OpenRaiser/Intern-Atlas huggingface dataset:
Great GATsBi: Hybrid, Multimodal, Trajectory Forecasting for Bicycles using Anticipation Mechanism
Venue: arXiv cs.LG 2025
Year: 2025

Accurate prediction of road user movement is increasingly required by many applications ranging from advanced driver assistance systems to autonomous driving, and especially crucial for road safety. Even though most traffic accident fatalities account to bicycles, they have received little attention, as previous work focused mainly on pedestrians and motorized vehicles. In this work, we present the Great GATsBi, a domain-knowledge-based, hybrid, multimodal trajectory prediction framework for bicycles. The model incorporates both physics-based modeling (inspired by motorized vehicles) and social-based modeling (inspired by pedestrian movements) to explicitly account for the dual nature of bicycle movement. The social interactions are modeled with a graph attention network, and include decayed historical, but also anticipated, future trajectory data of a bicycles neighborhood, following recent insights from psychological and social studies. The results indicate that the proposed ensemble of physics models -- performing well in the short-term predictions -- and social models -- performing well in the long-term predictions -- exceeds state-of-the-art performance. We also conducted a controlled mass-cycling experiment to demonstrate the framework's performance when forecasting bicycle trajectories and modeling social interactions with road users.
Boosting Payment Channel Network Liquidity with Topology Optimization and Transaction Selection
Venue: arXiv cs.DC 2025
Year: 2025

Payment channel networks (PCNs) are a promising technology that alleviates blockchain scalability by shifting the transaction load from the blockchain to the PCN. Nevertheless, the network topology has to be carefully designed to maximise the transaction throughput in PCNs. Additionally, users in PCNs also have to make optimal decisions on which transactions to forward and which to reject to prolong the lifetime of their channels. In this work, we consider an input sequence of transactions over $p$ parties. Each transaction consists of a transaction size, source, and target, and can be either accepted or rejected (entailing a cost). The goal is to design a PCN topology among the $p$ cooperating parties, along with the channel capacities, and then output a decision for each transaction in the sequence to minimise the cost of creating and augmenting channels, as well as the cost of rejecting transactions. Our main contribution is an $\mathcal{O}(p)$ approximation algorithm for the problem with $p$ parties. We further show that with some assumptions on the distribution of transactions, we can reduce the approximation ratio to $\mathcal{O}(\sqrt{p})$. We complement our theoretical analysis with an empirical study of our assumptions and approach in the context of the Lightning Network.
CoFacS -- Simulating a Complete Factory to Study the Security of Interconnected Production
Venue: arXiv cs.CR 2025
Year: 2025

While the digitization of industrial factories provides tremendous improvements for the production of goods, it also renders such systems vulnerable to serious cyber-attacks. To research, test, and validate security measures protecting industrial networks against such cyber-attacks, the security community relies on testbeds to simulate industrial systems, as utilizing live systems endangers costly components or even human life. However, existing testbeds focus on individual parts of typically complex production lines in industrial factories. Consequently, the impact of cyber-attacks on industrial networks as well as the effectiveness of countermeasures cannot be evaluated in an end-to-end manner. To address this issue and facilitate research on novel security mechanisms, we present CoFacS, the first COmplete FACtory Simulation that replicates an entire production line and affords the integration of real-life industrial applications. To showcase that CoFacS accurately captures real-world behavior, we validate it against a physical model factory widely used in security research. We show that CoFacS has a maximum deviation of 0.11% to the physical reference, which enables us to study the impact of physical attacks or network-based cyber-attacks. Moreover, we highlight how CoFacS enables security research through two cases studies surrounding attack detection and the resilience of 5G-based industrial communication against jamming.
FedEve: On Bridging the Client Drift and Period Drift for Cross-device Federated Learning
Venue: arXiv cs.LG 2025
Year: 2025

Federated learning (FL) is a machine learning paradigm that allows multiple clients to collaboratively train a shared model without exposing their private data. Data heterogeneity is a fundamental challenge in FL, which can result in poor convergence and performance degradation. Client drift has been recognized as one of the factors contributing to this issue resulting from the multiple local updates in FedAvg. However, in cross-device FL, a different form of drift arises due to the partial client participation, but it has not been studied well. This drift, we referred as period drift, occurs as participating clients at each communication round may exhibit distinct data distribution that deviates from that of all clients. It could be more harmful than client drift since the optimization objective shifts with every round. In this paper, we investigate the interaction between period drift and client drift, finding that period drift can have a particularly detrimental effect on cross-device FL as the degree of data heterogeneity increases. To tackle these issues, we propose a predict-observe framework and present an instantiated method, FedEve, where these two types of drift can compensate each other to mitigate their overall impact. We provide theoretical evidence that our approach can reduce the variance of model updates. Extensive experiments demonstrate that our method outperforms alternatives on non-iid data in cross-device settings.
Taming VR Teleoperation and Learning from Demonstration for Multi-Task Bimanual Table Service Manipulation
Venue: arXiv cs.RO 2025
Year: 2025

