OpenRaiser/Intern-Atlas huggingface dataset:
OmniFed: A Modular Framework for Configurable Federated Learning from Edge to HPC
Venue: arXiv cs.LG 2025
Year: 2025

Federated Learning (FL) is critical for edge and High Performance Computing (HPC) where data is not centralized and privacy is crucial. We present OmniFed, a modular framework designed around decoupling and clear separation of concerns for configuration, orchestration, communication, and training logic. Its architecture supports configuration-driven prototyping and code-level override-what-you-need customization. We also support different topologies, mixed communication protocols within a single deployment, and popular training algorithms. It also offers optional privacy mechanisms including Differential Privacy (DP), Homomorphic Encryption (HE), and Secure Aggregation (SA), as well as compression strategies. These capabilities are exposed through well-defined extension points, allowing users to customize topology and orchestration, learning logic, and privacy/compression plugins, all while preserving the integrity of the core system. We evaluate multiple models and algorithms to measure various performance metrics. By unifying topology configuration, mixed-protocol communication, and pluggable modules in one stack, OmniFed streamlines FL deployment across heterogeneous environments. Github repository is available at https://github.com/at-aaims/OmniFed.
FedOC: Multi-Server FL with Overlapping Client Relays in Wireless Edge Networks
Venue: arXiv cs.NI 2025
Year: 2025

Multi-server Federated Learning (FL) has emerged as a promising solution to mitigate communication bottlenecks of single-server FL. We focus on a typical multi-server FL architecture, where the regions covered by different edge servers (ESs) may overlap. A key observation of this architecture is that clients located in the overlapping areas can access edge models from multiple ESs. Building on this insight, we propose FedOC (Federated learning with Overlapping Clients), a novel framework designed to fully exploit the potential of these overlapping clients. In FedOC, overlapping clients could serve dual roles: (1) as Relay Overlapping Clients (ROCs), they forward edge models between neighboring ESs in real time to facilitate model sharing among different ESs; and (2) as Normal Overlapping Clients (NOCs), they dynamically select their initial model for local training based on the edge model delivery time, which enables indirect data fusion among different regions of ESs. The overall FedOC workflow proceeds as follows: in every round, each client trains local model based on the earliest received edge model and transmits to the respective ESs for model aggregation. Then each ES transmits the aggregated edge model to neighboring ESs through ROC relaying. Upon receiving the relayed models, each ES performs a second aggregation and subsequently broadcasts the updated model to covered clients. The existence of ROCs enables the model of each ES to be disseminated to the other ESs in a decentralized manner, which indirectly achieves intercell model and speeding up the training process, making it well-suited for latency-sensitive edge environments. Extensive experimental results show remarkable performance gains of our scheme compared to existing methods.
THINNs: Thermodynamically Informed Neural Networks
Venue: arXiv cs.LG 2025
Year: 2025

Physics-Informed Neural Networks (PINNs) are a class of deep learning models aiming to approximate solutions of PDEs by training neural networks to minimize the residual of the equation. Focusing on non-equilibrium fluctuating systems, we propose a physically informed choice of penalization that is consistent with the underlying fluctuation structure, as characterized by a large deviations principle. This approach yields a novel formulation of PINNs in which the penalty term is chosen to penalize improbable deviations, rather than being selected heuristically. The resulting thermodynamically consistent extension of PINNs, termed THINNs, is subsequently analyzed by establishing analytical a posteriori estimates, and providing empirical comparisons to established penalization strategies.
Crater Observing Bio-inspired Rolling Articulator (COBRA)
Venue: arXiv cs.RO 2025
Year: 2025

