OpenRaiser/Intern-Atlas huggingface dataset:
Imputation Strategies Under Clinical Presence: Impact on Algorithmic Fairness
Venue: arXiv cs.AI 2025
Year: 2025

Machine learning risks reinforcing biases present in data and, as we argue in this work, in what is absent from data. In healthcare, societal and decision biases shape patterns in missing data, yet the algorithmic fairness implications of group-specific missingness are poorly understood. The way we address missingness in healthcare can have detrimental impacts on downstream algorithmic fairness. Our work questions current recommendations and practices aimed at handling missing data with a focus on their effect on algorithmic fairness, and offers a path forward. Specifically, we consider the theoretical underpinnings of existing recommendations as well as their empirical predictive performance and corresponding algorithmic fairness measured through subgroup performances. Our results show that current practices for handling missingness lack principled foundations, are disconnected from the realities of missingness mechanisms in healthcare, and can be counterproductive. For example, we show that favouring group-specific imputation strategy can be misguided and exacerbate prediction disparities. We then build on our findings to propose a framework for empirically guiding imputation choices, and an accompanying reporting framework. Our work constitutes an important contribution to recent efforts by regulators and practitioners to grapple with the realities of real-world data, and to foster the responsible and transparent deployment of machine learning systems. We demonstrate the practical utility of the proposed framework through experimentation on widely used datasets, where we show how the proposed framework can guide the selection of imputation strategies, allowing us to choose among strategies that yield equal overall predictive performance but present different algorithmic fairness properties.
Algorithmic Assistance with Recommendation-Dependent Preferences
Venue: arXiv cs.LG 2025
Year: 2025

When an algorithm provides risk assessments, we typically think of them as helpful inputs to human decisions, such as when risk scores are presented to judges or doctors. However, a decision-maker may react not only to the information provided by the algorithm. The decision-maker may also view the algorithmic recommendation as a default action, making it costly for them to deviate, such as when a judge is reluctant to overrule a high-risk assessment for a defendant or a doctor fears the consequences of deviating from recommended procedures. To address such unintended consequences of algorithmic assistance, we propose a model of joint human-machine decision-making. Within this model, we consider the effect and design of algorithmic recommendations when they affect choices not just by shifting beliefs, but also by altering preferences. We motivate this assumption from institutional factors, such as a desire to avoid audits, as well as from well-established models in behavioral science that predict loss aversion relative to a reference point. We show that recommendation-dependent preferences create inefficiencies where the decision-maker is overly responsive to the recommendation. As a remedy, we discuss algorithms that strategically withhold recommendations and show how they can improve the quality of final decisions. Concretely, we prove that an intuitive algorithm achieves minimax optimality by sending recommendations only when it is confident that their implementation would improve over an unassisted baseline decision.
A Novel Semi-Coupled Hierarchical Motion Planning Framework for Cooperative Transportation of Multiple Mobile Manipulators
Venue: arXiv cs.RO 2025
Year: 2025

Multiple mobile manipulators show superiority in the tasks requiring mobility and dexterity compared with a single robot, especially when manipulating/transporting bulky objects. However, closed-chain of the system, redundancy of each mobile manipulator and obstacles in the environment bring challenges to the motion planning problem. In this paper, we propose a novel semi-coupled hierarchical framework (SCHF), which decomposes the problem into two semi-coupled sub-problems.To be specific, the centralized layer plans the object's motion first and then the decentralized layer independently explores the redundancy of each robot in real-time. A notable feature is that the lower bound of the redundancy constraint metric is ensured besides the closed-chain and obstacle-avoidance constraints in the centralized layer, which ensures the object's motion can be executed by each robot in the decentralized layer. Simulated results show that the success rate and time cost of SCHF outperforms the fully centralized planner and fully decoupled hierarchical planner significantly. In addition, cluttered real-world experiments also show the feasibility of the SCHF in the transportation tasks. A video clip in various scenarios can be found at https://youtu.be/Y8ZrnspIuBg.
Arrangements of Pseudocircles: On Digons and Triangles
Venue: arXiv cs.CG 2025
Year: 2025

