OpenRaiser/Intern-Atlas huggingface dataset:
Clone Deterministic 3D Worlds
Venue: arXiv cs.LG 2025
Year: 2025

A world model is an internal model that simulates how the world evolves. Given past observations and actions, it predicts the future physical state of both the embodied agent and its environment. Accurate world models are essential for enabling agents to think, plan, and reason effectively in complex, dynamic settings. However, existing world models often focus on random generation of open worlds, but neglect the need for high-fidelity modeling of deterministic scenarios (such as fixed-map mazes and static space robot navigation). In this work, we take a step toward building a truly accurate world model by addressing a fundamental yet open problem: constructing a model that can fully clone a deterministic 3D world. 1) Through diagnostic experiment, we quantitatively demonstrate that high-fidelity cloning is feasible and the primary bottleneck for long-horizon fidelity is the geometric structure of the latent representation, not the dynamics model itself. 2) Building on this insight, we show that applying temporal contrastive learning principle as a geometric regularization can effectively curate a latent space that better reflects the underlying physical state manifold, demonstrating that contrastive constraints can serve as a powerful inductive bias for stable world modeling; we call this approach Geometrically-Regularized World Models (GRWM). At its core is a lightweight geometric regularization module that can be seamlessly integrated into standard autoencoders, reshaping their latent space to provide a stable foundation for effective dynamics modeling. By focusing on representation quality, GRWM offers a simple yet powerful pipeline for improving world model fidelity.
OmniX: From Unified Panoramic Generation and Perception to Graphics-Ready 3D Scenes
Venue: arXiv cs.CV 2025
Year: 2025

There are two prevalent ways to constructing 3D scenes: procedural generation and 2D lifting. Among them, panorama-based 2D lifting has emerged as a promising technique, leveraging powerful 2D generative priors to produce immersive, realistic, and diverse 3D environments. In this work, we advance this technique to generate graphics-ready 3D scenes suitable for physically based rendering (PBR), relighting, and simulation. Our key insight is to repurpose 2D generative models for panoramic perception of geometry, textures, and PBR materials. Unlike existing 2D lifting approaches that emphasize appearance generation and ignore the perception of intrinsic properties, we present OmniX, a versatile and unified framework. Based on a lightweight and efficient cross-modal adapter structure, OmniX reuses 2D generative priors for a broad range of panoramic vision tasks, including panoramic perception, generation, and completion. Furthermore, we construct a large-scale synthetic panorama dataset containing high-quality multimodal panoramas from diverse indoor and outdoor scenes. Extensive experiments demonstrate the effectiveness of our model in panoramic visual perception and graphics-ready 3D scene generation, opening new possibilities for immersive and physically realistic virtual world generation.
Oral Tradition-Encoded NanyinHGNN: Integrating Nanyin Music Preservation and Generation through a Pipa-Centric Dataset
Venue: arXiv cs.SD 2025
Year: 2025

We propose NanyinHGNN, a heterogeneous graph network model for generating Nanyin instrumental music. As a UNESCO-recognized intangible cultural heritage, Nanyin follows a heterophonic tradition centered around the pipa, where core melodies are notated in traditional notation while ornamentations are passed down orally, presenting challenges for both preservation and contemporary innovation. To address this, we construct a Pipa-Centric MIDI dataset, develop NanyinTok as a specialized tokenization method, and convert symbolic sequences into graph structures using a Graph Converter to ensure that key musical features are preserved. Our key innovation reformulates ornamentation generation as the creation of ornamentation nodes within a heterogeneous graph. First, a graph neural network generates melodic outlines optimized for ornamentations. Then, a rule-guided system informed by Nanyin performance practices refines these outlines into complete ornamentations without requiring explicit ornamentation annotations during training. Experimental results demonstrate that our model successfully generates authentic heterophonic ensembles featuring four traditional instruments. These findings validate that integrating domain-specific knowledge into model architecture can effectively mitigate data scarcity challenges in computational ethnomusicology.
Disruption Management in Airline Operations: A Solver-based Approach using Time-Space Network Optimization
Venue: arXiv cs.OH 2025
Year: 2025

