OpenRaiser/Intern-Atlas huggingface dataset:
Implicit Safe Set Algorithm for Provably Safe Reinforcement Learning
Venue: arXiv cs.RO 2025
Year: 2025

Deep reinforcement learning (DRL) has demonstrated remarkable performance in many continuous control tasks. However, a significant obstacle to the real-world application of DRL is the lack of safety guarantees. Although DRL agents can satisfy system safety in expectation through reward shaping, designing agents to consistently meet hard constraints (e.g., safety specifications) at every time step remains a formidable challenge. In contrast, existing work in the field of safe control provides guarantees on persistent satisfaction of hard safety constraints. However, these methods require explicit analytical system dynamics models to synthesize safe control, which are typically inaccessible in DRL settings. In this paper, we present a model-free safe control algorithm, the implicit safe set algorithm, for synthesizing safeguards for DRL agents that ensure provable safety throughout training. The proposed algorithm synthesizes a safety index (barrier certificate) and a subsequent safe control law solely by querying a black-box dynamic function (e.g., a digital twin simulator). Moreover, we theoretically prove that the implicit safe set algorithm guarantees finite time convergence to the safe set and forward invariance for both continuous-time and discrete-time systems. We validate the proposed algorithm on the state-of-the-art Safety Gym benchmark, where it achieves zero safety violations while gaining $95\% \pm 9\%$ cumulative reward compared to state-of-the-art safe DRL methods. Furthermore, the resulting algorithm scales well to high-dimensional systems with parallel computing.
SMCD: High Realism Motion Style Transfer via Mamba-based Diffusion
Venue: arXiv cs.CV 2025
Year: 2025

Motion style transfer is a significant research direction in the field of computer vision, enabling virtual digital humans to rapidly switch between different styles of the same motion, thereby significantly enhancing the richness and realism of movements. It has been widely applied in multimedia scenarios such as films, games, and the metaverse. However, most existing methods adopt a two-stream structure, which tends to overlook the intrinsic relationship between content and style motions, leading to information loss and poor alignment. Moreover, when handling long-range motion sequences, these methods fail to effectively learn temporal dependencies, ultimately resulting in unnatural generated motions. To address these limitations, we propose a Unified Motion Style Diffusion (UMSD) framework, which simultaneously extracts features from both content and style motions and facilitates sufficient information interaction. Additionally, we introduce the Motion Style Mamba (MSM) denoiser, the first approach in the field of motion style transfer to leverage Mamba's powerful sequence modelling capability. Better capturing temporal relationships generates more coherent stylized motion sequences. Third, we design a diffusion-based content consistency loss and a style consistency loss to constrain the framework, ensuring that it inherits the content motion while effectively learning the characteristics of the style motion. Finally, extensive experiments demonstrate that our method outperforms state-of-the-art (SOTA) methods qualitatively and quantitatively, achieving more realistic and coherent motion style transfer.
A Multi-Agent Rollout Approach for Highway Bottleneck Decongestion in Mixed Autonomy
Venue: arXiv cs.MA 2025
Year: 2025

The integration of autonomous vehicles (AVs) into the existing transportation infrastructure offers a promising solution to alleviate congestion and enhance mobility. This research explores a novel approach to traffic optimization by employing a multi-agent rollout approach within a mixed autonomy environment. The study concentrates on coordinating the speed of human-driven vehicles by longitudinally controlling AVs, aiming to dynamically optimize traffic flow and alleviate congestion at highway bottlenecks in real-time. We model the problem as a decentralized partially observable Markov decision process (Dec-POMDP) and propose an improved multi-agent rollout algorithm. By employing agent-by-agent policy iterations, our approach implicitly considers cooperation among multiple agents and seamlessly adapts to complex scenarios where the number of agents dynamically varies. Validated in a real-world network with varying AV penetration rates and traffic flow, the simulations demonstrate that the multi-agent rollout algorithm significantly enhances performance, reducing average travel time on bottleneck segments by 9.42% with a 10% AV penetration rate.
DeepMpMRI: Tensor-decomposition Regularized Learning for Fast and High-Fidelity Multi-Parametric Microstructural MR Imaging
Venue: arXiv cs.CV 2025
Year: 2025