In this article, we study the cell-structure of simple arrangements of pairwise intersecting pseudocircles. The focus will be on two problems of Grünbaum (1972). First, we discuss the maximum number of digons or touching points. Grünbaum conjectured that there are at most $2n - 2$ digon cells or equivalently at most $2n - 2$ touchings. Agarwal et al. (2004) verified the conjecture for cylindrical arrangements. We show that the conjecture holds for any arrangement which contains three pairwise touching pseudocircles. The proof makes use of the result for cylindrical arrangements. Moreover, we construct non-cylindrical arrangements which attain the maximum of $2n - 2$ touchings and have no triple of pairwise touching pseudocircles. Second, we discuss the minimum number of triangular cells (triangles) in arrangements without digons and touchings. Grünbaum conjectured that such arrangements have $2n - 4$ triangles. Snoeyink and Hershberger (1991) established a lower bound of $\lceil \frac{4}{3}n \rceil$. Felsner and Scheucher (2017) disproved the conjecture and constructed a family of arrangements with only $\lceil \frac{16}{11}n \rceil$ triangles. We provide a construction which shows that $\lceil \frac{4}{3}n \rceil$ is the correct value.
Traversability analysis with vision and terrain probing for safe legged robot navigation
Venue: arXiv cs.RO 2025
Year: 2025

Inspired by human behavior when traveling over unknown terrain, this study proposes the use of probing strategies and integrates them into a traversability analysis framework to address safe navigation on unknown rough terrain. Our framework integrates collapsibility information into our existing traversability analysis, as vision and geometric information alone could be misled by unpredictable non-rigid terrains such as soft soil, bush area, or water puddles. With the new traversability analysis framework, our robot has a more comprehensive assessment of unpredictable terrain, which is critical for its safety in outdoor environments. The pipeline first identifies the terrain's geometric and semantic properties using an RGB-D camera and desired probing locations on questionable terrains. These regions are probed using a force sensor to determine the risk of terrain collapsing when the robot steps over it. This risk is formulated as a collapsibility metric, which estimates an unpredictable region's ground collapsibility. Thereafter, the collapsibility metric, together with geometric and semantic spatial data, is combined and analyzed to produce global and local traversability grid maps. These traversability grid maps tell the robot whether it is safe to step over different regions of the map. The grid maps are then utilized to generate optimal paths for the robot to safely navigate to its goal. Our approach has been successfully verified on a quadrupedal robot in both simulation and real-world experiments.
Ridgeline: A 2D Roofline Model for Distributed Systems
Venue: arXiv cs.DC 2025
Year: 2025

In this short paper, we introduce the Ridgeline model, an extension of the Roofline model [4] for distributed systems. The Roofline model targets shared memory systems, bounding the performance of a kernel based on its operational intensity, and the peak compute throughput and memory bandwidth of the execution system. In a distributed setting, with multiple communicating compute entities, the network must be taken into account to model the system behavior accurately. The Ridgeline aggregates information on compute, memory, and network limits in one 2D plot to show, in an intuitive way, which of the resources is the expected bottleneck. We show the applicability of the Ridgeline in a case study based on a data-parallel Multi-Layer Perceptron (MLP) instance.
SPIDER: Fuzzing for Stateful Performance Issues in the ONOS Software-Defined Network Controller
Venue: arXiv cs.CR 2025
Year: 2025

Performance issues in software-defined network (SDN) controllers can have serious impacts on the performance and availability of networks. In this paper, we consider a special class of SDN vulnerabilities called stateful performance issues (SPIs), where a sequence of initial input messages drives the controller into a state such that its performance degrades pathologically when processing subsequent messages. Uncovering SPIs in large complex software such as the widely used ONOS SDN controller is challenging because of the large state space of input sequences and the complex software architecture of inter-dependent network services. We present SPIDER, a practical fuzzing framework for identifying SPIs in this setting. The key contribution in our work is to leverage the event-driven modular software architecture of the SDN controller to (a) separately target each network service for SPIs and (b) use static analysis to identify all services whose event handlers can affect the state of the target service directly or indirectly. SPIDER implements this novel dependency-aware modular performance fuzzing approach for 157 network services in ONOS and successfully identifies 10 new performance issues. We present an evaluation of SPIDER against prior work, a sensitivity analysis of design decisions, and case studies of two uncovered SPIs.
Multi-query Robotic Manipulator Task Sequencing with Gromov-Hausdorff Approximations
Venue: arXiv cs.RO 2025
Year: 2025

Robotic manipulator applications often require efficient online motion planning. When completing multiple tasks, sequence order and choice of goal configuration can have a drastic impact on planning performance. This is well known as the robot task sequencing problem (RTSP). Existing general-purpose RTSP algorithms are susceptible to producing poor-quality solutions or failing entirely when available computation time is restricted. We propose a new multi-query task sequencing method designed to operate in semi-structured environments with a combination of static and non-static obstacles. Our method intentionally trades off workspace generality for planning efficiency. Given a user-defined task space with static obstacles, we compute a subspace decomposition. The key idea is to establish approximate isometries known as $ε$-Gromov-Hausdorff approximations that identify points that are close to one another in both task and configuration space. Importantly, we prove bounded suboptimality guarantees on the lengths of paths within these subspaces. These bounding relations further imply that paths within the same subspace can be smoothly concatenated, which we show is useful for determining efficient task sequences. We evaluate our method with several kinematic configurations in a complex simulated environment, achieving up to 3x faster motion planning and 5x lower maximum trajectory jerk compared to baselines.
On the Shift Invariance of Max Pooling Feature Maps in Convolutional Neural Networks
Venue: arXiv cs.CV 2025
Year: 2025

