OpenRaiser/Intern-Atlas huggingface dataset:
R3D2: Realistic 3D Asset Insertion via Diffusion for Autonomous Driving Simulation
Venue: arXiv cs.CV 2025
Year: 2025

Validating autonomous driving (AD) systems requires diverse and safety-critical testing, making photorealistic virtual environments essential. Traditional simulation platforms, while controllable, are resource-intensive to scale and often suffer from a domain gap with real-world data. In contrast, neural reconstruction methods like 3D Gaussian Splatting (3DGS) offer a scalable solution for creating photorealistic digital twins of real-world driving scenes. However, they struggle with dynamic object manipulation and reusability as their per-scene optimization-based methodology tends to result in incomplete object models with integrated illumination effects. This paper introduces R3D2, a lightweight, one-step diffusion model designed to overcome these limitations and enable realistic insertion of complete 3D assets into existing scenes by generating plausible rendering effects-such as shadows and consistent lighting-in real time. This is achieved by training R3D2 on a novel dataset: 3DGS object assets are generated from in-the-wild AD data using an image-conditioned 3D generative model, and then synthetically placed into neural rendering-based virtual environments, allowing R3D2 to learn realistic integration. Quantitative and qualitative evaluations demonstrate that R3D2 significantly enhances the realism of inserted assets, enabling use-cases like text-to-3D asset insertion and cross-scene/dataset object transfer, allowing for true scalability in AD validation. To promote further research in scalable and realistic AD simulation, we will release our dataset and code, see https://research.zenseact.com/publications/R3D2/.
User-space library rootkits revisited: Are user-space detection mechanisms futile?
Venue: arXiv cs.CR 2025
Year: 2025

The kind of malware designed to conceal malicious system resources (e.g. processes, network connections, files, etc.) is commonly referred to as a rootkit. This kind of malware represents a significant threat in contemporany systems. Despite the existence of kernel-space rootkits (i.e. rootkits that infect the operating system kernel), user-space rootkits (i.e. rootkits that infect the user-space operating system tools, commands and libraries) continue to pose a significant danger. However, kernel-space rootkits attract all the attention, implicitly assuming that user-space rootkits (malware that is still in existence) are easily detectable by well-known user-space tools that look for anomalies. The primary objective of this work is to answer the following question: Is detecting user-space rootkits with user-space tools futile? Contrary to the prevailing view that considers it effective, we argue that the detection of user-space rootkits cannot be done in user-space at all. Moreover, the detection results must be communicated to the user with extreme caution. To support this claim, we conducted different experiments focusing on process concealing in Linux systems. In these experiments, we evade the detection mechanisms widely accepted as the standard solution for this type of user-space malware, bypassing the most popular open source anti-rootkit tool for process hiding. This manuscript describes the classical approach to build user-space library rootkits, the traditional detection mechanisms, and different evasion techniques (it also includes understandable code snippets and examples). In addition, it offers some guidelines to implement new detection tools and improve the existing ones to the extent possible.
Are Trees Really Green? A Detection Approach of IoT Malware Attacks
Venue: arXiv cs.CR 2025
Year: 2025

Nowadays, the Internet of Things (IoT) is widely employed, and its usage is growing exponentially because it facilitates remote monitoring, predictive maintenance, and data-driven decision making, especially in the healthcare and industrial sectors. However, IoT devices remain vulnerable due to their resource constraints and difficulty in applying security patches. Consequently, various cybersecurity attacks are reported daily, such as Denial of Service, particularly in IoT-driven solutions. Most attack detection methodologies are based on Machine Learning (ML) techniques, which can detect attack patterns. However, the focus is more on identification rather than considering the impact of ML algorithms on computational resources. This paper proposes a green methodology to identify IoT malware networking attacks based on flow privacy-preserving statistical features. In particular, the hyperparameters of three tree-based models -- Decision Trees, Random Forest and Extra-Trees -- are optimized based on energy consumption and test-time performance in terms of Matthew's Correlation Coefficient. Our results show that models maintain high performance and detection accuracy while consistently reducing power usage in terms of watt-hours (Wh). This suggests that on-premise ML-based Intrusion Detection Systems are suitable for IoT and other resource-constrained devices.
A Terminology for Scientific Workflow Systems
Venue: arXiv cs.DC 2025
Year: 2025

