OpenRaiser/Intern-Atlas huggingface dataset:
What Did My Car Say? Impact of Autonomous Vehicle Explanation Errors and Driving Context On Comfort, Reliance, Satisfaction, and Driving Confidence
Venue: arXiv cs.HC 2025
Year: 2025

Explanations for autonomous vehicle (AV) decisions may build trust, however, explanations can contain errors. In a simulated driving study (n = 232), we tested how AV explanation errors, driving context characteristics (perceived harm and driving difficulty), and personal traits (prior trust and expertise) affected a passenger's comfort in relying on an AV, preference for control, confidence in the AV's ability, and explanation satisfaction. Errors negatively affected all outcomes. Surprisingly, despite identical driving, explanation errors reduced ratings of the AV's driving ability. Severity and potential harm amplified the negative impact of errors. Contextual harm and driving difficulty directly impacted outcome ratings and influenced the relationship between errors and outcomes. Prior trust and expertise were positively associated with outcome ratings. Results emphasize the need for accurate, contextually adaptive, and personalized AV explanations to foster trust, reliance, satisfaction, and confidence. We conclude with design, research, and deployment recommendations for trustworthy AV explanation systems.
Predicting Critical Heat Flux with Uncertainty Quantification and Domain Generalization Using Conditional Variational Autoencoders and Deep Neural Networks
Venue: arXiv cs.LG 2025
Year: 2025

Deep generative models (DGMs) can generate synthetic data samples that closely resemble the original dataset, addressing data scarcity. In this work, we developed a conditional variational autoencoder (CVAE) to augment critical heat flux (CHF) data used for the 2006 Groeneveld lookup table. To compare with traditional methods, a fine-tuned deep neural network (DNN) regression model was evaluated on the same dataset. Both models achieved small mean absolute relative errors, with the CVAE showing more favorable results. Uncertainty quantification (UQ) was performed using repeated CVAE sampling and DNN ensembling. The DNN ensemble improved performance over the baseline, while the CVAE maintained consistent results with less variability and higher confidence. Both models achieved small errors inside and outside the training domain, with slightly larger errors outside. Overall, the CVAE performed better than the DNN in predicting CHF and exhibited better uncertainty behavior.
CKnowEdit: A New Chinese Knowledge Editing Dataset for Linguistics, Facts, and Logic Error Correction in LLMs
Venue: arXiv cs.CL 2025
Year: 2025

Chinese, as a linguistic system rich in depth and complexity, is characterized by distinctive elements such as ancient poetry, proverbs, idioms, and other cultural constructs. However, current Large Language Models (LLMs) face limitations in these specialized domains, highlighting the need for the development of comprehensive datasets that can assess, continuously update, and progressively improve these culturally-grounded linguistic competencies through targeted training optimizations. To address this gap, we introduce CKnowEdit, the first-ever Chinese knowledge editing dataset designed to correct linguistic, factual, and logical errors in LLMs. We collect seven types of knowledge from a wide range of sources, including classical texts, idioms, and content from Baidu Tieba Ruozhiba, taking into account the unique polyphony, antithesis, and logical structures inherent in the Chinese language. By analyzing this dataset, we highlight the challenges current LLMs face in mastering Chinese. Furthermore, our evaluation of state-of-the-art knowledge editing techniques reveals opportunities to advance the correction of Chinese knowledge. Code and dataset are available at https://github.com/zjunlp/EasyEdit.
CoDiCast: Conditional Diffusion Model for Global Weather Prediction with Uncertainty Quantification
Venue: arXiv cs.LG 2025
Year: 2025

Accurate weather forecasting is critical for science and society. Yet, existing methods have not managed to simultaneously have the properties of high accuracy, low uncertainty, and high computational efficiency. On one hand, to quantify the uncertainty in weather predictions, the strategy of ensemble forecast (i.e., generating a set of diverse predictions) is often employed. However, traditional ensemble numerical weather prediction (NWP) is computationally intensive. On the other hand, most existing machine learning-based weather prediction (MLWP) approaches are efficient and accurate. Nevertheless, they are deterministic and cannot capture the uncertainty of weather forecasting. In this work, we propose CoDiCast, a conditional diffusion model to generate accurate global weather prediction, while achieving uncertainty quantification with ensemble forecasts and modest computational cost. The key idea is to simulate a conditional version of the reverse denoising process in diffusion models, which starts from pure Gaussian noise to generate realistic weather scenarios for a future time point. Each denoising step is conditioned on observations from the recent past. Ensemble forecasts are achieved by repeatedly sampling from stochastic Gaussian noise to represent uncertainty quantification. CoDiCast is trained on a decade of ERA5 reanalysis data from the European Centre for Medium-Range Weather Forecasts (ECMWF). Experimental results demonstrate that our approach outperforms several existing data-driven methods in accuracy. Our conditional diffusion model, CoDiCast, can generate 6-day global weather forecasts, at 6-hour steps and $5.625^\circ$ latitude-longitude resolution, for over 5 variables, in about 12 minutes on a commodity A100 GPU machine with 80GB memory. The open-souced code is provided at https://github.com/JimengShi/CoDiCast.
MessIRve: A Large-Scale Spanish Information Retrieval Dataset
Venue: arXiv cs.CL 2025
Year: 2025

