OpenRaiser/Intern-Atlas huggingface dataset:
Development of an Autonomous Mobile Robotic System for Efficient and Precise Disinfection
Venue: arXiv cs.RO 2025
Year: 2025

The COVID-19 pandemic has severely affected public health, healthcare systems, and daily life, especially amid resource shortages and limited workers. This crisis has underscored the urgent need for automation in hospital environments, particularly disinfection, which is crucial to controlling virus transmission and improving the safety of healthcare personnel and patients. Ultraviolet (UV) light disinfection, known for its high efficiency, has been widely adopted in hospital settings. However, most existing research focuses on maximizing UV coverage while paying little attention to the impact of human activity on virus distribution. To address this issue, we propose a mobile robotic system for UV disinfection focusing on the virus hotspot. The system prioritizes disinfection in high-risk areas and employs an approach for optimized UV dosage to ensure that all surfaces receive an adequate level of UV exposure while significantly reducing disinfection time. It not only improves disinfection efficiency but also minimizes unnecessary exposure in low-risk areas. In two representative hospital scenarios, our method achieves the same disinfection effectiveness while reducing disinfection time by 30.7% and 31.9%, respectively. The video of the experiment is available at: https://youtu.be/wHcWzOcoMPM.
All Eyes, no IMU: Learning Flight Attitude from Vision Alone
Venue: arXiv cs.RO 2025
Year: 2025

Vision is an essential part of attitude control for many flying animals, some of which have no dedicated sense of gravity. Flying robots, on the other hand, typically depend heavily on accelerometers and gyroscopes for attitude stabilization. In this work, we present the first vision-only approach to flight control for use in generic environments. We show that a quadrotor drone equipped with a downward-facing event camera can estimate its attitude and rotation rate from just the event stream, enabling flight control without inertial sensors. Our approach uses a small recurrent convolutional neural network trained through supervised learning. Real-world flight tests demonstrate that our combination of event camera and low-latency neural network is capable of replacing the inertial measurement unit in a traditional flight control loop. Furthermore, we investigate the network's generalization across different environments, and the impact of memory and different fields of view. While networks with memory and access to horizon-like visual cues achieve best performance, variants with a narrower field of view achieve better relative generalization. Our work showcases vision-only flight control as a promising candidate for enabling autonomous, insect-scale flying robots.
A Parallelizable Approach for Characterizing NE in Zero-Sum Games After a Linear Number of Iterations of Gradient Descent
Venue: arXiv cs.GT 2025
Year: 2025

We study online optimization methods for zero-sum games, a fundamental problem in adversarial learning in machine learning, economics, and many other domains. Traditional methods approximate Nash equilibria (NE) using either regret-based methods (time-average convergence) or contraction-map-based methods (last-iterate convergence). We propose a new method based on Hamiltonian dynamics in physics and prove that it can characterize the set of NE in a finite (linear) number of iterations of alternating gradient descent in the unbounded setting, modulo degeneracy, a first in online optimization. Unlike standard methods for computing NE, our proposed approach can be parallelized and works with arbitrary learning rates, both firsts in algorithmic game theory. Experimentally, we support our results by showing our approach drastically outperforms standard methods.
The Potential Impact of Disruptive AI Innovations on U.S. Occupations
Venue: arXiv cs.CY 2025
Year: 2025

The rapid rise of AI is poised to disrupt the labor market. However, AI is not a monolith; its impact depends on both the nature of the innovation and the jobs it affects. While computational approaches are emerging, there is no consensus on how to systematically measure an innovation's disruptive potential. Here, we calculate the disruption index of 3,237 U.S. AI patents (2015-2022) and link them to job tasks to distinguish between "consolidating" AI innovations that reinforce existing structures and "disruptive" AI innovations that alter them. Our analysis reveals that consolidating AI primarily targets physical, routine, and solo tasks, common in manufacturing and construction in the Midwest and central states. By contrast, disruptive AI affects unpredictable and mental tasks, particularly in coastal science and technology sectors. Surprisingly, we also find that disruptive AI disproportionately affects areas already facing skilled labor shortages, suggesting disruptive AI technologies may accelerate change where workers are scarce rather than replacing a surplus. Ultimately, consolidating AI appears to extend current automation trends, while disruptive AI is set to transform complex mental work, with a notable exception for collaborative tasks.
DCR: Quantifying Data Contamination in LLMs Evaluation
Venue: arXiv cs.CL 2025
Year: 2025

