OpenRaiser/Intern-Atlas huggingface dataset:
Modeling PFAS in Semiconductor Manufacturing to Quantify Trade-offs in Energy Efficiency and Environmental Impact of Computing Systems
Venue: arXiv cs.AR 2025
Year: 2025

The electronics and semiconductor industry is a prominent consumer of per- and poly-fluoroalkyl substances (PFAS), also known as forever chemicals. PFAS are persistent in the environment and can bioaccumulate to ecological and human toxic levels. Computer designers have an opportunity to reduce the use of PFAS in semiconductors and electronics manufacturing, including integrated circuits (IC), batteries, displays, etc., which currently account for a staggering 10% of the total PFAS fluoropolymers usage in Europe alone. In this paper, we present a framework where we (1) quantify the environmental impact of PFAS in computing systems manufacturing with granular consideration of the metal layer stack and patterning complexities in IC manufacturing at the design phase, (2) identify contending trends between embodied carbon (carbon footprint due to hardware manufacturing) versus PFAS. For example, manufacturing an IC at a 7 nm technology node using EUV lithography uses 18% less PFAS-containing layers, compared to manufacturing the same IC at a 7 nm technology node using DUV immersion lithography (instead of EUV) unlike embodied carbon trends, and (3) conduct case studies to illustrate how to optimize and trade-off designs with lower PFAS, while meeting power-performance-area constraints. We show that optimizing designs to use less back-end-of-line (BEOL) metal stack layers can save 1.7$\times$ PFAS-containing layers in systolic arrays.
Regular mixed-radix DFT matrix factorization for in-place FFT accelerators
Venue: arXiv cs.AR 2025
Year: 2025

The generic vector memory based accelerator is considered which supports DIT and DIF FFT with fixed datapath. The regular mixed-radix factorization of the DFT matrix coherent with the accelerator architecture is proposed and the correction proof is presented. It allows better understanding of architecture requirements and simplifies the developing and proving correctness of more complicated algorithms and conflict-free addressing schemes.
8 Years of Optimizing Apache Otava: How disconnected open source developers took an algorithm from n3 to constant time
Venue: arXiv cs.PF 2025
Year: 2025

As the project now known as Apache Otava (incubating) makes it first release, we look back over the past 8 years that the codebase was developed by a rather uncoordinated, loosely connected group of performance engineers at MongoDB, Datastax, Confluent, Nyrkio and others. Ever since the first publication (Daly 2020), developers of the code base now known as Apache Otava (incubating), have continuosly improved its performance. Even when a contributor's primary motivation was to add functionality, it seems like they couldn't help themselves but to also make some performance optimizations while at it. When developing the Nyrkio web service to provide change detection for performance testing, we have observed that Otava had become fast enough that it was almost feasible to compute change points synchronously, as the user is browsing test results in a web browser. Inspired by this, we have developed and contributed a new optimization for the common case where new data points are appended to the end of the series. This is now the 7th generation of performance optimizations in Otava. These improvements have been done over the past 8 years of development, by disconnected individuals at different employees. Taken together, the historical optimizations and those published in this paper, represent a 18 000 to 300 000 speedup over the original by the book implementation of (Matteson and James 2014). In the language of computational complexity, an evolution from O (n3) to O (1) (constant time). The ability to compute and recompute change points in real-time unlocks new opportunities in the user experience.
Investigating Robotaxi Crash Severity with Geographical Random Forest and the Urban Environment
Venue: arXiv cs.LG 2025
Year: 2025

