pwc-archive/papers-with-abstracts huggingface dataset:
Assessing the Performance of Analog Training for Transfer Learning
Authors: Omobayode Fagbohungbe, Corey Lammie, Malte J. Rasch, Takashi Ando, Tayfun Gokmen, Vijay Narayanan
Date: 2025-05-16 00:00:00
Tasks: Transfer Learning

Analog in-memory computing is a next-generation computing paradigm that promises fast, parallel, and energy-efficient deep learning training and transfer learning (TL). However, achieving this promise has remained elusive due to a lack of suitable training algorithms. Analog memory devices exhibit asymmetric and non-linear switching behavior in addition to device-to-device variation, meaning that most, if not all, of the current off-the-shelf training algorithms cannot achieve good training outcomes. Also, recently introduced algorithms have enjoyed limited attention, as they require bi-directionally switching devices of unrealistically high symmetry and precision and are highly sensitive. A new algorithm chopped TTv2 (c-TTv2), has been introduced, which leverages the chopped technique to address many of the challenges mentioned above. In this paper, we assess the performance of the c-TTv2 algorithm for analog TL using a Swin-ViT model on a subset of the CIFAR100 dataset. We also investigate the robustness of our algorithm to changes in some device specifications, including weight transfer noise, symmetry point skew, and symmetry point variability
Planar Velocity Estimation for Fast-Moving Mobile Robots Using Event-Based Optical Flow
Authors: Liam Boyle, Jonas Kühne, Nicolas Baumann, Niklas Bastuck, Michele Magno
Date: 2025-05-16 00:00:00
Tasks: Autonomous Driving, Autonomous Racing, Event-based Optical Flow, Optical Flow Estimation

Accurate velocity estimation is critical in mobile robotics, particularly for driver assistance systems and autonomous driving. Wheel odometry fused with Inertial Measurement Unit (IMU) data is a widely used method for velocity estimation; however, it typically requires strong assumptions, such as non-slip steering, or complex vehicle dynamics models that do not hold under varying environmental conditions like slippery surfaces. We introduce an approach to velocity estimation that is decoupled from wheel-to-surface traction assumptions by leveraging planar kinematics in combination with optical flow from event cameras pointed perpendicularly at the ground. The asynchronous micro-second latency and high dynamic range of event cameras make them highly robust to motion blur, a common challenge in vision-based perception techniques for autonomous driving. The proposed method is evaluated through in-field experiments on a 1:10 scale autonomous racing platform and compared to precise motion capture data, demonstrating not only performance on par with the state-of-the-art Event-VIO method but also a 38.3 % improvement in lateral error. Qualitative experiments at highway speeds of up to 32 m/s further confirm the effectiveness of our approach, indicating significant potential for real-world deployment.
What's Inside Your Diffusion Model? A Score-Based Riemannian Metric to Explore the Data Manifold
Authors: Simone Azeglio, Arianna Di Bernardo
Date: 2025-05-16 00:00:00
Tasks: Navigate, Rotated MNIST

Recent advances in diffusion models have demonstrated their remarkable ability to capture complex image distributions, but the geometric properties of the learned data manifold remain poorly understood. We address this gap by introducing a score-based Riemannian metric that leverages the Stein score function from diffusion models to characterize the intrinsic geometry of the data manifold without requiring explicit parameterization. Our approach defines a metric tensor in the ambient space that stretches distances perpendicular to the manifold while preserving them along tangential directions, effectively creating a geometry where geodesics naturally follow the manifold's contours. We develop efficient algorithms for computing these geodesics and demonstrate their utility for both interpolation between data points and extrapolation beyond the observed data distribution. Through experiments on synthetic data with known geometry, Rotated MNIST, and complex natural images via Stable Diffusion, we show that our score-based geodesics capture meaningful transformations that respect the underlying data distribution. Our method consistently outperforms baseline approaches on perceptual metrics (LPIPS) and distribution-level metrics (FID, KID), producing smoother, more realistic image transitions. These results reveal the implicit geometric structure learned by diffusion models and provide a principled way to navigate the manifold of natural images through the lens of Riemannian geometry.
Towards Robust Spiking Neural Networks:Mitigating Heterogeneous Training Vulnerability via Dominant Eigencomponent Projection
Authors: Desong Zhang, Jia Hu, Geyong Min
Date: 2025-05-16 00:00:00
Tasks: Data Poisoning

