traditional dynamical estimates.
Bipedalism for Quadrupedal Robots: Versatile Loco-Manipulation through Risk-Adaptive Reinforcement Learning
Venue: arXiv cs.RO 2025
Year: 2025

Loco-manipulation of quadrupedal robots has broadened robotic applications, but using legs as manipulators often compromises locomotion, while mounting arms complicates the system. To mitigate this issue, we introduce bipedalism for quadrupedal robots, thus freeing the front legs for versatile interactions with the environment. We propose a risk-adaptive distributional Reinforcement Learning (RL) framework designed for quadrupedal robots walking on their hind legs, balancing worst-case conservativeness with optimal performance in this inherently unstable task. During training, the adaptive risk preference is dynamically adjusted based on the uncertainty of the return, measured by the coefficient of variation of the estimated return distribution. Extensive experiments in simulation show our method's superior performance over baselines. Real-world deployment on a Unitree Go2 robot further demonstrates the versatility of our policy, enabling tasks like cart pushing, obstacle probing, and payload transport, while showcasing robustness against challenging dynamics and external disturbances.
Second Competition on Presentation Attack Detection on ID Card
Venue: arXiv cs.CV 2025
Year: 2025

This work summarises and reports the results of the second Presentation Attack Detection competition on ID cards. This new version includes new elements compared to the previous one. (1) An automatic evaluation platform was enabled for automatic benchmarking; (2) Two tracks were proposed in order to evaluate algorithms and datasets, respectively; and (3) A new ID card dataset was shared with Track 1 teams to serve as the baseline dataset for the training and optimisation. The Hochschule Darmstadt, Fraunhofer-IGD, and Facephi company jointly organised this challenge. 20 teams were registered, and 74 submitted models were evaluated. For Track 1, the "Dragons" team reached first place with an Average Ranking and Equal Error rate (EER) of AV-Rank of 40.48% and 11.44% EER, respectively. For the more challenging approach in Track 2, the "Incode" team reached the best results with an AV-Rank of 14.76% and 6.36% EER, improving on the results of the first edition of 74.30% and 21.87% EER, respectively. These results suggest that PAD on ID cards is improving, but it is still a challenging problem related to the number of images, especially of bona fide images.
Two Views, One Truth: Spectral and Self-Supervised Features Fusion for Robust Speech Deepfake Detection
Venue: arXiv cs.SD 2025
Year: 2025

Recent advances in synthetic speech have made audio deepfakes increasingly realistic, posing significant security risks. Existing detection methods that rely on a single modality, either raw waveform embeddings or spectral based features, are vulnerable to non spoof disturbances and often overfit to known forgery algorithms, resulting in poor generalization to unseen attacks. To address these shortcomings, we investigate hybrid fusion frameworks that integrate self supervised learning (SSL) based representations with handcrafted spectral descriptors (MFCC , LFCC, CQCC). By aligning and combining complementary information across modalities, these fusion approaches capture subtle artifacts that single feature approaches typically overlook. We explore several fusion strategies, including simple concatenation, cross attention, mutual cross attention, and a learnable gating mechanism, to optimally blend SSL features with fine grained spectral cues. We evaluate our approach on four challenging public benchmarks and report generalization performance. All fusion variants consistently outperform an SSL only baseline, with the cross attention strategy achieving the best generalization with a 38% relative reduction in equal error rate (EER). These results confirm that joint modeling of waveform and spectral views produces robust, domain agnostic representations for audio deepfake detection.
BioNeuralNet: A Graph Neural Network based Multi-Omics Network Data Analysis Tool
Venue: arXiv cs.LG 2025
Year: 2025

Multi-omics data offer unprecedented insights into complex biological systems, yet their high dimensionality, sparsity, and intricate interactions pose significant analytical challenges. Network-based approaches have advanced multi-omics research by effectively capturing biologically relevant relationships among molecular entities. While these methods are powerful for representing molecular interactions, there remains a need for tools specifically designed to effectively utilize these network representations across diverse downstream analyses. To fulfill this need, we introduce BioNeuralNet, a flexible and modular Python framework tailored for end-to-end network-based multi-omics data analysis. BioNeuralNet leverages Graph Neural Networks (GNNs) to learn biologically meaningful low-dimensional representations from multi-omics networks, converting these complex molecular networks into versatile embeddings. BioNeuralNet supports all major stages of multi-omics network analysis, including several network construction techniques, generation of low-dimensional representations, and a broad range of downstream analytical tasks. Its extensive utilities, including diverse GNN architectures, and compatibility with established Python packages (e.g., scikit-learn, PyTorch, NetworkX), enhance usability and facilitate quick adoption. BioNeuralNet is an open-source, user-friendly, and extensively documented framework designed to support flexible and reproducible multi-omics network analysis in precision medicine.
TIMEST: Temporal Information Motif Estimator Using Sampling Trees
Venue: arXiv cs.DB 2025
Year: 2025

