OpenRaiser/Intern-Atlas huggingface dataset:
Optimal Scheduling of a Dual-Arm Robot for Efficient Strawberry Harvesting in Plant Factories
Venue: Conference IROS 2025
Year: 2025

Plant factory cultivation is widely recognized for its ability to optimize resource use and boost crop yields. To further increase the efficiency in these environments, we propose a mixed-integer linear programming (MILP) framework that systematically schedules and coordinates dual-arm harvesting tasks, minimizing the overall harvesting makespan based on pre-mapped fruit locations. Specifically, we focus on a specialized dual-arm harvesting robot and employ pose coverage analysis of its end effector to maximize picking reachability. Additionally, we compare the performance of the dual-arm configuration with that of a single-arm vehicle, demonstrating that the dual-arm system can nearly double efficiency when fruit densities are roughly equal on both sides. Extensive simulations show a 10-20% increase in throughput and a significant reduction in the number of stops compared to non-optimized methods. These results underscore the advantages of an optimal scheduling approach in improving the scalability and efficiency of robotic harvesting in plant factories.
SemGauss-SLAM: Dense Semantic Gaussian Splatting SLAM
Venue: Conference IROS 2025
Year: 2025

We propose SemGauss-SLAM, a dense semantic SLAM system utilizing 3D Gaussian representation, that enables accurate 3D semantic mapping, robust camera tracking, and high-quality rendering simultaneously. In this system, we incorporate semantic feature embedding into 3D Gaussian representation, which effectively encodes semantic information within the spatial layout of the environment for precise semantic scene representation. Furthermore, we propose feature-level loss for updating 3D Gaussian representation, enabling higher-level guidance for 3D Gaussian optimization. In addition, to reduce cumulative drift in tracking and improve semantic reconstruction accuracy, we introduce semantic-informed bundle adjustment. By leveraging multi-frame semantic associations, this strategy enables joint optimization of 3D Gaussian representation and camera poses, resulting in low-drift tracking and accurate semantic mapping. Our SemGauss-SLAM demonstrates superior performance over existing radiance field-based SLAM methods in terms of mapping and tracking accuracy on Replica and ScanNet datasets, while also showing excellent capabilities in high-precision semantic segmentation and dense semantic mapping.
YOLO-MARL: You Only LLM Once for Multi-Agent Reinforcement Learning
Venue: Conference IROS 2025
Year: 2025

Advancements in deep multi-agent reinforcement learning (MARL) have positioned it as a promising approach for decision-making in cooperative games. However, it still remains challenging for MARL agents to learn cooperative strategies for some game environments. Recently, large language models (LLMs) have demonstrated emergent reasoning capabilities, making them promising candidates for enhancing coordination among the agents. However, due to the model size of LLMs, it can be expensive to frequently infer LLMs for actions that agents can take. In this work, we propose You Only LLM Once for MARL (YOLO-MARL), a novel framework that leverages the high-level task planning capabilities of LLMs to improve the policy learning process of multi-agents in cooperative games. Notably, for each game environment, YOLO-MARL only requires one time interaction with LLMs in the proposed strategy generation, state interpretation and planning function generation modules, before the MARL policy training process. This avoids the ongoing costs and computational time associated with frequent LLMs API calls during training. Moreover, trained decentralized policies based on normal-sized neural networks operate independently of the LLM. We evaluate our method across two different environments and demonstrate that YOLO-MARL outperforms traditional MARL algorithms.
High-Precision and High-Efficiency Trajectory Tracking for Excavators Based on Closed-Loop Dynamics
Venue: Conference IROS 2025
Year: 2025

The complex nonlinear dynamics of hydraulic excavators, such as time delays and control coupling, pose significant challenges to achieving high-precision trajectory tracking. Traditional control methods often fall short in such applications due to their inability to effectively handle these nonlinearities, while commonly used learning-based methods require extensive interactions with the environment, leading to inefficiency. To address these issues, we introduce EfficientTrack, a trajectory tracking method that integrates model-based learning to manage nonlinear dynamics and leverages closed-loop dynamics to improve learning efficiency, ultimately minimizing tracking errors. We validate our method through comprehensive experiments both in simulation and on a real-world excavator. Comparative experiments in simulation demonstrate that our method outperforms existing learning-based approaches, achieving the highest tracking precision and smoothness with the fewest interactions. Real-world experiments further show that our method remains effective under load conditions and possesses the ability for continual learning, highlighting its practical applicability. For implementation details and source code, please refer to https://github.com/ZiqingZou/EfficientTrack.
RALAD: Bridging the Real-to-Sim Domain Gap in Autonomous Driving with Retrieval-Augmented Learning
Venue: Conference IROS 2025
Year: 2025

