pwc-archive/papers-with-abstracts huggingface dataset:
LANGTRAJ: Diffusion Model and Dataset for Language-Conditioned Trajectory Simulation
Authors: Wei-Jer Chang, Wei Zhan, Masayoshi Tomizuka, Manmohan Chandraker, Francesco Pittaluga
Date: 2025-04-15 00:00:00
Tasks: Autonomous Vehicles, counterfactual

Evaluating autonomous vehicles with controllability enables scalable testing in counterfactual or structured settings, enhancing both efficiency and safety. We introduce LangTraj, a language-conditioned scene-diffusion model that simulates the joint behavior of all agents in traffic scenarios. By conditioning on natural language inputs, LangTraj provides flexible and intuitive control over interactive behaviors, generating nuanced and realistic scenarios. Unlike prior approaches that depend on domain-specific guidance functions, LangTraj incorporates language conditioning during training, facilitating more intuitive traffic simulation control. We propose a novel closed-loop training strategy for diffusion models, explicitly tailored to enhance stability and realism during closed-loop simulation. To support language-conditioned simulation, we develop Inter-Drive, a large-scale dataset with diverse and interactive labels for training language-conditioned diffusion models. Our dataset is built upon a scalable pipeline for annotating agent-agent interactions and single-agent behaviors, ensuring rich and varied supervision. Validated on the Waymo Motion Dataset, LangTraj demonstrates strong performance in realism, language controllability, and language-conditioned safety-critical simulation, establishing a new paradigm for flexible and scalable autonomous vehicle testing.
Enhancing Autonomous Driving Systems with On-Board Deployed Large Language Models
Authors: Nicolas Baumann, Cheng Hu, Paviththiren Sivasothilingam, Haotong Qin, Lei Xie, Michele Magno, Luca Benini
Date: 2025-04-15 00:00:00
Tasks: Autonomous Driving, Computational Efficiency, Decision Making, Quantization, RAG, Retrieval-augmented Generation

Neural Networks (NNs) trained through supervised learning struggle with managing edge-case scenarios common in real-world driving due to the intractability of exhaustive datasets covering all edge-cases, making knowledge-driven approaches, akin to how humans intuitively detect unexpected driving behavior, a suitable complement to data-driven methods. This work proposes a hybrid architecture combining low-level Model Predictive Controller (MPC) with locally deployed Large Language Models (LLMs) to enhance decision-making and Human Machine Interaction (HMI). The DecisionxLLM module evaluates robotic state information against natural language instructions to ensure adherence to desired driving behavior. The MPCxLLM module then adjusts MPC parameters based on LLM-generated insights, achieving control adaptability while preserving the safety and constraint guarantees of traditional MPC systems. Further, to enable efficient on-board deployment and to eliminate dependency on cloud connectivity, we shift processing to the on-board computing platform: We propose an approach that exploits Retrieval Augmented Generation (RAG), Low Rank Adaptation (LoRA) fine-tuning, and quantization. Experimental results demonstrate that these enhancements yield significant improvements in reasoning accuracy by up to 10.45%, control adaptability by as much as 52.2%, and up to 10.5x increase in computational efficiency (tokens/s), validating the proposed framework's practicality for real-time deployment even on down-scaled robotic platforms. This work bridges high-level decision-making with low-level control adaptability, offering a synergistic framework for knowledge-driven and adaptive Autonomous Driving Systems (ADS).
Cross-cultural Deployment of Autonomous Vehicles Using Data-light Inverse Reinforcement Learning
Authors: Hongliang Lu, Shuqi Shen, Junjie Yang, Chao Lu, Xinhu Zheng, Hai Yang
Date: 2025-04-15 00:00:00
Tasks: Autonomous Vehicles

