OpenRaiser/Intern-Atlas huggingface dataset:
Prismatic World Model: Learning Compositional Dynamics for Planning in Hybrid Systems
Venue: arXiv cs.AI 2025
Year: 2025

Model-based planning in robotic domains is fundamentally challenged by the hybrid nature of physical dynamics, where continuous motion is punctuated by discrete events such as contacts and impacts. Conventional latent world models typically employ monolithic neural networks that enforce global continuity, inevitably over-smoothing the distinct dynamic modes (e.g., sticking vs. sliding, flight vs. stance). For a planner, this smoothing results in catastrophic compounding errors during long-horizon lookaheads, rendering the search process unreliable at physical boundaries. To address this, we introduce the Prismatic World Model (PRISM-WM), a structured architecture designed to decompose complex hybrid dynamics into composable primitives. PRISM-WM leverages a context-aware Mixture-of-Experts (MoE) framework where a gating mechanism implicitly identifies the current physical mode, and specialized experts predict the associated transition dynamics. We further introduce a latent orthogonalization objective to ensure expert diversity, effectively preventing mode collapse. By accurately modeling the sharp mode transitions in system dynamics, PRISM-WM significantly reduces rollout drift. Extensive experiments on challenging continuous control benchmarks, including high-dimensional humanoids and diverse multi-task settings, demonstrate that PRISM-WM provides a superior high-fidelity substrate for trajectory optimization algorithms (e.g., TD-MPC), proving its potential as a powerful foundational model for next-generation model-based agents.
Mechanical behaviour of brain-skull interface (meninges) under shear loading through experiment and finite element modelling: Preliminary results
Venue: arXiv cs.CE 2025
Year: 2025

The brain-skull interface (meninges) plays a critical role in governing brain motion during head impacts, yet computational models often simplify this interface using idealized contact conditions due to limited experimental data. This study presents an improved protocol combining experimental testing and computational modelling to determine the mechanical properties of the brain-skull interface under shear loading. Brain tissue and brain-skull complex samples were extracted from sheep cadaver heads and subjected to shear loading. Magnetic resonance imaging (MRI) was used to obtain accurate 3D geometries of the samples, which were then used to create computational grids (meshes) for simulation of the experiments using finite element (FE) models to determine subject-specific properties of the brain tissue and brain-skull interface. A second-order Ogden hyperelastic model was used for the brain tissue, and a cohesive layer was employed to model the brain-skull interface. Our results indicate that a cohesive layer captures the force-displacement and damage initiation of the brain-skull interface. The calibrated cohesive properties showed consistent patterns across samples, with maximum normal tractions ranging from 2.8-3.4 kPa and maximum tangential tractions from 1.8-2.1 kPa. This framework provides a foundation for improving the biofidelity of computational head models used in injury prediction and neurosurgical planning by replacing arbitrary boundary conditions with formulations derived from experimental data on brain-skull interface (meninges) biomechanical behaviour.
Time and Money Matters for Sustainability: Insights on User Preferences on Renewable Energy for Electric Vehicle Charging Stations
Venue: arXiv cs.HC 2025
Year: 2025

Charging electric vehicles (EVs) with renewable energy can lessen their environmental impact. However, the fluctuating availability of renewable energy affects the sustainability of public EV charging stations. Nearby public charging stations may utilize differing energy sources due to their microgrid connections - ranging from exclusively renewable to non-renewable or a combination of both - highlighting the substantial variability in energy supply types within short distances. This study investigates the near-future scenario of integrating dynamic renewable energy availability in charging station navigation to impact the choices of EV users towards renewable sources. We conducted a within-subjects design survey with 50 car users and semi-structured interviews with 10 EV users from rural, suburban, and urban areas. The results show that when choosing EV charging stations, drivers often prioritize either time savings or money savings based on the driving scenarios that influence drivers' consumer value. Notably, EV users tend to select renewable-powered stations when they align with their main priority, be it saving money or time. This study offers end-user insights into the front-end graphic user interface and the development of the back-end ranking algorithm for navigation recommender systems that integrate dynamic renewable energy availability for the sustainable use of electric vehicles.
LapFM: A Laparoscopic Segmentation Foundation Model via Hierarchical Concept Evolving Pre-training
Venue: arXiv cs.CV 2025
Year: 2025

