OpenRaiser/Intern-Atlas huggingface dataset:
Robust Planning for Autonomous Vehicles with Diffusion-Based Failure Samplers
Venue: arXiv cs.RO 2025
Year: 2025

High-risk traffic zones such as intersections are a major cause of collisions. This study leverages deep generative models to enhance the safety of autonomous vehicles in an intersection context. We train a 1000-step denoising diffusion probabilistic model to generate collision-causing sensor noise sequences for an autonomous vehicle navigating a four-way intersection based on the current relative position and velocity of an intruder. Using the generative adversarial architecture, the 1000-step model is distilled into a single-step denoising diffusion model which demonstrates fast inference speed while maintaining similar sampling quality. We demonstrate one possible application of the single-step model in building a robust planner for the autonomous vehicle. The planner uses the single-step model to efficiently sample potential failure cases based on the currently measured traffic state to inform its decision-making. Through simulation experiments, the robust planner demonstrates significantly lower failure rate and delay rate compared with the baseline Intelligent Driver Model controller.
Detecting In-Person Conversations in Noisy Real-World Environments with Smartwatch Audio and Motion Sensing
Venue: arXiv cs.LG 2025
Year: 2025

Social interactions play a crucial role in shaping human behavior, relationships, and societies. It encompasses various forms of communication, such as verbal conversation, non-verbal gestures, facial expressions, and body language. In this work, we develop a novel computational approach to detect a foundational aspect of human social interactions, in-person verbal conversations, by leveraging audio and inertial data captured with a commodity smartwatch in acoustically-challenging scenarios. To evaluate our approach, we conducted a lab study with 11 participants and a semi-naturalistic study with 24 participants. We analyzed machine learning and deep learning models with 3 different fusion methods, showing the advantages of fusing audio and inertial data to consider not only verbal cues but also non-verbal gestures in conversations. Furthermore, we perform a comprehensive set of evaluations across activities and sampling rates to demonstrate the benefits of multimodal sensing in specific contexts. Overall, our framework achieved 82.0$\pm$3.0% macro F1-score when detecting conversations in the lab and 77.2$\pm$1.8% in the semi-naturalistic setting.
Improving Data and Parameter Efficiency of Neural Language Models Using Representation Analysis
Venue: arXiv cs.CL 2025
Year: 2025

This thesis addresses challenges related to data and parameter efficiency in neural language models, with a focus on representation analysis and the introduction of new optimization techniques. The first part examines the properties and dynamics of language representations within neural models, emphasizing their significance in enhancing robustness and generalization. It proposes innovative approaches based on representation smoothness, including regularization strategies that utilize Jacobian and Hessian matrices to stabilize training and mitigate sensitivity to input perturbations. The second part focuses on methods to significantly enhance data and parameter efficiency by integrating active learning strategies with parameter-efficient fine-tuning, guided by insights from representation smoothness analysis. It presents smoothness-informed early-stopping techniques designed to eliminate the need for labeled validation sets and proposes innovative combinations of active learning and parameter-efficient fine-tuning to reduce labeling efforts and computational resources. Extensive experimental evaluations across various NLP tasks demonstrate that these combined approaches substantially outperform traditional methods in terms of performance, stability, and efficiency. The third part explores weak supervision techniques enhanced by in-context learning to effectively utilize unlabeled data, further reducing dependence on extensive labeling. It shows that using in-context learning as a mechanism for weak supervision enables models to better generalize from limited labeled data by leveraging unlabeled examples more effectively during training. Comprehensive empirical evaluations confirm significant gains in model accuracy, adaptability, and robustness, especially in low-resource settings and dynamic data environments.
The Role of Rank in Mismatched Low-Rank Symmetric Matrix Estimation
Venue: arXiv cs.IT 2025
Year: 2025