This technical report presents the champion solution of the Table Service Track in the ICRA 2025 What Bimanuals Can Do (WBCD) competition. We tackled a series of demanding tasks under strict requirements for speed, precision, and reliability: unfolding a tablecloth (deformable-object manipulation), placing a pizza into the container (pick-and-place), and opening and closing a food container with the lid. Our solution combines VR-based teleoperation and Learning from Demonstrations (LfD) to balance robustness and autonomy. Most subtasks were executed through high-fidelity remote teleoperation, while the pizza placement was handled by an ACT-based policy trained from 100 in-person teleoperated demonstrations with randomized initial configurations. By carefully integrating scoring rules, task characteristics, and current technical capabilities, our approach achieved both high efficiency and reliability, ultimately securing the first place in the competition.
Improving OCR using internal document redundancy
Venue: arXiv cs.CV 2025
Year: 2025

Current OCR systems are based on deep learning models trained on large amounts of data. Although they have shown some ability to generalize to unseen data, especially in detection tasks, they can struggle with recognizing low-quality data. This is particularly evident for printed documents, where intra-domain data variability is typically low, but inter-domain data variability is high. In that context, current OCR methods do not fully exploit each document's redundancy. We propose an unsupervised method by leveraging the redundancy of character shapes within a document to correct imperfect outputs of a given OCR system and suggest better clustering. To this aim, we introduce an extended Gaussian Mixture Model (GMM) by alternating an Expectation-Maximization (EM) algorithm with an intra-cluster realignment process and normality statistical testing. We demonstrate improvements in documents with various levels of degradation, including recovered Uruguayan military archives and 17th to mid-20th century European newspapers.
Towards AI-based Sustainable and XR-based human-centric manufacturing: Implementation of ISO 23247 for digital twins of production systems
Venue: arXiv cs.HC 2025
Year: 2025

Since the introduction of Industry 4.0, digital twin technology has significantly evolved, laying the groundwork for a transition toward Industry 5.0 principles centered on human-centricity, sustainability, and resilience. Through digital twins, real-time connected production systems are anticipated to be more efficient, resilient, and sustainable, facilitating communication and connectivity between digital and physical systems. However, environmental performance and integration with virtual reality (VR) and artificial intelligence (AI) of such systems remain challenging. Further exploration of digital twin technologies is needed to validate the real-world impact and benefits. This paper investigates these challenges by implementing a real-time digital twin based on the ISO 23247 standard, connecting the physical factory and simulation software with VR capabilities. This digital twin system provides cognitive assistance and a user-friendly interface for operators, thereby improving cognitive ergonomics. The connection of the Internet of Things (IoT) platform allows the digital twin to have real-time bidirectional communication, collaboration, monitoring, and assistance. A lab-scale drone factory was used as the digital twin application to test and evaluate the ISO 23247 standard and its potential benefits. Additionally, AI integration and environmental performance Key Performance Indicators (KPIs) have been considered as the next stages in improving VR-integrated digital twins. With a solid theoretical foundation and a demonstration of the VR-integrated digital twins, this paper addresses integration issues between various technologies and advances the framework of digital twins based on ISO 23247.
An Open-Source HW-SW Co-Development Framework Enabling Efficient Multi-Accelerator Systems
Venue: arXiv cs.AR 2025
Year: 2025

Heterogeneous accelerator-centric compute clusters are emerging as efficient solutions for diverse AI workloads. However, current integration strategies often compromise data movement efficiency and encounter compatibility issues in hardware and software. This prevents a unified approach that balances performance and ease of use. To this end, we present SNAX, an open-source integrated HW-SW framework enabling efficient multi-accelerator platforms through a novel hybrid-coupling scheme, consisting of loosely coupled asynchronous control and tightly coupled data access. SNAX brings reusable hardware modules designed to enhance compute accelerator utilization, and its customizable MLIR-based compiler to automate key system management tasks, jointly enabling rapid development and deployment of customized multi-accelerator compute clusters. Through extensive experimentation, we demonstrate SNAX's efficiency and flexibility in a low-power heterogeneous SoC. Accelerators can easily be integrated and programmed to achieve > 10x improvement in neural network performance compared to other accelerator systems while maintaining accelerator utilization of > 90% in full system operation.
Mathematical proof concerning the additivity problem of nonlinear normalized citation counts
Venue: arXiv cs.DL 2025
Year: 2025

