OpenRaiser/Intern-Atlas huggingface dataset:
PRISM-DP: Spatial Pose-based Observations for Diffusion-Policies via Segmentation, Mesh Generation, and Pose Tracking
Venue: arXiv cs.RO 2025
Year: 2025

Diffusion policies generate robot motions by learning to denoise action-space trajectories conditioned on observations. These observations are commonly streams of RGB images, whose high dimensionality includes substantial task-irrelevant information, requiring large models to extract relevant patterns. In contrast, using structured observations like the spatial poses of key objects enables training more compact policies with fewer parameters. However, obtaining accurate object poses in open-set, real-world environments remains challenging, as 6D pose estimation and tracking methods often depend on markers placed on objects beforehand or pre-scanned object meshes that require manual reconstruction. We propose PRISM-DP, an approach that leverages segmentation, mesh generation, and pose tracking models to enable compact diffusion policy learning directly from the spatial poses of task-relevant objects. Crucially, by using a mesh generation model, PRISM-DP eliminates the need for manual mesh creation, improving scalability in open-set environments. Experiments in simulation and the real world show that PRISM-DP outperforms high-dimensional image-based policies and achieves performance comparable to policies trained with ground-truth state information.
ABO: Abandon Bayer Filter for Adaptive Edge Offloading in Responsive Augmented Reality
Venue: arXiv cs.MM 2025
Year: 2025

Bayer-patterned color filter array (CFA) has been the go-to solution for color image sensors. In augmented reality (AR), although color interpolation (i.e., demosaicing) of pre-demosaic RAW images facilitates a user-friendly rendering, it creates no benefits in offloaded DNN analytics but increases the image channels by 3 times inducing higher transmission overheads. The potential optimization in frame preprocessing of DNN offloading is yet to be investigated. To that end, we propose ABO, an adaptive RAW frame offloading framework that parallelizes demosaicing with DNN computation. Its contributions are three-fold: First, we design a configurable tile-wise RAW image neural codec to compress frame sizes while sustaining downstream DNN accuracy under bandwidth constraints. Second, based on content-aware tiles-in-frame selection and runtime bandwidth estimation, a dynamic transmission controller adaptively calibrates codec configurations to maximize the DNN accuracy. Third, we further optimize the system pipelining to achieve lower end-to-end frame processing latency and higher throughput. Through extensive evaluations on a prototype platform, ABO consistently achieves 40% more frame processing throughput and 30% less end-to-end latency while improving the DNN accuracy by up to 15% than SOTA baselines. It also exhibits improved robustness against dim lighting and motion blur situations.
FiLA-Video: Spatio-Temporal Compression for Fine-Grained Long Video Understanding
Venue: arXiv cs.CV 2025
Year: 2025

Recent advancements in video understanding within visual large language models (VLLMs) have led to notable progress. However, the complexity of video data and contextual processing limitations still hinder long-video comprehension. A common approach is video feature compression to reduce token input to large language models, yet many methods either fail to prioritize essential features, leading to redundant inter-frame information, or introduce computationally expensive modules.To address these issues, we propose FiLA(Fine-grained Vision Language Model)-Video, a novel framework that leverages a lightweight dynamic-weight multi-frame fusion strategy, which adaptively integrates multiple frames into a single representation while preserving key video information and reducing computational costs. To enhance frame selection for fusion, we introduce a keyframe selection strategy, effectively identifying informative frames from a larger pool for improved summarization. Additionally, we present a simple yet effective long-video training data generation strategy, boosting model performance without extensive manual annotation. Experimental results demonstrate that FiLA-Video achieves superior efficiency and accuracy in long-video comprehension compared to existing methods.
Manifold Clustering with Schatten p-norm Maximization
Venue: arXiv cs.LG 2025
Year: 2025

