OpenRaiser/Intern-Atlas huggingface dataset:
Underdamped Particle Swarm Optimization
Venue: arXiv cs.NE 2025
Year: 2025

This article presents Underdamped Particle Swarm Optimization (UEPS), a novel metaheuristic inspired by both the Particle Swarm Optimization (PSO) algorithm and the dynamic behavior of an underdamped system. The underdamped motion acts as an intermediate solution between undamped systems, which oscillate indefinitely, and overdamped systems, which stabilize without oscillation. In the context of optimization, this type of motion allows particles to explore the search space dynamically, alternating between exploration and exploitation, with the ability to overshoot the optimal solution to explore new regions and avoid getting trapped in local optima. First, we review the concept of damped vibrations, an essential physical principle that describes how a system oscillates while losing energy over time, behaving in an underdamped, overdamped, or critically damped manner. This understanding forms the foundation for applying these concepts to optimization, ensuring a balanced management of exploration and exploitation. Furthermore, the classical PSO algorithm is discussed, highlighting its fundamental features and limitations, providing the necessary context to understand how the underdamped behavior improves PSO performance. The proposed metaheuristic is evaluated using benchmark functions and classic engineering problems, demonstrating its high robustness and efficiency.
Similarity-Aware Token Pruning: Your VLM but Faster
Venue: arXiv cs.CV 2025
Year: 2025

The computational demands of Vision Transformers (ViTs) and Vision-Language Models (VLMs) remain a significant challenge due to the quadratic complexity of self-attention. While token pruning offers a promising solution, existing methods often introduce training overhead or fail to adapt dynamically across layers. We present SAINT, a training-free token pruning framework that leverages token similarity and a graph-based formulation to dynamically optimize pruning rates and redundancy thresholds. Through systematic analysis, we identify a universal three-stage token evolution process (aligner-explorer-aggregator) in transformers, enabling aggressive pruning in early stages without sacrificing critical information. For ViTs, SAINT doubles the throughput of ViT-H/14 at 224px with only 0.6% accuracy loss on ImageNet-1K, surpassing the closest competitor by 0.8%. For VLMs, we apply SAINT in three modes: ViT-only, LLM-only, and hybrid. SAINT reduces LLaVA-13B's tokens by 75%, achieving latency comparable to LLaVA-7B with less than 1% performance loss across benchmarks. Our work establishes a unified, practical framework for efficient inference in ViTs and VLMs.
Vectorable Thrust Control for Multimodal Locomotion of Quadruped Robot SPIDAR
Venue: arXiv cs.RO 2025
Year: 2025

In this paper, I present vectorable thrust control for different locomotion modes by a novel quadruped robot, SPIDAR, equipped with vectoring rotor in each link. First, the robot's unique mechanical design, the dynamics model, and the basic control framework for terrestrial/aerial locomotion are briefly introduced. Second, a vectorable thrust control method derived from the basic control framework for aerial locomotion is presented. A key feature of this extended flight control is its ability to avoid interrotor aerodynamics interference under specific joint configuration. Third, another extended thrust control method and a fundamental gait strategy is proposed for special terrestrial locomotion called crawling that requires all legs to be lifted at the same time. Finally, the experimental results of the flight with a complex joint motion and the repeatable crawling motion are explained, which demonstrate the feasibility of the proposed thrust control methods for different locomotion modes.
Scalable Video Conferencing Using SDN Principles
Venue: arXiv cs.NI 2025
Year: 2025

