OpenRaiser/Intern-Atlas huggingface dataset:
Split Covariance Intersection Filter Based Visual Localization With Accurate AprilTag Map For Warehouse Robot Navigation
Venue: arXiv cs.RO 2025
Year: 2025

Accurate and efficient localization with conveniently-established map is the fundamental requirement for mobile robot operation in warehouse environments. An accurate AprilTag map can be conveniently established with the help of LiDAR-based SLAM. It is true that a LiDAR-based system is usually not commercially competitive in contrast with a vision-based system, yet fortunately for warehouse applications, only a single LiDAR-based SLAM system is needed to establish an accurate AprilTag map, whereas a large amount of visual localization systems can share this established AprilTag map for their own operations. Therefore, the cost of a LiDAR-based SLAM system is actually shared by the large amount of visual localization systems, and turns to be acceptable and even negligible for practical warehouse applications. Once an accurate AprilTag map is available, visual localization is realized as recursive estimation that fuses AprilTag measurements (i.e. AprilTag detection results) and robot motion data. AprilTag measurements may be nonlinear partial measurements; this can be handled by the well-known extended Kalman filter (EKF) in the spirit of local linearization. AprilTag measurements tend to have temporal correlation as well; however, this cannot be reasonably handled by the EKF. The split covariance intersection filter (Split CIF) is adopted to handle temporal correlation among AprilTag measurements. The Split CIF (in the spirit of local linearization) can also handle AprilTag nonlinear partial measurements. The Split CIF based visual localization system incorporates a measurement adaptive mechanism to handle outliers in AprilTag measurements and adopts a dynamic initialization mechanism to address the kidnapping problem. A comparative study in real warehouse environments demonstrates the potential and advantage of the Split CIF based visual localization solution.
Shape-centered Representation Learning for Visible-Infrared Person Re-identification
Venue: arXiv cs.CV 2025
Year: 2025

Visible-Infrared Person Re-Identification (VI-ReID) plays a critical role in all-day surveillance systems. However, existing methods primarily focus on learning appearance features while overlooking body shape features, which not only complement appearance features but also exhibit inherent robustness to modality variations. Despite their potential, effectively integrating shape and appearance features remains challenging. Appearance features are highly susceptible to modality variations and background noise, while shape features often suffer from inaccurate infrared shape estimation due to the limitations of auxiliary models. To address these challenges, we propose the Shape-centered Representation Learning (ScRL) framework, which enhances VI-ReID performance by innovatively integrating shape and appearance features. Specifically, we introduce Infrared Shape Restoration (ISR) to restore inaccuracies in infrared body shape representations at the feature level by leveraging infrared appearance features. In addition, we propose Shape Feature Propagation (SFP), which enables the direct extraction of shape features from original images during inference with minimal computational complexity. Furthermore, we design Appearance Feature Enhancement (AFE), which utilizes shape features to emphasize shape-related appearance features while effectively suppressing identity-unrelated noise. Benefiting from the effective integration of shape and appearance features, ScRL demonstrates superior performance through extensive experiments. On the SYSU-MM01, HITSZ-VCM, and RegDB datasets, it achieves Rank-1 (mAP) accuracies of 76.1% (72.6%), 71.2% (52.9%), and 92.4% (86.7%), respectively, surpassing existing state-of-the-art methods.
Methodology of Algorithm Engineering
Venue: arXiv cs.DS 2025
Year: 2025

Research on algorithms has drastically increased in recent years. Various sub-disciplines of computer science investigate algorithms according to different objectives and standards. This plurality of the field has led to various methodological advances that have not yet been transferred to neighboring sub-disciplines. The central roadblock for a better knowledge exchange is the lack of a common methodological framework integrating the perspectives of these sub-disciplines. It is the objective of this paper to develop a research framework for algorithm engineering. Our framework builds on three areas discussed in the philosophy of science: ontology, epistemology and methodology. In essence, ontology describes algorithm engineering as being concerned with algorithmic problems, algorithmic tasks, algorithm designs and algorithm implementations. Epistemology describes the body of knowledge of algorithm engineering as a collection of prescriptive and descriptive knowledge, residing in World 3 of Popper's Three Worlds model. Methodology refers to the steps how we can systematically enhance our knowledge of specific algorithms. The framework helps us to identify and discuss various validity concerns relevant to any algorithm engineering contribution. In this way, our framework has important implications for researching algorithms in various areas of computer science.
TransXNet: Learning Both Global and Local Dynamics with a Dual Dynamic Token Mixer for Visual Recognition
Venue: arXiv cs.CV 2025
Year: 2025

