OpenRaiser/Intern-Atlas huggingface dataset:
Tensor Invariant Data-Assisted Control and Dynamic Decomposition of Multibody Systems
Venue: arXiv cs.RO 2025
Year: 2025

The control of robotic systems in complex, shared collaborative workspaces presents significant challenges in achieving robust performance and safety when learning from experienced or simulated data is employed in the pipeline. A primary bottleneck is the reliance on coordinate-dependent models, which leads to profound data inefficiency by failing to generalize physical interactions across different frames of reference. This forces learning algorithms to rediscover fundamental physical principles in every new orientation, artificially inflating the complexity of the learning task. This paper introduces a novel framework that synergizes a coordinate-free, unreduced multibody dynamics and kinematics model based on tensor mechanics with a Data-Assisted Control (DAC) architecture. A non-recursive, closed-form Newton-Euler model in an augmented matrix form is derived that is optimized for tensor-based control design. This structure enables a principled decomposition of the system into a structurally certain, physically grounded part and an uncertain, empirical, and interaction-focused part, mediated by a virtual port variable. Then, a complete, end-to-end tensor-invariant pipeline for modeling, control, and learning is proposed. The coordinate-free control laws for the structurally certain part provide a stable and abstract command interface, proven via Lyapunov analysis. Eventually, the model and closed-loop system are validated through simulations. This work provides a naturally ideal input for data-efficient, frame-invariant learning algorithms, such as equivariant learning, designed to learn the uncertain interaction. The synergy directly addresses the data-inefficiency problem, increases explainability and interpretability, and paves the way for more robust and generalizable robotic control in interactive environments.
AI Asset Management for Manufacturing (AIM4M): Development of a Process Model for Operationalization
Venue: arXiv cs.SE 2025
Year: 2025

The benefits of adopting artificial intelligence (AI) in manufacturing are undeniable. However, operationalizing AI beyond the prototype, especially when involved with cyber-physical production systems (CPPS), remains a significant challenge due to the technical system complexity, a lack of implementation standards and fragmented organizational processes. To this end, this paper proposes a new process model for the lifecycle management of AI assets designed to address challenges in manufacturing and facilitate effective operationalization throughout the entire AI lifecycle. The process model, as a theoretical contribution, builds on machine learning operations (MLOps) principles and refines three aspects to address the domain-specific requirements from the CPPS context. As a result, the proposed process model aims to support organizations in practice to systematically develop, deploy and manage AI assets across their full lifecycle while aligning with CPPS-specific constraints and regulatory demands.
A Holistic Approach to E-Commerce Innovation: Redefining Security and User Experience
Venue: arXiv cs.CR 2025
Year: 2025

In the modern, fast-moving world of e-commerce, many Android apps face challenges in providing a simple and secure shopping experience. Many of these apps, often enough, have complicated designs that prevent users from finding what they want quickly, thus frustrating them and wasting their precious time. Another major issue is that of security; with the limitation of payment options and weak authentication mechanisms, users' sensitive information can be compromised. This research presents a new e-commerce platform that responds to the above challenges with an intuitive interface and strong security measures. The platform makes online shopping easy with well-organized categories of products and a fast, efficient checkout process. It also gives priority to security by incorporating features such as Google authentication and SSL-secured payment gateways to protect user data and ensure secure transactions. This paper discusses how a focus on user-friendliness, security, and personalization steps up the game for e-commerce platforms, providing workable frameworks that match modern user needs and expectations. The findings show the e-commerce user experience can be remodelled by the platform, hence opening ways for future developments in that respect.
Beyond Regularity: Modeling Chaotic Mobility Patterns for Next Location Prediction
Venue: arXiv cs.LG 2025
Year: 2025

Next location prediction is a key task in human mobility analysis, crucial for applications like smart city resource allocation and personalized navigation services. However, existing methods face two significant challenges: first, they fail to address the dynamic imbalance between periodic and chaotic mobile patterns, leading to inadequate adaptation over sparse trajectories; second, they underutilize contextual cues, such as temporal regularities in arrival times, which persist even in chaotic patterns and offer stronger predictability than spatial forecasts due to reduced search spaces. To tackle these challenges, we propose \textbf{\method}, a \underline{\textbf{C}}h\underline{\textbf{A}}otic \underline{\textbf{N}}eural \underline{\textbf{O}}scillator n\underline{\textbf{E}}twork for next location prediction, which introduces a biologically inspired Chaotic Neural Oscillatory Attention mechanism to inject adaptive variability into traditional attention, enabling balanced representation of evolving mobility behaviors, and employs a Tri-Pair Interaction Encoder along with a Cross Context Attentive Decoder to fuse multimodal ``who-when-where'' contexts in a joint framework for enhanced prediction performance. Extensive experiments on two real-world datasets demonstrate that CANOE consistently and significantly outperforms a sizeable collection of state-of-the-art baselines, yielding 3.17\%-13.11\% improvement over the best-performing baselines across different cases. In particular, CANOE can make robust predictions over mobility trajectories of different mobility chaotic levels. A series of ablation studies also supports our key design choices. Our code is available at: https://github.com/yuqian2003/CANOE.
HeLoFusion: An Efficient and Scalable Encoder for Modeling Heterogeneous and Multi-Scale Interactions in Trajectory Prediction
Venue: arXiv cs.AI 2025
Year: 2025

