OpenRaiser/Intern-Atlas huggingface dataset:
IoT Botnet Detection: Application of Vision Transformer to Classification of Network Flow Traffic
Venue: arXiv cs.CV 2025
Year: 2025

Despite the demonstrated effectiveness of transformer models in NLP, and image and video classification, the available tools for extracting features from captured IoT network flow packets fail to capture sequential patterns in addition to the absence of spatial patterns consequently limiting transformer model application. This work introduces a novel preprocessing method to adapt transformer models, the vision transformer (ViT) in particular, for IoT botnet attack detection using network flow packets. The approach involves feature extraction from .pcap files and transforming each instance into a 1-channel 2D image shape, enabling ViT-based classification. Also, the ViT model was enhanced to allow use any classifier besides Multilayer Perceptron (MLP) that was deployed in the initial ViT paper. Models including the conventional feed forward Deep Neural Network (DNN), LSTM and Bidirectional-LSTM (BLSTM) demonstrated competitive performance in terms of precision, recall, and F1-score for multiclass-based attack detection when evaluated on two IoT attack datasets.
Zero-Day Botnet Attack Detection in IoV: A Modular Approach Using Isolation Forests and Particle Swarm Optimization
Venue: arXiv cs.CR 2025
Year: 2025

The Internet of Vehicles (IoV) is transforming transportation by enhancing connectivity and enabling autonomous driving. However, this increased interconnectivity introduces new security vulnerabilities. Bot malware and cyberattacks pose significant risks to Connected and Autonomous Vehicles (CAVs), as demonstrated by real-world incidents involving remote vehicle system compromise. To address these challenges, we propose an edge-based Intrusion Detection System (IDS) that monitors network traffic to and from CAVs. Our detection model is based on a meta-ensemble classifier capable of recognizing known (Nday) attacks and detecting previously unseen (zero-day) attacks. The approach involves training multiple Isolation Forest (IF) models on Multi-access Edge Computing (MEC) servers, with each IF specialized in identifying a specific type of botnet attack. These IFs, either trained locally or shared by other MEC nodes, are then aggregated using a Particle Swarm Optimization (PSO) based stacking strategy to construct a robust meta-classifier. The proposed IDS has been evaluated on a vehicular botnet dataset, achieving an average detection rate of 92.80% for N-day attacks and 77.32% for zero-day attacks. These results highlight the effectiveness of our solution in detecting both known and emerging threats, providing a scalable and adaptive defense mechanism for CAVs within the IoV ecosystem.
Imitation Learning for Autonomous Driving: Insights from Real-World Testing
Venue: arXiv cs.RO 2025
Year: 2025

This work focuses on the design of a deep learning-based autonomous driving system deployed and tested on the real-world MIT Racecar to assess its effectiveness in driving scenarios. The Deep Neural Network (DNN) translates raw image inputs into real-time steering commands in an end-to-end learning fashion, following the imitation learning framework. The key design challenge is to ensure that DNN predictions are accurate and fast enough, at a high sampling frequency, and result in smooth vehicle operation under different operating conditions. In this study, we design and compare various DNNs, to identify the most effective approach for real-time autonomous driving. In designing the DNNs, we adopted an incremental design approach that involved enhancing the model capacity and dataset to address the challenges of real-world driving scenarios. We designed a PD system, CNN, CNN-LSTM, and CNN-NODE, and evaluated their performance on the real-world MIT Racecar. While the PD system handled basic lane following, it struggled with sharp turns and lighting variations. The CNN improved steering but lacked temporal awareness, which the CNN-LSTM addressed as it resulted in smooth driving performance. The CNN-NODE performed similarly to the CNN-LSTM in handling driving dynamics, yet with slightly better driving performance. The findings of this research highlight the importance of iterative design processes in developing robust DNNs for autonomous driving applications. The experimental video is available at https://www.youtube.com/watch?v=FNNYgU--iaY.
WLTCL: Wide Field-of-View 3-D LiDAR Truck Compartment Automatic Localization System
Venue: arXiv cs.CV 2025
Year: 2025

As an essential component of logistics automation, the automated loading system is becoming a critical technology for enhancing operational efficiency and safety. Precise automatic positioning of the truck compartment, which serves as the loading area, is the primary step in automated loading. However, existing methods have difficulty adapting to truck compartments of various sizes, do not establish a unified coordinate system for LiDAR and mobile manipulators, and often exhibit reliability issues in cluttered environments. To address these limitations, our study focuses on achieving precise automatic positioning of key points in large, medium, and small fence-style truck compartments in cluttered scenarios. We propose an innovative wide field-of-view 3-D LiDAR vehicle compartment automatic localization system. For vehicles of various sizes, this system leverages the LiDAR to generate high-density point clouds within an extensive field-of-view range. By incorporating parking area constraints, our vehicle point cloud segmentation method more effectively segments vehicle point clouds within the scene. Our compartment key point positioning algorithm utilizes the geometric features of the compartments to accurately locate the corner points, providing stackable spatial regions. Extensive experiments on our collected data and public datasets demonstrate that this system offers reliable positioning accuracy and reduced computational resource consumption, leading to its application and promotion in relevant fields.
Welfare and Beyond in Multi-Agent Contracts
Venue: arXiv cs.GT 2025
Year: 2025

