OpenRaiser/Intern-Atlas huggingface dataset:
Réduire le bruit grâce à la réalité augmentée sonore -- Auditory Concealer
Venue: arXiv cs.SD 2025
Year: 2025

This report presents the work done over 22 weeks of internship within the Sound Perception and Design team of the Sciences and Technologies of Music and Sound (STMS) laboratory at the Institute for Research and Coordination in Acoustics/Music (IRCAM). As part of the launch of the project Reducing Noise with Augmented Reality (ReNAR); which aims to create a tool to reduce in real-time the cognitive impact of sounds perceived as unpleasant or annoying in indoor environments; an initial study was conducted to validate the feasibility and effectiveness of a new masking approach called concealer. The main hypothesis is that the concealer approach could provide better results than a masker approach in terms of perceived pleasantness. Mixtures of two noise sources (ventilation) and five masking sounds (water sounds) were generated using both approaches at various levels. The evaluation of the perceived pleasantness of these mixtures showed that the masker approach remains more effective than the concealer approach, regardless of the noise source, water sound, or level used.
Physics-aware generative models for turbulent fluid flows through energy-consistent stochastic interpolants
Venue: arXiv cs.CE 2025
Year: 2025

Generative models have demonstrated remarkable success in domains such as text, image, and video synthesis. In this work, we explore the application of generative models to fluid dynamics, specifically for turbulence simulation, where classical numerical solvers are computationally expensive. We propose a novel stochastic generative model based on stochastic interpolants, which enables probabilistic forecasting while incorporating physical constraints such as energy stability and divergence-freeness. Unlike conventional stochastic generative models, which are often agnostic to underlying physical laws, our approach embeds energy consistency by making the parameters of the stochastic interpolant learnable coefficients. We evaluate our method on a benchmark turbulence problem - Kolmogorov flow - demonstrating superior accuracy and stability over state-of-the-art alternatives such as autoregressive conditional diffusion models (ACDMs) and PDE-Refiner. Furthermore, we achieve stable results for significantly longer roll-outs than standard stochastic interpolants. Our results highlight the potential of physics-aware generative models in accelerating and enhancing turbulence simulations while preserving fundamental conservation properties.
Turin3D: Evaluating Adaptation Strategies under Label Scarcity in Urban LiDAR Segmentation with Semi-Supervised Techniques
Venue: arXiv cs.CV 2025
Year: 2025

3D semantic segmentation plays a critical role in urban modelling, enabling detailed understanding and mapping of city environments. In this paper, we introduce Turin3D: a new aerial LiDAR dataset for point cloud semantic segmentation covering an area of around 1.43 km2 in the city centre of Turin with almost 70M points. We describe the data collection process and compare Turin3D with others previously proposed in the literature. We did not fully annotate the dataset due to the complexity and time-consuming nature of the process; however, a manual annotation process was performed on the validation and test sets, to enable a reliable evaluation of the proposed techniques. We first benchmark the performances of several point cloud semantic segmentation models, trained on the existing datasets, when tested on Turin3D, and then improve their performances by applying a semi-supervised learning technique leveraging the unlabelled training set. The dataset will be publicly available to support research in outdoor point cloud segmentation, with particular relevance for self-supervised and semi-supervised learning approaches given the absence of ground truth annotations for the training set.
UVG-VPC: Voxelized Point Cloud Dataset for Visual Volumetric Video-based Coding
Venue: arXiv cs.MM 2025
Year: 2025

