OpenRaiser/Intern-Atlas huggingface dataset:
A Comprehensive Survey on Multi-Agent Cooperative Decision-Making: Scenarios, Approaches, Challenges and Perspectives
Venue: arXiv cs.MA 2025
Year: 2025

With the rapid development of artificial intelligence, intelligent decision-making techniques have gradually surpassed human levels in various human-machine competitions, especially in complex multi-agent cooperative task scenarios. Multi-agent cooperative decision-making involves multiple agents working together to complete established tasks and achieve specific objectives. These techniques are widely applicable in real-world scenarios such as autonomous driving, drone navigation, disaster rescue, and simulated military confrontations. This paper begins with a comprehensive survey of the leading simulation environments and platforms used for multi-agent cooperative decision-making. Specifically, we provide an in-depth analysis for these simulation environments from various perspectives, including task formats, reward allocation, and the underlying technologies employed. Subsequently, we provide a comprehensive overview of the mainstream intelligent decision-making approaches, algorithms and models for multi-agent systems (MAS). Theseapproaches can be broadly categorized into five types: rule-based (primarily fuzzy logic), game theory-based, evolutionary algorithms-based, deep multi-agent reinforcement learning (MARL)-based, and large language models(LLMs)reasoning-based. Given the significant advantages of MARL andLLMs-baseddecision-making methods over the traditional rule, game theory, and evolutionary algorithms, this paper focuses on these multi-agent methods utilizing MARL and LLMs-based techniques. We provide an in-depth discussion of these approaches, highlighting their methodology taxonomies, advantages, and drawbacks. Further, several prominent research directions in the future and potential challenges of multi-agent cooperative decision-making are also detailed.
Infinite Mobility: Scalable High-Fidelity Synthesis of Articulated Objects via Procedural Generation
Venue: arXiv cs.CV 2025
Year: 2025

Large-scale articulated objects with high quality are desperately needed for multiple tasks related to embodied AI. Most existing methods for creating articulated objects are either data-driven or simulation based, which are limited by the scale and quality of the training data or the fidelity and heavy labour of the simulation. In this paper, we propose Infinite Mobility, a novel method for synthesizing high-fidelity articulated objects through procedural generation. User study and quantitative evaluation demonstrate that our method can produce results that excel current state-of-the-art methods and are comparable to human-annotated datasets in both physics property and mesh quality. Furthermore, we show that our synthetic data can be used as training data for generative models, enabling next-step scaling up. Code is available at https://github.com/Intern-Nexus/Infinite-Mobility
Uncovering Utility Functions from Observed Outcomes
Venue: arXiv cs.LG 2025
Year: 2025

Determining consumer preferences and utility is a foundational challenge in economics. They are central in determining consumer behaviour through the utility-maximising consumer decision-making process. However, preferences and utilities are not observable and may not even be known to the individual making the choice; only the outcome is observed in the form of demand. Without the ability to observe the decision-making mechanism, demand estimation becomes a challenging task and current methods fall short due to lack of scalability or ability to identify causal effects. Estimating these effects is critical when considering changes in policy, such as pricing, the impact of taxes and subsidies, and the effect of a tariff. To address the shortcomings of existing methods, we combine revealed preference theory and inverse reinforcement learning to present a novel algorithm, Preference Extraction and Reward Learning (PEARL) which, to the best of our knowledge, is the only algorithm that can uncover a representation of the utility function that best rationalises observed consumer choice data given a specified functional form. We introduce a flexible utility function, the Input-Concave Neural Network which captures complex relationships across goods, including cross-price elasticities. Results show PEARL outperforms the benchmark on both noise-free and noisy synthetic data.
Less Biased Noise Scale Estimation for Threshold-Robust RANSAC
Venue: arXiv cs.CV 2025
Year: 2025

The gold-standard for robustly estimating relative pose through image matching is RANSAC. While RANSAC is powerful, it requires setting the inlier threshold that determines whether the error of a correspondence under an estimated model is sufficiently small to be included in its consensus set. Setting this threshold is typically done by hand, and is difficult to tune without an access to ground truth data. Thus, a method capable of automatically determining the optimal threshold would be desirable. In this paper we revisit inlier noise scale estimation, which is an attractive approach as the inlier noise scale is linear to the optimal threshold. We revisit the noise scale estimation method SIMFIT and find bias in the estimate of the noise scale. In particular, we fix underestimates from using the same data for fitting the model as estimating the inlier noise, and from not taking the threshold itself into account. Secondly, since the optimal threshold within a scene is approximately constant we propose a multi-pair extension of SIMFIT++, by filtering of estimates, which improves results. Our approach yields robust performance across a range of thresholds, shown in Figure 1. Code is available at https://github.com/Parskatt/simfitpp
Deep Belief Markov Models for POMDP Inference
Venue: arXiv cs.LG 2025
Year: 2025

