OpenRaiser/Intern-Atlas huggingface dataset:
Fast John Ellipsoid Computation with Differential Privacy Optimization
Venue: arXiv cs.DS 2025
Year: 2025

Determining the John ellipsoid - the largest volume ellipsoid contained within a convex polytope - is a fundamental problem with applications in machine learning, optimization, and data analytics. Recent work has developed fast algorithms for approximating the John ellipsoid using sketching and leverage score sampling techniques. However, these algorithms do not provide privacy guarantees for sensitive input data. In this paper, we present the first differentially private algorithm for fast John ellipsoid computation. Our method integrates noise perturbation with sketching and leverages score sampling to achieve both efficiency and privacy. We prove that (1) our algorithm provides $(ε,δ)$-differential privacy and the privacy guarantee holds for neighboring datasets that are $ε_0$-close, allowing flexibility in the privacy definition; (2) our algorithm still converges to a $(1+ξ)$-approximation of the optimal John ellipsoid in $Θ(ξ^{-2}(\log(n/δ_0) + (Lε_0)^{-2}))$ iterations where $n$ is the number of data point, $L$ is the Lipschitz constant, $δ_0$ is the failure probability, and $ε_0$ is the closeness of neighboring input datasets. Our theoretical analysis demonstrates the algorithm's convergence and privacy properties, providing a robust approach for balancing utility and privacy in John ellipsoid computation. This is the first differentially private algorithm for fast John ellipsoid computation, opening avenues for future research in privacy-preserving optimization techniques.
Centralization vs. decentralization in multi-robot sweep coverage with ground robots and UAVs
Venue: arXiv cs.RO 2025
Year: 2025

In swarm robotics, decentralized control is often proposed as a more scalable and fault-tolerant alternative to centralized control. However, centralized behaviors are often faster and more efficient than their decentralized counterparts. In any given application, the goals and constraints of the task being solved should guide the choice to use centralized control, decentralized control, or a combination of the two. Currently, the exact trade-offs that exist between centralization and decentralization are not well defined. In this paper, we compare the performance of centralization and decentralization in the example task of sweep coverage, across five different types of multi-robot control structures: random walk, decentralized with beacons, hybrid formation control using self-organizing hierarchy, centralized formation control, and predetermined. In all five approaches, the coverage task is completed by a group of ground robots. In each approach, except for the random walk, the ground robots are assisted by UAVs, acting as supervisors or beacons. We compare the approaches in terms of three performance metrics for which centralized approaches are expected to have an advantage -- coverage completeness, coverage uniformity, and sweep completion time -- and two metrics for which decentralized approaches are expected to have an advantage -- scalability (4, 8, or 16 ground robots) and fault tolerance (0%, 25%, 50%, or 75% ground robot failure).
An improved point-to-surface contact algorithm with penalty method for peridynamics
Venue: arXiv cs.CE 2025
Year: 2025

It is significantly challenging to obtain accurate contact forces in peridynamics (PD) simulations due to the difficulty of surface particles identification, particularly for complex geometries. Here, an improved point-to-surface contact model is proposed for PD with high accuracy. First, the outer surface is identified using the eigenvalue method and then we construct a Verlet list to identify potential contact particle pairs efficiently. Subsequently, a point-to-surface contact search algorithm is utilized to determine precise contact locations with the penalty function method calculating the contact force. Finally, the accuracy of this point-to-surface contact model is validated through several representative contact examples. The results demonstrate that the point-to-surface contact model model can predict contact forces and deformations with high accuracy, aligning well with the classical Hertz contact theory solutions. This work presents a contact model for PD that automatically recognizes external surface particles and accurately calculates the contact force, which provides guidance for the study of multi-body contact as well as complex contact situations.
Amuro and Char: Analyzing the Relationship between Pre-Training and Fine-Tuning of Large Language Models
Venue: arXiv cs.CL 2025
Year: 2025

