OpenRaiser/Intern-Atlas huggingface dataset:
Learning to Drive Anywhere with Model-Based Reannotation
Venue: arXiv cs.RO 2025
Year: 2025

Developing broadly generalizable visual navigation policies for robots is a significant challenge, primarily constrained by the availability of large-scale, diverse training data. While curated datasets collected by researchers offer high quality, their limited size restricts policy generalization. To overcome this, we explore leveraging abundant, passively collected data sources, including large volumes of crowd-sourced teleoperation data and unlabeled YouTube videos, despite their potential for lower quality or missing action labels. We propose Model-Based ReAnnotation (MBRA), a framework that utilizes a learned short-horizon, model-based expert model to relabel or generate high-quality actions for these passive datasets. This relabeled data is then distilled into LogoNav, a long-horizon navigation policy conditioned on visual goals or GPS waypoints. We demonstrate that LogoNav, trained using MBRA-processed data, achieves state-of-the-art performance, enabling robust navigation over distances exceeding 300 meters in previously unseen indoor and outdoor environments. Our extensive real-world evaluations, conducted across a fleet of robots (including quadrupeds) in six cities on three continents, validate the policy's ability to generalize and navigate effectively even amidst pedestrians in crowded settings.
scDrugMap: Benchmarking Large Foundation Models for Drug Response Prediction
Venue: arXiv cs.AI 2025
Year: 2025

Drug resistance presents a major challenge in cancer therapy. Single cell profiling offers insights into cellular heterogeneity, yet the application of large-scale foundation models for predicting drug response in single cell data remains underexplored. To address this, we developed scDrugMap, an integrated framework featuring both a Python command-line interface and a web server for drug response prediction. scDrugMap evaluates a wide range of foundation models, including eight single-cell models and two large language models, using a curated dataset of over 326,000 cells in the primary collection and 18,800 cells in the validation set, spanning 36 datasets and diverse tissue and cancer types. We benchmarked model performance under pooled-data and cross-data evaluation settings, employing both layer freezing and Low-Rank Adaptation (LoRA) fine-tuning strategies. In the pooled-data scenario, scFoundation achieved the best performance, with mean F1 scores of 0.971 (layer freezing) and 0.947 (fine-tuning), outperforming the lowest-performing model by over 50%. In the cross-data setting, UCE excelled post fine-tuning (mean F1: 0.774), while scGPT led in zero-shot learning (mean F1: 0.858). Overall, scDrugMap provides the first large-scale benchmark of foundation models for drug response prediction in single-cell data and serves as a user-friendly, flexible platform for advancing drug discovery and translational research.
A Preliminary Study on GPT-Image Generation Model for Image Restoration
Venue: arXiv cs.CV 2025
Year: 2025

Recent advances in OpenAI's GPT-series multimodal generation models have shown remarkable capabilities in producing visually compelling images. In this work, we investigate its potential impact on the image restoration community. We provide, to the best of our knowledge, the first systematic benchmark across diverse restoration scenarios. Our evaluation shows that, while the restoration results generated by GPT-Image models are often perceptually pleasant, they tend to lack pixel-level structural fidelity compared with ground-truth references. Typical deviations include changes in image geometry, object positions or counts, and even modifications in perspective. Beyond empirical observations, we further demonstrate that outputs from GPT-Image models can act as strong visual priors, offering notable performance improvements for existing restoration networks. Using dehazing, deraining, and low-light enhancement as representative case studies, we show that integrating GPT-generated priors significantly boosts restoration quality. This study not only provides practical insights and a baseline framework for incorporating GPT-based generative priors into restoration pipelines, but also highlights new opportunities for bridging image generation models and restoration tasks. To support future research, we will release GPT-restored results.
Characterizing GPU Energy Usage in Exascale-Ready Portable Science Applications
Venue: arXiv cs.PF 2025
Year: 2025

We characterize the GPU energy usage of two widely adopted exascale-ready applications representing two classes of particle and mesh solvers: (i) QMCPACK, a quantum Monte Carlo package, and (ii) AMReXCastro, an adaptive mesh astrophysical code. We analyze power, temperature, utilization, and energy traces from double-/single (mixed)-precision benchmarks on NVIDIA's A100 and H100 and AMD's MI250X GPUs using queries in NVML and rocm_smi_lib, respectively. We explore application-specific metrics to provide insights on energy vs. performance trade-offs. Our results suggest that mixed-precision energy savings range between 6-25% on QMCPACK and 45% on AMReX-Castro. Also, we found gaps in the AMD tooling used on Frontier GPUs that need to be understood, while query resolutions on NVML have little variability between 1 ms-1 s. Overall, application level knowledge is crucial to define energy-cost/science-benefit opportunities for the codesign of future supercomputer architectures in the post-Moore era.
SPIN-ODE: Stiff Physics-Informed Neural ODE for Chemical Reaction Rate Estimation
Venue: arXiv cs.LG 2025
Year: 2025