Manifold clustering, with its exceptional ability to capture complex data structures, holds a pivotal position in cluster analysis. However, existing methods often focus only on finding the optimal combination between K-means and manifold learning, and overlooking the consistency between the data structure and labels. To address this issue, we deeply explore the relationship between K-means and manifold learning, and on this basis, fuse them to develop a new clustering framework. Specifically, the algorithm uses labels to guide the manifold structure and perform clustering on it, which ensures the consistency between the data structure and labels. Furthermore, in order to naturally maintain the class balance in the clustering process, we maximize the Schatten p-norm of labels, and provide a theoretical proof to support this. Additionally, our clustering framework is designed to be flexible and compatible with many types of distance functions, which facilitates efficient processing of nonlinear separable data. The experimental results of several databases confirm the superiority of our proposed model.
Partial Answer of How Transformers Learn Automata
Venue: arXiv cs.FL 2025
Year: 2025

We introduce a novel framework for simulating finite automata using representation-theoretic semidirect products and Fourier modules, achieving more efficient Transformer-based implementations.
Terahertz Wireless Data Center: Gaussian Beam or Airy Beam?
Venue: arXiv cs.IT 2025
Year: 2025

Terahertz (THz) communication is emerging as a pivotal enabler for 6G and beyond wireless systems owing to its multi-GHz bandwidth. One of its novel applications is in wireless data centers, where it enables ultra-high data rates while enhancing network reconfigurability and scalability. However, due to numerous racks, supporting walls, and densely deployed antennas, the line-of-sight (LoS) path in data centers is often instead of fully obstructed, resulting in quasi-LoS propagation and degradation of spectral efficiency. To address this issue, Airy beam-based hybrid beamforming is investigated in this paper as a promising technique to mitigate quasi-LoS propagation and enhance spectral efficiency in THz wireless data centers. Specifically, a cascaded geometrical and wave-based channel model (CGWCM) is proposed for quasi-LoS scenarios, which accounts for diffraction effects while being more simplified than conventional wave-based model. Then, the characteristics and generation of the Airy beam are analyzed, and beam search methods for quasi-LoS scenarios are proposed, including hierarchical focusing-Airy beam search, and low-complexity beam search. Simulation results validate the effectiveness of the CGWCM and demonstrate the superiority of the Airy beam over Gaussian beams in mitigating blockages, verifying its potential for practical THz wireless communication in data centers.
Metaheuristic Optimization of Trajectory and Dynamic Time Splitting for UAV Communication Systems
Venue: arXiv cs.IT 2025
Year: 2025

The integration of unmanned aerial vehicles (UAVs) into wireless communication systems has emerged as a transformative approach, promising cost-efficient connectivity. This paper addresses the optimization of the dynamic time-splitting ratio and flight trajectory for a communication system linking a ground base station to the UAV equipped with backscatter devices (referred to as UB), and from UB to an end user. Given the inherent non-convexity of the problem, we develop two meta-heuristic-based approaches inspired by genetic algorithm and particle swarm optimization to enhance the total achievable rate while reducing computational complexity. Numerical results demonstrate the effectiveness of these meta-heuristic solutions, showcasing significant improvements in the achievable rate and computation time compared to existing benchmarks.
Fiber to the Room: Key Technologies, Challenges, and Prospects
Venue: arXiv cs.NI 2025
Year: 2025

Fiber to the Room (FTTR) is a next-generation access network designed to deliver high bandwidth, low latency, and room-level optical coverage. This paper presents a comprehensive analysis of the FTTR system architecture and protocol stack, focusing on three key technical aspects: centralized scheduling and control, integrated management and maintenance, and green energy-saving mechanisms. A simplified FTTR architecture based on the convergence of the medium access control (MAC) and physical (PHY) layers is introduced to enhance coordination and scheduling efficiency. An extended remote management scheme, based on the optical network unit management and control interface (OMCI), is described to enable unified control across main fiber units (MFUs) and sub-fiber units (SFUs). Furthermore, a service-aware energy-saving framework is discussed for dynamic power optimization. The paper also explores the integration of artificial intelligence (AI) and passive sensing into FTTR systems to support intelligent scheduling, energy management, and environment-aware optimization. These insights provide technical guidance for the scalable deployment and future evolution of FTTR networks.
Sequence Reconstruction under Channels with Multiple Bursts of Insertions or Deletions
Venue: arXiv cs.IT 2025
Year: 2025

