OpenRaiser/Intern-Atlas huggingface dataset:
Evo-0: Vision-Language-Action Model with Implicit Spatial Understanding
Venue: arXiv cs.RO 2025
Year: 2025

Vision-Language-Action (VLA) models have emerged as a promising framework for enabling generalist robots capable of perceiving, reasoning, and acting in the real world. These models usually build upon pretrained Vision-Language Models (VLMs), which excel at semantic understanding due to large-scale image and text pretraining. However, existing VLMs typically lack precise spatial understanding capabilities, as they are primarily tuned on 2D image-text pairs without 3D supervision. To address this limitation, recent approaches have incorporated explicit 3D inputs such as point clouds or depth maps, but this necessitates additional depth sensors or pre-trained depth estimation models, which may yield defective results. In contrast, our work introduces a plug-and-play module that implicitly incorporates 3D geometry features into VLA models by leveraging an off-the-shelf visual geometry foundation model. This integration provides the model with depth-aware visual representations, improving its ability to understand the geometric structure of the scene and the spatial relationships among objects from RGB images alone. We evaluate our method on a set of spatially challenging tasks in both simulation and the real world. Extensive evaluations show that our method significantly improves the performance of state-of-the-art VLA models across diverse scenarios.
Embedded DevOps: A Survey on the Application of DevOps Practices in Embedded Software and Firmware Development
Venue: arXiv cs.SE 2025
Year: 2025

The adoption of DevOps practices in embedded systems and firmware development is emerging as a response to the growing complexity of modern hardware--software co-designed products. Unlike cloud-native applications, embedded systems introduce challenges such as hardware dependency, real-time constraints, and safety-critical requirements. This literature review synthesizes findings from 20 academic and industrial sources to examine how DevOps principles--particularly continuous integration, continuous delivery, and automated testing--are adapted to embedded contexts. We categorize efforts across tooling, testing strategies, pipeline automation, and security practices. The review highlights current limitations in deployment workflows and observability, proposing a roadmap for future research. This work offers researchers and practitioners a consolidated understanding of Embedded DevOps, bridging fragmented literature with a structured perspective.
RoboEval: Where Robotic Manipulation Meets Structured and Scalable Evaluation
Venue: arXiv cs.RO 2025
Year: 2025

We present RoboEval, a simulation benchmark and structured evaluation framework designed to reveal the limitations of current bimanual manipulation policies. While prior benchmarks report only binary task success, we show that such metrics often conceal critical weaknesses in policy behavior -- such as poor coordination, slipping during grasping, or asymmetric arm usage. RoboEval introduces a suite of tiered, semantically grounded tasks decomposed into skill-specific stages, with variations that systematically challenge spatial, physical, and coordination capabilities. Tasks are paired with fine-grained diagnostic metrics and 3000+ human demonstrations to support imitation learning. Our experiments reveal that policies with similar success rates diverge in how tasks are executed -- some struggle with alignment, others with temporally consistent bimanual control. We find that behavioral metrics correlate with success in over half of task-metric pairs, and remain informative even when binary success saturates. By pinpointing when and how policies fail, RoboEval enables a deeper, more actionable understanding of robotic manipulation -- and highlights the need for evaluation tools that go beyond success alone.
Posterior Inference in Latent Space for Scalable Constrained Black-box Optimization
Venue: arXiv cs.LG 2025
Year: 2025

Optimizing high-dimensional black-box functions under black-box constraints is a pervasive task in a wide range of scientific and engineering problems. These problems are typically harder than unconstrained problems due to hard-to-find feasible regions. While Bayesian optimization (BO) methods have been developed to solve such problems, they often struggle with the curse of dimensionality. Recently, generative model-based approaches have emerged as a promising alternative for constrained optimization. However, they suffer from poor scalability and are vulnerable to mode collapse, particularly when the target distribution is highly multi-modal. In this paper, we propose a new framework to overcome these challenges. Our method iterates through two stages. First, we train flow-based models to capture the data distribution and surrogate models that predict both function values and constraint violations with uncertainty quantification. Second, we cast the candidate selection problem as a posterior inference problem to effectively search for promising candidates that have high objective values while not violating the constraints. During posterior inference, we find that the posterior distribution is highly multi-modal and has a large plateau due to constraints, especially when constraint feedback is given as binary indicators of feasibility. To mitigate this issue, we amortize the sampling from the posterior distribution in the latent space of flow-based models, which is much smoother than that in the data space. We empirically demonstrate that our method achieves superior performance on various synthetic and real-world constrained black-box optimization tasks. Our code is publicly available \href{https://github.com/umkiyoung/CiBO}{here}.
Laplace-Mamba: Laplace Frequency Prior-Guided Mamba-CNN Fusion Network for Image Dehazing
Venue: arXiv cs.CV 2025
Year: 2025

