FLIM Networks with Bag of Feature Points

Convolutional networks require extensive image annotation, which can be costly and time-consuming. Feature Learning from Image Markers (FLIM) tackles this challenge by estimating encoder filters (i.e., kernel weights) from user-drawn markers on discriminative regions of a few representative images without traditional optimization. Such an encoder combined with an adaptive decoder comprises a FLIM network fully trained without backpropagation. Prior research has demonstrated their effectiveness in Salient Object Detection (SOD), being significantly lighter than existing lightweight models. This study revisits FLIM SOD and introduces FLIM-Bag of Feature Points (FLIM-BoFP), a considerably faster filter estimation method. The previous approach, FLIM-Cluster, derives filters through patch clustering at each encoder's block, leading to computational overhead and reduced control over filter locations. FLIM-BoFP streamlines this process by performing a single clustering at the input block, creating a bag of feature points, and defining filters directly from mapped feature points across all blocks. The paper evaluates the benefits in efficiency, effectiveness, and generalization of FLIM-BoFP compared to FLIM-Cluster and other state-of-the-art baselines for parasite detection in optical microscopy images.

SODA-CitrON: Static Object Data Association by Clustering Multi-Modal Sensor Detections Online

The online fusion and tracking of static objects from heterogeneous sensor detections is a fundamental problem in robotics, autonomous systems, and environmental mapping. Although classical data association approaches such as JPDA are well suited for dynamic targets, they are less effective for static objects observed intermittently and with heterogeneous uncertainties, where motion models provide minimal discriminative with respect to clutter. In this paper, we propose a novel method for static object data association by clustering multi-modal sensor detections online (SODA-CitrON), while simultaneously estimating positions and maintaining persistent tracks for an unknown number of objects. The proposed unsupervised machine learning approach operates in a fully online manner and handles temporally uncorrelated and multi-sensor measurements. Additionally, it has a worst-case loglinear complexity in the number of sensor detections while providing full output explainability. We evaluate the proposed approach in different Monte Carlo simulation scenarios and compare it against state-of-the-art methods, including Bayesian filtering, DBSTREAM clustering, and JPDA. The results demonstrate that SODA-CitrON consistently outperforms the compared methods in terms of F1 score, position RMSE, MOTP, and MOTA in the static object mapping scenarios studied.

RADE-Net: Robust Attention Network for Radar-Only Object Detection in Adverse Weather

Automotive perception systems are obligated to meet high requirements. While optical sensors such as Camera and Lidar struggle in adverse weather conditions, Radar provides a more robust perception performance, effectively penetrating fog, rain, and snow. Since full Radar tensors have large data sizes and very few datasets provide them, most Radar-based approaches work with sparse point clouds or 2D projections, which can result in information loss. Additionally, deep learning methods show potential to extract richer and more dense features from low level Radar data and therefore significantly increase the perception performance. Therefore, we propose a 3D projection method for fast-Fourier-transformed 4D Range-Azimuth-Doppler-Elevation (RADE) tensors. Our method preserves rich Doppler and Elevation features while reducing the required data size for a single frame by 91.9% compared to a full tensor, thus achieving higher training and inference speed as well as lower model complexity. We introduce RADE-Net, a lightweight model tailored to 3D projections of the RADE tensor. The backbone enables exploitation of low-level and high-level cues of Radar tensors with spatial and channel-attention. The decoupled detection heads predict object center-points directly in the Range-Azimuth domain and regress rotated 3D bounding boxes from rich feature maps in the cartesian scene. We evaluate the model on scenes with multiple different road users and under various weather conditions on the large-scale K-Radar dataset and achieve a 16.7% improvement compared to their baseline, as well as 6.5% improvement over current Radar-only models. Additionally, we outperform several Lidar approaches in scenarios with adverse weather conditions. The code is available under https://github.com/chr-is-tof/RADE-Net.

