OpenRaiser/Intern-Atlas huggingface dataset:
MerGen: Micro-electrode recording synthesis using a generative data-driven approach
Venue: arXiv cs.LG 2025
Year: 2025

The analysis of electrophysiological data is crucial for certain surgical procedures such as deep brain stimulation, which has been adopted for the treatment of a variety of neurological disorders. During the procedure, auditory analysis of these signals helps the clinical team to infer the neuroanatomical location of the stimulation electrode and thus optimize clinical outcomes. This task is complex, and requires an expert who in turn requires significant training. In this paper, we propose a generative neural network, called MerGen, capable of simulating de novo electrophysiological recordings, with a view to providing a realistic learning tool for clinicians trainees for identifying these signals. We demonstrate that the generated signals are perceptually indistinguishable from real signals by experts in the field, and that it is even possible to condition the generation efficiently to provide a didactic simulator adapted to a particular surgical scenario. The efficacy of this conditioning is demonstrated, comparing it to intra-observer and inter-observer variability amongst experts. We also demonstrate the use of this network for data augmentation for automatic signal classification which can play a role in decision-making support in the operating theatre.
Interpretable Machine Learning for Oral Lesion Diagnosis through Prototypical Instances Identification
Venue: arXiv cs.AI 2025
Year: 2025

Decision-making processes in healthcare can be highly complex and challenging. Machine Learning tools offer significant potential to assist in these processes. However, many current methodologies rely on complex models that are not easily interpretable by experts. This underscores the need to develop interpretable models that can provide meaningful support in clinical decision-making. When approaching such tasks, humans typically compare the situation at hand to a few key examples and representative cases imprinted in their memory. Using an approach which selects such exemplary cases and grounds its predictions on them could contribute to obtaining high-performing interpretable solutions to such problems. To this end, we evaluate PivotTree, an interpretable prototype selection model, on an oral lesion detection problem, specifically trying to detect the presence of neoplastic, aphthous and traumatic ulcerated lesions from oral cavity images. We demonstrate the efficacy of using such method in terms of performance and offer a qualitative and quantitative comparison between exemplary cases and ground-truth prototypes selected by experts.
Governance of Ledger-Anchored Decentralized Identifiers
Venue: arXiv cs.NI 2025
Year: 2025

A Decentralized Identifier (DID) empowers an entity to prove control over a unique and self-issued identifier without relying on any identity provider. The public key material for the proof is encoded into an associated DID document (DDO). This is preferable shared via a distributed ledger because it guarantees algorithmically that everyone has access to the latest state of any tamper-proof DDO but only the entities in control of a DID are able to update theirs. Yet, it is possible to grant deputies the authority to update the DDO on behalf of the DID owner. However, the DID specification leaves largely open on how authorizations over a DDO are managed and enforced among multiple deputies. This article investigates what it means to govern a DID and discusses various forms of how a DID can be controlled by potentially more than one entity. It also presents a prototype of a DID-conform identifier management system where a selected set of governance policies are deployed as Smart Contracts. The article highlights the critical role of governance for the trustworthy and flexible deployment of ledger-anchored DIDs across various domains.
Towards Learning Infinite SMT Models (Work in Progress)
Venue: arXiv cs.LO 2025
Year: 2025

This short paper proposes to learn models of satisfiability modulo theories (SMT) formulas during solving. Specifically, we focus on infinite models for problems in the logic of linear arithmetic with uninterpreted functions (UFLIA). The constructed models are piecewise linear. Such models are useful for satisfiable problems but also provide an alternative driver for model-based quantifier instantiation (MBQI).
HEAPO -- An Open Dataset for Heat Pump Optimization with Smart Electricity Meter Data and On-Site Inspection Protocols
Venue: arXiv cs.CY 2025
Year: 2025

Heat pumps are essential for decarbonizing residential heating but consume substantial electrical energy, impacting operational costs and grid demand. Many systems run inefficiently due to planning flaws, operational faults, or misconfigurations. While optimizing performance requires skilled professionals, labor shortages hinder large-scale interventions. However, digital tools and improved data availability create new service opportunities for energy efficiency, predictive maintenance, and demand-side management. To support research and practical solutions, we present an open-source dataset of electricity consumption from 1,408 households with heat pumps and smart electricity meters in the canton of Zurich, Switzerland, recorded at 15-minute and daily resolutions between 2018-11-03 and 2024-03-21. The dataset includes household metadata, weather data from 8 stations, and ground truth data from 410 field visit protocols collected by energy consultants during system optimizations. Additionally, the dataset includes a Python-based data loader to facilitate seamless data processing and exploration.
Sequential Autonomous Exploration-Based Precise Mapping for Mobile Robots through Stepwise and Consistent Motions
Venue: arXiv cs.RO 2025
Year: 2025

