OpenRaiser/Intern-Atlas huggingface dataset:
One VLM, Two Roles: Stage-Wise Routing and Specialty-Level Deployment for Clinical Workflows
Venue: arXiv cs.AI 2025
Year: 2025

Clinical ML workflows are often fragmented and inefficient: triage, task selection, and model deployment are handled by a patchwork of task-specific networks. These pipelines are rarely aligned with data-science practice, reducing efficiency and increasing operational cost. They also lack data-driven model identification (from imaging/tabular inputs) and standardized delivery of model outputs. We present a framework that employs a single vision-language model (VLM) in two complementary, modular roles. First (Solution 1): the VLM acts as an aware model-card matcher that routes an incoming image to the appropriate specialist model via a three-stage workflow (modality -> primary abnormality -> model-card ID). Reliability is improved by (i) stage-wise prompts enabling early termination via "None"/"Other" and (ii) a calibrated top-2 answer selector with a stage-wise cutoff. This raises routing accuracy by +9 and +11 percentage points on the training and held-out splits, respectively, compared with a baseline router, and improves held-out calibration (lower Expected Calibration Error, ECE). Second (Solution 2): we fine-tune the same VLM on specialty-specific datasets so that one model per specialty covers multiple downstream tasks, simplifying deployment while maintaining performance. Across gastroenterology, hematology, ophthalmology, pathology, and radiology, this single-model deployment matches or approaches specialized baselines. Together, these solutions reduce data-science effort through more accurate selection, simplify monitoring and maintenance by consolidating task-specific models, and increase transparency via per-stage justifications and calibrated thresholds. Each solution stands alone, and in combination they offer a practical, modular path from triage to deployment.
A Workflow for Map Creation in Autonomous Vehicle Simulations
Venue: arXiv cs.RO 2025
Year: 2025

The fast development of technology and artificial intelligence has significantly advanced Autonomous Vehicle (AV) research, emphasizing the need for extensive simulation testing. Accurate and adaptable maps are critical in AV development, serving as the foundation for localization, path planning, and scenario testing. However, creating simulation-ready maps is often difficult and resource-intensive, especially with simulators like CARLA (CAR Learning to Act). Many existing workflows require significant computational resources or rely on specific simulators, limiting flexibility for developers. This paper presents a custom workflow to streamline map creation for AV development, demonstrated through the generation of a 3D map of a parking lot at Ontario Tech University. Future work will focus on incorporating SLAM technologies, optimizing the workflow for broader simulator compatibility, and exploring more flexible handling of latitude and longitude values to enhance map generation accuracy.
TriagerX: Dual Transformers for Bug Triaging Tasks with Content and Interaction Based Rankings
Venue: arXiv cs.SE 2025
Year: 2025

Pretrained Language Models or PLMs are transformer-based architectures that can be used in bug triaging tasks. PLMs can better capture token semantics than traditional Machine Learning (ML) models that rely on statistical features (e.g., TF-IDF, bag of words). However, PLMs may still attend to less relevant tokens in a bug report, which can impact their effectiveness. In addition, the model can be sub-optimal with its recommendations when the interaction history of developers around similar bugs is not taken into account. We designed TriagerX to address these limitations. First, to assess token semantics more reliably, we leverage a dual-transformer architecture. Unlike current state-of-the-art (SOTA) baselines that employ a single transformer architecture, TriagerX collects recommendations from two transformers with each offering recommendations via its last three layers. This setup generates a robust content-based ranking of candidate developers. TriagerX then refines this ranking by employing a novel interaction-based ranking methodology, which considers developers' historical interactions with similar fixed bugs. Across five datasets, TriagerX surpasses all nine transformer-based methods, including SOTA baselines, often improving Top-1 and Top-3 developer recommendation accuracy by over 10%. We worked with our large industry partner to successfully deploy TriagerX in their development environment. The partner required both developer and component recommendations, with components acting as proxies for team assignments-particularly useful in cases of developer turnover or team changes. We trained TriagerX on the partner's dataset for both tasks, and it outperformed SOTA baselines by up to 10% for component recommendations and 54% for developer recommendations.
Delta-SVD: Efficient Compression for Personalized Text-to-Image Models
Venue: arXiv cs.CV 2025
Year: 2025