Deep learning has emerged as a promising approach for learning the nonlinear mapping between diffusion-weighted MR images and tissue parameters, which enables automatic and deep understanding of the brain microstructures. However, the efficiency and accuracy in estimating multiple microstructural parameters derived from multiple diffusion models are still limited since previous studies tend to estimate parameter maps from distinct models with isolated signal modeling and dense sampling. This paper proposes DeepMpMRI, an efficient framework for fast and high-fidelity multiple microstructural parameter estimation from multiple models using highly sparse sampled q-space data. DeepMpMRI is equipped with a newly designed tensor-decomposition-based regularizer to effectively capture fine details by exploiting the high-dimensional correlation across microstructural parameters. In addition, we introduce a Nesterov-based adaptive learning algorithm that optimizes the regularization parameter dynamically to enhance the performance. DeepMpMRI is an extendable framework capable of incorporating flexible network architecture. Experimental results on the HCP dataset and the Alzheimer's disease dataset both demonstrate the superiority of our approach over 5 state-of-the-art methods in simultaneously estimating multi-model microstructural parameter maps for DKI and NODDI model with fine-grained details both quantitatively and qualitatively, achieving 4.5 - 15 $\times$ acceleration compared to the dense sampling of a total of 270 diffusion gradients.
Transformer-based RGB-T Tracking with Channel and Spatial Feature Fusion
Venue: arXiv cs.CV 2025
Year: 2025

The main problem in RGB-T tracking is the correct and optimal merging of the cross-modal features of visible and thermal images. Some previous methods either do not fully exploit the potential of RGB and TIR information for channel and spatial feature fusion or lack a direct interaction between the template and the search area, which limits the model's ability to fully utilize the original semantic information of both modalities. To address these limitations, we investigate how to achieve a direct fusion of cross-modal channels and spatial features in RGB-T tracking and propose CSTNet. It uses the Vision Transformer (ViT) as the backbone and adds a Joint Spatial and Channel Fusion Module (JSCFM) and Spatial Fusion Module (SFM) integrated between the transformer blocks to facilitate cross-modal feature interaction. The JSCFM module achieves joint modeling of channel and multi-level spatial features. The SFM module includes a cross-attention-like architecture for cross modeling and joint learning of RGB and TIR features. Comprehensive experiments show that CSTNet achieves state-of-the-art performance. To enhance practicality, we retrain the model without JSCFM and SFM modules and use CSNet as the pretraining weight, and propose CSTNet-small, which achieves 50% speedup with an average decrease of 1-2% in SR and PR performance. CSTNet and CSTNet-small achieve real-time speeds of 21 fps and 33 fps on the Nvidia Jetson Xavier, meeting actual deployment requirements. Code is available at https://github.com/LiYunfengLYF/CSTNet.
TED: Accelerate Model Training by Internal Generalization
Venue: arXiv cs.LG 2025
Year: 2025

Large language models have demonstrated strong performance in recent years, but the high cost of training drives the need for efficient methods to compress dataset sizes. We propose TED pruning, a method that addresses the challenge of overfitting under high pruning ratios by quantifying the model's ability to improve performance on pruned data while fitting retained data, known as Internal Generalization (IG). TED uses an optimization objective based on Internal Generalization Distance (IGD), measuring changes in IG before and after pruning to align with true generalization performance and achieve implicit regularization. The IGD optimization objective was verified to allow the model to achieve the smallest upper bound on generalization error. The impact of small mask fluctuations on IG is studied through masks and Taylor approximation, and fast estimation of IGD is enabled. In analyzing continuous training dynamics, the prior effect of IGD is validated, and a progressive pruning strategy is proposed. Experiments on image classification, natural language understanding, and large language model fine-tuning show TED achieves lossless performance with 60-70\% of the data. Upon acceptance, our code will be made publicly available.
A Reliable Framework for Human-in-the-Loop Anomaly Detection in Time Series
Venue: arXiv cs.HC 2025
Year: 2025