In the pursuit of robust autonomous driving systems, models trained on real-world datasets often struggle to adapt to new environments, particularly when confronted with corner cases such as extreme weather conditions. Collecting these corner cases in the real world is non-trivial, which necessitates the use of simulators for validation. However,the high computational cost and the domain gap in data distribution have hindered the seamless transition between real and simulated driving scenarios. To tackle this challenge, we propose Retrieval-Augmented Learning for Autonomous Driving (RALAD), a novel framework designed to bridge the real-to-sim gap at a low cost. RALAD features three primary designs, including (1) domain adaptation via an enhanced Optimal Transport (OT) method that accounts for both individual and grouped image distances, (2) a simple and unified framework that can be applied to various models, and (3) efficient fine-tuning techniques that freeze the computationally expensive layers while maintaining robustness. Experimental results demonstrate that RALAD compensates for the performance degradation in simulated environments while maintaining accuracy in real-world scenarios across three different models. Taking Cross View as an example, the mIOU and mAP metrics in real-world scenarios remain stable before and after RALAD fine-tuning, while in simulated environments,the mIOU and mAP metrics are improved by 10.30% and 12.29%, respectively. Moreover, the re-training cost of our approach is reduced by approximately 88.1%. Our code is available at https://github.com/JiachengZuo/RALAD.git.
Composition attacks and auxiliary information in data privacy
Venue: Conference KDD 2008
Year: 2008

Privacy is an increasingly important aspect of data publishing. Reasoning about privacy, however, is fraught with pitfalls. One of the most significant is the auxiliary information (also called external knowledge, background knowledge, or side information) that an adversary gleans from other channels such as the web, public records, or domain knowledge. This paper explores how one can reason about privacy in the face of rich, realistic sources of auxiliary information. Specifically, we investigate the effectiveness of current anonymization schemes in preserving privacy when multiple organizations independently release anonymized data about overlapping populations. 1. We investigate composition attacks, in which an adversary uses independent anonymized releases to breach privacy. We explain why recently proposed models of limited auxiliary information fail to capture composition attacks. Our experiments demonstrate that even a simple instance of a composition attack can breach privacy in practice, for a large class of currently proposed techniques. The class includes k-anonymity and several recent variants. 2. On a more positive note, certain randomization-based notions of privacy (such as differential privacy) provably resist composition attacks and, in fact, the use of arbitrary side information. This resistance enables stand-alone design of anonymization schemes, without the need for explicitly keeping track of other releases. We provide a precise formulation of this property, and prove that an important class of relaxations of differential privacy also satisfy the property. This significantly enlarges the class of protocols known to enable modular design.
Fast clustering using MapReduce
Venue: Conference KDD 2011
Year: 2011

Clustering problems have numerous applications and are becoming more challenging as the size of the data increases. In this paper, we consider designing clustering algorithms that can be used in MapReduce, the most popular programming environment for processing large datasets. We focus on the practical and popular clustering problems, $k$-center and $k$-median. We develop fast clustering algorithms with constant factor approximation guarantees. From a theoretical perspective, we give the first analysis that shows several clustering algorithms are in $\mathcal{MRC}^0$, a theoretical MapReduce class introduced by Karloff et al. \cite{KarloffSV10}. Our algorithms use sampling to decrease the data size and they run a time consuming clustering algorithm such as local search or Lloyd's algorithm on the resulting data set. Our algorithms have sufficient flexibility to be used in practice since they run in a constant number of MapReduce rounds. We complement these results by performing experiments using our algorithms. We compare the empirical performance of our algorithms to several sequential and parallel algorithms for the $k$-median problem. The experiments show that our algorithms' solutions are similar to or better than the other algorithms' solutions. Furthermore, on data sets that are sufficiently large, our algorithms are faster than the other parallel algorithms that we tested.
Rank aggregation via nuclear norm minimization
Venue: Conference KDD 2011
Year: 2011

The process of rank aggregation is intimately intertwined with the structure of skew-symmetric matrices. We apply recent advances in the theory and algorithms of matrix completion to skew-symmetric matrices. This combination of ideas produces a new method for ranking a set of items. The essence of our idea is that a rank aggregation describes a partially filled skew-symmetric matrix. We extend an algorithm for matrix completion to handle skew-symmetric data and use that to extract ranks for each item. Our algorithm applies to both pairwise comparison and rating data. Because it is based on matrix completion, it is robust to both noise and incomplete data. We show a formal recovery result for the noiseless case and present a detailed study of the algorithm on synthetic data and Netflix ratings.
Axiomatic ranking of network role similarity
Venue: Conference KDD 2011
Year: 2011

