OpenRaiser/Intern-Atlas huggingface dataset:
VISTA: Open-Vocabulary, Task-Relevant Robot Exploration with Online Semantic Gaussian Splatting
Venue: arXiv cs.RO 2025
Year: 2025

We present VISTA (Viewpoint-based Image selection with Semantic Task Awareness), an active exploration method for robots to plan informative trajectories that improve 3D map quality in areas most relevant for task completion. Given an open-vocabulary search instruction (e.g., "find a person"), VISTA enables a robot to explore its environment to search for the object of interest, while simultaneously building a real-time semantic 3D Gaussian Splatting reconstruction of the scene. The robot navigates its environment by planning receding-horizon trajectories that prioritize semantic similarity to the query and exploration of unseen regions of the environment. To evaluate trajectories, VISTA introduces a novel, efficient viewpoint-semantic coverage metric that quantifies both the geometric view diversity and task relevance in the 3D scene. On static datasets, our coverage metric outperforms state-of-the-art baselines, FisherRF and Bayes' Rays, in computation speed and reconstruction quality. In quadrotor hardware experiments, VISTA achieves 6x higher success rates in challenging maps, compared to baseline methods, while matching baseline performance in less challenging maps. Lastly, we show that VISTA is platform-agnostic by deploying it on a quadrotor drone and a Spot quadruped robot. Open-source code will be released upon acceptance of the paper.
Spectral Manifold Harmonization for Graph Imbalanced Regression
Venue: arXiv cs.LG 2025
Year: 2025

Graph-structured data is ubiquitous in scientific domains, where models often face imbalanced learning settings. In imbalanced regression, domain preferences focus on specific target value ranges that represent the most scientifically valuable cases; however, we observe a significant lack of research regarding this challenge. In this paper, we present Spectral Manifold Harmonization (SMH), a novel approach to address imbalanced regression challenges on graph-structured data by generating synthetic graph samples that preserve topological properties while focusing on the most relevant target distribution regions. Conventional methods fail in this context because they either ignore graph topology in case generation or do not target specific domain ranges, resulting in models biased toward average target values. Experimental results demonstrate the potential of SMH on chemistry and drug discovery benchmark datasets, showing consistent improvements in predictive performance for target domain ranges. Code is available at https://github.com/brendacnogueira/smh-graph-imbalance.git.
SonoGym: High Performance Simulation for Challenging Surgical Tasks with Robotic Ultrasound
Venue: arXiv cs.RO 2025
Year: 2025

Ultrasound (US) is a widely used medical imaging modality due to its real-time capabilities, non-invasive nature, and cost-effectiveness. Robotic ultrasound can further enhance its utility by reducing operator dependence and improving access to complex anatomical regions. For this, while deep reinforcement learning (DRL) and imitation learning (IL) have shown potential for autonomous navigation, their use in complex surgical tasks such as anatomy reconstruction and surgical guidance remains limited -- largely due to the lack of realistic and efficient simulation environments tailored to these tasks. We introduce SonoGym, a scalable simulation platform for complex robotic ultrasound tasks that enables parallel simulation across tens to hundreds of environments. Our framework supports realistic and real-time simulation of US data from CT-derived 3D models of the anatomy through both a physics-based and a generative modeling approach. Sonogym enables the training of DRL and recent IL agents (vision transformers and diffusion policies) for relevant tasks in robotic orthopedic surgery by integrating common robotic platforms and orthopedic end effectors. We further incorporate submodular DRL -- a recent method that handles history-dependent rewards -- for anatomy reconstruction and safe reinforcement learning for surgery. Our results demonstrate successful policy learning across a range of scenarios, while also highlighting the limitations of current methods in clinically relevant environments. We believe our simulation can facilitate research in robot learning approaches for such challenging robotic surgery applications. Dataset, codes, and videos are publicly available at https://sonogym.github.io/.
Matching and Linking Entries in Historical Swedish Encyclopedias
Venue: arXiv cs.CL 2025
Year: 2025

