OpenRaiser/Intern-Atlas huggingface dataset:
Yannakakis+: Practical Acyclic Query Evaluation with Theoretical Guarantees
Venue: arXiv cs.DB 2025
Year: 2025

Acyclic conjunctive queries form the backbone of most analytical workloads, and have been extensively studied in the literature from both theoretical and practical angles. However, there is still a large divide between theory and practice. While the 40-year-old Yannakakis algorithm has strong theoretical running time guarantees, it has not been adopted in real systems due to its high hidden constant factor. In this paper, we strive to close this gap by proposing Yannakakis+, an improved version of the Yannakakis algorithm, which is more practically efficient while preserving its theoretical guarantees. Our experiments demonstrate that Yannakakis+ consistently outperforms the original Yannakakis algorithm by 2x to 5x across a wide range of queries and datasets. Another nice feature of our new algorithm is that it generates a traditional DAG query plan consisting of standard relational operators, allowing Yannakakis+ to be easily plugged into any standard SQL engine. Our system prototype currently supports four different SQL engines (DuckDB, PostgreSQL, SparkSQL, and AnalyticDB from Alibaba Cloud), and our experiments show that Yannakakis+ is able to deliver better performance than their native query plans on 160 out of the 162 queries tested, with an average speedup of 2.41x and a maximum speedup of 47,059x.
FaR: Enhancing Multi-Concept Text-to-Image Diffusion via Concept Fusion and Localized Refinement
Venue: arXiv cs.CV 2025
Year: 2025

Generating multiple new concepts remains a challenging problem in the text-to-image task. Current methods often overfit when trained on a small number of samples and struggle with attribute leakage, particularly for class-similar subjects (e.g., two specific dogs). In this paper, we introduce Fuse-and-Refine (FaR), a novel approach that tackles these challenges through two key contributions: Concept Fusion technique and Localized Refinement loss function. Concept Fusion systematically augments the training data by separating reference subjects from backgrounds and recombining them into composite images to increase diversity. This augmentation technique tackles the overfitting problem by mitigating the narrow distribution of the limited training samples. In addition, Localized Refinement loss function is introduced to preserve subject representative attributes by aligning each concept's attention map to its correct region. This approach effectively prevents attribute leakage by ensuring that the diffusion model distinguishes similar subjects without mixing their attention maps during the denoising process. By fine-tuning specific modules at the same time, FaR balances the learning of new concepts with the retention of previously learned knowledge. Empirical results show that FaR not only prevents overfitting and attribute leakage while maintaining photorealism, but also outperforms other state-of-the-art methods.
SoK: Attacks on Modern Card Payments
Venue: arXiv cs.CR 2025
Year: 2025

EMV is the global standard for smart card payments and its NFC-based version, EMV contactless, is widely used, also for mobile payments. In this systematization of knowledge, we examine attacks on the EMV contactless protocol. We provide a comprehensive framework encompassing its desired security properties and adversary models. We also identify and categorize a comprehensive collection of protocol flaws and show how different subsets thereof can be combined into attacks. In addition to this systematization, we examine the underlying reasons for the many attacks against EMV and point to a better way forward.
Optimal Sizing and Material Choice for Additively Manufactured Compact Plate Heat Exchangers
Venue: arXiv cs.CE 2025
Year: 2025

Advances in additive manufacturing (AM) enable new opportunities to design compact heat exchangers (cHEXs) by leveraging flexible geometries to improve energy and material efficiency. However, it is well known that reducing size in counterflow cHEXs can degrade effectiveness due to axial heat conduction through the solid material, which depends strongly on material thermal conductivity and wall thickness. Understanding the interaction between fundamental heat transfer mechanisms and manufacturing constraints is essential for designing next generation compact thermal systems that fully exploit AM's shaping flexibility. This study investigates how material selection and AM thin wall limitations influence the maximum achievable power density in compact plate heat exchangers. An optimization framework evaluates six materials including plastic, austenitic steel, Al2O3, AlN, aluminum, and copper under fixed pressure drop and effectiveness, while accounting for AM specific thickness constraints and a minimum plate spacing to address fouling risks. Results show that copper consistently yields the lowest power density despite having the highest thermal conductivity, whereas plastic achieves the highest power density across most optimization scenarios. Without manufacturing or fouling constraints, plastic outperforms the baseline steel design by nearly three orders of magnitude. With uniform plate thickness or fouling constraints, the performance gap narrows, making plastic and austenitic steel comparable. When material specific thickness limits are applied, plastic again leads in compactness due to its superior thin wall manufacturability. These findings highlight that AM constraints strongly affect cHEX compactness and that lower conductivity materials can outperform metals such as copper in power dense heat exchanger designs.
An Efficient GPU-based Implementation for Noise Robust Sound Source Localization
Venue: arXiv cs.SD 2025
Year: 2025