The development of large language models leads to the formation of a pre-train-then-align paradigm, in which the model is typically pre-trained on a large text corpus and undergoes a tuning stage to align the model with human preference or downstream tasks. In this work, we investigate the relationship between pre-training and fine-tuning by fine-tuning multiple intermediate pre-trained model checkpoints. Our results on 18 datasets suggest that i) continual pre-training improves the model in a latent way that unveils after fine-tuning; ii) with extra fine-tuning, the datasets that the model does not demonstrate capability gain much more than those that the model performs well during the pre-training stage; iii) although model benefits significantly through supervised fine-tuning, it may forget previously known domain knowledge and the tasks that are not seen during fine-tuning; iv) the model resembles high sensitivity to evaluation prompts after supervised fine-tuning, but this sensitivity can be alleviated by more pre-training.
Optimal Bound for PCA with Outliers using Higher-Degree Voronoi Diagrams
Venue: arXiv cs.LG 2025
Year: 2025

In this paper, we introduce new algorithms for Principal Component Analysis (PCA) with outliers. Utilizing techniques from computational geometry, specifically higher-degree Voronoi diagrams, we navigate to the optimal subspace for PCA even in the presence of outliers. This approach achieves an optimal solution with a time complexity of $n^{d+\mathcal{O}(1)}\text{poly}(n,d)$. Additionally, we present a randomized algorithm with a complexity of $2^{\mathcal{O}(r(d-r))} \times \text{poly}(n, d)$. This algorithm samples subspaces characterized in terms of a Grassmannian manifold. By employing such sampling method, we ensure a high likelihood of capturing the optimal subspace, with the success probability $(1 - δ)^T$. Where $δ$ represents the probability that a sampled subspace does not contain the optimal solution, and $T$ is the number of subspaces sampled, proportional to $2^{r(d-r)}$. Our use of higher-degree Voronoi diagrams and Grassmannian based sampling offers a clearer conceptual pathway and practical advantages, particularly in handling large datasets or higher-dimensional settings.
Prompt-Based Segmentation at Multiple Resolutions and Lighting Conditions using Segment Anything Model 2
Venue: arXiv cs.CV 2025
Year: 2025

This paper provides insights on the effectiveness of the zero shot, prompt-based Segment Anything Model (SAM) and its updated versions, SAM 2 and SAM 2.1, along with the non-promptable conventional neural network (CNN), for segmenting solar panels in RGB aerial remote sensing imagery. The study evaluates these models across diverse lighting conditions, spatial resolutions, and prompt strategies. SAM 2 showed slight improvements over SAM, while SAM 2.1 demonstrated notable improvements, particularly in sub-optimal lighting and low resolution conditions. SAM models, when prompted by user-defined boxes, outperformed CNN in all scenarios; in particular, user-box prompts were found crucial for achieving reasonable performance in low resolution data. Additionally, under high resolution, YOLOv9 automatic prompting outperformed user-points prompting by providing reliable prompts to SAM. Under low resolution, SAM 2.1 prompted by user points showed similar performance to SAM 2.1 prompted by YOLOv9, highlighting its zero shot improvements with a single click. In high resolution with optimal lighting imagery, Eff-UNet outperformed SAMs prompted by YOLOv9, while under sub-optimal lighting conditions, Eff-UNet, and SAM 2.1 prompted by YOLOv9, had similar performance. However, SAM is more resource-intensive, and despite improved inference time of SAM 2.1, Eff-UNet is more suitable for automatic segmentation in high resolution data. This research details strengths and limitations of each model and outlines the robustness of user-prompted image segmentation models.
A $5/4$-Approximation for Two-Edge Connectivity
Venue: arXiv cs.DS 2025
Year: 2025

