OpenRaiser/Intern-Atlas huggingface dataset:
GazeGrasp: DNN-Driven Robotic Grasping with Wearable Eye-Gaze Interface
Venue: arXiv cs.RO 2025
Year: 2025

We present GazeGrasp, a gaze-based manipulation system enabling individuals with motor impairments to control collaborative robots using eye-gaze. The system employs an ESP32 CAM for eye tracking, MediaPipe for gaze detection, and YOLOv8 for object localization, integrated with a Universal Robot UR10 for manipulation tasks. After user-specific calibration, the system allows intuitive object selection with a magnetic snapping effect and robot control via eye gestures. Experimental evaluation involving 13 participants demonstrated that the magnetic snapping effect significantly reduced gaze alignment time, improving task efficiency by 31%. GazeGrasp provides a robust, hands-free interface for assistive robotics, enhancing accessibility and autonomy for users.
OblivCDN: A Practical Privacy-preserving CDN with Oblivious Content Access
Venue: arXiv cs.CR 2025
Year: 2025

Content providers increasingly utilise Content Delivery Networks (CDNs) to enhance users' content download experience. However, this deployment scenario raises significant security concerns regarding content confidentiality and user privacy due to the involvement of third-party providers. Prior proposals using private information retrieval (PIR) and oblivious RAM (ORAM) have proven impractical due to high computation and communication costs, as well as integration challenges within distributed CDN architectures. In response, we present \textsf{OblivCDN}, a practical privacy-preserving system meticulously designed for seamless integration with the existing real-world Internet-CDN infrastructure. Our design strategically adapts Range ORAM primitives to optimise memory and disk seeks when accessing contiguous blocks of CDN content, both at the origin and edge servers, while preserving both content confidentiality and user access pattern hiding features. Also, we carefully customise several oblivious building blocks that integrate the distributed trust model into the ORAM client, thereby eliminating the computational bottleneck in the origin server and reducing communication costs between the origin server and edge servers. Moreover, the newly-designed ORAM client also eliminates the need for trusted hardware on edge servers, and thus significantly ameliorates the compatibility towards networks with massive legacy devices.In real-world streaming evaluations, OblivCDN} demonstrates remarkable performance, downloading a $256$ MB video in just $5.6$ seconds. This achievement represents a speedup of $90\times$ compared to a strawman approach (direct ORAM adoption) and a $366\times$ improvement over the prior art, OblivP2P.
On Stability and Learning of Competitive Equilibrium in Generalized Fisher Market Models: A Variational Inequality Approach
Venue: arXiv cs.GT 2025
Year: 2025

In this work, we study a generalized Fisher market model that incorporates social influence. In this extended model, a buyer's utility depends not only on their own resource allocation but also on the allocations received by their competitors. We propose a novel competitive equilibrium formulation for this generalized Fisher market using a variational inequality approach. This framework effectively captures competitive equilibrium in markets that extend beyond the traditional assumption of homogeneous utility functions. We analyze key structural properties of the proposed variational inequality problem, including monotonicity, stability, and uniqueness. Additionally, we present two decentralized learning algorithms for buyers to achieve competitive equilibrium: a two-timescale stochastic approximation-based t{â}tonnement method and a trading-post mechanism-based learning method. Finally, we validate the proposed algorithms through numerical simulations.
Mining Intraday Risk Factor Collections via Hierarchical Reinforcement Learning based on Transferred Options
Venue: arXiv cs.CE 2025
Year: 2025

Traditional risk factors like beta, size/value, and momentum often lag behind market dynamics in measuring and predicting stock return volatility. Statistical models like PCA and factor analysis fail to capture hidden nonlinear relationships. Genetic programming (GP) can identify nonlinear factors but often lacks mechanisms for evaluating factor quality, and the resulting formulas are complex. To address these challenges, we propose a Hierarchical Proximal Policy Optimization (HPPO) framework for automated factor generation and evaluation. HPPO uses two PPO models: a high-level policy assigns weights to stock features, and a low-level policy identifies latent nonlinear relationships. The Pearson correlation between generated factors and return volatility serves as the reward signal. Transfer learning pre-trains the high-level policy on large-scale historical data, fine-tuning it with the latest data to adapt to new features and shifts. Experiments show the HPPO-TO algorithm achieves a 25\% excess return in HFT markets across China (CSI 300/800), India (Nifty 100), and the US (S\&P 500). Code and data are available at https://github.com/wencyxu/HRL-HF_risk_factor_set.
Bridging Smart Meter Gaps: A Benchmark of Statistical, Machine Learning and Time Series Foundation Models for Data Imputation
Venue: arXiv cs.AI 2025
Year: 2025