Video-conferencing applications face an unwavering surge in traffic, stressing their underlying infrastructure in unprecedented ways. This paper rethinks the key building block for conferencing infrastructures -- selective forwarding units (SFUs). SFUs relay and adapt media streams between participants and, today, run in software on general-purpose servers. Our main insight, discerned from dissecting the operation of production SFU servers, is that SFUs largely mimic traditional packet-processing operations such as dropping and forwarding. Guided by this, we present Scallop, an SDN-inspired SFU that decouples video-conferencing applications into a hardware-based data plane for latency-sensitive and frequent media operations, and a software control plane for the (infrequent) remaining tasks, such as analyzing feedback signals. Our Tofino-based implementation fully supports WebRTC and delivers 7-210 times improved scaling over a 32-core commodity server, while reaping performance improvements by cutting forwarding-induced latency by 26 times.
Centaur: Robust End-to-End Autonomous Driving with Test-Time Training
Venue: arXiv cs.RO 2025
Year: 2025

How can we rely on an end-to-end autonomous vehicle's complex decision-making system during deployment? One common solution is to have a ``fallback layer'' that checks the planned trajectory for rule violations and replaces it with a pre-defined safe action if necessary. Another approach involves adjusting the planner's decisions to minimize a pre-defined ``cost function'' using additional system predictions such as road layouts and detected obstacles. However, these pre-programmed rules or cost functions cannot learn and improve with new training data, often resulting in overly conservative behaviors. In this work, we propose Centaur (Cluster Entropy for Test-time trAining using Uncertainty) which updates a planner's behavior via test-time training, without relying on hand-engineered rules or cost functions. Instead, we measure and minimize the uncertainty in the planner's decisions. For this, we develop a novel uncertainty measure, called Cluster Entropy, which is simple, interpretable, and compatible with state-of-the-art planning algorithms. Using data collected at prior test-time time-steps, we perform an update to the model's parameters using a gradient that minimizes the Cluster Entropy. With only this sole gradient update prior to inference, Centaur exhibits significant improvements, ranking first on the navtest leaderboard with notable gains in safety-critical metrics such as time to collision. To provide detailed insights on a per-scenario basis, we also introduce navsafe, a challenging new benchmark, which highlights previously undiscovered failure modes of driving models.
A 28 nm AI microcontroller with tightly coupled zero-standby power weight memory featuring standard logic compatible 4 Mb 4-bits/cell embedded flash technology
Venue: arXiv cs.AR 2025
Year: 2025

This study introduces a novel AI microcontroller optimized for cost-effective, battery-powered edge AI applications. Unlike traditional single bit/cell memory configurations, the proposed microcontroller integrates zero-standby power weight memory featuring standard logic compatible 4-bits/cell embedded flash technology tightly coupled to a Near-Memory Computing Unit. This architecture enables efficient and low-power AI acceleration. Advanced state mapping and an overstress-free word line (WL) driver circuit extend verify levels, ensuring robust 16 state cell margin. A ping-pong buffer reduces internal data movement while supporting simultaneous multi-bit processing. The fabricated microcontroller demonstrated high reliability, maintaining accuracy after 160 hours of unpowered baking at 125$^\circ$C.
Timing-Driven Global Placement by Efficient Critical Path Extraction
Venue: arXiv cs.AR 2025
Year: 2025

Timing optimization during the global placement of integrated circuits has been a significant focus for decades, yet it remains a complex, unresolved issue. Recent analytical methods typically use pin-level timing information to adjust net weights, which is fast and simple but neglects the path-based nature of the timing graph. The existing path-based methods, however, cannot balance the accuracy and efficiency due to the exponential growth of number of critical paths. In this work, we propose a GPU-accelerated timing-driven global placement framework, integrating accurate path-level information into the efficient DREAMPlace infrastructure. It optimizes the fine-grained pin-to-pin attraction objective and is facilitated by efficient critical path extraction. We also design a quadratic distance loss function specifically to align with the RC timing model. Experimental results demonstrate that our method significantly outperforms the current leading timing-driven placers, achieving an average improvement of 40.5% in total negative slack (TNS) and 8.3% in worst negative slack (WNS), as well as an improvement in half-perimeter wirelength (HPWL).
Review of Machine Learning for Micro-Electronic Design Verification
Venue: arXiv cs.AR 2025
Year: 2025