Recent studies have integrated convolutions into transformers to introduce inductive bias and improve generalization performance. However, the static nature of conventional convolution prevents it from dynamically adapting to input variations, resulting in a representation discrepancy between convolution and self-attention as the latter computes attention maps dynamically. Furthermore, when stacking token mixers that consist of convolution and self-attention to form a deep network, the static nature of convolution hinders the fusion of features previously generated by self-attention into convolution kernels. These two limitations result in a sub-optimal representation capacity of the entire network. To find a solution, we propose a lightweight Dual Dynamic Token Mixer (D-Mixer) to simultaneously learn global and local dynamics via computing input-dependent global and local aggregation weights. D-Mixer works by applying an efficient global attention module and an input-dependent depthwise convolution separately on evenly split feature segments, endowing the network with strong inductive bias and an enlarged receptive field. We use D-Mixer as the basic building block to design TransXNet, a novel hybrid CNN-Transformer vision backbone network that delivers compelling performance. In the ImageNet-1K classification, TransXNet-T surpasses Swin-T by 0.3% in top-1 accuracy while requiring less than half of the computational cost. Furthermore, TransXNet-S and TransXNet-B exhibit excellent model scalability, achieving top-1 accuracy of 83.8% and 84.6% respectively, with reasonable computational costs. Additionally, our proposed network architecture demonstrates strong generalization capabilities in various dense prediction tasks, outperforming other state-of-the-art networks while having lower computational costs. Code is publicly available at https://github.com/LMMMEng/TransXNet.
Improving Rapidly-exploring Random Trees algorithm for Automated Parking in Real-world Scenarios
Venue: arXiv cs.RO 2025
Year: 2025

Automated parking is a self-driving feature that has been in cars for several years. Parking assistants in currently sold cars fail to park in more complex real-world scenarios and require the driver to move the car to an expected starting position before the assistant is activated. We overcome these limitations by proposing a planning algorithm consisting of two stages: (1) a geometric planner for maneuvering inside the parking slot and (2) a Rapidly-exploring Random Trees (RRT)-based planner that finds a collision-free path from the initial position to the slot entry. Evaluation of computational experiments demonstrates that improvements over commonly used RRT extensions reduce the parking path cost by 21 % and reduce the computation time by 79.5 %. The suitability of the algorithm for real-world parking scenarios was verified in physical experiments with Porsche Cayenne.
Rethinking Pre-Training in Tabular Data: A Neighborhood Embedding Perspective
Venue: arXiv cs.LG 2025
Year: 2025

Pre-training is prevalent in deep learning for vision and text data, leveraging knowledge from other datasets to enhance downstream tasks. However, for tabular data, the inherent heterogeneity in attribute and label spaces across datasets complicates the learning of shareable knowledge. We propose Tabular data Pre-Training via Meta-representation (TabPTM), aiming to pre-train a general tabular model over diverse datasets. The core idea is to embed data instances into a shared feature space, where each instance is represented by its distance to a fixed number of nearest neighbors and their labels. This ''meta-representation'' transforms heterogeneous tasks into homogeneous local prediction problems, enabling the model to infer labels (or scores for each label) based on neighborhood information. As a result, the pre-trained TabPTM can be applied directly to new datasets, regardless of their diverse attributes and labels, without further fine-tuning. Extensive experiments on 101 datasets confirm TabPTM's effectiveness in both classification and regression tasks, with and without fine-tuning.
Large-Scale Multi-Robot Assembly Planning for Autonomous Manufacturing
Venue: arXiv cs.RO 2025
Year: 2025