Recent progress in image restoration has underscored Spatial State Models (SSMs) as powerful tools for modeling long-range dependencies, owing to their appealing linear complexity and computational efficiency. However, SSM-based approaches exhibit limitations in reconstructing localized structures and tend to be less effective when handling high-dimensional data, frequently resulting in suboptimal recovery of fine image features. To tackle these challenges, we introduce Laplace-Mamba, a novel framework that integrates Laplace frequency prior with a hybrid Mamba-CNN architecture for efficient image dehazing. Leveraging the Laplace decomposition, the image is disentangled into low-frequency components capturing global texture and high-frequency components representing edges and fine details. This decomposition enables specialized processing via dual parallel pathways: the low-frequency branch employs SSMs for global context modeling, while the high-frequency branch utilizes CNNs to refine local structural details, effectively addressing diverse haze scenarios. Notably, the Laplace transformation facilitates information-preserving downsampling of low-frequency components in accordance with the Nyquist theory, thereby significantly improving computational efficiency. Extensive evaluations across multiple benchmarks demonstrate that our method outperforms state-of-the-art approaches in both restoration quality and efficiency. The source code and pretrained models are available at https://github.com/yz-wang/Laplace-Mamba.
Customer Service Representative's Perception of the AI Assistant in an Organization's Call Center
Venue: arXiv cs.HC 2025
Year: 2025

The integration of various AI tools creates a complex socio-technical environment where employee-customer interactions form the core of work practices. This study investigates how customer service representatives (CSRs) at the power grid service customer service call center perceive AI assistance in their interactions with customers. Through a field visit and semi-structured interviews with 13 CSRs, we found that AI can alleviate some traditional burdens during the call (e.g., typing and memorizing) but also introduces new burdens (e.g., earning, compliance, psychological burdens). This research contributes to a more nuanced understanding of AI integration in organizational settings and highlights the efforts and burdens undertaken by CSRs to adapt to the updated system.
Hamiltonicity Parameterized by Mim-Width is (Indeed) Para-NP-Hard
Venue: arXiv cs.CC 2025
Year: 2025

We prove that Hamiltonian Path and Hamiltonian Cycle are NP-hard on graphs of linear mim-width 26, even when a linear order of the input graph with mim-width 26 is provided together with input. This fills a gap left by a broken proof of the para-NP-hardness of Hamiltonicity problems parameterized by mim-width.
Remote Rendering for Virtual Reality: performance comparison of multimedia frameworks and protocols
Venue: arXiv cs.NI 2025
Year: 2025

The increasing complexity of Extended Reality (XR) applications demands substantial processing power and high bandwidth communications, often unavailable on lightweight devices. Remote rendering consists of offloading processing tasks to a remote node with a powerful GPU, delivering the rendered content to the end device. The delivery is usually performed through popular streaming protocols such as Web Real-Time Communications (WebRTC), offering a data channel for interactions, or Dynamic Adaptive Streaming over HTTP (DASH), better suitable for scalability. Moreover, new streaming protocols based on QUIC are emerging as potential replacements for WebRTC and DASH and offer benefits like connection migration, stream multiplexing and multipath delivery. This work describes the integration of the two most popular multimedia frameworks, GStreamer and FFmpeg, with a rendering engine acting as a Remote Renderer, and analyzes their performance when offering different protocols for delivering the rendered content to the end device over WIFI or 5G. This solution constitutes a beyond state-of-the-art testbed to conduct cutting-edge research in the XR field.
Neural Augmented Kalman Filters for Road Network assisted GNSS positioning
Venue: arXiv cs.LG 2025
Year: 2025

The Global Navigation Satellite System (GNSS) provides critical positioning information globally, but its accuracy in dense urban environments is often compromised by multipath and non-line-of-sight errors. Road network data can be used to reduce the impact of these errors and enhance the accuracy of a positioning system. Previous works employing road network data are either limited to offline applications, or rely on Kalman Filter (KF) heuristics with little flexibility and robustness. We instead propose training a Temporal Graph Neural Network (TGNN) to integrate road network information into a KF. The TGNN is designed to predict the correct road segment and its associated uncertainty to be used in the measurement update step of the KF. We validate our approach with real-world GNSS data and open-source road networks, observing a 29% decrease in positioning error for challenging scenarios compared to a GNSS-only KF. To the best of our knowledge, ours is the first deep learning-based approach jointly employing road network data and GNSS measurements to determine the user position on Earth.
A Domain-specific Language and Architecture for Detecting Process Activities from Sensor Streams in IoT
Venue: arXiv cs.SE 2025
Year: 2025

