OpenRaiser/Intern-Atlas huggingface dataset:
Challenging DINOv3 Foundation Model under Low Inter-Class Variability: A Case Study on Fetal Brain Ultrasound
Venue: arXiv cs.CV 2025
Year: 2025

Purpose: This study provides the first comprehensive evaluation of foundation models in fetal ultrasound (US) imaging under low inter-class variability conditions. While recent vision foundation models such as DINOv3 have shown remarkable transferability across medical domains, their ability to discriminate anatomically similar structures has not been systematically investigated. We address this gap by focusing on fetal brain standard planes--transthalamic (TT), transventricular (TV), and transcerebellar (TC)--which exhibit highly overlapping anatomical features and pose a critical challenge for reliable biometric assessment. Methods: To ensure a fair and reproducible evaluation, all publicly available fetal ultrasound datasets were curated and aggregated into a unified multicenter benchmark, FetalUS-188K, comprising more than 188,000 annotated images from heterogeneous acquisition settings. DINOv3 was pretrained in a self-supervised manner to learn ultrasound-aware representations. The learned features were then evaluated through standardized adaptation protocols, including linear probing with frozen backbone and full fine-tuning, under two initialization schemes: (i) pretraining on FetalUS-188K and (ii) initialization from natural-image DINOv3 weights. Results: Models pretrained on fetal ultrasound data consistently outperformed those initialized on natural images, with weighted F1-score improvements of up to 20 percent. Domain-adaptive pretraining enabled the network to preserve subtle echogenic and structural cues crucial for distinguishing intermediate planes such as TV. Conclusion: Results demonstrate that generic foundation models fail to generalize under low inter-class variability, whereas domain-specific pretraining is essential to achieve robust and clinically reliable representations in fetal brain ultrasound imaging.
Locally-Supervised Global Image Restoration
Venue: arXiv cs.CV 2025
Year: 2025

We address the problem of image reconstruction from incomplete measurements, encompassing both upsampling and inpainting, within a learning-based framework. Conventional supervised approaches require fully sampled ground truth data, while self-supervised methods allow incomplete ground truth but typically rely on random sampling that, in expectation, covers the entire image. In contrast, we consider fixed, deterministic sampling patterns with inherently incomplete coverage, even in expectation. To overcome this limitation, we exploit multiple invariances of the underlying image distribution, which theoretically allows us to achieve the same reconstruction performance as fully supervised approaches. We validate our method on optical-resolution image upsampling in photoacoustic microscopy (PAM), demonstrating competitive or superior results while requiring substantially less ground truth data.
Bulk-boundary decomposition of neural networks
Venue: arXiv cs.LG 2025
Year: 2025

We present the bulk-boundary decomposition as a new framework for understanding the training dynamics of deep neural networks. Starting from the stochastic gradient descent formulation, we show that the Lagrangian can be reorganized into a data-independent bulk term and a data-dependent boundary term. The bulk captures the intrinsic dynamics set by network architecture and activation functions, while the boundary reflects stochastic interactions from training samples at the input and output layers. This decomposition exposes the local and homogeneous structure underlying deep networks. As a natural extension, we develop a field-theoretic formulation of neural dynamics based on this decomposition.
Stein-based Optimization of Sampling Distributions in Model Predictive Path Integral Control
Venue: arXiv cs.RO 2025
Year: 2025

This paper presents a novel method for Model Predictive Path Integral (MPPI) control that optimizes sample generation towards an optimal trajectory through Stein Variational Gradient Descent (SVGD). MPPI is traditionally reliant on randomly sampled trajectories, often by a Gaussian distribution. The result can lead to sample deprivation, under-representing the space of possible trajectories, and yield suboptimal results. Through introducing SVGD updates in between MPPI environment steps, we present Stein-Optimized Path-Integral Inference (SOPPI), an MPPI/SVGD algorithm that can dynamically update noise distributions at runtime to shape a more optimal representation without an excessive increase in computational requirements. We demonstrate the efficacy of our method systems ranging from a Cart-Pole to a two-dimensional bipedal walking task, indicating improved performance above standard MPPI across a range of hyper-parameters and demonstrate feasibility at lower particle counts. We discuss the applicability of this MPPI/SVGD method to higher degree-of-freedom systems, as well as its potential to new developments in state-of-the-art differentiable simulators.
Path-Coordinated Continual Learning with Neural Tangent Kernel-Justified Plasticity: A Theoretical Framework with Near State-of-the-Art Performance
Venue: arXiv cs.LG 2025
Year: 2025