This paper quantitatively investigates the crash severity of Autonomous Vehicles (AVs) with spatially localized machine learning and macroscopic measures of the urban built environment. Extending beyond the microscopic effects of individual infrastructure elements, we focus on the city-scale land use and behavioral patterns, while addressing spatial heterogeneity and spatial autocorrelation. We implemented a spatially localized machine learning technique called Geographical Random Forest (GRF) on the California AV collision dataset. Analyzing multiple urban measures, including points of interest, building footprint, and land use, we built a GRF model and visualized it as a crash severity risk map of San Francisco. This paper presents three findings. First, spatially localized machine learning outperformed regular machine learning in predicting AV crash severity. The bias-variance tradeoff was evident as we adjusted the localization weight hyperparameter. Second, land use was the most important predictor, compared to intersections, building footprints, public transit stops, and Points Of Interest (POIs). Third, AV crashes were more likely to result in low-severity incidents in city center areas with greater diversity and commercial activities, than in residential neighborhoods. Residential land use is likely associated with higher severity due to human behavior and less restrictive environments. Counterintuitively, residential areas were associated with higher crash severity, compared to more complex areas such as commercial and mixed-use areas. When robotaxi operators train their AV systems, it is recommended to: (1) consider where their fleet operates and make localized algorithms for their perception system, and (2) design safety measures specific to residential neighborhoods, such as slower driving speeds and more alert sensors.
JaxRobotarium: Training and Deploying Multi-Robot Policies in 10 Minutes
Venue: arXiv cs.RO 2025
Year: 2025

Multi-agent reinforcement learning (MARL) has emerged as a promising solution for learning complex and scalable coordination behaviors in multi-robot systems. However, established MARL platforms (e.g., SMAC and MPE) lack robotics relevance and hardware deployment, leaving multi-robot learning researchers to develop bespoke environments and hardware testbeds dedicated to the development and evaluation of their individual contributions. The Multi-Agent RL Benchmark and Learning Environment for the Robotarium (MARBLER) is an exciting recent step in providing a standardized robotics-relevant platform for MARL, by bridging the Robotarium testbed with existing MARL software infrastructure. However, MARBLER lacks support for parallelization and GPU/TPU execution, making the platform prohibitively slow compared to modern MARL environments and hindering adoption. We contribute JaxRobotarium, a Jax-powered end-to-end simulation, learning, deployment, and benchmarking platform for the Robotarium. JaxRobotarium enables rapid training and deployment of multi-robot RL (MRRL) policies with realistic robot dynamics and safety constraints, supporting parallelization and hardware acceleration. Our generalizable learning interface integrates easily with SOTA MARL libraries (e.g., JaxMARL). In addition, JaxRobotarium includes eight standardized coordination scenarios, including four novel scenarios that bring established MARL benchmark tasks (e.g., RWARE and Level-Based Foraging) to a robotics setting. We demonstrate that JaxRobotarium retains high simulation fidelity while achieving dramatic speedups over baseline (20x in training and 150x in simulation), and provides an open-access sim-to-real evaluation pipeline through the Robotarium testbed, accelerating and democratizing access to multi-robot learning research and evaluation. Our code is available at https://github.com/GT-STAR-Lab/JaxRobotarium.
Crypto-Economic Analysis of Web3 Funding Programs Using the Grant Maturity Framework
Venue: arXiv cs.SE 2025
Year: 2025

Web3 grant programs are evolving mechanisms aimed at supporting innovation within the blockchain ecosystem, yet little is known on about their effectiveness. This paper proposes the concept of maturity to fill this gap and introduces the Grant Maturity Framework (GMF), a mixed-methods model for evaluating the maturity of Web3 grant programs. The GMF provides a systematic approach to assessing the structure, governance, and impact of Web3 grants, applied here to four prominent Ethereum layer-two (L2) grant programs: Arbitrum, Optimism, Mantle, and Taiko. By evaluating these programs using the GMF, the study categorizes them into four maturity stages, ranging from experimental to advanced. The findings reveal that Arbitrum's Long-Term Incentive Pilot Program (LTIPP) and Optimism's Mission Rounds show higher maturity, while Mantle and Taiko are still in their early stages. The research concludes by discussing the user-centric development of a Web3 grant management platform aimed at improving the maturity and effectiveness of Web3 grant management processes based on the findings from the GMF. This work contributes to both practical and theoretical knowledge on Web3 grant program evaluation and tooling, providing a valuable resource for Web3 grant operators and stakeholders.
UniDiffGrasp: A Unified Framework Integrating VLM Reasoning and VLM-Guided Part Diffusion for Open-Vocabulary Constrained Grasping with Dual Arms
Venue: arXiv cs.RO 2025
Year: 2025

