OpenRaiser/Intern-Atlas huggingface dataset:
Swarm Learning: A Survey of Concepts, Applications, and Trends
Venue: arXiv cs.LG 2025
Year: 2025

Deep learning models have raised privacy and security concerns due to their reliance on large datasets on central servers. As the number of Internet of Things (IoT) devices increases, artificial intelligence (AI) will be crucial for resource management, data processing, and knowledge acquisition. To address those issues, federated learning (FL) has introduced a novel approach to building a versatile, large-scale machine learning framework that operates in a decentralized and hardware-agnostic manner. However, FL faces network bandwidth limitations and data breaches. To reduce the central dependency in FL and increase scalability, swarm learning (SL) has been proposed in collaboration with Hewlett Packard Enterprise (HPE). SL represents a decentralized machine learning framework that leverages blockchain technology for secure, scalable, and private data management. A blockchain-based network enables the exchange and aggregation of model parameters among participants, thus mitigating the risk of a single point of failure and eliminating communication bottlenecks. To the best of our knowledge, this survey is the first to introduce the principles of Swarm Learning, its architectural design, and its fields of application. In addition, it highlights numerous research avenues that require further exploration by academic and industry communities to unlock the full potential and applications of SL.
Mixture of insighTful Experts (MoTE): The Synergy of Thought Chains and Expert Mixtures in Self-Alignment
Venue: arXiv cs.CL 2025
Year: 2025

As the capabilities of large language models (LLMs) continue to expand, aligning these models with human values remains a significant challenge. Recent studies show that reasoning abilities contribute significantly to model safety, while integrating Mixture-of-Experts (MoE) architectures can further enhance alignment. In this work, we address a fundamental question: How to effectively incorporate reasoning abilities and MoE architectures into self-alignment process in LLMs? We propose Mixture of insighTful Experts (MoTE), a novel framework that synergistically combines reasoning chains and expert mixtures to improve self-alignments. From a data perspective, MoTE employs a structured reasoning chain comprising four key stages: Question Analysis, Answer Guidance, Safe Answer, and Safety Checking. This approach enhances safety through multi-step reasoning and proves effective even for smaller and less powerful LLMs (e.g., 7B models). From an architectural perspective, MoTE adopts a multi-LoRA framework with step-level routing, where each expert is dedicated to a specific reasoning step. This design eliminates the need for balance losses, ensures stable training, and supports adaptive inference lengths. Experimental results demonstrate that MoTE significantly improves model safety, jailbreak resistance, and over-refusal capabilities, achieving performance comparable to OpenAI's state-of-the-art o1 model.
Type2Branch: Keystroke Biometrics based on a Dual-branch Architecture with Attention Mechanisms and Set2set Loss
Venue: arXiv cs.CV 2025
Year: 2025

In 2021, the pioneering work TypeNet showed that keystroke dynamics verification could scale to hundreds of thousands of users with minimal performance degradation. Recently, the KVC-onGoing competition has provided an open and robust experimental protocol for evaluating keystroke dynamics verification systems of such scale. %, including considerations of algorithmic fairness. This article describes Type2Branch, the model and techniques that achieved the lowest error rates at the KVC-onGoing, in both desktop and mobile typing scenarios. The novelty aspects of the proposed Type2Branch include: i) synthesized timing features emphasizing user behavior deviation from the general population, ii) a dual-branch architecture combining recurrent and convolutional paths with various attention mechanisms, iii) a new loss function named Set2set that captures the global structure of the embedding space, and iv) a training curriculum of increasing difficulty. Considering five enrollment samples per subject of approximately 50 characters typed, the proposed Type2Branch achieves state-of-the-art performance with mean per-subject Equal Error Rates (EERs) of 0.77% and 1.03% on evaluation sets of respectively 15,000 and 5,000 subjects for desktop and mobile scenarios. With a fixed global threshold for all subjects, the EERs are respectively 3.25% and 3.61% for desktop and mobile scenarios, outperforming previous approaches by a significant margin. The source code for dataset generation, model, and training process is publicly available.
Continual Learning from Simulated Interactions via Multitask Prospective Rehearsal for Bionic Limb Behavior Modeling
Venue: arXiv cs.LG 2025
Year: 2025

