OpenRaiser/Intern-Atlas huggingface dataset:
Unwinding Rotations Reduces VR Sickness in Nonsimulated Immersive Telepresence
Venue: arXiv cs.RO 2025
Year: 2025

Immersive telepresence, when a user views the video stream of a $360^\circ$ camera in a remote environment using a Head Mounted Display (HMD), has great potential to improve the sense of being in a remote environment. In most cases of immersive robotic telepresence, the camera is mounted on a mobile robot which increases the portion of the environment that the remote user can explore. However, robot motions can induce unpleasant symptoms associated with Virtual Reality (VR) sickness, degrading the overall user experience. Previous research has shown that unwinding the rotations of the robot, that is, decoupling the rotations that the camera undergoes due to robot motions from what is seen by the user, can increase user comfort and reduce VR sickness. However, that work considered a virtual environment and a simulated robot. In this work, to test whether the same hypotheses hold when the video stream from a real camera is used, we carried out a user study $(n=36)$ in which the unwinding rotations method was compared against coupled rotations in a task completed through a panoramic camera mounted on a robotic arm. Furthermore, within an inspection task which involved translations and rotations in three dimensions, we tested whether unwinding the robot rotations impacted the performance of users. The results show that the users found the unwinding rotations method to be more comfortable and preferable, and that a reduced level of VR sickness can be achieved without a significant impact on task performance.
CBAM Integrated Attention Driven Model For Betel Leaf Diseases Classification With Explainable AI
Venue: arXiv cs.CV 2025
Year: 2025

Betel leaf is an important crop because of its economic advantages and widespread use. Its betel vines are susceptible to a number of illnesses that are commonly referred to as betel leaf disease. Plant diseases are the largest threat to the food supply's security, and they are challenging to identify in time to stop possible financial damage. Interestingly, artificial intelligence can leave a big mark on the betel leaf industry since it helps with output growth by forecasting sickness. This paper presents a lightweight CBAM-CNN model with just 2.13 million parameters (8.13 MB), incorporating CBAM (Convolutional Block Attention Module) to improve feature emphasis without depending on heavy pre-trained networks. The model's capacity to discern minute variations among leaf disease classes is improved by the integrated attention mechanism, which allows it to adaptively focus on significant spatial and channel-wise information. In order to ensure class balance and diversity for efficient model training and validation, this work makes use of an enriched dataset of 10,185 images divided into three categories: Healthy Leaf, Leaf Rot, and Leaf Spot. The proposed model achieved a precision of 97%, recall of 94%, and F1 score of 95%, and 95.58% accuracy on the test set demonstrating strong and balanced classification performance outperforming traditional pre trained CNN models. The model's focus regions were visualized and interpreted using Grad-CAM (Gradient-weighted Class Activation Mapping), an explainable AI technique.
dParallel: Learnable Parallel Decoding for dLLMs
Venue: arXiv cs.CL 2025
Year: 2025

Diffusion large language models (dLLMs) have recently drawn considerable attention within the research community as a promising alternative to autoregressive generation, offering parallel token prediction and lower inference latency. Yet, their parallel decoding potential remains largely underexplored, as existing open-source models still require nearly token-length decoding steps to ensure performance. To address this, we introduce dParallel, a simple and effective method that unlocks the inherent parallelism of dLLMs for fast sampling. We identify that the key bottleneck to parallel decoding arises from the sequential certainty convergence for masked tokens. Building on this insight, we introduce the core of our approach: certainty-forcing distillation, a novel training strategy that distills the model to follow its original sampling trajectories while enforcing it to achieve high certainty on masked tokens more rapidly and in parallel. Extensive experiments across various benchmarks demonstrate that our method can dramatically reduce the number of decoding steps while maintaining performance. When applied to the LLaDA-8B-Instruct model, dParallel reduces decoding steps from 256 to 30 on GSM8K, achieving an 8.5x speedup without performance degradation. On the MBPP benchmark, it cuts decoding steps from 256 to 24, resulting in a 10.5x speedup while maintaining accuracy. Our code is available at https://github.com/czg1225/dParallel
SCUBA: Salesforce Computer Use Benchmark
Venue: arXiv cs.AI 2025
Year: 2025