Catastrophic forgetting is one of the fundamental issues of continual learning because neural networks forget the tasks learned previously when trained on new tasks. The proposed framework is a new path-coordinated framework of continual learning that unites the Neural Tangent Kernel (NTK) theory of principled plasticity bounds, statistical validation by Wilson confidence intervals, and evaluation of path quality by the use of multiple metrics. Experimental evaluation shows an average accuracy of 66.7% at the cost of 23.4% catastrophic forgetting on Split-CIFAR10, a huge improvement over the baseline and competitive performance achieved, which is very close to state-of-the-art results. Further, it is found out that NTK condition numbers are predictive indicators of learning capacity limits, showing the existence of a critical threshold at condition number $>10^{11}$. It is interesting to note that the proposed strategy shows a tendency of lowering forgetting as the sequence of tasks progresses (27% to 18%), which is a system stabilization. The framework validates 80% of discovered paths with a rigorous statistical guarantee and maintains 90-97% retention on intermediate tasks. The core capacity limits of the continual learning environment are determined in the analysis, and actionable insights to enhance the adaptive regularization are offered.
Predicting Microbial Interactions Using Graph Neural Networks
Venue: arXiv cs.LG 2025
Year: 2025

Predicting interspecies interactions is a key challenge in microbial ecology, as these interactions are critical to determining the structure and activity of microbial communities. In this work, we used data on monoculture growth capabilities, interactions with other species, and phylogeny to predict a negative or positive effect of interactions. More precisely, we used one of the largest available pairwise interaction datasets to train our models, comprising over 7,500 interactions be- tween 20 species from two taxonomic groups co-cultured under 40 distinct carbon conditions, with a primary focus on the work of Nestor et al.[28 ]. In this work, we propose Graph Neural Networks (GNNs) as a powerful classifier to predict the direction of the effect. We construct edge-graphs of pairwise microbial interactions in order to leverage shared information across individual co-culture experiments, and use GNNs to predict modes of interaction. Our model can not only predict binary interactions (positive/negative) but also classify more complex interaction types such as mutualism, competition, and parasitism. Our initial results were encouraging, achieving an F1-score of 80.44%. This significantly outperforms comparable methods in the literature, including conventional Extreme Gradient Boosting (XGBoost) models, which reported an F1-score of 72.76%.
Text-VQA Aug: Pipelined Harnessing of Large Multimodal Models for Automated Synthesis
Venue: arXiv cs.CV 2025
Year: 2025

Creation of large-scale databases for Visual Question Answering tasks pertaining to the text data in a scene (text-VQA) involves skilful human annotation, which is tedious and challenging. With the advent of foundation models that handle vision and language modalities, and with the maturity of OCR systems, it is the need of the hour to establish an end-to-end pipeline that can synthesize Question-Answer (QA) pairs based on scene-text from a given image. We propose a pipeline for automated synthesis for text-VQA dataset that can produce faithful QA pairs, and which scales up with the availability of scene text data. Our proposed method harnesses the capabilities of multiple models and algorithms involving OCR detection and recognition (text spotting), region of interest (ROI) detection, caption generation, and question generation. These components are streamlined into a cohesive pipeline to automate the synthesis and validation of QA pairs. To the best of our knowledge, this is the first pipeline proposed to automatically synthesize and validate a large-scale text-VQA dataset comprising around 72K QA pairs based on around 44K images.
TACO: Trajectory-Aware Controller Optimization for Quadrotors
Venue: arXiv cs.RO 2025
Year: 2025