The 2-Edge-Connected Spanning Subgraph problem (2ECSS) is among the most basic survivable network design problems: given an undirected and unweighted graph, the task is to find a spanning subgraph with the minimum number of edges that is 2-edge-connected (i.e., it remains connected after the removal of any single edge). 2ECSS is an NP-hard problem that has been extensively studied in the context of approximation algorithms. The best known approximation ratio for 2ECSS prior to this work was $1.3+\varepsilon$, for any constant $\varepsilon>0$ [Garg, Grandoni, Jabal-Ameli'23; Kobayashi, Noguchi'23]. In this paper, we present a 5/4-approximation algorithm. Our algorithm is also faster for small values of $\varepsilon$: its running time is $n^{O(1)}$ instead of $n^{O(1/\varepsilon)}$.
On the accurate computation of expected modularity in probabilistic networks
Venue: arXiv cs.DS 2025
Year: 2025

Modularity is one of the most widely used measures for evaluating communities in networks. In probabilistic networks, where the existence of edges is uncertain and uncertainty is represented by probabilities, the expected value of modularity can be used instead. However, efficiently computing expected modularity is challenging. To address this challenge, we propose a novel and efficient technique (FPWP) for computing the probability distribution of modularity and its expected value. In this paper, we implement and compare our method and various general approaches for expected modularity computation in probabilistic networks. These include: (1) translating probabilistic networks into deterministic ones by removing low-probability edges or treating probabilities as weights, (2) using Monte Carlo sampling to approximate expected modularity, and (3) brute-force computation. We evaluate the accuracy and time efficiency of FPWP through comprehensive experiments on both real-world and synthetic networks with diverse characteristics. Our results demonstrate that removing low-probability edges or treating probabilities as weights produces inaccurate results, while the convergence of the sampling method varies with the parameters of the network. Brute-force computation, though accurate, is prohibitively slow. In contrast, our method is much faster than brute-force computation, but guarantees an accurate result.
Enhanced Optimization Strategies to Design an Underactuated Hand Exoskeleton
Venue: arXiv cs.RO 2025
Year: 2025

Exoskeletons can boost human strength and provide assistance to individuals with physical disabilities. However, ensuring safety and optimal performance in their design poses substantial challenges. This study presents the design process for an underactuated hand exoskeleton (U-HEx), first including a single objective (maximizing force transmission), then expanding into multi objective (also minimizing torque variance and actuator displacement). The optimization relies on a Genetic Algorithm, the Big Bang-Big Crunch Algorithm, and their versions for multi-objective optimization. Analyses revealed that using Big Bang-Big Crunch provides high and more consistent results in terms of optimality with lower convergence time. In addition, adding more objectives offers a variety of trade-off solutions to the designers, who might later set priorities for the objectives without repeating the process - at the cost of complicating the optimization algorithm and computational burden. These findings underline the importance of performing proper optimization while designing exoskeletons, as well as providing a significant improvement to this specific robotic design.
CNN-JEPA: Self-Supervised Pretraining Convolutional Neural Networks Using Joint Embedding Predictive Architecture
Venue: arXiv cs.CV 2025
Year: 2025

Self-supervised learning (SSL) has become an important approach in pretraining large neural networks, enabling unprecedented scaling of model and dataset sizes. While recent advances like I-JEPA have shown promising results for Vision Transformers, adapting such methods to Convolutional Neural Networks (CNNs) presents unique challenges. In this paper, we introduce CNN-JEPA, a novel SSL method that successfully applies the joint embedding predictive architecture approach to CNNs. Our method incorporates a sparse CNN encoder to handle masked inputs, a fully convolutional predictor using depthwise separable convolutions, and an improved masking strategy. We demonstrate that CNN-JEPA outperforms I-JEPA with ViT architectures on ImageNet-100, achieving a 73.3% linear top-1 accuracy using a standard ResNet-50 encoder. Compared to other CNN-based SSL methods, CNN-JEPA requires 17-35% less training time for the same number of epochs and approaches the linear and k-NN top-1 accuracies of BYOL, SimCLR, and VICReg. Our approach offers a simpler, more efficient alternative to existing SSL methods for CNNs, requiring minimal augmentations and no separate projector network.
Learning-Augmented Competitive Algorithms for Spatiotemporal Online Allocation with Deadline Constraints
Venue: arXiv cs.DS 2025
Year: 2025