We investigate the performance of a Bayesian statistician tasked with recovering a rank-\(k\) signal matrix \(\bS \bS^{\top} \in \mathbb{R}^{n \times n}\), corrupted by element-wise additive Gaussian noise. This problem lies at the core of numerous applications in machine learning, signal processing, and statistics. We derive an analytic expression for the asymptotic mean-square error (MSE) of the Bayesian estimator under mismatches in the assumed signal rank, signal power, and signal-to-noise ratio (SNR), considering both sphere and Gaussian signals. Additionally, we conduct a rigorous analysis of how rank mismatch influences the asymptotic MSE. Our primary technical tools include the spectrum of Gaussian orthogonal ensembles (GOE) with low-rank perturbations and asymptotic behavior of \(k\)-dimensional spherical integrals.
Stereo Sound Event Localization and Detection with Onscreen/offscreen Classification
Venue: arXiv cs.SD 2025
Year: 2025

This paper presents the objective, dataset, baseline, and metrics of Task 3 of the DCASE2025 Challenge on sound event localization and detection (SELD). In previous editions, the challenge used four-channel audio formats of first-order Ambisonics (FOA) and microphone array. In contrast, this year's challenge investigates SELD with stereo audio data (termed stereo SELD). This change shifts the focus from more specialized 360° audio and audiovisual scene analysis to more commonplace audio and media scenarios with limited field-of-view (FOV). Due to inherent angular ambiguities in stereo audio data, the task focuses on direction-of-arrival (DOA) estimation in the azimuth plane (left-right axis) along with distance estimation. The challenge remains divided into two tracks: audio-only and audiovisual, with the audiovisual track introducing a new sub-task of onscreen/offscreen event classification necessitated by the limited FOV. This challenge introduces the DCASE2025 Task3 Stereo SELD Dataset, whose stereo audio and perspective video clips are sampled and converted from the STARSS23 recordings. The baseline system is designed to process stereo audio and corresponding video frames as inputs. In addition to the typical SELD event classification and localization, it integrates onscreen/offscreen classification for the audiovisual track. The evaluation metrics have been modified to introduce an onscreen/offscreen accuracy metric, which assesses the models' ability to identify which sound sources are onscreen. In the experimental evaluation, the baseline system performs reasonably well with the stereo audio data.
Robust Route Planning for Sidewalk Delivery Robots
Venue: arXiv cs.RO 2025
Year: 2025

Sidewalk delivery robots are a promising solution for urban freight distribution, reducing congestion compared to trucks and providing a safer, higher-capacity alternative to drones. However, unreliable travel times on sidewalks due to pedestrian density, obstacles, and varying infrastructure conditions can significantly affect their efficiency. This study addresses the robust route planning problem for sidewalk robots, explicitly accounting for travel time uncertainty due to varying sidewalk conditions. Optimization is integrated with simulation to reproduce the effect of obstacles and pedestrian flows and generate realistic travel times. The study investigates three different approaches to derive uncertainty sets, including budgeted, ellipsoidal, and support vector clustering (SVC)-based methods, along with a distributionally robust method to solve the shortest path (SP) problem. A realistic case study reproducing pedestrian patterns in Stockholm's city center is used to evaluate the efficiency of robust routing across various robot designs and environmental conditions. The results show that, when compared to a conventional SP, robust routing significantly enhances operational reliability under variable sidewalk conditions. The Ellipsoidal and DRSP approaches outperform the other methods, yielding the most efficient paths in terms of average and worst-case delay. Sensitivity analyses reveal that robust approaches consistently outperform the conventional SP, particularly for sidewalk delivery robots that are wider, slower, and have more conservative navigation behaviors. These benefits are even more pronounced in adverse weather conditions and high pedestrian congestion scenarios.
BRUM: Robust 3D Vehicle Reconstruction from 360 Sparse Images
Venue: arXiv cs.CV 2025
Year: 2025