Point cloud compression has become a crucial factor in immersive visual media processing and streaming. This paper presents a new open dataset called UVG-VPC for the development, evaluation, and validation of MPEG Visual Volumetric Video-based Coding (V3C) technology. The dataset is distributed under its own non-commercial license. It consists of 12 point cloud test video sequences of diverse characteristics with respect to the motion, RGB texture, 3D geometry, and surface occlusion of the points. Each sequence is 10 seconds long and comprises 250 frames captured at 25 frames per second. The sequences are voxelized with a geometry precision of 9 to 12 bits, and the voxel color attributes are represented as 8-bit RGB values. The dataset also includes associated normals that make it more suitable for evaluating point cloud compression solutions. The main objective of releasing the UVG-VPC dataset is to foster the development of V3C technologies and thereby shape the future in this field.
High-Resource Translation:Turning Abundance into Accessibility
Venue: arXiv cs.CL 2025
Year: 2025

This paper presents a novel approach to constructing an English-to-Telugu translation model by leveraging transfer learning techniques and addressing the challenges associated with low-resource languages. Utilizing the Bharat Parallel Corpus Collection (BPCC) as the primary dataset, the model incorporates iterative backtranslation to generate synthetic parallel data, effectively augmenting the training dataset and enhancing the model's translation capabilities. The research focuses on a comprehensive strategy for improving model performance through data augmentation, optimization of training parameters, and the effective use of pre-trained models. These methodologies aim to create a robust translation system that can handle diverse sentence structures and linguistic nuances in both English and Telugu. This work highlights the significance of innovative data handling techniques and the potential of transfer learning in overcoming limitations posed by sparse datasets in low-resource languages. The study contributes to the field of machine translation and seeks to improve communication between English and Telugu speakers in practical contexts.
Uncovering Fairness through Data Complexity as an Early Indicator
Venue: arXiv cs.LG 2025
Year: 2025

Fairness constitutes a concern within machine learning (ML) applications. Currently, there is no study on how disparities in classification complexity between privileged and unprivileged groups could influence the fairness of solutions, which serves as a preliminary indicator of potential unfairness. In this work, we investigate this gap, specifically, we focus on synthetic datasets designed to capture a variety of biases ranging from historical bias to measurement and representational bias to evaluate how various complexity metrics differences correlate with group fairness metrics. We then apply association rule mining to identify patterns that link disproportionate complexity differences between groups with fairness-related outcomes, offering data-centric indicators to guide bias mitigation. Our findings are also validated by their application in real-world problems, providing evidence that quantifying group-wise classification complexity can uncover early indicators of potential fairness challenges. This investigation helps practitioners to proactively address bias in classification tasks.
Collision-free landing of multiple UAVs on moving ground vehicles using time-varying control barrier functions
Venue: arXiv cs.RO 2025
Year: 2025

In this article, we present a centralized approach for the control of multiple unmanned aerial vehicles (UAVs) for landing on moving unmanned ground vehicles (UGVs) using control barrier functions (CBFs). The proposed control framework employs two kinds of CBFs to impose safety constraints on the UAVs' motion. The first class of CBFs (LCBF) is a three-dimensional exponentially decaying function centered above the landing platform, designed to safely and precisely land UAVs on the UGVs. The second set is a spherical CBF (SCBF), defined between every pair of UAVs, which avoids collisions between them. The LCBF is time-varying and adapts to the motions of the UGVs. In the proposed CBF approach, the control input from the UAV's nominal tracking controller designed to reach the landing platform is filtered to choose a minimally-deviating control input that ensures safety (as defined by the CBFs). As the control inputs of every UAV are shared in establishing multiple CBF constraints, we prove that the control inputs are shared without conflict in rendering the safe sets forward invariant. The performance of the control framework is validated through a simulated scenario involving three UAVs landing on three moving targets.
Unsupervised Location Mapping for Narrative Corpora
Venue: arXiv cs.CL 2025
Year: 2025