We introduce and study spatiotemporal online allocation with deadline constraints ($\mathsf{SOAD}$), a new online problem motivated by emerging challenges in sustainability and energy. In $\mathsf{SOAD}$, an online player completes a workload by allocating and scheduling it on the points of a metric space $(X, d)$ while subject to a deadline $T$. At each time step, a service cost function is revealed that represents the cost of servicing the workload at each point, and the player must irrevocably decide the current allocation of work to points. Whenever the player moves this allocation, they incur a movement cost defined by the distance metric $d(\cdot, \ \cdot)$ that captures, e.g., an overhead cost. $\mathsf{SOAD}$ formalizes the open problem of combining general metrics and deadline constraints in the online algorithms literature, unifying problems such as metrical task systems and online search. We propose a competitive algorithm for $\mathsf{SOAD}$ along with a matching lower bound establishing its optimality. Our main algorithm, \textsc{ST-CLIP}, is a learning-augmented algorithm that takes advantage of predictions (e.g., forecasts of relevant costs) and achieves an optimal consistency-robustness trade-off. We evaluate our proposed algorithms in a simulated case study of carbon-aware spatiotemporal workload management, an application in sustainable computing that schedules a delay-tolerant batch compute job on a distributed network of data centers. In these experiments, we show that \textsc{ST-CLIP} substantially improves on heuristic baseline methods.
LADDER: Language-Driven Slice Discovery and Error Rectification in Vision Classifiers
Venue: arXiv cs.CL 2025
Year: 2025

Error slice discovery is crucial to diagnose and mitigate model errors. Current clustering or discrete attribute-based slice discovery methods face key limitations: 1) clustering results in incoherent slices, while assigning discrete attributes to slices leads to incomplete coverage of error patterns due to missing or insufficient attributes; 2) these methods lack complex reasoning, preventing them from fully explaining model biases; 3) they fail to integrate \textit{domain knowledge}, limiting their usage in specialized fields \eg radiology. We propose\ladder (\underline{La}nguage-\underline{D}riven \underline{D}iscovery and \underline{E}rror \underline{R}ectification), to address the limitations by: (1) leveraging the flexibility of natural language to address incompleteness, (2) employing LLM's latent \textit{domain knowledge} and advanced reasoning to analyze sentences and derive testable hypotheses directly, identifying biased attributes, and form coherent error slices without clustering. Existing mitigation methods typically address only the worst-performing group, often amplifying errors in other subgroups. In contrast,\ladder generates pseudo attributes from the discovered hypotheses to mitigate errors across all biases without explicit attribute annotations or prior knowledge of bias. Rigorous evaluations on 6 datasets spanning natural and medical images -- comparing 200+ classifiers with diverse architectures, pretraining strategies, and LLMs -- show that\ladder consistently outperforms existing baselines in discovering and mitigating biases.
The Nah Bandit: Modeling User Non-compliance in Recommendation Systems
Venue: arXiv cs.LG 2025
Year: 2025

Recommendation systems now pervade the digital world, ranging from advertising to entertainment. However, it remains challenging to implement effective recommendation systems in the physical world, such as in mobility or health. This work focuses on a key challenge: in the physical world, it is often easy for the user to opt out of taking any recommendation if they are not to her liking, and to fall back to her baseline behavior. It is thus crucial in cyber-physical recommendation systems to operate with an interaction model that is aware of such user behavior, lest the user abandon the recommendations altogether. This paper thus introduces the Nah Bandit, a tongue-in-cheek reference to describe a Bandit problem where users can say `nah' to the recommendation and opt for their preferred option instead. As such, this problem lies in between a typical bandit setup and supervised learning. We model the user non-compliance by parameterizing an anchoring effect of recommendations on users. We then propose the Expert with Clustering (EWC) algorithm, a hierarchical approach that incorporates feedback from both recommended and non-recommended options to accelerate user preference learning. In a recommendation scenario with $N$ users, $T$ rounds per user, and $K$ clusters, EWC achieves a regret bound of $O(N\sqrt{T\log K} + NT)$, achieving superior theoretical performance in the short term compared to LinUCB algorithm. Experimental results also highlight that EWC outperforms both supervised learning and traditional contextual bandit approaches. This advancement reveals that effective use of non-compliance feedback can accelerate preference learning and improve recommendation accuracy. This work lays the foundation for future research in Nah Bandit, providing a robust framework for more effective recommendation systems.
Text2BIM: Generating Building Models Using a Large Language Model-based Multi-Agent Framework
Venue: arXiv cs.AI 2025
Year: 2025

