OpenRaiser/Intern-Atlas huggingface dataset:
Tempo: Helping Data Scientists and Domain Experts Collaboratively Specify Predictive Modeling Tasks
Venue: arXiv cs.HC 2025
Year: 2025

Temporal predictive models have the potential to improve decisions in health care, public services, and other domains, yet they often fail to effectively support decision-makers. Prior literature shows that many misalignments between model behavior and decision-makers' expectations stem from issues of model specification, namely how, when, and for whom predictions are made. However, model specifications for predictive tasks are highly technical and difficult for non-data-scientist stakeholders to interpret and critique. To address this challenge we developed Tempo, an interactive system that helps data scientists and domain experts collaboratively iterate on model specifications. Using Tempo's simple yet precise temporal query language, data scientists can quickly prototype specifications with greater transparency about pre-processing choices. Moreover, domain experts can assess performance within data subgroups to validate that models behave as expected. Through three case studies, we demonstrate how Tempo helps multidisciplinary teams quickly prune infeasible specifications and identify more promising directions to explore.
VisiMark: Characterizing and Augmenting Landmarks for People with Low Vision in Augmented Reality to Support Indoor Navigation
Venue: arXiv cs.HC 2025
Year: 2025

Landmarks are critical in navigation, supporting self-orientation and mental model development. Similar to sighted people, people with low vision (PLV) frequently look for landmarks via visual cues but face difficulties identifying some important landmarks due to vision loss. We first conducted a formative study with six PLV to characterize their challenges and strategies in landmark selection, identifying their unique landmark categories (e.g., area silhouettes, accessibility-related objects) and preferred landmark augmentations. We then designed VisiMark, an AR interface that supports landmark perception for PLV by providing both overviews of space structures and in-situ landmark augmentations. We evaluated VisiMark with 16 PLV and found that VisiMark enabled PLV to perceive landmarks they preferred but could not easily perceive before, and changed PLV's landmark selection from only visually-salient objects to cognitive landmarks that are more important and meaningful. We further derive design considerations for AR-based landmark augmentation systems for PLV.
Observer-Aware Probabilistic Planning Under Partial Observability
Venue: arXiv cs.AI 2025
Year: 2025

In this article, we are interested in planning problems where the agent is aware of the presence of an observer, and where this observer is in a partial observability situation. The agent has to choose its strategy so as to optimize the information transmitted by observations. Building on observer-aware Markov decision processes (OAMDPs), we propose a framework to handle this type of problems and thus formalize properties such as legibility, explicability and predictability. This extension of OAMDPs to partial observability can not only handle more realistic problems, but also permits considering dynamic hidden variables of interest. These dynamic target variables allow, for instance, working with predictability, or with legibility problems where the goal might change during execution. We discuss theoretical properties of PO-OAMDPs and, experimenting with benchmark problems, we analyze HSVI's convergence behavior with dedicated initializations and study the resulting strategies.
Prediction uncertainty-aware planning using deep ensembles and trajectory optimisation
Venue: arXiv cs.RO 2025
Year: 2025

Human motion is stochastic and ensuring safe robot navigation in a pedestrian-rich environment requires proactive decision-making. Past research relied on incorporating deterministic future states of surrounding pedestrians which can be overconfident leading to unsafe robot behaviour. The current paper proposes a predictive uncertainty-aware planner that integrates neural network based probabilistic trajectory prediction into planning. Our method uses a deep ensemble based network for probabilistic forecasting of surrounding humans and integrates the predictive uncertainty as constraints into the planner. We compare numerous constraint satisfaction methods on the planner and evaluated its performance on real world pedestrian datasets. Further, offline robot navigation was carried out on out-of-distribution pedestrian trajectories inside a narrow corridor
Federated Learning-Driven Cybersecurity Framework for IoT Networks with Privacy-Preserving and Real-Time Threat Detection Capabilities
Venue: arXiv cs.CR 2025
Year: 2025

The rapid expansion of the Internet of Things (IoT) ecosystem has transformed various sectors but has also introduced significant cybersecurity challenges. Traditional centralized security methods often struggle to balance privacy preservation and real-time threat detection in IoT networks. To address these issues, this study proposes a Federated Learning-Driven Cybersecurity Framework designed specifically for IoT environments. The framework enables decentralized data processing by training models locally on edge devices, ensuring data privacy. Secure aggregation of these locally trained models is achieved using homomorphic encryption, allowing collaborative learning without exposing sensitive information. The proposed framework utilizes recurrent neural networks (RNNs) for anomaly detection, optimized for resource-constrained IoT networks. Experimental results demonstrate that the system effectively detects complex cyber threats, including distributed denial-of-service (DDoS) attacks, with over 98% accuracy. Additionally, it improves energy efficiency by reducing resource consumption by 20% compared to centralized approaches. This research addresses critical gaps in IoT cybersecurity by integrating federated learning with advanced threat detection techniques. The framework offers a scalable and privacy-preserving solution adaptable to various IoT applications. Future work will explore the integration of blockchain for transparent model aggregation and quantum-resistant cryptographic methods to further enhance security in evolving technological landscapes.
HIPPo: Harnessing Image-to-3D Priors for Model-free Zero-shot 6D Pose Estimation
Venue: arXiv cs.CV 2025
Year: 2025