The integrity of time series data in smart grids is often compromised by missing values due to sensor failures, transmission errors, or disruptions. Gaps in smart meter data can bias consumption analyses and hinder reliable predictions, causing technical and economic inefficiencies. As smart meter data grows in volume and complexity, conventional techniques struggle with its nonlinear and nonstationary patterns. In this context, Generative Artificial Intelligence offers promising solutions that may outperform traditional statistical methods. In this paper, we evaluate two general-purpose Large Language Models and five Time Series Foundation Models for smart meter data imputation, comparing them with conventional Machine Learning and statistical models. We introduce artificial gaps (30 minutes to one day) into an anonymized public dataset to test inference capabilities. Results show that Time Series Foundation Models, with their contextual understanding and pattern recognition, could significantly enhance imputation accuracy in certain cases. However, the trade-off between computational cost and performance gains remains a critical consideration.
GestLLM: Advanced Hand Gesture Interpretation via Large Language Models for Human-Robot Interaction
Venue: arXiv cs.RO 2025
Year: 2025

This paper introduces GestLLM, an advanced system for human-robot interaction that enables intuitive robot control through hand gestures. Unlike conventional systems, which rely on a limited set of predefined gestures, GestLLM leverages large language models and feature extraction via MediaPipe to interpret a diverse range of gestures. This integration addresses key limitations in existing systems, such as restricted gesture flexibility and the inability to recognize complex or unconventional gestures commonly used in human communication. By combining state-of-the-art feature extraction and language model capabilities, GestLLM achieves performance comparable to leading vision-language models while supporting gestures underrepresented in traditional datasets. For example, this includes gestures from popular culture, such as the ``Vulcan salute" from Star Trek, without any additional pretraining, prompt engineering, etc. This flexibility enhances the naturalness and inclusivity of robot control, making interactions more intuitive and user-friendly. GestLLM provides a significant step forward in gesture-based interaction, enabling robots to understand and respond to a wide variety of hand gestures effectively. This paper outlines its design, implementation, and evaluation, demonstrating its potential applications in advanced human-robot collaboration, assistive robotics, and interactive entertainment.
ViewVR: Visual Feedback Modes to Achieve Quality of VR-based Telemanipulation
Venue: arXiv cs.RO 2025
Year: 2025

The paper focuses on an immersive teleoperation system that enhances operator's ability to actively perceive the robot's surroundings. A consumer-grade HTC Vive VR system was used to synchronize the operator's hand and head movements with a UR3 robot and a custom-built robotic head with two degrees of freedom (2-DoF). The system's usability, manipulation efficiency, and intuitiveness of control were evaluated in comparison with static head camera positioning across three distinct tasks. Code and other supplementary materials can be accessed by link: https://github.com/ErkhovArtem/ViewVR
Occamy: A 432-Core Dual-Chiplet Dual-HBM2E 768-DP-GFLOP/s RISC-V System for 8-to-64-bit Dense and Sparse Computing in 12nm FinFET
Venue: arXiv cs.AR 2025
Year: 2025

ML and HPC applications increasingly combine dense and sparse memory access computations to maximize storage efficiency. However, existing CPUs and GPUs struggle to flexibly handle these heterogeneous workloads with consistently high compute efficiency. We present Occamy, a 432-Core, 768-DP-GFLOP/s, dual-HBM2E, dual-chiplet RISC-V system with a latency-tolerant hierarchical interconnect and in-core streaming units (SUs) designed to accelerate dense and sparse FP8-to-FP64 ML and HPC workloads. We implement Occamy's compute chiplets in 12 nm FinFET, and its passive interposer, Hedwig, in a 65 nm node. On dense linear algebra (LA), Occamy achieves a competitive FPU utilization of 89%. On stencil codes, Occamy reaches an FPU utilization of 83% and a technology-node-normalized compute density of 11.1 DP-GFLOP/s/mm2,leading state-of-the-art (SoA) processors by 1.7x and 1.2x, respectively. On sparse-dense linear algebra (LA), it achieves 42% FPU utilization and a normalized compute density of 5.95 DP-GFLOP/s/mm2, surpassing the SoA by 5.2x and 11x, respectively. On, sparse-sparse LA, Occamy reaches a throughput of up to 187 GCOMP/s at 17.4 GCOMP/s/W and a compute density of 3.63 GCOMP/s/mm2. Finally, we reach up to 75% and 54% FPU utilization on and dense (LLM) and graph-sparse (GCN) ML inference workloads. Occamy's RTL is freely available under a permissive open-source license.
Deep Generative Clustering with VAEs and Expectation-Maximization
Venue: arXiv cs.LG 2025
Year: 2025