Controller performance in quadrotor trajectory tracking depends heavily on parameter tuning, yet standard approaches often rely on fixed, manually tuned parameters that sacrifice task-specific performance. We present Trajectory-Aware Controller Optimization (TACO), a framework that adapts controller parameters online based on the upcoming reference trajectory and current quadrotor state. TACO employs a learned predictive model and a lightweight optimization scheme to optimize controller gains in real time with respect to a broad class of trajectories, and can also be used to adapt trajectories to improve dynamic feasibility while respecting smoothness constraints. To enable large-scale training, we also introduce a parallelized quadrotor simulator supporting fast data collection on diverse trajectories. Experiments on a variety of trajectory types show that TACO outperforms conventional, static parameter tuning while operating orders of magnitude faster than black-box optimization baselines, enabling practical real-time deployment on a physical quadrotor. Furthermore, we show that adapting trajectories using TACO significantly reduces the tracking error obtained by the quadrotor.
Uncertainty Guided Online Ensemble for Non-stationary Data Streams in Fusion Science
Venue: arXiv cs.LG 2025
Year: 2025

Machine Learning (ML) is poised to play a pivotal role in the development and operation of next-generation fusion devices. Fusion data shows non-stationary behavior with distribution drifts, resulted by both experimental evolution and machine wear-and-tear. ML models assume stationary distribution and fail to maintain performance when encountered with such non-stationary data streams. Online learning techniques have been leveraged in other domains, however it has been largely unexplored for fusion applications. In this paper, we present an application of online learning to continuously adapt to drifting data stream for prediction of Toroidal Field (TF) coils deflection at the DIII-D fusion facility. The results demonstrate that online learning is critical to maintain ML model performance and reduces error by 80% compared to a static model. Moreover, traditional online learning can suffer from short-term performance degradation as ground truth is not available before making the predictions. As such, we propose an uncertainty guided online ensemble method to further improve the performance. The Deep Gaussian Process Approximation (DGPA) technique is leveraged for calibrated uncertainty estimation and the uncertainty values are then used to guide a meta-algorithm that produces predictions based on an ensemble of learners trained on different horizon of historical data. The DGPA also provides uncertainty estimation along with the predictions for decision makers. The online ensemble and the proposed uncertainty guided online ensemble reduces predictions error by about 6%, and 10% respectively over standard single model based online learning.
Re-FORC: Adaptive Reward Prediction for Efficient Chain-of-Thought Reasoning
Venue: arXiv cs.AI 2025
Year: 2025

We propose Re-FORC, an adaptive reward prediction method that, given a context, enables prediction of the expected future rewards as a function of the number of future thinking tokens. Re-FORC trains a lightweight adapter on reasoning models, demonstrating improved prediction with longer reasoning and larger models. Re-FORC enables: 1) early stopping of unpromising reasoning chains, reducing compute by 26% while maintaining accuracy, 2) optimized model and thinking length selection that achieves 4% higher accuracy at equal compute and 55% less compute at equal accuracy compared to the largest model, 3) adaptive test-time scaling, which increases accuracy by 11% in high compute regime, and 7% in low compute regime. Re-FORC allows dynamic reasoning with length control via cost-per-token thresholds while estimating computation time upfront.
ScenicProver: A Framework for Compositional Probabilistic Verification of Learning-Enabled Systems
Venue: arXiv cs.LO 2025
Year: 2025

Full verification of learning-enabled cyber-physical systems (CPS) has long been intractable due to challenges including black-box components and complex real-world environments. Existing tools either provide formal guarantees for limited types of systems or test the system as a monolith, but no general framework exists for compositional analysis of learning-enabled CPS using varied verification techniques over complex real-world environments. This paper introduces ScenicProver, a verification framework that aims to fill this gap. Built upon the Scenic probabilistic programming language, the framework supports: (1) compositional system description with clear component interfaces, ranging from interpretable code to black boxes; (2) assume-guarantee contracts over those components using an extension of Linear Temporal Logic containing arbitrary Scenic expressions; (3) evidence generation through testing, formal proofs via Lean 4 integration, and importing external assumptions; (4) systematic combination of generated evidence using contract operators; and (5) automatic generation of assurance cases tracking the provenance of system-level guarantees. We demonstrate the framework's effectiveness through a case study on an autonomous vehicle's automatic emergency braking system with sensor fusion. By leveraging manufacturer guarantees for radar and laser sensors and focusing testing efforts on uncertain conditions, our approach enables stronger probabilistic guarantees than monolithic testing with the same computational budget.
Permissioned Blockchain in Advanced Air Mobility: A Performance Analysis for UTM
Venue: arXiv cs.NI 2025
Year: 2025

