OpenRaiser/Intern-Atlas huggingface dataset:
Drought forecasting using a hybrid neural architecture for integrating time series and static data
Venue: arXiv cs.LG 2025
Year: 2025

Reliable forecasting is critical for early warning systems and adaptive drought management. Most previous deep learning approaches focus solely on homogeneous regions and rely on single-structured data. This paper presents a hybrid neural architecture that integrates time series and static data, achieving state-of-the-art performance on the DroughtED dataset. Our results illustrate the potential of designing neural models for the treatment of heterogeneous data in climate related tasks and present reliable prediction of USDM categories, an expert-informed drought metric. Furthermore, this work validates the potential of DroughtED for enabling location-agnostic training of deep learning models.
Robust Statistics vs. Machine Learning vs. Bayesian Inference: Insights into Handling Faulty GNSS Measurements in Field Robotics
Venue: arXiv cs.RO 2025
Year: 2025

This paper presents research findings on handling faulty measurements (i.e., outliers) of global navigation satellite systems (GNSS) for vehicle localization under adverse signal conditions in field applications, where raw GNSS data are frequently corrupted due to environmental interference such as multipath, signal blockage, or non-line-of-sight conditions. In this context, we investigate three strategies applied specifically to GNSS pseudorange observations: robust statistics for error mitigation, machine learning for faulty measurement prediction, and Bayesian inference for noise distribution approximation. Since previous studies have provided limited insight into the theoretical foundations and practical evaluations of these three methodologies within a unified problem statement (i.e., state estimation using ranging sensors), we conduct extensive experiments using real-world sensor data collected in diverse urban environments. Our goal is to examine both established techniques and newly proposed methods, thereby advancing the understanding of how to handle faulty range measurements, such as GNSS, for robust, long-term vehicle localization. In addition to presenting successful results, this work highlights critical observations and open questions to motivate future research in robust state estimation.
Memory-Modular Classification: Learning to Generalize with Memory Replacement
Venue: arXiv cs.CV 2025
Year: 2025

We propose a novel memory-modular learner for image classification that separates knowledge memorization from reasoning. Our model enables effective generalization to new classes by simply replacing the memory contents, without the need for model retraining. Unlike traditional models that encode both world knowledge and task-specific skills into their weights during training, our model stores knowledge in the external memory of web-crawled image and text data. At inference time, the model dynamically selects relevant content from the memory based on the input image, allowing it to adapt to arbitrary classes by simply replacing the memory contents. The key differentiator that our learner meta-learns to perform classification tasks with noisy web data from unseen classes, resulting in robust performance across various classification scenarios. Experimental results demonstrate the promising performance and versatility of our approach in handling diverse classification tasks, including zero-shot/few-shot classification of unseen classes, fine-grained classification, and class-incremental classification.
Geometric Bipartite Matching Based Exact Algorithms for Server Problems
Venue: arXiv cs.CG 2025
Year: 2025

For any given metric space, obtaining an offline optimal solution to the classical $k$-server problem can be reduced to solving a minimum-cost partial bipartite matching between two point sets $A$ and $B$ within that metric space. For $d$-dimensional $\ell_p$ metric space, we present an $\tilde{O}(\min\{nk, n^{2-\frac{1}{2d+1}}\log Δ\}\cdot Φ(n))$ time algorithm for solving this instance of minimum-cost partial bipartite matching; here, $Δ$ represents the spread of the point set, and $Φ(n)$ is the query/update time of a $d$-dimensional dynamic weighted nearest neighbor data structure. Our algorithm improves upon prior algorithms that require at least $Ω(nkΦ(n))$ time. The design of minimum-cost (partial) bipartite matching algorithms that make sub-quadratic queries to a weighted nearest-neighbor data structure, even for bounded spread instances, is a major open problem in computational geometry. We resolve this problem at least for the instances that are generated by the offline version of the $k$-server problem. Our algorithm employs a hierarchical partitioning approach, dividing the points of $A\cup B$ into rectangles. It maintains a minimum-cost partial matching where any point $b \in B$ is either matched to a point $a\in A$ or to the boundary of the rectangle it is located in. The algorithm involves iteratively merging pairs of rectangles by erasing the shared boundary between them and recomputing the minimum-cost partial matching. This continues until all boundaries are erased and we obtain the desired minimum-cost partial matching of $A$ and $B$. We exploit geometry in our analysis to show that each point participates in only $\tilde{O}(n^{1-\frac{1}{2d+1}}\log Δ)$ number of augmenting paths, leading to a total execution time of $\tilde{O}(n^{2-\frac{1}{2d+1}}Φ(n)\log Δ)$.
Real-Time LaCAM for Real-Time MAPF
Venue: arXiv cs.MA 2025
Year: 2025

