OpenRaiser/Intern-Atlas huggingface dataset:
Toward Goal-Oriented Communication in Multi-Agent Systems: An overview
Venue: arXiv cs.MA 2025
Year: 2025

As multi-agent systems (MAS) become increasingly prevalent in autonomous systems, distributed control, and edge intelligence, efficient communication under resource constraints has emerged as a critical challenge. Traditional communication paradigms often emphasize message fidelity or bandwidth optimization, overlooking the task relevance of the exchanged information. In contrast, goal-oriented communication prioritizes the importance of information with respect to the agents' shared objectives. This review provides a comprehensive survey of goal-oriented communication in MAS, bridging perspectives from information theory, communication theory, and machine learning. We examine foundational concepts alongside learning-based approaches and emergent protocols. Special attention is given to coordination under communication constraints, as well as applications in domains such as swarm robotics, federated learning, and edge computing. The paper concludes with a discussion of open challenges and future research directions at the intersection of communication theory, machine learning, and multi-agent decision making.
ARISE: Automating RISC-V Instruction Set Extension
Venue: arXiv cs.AR 2025
Year: 2025

RISC-V is an extendable Instruction Set Architecture, growing in popularity for embedded systems. However, optimizing it to specific requirements, imposes a great deal of manual effort. To bridge the gap between software and ISA, the tool ARISE is presented. It automates the generation of RISC-V instructions based on assembly patterns, which are selected by an extendable set of metrics. These metrics implement the optimization goals of code size and instruction count reduction, both statically and dynamically. The instruction set extensions are generated using the ISA description language CoreDSL. Allowing seamless embedding in advanced tools such as the retargeting compiler Seal5 or the instruction set simulator ETISS. ARISE improves the static code size by 1.48% and the dynamic code size by 3.84%, as well as the number of instructions to be executed by 7.39% on average for Embench-Iot.
SimViews: An Interactive Multi-Agent System Simulating Visitor-to-Visitor Conversational Patterns to Present Diverse Perspectives of Artifacts in Virtual Museums
Venue: arXiv cs.HC 2025
Year: 2025

Offering diverse perspectives on a museum artifact can deepen visitors' understanding and help avoid the cognitive limitations of a single narrative, ultimately enhancing their overall experience. Physical museums promote diversity through visitor interactions. However, it remains a challenge to present multiple voices appropriately while attracting and sustaining a visitor's attention in the virtual museum. Inspired by recent studies that show the effectiveness of LLM-powered multi-agents in presenting different opinions about an event, we propose SimViews, an interactive multi-agent system that simulates visitor-to-visitor conversational patterns to promote the presentation of diverse perspectives. The system employs LLM-powered multi-agents that simulate virtual visitors with different professional identities, providing diverse interpretations of artifacts. Additionally, we constructed 4 conversational patterns between users and agents to simulate visitor interactions. We conducted a within-subject study with 20 participants, comparing SimViews to a traditional single-agent condition. Our results show that SimViews effectively facilitates the presentation of diverse perspectives through conversations, enhancing participants' understanding of viewpoints and engagement within the virtual museum.
Separation and Collaboration: Two-Level Routing Grouped Mixture-of-Experts for Multi-Domain Continual Learning
Venue: arXiv cs.LG 2025
Year: 2025

Multi-Domain Continual Learning (MDCL) acquires knowledge from sequential tasks with shifting class sets and distribution. Despite the Parameter-Efficient Fine-Tuning (PEFT) methods can adapt for this dual heterogeneity, they still suffer from catastrophic forgetting and forward forgetting. To address these challenges, we propose a Two-Level Routing Grouped Mixture-of-Experts (TRGE) method. Firstly, TRGE dynamically expands the pre-trained CLIP model, assigning specific expert group for each task to mitigate catastrophic forgetting. With the number of experts continually grows in this process, TRGE maintains the static experts count within the group and introduces the intra-group router to alleviate routing overfitting caused by the increasing routing complexity. Meanwhile, we design an inter-group routing policy based on task identifiers and task prototype distance, which dynamically selects relevant expert groups and combines their outputs to enhance inter-task collaboration. Secondly, to get the correct task identifiers, we leverage Multimodal Large Language Models (MLLMs) which own powerful multimodal comprehension capabilities to generate semantic task descriptions and recognize the correct task identifier. Finally, to mitigate forward forgetting, we dynamically fuse outputs for unseen samples from the frozen CLIP model and TRGE adapter based on training progress, leveraging both pre-trained and learned knowledge. Through extensive experiments across various settings, our method outperforms other advanced methods with fewer trainable parameters.
Symmetry-Aware Transformer Training for Automated Planning
Venue: arXiv cs.AI 2025
Year: 2025

