OpenRaiser/Intern-Atlas huggingface dataset:
Towards Data-Driven Metrics for Social Robot Navigation Benchmarking
Venue: arXiv cs.RO 2025
Year: 2025

This paper presents a joint effort towards the development of a data-driven Social Robot Navigation metric to facilitate benchmarking and policy optimization for ground robots. We compiled a dataset with 4427 trajectories -- 182 real and 4245 simulated -- and presented it to human raters, yielding a total of 4402 rated trajectories after data quality assurance. Notably, we provide the first all-encompassing learned social robot navigation metric, along qualitative and quantitative results, including the test loss achieved, a comparison against hand-crafted metrics, and an ablation study. All data, software, and model weights are publicly available.
Practical and Private Hybrid ML Inference with Fully Homomorphic Encryption
Venue: arXiv cs.CR 2025
Year: 2025

In contemporary cloud-based services, protecting users' sensitive data and ensuring the confidentiality of the server's model are critical. Fully homomorphic encryption (FHE) enables inference directly on encrypted inputs, but its practicality is hindered by expensive bootstrapping and inefficient approximations of non-linear activations. We introduce Safhire, a hybrid inference framework that executes linear layers under encryption on the server while offloading non-linearities to the client in plaintext. This design eliminates bootstrapping, supports exact activations, and significantly reduces computation. To safeguard model confidentiality despite client access to intermediate outputs, Safhire applies randomized shuffling, which obfuscates intermediate values and makes it practically impossible to reconstruct the model. To further reduce latency, Safhire incorporates advanced optimizations such as fast ciphertext packing and partial extraction. Evaluations on multiple standard models and datasets show that Safhire achieves 1.5X - 10.5X lower inference latency than Orion, a state-of-the-art baseline, with manageable communication overhead and comparable accuracy, thereby establishing the practicality of hybrid FHE inference.
A continuum multi-species biofilm model with a novel interaction scheme
Venue: arXiv cs.CE 2025
Year: 2025

Biofilms are complex structures which are inhabited by numerous amount of different species of microorganisms. Due to their ubiquity, they influence human life on an everyday basis. It is therefore important to understand the interactions between different biofilm components and reactions to outside conditions. For this purpose, mathematical models and in silico experiments have proven themselves to be fundamental. In combination with in vitro and in vivo experiments, they can give more insights and focus researchers' attention, reducing costs in the process. In this work, a comprehensive multi-species continuum-based biofilm model is presented. This model is capable of replicating a variety of different biofilm interactions with an arbitrary number of species, while still being comprehensive to encourage usage by researchers less familiar with mathematical modeling. In addition to a nutrient source, antibiotic agents and their effect on the biofilm can also be depicted. The model is derived using Hamilton's principle of stationary action, ensuring thermodynamic consistency automatically. The results show good quantitative agreement with biofilm behavior.
A Real-time Data Collection Approach for 6G AI-native Networks
Venue: arXiv cs.NI 2025
Year: 2025

During the development of the Sixth Generation (6G) networks, the integration of Artificial Intelligence (AI) into network systems has become a focal point, leading to the concept of AI-native networks. High quality data is essential for developing such networks. Although some studies have explored data collection and analysis in 6G networks, significant challenges remain, particularly in real-time data acquisition and processing. This paper proposes a comprehensive data collection method that operates in parallel with bitstream processing for wireless communication networks. By deploying data probes, the system captures real-time network and system status data in software-defined wireless communication networks. Furthermore, a data support system is implemented to integrate heterogeneous data and provide automatic support for AI model training and decision making. Finally, a 6G communication testbed using OpenAirInterface5G and Open5GS is built on Kubernetes, as well as the system's functionality is demonstrated via a network traffic prediction case study.
Communicative Agents for Slideshow Storytelling Video Generation based on LLMs
Venue: arXiv cs.AI 2025
Year: 2025

With the rapid advancement of artificial intelligence (AI), the proliferation of AI-generated content (AIGC) tasks has significantly accelerated developments in text-to-video generation. As a result, the field of video production is undergoing a transformative shift. However, conventional text-to-video models are typically constrained by high computational costs. In this study, we propose Video-Generation-Team (VGTeam), a novel slide show video generation system designed to redefine the video creation pipeline through the integration of large language models (LLMs). VGTeam is composed of a suite of communicative agents, each responsible for a distinct aspect of video generation, such as scriptwriting, scene creation, and audio design. These agents operate collaboratively within a chat tower workflow, transforming user-provided textual prompts into coherent, slide-style narrative videos. By emulating the sequential stages of traditional video production, VGTeam achieves remarkable improvements in both efficiency and scalability, while substantially reducing computational overhead. On average, the system generates videos at a cost of only $0.103, with a successful generation rate of 98.4%. Importantly, this framework maintains a high degree of creative fidelity and customization. The implications of VGTeam are far-reaching. It democratizes video production by enabling broader access to high-quality content creation without the need for extensive resources. Furthermore, it highlights the transformative potential of language models in creative domains and positions VGTeam as a pioneering system for next-generation content creation.
Equivariant U-Shaped Neural Operators for the Cahn-Hilliard Phase-Field Model
Venue: arXiv cs.LG 2025
Year: 2025

