OpenRaiser/Intern-Atlas huggingface dataset:
Z-Merge: Multi-Agent Reinforcement Learning for On-Ramp Merging with Zone-Specific V2X Traffic Information
Venue: arXiv cs.RO 2025
Year: 2025

Ramp merging is a critical and challenging task for autonomous vehicles (AVs), particularly in mixed traffic environments with human-driven vehicles (HVs). Existing approaches typically rely on either lane-changing or inter-vehicle gap creation strategies based solely on local or neighboring information, often leading to suboptimal performance in terms of safety and traffic efficiency. In this paper, we present a V2X (vehicle-to-everything communication)-assisted Multiagent Reinforcement Learning (MARL) framework for on-ramp merging that effectively coordinates the complex interplay between lane-changing and inter-vehicle gap adaptation strategies by utilizing zone-specific global information available from a roadside unit (RSU). The merging control problem is formulated as a Multiagent Partially Observable Markov Decision Process (MA-POMDP), where agents leverage both local and global observations through V2X communication. To support both discrete and continuous control decisions, we design a hybrid action space and adopt a parameterized deep Q-learning approach. Extensive simulations, integrating the SUMO traffic simulator and the MOSAIC V2X simulator, demonstrate that our framework significantly improves merging success rate, traffic efficiency, and road safety across diverse traffic scenarios.
Structured Contrastive Learning for Interpretable Latent Representations
Venue: arXiv cs.LG 2025
Year: 2025

Neural networks exhibit severe brittleness to semantically irrelevant transformations. A mere 75ms electrocardiogram (ECG) phase shift degrades latent cosine similarity from 1.0 to 0.2, while sensor rotations collapse activity recognition performance with inertial measurement units (IMUs). We identify the root cause as "laissez-faire" representation learning, where latent spaces evolve unconstrained provided task performance is satisfied. We propose Structured Contrastive Learning (SCL), a framework that partitions latent space representations into three semantic groups: invariant features that remain consistent under given transformations (e.g., phase shifts or rotations), variant features that actively differentiate transformations via a novel variant mechanism, and free features that preserve task flexibility. This creates controllable push-pull dynamics where different latent dimensions serve distinct, interpretable purposes. The variant mechanism enhances contrastive learning by encouraging variant features to differentiate within positive pairs, enabling simultaneous robustness and interpretability. Our approach requires no architectural modifications and integrates seamlessly into existing training pipelines. Experiments on ECG phase invariance and IMU rotation robustness demonstrate superior performance: ECG similarity improves from 0.25 to 0.91 under phase shifts, while WISDM activity recognition achieves 86.65% accuracy with 95.38% rotation consistency, consistently outperforming traditional data augmentation. This work represents a paradigm shift from reactive data augmentation to proactive structural learning, enabling interpretable latent representations in neural networks.
An Alignment-Based Approach to Learning Motions from Demonstrations
Venue: arXiv cs.RO 2025
Year: 2025

Learning from Demonstration (LfD) has shown to provide robots with fundamental motion skills for a variety of domains. Various branches of LfD research (e.g., learned dynamical systems and movement primitives) can generally be classified into ''time-dependent'' or ''time-independent'' systems. Each provides fundamental benefits and drawbacks -- time-independent methods cannot learn overlapping trajectories, while time-dependence can result in undesirable behavior under perturbation. This paper introduces Cluster Alignment for Learned Motions (CALM), an LfD framework dependent upon an alignment with a representative ''mean" trajectory of demonstrated motions rather than pure time- or state-dependence. We discuss the convergence properties of CALM, introduce an alignment technique able to handle the shifts in alignment possible under perturbation, and utilize demonstration clustering to generate multi-modal behavior. We show how CALM mitigates the drawbacks of time-dependent and time-independent techniques on 2D datasets and implement our system on a 7-DoF robot learning tasks in three domains.
CoroAMU: Unleashing Memory-Driven Coroutines through Latency-Aware Decoupled Operations
Venue: arXiv cs.AR 2025
Year: 2025