Surgical segmentation is pivotal for scene understanding yet remains hindered by annotation scarcity and semantic inconsistency across diverse procedures. Existing approaches typically fine-tune natural foundation models (e.g., SAM) with limited supervision, functioning merely as domain adapters rather than surgical foundation models. Consequently, they struggle to generalize across the vast variability of surgical targets. To bridge this gap, we present LapFM, a foundation model designed to evolve robust segmentation capabilities from massive unlabeled surgical images. Distinct from medical foundation models relying on inefficient self-supervised proxy tasks, LapFM leverages a Hierarchical Concept Evolving Pre-training paradigm. First, we establish a Laparoscopic Concept Hierarchy (LCH) via a hierarchical mask decoder with parent-child query embeddings, unifying diverse entities (i.e., Anatomy, Tissue, and Instrument) into a scalable knowledge structure with cross-granularity semantic consistency. Second, we propose a Confidence-driven Evolving Labeling that iteratively generates and filters pseudo-labels based on hierarchical consistency, progressively incorporating reliable samples from unlabeled images into training. This process yields LapBench-114K, a large-scale benchmark comprising 114K image-mask pairs. Extensive experiments demonstrate that LapFM significantly outperforms state-of-the-art methods, establishing new standards for granularity-adaptive generalization in universal laparoscopic segmentation. The source code is available at https://github.com/xq141839/LapFM.
Connectivity-Preserving Cortical Surface Tetrahedralization
Venue: arXiv cs.CG 2025
Year: 2025

A prerequisite for many biomechanical simulation techniques is discretizing a bounded volume into a tetrahedral mesh. In certain contexts, such as cortical surface simulations, preserving input surface connectivity is critical. However, automated surface extraction often yields meshes containing self-intersections, small holes, and faulty geometry, which prevents existing constrained and unconstrained meshers from preserving this connectivity. We address this issue by developing a novel tetrahedralization method that maintains input surface connectivity in the presence of such defects. We also present a metric to quantify the preservation of surface connectivity and demonstrate that our method correctly maintains connectivity compared to existing solutions.
On-the-fly Large-scale 3D Reconstruction from Multi-Camera Rigs
Venue: arXiv cs.CV 2025
Year: 2025

Recent advances in 3D Gaussian Splatting (3DGS) have enabled efficient free-viewpoint rendering and photorealistic scene reconstruction. While on-the-fly extensions of 3DGS have shown promise for real-time reconstruction from monocular RGB streams, they often fail to achieve complete 3D coverage due to the limited field of view (FOV). Employing a multi-camera rig fundamentally addresses this limitation. In this paper, we present the first on-the-fly 3D reconstruction framework for multi-camera rigs. Our method incrementally fuses dense RGB streams from multiple overlapping cameras into a unified Gaussian representation, achieving drift-free trajectory estimation and efficient online reconstruction. We propose a hierarchical camera initialization scheme that enables coarse inter-camera alignment without calibration, followed by a lightweight multi-camera bundle adjustment that stabilizes trajectories while maintaining real-time performance. Furthermore, we introduce a redundancy-free Gaussian sampling strategy and a frequency-aware optimization scheduler to reduce the number of Gaussian primitives and the required optimization iterations, thereby maintaining both efficiency and reconstruction fidelity. Our method reconstructs hundreds of meters of 3D scenes within just 2 minutes using only raw multi-camera video streams, demonstrating unprecedented speed, robustness, and Fidelity for on-the-fly 3D scene reconstruction.
OCCDiff: Occupancy Diffusion Model for High-Fidelity 3D Building Reconstruction from Noisy Point Clouds
Venue: arXiv cs.CV 2025
Year: 2025