Le-DETR: Revisiting Real-Time Detection Transformer with Efficient Encoder Design

Real-time object detection is crucial for real-world applications as it requires high accuracy with low latency. While Detection Transformers (DETR) have demonstrated significant performance improvements, current real-time DETR models are challenging to reproduce from scratch due to excessive pre-training overheads on the backbone, constraining research advancements by hindering the exploration of novel backbone architectures. In this paper, we want to show that by using general good design, it is possible to have \textbf{high performance} with \textbf{low pre-training cost}. After a thorough study of the backbone architecture, we propose EfficientNAT at various scales, which incorporates modern efficient convolution and local attention mechanisms. Moreover, we re-design the hybrid encoder with local attention, significantly enhancing both performance and inference speed. Based on these advancements, we present Le-DETR (\textbf{L}ow-cost and \textbf{E}fficient \textbf{DE}tection \textbf{TR}ansformer), which achieves a new \textbf{SOTA} in real-time detection using only ImageNet1K and COCO2017 training datasets, saving about 80\% images in pre-training stage compared with previous methods. We demonstrate that with well-designed, real-time DETR models can achieve strong performance without the need for complex and computationally expensive pretraining. Extensive experiments show that Le-DETR-M/L/X achieves \textbf{52.9/54.3/55.1 mAP} on COCO Val2017 with \textbf{4.45/5.01/6.68 ms} on an RTX4090. It surpasses YOLOv12-L/X by \textbf{+0.6/-0.1 mAP} while achieving similar speed and \textbf{+20\%} speedup. Compared with DEIM-D-FINE, Le-DETR-M achieves \textbf{+0.2 mAP} with slightly faster inference, and surpasses DEIM-D-FINE-L by \textbf{+0.4 mAP} with only \textbf{0.4 ms} additional latency. Code and weights will be open-sourced.

Blackbird Language Matrices: A Framework to Investigate the Linguistic Competence of Language Models

This article describes a novel language task, the Blackbird Language Matrices (BLM) task, inspired by intelligence tests, and illustrates the BLM datasets, their construction and benchmarking, and targeted experiments on chunking and systematicity. BLMs are multiple-choice problems, structured at multiple levels: within each sentence, across the input sequence, within each candidate answer. Because of their rich structure, these curated, but naturalistic datasets are key to answer some core questions about current large language models abilities: do LLMs detect linguistic objects and their properties? Do they detect and use systematic patterns across sentences? Are they more prone to linguistic or reasoning errors, and how do these interact? We show that BLMs, while challenging, can be solved at good levels of performance, in more than one language, with simple baseline models or, at better performance levels, with more tailored models. We show that their representations contain the grammatical objects and attributes relevant to solve a linguistic task. We also show that these solutions are reached by detecting systematic patterns across sentences. The paper supports the point of view that curated, structured datasets support multi-faceted investigations of properties of language and large language models. Because they present a curated, articulated structure, because they comprise both learning contexts and expected answers, and because they are partly built by hand, BLMs fall in the category of datasets that can support explainability investigations, and be useful to ask why large language models behave the way they do.

Iconographic Classification and Content-Based Recommendation for Digitized Artworks

We present a proof-of-concept system that automates iconographic classification and content-based recommendation of digitized artworks using the Iconclass vocabulary and selected artificial intelligence methods. The prototype implements a four-stage workflow for classification and recommendation, which integrates YOLOv8 object detection with algorithmic mappings to Iconclass codes, rule-based inference for abstract meanings, and three complementary recommenders (hierarchical proximity, IDF-weighted overlap, and Jaccard similarity). Although more engineering is still needed, the evaluation demonstrates the potential of this solution: Iconclass-aware computer vision and recommendation methods can accelerate cataloging and enhance navigation in large heritage repositories. The key insight is to let computer vision propose visible elements and to use symbolic structures (Iconclass hierarchy) to reach meaning.