The rapid advancement of large language models (LLMs) has heightened concerns about benchmark data contamination (BDC), where models inadvertently memorize evaluation data during the training process, inflating performance metrics, and undermining genuine generalization assessment. This paper introduces the Data Contamination Risk (DCR) framework, a lightweight, interpretable pipeline designed to detect and quantify BDC risk across four granular levels: semantic, informational, data, and label. By synthesizing contamination scores via a fuzzy inference system, DCR produces a unified DCR Factor that adjusts raw accuracy to reflect contamination-aware performance. Validated on 9 LLMs (0.5B-72B) across sentiment analysis, fake news detection, and arithmetic reasoning tasks, the DCR framework reliably diagnoses contamination severity and with accuracy adjusted using the DCR Factor to within 4% average error across the three benchmarks compared to the uncontaminated baseline. Emphasizing computational efficiency and transparency, DCR provides a practical tool for integrating contamination assessment into routine evaluations, fostering fairer comparisons and enhancing the credibility of LLM benchmarking practices.
Compressed data structures for Heegaard splittings
Venue: arXiv cs.CG 2025
Year: 2025

Heegaard splittings provide a natural representation of closed 3-manifolds by gluing two handlebodies along a common surface. These splittings can be equivalently given by two finite sets of meridians lying on the surface, which define a Heegaard diagram. We present a data structure to effectively represent Heegaard diagrams as normal curves with respect to triangulations of a surface, where the complexity is measured by the space required to express the normal coordinates' vectors in binary. This structure can be significantly more compact than triangulations of 3-manifolds, yielding exponential gains for certain families. Even with this succinct definition of complexity, we establish polynomial-time algorithms for comparing and manipulating diagrams, performing stabilizations, detecting trivial stabilizations and reductions, and computing topological invariants of the underlying manifolds, such as their fundamental and homology groups. We also contrast early implementations of our techniques with standard software programs for 3-manifolds, achieving faster algorithms for the average cases and exponential gains in speed for some particular presentations of the inputs.
Better Regret Rates in Bilateral Trade via Sublinear Budget Violation
Venue: arXiv cs.GT 2025
Year: 2025

Bilateral trade is a central problem in algorithmic economics, and recent work has explored how to design trading mechanisms using no-regret learning algorithms. However, no-regret learning is impossible when budget balance has to be enforced at each time step. Bernasconi et al. [Ber+24] show how this impossibility can be circumvented by relaxing the budget balance constraint to hold only globally over all time steps. In particular, they design an algorithm achieving regret of the order of $\tilde O(T^{3/4})$ and provide a lower bound of $Ω(T^{5/7})$. In this work, we interpolate between these two extremes by studying how the optimal regret rate varies with the allowed violation of the global budget balance constraint. Specifically, we design an algorithm that, by violating the constraint by at most $T^β$ for any given $β\in [\frac{3}{4}, \frac{6}{7}]$, attains regret $\tilde O(T^{1 - β/3})$. We complement this result with a matching lower bound, thus fully characterizing the trade-off between regret and budget violation. Our results show that both the $\tilde O(T^{3/4})$ upper bound in the global budget balance case and the $Ω(T^{5/7})$ lower bound under unconstrained budget balance violation obtained by Bernasconi et al. [Ber+24] are tight.
FasTUSS: Faster Task-Aware Unified Source Separation
Venue: arXiv cs.SD 2025
Year: 2025