More than the adherence to specific traffic regulations, driving culture touches upon a more implicit part - an informal, conventional, collective behavioral pattern followed by drivers - that varies across countries, regions, and even cities. Such cultural divergence has become one of the biggest challenges in deploying autonomous vehicles (AVs) across diverse regions today. The current emergence of data-driven methods has shown a potential solution to enable culture-compatible driving through learning from data, but what if some underdeveloped regions cannot provide sufficient local data to inform driving culture? This issue is particularly significant for a broader global AV market. Here, we propose a cross-cultural deployment scheme for AVs, called data-light inverse reinforcement learning, designed to re-calibrate culture-specific AVs and assimilate them into other cultures. First, we report the divergence in driving cultures through a comprehensive comparative analysis of naturalistic driving datasets on highways from three countries: Germany, China, and the USA. Then, we demonstrate the effectiveness of our scheme by testing the expeditious cross-cultural deployment across these three countries, with cumulative testing mileage of over 56084 km. The performance is particularly advantageous when cross-cultural deployment is carried out without affluent local data. Results show that we can reduce the dependence on local data by a margin of 98.67% at best. This study is expected to bring a broader, fairer AV global market, particularly in those regions that lack enough local data to develop culture-compatible AVs.
Probabilistic Task Parameterization of Tool-Tissue Interaction via Sparse Landmarks Tracking in Robotic Surgery
Authors: Yiting Wang, Yunxin Fan, Fei Liu
Date: 2025-04-14 00:00:00

Accurate modeling of tool-tissue interactions in robotic surgery requires precise tracking of deformable tissues and integration of surgical domain knowledge. Traditional methods rely on labor-intensive annotations or rigid assumptions, limiting flexibility. We propose a framework combining sparse keypoint tracking and probabilistic modeling that propagates expert-annotated landmarks across endoscopic frames, even with large tissue deformations. Clustered tissue keypoints enable dynamic local transformation construction via PCA, and tool poses, tracked similarly, are expressed relative to these frames. Embedding these into a Task-Parameterized Gaussian Mixture Model (TP-GMM) integrates data-driven observations with labeled clinical expertise, effectively predicting relative tool-tissue poses and enhancing visual understanding of robotic surgical motions directly from video data.
Toward Aligning Human and Robot Actions via Multi-Modal Demonstration Learning
Authors: Azizul Zahid, Jie Fan, Farong Wang, Ashton Dy, Sai Swaminathan, Fei Liu
Date: 2025-04-14 00:00:00
Tasks: Decision Making, Imitation Learning

Understanding action correspondence between humans and robots is essential for evaluating alignment in decision-making, particularly in human-robot collaboration and imitation learning within unstructured environments. We propose a multimodal demonstration learning framework that explicitly models human demonstrations from RGB video with robot demonstrations in voxelized RGB-D space. Focusing on the "pick and place" task from the RH20T dataset, we utilize data from 5 users across 10 diverse scenes. Our approach combines ResNet-based visual encoding for human intention modeling and a Perceiver Transformer for voxel-based robot action prediction. After 2000 training epochs, the human model reaches 71.67% accuracy, and the robot model achieves 71.8% accuracy, demonstrating the framework's potential for aligning complex, multimodal human and robot behaviors in manipulation tasks.
AUTONAV: A Toolfor Autonomous Navigation of Robots
Authors: Mir Md Sajid Sarwar, Sudip Samanta, Rajarshi Ray
Date: 2025-04-10 00:00:00
Tasks: Autonomous Navigation

We present a tool AUTONAV that automates the mapping, localization, and path-planning tasks for autonomous navigation of robots. The modular architecture allows easy integration of various algorithms for these tasks for comparison. We present the generated maps and path-plans by AUTONAV in indoor simulation scenarios.
Geometric Generality of Transformer-Based Gröbner Basis Computation
Authors: Yuta Kambe, Yota Maeda, Tristan Vaccon
Date: 2025-04-16 00:00:00
Tasks: Dataset Generation

The intersection of deep learning and symbolic mathematics has seen rapid progress in recent years, exemplified by the work of Lample and Charton. They demonstrated that effective training of machine learning models for solving mathematical problems critically depends on high-quality, domain-specific datasets. In this paper, we address the computation of Gr\"obner basis using Transformers. While a dataset generation method tailored to Transformer-based Gr\"obner basis computation has previously been proposed, it lacked theoretical guarantees regarding the generality or quality of the generated datasets. In this work, we prove that datasets generated by the previously proposed algorithm are sufficiently general, enabling one to ensure that Transformers can learn a sufficiently diverse range of Gr\"obner bases. Moreover, we propose an extended and generalized algorithm to systematically construct datasets of ideal generators, further enhancing the training effectiveness of Transformer. Our results provide a rigorous geometric foundation for Transformers to address a mathematical problem, which is an answer to Lample and Charton's idea of training on diverse or representative inputs.
A Multi-task Learning Balanced Attention Convolutional Neural Network Model for Few-shot Underwater Acoustic Target Recognition
Authors: Wei Huang, Shumeng Sun, Junpeng Lu, Zhenpeng Xu, Zhengyang Xiu, Hao Zhang
Date: 2025-04-17 00:00:00
Tasks: Multi-Task Learning