Modern data-intensive applications face memory latency challenges exacerbated by disaggregated memory systems. Recent work shows that coroutines are promising in effectively interleaving tasks and hiding memory latency, but they struggle to balance latency-hiding efficiency with runtime overhead. We present CoroAMU, a hardware-software co-designed system for memory-centric coroutines. It introduces compiler procedures that optimize coroutine code generation, minimize context, and coalesce requests, paired with a simple interface. With hardware support of decoupled memory operations, we enhance the Asynchronous Memory Unit to further exploit dynamic coroutine schedulers by coroutine-specific memory operations and a novel memory-guided branch prediction mechanism. It is implemented with LLVM and open-source XiangShan RISC-V processor over the FPGA platform. Experiments demonstrate that the CoroAMU compiler achieves a 1.51x speedup over state-of-the-art coroutine methods on Intel server processors. When combined with optimized hardware of decoupled memory access, it delivers 3.39x and 4.87x average performance improvements over the baseline processor on FPGA-emulated disaggregated systems under 200ns and 800ns latency respectively.
Computing Power Indices in Weighted Majority Games with Formal Power Series
Venue: arXiv cs.GT 2025
Year: 2025

In this paper, we propose fast pseudo-polynomial-time algorithms for computing power indices in weighted majority games. We show that we can compute the Banzhaf index for all players in $O(n+q\log (q))$ time, where $n$ is the number of players and $q$ is a given quota. Moreover, we prove that the Shapley--Shubik index for all players can be computed in $O(nq\log (q))$ time. Our algorithms are faster than existing algorithms when $q=2^{o(n)}$. Our algorithms exploit efficient computation techniques for formal power series.
Simulated Human Learning in a Dynamic, Partially-Observed, Time-Series Environment
Venue: arXiv cs.LG 2025
Year: 2025

While intelligent tutoring systems (ITSs) can use information from past students to personalize instruction, each new student is unique. Moreover, the education problem is inherently difficult because the learning process is only partially observable. We therefore develop a dynamic, time-series environment to simulate a classroom setting, with student-teacher interventions - including tutoring sessions, lectures, and exams. In particular, we design the simulated environment to allow for varying levels of probing interventions that can gather more information. Then, we develop reinforcement learning ITSs that combine learning the individual state of students while pulling from population information through the use of probing interventions. These interventions can reduce the difficulty of student estimation, but also introduce a cost-benefit decision to find a balance between probing enough to get accurate estimates and probing so often that it becomes disruptive to the student. We compare the efficacy of standard RL algorithms with several greedy rules-based heuristic approaches to find that they provide different solutions, but with similar results. We also highlight the difficulty of the problem with increasing levels of hidden information, and the boost that we get if we allow for probing interventions. We show the flexibility of both heuristic and RL policies with regards to changing student population distributions, finding that both are flexible, but RL policies struggle to help harder classes. Finally, we test different course structures with non-probing policies and we find that our policies are able to boost the performance of quiz and midterm structures more than we can in a finals-only structure, highlighting the benefit of having additional information.
Towards Classifying Benign And Malicious Packages Using Machine Learning
Venue: arXiv cs.CR 2025
Year: 2025

Recently, the number of malicious open-source packages in package repositories has been increasing dramatically. While major security scanners focus on identifying known Common Vulnerabilities and Exposures (CVEs) in open-source packages, there are very few studies on detecting malicious packages. Malicious open-source package detection typically requires static, dynamic analysis, or both. Dynamic analysis is more effective as it can expose a package's behaviors at runtime. However, current dynamic analysis tools (e.g., ossf's package-analysis) lack an automatic method to differentiate malicious packages from benign packages. In this paper, we propose an approach to extract the features from dynamic analysis (e.g., executed commands) and leverage machine learning techniques to automatically classify packages as benign or malicious. Our evaluation of nearly 2000 packages on npm shows that the machine learning classifier achieves an AUC of 0.91 with a false positive rate of nearly 0%.
Hyperspectral Super-Resolution with Inter-Image Variability via Degradation-based Low-Rank and Residual Fusion Method
Venue: arXiv cs.CV 2025
Year: 2025

