OpenRaiser/Intern-Atlas huggingface dataset:
GS-LTS: 3D Gaussian Splatting-Based Adaptive Modeling for Long-Term Service Robots
Venue: arXiv cs.RO 2025
Year: 2025

3D Gaussian Splatting (3DGS) has garnered significant attention in robotics for its explicit, high fidelity dense scene representation, demonstrating strong potential for robotic applications. However, 3DGS-based methods in robotics primarily focus on static scenes, with limited attention to the dynamic scene changes essential for long-term service robots. These robots demand sustained task execution and efficient scene updates-challenges current approaches fail to meet. To address these limitations, we propose GS-LTS (Gaussian Splatting for Long-Term Service), a 3DGS-based system enabling indoor robots to manage diverse tasks in dynamic environments over time. GS-LTS detects scene changes (e.g., object addition or removal) via single-image change detection, employs a rule-based policy to autonomously collect multi-view observations, and efficiently updates the scene representation through Gaussian editing. Additionally, we propose a simulation-based benchmark that automatically generates scene change data as compact configuration scripts, providing a standardized, user-friendly evaluation benchmark. Experimental results demonstrate GS-LTS's advantages in reconstruction, navigation, and superior scene updates-faster and higher quality than the image training baseline-advancing 3DGS for long-term robotic operations. Code and benchmark are available at: https://vipl-vsu.github.io/3DGS-LTS.
Neutron particle transport 3D method of characteristic Multi GPU platform Parallel Computing
Venue: arXiv cs.DC 2025
Year: 2025

Three-dimensional neutron transport calculations using the Method of Characteristics (MOC) are highly regarded for their exceptional computational efficiency, precision, and stability. Nevertheless, when dealing with extensive-scale computations, the computational demands are substantial, leading to prolonged computation times. To address this challenge while considering GPU memory limitations, this study transplants the real-time generation and characteristic line computation techniques onto the GPU platform. Empirical evidence emphasizes that the GPU-optimized approach maintains a heightened level of precision in computation results and produces a significant acceleration effect. Furthermore, to fully harness the computational capabilities of GPUs, a dual approach involving characteristic line preloading and load balancing mechanisms is adopted, further enhancing computational efficiency. The resulting increase in computational efficiency, compared to traditional methods, reaches an impressive 300 to 400-fold improvement.
Lifelong Evolution of Swarms
Venue: arXiv cs.NE 2025
Year: 2025

Adapting to task changes without forgetting previous knowledge is a key skill for intelligent systems, and a crucial aspect of lifelong learning. Swarm controllers, however, are typically designed for specific tasks, lacking the ability to retain knowledge across changing tasks. Lifelong learning, on the other hand, focuses on individual agents with limited insights into the emergent abilities of a collective like a swarm. To address this gap, we introduce a lifelong evolutionary framework for swarms, where a population of swarm controllers is evolved in a dynamic environment that incrementally presents novel tasks. This requires evolution to find controllers that quickly adapt to new tasks while retaining knowledge of previous ones, as they may reappear in the future. We discover that the population inherently preserves information about previous tasks, and it can reuse it to foster adaptation and mitigate forgetting. In contrast, the top-performing individual for a given task catastrophically forgets previous tasks. To mitigate this phenomenon, we design a regularization process for the evolutionary algorithm, reducing forgetting in top-performing individuals. Evolving swarms in a lifelong fashion raises fundamental questions on the current state of deep lifelong learning and on the robustness of swarm controllers in dynamic environments.
On the Approximability of Unsplittable Flow on a Path with Time Windows
Venue: arXiv cs.DS 2025
Year: 2025