The vast majority of Multi-Agent Path Finding (MAPF) methods with completeness guarantees require planning full-horizon paths. However, planning full-horizon paths can take too long and be impractical in real-world applications. Instead, real-time planning and execution, which only allows the planner a finite amount of time before executing and replanning, is more practical for real-world multi-agent systems. Several methods utilize real-time planning schemes but none are provably complete, which leads to livelock or deadlock. Our main contribution is Real-Time LaCAM, the first Real-Time MAPF method with provable completeness guarantees. We do this by leveraging LaCAM (Okumura 2023) in an incremental fashion. Our results show how we can iteratively plan for congested environments with a cutoff time of milliseconds while still maintaining the same success rate as full-horizon LaCAM. We also show how it can be used with a single-step learned MAPF policy.
Coupling approaches with non-matching grids for classical linear elasticity and bond-based peridynamic models in 1D
Venue: arXiv cs.CE 2025
Year: 2025

Local-nonlocal coupling approaches provide a means to combine the computational efficiency of local models and the accuracy of nonlocal models. To facilitate the coupling of the two models, non-matching grids are often desirable as nonlocal grids usually require a finer resolution than local grids. In that case, it is often convenient to resort to interpolation operators so that models can exchange information in the overlap regions when nodes from the two grids do not coincide. This paper studies three existing coupling approaches, namely 1) a method that enforces matching displacements in an overlap region, 2) a variant that enforces a constraint on the stresses instead, and 3) a method that considers a variable horizon in the vicinity of the interfaces. The effect of the interpolation order and of the grid ratio on the performance of the three coupling methods with non-matching grids is carefully studied on one-dimensional examples using polynomial manufactured solutions. The numerical results show that the degree of the interpolants should be chosen with care to avoid introducing additional modeling errors, or simply minimize these errors, in the coupling approach.
Sherlock: A Dataset for Process-aware Intrusion Detection Research on Power Grid Networks
Venue: arXiv cs.CR 2025
Year: 2025

Physically distributed components and legacy protocols make the protection of power grids against increasing cyberattack threats challenging. Infamously, the 2015 and 2016 blackouts in Ukraine were caused by cyberattacks, and the German Federal Office for Information Security (BSI) recorded over 200 cyber incidents against the German energy sector between 2023 and 2024. Intrusion detection promises to quickly detect such attacks and mitigate the worst consequences. However, public datasets of realistic scenarios are vital to evaluate these systems. This paper introduces Sherlock, a dataset generated with the co-simulator Wattson. In total, Sherlock covers three scenarios with various attacks manipulating the process state by injecting malicious commands or manipulating measurement values. We additionally test five recently-published intrusion detection systems on Sherlock, highlighting specific challenges for intrusion detection in power grids. Dataset and documentation are available at https://sherlock.wattson.it/.
Uncertainty-Aware Hybrid Machine Learning in Virtual Sensors for Vehicle Sideslip Angle Estimation
Venue: arXiv cs.RO 2025
Year: 2025