This work introduces a novel deep learning-based architecture, termed the Deep Belief Markov Model (DBMM), which provides efficient, model-formulation agnostic inference in Partially Observable Markov Decision Process (POMDP) problems. The POMDP framework allows for modeling and solving sequential decision-making problems under observation uncertainty. In complex, high-dimensional, partially observable environments, existing methods for inference based on exact computations (e.g., via Bayes' theorem) or sampling algorithms do not scale well. Furthermore, ground truth states may not be available for learning the exact transition dynamics. DBMMs extend deep Markov models into the partially observable decision-making framework and allow efficient belief inference entirely based on available observation data via variational inference methods. By leveraging the potency of neural networks, DBMMs can infer and simulate non-linear relationships in the system dynamics and naturally scale to problems with high dimensionality and discrete or continuous variables. In addition, neural network parameters can be dynamically updated efficiently based on data availability. DBMMs can thus be used to infer a belief variable, thus enabling the derivation of POMDP solutions over the belief space. We evaluate the efficacy of the proposed methodology by evaluating the capability of model-formulation agnostic inference of DBMMs in benchmark problems that include discrete and continuous variables.
FLP-XR: Future Location Prediction on Extreme Scale Maritime Data in Real-time
Venue: arXiv cs.LG 2025
Year: 2025

Movements of maritime vessels are inherently complex and challenging to model due to the dynamic and often unpredictable nature of maritime operations. Even within structured maritime environments, such as shipping lanes and port approaches, where vessels adhere to navigational rules and predefined sea routes, uncovering underlying patterns is far from trivial. The necessity for accurate modeling of the mobility of maritime vessels arises from the numerous applications it serves, including risk assessment for collision avoidance, optimization of shipping routes, and efficient port management. This paper introduces FLP-XR, a model that leverages maritime mobility data to construct a robust framework that offers precise predictions while ensuring extremely fast training and inference capabilities. We demonstrate the efficiency of our approach through an extensive experimental study using three real-world AIS datasets. According to the experimental results, FLP-XR outperforms the current state-of-the-art in many cases, whereas it performs 2-3 orders of magnitude faster in terms of training and inference.
Sketch Disaggregation Across Time and Space
Venue: arXiv cs.NI 2025
Year: 2025

Streaming analytics are essential in a large range of applications, including databases, networking, and machine learning. To optimize performance, practitioners are increasingly offloading such analytics to network nodes such as switches. However, resources such as fast SRAM memory available at switches are limited, not uniform, and may serve other functionalities as well (e.g., firewall). Moreover, resource availability can also change over time due to the dynamic demands of in-network applications. In this paper, we propose a new approach to disaggregating data structures over time and space, leveraging any residual resource available at network nodes. We focus on sketches, which are fundamental for summarizing data for streaming analytics while providing beneficial space-accuracy tradeoffs. Our idea is to break sketches into multiple `fragments' that are placed at different network nodes. The fragments cover different time periods and are of varying sizes, and are combined to form a network-wide view of the underlying traffic. We apply our solution to three popular sketches (namely, Count Sketch, Count-Min Sketch, and UnivMon) and demonstrate we can achieve approximately a 75% memory size reduction for the same error for many queries, or a near order-of-magnitude error reduction if memory is kept unchanged.
Context-aware Multimodal AI Reveals Hidden Pathways in Five Centuries of Art Evolution
Venue: arXiv cs.CV 2025
Year: 2025

The rise of multimodal generative AI is transforming the intersection of technology and art, offering deeper insights into large-scale artwork. Although its creative capabilities have been widely explored, its potential to represent artwork in latent spaces remains underexamined. We use cutting-edge generative AI, specifically Stable Diffusion, to analyze 500 years of Western paintings by extracting two types of latent information with the model: formal aspects (e.g., colors) and contextual aspects (e.g., subject). Our findings reveal that contextual information differentiates between artistic periods, styles, and individual artists more successfully than formal elements. Additionally, using contextual keywords extracted from paintings, we show how artistic expression evolves alongside societal changes. Our generative experiment, infusing prospective contexts into historical artworks, successfully reproduces the evolutionary trajectory of artworks, highlighting the significance of mutual interaction between society and art. This study demonstrates how multimodal AI expands traditional formal analysis by integrating temporal, cultural, and historical contexts.
Multi-output Classification for Compound Fault Diagnosis in Motor under Partially Labeled Target Domain
Venue: arXiv cs.LG 2025
Year: 2025