NASA aims to establish a sustainable human basecamp on the Moon as a stepping stone for future missions to Mars and beyond. The discovery of water ice on the Moon's craters located in permanently shadowed regions, which can provide drinking water, oxygen, and rocket fuel, is therefore of critical importance. However, current methods to access lunar ice deposits are limited. While rovers have been used to explore the lunar surface for decades, they face significant challenges in navigating harsh terrains, such as permanently shadowed craters, due to the high risk of immobilization. This report introduces COBRA (Crater Observing Bio-inspired Rolling Articulator), a multi-modal snake-style robot designed to overcome mobility challenges in Shackleton Crater's rugged environment. COBRA combines slithering and tumbling locomotion to adapt to various crater terrains. In snake mode, it uses sidewinding to traverse flat or low inclined surfaces, while in tumbling mode, it forms a circular barrel by linking its head and tail, enabling rapid movement with minimal energy on steep slopes. Equipped with an onboard computer, stereo camera, inertial measurement unit, and joint encoders, COBRA facilitates real-time data collection and autonomous operation. This paper highlights COBRAs robustness and efficiency in navigating extreme terrains through both simulations and experimental validation.
Constraint-Reduced MILP with Local Outlier Factor Modeling for Plausible Counterfactual Explanations in Credit Approval
Venue: arXiv cs.LG 2025
Year: 2025

Counterfactual explanation (CE) is a widely used post-hoc method that provides individuals with actionable changes to alter an unfavorable prediction from a machine learning model. Plausible CE methods improve realism by considering data distribution characteristics, but their optimization models introduce a large number of constraints, leading to high computational cost. In this work, we revisit the DACE framework and propose a refined Mixed-Integer Linear Programming (MILP) formulation that significantly reduces the number of constraints in the local outlier factor (LOF) objective component. We also apply the method to a linear SVM classifier with standard scaler. The experimental results show that our approach achieves faster solving times while maintaining explanation quality. These results demonstrate the promise of more efficient LOF modeling in counterfactual explanation and data science applications.
A Bimanual Gesture Interface for ROS-Based Mobile Manipulators Using TinyML and Sensor Fusion
Venue: arXiv cs.RO 2025
Year: 2025

Gesture-based control for mobile manipulators faces persistent challenges in reliability, efficiency, and intuitiveness. This paper presents a dual-hand gesture interface that integrates TinyML, spectral analysis, and sensor fusion within a ROS framework to address these limitations. The system uses left-hand tilt and finger flexion, captured using accelerometer and flex sensors, for mobile base navigation, while right-hand IMU signals are processed through spectral analysis and classified by a lightweight neural network. This pipeline enables TinyML-based gesture recognition to control a 7-DOF Kinova Gen3 manipulator. By supporting simultaneous navigation and manipulation, the framework improves efficiency and coordination compared to sequential methods. Key contributions include a bimanual control architecture, real-time low-power gesture recognition, robust multimodal sensor fusion, and a scalable ROS-based implementation. The proposed approach advances Human-Robot Interaction (HRI) for industrial automation, assistive robotics, and hazardous environments, offering a cost-effective, open-source solution with strong potential for real-world deployment and further optimization.
Score the Steps, Not Just the Goal: VLM-Based Subgoal Evaluation for Robotic Manipulation
Venue: arXiv cs.AI 2025
Year: 2025

Robot learning papers typically report a single binary success rate (SR), which obscures where a policy succeeds or fails along a multi-step manipulation task. We argue that subgoal-level reporting should become routine: for each trajectory, a vector of per-subgoal SRs that makes partial competence visible (e.g., grasp vs. pour). We propose a blueprint for StepEval, a cost-aware plug-in evaluation framework that utilizes vision-language models (VLMs) as automated judges of subgoal outcomes from recorded images or videos. Rather than proposing new benchmarks or APIs, our contribution is to outline design principles for a scalable, community-driven open-source project. In StepEval, the primary artifact for policy evaluation is the per-subgoal SR vector; however, other quantities (e.g., latency or cost estimates) are also considered for framework-optimization diagnostics to help the community tune evaluation efficiency and accuracy when ground-truth subgoal success labels are available. We discuss how such a framework can remain model-agnostic, support single- or multi-view inputs, and be lightweight enough to adopt across labs. The intended contribution is a shared direction: a minimal, extensible seed that invites open-source contributions, so that scoring the steps, not just the final goal, becomes a standard and reproducible practice.
A Note on Fine-Grained Quantum Reductions for Linear Algebraic Problems
Venue: arXiv cs.DS 2025
Year: 2025