This work presents the task of unsupervised location mapping, which seeks to map the trajectory of an individual narrative on a spatial map of locations in which a large set of narratives take place. Despite the fundamentality and generality of the task, very little work addressed the spatial mapping of narrative texts. The task consists of two parts: (1) inducing a ``map'' with the locations mentioned in a set of texts, and (2) extracting a trajectory from a single narrative and positioning it on the map. Following recent advances in increasing the context length of large language models, we propose a pipeline for this task in a completely unsupervised manner without predefining the set of labels. We test our method on two different domains: (1) Holocaust testimonies and (2) Lake District writing, namely multi-century literature on travels in the English Lake District. We perform both intrinsic and extrinsic evaluations for the task, with encouraging results, thereby setting a benchmark and evaluation practices for the task, as well as highlighting challenges.
Autoencoder-Based Detection of Anomalous Stokes V Spectra in the Flare-Producing Active Region 13663 Using Hinode/SP Observations
Venue: arXiv cs.LG 2025
Year: 2025

Detecting unusual signals in observational solar spectra is crucial for understanding the features associated with impactful solar events, such as solar flares. However, existing spectral analysis techniques face challenges, particularly when relying on pre-defined, physics-based calculations to process large volumes of noisy and complex observational data. To address these limitations, we applied deep learning to detect anomalies in the Stokes V spectra from the Hinode/SP instrument. Specifically, we developed an autoencoder model for spectral compression, which serves as an anomaly detection method. Our model effectively identifies anomalous spectra within spectro-polarimetric maps captured prior to the onset of the X1.3 flare on May 5, 2024, in NOAA AR 13663. These atypical spectral points exhibit highly complex profiles and spatially align with polarity inversion lines in magnetogram images, indicating their potential as sites of magnetic energy storage and possible triggers for flares. Notably, the detected anomalies are highly localized, making them particularly challenging to identify in magnetogram images using current manual methods.
Generalized Parameter Lifting: Finer Abstractions for Parametric Markov Chains
Venue: arXiv cs.LO 2025
Year: 2025

Parametric Markov chains (pMCs) are Markov chains (MCs) with symbolic probabilities. A pMC encodes a family of MCs, where each member is obtained by replacing parameters with constants. The parameters allow encoding dependencies between transitions, which sets pMCs apart from interval MCs. The verification problem for pMCs asks whether each MC in the corresponding family satisfies a given temporal specification. The state-of-the-art approach for this problem is parameter lifting (PL) -- an abstraction-refinement loop that abstracts the pMC to a non-parametric model analyzed with standard probabilistic model checking techniques. This paper presents two key improvements to tackle the main limitations of PL. First, we introduce generalized parameter lifting (GPL) to lift various restrictive assumptions made by PL. Second, we present a big-step transformation algorithm that reduces parameter dependencies in pMCs and, therefore, results in tighter approximations. Experiments show that GPL is widely applicable and that the big-step transformation accelerates pMC verification by up to orders of magnitude.
Diffusion Based Ambiguous Image Segmentation
Venue: arXiv cs.CV 2025
Year: 2025

Medical image segmentation often involves inherent uncertainty due to variations in expert annotations. Capturing this uncertainty is an important goal and previous works have used various generative image models for the purpose of representing the full distribution of plausible expert ground truths. In this work, we explore the design space of diffusion models for generative segmentation, investigating the impact of noise schedules, prediction types, and loss weightings. Notably, we find that making the noise schedule harder with input scaling significantly improves performance. We conclude that x- and v-prediction outperform epsilon-prediction, likely because the diffusion process is in the discrete segmentation domain. Many loss weightings achieve similar performance as long as they give enough weight to the end of the diffusion process. We base our experiments on the LIDC-IDRI lung lesion dataset and obtain state-of-the-art (SOTA) performance. Additionally, we introduce a randomly cropped variant of the LIDC-IDRI dataset that is better suited for uncertainty in image segmentation. Our model also achieves SOTA in this harder setting.
The Hall of AI Fears and Hopes: Comparing the Views of AI Influencers and those of Members of the U.S. Public Through an Interactive Platform
Venue: arXiv cs.HC 2025
Year: 2025