The term scientific workflow has evolved over the last two decades to encompass a broad range of compositions of interdependent compute tasks and data movements. It has also become an umbrella term for processing in modern scientific applications. Today, many scientific applications can be considered as workflows made of multiple dependent steps, and hundreds of workflow management systems (WMSs) have been developed to manage and run these workflows. However, no turnkey solution has emerged to address the diversity of scientific processes and the infrastructure on which they are implemented. Instead, new research problems requiring the execution of scientific workflows with some novel feature often lead to the development of an entirely new WMS. A direct consequence is that many existing WMSs share some salient features, offer similar functionalities, and can manage the same categories of workflows but also have some distinct capabilities. This situation makes researchers who develop workflows face the complex question of selecting a WMS. This selection can be driven by technical considerations, to find the system that is the most appropriate for their application and for the resources available to them, or other factors such as reputation, adoption, strong community support, or long-term sustainability. To address this problem, a group of WMS developers and practitioners joined their efforts to produce a community-based terminology of WMSs. This paper summarizes their findings and introduces this new terminology to characterize WMSs. This terminology is composed of fives axes: workflow characteristics, composition, orchestration, data management, and metadata capture. Each axis comprises several concepts that capture the prominent features of WMSs. Based on this terminology, this paper also presents a classification of 23 existing WMSs according to the proposed axes and terms.
VIVAT: Virtuous Improving VAE Training through Artifact Mitigation
Venue: arXiv cs.CV 2025
Year: 2025

Variational Autoencoders (VAEs) remain a cornerstone of generative computer vision, yet their training is often plagued by artifacts that degrade reconstruction and generation quality. This paper introduces VIVAT, a systematic approach to mitigating common artifacts in KL-VAE training without requiring radical architectural changes. We present a detailed taxonomy of five prevalent artifacts - color shift, grid patterns, blur, corner and droplet artifacts - and analyze their root causes. Through straightforward modifications, including adjustments to loss weights, padding strategies, and the integration of Spatially Conditional Normalization, we demonstrate significant improvements in VAE performance. Our method achieves state-of-the-art results in image reconstruction metrics (PSNR and SSIM) across multiple benchmarks and enhances text-to-image generation quality, as evidenced by superior CLIP scores. By preserving the simplicity of the KL-VAE framework while addressing its practical challenges, VIVAT offers actionable insights for researchers and practitioners aiming to optimize VAE training.
Securing Unbounded Differential Privacy Against Timing Attacks
Venue: arXiv cs.CR 2025
Year: 2025

Recent works have started to theoretically investigate how we can protect differentially private programs against timing attacks, by making the joint distribution the output and the runtime differentially private (JOT-DP). However, the existing approaches to JOT-DP have some limitations, particularly in the setting of unbounded DP (which protects the size of the dataset and applies to arbitrarily large datasets). First, the known conversion of pure DP programs to pure JOT-DP programs in the unbounded setting (a) incurs a constant additive increase in error probability (and thus does not provide vanishing error as $n\to\infty$) (b) produces JOT-DP programs that fail to preserve the computational efficiency of the original pure DP program and (c) is analyzed in a toy computational model in which the runtime is defined to be the number of coin flips. In this work, we overcome these limitations. Specifically, we show that the error required for pure JOT-DP in the unbounded setting depends on the model of computation. In a randomized RAM model where the dataset size $n$ is given (or can be computed in constant time) and we can generate random numbers (not just random bits) in constant time, polynomially small error probability is necessary and sufficient. If $n$ is not given or we only have a random-bit generator, an (arbitrarily small) constant error probability is necessary and sufficient. The aforementioned positive results are proven by efficient procedures to convert any pure JOT-DP program $P$ in the upper-bounded setting to a pure JOT-DP program $P'$ in the unbounded setting, such that the output distribution of $P'$ is $γ$-close in total variation distance to that of $P$, where $γ$ is either an arbitrarily small constant or polynomially small, depending on the model of computation.
Spatio-Temporal State Space Model For Efficient Event-Based Optical Flow
Venue: arXiv cs.CV 2025
Year: 2025