The \textit{Nordisk familjebok} is a Swedish encyclopedia from the 19th and 20th centuries. It was written by a team of experts and aimed to be an intellectual reference, stressing precision and accuracy. This encyclopedia had four main editions remarkable by their size, ranging from 20 to 38 volumes. As a consequence, the \textit{Nordisk familjebok} had a considerable influence in universities, schools, the media, and society overall. As new editions were released, the selection of entries and their content evolved, reflecting intellectual changes in Sweden. In this paper, we used digitized versions from \textit{Project Runeberg}. We first resegmented the raw text into entries and matched pairs of entries between the first and second editions using semantic sentence embeddings. We then extracted the geographical entries from both editions using a transformer-based classifier and linked them to Wikidata. This enabled us to identify geographic trends and possible shifts between the first and second editions, written between 1876-1899 and 1904-1926, respectively. Interpreting the results, we observe a small but significant shift in geographic focus away from Europe and towards North America, Africa, Asia, Australia, and northern Scandinavia from the first to the second edition, confirming the influence of the First World War and the rise of new powers. The code and data are available on GitHub at https://github.com/sibbo/nordisk-familjebok.
PCPP-Based Reconfiguration Inapproximability: Query Complexity vs. Soundness Gap Trade-offs
Venue: arXiv cs.CC 2025
Year: 2025

The Reconfiguration Inapproximability Hypothesis (RIH), recently established by Hirahara-Ohsaka (STOC'24) and Karthik-Manurangsi (ECCC'24), studies the hardness of reconfiguring one solution into another in constraint satisfaction problems (CSP) when restricted to approximate intermediate solutions. In this work, we make a tighter connection between RIH's soundness gap and that of probabilistically checkable proofs of proximity (PCPP). Consequently, we achieve an improved trade-off between soundness and query complexity in Gap CSP Reconfiguration. Our approach leverages a parallelization framework, which also appears in some recent parameterized inapproximability results.
FLARE: A Dataflow-Aware and Scalable Hardware Architecture for Neural-Hybrid Scientific Lossy Compression
Venue: arXiv cs.DC 2025
Year: 2025

Scientific simulation leveraging high-performance computing (HPC) systems is crucial for modeling complex systems and phenomena in fields such as astrophysics, climate science, and fluid dynamics, generating massive datasets that often reach petabyte to exabyte scales. However, managing these vast data volumes introduces significant I/O and network bottlenecks, limiting practical performance and scalability. While cutting-edge lossy compression frameworks powered by deep neural networks (DNNs) have demonstrated superior compression ratios by capturing complex data correlations, their integration into HPC workflows poses substantial challenges due to the hybrid non-neural and neural computation patterns, causing excessive memory access overhead, large sequential stalls, and limited adaptability to varying data sizes and workloads in existing hardware platforms. To overcome these challenges and push the limit of high-performance scientific computing, we for the first time propose FLARE, a dataflow-aware and scalable hardware architecture for neural-hybrid scientific lossy compression. FLARE minimizes off-chip data access, reduces bubble overhead through efficient dataflow, and adopts a modular design that provides both scalability and flexibility, significantly enhancing throughput and energy efficiency on modern HPC systems. Particularly, the proposed FLARE achieves runtime speedups ranging from $3.50 \times$ to $96.07 \times$, and energy efficiency improvements ranging from $24.51 \times$ to $520.68 \times$, across various datasets and hardware platforms.
Jump-Start Reinforcement Learning with Self-Evolving Priors for Extreme Monopedal Locomotion
Venue: arXiv cs.RO 2025
Year: 2025