A key task in social network and other complex network analysis is role analysis: describing and categorizing nodes according to how they interact with other nodes. Two nodes have the same role if they interact with equivalent sets of neighbors. The most fundamental role equivalence is automorphic equivalence. Unfortunately, the fastest algorithms known for graph automorphism are nonpolynomial. Moreover, since exact equivalence may be rare, a more meaningful task is to measure the role similarity between any two nodes. This task is closely related to the structural or link-based similarity problem that SimRank attempts to solve. However, SimRank and most of its offshoots are not sufficient because they do not fully recognize automorphically or structurally equivalent nodes. In this paper we tackle two problems. First, what are the necessary properties for a role similarity measure or metric? Second, how can we derive a role similarity measure satisfying these properties? For the first problem, we justify several axiomatic properties necessary for a role similarity measure or metric: range, maximal similarity, automorphic equivalence, transitive similarity, and the triangle inequality. For the second problem, we present RoleSim, a new similarity metric with a simple iterative computational method. We rigorously prove that RoleSim satisfies all the axiomatic properties. We also introduce an iceberg RoleSim algorithm which can guarantee to discover all pairs with RoleSim score no less than a user-defined threshold $θ$ without computing the RoleSim for every pair. We demonstrate the superior interpretative power of RoleSim on both both synthetic and real datasets.
Active learning for node classification in assortative and disassortative networks
Venue: Conference KDD 2011
Year: 2011

In many real-world networks, nodes have class labels, attributes, or variables that affect the network's topology. If the topology of the network is known but the labels of the nodes are hidden, we would like to select a small subset of nodes such that, if we knew their labels, we could accurately predict the labels of all the other nodes. We develop an active learning algorithm for this problem which uses information-theoretic techniques to choose which nodes to explore. We test our algorithm on networks from three different domains: a social network, a network of English words that appear adjacently in a novel, and a marine food web. Our algorithm makes no initial assumptions about how the groups connect, and performs well even when faced with quite general types of network structure. In particular, we do not assume that nodes of the same class are more likely to be connected to each other---only that they connect to the rest of the network in similar ways.
User-level sentiment analysis incorporating social networks
Venue: Conference KDD 2011
Year: 2011

We show that information about social relationships can be used to improve user-level sentiment analysis. The main motivation behind our approach is that users that are somehow "connected" may be more likely to hold similar opinions; therefore, relationship information can complement what we can extract about a user's viewpoints from their utterances. Employing Twitter as a source for our experimental data, and working within a semi-supervised framework, we propose models that are induced either from the Twitter follower/followee network or from the network in Twitter formed by users referring to each other using "@" mentions. Our transductive learning results reveal that incorporating social-network information can indeed lead to statistically significant sentiment-classification improvements over the performance of an approach based on Support Vector Machines having access only to textual features.
Space-efficient sampling from social activity streams
Venue: Conference KDD 2012
Year: 2012

In order to efficiently study the characteristics of network domains and support development of network systems (e.g. algorithms, protocols that operate on networks), it is often necessary to sample a representative subgraph from a large complex network. Although recent subgraph sampling methods have been shown to work well, they focus on sampling from memory-resident graphs and assume that the sampling algorithm can access the entire graph in order to decide which nodes/edges to select. Many large-scale network datasets, however, are too large and/or dynamic to be processed using main memory (e.g., email, tweets, wall posts). In this work, we formulate the problem of sampling from large graph streams. We propose a streaming graph sampling algorithm that dynamically maintains a representative sample in a reservoir based setting. We evaluate the efficacy of our proposed methods empirically using several real-world data sets. Across all datasets, we found that our method produce samples that preserve better the original graph distributions.
Capacitated team formation problem on social networks
Venue: Conference KDD 2012
Year: 2012

In a team formation problem, one is required to find a group of users that can match the requirements of a collaborative task. Example of such collaborative tasks abound, ranging from software product development to various participatory sensing tasks in knowledge creation. Due to the nature of the task, team members are often required to work on a co-operative basis. Previous studies have indicated that co-operation becomes effective in presence of social connections. Therefore, effective team selection requires the team members to be socially close as well as a division of the task among team members so that no user is overloaded by the assignment. In this work, we investigate how such teams can be formed on a social network. Since our team formation problems are proven to be NP-hard, we design efficient approximate algorithms for finding near optimum teams with provable guarantees. As traditional data-sets from on-line social networks (e.g. Twitter, Facebook etc) typically do not contain instances of large scale collaboration, we have crawled millions of software repositories spanning a period of four years and hundreds of thousands of developers from GitHub, a popular open-source social coding network. We perform large scale experiments on this data-set to evaluate the accuracy and efficiency of our algorithms. Experimental results suggest that our algorithms achieve significant improvement in finding effective teams, as compared to naive strategies and scale well with the size of the data. Finally, we provide a validation of our techniques by comparing with existing software teams in GitHub.
Information diffusion and external influence in networks
Venue: Conference KDD 2012
Year: 2012