Precise vehicle state estimation is crucial for safe and reliable autonomous driving. The number of measurable states and their precision offered by the onboard vehicle sensor system are often constrained by cost. For instance, measuring critical quantities such as the Vehicle Sideslip Angle (VSA) poses significant commercial challenges using current optical sensors. This paper addresses these limitations by focusing on the development of high-performance virtual sensors to enhance vehicle state estimation for active safety. The proposed Uncertainty-Aware Hybrid Learning (UAHL) architecture integrates a machine learning model with vehicle motion models to estimate VSA directly from onboard sensor data. A key aspect of the UAHL architecture is its focus on uncertainty quantification for individual model estimates and hybrid fusion. These mechanisms enable the dynamic weighting of uncertainty-aware predictions from machine learning and vehicle motion models to produce accurate and reliable hybrid VSA estimates. This work also presents a novel dataset named Real-world Vehicle State Estimation Dataset (ReV-StED), comprising synchronized measurements from advanced vehicle dynamic sensors. The experimental results demonstrate the superior performance of the proposed method for VSA estimation, highlighting UAHL as a promising architecture for advancing virtual sensors and enhancing active safety in autonomous vehicles.
Deploying Chatbots in Customer Service: Adoption Hurdles and Simple Remedies
Venue: arXiv cs.HC 2025
Year: 2025

Despite recent advances in Artificial Intelligence, the use of chatbot technology in customer service continues to face adoption hurdles. This paper explores reasons for these adoption hurdles and tests several service design levers to increase chatbot uptake. We use incentivized online experiments to study chatbot uptake in a variety of scenarios. The results of these experiments are threefold. First, people respond positively to improvements in chatbot performance; however, the chatbot channel is utilized less frequently than expected-time minimization would predict. A key driver of this underutilization is the reluctance to engage with a gatekeeper process, i.e., a process with an imperfect initial service stage and possible transfer to a second, expert service stage -- a behavior we term "gatekeeper aversion". We show that gatekeeper aversion can be further amplified by a secondary hurdle, algorithm aversion. Second, chatbot uptake can be increased by providing customers with average waiting times in the chatbot channel, as well as by being more transparent about chatbot capabilities and limitations. Third, methodologically, we show that chatbot adoption can depend on experimental implementation. In particular, chatbot adoption decreases further as (i) stakes are increased, (ii) the human/algorithmic nature of the server is manipulated with more realism. Our results suggest that firms should continue to prioritize investments in chatbot technology. However, less expensive, process-related interventions can also be effective. These may include being more transparent about the types of queries that are (or are not) suitable for chatbots, emphasizing chatbot reliability and quick resolution times, as well as providing faster live agent access to customers who experienced chatbot failure.
Zerrow: True Zero-Copy Arrow Pipelines in Bauplan
Venue: arXiv cs.OS 2025
Year: 2025

Bauplan is a FaaS-based lakehouse specifically built for data pipelines: its execution engine uses Apache Arrow for data passing between the nodes in the DAG. While Arrow is known as the "zero copy format", in practice, limited Linux kernel support for shared memory makes it difficult to avoid copying entirely. In this work, we introduce several new techniques to eliminate nearly all copying from pipelines: in particular, we implement a new kernel module that performs de-anonymization, thus eliminating a copy to intermediate data. We conclude by sharing our preliminary evaluation on different workloads types, as well as discussing our plan for future improvements.
A Large-Scale Analysis on Contextual Self-Supervised Video Representation Learning
Venue: arXiv cs.CV 2025
Year: 2025

Self-supervised learning has emerged as a powerful paradigm for label-free model pretraining, particularly in the video domain, where manual annotation is costly and time-intensive. However, existing self-supervised approaches employ diverse experimental setups, making direct comparisons challenging due to the absence of a standardized benchmark. In this work, we establish a unified benchmark that enables fair comparisons across different methods. Additionally, we systematically investigate five critical aspects of self-supervised learning in videos: (1) dataset size, (2) model complexity, (3) data distribution, (4) data noise, and (5) feature representations. To facilitate this study, we evaluate six self-supervised learning methods across six network architectures, conducting extensive experiments on five benchmark datasets and assessing performance on two distinct downstream tasks. Our analysis reveals key insights into the interplay between pretraining strategies, dataset characteristics, pretext tasks, and model architectures. Furthermore, we extend these findings to Video Foundation Models (ViFMs), demonstrating their relevance in large-scale video representation learning. Finally, leveraging these insights, we propose a novel approach that significantly reduces training data requirements while surpassing state-of-the-art methods that rely on 10% more pretraining data. We believe this work will guide future research toward a deeper understanding of self-supervised video representation learning and its broader implications.
ViTaMIn: Learning Contact-Rich Tasks Through Robot-Free Visuo-Tactile Manipulation Interface
Venue: arXiv cs.RO 2025
Year: 2025