Microelectronic design verification remains a critical bottleneck in device development, traditionally mitigated by expanding verification teams and computational resources. Since the late 1990s, machine learning (ML) has been proposed to enhance verification efficiency, yet many techniques have not achieved mainstream adoption. This review, from the perspective of verification and ML practitioners, examines the application of ML in dynamic-based techniques for functional verification of microelectronic designs, and provides a starting point for those new to this interdisciplinary field. Historical trends, techniques, ML types, and evaluation baselines are analysed to understand why previous research has not been widely adopted in industry. The review highlights the application of ML, the techniques used and critically discusses their limitations and successes. Although there is a wealth of promising research, real-world adoption is hindered by challenges in comparing techniques, identifying suitable applications, and the expertise required for implementation. This review proposes that the field can progress through the creation and use of open datasets, common benchmarks, and verification targets. By establishing open evaluation criteria, industry can guide future research. Parallels with ML in software verification suggest potential for collaboration. Additionally, greater use of open-source designs and verification environments can allow more researchers from outside the hardware verification discipline to contribute to the challenge of verifying microelectronic designs.
MELON: Multimodal Mixture-of-Experts with Spectral-Temporal Fusion for Long-Term Mobility Estimation in Critical Care
Venue: arXiv cs.LG 2025
Year: 2025

Patient mobility monitoring in intensive care is critical for ensuring timely interventions and improving clinical outcomes. While accelerometry-based sensor data are widely adopted in training artificial intelligence models to estimate patient mobility, existing approaches face two key limitations highlighted in clinical practice: (1) modeling the long-term accelerometer data is challenging due to the high dimensionality, variability, and noise, and (2) the absence of efficient and robust methods for long-term mobility assessment. To overcome these challenges, we introduce MELON, a novel multimodal framework designed to predict 12-hour mobility status in the critical care setting. MELON leverages the power of a dual-branch network architecture, combining the strengths of spectrogram-based visual representations and sequential accelerometer statistical features. MELON effectively captures global and fine-grained mobility patterns by integrating a pre-trained image encoder for rich frequency-domain feature extraction and a Mixture-of-Experts encoder for sequence modeling. We trained and evaluated the MELON model on the multimodal dataset of 126 patients recruited from nine Intensive Care Units at the University of Florida Health Shands Hospital main campus in Gainesville, Florida. Experiments showed that MELON outperforms conventional approaches for 12-hour mobility status estimation with an overall area under the receiver operating characteristic curve (AUROC) of 0.82 (95\%, confidence interval 0.78-0.86). Notably, our experiments also revealed that accelerometer data collected from the wrist provides robust predictive performance compared with data from the ankle, suggesting a single-sensor solution that can reduce patient burden and lower deployment costs...
Physical knowledge improves prediction of EM Fields
Venue: arXiv cs.LG 2025
Year: 2025

We propose a 3D U-Net model to predict the spatial distribution of electromagnetic fields inside a radio-frequency (RF) coil with a subject present, using the phase, amplitude, and position of the coils, along with the density, permittivity, and conductivity of the surrounding medium as inputs. To improve accuracy, we introduce a physics-augmented variant, U-Net Phys, which incorporates Gauss's law of magnetism into the loss function using finite differences. We train our models on electromagnetic field simulations from CST Studio Suite for an eight-channel dipole array RF coil at 7T MRI. Experimental results show that U-Net Phys significantly outperforms the standard U-Net, particularly in predicting fields within the subject, demonstrating the advantage of integrating physical constraints into deep learning-based field prediction.
Privacy-Preserved Automated Scoring using Federated Learning for Educational Research
Venue: arXiv cs.LG 2025
Year: 2025