Personalized text-to-image models such as DreamBooth require fine-tuning large-scale diffusion backbones, resulting in significant storage overhead when maintaining many subject-specific models. We present Delta-SVD, a post-hoc, training-free compression method that targets the parameter weights update induced by DreamBooth fine-tuning. Our key observation is that these delta weights exhibit strong low-rank structure due to the sparse and localized nature of personalization. Delta-SVD first applies Singular Value Decomposition (SVD) to factorize the weight deltas, followed by an energy-based rank truncation strategy to balance compression efficiency and reconstruction fidelity. The resulting compressed models are fully plug-and-play and can be re-constructed on-the-fly during inference. Notably, the proposed approach is simple, efficient, and preserves the original model architecture. Experiments on a multiple subject dataset demonstrate that Delta-SVD achieves substantial compression with negligible loss in generation quality measured by CLIP score, SSIM and FID. Our method enables scalable and efficient deployment of personalized diffusion models, making it a practical solution for real-world applications that require storing and deploying large-scale subject customizations.
Multimodal LLMs See Sentiment
Venue: arXiv cs.CV 2025
Year: 2025

Understanding how visual content communicates sentiment is critical in an era where online interaction is increasingly dominated by this kind of media on social platforms. However, this remains a challenging problem, as sentiment perception is closely tied to complex, scene-level semantics. In this paper, we propose an original framework, MLLMsent, to investigate the sentiment reasoning capabilities of Multimodal Large Language Models (MLLMs) through three perspectives: (1) using those MLLMs for direct sentiment classification from images; (2) associating them with pre-trained LLMs for sentiment analysis on automatically generated image descriptions; and (3) fine-tuning the LLMs on sentiment-labeled image descriptions. Experiments on a recent and established benchmark demonstrate that our proposal, particularly the fine-tuned approach, achieves state-of-the-art results outperforming Lexicon-, CNN-, and Transformer-based baselines by up to 30.9%, 64.8%, and 42.4%, respectively, across different levels of evaluators' agreement and sentiment polarity categories. Remarkably, in a cross-dataset test, without any training on these new data, our model still outperforms, by up to 8.26%, the best runner-up, which has been trained directly on them. These results highlight the potential of the proposed visual reasoning scheme for advancing affective computing, while also establishing new benchmarks for future research.
Relative Navigation and Dynamic Target Tracking for Autonomous Underwater Proximity Operations
Venue: arXiv cs.RO 2025
Year: 2025

Estimating a target's 6-DoF motion in underwater proximity operations is difficult because the chaser lacks target-side proprioception and the available relative observations are sparse, noisy, and often partial (e.g., Ultra-Short Baseline (USBL) positions). Without a motion prior, factor-graph maximum a posteriori estimation is underconstrained: consecutive target states are weakly linked and orientation can drift. We propose a generalized constant-twist motion prior defined on the tangent space of Lie groups that enforces temporally consistent trajectories across all degrees of freedom; in SE(3) it couples translation and rotation in the body frame. We present a ternary factor and derive its closed-form Jacobians based on standard Lie group operations, enabling drop-in use for trajectories on arbitrary Lie groups. We evaluate two deployment modes: (A) an SE(3)-only representation that regularizes orientation even when only position is measured, and (B) a mode with boundary factors that switches the target representation between SE(3) and 3D position while applying the same generalized constant-twist prior across representation changes. Validation on a real-world dynamic docking scenario dataset shows consistent ego-target trajectory estimation through USBL-only and optical relative measurement segments with an improved relative tracking accuracy compared to the noisy measurements to the target. Because the construction relies on standard Lie group primitives, it is portable across state manifolds and sensing modalities.
The Impact of Visual Segmentation on Lexical Word Recognition
Venue: arXiv cs.HC 2025
Year: 2025

When a reader encounters a word in English, they split the word into smaller orthographic units in the process of recognizing its meaning. For example, "rough", when split according to phonemes, is decomposed as r-ou-gh (not as r-o-ugh or r-ough), where each group of letters corresponds to a sound. Since there are many ways to segment a group of letters, this constitutes a computational operation that has to be solved by the reading brain, many times per minute, in order to achieve the recognition of words in text necessary for reading. We hypothesized that providing segmentation information in the text itself could help the reading process by reducing its computational cost. In this paper we explore whether and how different visual interventions could communicate segmentation information for reading and word recognition. We ran a series of pre-registered lexical decision experiments with 192 participants that tested five types of visual segmentations: outlines, spacing, connections, underlines and color. The evidence indicates that, even with a moderate amount of training, these visual interventions always slow down word identification, but each to a different extent. These findings are important because they indicate that, at least for typical adult readers with a moderate amount of specific training in these visual interventions, accelerating the lexical decision task is unlikely. The results also offer an empirical measurement of the cost of a common set of visual manipulations of text, which can be useful for practitioners seeking to visualize alongside or within text without impacting reading performance. Finally, the interaction between typographically encoded information and visual variables presented unique patterns that deviate from existing theories, suggesting new directions for future inquiry.
Addressing Annotation Scarcity in Hyperspectral Brain Image Segmentation with Unsupervised Domain Adaptation
Venue: arXiv cs.CV 2025
Year: 2025

