pwc-archive/papers-with-abstracts huggingface dataset:
Learning Efficient and Generalizable Graph Retriever for Knowledge-Graph Question Answering
Authors: Tianjun Yao, Haoxuan Li, Zhiqiang Shen, Pan Li, Tongliang Liu, Kun Zhang
Date: 2025-06-11 00:00:00
Tasks: Graph Question Answering, Knowledge Graphs, Question Answering, RAG, Retrieval, Retrieval-augmented Generation

Large Language Models (LLMs) have shown strong inductive reasoning ability across various domains, but their reliability is hindered by the outdated knowledge and hallucinations. Retrieval-Augmented Generation mitigates these issues by grounding LLMs with external knowledge; however, most existing RAG pipelines rely on unstructured text, limiting interpretability and structured reasoning. Knowledge graphs, which represent facts as relational triples, offer a more structured and compact alternative. Recent studies have explored integrating knowledge graphs with LLMs for knowledge graph question answering (KGQA), with a significant proportion adopting the retrieve-then-reasoning paradigm. In this framework, graph-based retrievers have demonstrated strong empirical performance, yet they still face challenges in generalization ability. In this work, we propose RAPL, a novel framework for efficient and effective graph retrieval in KGQA. RAPL addresses these limitations through three aspects: (1) a two-stage labeling strategy that combines heuristic signals with parametric models to provide causally grounded supervision; (2) a model-agnostic graph transformation approach to capture both intra- and inter-triple interactions, thereby enhancing representational capacity; and (3) a path-based reasoning strategy that facilitates learning from the injected rational knowledge, and supports downstream reasoner through structured inputs. Empirically, RAPL outperforms state-of-the-art methods by $2.66\%-20.34\%$, and significantly reduces the performance gap between smaller and more powerful LLM-based reasoners, as well as the gap under cross-dataset settings, highlighting its superior retrieval capability and generalizability. Codes are available at: https://github.com/tianyao-aka/RAPL.
GLGENN: A Novel Parameter-Light Equivariant Neural Networks Architecture Based on Clifford Geometric Algebras
Authors: Ekaterina Filimoshina, Dmitry Shirokov
Date: 2025-06-11 00:00:00
Tasks: Benchmarking

We propose, implement, and compare with competitors a new architecture of equivariant neural networks based on geometric (Clifford) algebras: Generalized Lipschitz Group Equivariant Neural Networks (GLGENN). These networks are equivariant to all pseudo-orthogonal transformations, including rotations and reflections, of a vector space with any non-degenerate or degenerate symmetric bilinear form. We propose a weight-sharing parametrization technique that takes into account the fundamental structures and operations of geometric algebras. Due to this technique, GLGENN architecture is parameter-light and has less tendency to overfitting than baseline equivariant models. GLGENN outperforms or matches competitors on several benchmarking equivariant tasks, including estimation of an equivariant function and a convex hull experiment, while using significantly fewer optimizable parameters.
SparseSSM: Efficient Selective Structured State Space Models Can Be Pruned in One-Shot
Authors: Kaiwen Tuo, Huan Wang
Date: 2025-06-11 00:00:00
Tasks: Mamba, State Space Models

State-space language models such as Mamba match Transformer quality while permitting linear complexity inference, yet still comprise billions of parameters that hinder deployment. Existing one-shot pruning methods are tailored to attention blocks and fail to account for the time-shared and discretized state-transition matrix at the heart of the selective state-space module (SSM). In this paper, we introduce SparseSSM, the first training-free pruning framework that extends the classic optimal brain surgeon (OBS) framework to state space architectures. Our layer-wise algorithm (i) derives an approximate second-order saliency score that aggregates Hessian-trace information across time steps, (ii) incorporates a component sensitivity analysis to guide feed-forward network (FFN) pruning, which also sheds light on where redundancy resides in mamba architecture, (iii) can be easily extended to semi-structured and structured sparsity. Empirically, we prune 50% of SSM weights without fine-tuning and observe no zero-shot accuracy loss, achieving the current state-of-the-art pruning algorithm for Mamba-based LLMs.
Unmasking real-world audio deepfakes: A data-centric approach
Authors: David Combei, Adriana Stan, Dan Oneata, Nicolas Müller, Horia Cucu
Date: 2025-06-11 00:00:00
Tasks: DeepFake Detection, Face Swapping