A principal delegates a project to a team $S$ from a pool of $n$ agents. The project's value if all agents in $S$ exert costly effort is $f(S)$. To incentivize the agents to participate, the principal assigns each agent $i\in S$ a share $ρ_i\in [0,1]$ of the project's final value (i.e., designs $n$ linear contracts). The shares must be feasible -- their sum should not exceed $1$. It is well-understood how to design these contracts to maximize the principal's own expected utility, but what if the goal is to coordinate the agents toward maximizing social welfare? We initiate a systematic study of multi-agent contract design with objectives beyond principal's utility, including welfare maximization, for various classes of value functions $f$. Our exploration reveals an arguably surprising fact: If $f$ is up to XOS in the complement-free hierarchy of functions, then the optimal principal's utility is a constant-fraction of the optimal welfare. This is in stark contrast to the much larger welfare-utility gaps in auction design, and no longer holds above XOS in the hierarchy, where the gap can be unbounded. A constant bound on the welfare-utility gap immediately implies that existing algorithms for designing contracts with approximately-optimal principal's utility also guarantee approximately-optimal welfare. The downside of reducing welfare to utility is the loss of large constants. To obtain better guarantees, we develop polynomial-time algorithms directly for welfare, for different classes of value functions. These include a tight $2$-approximation to the optimal welfare for symmetric XOS functions. Finally, we extend our analysis beyond welfare to the project's value under general feasibility constraints. Our results immediately translate to budgeted welfare and utility.
Exploiting Multiple Representations: 3D Face Biometrics Fusion with Application to Surveillance
Venue: arXiv cs.CV 2025
Year: 2025

3D face reconstruction (3DFR) algorithms are based on specific assumptions tailored to the limits and characteristics of the different application scenarios. In this study, we investigate how multiple state-of-the-art 3DFR algorithms can be used to generate a better representation of subjects, with the final goal of improving the performance of face recognition systems in challenging uncontrolled scenarios. We also explore how different parametric and non-parametric score-level fusion methods can exploit the unique strengths of multiple 3DFR algorithms to enhance biometric recognition robustness. With this goal, we propose a comprehensive analysis of several face recognition systems across diverse conditions, such as varying distances and camera setups, intra-dataset and cross-dataset, to assess the robustness of the proposed ensemble method. The results demonstrate that the distinct information provided by different 3DFR algorithms can alleviate the problem of generalizing over multiple application scenarios. In addition, the present study highlights the potential of advanced fusion strategies to enhance the reliability of 3DFR-based face recognition systems, providing the research community with key insights to exploit them in real-world applications effectively. Although the experiments are carried out in a specific face verification setup, our proposed fusion-based 3DFR methods may be applied to other tasks around face biometrics that are not strictly related to identity recognition.
Transformer-Empowered Actor-Critic Reinforcement Learning for Sequence-Aware Service Function Chain Partitioning
Venue: arXiv cs.NI 2025
Year: 2025

In the forthcoming era of 6G networks, characterized by unprecedented data rates, ultra-low latency, and extensive connectivity, effective management of Virtualized Network Functions (VNFs) is essential. VNFs are software-based counterparts of traditional hardware devices that facilitate flexible and scalable service provisioning. Service Function Chains (SFCs), structured as ordered sequences of VNFs, are pivotal in orchestrating complex network services. Nevertheless, partitioning SFCs across multi-domain network infrastructures presents substantial challenges due to stringent latency constraints and limited resource availability. Conventional optimization-based methods typically exhibit low scalability, whereas existing data-driven approaches often fail to adequately balance computational efficiency with the capability to effectively account for dependencies inherent in SFCs. To overcome these limitations, we introduce a Transformer-empowered actor-critic framework specifically designed for sequence-aware SFC partitioning. By utilizing the self-attention mechanism, our approach effectively models complex inter-dependencies among VNFs, facilitating coordinated and parallelized decision-making processes. Additionally, we enhance training stability and convergence using $ε$-LoPe exploration strategy as well as Asymptotic Return Normalization. Comprehensive simulation results demonstrate that the proposed methodology outperforms existing state-of-the-art solutions in terms of long-term acceptance rates, resource utilization efficiency, and scalability, while achieving rapid inference. This study not only advances intelligent network orchestration by delivering a scalable and robust solution for SFC partitioning within emerging 6G environments, but also bridging recent advancements in Large Language Models (LLMs) with the optimization of next-generation networks.
RoboVerse: Towards a Unified Platform, Dataset and Benchmark for Scalable and Generalizable Robot Learning
Venue: arXiv cs.RO 2025
Year: 2025