Information retrieval (IR) is the task of finding relevant documents in response to a user query. Although Spanish is the second most spoken native language, there are few Spanish IR datasets, which limits the development of information access tools for Spanish speakers. We introduce MessIRve, a large-scale Spanish IR dataset with almost 700,000 queries from Google's autocomplete API and relevant documents sourced from Wikipedia. MessIRve's queries reflect diverse Spanish-speaking regions, unlike other datasets that are translated from English or do not consider dialectal variations. The large size of the dataset allows it to cover a wide variety of topics, unlike smaller datasets. We provide a comprehensive description of the dataset, comparisons with existing datasets, and baseline evaluations of prominent IR models. Our contributions aim to advance Spanish IR research and improve information access for Spanish speakers.
RayFlex: An Open-Source RTL Implementation of the Hardware Ray Tracer Datapath
Venue: arXiv cs.AR 2025
Year: 2025

The advent of hardware ray tracing (RT) units has brought unprecedented realism to real-time rendered computer graphics. However, the potential of these units extends beyond graphics, offering acceleration for various computational tasks such as tree traversal and nearest-neighbor search. We introduce RayFlex, a first-of-its-kind open-source RTL implementation of a hardware ray tracer datapath designed to facilitate research in general-purpose programmable RT units. RayFlex's architecture is both extensible and flexible, thanks to two core design concepts: the parameterized RayFlex Skid Buffer module and the "defined-once-instantiated-everywhere" Shared RayFlex Data Structure. This makes RayFlex an ideal testing ground for academic research and exploration. Our implementation allows researchers to explore various design choices, fostering a realistic understanding of hardware ray tracer design trade-offs. Through comprehensive case studies, we demonstrate the versatility of RayFlex in evaluating different pipeline configurations and extending its functionality to support additional computational tasks. We show that by extending the functionality of a baseline RT unit datapath with an area cost of 36 percent and a power overhead of about 20 percent, the RT unit can calculate the Euclidean distance and cosine distance of vectors of arbitrary dimension, thereby accelerating a broader range of data-analytics workloads. The source code of RayFlex is available at https://github.com/purdue-aalp/rayflex.
Anonymity Unveiled: A Practical Framework for Auditing Data Use in Deep Learning Models
Venue: arXiv cs.CR 2025
Year: 2025

The rise of deep learning (DL) has led to a surging demand for training data, which incentivizes the creators of DL models to trawl through the Internet for training materials. Meanwhile, users often have limited control over whether their data (e.g., facial images) are used to train DL models without their consent, which has engendered pressing concerns. This work proposes MembershipTracker, a practical data auditing tool that can empower ordinary users to reliably detect the unauthorized use of their data in training DL models. We view data auditing through the lens of membership inference (MI). MembershipTracker consists of a lightweight data marking component to mark the target data with small and targeted changes, which can be strongly memorized by the model trained on them; and a specialized MI-based verification process to audit whether the model exhibits strong memorization on the target samples. MembershipTracker only requires the users to mark a small fraction of data (0.005% to 0.1% in proportion to the training set), and it enables the users to reliably detect the unauthorized use of their data (average 0% FPR@100% TPR). We show that MembershipTracker is highly effective across various settings, including industry-scale training on the full-size ImageNet-1k dataset. We finally evaluate MembershipTracker under multiple classes of countermeasures.
Double Successive Over-Relaxation Q-Learning with an Extension to Deep Reinforcement Learning
Venue: arXiv cs.LG 2025
Year: 2025

Q-learning is a widely used algorithm in reinforcement learning (RL), but its convergence can be slow, especially when the discount factor is close to one. Successive Over-Relaxation (SOR) Q-learning, which introduces a relaxation factor to speed up convergence, addresses this issue but has two major limitations: In the tabular setting, the relaxation parameter depends on transition probability, making it not entirely model-free, and it suffers from overestimation bias. To overcome these limitations, we propose a sample-based, model-free double SOR Q-learning algorithm. Theoretically and empirically, this algorithm is shown to be less biased than SOR Q-learning. Further, in the tabular setting, the convergence analysis under boundedness assumptions on iterates is discussed. The proposed algorithm is extended to large-scale problems using deep RL. Finally, the tabular version of the proposed algorithm is compared using roulette and grid world environments, while the deep RL version is tested on a maximization bias example and OpenAI Gym environments.
Adaptive Electronic Skin Sensitivity for Safe Human-Robot Interaction
Venue: arXiv cs.RO 2025
Year: 2025