Time series anomaly detection is a critical machine learning task for numerous applications, such as finance, healthcare, and industrial systems. However, even high-performing models may exhibit potential issues such as biases, leading to unreliable outcomes and misplaced confidence. While model explanation techniques, particularly visual explanations, offer valuable insights by elucidating model attributions of their decision, many limitations still exist -- They are primarily instance-based and not scalable across the dataset, and they provide one-directional information from the model to the human side, lacking a mechanism for users to address detected issues. To fulfill these gaps, we introduce HILAD, a novel framework designed to foster a dynamic and bidirectional collaboration between humans and AI for enhancing anomaly detection models in time series. Through our visual interface, HILAD empowers domain experts to detect, interpret, and correct unexpected model behaviors at scale. Our evaluation through user studies with two models and three time series datasets demonstrates the effectiveness of HILAD, which fosters a deeper model understanding, immediate corrective actions, and model reliability enhancement.
Snake Learning: A Communication- and Computation-Efficient Distributed Learning Framework for 6G
Venue: arXiv cs.NI 2025
Year: 2025

In the evolution towards 6G, integrating Artificial Intelligence (AI) with advanced network infrastructure emerges as a pivotal strategy for enhancing network intelligence and resource utilization. Existing distributed learning frameworks like Federated Learning and Split Learning often struggle with significant challenges in dynamic network environments including high synchronization demands, costly communication overhead, severe computing resource consumption, and data heterogeneity across network nodes. These obstacles hinder the applications of ubiquitous computing capabilities of 6G networks, especially in light of the trend of escalating model parameters and training data volumes. To address these challenges effectively, this paper introduces ``Snake Learning", a cost-effective distributed learning framework. Specifically, Snake Learning respects the heterogeneity of inter-node computing capability and local data distribution in 6G networks, and sequentially trains the designated part of model layers on individual nodes. This layer-by-layer serpentine update mechanism contributes to significantly reducing the requirements for storage, memory and communication during the model training phase, and demonstrates superior adaptability and efficiency for both classification and fine-tuning tasks across homogeneous and heterogeneous data distributions.
Fully Reversing the Shoebox Image Source Method: From Impulse Responses to Room Parameters
Venue: arXiv cs.SD 2025
Year: 2025

We present an algorithm that fully reverses the shoebox image source method (ISM), a popular and widely used room impulse response (RIR) simulator for cuboid rooms introduced by Allen and Berkley in 1979. More precisely, given a discrete multichannel RIR generated by the shoebox ISM for a microphone array of known geometry, the algorithm reliably recovers the 18 input parameters. These are the 3D source position, the 3 dimensions of the room, the 6-degrees-of-freedom room translation and orientation, and an absorption coefficient for each of the 6 room boundaries. The approach builds on a recently proposed gridless image source localization technique combined with new procedures for room axes recovery and first-order-reflection identification. Extensive simulated experiments reveal that near-exact recovery of all parameters is achieved for a 32-element, 8.4-cm-wide spherical microphone array and a sampling rate of 16~kHz using fully randomized input parameters within rooms of size 2X2X2 to 10X10X5 meters. Estimation errors decay towards zero when increasing the array size and sampling rate. The method is also shown to strongly outperform a known baseline, and its ability to extrapolate RIRs at new positions is demonstrated. Crucially, the approach is strictly limited to low-passed discrete RIRs simulated using the vanilla shoebox ISM. Nonetheless, it represents to our knowledge the first algorithmic demonstration that this difficult inverse problem is in-principle fully solvable over a wide range of configurations.
ReinWiFi: Application-Layer QoS Optimization of WiFi Networks with Reinforcement Learning
Venue: arXiv cs.NI 2025
Year: 2025