The conventional BIM authoring process typically requires designers to master complex and tedious modeling commands in order to materialize their design intentions within BIM authoring tools. This additional cognitive burden complicates the design process and hinders the adoption of BIM and model-based design in the AEC (Architecture, Engineering, and Construction) industry. To facilitate the expression of design intentions more intuitively, we propose Text2BIM, an LLM-based multi-agent framework that can generate 3D building models from natural language instructions. This framework orchestrates multiple LLM agents to collaborate and reason, transforming textual user input into imperative code that invokes the BIM authoring tool's APIs, thereby generating editable BIM models with internal layouts, external envelopes, and semantic information directly in the software. Furthermore, a rule-based model checker is introduced into the agentic workflow, utilizing predefined domain knowledge to guide the LLM agents in resolving issues within the generated models and iteratively improving model quality. Extensive experiments were conducted to compare and analyze the performance of three different LLMs under the proposed framework. The evaluation results demonstrate that our approach can effectively generate high-quality, structurally rational building models that are aligned with the abstract concepts specified by user input. Finally, an interactive software prototype was developed to integrate the framework into the BIM authoring software Vectorworks, showcasing the potential of modeling by chatting. The code is available at: https://github.com/dcy0577/Text2BIM
MambaMIM: Pre-training Mamba with State Space Token Interpolation and its Application to Medical Image Segmentation
Venue: arXiv cs.CV 2025
Year: 2025

Recently, the state space model Mamba has demonstrated efficient long-sequence modeling capabilities, particularly for addressing long-sequence visual tasks in 3D medical imaging. However, existing generative self-supervised learning methods have not yet fully unleashed Mamba's potential for handling long-range dependencies because they overlook the inherent causal properties of state space sequences in masked modeling. To address this challenge, we propose a general-purpose pre-training framework called MambaMIM, a masked image modeling method based on a novel TOKen-Interpolation strategy (TOKI) for the selective structure state space sequence, which learns causal relationships of state space within the masked sequence. Further, MambaMIM introduces a bottom-up 3D hybrid masking strategy to maintain a masking consistency across different architectures and can be used on any single or hybrid Mamba architecture to enhance its multi-scale and long-range representation capability. We pre-train MambaMIM on a large-scale dataset of 6.8K CT scans and evaluate its performance across eight public medical segmentation benchmarks. Extensive downstream experiments reveal the feasibility and advancement of using Mamba for medical image pre-training. In particular, when we apply the MambaMIM to a customized architecture that hybridizes MedNeXt and Vision Mamba, we consistently obtain the state-of-the-art segmentation performance. The code is available at: https://github.com/FengheTan9/MambaMIM.
Confidence-weighted integration of human and machine judgments for superior decision-making
Venue: arXiv cs.HC 2025
Year: 2025

Large language models (LLMs) can surpass humans in certain forecasting tasks. What role does this leave for humans in the overall decision process? One possibility is that humans, despite performing worse than LLMs, can still add value when teamed with them. A human and machine team can surpass each individual teammate when team members' confidence is well-calibrated and team members diverge in which tasks they find difficult (i.e., calibration and diversity are needed). We simplified and extended a Bayesian approach to combining judgments using a logistic regression framework that integrates confidence-weighted judgments for any number of team members. Using this straightforward method, we demonstrated its effectiveness in both image classification and neuroscience forecasting tasks. Combining human judgments with one or more machines consistently improved overall team performance. Our hope is that this simple and effective strategy for integrating the judgments of humans and machines will lead to productive collaborations.