While transformers excel in many settings, their application in the field of automated planning is limited. Prior work like PlanGPT, a state-of-the-art decoder-only transformer, struggles with extrapolation from easy to hard planning problems. This in turn stems from problem symmetries: planning tasks can be represented with arbitrary variable names that carry no meaning beyond being identifiers. This causes a combinatorial explosion of equivalent representations that pure transformers cannot efficiently learn from. We propose a novel contrastive learning objective to make transformers symmetry-aware and thereby compensate for their lack of inductive bias. Combining this with architectural improvements, we show that transformers can be efficiently trained for either plan-generation or heuristic-prediction. Our results across multiple planning domains demonstrate that our symmetry-aware training effectively and efficiently addresses the limitations of PlanGPT.
A Tutorial: An Intuitive Explanation of Offline Reinforcement Learning Theory
Venue: arXiv cs.LG 2025
Year: 2025

Offline reinforcement learning (RL) aims to optimize the return given a fixed dataset of agent trajectories without additional interactions with the environment. While algorithm development has progressed rapidly, significant theoretical advances have also been made in understanding the fundamental challenges of offline RL. However, bridging these theoretical insights with practical algorithm design remains an ongoing challenge. In this survey, we explore key intuitions derived from theoretical work and their implications for offline RL algorithms. We begin by listing the conditions needed for the proofs, including function representation and data coverage assumptions. Function representation conditions tell us what to expect for generalization, and data coverage assumptions describe the quality requirement of the data. We then examine counterexamples, where offline RL is not solvable without an impractically large amount of data. These cases highlight what cannot be achieved for all algorithms and the inherent hardness of offline RL. Building on techniques to mitigate these challenges, we discuss the conditions that are sufficient for offline RL. These conditions are not merely assumptions for theoretical proofs, but they also reveal the limitations of these algorithms and remind us to search for novel solutions when the conditions cannot be satisfied.
Comparison Reveals Commonality: Customized Image Generation through Contrastive Inversion
Venue: arXiv cs.CV 2025
Year: 2025

The recent demand for customized image generation raises a need for techniques that effectively extract the common concept from small sets of images. Existing methods typically rely on additional guidance, such as text prompts or spatial masks, to capture the common target concept. Unfortunately, relying on manually provided guidance can lead to incomplete separation of auxiliary features, which degrades generation quality.In this paper, we propose Contrastive Inversion, a novel approach that identifies the common concept by comparing the input images without relying on additional information. We train the target token along with the image-wise auxiliary text tokens via contrastive learning, which extracts the well-disentangled true semantics of the target. Then we apply disentangled cross-attention fine-tuning to improve concept fidelity without overfitting. Experimental results and analysis demonstrate that our method achieves a balanced, high-level performance in both concept representation and editing, outperforming existing techniques.
Robot and Overhead Crane Collaboration Scheme to Enhance Payload Manipulation
Venue: arXiv cs.RO 2025
Year: 2025

This paper presents a scheme to enhance payload manipulation using a robot collaborating with an overhead crane. In the current industrial practice, when the crane's payload has to be accurately manipulated and located in a desired position, the task becomes laborious and risky since the operators have to guide the fine motions of the payload by hand. In the proposed collaborative scheme, the crane lifts the payload while the robot's end-effector guides it toward the desired position. The only link between the robot and the crane is the interaction force produced during the guiding of the payload. Two admittance transfer functions are considered to accomplish harmless and smooth contact with the payload. The first is used in a position-based admittance control integrated with the robot. The second one adds compliance to the crane by processing the interaction force through the admittance transfer function to generate a crane's velocity command that makes the crane follow the payload. Then the robot's end-effector and the crane move collaboratively to guide the payload to the desired location. A method is presented to design the admittance controllers that accomplish a fluent robot-crane collaboration. Simulations and experiments validating the scheme potential are shown.
Hexagonal Picture Scanning Automata
Venue: arXiv cs.FL 2025
Year: 2025

Two new classes of finite automata, called General hexagonal Boustrophedon finite automata and General hexagonal returning finite automata operating on hexagonal grids, are introduced and analyzed. The work establishes the theoretical foundations for these automata models, examines their computational properties, and investigates the relationships and equivalences between the language families they define. The research contributes to the broader understanding of two-dimensional automata theory by extending classical finite automaton concepts to hexagonal geometric structures with specialized traversal patterns.
Simple Algorithms for Fully Dynamic Edge Connectivity
Venue: arXiv cs.DS 2025
Year: 2025