The mining of pattern subgraphs, known as motifs, is a core task in the field of graph mining. Edges in real-world networks often have timestamps, so there is a need for temporal motif mining. A temporal motif is a richer structure that imposes timing constraints on the edges of the motif. Temporal motifs have been used to analyze social networks, financial transactions, and biological networks. Motif counting in temporal graphs is particularly challenging. A graph with millions of edges can have trillions of temporal motifs, since the same edge can occur with multiple timestamps. There is a combinatorial explosion of possibilities, and state-of-the-art algorithms cannot manage motifs with more than four vertices. In this work, we present TIMEST: a general, fast, and accurate estimation algorithm to count temporal motifs of arbitrary sizes in temporal networks. Our approach introduces a temporal spanning tree sampler that leverages weighted sampling to generate substructures of target temporal motifs. This method carefully takes a subset of temporal constraints of the motif that can be jointly and efficiently sampled. TIMEST uses randomized estimation techniques to obtain accurate estimates of motif counts. We give theoretical guarantees on the running time and approximation guarantees of TIMEST. We perform an extensive experimental evaluation and show that TIMEST is both faster and more accurate than previous algorithms. Our CPU implementation exhibits an average speedup of 28x over state-of-the-art GPU implementation of the exact algorithm, and 6x speedup over SOTA approximate algorithms while consistently showcasing less than 5% error in most cases. For example, TIMEST can count the number of instances of a financial fraud temporal motif in four minutes with 0.6% error, while exact methods take more than two days.
Sound Safeguarding for Acoustic Measurement Using Any Sounds: Tools and Applications
Venue: arXiv cs.SD 2025
Year: 2025

We demonstrate tools and applications developed based on the method of "sound safeguarding," which enables any sound to be used for acoustic measurements. We developed tools for preparation, interactive and real-time measurement, and report generation. We extended and modified the method during its development based on its application in various practical situations. We have open-sourced these tools and encourage prospective users to use them to improve their acoustic environments.
Efficient Proxy Raytracer for Optical Systems using Implicit Neural Representations
Venue: arXiv cs.LG 2025
Year: 2025

Ray tracing is a widely used technique for modeling optical systems, involving sequential surface-by-surface computations, which can be computationally intensive. We propose Ray2Ray, a novel method that leverages implicit neural representations to model optical systems with greater efficiency, eliminating the need for surface-by-surface computations in a single pass end-to-end model. Ray2Ray learns the mapping between rays emitted from a given source and their corresponding rays after passing through a given optical system in a physically accurate manner. We train Ray2Ray on nine off-the-shelf optical systems, achieving positional errors on the order of 1μm and angular deviations on the order 0.01 degrees in the estimated output rays. Our work highlights the potential of neural representations as a proxy for optical raytracer.
RIMMS: Runtime Integrated Memory Management System for Heterogeneous Computing
Venue: arXiv cs.DC 2025
Year: 2025

Efficient memory management in heterogeneous systems is increasingly challenging due to diverse compute architectures (e.g., CPU, GPU, FPGA) and dynamic task mappings not known at compile time. Existing approaches often require programmers to manage data placement and transfers explicitly, or assume static mappings that limit portability and scalability. This paper introduces RIMMS (Runtime Integrated Memory Management System), a lightweight, runtime-managed, hardware-agnostic memory abstraction layer that decouples application development from low-level memory operations. RIMMS transparently tracks data locations, manages consistency, and supports efficient memory allocation across heterogeneous compute elements without requiring platform-specific tuning or code modifications. We integrate RIMMS into a baseline runtime and evaluate with complete radar signal processing applications across CPU+GPU and CPU+FPGA platforms. RIMMS delivers up to 2.43X speedup on GPU-based and 1.82X on FPGA-based systems over the baseline. Compared to IRIS, a recent heterogeneous runtime system, RIMMS achieves up to 3.08X speedup and matches the performance of native CUDA implementations while significantly reducing programming complexity. Despite operating at a higher abstraction level, RIMMS incurs only 1-2 cycles of overhead per memory management call, making it a low-cost solution. These results demonstrate RIMMS's ability to deliver high performance and enhanced programmer productivity in dynamic, real-world heterogeneous environments.
Learning Explainable Stock Predictions with Tweets Using Mixture of Experts
Venue: arXiv cs.CE 2025
Year: 2025

Stock price movements are influenced by many factors, and alongside historical price data, tex-tual information is a key source. Public news and social media offer valuable insights into market sentiment and emerging events. These sources are fast-paced, diverse, and significantly impact future stock trends. Recently, LLMs have enhanced financial analysis, but prompt-based methods still have limitations, such as input length restrictions and difficulties in predicting sequences of varying lengths. Additionally, most models rely on dense computational layers, which are resource-intensive. To address these challenges, we propose the FTS- Text-MoE model, which combines numerical data with key summaries from news and tweets using point embeddings, boosting prediction accuracy through the integration of factual textual data. The model uses a Mixture of Experts (MoE) Transformer decoder to process both data types. By activating only a subset of model parameters, it reduces computational costs. Furthermore, the model features multi-resolution prediction heads, enabling flexible forecasting of financial time series at different scales. Experimental results show that FTS-Text-MoE outperforms baseline methods in terms of investment returns and Sharpe ratio, demonstrating its superior accuracy and ability to predict future market trends.
MPC-EVM: Enabling MPC Execution by Smart Contracts In An Asynchronous Manner
Venue: arXiv cs.CR 2025
Year: 2025

