OpenRaiser/Intern-Atlas huggingface dataset:
Interpretable Early Detection of Parkinson's Disease through Speech Analysis
Venue: arXiv cs.LG 2025
Year: 2025

Parkinson's disease is a progressive neurodegenerative disorder affecting motor and non-motor functions, with speech impairments among its earliest symptoms. Speech impairments offer a valuable diagnostic opportunity, with machine learning advances providing promising tools for timely detection. In this research, we propose a deep learning approach for early Parkinson's disease detection from speech recordings, which also highlights the vocal segments driving predictions to enhance interpretability. This approach seeks to associate predictive speech patterns with articulatory features, providing a basis for interpreting underlying neuromuscular impairments. We evaluated our approach using the Italian Parkinson's Voice and Speech Database, containing 831 audio recordings from 65 participants, including both healthy individuals and patients. Our approach showed competitive classification performance compared to state-of-the-art methods, while providing enhanced interpretability by identifying key speech features influencing predictions.
The Fourth Monocular Depth Estimation Challenge
Venue: arXiv cs.CV 2025
Year: 2025

This paper presents the results of the fourth edition of the Monocular Depth Estimation Challenge (MDEC), which focuses on zero-shot generalization to the SYNS-Patches benchmark, a dataset featuring challenging environments in both natural and indoor settings. In this edition, we revised the evaluation protocol to use least-squares alignment with two degrees of freedom to support disparity and affine-invariant predictions. We also revised the baselines and included popular off-the-shelf methods: Depth Anything v2 and Marigold. The challenge received a total of 24 submissions that outperformed the baselines on the test set; 10 of these included a report describing their approach, with most leading methods relying on affine-invariant predictions. The challenge winners improved the 3D F-Score over the previous edition's best result, raising it from 22.58% to 23.05%.
LiDPM: Rethinking Point Diffusion for Lidar Scene Completion
Venue: arXiv cs.CV 2025
Year: 2025

Training diffusion models that work directly on lidar points at the scale of outdoor scenes is challenging due to the difficulty of generating fine-grained details from white noise over a broad field of view. The latest works addressing scene completion with diffusion models tackle this problem by reformulating the original DDPM as a local diffusion process. It contrasts with the common practice of operating at the level of objects, where vanilla DDPMs are currently used. In this work, we close the gap between these two lines of work. We identify approximations in the local diffusion formulation, show that they are not required to operate at the scene level, and that a vanilla DDPM with a well-chosen starting point is enough for completion. Finally, we demonstrate that our method, LiDPM, leads to better results in scene completion on SemanticKITTI. The project page is https://astra-vision.github.io/LiDPM .
Subfunction Structure Matters: A New Perspective on Local Optima Networks
Venue: arXiv cs.NE 2025
Year: 2025

Local optima networks (LONs) capture fitness landscape information. They are typically constructed in a black-box manner; information about the problem structure is not utilised. This also applies to the analysis of LONs: knowledge about the problem, such as interaction between variables, is not considered. We challenge this status-quo with an alternative approach: we consider how LON analysis can be improved by incorporating subfunction-based information - this can either be known a-priori or learned during search. To this end, LONs are constructed for several benchmark pseudo-boolean problems using three approaches: firstly, the standard algorithm; a second algorithm which uses deterministic grey-box crossover; and a third algorithm which selects perturbations based on learned information about variable interactions. Metrics related to subfunction changes in a LON are proposed and compared with metrics from previous literature which capture other aspects of a LON. Incorporating problem structure in LON construction and analysing it can bring enriched insight into optimisation dynamics. Such information may be crucial to understanding the difficulty of solving a given problem with state-of-the-art linkage learning optimisers. In light of the results, we suggest incorporation of problem structure as an alternative paradigm in landscape analysis for problems with known or suspected subfunction structure.
Research on Cloud Platform Network Traffic Monitoring and Anomaly Detection System based on Large Language Models
Venue: arXiv cs.NI 2025
Year: 2025

The rapidly evolving cloud platforms and the escalating complexity of network traffic demand proper network traffic monitoring and anomaly detection to ensure network security and performance. This paper introduces a large language model (LLM)-based network traffic monitoring and anomaly detection system. In addition to existing models such as autoencoders and decision trees, we harness the power of large language models for processing sequence data from network traffic, which allows us a better capture of underlying complex patterns, as well as slight fluctuations in the dataset. We show for a given detection task, the need for a hybrid model that incorporates the attention mechanism of the transformer architecture into a supervised learning framework in order to achieve better accuracy. A pre-trained large language model analyzes and predicts the probable network traffic, and an anomaly detection layer that considers temporality and context is added. Moreover, we present a novel transfer learning-based methodology to enhance the model's effectiveness to quickly adapt to unknown network structures and adversarial conditions without requiring extensive labeled datasets. Actual results show that the designed model outperforms traditional methods in detection accuracy and computational efficiency, effectively identify various network anomalies such as zero-day attacks and traffic congestion pattern, and significantly reduce the false positive rate.
Monero Peer-to-peer Network Topology Analysis
Venue: arXiv cs.NI 2025
Year: 2025