Event cameras unlock new frontiers that were previously unthinkable with standard frame-based cameras. One notable example is low-latency motion estimation (optical flow), which is critical for many real-time applications. In such applications, the computational efficiency of algorithms is paramount. Although recent deep learning paradigms such as CNN, RNN, or ViT have shown remarkable performance, they often lack the desired computational efficiency. Conversely, asynchronous event-based methods including SNNs and GNNs are computationally efficient; however, these approaches fail to capture sufficient spatio-temporal information, a powerful feature required to achieve better performance for optical flow estimation. In this work, we introduce Spatio-Temporal State Space Model (STSSM) module along with a novel network architecture to develop an extremely efficient solution with competitive performance. Our STSSM module leverages state-space models to effectively capture spatio-temporal correlations in event data, offering higher performance with lower complexity compared to ViT, CNN-based architectures in similar settings. Our model achieves 4.5x faster inference and 8x lower computations compared to TMA and 2x lower computations compared to EV-FlowNet with competitive performance on the DSEC benchmark. Our code will be available at https://github.com/AhmedHumais/E-STMFlow
Squeeze3D: Your 3D Generation Model is Secretly an Extreme Neural Compressor
Venue: arXiv cs.GR 2025
Year: 2025

We propose Squeeze3D, a novel framework that leverages implicit prior knowledge learnt by existing pre-trained 3D generative models to compress 3D data at extremely high compression ratios. Our approach bridges the latent spaces between a pre-trained encoder and a pre-trained generation model through trainable mapping networks. Any 3D model represented as a mesh, point cloud, or a radiance field is first encoded by the pre-trained encoder and then transformed (i.e. compressed) into a highly compact latent code. This latent code can effectively be used as an extremely compressed representation of the mesh or point cloud. A mapping network transforms the compressed latent code into the latent space of a powerful generative model, which is then conditioned to recreate the original 3D model (i.e. decompression). Squeeze3D is trained entirely on generated synthetic data and does not require any 3D datasets. The Squeeze3D architecture can be flexibly used with existing pre-trained 3D encoders and existing generative models. It can flexibly support different formats, including meshes, point clouds, and radiance fields. Our experiments demonstrate that Squeeze3D achieves compression ratios of up to 2187x for textured meshes, 55x for point clouds, and 619x for radiance fields while maintaining visual quality comparable to many existing methods. Squeeze3D only incurs a small compression and decompression latency since it does not involve training object-specific networks to compress an object.
SpaCE-10: A Comprehensive Benchmark for Multimodal Large Language Models in Compositional Spatial Intelligence
Venue: arXiv cs.CV 2025
Year: 2025

Multimodal Large Language Models (MLLMs) have achieved remarkable progress in various multimodal tasks. To pursue higher intelligence in space, MLLMs require integrating multiple spatial capabilities, even for handling simple and normal tasks. However, existing benchmarks struggle to comprehensively evaluate the spatial intelligence of common MLLMs from the atomic level to the compositional level. To fill this gap, we present SpaCE-10, a comprehensive benchmark for compositional spatial evaluations. In SpaCE-10, we define 10 atomic spatial capabilities, which are combined to form 8 compositional capabilities. Based on these definitions, we propose a novel hierarchical annotation pipeline to generate high-quality and diverse question-answer (QA) pairs. With over 150+ hours of human expert effort, we obtain over 5k QA pairs for 811 real indoor scenes in SpaCE-10, which covers various evaluation settings like point cloud input and multi-choice QA. We conduct an extensive evaluation of common MLLMs on SpaCE-10 and find that even the most advanced MLLM still lags behind humans by large margins. Through our careful study, we also draw several significant findings that benefit the MLLM community. For example, we reveal that the shortcoming of counting capability greatly limits the compositional spatial capabilities of existing MLLMs.
OneIG-Bench: Omni-dimensional Nuanced Evaluation for Image Generation
Venue: arXiv cs.CV 2025
Year: 2025