This paper presents MPC-EVM, the first blockchain prototype that extends the EVM to enable asynchronous MPC invocations by smart contracts during transaction executions without compromising consistency or throughput. MPC-EVM uses an asynchronous execution model to process MPC-invoking transactions in a non-blocking fashion, saving the transaction's progress when it enters an MPC and resuming its execution upon MPC's completion. Additionally, it employs an access control mechanism that prevents inconsistent state access and modifications as a result of asynchronous executions. Benchmarking MPC-EVM's throughput show that the transactions per second (TPS) decreased by less than 3% compared to the baseline when MPC-invoking transactions are executed alongside regular transactions.
Fusing CFD and measurement data using transfer learning
Venue: arXiv cs.LG 2025
Year: 2025

Aerodynamic analysis during aircraft design usually involves methods of varying accuracy and spatial resolution, which all have their advantages and disadvantages. It is therefore desirable to create data-driven models which effectively combine these advantages. Such data fusion methods for distributed quantities mainly rely on proper orthogonal decomposition as of now, which is a linear method. In this paper, we introduce a non-linear method based on neural networks combining simulation and measurement data via transfer learning. The network training accounts for the heterogeneity of the data, as simulation data usually features a high spatial resolution, while measurement data is sparse but more accurate. In a first step, the neural network is trained on simulation data to learn spatial features of the distributed quantities. The second step involves transfer learning on the measurement data to correct for systematic errors between simulation and measurement by only re-training a small subset of the entire neural network model. This approach is applied to a multilayer perceptron architecture and shows significant improvements over the established method based on proper orthogonal decomposition by producing more physical solutions near nonlinearities. In addition, the neural network provides solutions at arbitrary flow conditions, thus making the model useful for flight mechanical design, structural sizing, and certification. As the proposed training strategy is very general, it can also be applied to more complex neural network architectures in the future.
Enhanced Deep Learning DeepFake Detection Integrating Handcrafted Features
Venue: arXiv cs.CV 2025
Year: 2025

The rapid advancement of deepfake and face swap technologies has raised significant concerns in digital security, particularly in identity verification and onboarding processes. Conventional detection methods often struggle to generalize against sophisticated facial manipulations. This study proposes an enhanced deep-learning detection framework that combines handcrafted frequency-domain features with conventional RGB inputs. This hybrid approach exploits frequency and spatial domain artifacts introduced during image manipulation, providing richer and more discriminative information to the classifier. Several frequency handcrafted features were evaluated, including the Steganalysis Rich Model, Discrete Cosine Transform, Error Level Analysis, Singular Value Decomposition, and Discrete Fourier Transform
Enhancing Large Multimodal Models with Adaptive Sparsity and KV Cache Compression
Venue: arXiv cs.AI 2025
Year: 2025

Large multimodal models (LMMs) have advanced significantly by integrating visual encoders with extensive language models, enabling robust reasoning capabilities. However, compressing LMMs for deployment on edge devices remains a critical challenge. In this work, we propose an adaptive search algorithm that optimizes sparsity and KV cache compression to enhance LMM efficiency. Utilizing the Tree-structured Parzen Estimator, our method dynamically adjusts pruning ratios and KV cache quantization bandwidth across different LMM layers, using model performance as the optimization objective. This approach uniquely combines pruning with key-value cache quantization and incorporates a fast pruning technique that eliminates the need for additional fine-tuning or weight adjustments, achieving efficient compression without compromising accuracy. Comprehensive evaluations on benchmark datasets, including LLaVA-1.5 7B and 13B, demonstrate our method superiority over state-of-the-art techniques such as SparseGPT and Wanda across various compression levels. Notably, our framework automatic allocation of KV cache compression resources sets a new standard in LMM optimization, delivering memory efficiency without sacrificing much performance.
FMimic: Foundation Models are Fine-grained Action Learners from Human Videos
Venue: arXiv cs.RO 2025
Year: 2025

Visual imitation learning (VIL) provides an efficient and intuitive strategy for robotic systems to acquire novel skills. Recent advancements in foundation models, particularly Vision Language Models (VLMs), have demonstrated remarkable capabilities in visual and linguistic reasoning for VIL tasks. Despite this progress, existing approaches primarily utilize these models for learning high-level plans from human demonstrations, relying on pre-defined motion primitives for executing physical interactions, which remains a major bottleneck for robotic systems. In this work, we present FMimic, a novel paradigm that harnesses foundation models to directly learn generalizable skills at even fine-grained action levels, using only a limited number of human videos. Extensive experiments demonstrate that our FMimic delivers strong performance with a single human video, and significantly outperforms all other methods with five videos. Furthermore, our method exhibits significant improvements of over 39% and 29% in RLBench multi-task experiments and real-world manipulation tasks, respectively, and exceeds baselines by more than 34% in high-precision tasks and 47% in long-horizon tasks.