OpenRaiser/Intern-Atlas huggingface dataset:
Multi-goal Rapidly Exploring Random Tree with Safety and Dynamic Constraints for UAV Cooperative Path Planning
Venue: arXiv cs.RO 2025
Year: 2025

Cooperative path planning is gaining its importance due to the increasing demand on using multiple unmanned aerial vehicles (UAVs) for complex missions. This work addresses the problem by introducing a new algorithm named MultiRRT that extends the rapidly exploring random tree (RRT) to generate paths for a group of UAVs to reach multiple goal locations at the same time. We first derive the dynamics constraint of the UAV and include it in the problem formulation. MultiRRT is then developed, taking into account the cooperative requirements and safe constraints during its path-searching process. The algorithm features two new mechanisms, node reduction and Bezier interpolation, to ensure the feasibility and optimality of the paths generated. Importantly, the interpolated paths are proven to meet the safety and dynamics constraints imposed by obstacles and the UAVs. A number of simulations, comparisons, and experiments have been conducted to evaluate the performance of the proposed approach. The results show that MultiRRT can generate collision-free paths for multiple UAVs to reach their goals with better scores in path length and smoothness metrics than state-of-the-art RRT variants including Theta-RRT, FN-RRT, RRT*, and RRT*-Smart. The generated paths are also tested in practical flights with real UAVs to evaluate their validity for cooperative tasks. The source code of the algorithm is available at https://github.com/duynamrcv/multi-target_RRT
When Should I Run My Application Benchmark?: Studying Cloud Performance Variability for the Case of Stream Processing Applications
Venue: arXiv cs.SE 2025
Year: 2025

Performance benchmarking is a common practice in software engineering, particularly when building large-scale, distributed, and data-intensive systems. While cloud environments offer several advantages for running benchmarks, it is often reported that benchmark results can vary significantly between repetitions -- making it difficult to draw reliable conclusions about real-world performance. In this paper, we empirically quantify the impact of cloud performance variability on benchmarking results, focusing on stream processing applications as a representative type of data-intensive, performance-critical system. In a longitudinal study spanning more than three months, we repeatedly executed an application benchmark used in research and development at Dynatrace. This allows us to assess various aspects of performance variability, particularly concerning temporal effects. With approximately 591 hours of experiments, deploying 789 Kubernetes clusters on AWS and executing 2366 benchmarks, this is likely the largest study of its kind and the only one addressing performance from an end-to-end, i.e., application benchmark perspective. Our study confirms that performance variability exists, but it is less pronounced than often assumed (coefficient of variation of < 3.7%). Unlike related studies, we find that performance does exhibit a daily and weekly pattern, although with only small variability (<= 2.5%). Re-using benchmarking infrastructure across multiple repetitions introduces only a slight reduction in result accuracy (<= 2.5 percentage points). These key observations hold consistently across different cloud regions and machine types with different processor architectures. We conclude that for engineers and researchers focused on detecting substantial performance differences (e.g., > 5%) in...
FiSMiness: A Finite State Machine Based Paradigm for Emotional Support Conversations
Venue: arXiv cs.CL 2025
Year: 2025

Emotional support conversation (ESC) aims to alleviate the emotional distress of individuals through effective conversations. Although large language models (LLMs) have obtained remarkable progress on ESC, most of these studies might not define the diagram from the state model perspective, therefore providing a suboptimal solution for long-term satisfaction. To address such an issue, we leverage the Finite State Machine (FSM) on LLMs, and propose a framework called FiSMiness. Our framework allows a single LLM to bootstrap the planning during ESC, and self-reason the seeker's emotion, support strategy and the final response upon each conversational turn. Substantial experiments on ESC datasets suggest that FiSMiness outperforms many baselines, including direct inference, self-refine, chain of thought, finetuning, and external-assisted methods, even those with many more parameters.
A Visual RAG Pipeline for Few-Shot Fine-Grained Product Classification
Venue: arXiv cs.CV 2025
Year: 2025