Artificial electronic skins covering complete robot bodies can make physical human-robot collaboration safe and hence possible. Standards for collaborative robots (e.g., ISO/TS 15066) prescribe permissible forces and pressures during contacts with the human body. These characteristics of the collision depend on the speed of the colliding robot link but also on its effective mass. Thus, to warrant contacts complying with the Power and Force Limiting (PFL) collaborative regime but at the same time maximizing productivity, protective skin thresholds should be set individually for different parts of the robot bodies and dynamically on the run. Here we present and empirically evaluate four scenarios: (a) static and uniform - fixed thresholds for the whole skin, (b) static but different settings for robot body parts, (c) dynamically set based on every link velocity, (d) dynamically set based on effective mass of every robot link. We perform experiments in simulation and on a real 6-axis collaborative robot arm (UR10e) completely covered with sensitive skin (AIRSKIN) comprising eleven individual pads. On a mock pick-and-place scenario with transient collisions with the robot body parts and two collision reactions (stop and avoid), we demonstrate the boost in productivity in going from the most conservative setting of the skin thresholds (a) to the most adaptive setting (d). The threshold settings for every skin pad are adapted with a frequency of 25 Hz. This work can be easily extended for platforms with more degrees of freedom and larger skin coverage (humanoids) and to social human-robot interaction scenarios where contacts with the robot will be used for communication.
Fast nonparametric inference of network backbones for weighted graph sparsification
Venue: arXiv cs.SI 2025
Year: 2025

Network backbones provide useful sparse representations of weighted networks by keeping only their most important links, permitting a range of computational speedups and simplifying network visualizations. A key limitation of existing network backboning methods is that they either require the specification of a free parameter (e.g. significance level) that determines the number of edges to keep in the backbone, or impose specific restrictions on the topology of the backbone (e.g. that it is a spanning tree). Here we develop a completely nonparametric framework for inferring the backbone of a weighted network that overcomes these limitations and automatically selects the optimal set of edges to retain using the Minimum Description Length (MDL) principle. We develop objective functions for global and local network backboning which evaluate the importance of an edge in the context of the whole network and individual node neighborhoods respectively and are generalizable to any weight distribution under Bayesian model specifications that fix the average edge weight either exactly or in expectation. We then construct an efficient and provably optimal greedy algorithm to identify the backbone minimizing our objectives, whose runtime complexity is log-linear in the number of edges. We demonstrate our methods by comparing them with existing methods in a range of tasks on real and synthetic networks, finding that both the global and local backboning methods can preserve network connectivity, weight heterogeneity, and spreading dynamics while removing a substantial fraction of edges.
Deep learning reveals key predictors of thermal conductivity in covalent organic frameworks
Venue: arXiv cs.CE 2025
Year: 2025

The thermal conductivity of covalent organic frameworks (COFs), an emerging class of nanoporous polymeric materials, is crucial for many applications, yet the link between their structure and thermal properties remains poorly understood. Analysis of a dataset containing over 2,400 COFs reveals that conventional features such as density, pore size, void fraction, and surface area do not reliably predict thermal conductivity. To address this, an attention-based machine learning model was trained, accurately predicting thermal conductivities even for structures outside the training set. The attention mechanism was then utilized to investigate the model's success. The analysis identified dangling molecular branches as a key predictor of thermal conductivity, leading us to define the dangling mass ratio (DMR), a descriptor that quantifies the fraction of atomic mass in dangling branches relative to the total COF mass. Feature importance assessments on regression models confirm the significance of DMR in predicting thermal conductivity. These findings indicate that COFs with dangling functional groups exhibit lower thermal transfer capabilities. Molecular dynamics simulations support this observation, revealing significant mismatches in the vibrational density of states due to the presence of dangling branches.
An Adaptive Sliding Window Estimator for Positioning of Unmanned Aerial Vehicle Using a Single Anchor
Venue: arXiv cs.RO 2025
Year: 2025

Localization using a single range anchor combined with onboard optical-inertial odometry offers a lightweight solution that provides multidimensional measurements for the positioning of unmanned aerial vehicles. Unfortunately, the performance of such lightweight sensors varies with the dynamic environment, and the fidelity of the dynamic model is also severely affected by environmental aerial flow. To address this challenge, we propose an adaptive sliding window estimator equipped with an estimation reliability evaluator, where the states, noise covariance matrices and aerial drag are estimated simultaneously. The aerial drag effects are first evaluated based on posterior states and covariance. Then, an augmented Kalman filter is designed to pre-process multidimensional measurements and inherit historical information. Subsequently, an inverse-Wishart smoother is employed to estimate posterior states and covariance matrices. To further suppress potential divergence, a reliability evaluator is devised to infer estimation errors. We further determine the fidelity of each sensor based on the error propagation. Extensive experiments are conducted in both standard and harsh environments, demonstrating the adaptability and robustness of the proposed method. The root mean square error reaches 0.15 m, outperforming the state-of-the-art approach. Real-world close-loop control experiments are additionally performed to verify the estimator's competence in practical application.
LaMsS: When Large Language Models Meet Self-Skepticism
Venue: arXiv cs.CL 2025
Year: 2025