Mobile autonomous robots have the potential to revolutionize manufacturing processes. However, employing large robot fleets in manufacturing requires addressing challenges including collision-free movement in a shared workspace, effective multi-robot collaboration to manipulate and transport large payloads, complex task allocation due to coupled manufacturing processes, and spatial planning for parallel assembly and transportation of nested subassemblies. We propose a full algorithmic stack for large-scale multi-robot assembly planning that addresses these challenges and can synthesize construction plans for complex assemblies with thousands of parts in a matter of minutes. Our approach takes in a CAD-like product specification and automatically plans a full-stack assembly procedure for a group of robots to manufacture the product. We propose an algorithmic stack that comprises: (i) an iterative radial layout optimization procedure to define a global staging layout for the manufacturing facility, (ii) a graph-repair mixed-integer program formulation and a modified greedy task allocation algorithm to optimally allocate robots and robot sub-teams to assembly and transport tasks, (iii) a geometric heuristic and a hill-climbing algorithm to plan collaborative carrying configurations of robot sub-teams, and (iv) a distributed control policy that enables robots to execute the assembly motion plan collision-free. We also present an open-source multi-robot manufacturing simulator implemented in Julia as a resource to the research community, to test our algorithms and to facilitate multi-robot manufacturing research more broadly. Our empirical results demonstrate the scalability and effectiveness of our approach by generating plans to manufacture a LEGO model of a Saturn V launch vehicle with 1845 parts, 306 subassemblies, and 250 robots in under three minutes on a standard laptop computer.
DistDNAS: Search Efficient Feature Interactions within 2 Hours
Venue: arXiv cs.IR 2025
Year: 2025

Search efficiency and serving efficiency are two major axes in building feature interactions and expediting the model development process in recommender systems. On large-scale benchmarks, searching for the optimal feature interaction design requires extensive cost due to the sequential workflow on the large volume of data. In addition, fusing interactions of various sources, orders, and mathematical operations introduces potential conflicts and additional redundancy toward recommender models, leading to sub-optimal trade-offs in performance and serving cost. In this paper, we present DistDNAS as a neat solution to brew swift and efficient feature interaction design. DistDNAS proposes a supernet to incorporate interaction modules of varying orders and types as a search space. To optimize search efficiency, DistDNAS distributes the search and aggregates the choice of optimal interaction modules on varying data dates, achieving over 25x speed-up and reducing search cost from 2 days to 2 hours. To optimize serving efficiency, DistDNAS introduces a differentiable cost-aware loss to penalize the selection of redundant interaction modules, enhancing the efficiency of discovered feature interactions in serving. We extensively evaluate the best models crafted by DistDNAS on a 1TB Criteo Terabyte dataset. Experimental evaluations demonstrate 0.001 AUC improvement and 60% FLOPs saving over current state-of-the-art CTR models.
Parameterized algorithms for block-structured integer programs with large entries
Venue: arXiv cs.DS 2025
Year: 2025

