OpenRaiser/Intern-Atlas huggingface dataset:
STAMICS: Splat, Track And Map with Integrated Consistency and Semantics for Dense RGB-D SLAM
Venue: arXiv cs.RO 2025
Year: 2025

Simultaneous Localization and Mapping (SLAM) is a critical task in robotics, enabling systems to autonomously navigate and understand complex environments. Current SLAM approaches predominantly rely on geometric cues for mapping and localization, but they often fail to ensure semantic consistency, particularly in dynamic or densely populated scenes. To address this limitation, we introduce STAMICS, a novel method that integrates semantic information with 3D Gaussian representations to enhance both localization and mapping accuracy. STAMICS consists of three key components: a 3D Gaussian-based scene representation for high-fidelity reconstruction, a graph-based clustering technique that enforces temporal semantic consistency, and an open-vocabulary system that allows for the classification of unseen objects. Extensive experiments show that STAMICS significantly improves camera pose estimation and map quality, outperforming state-of-the-art methods while reducing reconstruction errors. Code will be public available.
On the Maiorana-McFarland Class Extensions
Venue: arXiv cs.CR 2025
Year: 2025

The closure $\mathcal{M}_{m}^{\#}$ and the extension $\widehat{\mathcal{M}}_{m}$ of the Maiorana--McFarland class $\mathcal{M}_{m}$ in $m = 2n$ variables relative to the extended-affine equivalence and the bent function construction $f \oplus \mathrm{Ind}_{U}$ are considered, where $U$ is an affine subspace of $\mathbb{F}_{2}^{m}$ of dimension $m/2$. We obtain an explicit formula for $|\widehat{\mathcal{M}}_{m}|$ and an upper bound for $|\widehat{\mathcal{M}}_{m}^{\#}|$. Asymptotically tight bounds for $|\mathcal{M}_{m}^{\#}|$ are proved as well, for instance, $|\mathcal{M}_{8}^{\#}| \approx 2^{77.865}$. Metric properties of $\mathcal{M}_{m}$ and $\mathcal{M}_{m}^{\#}$ are also investigated. We find the number of all closest bent functions to the set $\mathcal{M}_{m}$ and provide an upper bound of the same number for $\mathcal{M}_{m}^{\#}$. The average number $E(\mathcal{M}_{m})$ of $m/2$-dimensional affine subspaces of $\mathbb{F}_{2}^{m}$ such that a function from $\mathcal{M}_{m}$ is affine on each of them is calculated. We obtain that similarly defined $E(\mathcal{M}_{m}^{\#})$ satisfies $E(\mathcal{M}_{m}^{\#}) < E(\mathcal{M}_{m})$ and $E(\mathcal{M}_{m}^{\#}) = E(\mathcal{M}_{m}) - o(1)$.
Automated Analysis of Pricings in SaaS-based Information Systems
Venue: arXiv cs.SE 2025
Year: 2025

Software as a Service (SaaS) pricing models, encompassing features, usage limits, plans, and add-ons, have grown exponentially in complexity, evolving from offering tens to thousands of configuration options. This rapid expansion poses significant challenges for the development and operation of SaaS-based Information Systems (IS), as manual management of such configurations becomes time-consuming, error-prone, and ultimately unsustainable. The emerging paradigm of Pricing-driven DevOps aims to address these issues by automating pricing management tasks, such as transforming human-oriented pricings into machine-oriented (iPricing) or finding the optimal subscription that matches the requirements of a certain user, ultimately reducing human intervention. This paper advances the field by proposing seven analysis operations that partially or fully support these pricing management tasks, thus serving as a foundation for defining new, more specialized operations. To achieve this, we mapped iPricings into Constraint Satisfaction Optimization Problems (CSOP), an approach successfully used in similar domains, enabling us to implement and apply these operations to uncover latent, yet non-trivial insights from complex pricing models. The proposed approach has been implemented in a reference framework using MiniZinc, and tested with over 150 pricing models, identifying errors in 35 pricings of the benchmark. Results demonstrate its effectiveness in identifying errors and its potential to streamline Pricing-driven DevOps.
Retinal Fundus Multi-Disease Image Classification using Hybrid CNN-Transformer-Ensemble Architectures
Venue: arXiv cs.CV 2025
Year: 2025