We introduce SCUBA, a benchmark designed to evaluate computer-use agents on customer relationship management (CRM) workflows within the Salesforce platform. SCUBA contains 300 task instances derived from real user interviews, spanning three primary personas, platform administrators, sales representatives, and service agents. The tasks test a range of enterprise-critical abilities, including Enterprise Software UI navigation, data manipulation, workflow automation, information retrieval, and troubleshooting. To ensure realism, SCUBA operates in Salesforce sandbox environments with support for parallel execution and fine-grained evaluation metrics to capture milestone progress. We benchmark a diverse set of agents under both zero-shot and demonstration-augmented settings. We observed huge performance gaps in different agent design paradigms and gaps between the open-source model and the closed-source model. In the zero-shot setting, open-source model powered computer-use agents that have strong performance on related benchmarks like OSWorld only have less than 5\% success rate on SCUBA, while methods built on closed-source models can still have up to 39% task success rate. In the demonstration-augmented settings, task success rates can be improved to 50\% while simultaneously reducing time and costs by 13% and 16%, respectively. These findings highlight both the challenges of enterprise tasks automation and the promise of agentic solutions. By offering a realistic benchmark with interpretable evaluation, SCUBA aims to accelerate progress in building reliable computer-use agents for complex business software ecosystems.
Rearchitecting Datacenter Lifecycle for AI: A TCO-Driven Framework
Venue: arXiv cs.AI 2025
Year: 2025

The rapid rise of large language models (LLMs) has been driving an enormous demand for AI inference infrastructure, mainly powered by high-end GPUs. While these accelerators offer immense computational power, they incur high capital and operational costs due to frequent upgrades, dense power consumption, and cooling demands, making total cost of ownership (TCO) for AI datacenters a critical concern for cloud providers. Unfortunately, traditional datacenter lifecycle management (designed for general-purpose workloads) struggles to keep pace with AI's fast-evolving models, rising resource needs, and diverse hardware profiles. In this paper, we rethink the AI datacenter lifecycle scheme across three stages: building, hardware refresh, and operation. We show how design choices in power, cooling, and networking provisioning impact long-term TCO. We also explore refresh strategies aligned with hardware trends. Finally, we use operation software optimizations to reduce cost. While these optimizations at each stage yield benefits, unlocking the full potential requires rethinking the entire lifecycle. Thus, we present a holistic lifecycle management framework that coordinates and co-optimizes decisions across all three stages, accounting for workload dynamics, hardware evolution, and system aging. Our system reduces the TCO by up to 40\% over traditional approaches. Using our framework we provide guidelines on how to manage AI datacenter lifecycle for the future.
The Unheard Alternative: Contrastive Explanations for Speech-to-Text Models
Venue: arXiv cs.CL 2025
Year: 2025

Contrastive explanations, which indicate why an AI system produced one output (the target) instead of another (the foil), are widely regarded in explainable AI as more informative and interpretable than standard explanations. However, obtaining such explanations for speech-to-text (S2T) generative models remains an open challenge. Drawing from feature attribution techniques, we propose the first method to obtain contrastive explanations in S2T by analyzing how parts of the input spectrogram influence the choice between alternative outputs. Through a case study on gender assignment in speech translation, we show that our method accurately identifies the audio features that drive the selection of one gender over another. By extending the scope of contrastive explanations to S2T, our work provides a foundation for better understanding S2T models.
The Invisible Mentor: Inferring User Actions from Screen Recordings to Recommend Better Workflows
Venue: arXiv cs.HC 2025
Year: 2025