This work focuses on model-free zero-shot 6D object pose estimation for robotics applications. While existing methods can estimate the precise 6D pose of objects, they heavily rely on curated CAD models or reference images, the preparation of which is a time-consuming and labor-intensive process. Moreover, in real-world scenarios, 3D models or reference images may not be available in advance and instant robot reaction is desired. In this work, we propose a novel framework named HIPPo, which eliminates the need for curated CAD models and reference images by harnessing image-to-3D priors from Diffusion Models, enabling model-free zero-shot 6D pose estimation. Specifically, we construct HIPPo Dreamer, a rapid image-to-mesh model built on a multiview Diffusion Model and a 3D reconstruction foundation model. Our HIPPo Dreamer can generate a 3D mesh of any unseen objects from a single glance in just a few seconds. Then, as more observations are acquired, we propose to continuously refine the diffusion prior mesh model by joint optimization of object geometry and appearance. This is achieved by a measurement-guided scheme that gradually replaces the plausible diffusion priors with more reliable online observations. Consequently, HIPPo can instantly estimate and track the 6D pose of a novel object and maintain a complete mesh for immediate robotic applications. Thorough experiments on various benchmarks show that HIPPo outperforms state-of-the-art methods in 6D object pose estimation when prior reference images are limited.
Universal Lesion Segmentation Challenge 2023: A Comparative Research of Different Algorithms
Venue: arXiv cs.CV 2025
Year: 2025

In recent years, machine learning algorithms have achieved much success in segmenting lesions across various tissues. There is, however, not one satisfying model that works well on all tissue types universally. In response to this need, we attempt to train a model that 1) works well on all tissue types, and 2) is capable of still performing fast inferences. To this end, we design our architectures, test multiple existing architectures, compare their results, and settle upon SwinUnet. We document our rationales, successes, and failures. Finally, we propose some further directions that we think are worth exploring. codes: https://github.com/KWFredShi/ULS2023NGKD.git
Tusqh: Topological Control of Volume-Fraction Meshes Near Small Features and Dirty Geometry
Venue: arXiv cs.CG 2025
Year: 2025

This work develops a framework to create meshes with user-specified homology from potentially dirty geometry by coupling background grids, persistent homology, and a generalization of volume fractions. For a mesh with fixed grid size, the topology of the output mesh changes predictably and monotonically as its volume-fraction threshold decreases. Topological anti-aliasing methods are introduced to resolve pinch points and disconnected regions that are artifacts of user choice of grid size and orientation, making the output meshes suitable for downstream processes including analysis. The methodology is demonstrated on geographical, mechanical, and graphics models in 2D and 3D using a custom-made software called Tusqh. The work demonstrates that the proposed framework is viable for generating meshes on topologically invalid geometries and for automatic defeaturing of small geometric artifacts. Finally, the work shows that although subdividing the background grid frequently improves the topological and geometrical fidelity of the output mesh, there are simple 2D examples for which the topology does not converge under refinement for volume-fraction codes.
ControllableGPT: A Ground-Up Designed Controllable GPT for Molecule Optimization
Venue: arXiv cs.LG 2025
Year: 2025

Large Language Models (LLMs) employ three popular training approaches: Masked Language Models (MLM), Causal Language Models (CLM), and Sequence-to-Sequence Models (seq2seq). However, each approach has its strengths and limitations, and faces challenges in addressing specific tasks that require controllable and bidirectional generation, such as drug optimization. To address this challenge, inspired by the biological processes of growth and evolution, which involve the expansion, shrinking, and mutation of sequences, we introduce ControllableGPT. This initiative represents the first effort to combine the advantages of MLM, CLM, and seq2seq into a single unified, controllable GPT framework. It enables the precise management of specific locations and ranges within a sequence, allowing for expansion, reduction, or mutation over chosen or random lengths, while maintaining the integrity of any specified positions or subsequences. In this work, we designed ControllableGPT for drug optimization from the ground up, which included proposing the Causally Masked Seq2seq (CMS) objective, developing the training corpus, introducing a novel pre-training approach, and devising a unique generation process. We demonstrate the effectiveness and controllability of ControllableGPT by conducting experiments on drug optimization tasks for both viral and cancer benchmarks, surpassing competing baselines.
Dark Deceptions in DHCP: Dismantling Network Defenses
Venue: arXiv cs.CR 2025
Year: 2025