Tactile information plays a crucial role for humans and robots to interact effectively with their environment, particularly for tasks requiring the understanding of contact properties. Solving such dexterous manipulation tasks often relies on imitation learning from demonstration datasets, which are typically collected via teleoperation systems and often demand substantial time and effort. To address these challenges, we present ViTaMIn, an embodiment-free manipulation interface that seamlessly integrates visual and tactile sensing into a hand-held gripper, enabling data collection without the need for teleoperation. Our design employs a compliant Fin Ray gripper with tactile sensing, allowing operators to perceive force feedback during manipulation for more intuitive operation. Additionally, we propose a multimodal representation learning strategy to obtain pre-trained tactile representations, improving data efficiency and policy robustness. Experiments on seven contact-rich manipulation tasks demonstrate that ViTaMIn significantly outperforms baseline methods, demonstrating its effectiveness for complex manipulation tasks.
Action Valuation in Sports: A Survey
Venue: arXiv cs.CV 2025
Year: 2025

Action Valuation (AV) has emerged as a key topic in Sports Analytics, offering valuable insights by assigning scores to individual actions based on their contribution to desired outcomes. Despite a few surveys addressing related concepts such as Player Valuation, there is no comprehensive review dedicated to an in-depth analysis of AV across different sports. In this survey, we introduce a taxonomy with nine dimensions related to the AV task, encompassing data, methodological approaches, evaluation techniques, and practical applications. Through this analysis, we aim to identify the essential characteristics of effective AV methods, highlight existing gaps in research, and propose future directions for advancing the field.
Real-Time Pitch/F0 Detection Using Spectrogram Images and Convolutional Neural Networks
Venue: arXiv cs.SD 2025
Year: 2025

This paper presents a novel approach to detect F0 through Convolutional Neural Networks and image processing techniques to directly estimate pitch from spectrogram images. Our new approach demonstrates a very good detection accuracy; a total of 92% of predicted pitch contours have strong or moderate correlations to the true pitch contours. Furthermore, the experimental comparison between our new approach and other state-of-the-art CNN methods reveals that our approach can enhance the detection rate by approximately 5% across various Signal-to-Noise Ratio conditions.
Flash Sculptor: Modular 3D Worlds from Objects
Venue: arXiv cs.CV 2025
Year: 2025

Existing text-to-3D and image-to-3D models often struggle with complex scenes involving multiple objects and intricate interactions. Although some recent attempts have explored such compositional scenarios, they still require an extensive process of optimizing the entire layout, which is highly cumbersome if not infeasible at all. To overcome these challenges, we propose Flash Sculptor in this paper, a simple yet effective framework for compositional 3D scene/object reconstruction from a single image. At the heart of Flash Sculptor lies a divide-and-conquer strategy, which decouples compositional scene reconstruction into a sequence of sub-tasks, including handling the appearance, rotation, scale, and translation of each individual instance. Specifically, for rotation, we introduce a coarse-to-fine scheme that brings the best of both worlds--efficiency and accuracy--while for translation, we develop an outlier-removal-based algorithm that ensures robust and precise parameters in a single step, without any iterative optimization. Extensive experiments demonstrate that Flash Sculptor achieves at least a 3 times speedup over existing compositional 3D methods, while setting new benchmarks in compositional 3D reconstruction performance. Codes are available at https://github.com/YujiaHu1109/Flash-Sculptor.
Need for zkSpeed: Accelerating HyperPlonk for Zero-Knowledge Proofs
Venue: arXiv cs.AR 2025
Year: 2025