This paper proposes a 2-D autonomous exploration and mapping framework for LiDAR-based SLAM mobile robots, designed to address the major challenges on low-cost platforms, including process instability, map drift, and increased risks of collisions and deadlocks. For frontier search, the local-global sampling architecture based on Rapidly-exploring Random Trees (RRTs) is employed. For local exploration, the proposed Self-Convergent RRT (SC-RRT) efficiently covers the reachable space within a finite time while the robot remains stationary, without relying on motion-induced sampling diversity. In addition, traversability checks during RRT expansion and global RRT pruning upon map updates eliminate unreachable frontiers, reducing potential collisions and deadlocks. For frontier point navigation, a stepwise consistent motion strategy is employed to generate motion trajectories that are more amenable to stable scan matching. The resulting straight-segment and in-place-rotation pattern improves scan-matching robustness and effectively suppresses map drift on resource-constrained platforms. For the process control, the framework serializes frontier point selection and navigation, avoiding oscillations caused by frequent goal changes in conventional parallelized processes. The waypoint retracing mechanism is incorporated to generate repeated observations, triggering loop closure detection and backend optimization in graph-based SLAM, thereby improving map consistency. Experiments in challenging simulated and real-world environments validate the effectiveness of the framework. Compared with baseline methods, the proposed framework achieves higher mapping success rates and stronger robustness on resource-constrained robots and maintains consistent mapping quality across various LiDAR field-of-view (FoV) configurations.
Behavioral Conflict Avoidance Between Humans and Quadruped Robots in Shared Environments
Venue: arXiv cs.RO 2025
Year: 2025

Nowadays, robots are increasingly operated in environments shared with humans, where conflicts between human and robot behaviors may compromise safety. This paper presents a proactive behavioral conflict avoidance framework based on the principle of adaptation to trends for quadruped robots that not only ensures the robot's safety but also minimizes interference with human activities. It can proactively avoid potential conflicts with approaching humans or other dynamic objects, whether the robot is stationary or in motion, then swiftly resume its tasks once the conflict subsides. An enhanced approach is proposed to achieve precise human detection and tracking on vibratory robot platform equipped with low-cost hybrid solid-state LiDAR. When potential conflict detected, the robot selects an avoidance point and executes an evasion maneuver before resuming its task. This approach contrasts with conventional methods that remain goal-driven, often resulting in aggressive behaviors, such as forcibly bypassing obstacles and causing conflicts or becoming stuck in deadlock scenarios. The selection of avoidance points is achieved by integrating static and dynamic obstacle to generate a potential field map. The robot then searches for feasible regions within this map and determines the optimal avoidance point using an evaluation function. Experimental results demonstrate that the framework significantly reduces interference with human activities, enhances the safety of both robots and persons.
Symbolic Audio Classification via Modal Decision Tree Learning
Venue: arXiv cs.SD 2025
Year: 2025

The range of potential applications of acoustic analysis is wide. Classification of sounds, in particular, is a typical machine learning task that received a lot of attention in recent years. The most common approaches to sound classification are sub-symbolic, typically based on neural networks, and result in black-box models with high performances but very low transparency. In this work, we consider several audio tasks, namely, age and gender recognition, emotion classification, and respiratory disease diagnosis, and we approach them with a symbolic technique, that is, (modal) decision tree learning. We prove that such tasks can be solved using the same symbolic pipeline, that allows to extract simple rules with very high accuracy and low complexity. In principle, all such tasks could be associated to an autonomous conversation system, which could be useful in different contexts, such as an automatic reservation agent for an hospital or a clinic.
Modelling the Climate Change Debate in Italy through Information Supply and Demand
Venue: arXiv cs.SI 2025
Year: 2025

Climate change is one of the most critical challenges of the twenty-first century. Public understanding of climate issues and of the goals regarding the climate transition is essential to translate awareness into concrete actions. In this context, social media platforms play a crucial role in disseminating information about climate change and climate policy. To better understand the dynamics of information circulation and the emergence of information voids we propose a model that takes into account the supply and demand of information related to the Italian climate-transition discourse. We conceptualise information supply as the production of content on Facebook, Instagram and GDELT (an online news database) while leveraging Google searches to capture information demand. Our findings highlight responsiveness and temporal coupling between supply and demand, particularly during moments of heightened public attention triggered by significant external events. These responsive interactions reveal an overall adaptive information ecosystem. However, we also observe persistent information voids which may limit public understanding and delay meaningful engagement.
Unitless Unrestricted Markov-Consistent SCM Generation: Better Benchmark Datasets for Causal Discovery
Venue: arXiv cs.LG 2025
Year: 2025