Our research is motivated by the urgent global issue of a large population affected by retinal diseases, which are evenly distributed but underserved by specialized medical expertise, particularly in non-urban areas. Our primary objective is to bridge this healthcare gap by developing a comprehensive diagnostic system capable of accurately predicting retinal diseases solely from fundus images. However, we faced significant challenges due to limited, diverse datasets and imbalanced class distributions. To overcome these issues, we have devised innovative strategies. Our research introduces novel approaches, utilizing hybrid models combining deeper Convolutional Neural Networks (CNNs), Transformer encoders, and ensemble architectures sequentially and in parallel to classify retinal fundus images into 20 disease labels. Our overarching goal is to assess these advanced models' potential in practical applications, with a strong focus on enhancing retinal disease diagnosis accuracy across a broader spectrum of conditions. Importantly, our efforts have surpassed baseline model results, with the C-Tran ensemble model emerging as the leader, achieving a remarkable model score of 0.9166, surpassing the baseline score of 0.9. Additionally, experiments with the IEViT model showcased equally promising outcomes with improved computational efficiency. We've also demonstrated the effectiveness of dynamic patch extraction and the integration of domain knowledge in computer vision tasks. In summary, our research strives to contribute significantly to retinal disease diagnosis, addressing the critical need for accessible healthcare solutions in underserved regions while aiming for comprehensive and accurate disease prediction.
OmniVox: Zero-Shot Emotion Recognition with Omni-LLMs
Venue: arXiv cs.CL 2025
Year: 2025

The use of omni-LLMs (large language models that accept any modality as input), particularly for multimodal cognitive state tasks involving speech, is understudied. We present OmniVox, the first systematic evaluation of four omni-LLMs on the zero-shot emotion recognition task. We evaluate on two widely used multimodal emotion benchmarks: IEMOCAP and MELD, and find zero-shot omni-LLMs outperform or are competitive with fine-tuned audio models. Alongside our audio-only evaluation, we also evaluate omni-LLMs on text only and text and audio. We present acoustic prompting, an audio-specific prompting strategy for omni-LLMs which focuses on acoustic feature analysis, conversation context analysis, and step-by-step reasoning. We compare our acoustic prompting to minimal prompting and full chain-of-thought prompting techniques. We perform a context window analysis on IEMOCAP and MELD, and find that using context helps, especially on IEMOCAP. We conclude with an error analysis on the generated acoustic reasoning outputs from the omni-LLMs.
Data-Driven Contact-Aware Control Method for Real-Time Deformable Tool Manipulation: A Case Study in the Environmental Swabbing
Venue: arXiv cs.RO 2025
Year: 2025

Deformable Object Manipulation (DOM) remains a critical challenge in robotics due to the complexities of developing suitable model-based control strategies. Deformable Tool Manipulation (DTM) further complicates this task by introducing additional uncertainties between the robot and its environment. While humans effortlessly manipulate deformable tools using touch and experience, robotic systems struggle to maintain stability and precision. To address these challenges, we present a novel State-Adaptive Koopman LQR (SA-KLQR) control framework for real-time deformable tool manipulation, demonstrated through a case study in environmental swab sampling for food safety. This method leverages Koopman operator-based control to linearize nonlinear dynamics while adapting to state-dependent variations in tool deformation and contact forces. A tactile-based feedback system dynamically estimates and regulates the swab tool's angle, contact pressure, and surface coverage, ensuring compliance with food safety standards. Additionally, a sensor-embedded contact pad monitors force distribution to mitigate tool pivoting and deformation, improving stability during dynamic interactions. Experimental results validate the SA-KLQR approach, demonstrating accurate contact angle estimation, robust trajectory tracking, and reliable force regulation. The proposed framework enhances precision, adaptability, and real-time control in deformable tool manipulation, bridging the gap between data-driven learning and optimal control in robotic interaction tasks.
F-INR: Functional Tensor Decomposition for Implicit Neural Representations
Venue: arXiv cs.LG 2025
Year: 2025