Zero-Knowledge Proofs (ZKPs) are rapidly gaining importance in privacy-preserving and verifiable computing. ZKPs enable a proving party to prove the truth of a statement to a verifying party without revealing anything else. ZKPs have applications in blockchain technologies, verifiable machine learning, and electronic voting, but have yet to see widespread adoption due to the computational complexity of the proving process. Recent works have accelerated the key primitives of state-of-the-art ZKP protocols on GPU and ASIC. However, the protocols accelerated thus far face one of two challenges: they either require a trusted setup for each application, or they generate larger proof sizes with higher verification costs, limiting their applicability in scenarios with numerous verifiers or strict verification time constraints. This work presents an accelerator, zkSpeed, for HyperPlonk, a state-of-the-art ZKP protocol that supports both one-time, universal setup and small proof sizes for typical ZKP applications in publicly verifiable, consensus-based systems. We accelerate the entire protocol, including two major primitives: SumCheck and Multi-scalar Multiplications (MSMs). We develop a full-chip architecture using 366.46 mm$^2$ and 2 TB/s of bandwidth to accelerate the entire proof generation process, achieving geometric mean speedups of 801$\times$ over CPU baselines.
NNN: Next-Generation Neural Networks for Marketing Measurement
Venue: arXiv cs.LG 2025
Year: 2025

We present NNN, an experimental Transformer-based neural network approach to marketing measurement. Unlike Marketing Mix Models (MMMs) which rely on scalar inputs and parametric decay functions, NNN uses rich embeddings to capture both quantitative and qualitative aspects of marketing and organic channels (e.g., search queries, ad creatives). This, combined with its attention mechanism, potentially enables NNN to model complex interactions, capture long-term effects, and improve sales attribution accuracy. We show that L1 regularization permits the use of such expressive models in typical data-constrained settings. Evaluating NNN on simulated and real-world data demonstrates its efficacy, particularly through considerable improvement in predictive power. In addition to marketing measurement, the NNN framework can provide valuable, complementary insights through model probing, such as evaluating keyword or creative effectiveness.
A Case for Network-wide Orchestration of Host-based Intrusion Detection and Response
Venue: arXiv cs.CR 2025
Year: 2025

Recent cyber incidents and the push for zero trust security underscore the necessity of monitoring host-level events. However, current host-level intrusion detection systems (IDS) lack the ability to correlate alerts and coordinate a network-wide response in real time. Motivated by advances in system-level extensions free of rebooting and network-wide orchestration of host actions, we propose using a central IDS orchestrator to remotely program the logic of each host IDS and collect the alerts generated in real time. In this paper, we make arguments for such a system concept and provide a high level design of the main system components. Furthermore, we have developed a system prototype and evaluated it using two experimental scenarios rooted from real-world attacks. The evaluation results show that the host-based IDS orchestration system is able to defend against the attacks effectively.
PainNet: Statistical Relation Network with Episode-Based Training for Pain Estimation
Venue: arXiv cs.CV 2025
Year: 2025

Despite the span in estimating pain from facial expressions, limited works have focused on estimating the sequence-level pain, which is reported by patients and used commonly in clinics. In this paper, we introduce a novel Statistical Relation Network, referred to as PainNet, designed for the estimation of the sequence-level pain. PainNet employs two key modules, the embedding and the relation modules, for comparing pairs of pain videos, and producing relation scores indicating if each pair belongs to the same pain category or not. At the core of the embedding module is a statistical layer mounted on the top of a RNN for extracting compact video-level features. The statistical layer is implemented as part of the deep architecture. Doing so, allows combining multiple training stages used in previous research, into a single end-to-end training stage. PainNet is trained using the episode-based training scheme, which involves comparing a query video with a set of videos representing the different pain categories. Experimental results show the benefit of using the statistical layer and the episode-based training in the proposed model. Furthermore, PainNet outperforms the state-of-the-art results on self-reported pain estimation.