We study two classic variants of block-structured integer programming. Two-stage stochastic programs are integer programs of the form $\{A_i \mathbf{x} + D_i \mathbf{y}_i = \mathbf{b}_i\textrm{ for all }i=1,\ldots,n\}$, where $A_i$ and $D_i$ are bounded-size matrices. On the other hand, $n$-fold programs are integer programs of the form $\{{\sum_{i=1}^n C_i\mathbf{y}_i=\mathbf{a}} \textrm{ and } D_i\mathbf{y}_i=\mathbf{b}_i\textrm{ for all }i=1,\ldots,n\}$, where again $C_i$ and $D_i$ are bounded-size matrices. It is known that solving these kind of programs is fixed-parameter tractable when parameterized by the maximum dimension among the relevant matrices $A_i,C_i,D_i$ and the maximum absolute value of any entry appearing in the constraint matrix. We show that the parameterized tractability results for two-stage stochastic and $n$-fold programs persist even when one allows large entries in the global part of the program. More precisely, we prove that: - The feasibility problem for two-stage stochastic programs is fixed-parameter tractable when parameterized by the dimensions of matrices $A_i,D_i$ and by the maximum absolute value of the entries of matrices $D_i$. That is, we allow matrices $A_i$ to have arbitrarily large entries. - The linear optimization problem for $n$-fold integer programs that are uniform -- all matrices $C_i$ are equal -- is fixed-parameter tractable when parameterized by the dimensions of matrices $C_i$ and $D_i$ and by the maximum absolute value of the entries of matrices $D_i$. That is, we require that $C_i=C$ for all $i=1,\ldots,n$, but we allow $C$ to have arbitrarily large entries. In the second result, the uniformity assumption is necessary; otherwise the problem is $\mathsf{NP}$-hard already when the parameters take constant values. Both our algorithms are weakly polynomial: the running time is measured in the total bitsize of the input.
Trust-Preserved Human-Robot Shared Autonomy enabled by Bayesian Relational Event Modeling
Venue: arXiv cs.RO 2025
Year: 2025

Shared autonomy functions as a flexible framework that empowers robots to operate across a spectrum of autonomy levels, allowing for efficient task execution with minimal human oversight. However, humans might be intimidated by the autonomous decision-making capabilities of robots due to perceived risks and a lack of trust. This paper proposed a trust-preserved shared autonomy strategy that allows robots to seamlessly adjust their autonomy level, striving to optimize team performance and enhance their acceptance among human collaborators. By enhancing the relational event modeling framework with Bayesian learning techniques, this paper enables dynamic inference of human trust based solely on time-stamped relational events communicated within human-robot teams. Adopting a longitudinal perspective on trust development and calibration in human-robot teams, the proposed trust-preserved shared autonomy strategy warrants robots to actively establish, maintain, and repair human trust, rather than merely passively adapting to it. We validate the effectiveness of the proposed approach through a user study on a human-robot collaborative search and rescue scenario. The objective and subjective evaluations demonstrate its merits on both task execution and user acceptability over the baseline approach that does not consider the preservation of trust.
Envy-Free Cake-Cutting for Four Agents
Venue: arXiv cs.GT 2025
Year: 2025

In the envy-free cake-cutting problem we are given a resource, usually called a cake and represented as the $[0,1]$ interval, and a set of $n$ agents with heterogeneous preferences over pieces of the cake. The goal is to divide the cake among the $n$ agents such that no agent is envious of any other agent. Even under a very general preferences model, this fundamental fair division problem is known to always admit an exact solution where each agent obtains a connected piece of the cake; we study the complexity of finding an approximate solution, i.e., a connected $\varepsilon$-envy-free allocation. For monotone valuations of cake pieces, Deng, Qi, and Saberi (2012) gave an efficient ($\textsf{poly}(\log(1/\varepsilon))$ queries) algorithm for three agents and posed the open problem of four (or more) monotone agents. Even for the special case of additive valuations, Brânzei and Nisan (2022) conjectured an $Ω(1/\varepsilon)$ lower bound on the number of queries for four agents. We provide the first efficient algorithm for finding a connected $\varepsilon$-envy-free allocation with four monotone agents. We also prove that as soon as valuations are allowed to be non-monotone, the problem becomes hard: it becomes PPAD-hard, requires $\textsf{poly}(1/\varepsilon)$ queries in the black-box model, and even $\textsf{poly}(1/\varepsilon)$ communication complexity. This constitutes, to the best of our knowledge, the first intractability result for any version of the cake-cutting problem in the communication complexity model.
Survey of Simulators for Aerial Robots: An Overview and In-Depth Systematic Comparisons
Venue: arXiv cs.RO 2025
Year: 2025