AI development is shaped by academics and industry leaders - let us call them ``influencers'' - but it is unclear how their views align with those of the public. To address this gap, we developed an interactive platform that served as a data collection tool for exploring public views on AI, including their fears, hopes, and overall sense of hopefulness. We made the platform available to 330 participants representative of the U.S. population in terms of age, sex, ethnicity, and political leaning, and compared their views with those of 100 AI influencers identified by Time magazine. The public fears AI getting out of control, while influencers emphasize regulation, seemingly to deflect attention from their alleged focus on monetizing AI's potential. Interestingly, the views of AI influencers from underrepresented groups such as women and people of color often differ from the views of underrepresented groups in the public.
Leanabell-Prover: Posttraining Scaling in Formal Reasoning
Venue: arXiv cs.AI 2025
Year: 2025

Recent advances in automated theorem proving (ATP) through LLMs have highlighted the potential of formal reasoning with Lean 4 codes. However, ATP has not yet be revolutionized by the recent posttraining scaling as demonstrated by Open AI O1/O3 and Deepseek R1. In this work, we investigate the entire posttraining of ATP, aiming to align it with breakthroughs in reasoning models in natural languages. To begin, we continual train current ATP models with a hybrid dataset, which consists of numerous statement-proof pairs, and additional data aimed at incorporating cognitive behaviors that emulate human reasoning and hypothesis refinement. Next, we explore reinforcement learning with the use of outcome reward returned by Lean 4 compiler. Through our designed continual training and reinforcement learning processes, we have successfully improved existing formal provers, including both DeepSeek-Prover-v1.5 and Goedel-Prover, achieving state-of-the-art performance in the field of whole-proof generation. For example, we achieve a 59.8% pass rate (pass@32) on MiniF2F. This is an on-going project and we will progressively update our findings, release our data and training details.
Robo-taxi Fleet Coordination at Scale via Reinforcement Learning
Venue: arXiv cs.LG 2025
Year: 2025

Fleets of robo-taxis offering on-demand transportation services, commonly known as Autonomous Mobility-on-Demand (AMoD) systems, hold significant promise for societal benefits, such as reducing pollution, energy consumption, and urban congestion. However, orchestrating these systems at scale remains a critical challenge, with existing coordination algorithms often failing to exploit the systems' full potential. This work introduces a novel decision-making framework that unites mathematical modeling with data-driven techniques. In particular, we present the AMoD coordination problem through the lens of reinforcement learning and propose a graph network-based framework that exploits the main strengths of graph representation learning, reinforcement learning, and classical operations research tools. Extensive evaluations across diverse simulation fidelities and scenarios demonstrate the flexibility of our approach, achieving superior system performance, computational efficiency, and generalizability compared to prior methods. Finally, motivated by the need to democratize research efforts in this area, we release publicly available benchmarks, datasets, and simulators for network-level coordination alongside an open-source codebase designed to provide accessible simulation platforms and establish a standardized validation process for comparing methodologies. Code available at: https://github.com/StanfordASL/RL4AMOD
SpikeStream: Accelerating Spiking Neural Network Inference on RISC-V Clusters with Sparse Computation Extensions
Venue: arXiv cs.AR 2025
Year: 2025

Spiking Neural Network (SNN) inference has a clear potential for high energy efficiency as computation is triggered by events. However, the inherent sparsity of events poses challenges for conventional computing systems, driving the development of specialized neuromorphic processors, which come with high silicon area costs and lack the flexibility needed for running other computational kernels, limiting widespread adoption. In this paper, we explore the low-level software design, parallelization, and acceleration of SNNs on general-purpose multicore clusters with a low-overhead RISC-V ISA extension for streaming sparse computations. We propose SpikeStream, an optimization technique that maps weights accesses to affine and indirect register-mapped memory streams to enhance performance, utilization, and efficiency. Our results on the end-to-end Spiking-VGG11 model demonstrate a significant 4.39x speedup and an increase in utilization from 9.28% to 52.3% compared to a non-streaming parallel baseline. Additionally, we achieve an energy efficiency gain of 3.46x over LSMCore and a performance gain of 2.38x over Loihi.
Decentralizing AI Memory: SHIMI, a Semantic Hierarchical Memory Index for Scalable Agent Reasoning
Venue: arXiv cs.AI 2025
Year: 2025

