OpenRaiser/Intern-Atlas huggingface dataset:
Age of Synchronization Minimization in Wireless Networks with Random Updates and Time-Varying Timeliness Requirement
Venue: arXiv cs.IT 2025
Year: 2025

This study considers a wireless network where multiple nodes transmit status updates to a base station (BS) via a shared, error-free channel with limited bandwidth. The status updates arrive at each node randomly. We use the Age of Synchronization (AoS) as a metric to measure the information freshness of the updates. The AoS of each node has a timely-varying importance which follows a Markov chain. Our objective is to minimize the weighted sum AoS of the system. The optimization problem is relaxed and formulated as a constrained Markov decision process (CMDP). Solving the relaxed CMDP by a linear programming algorithm yields a stationary policy, which helps us propose a near-stationary policy for the original problem. Numerical simulations show that in most configurations, the AoS performance of our policy outperforms the policy choosing the maximum AoS regardless of weight variations.
Leveraging Hierarchical Taxonomies in Prompt-based Continual Learning
Venue: arXiv cs.LG 2025
Year: 2025

Humans perceive the world as a series of sequential events, which can be hierarchically organized with different levels of abstraction based on conceptual knowledge. Drawing inspiration from human learning behaviors, this work proposes a novel approach to mitigate catastrophic forgetting in Prompt-based Continual Learning models by exploiting the relationships between continuously emerging class data. We find that applying human habits of organizing and connecting information can serve as an efficient strategy when training deep learning models. Specifically, by building a hierarchical tree structure based on the expanding set of labels, we gain fresh insights into the data, identifying groups of similar classes could easily cause confusion. Additionally, we delve deeper into the hidden connections between classes by exploring the original pretrained model's behavior through an optimal transport-based approach. From these insights, we propose a novel regularization loss function that encourages models to focus more on challenging knowledge areas, thereby enhancing overall performance. Experimentally, our method demonstrated significant superiority over the most robust state-of-the-art models on various benchmarks.
GenSim: A General Social Simulation Platform with Large Language Model based Agents
Venue: arXiv cs.MA 2025
Year: 2025

With the rapid advancement of large language models (LLMs), recent years have witnessed many promising studies on leveraging LLM-based agents to simulate human social behavior. While prior work has demonstrated significant potential across various domains, much of it has focused on specific scenarios involving a limited number of agents and has lacked the ability to adapt when errors occur during simulation. To overcome these limitations, we propose a novel LLM-agent-based simulation platform called \textit{GenSim}, which: (1) \textbf{Abstracts a set of general functions} to simplify the simulation of customized social scenarios; (2) \textbf{Supports one hundred thousand agents} to better simulate large-scale populations in real-world contexts; (3) \textbf{Incorporates error-correction mechanisms} to ensure more reliable and long-term simulations. To evaluate our platform, we assess both the efficiency of large-scale agent simulations and the effectiveness of the error-correction mechanisms. To our knowledge, GenSim represents an initial step toward a general, large-scale, and correctable social simulation platform based on LLM agents, promising to further advance the field of social science.
ProtoMed-LLM: An Automatic Evaluation Framework for Large Language Models in Medical Protocol Formulation
Venue: arXiv cs.CL 2025
Year: 2025

Automated generation of scientific protocols executable by robots can significantly accelerate scientific research processes. Large Language Models (LLMs) excel at Scientific Protocol Formulation Tasks (SPFT), but the evaluation of their capabilities rely on human evaluation. Here, we propose a flexible, automatic framework to evaluate LLMs' capability on SPFT: ProtoMed-LLM. This framework prompts the target model and GPT-4 to extract pseudocode from biology protocols using only predefined lab actions and evaluates the output of the target model using LLAM-EVAL, the pseudocode generated by GPT-4 serving as a baseline and Llama-3 acting as the evaluator. Our adaptable prompt-based evaluation method, LLAM-EVAL, offers significant flexibility in terms of evaluation model, material, criteria, and is free of cost. We evaluate GPT variations, Llama, Mixtral, Gemma, Cohere, and Gemini. Overall, we find that GPT and Cohere are powerful scientific protocol formulators. We also introduce BIOPROT 2.0, a dataset with biology protocols and corresponding pseudocodes, which can aid LLMs in formulation and evaluation of SPFT. Our work is extensible to assess LLMs on SPFT across various domains and other fields that require protocol generation for specific goals.
Federated Learning Nodes Can Reconstruct Peers' Image Data
Venue: arXiv cs.LG 2025
Year: 2025