The growing prevalence of real-world deepfakes presents a critical challenge for existing detection systems, which are often evaluated on datasets collected just for scientific purposes. To address this gap, we introduce a novel dataset of real-world audio deepfakes. Our analysis reveals that these real-world examples pose significant challenges, even for the most performant detection models. Rather than increasing model complexity or exhaustively search for a better alternative, in this work we focus on a data-centric paradigm, employing strategies like dataset curation, pruning, and augmentation to improve model robustness and generalization. Through these methods, we achieve a 55% relative reduction in EER on the In-the-Wild dataset, reaching an absolute EER of 1.7%, and a 63% reduction on our newly proposed real-world deepfakes dataset, AI4T. These results highlight the transformative potential of data-centric approaches in enhancing deepfake detection for real-world applications. Code and data available at: https://github.com/davidcombei/AI4T.
CHIP: A multi-sensor dataset for 6D pose estimation of chairs in industrial settings
Authors: Mattia Nardon, Mikel Mujika Agirre, Ander González Tomé, Daniel Sedano Algarabel, Josep Rueda Collell, Ana Paola Caro, Andrea Caraffa, Fabio Poiesi, Paul Ian Chippendale, Davide Boscaini
Date: 2025-06-11 00:00:00
Tasks: 6D Pose Estimation, Pose Estimation

Accurate 6D pose estimation of complex objects in 3D environments is essential for effective robotic manipulation. Yet, existing benchmarks fall short in evaluating 6D pose estimation methods under realistic industrial conditions, as most datasets focus on household objects in domestic settings, while the few available industrial datasets are limited to artificial setups with objects placed on tables. To bridge this gap, we introduce CHIP, the first dataset designed for 6D pose estimation of chairs manipulated by a robotic arm in a real-world industrial environment. CHIP includes seven distinct chairs captured using three different RGBD sensing technologies and presents unique challenges, such as distractor objects with fine-grained differences and severe occlusions caused by the robotic arm and human operators. CHIP comprises 77,811 RGBD images annotated with ground-truth 6D poses automatically derived from the robot's kinematics, averaging 11,115 annotations per chair. We benchmark CHIP using three zero-shot 6D pose estimation methods, assessing performance across different sensor types, localization priors, and occlusion levels. Results show substantial room for improvement, highlighting the unique challenges posed by the dataset. CHIP will be publicly released.
ECAM: A Contrastive Learning Approach to Avoid Environmental Collision in Trajectory Forecasting
Authors: Giacomo Rosin, Muhammad Rameez Ur Rahman, Sebastiano Vascon
Date: 2025-06-11 00:00:00
Tasks: Autonomous Driving, Collision Avoidance, Contrastive Learning, Trajectory Forecasting

Human trajectory forecasting is crucial in applications such as autonomous driving, robotics and surveillance. Accurate forecasting requires models to consider various factors, including social interactions, multi-modal predictions, pedestrian intention and environmental context. While existing methods account for these factors, they often overlook the impact of the environment, which leads to collisions with obstacles. This paper introduces ECAM (Environmental Collision Avoidance Module), a contrastive learning-based module to enhance collision avoidance ability with the environment. The proposed module can be integrated into existing trajectory forecasting models, improving their ability to generate collision-free predictions. We evaluate our method on the ETH/UCY dataset and quantitatively and qualitatively demonstrate its collision avoidance capabilities. Our experiments show that state-of-the-art methods significantly reduce (-40/50%) the collision rate when integrated with the proposed module. The code is available at https://github.com/CVML-CFU/ECAM.
How Do People Revise Inconsistent Beliefs? Examining Belief Revision in Humans with User Studies
Authors: Stylianos Loukas Vasileiou, Antonio Rago, Maria Vanina Martinez, William Yeoh
Date: 2025-06-11 00:00:00