Accurate 3D reconstruction of vehicles is vital for applications such as vehicle inspection, predictive maintenance, and urban planning. Existing methods like Neural Radiance Fields and Gaussian Splatting have shown impressive results but remain limited by their reliance on dense input views, which hinders real-world applicability. This paper addresses the challenge of reconstructing vehicles from sparse-view inputs, leveraging depth maps and a robust pose estimation architecture to synthesize novel views and augment training data. Specifically, we enhance Gaussian Splatting by integrating a selective photometric loss, applied only to high-confidence pixels, and replacing standard Structure-from-Motion pipelines with the DUSt3R architecture to improve camera pose estimation. Furthermore, we present a novel dataset featuring both synthetic and real-world public transportation vehicles, enabling extensive evaluation of our approach. Experimental results demonstrate state-of-the-art performance across multiple benchmarks, showcasing the method's ability to achieve high-quality reconstructions even under constrained input conditions.
From Static to Intelligent: Evolving SaaS Pricing with LLMs
Venue: arXiv cs.SE 2025
Year: 2025

The SaaS paradigm has revolutionized software distribution by offering flexible pricing options to meet diverse customer needs. However, the rapid expansion of the SaaS market has introduced significant complexity for DevOps teams, who must manually manage and evolve pricing structures, an approach that is both time-consuming and prone to errors. The absence of automated tools for pricing analysis restricts the ability to efficiently evaluate, optimize, and scale these models. This paper proposes leveraging intelligent pricing (iPricing), dynamic, machine-readable pricing models, as a solution to these challenges. Intelligent pricing enables competitive analysis, streamlines operational decision-making, and supports continuous pricing evolution in response to market dynamics, leading to improved efficiency and accuracy. We present an LLM-driven approach that automates the transformation of static HTML pricing into iPricing, significantly improving efficiency and consistency while minimizing human error. Our implementation, AI4Pricing2Yaml, features a basic Information Extractor that uses web scraping and LLMs technologies to extract essential pricing components, plans, features, usage limits, and add-ons, from SaaS websites. Validation against a dataset of 30 distinct commercial SaaS, encompassing over 150 intelligent pricings, demonstrates the system's effectiveness in extracting the desired elements across all steps. However, challenges remain in addressing hallucinations, complex structures, and dynamic content. This work highlights the potential of automating intelligent pricing transformation to streamline SaaS pricing management, offering implications for improved consistency and scalability in an increasingly intricate pricing landscape. Future research will focus on refining extraction capabilities and enhancing the system's adaptability to a wider range of SaaS websites.
Open-Vocabulary Indoor Object Grounding with 3D Hierarchical Scene Graph
Venue: arXiv cs.CV 2025
Year: 2025

We propose OVIGo-3DHSG method - Open-Vocabulary Indoor Grounding of objects using 3D Hierarchical Scene Graph. OVIGo-3DHSG represents an extensive indoor environment over a Hierarchical Scene Graph derived from sequences of RGB-D frames utilizing a set of open-vocabulary foundation models and sensor data processing. The hierarchical representation explicitly models spatial relations across floors, rooms, locations, and objects. To effectively address complex queries involving spatial reference to other objects, we integrate the hierarchical scene graph with a Large Language Model for multistep reasoning. This integration leverages inter-layer (e.g., room-to-object) and intra-layer (e.g., object-to-object) connections, enhancing spatial contextual understanding. We investigate the semantic and geometry accuracy of hierarchical representation on Habitat Matterport 3D Semantic multi-floor scenes. Our approach demonstrates efficient scene comprehension and robust object grounding compared to existing methods. Overall OVIGo-3DHSG demonstrates strong potential for applications requiring spatial reasoning and understanding of indoor environments. Related materials can be found at https://github.com/linukc/OVIGo-3DHSG.
Iterative Augmentation with Summarization Refinement (IASR) Evaluation for Unstructured Survey data Modeling and Analysis
Venue: arXiv cs.CL 2025
Year: 2025