Spiking Neural Networks (SNNs) process information via discrete spikes, enabling them to operate at remarkably low energy levels. However, our experimental observations reveal a striking vulnerability when SNNs are trained using the mainstream method--direct encoding combined with backpropagation through time (BPTT): even a single backward pass on data drawn from a slightly different distribution can lead to catastrophic network collapse. Our theoretical analysis attributes this vulnerability to the repeated inputs inherent in direct encoding and the gradient accumulation characteristic of BPTT, which together produce an exceptional large Hessian spectral radius. To address this challenge, we develop a hyperparameter-free method called Dominant Eigencomponent Projection (DEP). By orthogonally projecting gradients to precisely remove their dominant components, DEP effectively reduces the Hessian spectral radius, thereby preventing SNNs from settling into sharp minima. Extensive experiments demonstrate that DEP not only mitigates the vulnerability of SNNs to heterogeneous data poisoning, but also significantly enhances overall robustness compared to key baselines, providing strong support for safer and more reliable SNN deployment.
Open-Source Multi-Viewpoint Surgical Telerobotics
Authors: Guido Caccianiga, Yarden Sharon, Bernard Javot, Senya Polikovsky, Gökce Ergün, Ivan Capobianco, André L. Mihaljevic, Anton Deguet, Katherine J. Kuchenbecker
Date: 2025-05-16 00:00:00
Tasks: Anatomy

As robots for minimally invasive surgery (MIS) gradually become more accessible and modular, we believe there is a great opportunity to rethink and expand the visualization and control paradigms that have characterized surgical teleoperation since its inception. We conjecture that introducing one or more additional adjustable viewpoints in the abdominal cavity would not only unlock novel visualization and collaboration strategies for surgeons but also substantially boost the robustness of machine perception toward shared autonomy. Immediate advantages include controlling a second viewpoint and teleoperating surgical tools from a different perspective, which would allow collaborating surgeons to adjust their views independently and still maneuver their robotic instruments intuitively. Furthermore, we believe that capturing synchronized multi-view 3D measurements of the patient's anatomy would unlock advanced scene representations. Accurate real-time intraoperative 3D perception will allow algorithmic assistants to directly control one or more robotic instruments and/or robotic cameras. Toward these goals, we are building a synchronized multi-viewpoint, multi-sensor robotic surgery system by integrating high-performance vision components and upgrading the da Vinci Research Kit control logic. This short paper reports a functional summary of our setup and elaborates on its potential impacts in research and future clinical practice. By fully open-sourcing our system, we will enable the research community to reproduce our setup, improve it, and develop powerful algorithms, effectively boosting clinical translation of cutting-edge research.
Recent Advances in Diffusion Models for Hyperspectral Image Processing and Analysis: A Review
Authors: Xing Hu, Xiangcheng Liu, Danfeng Hong, Qianqian Duan, Linghua Jiang, Haima Yang, Dawei Zhan
Date: 2025-05-16 00:00:00
Tasks: Anomaly Detection, Denoising, Hyperspectral image analysis

Hyperspectral image processing and analysis has important application value in remote sensing, agriculture and environmental monitoring, but its high dimensionality, data redundancy and noise interference etc. bring great challenges to the analysis. Traditional models have limitations in dealing with these complex data, and it is difficult to meet the increasing demand for analysis. In recent years, Diffusion models, as a class of emerging generative approaches, have demonstrated promising capabilities in hyperspectral image (HSI) processing tasks. By simulating the diffusion process of data in time, the Diffusion Model are capable of modeling high-dimensional spectral structures, generate high-quality samples, and achieve competitive performance in spectral-spatial denoising tasks and data enhancement. In this paper, we review the recent research advances in diffusion modeling for hyperspectral image processing and analysis, and discuss its applications in tasks such as high-dimensional data processing, noise removal, classification, and anomaly detection. The performance of diffusion-based models on image processing is compared and the challenges are summarized. It is shown that the diffusion model can significantly improve the accuracy and efficiency of hyperspectral image analysis, providing a new direction for future research.
Maximizing Asynchronicity in Event-based Neural Networks
Authors: Haiqing Hao, Nikola Zubić, Weihua He, Zhipeng Sui, Davide Scaramuzza, Wenhui Wang
Date: 2025-05-16 00:00:00
Tasks: Event-based vision, Language Modeling, Language Modelling, Representation Learning, Self-Supervised Learning