In the Time-Windows Unsplittable Flow on a Path problem (twUFP) we are given a resource whose available amount changes over a given time interval (modeled as the edge-capacities of a given path $G$) and a collection of tasks. Each task is characterized by a demand (of the considered resource), a profit, an integral processing time, and a time window. Our goal is to compute a maximum profit subset of tasks and schedule them non-preemptively within their respective time windows, such that the total demand of the tasks using each edge $e$ is at most the capacity of $e$. We prove that twUFP is $\mathsf{APX}$-hard which contrasts the setting of the problem without time windows, i.e., Unsplittable Flow on a Path (UFP), for which a PTAS was recently discovered [Grandoni, Mömke, Wiese, STOC 2022]. Then, we present a quasi-polynomial-time $2+\varepsilon$ approximation for twUFP under resource augmentation. Our approximation ratio improves to $1+\varepsilon$ if all tasks' time windows are identical. Our $\mathsf{APX}$-hardness holds also for this special case and, hence, rules out such a PTAS (and even a QPTAS, unless $\mathsf{NP}\subseteq\mathrm{DTIME}(n^{\mathrm{poly}(\log n)})$) without resource augmentation.
Metacognition in Content-Centric Computational Cognitive C4 Modeling
Venue: arXiv cs.AI 2025
Year: 2025

For AI agents to emulate human behavior, they must be able to perceive, meaningfully interpret, store, and use large amounts of information about the world, themselves, and other agents. Metacognition is a necessary component of all of these processes. In this paper, we briefly a) introduce content-centric computational cognitive (C4) modeling for next-generation AI agents; b) review the long history of developing C4 agents at RPI's LEIA (Language-Endowed Intelligent Agents) Lab; c) discuss our current work on extending LEIAs' cognitive capabilities to cognitive robotic applications developed using a neuro symbolic processing model; and d) sketch plans for future developments in this paradigm that aim to overcome underappreciated limitations of currently popular, LLM-driven methods in AI.
Smart Ankleband for Plug-and-Play Hand-Prosthetic Control
Venue: arXiv cs.RO 2025
Year: 2025

Building robotic prostheses requires a sensor-based interface designed to provide the robotic hand with the control required to perform hand gestures. Traditional Electromyography (EMG) based prosthetics and emerging alternatives often face limitations such as muscle-activation limitations, high cost, and complex calibrations. In this paper, we present a low-cost robotic system composed of a smart ankleband for intuitive, calibration-free control of a robotic hand, and a robotic prosthetic hand that executes actions corresponding to leg gestures. The ankleband integrates an Inertial Measurement Unit (IMU) sensor with a lightweight neural network to infer user-intended leg gestures from motion data. Our system represents a significant step towards higher adoption rates of robotic prostheses among arm amputees, as it enables one to operate a prosthetic hand using a low-cost, low-power, and calibration-free solution. To evaluate our work, we collected data from 10 subjects and tested our prototype ankleband with a robotic hand on an individual with an upper-limb amputation. Our results demonstrate that this system empowers users to perform daily tasks more efficiently, requiring few compensatory movements.
A Distributed Blockchain-based Access Control for the Internet of Things
Venue: arXiv cs.CR 2025
Year: 2025

Recently, the Internet of Things (IoT) environment has become increasingly fertile for malicious users to break the security and privacy of IoT users. Access control is a paramount necessity to forestall illicit access. Traditional access control mechanisms are designed and managed in a centralized manner, thus rendering them unfit for decentralized IoT systems. To address the distributed IoT environment, blockchain is viewed as a promising decentralised data management technology. In this thesis, we investigate the state-of-art works in the domain of distributed blockchain-based access control. We establish the most important requirements and assess related works against them. We propose a Distributed Blockchain and Attribute-based Access Control model for IoT entitled (DBC-ABAC) that merges blockchain technology with the attribute-based access control model. A proof-of-concept implementation is presented using Hyperledger Fabric. To validate performance, we experimentally evaluate and compare our work with other recent works using Hyperledger Caliper tool. Results indicate that the proposed model surpasses other works in terms of latency and throughput with considerable efficiency.
IceBench: A Benchmark for Deep Learning based Sea Ice Type Classification
Venue: arXiv cs.CV 2025
Year: 2025