Data scaling and standardized evaluation benchmarks have driven significant advances in natural language processing and computer vision. However, robotics faces unique challenges in scaling data and establishing evaluation protocols. Collecting real-world data is resource-intensive and inefficient, while benchmarking in real-world scenarios remains highly complex. Synthetic data and simulation offer promising alternatives, yet existing efforts often fall short in data quality, diversity, and benchmark standardization. To address these challenges, we introduce RoboVerse, a comprehensive framework comprising a simulation platform, a synthetic dataset, and unified benchmarks. Our simulation platform supports multiple simulators and robotic embodiments, enabling seamless transitions between different environments. The synthetic dataset, featuring high-fidelity physics and photorealistic rendering, is constructed through multiple approaches. Additionally, we propose unified benchmarks for imitation learning and reinforcement learning, enabling evaluation across different levels of generalization. At the core of the simulation platform is MetaSim, an infrastructure that abstracts diverse simulation environments into a universal interface. It restructures existing simulation environments into a simulator-agnostic configuration system, as well as an API aligning different simulator functionalities, such as launching simulation environments, loading assets with initial states, stepping the physics engine, etc. This abstraction ensures interoperability and extensibility. Comprehensive experiments demonstrate that RoboVerse enhances the performance of imitation learning, reinforcement learning, world model learning, and sim-to-real transfer. These results validate the reliability of our dataset and benchmarks, establishing RoboVerse as a robust solution for advancing robot learning.
MediAug: Exploring Visual Augmentation in Medical Imaging
Venue: arXiv cs.CV 2025
Year: 2025

Data augmentation is essential in medical imaging for improving classification accuracy, lesion detection, and organ segmentation under limited data conditions. However, two significant challenges remain. First, a pronounced domain gap between natural photographs and medical images can distort critical disease features. Second, augmentation studies in medical imaging are fragmented and limited to single tasks or architectures, leaving the benefits of advanced mix-based strategies unclear. To address these challenges, we propose a unified evaluation framework with six mix-based augmentation methods integrated with both convolutional and transformer backbones on brain tumour MRI and eye disease fundus datasets. Our contributions are threefold. (1) We introduce MediAug, a comprehensive and reproducible benchmark for advanced data augmentation in medical imaging. (2) We systematically evaluate MixUp, YOCO, CropMix, CutMix, AugMix, and SnapMix with ResNet-50 and ViT-B backbones. (3) We demonstrate through extensive experiments that MixUp yields the greatest improvement on the brain tumor classification task for ResNet-50 with 79.19% accuracy and SnapMix yields the greatest improvement for ViT-B with 99.44% accuracy, and that YOCO yields the greatest improvement on the eye disease classification task for ResNet-50 with 91.60% accuracy and CutMix yields the greatest improvement for ViT-B with 97.94% accuracy. Code will be available at https://github.com/AIGeeksGroup/MediAug.
Unveiling and Mitigating Adversarial Vulnerabilities in Iterative Optimizers
Venue: arXiv cs.LG 2025
Year: 2025

Machine learning (ML) models are often sensitive to carefully crafted yet seemingly unnoticeable perturbations. Such adversarial examples are considered to be a property of ML models, often associated with their black-box operation and sensitivity to features learned from data. This work examines the adversarial sensitivity of non-learned decision rules, and particularly of iterative optimizers. Our analysis is inspired by the recent developments in deep unfolding, which cast such optimizers as ML models. We show that non-learned iterative optimizers share the sensitivity to adversarial examples of ML models, and that attacking iterative optimizers effectively alters the optimization objective surface in a manner that modifies the minima sought. We then leverage the ability to cast iteration-limited optimizers as ML models to enhance robustness via adversarial training. For a class of proximal gradient optimizers, we rigorously prove how their learning affects adversarial sensitivity. We numerically back our findings, showing the vulnerability of various optimizers, as well as the robustness induced by unfolding and adversarial training.
Deep Learning-Based Multi-Modal Fusion for Robust Robot Perception and Navigation
Venue: arXiv cs.LG 2025
Year: 2025