The issue of whether nonlinear normalized citation counts can be added is critically important in scientometrics because it touches upon the theoretical foundation of underlying computation in the field. In this paper, we provide rigorous mathematical proofs for the key theorems underlying this fundamental issue. Based on these proofs, we ultimately arrive at the following conclusion: a nonlinear normalization method for citation counts must be a non-equidistant transformation; consequently, the resulting nonlinear normalized citation counts are no longer equidistant and therefore cannot be added. Furthermore, because our mathematical proofs are established over the real number domain, we also derive a more general conclusion that is applicable to data transformations over the real number domain across various scientific fields: a nonlinear transformation becomes a non-equidistant transformation only if it satisfies a certain regularity condition, for example, if this nonlinear transformation is a continuous function, monotonic over a certain interval, or its domain is restricted to rational numbers. In such cases, the resulting nonlinear data are no longer equidistant and therefore cannot be added. This general conclusion can be broadly applied to various linear and nonlinear transformation problems, which offers significant insights for addressing the misuse of nonlinear data.
Close is Good Enough: Component-Based Synthesis Modulo Logical Similarity
Venue: arXiv cs.PL 2025
Year: 2025

Component-based synthesis (CBS) aims to generate loop-free programs from a set of libraries whose methods are annotated with specifications and whose output must satisfy a set of logical constraints, expressed as a query. The effectiveness of a CBS algorithm critically depends on the severity of the constraints imposed by the query. The more exact these constraints are, the sparser the space of feasible solutions. This maxim also applies when we enrich the expressiveness of the specifications affixed to library methods. In both cases, the search must now contend with constraints that may only hold over a small number of the possible execution paths that can be enumerated by a CBS procedure. In this paper, we address this challenge by equipping CBS search with the ability to reason about logical similarities among the paths it explores. Our setting considers library methods equipped with refinement-type specifications that enrich ordinary base types with a set of rich logical qualifiers to constrain the set of values accepted by that type. We perform a search over a tree automata variant called Qualified Tree Automata that intelligently records information about enumerated terms, leveraging subtyping constraints over the refinement types associated with these terms to enable reasoning about similarity among candidate solutions as search proceeds, thereby avoiding exploration of semantically similar paths. We present an implementation of this idea in a tool called \name, and provide a comprehensive evaluation that demonstrates \name's ability to synthesize solutions to complex CBS queries that go well-beyond the capabilities of the existing state-of-the-art.
Measuring IIA Violations in Similarity Choices with Bayesian Models
Venue: arXiv cs.LG 2025
Year: 2025

Similarity choice data occur when humans make choices among alternatives based on their similarity to a target, e.g., in the context of information retrieval and in embedding learning settings. Classical metric-based models of similarity choice assume independence of irrelevant alternatives (IIA), a property that allows for a simpler formulation. While IIA violations have been detected in many discrete choice settings, the similarity choice setting has received scant attention. This is because the target-dependent nature of the choice complicates IIA testing. We propose two statistical methods to test for IIA: a classical goodness-of-fit test and a Bayesian counterpart based on the framework of Posterior Predictive Checks (PPC). This Bayesian approach, our main technical contribution, quantifies the degree of IIA violation beyond its mere significance. We curate two datasets: one with choice sets designed to elicit IIA violations, and another with randomly generated choice sets from the same item universe. Our tests confirmed significant IIA violations on both datasets, and notably, we find a comparable degree of violation between them. Further, we devise a new PPC test for population homogeneity. Results show that the population is indeed homogenous, suggesting that the IIA violations are driven by context effects -- specifically, interactions within the choice sets. These results highlight the need for new similarity choice models that account for such context effects.
MCP-Universe: Benchmarking Large Language Models with Real-World Model Context Protocol Servers
Venue: arXiv cs.AI 2025
Year: 2025

The Model Context Protocol has emerged as a transformative standard for connecting large language models to external data sources and tools, rapidly gaining adoption across major AI providers and development platforms. However, existing benchmarks are overly simplistic and fail to capture real application challenges such as long-horizon reasoning and large, unfamiliar tool spaces. To address this critical gap, we introduce MCP-Universe, the first comprehensive benchmark specifically designed to evaluate LLMs in realistic and hard tasks through interaction with real-world MCP servers. Our benchmark encompasses 6 core domains spanning 11 different MCP servers: Location Navigation, Repository Management, Financial Analysis, 3D Design, Browser Automation, and Web Searching. To ensure rigorous evaluation, we implement execution-based evaluators, including format evaluators for agent format compliance, static evaluators for time-invariant content matching, and dynamic evaluators that automatically retrieve real-time ground truth for temporally sensitive tasks. Through extensive evaluation of leading LLMs, we find that even SOTA models such as GPT-5 (43.72%), Grok-4 (33.33%) and Claude-4.0-Sonnet (29.44%) exhibit significant performance limitations. In addition, our benchmark poses a significant long-context challenge for LLM agents, as the number of input tokens increases rapidly with the number of interaction steps. Moreover, it introduces an unknown-tools challenge, as LLM agents often lack familiarity with the precise usage of the MCP servers. Notably, enterprise-level agents like Cursor cannot achieve better performance than standard ReAct frameworks. Beyond evaluation, we open-source our extensible evaluation framework with UI support, enabling researchers and practitioners to seamlessly integrate new agents and MCP servers while fostering innovation in the rapidly evolving MCP ecosystem.
The Digital Sous Chef -- A Comparative Study on Fine-Tuning Language Models for Recipe Generation
Venue: arXiv cs.CL 2025
Year: 2025