Causal discovery aims to extract qualitative causal knowledge in the form of causal graphs from data. Because causal ground truth is rarely known in the real world, simulated data plays a vital role in evaluating the performance of the various causal discovery algorithms proposed in the literature. But recent work highlighted certain artifacts of commonly used data generation techniques for a standard class of structural causal models (SCM) that may be nonphysical, including var- and R2-sortability, where the variables' variance and coefficients of determination (R2) after regressing on all other variables, respectively, increase along the causal order. Some causal methods exploit such artifacts, leading to unrealistic expectations for their performance on real-world data. Some modifications have been proposed to remove these artifacts; notably, the internally-standardized structural causal model (iSCM) avoids varsortability and largely alleviates R2-sortability on sparse causal graphs, but exhibits a reversed R2-sortability pattern for denser graphs not featured in their work. We analyze which sortability patterns we expect to see in real data, and propose a method for drawing coefficients that we argue more effectively samples the space of SCMs. Finally, we propose a novel extension of our SCM generation method to the time series setting.
Exploring psychophysiological methods for human-robot collaboration in construction
Venue: arXiv cs.RO 2025
Year: 2025

Psychophysiological methods present a promising approach to fostering enhanced mutual communication and collaboration between human workers and robots. Despite their potential, there is still limited understanding of how to effectively integrate psychophysiological methods to improve human-robot collaboration (HRC) in construction. This paper addresses this gap by critically reviewing the use of psychophysiological methods for HRC within construction environments, employing a concept-methodology-value philosophical framework. The analysis reveals that measuring brain activity using electroencephalography is the most widely used method, while most of the works are still at the proof of concept stage and lack empirical evidence. Three potential research directions were proposed: the integration of multi-modal psychophysiological signals, enriching the existing experimental settings for better generalizability, and leveraging advanced biocompatible or contactless technologies for effective signal detection. The findings should benefit subsequent exploration and practical applications of psychophysiological methods to enable better implementation of robots and support HRC in construction.
Which2comm: An Efficient Collaborative Perception Framework for 3D Object Detection
Venue: arXiv cs.CV 2025
Year: 2025

Collaborative perception allows real-time inter-agent information exchange and thus offers invaluable opportunities to enhance the perception capabilities of individual agents. However, limited communication bandwidth in practical scenarios restricts the inter-agent data transmission volume, consequently resulting in performance declines in collaborative perception systems. This implies a trade-off between perception performance and communication cost. To address this issue, we propose Which2comm, a novel multi-agent 3D object detection framework leveraging object-level sparse features. By integrating semantic information of objects into 3D object detection boxes, we introduce semantic detection boxes (SemDBs). Innovatively transmitting these information-rich object-level sparse features among agents not only significantly reduces the demanding communication volume, but also improves 3D object detection performance. Specifically, a fully sparse network is constructed to extract SemDBs from individual agents; a temporal fusion approach with a relative temporal encoding mechanism is utilized to obtain the comprehensive spatiotemporal features. Extensive experiments on the V2XSet and OPV2V datasets demonstrate that Which2comm consistently outperforms other state-of-the-art methods on both perception performance and communication cost, exhibiting better robustness to real-world latency. These results present that for multi-agent collaborative 3D object detection, transmitting only object-level sparse features is sufficient to achieve high-precision and robust performance.
Curriculum RL meets Monte Carlo Planning: Optimization of a Real World Container Management Problem
Venue: arXiv cs.LG 2025
Year: 2025

In this work, we augment reinforcement learning with an inference-time collision model to ensure safe and efficient container management in a waste-sorting facility with limited processing capacity. Each container has two optimal emptying volumes that trade off higher throughput against overflow risk. Conventional reinforcement learning (RL) approaches struggle under delayed rewards, sparse critical events, and high-dimensional uncertainty -- failing to consistently balance higher-volume empties with the risk of safety-limit violations. To address these challenges, we propose a hybrid method comprising: (1) a curriculum-learning pipeline that incrementally trains a PPO agent to handle delayed rewards and class imbalance, and (2) an offline pairwise collision model used at inference time to proactively avert collisions with minimal online cost. Experimental results show that our targeted inference-time collision checks significantly improve collision avoidance, reduce safety-limit violations, maintain high throughput, and scale effectively across varying container-to-PU ratios. These findings offer actionable guidelines for designing safe and efficient container-management systems in real-world facilities.
A Deep Learning Framework for Visual Attention Prediction and Analysis of News Interfaces
Venue: arXiv cs.CV 2025
Year: 2025