Time-Frequency (TF) dual-path models are currently among the best performing audio source separation network architectures, achieving state-of-the-art performance in speech enhancement, music source separation, and cinematic audio source separation. While they are characterized by a relatively low parameter count, they still require a considerable number of operations, implying a higher execution time. This problem is exacerbated by the trend towards bigger models trained on large amounts of data to solve more general tasks, such as the recently introduced task-aware unified source separation (TUSS) model. TUSS, which aims to solve audio source separation tasks using a single, conditional model, is built upon TF-Locoformer, a TF dual-path model combining convolution and attention layers. The task definition comes in the form of a sequence of prompts that specify the number and type of sources to be extracted. In this paper, we analyze the design choices of TUSS with the goal of optimizing its performance-complexity trade-off. We derive two more efficient models, FasTUSS-8.3G and FasTUSS-11.7G that reduce the original model's operations by 81\% and 73\% with minor performance drops of 1.2~dB and 0.4~dB averaged over all benchmarks, respectively. Additionally, we investigate the impact of prompt conditioning to derive a causal TUSS model.
Uniting the World by Dividing it: Federated Maps to Enable Spatial Applications
Venue: arXiv cs.DC 2025
Year: 2025

The emergence of the Spatial Web -- the Web where content is tied to real-world locations has the potential to improve and enable many applications such as augmented reality, navigation, robotics, and more. The Spatial Web is missing a key ingredient that is impeding its growth -- a spatial naming system to resolve real-world locations to names. Today's spatial naming systems are digital maps such as Google and Apple maps. These maps and the location-based services provided on top of these maps are primarily controlled by a few large corporations and mostly cover outdoor public spaces. Emerging classes of applications, such as persistent world-scale augmented reality, require detailed maps of both outdoor and indoor spaces. Existing centralized mapping infrastructures are proving insufficient for such applications because of the scale of cartography efforts required and the privacy of indoor map data. In this paper, we present a case for a federated spatial naming system, or in other words, a federated mapping infrastructure. This enables disparate parties to manage and serve their own maps of physical regions and unlocks scalability of map management, isolation and privacy of maps. Map-related services such as address-to-location mapping, location-based search, and routing needs re-architecting to work on federated maps. We discuss some essential services and practicalities of enabling these services.
COLI: A Hierarchical Efficient Compressor for Large Images
Venue: arXiv cs.CV 2025
Year: 2025

The escalating adoption of high-resolution, large-field-of-view imagery amplifies the need for efficient compression methodologies. Conventional techniques frequently fail to preserve critical image details, while data-driven approaches exhibit limited generalizability. Implicit Neural Representations (INRs) present a promising alternative by learning continuous mappings from spatial coordinates to pixel intensities for individual images, thereby storing network weights rather than raw pixels and avoiding the generalization problem. However, INR-based compression of large images faces challenges including slow compression speed and suboptimal compression ratios. To address these limitations, we introduce COLI (Compressor for Large Images), a novel framework leveraging Neural Representations for Videos (NeRV). First, recognizing that INR-based compression constitutes a training process, we accelerate its convergence through a pretraining-finetuning paradigm, mixed-precision training, and reformulation of the sequential loss into a parallelizable objective. Second, capitalizing on INRs' transformation of image storage constraints into weight storage, we implement Hyper-Compression, a novel post-training technique to substantially enhance compression ratios while maintaining minimal output distortion. Evaluations across two medical imaging datasets demonstrate that COLI consistently achieves competitive or superior PSNR and SSIM metrics at significantly reduced bits per pixel (bpp), while accelerating NeRV training by up to 4 times.
Human-Robot collaboration in surgery: Advances and challenges towards autonomous surgical assistants
Venue: arXiv cs.RO 2025
Year: 2025