We propose a novel deep clustering method that integrates Variational Autoencoders (VAEs) into the Expectation-Maximization (EM) framework. Our approach models the probability distribution of each cluster with a VAE and alternates between updating model parameters by maximizing the Evidence Lower Bound (ELBO) of the log-likelihood and refining cluster assignments based on the learned distributions. This enables effective clustering and generation of new samples from each cluster. Unlike existing VAE-based methods, our approach eliminates the need for a Gaussian Mixture Model (GMM) prior or additional regularization techniques. Experiments on MNIST and FashionMNIST demonstrate superior clustering performance compared to state-of-the-art methods.
Extracting Participation in Collective Action from Social Media
Venue: arXiv cs.SI 2025
Year: 2025

Social media play a key role in mobilizing collective action, holding the potential for studying the pathways that lead individuals to actively engage in addressing global challenges. However, quantitative research in this area has been limited by the absence of granular and large-scale ground truth about the level of participation in collective action among individual social media users. To address this limitation, we present a novel suite of text classifiers designed to identify expressions of participation in collective action from social media posts, in a topic-agnostic fashion. Grounded in the theoretical framework of social movement mobilization, our classification captures participation and categorizes it into four levels: recognizing collective issues, engaging in calls-to-action, expressing intention of action, and reporting active involvement. We constructed a labeled training dataset of Reddit comments through crowdsourcing, which we used to train BERT classifiers and fine-tune Llama3 models. Our findings show that smaller language models can reliably detect expressions of participation (weighted F1=0.71), and rival larger models in capturing nuanced levels of participation. By applying our methodology to Reddit, we illustrate its effectiveness as a robust tool for characterizing online communities in innovative ways compared to topic modeling, stance detection, and keyword-based methods. Our framework contributes to Computational Social Science research by providing a new source of reliable annotations useful for investigating the social dynamics of collective action.
Zero-Shot Scene Understanding for Automatic Target Recognition Using Large Vision-Language Models
Venue: arXiv cs.CV 2025
Year: 2025

Automatic target recognition (ATR) plays a critical role in tasks such as navigation and surveillance, where safety and accuracy are paramount. In extreme use cases, such as military applications, these factors are often challenged due to the presence of unknown terrains, environmental conditions, and novel object categories. Current object detectors, including open-world detectors, lack the ability to confidently recognize novel objects or operate in unknown environments, as they have not been exposed to these new conditions. However, Large Vision-Language Models (LVLMs) exhibit emergent properties that enable them to recognize objects in varying conditions in a zero-shot manner. Despite this, LVLMs struggle to localize objects effectively within a scene. To address these limitations, we propose a novel pipeline that combines the detection capabilities of open-world detectors with the recognition confidence of LVLMs, creating a robust system for zero-shot ATR of novel classes and unknown domains. In this study, we compare the performance of various LVLMs for recognizing military vehicles, which are often underrepresented in training datasets. Additionally, we examine the impact of factors such as distance range, modality, and prompting methods on the recognition performance, providing insights into the development of more reliable ATR systems for novel conditions and classes.
OmniEraser: Remove Objects and Their Effects in Images with Paired Video-Frame Data
Venue: arXiv cs.CV 2025
Year: 2025

Inpainting algorithms have achieved remarkable progress in removing objects from images, yet still face two challenges: 1) struggle to handle the object's visual effects such as shadow and reflection; 2) easily generate shape-like artifacts and unintended content. In this paper, we propose Video4Removal, a large-scale dataset comprising over 100,000 high-quality samples with realistic object shadows and reflections. By constructing object-background pairs from video frames with off-the-shelf vision models, the labor costs of data acquisition can be significantly reduced. To avoid generating shape-like artifacts and unintended content, we propose Object-Background Guidance, an elaborated paradigm that takes both the foreground object and background images. It can guide the diffusion process to harness richer contextual information. Based on the above two designs, we present OmniEraser, a novel method that seamlessly removes objects and their visual effects using only object masks as input. Extensive experiments show that OmniEraser significantly outperforms previous methods, particularly in complex in-the-wild scenes. And it also exhibits a strong generalization ability in anime-style images. Datasets, models, and codes will be published.
An ontology-based description of nano computed tomography measurements in electronic laboratory notebooks: from metadata schema to first user experience
Venue: arXiv cs.DB 2025
Year: 2025