The integration of Uncrewed Aerial Vehicles (UAVs) into low-altitude airspace has led authorities to adopt distributed Uncrewed Traffic Management (UTM) architectures that ensure interoperability and safety. Blockchain has been proposed as an enabler for trustworthy coordination among UTM stakeholders. Yet, its real-time performance under aeronautical constraints remains insufficiently characterized. This paper presentes a quantitative benchmark comparing two regulation compliant distributed architectures: the federated InterUSS platform maintained by the Linux Foundation and a permissioned blockchain based on Hyperledger Fabric. Both systems were evaluated through Operational Intent Reference (OIR) registration work loads generated via Hyperledger Caliper, measuring throughput, latency, and transaction loss under loads up to 50 transactions per second. Results show that InterUSS sustained sub-second latency and stable performance up to 30 TPS. At the same time, Fabric exhibited exponential degradation with median latency exceeding 3 s and tail latencies above 15 s beyond that point. These findings demonstrate that blockchain-based architectures must be redesigned to meet aeronautical timing and scalability requirements, suggesting that hybrid models combining distributed ledgers for auditability with federated frameworks for real-time coordination are more suitable for future UTM deployments.
FLAME: Flexible and Lightweight Biometric Authentication Scheme in Malicious Environments
Venue: arXiv cs.CR 2025
Year: 2025

Privacy-preserving biometric authentication (PPBA) enables client authentication without revealing sensitive biometric data, addressing privacy and security concerns. Many studies have proposed efficient cryptographic solutions to this problem based on secure multi-party computation, typically assuming a semi-honest adversary model, where all parties follow the protocol but may try to learn additional information. However, this assumption often falls short in real-world scenarios, where adversaries may behave maliciously and actively deviate from the protocol. In this paper, we propose, implement, and evaluate $\sysname$, a \underline{F}lexible and \underline{L}ightweight biometric \underline{A}uthentication scheme designed for a \underline{M}alicious \underline{E}nvironment. By hybridizing lightweight secret-sharing-family primitives within two-party computation, $\sysname$ carefully designs a line of supporting protocols that incorporate integrity checks with rationally extra overhead. Additionally, $\sysname$ enables server-side authentication with various similarity metrics through a cross-metric-compatible design, enhancing flexibility and robustness without requiring any changes to the server-side process. A rigorous theoretical analysis validates the correctness, security, and efficiency of $\sysname$. Extensive experiments highlight $\sysname$'s superior efficiency, with a communication reduction by {$97.61\times \sim 110.13\times$} and a speedup of {$ 2.72\times \sim 2.82\times$ (resp. $ 6.58\times \sim 8.51\times$)} in a LAN (resp. WAN) environment, when compared to the state-of-the-art work.
Pinpointing Trigger Moment for Grounded Video QA: Enhancing Spatio-temporal Grounding in Multimodal Large Language Models
Venue: arXiv cs.CV 2025
Year: 2025

In this technical report, we introduce a framework to address Grounded Video Question Answering (GVQA) task for the ICCV 2025 Perception Test Challenge. The GVQA task demands robust multimodal models capable of complex reasoning over video content, grounding the resulting answers visually, and tracking the referenced objects temporally. To achieve this capability, our proposed approach decomposes the GVQA task into a three-stage pipeline: (1) Video Reasoning \& QA, (2) Spatio-temporal Grounding and (3) Tracking. Our key contribution is the introduction of a trigger moment, derived from our proposed CORTEX prompt, which pinpoints the single most visible frame of a target object to serve as a robust anchor for grounding and tracking. To this end, we achieve the HOTA score of 0.4968, which marks a significant improvement over the previous year's winning score of 0.2704 on GVQA task.
Can Foundation Models Revolutionize Mobile AR Sparse Sensing?
Venue: arXiv cs.CV 2025
Year: 2025