This study presents a novel multi-output classification (MOC) framework designed for domain adaptation in fault diagnosis, addressing challenges posed by partially labeled (PL) target domain dataset and coexisting faults in rotating machinery. Unlike conventional multi-class classification (MCC) approaches, the MOC framework independently classifies the severity of each fault, enhancing diagnostic accuracy. By integrating multi-kernel maximum mean discrepancy loss (MKMMD) and entropy minimization loss (EM), the proposed method improves feature transferability between source and target domains, while frequency layer normalization (FLN) effectively handles stationary vibration signals by leveraging mechanical characteristics. Experimental evaluations across six domain adaptation cases, encompassing partially labeled (PL) scenarios, demonstrate the superior performance of the MOC approach over baseline methods in terms of macro F1 score.
Adaptive AUV Hunting Policy with Covert Communication via Diffusion Model
Venue: arXiv cs.MA 2025
Year: 2025

Collaborative underwater target hunting, facilitated by multiple autonomous underwater vehicles (AUVs), plays a significant role in various domains, especially military missions. Existing research predominantly focuses on designing efficient and high-success-rate hunting policy, particularly addressing the target's evasion capabilities. However, in real-world scenarios, the target can not only adjust its evasion policy based on its observations and predictions but also possess eavesdropping capabilities. If communication among hunter AUVs, such as hunting policy exchanges, is intercepted by the target, it can adapt its escape policy accordingly, significantly reducing the success rate of the hunting mission. To address this challenge, we propose a covert communication-guaranteed collaborative target hunting framework, which ensures efficient hunting in complex underwater environments while defending against the target's eavesdropping. To the best of our knowledge, this is the first study to incorporate the confidentiality of inter-agent communication into the design of target hunting policy. Furthermore, given the complexity of coordinating multiple AUVs in dynamic and unpredictable environments, we propose an adaptive multi-agent diffusion policy (AMADP), which incorporates the strong generative ability of diffusion models into the multi-agent reinforcement learning (MARL) algorithm. Experimental results demonstrate that AMADP achieves faster convergence and higher hunting success rates while maintaining covertness constraints.
LLMs' Leaning in European Elections
Venue: arXiv cs.CY 2025
Year: 2025

Many studies suggest that LLMs have left wing leans. The article extends previous analysis of US presidential elections considering several virtual elections in multiple European countries. The analysis considers multiple LLMs and the results confirm the extent of the leaning. Furthermore, the results show that the leaning is not uniform between countries. Sometimes, models refuse to take a position in the virtual elections, but the refusal rate itself is not uniform between countries.
WMINet: A Wheel-Mounted Inertial Learning Approach For Mobile-Robot Positioning
Venue: arXiv cs.RO 2025
Year: 2025

Autonomous mobile robots are widely used for navigation, transportation, and inspection tasks indoors and outdoors. In practical situations of limited satellite signals or poor lighting conditions, navigation depends only on inertial sensors. In such cases, the navigation solution rapidly drifts due to inertial measurement errors. In this work, we propose WMINet a wheel-mounted inertial deep learning approach to estimate the mobile robot's position based only on its inertial sensors. To that end, we merge two common practical methods to reduce inertial drift: a wheel-mounted approach and driving the mobile robot in periodic trajectories. Additionally, we enforce a wheelbase constraint to further improve positioning performance. To evaluate our proposed approach we recorded using the Rosbot-XL a wheel-mounted initial dataset totaling 190 minutes, which is made publicly available. Our approach demonstrated a 66\% improvement over state-of-the-art approaches. As a consequence, our approach enables navigation in challenging environments and bridges the pure inertial gap. This enables seamless robot navigation using only inertial sensors for short periods.
Sustainability Analysis Patterns for Process Mining and Process Modelling Approaches
Venue: arXiv cs.SE 2025
Year: 2025

Business Process Management (BPM) has the potential to help companies manage and reduce their activities' negative social and environmental impacts. However, so far, only limited capabilities for analysing the sustainability impacts of processes have been integrated into established BPM methods and tools. One of the main challenges of existing Sustainable BPM approaches is the lack of a sound conception of sustainability impacts. This paper describes a set of sustainability analysis patterns that integrate BPM concepts with concepts from existing sustainability analysis methods to address this challenge. The patterns provide a framework to evaluate and develop process modelling and process mining approaches for discovering, analysing and improving the sustainability impacts of processes. It is shown how the patterns can be used to evaluate existing process modelling and process mining approaches.
Exploring the Potential of Carbon-Aware Execution for Scientific Workflows
Venue: arXiv cs.DC 2025
Year: 2025