This work presents a novel deep learning framework for segmenting cerebral vasculature in hyperspectral brain images. We address the critical challenge of severe label scarcity, which impedes conventional supervised training. Our approach utilizes a novel unsupervised domain adaptation methodology, using a small, expert-annotated ground truth alongside unlabeled data. Quantitative and qualitative evaluations confirm that our method significantly outperforms existing state-of-the-art approaches, demonstrating the efficacy of domain adaptation for label-scarce biomedical imaging tasks.
Sig-DEG for Distillation: Making Diffusion Models Faster and Lighter
Venue: arXiv cs.LG 2025
Year: 2025

Diffusion models have achieved state-of-the-art results in generative modelling but remain computationally intensive at inference time, often requiring thousands of discretization steps. To this end, we propose Sig-DEG (Signature-based Differential Equation Generator), a novel generator for distilling pre-trained diffusion models, which can universally approximate the backward diffusion process at a coarse temporal resolution. Inspired by high-order approximations of stochastic differential equations (SDEs), Sig-DEG leverages partial signatures to efficiently summarize Brownian motion over sub-intervals and adopts a recurrent structure to enable accurate global approximation of the SDE solution. Distillation is formulated as a supervised learning task, where Sig-DEG is trained to match the outputs of a fine-resolution diffusion model on a coarse time grid. During inference, Sig-DEG enables fast generation, as the partial signature terms can be simulated exactly without requiring fine-grained Brownian paths. Experiments demonstrate that Sig-DEG achieves competitive generation quality while reducing the number of inference steps by an order of magnitude. Our results highlight the effectiveness of signature-based approximations for efficient generative modeling.
LLM-based Human-like Traffic Simulation for Self-driving Tests
Venue: arXiv cs.RO 2025
Year: 2025

Ensuring realistic traffic dynamics is a prerequisite for simulation platforms to evaluate the reliability of self-driving systems before deployment in the real world. Because most road users are human drivers, reproducing their diverse behaviors within simulators is vital. Existing solutions, however, typically rely on either handcrafted heuristics or narrow data-driven models, which capture only fragments of real driving behaviors and offer limited driving style diversity and interpretability. To address this gap, we introduce HDSim, an HD traffic generation framework that combines cognitive theory with large language model (LLM) assistance to produce scalable and realistic traffic scenarios within simulation platforms. The framework advances the state of the art in two ways: (i) it introduces a hierarchical driver model that represents diverse driving style traits, and (ii) it develops a Perception-Mediated Behavior Influence strategy, where LLMs guide perception to indirectly shape driver actions. Experiments reveal that embedding HDSim into simulation improves detection of safety-critical failures in self-driving systems by up to 68% and yields realism-consistent accident interpretability.
Explaining Black-box Language Models with Knowledge Probing Systems: A Post-hoc Explanation Perspective
Venue: arXiv cs.CL 2025
Year: 2025

Pre-trained Language Models (PLMs) are trained on large amounts of unlabeled data, yet they exhibit remarkable reasoning skills. However, the trustworthiness challenges posed by these black-box models have become increasingly evident in recent years. To alleviate this problem, this paper proposes a novel Knowledge-guided Probing approach called KnowProb in a post-hoc explanation way, which aims to probe whether black-box PLMs understand implicit knowledge beyond the given text, rather than focusing only on the surface level content of the text. We provide six potential explanations derived from the underlying content of the given text, including three knowledge-based understanding and three association-based reasoning. In experiments, we validate that current small-scale (or large-scale) PLMs only learn a single distribution of representation, and still face significant challenges in capturing the hidden knowledge behind a given text. Furthermore, we demonstrate that our proposed approach is effective for identifying the limitations of existing black-box models from multiple probing perspectives, which facilitates researchers to promote the study of detecting black-box models in an explainable way.
Combating Digitally Altered Images: Deepfake Detection
Venue: arXiv cs.CV 2025
Year: 2025

The rise of Deepfake technology to generate hyper-realistic manipulated images and videos poses a significant challenge to the public and relevant authorities. This study presents a robust Deepfake detection based on a modified Vision Transformer(ViT) model, trained to distinguish between real and Deepfake images. The model has been trained on a subset of the OpenForensics Dataset with multiple augmentation techniques to increase robustness for diverse image manipulations. The class imbalance issues are handled by oversampling and a train-validation split of the dataset in a stratified manner. Performance is evaluated using the accuracy metric on the training and testing datasets, followed by a prediction score on a random image of people, irrespective of their realness. The model demonstrates state-of-the-art results on the test dataset to meticulously detect Deepfake images.
Invited Paper: FEMU: An Open-Source and Configurable Emulation Framework for Prototyping TinyAI Heterogeneous Systems
Venue: arXiv cs.AR 2025
Year: 2025