Many users struggle to notice when a more efficient workflow exists in feature-rich tools like Excel. Existing AI assistants offer help only after users describe their goals or problems, which can be effortful and imprecise. We present InvisibleMentor, a system that turns screen recordings of task completion into vision-grounded reflections on tasks. It detects issues such as repetitive edits and recommends more efficient alternatives based on observed behavior. Unlike prior systems that rely on logs, APIs, or user prompts, InvisibleMentor operates directly on screen recordings. It uses a two-stage pipeline: a vision-language model reconstructs actions and context, and a language model generates structured, high-fidelity suggestions. In evaluation, InvisibleMentor accurately identified inefficient workflows, and participants found its suggestions more actionable, tailored, and more helpful for learning and improvement compared to a prompt-based spreadsheet assistant.
Graphite: A GPU-Accelerated Mixed-Precision Graph Optimization Framework
Venue: arXiv cs.RO 2025
Year: 2025

We present Graphite, a GPU-accelerated nonlinear graph optimization framework. It provides a CUDA C++ interface to enable the sharing of code between a realtime application, such as a SLAM system, and its optimization tasks. The framework supports techniques to reduce memory usage, including in-place optimization, support for multiple floating point types and mixed-precision modes, and dynamically computed Jacobians. We evaluate Graphite on well-known bundle adjustment problems and find that it achieves similar performance to MegBA, a solver specialized for bundle adjustment, while maintaining generality and using less memory. We also apply Graphite to global visual-inertial bundle adjustment on maps generated from stereo-inertial SLAM datasets, and observe speed ups of up to 59x compared to a CPU baseline. Our results indicate that our solver enables faster large-scale optimization on both desktop and resource-constrained devices.
Branching Out: Broadening AI Measurement and Evaluation with Measurement Trees
Venue: arXiv cs.AI 2025
Year: 2025

This paper introduces \textit{measurement trees}, a novel class of metrics designed to combine various constructs into an interpretable multi-level representation of a measurand. Unlike conventional metrics that yield single values, vectors, surfaces, or categories, measurement trees produce a hierarchical directed graph in which each node summarizes its children through user-defined aggregation methods. In response to recent calls to expand the scope of AI system evaluation, measurement trees enhance metric transparency and facilitate the integration of heterogeneous evidence, including, e.g., agentic, business, energy-efficiency, sociotechnical, or security signals. We present definitions and examples, demonstrate practical utility through a large-scale measurement exercise, and provide accompanying open-source Python code. By operationalizing a transparent approach to measurement of complex constructs, this work offers a principled foundation for broader and more interpretable AI evaluation.
AccidentBench: Benchmarking Multimodal Understanding and Reasoning in Vehicle Accidents and Beyond
Venue: arXiv cs.LG 2025
Year: 2025

Rapid advances in multimodal models demand benchmarks that rigorously evaluate understanding and reasoning in safety-critical, dynamic real-world settings. We present AccidentBench, a large-scale benchmark that combines vehicle accident scenarios with Beyond domains, safety-critical settings in air and water that emphasize spatial and temporal reasoning (e.g., navigation, orientation, multi-vehicle motion). The benchmark contains approximately 2000 videos and over 19000 human-annotated question--answer pairs spanning multiple video lengths (short/medium/long) and difficulty levels (easy/medium/hard). Tasks systematically probe core capabilities: temporal, spatial, and intent understanding and reasoning. By unifying accident-centric traffic scenes with broader safety-critical scenarios in air and water, AccidentBench offers a comprehensive, physically grounded testbed for evaluating models under real-world variability. Evaluations of state-of-the-art models (e.g., Gemini-2.5 Pro and GPT-5) show that even the strongest models achieve only about 18% accuracy on the hardest tasks and longest videos, revealing substantial gaps in real-world temporal, spatial, and intent reasoning. AccidentBench is designed to expose these critical gaps and drive the development of multimodal models that are safer, more robust, and better aligned with real-world safety-critical challenges. The code and dataset are available at: https://github.com/SafeRL-Lab/AccidentBench
Learning to Lead Themselves: Agentic AI in MAS using MARL
Venue: arXiv cs.AI 2025
Year: 2025