Reinforcement learning (RL) has shown great potential in enabling quadruped robots to perform agile locomotion. However, directly training policies to simultaneously handle dual extreme challenges, i.e., extreme underactuation and extreme terrains, as in monopedal hopping tasks, remains highly challenging due to unstable early-stage interactions and unreliable reward feedback. To address this, we propose JumpER (jump-start reinforcement learning via self-evolving priors), an RL training framework that structures policy learning into multiple stages of increasing complexity. By dynamically generating self-evolving priors through iterative bootstrapping of previously learned policies, JumpER progressively refines and enhances guidance, thereby stabilizing exploration and policy optimization without relying on external expert priors or handcrafted reward shaping. Specifically, when integrated with a structured three-stage curriculum that incrementally evolves action modality, observation space, and task objective, JumpER enables quadruped robots to achieve robust monopedal hopping on unpredictable terrains for the first time. Remarkably, the resulting policy effectively handles challenging scenarios that traditional methods struggle to conquer, including wide gaps up to 60 cm, irregularly spaced stairs, and stepping stones with distances varying from 15 cm to 35 cm. JumpER thus provides a principled and scalable approach for addressing locomotion tasks under the dual challenges of extreme underactuation and extreme terrains.
Counterfactual Explanation of Shapley Value in Data Coalitions
Venue: arXiv cs.GT 2025
Year: 2025

The Shapley value is widely used for data valuation in data markets. However, explaining the Shapley value of an owner in a data coalition is an unexplored and challenging task. To tackle this, we formulate the problem of finding the counterfactual explanation of Shapley value in data coalitions. Essentially, given two data owners $A$ and $B$ such that $A$ has a higher Shapley value than $B$, a counterfactual explanation is a smallest subset of data entries in $A$ such that transferring the subset from $A$ to $B$ makes the Shapley value of $A$ less than that of $B$. We show that counterfactual explanations always exist, but finding an exact counterfactual explanation is NP-hard. Using Monte Carlo estimation to approximate counterfactual explanations directly according to the definition is still very costly, since we have to estimate the Shapley values of owners $A$ and $B$ after each possible subset shift. We develop a series of heuristic techniques to speed up computation by estimating differential Shapley values, computing the power of singular data entries, and shifting subsets greedily, culminating in the SV-Exp algorithm. Our experimental results on real datasets clearly demonstrate the efficiency of our method and the effectiveness of counterfactuals in interpreting the Shapley value of an owner.
Advancements in Weed Mapping: A Systematic Review
Venue: arXiv cs.CV 2025
Year: 2025

Weed mapping plays a critical role in precision management by providing accurate and timely data on weed distribution, enabling targeted control and reduced herbicide use. This minimizes environmental impacts, supports sustainable land management, and improves outcomes across agricultural and natural environments. Recent advances in weed mapping leverage ground-vehicle Red Green Blue (RGB) cameras, satellite and drone-based remote sensing combined with sensors such as spectral, Near Infra-Red (NIR), and thermal cameras. The resulting data are processed using advanced techniques including big data analytics and machine learning, significantly improving the spatial and temporal resolution of weed maps and enabling site-specific management decisions. Despite a growing body of research in this domain, there is a lack of comprehensive literature reviews specifically focused on weed mapping. In particular, the absence of a structured analysis spanning the entire mapping pipeline, from data acquisition to processing techniques and mapping tools, limits progress in the field. This review addresses these gaps by systematically examining state-of-the-art methods in data acquisition (sensor and platform technologies), data processing (including annotation and modelling), and mapping techniques (such as spatiotemporal analysis and decision support tools). Following PRISMA guidelines, we critically evaluate and synthesize key findings from the literature to provide a holistic understanding of the weed mapping landscape. This review serves as a foundational reference to guide future research and support the development of efficient, scalable, and sustainable weed management systems.
Far From Sight, Far From Mind: Inverse Distance Weighting for Graph Federated Recommendation
Venue: arXiv cs.LG 2025
Year: 2025