Estimating rate coefficients from complex chemical reactions is essential for advancing detailed chemistry. However, the stiffness inherent in real-world atmospheric chemistry systems poses severe challenges, leading to training instability and poor convergence, which hinder effective rate coefficient estimation using learning-based approaches. To address this, we propose a Stiff Physics-Informed Neural ODE framework (SPIN-ODE) for chemical reaction modelling. Our method introduces a three-stage optimisation process: first, a black-box neural ODE is trained to fit concentration trajectories; second, a Chemical Reaction Neural Network (CRNN) is pre-trained to learn the mapping between concentrations and their time derivatives; and third, the rate coefficients are fine-tuned by integrating with the pre-trained CRNN. Extensive experiments on both synthetic and newly proposed real-world datasets validate the effectiveness and robustness of our approach. As the first work addressing stiff neural ODE for chemical rate coefficient discovery, our study opens promising directions for integrating neural networks with detailed chemistry.
Perceiving Beyond Language Priors: Enhancing Visual Comprehension and Attention in Multimodal Models
Venue: arXiv cs.CV 2025
Year: 2025

Achieving deep alignment between vision and language remains a central challenge for Multimodal Large Language Models (MLLMs). These models often fail to fully leverage visual input, defaulting to strong language priors. Our approach first provides insights into how MLLMs internally build visual understanding of image regions and then introduces techniques to amplify this capability. Specifically, we explore techniques designed both to deepen the model's understanding of visual content and to ensure that these visual insights actively guide language generation. We demonstrate the superior multimodal understanding of our resultant model through a detailed upstream analysis quantifying its ability to predict visually-dependent tokens as well as 10 pt boost on visually challenging tasks.
Neural Catalog: Scaling Species Recognition with Catalog of Life-Augmented Generation
Venue: arXiv cs.CV 2025
Year: 2025

Open-vocabulary species recognition is a major challenge in computer vision, particularly in ornithology, where new taxa are continually discovered. While benchmarks like CUB-200-2011 and Birdsnap have advanced fine-grained recognition under closed vocabularies, they fall short of real-world conditions. We show that current systems suffer a performance drop of over 30\% in realistic open-vocabulary settings with thousands of candidate species, largely due to an increased number of visually similar and semantically ambiguous distractors. To address this, we propose Visual Re-ranking Retrieval-Augmented Generation (VR-RAG), a novel framework that links structured encyclopedic knowledge with recognition. We distill Wikipedia articles for 11,202 bird species into concise, discriminative summaries and retrieve candidates from these summaries. Unlike prior text-only approaches, VR-RAG incorporates visual information during retrieval, ensuring final predictions are both textually relevant and visually consistent with the query image. Extensive experiments across five bird classification benchmarks and two additional domains show that VR-RAG improves the average performance of the state-of-the-art Qwen2.5-VL model by 18.0%.
Semantic Style Transfer for Enhancing Animal Facial Landmark Detection
Venue: arXiv cs.CV 2025
Year: 2025

Neural Style Transfer (NST) is a technique for applying the visual characteristics of one image onto another while preserving structural content. Traditionally used for artistic transformations, NST has recently been adapted, e.g., for domain adaptation and data augmentation. This study investigates the use of this technique for enhancing animal facial landmark detectors training. As a case study, we use a recently introduced Ensemble Landmark Detector for 48 anatomical cat facial landmarks and the CatFLW dataset it was trained on, making three main contributions. First, we demonstrate that applying style transfer to cropped facial images rather than full-body images enhances structural consistency, improving the quality of generated images. Secondly, replacing training images with style-transferred versions raised challenges of annotation misalignment, but Supervised Style Transfer (SST) - which selects style sources based on landmark accuracy - retained up to 98% of baseline accuracy. Finally, augmenting the dataset with style-transferred images further improved robustness, outperforming traditional augmentation methods. These findings establish semantic style transfer as an effective augmentation strategy for enhancing the performance of facial landmark detection models for animals and beyond. While this study focuses on cat facial landmarks, the proposed method can be generalized to other species and landmark detection models.
The Moon's Many Faces: A Single Unified Transformer for Multimodal Lunar Reconstruction
Venue: arXiv cs.CV 2025
Year: 2025