The sequence reconstruction problem involves a model where a sequence is transmitted over several identical channels. This model investigates the minimum number of channels required for the unique reconstruction of the transmitted sequence. Levenshtein established that this number exceeds the maximum size of the intersection between the error balls of any two distinct transmitted sequences by one. In this paper, we consider channels subject to multiple bursts of insertions and multiple bursts of deletions, respectively, where each burst has an exact length of value b. We provide a complete solution for the insertion case while partially addressing the deletion case.
Efficient Graph-Based Approximate Nearest Neighbor Search Achieving: Low Latency Without Throughput Loss
Venue: arXiv cs.DC 2025
Year: 2025

The increase in the dimensionality of neural embedding models has enhanced the accuracy of semantic search capabilities but also amplified the computational demands for Approximate Nearest Neighbor Searches (ANNS). This complexity poses significant challenges in online and interactive services, where query latency is a critical performance metric. Traditional graph-based ANNS methods, while effective for managing large datasets, often experience substantial throughput reductions when scaled for intra-query parallelism to minimize latency. This reduction is largely due to inherent inefficiencies in the conventional fork-join parallelism model. To address this problem, we introduce AverSearch, a novel parallel graph-based ANNS framework that overcomes these limitations through a fully asynchronous architecture. Unlike existing frameworks that struggle with balancing latency and throughput, AverSearch utilizes a dynamic workload balancing mechanism that supports continuous, dependency-free processing. This approach not only minimizes latency by eliminating unnecessary synchronization and redundant vertex processing but also maintains high throughput levels. Our evaluations across various datasets, including both traditional benchmarks and modern large-scale model generated datasets, show that AverSearch consistently outperforms current state-of-the-art systems. It achieves up to 2.1-8.9 times higher throughput at comparable latency levels across different datasets and reduces minimum latency by 1.5 to 1.9 times.
Triadic Closure-Heterogeneity-Harmony GCN for Link Prediction
Venue: arXiv cs.SI 2025
Year: 2025

Link prediction aims to estimate the likelihood of connections between pairs of nodes in complex networks, which is beneficial to many applications from friend recommendation to metabolic network reconstruction. Traditional heuristic-based methodologies in the field of complex networks typically depend on predefined assumptions about node connectivity, limiting their generalizability across diverse networks. While recent graph neural network (GNN) approaches capture global structural features effectively, they often neglect node attributes and intrinsic structural relationships between node pairs. To address this, we propose TriHetGCN, an extension of traditional Graph Convolutional Networks (GCNs) that incorporates explicit topological indicators -- triadic closure and degree heterogeneity. TriHetGCN consists of three modules: topology feature construction, graph structural representation, and connection probability prediction. The topology feature module constructs node features using shortest path distances to anchor nodes, enhancing global structure perception. The graph structural module integrates topological indicators into the GCN framework to model triadic closure and heterogeneity. The connection probability module uses deep learning to predict links. Evaluated on nine real-world datasets, from traditional networks without node attributes to large-scale networks with rich features, TriHetGCN achieves state-of-the-art performance, outperforming mainstream methods. This highlights its strong generalization across diverse network types, offering a promising framework that bridges statistical physics and graph deep learning.
PRISM: Projection-based Reward Integration for Scene-Aware Real-to-Sim-to-Real Transfer with Few Demonstrations
Venue: arXiv cs.RO 2025
Year: 2025