Despite the rapid evolution of learning and computer vision algorithms, Fine-Grained Classification (FGC) still poses an open problem in many practically relevant applications. In the retail domain, for example, the identification of fast changing and visually highly similar products and their properties are key to automated price-monitoring and product recommendation. This paper presents a novel Visual RAG pipeline that combines the Retrieval Augmented Generation (RAG) approach and Vision Language Models (VLMs) for few-shot FGC. This Visual RAG pipeline extracts product and promotion data in advertisement leaflets from various retailers and simultaneously predicts fine-grained product ids along with price and discount information. Compared to previous approaches, the key characteristic of the Visual RAG pipeline is that it allows the prediction of novel products without re-training, simply by adding a few class samples to the RAG database. Comparing several VLM back-ends like GPT-4o [23], GPT-4o-mini [24], and Gemini 2.0 Flash [10], our approach achieves 86.8% accuracy on a diverse dataset.
Meta Theorem for Hardness on FCP-Problem
Venue: arXiv cs.CC 2025
Year: 2025

The Fewest Clues Problem (FCP) framework has been introduced to study the complexity of determining whether a solution to an \NP~problem can be uniquely identified by specifying a subset of the certificate. For a given problem $P \in \NP$, its FCP variant is denoted by FCP-$P$. While several \NP-complete problems have been shown to have $Σ_2^\p$-complete FCP variants, it remains open whether this holds for all \NP-complete problems. In this work, we propose a meta-theorem that establishes the $Σ_2^\p$-completeness of FCP-$P$ under the condition that the \NP-hardness of $P$ is proven via a polynomial-time reduction satisfying certain structural properties. Furthermore, we apply the meta-theorem to demonstrate the $Σ_2^\p$-completeness of the FCP variants of several \NP-complete problems.
A Category-Fragment Segmentation Framework for Pelvic Fracture Segmentation in X-ray Images
Venue: arXiv cs.CV 2025
Year: 2025

Pelvic fractures, often caused by high-impact trauma, frequently require surgical intervention. Imaging techniques such as CT and 2D X-ray imaging are used to transfer the surgical plan to the operating room through image registration, enabling quick intraoperative adjustments. Specifically, segmenting pelvic fractures from 2D X-ray imaging can assist in accurately positioning bone fragments and guiding the placement of screws or metal plates. In this study, we propose a novel deep learning-based category and fragment segmentation (CFS) framework for the automatic segmentation of pelvic bone fragments in 2D X-ray images. The framework consists of three consecutive steps: category segmentation, fragment segmentation, and post-processing. Our best model achieves an IoU of 0.91 for anatomical structures and 0.78 for fracture segmentation. Results demonstrate that the CFS framework is effective and accurate.
Benchmarking Mutual Information-based Loss Functions in Federated Learning
Venue: arXiv cs.LG 2025
Year: 2025

Federated Learning (FL) has attracted considerable interest due to growing privacy concerns and regulations like the General Data Protection Regulation (GDPR), which stresses the importance of privacy-preserving and fair machine learning approaches. In FL, model training takes place on decentralized data, so as to allow clients to upload a locally trained model and receive a globally aggregated model without exposing sensitive information. However, challenges related to fairness-such as biases, uneven performance among clients, and the "free rider" issue complicates its adoption. In this paper, we examine the use of Mutual Information (MI)-based loss functions to address these concerns. MI has proven to be a powerful method for measuring dependencies between variables and optimizing deep learning models. By leveraging MI to extract essential features and minimize biases, we aim to improve both the fairness and effectiveness of FL systems. Through extensive benchmarking, we assess the impact of MI-based losses in reducing disparities among clients while enhancing the overall performance of FL.
HyperSAT: Unsupervised Hypergraph Neural Networks for Weighted MaxSAT Problems
Venue: arXiv cs.LG 2025
Year: 2025