Multimodal learning is an emerging research topic across multiple disciplines but has rarely been applied to planetary science. In this contribution, we propose a single, unified transformer architecture trained to learn shared representations between multiple sources like grayscale images, Digital Elevation Models (DEMs), surface normals, and albedo maps. The architecture supports flexible translation from any input modality to any target modality. Our results demonstrate that our foundation model learns physically plausible relations across these four modalities. We further identify that image-based 3D reconstruction and albedo estimation (Shape and Albedo from Shading) of lunar images can be formulated as a multimodal learning problem. Our results demonstrate the potential of multimodal learning to solve Shape and Albedo from Shading and provide a new approach for large-scale planetary 3D reconstruction. Adding more input modalities in the future will further improve the results and enable tasks such as photometric normalization and co-registration.
Invariant-Based Cryptography
Venue: arXiv cs.CR 2025
Year: 2025

We propose a new symmetric cryptographic scheme based on functional invariants defined over discrete oscillatory functions with hidden parameters. The scheme encodes a secret integer through a four-point algebraic identity preserved under controlled parameterization. Security arises not from algebraic inversion but from structural coherence: the transmitted values satisfy an invariant that is computationally hard to forge or invert without knowledge of the shared secret. We develop the full analytic and modular framework, prove exact identities, define index-recovery procedures, and analyze security assumptions, including oscillator construction, hash binding, and invertibility conditions. The result is a compact, self-verifying mechanism suitable for secure authentication, parameter exchange, and lightweight communication protocols.
TeGA: Texture Space Gaussian Avatars for High-Resolution Dynamic Head Modeling
Venue: arXiv cs.CV 2025
Year: 2025

Sparse volumetric reconstruction and rendering via 3D Gaussian splatting have recently enabled animatable 3D head avatars that are rendered under arbitrary viewpoints with impressive photorealism. Today, such photoreal avatars are seen as a key component in emerging applications in telepresence, extended reality, and entertainment. Building a photoreal avatar requires estimating the complex non-rigid motion of different facial components as seen in input video images; due to inaccurate motion estimation, animatable models typically present a loss of fidelity and detail when compared to their non-animatable counterparts, built from an individual facial expression. Also, recent state-of-the-art models are often affected by memory limitations that reduce the number of 3D Gaussians used for modeling, leading to lower detail and quality. To address these problems, we present a new high-detail 3D head avatar model that improves upon the state of the art, largely increasing the number of 3D Gaussians and modeling quality for rendering at 4K resolution. Our high-quality model is reconstructed from multiview input video and builds on top of a mesh-based 3D morphable model, which provides a coarse deformation layer for the head. Photoreal appearance is modelled by 3D Gaussians embedded within the continuous UVD tangent space of this mesh, allowing for more effective densification where most needed. Additionally, these Gaussians are warped by a novel UVD deformation field to capture subtle, localized motion. Our key contribution is the novel deformable Gaussian encoding and overall fitting procedure that allows our head model to preserve appearance detail, while capturing facial motion and other transient high-frequency features such as skin wrinkling.
Interactive Diabetes Risk Prediction Using Explainable Machine Learning: A Dash-Based Approach with SHAP, LIME, and Comorbidity Insights
Venue: arXiv cs.LG 2025
Year: 2025

This study presents a web-based interactive health risk prediction tool designed to assess diabetes risk using machine learning models. Built on the 2015 CDC BRFSS dataset, the study evaluates models including Logistic Regression, Random Forest, XGBoost, LightGBM, KNN, and Neural Networks under original, SMOTE, and undersampling strategies. LightGBM with undersampling achieved the best recall, making it ideal for risk detection. The tool integrates SHAP and LIME to explain predictions and highlights comorbidity correlations using Pearson analysis. A Dash-based UI enables user-friendly interaction with model predictions, personalized suggestions, and feature insights, supporting data-driven health awareness.
Assessing Robustness to Spurious Correlations in Post-Training Language Models
Venue: arXiv cs.CL 2025
Year: 2025

Supervised and preference-based fine-tuning techniques have become popular for aligning large language models (LLMs) with user intent and correctness criteria. However, real-world training data often exhibits spurious correlations -- arising from biases, dataset artifacts, or other "shortcut" features -- that can compromise a model's performance or generalization. In this paper, we systematically evaluate three post-training algorithms -- Supervised Fine-Tuning (SFT), Direct Preference Optimization (DPO), and KTO (Kahneman-Tversky Optimization) -- across a diverse set of synthetic tasks and spuriousness conditions. Our tasks span mathematical reasoning, constrained instruction-following, and document-grounded question answering. We vary the degree of spurious correlation (10% vs. 90%) and investigate two forms of artifacts: "Feature Ambiguity" and "Distributional Narrowness." Our results show that the models often but not always degrade under higher spuriousness. The preference-based methods (DPO/KTO) can demonstrate relative robustness in mathematical reasoning tasks. By contrast, SFT maintains stronger performance in complex, context-intensive tasks. These findings highlight that no single post-training strategy universally outperforms in all scenarios; the best choice depends on the type of target task and the nature of spurious correlations.
Crowding Out The Noise: Algorithmic Collective Action Under Differential Privacy
Venue: arXiv cs.LG 2025
Year: 2025