As autonomous systems move from prototypes to real deployments, the ability of multiple agents to make decentralized, cooperative decisions becomes a core requirement. This paper examines how agentic artificial intelligence, agents that act independently, adaptively and proactively can improve task allocation and coordination in multi-agent systems, with primary emphasis on drone delivery and secondary relevance to warehouse automation. We formulate the problem in a cooperative multi-agent reinforcement learning setting and implement a lightweight multi-agent Proximal Policy Optimization, called IPPO, approach in PyTorch under a centralized-training, decentralized-execution paradigm. Experiments are conducted in PettingZoo environment, where multiple homogeneous drones or agents must self-organize to cover distinct targets without explicit communication.
Explanation-Driven Counterfactual Testing for Faithfulness in Vision-Language Model Explanations
Venue: arXiv cs.CV 2025
Year: 2025

Vision-Language Models (VLMs) often produce fluent Natural Language Explanations (NLEs) that sound convincing but may not reflect the causal factors driving predictions. This mismatch of plausibility and faithfulness poses technical and governance risks. We introduce Explanation-Driven Counterfactual Testing (EDCT), a fully automated verification procedure for a target VLM that treats the model's own explanation as a falsifiable hypothesis. Given an image-question pair, EDCT: (1) obtains the model's answer and NLE, (2) parses the NLE into testable visual concepts, (3) generates targeted counterfactual edits via generative inpainting, and (4) computes a Counterfactual Consistency Score (CCS) using LLM-assisted analysis of changes in both answers and explanations. Across 120 curated OK-VQA examples and multiple VLMs, EDCT uncovers substantial faithfulness gaps and provides regulator-aligned audit artifacts indicating when cited concepts fail causal tests.
FSDENet: A Frequency and Spatial Domains based Detail Enhancement Network for Remote Sensing Semantic Segmentation
Venue: arXiv cs.CV 2025
Year: 2025

To fully leverage spatial information for remote sensing image segmentation and address semantic edge ambiguities caused by grayscale variations (e.g., shadows and low-contrast regions), we propose the Frequency and Spatial Domains based Detail Enhancement Network (FSDENet). Our framework employs spatial processing methods to extract rich multi-scale spatial features and fine-grained semantic details. By effectively integrating global and frequency-domain information through the Fast Fourier Transform (FFT) in global mappings, the model's capability to discern global representations under grayscale variations is significantly strengthened. Additionally, we utilize Haar wavelet transform to decompose features into high- and low-frequency components, leveraging their distinct sensitivity to edge information to refine boundary segmentation. The model achieves dual-domain synergy by integrating spatial granularity with frequency-domain edge sensitivity, substantially improving segmentation accuracy in boundary regions and grayscale transition zones. Comprehensive experimental results demonstrate that FSDENet achieves state-of-the-art (SOTA) performance on four widely adopted datasets: LoveDA, Vaihingen, Potsdam, and iSAID.
Intelligent 5S Audit: Application of Artificial Intelligence for Continuous Improvement in the Automotive Industry
Venue: arXiv cs.CV 2025
Year: 2025

The evolution of the 5S methodology with the support of artificial intelligence techniques represents a significant opportunity to improve industrial organization audits in the automotive chain, making them more objective, efficient and aligned with Industry 4.0 standards. This work developed an automated 5S audit system based on large-scale language models (LLM), capable of assessing the five senses (Seiri, Seiton, Seiso, Seiketsu, Shitsuke) in a standardized way through intelligent image analysis. The system's reliability was validated using Cohen's concordance coefficient (kappa = 0.75), showing strong alignment between the automated assessments and the corresponding human audits. The results indicate that the proposed solution contributes significantly to continuous improvement in automotive manufacturing environments, speeding up the audit process by 50% of the traditional time and maintaining the consistency of the assessments, with a 99.8% reduction in operating costs compared to traditional manual audits. The methodology presented establishes a new paradigm for integrating lean systems with emerging AI technologies, offering scalability for implementation in automotive plants of different sizes.
Enhancing Certifiable Semantic Robustness via Robust Pruning of Deep Neural Networks
Venue: arXiv cs.CV 2025
Year: 2025