Implicit Neural Representations (INRs) model signals as continuous, differentiable functions. However, monolithic INRs scale poorly with data dimensionality, leading to excessive training costs. We propose F-INR, a framework that addresses this limitation by factorizing a high-dimensional INR into a set of compact, axis-specific sub-networks based on functional tensor decomposition. These sub-networks learn low-dimensional functional components that are then combined via tensor operations. This factorization reduces computational complexity while additionally improving representational capacity. F-INR is both architecture- and decomposition-agnostic. It integrates with various existing INR backbones (e.g., SIREN, WIRE, FINER, Factor Fields) and tensor formats (e.g., CP, TT, Tucker), offering fine-grained control over the speed-accuracy trade-off via the tensor rank and mode. Our experiments show F-INR accelerates training by up to $20\times$ and improves fidelity by over \num{6.0} dB PSNR compared to state-of-the-art INRs. We validate these gains on diverse tasks, including image representation, 3D geometry reconstruction, and neural radiance fields. We further show F-INR's applicability to scientific computing by modeling complex physics simulations. Thus, F-INR provides a scalable, flexible, and efficient framework for high-dimensional signal modeling. Project page: https://f-inr.github.io
Uncertainty-aware Bayesian machine learning modelling of land cover classification
Venue: arXiv cs.LG 2025
Year: 2025

Land cover classification involves the production of land cover maps, which determine the type of land through remote sensing imagery. Over recent years, such classification is being performed by machine learning classification models, which can give highly accurate predictions on land cover per pixel using large quantities of input training data. However, such models do not currently take account of input measurement uncertainty, which is vital for traceability in metrology. In this work we propose a Bayesian classification framework using generative modelling to take account of input measurement uncertainty. We take the specific case of Bayesian quadratic discriminant analysis, and apply it to land cover datasets from Copernicus Sentinel-2 in 2020 and 2021. We benchmark the performance of the model against more popular classification models used in land cover maps such as random forests and neural networks. We find that such Bayesian models are more trustworthy, in the sense that they are more interpretable, explicitly model the input measurement uncertainty, and maintain predictive performance of class probability outputs across datasets of different years and sizes, whilst also being computationally efficient.
Prompt, Divide, and Conquer: Bypassing Large Language Model Safety Filters via Segmented and Distributed Prompt Processing
Venue: arXiv cs.CR 2025
Year: 2025

Large Language Models (LLMs) have transformed task automation and content generation across various domains while incorporating safety filters to prevent misuse. We introduce a novel jailbreaking framework that employs distributed prompt processing combined with iterative refinements to bypass these safety measures, particularly in generating malicious code. Our architecture consists of four key modules: prompt segmentation, parallel processing, response aggregation, and LLM-based jury evaluation. Tested on 500 malicious prompts across 10 cybersecurity categories, the framework achieves a 73.2% Success Rate (SR) in generating malicious code. Notably, our comparative analysis reveals that traditional single-LLM judge evaluation overestimates SRs (93.8%) compared to our LLM jury system (73.2%), with manual verification confirming that single-judge assessments often accept incomplete implementations. Moreover, we demonstrate that our distributed architecture improves SRs by 12% over the non-distributed approach in an ablation study, highlighting both the effectiveness of distributed prompt processing and the importance of robust evaluation methodologies in assessing jailbreak attempts.
Evaluating book summaries from internal knowledge in Large Language Models: a cross-model and semantic consistency approach
Venue: arXiv cs.CL 2025
Year: 2025

We study the ability of large language models (LLMs) to generate comprehensive and accurate book summaries solely from their internal knowledge, without recourse to the original text. Employing a diverse set of books and multiple LLM architectures, we examine whether these models can synthesize meaningful narratives that align with established human interpretations. Evaluation is performed with a LLM-as-a-judge paradigm: each AI-generated summary is compared against a high-quality, human-written summary via a cross-model assessment, where all participating LLMs evaluate not only their own outputs but also those produced by others. This methodology enables the identification of potential biases, such as the proclivity for models to favor their own summarization style over others. In addition, alignment between the human-crafted and LLM-generated summaries is quantified using ROUGE and BERTScore metrics, assessing the depth of grammatical and semantic correspondence. The results reveal nuanced variations in content representation and stylistic preferences among the models, highlighting both strengths and limitations inherent in relying on internal knowledge for summarization tasks. These findings contribute to a deeper understanding of LLM internal encodings of factual information and the dynamics of cross-model evaluation, with implications for the development of more robust natural language generative systems.
A Survey of Efficient Reasoning for Large Reasoning Models: Language, Multimodality, and Beyond
Venue: arXiv cs.CL 2025
Year: 2025