Learning from few demonstrations to develop policies robust to variations in robot initial positions and object poses is a problem of significant practical interest in robotics. Compared to imitation learning, which often struggles to generalize from limited samples, reinforcement learning (RL) can autonomously explore to obtain robust behaviors. Training RL agents through direct interaction with the real world is often impractical and unsafe, while building simulation environments requires extensive manual effort, such as designing scenes and crafting task-specific reward functions. To address these challenges, we propose an integrated real-to-sim-to-real pipeline that constructs simulation environments based on expert demonstrations by identifying scene objects from images and retrieving their corresponding 3D models from existing libraries. We introduce a projection-based reward model for RL policy training that is supervised by a vision-language model (VLM) using human-guided object projection relationships as prompts, with the policy further fine-tuned using expert demonstrations. In general, our work focuses on the construction of simulation environments and RL-based policy training, ultimately enabling the deployment of reliable robotic control policies in real-world scenarios.
Revisiting the MIMIC-IV Benchmark: Experiments Using Language Models for Electronic Health Records
Venue: arXiv cs.CL 2025
Year: 2025

The lack of standardized evaluation benchmarks in the medical domain for text inputs can be a barrier to widely adopting and leveraging the potential of natural language models for health-related downstream tasks. This paper revisited an openly available MIMIC-IV benchmark for electronic health records (EHRs) to address this issue. First, we integrate the MIMIC-IV data within the Hugging Face datasets library to allow an easy share and use of this collection. Second, we investigate the application of templates to convert EHR tabular data to text. Experiments using fine-tuned and zero-shot LLMs on the mortality of patients task show that fine-tuned text-based models are competitive against robust tabular classifiers. In contrast, zero-shot LLMs struggle to leverage EHR representations. This study underlines the potential of text-based approaches in the medical field and highlights areas for further improvement.
Turing machines deciders, part I
Venue: arXiv cs.LO 2025
Year: 2025

The Busy Beaver Challenge (or bbchallenge) aims at collaboratively solving the following conjecture: "$S(5) = 47{,}176{,}870$" [Radó, 1962], [Marxen and Buntrock, 1990], [Aaronson, 2020]. This conjecture says that if a 5-state Turing machine runs for more than 47,176,870 steps without halting, then it will never halt -- starting from the all-0 tape. Proving this conjecture amounts to deciding whether 181,385,789 Turing machines with 5 states halt or not -- starting from the all-0 tape [bbchallenge, 2025]. To do so, we write $\textit{deciders}$: programs that take as input a Turing machine and output either HALT, NONHALT, or UNKNOWN. Each decider is specialised in recognising a particular type of non-halting behavior. After two years of work, the Busy Beaver Challenge achieved its goal in July 2024 by delivering a proof of "$S(5) = 47{,}176{,}870$" formalised in Coq [bbchallenge, 2025]. In this document, we present deciders that were developed before the Coq proof and which were mainly not used in the proof; nonetheless, they are relevant techniques for analysing Turing machines. Part II of this work is the decider section of our paper showing "$S(5) = 47{,}176{,}870$" [bbchallenge, 2025], presenting the deciders that were used in the Coq proof.
Hydra: Marker-Free RGB-D Hand-Eye Calibration
Venue: arXiv cs.RO 2025
Year: 2025

This work presents an RGB-D imaging-based approach to marker-free hand-eye calibration using a novel implementation of the iterative closest point (ICP) algorithm with a robust point-to-plane (PTP) objective formulated on a Lie algebra. Its applicability is demonstrated through comprehensive experiments using three well known serial manipulators and two RGB-D cameras. With only three randomly chosen robot configurations, our approach achieves approximately 90% successful calibrations, demonstrating 2-3x higher convergence rates to the global optimum compared to both marker-based and marker-free baselines. We also report 2 orders of magnitude faster convergence time (0.8 +/- 0.4 s) for 9 robot configurations over other marker-free methods. Our method exhibits significantly improved accuracy (5 mm in task space) over classical approaches (7 mm in task space) whilst being marker-free. The benchmarking dataset and code are open sourced under Apache 2.0 License, and a ROS 2 integration with robot abstraction is provided to facilitate deployment.
Natural Language Processing tools for Pharmaceutical Manufacturing Information Extraction from Patents
Venue: arXiv cs.IR 2025
Year: 2025