An Approach to Combining Video and Speech with Large Language Models in Human-Robot Interaction

Interpreting human intent accurately is a central challenge in human-robot interaction (HRI) and a key requirement for achieving more natural and intuitive collaboration between humans and machines. This work presents a novel multimodal HRI framework that combines advanced vision-language models, speech processing, and fuzzy logic to enable precise and adaptive control of a Dobot Magician robotic arm. The proposed system integrates Florence-2 for object detection, Llama 3.1 for natural language understanding, and Whisper for speech recognition, providing users with a seamless and intuitive interface for object manipulation through spoken commands. By jointly addressing scene perception and action planning, the approach enhances the reliability of command interpretation and execution. Experimental evaluations conducted on consumer-grade hardware demonstrate a command execution accuracy of 75\%, highlighting both the robustness and adaptability of the system. Beyond its current performance, the proposed architecture serves as a flexible and extensible foundation for future HRI research, offering a practical pathway toward more sophisticated and natural human-robot collaboration through tightly coupled speech and vision-language processing.

CORVET: A CORDIC-Powered, Resource-Frugal Mixed-Precision Vector Processing Engine for High-Throughput AIoT applications

This brief presents a runtime-adaptive, performance-enhanced vector engine featuring a low-resource, iterative CORDIC-based MAC unit for edge AI acceleration. The proposed design enables dynamic reconfiguration between approximate and accurate modes, exploiting the latency-accuracy trade-off for a wide range of workloads. Its resource-efficient approach further enables up to 4x throughput improvement within the same hardware resources by leveraging vectorised, time-multiplexed execution and flexible precision scaling. With a time-multiplexed multi-AF block and a lightweight pooling and normalisation unit, the proposed vector engine supports flexible precision (4/8/16-bit) and high MAC density. The ASIC implementation results show that each MAC stage can save up to 33% of time and 21% of power, with a 256-PE configuration that achieves higher compute density (4.83 TOPS/mm2 ) and energy efficiency (11.67 TOPS/W) than previous state-of-the-art work. A detailed hardware-software co-design methodology for object detection and classification tasks on Pynq-Z2 is discussed to assess the proposed architecture, demonstrating a scalable, energy-efficient solution for edge AI applications.

A Self-Supervised Approach for Enhanced Feature Representations in Object Detection Tasks

In the fast-evolving field of artificial intelligence, where models are increasingly growing in complexity and size, the availability of labeled data for training deep learning models has become a significant challenge. Addressing complex problems like object detection demands considerable time and resources for data labeling to achieve meaningful results. For companies developing such applications, this entails extensive investment in highly skilled personnel or costly outsourcing. This research work aims to demonstrate that enhancing feature extractors can substantially alleviate this challenge, enabling models to learn more effective representations with less labeled data. Utilizing a self-supervised learning strategy, we present a model trained on unlabeled data that outperforms state-of-the-art feature extractors pre-trained on ImageNet and particularly designed for object detection tasks. Moreover, the results demonstrate that our approach encourages the model to focus on the most relevant aspects of an object, thus achieving better feature representations and, therefore, reinforcing its reliability and robustness.

Benchmarking Adversarial Robustness and Adversarial Training Strategies for Object Detection

Object detection models are critical components of automated systems, such as autonomous vehicles and perception-based robots, but their sensitivity to adversarial attacks poses a serious security risk. Progress in defending these models lags behind classification, hindered by a lack of standardized evaluation. It is nearly impossible to thoroughly compare attack or defense methods, as existing work uses different datasets, inconsistent efficiency metrics, and varied measures of perturbation cost. This paper addresses this gap by investigating three key questions: (1) How can we create a fair benchmark to impartially compare attacks? (2) How well do modern attacks transfer across different architectures, especially from Convolutional Neural Networks to Vision Transformers? (3) What is the most effective adversarial training strategy for robust defense? To answer these, we first propose a unified benchmark framework focused on digital, non-patch-based attacks. This framework introduces specific metrics to disentangle localization and classification errors and evaluates attack cost using multiple perceptual metrics. Using this benchmark, we conduct extensive experiments on state-of-the-art attacks and a wide range of detectors. Our findings reveal two major conclusions: first, modern adversarial attacks against object detection models show a significant lack of transferability to transformer-based architectures. Second, we demonstrate that the most robust adversarial training strategy leverages a dataset composed of a mix of high-perturbation attacks with different objectives (e.g., spatial and semantic), which outperforms training on any single attack.