Graph neural networks (GNNs) have shown promising performance in solving both Boolean satisfiability (SAT) and Maximum Satisfiability (MaxSAT) problems due to their ability to efficiently model and capture the structural dependencies between literals and clauses. However, GNN methods for solving Weighted MaxSAT problems remain underdeveloped. The challenges arise from the non-linear dependency and sensitive objective function, which are caused by the non-uniform distribution of weights across clauses. In this paper, we present HyperSAT, a novel neural approach that employs an unsupervised hypergraph neural network model to solve Weighted MaxSAT problems. We propose a hypergraph representation for Weighted MaxSAT instances and design a cross-attention mechanism along with a shared representation constraint loss function to capture the logical interactions between positive and negative literal nodes in the hypergraph. Extensive experiments on various Weighted MaxSAT datasets demonstrate that HyperSAT achieves better performance than state-of-the-art competitors.
Learning Physics-Informed Color-Aware Transforms for Low-Light Image Enhancement
Venue: arXiv cs.CV 2025
Year: 2025

Image decomposition offers deep insights into the imaging factors of visual data and significantly enhances various advanced computer vision tasks. In this work, we introduce a novel approach to low-light image enhancement based on decomposed physics-informed priors. Existing methods that directly map low-light to normal-light images in the sRGB color space suffer from inconsistent color predictions and high sensitivity to spectral power distribution (SPD) variations, resulting in unstable performance under diverse lighting conditions. To address these challenges, we introduce a Physics-informed Color-aware Transform (PiCat), a learning-based framework that converts low-light images from the sRGB color space into deep illumination-invariant descriptors via our proposed Color-aware Transform (CAT). This transformation enables robust handling of complex lighting and SPD variations. Complementing this, we propose the Content-Noise Decomposition Network (CNDN), which refines the descriptor distributions to better align with well-lit conditions by mitigating noise and other distortions, thereby effectively restoring content representations to low-light images. The CAT and the CNDN collectively act as a physical prior, guiding the transformation process from low-light to normal-light domains. Our proposed PiCat framework demonstrates superior performance compared to state-of-the-art methods across five benchmark datasets.
FedCanon: Non-Convex Composite Federated Learning with Efficient Proximal Operation on Heterogeneous Data
Venue: arXiv cs.LG 2025
Year: 2025

Composite federated learning offers a general framework for solving machine learning problems with additional regularization terms. However, existing methods often face significant limitations: many require clients to perform computationally expensive proximal operations, and their performance is frequently vulnerable to data heterogeneity. To overcome these challenges, we propose a novel composite federated learning algorithm called \textbf{FedCanon}, designed to solve the optimization problems comprising a possibly non-convex loss function and a weakly convex, potentially non-smooth regularization term. By decoupling proximal mappings from local updates, FedCanon requires only a single proximal evaluation on the server per iteration, thereby reducing the overall proximal computation cost. Concurrently, it integrates control variables into local updates to mitigate the client drift arising from data heterogeneity. The entire architecture avoids the complex subproblems of primal-dual alternatives. The theoretical analysis provides the first rigorous convergence guarantees for this proximal-skipping framework in the general non-convex setting. It establishes that FedCanon achieves a sublinear convergence rate, and a linear rate under the Polyak-Łojasiewicz condition, without the restrictive bounded heterogeneity assumption. Extensive experiments demonstrate that FedCanon outperforms the state-of-the-art methods in terms of both accuracy and computational efficiency, particularly under heterogeneous data distributions.
A Graph-Based Reinforcement Learning Approach with Frontier Potential Based Reward for Safe Cluttered Environment Exploration
Venue: arXiv cs.RO 2025
Year: 2025

