OpenRaiser/Intern-Atlas huggingface dataset:
Vision-in-the-loop Simulation for Deep Monocular Pose Estimation of UAV in Ocean Environment
Venue: arXiv cs.CV 2025
Year: 2025

This paper proposes a vision-in-the-loop simulation environment for deep monocular pose estimation of a UAV operating in an ocean environment. Recently, a deep neural network with a transformer architecture has been successfully trained to estimate the pose of a UAV relative to the flight deck of a research vessel, overcoming several limitations of GPS-based approaches. However, validating the deep pose estimation scheme in an actual ocean environment poses significant challenges due to the limited availability of research vessels and the associated operational costs. To address these issues, we present a photo-realistic 3D virtual environment leveraging recent advancements in Gaussian splatting, a novel technique that represents 3D scenes by modeling image pixels as Gaussian distributions in 3D space, creating a lightweight and high-quality visual model from multiple viewpoints. This approach enables the creation of a virtual environment integrating multiple real-world images collected in situ. The resulting simulation enables the indoor testing of flight maneuvers while verifying all aspects of flight software, hardware, and the deep monocular pose estimation scheme. This approach provides a cost-effective solution for testing and validating the autonomous flight of shipboard UAVs, specifically focusing on vision-based control and estimation algorithms.
Approximating the total variation distance between spin systems
Venue: arXiv cs.DS 2025
Year: 2025

Spin systems form an important class of undirected graphical models. For two Gibbs distributions $μ$ and $ν$ induced by two spin systems on the same graph $G = (V, E)$, we study the problem of approximating the total variation distance $d_{TV}(μ,ν)$ with an $ε$-relative error. We propose a new reduction that connects the problem of approximating the TV-distance to sampling and approximate counting. Our applications include the hardcore model and the antiferromagnetic Ising model in the uniqueness regime, the ferromagnetic Ising model, and the general Ising model satisfying the spectral condition. Additionally, we explore the computational complexity of approximating the total variation distance $d_{TV}(μ_S,ν_S)$ between two marginal distributions on an arbitrary subset $S \subseteq V$. We prove that this problem remains hard even when both $μ$ and $ν$ admit polynomial-time sampling and approximate counting algorithms.
Non-cooperative Stochastic Target Encirclement by Anti-synchronization Control via Range-only Measurement
Venue: arXiv cs.RO 2025
Year: 2025

This paper investigates the stochastic moving target encirclement problem in a realistic setting. In contrast to typical assumptions in related works, the target in our work is non-cooperative and capable of escaping the circle containment by boosting its speed to maximum for a short duration. Considering the extreme environment, such as GPS denial, weight limit, and lack of ground guidance, two agents can only rely on their onboard single-modality perception tools to measure the distances to the target. The distance measurement allows for creating a position estimator by providing a target position-dependent variable. Furthermore, the construction of the unique distributed anti-synchronization controller (DASC) can guarantee that the two agents track and encircle the target swiftly. The convergence of the estimator and controller is rigorously evaluated using the Lyapunov technique. A real-world UAV-based experiment is conducted to illustrate the performance of the proposed methodology in addition to a simulated Matlab numerical sample. Our video demonstration can be found in the URL https://youtu.be/JXu1gib99yQ.
Modeling of Core Loss Based on Machine Learning and Deep Learning
Venue: arXiv cs.LG 2025
Year: 2025

This article proposes a Mix Neural Network (MNN) based on CNN-FCNN for predicting magnetic loss of different materials. In traditional magnetic core loss models, empirical equations usually need to be regressed under the same external conditions. When the magnetic core material is different, it needs to be classified and discussed. If external factors increase, multiple models need to be proposed for classification and discussion, making the modeling process extremely cumbersome. And traditional empirical equations still has the problem of low accuracy, although various correction equations have been introduced later, the accuracy has always been unsatisfactory. By introducing machine learning and deep learning, it is possible to simultaneously solve prediction problems with low accuracy of empirical equations and complex conditions. Based on the MagNet database, through the training of the newly proposed MNN, it is found that a single model is sufficient to make predictions for at least four different materials under varying temperatures, frequencies, and waveforms, with accuracy far exceeding that of traditional models. At the same time, we also used three other machine learning and deep learning models (Random Forest, XGBoost, MLP-LSTM) for training, all of which had much higher accuracy than traditional models. On the basis of the predicted results, a hybrid model combining MNN and XGBoost was proposed, which predicted through weighting and found that the accuracy could continue to improve. This provides a solution for modeling magnetic core loss under different materials and operating modes.
Lie-algebra Adaptive Tracking Control for Rigid Body Dynamics
Venue: arXiv cs.RO 2025
Year: 2025

