OpenRaiser/Intern-Atlas huggingface dataset:
Joint Learning of Depth and Appearance for Portrait Image Animation
Venue: arXiv cs.CV 2025
Year: 2025

2D portrait animation has experienced significant advancements in recent years. Much research has utilized the prior knowledge embedded in large generative diffusion models to enhance high-quality image manipulation. However, most methods only focus on generating RGB images as output, and the co-generation of consistent visual plus 3D output remains largely under-explored. In our work, we propose to jointly learn the visual appearance and depth simultaneously in a diffusion-based portrait image generator. Our method embraces the end-to-end diffusion paradigm and introduces a new architecture suitable for learning this conditional joint distribution, consisting of a reference network and a channel-expanded diffusion backbone. Once trained, our framework can be efficiently adapted to various downstream applications, such as facial depth-to-image and image-to-depth generation, portrait relighting, and audio-driven talking head animation with consistent 3D output.
Application of Deep Reinforcement Learning to UAV Swarming for Ground Surveillance
Venue: arXiv cs.AI 2025
Year: 2025

This paper summarizes in depth the state of the art of aerial swarms, covering both classical and new reinforcement-learning-based approaches for their management. Then, it proposes a hybrid AI system, integrating deep reinforcement learning in a multi-agent centralized swarm architecture. The proposed system is tailored to perform surveillance of a specific area, searching and tracking ground targets, for security and law enforcement applications. The swarm is governed by a central swarm controller responsible for distributing different search and tracking tasks among the cooperating UAVs. Each UAV agent is then controlled by a collection of cooperative sub-agents, whose behaviors have been trained using different deep reinforcement learning models, tailored for the different task types proposed by the swarm controller. More specifically, proximal policy optimization (PPO) algorithms were used to train the agents' behavior. In addition, several metrics to assess the performance of the swarm in this application were defined. The results obtained through simulation show that our system searches the operation area effectively, acquires the targets in a reasonable time, and is capable of tracking them continuously and consistently.
Tile Reconfiguration by a Finite Automaton
Venue: arXiv cs.DS 2025
Year: 2025

Shape formation is one of the most thoroughly studied problems in programmable matter and swarm robotics. However, in many models, the class of shapes that can be formed is highly restricted due to the particles' limited memory. In the hybrid model, an active agent with the computational power of a deterministic finite automaton can form shapes by lifting and placing passive tiles on the triangular lattice. We study the shape reconfiguration problem where the agent additionally has the ability to distinguish so-called target nodes from non-target nodes and needs to form a target shape from the initial tile configuration. We present a worst-case optimal $O(mn)$ algorithm for simply connected target shapes, where $m$ is the initial number of unoccupied target nodes and $n$ is the total number of tiles. Furthermore, we show how an agent can reconfigure a large class of target shapes with holes in $O(n^4)$ steps.
Consensus ranking by quantum annealing
Venue: arXiv cs.ET 2025
Year: 2025

Consensus ranking is a technique used to derive a single ranking that best represents the preferences of multiple individuals or systems. It aims to aggregate different rankings into one that minimizes overall disagreement or distance from each of the individual rankings. Kemeny ranking aggregation, in particular, is a widely used method in decision-making and social choice, with applications ranging from search engines to music recommendation systems. It seeks to determine a consensus ranking of a set of candidates based on the preferences of a group of individuals. However, existing quantum annealing algorithms face challenges in efficiently processing large datasets with many candidates. In this paper, we propose a method to improve the performance of quantum annealing for Kemeny rank aggregation. Our approach identifies the pairwise preference matrix that represents the solution list and subsequently reconstructs the ranking using classical methods. This method already yields better results than existing approaches. Furthermore, we present a range of enhancements that significantly improve the proposed method's performance, thereby increasing the number of candidates that can be effectively handled. Finally, we evaluate the efficiency of our approach by comparing its performance and execution time with that of KwikSort, a well-known approximate algorithm.
Self-supervised Transformation Learning for Equivariant Representations
Venue: arXiv cs.CV 2025
Year: 2025

Unsupervised representation learning has significantly advanced various machine learning tasks. In the computer vision domain, state-of-the-art approaches utilize transformations like random crop and color jitter to achieve invariant representations, embedding semantically the same inputs despite transformations. However, this can degrade performance in tasks requiring precise features, such as localization or flower classification. To address this, recent research incorporates equivariant representation learning, which captures transformation-sensitive information. However, current methods depend on transformation labels and thus struggle with interdependency and complex transformations. We propose Self-supervised Transformation Learning (STL), replacing transformation labels with transformation representations derived from image pairs. The proposed method ensures transformation representation is image-invariant and learns corresponding equivariant transformations, enhancing performance without increased batch complexity. We demonstrate the approach's effectiveness across diverse classification and detection tasks, outperforming existing methods in 7 out of 11 benchmarks and excelling in detection. By integrating complex transformations like AugMix, unusable by prior equivariant methods, this approach enhances performance across tasks, underscoring its adaptability and resilience. Additionally, its compatibility with various base models highlights its flexibility and broad applicability. The code is available at https://github.com/jaemyung-u/stl.
Can Millimeter-Wave Support Interactive Extended Reality Under Rapid Rotational Motion?
Venue: arXiv cs.NI 2025
Year: 2025