This paper presents AIRS, a day-of-operations disruption-recovery system. AIRS.ACR models integrated aircraft-crew recovery on a Time-Space Network (TSN) and solves a mixed-integer linear program (MILP) that enforces rotation continuity, crew legality, maintenance windows, slot capacities, and multi-leg integrity via flow-balance constraints; disruption-aware search-space construction and warm starts control combinatorial growth. A companion module, AIRS.PaxR, performs rapid passenger re-accommodation using greedy assignment and lightweight evolutionary search while preserving aircraft-crew feasibility. Across realistic evaluations, AIRS meets operational decision windows and reduces recovery costs relative to manual or sequential methods, providing a scalable, extensible decision-support capability for operations control centers.
Force Characterization of Insect-Scale Aquatic Propulsion Based on Fluid-Structure Interaction
Venue: arXiv cs.RO 2025
Year: 2025

We present force characterizations of two newly developed insect-scale propulsors--one single-tailed and one double-tailed--for microrobotic swimmers that leverage fluid-structure interaction (FSI) to generate thrust. The designs of these two devices were inspired by anguilliform swimming and are driven by soft tails excited by high-work-density (HWD) actuators powered by shape-memory alloy (SMA) wires. While these propulsors have been demonstrated to be suitable for microrobotic aquatic locomotion and controllable with simple architectures for trajectory tracking in the two-dimensional (2D) space, the characteristics and magnitudes of the associated forces have not been studied systematically. In the research presented here, we adopted a theoretical framework based on the notion of reactive forces and obtained experimental data for characterization using a custom-built micro-N-resolution force sensor. We measured maximum and cycle-averaged force values with multi-test means of respectively 0.45 mN and 2.97 micro-N, for the tested single-tail propulsor. For the dual-tail propulsor, we measured maximum and cycle-averaged force values with multi-test means of 0.61 mN and 22.6 micro-N, respectively. These results represent the first measurements of the instantaneous thrust generated by insect-scale propulsors of this type and provide insights into FSI for efficient microrobotic propulsion.
Accurate Target Privacy Preserving Federated Learning Balancing Fairness and Utility
Venue: arXiv cs.LG 2025
Year: 2025

Federated Learning (FL) enables collaborative model training without data sharing, yet participants face a fundamental challenge, e.g., simultaneously ensuring fairness across demographic groups while protecting sensitive client data. We introduce a differentially private fair FL algorithm (\textit{FedPF}) that transforms this multi-objective optimization into a zero-sum game where fairness and privacy constraints compete against model utility. Our theoretical analysis reveals a surprising inverse relationship, i.e., stricter privacy protection fundamentally limits the system's ability to detect and correct demographic biases, creating an inherent tension between privacy and fairness. Counterintuitively, we prove that moderate fairness constraints initially improve model generalization before causing performance degradation, where a non-monotonic relationship that challenges conventional wisdom about fairness-utility tradeoffs. Experimental validation demonstrates up to 42.9 % discrimination reduction across three datasets while maintaining competitive accuracy, but more importantly, reveals that the privacy-fairness tension is unavoidable, i.e., achieving both objectives simultaneously requires carefully balanced compromises rather than optimization of either in isolation. The source code for our proposed algorithm is publicly accessible at https://github.com/szpsunkk/FedPF.
The Impact of Data Compression in Real-Time and Historical Data Acquisition Systems on the Accuracy of Analytical Solutions
Venue: arXiv cs.DB 2025
Year: 2025