Uncrewed Aerial Vehicle (UAV) research faces challenges with safety, scalability, costs, and ecological impact when conducting hardware testing. High-fidelity simulators offer a vital solution by replicating real-world conditions to enable the development and evaluation of novel perception and control algorithms. However, the large number of available simulators poses a significant challenge for researchers to determine which simulator best suits their specific use-case, based on each simulator's limitations and customization readiness. In this paper we present an overview of 44 UAV simulators, including in-depth, systematic comparisons for 14 of the simulators. Additionally, we present a set of decision factors for selection of simulators, aiming to enhance the efficiency and safety of research endeavors.
Levels of AGI for Operationalizing Progress on the Path to AGI
Venue: arXiv cs.AI 2025
Year: 2025

We propose a framework for classifying the capabilities and behavior of Artificial General Intelligence (AGI) models and their precursors. This framework introduces levels of AGI performance, generality, and autonomy, providing a common language to compare models, assess risks, and measure progress along the path to AGI. To develop our framework, we analyze existing definitions of AGI, and distill six principles that a useful ontology for AGI should satisfy. With these principles in mind, we propose "Levels of AGI" based on depth (performance) and breadth (generality) of capabilities, and reflect on how current systems fit into this ontology. We discuss the challenging requirements for future benchmarks that quantify the behavior and capabilities of AGI models against these levels. Finally, we discuss how these levels of AGI interact with deployment considerations such as autonomy and risk, and emphasize the importance of carefully selecting Human-AI Interaction paradigms for responsible and safe deployment of highly capable AI systems.
S$^3$AD: Semi-supervised Small Apple Detection in Orchard Environments
Venue: arXiv cs.CV 2025
Year: 2025

Crop detection is integral for precision agriculture applications such as automated yield estimation or fruit picking. However, crop detection, e.g., apple detection in orchard environments remains challenging due to a lack of large-scale datasets and the small relative size of the crops in the image. In this work, we address these challenges by reformulating the apple detection task in a semi-supervised manner. To this end, we provide the large, high-resolution dataset MAD comprising 105 labeled images with 14,667 annotated apple instances and 4,440 unlabeled images. Utilizing this dataset, we also propose a novel Semi-Supervised Small Apple Detection system S$^3$AD based on contextual attention and selective tiling to improve the challenging detection of small apples, while limiting the computational overhead. We conduct an extensive evaluation on MAD and the MSU dataset, showing that S$^3$AD substantially outperforms strong fully-supervised baselines, including several small object detection systems, by up to $14.9\%$. Additionally, we exploit the detailed annotations of our dataset w.r.t. apple properties to analyze the influence of relative size or level of occlusion on the results of various systems, quantifying current challenges.
Hard-Negative Sampling for Contrastive Learning: Optimal Representation Geometry and Neural- vs Dimensional-Collapse
Venue: arXiv cs.LG 2025
Year: 2025

For a widely-studied data model and general loss and sample-hardening functions we prove that the losses of Supervised Contrastive Learning (SCL), Hard-SCL (HSCL), and Unsupervised Contrastive Learning (UCL) are minimized by representations that exhibit Neural-Collapse (NC), i.e., the class means form an Equiangular Tight Frame (ETF) and data from the same class are mapped to the same representation. We also prove that for any representation mapping, the HSCL and Hard-UCL (HUCL) losses are lower bounded by the corresponding SCL and UCL losses. In contrast to existing literature, our theoretical results for SCL do not require class-conditional independence of augmented views and work for a general loss function class that includes the widely used InfoNCE loss function. Moreover, our proofs are simpler, compact, and transparent. Similar to existing literature, our theoretical claims also hold for the practical scenario where batching is used for optimization. We empirically demonstrate, for the first time, that Adam optimization (with batching) of HSCL and HUCL losses with random initialization and suitable hardness levels can indeed converge to the NC-geometry if we incorporate unit-ball or unit-sphere feature normalization. Without incorporating hard-negatives or feature normalization, however, the representations learned via Adam suffer from Dimensional-Collapse (DC) and fail to attain the NC-geometry. These results exemplify the role of hard-negative sampling in contrastive representation learning and we conclude with several open theoretical problems for future work. The code can be found at https://github.com/rjiang03/HCL/tree/main