Robot audition, encompassing Sound Source Localization (SSL), Sound Source Separation (SSS), and Automatic Speech Recognition (ASR), enables robots and smart devices to acquire auditory capabilities similar to human hearing. Despite their wide applicability, processing multi-channel audio signals from microphone arrays in SSL involves computationally intensive matrix operations, which can hinder efficient deployment on Central Processing Units (CPUs), particularly in embedded systems with limited CPU resources. This paper introduces a GPU-based implementation of SSL for robot audition, utilizing the Generalized Singular Value Decomposition-based Multiple Signal Classification (GSVD-MUSIC), a noise-robust algorithm, within the HARK platform, an open-source software suite. For a 60-channel microphone array, the proposed implementation achieves significant performance improvements. On the Jetson AGX Orin, an embedded device powered by an NVIDIA GPU and ARM Cortex-A78AE v8.2 64-bit CPUs, we observe speedups of 5648.7x for GSVD calculations and 10.7x for the SSL module, while speedups of 4245.1x for GSVD calculation and 17.3x for the entire SSL module on a server configured with an NVIDIA A100 GPU and AMD EPYC 7352 CPUs, making real-time processing feasible for large-scale microphone arrays and providing ample capacity for real-time processing of potential subsequent machine learning or deep learning tasks.
Autonomous state-space segmentation for Deep-RL sparse reward scenarios
Venue: arXiv cs.LG 2025
Year: 2025

Dealing with environments with sparse rewards has always been crucial for systems developed to operate in autonomous open-ended learning settings. Intrinsic Motivations could be an effective way to help Deep Reinforcement Learning algorithms learn in such scenarios. In fact, intrinsic reward signals, such as novelty or curiosity, are generally adopted to improve exploration when extrinsic rewards are delayed or absent. Building on previous works, we tackle the problem of learning policies in the presence of sparse rewards by proposing a two-level architecture that alternates an ''intrinsically driven'' phase of exploration and autonomous sub-goal generation, to a phase of sparse reward, goal-directed policy learning. The idea is to build several small networks, each one specialized on a particular sub-path, and use them as starting points for future exploration without the need to further explore from scratch previously learnt paths. Two versions of the system have been trained and tested in the Gym SuperMarioBros environment without considering any additional extrinsic reward. The results show the validity of our approach and the importance of autonomously segment the environment to generate an efficient path towards the final goal.
Locations of Characters in Narratives: Andersen and Persuasion Datasets
Venue: arXiv cs.CL 2025
Year: 2025

The ability of machines to grasp spatial understanding within narrative contexts is an intriguing aspect of reading comprehension that continues to be studied. Motivated by the goal to test the AI's competence in understanding the relationship between characters and their respective locations in narratives, we introduce two new datasets: Andersen and Persuasion. For the Andersen dataset, we selected fifteen children's stories from "Andersen's Fairy Tales" by Hans Christian Andersen and manually annotated the characters and their respective locations throughout each story. Similarly, for the Persuasion dataset, characters and their locations in the novel "Persuasion" by Jane Austen were also manually annotated. We used these datasets to prompt Large Language Models (LLMs). The prompts are created by extracting excerpts from the stories or the novel and combining them with a question asking the location of a character mentioned in that excerpt. Out of the five LLMs we tested, the best-performing one for the Andersen dataset accurately identified the location in 61.85% of the examples, while for the Persuasion dataset, the best-performing one did so in 56.06% of the cases.
SpectR: Dynamically Composing LM Experts with Spectral Routing
Venue: arXiv cs.CL 2025
Year: 2025

Training large, general-purpose language models poses significant challenges. The growing availability of specialized expert models, fine-tuned from pretrained models for specific tasks or domains, offers a promising alternative. Leveraging the potential of these existing expert models in real-world applications requires effective methods to select or merge the models best suited for a given task. This paper introduces SPECTR, an approach for dynamically composing expert models at each time step during inference. Notably, our method requires no additional training and enables flexible, token- and layer-wise model combinations. Our experimental results demonstrate that SPECTR improves routing accuracy over alternative training-free methods, increasing task performance across expert domains.
Online Traffic Density Estimation using Physics-Informed Neural Networks
Venue: arXiv cs.LG 2025
Year: 2025