Monero, a privacy-focused cryptocurrency, employs a decentralized peer-to-peer (P2P) network that plays a critical role in transaction propagation and consensus formation. While much research has explored Monero's privacy transaction mechanisms, its underlying P2P network architecture has remained relatively underexplored. In this study, building on our recent work on Monero network detection, we further investigate the network topology of Monero's P2P structure, which has evolved following recent protocol updates that enhanced security by obscuring peer information. Using k-core decomposition, we confirm that the Monero network exhibits a core-periphery structure, where a tightly interconnected core of supernodes is crucial for maintaining network cohesion, while peripheral nodes rely on these core nodes for connectivity. This structure explains why targeting central nodes does not easily lead to the rapid disintegration of the network's largest connected component while also providing a deeper understanding of the true architecture of Monero's peer protocol.
SmallGS: Gaussian Splatting-based Camera Pose Estimation for Small-Baseline Videos
Venue: arXiv cs.CV 2025
Year: 2025

Dynamic videos with small baseline motions are ubiquitous in daily life, especially on social media. However, these videos present a challenge to existing pose estimation frameworks due to ambiguous features, drift accumulation, and insufficient triangulation constraints. Gaussian splatting, which maintains an explicit representation for scenes, provides a reliable novel view rasterization when the viewpoint change is small. Inspired by this, we propose SmallGS, a camera pose estimation framework that is specifically designed for small-baseline videos. SmallGS optimizes sequential camera poses using Gaussian splatting, which reconstructs the scene from the first frame in each video segment to provide a stable reference for the rest. The temporal consistency of Gaussian splatting within limited viewpoint differences reduced the requirement of sufficient depth variations in traditional camera pose estimation. We further incorporate pretrained robust visual features, e.g. DINOv2, into Gaussian splatting, where high-dimensional feature map rendering enhances the robustness of camera pose estimation. By freezing the Gaussian splatting and optimizing camera viewpoints based on rasterized features, SmallGS effectively learns camera poses without requiring explicit feature correspondences or strong parallax motion. We verify the effectiveness of SmallGS in small-baseline videos in TUM-Dynamics sequences, which achieves impressive accuracy in camera pose estimation compared to MonST3R and DORID-SLAM for small-baseline videos in dynamic scenes. Our project page is at: https://yuxinyao620.github.io/SmallGS
OmniSage: Large Scale, Multi-Entity Heterogeneous Graph Representation Learning
Venue: arXiv cs.IR 2025
Year: 2025

Representation learning, a task of learning latent vectors to represent entities, is a key task in improving search and recommender systems in web applications. Various representation learning methods have been developed, including graph-based approaches for relationships among entities, sequence-based methods for capturing the temporal evolution of user activities, and content-based models for leveraging text and visual content. However, the development of a unifying framework that integrates these diverse techniques to support multiple applications remains a significant challenge. This paper presents OmniSage, a large-scale representation framework that learns universal representations for a variety of applications at Pinterest. OmniSage integrates graph neural networks with content-based models and user sequence models by employing multiple contrastive learning tasks to effectively process graph data, user sequence data, and content signals. To support the training and inference of OmniSage, we developed an efficient infrastructure capable of supporting Pinterest graphs with billions of nodes. The universal representations generated by OmniSage have significantly enhanced user experiences on Pinterest, leading to an approximate 2.5% increase in sitewide repins (saves) across five applications. This paper highlights the impact of unifying representation learning methods, and we make the model code publicly available at https://github.com/pinterest/atg-research/tree/main/omnisage.
Learning Underwater Active Perception in Simulation
Venue: arXiv cs.CV 2025
Year: 2025

When employing underwater vehicles for the autonomous inspection of assets, it is crucial to consider and assess the water conditions. Indeed, they have a significant impact on the visibility, which also affects robotic operations. Turbidity can jeopardise the whole mission as it may prevent correct visual documentation of the inspected structures. Previous works have introduced methods to adapt to turbidity and backscattering, however, they also include manoeuvring and setup constraints. We propose a simple yet efficient approach to enable high-quality image acquisition of assets in a broad range of water conditions. This active perception framework includes a multi-layer perceptron (MLP) trained to predict image quality given a distance to a target and artificial light intensity. We generated a large synthetic dataset including ten water types with different levels of turbidity and backscattering. For this, we modified the modelling software Blender to better account for the underwater light propagation properties. We validated the approach in simulation and showed significant improvements in visual coverage and quality of imagery compared to traditional approaches. The project code is available on our project page at https://roboticimaging.org/Projects/ActiveUW/.
Fast Multichannel Topology Discovery in Cognitive Radio Networks
Venue: arXiv cs.NI 2025
Year: 2025