Adaptive tracking control for rigid body dynamics is of critical importance in control and robotics, particularly for addressing uncertainties or variations in system model parameters. However, most existing adaptive control methods are designed for systems with states in vector spaces, often neglecting the manifold constraints inherent to robotic systems. In this work, we propose a novel Lie-algebra-based adaptive control method that leverages the intrinsic relationship between the special Euclidean group and its associated Lie algebra. By transforming the state space from the group manifold to a vector space, we derive a linear error dynamics model that decouples model parameters from the system state. This formulation enables the development of an adaptive optimal control method that is both geometrically consistent and computationally efficient. Extensive simulations demonstrate the effectiveness and efficiency of the proposed method. We have made our source code publicly available to the community to support further research and collaboration.
IndexTTS: An Industrial-Level Controllable and Efficient Zero-Shot Text-To-Speech System
Venue: arXiv cs.SD 2025
Year: 2025

Recently, large language model (LLM) based text-to-speech (TTS) systems have gradually become the mainstream in the industry due to their high naturalness and powerful zero-shot voice cloning capabilities.Here, we introduce the IndexTTS system, which is mainly based on the XTTS and Tortoise model. We add some novel improvements. Specifically, in Chinese scenarios, we adopt a hybrid modeling method that combines characters and pinyin, making the pronunciations of polyphonic characters and long-tail characters controllable. We also performed a comparative analysis of the Vector Quantization (VQ) with Finite-Scalar Quantization (FSQ) for codebook utilization of acoustic speech tokens. To further enhance the effect and stability of voice cloning, we introduce a conformer-based speech conditional encoder and replace the speechcode decoder with BigVGAN2. Compared with XTTS, it has achieved significant improvements in naturalness, content consistency, and zero-shot voice cloning. As for the popular TTS systems in the open-source, such as Fish-Speech, CosyVoice2, FireRedTTS and F5-TTS, IndexTTS has a relatively simple training process, more controllable usage, and faster inference speed. Moreover, its performance surpasses that of these systems. Our demos are available at https://index-tts.github.io.
Counting Tree-Like Multigraphs with a Given Number of Vertices and Multiple Edges
Venue: arXiv cs.DM 2025
Year: 2025

The enumeration of chemical graphs is an important topic in cheminformatics and bioinformatics, particularly in the discovery of novel drugs. These graphs are typically either tree-like multigraphs or composed of tree-like multigraphs connected to a core structure. In both cases, the tree-like components play a significant role in determining the properties and activities of chemical compounds. This paper introduces a method based on dynamic programming to efficiently count tree-like multigraphs with a given number $n$ of vertices and $Δ$ multiple edges. The idea of our method is to consider multigraphs as rooted multigraphs by selecting their unicentroid or bicentroid as the root, and define their canonical representation based on maximal subgraphs rooted at the children of the root. This representation guarantees that our proposed method will not repeat a multigraph in the counting process. Finally, recursive relations are derived based on the number of vertices and multiple edges in the maximal subgraphs rooted at the children of roots. These relations lead to an algorithm with a time complexity of $\mathcal{O}(n^2(n + Δ(n + Δ^2 \cdot \min\{n, Δ\})))$ and a space complexity of $\mathcal{O}(n^2(Δ^3+1))$. Experimental results show that the proposed algorithm efficiently counts the desired multigraphs with up to 170 vertices and 50 multiple edges in approximately 930 seconds, confirming its effectiveness and potential as a valuable tool for exploring the chemical graph space in novel drug discovery.
User Identification Procedures with Human Mutations: Formal Analysis and Pilot Study (Extended Version)
Venue: arXiv cs.CR 2025
Year: 2025

User identification procedures, essential to the information security of systems, enable system-user interactions by exchanging data through communication links and interfaces to validate and confirm user authenticity. However, human errors can introduce vulnerabilities that may disrupt the intended identification workflow and thus impact system behavior. Therefore, ensuring the integrity of these procedures requires accounting for such erroneous behaviors. We follow a formal, human-centric approach to analyze user identification procedures by modeling them as security ceremonies and apply proven techniques for automatically analyzing such ceremonies. The approach relies on mutation rules to model potential human errors that deviate from expected interactions during the identification process, and is implemented as the X-Men tool, an extension of the Tamarin prover, which automatically generates models with human mutations and implements matching mutations to other ceremony participants for analysis. As a proof-of-concept, we consider a real-life pilot study involving an AI-driven, virtual receptionist kiosk for authenticating visitors.
Fg-T2M++: LLMs-Augmented Fine-Grained Text Driven Human Motion Generation
Venue: arXiv cs.CV 2025
Year: 2025