We observe that any $T(n)$ time algorithm (quantum or classical) for several central linear algebraic problems, such as computing $\det(A)$, $tr(A^3)$, or $tr(A^{-1})$ for an $n \times n$ integer matrix $A$, yields a $O(T(n)) + \tilde O(n^2)$ time \textit{quantum algorithm} for $n \times n$ matrix-matrix multiplication. That is, on quantum computers, the complexity of these problems is essentially equivalent to that of matrix multiplication. Our results follow by first observing that the Bernstein-Vazirani algorithm gives a direct quantum reduction from matrix multiplication to computing $tr(ABC)$ for $n \times n$ inputs $A,B,C$. We can then reduce $tr(ABC)$ to each of our problems of interest. For the above problems, and many others in linear algebra, their fastest known algorithms require $Θ(n^ω)$ time, where $ω\approx 2.37$ is the current exponent of fast matrix multiplication. Our finding shows that any improvements beyond this barrier would lead to faster quantum algorithms for matrix multiplication. Our results complement existing reductions from matrix multiplication in algebraic circuits [BCS13], and reductions that work for standard classical algorithms, but are not tight -- i.e., which roughly show that an $O(n^{3-δ})$ time algorithm for the problem yields an $O(n^{3-δ/3})$ matrix multiplication algorithm [WW10].
Semantic-Aware Fuzzing: An Empirical Framework for LLM-Guided, Reasoning-Driven Input Mutation
Venue: arXiv cs.SE 2025
Year: 2025

Security vulnerabilities in Internet-of-Things devices, mobile platforms, and autonomous systems remain critical. Traditional mutation-based fuzzers -- while effectively explore code paths -- primarily perform byte- or bit-level edits without semantic reasoning. Coverage-guided tools such as AFL++ use dictionaries, grammars, and splicing heuristics to impose shallow structural constraints, leaving deeper protocol logic, inter-field dependencies, and domain-specific semantics unaddressed. Conversely, reasoning-capable large language models (LLMs) can leverage pretraining knowledge to understand input formats, respect complex constraints, and propose targeted mutations, much like an experienced reverse engineer or testing expert. However, lacking ground truth for "correct" mutation reasoning makes supervised fine-tuning impractical, motivating explorations of off-the-shelf LLMs via prompt-based few-shot learning. To bridge this gap, we present an open-source microservices framework that integrates reasoning LLMs with AFL++ on Google's FuzzBench, tackling asynchronous execution and divergent hardware demands (GPU- vs. CPU-intensive) of LLMs and fuzzers. We evaluate four research questions: (R1) How can reasoning LLMs be integrated into the fuzzing mutation loop? (R2) Do few-shot prompts yield higher-quality mutations than zero-shot? (R3) Can prompt engineering with off-the-shelf models improve fuzzing directly? and (R4) Which open-source reasoning LLMs perform best under prompt-only conditions? Experiments with Llama3.3, Deepseek-r1-Distill-Llama-70B, QwQ-32B, and Gemma3 highlight Deepseek as the most promising. Mutation effectiveness depends more on prompt complexity and model choice than shot count. Response latency and throughput bottlenecks remain key obstacles, offering directions for future work.
A Survey of Recent Advancements in Secure Peer-to-Peer Networks
Venue: arXiv cs.DC 2025
Year: 2025

Peer-to-peer (P2P) networks are a cornerstone of modern computing, and their security is an active area of research. Many defenses with strong security guarantees have been proposed; however, the most-recent survey is over a decade old. This paper delivers an updated review of recent theoretical advances that address classic threats, such as the Sybil and routing attacks, while highlighting how emerging trends -- such as machine learning, social networks, and dynamic systems -- pose new challenges and drive novel solutions. We evaluate the strengths and weaknesses of these solutions and suggest directions for future research.
Learning Dynamics of Deep Learning -- Force Analysis of Deep Neural Networks
Venue: arXiv cs.LG 2025
Year: 2025