A major challenge in reconstructing buildings from LiDAR point clouds lies in accurately capturing building surfaces under varying point densities and noise interference. To flexibly gather high-quality 3D profiles of the building in diverse resolution, we propose OCCDiff applying latent diffusion in the occupancy function space. Our OCCDiff combines a latent diffusion process with a function autoencoder architecture to generate continuous occupancy functions evaluable at arbitrary locations. Moreover, a point encoder is proposed to provide condition features to diffusion learning, constraint the final occupancy prediction for occupancy decoder, and insert multi-modal features for latent generation to latent encoder. To further enhance the model performance, a multi-task training strategy is employed, ensuring that the point encoder learns diverse and robust feature representations. Empirical results show that our method generates physically consistent samples with high fidelity to the target distribution and exhibits robustness to noisy data.
MVP: Multiple View Prediction Improves GUI Grounding
Venue: arXiv cs.CV 2025
Year: 2025

GUI grounding, which translates natural language instructions into precise pixel coordinates, is essential for developing practical GUI agents. However, we observe that existing grounding models exhibit significant coordinate prediction instability, minor visual perturbations (e.g. cropping a few pixels) can drastically alter predictions, flipping results between correct and incorrect. This instability severely undermines model performance, especially for samples with high-resolution and small UI elements. To address this issue, we propose Multi-View Prediction (MVP), a training-free framework that enhances grounding performance through multi-view inference. Our key insight is that while single-view predictions may be unstable, aggregating predictions from multiple carefully cropped views can effectively distinguish correct coordinates from outliers. MVP comprises two components: (1) Attention-Guided View Proposal, which derives diverse views guided by instruction-to-image attention scores, and (2) Multi-Coordinates Clustering, which ensembles predictions by selecting the centroid of the densest spatial cluster. Extensive experiments demonstrate MVP's effectiveness across various models and benchmarks. Notably, on ScreenSpot-Pro, MVP boosts UI-TARS-1.5-7B to 56.1%, GTA1-7B to 61.7%, Qwen3VL-8B-Instruct to 65.3%, and Qwen3VL-32B-Instruct to 74.0%. The code is available at https://github.com/ZJUSCL/MVP.
Fast-ARDiff: An Entropy-informed Acceleration Framework for Continuous Space Autoregressive Generation
Venue: arXiv cs.CV 2025
Year: 2025

Autoregressive(AR)-diffusion hybrid paradigms combine AR's structured modeling with diffusion's photorealistic synthesis, yet suffer from high latency due to sequential AR generation and iterative denoising. In this work, we tackle this bottleneck and propose a unified AR-diffusion framework Fast-ARDiff that jointly optimizes both components, accelerating AR speculative decoding while simultaneously facilitating faster diffusion decoding. Specifically: (1) The entropy-informed speculative strategy encourages draft model to produce higher-entropy representations aligned with target model's entropy characteristics, mitigating entropy mismatch and high rejection rates caused by draft overconfidence. (2) For diffusion decoding, rather than treating it as an independent module, we integrate it into the same end-to-end framework using a dynamic scheduler that prioritizes AR optimization to guide the diffusion part in further steps. The diffusion part is optimized through a joint distillation framework combining trajectory and distribution matching, ensuring stable training and high-quality synthesis with extremely few steps. During inference, shallow feature entropy from AR module is used to pre-filter low-entropy drafts, avoiding redundant computation and improving latency. Fast-ARDiff achieves state-of-the-art acceleration across diverse models: on ImageNet 256$\times$256, TransDiff attains 4.3$\times$ lossless speedup, and NextStep-1 achieves 3$\times$ acceleration on text-conditioned generation. Code will be available at https://github.com/aSleepyTree/Fast-ARDiff.
Curriculum Guided Massive Multi Agent System Solving For Robust Long Horizon Tasks
Venue: arXiv cs.CL 2025
Year: 2025