Text data augmentation is a widely used strategy for mitigating data sparsity in natural language processing (NLP), particularly in low-resource settings where limited samples hinder effective semantic modeling. While augmentation can improve input diversity and downstream interpretability, existing techniques often lack mechanisms to ensure semantic preservation during large-scale or iterative generation, leading to redundancy and instability. This work introduces a principled evaluation framework for large language model (LLM) based text augmentation, comprising two components: (1) Scalability Analysis, which measures semantic consistency as augmentation volume increases, and (2) Iterative Augmentation with Summarization Refinement (IASR), which evaluates semantic drift across recursive paraphrasing cycles. Empirical evaluations across state-of-the-art LLMs show that GPT-3.5 Turbo achieved the best balance of semantic fidelity, diversity, and generation efficiency. Applied to a real-world topic modeling task using BERTopic with GPT-enhanced few-shot labeling, the proposed approach results in a 400% increase in topic granularity and complete elimination of topic overlaps. These findings validated the utility of the proposed frameworks for structured evaluation of LLM-based augmentation in practical NLP pipelines.
A real-time metric of online engagement monitoring
Venue: arXiv cs.CY 2025
Year: 2025

Measuring online behavioural student engagement often relies on simple count indicators or retrospective, predictive methods, which present challenges for real-time application. To address these limitations, we reconceptualise an existing course-wide engagement metric to create a chapter-based version that aligns with the weekly structure of online courses. Derived directly from virtual learning environment log data, the new metric allows for cumulative, real-time tracking of student activity without requiring outcome data or model training. We evaluate the approach across three undergraduate statistics modules over two academic years, comparing it to the course-wide formulation to assess how the reconceptualisation influences what is measured. Results indicate strong alignment from as early as week 3, along with comparable or improved predictive validity for final grades in structured, lecture-based contexts. By the course midpoint, the weekly metric identifies as many low-performing students as are identifiable by the end of the course. While performance varies across modules, the chapter-based formulation offers a scalable and interpretable method for early engagement monitoring and student support.
RadioDiff-3D: A 3D$\times$3D Radio Map Dataset and Generative Diffusion Based Benchmark for 6G Environment-Aware Communication
Venue: arXiv cs.LG 2025
Year: 2025

Radio maps (RMs) serve as a critical foundation for enabling environment-aware wireless communication, as they provide the spatial distribution of wireless channel characteristics. Despite recent progress in RM construction using data-driven approaches, most existing methods focus solely on pathloss prediction in a fixed 2D plane, neglecting key parameters such as direction of arrival (DoA), time of arrival (ToA), and vertical spatial variations. Such a limitation is primarily due to the reliance on static learning paradigms, which hinder generalization beyond the training data distribution. To address these challenges, we propose UrbanRadio3D, a large-scale, high-resolution 3D RM dataset constructed via ray tracing in realistic urban environments. UrbanRadio3D is over 37$\times$3 larger than previous datasets across a 3D space with 3 metrics as pathloss, DoA, and ToA, forming a novel 3D$\times$33D dataset with 7$\times$3 more height layers than prior state-of-the-art (SOTA) dataset. To benchmark 3D RM construction, a UNet with 3D convolutional operators is proposed. Moreover, we further introduce RadioDiff-3D, a diffusion-model-based generative framework utilizing the 3D convolutional architecture. RadioDiff-3D supports both radiation-aware scenarios with known transmitter locations and radiation-unaware settings based on sparse spatial observations. Extensive evaluations on UrbanRadio3D validate that RadioDiff-3D achieves superior performance in constructing rich, high-dimensional radio maps under diverse environmental dynamics. This work provides a foundational dataset and benchmark for future research in 3D environment-aware communication. The dataset is available at https://github.com/UNIC-Lab/UrbanRadio3D.
Exploiting Jailbreaking Vulnerabilities in Generative AI to Bypass Ethical Safeguards for Facilitating Phishing Attacks
Venue: arXiv cs.CR 2025
Year: 2025