Modern Internet of Things (IoT) systems are equipped with a large quantity of sensors providing real-time data about the current operations of their components, which is crucial for the systems' internal control systems and processes. However, these data are often too fine-grained to derive useful insights into the execution of the larger processes an IoT system might be part of. Process mining has developed advanced approaches for the analysis of business processes that may also be used in the context of IoT. Bringing process mining to IoT requires an event abstraction step to lift the low-level sensor data to the business process level. In this work, we aim to enable domain experts to perform this step using a newly developed domain-specific language (DSL) called Radiant. Radiant supports the specification of patterns within the sensor data that indicate the execution of higher level process activities. These patterns are translated to complex event processing (CEP) applications to be used for detecting activity executions at runtime. We propose a corresponding software architecture that enables online event abstraction from IoT sensor streams using the CEP applications. We evaluate these applications to monitor activity executions in smart manufacturing and smart healthcare. These evaluations are useful to inform the domain expert about the quality of activity detections based on the specified patterns and potential for improvement via additional or modified patterns and sensors.
Robust Task Offloading for UAV-enabled Secure MEC Against Aerial Eavesdropper
Venue: arXiv cs.ET 2025
Year: 2025

Unmanned aerial vehicles (UAVs) are recognized as a promising candidate for the multi-access edge computing (MEC) in the future sixth generation communication networks. However, the aerial eavesdropping UAVs (EUAVs) pose a significant security threat to the data offloading. In this paper, we investigate a robust MEC scenario with multiple service UAVs (SUAVs) towards the potential eavesdropping from the EUAV, in which the random parameters such as task complexities are considered in the practical applications. In detail, the problem is formulated to optimize the deployment positions of SUAVs, the connection relationships between GUs and SUAVs, and the offloading ratios. With the uncertain task complexities, the corresponding chance constraints are constructed under the uncertainty set, which is tricky to deal with. Therefore, we first optimize the pre-deployment of SUAVs by the K-means algorithm. Then, the distributionally robust optimization method is employed, and the conditional value at risk is utilized to transform the chance constraints into convex forms, which can be solved via convex toolkits. Finally, the simulation results show that with the consideration of uncertainties, just 5% more energy is consumed compared with the ideal circumstance, which verifies the robustness of the proposed algorithms.
Accelerating Loading WebGraphs in ParaGrapher
Venue: arXiv cs.DC 2025
Year: 2025

ParaGrapher is a graph loading API and library that enables graph processing frameworks to load large-scale compressed graphs with minimal overhead. This capability accelerates the design and implementation of new high-performance graph algorithms and their evaluation on a wide range of graphs and across different frameworks. However, our previous study identified two major limitations in ParaGrapher: inefficient utilization of high-bandwidth storage and reduced decompression bandwidth due to increased compression ratios. To address these limitations, we present two optimizations for ParaGrapher in this paper. To improve storage utilization, particularly for high-bandwidth storage, we introduce ParaGrapher-FUSE (PG-Fuse) a filesystem based on the FUSE (Filesystem in User Space). PG-Fuse optimizes storage access by increasing the size of requested blocks, reducing the number of calls to the underlying filesystem, and caching the received blocks in memory for future calls. To improve the decompression bandwidth, we introduce CompBin, a compact binary representation of the CSR format. CompBin facilitates direct accesses to neighbors while preventing storage usage for unused bytes. Our evaluation on 12 real-world and synthetic graphs with up to 128 billion edges shows that PG-Fuse and CompBin achieve up to 7.6 and 21.8 times speedup, respectively.
AI Analyst: Framework and Comprehensive Evaluation of Large Language Models for Financial Time Series Report Generation
Venue: arXiv cs.CL 2025
Year: 2025

This paper explores the potential of large language models (LLMs) to generate financial reports from time series data. We propose a framework encompassing prompt engineering, model selection, and evaluation. We introduce an automated highlighting system to categorize information within the generated reports, differentiating between insights derived directly from time series data, stemming from financial reasoning, and those reliant on external knowledge. This approach aids in evaluating the factual grounding and reasoning capabilities of the models. Our experiments, utilizing both data from the real stock market indices and synthetic time series, demonstrate the capability of LLMs to produce coherent and informative financial reports.
Ordinality in Discrete-level Question Difficulty Estimation: Introducing Balanced DRPS and OrderedLogitNN
Venue: arXiv cs.LG 2025
Year: 2025