This thesis explores how deep learning models learn over time, using ideas inspired by force analysis. Specifically, we zoom in on the model's training procedure to see how one training example affects another during learning, like analyzing how forces move objects. We break this influence into two parts: how similar the two examples are, and how strong the updating force is. This framework helps us understand a wide range of the model's behaviors in different real systems. For example, it explains why certain examples have non-trivial learning paths, why (and why not) some LLM finetuning methods work, and why simpler, more structured patterns tend to be learned more easily. We apply this approach to various learning tasks and uncover new strategies for improving model training. While the method is still developing, it offers a new way to interpret models' behaviors systematically.
Uncertainty in Semantic Language Modeling with PIXELS
Venue: arXiv cs.CL 2025
Year: 2025

Pixel-based language models aim to solve the vocabulary bottleneck problem in language modeling, but the challenge of uncertainty quantification remains open. The novelty of this work consists of analysing uncertainty and confidence in pixel-based language models across 18 languages and 7 scripts, all part of 3 semantically challenging tasks. This is achieved through several methods such as Monte Carlo Dropout, Transformer Attention, and Ensemble Learning. The results suggest that pixel-based models underestimate uncertainty when reconstructing patches. The uncertainty is also influenced by the script, with Latin languages displaying lower uncertainty. The findings on ensemble learning show better performance when applying hyperparameter tuning during the named entity recognition and question-answering tasks across 16 languages.
Knock-Knock: Black-Box, Platform-Agnostic DRAM Address-Mapping Reverse Engineering
Venue: arXiv cs.CR 2025
Year: 2025

Modern Systems-on-Chip (SoCs) employ undocumented linear address-scrambling functions to obfuscate DRAM addressing, which complicates DRAM-aware performance optimizations and hinders proactive security analysis of DRAM-based attacks; most notably, Rowhammer. Although previous work tackled the issue of reversing physical-to-DRAM mapping, existing heuristic-based reverse-engineering approaches are partial, costly, and impractical for comprehensive recovery. This paper establishes a rigorous theoretical foundation and provides efficient practical algorithms for black-box, complete physical-to-DRAM address-mapping recovery. We first formulate the reverse-engineering problem within a linear algebraic model over the finite field GF(2). We characterize the timing fingerprints of row-buffer conflicts, proving a relationship between a bank addressing matrix and an empirically constructed matrix of physical addresses. Based on this characterization, we develop an efficient, noise-robust, and fully platform-agnostic algorithm to recover the full bank-mask basis in polynomial time, a significant improvement over the exponential search from previous works. We further generalize our model to complex row mappings, introducing new hardware-based hypotheses that enable the automatic recovery of a row basis instead of previous human-guided contributions. Evaluations across embedded and server-class architectures confirm our method's effectiveness, successfully reconstructing known mappings and uncovering previously unknown scrambling functions. Our method provides a 99% recall and accuracy on all tested platforms. Most notably, Knock-Knock runs in under a few minutes, even on systems with more than 500GB of DRAM, showcasing the scalability of our method. Our approach provides an automated, principled pathway to accurate DRAM reverse engineering.
Chasing Stability: Humanoid Running via Control Lyapunov Function Guided Reinforcement Learning
Venue: arXiv cs.RO 2025
Year: 2025

Achieving highly dynamic behaviors on humanoid robots, such as running, requires controllers that are both robust and precise, and hence difficult to design. Classical control methods offer valuable insight into how such systems can stabilize themselves, but synthesizing real-time controllers for nonlinear and hybrid dynamics remains challenging. Recently, reinforcement learning (RL) has gained popularity for locomotion control due to its ability to handle these complex dynamics. In this work, we embed ideas from nonlinear control theory, specifically control Lyapunov functions (CLFs), along with optimized dynamic reference trajectories into the reinforcement learning training process to shape the reward. This approach, CLF-RL, eliminates the need to handcraft and tune heuristic reward terms, while simultaneously encouraging certifiable stability and providing meaningful intermediate rewards to guide learning. By grounding policy learning in dynamically feasible trajectories, we expand the robot's dynamic capabilities and enable running that includes both flight and single support phases. The resulting policy operates reliably on a treadmill and in outdoor environments, demonstrating robustness to disturbances applied to the torso and feet. Moreover, it achieves accurate global reference tracking utilizing only on-board sensors, making a critical step toward integrating these dynamic motions into a full autonomy stack.
Efficient $\varepsilon$-approximate minimum-entropy couplings
Venue: arXiv cs.IT 2025
Year: 2025