In the fully dynamic edge connectivity problem, the input is a simple graph $G$ undergoing edge insertions and deletions, and the goal is to maintain its edge connectivity, denoted $λ_G$. We present two simple randomized algorithms solving this problem. The first algorithm maintains the edge connectivity in worst-case update time $\tilde{O}(n)$ per edge update, matching the known bound but with simpler analysis. Our second algorithm achieves worst-case update time $\tilde{O}(n/λ_G)$ and worst-case query time $\tilde{O}(n^2/λ_G^2)$, which is the first algorithm with worst-case update and query time $o(n)$ for large edge connectivity, namely, $λ_G = ω(\sqrt{n})$.
CBDES MoE: Hierarchically Decoupled Mixture-of-Experts for Functional Modules in Autonomous Driving
Venue: arXiv cs.CV 2025
Year: 2025

Bird's Eye View (BEV) perception systems based on multi-sensor feature fusion have become a fundamental cornerstone for end-to-end autonomous driving. However, existing multi-modal BEV methods commonly suffer from limited input adaptability, constrained modeling capacity, and suboptimal generalization. To address these challenges, we propose a hierarchically decoupled Mixture-of-Experts architecture at the functional module level, termed Computing Brain DEvelopment System Mixture-of-Experts (CBDES MoE). CBDES MoE integrates multiple structurally heterogeneous expert networks with a lightweight Self-Attention Router (SAR) gating mechanism, enabling dynamic expert path selection and sparse, input-aware efficient inference. To the best of our knowledge, this is the first modular Mixture-of-Experts framework constructed at the functional module granularity within the autonomous driving domain. Extensive evaluations on the real-world nuScenes dataset demonstrate that CBDES MoE consistently outperforms fixed single-expert baselines in 3D object detection. Compared to the strongest single-expert model, CBDES MoE achieves a 1.6-point increase in mAP and a 4.1-point improvement in NDS, demonstrating the effectiveness and practical advantages of the proposed approach.
A Comparative Analysis of Lightweight Hash Functions Using AVR ATXMega128 and ChipWhisperer
Venue: arXiv cs.CR 2025
Year: 2025

Lightweight hash functions have become important building blocks for security in embedded and IoT systems. A plethora of algorithms have been proposed and standardized, providing a wide range of performance trade-off options for developers to choose from. This paper presents a comparative analysis of 22 key software-based lightweight hash functions, including the finalist from the SHA-3 competition. We use a novel benchmark methodology that combines an AVR ATXMega128 microcontroller with the ChipWhisperer cryptanalysis platform and evaluate and compare the various hash functions along several dimensions, including execution speed, % measured in Cycles per Byte (CpB), memory footprint, and energy consumption. Using the composite E-RANK metric, we provide new insight into the various trade-offs each hash function offers to system developers.
Vertex Features for Neural Global Illumination
Venue: arXiv cs.GR 2025
Year: 2025

Recent research on learnable neural representations has been widely adopted in the field of 3D scene reconstruction and neural rendering applications. However, traditional feature grid representations often suffer from substantial memory footprint, posing a significant bottleneck for modern parallel computing hardware. In this paper, we present neural vertex features, a generalized formulation of learnable representation for neural rendering tasks involving explicit mesh surfaces. Instead of uniformly distributing neural features throughout 3D space, our method stores learnable features directly at mesh vertices, leveraging the underlying geometry as a compact and structured representation for neural processing. This not only optimizes memory efficiency, but also improves feature representation by aligning compactly with the surface using task-specific geometric priors. We validate our neural representation across diverse neural rendering tasks, with a specific emphasis on neural radiosity. Experimental results demonstrate that our method reduces memory consumption to only one-fifth (or even less) of grid-based representations, while maintaining comparable rendering quality and lowering inference overhead.
Age of Information Minimization in Goal-Oriented Communication with Processing and Cost of Actuation Error Constraints
Venue: arXiv cs.IT 2025
Year: 2025

We study a goal-oriented communication system in which a source monitors an environment that evolves as a discrete-time, two-state Markov chain. At each time slot, a controller decides whether to sample the environment and if so whether to transmit a raw or processed sample, to the controller. Processing improves transmission reliability over an unreliable wireless channel, but incurs an additional cost. The objective is to minimize the long-term average age of information (AoI), subject to constraints on the costs incurred at the source and the cost of actuation error (CAE), a semantic metric that assigns different penalties to different actuation errors. Although reducing AoI can potentially help reduce CAE, optimizing AoI alone is insufficient, as it overlooks the evolution of the underlying process. For instance, faster source dynamics lead to higher CAE for the same average AoI, and different AoI trajectories can result in markedly different CAE under identical average AoI. To address this, we propose a stationary randomized policy that achieves an average AoI within a bounded multiplicative factor of the optimal among all feasible policies. Extensive numerical experiments are conducted to characterize system behavior under a range of parameters. These results offer insights into the feasibility of the optimization problem, the structure of near-optimal actions, and the fundamental trade-offs between AoI, CAE, and the costs involved.
Stand-In: A Lightweight and Plug-and-Play Identity Control for Video Generation
Venue: arXiv cs.CV 2025
Year: 2025