In industrial and IoT environments, massive amounts of real-time and historical process data are continuously generated and archived. With sensors and devices capturing every operational detail, the volume of time-series data has become a critical challenge for storage and processing systems. Efficient data management is essential to ensure scalability, cost-effectiveness, and timely analytics. To minimize storage expenses and optimize performance, data compression algorithms are frequently utilized in data historians and acquisition systems. However, compression comes with trade-offs that may compromise the accuracy and reliability of engineering analytics that depend on this compressed data. Understanding these trade-offs is essential for developing data strategies that support both operational efficiency and accurate, reliable analytics. This paper assesses the relation of common compression mechanisms used in real-time and historical data systems and the accuracy of analytical solutions, including statistical analysis, anomaly detection, and machine learning models. Through theoretical analysis, simulated signal compression, and empirical assessment, we illustrate that excessive compression can lose critical patterns, skew statistical measures, and diminish predictive accuracy. The study suggests optimum methods and best practices for striking a compromise between analytical integrity and compression efficiency.
FlowMesh: A Service Fabric for Composable LLM Workflows
Venue: arXiv cs.DC 2025
Year: 2025

AI deployment increasingly resembles a pipeline of data transformation, fine-tuning, and agent interactions rather than a monolithic LLM job; recent examples include RLHF/RLAIF training and agentic workflows. To cope with this shift, we propose FlowMesh, a multi-tenant service fabric that executes and optimizes these workloads as one shared service instead of isolated pipelines. It decomposes workflows into fine-grained operators with recorded lineage, enabling de-duplication of work across users and batching requests on the same hardware while preserving per-workflow provenance. A global control plane maintains a cluster-wide pool of ready operators and uses a single utility function to pick both the batch and the worker, balancing throughput, cost, and data locality on heterogeneous GPUs. The data plane is an elastic fleet of stateless workers backed by a content-addressable store, enabling rapid, automatic scale-out, safe retry after preemption, and portability across managed clusters such as Kubernetes and geo-distributed GPU marketplaces such as Vast.ai. Compared with baseline solutions, FlowMesh achieves up to 3.8x cost reduction and 2.0x lower energy usage, provides a similar or better latency profile, and remains efficient under dynamic and failure-prone conditions.
Heterogeneous Robot Collaboration in Unstructured Environments with Grounded Generative Intelligence
Venue: arXiv cs.RO 2025
Year: 2025

Heterogeneous robot teams operating in realistic settings often must accomplish complex missions requiring collaboration and adaptation to information acquired online. Because robot teams frequently operate in unstructured environments -- uncertain, open-world settings without prior maps -- subtasks must be grounded in robot capabilities and the physical world. While heterogeneous teams have typically been designed for fixed specifications, generative intelligence opens the possibility of teams that can accomplish a wide range of missions described in natural language. However, current large language model (LLM)-enabled teaming methods typically assume well-structured and known environments, limiting deployment in unstructured environments. We present SPINE-HT, a framework that addresses these limitations by grounding the reasoning abilities of LLMs in the context of a heterogeneous robot team through a three-stage process. Given language specifications describing mission goals and team capabilities, an LLM generates grounded subtasks which are validated for feasibility. Subtasks are then assigned to robots based on capabilities such as traversability or perception and refined given feedback collected during online operation. In simulation experiments with closed-loop perception and control, our framework achieves nearly twice the success rate compared to prior LLM-enabled heterogeneous teaming approaches. In real-world experiments with a Clearpath Jackal, a Clearpath Husky, a Boston Dynamics Spot, and a high-altitude UAV, our method achieves an 87\% success rate in missions requiring reasoning about robot capabilities and refining subtasks with online feedback. More information is provided at https://zacravichandran.github.io/SPINE-HT.
Choreographer: A Full-System Framework for Fine-Grained Tasks in Cache Hierarchies
Venue: arXiv cs.AR 2025
Year: 2025

In this paper, we introduce Choreographer, a simulation framework that enables a holistic system-level evaluation of fine-grained accelerators designed for latency-sensitive tasks. Unlike existing frameworks, Choreographer captures all hardware and software overheads in core-accelerator and cache-accelerator interactions, integrating a detailed gem5-based hardware stack featuring an AMBA coherent hub interface (CHI) mesh network and a complete Linux-based software stack. To facilitate rapid prototyping, it offers a C++ application programming interface and modular configuration options. Our detailed cache model provides accurate insights into performance variations caused by cache configurations, which are not captured by other frameworks. The framework is demonstrated through two case studies: a data-aware prefetcher for graph analytics workloads, and a quicksort accelerator. Our evaluation shows that the prefetcher achieves speedups between 1.08x and 1.88x by reducing memory access latency, while the quicksort accelerator delivers more than 2x speedup with minimal address translation overhead. These findings underscore the ability of Choreographer to model complex hardware-software interactions and optimize performance in small task offloading scenarios.
Fine-Grained Iterative Adversarial Attacks with Limited Computation Budget
Venue: arXiv cs.LG 2025
Year: 2025