Understanding how humans revise their beliefs in light of new information is crucial for developing AI systems which can effectively model, and thus align with, human reasoning. While theoretical belief revision frameworks rely on a set of principles that establish how these operations are performed, empirical evidence from cognitive psychology suggests that people may follow different patterns when presented with conflicting information. In this paper, we present three comprehensive user studies showing that people consistently prefer explanation-based revisions, i.e., those which are guided by explanations, that result in changes to their belief systems that are not necessarily captured by classical belief change theory. Our experiments systematically investigate how people revise their beliefs with explanations for inconsistencies, whether they are provided with them or left to formulate them themselves, demonstrating a robust preference for what may seem non-minimal revisions across different types of scenarios. These findings have implications for AI systems designed to model human reasoning or interact with humans, suggesting that such systems should accommodate explanation-based, potentially non-minimal belief revision operators to better align with human cognitive processes.
UniForward: Unified 3D Scene and Semantic Field Reconstruction via Feed-Forward Gaussian Splatting from Only Sparse-View Images
Authors: Qijian Tian, Xin Tan, Jingyu Gong, Yuan Xie, Lizhuang Ma
Date: 2025-06-11 00:00:00
Tasks: Novel View Synthesis

We propose a feed-forward Gaussian Splatting model that unifies 3D scene and semantic field reconstruction. Combining 3D scenes with semantic fields facilitates the perception and understanding of the surrounding environment. However, key challenges include embedding semantics into 3D representations, achieving generalizable real-time reconstruction, and ensuring practical applicability by using only images as input without camera parameters or ground truth depth. To this end, we propose UniForward, a feed-forward model to predict 3D Gaussians with anisotropic semantic features from only uncalibrated and unposed sparse-view images. To enable the unified representation of the 3D scene and semantic field, we embed semantic features into 3D Gaussians and predict them through a dual-branch decoupled decoder. During training, we propose a loss-guided view sampler to sample views from easy to hard, eliminating the need for ground truth depth or masks required by previous methods and stabilizing the training process. The whole model can be trained end-to-end using a photometric loss and a distillation loss that leverages semantic features from a pre-trained 2D semantic model. At the inference stage, our UniForward can reconstruct 3D scenes and the corresponding semantic fields in real time from only sparse-view images. The reconstructed 3D scenes achieve high-quality rendering, and the reconstructed 3D semantic field enables the rendering of view-consistent semantic features from arbitrary views, which can be further decoded into dense segmentation masks in an open-vocabulary manner. Experiments on novel view synthesis and novel view segmentation demonstrate that our method achieves state-of-the-art performances for unifying 3D scene and semantic field reconstruction.
Perception Characteristics Distance: Measuring Stability and Robustness of Perception System in Dynamic Conditions under a Certain Decision Rule
Authors: Boyu Jiang, Liang Shi, Zhengzhi Lin, Loren Stowe, Feng Guo
Date: 2025-06-10 00:00:00
Tasks: Autonomous Driving

The performance of perception systems in autonomous driving systems (ADS) is strongly influenced by object distance, scene dynamics, and environmental conditions such as weather. AI-based perception outputs are inherently stochastic, with variability driven by these external factors, while traditional evaluation metrics remain static and event-independent, failing to capture fluctuations in confidence over time. In this work, we introduce the Perception Characteristics Distance (PCD) -- a novel evaluation metric that quantifies the farthest distance at which an object can be reliably detected, incorporating uncertainty in model outputs. To support this, we present the SensorRainFall dataset, collected on the Virginia Smart Road using a sensor-equipped vehicle (cameras, radar, LiDAR) under controlled daylight-clear and daylight-rain scenarios, with precise ground-truth distances to the target objects. Statistical analysis reveals the presence of change points in the variance of detection confidence score with distance. By averaging the PCD values across a range of detection quality thresholds and probabilistic thresholds, we compute the mean PCD (mPCD), which captures the overall perception characteristics of a system with respect to detection distance. Applying state-of-the-art perception models shows that mPCD captures meaningful reliability differences under varying weather conditions -- differences that static metrics overlook. PCD provides a principled, distribution-aware measure of perception performance, supporting safer and more robust ADS operation, while the SensorRainFall dataset offers a valuable benchmark for evaluation. The SensorRainFall dataset is publicly available at https://www.kaggle.com/datasets/datadrivenwheels/sensorrainfall, and the evaluation code is open-sourced at https://github.com/datadrivenwheels/PCD_Python.
Diver-Robot Communication Dataset for Underwater Hand Gesture Recognition
Authors: Igor Kvasić, Derek Orbaugh Antillon, Ðula Nađ, Christopher Walker, Iain Anderson, Nikola Mišković
Date: 2025-06-10 00:00:00
Tasks: Gesture Recognition, Hand Gesture Recognition, Hand-Gesture Recognition