Social networks play a fundamental role in the diffusion of information. However, there are two different ways of how information reaches a person in a network. Information reaches us through connections in our social networks, as well as through the influence of external out-of-network sources, like the mainstream media. While most present models of information adoption in networks assume information only passes from a node to node via the edges of the underlying network, the recent availability of massive online social media data allows us to study this process in more detail. We present a model in which information can reach a node via the links of the social network or through the influence of external sources. We then develop an efficient model parameter fitting technique and apply the model to the emergence of URL mentions in the Twitter network. Using a complete one month trace of Twitter we study how information reaches the nodes of the network. We quantify the external influences over time and describe how these influences affect the information adoption. We discover that the information tends to "jump" across the network, which can only be explained as an effect of an unobservable external influence on the network. We find that only about 71% of the information volume in Twitter can be attributed to network diffusion, and the remaining 29% is due to external events and factors outside the network.
From user comments to on-line conversations
Venue: Conference KDD 2012
Year: 2012

We present an analysis of user conversations in on-line social media and their evolution over time. We propose a dynamic model that accurately predicts the growth dynamics and structural properties of conversation threads. The model successfully reconciles the differing observations that have been reported in existing studies. By separating artificial factors from user behaviors, we show that there are actually underlying rules in common for on-line conversations in different social media websites. Results of our model are supported by empirical measurements throughout a number of different social media websites.
Trace complexity of network inference
Venue: Conference KDD 2013
Year: 2013

The network inference problem consists of reconstructing the edge set of a network given traces representing the chronology of infection times as epidemics spread through the network. This problem is a paradigmatic representative of prediction tasks in machine learning that require deducing a latent structure from observed patterns of activity in a network, which often require an unrealistically large number of resources (e.g., amount of available data, or computational time). A fundamental question is to understand which properties we can predict with a reasonable degree of accuracy with the available resources, and which we cannot. We define the trace complexity as the number of distinct traces required to achieve high fidelity in reconstructing the topology of the unobserved network or, more generally, some of its properties. We give algorithms that are competitive with, while being simpler and more efficient than, existing network inference approaches. Moreover, we prove that our algorithms are nearly optimal, by proving an information-theoretic lower bound on the number of traces that an optimal inference algorithm requires for performing this task in the general case. Given these strong lower bounds, we turn our attention to special cases, such as trees and bounded-degree graphs, and to property recovery tasks, such as reconstructing the degree distribution without inferring the network. We show that these problems require a much smaller (and more realistic) number of traces, making them potentially solvable in practice.
Stochastic collapsed variational Bayesian inference for latent Dirichlet allocation
Venue: Conference KDD 2013
Year: 2013

In the internet era there has been an explosion in the amount of digital text information available, leading to difficulties of scale for traditional inference algorithms for topic models. Recent advances in stochastic variational inference algorithms for latent Dirichlet allocation (LDA) have made it feasible to learn topic models on large-scale corpora, but these methods do not currently take full advantage of the collapsed representation of the model. We propose a stochastic algorithm for collapsed variational Bayesian inference for LDA, which is simpler and more efficient than the state of the art method. We show connections between collapsed variational Bayesian inference and MAP estimation for LDA, and leverage these connections to prove convergence properties of the proposed algorithm. In experiments on large-scale text corpora, the algorithm was found to converge faster and often to a better solution than the previous method. Human-subject experiments also demonstrated that the method can learn coherent topics in seconds on small corpora, facilitating the use of topic models in interactive document analysis software.
Link prediction with social vector clocks
Venue: Conference KDD 2013
Year: 2013

State-of-the-art link prediction utilizes combinations of complex features derived from network panel data. We here show that computationally less expensive features can achieve the same performance in the common scenario in which the data is available as a sequence of interactions. Our features are based on social vector clocks, an adaptation of the vector-clock concept introduced in distributed computing to social interaction networks. In fact, our experiments suggest that by taking into account the order and spacing of interactions, social vector clocks exploit different aspects of link formation so that their combination with previous approaches yields the most accurate predictor to date.