Federated learning (FL) is a privacy-preserving machine learning framework that enables multiple nodes to train models on their local data and periodically average weight updates to benefit from other nodes' training. Each node's goal is to collaborate with other nodes to improve the model's performance while keeping its training data private. However, this framework does not guarantee data privacy. Prior work has shown that the gradient-sharing steps in FL can be vulnerable to data reconstruction attacks from an honest-but-curious central server. In this work, we show that an honest-but-curious node/client can also launch attacks to reconstruct peers' image data through gradient inversion, presenting a severe privacy risk. We demonstrate that a single client can silently reconstruct other clients' private images using diluted information available within consecutive updates. We leverage state-of-the-art diffusion models to enhance the perceptual quality and recognizability of the reconstructed images, further demonstrating the risk of information leakage at a semantic level. This highlights the need for more robust privacy-preserving mechanisms that protect against silent client-side attacks during federated training.
FRIDA: Free-Rider Detection using Privacy Attacks
Venue: arXiv cs.LG 2025
Year: 2025

Federated learning is increasingly popular as it enables multiple parties with limited datasets and resources to train a machine learning model collaboratively. However, similar to other collaborative systems, federated learning is vulnerable to free-riders - participants who benefit from the global model without contributing. Free-riders compromise the integrity of the learning process and slow down the convergence of the global model, resulting in increased costs for honest participants. To address this challenge, we propose FRIDA: free-rider detection using privacy attacks. Instead of focusing on implicit effects of free-riding, FRIDA utilizes membership and property inference attacks to directly infer evidence of genuine client training. Our extensive evaluation demonstrates that FRIDA is effective across a wide range of scenarios.
State estimation of marine vessels affected by waves by unmanned aerial vehicles
Venue: arXiv cs.RO 2025
Year: 2025

A novel approach for robust state estimation of marine vessels in rough water is proposed in this paper to enable tight collaboration between Unmanned Aerial Vehicles (UAVs) and a marine vessel, such as cooperative landing or object manipulation, regardless of weather conditions. Our study of marine vessel (in our case Unmanned Surface Vehicle (USV)) dynamics influenced by strong wave motion has resulted in a novel nonlinear mathematical USV model with 6 degrees of freedom (DOFs), which is required for precise USV state estimation and motion prediction. The proposed state estimation and prediction approach fuses data from multiple sensors onboard the UAV and the USV to enable redundancy and robustness under varying weather conditions of real-world applications. The proposed approach provides estimated states of the USV with 6 DOFs and predicts its future states to enable tight control of both vehicles on a receding control horizon. The proposed approach was extensively tested in the realistic Gazebo simulator and successfully experimentally validated in many real-world experiments representing different application scenarios, including agile landing on an oscillating and moving USV. A comparative study indicates that the proposed approach significantly surpassed the current state-of-the-art.
Bridging SFT and DPO for Diffusion Model Alignment with Self-Sampling Preference Optimization
Venue: arXiv cs.CV 2025
Year: 2025