In this paper, we present a dataset of diving gesture images used for human-robot interaction underwater. By offering this open access dataset, the paper aims at investigating the potential of using visual detection of diving gestures from an autonomous underwater vehicle (AUV) as a form of communication with a human diver. In addition to the image recording, the same dataset was recorded using a smart gesture recognition glove. The glove uses elastomer sensors and on-board processing to determine the selected gesture and transmit the command associated with the gesture to the AUV via acoustics. Although this method can be used under different visibility conditions and even without line of sight, it introduces a communication delay required for the acoustic transmission of the gesture command. To compare efficiency, the glove was equipped with visual markers proposed in a gesture-based language called CADDIAN and recorded with an underwater camera in parallel to the glove's onboard recognition process. The dataset contains over 30,000 underwater frames of nearly 900 individual gestures annotated in corresponding snippet folders. The dataset was recorded in a balanced ratio with five different divers in sea and five different divers in pool conditions, with gestures recorded at 1, 2 and 3 metres from the camera. The glove gesture recognition statistics are reported in terms of average diver reaction time, average time taken to perform a gesture, recognition success rate, transmission times and more. The dataset presented should provide a good baseline for comparing the performance of state of the art visual diving gesture recognition techniques under different visibility conditions.
WD-DETR: Wavelet Denoising-Enhanced Real-Time Object Detection Transformer for Robot Perception with Event Cameras
Authors: Yangjie Cui, Boyang Gao, Yiwei Zhang, Xin Dong, Jinwu Xiang, Daochun Li, Zhan Tu
Date: 2025-06-10 00:00:00
Tasks: Denoising, object-detection, Object Detection, Real-Time Object Detection

Previous studies on event camera sensing have demonstrated certain detection performance using dense event representations. However, the accumulated noise in such dense representations has received insufficient attention, which degrades the representation quality and increases the likelihood of missed detections. To address this challenge, we propose the Wavelet Denoising-enhanced DEtection TRansformer, i.e., WD-DETR network, for event cameras. In particular, a dense event representation is presented first, which enables real-time reconstruction of events as tensors. Then, a wavelet transform method is designed to filter noise in the event representations. Such a method is integrated into the backbone for feature extraction. The extracted features are subsequently fed into a transformer-based network for object prediction. To further reduce inference time, we incorporate the Dynamic Reorganization Convolution Block (DRCB) as a fusion module within the hybrid encoder. The proposed method has been evaluated on three event-based object detection datasets, i.e., DSEC, Gen1, and 1Mpx. The results demonstrate that WD-DETR outperforms tested state-of-the-art methods. Additionally, we implement our approach on a common onboard computer for robots, the NVIDIA Jetson Orin NX, achieving a high frame rate of approximately 35 FPS using TensorRT FP16, which is exceptionally well-suited for real-time perception of onboard robotic systems.
Automatic Treatment Planning using Reinforcement Learning for High-dose-rate Prostate Brachytherapy
Authors: Tonghe Wang, Yining Feng, Xiaofeng Yang
Date: 2025-06-11 00:00:00
Tasks: Anatomy, Reinforcement Learning (RL)