Underwater acoustic target recognition (UATR) is of great significance for the protection of marine diversity and national defense security. The development of deep learning provides new opportunities for UATR, but faces challenges brought by the scarcity of reference samples and complex environmental interference. To address these issues, we proposes a multi-task balanced channel attention convolutional neural network (MT-BCA-CNN). The method integrates a channel attention mechanism with a multi-task learning strategy, constructing a shared feature extractor and multi-task classifiers to jointly optimize target classification and feature reconstruction tasks. The channel attention mechanism dynamically enhances discriminative acoustic features such as harmonic structures while suppressing noise. Experiments on the Watkins Marine Life Dataset demonstrate that MT-BCA-CNN achieves 97\% classification accuracy and 95\% $F1$-score in 27-class few-shot scenarios, significantly outperforming traditional CNN and ACNN models, as well as popular state-of-the-art UATR methods. Ablation studies confirm the synergistic benefits of multi-task learning and attention mechanisms, while a dynamic weighting adjustment strategy effectively balances task contributions. This work provides an efficient solution for few-shot underwater acoustic recognition, advancing research in marine bioacoustics and sonar signal processing.
Can Masked Autoencoders Also Listen to Birds?
Authors: Lukas Rauch, René Heinrich, Ilyass Moummad, Alexis Joly, Bernhard Sick, Christoph Scholz
Date: 2025-04-17 00:00:00
Tasks: Audio Classification, Multi-Label Classification, MUlTI-LABEL-ClASSIFICATION, Self-Supervised Learning, Sound Classification

Masked Autoencoders (MAEs) have shown competitive results in audio classification by learning rich semantic representations through an efficient self-supervised reconstruction task. However, general-purpose models fail to generalize well when applied directly to fine-grained audio domains. Specifically, bird-sound classification requires distinguishing subtle inter-species differences and managing high intra-species acoustic variability, thereby revealing the performance limitations of general-domain Audio-MAE models. This work demonstrates that bridging this domain gap requires more than domain-specific pretraining data; adapting the entire training pipeline is crucial. We systematically revisit and adapt the pretraining recipe, fine-tuning methods, and frozen feature utilization to bird sounds using BirdSet, a large-scale bioacoustic dataset comparable to AudioSet. Our resulting Bird-MAE achieves new state-of-the-art results in BirdSet's multi-label classification benchmark. Additionally, we introduce the parameter-efficient prototypical probing, enhancing the utility of frozen MAE representations and closely approaching fine-tuning performance in low-resource settings. Bird-MAE's prototypical probes outperform linear probing by up to 37%$_\text{p}$ in MAP and narrow the gap to fine-tuning to approximately 3.3%$_\text{p}$ on average across BirdSet downstream tasks. Bird-MAE also demonstrates robust few-shot capabilities with prototypical probing in our newly established few-shot benchmark on BirdSet, highlighting the potential of tailored self-supervised learning pipelines for fine-grained audio domains.
Temporal Attention Pooling for Frequency Dynamic Convolution in Sound Event Detection
Authors: Hyeonuk Nam, Yong-Hwa Park
Date: 2025-04-17 00:00:00
Tasks: Event Detection, Sound Event Detection