In Cognitive Radio Networks (CRNs), secondary users (SUs) must efficiently discover each other across multiple communication channels while avoiding interference from primary users (PUs). Traditional multichannel rendezvous algorithms primarily focus on enabling pairs of SUs to find common channels without explicitly considering the underlying network topology. In this paper, we extend the rendezvous framework to explicitly incorporate network topology, introducing the \emph{multichannel topology discovery problem}. We propose a novel \emph{pseudo-random sweep algorithm with forward replacement}, designed to minimize correlation between consecutive unsuccessful rendezvous attempts, thereby significantly reducing the expected time-to-discovery (ETTD). Additionally, we introduce a \emph{threshold-based stick-together strategy} that dynamically synchronizes user hopping sequences based on partially known information, further enhancing discovery efficiency. Extensive simulation results validate our theoretical analysis, demonstrating that the proposed algorithms substantially outperform conventional (sequential) sweep methods.
CaRL: Learning Scalable Planning Policies with Simple Rewards
Venue: arXiv cs.LG 2025
Year: 2025

We investigate reinforcement learning (RL) for privileged planning in autonomous driving. State-of-the-art approaches for this task are rule-based, but these methods do not scale to the long tail. RL, on the other hand, is scalable and does not suffer from compounding errors like imitation learning. Contemporary RL approaches for driving use complex shaped rewards that sum multiple individual rewards, \eg~progress, position, or orientation rewards. We show that PPO fails to optimize a popular version of these rewards when the mini-batch size is increased, which limits the scalability of these approaches. Instead, we propose a new reward design based primarily on optimizing a single intuitive reward term: route completion. Infractions are penalized by terminating the episode or multiplicatively reducing route completion. We find that PPO scales well with higher mini-batch sizes when trained with our simple reward, even improving performance. Training with large mini-batch sizes enables efficient scaling via distributed data parallelism. We scale PPO to 300M samples in CARLA and 500M samples in nuPlan with a single 8-GPU node. The resulting model achieves 64 DS on the CARLA longest6 v2 benchmark, outperforming other RL methods with more complex rewards by a large margin. Requiring only minimal adaptations from its use in CARLA, the same method is the best learning-based approach on nuPlan. It scores 91.3 in non-reactive and 90.6 in reactive traffic on the Val14 benchmark while being an order of magnitude faster than prior work.
Autonomous Navigation of Quadrupeds Using Coverage Path Planning with Morphological Skeleton Map
Venue: arXiv cs.RO 2025
Year: 2025

This paper proposes a novel method of coverage path planning for the purpose of scanning an unstructured environment autonomously. The method uses the morphological skeleton of the prior 2D navigation map via SLAM to generate a sequence of points of interest (POIs). This sequence is then ordered to create an optimal path given the robot's current position. To control the high-level operation, a finite state machine is used to switch between two modes: navigating towards a POI using Nav2, and scanning the local surrounding. We validate the method in a leveled indoor obstacle-free non-convex environment on time efficiency and reachability over five trials. The map reader and the path planner can quickly process maps of width and height ranging between [196,225] pixels and [185,231] pixels in 2.52 ms/pixel and 1.7 ms/pixel, respectively, where their computation time increases with 22.0 ns/pixel and 8.17 $μ$s/pixel, respectively. The robot managed to reach 86.5% of all waypoints over all five runs. The proposed method suffers from drift occurring in the 2D navigation map.
All finite lattices are stable matching lattices
Venue: arXiv cs.DM 2025
Year: 2025

We show that all finite lattices, including non-distributive lattices, arise as stable matching lattices under standard assumptions on choice functions. In the process, we introduce new tools to reason on general lattices for optimization purposes: the partial representation of a lattice, which partially extends Birkhoff's representation theorem to non-distributive lattices; the distributive closure of a lattice, which gives such a partial representation; and join constraints, which can be added to the distributive closure to obtain a representation for the original lattice. Then, we use these techniques to show that the minimum cost stable matching problem under the same standard assumptions on choice functions is NP-hard, by establishing a connection with antimatroid theory.
ApproXAI: Energy-Efficient Hardware Acceleration of Explainable AI using Approximate Computing
Venue: arXiv cs.AI 2025
Year: 2025