This paper focuses on improving the mathematical interpretability of convolutional neural networks (CNNs) in the context of image classification. Specifically, we tackle the instability issue arising in their first layer, which tends to learn parameters that closely resemble oriented band-pass filters when trained on datasets like ImageNet. Subsampled convolutions with such Gabor-like filters are prone to aliasing, causing sensitivity to small input shifts. In this context, we establish conditions under which the max pooling operator approximates a complex modulus, which is nearly shift invariant. We then derive a measure of shift invariance for subsampled convolutions followed by max pooling. In particular, we highlight the crucial role played by the filter's frequency and orientation in achieving stability. We experimentally validate our theory by considering a deterministic feature extractor based on the dual-tree complex wavelet packet transform, a particular case of discrete Gabor-like decomposition.
Fast Lifelong Adaptive Inverse Reinforcement Learning from Demonstrations
Venue: arXiv cs.LG 2025
Year: 2025

Learning from Demonstration (LfD) approaches empower end-users to teach robots novel tasks via demonstrations of the desired behaviors, democratizing access to robotics. However, current LfD frameworks are not capable of fast adaptation to heterogeneous human demonstrations nor the large-scale deployment in ubiquitous robotics applications. In this paper, we propose a novel LfD framework, Fast Lifelong Adaptive Inverse Reinforcement learning (FLAIR). Our approach (1) leverages learned strategies to construct policy mixtures for fast adaptation to new demonstrations, allowing for quick end-user personalization, (2) distills common knowledge across demonstrations, achieving accurate task inference; and (3) expands its model only when needed in lifelong deployments, maintaining a concise set of prototypical strategies that can approximate all behaviors via policy mixtures. We empirically validate that FLAIR achieves adaptability (i.e., the robot adapts to heterogeneous, user-specific task preferences), efficiency (i.e., the robot achieves sample-efficient adaptation), and scalability (i.e., the model grows sublinearly with the number of demonstrations while maintaining high performance). FLAIR surpasses benchmarks across three control tasks with an average 57% improvement in policy returns and an average 78% fewer episodes required for demonstration modeling using policy mixtures. Finally, we demonstrate the success of FLAIR in a table tennis task and find users rate FLAIR as having higher task (p<.05) and personalization (p<.05) performance.
Joint Optimization of Energy Consumption and Completion Time in Federated Learning
Venue: arXiv cs.LG 2025
Year: 2025

Federated Learning (FL) is an intriguing distributed machine learning approach due to its privacy-preserving characteristics. To balance the trade-off between energy and execution latency, and thus accommodate different demands and application scenarios, we formulate an optimization problem to minimize a weighted sum of total energy consumption and completion time through two weight parameters. The optimization variables include bandwidth, transmission power and CPU frequency of each device in the FL system, where all devices are linked to a base station and train a global model collaboratively. Through decomposing the non-convex optimization problem into two subproblems, we devise a resource allocation algorithm to determine the bandwidth allocation, transmission power, and CPU frequency for each participating device. We further present the convergence analysis and computational complexity of the proposed algorithm. Numerical results show that our proposed algorithm not only has better performance at different weight parameters (i.e., different demands) but also outperforms the state of the art.
PART: Pre-trained Authorship Representation Transformer
Venue: arXiv cs.CL 2025
Year: 2025

Authors writing documents imprint identifying information within their texts: vocabulary, registry, punctuation, misspellings, or even emoji usage. Previous works use hand-crafted features or classification tasks to train their authorship models, leading to poor performance on out-of-domain authors. Using stylometric representations is more suitable, but this by itself is an open research challenge. In this paper, we propose PART, a contrastively trained model fit to learn \textbf{authorship embeddings} instead of semantics. We train our model on ~1.5M texts belonging to 1162 literature authors, 17287 blog posters and 135 corporate email accounts; a heterogeneous set with identifiable writing styles. We evaluate the model on current challenges, achieving competitive performance. We also evaluate our model on test splits of the datasets achieving zero-shot 72.39\% accuracy when bounded to 250 authors, a 54\% and 56\% higher than RoBERTa embeddings. We qualitatively assess the representations with different data visualizations on the available datasets, observing features such as gender, age, or occupation of the author.
Beyond the Existential Theory of the Reals
Venue: arXiv cs.CC 2025
Year: 2025