The fusion of hyperspectral image (HSI) with multispectral image (MSI) provides an effective way to enhance the spatial resolution of HSI. However, due to different acquisition conditions, there may exist spectral variability and spatially localized changes between HSI and MSI, referred to as inter-image variability, which can significantly affect the fusion performance. Existing methods typically handle inter-image variability by applying direct transformations to the images themselves, which can exacerbate the ill-posedness of the fusion model. To address this challenge, we propose a Degradation-based Low-Rank and Residual Fusion (DLRRF) model. First, we model the spectral variability as change in the spectral degradation operator. Second, to recover the lost spatial details caused by spatially localized changes, we decompose the target HSI into low rank and residual components, where the latter is used to capture the lost details. By exploiting the spectral correlation within the images, we perform dimensionality reduction on both components. Additionally, we introduce an implicit regularizer to utilize the spatial prior information from the images. The proposed DLRRF model is solved using the Proximal Alternating Optimization (PAO) algorithm within a Plug-and-Play (PnP) framework, where the subproblem regarding implicit regularizer is addressed by an external denoiser. We further provide a comprehensive convergence analysis of the algorithm. Finally, extensive numerical experiments demonstrate that DLRRF achieves superior performance in fusing HSI and MSI with inter-image variability.
Evaluating Multimodal Large Language Models on Vertically Written Japanese Text
Venue: arXiv cs.CV 2025
Year: 2025

Multimodal Large Language Models (MLLMs) have seen rapid advances in recent years and are now being applied to visual document understanding tasks. They are expected to process a wide range of document images across languages, including Japanese. Understanding documents from images requires models to read what are written in them. Since some Japanese documents are written vertically, support for vertical writing is essential. However, research specifically focused on vertically written Japanese text remains limited. In this study, we evaluate the reading capability of existing MLLMs on vertically written Japanese text. First, we generate a synthetic Japanese OCR dataset by rendering Japanese texts into images, and use it for both model fine-tuning and evaluation. This dataset includes Japanese text in both horizontal and vertical writing. We also create an evaluation dataset sourced from the real-world document images containing vertically written Japanese text. Using these datasets, we demonstrate that the existing MLLMs perform worse on vertically written Japanese text than on horizontally written Japanese text. Furthermore, we show that training MLLMs on our synthesized Japanese OCR dataset results in improving the performance of models that previously could not handle vertical writing. The datasets and code are publicly available https://github.com/llm-jp/eval_vertical_ja.
Interpretable temporal fusion network of multi- and multi-class arrhythmia classification
Venue: arXiv cs.LG 2025
Year: 2025

Clinical decision support systems (CDSSs) have been widely utilized to support the decisions made by cardiologists when detecting and classifying arrhythmia from electrocardiograms. However, forming a CDSS for the arrhythmia classification task is challenging due to the varying lengths of arrhythmias. Although the onset time of arrhythmia varies, previously developed methods have not considered such conditions. Thus, we propose a framework that consists of (i) local and global extraction and (ii) local-global information fusion with attention to enable arrhythmia detection and classification within a constrained input length. The framework's performance was evaluated in terms of 10-class and 4-class arrhythmia detection, focusing on identifying the onset and ending point of arrhythmia episodes and their duration using the MIT-BIH arrhythmia database (MITDB) and the MIT-BIH atrial fibrillation database (AFDB). Duration, episode, and Dice score performances resulted in overall F1-scores of 96.45%, 82.05%, and 96.31% on the MITDB and 97.57%, 98.31%, and 97.45% on the AFDB, respectively. The results demonstrated statistically superior performance compared to those of the benchmark models. To assess the generalization capability of the proposed method, an MITDB-trained model and MIT-BIH malignant ventricular arrhythmia database-trained model were tested AFDB and MITDB, respectively. Superior performance was attained compared with that of a state-of-the-art model. The proposed method effectively captures both local and global information and dynamics without significant information loss. Consequently, arrhythmias can be detected with greater accuracy, and their occurrence times can be precisely determined, enabling the clinical field to develop more accurate treatment plans based on the proposed method.
Cement2: Temporal Hardware Transactions for High-Level and Efficient FPGA Programming
Venue: arXiv cs.PL 2025
Year: 2025