Open-vocabulary, task-oriented grasping of specific functional parts, particularly with dual arms, remains a key challenge, as current Vision-Language Models (VLMs), while enhancing task understanding, often struggle with precise grasp generation within defined constraints and effective dual-arm coordination. We innovatively propose UniDiffGrasp, a unified framework integrating VLM reasoning with guided part diffusion to address these limitations. UniDiffGrasp leverages a VLM to interpret user input and identify semantic targets (object, part(s), mode), which are then grounded via open-vocabulary segmentation. Critically, the identified parts directly provide geometric constraints for a Constrained Grasp Diffusion Field (CGDF) using its Part-Guided Diffusion, enabling efficient, high-quality 6-DoF grasps without retraining. For dual-arm tasks, UniDiffGrasp defines distinct target regions, applies part-guided diffusion per arm, and selects stable cooperative grasps. Through extensive real-world deployment, UniDiffGrasp achieves grasp success rates of 0.876 in single-arm and 0.767 in dual-arm scenarios, significantly surpassing existing state-of-the-art methods, demonstrating its capability to enable precise and coordinated open-vocabulary grasping in complex real-world scenarios.
Visual Instruction Tuning with Chain of Region-of-Interest
Venue: arXiv cs.CV 2025
Year: 2025

High-resolution (HR) images are pivotal for enhancing the recognition and understanding capabilities of multimodal large language models (MLLMs). However, directly increasing image resolution can significantly escalate computational demands. In this study, we propose a method called Chain of Region-of-Interest (CoRoI) for Visual Instruction Tuning, aimed at alleviating the computational burden associated with high-resolution images for MLLMs. Drawing inspiration from the selective nature of the human visual system, we recognize that not all regions within high-resolution images carry equal importance. CoRoI seeks to identify and prioritize the most informative regions, thereby enhancing multimodal visual comprehension and recognition while circumventing the need for processing lengthy HR image tokens. Through extensive experiments on 11 benchmarks, we validate the efficacy of CoRoI across varying sizes, ranging from 7B to 34B in parameters. Our models consistently demonstrate superior performance across diverse multimodal benchmarks and tasks. Notably, our method outperforms LLaVA-NeXT on almost all benchmarks and our finetuned 34B model surpasses proprietary methods like Gemini Pro 1.0 on six benchmarks, as well as outperforming GPT-4V on MMB, SEED-I, and MME.
Rate-Matching Deep Polar Codes via Polar Coded Extension
Venue: arXiv cs.IT 2025
Year: 2025

Deep polar codes are pre-transformed polar codes that employ a multi-layered polar kernel transformation strategy to enhance code performance in short blocklength regimes. However, like conventional polar codes, their block length is constrained to powers of two, as the final transformation layer uses a conventional polar kernel matrix. This paper introduces a novel rate-matching technique for deep polar codes using code extension, particularly effective when the desired code length slightly exceeds a power of two. The key idea is to exploit the layered structure of deep polar codes by concatenating polar codewords generated at each transformation layer. Based on this structure, we also develop an efficient decoding algorithm leveraging soft-output successive cancellation list decoding and provide comprehensive error probability analysis supporting our code design algorithms. Additionally, we propose a computationally efficient greedy algorithm for multi-layer configurations. Extensive simulations confirm that our approach delivers substantial coding gains over conventional rate-matching methods, especially in medium to high code-rate regimes.
IM-BERT: Enhancing Robustness of BERT through the Implicit Euler Method
Venue: arXiv cs.CL 2025
Year: 2025