Event cameras deliver visual data with high temporal resolution, low latency, and minimal redundancy, yet their asynchronous, sparse sequential nature challenges standard tensor-based machine learning (ML). While the recent asynchronous-to-synchronous (A2S) paradigm aims to bridge this gap by asynchronously encoding events into learned representations for ML pipelines, existing A2S approaches often sacrifice representation expressivity and generalizability compared to dense, synchronous methods. This paper introduces EVA (EVent Asynchronous representation learning), a novel A2S framework to generate highly expressive and generalizable event-by-event representations. Inspired by the analogy between events and language, EVA uniquely adapts advances from language modeling in linear attention and self-supervised learning for its construction. In demonstration, EVA outperforms prior A2S methods on recognition tasks (DVS128-Gesture and N-Cars), and represents the first A2S framework to successfully master demanding detection tasks, achieving a remarkable 47.7 mAP on the Gen1 dataset. These results underscore EVA's transformative potential for advancing real-time event-based vision applications.
Seeing Sound, Hearing Sight: Uncovering Modality Bias and Conflict of AI models in Sound Localization
Authors: Yanhao Jia, Ji Xie, S Jivaganesh, Hao Li, Xu Wu, Mengmi Zhang
Date: 2025-05-16 00:00:00

Imagine hearing a dog bark and turning toward the sound only to see a parked car, while the real, silent dog sits elsewhere. Such sensory conflicts test perception, yet humans reliably resolve them by prioritizing sound over misleading visuals. Despite advances in multimodal AI integrating vision and audio, little is known about how these systems handle cross-modal conflicts or whether they favor one modality. In this study, we systematically examine modality bias and conflict resolution in AI sound localization. We assess leading multimodal models and benchmark them against human performance in psychophysics experiments across six audiovisual conditions, including congruent, conflicting, and absent cues. Humans consistently outperform AI, demonstrating superior resilience to conflicting or missing visuals by relying on auditory information. In contrast, AI models often default to visual input, degrading performance to near chance levels. To address this, we finetune a state-of-the-art model using a stereo audio-image dataset generated via 3D simulations. Even with limited training data, the refined model surpasses existing benchmarks. Notably, it also mirrors human-like horizontal localization bias favoring left-right precision-likely due to the stereo audio structure reflecting human ear placement. These findings underscore how sensory input quality and system architecture shape multimodal representation accuracy.
From Fibers to Cells: Fourier-Based Registration Enables Virtual Cresyl Violet Staining From 3D Polarized Light Imaging
Authors: Alexander Oberstrass, Esteban Vaca, Eric Upschulte, Meiqi Niu, Nicola Palomero-Gallagher, David Graessel, Christian Schiffer, Markus Axer, Katrin Amunts, Timo Dickscheid
Date: 2025-05-16 00:00:00
Tasks: Image-to-Image Translation, Virtual Staining