Recent advances in deep learning, particularly frequency dynamic convolution (FDY conv), have significantly improved sound event detection (SED) by enabling frequency-adaptive feature extraction. However, FDY conv relies on temporal average pooling, which treats all temporal frames equally, limiting its ability to capture transient sound events such as alarm bells, door knocks, and speech plosives. To address this limitation, we propose temporal attention pooling frequency dynamic convolution (TFD conv) to replace temporal average pooling with temporal attention pooling (TAP). TAP adaptively weights temporal features through three complementary mechanisms: time attention pooling (TA) for emphasizing salient features, velocity attention pooling (VA) for capturing transient changes, and conventional average pooling for robustness to stationary signals. Ablation studies show that TFD conv improves average PSDS1 by 3.02% over FDY conv with only a 14.8% increase in parameter count. Classwise ANOVA and Tukey HSD analysis further demonstrate that TFD conv significantly enhances detection performance for transient-heavy events, outperforming existing FDY conv models. Notably, TFD conv achieves a maximum PSDS1 score of 0.456, surpassing previous state-of-the-art SED systems. We also explore the compatibility of TAP with other FDY conv variants, including dilated FDY conv (DFD conv), partial FDY conv (PFD conv), and multi-dilated FDY conv (MDFD conv). Among these, the integration of TAP with MDFD conv achieves the best result with a PSDS1 score of 0.459, validating the complementary strengths of temporal attention and multi-scale frequency adaptation. These findings establish TFD conv as a powerful and generalizable framework for enhancing both transient sensitivity and overall feature robustness in SED.
Dysarthria Normalization via Local Lie Group Transformations for Robust ASR
Authors: Mikhail Osipov
Date: 2025-04-16 00:00:00
Tasks: Robust Speech Recognition, speech-recognition, Speech Recognition, Zero-shot Generalization

We present a geometry-driven method for normalizing dysarthric speech by modeling time, frequency, and amplitude distortions as smooth, local Lie group transformations of spectrograms. Scalar fields generate these deformations via exponential maps, and a neural network is trained - using only synthetically warped healthy speech - to infer the fields and apply an approximate inverse at test time. We introduce a spontaneous-symmetry-breaking (SSB) potential that encourages the model to discover non-trivial field configurations. On real pathological speech, the system delivers consistent gains: up to 17 percentage-point WER reduction on challenging TORGO utterances and a 16 percent drop in WER variance, with no degradation on clean CommonVoice data. Character and phoneme error rates improve in parallel, confirming linguistic relevance. Our results demonstrate that geometrically structured warping provides consistent, zero-shot robustness gains for dysarthric ASR.
Voice Conversion with Diverse Intonation using Conditional Variational Auto-Encoder
Authors: Soobin Suh, Dabi Ahn, Heewoong Park, Jonghun Park
Date: 2025-04-16 00:00:00
Tasks: Diversity, Voice Conversion

Voice conversion is a task of synthesizing an utterance with target speaker's voice while maintaining linguistic information of the source utterance. While a speaker can produce varying utterances from a single script with different intonations, conventional voice conversion models were limited to producing only one result per source input. To overcome this limitation, we propose a novel approach for voice conversion with diverse intonations using conditional variational autoencoder (CVAE). Experiments have shown that the speaker's style feature can be mapped into a latent space with Gaussian distribution. We have also been able to convert voices with more diverse intonation by making the posterior of the latent space more complex with inverse autoregressive flow (IAF). As a result, the converted voice not only has a diversity of intonations, but also has better sound quality than the model without CVAE.
Edge Intelligence for Wildlife Conservation: Real-Time Hornbill Call Classification Using TinyML
Authors: Kong Ka Hing, Mehran Behjati
Date: 2025-04-03 00:00:00
Tasks: Edge-computing, speech-recognition, Speech Recognition

Hornbills, an iconic species of Malaysia's biodiversity, face threats from habi-tat loss, poaching, and environmental changes, necessitating accurate and real-time population monitoring that is traditionally challenging and re-source intensive. The emergence of Tiny Machine Learning (TinyML) offers a chance to transform wildlife monitoring by enabling efficient, real-time da-ta analysis directly on edge devices. Addressing the challenge of wildlife conservation, this research paper explores the pivotal role of machine learn-ing, specifically TinyML, in the classification and monitoring of hornbill calls in Malaysia. Leveraging audio data from the Xeno-canto database, the study aims to develop a speech recognition system capable of identifying and classifying hornbill vocalizations. The proposed methodology involves pre-processing the audio data, extracting features using Mel-Frequency Energy (MFE), and deploying the model on an Arduino Nano 33 BLE, which is adept at edge computing. The research encompasses foundational work, in-cluding a comprehensive introduction, literature review, and methodology. The model is trained using Edge Impulse and validated through real-world tests, achieving high accuracy in hornbill species identification. The project underscores the potential of TinyML for environmental monitoring and its broader application in ecological conservation efforts, contributing to both the field of TinyML and wildlife conservation.
Code Copycat Conundrum: Demystifying Repetition in LLM-based Code Generation
Authors: Mingwei Liu, Juntao Li, Ying Wang, Xueying Du, Zuoyu Ou, Qiuyuan Chen, Bingxu An, Zhao Wei, Yong Xu, Fangming Zou, Xin Peng, Yiling Lou
Date: 2025-04-17 00:00:00
Tasks: Code Generation