Recent works on the application of Physics-Informed Neural Networks to traffic density estimation have shown to be promising for future developments due to their robustness to model errors and noisy data. In this paper, we introduce a methodology for online approximation of the traffic density using measurements from probe vehicles in two settings: one using the Greenshield model and the other considering a high-fidelity traffic simulation. The proposed method continuously estimates the real-time traffic density in space and performs model identification with each new set of measurements. The density estimate is updated in almost real-time using gradient descent and adaptive weights. In the case of full model knowledge, the resulting algorithm has similar performance to the classical open-loop one. However, in the case of model mismatch, the iterative solution behaves as a closed-loop observer and outperforms the baseline method. Similarly, in the high-fidelity setting, the proposed algorithm correctly reproduces the traffic characteristics.
Gaussian Process Tilted Nonparametric Density Estimation using Fisher Divergence Score Matching
Venue: arXiv cs.LG 2025
Year: 2025

We propose a nonparametric density estimator based on the Gaussian process (GP) and derive three novel closed form learning algorithms based on Fisher divergence (FD) score matching. The density estimator is formed by multiplying a base multivariate normal distribution with an exponentiated GP refinement, and so we refer to it as a GP-tilted nonparametric density. By representing the GP part of the score as a linear function using the random Fourier feature (RFF) approximation, we show that optimization can be solved in closed form for the three FD-based objectives considered. This includes the basic and noise conditional versions of the Fisher divergence, as well as an alternative to noise conditional FD models based on variational inference (VI) that we propose in this paper. For this novel learning approach, we propose an ELBO-like optimization to approximate the posterior distribution, with which we then derive a Fisher variational predictive distribution. The RFF representation of the GP, which is functionally equivalent to a single layer neural network score model with cosine activation, provides a useful linear representation of the GP for which all expectations can be solved. The Gaussian base distribution also helps with tractability of the VI approximation and ensures that our proposed density is well-defined. We demonstrate our three learning algorithms, as well as a MAP baseline algorithm, on several low dimensional density estimation problems. The closed form nature of the learning problem removes the reliance on iterative learning algorithms, making this technique particularly well-suited to big data sets, since only sufficient statistics collected from a single pass through the data is needed.
Hierarchical Knowledge Structuring for Effective Federated Learning in Heterogeneous Environments
Venue: arXiv cs.LG 2025
Year: 2025

Federated learning enables collaborative model training across distributed entities while maintaining individual data privacy. A key challenge in federated learning is balancing the personalization of models for local clients with generalization for the global model. Recent efforts leverage logit-based knowledge aggregation and distillation to overcome these issues. However, due to the non-IID nature of data across diverse clients and the imbalance in the client's data distribution, directly aggregating the logits often produces biased knowledge that fails to apply to individual clients and obstructs the convergence of local training. To solve this issue, we propose a Hierarchical Knowledge Structuring (HKS) framework that formulates sample logits into a multi-granularity codebook to represent logits from personalized per-sample insights to globalized per-class knowledge. The unsupervised bottom-up clustering method is leveraged to enable the global server to provide multi-granularity responses to local clients. These responses allow local training to integrate supervised learning objectives with global generalization constraints, which results in more robust representations and improved knowledge sharing in subsequent training rounds. The proposed framework's effectiveness is validated across various benchmarks and model architectures.
Dexterous Manipulation through Imitation Learning: A Survey
Venue: arXiv cs.RO 2025
Year: 2025

Dexterous manipulation, which refers to the ability of a robotic hand or multi-fingered end-effector to skillfully control, reorient, and manipulate objects through precise, coordinated finger movements and adaptive force modulation, enables complex interactions similar to human hand dexterity. With recent advances in robotics and machine learning, there is a growing demand for these systems to operate in complex and unstructured environments. Traditional model-based approaches struggle to generalize across tasks and object variations due to the high dimensionality and complex contact dynamics of dexterous manipulation. Although model-free methods such as reinforcement learning (RL) show promise, they require extensive training, large-scale interaction data, and carefully designed rewards for stability and effectiveness. Imitation learning (IL) offers an alternative by allowing robots to acquire dexterous manipulation skills directly from expert demonstrations, capturing fine-grained coordination and contact dynamics while bypassing the need for explicit modeling and large-scale trial-and-error. This survey provides an overview of dexterous manipulation methods based on imitation learning, details recent advances, and addresses key challenges in the field. Additionally, it explores potential research directions to enhance IL-driven dexterous manipulation. Our goal is to offer researchers and practitioners a comprehensive introduction to this rapidly evolving domain.
Finding a Shortest Curve that Separates Few Objects from Many
Venue: arXiv cs.CG 2025
Year: 2025