This paper explores vulnerabilities in the Dynamic Host Configuration Protocol (DHCP) and their implications on the Confidentiality, Integrity, and Availability (CIA) Triad. Through an analysis of various attacks, including DHCP Starvation, Rogue DHCP Servers, Replay Attacks, and TunnelVision exploits, the paper provides a taxonomic classification of threats, assesses risks, and proposes appropriate controls. The discussion also highlights the dangers of VPN decloaking through DHCP exploits and underscores the importance of safeguarding network infrastructures. By bringing awareness to the TunnelVision exploit, this paper aims to mitigate risks associated with these prevalent vulnerabilities.
Is Self-Supervised Pre-training on Satellite Imagery Better than ImageNet? A Systematic Study with Sentinel-2
Venue: arXiv cs.CV 2025
Year: 2025

Self-supervised learning (SSL) has demonstrated significant potential in pre-training robust models with limited labeled data, making it particularly valuable for remote sensing (RS) tasks. A common assumption is that pre-training on domain-aligned data provides maximal benefits on downstream tasks, particularly when compared to ImageNet-pretraining (INP). In this work, we investigate this assumption by collecting GeoNet, a large and diverse dataset of global optical Sentinel-2 imagery, and pre-training SwAV and MAE on both GeoNet and ImageNet. Evaluating these models on six downstream tasks in the few-shot setting reveals that SSL pre-training on RS data offers modest performance improvements over INP, and that it remains competitive in multiple scenarios. This indicates that the presumed benefits of SSL pre-training on RS data may be overstated, and the additional costs of data curation and pre-training could be unjustified.
Extremely Large Full Duplex MIMO for Simultaneous Downlink Communications and Monostatic Sensing at Sub-THz Frequencies
Venue: arXiv cs.IT 2025
Year: 2025

The in-band Full Duplex (FD) technology is lately gaining attention as an enabler for the emerging paradigm of Integrated Sensing and Communications (ISAC), which envisions seamless integration of sensing mechanisms for unconnected entities into next generation wireless networks. In this paper, we present an FD Multiple-Input Multiple-Output (MIMO) system with extremely large antenna arrays at its transceiver module, which is optimized, considering two emerging analog beamforming architectures, for simultaneous DownLink (DL) communications and monostatic-type sensing intended at the sub-THz frequencies, with the latter operation relying on received reflections of the transmitted information-bearing signals. A novel optimization framework for the joint design of the analog and digital transmit beamforming, analog receive combining, and the digital canceler for the self-interference signal is devised with the objective to maximize the achievable DL rate, while meeting a predefined threshold for the position error bound for the unknown three-dimensional parameters of a passive target. Capitalizing on the distinctive features of the beamforming architectures with fully-connected networks of phase shifters and partially-connected arrays of metamaterials, two ISAC designs are presented. Our simulation results showcase the superiority of both proposed designs over state-of-the-art schemes, highlighting the role of various system parameters in the trade-off between the communication and sensing functionalities.
Improving action segmentation via explicit similarity measurement
Venue: arXiv cs.CV 2025
Year: 2025

Existing supervised action segmentation methods depend on the quality of frame-wise classification using attention mechanisms or temporal convolutions to capture temporal dependencies. Even boundary detection-based methods primarily depend on the accuracy of an initial frame-wise classification, which can overlook precise identification of segments and boundaries in case of low-quality prediction. To address this problem, this paper proposes ASESM (Action Segmentation via Explicit Similarity Measurement) to enhance the segmentation accuracy by incorporating explicit similarity evaluation across frames and predictions. Our supervised learning architecture uses frame-level multi-resolution features as input to multiple Transformer encoders. The resulting multiple frame-wise predictions are used for similarity voting to obtain high quality initial prediction. We apply a newly proposed boundary correction algorithm that operates based on feature similarity between consecutive frames to adjust the boundary locations iteratively through the learning process. The corrected prediction is then further refined through multiple stages of temporal convolutions. As post-processing, we optionally apply boundary correction again followed by a segment smoothing method that removes outlier classes within segments using similarity measurement between consecutive predictions. Additionally, we propose a fully unsupervised boundary detection-correction algorithm that identifies segment boundaries based solely on feature similarity without any training. Experiments on 50Salads, GTEA, and Breakfast datasets show the effectiveness of both the supervised and unsupervised algorithms. Code and models are made available on Github.
Hyperdimensional Intelligent Sensing for Efficient Real-Time Audio Processing on Extreme Edge
Venue: arXiv cs.SD 2025
Year: 2025