In recent years, the importance of well-documented metadata has been discussed increasingly in many research fields. Making all metadata generated during scientific research available in a findable, accessible, interoperable, and reusable (FAIR) manner remains a significant challenge for researchers across fields. Scientific communities are agreeing to achieve this by making all data available in a semantically annotated knowledge graph using semantic web technologies. Most current approaches do not gather metadata in a consistent and community-agreed standardized way, and there are insufficient tools to support the process of turning them into a knowledge graph. We present an example solution in which the creation of a schema and ontology are placed at the beginning of the scientific process which is then - using the electronic laboratory notebook framework Herbie - turned into a bespoke data collection platform to facilitate validation and semantic annotation of the metadata immediately during an experiment. Using the example of synchrotron radiation-based nano computed tomography measurements, we present a holistic approach which can capture the complex metadata of such research instruments in a flexible and straightforward manner. Different instrument setups of this beamline can be considered, allowing a user-friendly experience. We show how Herbie turns all semantic documents into an accessible user interface, where all data entered automatically fulfills all requirements of being FAIR, and present how data can be directly extracted via competency questions without requiring familiarity with the fine-grained structure of the knowledge graph.
An Investigation into Seasonal Variations in Energy Forecasting for Student Residences
Venue: arXiv cs.LG 2025
Year: 2025

This research provides an in-depth evaluation of various machine learning models for energy forecasting, focusing on the unique challenges of seasonal variations in student residential settings. The study assesses the performance of baseline models, such as LSTM and GRU, alongside state-of-the-art forecasting methods, including Autoregressive Feedforward Neural Networks, Transformers, and hybrid approaches. Special attention is given to predicting energy consumption amidst challenges like seasonal patterns, vacations, meteorological changes, and irregular human activities that cause sudden fluctuations in usage. The findings reveal that no single model consistently outperforms others across all seasons, emphasizing the need for season-specific model selection or tailored designs. Notably, the proposed Hyper Network based LSTM and MiniAutoEncXGBoost models exhibit strong adaptability to seasonal variations, effectively capturing abrupt changes in energy consumption during summer months. This study advances the energy forecasting field by emphasizing the critical role of seasonal dynamics and model-specific behavior in achieving accurate predictions.
Enhancing LLM's Ability to Generate More Repository-Aware Unit Tests Through Precise Contextual Information Injection
Venue: arXiv cs.SE 2025
Year: 2025

Though many learning-based approaches have been proposed for unit test generation and achieved remarkable performance, they still have limitations in relying on task-specific datasets. Recently, Large Language Models (LLMs) guided by prompt engineering have gained attention for their ability to handle a broad range of tasks, including unit test generation. Despite their success, LLMs may exhibit hallucinations when generating unit tests for focal methods or functions due to their lack of awareness regarding the project's global context. These hallucinations may manifest as calls to non-existent methods, as well as incorrect parameters or return values, such as mismatched parameter types or numbers. While many studies have explored the role of context, they often extract fixed patterns of context for different models and focal methods, which may not be suitable for all generation processes (e.g., excessive irrelevant context could lead to redundancy, preventing the model from focusing on essential information). To overcome this limitation, we propose RATester, which enhances the LLM's ability to generate more repository-aware unit tests through global contextual information injection. To equip LLMs with global knowledge similar to that of human testers, we integrate the language server gopls, which provides essential features (e.g., definition lookup) to assist the LLM. When RATester encounters an unfamiliar identifier (e.g., an unfamiliar struct name), it first leverages gopls to fetch relevant definitions and documentation comments, and then uses this global knowledge to guide the LLM. By utilizing gopls, RATester enriches the LLM's knowledge of the project's global context, thereby reducing hallucinations during unit test generation.
MVICAD2: Multi-View Independent Component Analysis with Delays and Dilations
Venue: arXiv cs.LG 2025
Year: 2025

Machine learning techniques in multi-view settings face significant challenges, particularly when integrating heterogeneous data, aligning feature spaces, and managing view-specific biases. These issues are prominent in neuroscience, where data from multiple subjects exposed to the same stimuli are analyzed to uncover brain activity dynamics. In magnetoencephalography (MEG), where signals are captured at the scalp level, estimating the brain's underlying sources is crucial, especially in group studies where sources are assumed to be similar for all subjects. Common methods, such as Multi-View Independent Component Analysis (MVICA), assume identical sources across subjects, but this assumption is often too restrictive due to individual variability and age-related changes. Multi-View Independent Component Analysis with Delays (MVICAD) addresses this by allowing sources to differ up to a temporal delay. However, temporal dilation effects, particularly in auditory stimuli, are common in brain dynamics, making the estimation of time delays alone insufficient. To address this, we propose Multi-View Independent Component Analysis with Delays and Dilations (MVICAD2), which allows sources to differ across subjects in both temporal delays and dilations. We present a model with identifiable sources, derive an approximation of its likelihood in closed form, and use regularization and optimization techniques to enhance performance. Through simulations, we demonstrate that MVICAD2 outperforms existing multi-view ICA methods. We further validate its effectiveness using the Cam-CAN dataset, and showing how delays and dilations are related to aging.