We present a fixed-parameter tractable (FPT) algorithm to find a shortest curve that encloses a set of k required objects in the plane while paying a penalty for enclosing unwanted objects. The input is a set of interior-disjoint simple polygons in the plane, where k of the polygons are required to be enclosed and the remaining optional polygons have non-negative penalties. The goal is to find a closed curve that is disjoint from the polygon interiors and encloses the k required polygons, while minimizing the length of the curve plus the penalties of the enclosed optional polygons. If the penalties are high, the output is a shortest curve that separates the required polygons from the others. The problem is NP-hard if k is not fixed, even in very special cases. The runtime of our algorithm is $O(3^kn^3)$, where n is the number of vertices of the input polygons. We extend the result to a graph version of the problem where the input is a connected plane graph with positive edge weights. There are k required faces; the remaining faces are optional and have non-negative penalties. The goal is to find a closed walk in the graph that encloses the k required faces, while minimizing the weight of the walk plus the penalties of the enclosed optional faces. We also consider an inverted version of the problem where the required objects must lie outside the curve. Our algorithms solve some other well-studied problems, such as geometric knapsack.
Heterogeneous Resource Allocation for Ensuring End-to-End Quality of Service in Multi-hop Integrated Access and Backhaul Network
Venue: arXiv cs.NE 2025
Year: 2025

Faced with increasing network traffic demands, cell dense deployment is one of significant means to utilize spectrum resources efficiently to improve network capacity. Multi-hop integrated access and backhaul (IAB) architectures have emerged as a cost-effective solution for network densification. Meanwhile, dynamic time division duplex (D-TDD) is a promising solution to adapt to highly dynamic scenarios with asymmetric uplink and downlink traffic. Thus, dynamic resource allocation between backhaul and access links and high spectral efficiency under ensuring reliable transmission are two key objectives of IAB research. However, due to huge solution space, there are some challenges in multi-hop IAB with D-TDD if only an integrated optimization problem (IOP) is considered. To handle these challenges, we decompose the IOP into sub-problems to reduce the solution space. To tackle these sub-problems, we formulate them separately as the non-cooperative games and design the corresponding utility functions to guarantee the existence of Nash equilibrium solutions. Also, to achieve the system-wide solution, we propose a single-leader heterogeneous multi-follower Stackelberg-game-based resource allocation scheme, which can combine the solving results of all the sub-problems to get the IOP approximate solution. Simulation results show that the proposed scheme can improve throughput performance while meeting spectrum energy efficiency constraints.
CAMINO: Cloud-native Autonomous Management and Intent-based Orchestrator
Venue: arXiv cs.NI 2025
Year: 2025

This paper introduces CAMINO, a Cloud-native Autonomous Management and Intent-based Orchestrator designed to address the challenges of scalable, declarative, and cloud-native service management and orchestration. CAMINO leverages a modular architecture, the Configuration-as-Data (CaD) paradigm, and real-time resource monitoring to facilitate zero-touch provisioning across multi-edge infrastructure. By incorporating intent-driven orchestration and observability capabilities, CAMINO enables automated lifecycle management of network functions, ensuring optimized resource utilisation. The proposed solution abstracts complex configurations into high-level intents, offering a scalable approach to orchestrating services in distributed cloud-native infrastructures. This paper details CAMINO's system architecture, implementation, and key benefits, highlighting its effectiveness in cloud-native telecommunications environments.
Extending the SAREF4ENER Ontology with Flexibility Based on FlexOffers
Venue: arXiv cs.CL 2025
Year: 2025

A key element to support the increased amounts of renewable energy in the energy system is flexibility, i.e., the possibility of changing energy loads in time and amount. Many flexibility models have been designed; however, exact models fail to scale for long time horizons or many devices. Because of this, the FlexOffers model has been designed, to provide device-independent approximations of flexibility with good accuracy, and much better scaling for long time horizons and many devices. An important aspect of the real-life implementation of energy flexibility is enabling flexible data exchange with many smart energy appliances and market systems, e.g., in smart buildings. For this, ontologies standardizing data formats are required. However, the current industry standard ontology for integrating smart devices for energy purposes, SAREF for Energy Flexibility (SAREF4ENER), only has limited support for flexibility and thus cannot support important use cases. In this paper, we propose an extension of SAREF4ENER that integrates full support for the complete FlexOffer model, including advanced use cases, while maintaining backward compatibility. This novel ontology module can accurately describe flexibility for advanced devices such as electric vehicles, batteries, and heat pumps. It can also capture the inherent uncertainty associated with many flexible load types.
Optimization of a Triangular Delaunay Mesh Generator using Reinforcement Learning
Venue: arXiv cs.CG 2025
Year: 2025

In this work we introduce a triangular Delaunay mesh generator that can be trained using reinforcement learning to maximize a given mesh quality metric. Our mesh generator consists of a graph neural network that distributes and modifies vertices, and a standard Delaunay algorithm to triangulate the vertices. We explore various design choices and evaluate our mesh generator on various tasks including mesh generation, mesh improvement, and producing variable resolution meshes. The learned mesh generator outputs meshes that are comparable to those produced by Triangle and DistMesh, two popular Delaunay-based mesh generators.