Autonomous exploration of cluttered environments requires efficient exploration strategies that guarantee safety against potential collisions with unknown random obstacles. This paper presents a novel approach combining a graph neural network-based exploration greedy policy with a safety shield to ensure safe navigation goal selection. The network is trained using reinforcement learning and the proximal policy optimization algorithm to maximize exploration efficiency while reducing the safety shield interventions. However, if the policy selects an infeasible action, the safety shield intervenes to choose the best feasible alternative, ensuring system consistency. Moreover, this paper proposes a reward function that includes a potential field based on the agent's proximity to unexplored regions and the expected information gain from reaching them. Overall, the approach investigated in this paper merges the benefits of the adaptability of reinforcement learning-driven exploration policies and the guarantee ensured by explicit safety mechanisms. Extensive evaluations in simulated environments demonstrate that the approach enables efficient and safe exploration in cluttered environments.
Securing the Skies: A Comprehensive Survey on Anti-UAV Methods, Benchmarking, and Future Directions
Venue: arXiv cs.CV 2025
Year: 2025

Unmanned Aerial Vehicles (UAVs) are indispensable for infrastructure inspection, surveillance, and related tasks, yet they also introduce critical security challenges. This survey provides a wide-ranging examination of the anti-UAV domain, centering on three core objectives-classification, detection, and tracking-while detailing emerging methodologies such as diffusion-based data synthesis, multi-modal fusion, vision-language modeling, self-supervised learning, and reinforcement learning. We systematically evaluate state-of-the-art solutions across both single-modality and multi-sensor pipelines (spanning RGB, infrared, audio, radar, and RF) and discuss large-scale as well as adversarially oriented benchmarks. Our analysis reveals persistent gaps in real-time performance, stealth detection, and swarm-based scenarios, underscoring pressing needs for robust, adaptive anti-UAV systems. By highlighting open research directions, we aim to foster innovation and guide the development of next-generation defense strategies in an era marked by the extensive use of UAVs.
Hardness and Approximation Schemes for Discrete Packing and Domination
Venue: arXiv cs.CG 2025
Year: 2025

We present polynomial-time approximation schemes based on local search} technique for both geometric (discrete) independent set (\mdis) and geometric (discrete) dominating set (\mdds) problems, where the objects are arbitrary radii disks and arbitrary side length axis-parallel squares. Further, we show that the \mdds~problem is \apx-hard for various shapes in the plane. Finally, we prove that both \mdis~and \mdds~problems are \np-hard for unit disks intersecting a horizontal line and axis-parallel unit squares intersecting a straight line with slope $-1$.
OpDiffer: LLM-Assisted Opcode-Level Differential Testing of Ethereum Virtual Machine
Venue: arXiv cs.SE 2025
Year: 2025

As Ethereum continues to thrive, the Ethereum Virtual Machine (EVM) has become the cornerstone powering tens of millions of active smart contracts. Intuitively, security issues in EVMs could lead to inconsistent behaviors among smart contracts or even denial-of-service of the entire blockchain network. However, to the best of our knowledge, only a limited number of studies focus on the security of EVMs. Moreover, they suffer from 1) insufficient test input diversity and invalid semantics; and 2) the inability to automatically identify bugs and locate root causes. To bridge this gap, we propose OpDiffer, a differential testing framework for EVM, which takes advantage of LLMs and static analysis methods to address the above two limitations. We conducted the largest-scale evaluation, covering nine EVMs and uncovering 26 previously unknown bugs, 22 of which have been confirmed by developers and three have been assigned CNVD IDs. Compared to state-of-the-art baselines, OpDiffer can improve code coverage by at most 71.06%, 148.40% and 655.56%, respectively. Through an analysis of real-world deployed Ethereum contracts, we estimate that 7.21% of the contracts could trigger our identified EVM bugs under certain environmental settings, potentially resulting in severe negative impact on the Ethereum ecosystem.
pix2pockets: Shot Suggestions in 8-Ball Pool from a Single Image in the Wild
Venue: arXiv cs.CV 2025
Year: 2025

