OpenRaiser/Intern-Atlas huggingface dataset:
Stable Offline Hand-Eye Calibration for any Robot with Just One Mark
Venue: arXiv cs.RO 2025
Year: 2025

Imitation learning has achieved remarkable success in a variety of robotic tasks by learning a mapping function from camera-space observations to robot-space actions. Recent work indicates that the use of robot-to-camera transformation information ({\ie}, camera extrinsics) benefits the learning process and produces better results. However, camera extrinsics are oftentimes unavailable and estimation methods usually suffer from local minima and poor generalizations. In this paper, we present CalibAll, a simple yet effective method that \textbf{requires only a single mark} and performs training-free, stable, and accurate camera extrinsic estimation across diverse robots and datasets through a coarse-to-fine calibration pipeline. In particular, we annotate a single mark on an end-effector (EEF), and leverage the correspondence ability emerged from vision foundation models (VFM) to automatically localize the corresponding mark across robots in diverse datasets. Using this mark, together with point tracking and the 3D EEF trajectory, we obtain a coarse camera extrinsic via temporal Perspective-n-Point (PnP). This estimate is further refined through a rendering-based optimization that aligns rendered and ground-true masks, yielding accurate and stable camera extrinsic. Experimental results demonstrate that our method outperforms state-of-the-art approaches, showing strong robustness and general effectiveness across three robot platforms. It also produces useful auxiliary annotations such as depth maps, link-wise masks, and end-effector 2D trajectories, which can further support downstream tasks.
Vision Language Models are Confused Tourists
Venue: arXiv cs.CV 2025
Year: 2025

Although the cultural dimension has been one of the key aspects in evaluating Vision-Language Models (VLMs), their ability to remain stable across diverse cultural inputs remains largely untested, despite being crucial to support diversity and multicultural societies. Existing evaluations often rely on benchmarks featuring only a singular cultural concept per image, overlooking scenarios where multiple, potentially unrelated cultural cues coexist. To address this gap, we introduce ConfusedTourist, a novel cultural adversarial robustness suite designed to assess VLMs' stability against perturbed geographical cues. Our experiments reveal a critical vulnerability, where accuracy drops heavily under simple image-stacking perturbations and even worsens with its image-generation-based variant. Interpretability analyses further show that these failures stem from systematic attention shifts toward distracting cues, diverting the model from its intended focus. These findings highlight a critical challenge: visual cultural concept mixing can substantially impair even state-of-the-art VLMs, underscoring the urgent need for more culturally robust multimodal understanding.
Energy Scaling Laws for Diffusion Models: Quantifying Compute and Carbon Emissions in Image Generation
Venue: arXiv cs.LG 2025
Year: 2025

The rapidly growing computational demands of diffusion models for image generation have raised significant concerns about energy consumption and environmental impact. While existing approaches to energy optimization focus on architectural improvements or hardware acceleration, there is a lack of principled methods to predict energy consumption across different model configurations and hardware setups. We propose an adaptation of Kaplan scaling laws to predict GPU energy consumption for diffusion models based on computational complexity (FLOPs). Our approach decomposes diffusion model inference into text encoding, iterative denoising, and decoding components, with the hypothesis that denoising operations dominate energy consumption due to their repeated execution across multiple inference steps. We conduct comprehensive experiments across four state-of-the-art diffusion models (Stable Diffusion 2, Stable Diffusion 3.5, Flux, and Qwen) on three GPU architectures (NVIDIA A100, A4000, A6000), spanning various inference configurations including resolution (256x256 to 1024x1024), precision (fp16/fp32), step counts (10-50), and classifier-free guidance settings. Our energy scaling law achieves high predictive accuracy within individual architectures (R-squared > 0.9) and exhibits strong cross-architecture generalization, maintaining high rank correlations across models and enabling reliable energy estimation for unseen model-hardware combinations. These results validate the compute-bound nature of diffusion inference and provide a foundation for sustainable AI deployment planning and carbon footprint estimation.
Why Do Language Model Agents Whistleblow?
Venue: arXiv cs.LG 2025
Year: 2025

The deployment of Large Language Models (LLMs) as tool-using agents causes their alignment training to manifest in new ways. Recent work finds that language models can use tools in ways that contradict the interests or explicit instructions of the user. We study LLM whistleblowing: a subset of this behavior where models disclose suspected misconduct to parties beyond the dialog boundary (e.g., regulatory agencies) without user instruction or knowledge. We introduce an evaluation suite of diverse and realistic staged misconduct scenarios to assess agents for this behavior. Across models and settings, we find that: (1) the frequency of whistleblowing varies widely across model families, (2) increasing the complexity of the task the agent is instructed to complete lowers whistleblowing tendencies, (3) nudging the agent in the system prompt to act morally substantially raises whistleblowing rates, and (4) giving the model more obvious avenues for non-whistleblowing behavior, by providing more tools and a detailed workflow to follow, decreases whistleblowing rates. Additionally, we verify the robustness of our dataset by testing for model evaluation awareness, and find that both black-box methods and probes on model activations show lower evaluation awareness in our settings than in comparable previous work.
Spanning Tree Autoregressive Visual Generation
Venue: arXiv cs.CV 2025
Year: 2025