Lower limb amputations and neuromuscular impairments severely restrict mobility, necessitating advancements beyond conventional prosthetics. While motorized bionic limbs show promise, their effectiveness depends on replicating the dynamic coordination of human movement across diverse environments. In this paper, we introduce a model for human behavior in the context of bionic prosthesis control. Our approach leverages human locomotion demonstrations to learn the synergistic coupling of the lower limbs, enabling the prediction of the kinematic behavior of a missing limb during tasks such as walking, climbing inclines, and stairs. We propose a multitasking, continually adaptive model that anticipates and refines movements over time. At the core of our method is a technique called multitask prospective rehearsal, that anticipates and synthesizes future movements based on the previous prediction and employs a corrective mechanism for subsequent predictions. Our evolving architecture merges lightweight, task-specific modules on a shared backbone, ensuring both specificity and scalability. We validate our model through experiments on real-world human gait datasets, including transtibial amputees, across a wide range of locomotion tasks. Results demonstrate that our approach consistently outperforms baseline models, particularly in scenarios with distributional shifts, adversarial perturbations, and noise.
Tabular and Deep Reinforcement Learning for Gittins Index
Venue: arXiv cs.LG 2025
Year: 2025

In the realm of multi-arm bandit problems, the Gittins index policy is known to be optimal in maximizing the expected total discounted reward obtained from pulling the Markovian arms. In most realistic scenarios however, the Markovian state transition probabilities are unknown and therefore the Gittins indices cannot be computed. One can then resort to reinforcement learning (RL) algorithms that explore the state space to learn these indices while exploiting to maximize the reward collected. In this work, we propose tabular (QGI) and Deep RL (DGN) algorithms for learning the Gittins index that are based on the retirement formulation for the multi-arm bandit problem. When compared with existing RL algorithms that learn the Gittins index, our algorithms have a lower run time, require less storage space (small Q-table size in QGI and smaller replay buffer in DGN), and illustrate better empirical convergence to the Gittins index. This makes our algorithm well suited for problems with large state spaces and is a viable alternative to existing methods. As a key application, we demonstrate the use of our algorithms in minimizing the mean flowtime in a job scheduling problem when jobs are available in batches and have an unknown service time distribution.
SOPA: A Framework for Sustainability-Oriented Process Analysis and Re-design in Business Process Management
Venue: arXiv cs.SE 2025
Year: 2025

Given the continuous global degradation of the Earth's ecosystem due to unsustainable human activity, it is increasingly important for enterprises to evaluate the effects they have on the environment. Consequently, assessing the impact of business processes on sustainability is becoming an important consideration in the discipline of Business Process Management (BPM). However, existing practical approaches that aim at a sustainability-oriented analysis of business processes provide only a limited perspective on the environmental impact caused. Further, they provide no clear and practically applicable mechanism for sustainability-driven process analysis and re-design. Following a design science methodology, we here propose and study SOPA, a framework for sustainability-oriented process analysis and re-design. SOPA extends the BPM life cycle by use of Life Cycle Assessment (LCA) for sustainability analysis in combination with Activity-based Costing (ABC). We evaluate SOPA and its usefulness with a case study, by means of an implementation to support the approach, thereby also illustrating the practical applicability of this work.
CromSS: Cross-modal pre-training with noisy labels for remote sensing image segmentation
Venue: arXiv cs.CV 2025
Year: 2025

We explore the potential of large-scale noisily labeled data to enhance feature learning by pretraining semantic segmentation models within a multi-modal framework for geospatial applications. We propose a novel Cross-modal Sample Selection (CromSS) method, a weakly supervised pretraining strategy designed to improve feature representations through cross-modal consistency and noise mitigation techniques. Unlike conventional pretraining approaches, CromSS exploits massive amounts of noisy and easy-to-come-by labels for improved feature learning beneficial to semantic segmentation tasks. We investigate middle and late fusion strategies to optimize the multi-modal pretraining architecture design. We also introduce a cross-modal sample selection module to mitigate the adverse effects of label noise, which employs a cross-modal entangling strategy to refine the estimated confidence masks within each modality to guide the sampling process. Additionally, we introduce a spatial-temporal label smoothing technique to counteract overconfidence for enhanced robustness against noisy labels. To validate our approach, we assembled the multi-modal dataset, NoLDO-S12, which consists of a large-scale noisy label subset from Google's Dynamic World (DW) dataset for pretraining and two downstream subsets with high-quality labels from Google DW and OpenStreetMap (OSM) for transfer learning. Experimental results on two downstream tasks and the publicly available DFC2020 dataset demonstrate that when effectively utilized, the low-cost noisy labels can significantly enhance feature learning for segmentation tasks. All data, code, and pretrained weights will be made publicly available.
Distributed Representations Enable Robust Multi-Timescale Symbolic Computation in Neuromorphic Hardware
Venue: arXiv cs.NE 2025
Year: 2025