This paper introduces a novel deep learning-based multimodal fusion architecture aimed at enhancing the perception capabilities of autonomous navigation robots in complex environments. By utilizing innovative feature extraction modules, adaptive fusion strategies, and time-series modeling mechanisms, the system effectively integrates RGB images and LiDAR data. The key contributions of this work are as follows: a. the design of a lightweight feature extraction network to enhance feature representation; b. the development of an adaptive weighted cross-modal fusion strategy to improve system robustness; and c. the incorporation of time-series information modeling to boost dynamic scene perception accuracy. Experimental results on the KITTI dataset demonstrate that the proposed approach increases navigation and positioning accuracy by 3.5% and 2.2%, respectively, while maintaining real-time performance. This work provides a novel solution for autonomous robot navigation in complex environments.
Advancing Scientific Text Classification: Fine-Tuned Models with Dataset Expansion and Hard-Voting
Venue: arXiv cs.CL 2025
Year: 2025

Efficient text classification is essential for handling the increasing volume of academic publications. This study explores the use of pre-trained language models (PLMs), including BERT, SciBERT, BioBERT, and BlueBERT, fine-tuned on the Web of Science (WoS-46985) dataset for scientific text classification. To enhance performance, we augment the dataset by executing seven targeted queries in the WoS database, retrieving 1,000 articles per category aligned with WoS-46985's main classes. PLMs predict labels for this unlabeled data, and a hard-voting strategy combines predictions for improved accuracy and confidence. Fine-tuning on the expanded dataset with dynamic learning rates and early stopping significantly boosts classification accuracy, especially in specialized domains. Domain-specific models like SciBERT and BioBERT consistently outperform general-purpose models such as BERT. These findings underscore the efficacy of dataset augmentation, inference-driven label prediction, hard-voting, and fine-tuning techniques in creating robust and scalable solutions for automated academic text classification.
The Masked Matrix Separation Problem: A First Analysis
Venue: arXiv cs.IT 2025
Year: 2025

Given a known matrix that is the sum of a low rank matrix and a masked sparse matrix, we wish to recover both the low rank component and the sparse component. The sparse matrix is masked in the sense that a linear transformation has been applied on its left. We propose a convex optimization problem to recover the low rank and sparse matrices, which generalizes the robust PCA framework. We provide incoherence conditions for the success of the proposed convex optimizaiton problem, adapting to the masked setting. The ``mask'' matrix can be quite general as long as a so-called restricted infinity norm condition is satisfied. Further analysis on the incoherence condition is provided and we conclude with promising numerical experiments.
VISUALCENT: Visual Human Analysis using Dynamic Centroid Representation
Venue: arXiv cs.CV 2025
Year: 2025

We introduce VISUALCENT, a unified human pose and instance segmentation framework to address generalizability and scalability limitations to multi person visual human analysis. VISUALCENT leverages centroid based bottom up keypoint detection paradigm and uses Keypoint Heatmap incorporating Disk Representation and KeyCentroid to identify the optimal keypoint coordinates. For the unified segmentation task, an explicit keypoint is defined as a dynamic centroid called MaskCentroid to swiftly cluster pixels to specific human instance during rapid changes in human body movement or significantly occluded environment. Experimental results on COCO and OCHuman datasets demonstrate VISUALCENTs accuracy and real time performance advantages, outperforming existing methods in mAP scores and execution frame rate per second. The implementation is available on the project page.
On learning functions over biological sequence space: relating Gaussian process priors, regularization, and gauge fixing
Venue: arXiv cs.LG 2025
Year: 2025

Mappings from biological sequences (DNA, RNA, protein) to quantitative measures of sequence functionality play an important role in contemporary biology. We are interested in the related tasks of (i) inferring predictive sequence-to-function maps and (ii) decomposing sequence-function maps to elucidate the contributions of individual subsequences. Because each sequence-function map can be written as a weighted sum over subsequences in multiple ways, meaningfully interpreting these weights requires ``gauge-fixing,'' i.e., defining a unique representation for each map. Recent work has established that most existing gauge-fixed representations arise as the unique solutions to $L_2$-regularized regression in an overparameterized ``weight space'' where the choice of regularizer defines the gauge. Here, we establish the relationship between regularized regression in overparameterized weight space and Gaussian process approaches that operate in ``function space,'' i.e.~the space of all real-valued functions on a finite set of sequences. We disentangle how weight space regularizers both impose an implicit prior on the learned function and restrict the optimal weights to a particular gauge. We show how to construct regularizers that correspond to arbitrary explicit Gaussian process priors combined with a wide variety of gauges and characterize the implicit function space priors associated with the most common weight space regularizers. Finally, we derive the posterior distribution of a broad class of sequence-to-function statistics, including gauge-fixed weights and multiple systems for expressing higher-order epistatic coefficients. We show that such distributions can be efficiently computed for product-kernel priors using a kernel trick.