Sea ice plays a critical role in the global climate system and maritime operations, making timely and accurate classification essential. However, traditional manual methods are time-consuming, costly, and have inherent biases. Automating sea ice type classification addresses these challenges by enabling faster, more consistent, and scalable analysis. While both traditional and deep learning approaches have been explored, deep learning models offer a promising direction for improving efficiency and consistency in sea ice classification. However, the absence of a standardized benchmark and comparative study prevents a clear consensus on the best-performing models. To bridge this gap, we introduce \textit{IceBench}, a comprehensive benchmarking framework for sea ice type classification. Our key contributions are threefold: First, we establish the IceBench benchmarking framework which leverages the existing AI4Arctic Sea Ice Challenge dataset as a standardized dataset, incorporates a comprehensive set of evaluation metrics, and includes representative models from the entire spectrum of sea ice type classification methods categorized in two distinct groups, namely, pixel-based classification methods and patch-based classification methods. IceBench is open-source and allows for convenient integration and evaluation of other sea ice type classification methods; hence, facilitating comparative evaluation of new methods and improving reproducibility in the field. Second, we conduct an in-depth comparative study on representative models to assess their strengths and limitations, providing insights for both practitioners and researchers. Third, we leverage IceBench for systematic experiments addressing key research questions on model transferability across seasons (time) and locations (space), data downscaling, and preprocessing strategies.
Understanding and Mitigating Covert Channel and Side Channel Vulnerabilities Introduced by RowHammer Defenses
Venue: arXiv cs.CR 2025
Year: 2025

DRAM chips are vulnerable to read disturbance phenomena (e.g., RowHammer and RowPress), where repeatedly accessing or keeping open a DRAM row causes bitflips in nearby rows. Attackers leverage RowHammer bitflips in real systems to take over systems and leak data. Consequently, many prior works propose defenses, including recent DDR specifications introducing new defenses (e.g., PRAC and RFM). For robust operation, it is critical to analyze other security implications of RowHammer defenses. Unfortunately, no prior work analyzes the timing covert and side channel vulnerabilities introduced by RowHammer defenses. This paper presents the first analysis and evaluation of timing covert and side channel vulnerabilities introduced by state-of-the-art RowHammer defenses. We demonstrate that RowHammer defenses' preventive actions have two fundamental features that enable timing channels. First, preventive actions reduce DRAM bandwidth availability, resulting in longer memory latencies. Second, preventive actions can be triggered on demand depending on memory access patterns. We introduce LeakyHammer, a new class of attacks that leverage the RowHammer defense-induced memory latency differences to establish communication channels and leak secrets. First, we build two covert channel attacks exploiting two state-of-the-art RowHammer defenses, achieving 39.0 Kbps and 48.7 Kbps channel capacity. Second, we demonstrate a website fingerprinting attack that identifies visited websites based on the RowHammer-preventive actions they cause. We propose and evaluate three countermeasures against LeakyHammer. Our results show that fundamentally mitigating LeakyHammer induces large performance overheads in highly RowHammer-vulnerable systems. We believe and hope our work can enable and aid future work on designing better solutions and more robust systems in the presence of such new vulnerabilities.
WLB-LLM: Workload-Balanced 4D Parallelism for Large Language Model Training
Venue: arXiv cs.DC 2025
Year: 2025

In this work, we present WLB-LLM, a workLoad-balanced 4D parallelism for large language model training. We first thoroughly analyze the workload imbalance issue in LLM training and identify two primary sources of imbalance at the pipeline parallelism and context parallelism levels. Then, to address the imbalance issue, at the pipeline parallelism level, WLB-LLM incorporates a workload-aware variable-length document packing method to balance the computation and communication workload across micro-batches. Additionally, at the context parallelism level, WLB-LLM introduces a novel fine-grained per-document sharding strategy, ensuring each worker within a context parallelism group has an identical workload. Comprehensive experiments under different model scales demonstrate that WLB-LLM significantly mitigates the workload imbalance during 4D parallelism LLM training and achieves an average speedup of 1.23x when applying WLB-LLM in our internal LLM training framework.
STShield: Single-Token Sentinel for Real-Time Jailbreak Detection in Large Language Models
Venue: arXiv cs.CL 2025
Year: 2025