Phase separation in binary mixtures, governed by the Cahn-Hilliard equation, plays a central role in interfacial dynamics across materials science and soft matter. While numerical solvers are accurate, they are often computationally expensive and lack flexibility across varying initial conditions and geometries. Neural operators provide a data-driven alternative by learning solution operators between function spaces, but current architectures often fail to capture multiscale behavior and neglect underlying physical symmetries. Here we show that an equivariant U-shaped neural operator (E-UNO) can learn the evolution of the phase-field variable from short histories of past dynamics, achieving accurate predictions across space and time. The model combines global spectral convolution with a multi-resolution U-shaped architecture and regulates translation equivariance to align with the underlying physics. E-UNO outperforms standard Fourier neural operator and U-shaped neural operator baselines, particularly on fine-scale and high-frequency structures. By encoding symmetry and scale hierarchy, the model generalizes better, requires less training data, and yields physically consistent dynamics. This establishes E-UNO as an efficient surrogate for complex phase-field systems.
Cross-Domain Few-Shot Segmentation via Ordinary Differential Equations over Time Intervals
Venue: arXiv cs.CV 2025
Year: 2025

Cross-domain few-shot segmentation (CD-FSS) not only enables the segmentation of unseen categories with very limited samples, but also improves cross-domain generalization ability within the few-shot segmentation framework. Currently, existing CD-FSS studies typically design multiple independent modules to enhance the cross-domain generalization ability of feature representations. However, the independence among these modules hinders the effective flow of knowledge, making it difficult to fully leverage their collective potential. In contrast, this paper proposes an all-in-one module based on ordinary differential equations and Fourier transform, resulting in a structurally concise method--Few-Shot Segmentation over Time Intervals (FSS-TIs). FSS-TIs assumes the existence of an ODE relationship between the spectra (including amplitude and phase spectra) of domain-specific features and domain-agnostic features. This ODE formulation yields an iterative transformation process along a sequence of time intervals, while simultaneously applying affine transformations with randomized perturbations to the spectra. In doing so, the exploration of domain-agnostic feature representation spaces and the simulation of diverse potential target-domain distributions are reformulated as an optimization process over the intrinsic parameters of the ODE. Moreover, we strictly constrain the support-sample selection during target-domain fine-tuning so that it is consistent with the requirements of real-world few-shot segmentation tasks. For evaluation, we introduce five datasets from substantially different domains and define two sets of cross-domain few-shot segmentation tasks to comprehensively analyze the performance of FSS-TIs. Experimental results demonstrate the superiority of FSS-TIs over existing CD-FSS methods, and in-depth ablation studies further validate the cross-domain adaptability of FSS-TIs.
TableZoomer: A Collaborative Agent Framework for Large-scale Table Question Answering
Venue: arXiv cs.CL 2025
Year: 2025

While large language models (LLMs) have shown promise in the table question answering (TQA) task through prompt engineering, they face challenges in industrial applications, including structural heterogeneity, difficulties in target data localization, and bottlenecks in complex reasoning. To address these limitations, this paper presents TableZoomer, a novel LLM-powered, programming-based agent framework. It introduces three key innovations: (1) replacing the original fully verbalized table with structured table schema to bridge the semantic gap and reduce computational complexity; (2) a query-aware table zooming mechanism that dynamically generates sub-table schema through column selection and entity linking, significantly improving target localization efficiency; and (3) a Program-of-Thoughts (PoT) strategy that transforms queries into executable code to mitigate numerical hallucination. Additionally, we integrate the reasoning workflow with the ReAct paradigm to enable iterative reasoning. Extensive experiments demonstrate that our framework maintains the usability advantages while substantially enhancing performance and scalability across tables of varying scales. When implemented with the Qwen3-8B-Instruct LLM, TableZoomer achieves accuracy improvements of 19.34% and 25% over conventional PoT methods on the large-scale DataBench dataset and the small-scale Fact Checking task of TableBench dataset, respectively.
Can Smaller LLMs do better? Unlocking Cross-Domain Potential through Parameter-Efficient Fine-Tuning for Text Summarization
Venue: arXiv cs.CL 2025
Year: 2025