Using Millimeter-Wave (mmWave) wireless communications is often named as the prime enabler for mobile interactive Extended Reality (XR), as it offers multi-gigabit data rates at millisecond-range latency. To achieve this, mmWave nodes must focus their energy towards each other, which is especially challenging in XR scenarios, where the transceiver on the user's XR device may rotate rapidly. To evaluate the feasibility of mmWave XR, we present the first throughput and latency evaluation of state-of-the-art mmWave hardware under rapid rotational motion, for different PHY and MAC-layer parameter configurations. We show that this parameter configuration has a significant impact on performance, and that specialized beamforming approaches for rapid rotational motion may be necessary to enable uninterrupted, high-quality mobile interactive XR experiences.
Opportunities and Challenges for Virtual Reality Streaming over Millimeter-Wave: An Experimental Analysis
Venue: arXiv cs.NI 2025
Year: 2025

Achieving extremely high-quality and truly immersive interactive Virtual Reality (VR) is expected to require a wireless link to the cloud, providing multi-gigabit throughput and extremely low latency. A prime candidate for fulfilling these requirements is millimeter-wave (mmWave) communications, operating in the 30 to 300 GHz bands, rather than the traditional sub-6 GHz. Evaluations with first-generation mmWave Wi-Fi hardware, based on the IEEE 802.11ad standard, have so far largely remained limited to lower-layer metrics. In this work, we present the first experimental analysis of the capabilities of mmWave for streaming VR content, using a novel testbed capable of repeatably creating blockage through mobility. Using this testbed, we show that (a) motion may briefly interrupt transmission, (b) a broken line of sight may degrade throughput unpredictably, and (c) TCP-based streaming frameworks need careful tuning to behave well over mmWave.
Adaptive Approximation Schemes for Matching Queues
Venue: arXiv cs.DS 2025
Year: 2025

We study a continuous-time, infinite-horizon dynamic bipartite matching problem. Suppliers arrive according to a Poisson process; while waiting, they may abandon the queue at a uniform rate. Customers on the other hand must be matched upon arrival. The objective is to minimize the expected long-term average cost subject to a throughput constraint on the total match rate. Previous literature on dynamic matching focuses on "static" policies, where the matching decisions do not depend explicitly on the state of the supplier queues, achieving constant-factor approximations. By contrast, we design "adaptive" policies, which leverage queue length information, and obtain near-optimal polynomial-time algorithms for several classes of instances. First, we develop a bi-criteria fully polynomial-time approximation scheme for dynamic matching on networks with a constant number of queues--that computes a $(1-ε)$-approximation of the optimal policy in time polynomial in both the input size and $1/ε$. A key new technique is a hybrid LP relaxation, which combines static and state-dependent LP approximations of the queue dynamics, after a decomposition of the network. Networks with a constant number of queues are motivated by deceased organ donation schemes, where the supply types can be divided according to blood and tissue types. The above algorithm, combined with a careful cell decomposition gives an efficient polynomial-time approximation scheme for dynamic matching on Euclidean networks of fixed dimension. The Euclidean case is of interest in ride-hailing and spatial service platforms, where the goal is to fulfill as many trips as possible while minimizing driving distances.
Networked Agents in the Dark: Team Value Learning under Partial Observability
Venue: arXiv cs.LG 2025
Year: 2025

We propose a novel cooperative multi-agent reinforcement learning (MARL) approach for networked agents. In contrast to previous methods that rely on complete state information or joint observations, our agents must learn how to reach shared objectives under partial observability. During training, they collect individual rewards and approximate a team value function through local communication, resulting in cooperative behavior. To describe our problem, we introduce the networked dynamic partially observable Markov game framework, where agents communicate over a switching topology communication network. Our distributed method, DNA-MARL, uses a consensus mechanism for local communication and gradient descent for local computation. DNA-MARL increases the range of the possible applications of networked agents, being well-suited for real world domains that impose privacy and where the messages may not reach their recipients. We evaluate DNA-MARL across benchmark MARL scenarios. Our results highlight the superior performance of DNA-MARL over previous methods.
Automatic tuning of communication protocols for vehicular ad hoc networks using metaheuristics
Venue: arXiv cs.NE 2025
Year: 2025