Large Language Models (LLMs) have become increasingly vulnerable to jailbreak attacks that circumvent their safety mechanisms. While existing defense methods either suffer from adaptive attacks or require computationally expensive auxiliary models, we present STShield, a lightweight framework for real-time jailbroken judgement. STShield introduces a novel single-token sentinel mechanism that appends a binary safety indicator to the model's response sequence, leveraging the LLM's own alignment capabilities for detection. Our framework combines supervised fine-tuning on normal prompts with adversarial training using embedding-space perturbations, achieving robust detection while preserving model utility. Extensive experiments demonstrate that STShield successfully defends against various jailbreak attacks, while maintaining the model's performance on legitimate queries. Compared to existing approaches, STShield achieves superior defense performance with minimal computational overhead, making it a practical solution for real-world LLM deployment.
On the Origins of Sampling Bias: Implications on Fairness Measurement and Mitigation
Venue: arXiv cs.LG 2025
Year: 2025

Accurately measuring discrimination is crucial to faithfully assessing fairness of trained machine learning (ML) models. Any bias in measuring discrimination leads to either amplification or underestimation of the existing disparity. Several sources of bias exist and it is assumed that bias resulting from machine learning is born equally by different groups (e.g. females vs males, whites vs blacks, etc.). If, however, bias is born differently by different groups, it may exacerbate discrimination against specific sub-populations. Sampling bias, in particular, is inconsistently used in the literature to describe bias due to the sampling procedure. In this paper, we attempt to disambiguate this term by introducing clearly defined variants of sampling bias, namely, sample size bias (SSB) and underrepresentation bias (URB). Through an extensive set of experiments on benchmark datasets and using mainstream learning algorithms, we expose relevant observations in several model training scenarios. The observations are finally framed as actionable recommendations for practitioners.
Real-World Remote Sensing Image Dehazing: Benchmark and Baseline
Venue: arXiv cs.CV 2025
Year: 2025

Remote Sensing Image Dehazing (RSID) poses significant challenges in real-world scenarios due to the complex atmospheric conditions and severe color distortions that degrade image quality. The scarcity of real-world remote sensing hazy image pairs has compelled existing methods to rely primarily on synthetic datasets. However, these methods struggle with real-world applications due to the inherent domain gap between synthetic and real data. To address this, we introduce Real-World Remote Sensing Hazy Image Dataset (RRSHID), the first large-scale dataset featuring real-world hazy and dehazed image pairs across diverse atmospheric conditions. Based on this, we propose MCAF-Net, a novel framework tailored for real-world RSID. Its effectiveness arises from three innovative components: Multi-branch Feature Integration Block Aggregator (MFIBA), which enables robust feature extraction through cascaded integration blocks and parallel multi-branch processing; Color-Calibrated Self-Supervised Attention Module (CSAM), which mitigates complex color distortions via self-supervised learning and attention-guided refinement; and Multi-Scale Feature Adaptive Fusion Module (MFAFM), which integrates features effectively while preserving local details and global context. Extensive experiments validate that MCAF-Net demonstrates state-of-the-art performance in real-world RSID, while maintaining competitive performance on synthetic datasets. The introduction of RRSHID and MCAF-Net sets new benchmarks for real-world RSID research, advancing practical solutions for this complex task. The code and dataset are publicly available at https://github.com/lwCVer/RRSHID.
Trade-offs in Large Reasoning Models: An Empirical Analysis of Deliberative and Adaptive Reasoning over Foundational Capabilities
Venue: arXiv cs.AI 2025
Year: 2025

Recent advancements in Large Reasoning Models (LRMs), such as OpenAI's o1/o3 and DeepSeek-R1, have demonstrated remarkable performance in specialized reasoning tasks through human-like deliberative thinking and long chain-of-thought reasoning. However, our systematic evaluation across various model families (DeepSeek, Qwen, and LLaMA) and scales (7B to 32B) reveals that acquiring these deliberative reasoning capabilities significantly reduces the foundational capabilities of LRMs, including notable declines in helpfulness and harmlessness, alongside substantially increased inference costs. Importantly, we demonstrate that adaptive reasoning -- employing modes like Zero-Thinking, Less-Thinking, and Summary-Thinking -- can effectively alleviate these drawbacks. Our empirical insights underline the critical need for developing more versatile LRMs capable of dynamically allocating inference-time compute according to specific task characteristics.
Optimizing Navigation And Chemical Application in Precision Agriculture With Deep Reinforcement Learning And Conditional Action Tree
Venue: arXiv cs.RO 2025
Year: 2025