Recent years have seen growing interest in Question Difficulty Estimation (QDE) using natural language processing techniques. Question difficulty is often represented using discrete levels, framing the task as ordinal regression due to the inherent ordering from easiest to hardest. However, the literature has neglected the ordinal nature of the task, relying on classification or discretized regression models, with specialized ordinal regression methods remaining unexplored. Furthermore, evaluation metrics are tightly coupled to the modeling paradigm, hindering cross-study comparability. While some metrics fail to account for the ordinal structure of difficulty levels, none adequately address class imbalance, resulting in biased performance assessments. This study addresses these limitations by benchmarking three types of model outputs -- discretized regression, classification, and ordinal regression -- using the balanced Discrete Ranked Probability Score (DRPS), a novel metric that jointly captures ordinality and class imbalance. In addition to using popular ordinal regression methods, we propose OrderedLogitNN, extending the ordered logit model from econometrics to neural networks. We fine-tune BERT on the RACE++ and ARC datasets and find that OrderedLogitNN performs considerably better on complex tasks. The balanced DRPS offers a robust and fair evaluation metric for discrete-level QDE, providing a principled foundation for future research.
Biorthogonal Tunable Wavelet Unit with Lifting Scheme in Convolutional Neural Network
Venue: arXiv cs.CV 2025
Year: 2025

This work introduces a novel biorthogonal tunable wavelet unit constructed using a lifting scheme that relaxes both the orthogonality and equal filter length constraints, providing greater flexibility in filter design. The proposed unit enhances convolution, pooling, and downsampling operations, leading to improved image classification and anomaly detection in convolutional neural networks (CNN). When integrated into an 18-layer residual neural network (ResNet-18), the approach improved classification accuracy on CIFAR-10 by 2.12% and on the Describable Textures Dataset (DTD) by 9.73%, demonstrating its effectiveness in capturing fine-grained details. Similar improvements were observed in ResNet-34. For anomaly detection in the hazelnut category of the MVTec Anomaly Detection dataset, the proposed method achieved competitive and wellbalanced performance in both segmentation and detection tasks, outperforming existing approaches in terms of accuracy and robustness.
Instant Particle Size Distribution Measurement Using CNNs Trained on Synthetic Data
Venue: arXiv cs.CV 2025
Year: 2025

Accurate particle size distribution (PSD) measurement is important in industries such as mining, pharmaceuticals, and fertilizer manufacturing, significantly influencing product quality and operational efficiency. Traditional PSD methods like sieve analysis and laser diffraction are manual, time-consuming, and limited by particle overlap. Recent developments in convolutional neural networks (CNNs) enable automated, real-time PSD estimation directly from particle images. In this work, we present a CNN-based methodology trained on realistic synthetic particle imagery generated using Blender's advanced rendering capabilities. Synthetic data sets using this method can replicate various industrial scenarios by systematically varying particle shapes, textures, lighting, and spatial arrangements that closely resemble the actual configurations. We evaluated three CNN-based architectures, ResNet-50, InceptionV3, and EfficientNet-B0, for predicting critical PSD parameters (d10, d50, d90). Results demonstrated comparable accuracy across models, with EfficientNet-B0 achieving the best computational efficiency suitable for real-time industrial deployment. This approach shows the effectiveness of realistic synthetic data for robust CNN training, which offers significant potential for automated industrial PSD monitoring. The code is released at : https://github.com/YasserElj/Synthetic-Granular-Gen
SafeMobile: Chain-level Jailbreak Detection and Automated Evaluation for Multimodal Mobile Agents
Venue: arXiv cs.AI 2025
Year: 2025

With the wide application of multimodal foundation models in intelligent agent systems, scenarios such as mobile device control, intelligent assistant interaction, and multimodal task execution are gradually relying on such large model-driven agents. However, the related systems are also increasingly exposed to potential jailbreak risks. Attackers may induce the agents to bypass the original behavioral constraints through specific inputs, and then trigger certain risky and sensitive operations, such as modifying settings, executing unauthorized commands, or impersonating user identities, which brings new challenges to system security. Existing security measures for intelligent agents still have limitations when facing complex interactions, especially in detecting potentially risky behaviors across multiple rounds of conversations or sequences of tasks. In addition, an efficient and consistent automated methodology to assist in assessing and determining the impact of such risks is currently lacking. This work explores the security issues surrounding mobile multimodal agents, attempts to construct a risk discrimination mechanism by incorporating behavioral sequence information, and designs an automated assisted assessment scheme based on a large language model. Through preliminary validation in several representative high-risk tasks, the results show that the method can improve the recognition of risky behaviors to some extent and assist in reducing the probability of agents being jailbroken. We hope that this study can provide some valuable references for the security risk modeling and protection of multimodal intelligent agent systems.