The emerging field of vehicular ad hoc networks (VANETs) deals with a set of communicating vehicles which are able to spontaneously interconnect without any pre-existing infrastructure. In such kind of networks, it is crucial to make an optimal configuration of the communication protocols previously to the final network deployment. This way, a human designer can obtain an optimal QoS of the network beforehand. The problem we consider in this work lies in configuring the File Transfer protocol Configuration (FTC) with the aim of optimizing the transmission time, the number of lost packets, and the amount of data transferred in realistic VANET scenarios. We face the FTC with five representative state-of-the-art optimization techniques and compare their performance. These algorithms are: Particle Swarm Optimization (PSO), Differential Evolution (DE), Genetic Algorithm (GA), Evolutionary Strategy (ES), and Simulated Annealing (SA). For our tests, two typical environment instances of VANETs for Urban and Highway scenarios have been defined. The experiments using ns- 2 (a well-known realistic VANET simulator) reveal that PSO outperforms all the compared algorithms for both studied VANET instances.
Incrementally Learning Multiple Diverse Data Domains via Multi-Source Dynamic Expansion Model
Venue: arXiv cs.LG 2025
Year: 2025

Continual Learning seeks to develop a model capable of incrementally assimilating new information while retaining prior knowledge. However, current research predominantly addresses a straightforward learning context, wherein all data samples originate from a singular data domain. This paper shifts focus to a more complex and realistic learning environment, characterized by data samples sourced from multiple distinct domains. We tackle this intricate learning challenge by introducing a novel methodology, termed the Multi-Source Dynamic Expansion Model (MSDEM), which leverages various pre-trained models as backbones and progressively establishes new experts based on them to adapt to emerging tasks. Additionally, we propose an innovative dynamic expandable attention mechanism designed to selectively harness knowledge from multiple backbones, thereby accelerating the new task learning. Moreover, we introduce a dynamic graph weight router that strategically reuses all previously acquired parameters and representations for new task learning, maximizing the positive knowledge transfer effect, which further improves generalization performance. We conduct a comprehensive series of experiments, and the empirical findings indicate that our proposed approach achieves state-of-the-art performance.
A Partial Initialization Strategy to Mitigate the Overfitting Problem in CATE Estimation with Hidden Confounding
Venue: arXiv cs.LG 2025
Year: 2025

Estimating the conditional average treatment effect (CATE) from observational data plays a crucial role in areas such as e-commerce, healthcare, and economics. Existing studies mainly rely on the strong ignorability assumption that there are no hidden confounders, whose existence cannot be tested from observational data and can invalidate any causal conclusion. In contrast, data collected from randomized controlled trials (RCT) do not suffer from confounding but are usually limited by a small sample size. To avoid overfitting caused by the small-scale RCT data, we propose a novel two-stage pretraining-finetuning (TSPF) framework with a partial parameter initialization strategy to estimate the CATE in the presence of hidden confounding. In the first stage, a foundational representation of covariates is trained to estimate counterfactual outcomes through large-scale observational data. In the second stage, we propose to train an augmented representation of the covariates, which is concatenated with the foundational representation obtained in the first stage to adjust for the hidden confounding. Rather than training a separate network from scratch, part of the prediction heads are initialized from the first stage. The superiority of our approach is validated on two datasets with extensive experiments.
Parallel Query Processing with Heterogeneous Machines
Venue: arXiv cs.DB 2025
Year: 2025

We study the problem of computing a full Conjunctive Query in parallel using $p$ heterogeneous machines. Our computational model is similar to the MPC model, but each machine has its own cost function mapping from the number of bits it receives to a cost. An optimal algorithm should minimize the maximum cost across all machines. We consider algorithms over a single communication round and give a lower bound and matching upper bound for databases where each relation has the same cardinality. We do this for both linear cost functions like in previous work, but also for more general cost functions. For databases with relations of different cardinalities, we also find a lower bound, and give matching upper bounds for specific queries like the cartesian product, the join, the star query, and the triangle query. Our approach is inspired by the HyperCube algorithm, but there are additional challenges involved when machines have heterogeneous cost functions.
Automated Retrosynthesis Planning of Macromolecules Using Large Language Models and Knowledge Graphs
Venue: arXiv cs.AI 2025
Year: 2025