The advent of advanced Generative AI (GenAI) models such as DeepSeek and ChatGPT has significantly reshaped the cybersecurity landscape, introducing both promising opportunities and critical risks. This study investigates how GenAI powered chatbot services can be exploited via jailbreaking techniques to bypass ethical safeguards, enabling the generation of phishing content, recommendation of hacking tools, and orchestration of phishing campaigns. In ethically controlled experiments, we used ChatGPT 4o Mini selected for its accessibility and status as the latest publicly available model at the time of experimentation, as a representative GenAI system. Our findings reveal that the model could successfully guide novice users in executing phishing attacks across various vectors, including web, email, SMS (smishing), and voice (vishing). Unlike automated phishing campaigns that typically follow detectable patterns, these human-guided, AI assisted attacks are capable of evading traditional anti phishing mechanisms, thereby posing a growing security threat. We focused on DeepSeek and ChatGPT due to their widespread adoption and technical relevance in 2025. The study further examines common jailbreaking techniques and the specific vulnerabilities exploited in these models. Finally, we evaluate a range of mitigation strategies such as user education, advanced authentication mechanisms, and regulatory policy measures and discuss emerging trends in GenAI facilitated phishing, outlining future research directions to strengthen cybersecurity defenses in the age of artificial intelligence.
Explainable Evidential Clustering
Venue: arXiv cs.LG 2025
Year: 2025

Unsupervised classification is a fundamental machine learning problem. Real-world data often contain imperfections, characterized by uncertainty and imprecision, which are not well handled by traditional methods. Evidential clustering, based on Dempster-Shafer theory, addresses these challenges. This paper explores the underexplored problem of explaining evidential clustering results, which is crucial for high-stakes domains such as healthcare. Our analysis shows that, in the general case, representativity is a necessary and sufficient condition for decision trees to serve as abductive explainers. Building on the concept of representativity, we generalize this idea to accommodate partial labeling through utility functions. These functions enable the representation of "tolerable" mistakes, leading to the definition of evidential mistakeness as explanation cost and the construction of explainers tailored to evidential classifiers. Finally, we propose the Iterative Evidential Mistake Minimization (IEMM) algorithm, which provides interpretable and cautious decision tree explanations for evidential clustering functions. We validate the proposed algorithm on synthetic and real-world data. Taking into account the decision-maker's preferences, we were able to provide an explanation that was satisfactory up to 93% of the time.
Revealing the Ancient Beauty: Digital Reconstruction of Temple Tiles using Computer Vision
Venue: arXiv cs.CV 2025
Year: 2025

Modern digitised approaches have dramatically changed the preservation and restoration of cultural treasures, integrating computer scientists into multidisciplinary projects with ease. Machine learning, deep learning, and computer vision techniques have revolutionised developing sectors like 3D reconstruction, picture inpainting,IoT-based methods, genetic algorithms, and image processing with the integration of computer scientists into multidisciplinary initiatives. We suggest three cutting-edge techniques in recognition of the special qualities of Indian monuments, which are famous for their architectural skill and aesthetic appeal. First is the Fractal Convolution methodology, a segmentation method based on image processing that successfully reveals subtle architectural patterns within these irreplaceable cultural buildings. The second is a revolutionary Self-Sensitive Tile Filling (SSTF) method created especially for West Bengal's mesmerising Bankura Terracotta Temples with a brand-new data augmentation method called MosaicSlice on the third. Furthermore, we delve deeper into the Super Resolution strategy to upscale the images without losing significant amount of quality. Our methods allow for the development of seamless region-filling and highly detailed tiles while maintaining authenticity using a novel data augmentation strategy within affordable costs introducing automation. By providing effective solutions that preserve the delicate balance between tradition and innovation, this study improves the subject and eventually ensures unrivalled efficiency and aesthetic excellence in cultural heritage protection. The suggested approaches advance the field into an era of unmatched efficiency and aesthetic quality while carefully upholding the delicate equilibrium between tradition and innovation.