Programming recurrent spiking neural networks (RSNNs) to robustly perform multi-timescale computation remains a difficult challenge. To address this, we describe a single-shot weight learning scheme to embed robust multi-timescale dynamics into attractor-based RSNNs, by exploiting the properties of high-dimensional distributed representations. We embed finite state machines into the RSNN dynamics by superimposing a symmetric autoassociative weight matrix and asymmetric transition terms, which are each formed by the vector binding of an input and heteroassociative outer-products between states. Our approach is validated through simulations with highly nonideal weights; an experimental closed-loop memristive hardware setup; and on Loihi 2, where it scales seamlessly to large state machines. This work introduces a scalable approach to embed robust symbolic computation through recurrent dynamics into neuromorphic hardware, without requiring parameter fine-tuning or significant platform-specific optimisation. Moreover, it demonstrates that distributed symbolic representations serve as a highly capable representation-invariant language for cognitive algorithms in neuromorphic hardware.
An Advanced Framework for Ultra-Realistic Simulation and Digital Twinning for Autonomous Vehicles
Venue: arXiv cs.RO 2025
Year: 2025

Simulation is a fundamental tool in developing autonomous vehicles, enabling rigorous testing without the logistical and safety challenges associated with real-world trials. As autonomous vehicle technologies evolve and public safety demands increase, advanced, realistic simulation frameworks are critical. Current testing paradigms employ a mix of general-purpose and specialized simulators, such as CARLA and IVRESS, to achieve high-fidelity results. However, these tools often struggle with compatibility due to differing platform, hardware, and software requirements, severely hampering their combined effectiveness. This paper introduces BlueICE, an advanced framework for ultra-realistic simulation and digital twinning, to address these challenges. BlueICE's innovative architecture allows for the decoupling of computing platforms, hardware, and software dependencies while offering researchers customizable testing environments to meet diverse fidelity needs. Key features include containerization to ensure compatibility across different systems, a unified communication bridge for seamless integration of various simulation tools, and synchronized orchestration of input and output across simulators. This framework facilitates the development of sophisticated digital twins for autonomous vehicle testing and sets a new standard in simulation accuracy and flexibility. The paper further explores the application of BlueICE in two distinct case studies: the ICAT indoor testbed and the STAR campus outdoor testbed at the University of Delaware. These case studies demonstrate BlueICE's capability to create sophisticated digital twins for autonomous vehicle testing and underline its potential as a standardized testbed for future autonomous driving technologies.
NeRFs in Robotics: A Survey
Venue: arXiv cs.RO 2025
Year: 2025

Detailed and realistic 3D environment representations have been a long-standing goal in the fields of computer vision and robotics. The recent emergence of neural implicit representations has introduced significant advances to these domains, enabling numerous novel capabilities. Among these, Neural Radiance Fields (NeRFs) have gained considerable attention because of their considerable representational advantages, such as simplified mathematical models, low memory footprint, and continuous scene representations. In addition to computer vision, NeRFs have demonstrated significant potential in robotics. Thus, we present this survey to provide a comprehensive understanding of NeRFs in the field of robotics. By exploring the advantages and limitations of NeRF as well as its current applications and future potential, we aim to provide an overview of this promising area of research. Our survey is divided into two main sections: \textit{Applications of NeRFs in Robotics} and \textit{Advances for NeRFs in Robotics}, from the perspective of how NeRF enters the field of robotics. In the first section, we introduce and analyze some works that have been or could be used in robotics for perception and interaction tasks. In the second section, we show some works related to improving NeRF's own properties, which are essential for deploying NeRFs in robotics. In the discussion section of the review, we summarize the existing challenges and provide valuable future research directions.
Human-Robot Interaction Conversational User Enjoyment Scale (HRI CUES)
Venue: arXiv cs.RO 2025
Year: 2025

Understanding user enjoyment is crucial in human-robot interaction (HRI), as it can impact interaction quality and influence user acceptance and long-term engagement with robots, particularly in the context of conversations with social robots. However, current assessment methods rely solely on self-reported questionnaires, failing to capture interaction dynamics. This work introduces the Human-Robot Interaction Conversational User Enjoyment Scale (HRI CUES), a novel 5-point scale to assess user enjoyment from an external perspective (e.g. by an annotator) for conversations with a robot. The scale was developed through rigorous evaluations and discussions among three annotators with relevant expertise, using open-domain conversations with a companion robot that was powered by a large language model, and was applied to each conversation exchange (i.e. a robot-participant turn pair) alongside overall interaction. It was evaluated on 25 older adults' interactions with the companion robot, corresponding to 174 minutes of data, showing moderate to good alignment between annotators. Although the scale was developed and tested in the context of older adult interactions with a robot, its basis in general and non-task-specific indicators of enjoyment supports its broader applicability. The study further offers insights into understanding the nuances and challenges of assessing user enjoyment in robot interactions, and provides guidelines on applying the scale to other domains and populations. The dataset is available online.
Common pitfalls to avoid while using multiobjective optimization in machine learning
Venue: arXiv cs.LG 2025
Year: 2025