Abundant and diverse data on medicines manufacturing and other lifecycle components has been made easily accessible in the last decades. However, a significant proportion of this information is characterised by not being tabulated and usable for machine learning purposes. Thus, natural language processing tools have been used to build databases in domains such as biomedical and chemical to address this limitation. This has allowed the development of artificial intelligence applications, which have improved drug discovery and treatments. In the pharmaceutical manufacturing context, some initiatives and datasets for primary processing can be found, but the manufacturing of drug products is an area which is still lacking, to the best of our knowledge. This works aims to explore and adapt NLP tools used in other domains to extract information on both primary and secondary manufacturing, employing patents as the main source of data. Thus, two independent, but complementary, models were developed comprising a method to select fragments of text that contain manufacturing data, and a named entity recognition system that enables extracting information on operations, materials, and conditions of a process. For the first model, the identification of relevant sections was achieved using an unsupervised approach combining Latent Dirichlet Allocation and k-Means clustering. The performance of this model measured as a Cohen's kappa between model output and manual revision was higher than 90%. NER model consisted of a deep neural network, and an f1-score micro average of 84.2% was obtained which is comparable to other works. Some considerations for these tools to be used in data extraction are discussed throughout this document.
Breaking the Barrier of Self-Concordant Barriers: Faster Interior Point Methods for M-Matrices
Venue: arXiv cs.DS 2025
Year: 2025

We study two fundamental optimization problems: (1) scaling a symmetric positive definite matrix by a positive diagonal matrix so that the resulting matrix has row and column sums equal to 1; and (2) minimizing a quadratic function subject to hard non-negativity constraints. Both problems lend themselves to efficient algorithms based on interior point methods (IPMs). For general instances, standard self-concordance theory places a limit on the iteration complexity of these methods at $\widetilde{O}\left(n^{1/2}\right)$, where $n$ denotes the matrix dimension. We show via an amortized analysis that, when the input matrix is an M-matrix, an IPM with adaptive step sizes solves both problems in only $\widetilde{O}\left(n^{1/3}\right)$ iterations. As a corollary, using fast Laplacian solvers, we obtain an $\ell_{2}$ flow diffusion algorithm with depth $\widetilde{O}\left(n^{1/3}\right)$ and work $\widetilde{O}$$\left(n^{1/3}\cdot\text{nnz}\right)$. This result marks a significant instance in which a standard log-barrier IPM permits provably fewer than $Θ\left(n^{1/2}\right)$ iterations.
RuleKit 2: Faster and simpler rule learning
Venue: arXiv cs.LG 2025
Year: 2025

Rules offer an invaluable combination of predictive and descriptive capabilities. Our package for rule-based data analysis, RuleKit, has proven its effectiveness in classification, regression, and survival problems. Here we present its second version. New algorithms and optimized implementations of those previously included, significantly improved the computational performance of our suite, reducing the analysis time of some data sets by two orders of magnitude. The usability of RuleKit 2 is provided by two new components: Python package and browser application with a graphical user interface. The former complies with scikit-learn, the most popular data mining library for Python, allowing RuleKit 2 to be straightforwardly integrated into existing data analysis pipelines. RuleKit 2 is available at GitHub under GNU AGPL 3 license (https://github.com/adaa-polsl/RuleKit)
A Generative-AI-Driven Claim Retrieval System Capable of Detecting and Retrieving Claims from Social Media Platforms in Multiple Languages
Venue: arXiv cs.CL 2025
Year: 2025

Online disinformation poses a global challenge, placing significant demands on fact-checkers who must verify claims efficiently to prevent the spread of false information. A major issue in this process is the redundant verification of already fact-checked claims, which increases workload and delays responses to newly emerging claims. This research introduces an approach that retrieves previously fact-checked claims, evaluates their relevance to a given input, and provides supplementary information to support fact-checkers. Our method employs large language models (LLMs) to filter irrelevant fact-checks and generate concise summaries and explanations, enabling fact-checkers to faster assess whether a claim has been verified before. In addition, we evaluate our approach through both automatic and human assessments, where humans interact with the developed tool to review its effectiveness. Our results demonstrate that LLMs are able to filter out many irrelevant fact-checks and, therefore, reduce effort and streamline the fact-checking process.