Retrieval-Augmented Generation (RAG) and vector-based search have become foundational tools for memory in AI systems, yet they struggle with abstraction, scalability, and semantic precision - especially in decentralized environments. We present SHIMI (Semantic Hierarchical Memory Index), a unified architecture that models knowledge as a dynamically structured hierarchy of concepts, enabling agents to retrieve information based on meaning rather than surface similarity. SHIMI organizes memory into layered semantic nodes and supports top-down traversal from abstract intent to specific entities, offering more precise and explainable retrieval. Critically, SHIMI is natively designed for decentralized ecosystems, where agents maintain local memory trees and synchronize them asynchronously across networks. We introduce a lightweight sync protocol that leverages Merkle-DAG summaries, Bloom filters, and CRDT-style conflict resolution to enable partial synchronization with minimal overhead. Through benchmark experiments and use cases involving decentralized agent collaboration, we demonstrate SHIMI's advantages in retrieval accuracy, semantic fidelity, and scalability - positioning it as a core infrastructure layer for decentralized cognitive systems.
A Training-Free Style-aligned Image Generation with Scale-wise Autoregressive Model
Venue: arXiv cs.CV 2025
Year: 2025

We present a training-free style-aligned image generation method that leverages a scale-wise autoregressive model. While large-scale text-to-image (T2I) models, particularly diffusion-based methods, have demonstrated impressive generation quality, they often suffer from style misalignment across generated image sets and slow inference speeds, limiting their practical usability. To address these issues, we propose three key components: initial feature replacement to ensure consistent background appearance, pivotal feature interpolation to align object placement, and dynamic style injection, which reinforces style consistency using a schedule function. Unlike previous methods requiring fine-tuning or additional training, our approach maintains fast inference while preserving individual content details. Extensive experiments show that our method achieves generation quality comparable to competing approaches, significantly improves style alignment, and delivers inference speeds over six times faster than the fastest model.
A Self-Supervised Framework for Space Object Behaviour Characterisation
Venue: arXiv cs.LG 2025
Year: 2025

Foundation Models, pre-trained on large unlabelled datasets before task-specific fine-tuning, are increasingly being applied to specialised domains. Recent examples include ClimaX for climate and Clay for satellite Earth observation, but a Foundation Model for Space Object Behavioural Analysis has not yet been developed. As orbital populations grow, automated methods for characterising space object behaviour are crucial for space safety. We present a Space Safety and Sustainability Foundation Model focusing on space object behavioural analysis using light curves (LCs). We implemented a Perceiver-Variational Autoencoder (VAE) architecture, pre-trained with self-supervised reconstruction and masked reconstruction on 227,000 LCs from the MMT-9 observatory. The VAE enables anomaly detection, motion prediction, and LC generation. We fine-tuned the model for anomaly detection & motion prediction using two independent LC simulators (CASSANDRA and GRIAL respectively), using CAD models of boxwing, Sentinel-3, SMOS, and Starlink platforms. Our pre-trained model achieved a reconstruction error of 0.01%, identifying potentially anomalous light curves through reconstruction difficulty. After fine-tuning, the model scored 88% and 82% accuracy, with 0.90 and 0.95 ROC AUC scores respectively in both anomaly detection and motion mode prediction (sun-pointing, spin, etc.). Analysis of high-confidence anomaly predictions on real data revealed distinct patterns including characteristic object profiles and satellite glinting. Here, we demonstrate how self-supervised learning can simultaneously enable anomaly detection, motion prediction, and synthetic data generation from rich representations learned in pre-training. Our work therefore supports space safety and sustainability through automated monitoring and simulation capabilities.