Data privacy remains a critical concern in educational research, requiring strict adherence to ethical standards and regulatory protocols. While traditional approaches rely on anonymization and centralized data collection, they often expose raw student data to security vulnerabilities and impose substantial logistical overhead. In this study, we propose a federated learning (FL) framework for automated scoring of educational assessments that eliminates the need to share sensitive data across institutions. Our approach leverages parameter-efficient fine-tuning of large language models (LLMs) with Low-Rank Adaptation (LoRA), enabling each client (school) to train locally while sharing only optimized model updates. To address data heterogeneity, we implement an adaptive weighted aggregation strategy that considers both client performance and data volume. We benchmark our model against two state-of-the-art FL methods and a centralized learning baseline using NGSS-aligned multi-label science assessment data from nine middle schools. Results show that our model achieves the highest accuracy (94.5%) among FL approaches, and performs within 0.5-1.0 percentage points of the centralized model on these metrics. Additionally, it achieves comparable rubric-level scoring accuracy, with only a 1.3% difference in rubric match and a lower score deviation (MAE), highlighting its effectiveness in preserving both prediction quality and interpretability.
A Robust and Energy-Efficient Trajectory Planning Framework for High-Degree-of-Freedom Robots
Venue: arXiv cs.RO 2025
Year: 2025

Energy efficiency and motion smoothness are essential in trajectory planning for high-degree-of-freedom robots to ensure optimal performance and reduce mechanical wear. This paper presents a novel framework integrating sinusoidal trajectory generation with velocity scaling to minimize energy consumption while maintaining motion accuracy and smoothness. The framework is evaluated using a physics-based simulation environment with metrics such as energy consumption, motion smoothness, and trajectory accuracy. Results indicate significant energy savings and smooth transitions, demonstrating the framework's effectiveness for precision-based applications. Future work includes real-time trajectory adjustments and enhanced energy models.
Survey of City-Wide Homelessness Detection Through Environmental Sensing
Venue: arXiv cs.CY 2025
Year: 2025

The growing homelessness crisis in the U.S. presents complex social, economic, and public health challenges, straining shelters, healthcare, and social services while limiting effective interventions. Traditional assessment methods struggle to capture its dynamic, dispersed nature, highlighting the need for scalable, data-driven detection. This survey explores computational approaches across four domains: (1) computer vision and deep learning to identify encampments and urban indicators of homelessness, (2) air quality sensing via fixed, mobile, and crowdsourced deployments to assess environmental risks, (3) IoT and edge computing for real-time urban monitoring, and (4) pedestrian behavior analysis to understand mobility patterns and interactions. Despite advancements, challenges persist in computational constraints, data privacy, accurate environmental measurement, and adaptability. This survey synthesizes recent research, identifies key gaps, and highlights opportunities to enhance homelessness detection, optimize resource allocation, and improve urban planning and social support systems for equitable aid distribution and better neighborhood conditions.
On polycyclic linear and additive codes associated to a trinomial over a finite chain ring
Venue: arXiv cs.IT 2025
Year: 2025

In this paper, we investigate polycyclic codes associated with a trinomial of arbitrary degree $n$ over a finite chain ring $ R.$ We extend the concepts of $ n $-isometry and $ n $-equivalence known for constacyclic codes to this class of codes, providing a broader framework for their structural analysis. We describe the classes of $n$-equivalence and compute their number, significantly reducing the study of trinomial codes over $R$. Additionally, we examine the special case of trinomials of the form $ x^n - a_1x - a_0 \in R[x] $ and analyze their implications. Finally, we consider the extension of our results to certain trinomial additive codes over $ R.$
UBMF: Uncertainty-Aware Bayesian Meta-Learning Framework for Fault Diagnosis with Imbalanced Industrial Data
Venue: arXiv cs.LG 2025
Year: 2025