Large Language Models (LLMs), being generic task solvers, are versatile. However, despite the vast amount of data they are trained on, there are speculations about their adaptation capabilities to a new domain. Additionally, the simple fine-tuning of the model to incorporate knowledge of a new domain is computationally expensive and time-consuming. This becomes more challenging when the domain in question is also low-resource, and labeled data is unavailable. We leverage parameter-efficient fine-tuning techniques (PEFTs) on high-resource datasets to address these challenges to improve performance on unseen low-resource domains. Throughout our experiments, we evaluate whether intrinsic linguistic commonalities between datasets can be leveraged for efficient domain adaptation. We benchmark six PEFTs with \texttt{Llama-3-8B-Instruct} on 14 training datasets from the Scientific, Medical, Legal, and News domains for a Text Summarization task. Our experiments show that for low-resource domains, inference using Within-Domain Adapters can achieve better performance than Few-Shot as well as a much larger \texttt{Llama-3-70B-Instruct}. Lastly, in the absence of Within-Domain Adapters, we explore the concept of using Cross-Domain Adapters as well as the strategic combinations of adapters to leverage intrinsic language similarities across domains, facilitating better adaptability and performance in low-resource settings.
Towards High Data Efficiency in Reinforcement Learning with Verifiable Reward
Venue: arXiv cs.LG 2025
Year: 2025

Recent advances in large reasoning models have leveraged reinforcement learning with verifiable rewards (RLVR) to improve reasoning capabilities. However, scaling these methods typically requires extensive rollout computation and large datasets, leading to high training costs and low data efficiency. To mitigate this issue, we propose DEPO, a Data-Efficient Policy Optimization pipeline that combines optimized strategies for both offline and online data selection. In the offline phase, we curate a high-quality subset of training samples based on diversity, influence, and appropriate difficulty. During online RLVR training, we introduce a sample-level explorability metric to dynamically filter samples with low exploration potential, thereby reducing substantial rollout computational costs. Furthermore, we incorporate a replay mechanism for under-explored samples to ensure adequate training, which enhances the model's final convergence performance. Experiments across five reasoning benchmarks show that DEPO consistently outperforms existing methods in both offline and online data selection scenarios. Notably, using only 20% of the training data, our approach achieves a 1.85 times speed-up on AIME24 and a 1.66 times speed-up on AIME25 compared to GRPO trained on the full dataset.
Image Quality Enhancement and Detection of Small and Dense Objects in Industrial Recycling Processes
Venue: arXiv cs.CV 2025
Year: 2025

This paper tackles two key challenges: detecting small, dense, and overlapping objects (a major hurdle in computer vision) and improving the quality of noisy images, especially those encountered in industrial environments. [1, 2]. Our focus is on evaluating methods built on supervised deep learning. We perform an analysis of these methods, using a newly developed dataset comprising over 10k images and 120k instances. By evaluating their performance, accuracy, and computational efficiency, we identify the most reliable detection systems and highlight the specific challenges they address in industrial applications. This paper also examines the use of deep learning models to improve image quality in noisy industrial environments. We introduce a lightweight model based on a fully connected convolutional network. Additionally, we suggest potential future directions for further enhancing the effectiveness of the model. The repository of the dataset and proposed model can be found at: https://github.com/o-messai/SDOOD, https://github.com/o-messai/DDSRNet
Conformal Predictive Monitoring for Multi-Modal Scenarios
Venue: arXiv cs.AI 2025
Year: 2025

We consider the problem of quantitative predictive monitoring (QPM) of stochastic systems, i.e., predicting at runtime the degree of satisfaction of a desired temporal logic property from the current state of the system. Since computational efficiency is key to enable timely intervention against predicted violations, several state-of-the-art QPM approaches rely on fast machine-learning surrogates to provide prediction intervals for the satisfaction values, using conformal inference to offer statistical guarantees. However, these QPM methods suffer when the monitored agent exhibits multi-modal dynamics, whereby certain modes may yield high satisfaction values while others critically violate the property. Existing QPM methods are mode-agnostic and so would yield overly conservative and uninformative intervals that lack meaningful mode-specific satisfaction information. To address this problem, we present GenQPM, a method that leverages deep generative models, specifically score-based diffusion models, to reliably approximate the probabilistic and multi-modal system dynamics without requiring explicit model access. GenQPM employs a mode classifier to partition the predicted trajectories by dynamical mode. For each mode, we then apply conformal inference to produce statistically valid, mode-specific prediction intervals. We demonstrate the effectiveness of GenQPM on a benchmark of agent navigation and autonomous driving tasks, resulting in prediction intervals that are significantly more informative (less conservative) than mode-agnostic baselines.
Uirapuru: Timely Video Analytics for High-Resolution Steerable Cameras on Edge Devices
Venue: arXiv cs.CV 2025
Year: 2025