Identifying reliable synthesis pathways in materials chemistry is a complex task, particularly in polymer science, due to the intricate and often non-unique nomenclature of macromolecules. To address this challenge, we propose an agent system that integrates large language models (LLMs) and knowledge graphs. By leveraging LLMs' powerful capabilities for extracting and recognizing chemical substance names, and storing the extracted data in a structured knowledge graph, our system fully automates the retrieval of relevant literatures, extraction of reaction data, database querying, construction of retrosynthetic pathway trees, further expansion through the retrieval of additional literature and recommendation of optimal reaction pathways. By considering the complex interdependencies among chemical reactants, a novel Multi-branched Reaction Pathway Search Algorithm (MBRPS) is proposed to help identify all valid multi-branched reaction pathways, which arise when a single product decomposes into multiple reaction intermediates. In contrast, previous studies were limited to cases where a product decomposes into at most one reaction intermediate. This work represents the first attempt to develop a fully automated retrosynthesis planning agent tailored specially for macromolecules powered by LLMs. Applied to polyimide synthesis, our new approach constructs a retrosynthetic pathway tree with hundreds of pathways and recommends optimized routes, including both known and novel pathways. This demonstrates utilizing LLMs for literature consultation to accomplish specific tasks is possible and crucial for future materials research, given the vast amount of materials-related literature.
When Uncertainty Leads to Unsafety: Empirical Insights into the Role of Uncertainty in Unmanned Aerial Vehicle Safety
Venue: arXiv cs.SE 2025
Year: 2025

Despite the recent developments in obstacle avoidance and other safety features, autonomous Unmanned Aerial Vehicles (UAVs) continue to face safety challenges. No previous work investigated the relationship between the behavioral uncertainty of a UAV, characterized in this work by inconsistent or erratic control signal patterns, and the unsafety of its flight. By quantifying uncertainty, it is possible to develop a predictor for unsafety, which acts as a flight supervisor. We conducted a large-scale empirical investigation of safety violations using PX4-Autopilot, an open-source UAV software platform. Our dataset of over 5,000 simulated flights, created to challenge obstacle avoidance, allowed us to explore the relation between uncertain UAV decisions and safety violations: up to 89% of unsafe UAV states exhibit significant decision uncertainty, and up to 74% of uncertain decisions lead to unsafe states. Based on these findings, we implemented Superialist (Supervising Autonomous Aerial Vehicles), a runtime uncertainty detector based on autoencoders, the state-of-the-art technology for anomaly detection. Superialist achieved high performance in detecting uncertain behaviors with up to 96% precision and 93% recall. Despite the observed performance degradation when using the same approach for predicting unsafety (up to 74% precision and 87% recall), Superialist enabled early prediction of unsafe states up to 50 seconds in advance.
Physical AI Agents: Integrating Cognitive Intelligence with Real-World Action
Venue: arXiv cs.MA 2025
Year: 2025

Vertical AI Agents are revolutionizing industries by delivering domain-specific intelligence and tailored solutions. However, many sectors, such as manufacturing, healthcare, and logistics, demand AI systems capable of extending their intelligence into the physical world, interacting directly with objects, environments, and dynamic conditions. This need has led to the emergence of Physical AI Agents--systems that integrate cognitive reasoning, powered by specialized LLMs, with precise physical actions to perform real-world tasks. This work introduces Physical AI Agents as an evolution of shared principles with Vertical AI Agents, tailored for physical interaction. We propose a modular architecture with three core blocks--perception, cognition, and actuation--offering a scalable framework for diverse industries. Additionally, we present the Physical Retrieval Augmented Generation (Ph-RAG) design pattern, which connects physical intelligence to industry-specific LLMs for real-time decision-making and reporting informed by physical context. Through case studies, we demonstrate how Physical AI Agents and the Ph-RAG framework are transforming industries like autonomous vehicles, warehouse robotics, healthcare, and manufacturing, offering businesses a pathway to integrate embodied AI for operational efficiency and innovation.
An analysis of data variation and bias in image-based dermatological datasets for machine learning classification
Venue: arXiv cs.CV 2025
Year: 2025

AI algorithms have become valuable in aiding professionals in healthcare. The increasing confidence obtained by these models is helpful in critical decision demands. In clinical dermatology, classification models can detect malignant lesions on patients' skin using only RGB images as input. However, most learning-based methods employ data acquired from dermoscopic datasets on training, which are large and validated by a gold standard. Clinical models aim to deal with classification on users' smartphone cameras that do not contain the corresponding resolution provided by dermoscopy. Also, clinical applications bring new challenges. It can contain captures from uncontrolled environments, skin tone variations, viewpoint changes, noises in data and labels, and unbalanced classes. A possible alternative would be to use transfer learning to deal with the clinical images. However, as the number of samples is low, it can cause degradations on the model's performance; the source distribution used in training differs from the test set. This work aims to evaluate the gap between dermoscopic and clinical samples and understand how the dataset variations impact training. It assesses the main differences between distributions that disturb the model's prediction. Finally, from experiments on different architectures, we argue how to combine the data from divergent distributions, decreasing the impact on the model's final accuracy.