Generating high-fidelity human videos that match user-specified identities is important yet challenging in the field of generative AI. Existing methods often rely on an excessive number of training parameters and lack compatibility with other AIGC tools. In this paper, we propose Stand-In, a lightweight and plug-and-play framework for identity preservation in video generation. Specifically, we introduce a conditional image branch into the pre-trained video generation model. Identity control is achieved through restricted self-attentions with conditional position mapping. Thanks to these designs, which greatly preserve the pre-trained prior of the video generation model, our approach is able to outperform other full-parameter training methods in video quality and identity preservation, even with just $\sim$1% additional parameters and only 2000 training pairs. Moreover, our framework can be seamlessly integrated for other tasks, such as subject-driven video generation, pose-referenced video generation, stylization, and face swapping.
Mem4D: Decoupling Static and Dynamic Memory for Dynamic Scene Reconstruction
Venue: arXiv cs.CV 2025
Year: 2025

Reconstructing dense geometry for dynamic scenes from a monocular video is a critical yet challenging task. Recent memory-based methods enable efficient online reconstruction, but they fundamentally suffer from a Memory Demand Dilemma: The memory representation faces an inherent conflict between the long-term stability required for static structures and the rapid, high-fidelity detail retention needed for dynamic motion. This conflict forces existing methods into a compromise, leading to either geometric drift in static structures or blurred, inaccurate reconstructions of dynamic objects. To address this dilemma, we propose Mem4D, a novel framework that decouples the modeling of static geometry and dynamic motion. Guided by this insight, we design a dual-memory architecture: 1) The Transient Dynamics Memory (TDM) focuses on capturing high-frequency motion details from recent frames, enabling accurate and fine-grained modeling of dynamic content; 2) The Persistent Structure Memory (PSM) compresses and preserves long-term spatial information, ensuring global consistency and drift-free reconstruction for static elements. By alternating queries to these specialized memories, Mem4D simultaneously maintains static geometry with global consistency and reconstructs dynamic elements with high fidelity. Experiments on challenging benchmarks demonstrate that our method achieves state-of-the-art or competitive performance while maintaining high efficiency. Codes will be publicly available.
Score Augmentation for Diffusion Models
Venue: arXiv cs.LG 2025
Year: 2025

Diffusion models have achieved remarkable success in generative modeling. However, this study confirms the existence of overfitting in diffusion model training, particularly in data-limited regimes. To address this challenge, we propose Score Augmentation (ScoreAug), a novel data augmentation framework specifically designed for diffusion models. Unlike conventional augmentation approaches that operate on clean data, ScoreAug applies transformations to noisy data, aligning with the inherent denoising mechanism of diffusion. Crucially, ScoreAug further requires the denoiser to predict the augmentation of the original target. This design establishes an equivariant learning objective, enabling the denoiser to learn scores across varied denoising spaces, thereby realizing what we term score augmentation. We also theoretically analyze the relationship between scores in different spaces under general transformations. In experiments, we extensively validate ScoreAug on multiple benchmarks including CIFAR-10, FFHQ, AFHQv2, and ImageNet, with results demonstrating significant performance improvements over baselines. Notably, ScoreAug effectively mitigates overfitting across diverse scenarios, such as varying data scales and model capacities, while exhibiting stable convergence properties. Another advantage of ScoreAug over standard data augmentation lies in its ability to circumvent data leakage issues under certain conditions. Furthermore, we show that ScoreAug can be synergistically combined with traditional data augmentation techniques to achieve additional performance gains.
Adaptive Fine-Tuning via Pattern Specialization for Deep Time Series Forecasting
Venue: arXiv cs.LG 2025
Year: 2025

Time series forecasting poses significant challenges in non-stationary environments where underlying patterns evolve over time. In this work, we propose a novel framework that enhances deep neural network (DNN) performance by leveraging specialized model adaptation and selection. Initially, a base DNN is trained offline on historical time series data. A reserved validation subset is then segmented to extract and cluster the most dominant patterns within the series, thereby identifying distinct regimes. For each identified cluster, the base DNN is fine-tuned to produce a specialized version that captures unique pattern characteristics. At inference, the most recent input is matched against the cluster centroids, and the corresponding fine-tuned version is deployed based on the closest similarity measure. Additionally, our approach integrates a concept drift detection mechanism to identify and adapt to emerging patterns caused by non-stationary behavior. The proposed framework is generalizable across various DNN architectures and has demonstrated significant performance gains on both traditional DNNs and recent advanced architectures implemented in the GluonTS library.