Text-to-image (T2I) models have garnered significant attention for generating high-quality images aligned with text prompts. However, rapid T2I model advancements reveal limitations in early benchmarks, lacking comprehensive evaluations, for example, the evaluation on reasoning, text rendering and style. Notably, recent state-of-the-art models, with their rich knowledge modeling capabilities, show promising results on the image generation problems requiring strong reasoning ability, yet existing evaluation systems have not adequately addressed this frontier. To systematically address these gaps, we introduce OneIG-Bench, a meticulously designed comprehensive benchmark framework for fine-grained evaluation of T2I models across multiple dimensions, including prompt-image alignment, text rendering precision, reasoning-generated content, stylization, and diversity. By structuring the evaluation, this benchmark enables in-depth analysis of model performance, helping researchers and practitioners pinpoint strengths and bottlenecks in the full pipeline of image generation. Specifically, OneIG-Bench enables flexible evaluation by allowing users to focus on a particular evaluation subset. Instead of generating images for the entire set of prompts, users can generate images only for the prompts associated with the selected dimension and complete the corresponding evaluation accordingly. Our codebase and dataset are now publicly available to facilitate reproducible evaluation studies and cross-model comparisons within the T2I research community.
AI Magnetic Levitation (Maglev) Conveyor for Automated Assembly Production
Venue: arXiv cs.RO 2025
Year: 2025

Efficiency, speed, and precision are essential in modern manufacturing. AI Maglev Conveyor system, combining magnetic levitation (maglev) technology with artificial intelligence (AI), revolutionizes automated production processes. This system reduces maintenance costs and downtime by eliminating friction, enhancing operational efficiency. It transports goods swiftly with minimal energy consumption, optimizing resource use and supporting sustainability. AI integration enables real-time monitoring and adaptive control, allowing businesses to respond to production demand fluctuations and streamline supply chain operations. The AI Maglev Conveyor offers smooth, silent operation, accommodating diverse product types and sizes for flexible manufacturing without extensive reconfiguration. AI algorithms optimize routing, reduce cycle times, and improve throughput, creating an agile production line adaptable to market changes. This applied research paper introduces the Maglev Conveyor system, featuring an electromagnetic controller and multiple movers to enhance automation. It offers cost savings as an alternative to setups using six-axis robots or linear motors, with precise adjustments for robotic arm loading. Operating at high speeds minimizes treatment time for delicate components while maintaining precision. Its adaptable design accommodates various materials, facilitating integration of processing stations alongside electronic product assembly. Positioned between linear-axis and robotic systems in cost, the Maglev Conveyor is ideal for flat parts requiring minimal travel, transforming production efficiency across industries. It explores its technical advantages, flexibility, cost reductions, and overall benefits.
Toward Reliable AR-Guided Surgical Navigation: Interactive Deformation Modeling with Data-Driven Biomechanics and Prompts
Venue: arXiv cs.CV 2025
Year: 2025