We address the challenging problem of fine-grained text-driven human motion generation. Existing works generate imprecise motions that fail to accurately capture relationships specified in text due to: (1) lack of effective text parsing for detailed semantic cues regarding body parts, (2) not fully modeling linguistic structures between words to comprehend text comprehensively. To tackle these limitations, we propose a novel fine-grained framework Fg-T2M++ that consists of: (1) an LLMs semantic parsing module to extract body part descriptions and semantics from text, (2) a hyperbolic text representation module to encode relational information between text units by embedding the syntactic dependency graph into hyperbolic space, and (3) a multi-modal fusion module to hierarchically fuse text and motion features. Extensive experiments on HumanML3D and KIT-ML datasets demonstrate that Fg-T2M++ outperforms SOTA methods, validating its ability to accurately generate motions adhering to comprehensive text semantics.
4DR P2T: 4D Radar Tensor Synthesis with Point Clouds
Venue: arXiv cs.CV 2025
Year: 2025

In four-dimensional (4D) Radar-based point cloud generation, clutter removal is commonly performed using the constant false alarm rate (CFAR) algorithm. However, CFAR may not fully capture the spatial characteristics of objects. To address limitation, this paper proposes the 4D Radar Point-to-Tensor (4DR P2T) model, which generates tensor data suitable for deep learning applications while minimizing measurement loss. Our method employs a conditional generative adversarial network (cGAN), modified to effectively process 4D Radar point cloud data and generate tensor data. Experimental results on the K-Radar dataset validate the effectiveness of the 4DR P2T model, achieving an average PSNR of 30.39dB and SSIM of 0.96. Additionally, our analysis of different point cloud generation methods highlights that the 5% percentile method provides the best overall performance, while the 1% percentile method optimally balances data volume reduction and performance, making it well-suited for deep learning applications.
On Memory Construction and Retrieval for Personalized Conversational Agents
Venue: arXiv cs.CL 2025
Year: 2025

To deliver coherent and personalized experiences in long-term conversations, existing approaches typically perform retrieval augmented response generation by constructing memory banks from conversation history at either the turn-level, session-level, or through summarization techniques.In this paper, we present two key findings: (1) The granularity of memory unit matters: turn-level, session-level, and summarization-based methods each exhibit limitations in both memory retrieval accuracy and the semantic quality of the retrieved content. (2) Prompt compression methods, such as LLMLingua-2, can effectively serve as a denoising mechanism, enhancing memory retrieval accuracy across different granularities. Building on these insights, we propose SeCom, a method that constructs the memory bank at segment level by introducing a conversation segmentation model that partitions long-term conversations into topically coherent segments, while applying compression based denoising on memory units to enhance memory retrieval. Experimental results show that SeCom exhibits a significant performance advantage over baselines on long-term conversation benchmarks LOCOMO and Long-MT-Bench+. Additionally, the proposed conversation segmentation method demonstrates superior performance on dialogue segmentation datasets such as DialSeg711, TIAGE, and SuperDialSeg.
AI-Driven Electronic Health Records System for Enhancing Patient Data Management and Diagnostic Support in Egypt
Venue: arXiv cs.CY 2025
Year: 2025

Digital healthcare infrastructure is crucial for global medical service delivery. Egypt faces EHR adoption barriers: only 314 hospitals had such systems as of Oct 2024. This limits data management and decision-making. This project introduces an EHR system for Egypt's Universal Health Insurance and healthcare ecosystem. It simplifies data management by centralizing medical histories with a scalable micro-services architecture and polyglot persistence for real-time access and provider communication. Clinical workflows are enhanced via patient examination and history tracking. The system uses the Llama3-OpenBioLLM-70B model to generate summaries of medical histories, provide chatbot features, and generate AI-based medical reports, enabling efficient searches during consultations. A Vision Transformer (ViT) aids in pneumonia classification. Evaluations show the AI excels in capturing details (high recall) but needs improvement in concise narratives. With optimization (retrieval-augmented generation, local data fine-tuning, interoperability protocols), this AI-driven EHR could enhance diagnostic support, decision-making, and healthcare delivery in Egypt.
Open Data in the Digital Economy: An Evolutionary Game Theory Perspective
Venue: arXiv cs.GT 2025
Year: 2025

Open data, as an essential element in the sustainable development of the digital economy, is highly valued by many relevant sectors in the implementation process. However, most studies suppose that there are only data providers and users in the open data process and ignore the existence of data regulators. In order to establish long-term green supply relationships between multi-stakeholders, we hereby introduce data regulators and propose an evolutionary game model to observe the cooperation tendency of multi-stakeholders (data providers, users, and regulators). The newly proposed game model enables us to intensively study the trading behavior which can be realized as strategies and payoff functions of the data providers, users, and regulators. Besides, a replicator dynamic system is built to study evolutionary stable strategies of multi-stakeholders. In simulations, we investigate the evolution of the cooperation ratio as time progresses under different parameters, which is proved to be in agreement with our theoretical analysis. Furthermore, we explore the influence of the cost of data users to acquire data, the value of open data, the reward (penalty) from the regulators, and the data mining capability of data users to group strategies and uncover some regular patterns. Some meaningful results are also obtained through simulations, which can guide stakeholders to make better decisions in the future.
Mixing Time of the Proximal Sampler in Relative Fisher Information via Strong Data Processing Inequality
Venue: arXiv cs.IT 2025
Year: 2025