Deep neural networks have been widely adopted in many vision and robotics applications with visual inputs. It is essential to verify its robustness against semantic transformation perturbations, such as brightness and contrast. However, current certified training and robustness certification methods face the challenge of over-parameterization, which hinders the tightness and scalability due to the over-complicated neural networks. To this end, we first analyze stability and variance of layers and neurons against input perturbation, showing that certifiable robustness can be indicated by a fundamental Unbiased and Smooth Neuron metric (USN). Based on USN, we introduce a novel neural network pruning method that removes neurons with low USN and retains those with high USN, thereby preserving model expressiveness without over-parameterization. To further enhance this pruning process, we propose a new Wasserstein distance loss to ensure that pruned neurons are more concentrated across layers. We validate our approach through extensive experiments on the challenging robust keypoint detection task, which involves realistic brightness and contrast perturbations, demonstrating that our method achieves superior robustness certification performance and efficiency compared to baselines.
Data Quality Taxonomy for Data Monetization
Venue: arXiv cs.DB 2025
Year: 2025

This chapter presents a comprehensive taxonomy for assessing data quality in the context of data monetisation, developed through a systematic literature review. Organising over one hundred metrics and Key Performance Indicators (KPIs) into four subclusters (Fundamental, Contextual, Resolution, and Specialised) within the Balanced Scorecard (BSC) framework, the taxonomy integrates both universal and domain-specific quality dimensions. By positioning data quality as a strategic connector across the BSC's Financial, Customer, Internal Processes, and Learning & Growth perspectives, it demonstrates how quality metrics underpin valuation accuracy, customer trust, operational efficiency, and innovation capacity. The framework's interconnected "metrics layer" ensures that improvements in one dimension cascade into others, maximising strategic impact. This holistic approach bridges the gap between granular technical assessment and high-level decision-making, offering practitioners, data stewards, and strategists a scalable, evidence-based reference for aligning data quality management with sustainable value creation.
Stealing AI Model Weights Through Covert Communication Channels
Venue: arXiv cs.CR 2025
Year: 2025

AI models are often regarded as valuable intellectual property due to the high cost of their development, the competitive advantage they provide, and the proprietary techniques involved in their creation. As a result, AI model stealing attacks pose a serious concern for AI model providers. In this work, we present a novel attack targeting wireless devices equipped with AI hardware accelerators. The attack unfolds in two phases. In the first phase, the victim's device is compromised with a hardware Trojan (HT) designed to covertly leak model weights through a hidden communication channel, without the victim realizing it. In the second phase, the adversary uses a nearby wireless device to intercept the victim's transmission frames during normal operation and incrementally reconstruct the complete weight matrix. The proposed attack is agnostic to both the AI model architecture and the hardware accelerator used. We validate our approach through a hardware-based demonstration involving four diverse AI models of varying types and sizes. We detail the design of the HT and the covert channel, highlighting their stealthy nature. Additionally, we analyze the impact of bit error rates on the reception and propose an error mitigation technique. The effectiveness of the attack is evaluated based on the accuracy of the reconstructed models with stolen weights and the time required to extract them. Finally, we explore potential defense mechanisms.
TAMA: Tool-Augmented Multimodal Agent for Procedural Activity Understanding
Venue: arXiv cs.CL 2025
Year: 2025

Procedural activity assistants potentially support humans in a variety of settings, from our daily lives, e.g., cooking or assembling flat-pack furniture, to professional situations, e.g., manufacturing or biological experiments. Despite its potential use cases, the system development tailored for such an assistant is still underexplored. In this paper, we propose a novel framework, called TAMA, a Tool-Augmented Multimodal Agent, for procedural activity understanding. TAMA enables interleaved multimodal reasoning by making use of multimedia-returning tools in a training-free setting. Our experimental result on the multimodal procedural QA dataset, ProMQA-Assembly, shows that our approach can improve the performance of vision-language models, especially GPT-5 and MiMo-VL. Furthermore, our ablation studies provide empirical support for the effectiveness of two features that characterize our framework, multimedia-returning tools and agentic flexible tool selection. We believe our proposed framework and experimental results facilitate the thinking with images paradigm for video and multimodal tasks, let alone the development of procedural activity assistants.