Graph federated recommendation systems offer a privacy-preserving alternative to traditional centralized recommendation architectures, which often raise concerns about data security. While federated learning enables personalized recommendations without exposing raw user data, existing aggregation methods overlook the unique properties of user embeddings in this setting. Indeed, traditional aggregation methods fail to account for their complexity and the critical role of user similarity in recommendation effectiveness. Moreover, evolving user interactions require adaptive aggregation while preserving the influence of high-relevance anchor users (the primary users before expansion in graph-based frameworks). To address these limitations, we introduce Dist-FedAvg, a novel distance-based aggregation method designed to enhance personalization and aggregation efficiency in graph federated learning. Our method assigns higher aggregation weights to users with similar embeddings, while ensuring that anchor users retain significant influence in local updates. Empirical evaluations on multiple datasets demonstrate that Dist-FedAvg consistently outperforms baseline aggregation techniques, improving recommendation accuracy while maintaining seamless integration into existing federated learning frameworks.
LANet: A Lane Boundaries-Aware Approach For Robust Trajectory Prediction
Venue: arXiv cs.RO 2025
Year: 2025

Accurate motion forecasting is critical for safe and efficient autonomous driving, enabling vehicles to predict future trajectories and make informed decisions in complex traffic scenarios. Most of the current designs of motion prediction models are based on the major representation of lane centerlines, which limits their capability to capture critical road environments and traffic rules and constraints. In this work, we propose an enhanced motion forecasting model informed by multiple vector map elements, including lane boundaries and road edges, that facilitates a richer and more complete representation of driving environments. An effective feature fusion strategy is developed to merge information in different vector map components, where the model learns holistic information on road structures and their interactions with agents. Since encoding more information about the road environment increases memory usage and is computationally expensive, we developed an effective pruning mechanism that filters the most relevant map connections to the target agent, ensuring computational efficiency while maintaining essential spatial and semantic relationships for accurate trajectory prediction. Overcoming the limitations of lane centerline-based models, our method provides a more informative and efficient representation of the driving environment and advances the state of the art for autonomous vehicle motion forecasting. We verify our approach with extensive experiments on the Argoverse 2 motion forecasting dataset, where our method maintains competitiveness on AV2 while achieving improved performance. Index Terms-Autonomous driving, trajectory prediction, vector map elements, road topology, connection pruning, Argoverse 2.
Long-Tailed Distribution-Aware Router For Mixture-of-Experts in Large Vision-Language Model
Venue: arXiv cs.CV 2025
Year: 2025

The mixture-of-experts (MoE), which replaces dense models with sparse architectures, has gained attention in large vision-language models (LVLMs) for achieving comparable performance with fewer activated parameters. Existing MoE frameworks for LVLMs focus on token-to-expert routing (TER), encouraging different experts to specialize in processing distinct tokens. However, these frameworks often rely on the load balancing mechanism, overlooking the inherent distributional differences between vision and language. To this end, we propose a Long-Tailed Distribution-aware Router (LTDR) for vision-language TER, tackling two challenges: (1) Distribution-aware router for modality-specific routing. We observe that language TER follows a uniform distribution, whereas vision TER exhibits a long-tailed distribution. This discrepancy necessitates distinct routing strategies tailored to each modality. (2) Enhancing expert activation for vision tail tokens. Recognizing the importance of vision tail tokens, we introduce an oversampling-like strategy by increasing the number of activated experts for these tokens. Experiments on extensive benchmarks validate the effectiveness of our approach.
Hardware-software co-exploration with racetrack memory based in-memory computing for CNN inference in embedded systems
Venue: arXiv cs.ET 2025
Year: 2025