News outlets' competition for attention in news interfaces has highlighted the need for demographically-aware saliency prediction models. Despite recent advancements in saliency detection applied to user interfaces (UI), existing datasets are limited in size and demographic representation. We present a deep learning framework that enhances the SaRa (Saliency Ranking) model with DeepGaze IIE, improving Salient Object Ranking (SOR) performance by 10.7%. Our framework optimizes three key components: saliency map generation, grid segment scoring, and map normalization. Through a two-fold experiment using eye-tracking (30 participants) and mouse-tracking (375 participants aged 13--70), we analyze attention patterns across demographic groups. Statistical analysis reveals significant age-based variations (p < 0.05, {ε^2} = 0.042), with older users (36--70) engaging more with textual content and younger users (13--35) interacting more with images. Mouse-tracking data closely approximates eye-tracking behavior (sAUC = 0.86) and identifies UI elements that immediately stand out, validating its use in large-scale studies. We conclude that saliency studies should prioritize gathering data from a larger, demographically representative sample and report exact demographic distributions.
Neuro-Symbolic Scene Graph Conditioning for Synthetic Image Dataset Generation
Venue: arXiv cs.CV 2025
Year: 2025

As machine learning models increase in scale and complexity, obtaining sufficient training data has become a critical bottleneck due to acquisition costs, privacy constraints, and data scarcity in specialised domains. While synthetic data generation has emerged as a promising alternative, a notable performance gap remains compared to models trained on real data, particularly as task complexity grows. Concurrently, Neuro-Symbolic methods, which combine neural networks' learning strengths with symbolic reasoning's structured representations, have demonstrated significant potential across various cognitive tasks. This paper explores the utility of Neuro-Symbolic conditioning for synthetic image dataset generation, focusing specifically on improving the performance of Scene Graph Generation models. The research investigates whether structured symbolic representations in the form of scene graphs can enhance synthetic data quality through explicit encoding of relational constraints. The results demonstrate that Neuro-Symbolic conditioning yields significant improvements of up to +2.59% in standard Recall metrics and +2.83% in No Graph Constraint Recall metrics when used for dataset augmentation. These findings establish that merging Neuro-Symbolic and generative approaches produces synthetic data with complementary structural information that enhances model performance when combined with real data, providing a novel approach to overcome data scarcity limitations even for complex visual reasoning tasks.
Breaking the Symmetries of Indistinguishable Objects
Venue: arXiv cs.AI 2025
Year: 2025

Indistinguishable objects often occur when modelling problems in constraint programming, as well as in other related paradigms. They occur when objects can be viewed as being drawn from a set of unlabelled objects, and the only operation allowed on them is equality testing. For example, the golfers in the social golfer problem are indistinguishable. If we do label the golfers, then any relabelling of the golfers in one solution gives another valid solution. Therefore, we can regard the symmetric group of size $n$ as acting on a set of $n$ indistinguishable objects. In this paper, we show how we can break the symmetries resulting from indistinguishable objects. We show how symmetries on indistinguishable objects can be defined properly in complex types, for example in a matrix indexed by indistinguishable objects. We then show how the resulting symmetries can be broken correctly. In Essence, a high-level modelling language, indistinguishable objects are encapsulated in "unnamed types". We provide an implementation of complete symmetry breaking for unnamed types in Essence.
On Privately Estimating a Single Parameter
Venue: arXiv cs.LG 2025
Year: 2025

We investigate differentially private estimators for individual parameters within larger parametric models. While generic private estimators exist, the estimators we provide repose on new local notions of estimand stability, and these notions allow procedures that provide private certificates of their own stability. By leveraging these private certificates, we provide computationally and statistical efficient mechanisms that release private statistics that are, at least asymptotically in the sample size, essentially unimprovable: they achieve instance optimal bounds. Additionally, we investigate the practicality of the algorithms both in simulated data and in real-world data from the American Community Survey and US Census, highlighting scenarios in which the new procedures are successful and identifying areas for future work.
Learning Separated Representations for Instrument-based Music Similarity
Venue: arXiv cs.SD 2025
Year: 2025

A flexible recommendation and retrieval system requires music similarity in terms of multiple partial elements of musical pieces to allow users to select the element they want to focus on. A method for music similarity learning using multiple networks with individual instrumental signals is effective but faces the problem that using each clean instrumental signal as a query is impractical for retrieval systems and using separated instrumental signals reduces accuracy owing to artifacts. In this paper, we present instrumental-part-based music similarity learning with a single network that takes mixed signals as input instead of individual instrumental signals. Specifically, we designed a single similarity embedding space with separated subspaces for each instrument, extracted by Conditional Similarity Networks, which are trained using the triplet loss with masks. Experimental results showed that (1) the proposed method can obtain more accurate embedding representation than using individual networks using separated signals as input in the evaluation of an instrument that had low accuracy, (2) each sub-embedding space can hold the characteristics of the corresponding instrument, and (3) the selection of similar musical pieces focusing on each instrumental sound by the proposed method can obtain human acceptance, especially when focusing on timbre.