Scientific workflows are widely used to automate scientific data analysis and often involve processing large quantities of data on compute clusters. As such, their execution tends to be long-running and resource intensive, leading to significant energy consumption and carbon emissions. Meanwhile, a wealth of carbon-aware computing methods have been proposed, yet little work has focused specifically on scientific workflows, even though they present a substantial opportunity for carbon-aware computing because they are inherently delay tolerant, efficiently interruptible, and highly scalable. In this study, we demonstrate the potential for carbon-aware workflow execution. For this, we estimate the carbon footprint of two real-world Nextflow workflows executed on cluster infrastructure. We use a linear power model for energy consumption estimates and real-world average and marginal CI data for two regions. We evaluate the impact of carbon-aware temporal shifting, pausing and resuming, and resource scaling. Our findings highlight significant potential for reducing emissions of workflows and workflow tasks.
Long-VMNet: Accelerating Long-Form Video Understanding via Fixed Memory
Venue: arXiv cs.CV 2025
Year: 2025

Long-form video understanding is essential for various applications such as video retrieval, summarizing, and question answering. Yet, traditional approaches demand substantial computing power and are often bottlenecked by GPU memory. To tackle this issue, we present Long-Video Memory Network, Long-VMNet, a novel video understanding method that employs a fixed-size memory representation to store discriminative patches sampled from the input video. Long-VMNet achieves improved efficiency by leveraging a neural sampler that identifies discriminative tokens. Additionally, Long-VMNet only needs one scan through the video, greatly boosting efficiency. Our results on the Rest-ADL dataset demonstrate an 18x -- 75x improvement in inference times for long-form video retrieval and answering questions, with a competitive predictive performance.
Beyond the Individual: A Community-Engaged Framework for Ethical Online Community Research
Venue: arXiv cs.HC 2025
Year: 2025

Online community research routinely poses minimal risk to individuals, but does the same hold true for online communities? In response to high-profile breaches of online community trust and increased debate in the social computing research community on the ethics of online community research, this paper investigates community-level harms and benefits of research. Through 9 participatory-inspired workshops with four critical online communities (Wikipedia, InTheRooms, CaringBridge, and r/AskHistorians) we found researchers should engage more directly with communities' primary purpose by rationalizing their methods and contributions in the context of community goals to equalize the beneficiaries of community research. To facilitate deeper alignment of these expectations, we present the FACTORS (Functions for Action with Communities: Teaching, Overseeing, Reciprocating, and Sustaining) framework for ethical online community research. Finally, we reflect on our findings by providing implications for researchers and online communities to identify and implement functions for navigating community-level harms and benefits.
SNAKE: A Sustainable and Multi-functional Traffic Analysis System utilizing Specialized Large-Scale Models with a Mixture of Experts Architecture
Venue: arXiv cs.NI 2025
Year: 2025

The rapid advancement of internet technology has led to a surge in data transmission, making network traffic classification crucial for security and management. However, there are significant deficiencies in its efficiency for handling multiattribute analysis and its ability to expand model knowledge, making it difficult to adapt to the ever-changing network environment and complex identification requirements. To address this issue, we proposed the SNAKE (Sustainable Network Analysis with Knowledge Exploration) system, which adopts a multi-gated mixture of experts architecture to construct a multi-functional traffic classification model. The system analyzes traffic attributes at different levels through multiple expert sub-models, providing predictions for these attributes via gating and a final Tower network. Additionally, through an intelligent gating configuration, the system enables extremely fast model integration and evolution across various knowledge expansion scenarios. Its excellent compatibility allows it to continuously evolve into a multi-functional largescale model in the field of traffic analysis. Our experimental results demonstrate that the SNAKE system exhibits remarkable scalability when faced with incremental challenges in diverse traffic classification tasks. Currently, we have integrated multiple models into the system, enabling it to classify a wide range of attributes, such as encapsulation usage, application types and numerous malicious behaviors. We believe that SNAKE can pioneeringly create a sustainable and multifunctional large-scale model in the field of network traffic analysis after continuous expansion.
VARP: Reinforcement Learning from Vision-Language Model Feedback with Agent Regularized Preferences
Venue: arXiv cs.AI 2025
Year: 2025

Designing reward functions for continuous-control robotics often leads to subtle misalignments or reward hacking, especially in complex tasks. Preference-based RL mitigates some of these pitfalls by learning rewards from comparative feedback rather than hand-crafted signals, yet scaling human annotations remains challenging. Recent work uses Vision-Language Models (VLMs) to automate preference labeling, but a single final-state image generally fails to capture the agent's full motion. In this paper, we present a two-part solution that both improves feedback accuracy and better aligns reward learning with the agent's policy. First, we overlay trajectory sketches on final observations to reveal the path taken, allowing VLMs to provide more reliable preferences-improving preference accuracy by approximately 15-20% in metaworld tasks. Second, we regularize reward learning by incorporating the agent's performance, ensuring that the reward model is optimized based on data generated by the current policy; this addition boosts episode returns by 20-30% in locomotion tasks. Empirical studies on metaworld demonstrate that our method achieves, for instance, around 70-80% success rate in all tasks, compared to below 50% for standard approaches. These results underscore the efficacy of combining richer visual representations with agent-aware reward regularization.