We present Spanning Tree Autoregressive (STAR) modeling, which can incorporate prior knowledge of images, such as center bias and locality, to maintain sampling performance while also providing sufficiently flexible sequence orders to accommodate image editing at inference. Approaches that expose randomly permuted sequence orders to conventional autoregressive (AR) models in visual generation for bidirectional context either suffer from a decline in performance or compromise the flexibility in sequence order choice at inference. Instead, STAR utilizes traversal orders of uniform spanning trees sampled in a lattice defined by the positions of image patches. Traversal orders are obtained through breadth-first search, allowing us to efficiently construct a spanning tree whose traversal order ensures that the connected partial observation of the image appears as a prefix in the sequence through rejection sampling. Through the tailored yet structured randomized strategy compared to random permutation, STAR preserves the capability of postfix completion while maintaining sampling performance without any significant changes to the model architecture widely adopted in the language AR modeling.
Bridging Visual Affective Gap: Borrowing Textual Knowledge by Learning from Noisy Image-Text Pairs
Venue: arXiv cs.CV 2025
Year: 2025

Visual emotion recognition (VER) is a longstanding field that has garnered increasing attention with the advancement of deep neural networks. Although recent studies have achieved notable improvements by leveraging the knowledge embedded within pre-trained visual models, the lack of direct association between factual-level features and emotional categories, called the "affective gap", limits the applicability of pre-training knowledge for VER tasks. On the contrary, the explicit emotional expression and high information density in textual modality eliminate the "affective gap". Therefore, we propose borrowing the knowledge from the pre-trained textual model to enhance the emotional perception of pre-trained visual models. We focus on the factual and emotional connections between images and texts in noisy social media data, and propose Partitioned Adaptive Contrastive Learning (PACL) to leverage these connections. Specifically, we manage to separate different types of samples and devise distinct contrastive learning strategies for each type. By dynamically constructing negative and positive pairs, we fully exploit the potential of noisy samples. Through comprehensive experiments, we demonstrate that bridging the "affective gap" significantly improves the performance of various pre-trained visual models in downstream emotion-related tasks. Our code is released on https://github.com/wdqqdw/PACL.
The Unreliable Job Selection and Sequencing Problem
Venue: arXiv cs.DM 2025
Year: 2025

We study a stochastic single-machine scheduling problem, denoted the Unreliable Job Selection and Sequencing Problem (UJSSP). Given a set of jobs, a subset must be selected for processing on a single machine that is subject to failure. Each job incurs a cost if selected and yields a reward upon successful completion. A job is completed successfully only if the machine does not fail before or during its execution, with job-specific probabilities of success. The objective is to determine an optimal subset and sequence of jobs to maximize the expected net profit. We analyze the computational complexity of UJSSP and prove that it is NP-hard in the general case. The relationship of UJSSP with other submodular selection problems is discussed, showing that the special cases in which all jobs have the same cost or the same failure probability can be solved in polynomial time. To compute optimal solutions, we propose a compact mixed-integer linear programming formulation, a dynamic programming algorithm, and two novel stepwise exact algorithms. We demonstrate that our methods are capable of efficiently solving large instances by means of extensive computational experiments. We further show the broader applicability of our stepwise algorithms by solving instances derived from the Product Partition Problem.
Towards Generative Design Using Optimal Transport for Shape Exploration and Solution Field Interpolation
Venue: arXiv cs.CE 2025
Year: 2025

Generative Design (GD) combines artificial intelligence (AI), physics-based modeling, and multi-objective optimization to autonomously explore and refine engineering designs. Despite its promise in aerospace, automotive, and other high-performance applications, current GD methods face critical challenges: AI approaches require large datasets and often struggle to generalize; topology optimization is computationally intensive and difficult to extend to multiphysics problems; and model order reduction for evolving geometries remains underdeveloped. To address these challenges, we introduce a unified, structure-preserving framework for GD based on optimal transport (OT), enabling simultaneous interpolation of complex geometries and their associated physical solution fields across evolving design spaces, even with non-matching meshes and substantial shape changes. This capability leverages Gaussian splatting to provide a continuous, mesh-independent representation of the solution and Wasserstein barycenters to enable smooth, mathematically ''mass''-preserving blending of geometries, offering a major advance over surrogate models tied to static meshes. Our framework efficiently interpolates positive scalar fields across arbitrarily shaped, evolving geometries without requiring identical mesh topology or dimensionality. OT also naturally preserves localized physical features -- such as stress concentrations or sharp gradients -- by conserving the spatial distribution of quantities, interpreted as ''mass'' in a mathematical sense, rather than averaging them, avoiding artificial smoothing. Preliminary extensions to signed and vector fields are presented. Representative test cases demonstrate enhanced efficiency, adaptability, and physical fidelity, establishing a foundation for future foundation-model-powered generative design workflows.
A Multi-Stage Optimization Framework for Deploying Learned Image Compression on FPGAs
Venue: arXiv cs.CV 2025
Year: 2025