Hallucination is a major challenge for large language models (LLMs), preventing their further application in some fields. The skeptical thinking of humankind could be useful for LLMs to self-cognition, self-reflection and alleviate their hallucinations. Inspired by this consideration, we propose a novel approach called LaMsS, which combines the semantic understanding capability of LLMs with self-skepticism. By introducing a series of skepticism tokens and augmenting them into the vocabulary, we conduct both pertaining and finetuning, which allow the LLM to decode each normal token followed by a skeptical token, representing different skepticism levels. By calculating the response skepticism given a query, one can define a new self-aware LLM which is only willing to answer with relative lower skepticism level than the threshold. By examining the accuracy, AUC and AP of willingly answering questions, we demonstrate that LaMsS achieves better performance than baselines on both multi-choice questions and open-domain question-answering benchmarks, and can generalize to multi-task and out-of-domain settings. Our study sheds some lights on the self-skepticism modeling on further artificial intelligence. Project code and model checkpoints can be found in https://anonymous.4open.science/r/SM-1E76.
McGrids: Monte Carlo-Driven Adaptive Grids for Iso-Surface Extraction
Venue: arXiv cs.CV 2025
Year: 2025

Iso-surface extraction from an implicit field is a fundamental process in various applications of computer vision and graphics. When dealing with geometric shapes with complicated geometric details, many existing algorithms suffer from high computational costs and memory usage. This paper proposes McGrids, a novel approach to improve the efficiency of iso-surface extraction. The key idea is to construct adaptive grids for iso-surface extraction rather than using a simple uniform grid as prior art does. Specifically, we formulate the problem of constructing adaptive grids as a probability sampling problem, which is then solved by Monte Carlo process. We demonstrate McGrids' capability with extensive experiments from both analytical SDFs computed from surface meshes and learned implicit fields from real multiview images. The experiment results show that our McGrids can significantly reduce the number of implicit field queries, resulting in significant memory reduction, while producing high-quality meshes with rich geometric details.
AdvLogo: Adversarial Patch Attack against Object Detectors based on Diffusion Models
Venue: arXiv cs.CV 2025
Year: 2025

With the rapid development of deep learning, object detectors have demonstrated impressive performance; however, vulnerabilities still exist in certain scenarios. Current research exploring the vulnerabilities using adversarial patches often struggles to balance the trade-off between attack effectiveness and visual quality. To address this problem, we propose a novel framework of patch attack from semantic perspective, which we refer to as AdvLogo. Based on the hypothesis that every semantic space contains an adversarial subspace where images can cause detectors to fail in recognizing objects, we leverage the semantic understanding of the diffusion denoising process and drive the process to adversarial subareas by perturbing the latent and unconditional embeddings at the last timestep. To mitigate the distribution shift that exposes a negative impact on image quality, we apply perturbation to the latent in frequency domain with the Fourier Transform. Experimental results demonstrate that AdvLogo achieves strong attack performance while maintaining high visual quality.
Retinex-RAWMamba: Bridging Demosaicing and Denoising for Low-Light RAW Image Enhancement
Venue: arXiv cs.CV 2025
Year: 2025

Low-light image enhancement, particularly in cross-domain tasks such as mapping from the raw domain to the sRGB domain, remains a significant challenge. Many deep learning-based methods have been developed to address this issue and have shown promising results in recent years. However, single-stage methods, which attempt to unify the complex mapping across both domains, leading to limited denoising performance. In contrast, existing two-stage approaches typically overlook the characteristic of demosaicing within the Image Signal Processing (ISP) pipeline, leading to color distortions under varying lighting conditions, especially in low-light scenarios. To address these issues, we propose a novel Mamba-based method customized for low light RAW images, called RAWMamba, to effectively handle raw images with different CFAs. Furthermore, we introduce a Retinex Decomposition Module (RDM) grounded in Retinex prior, which decouples illumination from reflectance to facilitate more effective denoising and automatic non-linear exposure correction, reducing the effect of manual linear illumination enhancement. By bridging demosaicing and denoising, better enhancement for low light RAW images is achieved. Experimental evaluations conducted on public datasets SID and MCR demonstrate that our proposed RAWMamba achieves state-of-the-art performance on cross-domain mapping. The code is available at https://github.com/Cynicarlos/RetinexRawMamba.