Explainable artificial intelligence (XAI) enhances AI system transparency by framing interpretability as an optimization problem. However, this approach often necessitates numerous iterations of computationally intensive operations, limiting its applicability in real-time scenarios. While recent research has focused on XAI hardware acceleration on FPGAs and TPU, these methods do not fully address energy efficiency in real-time settings. To address this limitation, we propose XAIedge, a novel framework that leverages approximate computing techniques into XAI algorithms, including integrated gradients, model distillation, and Shapley analysis. XAIedge translates these algorithms into approximate matrix computations and exploits the synergy between convolution, Fourier transform, and approximate computing paradigms. This approach enables efficient hardware acceleration on TPU-based edge devices, facilitating faster real-time outcome interpretations. Our comprehensive evaluation demonstrates that XAIedge achieves a $2\times$ improvement in energy efficiency compared to existing accurate XAI hardware acceleration techniques while maintaining comparable accuracy. These results highlight the potential of XAIedge to significantly advance the deployment of explainable AI in energy-constrained real-time applications.
Toward a Human-Centered Evaluation Framework for Trustworthy LLM-Powered GUI Agents
Venue: arXiv cs.HC 2025
Year: 2025

The rise of Large Language Models (LLMs) has revolutionized Graphical User Interface (GUI) automation through LLM-powered GUI agents, yet their ability to process sensitive data with limited human oversight raises significant privacy and security risks. This position paper identifies three key risks of GUI agents and examines how they differ from traditional GUI automation and general autonomous agents. Despite these risks, existing evaluations focus primarily on performance, leaving privacy and security assessments largely unexplored. We review current evaluation metrics for both GUI and general LLM agents and outline five key challenges in integrating human evaluators for GUI agent assessments. To address these gaps, we advocate for a human-centered evaluation framework that incorporates risk assessments, enhances user awareness through in-context consent, and embeds privacy and security considerations into GUI agent design and evaluation.
Causality-Driven Neural Network Repair: Challenges and Opportunities
Venue: arXiv cs.LG 2025
Year: 2025

Deep Neural Networks (DNNs) often rely on statistical correlations rather than causal reasoning, limiting their robustness and interpretability. While testing methods can identify failures, effective debugging and repair remain challenging. This paper explores causal inference as an approach primarily for DNN repair, leveraging causal debugging, counterfactual analysis, and structural causal models (SCMs) to identify and correct failures. We discuss in what ways these techniques support fairness, adversarial robustness, and backdoor mitigation by providing targeted interventions. Finally, we discuss key challenges, including scalability, generalization, and computational efficiency, and outline future directions for integrating causality-driven interventions to enhance DNN reliability.
Improving the Threshold for Finding Rank-1 Matrices in a Subspace
Venue: arXiv cs.DS 2025
Year: 2025

We consider a basic computational task of finding $s$ planted rank-1 $m \times n$ matrices in a linear subspace $\mathcal{U} \subseteq \mathbb{R}^{m \times n}$ where $\dim(\mathcal{U}) = R \ge s$. The work of Johnston-Lovitz-Vijayaraghavan (FOCS 2023) gave a polynomial-time algorithm for this task and proved that it succeeds when ${R \le (1-o(1))mn/4}$, under minimal genericity assumptions on the input. Aiming to precisely characterize the performance of this algorithm, we improve the bound to ${R \le (1-o(1))mn/2}$ and also prove that the algorithm fails when ${R \ge (1+o(1))mn/\sqrt{2}}$. Numerical experiments indicate that the true breaking point is $R = (1+o(1))mn/\sqrt{2}$. Our work implies new algorithmic results for tensor decomposition, for instance, decomposing order-4 tensors with twice as many components as before.
LLM Agent Swarm for Hypothesis-Driven Drug Discovery
Venue: arXiv cs.AI 2025
Year: 2025

Drug discovery remains a formidable challenge: more than 90 percent of candidate molecules fail in clinical evaluation, and development costs often exceed one billion dollars per approved therapy. Disparate data streams, from genomics and transcriptomics to chemical libraries and clinical records, hinder coherent mechanistic insight and slow progress. Meanwhile, large language models excel at reasoning and tool integration but lack the modular specialization and iterative memory required for regulated, hypothesis-driven workflows. We introduce PharmaSwarm, a unified multi-agent framework that orchestrates specialized LLM "agents" to propose, validate, and refine hypotheses for novel drug targets and lead compounds. Each agent accesses dedicated functionality--automated genomic and expression analysis; a curated biomedical knowledge graph; pathway enrichment and network simulation; interpretable binding affinity prediction--while a central Evaluator LLM continuously ranks proposals by biological plausibility, novelty, in silico efficacy, and safety. A shared memory layer captures validated insights and fine-tunes underlying submodels over time, yielding a self-improving system. Deployable on low-code platforms or Kubernetes-based microservices, PharmaSwarm supports literature-driven discovery, omics-guided target identification, and market-informed repurposing. We also describe a rigorous four-tier validation pipeline spanning retrospective benchmarking, independent computational assays, experimental testing, and expert user studies to ensure transparency, reproducibility, and real-world impact. By acting as an AI copilot, PharmaSwarm can accelerate translational research and deliver high-confidence hypotheses more efficiently than traditional pipelines.