In augmented reality (AR)-guided surgical navigation, preoperative organ models are superimposed onto the patient's intraoperative anatomy to visualize critical structures such as vessels and tumors. Accurate deformation modeling is essential to maintain the reliability of AR overlays by ensuring alignment between preoperative models and the dynamically changing anatomy. Although the finite element method (FEM) offers physically plausible modeling, its high computational cost limits intraoperative applicability. Moreover, existing algorithms often fail to handle large anatomical changes, such as those induced by pneumoperitoneum or ligament dissection, leading to inaccurate anatomical correspondences and compromised AR guidance. To address these challenges, we propose a data-driven biomechanics algorithm that preserves FEM-level accuracy while improving computational efficiency. In addition, we introduce a novel human-in-the-loop mechanism into the deformation modeling process. This enables surgeons to interactively provide prompts to correct anatomical misalignments, thereby incorporating clinical expertise and allowing the model to adapt dynamically to complex surgical scenarios. Experiments on a publicly available dataset demonstrate that our algorithm achieves a mean target registration error of 3.42 mm. Incorporating surgeon prompts through the interactive framework further reduces the error to 2.78 mm, surpassing state-of-the-art methods in volumetric accuracy. These results highlight the ability of our framework to deliver efficient and accurate deformation modeling while enhancing surgeon-algorithm collaboration, paving the way for safer and more reliable computer-assisted surgeries.
Power Domain Sparse Dimensional Constellation Multiple Access (PD-SDCMA) for Enabled Flexible PONs
Venue: arXiv cs.ET 2025
Year: 2025

With the commercial deployment of 5G and the in-depth research of 6G, the demand for high-speed data services in the next-generation fiber optic access systems is growing increasingly. Passive optical networks (PONs) have become a research hotspot due to their characteristics of low loss, high bandwidth, and low cost. However, the traditional orthogonal multiple access (OMA-PON) has difficulty meeting the requirements of the next-generation PON for high spectral efficiency and flexibility. In this paper, a novel transmission technology, namely power-domain sparse dimension constellation multiple access (PD-SDCMA), is proposed for the first time. Through the signal space dimension selection strategy (S2D-strategy) in the high-dimensional signal space, the low-dimensional constellation is sparsely superimposed into the high-dimensional space, thereby reducing multi-user interference and enhancing the system capacity. PD-SDCMA supports higher-order modulation formats and more access groups, and is also compatible with the existing orthogonal frequency division multiplexing (OFDM) architecture. The simulation results show that in a 25 km single-mode fiber system, compared with PD-NOMA and 3D-NOMA, PD-SDCMA can support more users and significantly reduce BER. This technology provides an efficient and low-cost solution for the evolution of Flexible PONs.
Cognitive Weave: Synthesizing Abstracted Knowledge with a Spatio-Temporal Resonance Graph
Venue: arXiv cs.AI 2025
Year: 2025

The emergence of capable large language model (LLM) based agents necessitates memory architectures that transcend mere data storage, enabling continuous learning, nuanced reasoning, and dynamic adaptation. Current memory systems often grapple with fundamental limitations in structural flexibility, temporal awareness, and the ability to synthesize higher-level insights from raw interaction data. This paper introduces Cognitive Weave, a novel memory framework centered around a multi-layered spatio-temporal resonance graph (STRG). This graph manages information as semantically rich insight particles (IPs), which are dynamically enriched with resonance keys, signifiers, and situational imprints via a dedicated semantic oracle interface (SOI). These IPs are interconnected through typed relational strands, forming an evolving knowledge tapestry. A key component of Cognitive Weave is the cognitive refinement process, an autonomous mechanism that includes the synthesis of insight aggregates (IAs) condensed, higher-level knowledge structures derived from identified clusters of related IPs. We present comprehensive experimental results demonstrating Cognitive Weave's marked enhancement over existing approaches in long-horizon planning tasks, evolving question-answering scenarios, and multi-session dialogue coherence. The system achieves a notable 34% average improvement in task completion rates and a 42% reduction in mean query latency when compared to state-of-the-art baselines. Furthermore, this paper explores the ethical considerations inherent in such advanced memory systems, discusses the implications for long-term memory in LLMs, and outlines promising future research trajectories.