This work tackles a critical challenge in AI safety research under limited compute: given a fixed computation budget, how can one maximize the strength of iterative adversarial attacks? Coarsely reducing the number of attack iterations lowers cost but substantially weakens effectiveness. To fulfill the attainable attack efficacy within a constrained budget, we propose a fine-grained control mechanism that selectively recomputes layer activations across both iteration-wise and layer-wise levels. Extensive experiments show that our method consistently outperforms existing baselines at equal cost. Moreover, when integrated into adversarial training, it attains comparable performance with only 30% of the original budget.
MoME: Mixture of Visual Language Medical Experts for Medical Imaging Segmentation
Venue: arXiv cs.CV 2025
Year: 2025

In this study, we propose MoME, a Mixture of Visual Language Medical Experts, for Medical Image Segmentation. MoME adapts the successful Mixture of Experts (MoE) paradigm, widely used in Large Language Models (LLMs), for medical vision-language tasks. The architecture enables dynamic expert selection by effectively utilizing multi-scale visual features tailored to the intricacies of medical imagery, enriched with textual embeddings. This work explores a novel integration of vision-language models for this domain. Utilizing an assembly of 10 datasets, encompassing 3,410 CT scans, MoME demonstrates strong performance on a comprehensive medical imaging segmentation benchmark. Our approach explores the integration of foundation models for medical imaging, benefiting from the established efficacy of MoE in boosting model performance by incorporating textual information. Demonstrating competitive precision across multiple datasets, MoME explores a novel architecture for achieving robust results in medical image analysis.
Jasmine: A Simple, Performant and Scalable JAX-based World Modeling Codebase
Venue: arXiv cs.LG 2025
Year: 2025

While world models are increasingly positioned as a pathway to overcoming data scarcity in domains such as robotics, open training infrastructure for world modeling remains nascent. We introduce Jasmine, a performant JAX-based world modeling codebase that scales from single hosts to hundreds of accelerators with minimal code changes. Jasmine achieves an order-of-magnitude faster reproduction of the CoinRun case study compared to prior open implementations, enabled by performance optimizations across data loading, training and checkpointing. The codebase guarantees fully reproducible training and supports diverse sharding configurations. By pairing Jasmine with curated large-scale datasets, we establish infrastructure for rigorous benchmarking pipelines across model families and architectural ablations.
Algorithmic Predation: Equilibrium Analysis in Dynamic Oligopolies with Smooth Market Sharing
Venue: arXiv cs.GT 2025
Year: 2025

Predatory pricing -- where a firm strategically lowers prices to undermine competitors -- is a contentious topic in dynamic oligopoly theory, with scholars debating practical relevance and the existence of predatory equilibria. Although finite-horizon dynamic models have long been proposed to capture the strategic intertemporal incentives of oligopolists, the existence and form of equilibrium strategies in settings that allow for firm exit (drop-outs following loss-making periods) have remained an open question. We focus on the seminal dynamic oligopoly model by Selten (1965) that introduces the subgame perfect equilibrium and analyzes smooth market sharing. Equilibrium can be derived analytically in models that do not allow for dropouts, but not in models that can lead to predatory pricing. In this paper, we leverage recent advances in deep reinforcement learning to compute and verify equilibria in finite-horizon dynamic oligopoly games. Our experiments reveal two key findings: first, state-of-the-art deep reinforcement learning algorithms reliably converge to equilibrium in both perfect- and imperfect-information oligopoly models; second, when firms face asymmetric cost structures, the resulting equilibria exhibit predatory pricing behavior. These results demonstrate that predatory pricing can emerge as a rational equilibrium strategy across a broad variety of model settings. By providing equilibrium analysis of finite-horizon dynamic oligopoly models with drop-outs, our study answers a decade-old question and offers new insights for competition authorities and regulators.
Semantically-Aware LLM Agent to Enhance Privacy in Conversational AI Services
Venue: arXiv cs.CL 2025
Year: 2025