Deep learning-based image compression (LIC) has achieved state-of-the-art rate-distortion (RD) performance, yet deploying these models on resource-constrained FPGAs remains a major challenge. This work presents a complete, multi-stage optimization framework to bridge the gap between high-performance floating-point models and efficient, hardware-friendly integer-based implementations. First, we address the fundamental problem of quantization-induced performance degradation. We propose a Dynamic Range-Aware Quantization (DRAQ) method that uses statistically-calibrated activation clipping and a novel weight regularization scheme to counteract the effects of extreme data outliers and large dynamic ranges, successfully creating a high-fidelity 8-bit integer model. Second, building on this robust foundation, we introduce two hardware-aware optimization techniques tailored for FPGAs. A progressive mixed-precision search algorithm exploits FPGA flexibility to assign optimal, non-uniform bit-widths to each layer, minimizing complexity while preserving performance. Concurrently, a channel pruning method, adapted to work with the Generalized Divisive Normalization (GDN) layers common in LIC, removes model redundancy by eliminating inactive channels. Our comprehensive experiments show that the foundational DRAQ method reduces the BD-rate overhead of a GDN-based model from $30\%$ to $6.3\%$. The subsequent hardware-aware optimizations further reduce computational complexity by over $20\%$ with negligible impact on RD performance, yielding a final model that is both state-of-the-art in efficiency and superior in quality to existing FPGA-based LIC implementations.
Splitting vertices of bipartite graphs preserves de Bruijn-Erdős property
Venue: arXiv cs.DM 2025
Year: 2025

In this note, we prove that every graph obtained from a bipartite graph by iteratively splitting vertices into two adjacent twins has the de Bruijn-Erdős property.
Attention-Guided Feature Fusion (AGFF) Model for Integrating Statistical and Semantic Features in News Text Classification
Venue: arXiv cs.CL 2025
Year: 2025

News text classification is a crucial task in natural language processing, essential for organizing and filtering the massive volume of digital content. Traditional methods typically rely on statistical features like term frequencies or TF-IDF values, which are effective at capturing word-level importance but often fail to reflect contextual meaning. In contrast, modern deep learning approaches utilize semantic features to understand word usage within context, yet they may overlook simple, high-impact statistical indicators. This paper introduces an Attention-Guided Feature Fusion (AGFF) model that combines statistical and semantic features in a unified framework. The model applies an attention-based mechanism to dynamically determine the relative importance of each feature type, enabling more informed classification decisions. Through evaluation on benchmark news datasets, the AGFF model demonstrates superior performance compared to both traditional statistical models and purely semantic deep learning models. The results confirm that strategic integration of diverse feature types can significantly enhance classification accuracy. Additionally, ablation studies validate the contribution of each component in the fusion process. The findings highlight the model's ability to balance and exploit the complementary strengths of statistical and semantic representations, making it a practical and effective solution for real-world news classification tasks.
Randomness as Reference: Benchmark Metric for Optimization in Engineering
Venue: arXiv cs.CE 2025
Year: 2025

Benchmarking optimization algorithms is fundamental for the advancement of computational intelligence. However, widely adopted artificial test suites exhibit limited correspondence with the diversity and complexity of real-world engineering optimization tasks. This paper presents a new benchmark suite comprising 231 bounded, continuous, unconstrained optimization problems, the majority derived from engineering design and simulation scenarios, including computational fluid dynamics and finite element analysis models. In conjunction with this suite, a novel performance metric is introduced, which employs random sampling as a statistical reference, providing nonlinear normalization of objective values and enabling unbiased comparison of algorithmic efficiency across heterogeneous problems. Using this framework, 20 deterministic and stochastic optimization methods were systematically evaluated through hundreds of independent runs per problem, ensuring statistical robustness. The results indicate that only a few of the tested optimization methods consistently achieve excellent performance, while several commonly used metaheuristics exhibit severe efficiency loss on engineering-type problems, emphasizing the limitations of conventional benchmarks. Furthermore, the conducted tests are used for analyzing various features of the optimization methods, providing practical guidelines for their application. The proposed test suite and metric together offer a transparent, reproducible, and practically relevant platform for evaluating and comparing optimization methods, thereby narrowing the gap between the available benchmark tests and realistic engineering applications.
Equivariant-Aware Structured Pruning for Efficient Edge Deployment: A Comprehensive Framework with Adaptive Fine-Tuning
Venue: arXiv cs.CV 2025
Year: 2025