The enhanced distributed channel access (EDCA) mechanism is used in current wireless fidelity (WiFi) networks to support priority requirements of heterogeneous applications. However, the EDCA mechanism can not adapt to particular quality-of-service (QoS) objective, network topology, and interference level. In this paper, a novel reinforcement-learning-based scheduling framework is proposed and implemented to optimize the application-layer quality-of-service (QoS) of a WiFi network with commercial adapters and unknown interference. Particularly, application-layer tasks of file delivery and delay-sensitive communication are jointly scheduled by adjusting the contention window sizes and application-layer throughput limitation, such that the throughput of the former and the round trip time of the latter can be optimized. Due to the unknown interference and vendor-dependent implementation of the WiFi adapters, the relation between the scheduling policy and the system QoS is unknown. Hence, a reinforcement learning method is proposed, in which a novel Q-network is trained to map from the historical scheduling parameters and QoS observations to the current scheduling action. It is demonstrated on a testbed that the proposed framework can achieve a significantly better performance than the EDCA mechanism.
RoboCar: A Rapidly Deployable Open-Source Platform for Autonomous Driving Research
Venue: arXiv cs.RO 2025
Year: 2025

This paper introduces RoboCar, an open-source research platform for autonomous driving developed at the University of Luxembourg. RoboCar provides a modular, cost-effective framework for the development of experimental Autonomous Driving Systems (ADS), utilizing the 2018 KIA Soul EV. The platform integrates a robust hardware and software architecture that aligns with the vehicle's existing systems, minimizing the need for extensive modifications. It supports various autonomous driving functions and has undergone real-world testing on public roads in Luxembourg City. This paper outlines the platform's architecture, integration challenges, and initial test results, offering insights into its application in advancing autonomous driving research. RoboCar is available to anyone at https://github.com/sntubix/robocar and is released under an open-source MIT license.
Effect of Realistic Oscillator Phase Noise on the Performance of Cell-Free Massive MIMO Systems
Venue: arXiv cs.NI 2025
Year: 2025

As the demand for 6G technologies continues to grow, the radio access infrastructure is expected to become increasingly dense. Cell-free (CF) Massive MIMO systems provide remarkable flexibility by enabling coherent service to users through multiple Access Points (APs). This innovative paradigm necessitates precise and stable phase synchronization. This paper examines the standardized 5G New Radio (NR) framework, focusing on subcarrier spacing, OFDM symbol duration, and allocation, while investigating the impact of Phase Noise (PN) on the performance of scalable massive MIMO cell-free systems. Unlike existing studies that typically employ a simplified model of a free-running oscillator characterized by a Wiener process, we present a realistic phase noise model inspired by actual hardware, designed to accurately capture the Local Oscillator (LO) phase drift. Furthermore, our PN model extends its applicability beyond cell-free systems, making it relevant for any RF system operating within the sub-6 GHz band. This model provides a robust foundation for the practical design of cell-free systems, encompassing numerology and pilot allocation strategies. Our findings reveal that even cost-effective low-cost Local Oscillators can achieve sufficient stability, resulting in negligible degradation of uplink Spectral Efficiency (SE) within the standardized 5G Transmission Time Interval of 1 ms. These results affirm the viability of cell-free massive MIMO systems based on 5G standards and their potential integration into future 6G networks.
Rényi divergence guarantees for hashing with linear codes
Venue: arXiv cs.IT 2025
Year: 2025

We consider the problem of distilling uniform random bits from an unknown source with a given $p$-entropy using linear hashing. As our main result, we estimate the expected $p$-divergence from the uniform distribution over the ensemble of random linear codes for all integer $p\ge 2$. The proof relies on analyzing how additive noise, determined by a random element of the code from the ensemble, acts on the source distribution. This action leads to the transformation of the source distribution into an approximately uniform one, a process commonly referred to as distribution smoothing. We also show that hashing with Reed-Muller matrices reaches intrinsic randomness of memoryless Bernoulli sources in the $l_p$ sense for all integer $p\ge 2$.
Variational Schrödinger Diffusion Models
Venue: arXiv cs.LG 2025
Year: 2025