Existing post-training techniques are broadly categorized into supervised fine-tuning (SFT) and reinforcement learning (RL) methods; the former is stable during training but suffers from limited generalization, while the latter, despite its stronger generalization capability, relies on additional preference data or reward models and carries the risk of reward exploitation. In order to preserve the advantages of both SFT and RL -- namely, eliminating the need for paired data and reward models while retaining the training stability of SFT and the generalization ability of RL -- a new alignment method, Self-Sampling Preference Optimization (SSPO), is proposed in this paper. SSPO introduces a Random Checkpoint Replay (RCR) strategy that utilizes historical checkpoints to construct paired data, thereby effectively mitigating overfitting. Simultaneously, a Self-Sampling Regularization (SSR) strategy is employed to dynamically evaluate the quality of generated samples; when the generated samples are more likely to be winning samples, the approach automatically switches from DPO (Direct Preference Optimization) to SFT, ensuring that the training process accurately reflects the quality of the samples. Experimental results demonstrate that SSPO not only outperforms existing methods on text-to-image benchmarks, but its effectiveness has also been validated in text-to-video tasks. We validate SSPO across both text-to-image and text-to-video benchmarks. SSPO surpasses all previous approaches on the text-to-image benchmarks and demonstrates outstanding performance on the text-to-video benchmarks.
Early-Cycle Internal Impedance Enables ML-Based Battery Cycle Life Predictions Across Manufacturers
Venue: arXiv cs.LG 2025
Year: 2025

Predicting the end-of-life (EOL) of lithium-ion batteries across different manufacturers presents significant challenges due to variations in electrode materials, manufacturing processes, cell formats, and a lack of generally available data. Methods that construct features solely on voltage-capacity profile data typically fail to generalize across cell chemistries. This study introduces a methodology that combines traditional voltage-capacity features with Direct Current Internal Resistance (DCIR) measurements, enabling more accurate and generalizable EOL predictions. The use of early-cycle DCIR data captures critical degradation mechanisms related to internal resistance growth, enhancing model robustness. Models are shown to successfully predict the number of cycles to EOL for unseen manufacturers of varied electrode composition with a mean absolute error (MAE) of 150 cycles. This cross-manufacturer generalizability reduces the need for extensive new data collection and retraining, enabling manufacturers to optimize new battery designs using existing datasets. Additionally, a novel DCIR-compatible dataset is released as part of ongoing efforts to enrich the growing ecosystem of cycling data and accelerate battery materials development.
Taylor Unswift: Secured Weight Release for Large Language Models via Taylor Expansion
Venue: arXiv cs.CR 2025
Year: 2025

Ensuring the security of released large language models (LLMs) poses a significant dilemma, as existing mechanisms either compromise ownership rights or raise data privacy concerns. To address this dilemma, we introduce TaylorMLP to protect the ownership of released LLMs and prevent their abuse. Specifically, TaylorMLP preserves the ownership of LLMs by transforming the weights of LLMs into parameters of Taylor-series. Instead of releasing the original weights, developers can release the Taylor-series parameters with users, thereby ensuring the security of LLMs. Moreover, TaylorMLP can prevent abuse of LLMs by adjusting the generation speed. It can induce low-speed token generation for the protected LLMs by increasing the terms in the Taylor-series. This intentional delay helps LLM developers prevent potential large-scale unauthorized uses of their models. Empirical experiments across five datasets and three LLM architectures demonstrate that TaylorMLP induces over 4x increase in latency, producing the tokens precisely matched with original LLMs. Subsequent defensive experiments further confirm that TaylorMLP effectively prevents users from reconstructing the weight values based on downstream datasets.
2Fast-2Lamaa: Large-Scale Lidar-Inertial Localization and Mapping with Continuous Distance Fields
Venue: arXiv cs.RO 2025
Year: 2025

This paper introduces 2Fast-2Lamaa, a lidar-inertial state estimation framework for odometry, mapping, and localization. Its first key component is the optimization-based undistortion of lidar scans, which uses continuous IMU preintegration to model the system's pose at every lidar point timestamp. The continuous trajectory over 100-200ms is parameterized only by the initial scan conditions (linear velocity and gravity orientation) and IMU biases, yielding eleven state variables. These are estimated by minimizing point-to-line and point-to-plane distances between lidar-extracted features without relying on previous estimates, resulting in a prior-less motion-distortion correction strategy. Because the method performs local state estimation, it directly provides scan-to-scan odometry. To maintain geometric consistency over longer periods, undistorted scans are used for scan-to-map registration. The map representation employs Gaussian Processes to form a continuous distance field, enabling point-to-surface distance queries anywhere in space. Poses of the undistorted scans are refined by minimizing these distances through non-linear least-squares optimization. For odometry and mapping, the map is built incrementally in real time; for pure localization, existing maps are reused. The incremental map construction also includes mechanisms for removing dynamic objects. We benchmark 2Fast-2Lamaa on 250km (over 10h) of public and self-collected datasets from both automotive and handheld systems. The framework achieves state-of-the-art performance across diverse and challenging scenarios, reaching odometry and localization errors as low as 0.27% and 0.06 m, respectively. The real-time implementation is publicly available at https://github.com/clegenti/2fast2lamaa.
WearableMil: An End-to-End Framework for Military Activity Recognition and Performance Monitoring
Venue: arXiv cs.LG 2025
Year: 2025