Fault diagnosis of mechanical equipment involves data collection, feature extraction, and pattern recognition but is often hindered by the imbalanced nature of industrial data, introducing significant uncertainty and reducing diagnostic reliability. To address these challenges, this study proposes the Uncertainty-Aware Bayesian Meta-Learning Framework (UBMF), which integrates four key modules: data perturbation injection for enhancing feature robustness, cross-task self-supervised feature extraction for improving transferability, uncertainty-based sample filtering for robust out-of-domain generalization, and Bayesian meta-knowledge integration for fine-grained classification. Experimental results on ten open-source datasets under various imbalanced conditions, including cross-task, small-sample, and unseen-sample scenarios, demonstrate the superiority of UBMF, achieving an average improvement of 42.22% across ten Any-way 1-5-shot diagnostic tasks. This integrated framework effectively enhances diagnostic accuracy, generalization, and adaptability, providing a reliable solution for complex industrial fault diagnosis.
Enhancing Resiliency of Sketch-based Security via LSB Sharing-based Dynamic Late Merging
Venue: arXiv cs.CR 2025
Year: 2025

With the exponentially growing Internet traffic, sketch data structure with a probabilistic algorithm has been expected to be an alternative solution for non-compromised (non-selective) security monitoring. While facilitating counting within a confined memory space, the sketch's memory efficiency and accuracy were further pushed to their limit through finer-grained and dynamic control of constrained memory space to adapt to the data stream's inherent skewness (i.e., Zipf distribution), namely small counters with extensions. In this paper, we unveil a vulnerable factor of the small counter design by introducing a new sketch-oriented attack, which threatens a stream of state-of-the-art sketches and their security applications. With the root cause analyses, we propose Siamese Counter with enhanced adversarial resiliency and verified feasibility with extensive experimental and theoretical analyses. Under a sketch pollution attack, Siamese Counter delivers 47% accurate results than a state-of-the-art scheme, and demonstrates up to 82% more accurate estimation under normal measurement scenarios.
Diffuse-CLoC: Guided Diffusion for Physics-based Character Look-ahead Control
Venue: arXiv cs.GR 2025
Year: 2025

We present Diffuse-CLoC, a guided diffusion framework for physics-based look-ahead control that enables intuitive, steerable, and physically realistic motion generation. While existing kinematics motion generation with diffusion models offer intuitive steering capabilities with inference-time conditioning, they often fail to produce physically viable motions. In contrast, recent diffusion-based control policies have shown promise in generating physically realizable motion sequences, but the lack of kinematics prediction limits their steerability. Diffuse-CLoC addresses these challenges through a key insight: modeling the joint distribution of states and actions within a single diffusion model makes action generation steerable by conditioning it on the predicted states. This approach allows us to leverage established conditioning techniques from kinematic motion generation while producing physically realistic motions. As a result, we achieve planning capabilities without the need for a high-level planner. Our method handles a diverse set of unseen long-horizon downstream tasks through a single pre-trained model, including static and dynamic obstacle avoidance, motion in-betweening, and task-space control. Experimental results show that our method significantly outperforms the traditional hierarchical framework of high-level motion diffusion and low-level tracking.
Mitigating Bad Ground Truth in Supervised Machine Learning based Crop Classification: A Multi-Level Framework with Sentinel-2 Images
Venue: arXiv cs.CV 2025
Year: 2025

In agricultural management, precise Ground Truth (GT) data is crucial for accurate Machine Learning (ML) based crop classification. Yet, issues like crop mislabeling and incorrect land identification are common. We propose a multi-level GT cleaning framework while utilizing multi-temporal Sentinel-2 data to address these issues. Specifically, this framework utilizes generating embeddings for farmland, clustering similar crop profiles, and identification of outliers indicating GT errors. We validated clusters with False Colour Composite (FCC) checks and used distance-based metrics to scale and automate this verification process. The importance of cleaning the GT data became apparent when the models were trained on the clean and unclean data. For instance, when we trained a Random Forest model with the clean GT data, we achieved upto 70\% absolute percentage points higher for the F1 score metric. This approach advances crop classification methodologies, with potential for applications towards improving loan underwriting and agricultural decision-making.