Mobile sensing systems have long faced a fundamental trade-off between sensing quality and efficiency due to constraints in computation, power, and other limitations. Sparse sensing, which aims to acquire and process only a subset of sensor data, has been a key strategy for maintaining performance under such constraints. However, existing sparse sensing methods often suffer from reduced accuracy, as missing information across space and time introduces uncertainty into many sensing systems. In this work, we investigate whether foundation models can change the landscape of mobile sparse sensing. Using real-world mobile AR data, our evaluations demonstrate that foundation models offer significant improvements in geometry-aware image warping, a central technique for enabling accurate reuse of cross-frame information. Furthermore, our study demonstrates the scalability of foundation model-based sparse sensing and shows its leading performance in 3D scene reconstruction. Collectively, our study reveals critical aspects of the promises and the open challenges of integrating foundation models into mobile sparse sensing systems.
Adaptive Cooperative Transmission Design for Ultra-Reliable Low-Latency Communications via Deep Reinforcement Learning
Venue: arXiv cs.IT 2025
Year: 2025

Next-generation wireless communication systems must support ultra-reliable low-latency communication (URLLC) service for mission-critical applications. Meeting stringent URLLC requirements is challenging, especially for two-hop cooperative communication. In this paper, we develop an adaptive transmission design for a two-hop relaying communication system. Each hop transmission adaptively configures its transmission parameters separately, including numerology, mini-slot size, and modulation and coding scheme, for reliable packet transmission within a strict latency constraint. We formulate the hop-specific transceiver configuration as a Markov decision process (MDP) and propose a dual-agent reinforcement learning-based cooperative latency-aware transmission (DRL-CoLA) algorithm to learn latency-aware transmission policies in a distributed manner. Simulation results verify that the proposed algorithm achieves the near-optimal reliability while satisfying strict latency requirements.
An Evaluation of Interleaved Instruction Tuning on Semantic Reasoning Performance in an Audio MLLM
Venue: arXiv cs.MM 2025
Year: 2025

Standard training for Multi-modal Large Language Models (MLLMs) involves concatenating non-textual information, like vision or audio, with a text prompt. This approach may not encourage deep integration of modalities, limiting the model's ability to leverage the core language model's reasoning capabilities. This work examined the impact of interleaved instruction tuning in an audio MLLM, where audio tokens are interleaved within the prompt. Using the Listen, Think, and Understand (LTU) model as a testbed, we conduct an experiment using the Synonym and Hypernym Audio Reasoning Dataset (SHARD), our newly created reasoning benchmark for audio-based semantic reasoning focusing on synonym and hypernym recognition. Our findings show that while even zero-shot interleaved prompting improves performance on our reasoning tasks, a small amount of fine-tuning using interleaved training prompts improves the results further, however, at the expense of the MLLM's audio labeling ability.
Medical Report Generation: A Hierarchical Task Structure-Based Cross-Modal Causal Intervention Framework
Venue: arXiv cs.CV 2025
Year: 2025

Medical Report Generation (MRG) is a key part of modern medical diagnostics, as it automatically generates reports from radiological images to reduce radiologists' burden. However, reliable MRG models for lesion description face three main challenges: insufficient domain knowledge understanding, poor text-visual entity embedding alignment, and spurious correlations from cross-modal biases. Previous work only addresses single challenges, while this paper tackles all three via a novel hierarchical task decomposition approach, proposing the HTSC-CIF framework. HTSC-CIF classifies the three challenges into low-, mid-, and high-level tasks: 1) Low-level: align medical entity features with spatial locations to enhance domain knowledge for visual encoders; 2) Mid-level: use Prefix Language Modeling (text) and Masked Image Modeling (images) to boost cross-modal alignment via mutual guidance; 3) High-level: a cross-modal causal intervention module (via front-door intervention) to reduce confounders and improve interpretability. Extensive experiments confirm HTSC-CIF's effectiveness, significantly outperforming state-of-the-art (SOTA) MRG methods. Code will be made public upon paper acceptance.