We study the mixing time guarantee for sampling in relative Fisher information via the Proximal Sampler algorithm, which is an approximate proximal discretization of the Langevin dynamics. We show that when the target probability distribution is strongly log-concave, the relative Fisher information converges exponentially fast along the Proximal Sampler; this matches the exponential convergence rate of the relative Fisher information along the continuous-time Langevin dynamics for strongly log-concave target. When combined with a standard implementation of the Proximal Sampler via rejection sampling, this exponential convergence rate provides a high-accuracy iteration complexity guarantee for the Proximal Sampler in relative Fisher information when the target distribution is strongly log-concave and log-smooth. Our proof proceeds by establishing a strong data processing inequality for relative Fisher information along the Gaussian channel under strong log-concavity, and a data processing inequality along the reverse Gaussian channel for a special distribution. The forward and reverse Gaussian channels compose to form the Proximal Sampler, and these data processing inequalities imply the exponential convergence rate of the relative Fisher information along the Proximal Sampler.
A Complete Axiomatization of Branching Bisimilarity for a Simple Process Language with Probabilistic Choice
Venue: arXiv cs.LO 2025
Year: 2025

This paper proposes a notion of branching bisimilarity for non-deterministic probabilistic processes. In order to characterize the corresponding notion of rooted branching probabilistic bisimilarity, an equational theory is proposed for a basic, recursion-free process language with non-deterministic as well as probabilistic choice. The proof of completeness of the axiomatization builds on the completeness of strong probabilistic bisimilarity on the one hand and on the notion of a concrete process, i.e. a process that does not display (partially) inert $τ$-moves, on the other hand. The approach is first presented for the non-deterministic fragment of the calculus and next generalized to incorporate probabilistic choice, too.
Adversarial Machine Learning: Attacks, Defenses, and Open Challenges
Venue: arXiv cs.CR 2025
Year: 2025

Adversarial Machine Learning (AML) addresses vulnerabilities in AI systems where adversaries manipulate inputs or training data to degrade performance. This article provides a comprehensive analysis of evasion and poisoning attacks, formalizes defense mechanisms with mathematical rigor, and discusses the challenges of implementing robust solutions in adaptive threat models. Additionally, it highlights open challenges in certified robustness, scalability, and real-world deployment.
ELMTEX: Fine-Tuning Large Language Models for Structured Clinical Information Extraction. A Case Study on Clinical Reports
Venue: arXiv cs.CL 2025
Year: 2025

Europe's healthcare systems require enhanced interoperability and digitalization, driving a demand for innovative solutions to process legacy clinical data. This paper presents the results of our project, which aims to leverage Large Language Models (LLMs) to extract structured information from unstructured clinical reports, focusing on patient history, diagnoses, treatments, and other predefined categories. We developed a workflow with a user interface and evaluated LLMs of varying sizes through prompting strategies and fine-tuning. Our results show that fine-tuned smaller models match or surpass larger counterparts in performance, offering efficiency for resource-limited settings. A new dataset of 60,000 annotated English clinical summaries and 24,000 German translations was validated with automated and manual checks. The evaluations used ROUGE, BERTScore, and entity-level metrics. The work highlights the approach's viability and outlines future improvements.
Incongruence Identification in Eyewitness Testimony
Venue: arXiv cs.CL 2025
Year: 2025

Incongruence detection in eyewitness narratives is critical for understanding the reliability of testimonies, yet traditional approaches often fail to address the nuanced inconsistencies inherent in such accounts. In this paper, we introduce a novel task of incongruence detection in eyewitness testimonies. Given a pair of testimonies containing of multiple pairs of question and answer by two subjects, we identify contextually related incongruence between the two subjects. We also mark the span of incongruences in the utterances. To achieve this, we developed MIND(MultI-EyewitNess Deception) - a comprehensive dataset consisting of 2927 pairs of contextually related answers designed to capture both explicit and implicit contradictions. INstruction - TunEd iNcongruity Detection framework based on 6W and multi-hop reasoning approach, aka. INTEND. Drawing from investigative techniques, INTEND address the task as a close-style problem, contradicting on the who, what, when, where and why aspect of the content. Our findings shows that prompt tuning, especially when utilizing our framework, enhances the detection of incongruences by a margin of +5.63 percent. We compare our approach with multiple fine-tuning and prompt tuning techniques on MLMs and LLMs. Emperical results demonstrate convincing performance improvement in F1-score over fine-tuned and regular prompt-tuning techniques, highlighting the effectiveness of our approach.