Purpose: In high-dose-rate (HDR) prostate brachytherapy procedures, the pattern of needle placement solely relies on physician experience. We investigated the feasibility of using reinforcement learning (RL) to provide needle positions and dwell times based on patient anatomy during pre-planning stage. This approach would reduce procedure time and ensure consistent plan quality. Materials and Methods: We train a RL agent to adjust the position of one selected needle and all the dwell times on it to maximize a pre-defined reward function after observing the environment. After adjusting, the RL agent then moves on to the next needle, until all needles are adjusted. Multiple rounds are played by the agent until the maximum number of rounds is reached. Plan data from 11 prostate HDR boost patients (1 for training, and 10 for testing) treated in our clinic were included in this study. The dosimetric metrics and the number of used needles of RL plan were compared to those of the clinical results (ground truth). Results: On average, RL plans and clinical plans have very similar prostate coverage (Prostate V100) and Rectum D2cc (no statistical significance), while RL plans have less prostate hotspot (Prostate V150) and Urethra D20% plans with statistical significance. Moreover, RL plans use 2 less needles than clinical plan on average. Conclusion: We present the first study demonstrating the feasibility of using reinforcement learning to autonomously generate clinically practical HDR prostate brachytherapy plans. This RL-based method achieved equal or improved plan quality compared to conventional clinical approaches while requiring fewer needles. With minimal data requirements and strong generalizability, this approach has substantial potential to standardize brachytherapy planning, reduce clinical variability, and enhance patient outcomes.
Gender Bias in English-to-Greek Machine Translation
Authors: Eleni Gkovedarou, Joke Daems, Luna De Bruyne
Date: 2025-06-11 00:00:00
Tasks: Machine Translation, Translation

As the demand for inclusive language increases, concern has grown over the susceptibility of machine translation (MT) systems to reinforce gender stereotypes. This study investigates gender bias in two commercial MT systems, Google Translate and DeepL, focusing on the understudied English-to-Greek language pair. We address three aspects of gender bias: i) male bias, ii) occupational stereotyping, and iii) errors in anti-stereotypical translations. Additionally, we explore the potential of prompted GPT-4o as a bias mitigation tool that provides both gender-explicit and gender-neutral alternatives when necessary. To achieve this, we introduce GendEL, a manually crafted bilingual dataset of 240 gender-ambiguous and unambiguous sentences that feature stereotypical occupational nouns and adjectives. We find persistent gender bias in translations by both MT systems; while they perform well in cases where gender is explicitly defined, with DeepL outperforming both Google Translate and GPT-4o in feminine gender-unambiguous sentences, they are far from producing gender-inclusive or neutral translations when the gender is unspecified. GPT-4o shows promise, generating appropriate gendered and neutral alternatives for most ambiguous cases, though residual biases remain evident.
Provoking Multi-modal Few-Shot LVLM via Exploration-Exploitation In-Context Learning
Authors: Cheng Chen, Yunpeng Zhai, Yifan Zhao, Jinyang Gao, Bolin Ding, Jia Li
Date: 2025-06-11 00:00:00
Proceeding: CVPR 2025 1
Tasks: In-Context Learning, Question Answering, Visual Question Answering, Visual Question Answering (VQA)

In-context learning (ICL), a predominant trend in instruction learning, aims at enhancing the performance of large language models by providing clear task guidance and examples, improving their capability in task understanding and execution. This paper investigates ICL on Large Vision-Language Models (LVLMs) and explores the policies of multi-modal demonstration selection. Existing research efforts in ICL face significant challenges: First, they rely on pre-defined demonstrations or heuristic selecting strategies based on human intuition, which are usually inadequate for covering diverse task requirements, leading to sub-optimal solutions; Second, individually selecting each demonstration fails in modeling the interactions between them, resulting in information redundancy. Unlike these prevailing efforts, we propose a new exploration-exploitation reinforcement learning framework, which explores policies to fuse multi-modal information and adaptively select adequate demonstrations as an integrated whole. The framework allows LVLMs to optimize themselves by continually refining their demonstrations through self-exploration, enabling the ability to autonomously identify and generate the most effective selection policies for in-context learning. Experimental results verify the superior performance of our approach on four Visual Question-Answering (VQA) datasets, demonstrating its effectiveness in enhancing the generalization capability of few-shot LVLMs.