Human-robot collaboration in surgery represents a significant area of research, driven by the increasing capability of autonomous robotic systems to assist surgeons in complex procedures. This systematic review examines the advancements and persistent challenges in the development of autonomous surgical robotic assistants (ASARs), focusing specifically on scenarios where robots provide meaningful and active support to human surgeons. Adhering to the PRISMA guidelines, a comprehensive literature search was conducted across the IEEE Xplore, Scopus, and Web of Science databases, resulting in the selection of 32 studies for detailed analysis. Two primary collaborative setups were identified: teleoperation-based assistance and direct hands-on interaction. The findings reveal a growing research emphasis on ASARs, with predominant applications currently in endoscope guidance, alongside emerging progress in autonomous tool manipulation. Several key challenges hinder wider adoption, including the alignment of robotic actions with human surgeon preferences, the necessity for procedural awareness within autonomous systems, the establishment of seamless human-robot information exchange, and the complexities of skill acquisition in shared workspaces. This review synthesizes current trends, identifies critical limitations, and outlines future research directions essential to improve the reliability, safety, and effectiveness of human-robot collaboration in surgical environments.
3C-FBI: A Combinatorial method using Convolutions for Circle Fitting in Blurry Images
Venue: arXiv cs.CV 2025
Year: 2025

This paper addresses the fundamental computer vision challenge of robust circle detection and fitting in degraded imaging conditions. We present Combinatorial Convolution-based Circle Fitting for Blurry Images (3C-FBI), an algorithm that bridges the gap between circle detection and precise parametric fitting by combining (1) efficient combinatorial edge pixel (edgel) sampling and (2) convolution-based density estimation in parameter space. We evaluate 3C-FBI across three experimental frameworks: (1) real-world medical data from Parkinson's disease assessments (144 frames from 36 videos), (2) controlled synthetic data following established circle-fitting benchmarks, and (3) systematic analysis across varying spatial resolutions and outlier contamination levels. Results show that 3C-FBI achieves state-of-the-art accuracy (Jaccard index 0.896) while maintaining real-time performance (40.3 fps), significantly outperforming classical methods like RCD (6.8 fps) on a standard CPU (i7-10875H). It maintains near-perfect accuracy (Jaccard almost 1.0) at high resolutions (480x480) and reliable performance (Jaccard higher than 0.95) down to 160x160 with up to 20% outliers. In extensive synthetic testing, 3C-FBI achieves a mean Jaccard Index of 0.989 across contamination levels, comparable to modern methods like Qi et al. (2024, 0.991), and surpassing RHT (0.964). This combination of accuracy, speed, and robustness makes 3C-FBI ideal for medical imaging, robotics, and industrial inspection under challenging conditions.
Illuminating the Three Dogmas of Reinforcement Learning under Evolutionary Light
Venue: arXiv cs.AI 2025
Year: 2025

Three core tenets of reinforcement learning (RL)--concerning the definition of agency, the objective of learning, and the scope of the reward hypothesis--have been highlighted as key targets for conceptual revision, with major implications for theory and application. We propose a framework, inspired by open-ended evolutionary theory, to reconsider these three "dogmas." We revisit each assumption and address related concerns raised alongside them. To make our arguments relevant to RL as a model of biological learning, we first establish that evolutionary dynamics can plausibly operate within living brains over an individual's lifetime, and are not confined to cross-generational processes. We begin by revisiting the second dogma, drawing on evolutionary insights to enrich the "adaptation-rather-than-search" view of learning. We then address the third dogma regarding the limits of the reward hypothesis, using analogies from evolutionary fitness to illuminate the scalar reward vs. multi-objective debate. After discussing practical implications for exploration in RL, we turn to the first--and arguably most fundamental--issue: the absence of a formal account of agency. We argue that unlike the other two problems, the evolutionary paradigm alone cannot resolve the agency question, though it gestures in a productive direction. We advocate integrating ideas from origins-of-life theory, where the thermodynamics of sustenance and replication offer promising foundations for understanding agency and resource-constrained reinforcement learning in biological systems.
Multipass Linear Sketches for Geometric LP-Type Problems
Venue: arXiv cs.DS 2025
Year: 2025