Recent Large Reasoning Models (LRMs), such as DeepSeek-R1 and OpenAI o1, have demonstrated strong performance gains by scaling up the length of Chain-of-Thought (CoT) reasoning during inference. However, a growing concern lies in their tendency to produce excessively long reasoning traces, which are often filled with redundant content (e.g., repeated definitions), over-analysis of simple problems, and superficial exploration of multiple reasoning paths for harder tasks. This inefficiency introduces significant challenges for training, inference, and real-world deployment (e.g., in agent-based systems), where token economy is critical. In this survey, we provide a comprehensive overview of recent efforts aimed at improving reasoning efficiency in LRMs, with a particular focus on the unique challenges that arise in this new paradigm. We identify common patterns of inefficiency, examine methods proposed across the LRM lifecycle, i.e., from pretraining to inference, and discuss promising future directions for research. To support ongoing development, we also maintain a real-time GitHub repository tracking recent progress in the field. We hope this survey serves as a foundation for further exploration and inspires innovation in this rapidly evolving area.
Data-Driven Extreme Response Estimation
Venue: arXiv cs.LG 2025
Year: 2025

A method to rapidly estimate extreme ship response events is developed in this paper. The method involves training by a Long Short-Term Memory (LSTM) neural network to correct a lower-fidelity hydrodynamic model to the level of a higher-fidelity simulation. More focus is placed on larger responses by isolating the time-series near peak events identified in the lower-fidelity simulations and training on only the shorter time-series around the large event. The method is tested on the estimation of pitch time-series maxima in Sea State 5 (significant wave height of 4.0 meters and modal period of 15.0 seconds,) generated by a lower-fidelity hydrodynamic solver known as SimpleCode and a higher-fidelity tool known as the Large Amplitude Motion Program (LAMP). The results are also compared with an LSTM trained without special considerations for large events.
Output-sensitive approximate counting via a measure-bounded hyperedge oracle, or: How asymmetry helps estimate $k$-clique counts faster
Venue: arXiv cs.DS 2025
Year: 2025

Dell, Lapinskas and Meeks [DLM SICOMP 2022] presented a general reduction from approximate counting to decision for a class of fine-grained problems that can be viewed as hyperedge counting or detection problems in an implicit hypergraph, thus obtaining tight equivalences between approximate counting and decision for many key problems such as $k$-clique, $k$-sum and more. Their result is a reduction from approximately counting the number of hyperedges in an implicit $k$-partite hypergraph to a polylogarithmic number of calls to a hyperedge oracle that returns whether a given subhypergraph contains an edge. The main result of this paper is a generalization of the DLM result for {\em output-sensitive} approximate counting, where the running time of the desired counting algorithm is inversely proportional to the number of witnesses. Our theorem is a reduction from approximately counting the (unknown) number of hyperedges in an implicit $k$-partite hypergraph to a polylogarithmic number of calls to a hyperedge oracle called only on subhypergraphs with a small ``measure''. If a subhypergraph has $u_i$ nodes in the $i$th node partition of the $k$-partite hypergraph, then its measure is $\prod_i u_i$. Using the new general reduction and by efficiently implementing measure-bounded colorful independence oracles, we obtain new improved output-sensitive approximate counting algorithms for $k$-clique, $k$-dominating set and $k$-sum. In graphs with $n^t$ $k$-cliques, for instance, our algorithm $(1\pm ε)$-approximates the $k$-clique count in time $$\tilde{O}_ε(n^{ω(\frac{k-t-1}{3},\frac{k-t}{3},\frac{k-t+2}{3}) }+n^2),$$ where $ω(a,b,c)$ is the exponent of $n^a\times n^b$ by $n^b\times n^c$ matrix multiplication. For large $k$ and $t>2$, this is a substantial improvement over prior work, even if $ω=2$.
Cognitive Science-Inspired Evaluation of Core Capabilities for Object Understanding in AI
Venue: arXiv cs.AI 2025
Year: 2025