Computer vision models have seen increased usage in sports, and reinforcement learning (RL) is famous for beating humans in strategic games such as Chess and Go. In this paper, we are interested in building upon these advances and examining the game of classic 8-ball pool. We introduce pix2pockets, a foundation for an RL-assisted pool coach. Given a single image of a pool table, we first aim to detect the table and the balls and then propose the optimal shot suggestion. For the first task, we build a dataset with 195 diverse images where we manually annotate all balls and table dots, leading to 5748 object segmentation masks. For the second task, we build a standardized RL environment that allows easy development and benchmarking of any RL algorithm. Our object detection model yields an AP50 of 91.2 while our ball location pipeline obtains an error of only 0.4 cm. Furthermore, we compare standard RL algorithms to set a baseline for the shot suggestion task and we show that all of them fail to pocket all balls without making a foul move. We also present a simple baseline that achieves a per-shot success rate of 94.7% and clears a full game in a single turn 30% of the time.
On the calibration of Just-in-time Defect Prediction
Venue: arXiv cs.SE 2025
Year: 2025

Just in time defect prediction (JIT DP) leverages ML to identify defect-prone code commits, enabling quality assurance (QA) teams to allocate resources more efficiently by focusing on commits that are most likely to contain defects. Although JIT DP techniques have introduced improvements in terms of predictive accuracy, they are still susceptible to misclassification errors such as false positives and negatives. This can lead to wasted resources or undetected defects, a particularly critical concern when QA resources are limited. To mitigate these challenges and preserve the practical utility of JIT DP tools, it becomes essential to estimate the reliability of the predictions, i.e., computing confidence scores. Such scores can help practitioners determine the trustworthiness of predictions and thus prioritize them efficiently. A simple approach to computing confidence scores is to extract, alongside each prediction, the corresponding prediction probabilities and use them as indicators of confidence. However, for these probabilities to reliably serve as confidence scores, the predictive model must be well-calibrated. This means that the prediction probabilities must accurately represent the true likelihood of each prediction being correct. Miscalibration, common in modern ML models, distorts probability scores such that they do not align with the actual correctness probability. In this study, we evaluate the calibration of three JIT DP techniques to determine whether and to what extent they exhibit poor calibration. Furthermore, we assess whether post-calibration methods can improve the calibration of existing JIT defect prediction models. Our results reveal that all evaluated JIT DP models exhibit some level of miscalibration, with ECE ranging from 2-35%. Furthermore, post-calibration methods do not consistently improve the calibration.
A Scalable Framework for Post-Quantum Authentication in Public Key Infrastructures
Venue: arXiv cs.CR 2025
Year: 2025

This work explores the performance and scalability of a hierarchical certificate authority framework with automated certificate issuance employing post-quantum cryptographic (PQC) signature algorithms. The system is designed for compatibility with both classical and PQC algorithms, promoting crypto-agility while ensuring robust security against quantum-based threats. The proposed framework design expects minimal cryptographic requirements from potential clients, protects certificates of high importance against cross-dependent chains-of-trust and allows for prompt switching between classical and PQC algorithms. Finally, we evaluate SPHINCS$^+$, Falcon, and Dilithium variants in various configurations of certificate issuance and verification accommodating a large client base, underlining the trade-offs in balancing performance, scalability, and security.
Subitizing-Inspired_Large_Language_Models_for_Floorplanning
Venue: arXiv cs.AR 2025
Year: 2025

We present a novel approach to solving the floorplanning problem by leveraging fine-tuned Large Language Models (LLMs). Inspired by subitizing--the human ability to instantly and accurately count small numbers of items at a glance--we hypothesize that LLMs can similarly address floorplanning challenges swiftly and accurately. We propose an efficient representation of the floorplanning problem and introduce a method for generating high-quality datasets tailored for model fine-tuning. We fine-tune LLMs on datasets with a specified number of modules to test whether LLMs can emulate the human ability to quickly count and arrange items. Our experimental results demonstrate that fine-tuned LLMs, particularly GPT4o-mini, achieve high success and optimal rates while attaining relatively low average dead space. These findings underscore the potential of LLMs as promising solutions for complex optimization tasks in VLSI design.