With the increasing use of conversational AI systems, there is growing concern over privacy leaks, especially when users share sensitive personal data in interactions with Large Language Models (LLMs). Conversations shared with these models may contain Personally Identifiable Information (PII), which, if exposed, could lead to security breaches or identity theft. To address this challenge, we present the Local Optimizations for Pseudonymization with Semantic Integrity Directed Entity Detection (LOPSIDED) framework, a semantically-aware privacy agent designed to safeguard sensitive PII data when using remote LLMs. Unlike prior work that often degrade response quality, our approach dynamically replaces sensitive PII entities in user prompts with semantically consistent pseudonyms, preserving the contextual integrity of conversations. Once the model generates its response, the pseudonyms are automatically depseudonymized, ensuring the user receives an accurate, privacy-preserving output. We evaluate our approach using real-world conversations sourced from ShareGPT, which we further augment and annotate to assess whether named entities are contextually relevant to the model's response. Our results show that LOPSIDED reduces semantic utility errors by a factor of 5 compared to baseline techniques, all while enhancing privacy.
A Cloud-Based Spatio-Temporal GNN-Transformer Hybrid Model for Traffic Flow Forecasting with External Feature Integration
Venue: arXiv cs.DC 2025
Year: 2025

Accurate traffic flow forecasting is essential for the development of intelligent transportation systems (ITS), supporting tasks such as traffic signal optimization, congestion management, and route planning. Traditional models often fail to effectively capture complex spatial-temporal dependencies in large-scale road networks, especially under the influence of external factors such as weather, holidays, and traffic accidents. To address this challenge, this paper proposes a cloud-based hybrid model that integrates Spatio-Temporal Graph Neural Networks (ST-GNN) with a Transformer architecture for traffic flow prediction. The model leverages the strengths of GNNs in modeling spatial correlations across road networks and the Transformers' ability to capture long-term temporal dependencies. External contextual features are incorporated via feature fusion to enhance predictive accuracy. The proposed model is deployed on a cloud computing platform to achieve scalability and real-time adaptability. Experimental evaluation of the dataset shows that our model outperforms baseline methods (LSTM, TCN, GCN, pure Transformer) with an RMSE of only 17.92 and a MAE of only 10.53. These findings suggest that the hybrid GNN-Transformer approach provides an effective and scalable solution for cloud-based ITS applications, offering methodological advancements for traffic flow forecasting and practical implications for congestion mitigation.
Functional connectivity guided deep neural network for decoding high-level visual imagery
Venue: arXiv cs.HC 2025
Year: 2025

This study introduces a pioneering approach in brain-computer interface (BCI) technology, featuring our novel concept of high-level visual imagery for non-invasive electroencephalography (EEG)-based communication. High-level visual imagery, as proposed in our work, involves the user engaging in the mental visualization of complex upper limb movements. This innovative approach significantly enhances the BCI system, facilitating the extension of its applications to more sophisticated tasks such as EEG-based robotic arm control. By leveraging this advanced form of visual imagery, our study opens new horizons for intricate and intuitive mind-controlled interfaces. We developed an advanced deep learning architecture that integrates functional connectivity metrics with a convolutional neural network-image transformer. This framework is adept at decoding subtle user intentions, addressing the spatial variability in high-level visual tasks, and effectively translating these into precise commands for robotic arm control. Our comprehensive offline and pseudo-online evaluations demonstrate the framework's efficacy in real-time applications, including the nuanced control of robotic arms. The robustness of our approach is further validated through leave-one-subject-out cross-validation, marking a significant step towards versatile, subject-independent BCI applications. This research highlights the transformative impact of advanced visual imagery and deep learning in enhancing the usability and adaptability of BCI systems, particularly in robotic arm manipulation.