Real-time video analytics on high-resolution cameras has become a popular technology for various intelligent services like traffic control and crowd monitoring. While extensive work has been done on improving analytics accuracy with timing guarantees, virtually all of them target static viewpoint cameras. In this paper, we present Uirapuru, a novel framework for real-time, edge-based video analytics on high-resolution steerable cameras. The actuation performed by those cameras brings significant dynamism to the scene, presenting a critical challenge to existing popular approaches such as frame tiling. To address this problem, Uirapuru incorporates a comprehensive understanding of camera actuation into the system design paired with fast adaptive tiling at a per-frame level. We evaluate Uirapuru on a high-resolution video dataset, augmented by pan-tilt-zoom (PTZ) movements typical for steerable cameras and on real-world videos collected from an actual PTZ camera. Our experimental results show that Uirapuru provides up to 1.45x improvement in accuracy while respecting specified latency budgets or reaches up to 4.53x inference speedup with on-par accuracy compared to state-of-the-art static camera approaches.
Unsupervised Ultra-High-Resolution UAV Low-Light Image Enhancement: A Benchmark, Metric and Framework
Venue: arXiv cs.CV 2025
Year: 2025

Low light conditions significantly degrade Unmanned Aerial Vehicles (UAVs) performance in critical applications. Existing Low-light Image Enhancement (LIE) methods struggle with the unique challenges of aerial imagery, including Ultra-High Resolution (UHR), lack of paired data, severe non-uniform illumination, and deployment constraints. To address these issues, we propose three key contributions. First, we present U3D, the first unsupervised UHR UAV dataset for LIE, with a unified evaluation toolkit. Second, we introduce the Edge Efficiency Index (EEI), a novel metric balancing perceptual quality with key deployment factors: speed, resolution, model complexity, and memory footprint. Third, we develop U3LIE, an efficient framework with two training-only designs-Adaptive Pre-enhancement Augmentation (APA) for input normalization and a Luminance Interval Loss (L_int) for exposure control. U3LIE achieves SOTA results, processing 4K images at 23.8 FPS on a single GPU, making it ideal for real-time on-board deployment. In summary, these contributions provide a holistic solution (dataset, metric, and method) for advancing robust 24/7 UAV vision. The code and datasets are available at https://github.com/lwCVer/U3D_Toolkit.
Evaluating the stability of model explanations in instance-dependent cost-sensitive credit scoring
Venue: arXiv cs.LG 2025
Year: 2025

Instance-dependent cost-sensitive (IDCS) classifiers offer a promising approach to improving cost-efficiency in credit scoring by tailoring loss functions to instance-specific costs. However, the impact of such loss functions on the stability of model explanations remains unexplored in literature, despite increasing regulatory demands for transparency. This study addresses this gap by evaluating the stability of Local Interpretable Model-agnostic Explanations (LIME) and SHapley Additive exPlanations (SHAP) when applied to IDCS models. Using four publicly available credit scoring datasets, we first assess the discriminatory power and cost-efficiency of IDCS classifiers, introducing a novel metric to enhance cross-dataset comparability. We then investigate the stability of SHAP and LIME feature importance rankings under varying degrees of class imbalance through controlled resampling. Our results reveal that while IDCS classifiers improve cost-efficiency, they produce significantly less stable explanations compared to traditional models, particularly as class imbalance increases, highlighting a critical trade-off between cost optimization and interpretability in credit scoring. Amid increasing regulatory scrutiny on explainability, this research underscores the pressing need to address stability issues in IDCS classifiers to ensure that their cost advantages are not undermined by unstable or untrustworthy explanations.
AttenTrack: Mobile User Attention Awareness Based on Context and External Distractions
Venue: arXiv cs.HC 2025
Year: 2025

In the mobile internet era, managing limited attention amid information overload is crucial for enhancing collaboration and information delivery. However, current attention-aware systems often depend on wearables or personalized data, limiting their scalability and cross-context adaptability. Inspired by psychological theories, we attempt to treat mobile notifications as naturally occurring external distractions and infer users' attention states based on their response behaviors and contextual information. Our goal is to build an attention-aware model that does not rely on personalized historical data or complex subjective input, while ensuring strong cold-start capability and cross-context adaptability. To this end, We design a field study framework integrating subjective and objective data, closely aligned with real-world external distractions (i.e., mobile notifications). Through field studies, we construct a fine-grained and interpretable dataset centered on the relationship among current context - external distractions - subjective attention. Through our field studies, we conduct an in-depth analysis of the relationships among users' response behaviors, response motivations, contextual information, and attention states. Building on our findings, we propose AttenTrack, a lightweight, privacy-friendly attention awareness model with strong cold-start capability. The model relies solely on non-privacy-sensitive objective data available on mobile devices, and can be applied to a variety of attention management tasks. In addition, we will publicly release the constructed dataset to support future research and advance the field of mobile attention awareness.