Despite recent advances in Large Language Models (LLMs) for code generation, the quality of LLM-generated code still faces significant challenges. One significant issue is code repetition, which refers to the model's tendency to generate structurally redundant code, resulting in inefficiencies and reduced readability. To address this, we conduct the first empirical study to investigate the prevalence and nature of repetition across 19 state-of-the-art code LLMs using three widely-used benchmarks. Our study includes both quantitative and qualitative analyses, revealing that repetition is pervasive and manifests at various granularities and extents, including character, statement, and block levels. We further summarize a taxonomy of 20 repetition patterns. Building on our findings, we propose DeRep, a rule-based technique designed to detect and mitigate repetition in generated code. We evaluate DeRep using both open-source benchmarks and in an industrial setting. Our results demonstrate that DeRep significantly outperforms baselines in reducing repetition (with an average improvements of 91.3%, 93.5%, and 79.9% in rep-3, rep-line, and sim-line metrics) and enhancing code quality (with a Pass@1 increase of 208.3% over greedy search). Furthermore, integrating DeRep improves the performance of existing repetition mitigation methods, with Pass@1 improvements ranging from 53.7% to 215.7%.
The Hitchhiker's Guide to Program Analysis, Part II: Deep Thoughts by LLMs
Authors: Haonan Li, Hang Zhang, Kexin Pei, Zhiyun Qian
Date: 2025-04-16 00:00:00
Tasks: Vulnerability Detection

Static analysis plays a crucial role in software vulnerability detection, yet faces a persistent precision-scalability tradeoff. In large codebases like the Linux kernel, traditional static analysis tools often generate excessive false positives due to simplified vulnerability modeling and overapproximation of path and data constraints. While large language models (LLMs) demonstrate promising code understanding capabilities, their direct application to program analysis remains unreliable due to inherent reasoning limitations. We introduce BugLens, a post-refinement framework that significantly enhances static analysis precision for bug detection. BugLens guides LLMs through structured reasoning steps to assess security impact and validate constraints from the source code. When evaluated on Linux kernel taint-style bugs detected by static analysis tools, BugLens improves precision approximately 7-fold (from 0.10 to 0.72), substantially reducing false positives while uncovering four previously unreported vulnerabilities. Our results demonstrate that a well-structured, fully automated LLM-based workflow can effectively complement and enhance traditional static analysis techniques.
Software Engineering Principles for Fairer Systems: Experiments with GroupCART
Authors: Kewen Peng, Hao Zhuo, Yicheng Yang, Tim Menzies
Date: 2025-04-17 00:00:00
Tasks: Attribute, Fairness

Discrimination-aware classification aims to make accurate predictions while satisfying fairness constraints. Traditional decision tree learners typically optimize for information gain in the target attribute alone, which can result in models that unfairly discriminate against protected social groups (e.g., gender, ethnicity). Motivated by these shortcomings, we propose GroupCART, a tree-based ensemble optimizer that avoids bias during model construction by optimizing not only for decreased entropy in the target attribute but also for increased entropy in protected attributes. Our experiments show that GroupCART achieves fairer models without data transformation and with minimal performance degradation. Furthermore, the method supports customizable weighting, offering a smooth and flexible trade-off between predictive performance and fairness based on user requirements. These results demonstrate that algorithmic bias in decision tree models can be mitigated through multi-task, fairness-aware learning. All code and datasets used in this study are available at: https://github.com/anonymous12138/groupCART.
Themisto: Jupyter-Based Runtime Benchmark
Authors: Konstantin Grotov, Sergey Titov
Date: 2025-04-16 00:00:00
Tasks: Code Generation

In this work, we present a benchmark that consists of Jupyter notebooks development trajectories and allows measuring how large language models (LLMs) can leverage runtime information for predicting code output and code generation. We demonstrate that the current generation of LLMs performs poorly on these tasks and argue that there exists a significantly understudied domain in the development of code-based models, which involves incorporating the runtime context.