In this paper, we present the new FPGA EMUlation (FEMU), an open-source and configurable emulation framework for prototyping and evaluating TinyAI heterogeneous systems (HS). FEMU leverages the capability of system-on-chip (SoC)-based FPGAs to combine the under-development HS implemented in a reconfigurable hardware region (RH) for quick prototyping with a software environment running under a standard operating system in a control software region (CS) for supervision and communication. To evaluate our approach, we built the X-HEEP FPGA EMUlation (X-HEEP-FEMU) platform by instantiating the proposed framework with real-world hardware and software components. X-HEEP-FEMU is deployed on the Xilinx Zynq-7020 SoC and integrates the eXtendible Heterogeneous Energy Efficient Platform (X-HEEP) host in the RH, a Linux-based Python environment on the ARM Cortex-A9 CS, and energy models derived from a TSMC 65 nm CMOS silicon implementation of X-HEEP, called HEEPocrates.
Fiducial Marker Splatting for High-Fidelity Robotics Simulations
Venue: arXiv cs.CV 2025
Year: 2025

High-fidelity 3D simulation is critical for training mobile robots, but its traditional reliance on mesh-based representations often struggle in complex environments, such as densely packed greenhouses featuring occlusions and repetitive structures. Recent neural rendering methods, like Gaussian Splatting (GS), achieve remarkable visual realism but lack flexibility to incorporate fiducial markers, which are essential for robotic localization and control. We propose a hybrid framework that combines the photorealism of GS with structured marker representations. Our core contribution is a novel algorithm for efficiently generating GS-based fiducial markers (e.g., AprilTags) within cluttered scenes. Experiments show that our approach outperforms traditional image-fitting techniques in both efficiency and pose-estimation accuracy. We further demonstrate the framework's potential in a greenhouse simulation. This agricultural setting serves as a challenging testbed, as its combination of dense foliage, similar-looking elements, and occlusions pushes the limits of perception, thereby highlighting the framework's value for real-world applications.
A Rapid Iterative Trajectory Planning Method for Automated Parking through Differential Flatness
Venue: arXiv cs.RO 2025
Year: 2025

As autonomous driving continues to advance, automated parking is becoming increasingly essential. However, significant challenges arise when implementing path velocity decomposition (PVD) trajectory planning for automated parking. The primary challenge is ensuring rapid and precise collision-free trajectory planning, which is often in conflict. The secondary challenge involves maintaining sufficient control feasibility of the planned trajectory, particularly at gear shifting points (GSP). This paper proposes a PVD-based rapid iterative trajectory planning (RITP) method to solve the above challenges. The proposed method effectively balances the necessity for time efficiency and precise collision avoidance through a novel collision avoidance framework. Moreover, it enhances the overall control feasibility of the planned trajectory by incorporating the vehicle kinematics model and including terminal smoothing constraints (TSC) at GSP during path planning. Specifically, the proposed method leverages differential flatness to ensure the planned path adheres to the vehicle kinematic model. Additionally, it utilizes TSC to maintain curvature continuity at GSP, thereby enhancing the control feasibility of the overall trajectory. The simulation results demonstrate superior time efficiency and tracking errors compared to model-integrated and other iteration-based trajectory planning methods. In the real-world experiment, the proposed method was implemented and validated on a ROS-based vehicle, demonstrating the applicability of the RITP method for real vehicles.
PVNet: Point-Voxel Interaction LiDAR Scene Upsampling Via Diffusion Models
Venue: arXiv cs.CV 2025
Year: 2025

Accurate 3D scene understanding in outdoor environments heavily relies on high-quality point clouds. However, LiDAR-scanned data often suffer from extreme sparsity, severely hindering downstream 3D perception tasks. Existing point cloud upsampling methods primarily focus on individual objects, thus demonstrating limited generalization capability for complex outdoor scenes. To address this issue, we propose PVNet, a diffusion model-based point-voxel interaction framework to perform LiDAR point cloud upsampling without dense supervision. Specifically, we adopt the classifier-free guidance-based DDPMs to guide the generation, in which we employ a sparse point cloud as the guiding condition and the synthesized point clouds derived from its nearby frames as the input. Moreover, we design a voxel completion module to refine and complete the coarse voxel features for enriching the feature representation. In addition, we propose a point-voxel interaction module to integrate features from both points and voxels, which efficiently improves the environmental perception capability of each upsampled point. To the best of our knowledge, our approach is the first scene-level point cloud upsampling method supporting arbitrary upsampling rates. Extensive experiments on various benchmarks demonstrate that our method achieves state-of-the-art performance. The source code will be available at https://github.com/chengxianjing/PVNet.