Musculoskeletal injuries during military training significantly impact readiness, making prevention through activity monitoring crucial. While Human Activity Recognition (HAR) using wearable devices offers promising solutions, it faces challenges in processing continuous data streams and recognizing diverse activities without predefined sessions. This paper introduces an end-to-end framework for preprocessing, analyzing, and recognizing activities from wearable data in military training contexts. Using data from 135 soldiers wearing \textit{Garmin--55} smartwatches over six months with over 15 million minutes. We develop a hierarchical deep learning approach that achieves 93.8% accuracy in temporal splits and 83.8% in cross-user evaluation. Our framework addresses missing data through physiologically-informed methods, reducing unknown sleep states from 40.38% to 3.66%. We demonstrate that while longer time windows (45-60 minutes) improve basic state classification, they present trade-offs in detecting fine-grained activities. Additionally, we introduce an intuitive visualization system that enables real-time comparison of individual performance against group metrics across multiple physiological indicators. This approach to activity recognition and performance monitoring provides military trainers with actionable insights for optimizing training programs and preventing injuries.
Information Design with Unknown Prior
Venue: arXiv cs.GT 2025
Year: 2025

Information designers, such as online platforms, often do not know the beliefs of their receivers. We design learning algorithms so that the information designer can learn the receivers' prior belief from their actions through repeated interactions. Our learning algorithms achieve no regret relative to the optimality for the known prior at a fast speed, achieving a tight regret bound $Θ(\log T)$ in general and a tight regret bound $Θ(\log \log T)$ in the important special case of binary actions.
Submodular Optimization for Keyframe Selection & Usage in SLAM
Venue: arXiv cs.RO 2025
Year: 2025

Keyframes are LiDAR scans saved for future reference in Simultaneous Localization And Mapping (SLAM), but despite their central importance most algorithms leave choices of which scans to save and how to use them to wasteful heuristics. This work proposes two novel keyframe selection strategies for localization and map summarization, as well as a novel approach to submap generation which selects keyframes that best constrain localization. Our results show that online keyframe selection and submap generation reduce the number of saved keyframes and improve per scan computation time without compromising localization performance. We also present a map summarization feature for quickly capturing environments under strict map size constraints.
Embedding derivatives and derivative Area operators of Hardy spaces into Lebesgue spaces
Venue: arXiv cs.IR 2025
Year: 2025

We characterize the compactness of embedding derivatives from Hardy space $H^p$ into Lebesgue space $L^q(μ)$. We also completely characterize the boundedness and compactness of derivative area operators from $H^p$ into $L^q(\mathbb{S}_n)$, $0<p, q<\infty$. Some of the tools used in the proof of the one-dimensional case are not available in higher dimensions, such as the strong factorization of Hardy spaces. Therefore, we need the theory of tent spaces which was established by Coifman, Mayer and Stein in 1985.
Deep Learning and Machine Learning with GPGPU and CUDA: Unlocking the Power of Parallel Computing
Venue: arXiv cs.DC 2025
Year: 2025