We show that completeness at higher levels of the theory of the reals is a robust notion (under changing the signature and bounding the domain of the quantifiers). This mends recognized gaps in the hierarchy, and leads to stronger completeness results for various computational problems. We exhibit several families of complete problems which can be used for future completeness results in the real hierarchy. As an application we sharpen some results by Bürgisser and Cucker on the complexity of properties of semialgebraic sets, including the Hausdorff distance problem also studied by Jungeblut, Kleist, and Miltzow.
A systematic review of the use of Deep Learning in Satellite Imagery for Agriculture
Venue: arXiv cs.CV 2025
Year: 2025

Agricultural research is essential for increasing food production to meet the requirements of an increasing population in the coming decades. Recently, satellite technology has been improving rapidly and deep learning has seen much success in generic computer vision tasks and many application areas which presents an important opportunity to improve analysis of agricultural land. Here we present a systematic review of 150 studies to find the current uses of deep learning on satellite imagery for agricultural research. Although we identify 5 categories of agricultural monitoring tasks, the majority of the research interest is in crop segmentation and yield prediction. We found that, when used, modern deep learning methods consistently outperformed traditional machine learning across most tasks; the only exception was that Long Short-Term Memory (LSTM) Recurrent Neural Networks did not consistently outperform Random Forests (RF) for yield prediction. The reviewed studies have largely adopted methodologies from generic computer vision, except for one major omission: benchmark datasets are not utilised to evaluate models across studies, making it difficult to compare results. Additionally, some studies have specifically utilised the extra spectral resolution available in satellite imagery, but other divergent properties of satellite images - such as the hugely different scales of spatial patterns - are not being taken advantage of in the reviewed studies.
Polysemanticity and Capacity in Neural Networks
Venue: arXiv cs.NE 2025
Year: 2025

Individual neurons in neural networks often represent a mixture of unrelated features. This phenomenon, called polysemanticity, can make interpreting neural networks more difficult and so we aim to understand its causes. We propose doing so through the lens of feature \emph{capacity}, which is the fractional dimension each feature consumes in the embedding space. We show that in a toy model the optimal capacity allocation tends to monosemantically represent the most important features, polysemantically represent less important features (in proportion to their impact on the loss), and entirely ignore the least important features. Polysemanticity is more prevalent when the inputs have higher kurtosis or sparsity and more prevalent in some architectures than others. Given an optimal allocation of capacity, we go on to study the geometry of the embedding space. We find a block-semi-orthogonal structure, with differing block sizes in different models, highlighting the impact of model architecture on the interpretability of its neurons.
Computing Threshold Budgets in Discrete-Bidding Games
Venue: arXiv cs.FL 2025
Year: 2025

In a two-player zero-sum graph game, the players move a token throughout a graph to produce an infinite play, which determines the winner of the game. Bidding games are graph games in which in each turn, an auction (bidding) determines which player moves the token: the players have budgets, and in each turn, both players simultaneously submit bids that do not exceed their available budgets, the higher bidder moves the token, and pays the bid to the lower bidder (called Richman bidding). We focus on discrete-bidding games, in which, motivated by practical applications, the granularity of the players' bids is restricted, e.g., bids must be given in cents. A central quantity in bidding games is threshold budgets: a necessary and sufficient initial budget for winning the game. Previously, thresholds were shown to exist in parity games, but their structure was only understood for reachability games. Moreover, the previously-known algorithms have a worst-case exponential running time for both reachability and parity objectives, and output strategies that use exponential memory. We describe two algorithms for finding threshold budgets in parity discrete-bidding games. The first is a fixed-point algorithm. It reveals, for the first time, the structure of threshold budgets in parity discrete-bidding games. Based on this structure, we develop a second algorithm that shows that the problem of finding threshold budgets is in NP and coNP for both reachability and parity objectives. Moreover, our algorithm constructs strategies that use only linear memory. This is a corrected version of the paper (arXiv:2210.02773v4) published originally on Jan 22, 2025.
Quasi-cyclic Hermitian construction of binary quantum codes
Venue: arXiv cs.IT 2025
Year: 2025

In this paper, we propose a sufficient condition for a family of 2-generator self-orthogonal quasi-cyclic codes with respect to Hermitian inner product. Supported in the Hermitian construction, we show algebraic constructions of good quantum codes. 30 new binary quantum codes with good parameters improving the best-known lower bounds on minimum distance in Grassl's code tables \cite{Grassl:codetables} are constructed.