The integration of AI into daily life has generated considerable attention and excitement, while also raising concerns about automating algorithmic harms and re-entrenching existing social inequities. While the responsible deployment of trustworthy AI systems is a worthy goal, there are many possible ways to realize it, from policy and regulation to improved algorithm design and evaluation. In fact, since AI trains on social data, there is even a possibility for everyday users, citizens, or workers to directly steer its behavior through Algorithmic Collective Action, by deliberately modifying the data they share with a platform to drive its learning process in their favor. This paper considers how these grassroots efforts to influence AI interact with methods already used by AI firms and governments to improve model trustworthiness. In particular, we focus on the setting where the AI firm deploys a differentially private model, motivated by the growing regulatory focus on privacy and data protection. We investigate how the use of Differentially Private Stochastic Gradient Descent (DPSGD) affects the collective's ability to influence the learning process. Our findings show that while differential privacy contributes to the protection of individual data, it introduces challenges for effective algorithmic collective action. We characterize lower bounds on the success of algorithmic collective action under differential privacy as a function of the collective's size and the firm's privacy parameters, and verify these trends experimentally by simulating collective action during the training of deep neural network classifiers across several datasets.
Understanding Stragglers in Large Model Training Using What-if Analysis
Venue: arXiv cs.DC 2025
Year: 2025

Large language model (LLM) training is one of the most demanding distributed computations today, often requiring thousands of GPUs with frequent synchronization across machines. Such a workload pattern makes it susceptible to stragglers, where the training can be stalled by few slow workers. At ByteDance we find stragglers are not trivially always caused by hardware failures, but can arise from multiple complex factors. This work aims to present a comprehensive study on the straggler issues in LLM training, using a five-month trace collected from our ByteDance LLM training cluster. The core methodology is what-if analysis that simulates the scenario without any stragglers and contrasts with the actual case. We use this method to study the following questions: (1) how often do stragglers affect training jobs, and what effect do they have on job performance; (2) do stragglers exhibit temporal or spatial patterns; and (3) what are the potential root causes for stragglers?
You Are Your Best Teacher: Semi-Supervised Surgical Point Tracking with Cycle-Consistent Self-Distillation
Venue: arXiv cs.CV 2025
Year: 2025

Synthetic datasets have enabled significant progress in point tracking by providing large-scale, densely annotated supervision. However, deploying these models in real-world domains remains challenging due to domain shift and lack of labeled data-issues that are especially severe in surgical videos, where scenes exhibit complex tissue deformation, occlusion, and lighting variation. While recent approaches adapt synthetic-trained trackers to natural videos using teacher ensembles or augmentation-heavy pseudo-labeling pipelines, their effectiveness in high-shift domains like surgery remains unexplored. This work presents SurgTracker, a semi-supervised framework for adapting synthetic-trained point trackers to surgical video using filtered self-distillation. Pseudo-labels are generated online by a fixed teacher-identical in architecture and initialization to the student-and are filtered using a cycle consistency constraint to discard temporally inconsistent trajectories. This simple yet effective design enforces geometric consistency and provides stable supervision throughout training, without the computational overhead of maintaining multiple teachers. Experiments on the STIR benchmark show that SurgTracker improves tracking performance using only 80 unlabeled videos, demonstrating its potential for robust adaptation in high-shift, data-scarce domains.
Towards Secure Semantic Transmission In the Era of GenAI: A Diffusion-based Framework
Venue: arXiv cs.IT 2025
Year: 2025

Semantic communication, due to its focus on the transmitting meaning rather than the raw bit data, poses unique security challenges compared to the traditional communication systems. In particular, semantic communication systems are vulnerable to the malicious attacks that focus on the semantic layer, with the intention of understanding or distorting the intended meaning of the transmitted privacy data. Diffusion models, a class of generative artificial intelligence (GenAI), are well-suited for ensuring data security to attack. Through iteratively adding and then removing noise, diffusion models can generate meaningful information despite the presence of the unknown noise. This article proposes a diffusion-based framework to enhance the security of semantic transmission for the attacks including eavesdropping and jamming. Specifically, the proposed framework incorporates both the artificial noise and natural channel noise into the forward process of the diffusion models during the semantic transmission, with the reverse process used to remove noise at the legitimate receiver. In the eavesdropping scenarios, the artificial noise is the friendly noise designed to prevent semantic eavesdropping. In the jamming scenarios, the artificial noise is the malicious jamming generated by the jammer, which disrupts the semantic transmission. The case studies show that the proposed diffusion-based framework is promising in securing the semantic transmission. We also consolidate several broad research directions associated with the proposed framework.