Deep neural networks generate and process large volumes of data, posing challenges for low-resource embedded systems. In-memory computing has been demonstrated as an efficient computing infrastructure and shows promise for embedded AI applications. Among newly-researched memory technologies, racetrack memory is a non-volatile technology that allows high data density fabrication, making it a good fit for in-memory computing. However, integrating in-memory arithmetic circuits with memory cells affects both the memory density and power efficiency. It remains challenging to build efficient in-memory arithmetic circuits on racetrack memory within area and energy constraints. To this end, we present an efficient in-memory convolutional neural network (CNN) accelerator optimized for use with racetrack memory. We design a series of fundamental arithmetic circuits as in-memory computing cells suited for multiply-and-accumulate operations. Moreover, we explore the design space of racetrack memory based systems and CNN model architectures, employing co-design to improve the efficiency and performance of performing CNN inference in racetrack memory while maintaining model accuracy. Our designed circuits and model-system co-optimization strategies achieve a small memory bank area with significant improvements in energy and performance for racetrack memory based embedded systems.
Rational Censorship Attack: Breaking Blockchain with a Blackboard
Venue: arXiv cs.GT 2025
Year: 2025

Censorship resilience is a fundamental assumption underlying the security of blockchain protocols. Additionally, the analysis of blockchain security from an economic and game theoretic perspective has been growing in popularity in recent years. In this work, we present a surprising rational censorship attack on blockchain censorship resilience when we adopt the analysis of blockchain security from a game theoretic lens and assume all users are rational. In our attack, a colluding group with sufficient voting power censors the remainder nodes such that the group alone can gain all the rewards from maintaining the blockchain. We show that if nodes are rational, coordinating this attack just requires a public read and write blackboard and we formally model the attack using a game theoretic framework. Furthermore, we note that to ensure the success of the attack, nodes need to know the total true voting power held by the colluding group. We prove that the strategy to join the rational censorship attack and also for nodes to honestly declare their power is a subgame perfect equilibrium in the corresponding extensive form game induced by our attack. Finally, we discuss the implications of the attack on blockchain users and protocol designers as well as some potential countermeasures.
Coding for Quasi-Static Fading Channel with Imperfect CSI at the Transmitter and Quantized Feedback
Venue: arXiv cs.IT 2025
Year: 2025

The classical Schalkwijk-Kailath (SK) scheme for the additive Gaussian noise channel with noiseless feedback is highly efficient since its coding complexity is extremely low and the decoding error doubly exponentially decays as the coding blocklength tends to infinity. However, its application to the fading channel with imperfect CSI at the transmitter (I-CSIT) is challenging since the SK scheme is sensitive to the CSI. In this paper, we investigate how to design SK-type scheme for the quasi-static fading channel with I-CSIT and quantized feedback. By introducing modulo lattice function and an auxiliary signal into the SK-type encoder-decoder of the transceiver, we show that the decoding error caused by the I-CSIT can be perfectly eliminated, resulting in the success of designing SK-type scheme for such a case. The study of this paper provides a way to design efficient coding scheme for fading channels in the presence of imperfect CSI and quantized feedback.
Evaluating the Effectiveness of Direct Preference Optimization for Personalizing German Automatic Text Simplifications for Persons with Intellectual Disabilities
Venue: arXiv cs.CL 2025
Year: 2025

Automatic text simplification (ATS) aims to enhance language accessibility for various target groups, particularly persons with intellectual disabilities. Recent advancements in generative AI, especially large language models (LLMs), have substantially improved the quality of machine-generated text simplifications, thereby mitigating information barriers for the target group. However, existing LLM-based ATS systems do not incorporate preference feedback on text simplifications during training, resulting in a lack of personalization tailored to the specific needs of target group representatives. In this work, we extend the standard supervised fine-tuning (SFT) approach for adapting LLM-based ATS models by leveraging a computationally efficient LLM alignment technique -- direct preference optimization (DPO). Specifically, we post-train LLM-based ATS models using human feedback collected from persons with intellectual disabilities, reflecting their preferences on paired text simplifications generated by mainstream LLMs. Furthermore, we propose a pipeline for developing personalized LLM-based ATS systems, encompassing data collection, model selection, SFT and DPO post-training, and evaluation. Our findings underscore the necessity of active participation of target group persons in designing personalized AI accessibility solutions aligned with human expectations. This work represents a step towards personalizing inclusive AI systems at the target-group level, incorporating insights not only from text simplification experts but also from target group persons themselves.