Hardware design faces a fundamental challenge: raising abstraction to improve productivity while maintaining control over low-level details like cycle accuracy. Traditional RTL design in languages like SystemVerilog composes modules through wiring-style connections that provide weak guarantees for behavioral correctness. While high-level synthesis (HLS) and emerging abstractions attempt to address this, they either introduce unpredictable overhead or restrict design generality. Although transactional HDLs provide a promising foundation by lifting design abstraction to atomic and composable rules, they solely model intra-cycle behavior and do not reflect the native temporal design characteristics, hindering applicability and productivity for FPGA programming scenarios. We propose temporal hardware transactions, a new abstraction that brings cycle-level timing awareness to designers at the transactional language level. Our approach models temporal relationships between rules and supports the description of rules whose actions span multiple clock cycles, providing intuitive abstraction to describe multi-cycle architectural behavior. We implement this in Cement2, a transactional HDL embedded in Rust, enabling programming hardware constructors to build both intra-cycle and temporal transactions. Cement2's synthesis framework lowers description abstraction through multiple analysis and optimization phases, generating efficient hardware. With Cement2's abstraction, we program a RISC-V soft-core processor, custom CPU instructions, linear algebra kernels, and systolic array accelerators, leveraging the high-level abstraction for boosted productivity. Evaluation shows that Cement2 does not sacrifice performance and resources compared to hand-coded RTL designs, demonstrating the high applicability for general FPGA design tasks.
Jointly Conditioned Diffusion Model for Multi-View Pose-Guided Person Image Synthesis
Venue: arXiv cs.CV 2025
Year: 2025

Pose-guided human image generation is limited by incomplete textures from single reference views and the absence of explicit cross-view interaction. We present jointly conditioned diffusion model (JCDM), a jointly conditioned diffusion framework that exploits multi-view priors. The appearance prior module (APM) infers a holistic identity preserving prior from incomplete references, and the joint conditional injection (JCI) mechanism fuses multi-view cues and injects shared conditioning into the denoising backbone to align identity, color, and texture across poses. JCDM supports a variable number of reference views and integrates with standard diffusion backbones with minimal and targeted architectural modifications. Experiments demonstrate state of the art fidelity and cross-view consistency.
Painted Heart Beats
Venue: arXiv cs.RO 2025
Year: 2025

In this work we present AURA, a framework for synergistic human-artist painting. We developed a robot arm that collaboratively paints with a human artist. The robot has an awareness of the artist's heartbeat through the EmotiBit sensor, which provides the arousal levels of the painter. Given the heartbeat detected, the robot decides to increase proximity to the artist's workspace or retract. If a higher heartbeat is detected, which is associated with increased arousal in human artists, the robot will move away from that area of the canvas. If the artist's heart rate is detected as neutral, indicating the human artist's baseline state, the robot will continue its painting actions across the entire canvas. We also demonstrate and propose alternative robot-artist interactions using natural language and physical touch. This work combines the biometrics of a human artist to inform fluent artistic interactions.
An Event-triggered System for Social Persuasion and Danger Alert in Elder Home Monitoring
Venue: arXiv cs.CV 2025
Year: 2025