The escalating challenges of managing vast sensor-generated data, particularly in audio applications, necessitate innovative solutions. Current systems face significant computational and storage demands, especially in real-time applications like gunshot detection systems (GSDS), and the proliferation of edge sensors exacerbates these issues. This paper proposes a groundbreaking approach with a near-sensor model tailored for intelligent audio-sensing frameworks. Utilizing a Fast Fourier Transform (FFT) module, convolutional neural network (CNN) layers, and HyperDimensional Computing (HDC), our model excels in low-energy, rapid inference, and online learning. It is highly adaptable for efficient ASIC design implementation, offering superior energy efficiency compared to conventional embedded CPUs or GPUs, and is compatible with the trend of shrinking microphone sensor sizes. Comprehensive evaluations at both software and hardware levels underscore the model's efficacy. Software assessments through detailed ROC curve analysis revealed a delicate balance between energy conservation and quality loss, achieving up to 82.1% energy savings with only 1.39% quality loss. Hardware evaluations highlight the model's commendable energy efficiency when implemented via ASIC design, especially with the Google Edge TPU, showcasing its superiority over prevalent embedded CPUs and GPUs.
A Mathematics Framework of Artificial Shifted Population Risk and Its Further Understanding Related to Consistency Regularization
Venue: arXiv cs.LG 2025
Year: 2025

Data augmentation is an important technique in training deep neural networks as it enhances their ability to generalize and remain robust. While data augmentation is commonly used to expand the sample size and act as a consistency regularization term, there is a lack of research on the relationship between them. To address this gap, this paper introduces a more comprehensive mathematical framework for data augmentation. Through this framework, we establish that the expected risk of the shifted population is the sum of the original population risk and a gap term, which can be interpreted as a consistency regularization term. The paper also provides a theoretical understanding of this gap, highlighting its negative effects on the early stages of training. We also propose a method to mitigate these effects. To validate our approach, we conducted experiments using same data augmentation techniques and computing resources under several scenarios, including standard training, out-of-distribution, and imbalanced classification. The results demonstrate that our methods surpass compared methods under all scenarios in terms of generalization ability and convergence stability. We provide our code implementation at the following link: https://github.com/ydlsfhll/ASPR.
A Whole-Body Disturbance Rejection Control Framework for Dynamic Motions in Legged Robots
Venue: arXiv cs.RO 2025
Year: 2025

This letter presents a control framework for legged robots that enables self-perception and resistance to external disturbances and model uncertainties. First, a novel disturbance estimator is proposed, integrating adaptive control and extended state observers (ESO) to estimate external disturbances and model uncertainties. This estimator is embedded within the whole-body control framework to compensate for disturbances in the legged system. Second, a comprehensive whole-body disturbance rejection control framework (WB-DRC) is introduced, accounting for the robot's full-body dynamics. Compared to previous whole-body control frameworks, WB-DRC effectively handles external disturbances and model uncertainties, with the potential to adapt to complex terrain. Third, simulations of both biped and quadruped robots are conducted in the Gazebo simulator to demonstrate the effectiveness and versatility of WB-DRC. Finally, extensive experimental trials on the quadruped robot validate the robustness and stability of the robot system using WB-DRC under various disturbance conditions.
Resource Allocation and Pricing for Blockchain-enabled Metaverse: A Stackelberg Game Approach
Venue: arXiv cs.GT 2025
Year: 2025

As the next-generation Internet paradigm, the metaverse can provide users with immersive physical-virtual experiences without spatial limitations. However, there are various concerns to be overcome, such as resource allocation, resource pricing, and transaction security issues. To address the above challenges, we integrate blockchain technology into the metaverse to manage and automate complex interactions effectively and securely utilizing the advantages of blockchain. With the objective of promoting the Quality of Experience (QoE), Metaverse Service Users (MSUs) purchase rendering and bandwidth resources from the Metaverse Service Provider (MSP) to access low-latency and high-quality immersive services. The MSP maximizes the profit by controlling the unit prices of resources. In this paper, we model the interaction between the MSP and MSUs as a Stackelberg game, in which the MSP acts as the leader and MSUs are followers. The existence of Stackelberg equilibrium is analyzed and proved mathematically. Besides, we propose an efficient greedy-and-search-based resource allocation and pricing algorithm (GSRAP) to solve the Stackelberg equilibrium (SE) point. Finally, we conduct extensive simulations to verify the effectiveness and efficiency of our designs. The experiment results show that our algorithm outperforms the baseline scheme in terms of improving the MSP's profit and convergence speed.