Comprehensive assessment of the various aspects of the brain's microstructure requires the use of complementary imaging techniques. This includes measuring the spatial distribution of cell bodies (cytoarchitecture) and nerve fibers (myeloarchitecture). The gold standard for cytoarchitectonic analysis is light microscopic imaging of cell-body stained tissue sections. To reveal the 3D orientations of nerve fibers, 3D Polarized Light Imaging (3D-PLI) has been introduced as a reliable technique providing a resolution in the micrometer range while allowing processing of series of complete brain sections. 3D-PLI acquisition is label-free and allows subsequent staining of sections after measurement. By post-staining for cell bodies, a direct link between fiber- and cytoarchitecture can potentially be established within the same section. However, inevitable distortions introduced during the staining process make a nonlinear and cross-modal registration necessary in order to study the detailed relationships between cells and fibers in the images. In addition, the complexity of processing histological sections for post-staining only allows for a limited number of samples. In this work, we take advantage of deep learning methods for image-to-image translation to generate a virtual staining of 3D-PLI that is spatially aligned at the cellular level. In a supervised setting, we build on a unique dataset of brain sections, to which Cresyl violet staining has been applied after 3D-PLI measurement. To ensure high correspondence between both modalities, we address the misalignment of training data using Fourier-based registration methods. In this way, registration can be efficiently calculated during training for local image patches of target and predicted staining. We demonstrate that the proposed method enables prediction of a Cresyl violet staining from 3D-PLI, matching individual cell instances.
Visual Planning: Let's Think Only with Images
Authors: Yi Xu, Chengzu Li, Han Zhou, Xingchen Wan, Caiqi Zhang, Anna Korhonen, Ivan Vulić
Date: 2025-05-16 00:00:00
Tasks: reinforcement-learning, Reinforcement Learning, Visual Navigation

Recent advancements in Large Language Models (LLMs) and their multimodal extensions (MLLMs) have substantially enhanced machine reasoning across diverse tasks. However, these models predominantly rely on pure text as the medium for both expressing and structuring reasoning, even when visual information is present. In this work, we argue that language may not always be the most natural or effective modality for reasoning, particularly in tasks involving spatial and geometrical information. Motivated by this, we propose a new paradigm, Visual Planning, which enables planning through purely visual representations, independent of text. In this paradigm, planning is executed via sequences of images that encode step-by-step inference in the visual domain, akin to how humans sketch or visualize future actions. We introduce a novel reinforcement learning framework, Visual Planning via Reinforcement Learning (VPRL), empowered by GRPO for post-training large vision models, leading to substantial improvements in planning in a selection of representative visual navigation tasks, FrozenLake, Maze, and MiniBehavior. Our visual planning paradigm outperforms all other planning variants that conduct reasoning in the text-only space. Our results establish Visual Planning as a viable and promising alternative to language-based reasoning, opening new avenues for tasks that benefit from intuitive, image-based inference.
Exploiting Radiance Fields for Grasp Generation on Novel Synthetic Views
Authors: Abhishek Kashyap, Henrik Andreasson, Todor Stoyanov
Date: 2025-05-16 00:00:00
Tasks: Grasp Generation, Novel View Synthesis, Robot Manipulation

Vision based robot manipulation uses cameras to capture one or more images of a scene containing the objects to be manipulated. Taking multiple images can help if any object is occluded from one viewpoint but more visible from another viewpoint. However, the camera has to be moved to a sequence of suitable positions for capturing multiple images, which requires time and may not always be possible, due to reachability constraints. So while additional images can produce more accurate grasp poses due to the extra information available, the time-cost goes up with the number of additional views sampled. Scene representations like Gaussian Splatting are capable of rendering accurate photorealistic virtual images from user-specified novel viewpoints. In this work, we show initial results which indicate that novel view synthesis can provide additional context in generating grasp poses. Our experiments on the Graspnet-1billion dataset show that novel views contributed force-closure grasps in addition to the force-closure grasps obtained from sparsely sampled real views while also improving grasp coverage. In the future we hope this work can be extended to improve grasp extraction from radiance fields constructed with a single input image, using for example diffusion models or generalizable radiance fields.
HiFlow: Training-free High-Resolution Image Generation with Flow-Aligned Guidance
Authors: Jiazi Bu, Pengyang Ling, Yujie Zhou, Pan Zhang, Tong Wu, Xiaoyi Dong, Yuhang Zang, Yuhang Cao, Dahua Lin, Jiaqi Wang
Date: 2025-04-08 00:00:00
Tasks: Image Generation