Schrödinger bridge (SB) has emerged as the go-to method for optimizing transportation plans in diffusion models. However, SB requires estimating the intractable forward score functions, inevitably resulting in the costly implicit training loss based on simulated trajectories. To improve the scalability while preserving efficient transportation plans, we leverage variational inference to linearize the forward score functions (variational scores) of SB and restore simulation-free properties in training backward scores. We propose the variational Schrödinger diffusion model (VSDM), where the forward process is a multivariate diffusion and the variational scores are adaptively optimized for efficient transport. Theoretically, we use stochastic approximation to prove the convergence of the variational scores and show the convergence of the adaptively generated samples based on the optimal variational scores. Empirically, we test the algorithm in simulated examples and observe that VSDM is efficient in generations of anisotropic shapes and yields straighter sample trajectories compared to the single-variate diffusion. We also verify the scalability of the algorithm in real-world data and achieve competitive unconditional generation performance in CIFAR10 and conditional generation in time series modeling. Notably, VSDM no longer depends on warm-up initializations and has become tuning-friendly in training large-scale experiments.
SPVR: syntax-to-prompt vulnerability repair based on large language models
Venue: arXiv cs.SE 2025
Year: 2025

Purpose: In the field of vulnerability repair, previous research has leveraged pretrained models and LLM-based prompt engineering, among which LLM-based approaches show better generalizability and achieve the best performance. However, the LLM-based approaches generally regard vulnerability repair as a sequence-to-sequence task, and do not explicitly capture the syntax patterns for different vulnerability types, leading to limited accuracy. We aim to create a method that ensures the specificity of prompts targeting vulnerable code while also leveraging the generative capabilities of Large Language Models. Methods: We propose SPVR (Syntax-to-Prompt Vulnerability Repair), a novel framework that collects information from syntax trees, and generates corresponding prompts. Our method consists of three steps: rule design, prompt generation, and patch generation. In the rule design step, our method parses code patches and designs rules to extract relevant contextual information. These rules aid in identifying vulnerability-related issues. In the prompt generation step, our method extracts information from vulnerable code with pre-defined rules, automatically converting them into prompts. We also incorporate the description of CWE (Common Weakness Enumeration) as known information into the prompts. Finally, in the patch generation step, this prompt will serve as input to any conversational LLM to obtain code patches. Results: Extensive experiments validate that our method achieves excellent results in assisting LLMs to fix vulnerabilities accurately. We utilize multiple Large Language Models to validate the effectiveness of our work, repairing 143 of 547 vulnerable code using ChatGPT-4. We conducted a comparison of our approach against several existing vulnerability repair approaches (including fine-tuning-based and prompt-based), across multiple metrics.
Full Version: (De/Re)-Composition of Data-Parallel Computations via Multi-Dimensional Homomorphisms
Venue: arXiv cs.PL 2025
Year: 2025

We formally introduce a systematic (de/re)-composition approach, based on the algebraic formalism of "Multi-Dimensional Homomorphisms (MDHs)". Our approach is designed as general enough to be applicable to a wide range of data-parallel computations and for various kinds of target parallel architectures. To efficiently target the deep and complex memory and core hierarchies of contemporary architectures, we exploit our introduced (de/re)-composition approach for a correct-by-construction, parametrized cache blocking and parallelization strategy. We show that our approach is powerful enough to express, in the same formalism, the (de/re)-composition strategies of different classes of state-of-the-art approaches (scheduling-based, polyhedral, etc), and we demonstrate that the parameters of our strategies enable systematically generating code that can be fully automatically optimized (auto-tuned) for the particular target architecture and characteristics of the input and output data (e.g., their sizes and memory layouts). Particularly, our experiments confirm that via auto-tuning, we achieve higher performance than state-of-the-art approaches, including hand-optimized solutions provided by vendors (such as NVIDIA cuBLAS/cuDNN and Intel oneMKL/oneDNN), on real-world data sets and for a variety of data-parallel computations, including: linear algebra routines, stencil and quantum chemistry computations, data mining algorithms, and computations that recently gained high attention due to their relevance for deep learning.