This paper presents a novel framework combining group equivariant convolutional neural networks (G-CNNs) with equivariant-aware structured pruning to produce compact, transformation-invariant models for resource-constrained environments. Equivariance to rotations is achieved through the C4 cyclic group via the e2cnn library,enabling consistent performance under geometric transformations while reducing computational overhead. Our approach introduces structured pruning that preserves equivariant properties by analyzing e2cnn layer structure and applying neuron-level pruning to fully connected components. To mitigate accuracy degradation, we implement adaptive fine-tuning that automatically triggers when accuracy drop exceeds 2%, using early stopping and learning rate scheduling for efficient recovery. The framework includes dynamic INT8 quantization and a comprehensive pipeline encompassing training, knowledge distillation, structured pruning, fine-tuning, and quantization. We evaluate our method on satellite imagery (EuroSAT) and standard benchmarks (CIFAR-10, Rotated MNIST) demonstrating effectiveness across diverse domains. Experimental results show 29.3% parameter reduction with significant accuracy recovery, demonstrating that structured pruning of equivariant networks achieves substantial compression while maintaining geometric robustness. Our pipeline provides a reproducible framework for optimizing equivariant models, bridging the gap between group-theoretic network design and practical deployment constraints, with particular relevance to satellite imagery analysis and geometric vision tasks.
SlsReuse: LLM-Powered Serverless Function Reuse
Venue: arXiv cs.SE 2025
Year: 2025

Serverless computing has rapidly emerged as a popular cloud computing paradigm. It enables developers to implement function-level tasks, i.e., serverless functions, without managing infrastructure. While reducing operational overhead, it poses challenges, especially for novice developers. Developing functions from scratch requires adapting to heterogeneous, platform-specific programming styles, making the process time-consuming and error-prone. Function reuse offers a promising solution to address these challenges. However, research on serverless computing lacks a dedicated approach for function recommendation. Existing techniques from traditional contexts remain insufficient due to the semantic gap between task descriptions and heterogeneous function implementations. Advances in large language models (LLMs), pre-trained on large-scale corpora, create opportunities to bridge this gap by aligning developer requirements with function semantics. This paper presents SlsReuse, the first LLM-powered framework for serverless function reuse. Specifically, SlsReuse first constructs a reusable function repository serving as a foundational knowledge base. Then, it learns unified semantic-enhanced representations of heterogeneous functions through effective prompt engineering with few-shot prompting, capturing implicit code intent, target platforms, programming languages, and cloud services. Finally, given a natural language task query, SlsReuse performs intent-aware discovery combined with a multi-level pruning strategy and similarity matching. We evaluate SlsReuse on a curated dataset of 110 task queries. Built on ChatGPT-4o, one of the most representative LLMs, SlsReuse achieves Recall@10 of 91.20%, exceeding the state-of-the-art baseline by 24.53 percentage points.
Automobile demand forecasting: Spatiotemporal and hierarchical modeling, life cycle dynamics, and user-generated online information
Venue: arXiv cs.LG 2025
Year: 2025

Premium automotive manufacturers face increasingly complex forecasting challenges due to high product variety, sparse variant-level data, and volatile market dynamics. This study addresses monthly automobile demand forecasting across a multi-product, multi-market, and multi-level hierarchy using data from a German premium manufacturer. The methodology combines point and probabilistic forecasts across strategic and operational planning levels, leveraging ensembles of LightGBM models with pooled training sets, quantile regression, and a mixed-integer linear programming reconciliation approach. Results highlight that spatiotemporal dependencies, as well as rounding bias, significantly affect forecast accuracy, underscoring the importance of integer forecasts for operational feasibility. Shapley analysis shows that short-term demand is reactive, shaped by life cycle maturity, autoregressive momentum, and operational signals, whereas medium-term demand reflects anticipatory drivers such as online engagement, planning targets, and competitive indicators, with online behavioral data considerably improving accuracy at disaggregated levels.
Self-supervised denoising of raw tomography detector data for improved image reconstruction
Venue: arXiv cs.LG 2025
Year: 2025

Ultrafast electron beam X-ray computed tomography produces noisy data due to short measurement times, causing reconstruction artifacts and limiting overall image quality. To counteract these issues, two self-supervised deep learning methods for denoising of raw detector data were investigated and compared against a non-learning based denoising method. We found that the application of the deep-learning-based methods was able to enhance signal-to-noise ratios in the detector data and also led to consistent improvements of the reconstructed images, outperforming the non-learning based method.