Pre-trained Language Models (PLMs) have achieved remarkable performance on diverse NLP tasks through pre-training and fine-tuning. However, fine-tuning the model with a large number of parameters on limited downstream datasets often leads to vulnerability to adversarial attacks, causing overfitting of the model on standard datasets. To address these issues, we propose IM-BERT from the perspective of a dynamic system by conceptualizing a layer of BERT as a solution of Ordinary Differential Equations (ODEs). Under the situation of initial value perturbation, we analyze the numerical stability of two main numerical ODE solvers: the explicit and implicit Euler approaches. Based on these analyses, we introduce a numerically robust IM-connection incorporating BERT's layers. This strategy enhances the robustness of PLMs against adversarial attacks, even in low-resource scenarios, without introducing additional parameters or adversarial training strategies. Experimental results on the adversarial GLUE (AdvGLUE) dataset validate the robustness of IM-BERT under various conditions. Compared to the original BERT, IM-BERT exhibits a performance improvement of approximately 8.3\%p on the AdvGLUE dataset. Furthermore, in low-resource scenarios, IM-BERT outperforms BERT by achieving 5.9\%p higher accuracy.
Ecco: Improving Memory Bandwidth and Capacity for LLMs via Entropy-aware Cache Compression
Venue: arXiv cs.AR 2025
Year: 2025

Large language models (LLMs) have demonstrated transformative capabilities across diverse artificial intelligence applications, yet their deployment is hindered by substantial memory and computational demands, especially in resource-constrained environments. Quantization techniques have emerged as a critical solution, reducing data precision to enhance memory and computational efficiency. However, existing methods often suffer from high runtime overheads and potential accuracy degradation. To address these challenges, we propose Ecco, an entropy-based cache compression technique tailored for LLMs. Ecco combines group-wise and non-uniform quantization with pre-defined shared k-means patterns and Huffman coding to exploit the inherent entropy characteristics of LLM cache data. Recognizing the inefficiencies of traditional Huffman coding in terms of parallelism and latency, we introduce a novel parallel Huffman-based decoding process with a multi-stage pipeline design, reducing latency by two orders of magnitude and achieving throughput comparable to GPU L2 caches. Comprehensive evaluations demonstrate that Ecco achieves an up to 2.9$\times$ and 1.9$\times$ speedup over the state-of-the-art AWQ and SmoothQuant framework, 2.4$\times$ over the Olive accelerator, all while increasing memory capacity by nearly 4$\times$ and maintaining state-of-the-art LLM accuracy. These results underscore the effectiveness of our entropy-based cache compression in enhancing LLM performance and efficiency, paving the way for more deployable large-scale AI models.
CheXLearner: Text-Guided Fine-Grained Representation Learning for Progression Detection
Venue: arXiv cs.CV 2025
Year: 2025

Temporal medical image analysis is essential for clinical decision-making, yet existing methods either align images and text at a coarse level - causing potential semantic mismatches - or depend solely on visual information, lacking medical semantic integration. We present CheXLearner, the first end-to-end framework that unifies anatomical region detection, Riemannian manifold-based structure alignment, and fine-grained regional semantic guidance. Our proposed Med-Manifold Alignment Module (Med-MAM) leverages hyperbolic geometry to robustly align anatomical structures and capture pathologically meaningful discrepancies across temporal chest X-rays. By introducing regional progression descriptions as supervision, CheXLearner achieves enhanced cross-modal representation learning and supports dynamic low-level feature optimization. Experiments show that CheXLearner achieves 81.12% (+17.2%) average accuracy and 80.32% (+11.05%) F1-score on anatomical region progression detection - substantially outperforming state-of-the-art baselines, especially in structurally complex regions. Additionally, our model attains a 91.52% average AUC score in downstream disease classification, validating its superior feature representation.
MMiC: Mitigating Modality Incompleteness in Clustered Federated Learning
Venue: arXiv cs.LG 2025
Year: 2025