Large Language Models and multi-agent systems have shown promise in decomposing complex tasks, yet they struggle with long-horizon reasoning tasks and escalating computation cost. This work introduces a hierarchical multi-agent architecture that distributes reasoning across a 64*64 grid of lightweight agents, supported by a selective oracle. A spatial curriculum progressively expands the operational region of the grid, ensuring that agents master easier central tasks before tackling harder peripheral ones. To improve reliability, the system integrates Negative Log-Likelihood as a measure of confidence, allowing the curriculum to prioritize regions where agents are both accurate and well calibrated. A Thompson Sampling curriculum manager adaptively chooses training zones based on competence and NLL-driven reward signals. We evaluate the approach on a spatially grounded Tower of Hanoi benchmark, which mirrors the long-horizon structure of many robotic manipulation and planning tasks. Results demonstrate improved stability, reduced oracle usage, and stronger long-range reasoning from distributed agent cooperation.
An Iteration-Free Fixed-Point Estimator for Diffusion Inversion
Venue: arXiv cs.CV 2025
Year: 2025

Diffusion inversion aims to recover the initial noise corresponding to a given image such that this noise can reconstruct the original image through the denoising diffusion process. The key component of diffusion inversion is to minimize errors at each inversion step, thereby mitigating cumulative inaccuracies. Recently, fixed-point iteration has emerged as a widely adopted approach to minimize reconstruction errors at each inversion step. However, it suffers from high computational costs due to its iterative nature and the complexity of hyperparameter selection. To address these issues, we propose an iteration-free fixed-point estimator for diffusion inversion. First, we derive an explicit expression of the fixed point from an ideal inversion step. Unfortunately, it inherently contains an unknown data prediction error. Building upon this, we introduce the error approximation, which uses the calculable error from the previous inversion step to approximate the unknown error at the current inversion step. This yields a calculable, approximate expression for the fixed point, which is an unbiased estimator characterized by low variance, as shown by our theoretical analysis. We evaluate reconstruction performance on two text-image datasets, NOCAPS and MS-COCO. Compared to DDIM inversion and other inversion methods based on the fixed-point iteration, our method achieves consistent and superior performance in reconstruction tasks without additional iterations or training.
RVC-NMPC: Nonlinear Model Predictive Control with Reciprocal Velocity Constraints for Mutual Collision Avoidance in Agile UAV Flight
Venue: arXiv cs.RO 2025
Year: 2025

This paper presents an approach to mutual collision avoidance based on Nonlinear Model Predictive Control (NMPC) with time-dependent Reciprocal Velocity Constraints (RVCs). Unlike most existing methods, the proposed approach relies solely on observable information about other robots, eliminating the necessity of excessive communication use. The computationally efficient algorithm for computing RVCs, together with the direct integration of these constraints into NMPC problem formulation on a controller level, allows the whole pipeline to run at 100 Hz. This high processing rate, combined with modeled nonlinear dynamics of the controlled Uncrewed Aerial Vehicles (UAVs), is a key feature that facilitates the use of the proposed approach for an agile UAV flight. The proposed approach was evaluated through extensive simulations emulating real-world conditions in scenarios involving up to 10 UAVs and velocities of up to 25 m/s, and in real-world experiments with accelerations up to 30 m/s$^2$. Comparison with state of the art shows 31% improvement in terms of flight time reduction in challenging scenarios, while maintaining a collision-free navigation in all trials.
Integrating Public Input and Technical Expertise for Effective Cybersecurity Policy Formulation
Venue: arXiv cs.CR 2025
Year: 2025

The evolving of digital transformation and increased use of technology comes with increased cyber vulnerabilities, which compromise national security. Cyber-threats become more sophisticated as the technology advances. This emphasises the need for strong risk mitigation strategies. To define strong and robust cybersecurity, policies requires an integrated approach of balancing technical expertise with public input. This paper aims to explore strategies used to balance technical expertise and public input to develop effective and robust cybersecurity policies. It also studied how the effective integration of technical expertise with public input is critical to developing effective strategies and resilient cybersecurity frameworks that strengthens national security. A lack of a holistic approach and collaborative efforts to cybersecurity can hinder the effectiveness of cybersecurity policies. This paper followed a systematic literature review with bibliometric analysis using the PRISMA methodology to explore how technical expertise and public input can be integrated to guide cybersecurity policy making. The thematic analysis identified five important themes in developing effective cybersecurity policies, these key themes are: Multi-Stakeholder Involvement and Human Centric Approaches (MSI & HCA), Governance and Policy Frameworks (GPF), Technical Infrastructure (TI), Evaluation and Compliance (EC), and Legal Rights and Sovereignty (LRS). The synthesis shows that there is no adequate exploration of collaborative efforts which undermines the effectiveness of the cybersecurity policies. The findings suggest that inclusive, flexible governance strategies that integrate public input at every stage are necessary for future cybersecurity policy research and practice, which must shift away from a primarily technical and legal perspective.
Automated Pollen Recognition in Optical and Holographic Microscopy Images
Venue: arXiv cs.CV 2025
Year: 2025