General Purpose Graphics Processing Unit (GPGPU) computing plays a transformative role in deep learning and machine learning by leveraging the computational advantages of parallel processing. Through the power of Compute Unified Device Architecture (CUDA), GPUs enable the efficient execution of complex tasks via massive parallelism. This work explores CPU and GPU architectures, data flow in deep learning, and advanced GPU features, including streams, concurrency, and dynamic parallelism. The applications of GPGPU span scientific computing, machine learning acceleration, real-time rendering, and cryptocurrency mining. This study emphasizes the importance of selecting appropriate parallel architectures, such as GPUs, FPGAs, TPUs, and ASICs, tailored to specific computational tasks and optimizing algorithms for these platforms. Practical examples using popular frameworks such as PyTorch, TensorFlow, and XGBoost demonstrate how to maximize GPU efficiency for training and inference tasks. This resource serves as a comprehensive guide for both beginners and experienced practitioners, offering insights into GPU-based parallel computing and its critical role in advancing machine learning and artificial intelligence.
LightRAG: Simple and Fast Retrieval-Augmented Generation
Venue: arXiv cs.IR 2025
Year: 2025

Retrieval-Augmented Generation (RAG) systems enhance large language models (LLMs) by integrating external knowledge sources, enabling more accurate and contextually relevant responses tailored to user needs. However, existing RAG systems have significant limitations, including reliance on flat data representations and inadequate contextual awareness, which can lead to fragmented answers that fail to capture complex inter-dependencies. To address these challenges, we propose LightRAG, which incorporates graph structures into text indexing and retrieval processes. This innovative framework employs a dual-level retrieval system that enhances comprehensive information retrieval from both low-level and high-level knowledge discovery. Additionally, the integration of graph structures with vector representations facilitates efficient retrieval of related entities and their relationships, significantly improving response times while maintaining contextual relevance. This capability is further enhanced by an incremental update algorithm that ensures the timely integration of new data, allowing the system to remain effective and responsive in rapidly changing data environments. Extensive experimental validation demonstrates considerable improvements in retrieval accuracy and efficiency compared to existing approaches. We have made our LightRAG open-source and available at the link: https://github.com/HKUDS/LightRAG
CASA: Class-Agnostic Shared Attributes in Vision-Language Models for Efficient Incremental Object Detection
Venue: arXiv cs.CV 2025
Year: 2025

Incremental object detection is fundamentally challenged by catastrophic forgetting. A major factor contributing to this issue is background shift, where background categories in sequential tasks may overlap with either previously learned or future unseen classes. To address this, we propose a novel method called Class-Agnostic Shared Attribute Base (CASA) that encourages the model to learn category-agnostic attributes shared across incremental classes. Our approach leverages an LLM to generate candidate textual attributes, selects the most relevant ones based on the current training data, and records their importance in an assignment matrix. For subsequent tasks, the retained attributes are frozen, and new attributes are selected from the remaining candidates, ensuring both knowledge retention and adaptability. Extensive experiments on the COCO dataset demonstrate the state-of-the-art performance of our method.
Towards Zero-Shot, Controllable Dialog Planning with LLMs
Venue: arXiv cs.CL 2025
Year: 2025

Recently, Large Language Models (LLMs) have emerged as an alternative to training task-specific dialog agents, due to their broad reasoning capabilities and performance in zero-shot learning scenarios. However, many LLM-based dialog systems fall short in planning towards an overarching dialog goal and therefore cannot steer the conversation appropriately. Furthermore, these models struggle with hallucination, making them unsuitable for information access in sensitive domains, such as legal or medical domains, where correctness of information given to users is critical. The recently introduced task Conversational Tree Search (CTS) proposes the use of dialog graphs to avoid hallucination in sensitive domains, however, state-of-the-art agents are Reinforcement Learning (RL) based and require long training times, despite excelling at dialog strategy. This paper introduces a novel zero-shot method for controllable CTS agents, where LLMs guide the dialog planning through domain graphs by searching and pruning relevant graph nodes based on user interaction preferences. We show that these agents significantly outperform state-of-the-art CTS agents ($p<0.0001$; Barnard Exact test) in simulation. This generalizes to all available CTS domains. Finally, we perform user evaluation to test the agent's performance in the wild, showing that our policy significantly ($p<0.05$; Barnard Exact) improves task-success compared to the state-of-the-art RL-based CTS agent.