Given $m \ge 2$ discrete probability distributions over $n$ states each, the minimum-entropy coupling is the minimum-entropy joint distribution whose marginals are the same as the input distributions. Computing the minimum-entropy coupling is NP-hard, but there has been significant progress in designing approximation algorithms; prior to this work, the best known polynomial-time algorithms attain guarantees of the form $H(\operatorname{ALG}) \le H(\operatorname{OPT}) + c$, where $c \approx 0.53$ for $m=2$, and $c \approx 1.22$ for general $m$ [CKQGK '23]. A main open question is whether this task is APX-hard, or whether there exists a polynomial-time approximation scheme (PTAS). In this work, we design an algorithm that produces a coupling with entropy $H(\operatorname{ALG}) \le H(\operatorname{OPT}) + \varepsilon$ in running time $n^{O(\operatorname{poly}(1/\varepsilon) \cdot \operatorname{exp}(m) )}$: showing a PTAS exists for constant $m$.
Multimodal Language Models with Modality-Specific Experts for Financial Forecasting from Interleaved Sequences of Text and Time Series
Venue: arXiv cs.CE 2025
Year: 2025

Text and time series data offer complementary views of financial markets: news articles provide narrative context about company events, while stock prices reflect how markets react to those events. However, despite their complementary nature, effectively integrating these interleaved modalities for improved forecasting remains challenging. In this work, we propose a unified neural architecture that models these interleaved sequences using modality-specific experts, allowing the model to learn unique time series patterns, while still enabling joint reasoning across modalities and preserving pretrained language understanding capabilities. To further improve multimodal understanding, we introduce a cross-modal alignment framework with a salient token weighting mechanism that learns to align representations across modalities with a focus on the most informative tokens. We demonstrate the effectiveness of our approach on a large-scale financial forecasting task, achieving state-of-the-art performance across a wide variety of strong unimodal and multimodal baselines. We develop an interpretability method that reveals insights into the value of time series-context and reinforces the design of our cross-modal alignment objective. Finally, we demonstrate that these improvements translate to meaningful economic gains in investment simulations.
Minimalistic Autonomous Stack for High-Speed Time-Trial Racing
Venue: arXiv cs.RO 2025
Year: 2025

Autonomous racing has seen significant advancements, driven by competitions such as the Indy Autonomous Challenge (IAC) and the Abu Dhabi Autonomous Racing League (A2RL). However, developing an autonomous racing stack for a full-scale car is often constrained by limited access to dedicated test tracks, restricting opportunities for real-world validation. While previous work typically requires extended development cycles and significant track time, this paper introduces a minimalistic autonomous racing stack for high-speed time-trial racing that emphasizes rapid deployment and efficient system integration with minimal on-track testing. The proposed stack was validated on real speedways, achieving a top speed of 206 km/h within just 11 hours' practice run on the track with 325 km in total. Additionally, we present the system performance analysis, including tracking accuracy, vehicle dynamics, and safety considerations, offering insights for teams seeking to rapidly develop and deploy an autonomous racing stack with limited track access.
Where 6G Stands Today: Evolution, Enablers, and Research Gaps
Venue: arXiv cs.NI 2025
Year: 2025

As the fifth-generation (5G) mobile communication system continues its global deployment, both industry and academia have started conceptualizing the 6th generation (6G) to address the growing need for a progressively advanced and digital society. Even while 5G offers considerable advancements over LTE, it could struggle to be sufficient to meet all of the requirements, including ultra-high reliability, seamless automation, and ubiquitous coverage. In response, 6G is supposed to bring out a highly intelligent, automated, and ultra-reliable communication system that can handle a vast number of connected devices. This paper offers a comprehensive overview of 6G, beginning with its main stringent requirements while focusing on key enabling technologies such as terahertz (THz) communications, intelligent reflecting surfaces, massive MIMO and AI-driven networking that will shape the 6G networks. Furthermore, the paper lists various 6G applications and usage scenarios that will benefit from these advancements. At the end, we outline the potential challenges that must be addressed to achieve the 6G promises.