This study explores the application of deep learning to improve and automate pollen grain detection and classification in both optical and holographic microscopy images, with a particular focus on veterinary cytology use cases. We used YOLOv8s for object detection and MobileNetV3L for the classification task, evaluating their performance across imaging modalities. The models achieved 91.3% mAP50 for detection and 97% overall accuracy for classification on optical images, whereas the initial performance on greyscale holographic images was substantially lower. We addressed the performance gap issue through dataset expansion using automated labeling and bounding box area enlargement. These techniques, applied to holographic images, improved detection performance from 2.49% to 13.3% mAP50 and classification performance from 42% to 54%. Our work demonstrates that, at least for image classification tasks, it is possible to pair deep learning techniques with cost-effective lensless digital holographic microscopy devices.
Long-Sequence LSTM Modeling for NBA Game Outcome Prediction Using a Novel Multi-Season Dataset
Venue: arXiv cs.LG 2025
Year: 2025

Predicting the outcomes of professional basketball games, particularly in the National Basketball Association (NBA), has become increasingly important for coaching strategy, fan engagement, and sports betting. However, many existing prediction models struggle with concept drift, limited temporal context, and instability across seasons. To advance forecasting in this domain, we introduce a newly constructed longitudinal NBA dataset covering the 2004-05 to 2024-25 seasons and present a deep learning framework designed to model long-term performance trends. Our primary contribution is a Long Short-Term Memory (LSTM) architecture that leverages an extended sequence length of 9,840 games equivalent to eight full NBA seasons to capture evolving team dynamics and season-over-season dependencies. We compare this model against several traditional Machine Learning (ML) and Deep Learning (DL) baselines, including Logistic Regression, Random Forest, Multi-Layer Perceptron (MLP), and Convolutional Neural Network (CNN). The LSTM achieves the best performance across all metrics, with 72.35 accuracy, 73.15 precision and 76.13 AUC-ROC. These results demonstrate the importance of long-sequence temporal modeling in basketball outcome prediction and highlight the value of our new multi-season dataset for developing robust, generalizable NBA forecasting systems.
The SMART+ Framework for AI Systems
Venue: arXiv cs.AI 2025
Year: 2025

Artificial Intelligence (AI) systems are now an integral part of multiple industries. In clinical research, AI supports automated adverse event detection in clinical trials, patient eligibility screening for protocol enrollment, and data quality validation. Beyond healthcare, AI is transforming finance through real-time fraud detection, automated loan risk assessment, and algorithmic decision-making. Similarly, in manufacturing, AI enables predictive maintenance to reduce equipment downtime, enhances quality control through computer-vision inspection, and optimizes production workflows using real-time operational data. While these technologies enhance operational efficiency, they introduce new challenges regarding safety, accountability, and regulatory compliance. To address these concerns, we introduce the SMART+ Framework - a structured model built on the pillars of Safety, Monitoring, Accountability, Reliability, and Transparency, and further enhanced with Privacy & Security, Data Governance, Fairness & Bias, and Guardrails. SMART+ offers a practical, comprehensive approach to evaluating and governing AI systems across industries. This framework aligns with evolving mechanisms and regulatory guidance to integrate operational safeguards, oversight procedures, and strengthened privacy and governance controls. SMART+ demonstrates risk mitigation, trust-building, and compliance readiness. By enabling responsible AI adoption and ensuring auditability, SMART+ provides a robust foundation for effective AI governance in clinical research.