One of the core components of our world models is 'intuitive physics' - an understanding of objects, space, and causality. This capability enables us to predict events, plan action and navigate environments, all of which rely on a composite sense of objecthood. Despite its importance, there is no single, unified account of objecthood, though multiple theoretical frameworks provide insights. In the first part of this paper, we present a comprehensive overview of the main theoretical frameworks in objecthood research - Gestalt psychology, enactive cognition, and developmental psychology - and identify the core capabilities each framework attributes to object understanding, as well as what functional roles they play in shaping world models in biological agents. Given the foundational role of objecthood in world modelling, understanding objecthood is also essential in AI. In the second part of the paper, we evaluate how current AI paradigms approach and test objecthood capabilities compared to those in cognitive science. We define an AI paradigm as a combination of how objecthood is conceptualised, the methods used for studying objecthood, the data utilised, and the evaluation techniques. We find that, whilst benchmarks can detect that AI systems model isolated aspects of objecthood, the benchmarks cannot detect when AI systems lack functional integration across these capabilities, not solving the objecthood challenge fully. Finally, we explore novel evaluation approaches that align with the integrated vision of objecthood outlined in this paper. These methods are promising candidates for advancing from isolated object capabilities toward general-purpose AI with genuine object understanding in real-world contexts.
COMI-LINGUA: Expert Annotated Large-Scale Dataset for Multitask NLP in Hindi-English Code-Mixing
Venue: arXiv cs.CL 2025
Year: 2025

We introduce COMI-LINGUA, the largest manually annotated Hindi-English code-mixed dataset, comprising 125K+ high-quality instances across five core NLP tasks: Matrix Language Identification, Token-level Language Identification, Part-Of-Speech Tagging, Named Entity Recognition, and Machine Translation. Each instance is annotated by three bilingual annotators, yielding over 376K expert annotations with strong inter-annotator agreement (Fleiss' Kappa $\geq$ 0.81). The rigorously preprocessed and filtered dataset covers both Devanagari and Roman scripts and spans diverse domains, ensuring real-world linguistic coverage. Evaluation reveals that closed-source LLMs significantly outperform traditional tools and open-source models in zero-shot settings. Notably, one-shot prompting consistently boosts performance across tasks, especially in structure-sensitive predictions like POS and NER. Fine-tuning state-of-the-art LLMs on COMI-LINGUA demonstrates substantial improvements, achieving up to 95.25 F1 in NER, 98.77 F1 in MLI, and competitive MT performance, setting new benchmarks for Hinglish code-mixed text. COMI-LINGUA is publicly available at this URL: https://huggingface.co/datasets/LingoIITGN/COMI-LINGUA.
AMA-SAM: Adversarial Multi-Domain Alignment of Segment Anything Model for High-Fidelity Histology Nuclei Segmentation
Venue: arXiv cs.CV 2025
Year: 2025

Accurate segmentation of cell nuclei in histopathology images is essential for numerous biomedical research and clinical applications. However, existing cell nucleus segmentation methods only consider a single dataset (i.e., primary domain), while neglecting to leverage supplementary data from diverse sources (i.e., auxiliary domains) to reduce overfitting and enhance the performance. Although incorporating multiple datasets could alleviate overfitting, it often exacerbates performance drops caused by domain shifts. In this work, we introduce Adversarial Multi-domain Alignment of Segment Anything Model (AMA-SAM) that extends the Segment Anything Model (SAM) to overcome these obstacles through two key innovations. First, we propose a Conditional Gradient Reversal Layer (CGRL), a multi-domain alignment module that harmonizes features from diverse domains to promote domain-invariant representation learning while preserving crucial discriminative features for the primary dataset. Second, we address SAM's inherent low-resolution output by designing a High-Resolution Decoder (HR-Decoder), which directly produces fine-grained segmentation maps in order to capture intricate nuclei boundaries in high-resolution histology images. To the best of our knowledge, this is the first attempt to adapt SAM for multi-dataset learning with application to histology nuclei segmentation. We validate our method on several publicly available datasets, demonstrating consistent and significant improvements over state-of-the-art approaches.