We established a rigorous benchmark for text-based recipe generation, a fundamental task in natural language generation. We present a comprehensive comparative study contrasting a fine-tuned GPT-2 large (774M) model against the GPT-2 small (124M) model and traditional LSTM/RNN baselines on the 5-cuisine corpus from RecipeDB. Our key contribution is a targeted tokenization strategy that augments the vocabulary with 23 common fraction tokens and custom structural markers. This approach addresses a critical limitation of generic tokenizers by preserving essential recipe structures and precise numerical quantities, thereby enhancing domain specificity. Performance is evaluated using a comprehensive suite of seven automatic metrics spanning fluency (BLEU-4, METEOR), coherence (ROUGE-L), semantic relevance (BERTScore), and diversity. Our experiments show that the large transformer-based approach yields a >20% relative improvement in BERTScore (F1) (0.92 vs 0.72) over the best recurrent baseline, while reducing perplexity by 69.8%. We conclude with a discussion of remaining challenges, particularly regarding factual accuracy, and outline how this foundational study paves the way for integrating real-world constraints and multi-modal inputs in advanced recipe generation research.
HERAKLES: Hierarchical Skill Compilation for Open-ended LLM Agents
Venue: arXiv cs.LG 2025
Year: 2025

Open-ended AI agents need to be able to learn efficiently goals of increasing complexity, abstraction and heterogeneity over their lifetime. Beyond sampling efficiently their own goals, autotelic agents specifically need to be able to keep the growing complexity of goals under control, limiting the associated growth in sample and computational complexity. To adress this challenge, recent approaches have leveraged hierarchical reinforcement learning (HRL) and language, capitalizing on its compositional and combinatorial generalization capabilities to acquire temporally extended reusable behaviours. Existing approaches use expert defined spaces of subgoals over which they instantiate a hierarchy, and often assume pre-trained associated low-level policies. Such designs are inadequate in open-ended scenarios, where goal spaces naturally diversify across a broad spectrum of difficulties. We introduce HERAKLES, a framework that enables a two-level hierarchical autotelic agent to continuously compile mastered goals into the low-level policy, executed by a small, fast neural network, dynamically expanding the set of subgoals available to the high-level policy. We train a Large Language Model (LLM) to serve as the high-level controller, exploiting its strengths in goal decomposition and generalization to operate effectively over this evolving subgoal space. We evaluate HERAKLES in the open-ended Crafter environment and show that it scales effectively with goal complexity, improves sample efficiency through skill compilation, and enables the agent to adapt robustly to novel challenges over time.
A Guide to Stakeholder Analysis for Cybersecurity Researchers
Venue: arXiv cs.CR 2025
Year: 2025

Stakeholder-based ethics analysis is now a formal requirement for submissions to top cybersecurity research venues. This requirement reflects a growing consensus that cybersecurity researchers must go beyond providing capabilities to anticipating and mitigating the potential harms thereof. However, many cybersecurity researchers may be uncertain about how to proceed in an ethics analysis. In this guide, we provide practical support for that requirement by enumerating stakeholder types and mapping them to common empirical research methods. We also offer worked examples to demonstrate how researchers can identify likely stakeholder exposures in real-world projects. Our goal is to help research teams meet new ethics mandates with confidence and clarity, not confusion.
Enhancing Contrastive Link Prediction With Edge Balancing Augmentation
Venue: arXiv cs.LG 2025
Year: 2025

Link prediction is one of the most fundamental tasks in graph mining, which motivates the recent studies of leveraging contrastive learning to enhance the performance. However, we observe two major weaknesses of these studies: i) the lack of theoretical analysis for contrastive learning on link prediction, and ii) inadequate consideration of node degrees in contrastive learning. To address the above weaknesses, we provide the first formal theoretical analysis for contrastive learning on link prediction, where our analysis results can generalize to the autoencoder-based link prediction models with contrastive learning. Motivated by our analysis results, we propose a new graph augmentation approach, Edge Balancing Augmentation (EBA), which adjusts the node degrees in the graph as the augmentation. We then propose a new approach, named Contrastive Link Prediction with Edge Balancing Augmentation (CoEBA), that integrates the proposed EBA and the proposed new contrastive losses to improve the model performance. We conduct experiments on 8 benchmark datasets. The results demonstrate that our proposed CoEBA significantly outperforms the other state-of-the-art link prediction models.