LP-type problems such as the Minimum Enclosing Ball (MEB), Linear Support Vector Machine (SVM), Linear Programming (LP), and Semidefinite Programming (SDP) are fundamental combinatorial optimization problems, with many important applications in machine learning applications such as classification, bioinformatics, and noisy learning. We study LP-type problems in several streaming and distributed big data models, giving $\varepsilon$-approximation linear sketching algorithms with a focus on the high accuracy regime with low dimensionality $d$, that is, when ${d < (1/\varepsilon)^{0.999}}$. Our main result is an $O(ds)$ pass algorithm with $O(s( \sqrt{d}/\varepsilon)^{3d/s}) \cdot \mathrm{poly}(d, \log (1/\varepsilon))$ space complexity in words, for any parameter $s \in [1, d \log (1/\varepsilon)]$, to solve $\varepsilon$-approximate LP-type problems of $O(d)$ combinatorial and VC dimension. Notably, by taking $s = d \log (1/\varepsilon)$, we achieve space complexity polynomial in $d$ and polylogarithmic in $1/\varepsilon$, presenting exponential improvements in $1/\varepsilon$ over current algorithms. We complement our results by showing lower bounds of $(1/\varepsilon)^{Ω(d)}$ for any $1$-pass algorithm solving the $(1 + \varepsilon)$-approximation MEB and linear SVM problems, further motivating our multi-pass approach.
A parametric activation function based on Wendland RBF
Venue: arXiv cs.LG 2025
Year: 2025

This paper introduces a novel parametric activation function based on Wendland radial basis functions (RBFs) for deep neural networks. Wendland RBFs, known for their compact support, smoothness, and positive definiteness in approximation theory, are adapted to address limitations of traditional activation functions like ReLU, sigmoid, and tanh. The proposed enhanced Wendland activation combines a standard Wendland component with linear and exponential terms, offering tunable locality, improved gradient propagation, and enhanced stability during training. Theoretical analysis highlights its mathematical properties, including smoothness and adaptability, while empirical experiments on synthetic tasks (e.g., sine wave approximation) and benchmark datasets (MNIST, Fashion-MNIST) demonstrate competitive performance. Results show that the Wendland-based activation achieves superior accuracy in certain scenarios, particularly in regression tasks, while maintaining computational efficiency. The study bridges classical RBF theory with modern deep learning, suggesting that Wendland activations can mitigate overfitting and improve generalization through localized, smooth transformations. Future directions include hybrid architectures and domain-specific adaptations.
Real-World Summarization: When Evaluation Reaches Its Limits
Venue: arXiv cs.CL 2025
Year: 2025

We examine evaluation of faithfulness to input data in the context of hotel highlights: brief LLM-generated summaries that capture unique features of accommodations. Through human evaluation campaigns involving categorical error assessment and span-level annotation, we compare traditional metrics, trainable methods, and LLM-as-a-judge approaches. Our findings reveal that simpler metrics like word overlap correlate surprisingly well with human judgments (Spearman correlation rank of 0.63), often outperforming more complex methods when applied to out-of-domain data. We further demonstrate that while LLMs can generate high-quality highlights, they prove unreliable for evaluation as they tend to severely under- or over-annotate. Our analysis of real-world business impacts shows incorrect and non-checkable information pose the greatest risks. We also highlight challenges in crowdsourced evaluations.
Scaling the memory wall using mixed-precision -- HPG-MxP on an exascale machine
Venue: arXiv cs.DC 2025
Year: 2025

Mixed-precision algorithms have been proposed as a way for scientific computing to benefit from some of the gains seen for artificial intelligence (AI) on recent high performance computing (HPC) platforms. A few applications dominated by dense matrix operations have seen substantial speedups by utilizing low precision formats such as FP16. However, a majority of scientific simulation applications are memory bandwidth limited. Beyond preliminary studies, the practical gain from using mixed-precision algorithms on a given HPC system is largely unclear. The High Performance GMRES Mixed Precision (HPG-MxP) benchmark has been proposed to measure the useful performance of a HPC system on sparse matrix-based mixed-precision applications. In this work, we present a highly optimized implementation of the HPG-MxP benchmark for an exascale system and describe our algorithm enhancements. We show for the first time a speedup of 1.6x using a combination of double- and single-precision on modern GPU-based supercomputers.