Text-to-image (T2I) diffusion/flow models have drawn considerable attention recently due to their remarkable ability to deliver flexible visual creations. Still, high-resolution image synthesis presents formidable challenges due to the scarcity and complexity of high-resolution content. Recent approaches have investigated training-free strategies to enable high-resolution image synthesis with pre-trained models. However, these techniques often struggle with generating high-quality visuals and tend to exhibit artifacts or low-fidelity details, as they typically rely solely on the endpoint of the low-resolution sampling trajectory while neglecting intermediate states that are critical for preserving structure and synthesizing finer detail. To this end, we present HiFlow, a training-free and model-agnostic framework to unlock the resolution potential of pre-trained flow models. Specifically, HiFlow establishes a virtual reference flow within the high-resolution space that effectively captures the characteristics of low-resolution flow information, offering guidance for high-resolution generation through three key aspects: initialization alignment for low-frequency consistency, direction alignment for structure preservation, and acceleration alignment for detail fidelity. By leveraging such flow-aligned guidance, HiFlow substantially elevates the quality of high-resolution image synthesis of T2I models and demonstrates versatility across their personalized variants. Extensive experiments validate HiFlow's capability in achieving superior high-resolution image quality over state-of-the-art methods.
DARTer: Dynamic Adaptive Representation Tracker for Nighttime UAV Tracking
Authors: Xuzhao Li, Xuchen Li, Shiyu Hu
Date: 2025-05-01 00:00:00
Tasks: Domain Adaptation

Nighttime UAV tracking presents significant challenges due to extreme illumination variations and viewpoint changes, which severely degrade tracking performance. Existing approaches either rely on light enhancers with high computational costs or introduce redundant domain adaptation mechanisms, failing to fully utilize the dynamic features in varying perspectives. To address these issues, we propose \textbf{DARTer} (\textbf{D}ynamic \textbf{A}daptive \textbf{R}epresentation \textbf{T}racker), an end-to-end tracking framework designed for nighttime UAV scenarios. DARTer leverages a Dynamic Feature Blender (DFB) to effectively fuse multi-perspective nighttime features from static and dynamic templates, enhancing representation robustness. Meanwhile, a Dynamic Feature Activator (DFA) adaptively activates Vision Transformer layers based on extracted features, significantly improving efficiency by reducing redundant computations. Our model eliminates the need for complex multi-task loss functions, enabling a streamlined training process. Extensive experiments on multiple nighttime UAV tracking benchmarks demonstrate the superiority of DARTer over state-of-the-art trackers. These results confirm that DARTer effectively balances tracking accuracy and efficiency, making it a promising solution for real-world nighttime UAV tracking applications.
Explain What You Mean: Intent Augmented Knowledge Graph Recommender Built With An LLM
Authors: Wenqing Zheng, Noah Fatsi, Daniel Barcklow, Dmitri Kalaev, Steven Yao, Owen Reinert, C. Bayan Bruss, Daniele Rosa
Date: 2025-05-16 00:00:00
Tasks: Knowledge Graphs, Large Language Model, Recommendation Systems, Retrieval-augmented Generation

Interaction sparsity is a long-standing challenge in recommendation systems. Sparsity manifests in environments with disproportional cardinality of groupings of entities, such as users and products in an online marketplace. It is also found for newly introduced entities, described as the cold-start problem. Recent efforts to mitigate this issue either enrich the connectivity data by incorporating social networks or external knowledge graphs, or fine-tune LLMs into interaction augmenters or next-item recommenders. However, these techniques tend to be resource demanding, requiring high computational power. They also have several limitations, including data availability, low quality, or synthetic noise issues. In this work, we propose LLM-based Intent Knowledge Graph Recommender (IKGR), a novel framework that leverages retrieval-augmented generation and an encoding approach to construct and densify a knowledge graph. IKGR leverages latent user-item affinities from an interaction knowledge graph and further densifies it through mutual intent connectivity. This addresses sparsity issues and allows the model to make intent-grounded recommendations with an interpretable embedding translation layer. Through extensive experiments on real-world datasets, we demonstrate that IKGR overcomes knowledge gaps and achieves substantial gains over state-of-the-art baselines on both publicly available and our internal recommendation datasets.