In the era of big data, data mining has become indispensable for uncovering hidden patterns and insights from vast and complex datasets. The integration of multimodal data sources further enhances its potential. Multimodal Federated Learning (MFL) is a distributed approach that enhances the efficiency and quality of multimodal learning, ensuring collaborative work and privacy protection. However, missing modalities pose a significant challenge in MFL, often due to data quality issues or privacy policies across the clients. In this work, we present MMiC, a framework for Mitigating Modality incompleteness in MFL within the Clusters. MMiC replaces partial parameters within client models inside clusters to mitigate the impact of missing modalities. Furthermore, it leverages the Banzhaf Power Index to optimize client selection under these conditions. Finally, MMiC employs an innovative approach to dynamically control global aggregation by utilizing Markovitz Portfolio Optimization. Extensive experiments demonstrate that MMiC consistently outperforms existing federated learning architectures in both global and personalized performance on multimodal datasets with missing modalities, confirming the effectiveness of our proposed solution. Our code is available at https://github.com/gotobcn8/MMiC.
Building a Human-Verified Clinical Reasoning Dataset via a Human LLM Hybrid Pipeline for Trustworthy Medical AI
Venue: arXiv cs.CV 2025
Year: 2025

Despite strong performance in medical question-answering, the clinical adoption of Large Language Models (LLMs) is critically hampered by their opaque 'black-box' reasoning, limiting clinician trust. This challenge is compounded by the predominant reliance of current medical LLMs on corpora from scientific literature or synthetic data, which often lack the granular expert validation and high clinical relevance essential for advancing their specialized medical capabilities. To address these critical gaps, we introduce a highly clinically relevant dataset with 31,247 medical question-answer pairs, each accompanied by expert-validated chain-of-thought (CoT) explanations. This resource, spanning multiple clinical domains, was curated via a scalable human-LLM hybrid pipeline: LLM-generated rationales were iteratively reviewed, scored, and refined by medical experts against a structured rubric, with substandard outputs revised through human effort or guided LLM regeneration until expert consensus. This publicly available dataset provides a vital source for the development of medical LLMs that capable of transparent and verifiable reasoning, thereby advancing safer and more interpretable AI in medicine.
YOPOv2-Tracker: An End-to-End Agile Tracking and Navigation Framework from Perception to Action
Venue: arXiv cs.RO 2025
Year: 2025

Traditional target tracking pipelines including detection, mapping, navigation, and control are comprehensive but introduce high latency, limitting the agility of quadrotors. On the contrary, we follow the design principle of "less is more", striving to simplify the process while maintaining effectiveness. In this work, we propose an end-to-end agile tracking and navigation framework for quadrotors that directly maps the sensory observations to control commands. Importantly, leveraging the multimodal nature of navigation and detection tasks, our network maintains interpretability by explicitly integrating the independent modules of the traditional pipeline, rather than a crude action regression. In detail, we adopt a set of motion primitives as anchors to cover the searching space regarding the feasible region and potential target. Then we reformulate the trajectory optimization as regression of primitive offsets and associated costs considering the safety, smoothness, and other metrics. For tracking task, the trajectories are expected to approach the target and additional objectness scores are predicted. Subsequently, the predictions, after compensation for the estimated lumped disturbance, are transformed into thrust and attitude as control commands for swift response. During training, we seamlessly integrate traditional motion planning with deep learning by directly back-propagating the gradients of trajectory costs to the network, eliminating the need for expert demonstration in imitation learning and providing more direct guidance than reinforcement learning. Finally, we deploy the algorithm on a compact quadrotor and conduct real-world validations in both forest and building environments to demonstrate the efficiency of the proposed method.
Transformer-Based Dual-Optical Attention Fusion Crowd Head Point Counting and Localization Network
Venue: arXiv cs.CV 2025
Year: 2025

In this paper, the dual-optical attention fusion crowd head point counting model (TAPNet) is proposed to address the problem of the difficulty of accurate counting in complex scenes such as crowd dense occlusion and low light in crowd counting tasks under UAV view. The model designs a dual-optical attention fusion module (DAFP) by introducing complementary information from infrared images to improve the accuracy and robustness of all-day crowd counting. In order to fully utilize different modal information and solve the problem of inaccurate localization caused by systematic misalignment between image pairs, this paper also proposes an adaptive two-optical feature decomposition fusion module (AFDF). In addition, we optimize the training strategy to improve the model robustness through spatial random offset data augmentation. Experiments on two challenging public datasets, DroneRGBT and GAIIC2, show that the proposed method outperforms existing techniques in terms of performance, especially in challenging dense low-light scenes. Code is available at https://github.com/zz-zik/TAPNet