In the study, the physical state and mental state of elders are both considered, and an event-triggered system has developed to detect events: watch dog, danger notice and photo link. By adopting GMM background modeling, the motion behavior of visitors and elders can be detected in the watch dog event and danger notice event respectively. Experiments set in home scenarios and 5 families participated in the experiments for detecting and recording three types of events from their life activities. In addition, the captured images were analyzed using SVM machine learning. For lack of technical experiences of elders, an intuitive operation as normal life activity was designed to create communication between elder and relatives via social media.
SceneEdited: A City-Scale Benchmark for 3D HD Map Updating via Image-Guided Change Detection
Venue: arXiv cs.CV 2025
Year: 2025

Accurate, up-to-date High-Definition (HD) maps are critical for urban planning, infrastructure monitoring, and autonomous navigation. However, these maps quickly become outdated as environments evolve, creating a need for robust methods that not only detect changes but also incorporate them into updated 3D representations. While change detection techniques have advanced significantly, there remains a clear gap between detecting changes and actually updating 3D maps, particularly when relying on 2D image-based change detection. To address this gap, we introduce SceneEdited, the first city-scale dataset explicitly designed to support research on HD map maintenance through 3D point cloud updating. SceneEdited contains over 800 up-to-date scenes covering 73 km of driving and approximate 3 $\text{km}^2$ of urban area, with more than 23,000 synthesized object changes created both manually and automatically across 2000+ out-of-date versions, simulating realistic urban modifications such as missing roadside infrastructure, buildings, overpasses, and utility poles. Each scene includes calibrated RGB images, LiDAR scans, and detailed change masks for training and evaluation. We also provide baseline methods using a foundational image-based structure-from-motion pipeline for updating outdated scenes, as well as a comprehensive toolkit supporting scalability, trackability, and portability for future dataset expansion and unification of out-of-date object annotations. Both the dataset and the toolkit are publicly available at https://github.com/ChadLin9596/ScenePoint-ETK, establising a standardized benchmark for 3D map updating research.
Can MLLMs Detect Phishing? A Comprehensive Security Benchmark Suite Focusing on Dynamic Threats and Multimodal Evaluation in Academic Environments
Venue: arXiv cs.CR 2025
Year: 2025

The rapid proliferation of Multimodal Large Language Models (MLLMs) has introduced unprecedented security challenges, particularly in phishing detection within academic environments. Academic institutions and researchers are high-value targets, facing dynamic, multilingual, and context-dependent threats that leverage research backgrounds, academic collaborations, and personal information to craft highly tailored attacks. Existing security benchmarks largely rely on datasets that do not incorporate specific academic background information, making them inadequate for capturing the evolving attack patterns and human-centric vulnerability factors specific to academia. To address this gap, we present AdapT-Bench, a unified methodological framework and benchmark suite for systematically evaluating MLLM defense capabilities against dynamic phishing attacks in academic settings.
Learning Where, What and How to Transfer: A Multi-Role Reinforcement Learning Approach for Evolutionary Multitasking
Venue: arXiv cs.NE 2025
Year: 2025

Evolutionary multitasking (EMT) algorithms typically require tailored designs for knowledge transfer, in order to assure convergence and optimality in multitask optimization. In this paper, we explore designing a systematic and generalizable knowledge transfer policy through Reinforcement Learning. We first identify three major challenges: determining the task to transfer (where), the knowledge to be transferred (what) and the mechanism for the transfer (how). To address these challenges, we formulate a multi-role RL system where three (groups of) policy networks act as specialized agents: a task routing agent incorporates an attention-based similarity recognition module to determine source-target transfer pairs via attention scores; a knowledge control agent determines the proportion of elite solutions to transfer; and a group of strategy adaptation agents control transfer strength by dynamically controlling hyper-parameters in the underlying EMT framework. Through pre-training all network modules end-to-end over an augmented multitask problem distribution, a generalizable meta-policy is obtained. Comprehensive validation experiments show state-of-the-art performance of our method against representative baselines. Further in-depth analysis not only reveals the rationale behind our proposal but also provide insightful interpretations on what the system have learned.