This paper presents a novel reinforcement learning (RL)-based planning scheme for optimized robotic management of biotic stresses in precision agriculture. The framework employs a hierarchical decision-making structure with conditional action masking, where high-level actions direct the robot's exploration, while low-level actions optimize its navigation and efficient chemical spraying in affected areas. The key objectives of optimization include improving the coverage of infected areas with limited battery power and reducing chemical usage, thus preventing unnecessary spraying of healthy areas of the field. Our numerical experimental results demonstrate that the proposed method, Hierarchical Action Masking Proximal Policy Optimization (HAM-PPO), significantly outperforms baseline practices, such as LawnMower navigation + indiscriminate spraying (Carpet Spray), in terms of yield recovery and resource efficiency. HAM-PPO consistently achieves higher yield recovery percentages and lower chemical costs across a range of infection scenarios. The framework also exhibits robustness to observation noise and generalizability under diverse environmental conditions, adapting to varying infection ranges and spatial distribution patterns.
Bag Semantics Conjunctive Query Containment. Four Small Steps Towards Undecidability
Venue: arXiv cs.DB 2025
Year: 2025

Query Containment Problem (QCP) is one of the most fundamental decision problems in database query processing and optimization. Complexity of QCP for conjunctive queries (QCP-CQ) has been fully understood since 1970s. But, as Chaudhuri and Vardi noticed in their classical 1993 paper [1], this understanding is based on the assumption that query answers are sets of tuples, and it does not transfer to the situation when multi-set (bag) semantics is considered. Now, 30 years after [1] was written, decidability of QCP-CQ for bag semantics remains an open question, one of the most intriguing open questions in database theory. In this paper we show a series of undecidability results for some generalizations of bag-semantics QCP-CQ. We show, for example, that the problem whether, for given two boolean conjunctive queries Q and Q' , and a linear function F, the inequality F(Q(D)) =< Q'(D) holds for each database instance D, is undecidable
BERTDetect: A Neural Topic Modelling Approach for Android Malware Detection
Venue: arXiv cs.CR 2025
Year: 2025

Web access today occurs predominantly through mobile devices, with Android representing a significant share of the mobile device market. This widespread usage makes Android a prime target for malicious attacks. Despite efforts to combat malicious attacks through tools like Google Play Protect and antivirus software, new and evolved malware continues to infiltrate Android devices. Source code analysis is effective but limited, as attackers quickly abandon old malware for new variants to evade detection. Therefore, there is a need for alternative methods that complement source code analysis. Prior research investigated clustering applications based on their descriptions and identified outliers in these clusters by API usage as malware. However, these works often used traditional techniques such as Latent Dirichlet Allocation (LDA) and k-means clustering, that do not capture the nuanced semantic structures present in app descriptions. To this end, in this paper, we propose BERTDetect, which leverages the BERTopic neural topic modelling to effectively capture the latent topics in app descriptions. The resulting topic clusters are comparatively more coherent than previous methods and represent the app functionalities well. Our results demonstrate that BERTDetect outperforms other baselines, achieving ~10% relative improvement in F1 score.
(G)I-DLE: Generative Inference via Distribution-preserving Logit Exclusion with KL Divergence Minimization for Constrained Decoding
Venue: arXiv cs.CE 2025
Year: 2025

We propose (G)I-DLE, a new approach to constrained decoding that leverages KL divergence minimization to preserve the intrinsic conditional probability distribution of autoregressive language models while excluding undesirable tokens. Unlike conventional methods that naively set banned tokens' logits to $-\infty$, which can distort the conversion from raw logits to posterior probabilities and increase output variance, (G)I-DLE re-normalizes the allowed token probabilities to minimize such distortion. We validate our method on the K2-Eval dataset, specifically designed to assess Korean language fluency, logical reasoning, and cultural appropriateness. Experimental results on Qwen2.5 models (ranging from 1.5B to 14B) demonstrate that G-IDLE not only boosts mean evaluation scores but also substantially reduces the variance of output quality.