Recently, there has been an increasing interest in the application of multiobjective optimization (MOO) in machine learning (ML). This interest is driven by the numerous real-life situations where multiple objectives must be optimized simultaneously. A key aspect of MOO is the existence of a Pareto set, rather than a single optimal solution, which represents the optimal trade-offs between different objectives. Despite its potential, there is a noticeable lack of satisfactory literature serving as an entry-level guide for ML practitioners aiming to apply MOO effectively. In this paper, our goal is to provide such a resource and highlight pitfalls to avoid. We begin by establishing the groundwork for MOO, focusing on well-known approaches such as the weighted sum (WS) method, alongside more advanced techniques like the multiobjective gradient descent algorithm (MGDA). We critically review existing studies across various ML fields where MOO has been applied and identify challenges that can lead to incorrect interpretations. One of these fields is physics informed neural networks (PINNs), which we use as a guiding example to carefully construct experiments illustrating these pitfalls. By comparing WS and MGDA with one of the most common evolutionary algorithms, NSGA-II, we demonstrate that difficulties can arise regardless of the specific MOO method used. We emphasize the importance of understanding the specific problem, the objective space, and the selected MOO method, while also noting that neglecting factors such as convergence criteria can result in misleading experiments.
Privacy-aware Berrut Approximated Coded Computing for Federated Learning
Venue: arXiv cs.LG 2025
Year: 2025

Federated Learning (FL) is an interesting strategy that enables the collaborative training of an AI model among different data owners without revealing their private datasets. Even so, FL has some privacy vulnerabilities that have been tried to be overcome by applying some techniques like Differential Privacy (DP), Homomorphic Encryption (HE), or Secure Multi-Party Computation (SMPC). However, these techniques have some important drawbacks that might narrow their range of application: problems to work with non-linear functions and to operate large matrix multiplications and high communication and computational costs to manage semi-honest nodes. In this context, we propose a solution to guarantee privacy in FL schemes that simultaneously solves the previously mentioned problems. Our proposal is based on the Berrut Approximated Coded Computing, a technique from the Coded Distributed Computing paradigm, adapted to a Secret Sharing configuration, to provide input privacy to FL in a scalable way. It can be applied for computing non-linear functions and treats the special case of distributed matrix multiplication, a key primitive at the core of many automated learning tasks. Because of these characteristics, it could be applied in a wide range of FL scenarios, since it is independent of the machine learning models or aggregation algorithms used in the FL scheme. We provide analysis of the achieved privacy and complexity of our solution and, due to the extensive numerical results performed, a good trade-off between privacy and precision can be observed.
Instance-Conditioned Adaptation for Large-scale Generalization of Neural Routing Solver
Venue: arXiv cs.AI 2025
Year: 2025

The neural combinatorial optimization (NCO) method has shown great potential for solving routing problems of intelligent transportation systems without requiring expert knowledge. However, existing constructive NCO methods still struggle to solve large-scale instances, which significantly limits their application prospects. To address these crucial shortcomings, this work proposes a novel Instance-Conditioned Adaptation Model (ICAM) for better large-scale generalization of neural routing solvers. In particular, we design a simple yet efficient instance-conditioned adaptation function to significantly improve the generalization performance of existing NCO models with a small time and memory overhead. In addition, with a systematic investigation on the performance of information incorporation between different attention mechanisms, we further propose a powerful yet low-complexity instance-conditioned adaptation module to generate better solutions for instances across different scales. Extensive experimental results on both synthetic and benchmark instances show that our proposed method is capable of obtaining promising results with a very fast inference time in solving large-scale Traveling Salesman Problems (TSPs), Capacitated Vehicle Routing Problems (CVRPs), and Asymmetric Traveling Salesman Problems (ATSPs). Our code is available at https://github.com/CIAM-Group/ICAM.
Graph Neural Network based Active and Passive Beamforming for Distributed STAR-RIS-Assisted Multi-User MISO Systems
Venue: arXiv cs.IT 2025
Year: 2025

This paper investigates a joint active and passive beamforming design for distributed simultaneous transmitting and reflecting (STAR) reconfigurable intelligent surface (RIS) assisted multi-user (MU)- mutiple input single output (MISO) systems, where the energy splitting (ES) mode is considered for the STAR-RIS. We aim to design the active beamforming vectors at the base station (BS) and the passive beamforming at the STAR-RIS to maximize the user sum rate under transmitting power constraints. The formulated problem is non-convex and nontrivial to obtain the global optimum due to the coupling between active beamforming vectors and STAR-RIS phase shifts. To efficiently solve the problem, we propose a novel graph neural network (GNN)-based framework. Specifically, we first model the interactions among users and network entities are using a heterogeneous graph representation. A heterogeneous graph neural network (HGNN) implementation is then introduced to directly optimizes beamforming vectors and STAR-RIS coefficients with the system objective. Numerical results show that the proposed approach yields efficient performance compared to the previous benchmarks. Furthermore, the proposed GNN is scalable with various system configurations.