Multi-agent trajectory prediction in autonomous driving requires a comprehensive understanding of complex social dynamics. Existing methods, however, often struggle to capture the full richness of these dynamics, particularly the co-existence of multi-scale interactions and the diverse behaviors of heterogeneous agents. To address these challenges, this paper introduces HeLoFusion, an efficient and scalable encoder for modeling heterogeneous and multi-scale agent interactions. Instead of relying on global context, HeLoFusion constructs local, multi-scale graphs centered on each agent, allowing it to effectively model both direct pairwise dependencies and complex group-wise interactions (\textit{e.g.}, platooning vehicles or pedestrian crowds). Furthermore, HeLoFusion tackles the critical challenge of agent heterogeneity through an aggregation-decomposition message-passing scheme and type-specific feature networks, enabling it to learn nuanced, type-dependent interaction patterns. This locality-focused approach enables a principled representation of multi-level social context, yielding powerful and expressive agent embeddings. On the challenging Waymo Open Motion Dataset, HeLoFusion achieves state-of-the-art performance, setting new benchmarks for key metrics including Soft mAP and minADE. Our work demonstrates that a locality-grounded architecture, which explicitly models multi-scale and heterogeneous interactions, is a highly effective strategy for advancing motion forecasting.
Bridging the Gap Between Sparsity and Redundancy: A Dual-Decoding Framework with Global Context for Map Inference
Venue: arXiv cs.CV 2025
Year: 2025

Trajectory data has become a key resource for automated map in-ference due to its low cost, broad coverage, and continuous availability. However, uneven trajectory density often leads to frag-mented roads in sparse areas and redundant segments in dense regions, posing significant challenges for existing methods. To address these issues, we propose DGMap, a dual-decoding framework with global context awareness, featuring Multi-scale Grid Encoding, Mask-enhanced Keypoint Extraction, and Global Context-aware Relation Prediction. By integrating global semantic context with local geometric features, DGMap improves keypoint detection accuracy to reduce road fragmentation in sparse-trajectory areas. Additionally, the Global Context-aware Relation Prediction module suppresses false connections in dense-trajectory regions by modeling long-range trajectory patterns. Experimental results on three real-world datasets show that DGMap outperforms state-of-the-art methods by 5% in APLS, with notable performance gains on trajectory data from the Didi Chuxing platform
From Pixels to Shelf: End-to-End Algorithmic Control of a Mobile Manipulator for Supermarket Stocking and Fronting
Venue: arXiv cs.RO 2025
Year: 2025

Autonomous stocking in retail environments, particularly supermarkets, presents challenges due to dynamic human interactions, constrained spaces, and diverse product geometries. This paper introduces an efficient end-to-end robotic system for autonomous shelf stocking and fronting, integrating commercially available hardware with a scalable algorithmic architecture. A major contribution of this work is the system integration of off-the-shelf hardware and ROS2-based perception, planning, and control into a single deployable platform for retail environments. Our solution leverages Behavior Trees (BTs) for task planning, fine-tuned vision models for object detection, and a two-step Model Predictive Control (MPC) framework for precise shelf navigation using ArUco markers. Laboratory experiments replicating realistic supermarket conditions demonstrate reliable performance, achieving over 98% success in pick-and-place operations across a total of more than 700 stocking events. However, our comparative benchmarks indicate that the performance and cost-effectiveness of current autonomous systems remain inferior to that of human workers, which we use to highlight key improvement areas and quantify the progress still required before widespread commercial deployment can realistically be achieved.
Adaptive Motorized LiDAR Scanning Control for Robust Localization with OpenStreetMap
Venue: arXiv cs.RO 2025
Year: 2025

LiDAR-to-OpenStreetMap (OSM) localization has gained increasing attention, as OSM provides lightweight global priors such as building footprints. These priors enhance global consistency for robot navigation, but OSM is often incomplete or outdated, limiting its reliability in real-world deployment. Meanwhile, LiDAR itself suffers from a limited field of view (FoV), where motorized rotation is commonly used to achieve panoramic coverage. Existing motorized LiDAR systems, however, typically employ constant-speed scanning that disregards both scene structure and map priors, leading to wasted effort in feature-sparse regions and degraded localization accuracy. To address these challenges, we propose Adaptive LiDAR Scanning with OSM guidance, a framework that integrates global priors with local observability prediction to improve localization robustness. Specifically, we augment uncertainty-aware model predictive control with an OSM-aware term that adaptively allocates scanning effort according to both scene-dependent observability and the spatial distribution of OSM features. The method is implemented in ROS with a motorized LiDAR odometry backend and evaluated in both simulation and real-world experiments. Results on campus roads, indoor corridors, and urban environments demonstrate significant reductions in trajectory error compared to constant-speed baselines, while maintaining scan completeness. These findings highlight the potential of coupling open-source maps with adaptive LiDAR scanning to achieve robust and efficient localization in complex environments.
Removal Attack and Defense on AI-generated Content Latent-based Watermarking
Venue: arXiv cs.CR 2025
Year: 2025

Digital watermarks can be embedded into AI-generated content (AIGC) by initializing the generation process with starting points sampled from a secret distribution. When combined with pseudorandom error-correcting codes, such watermarked outputs can remain indistinguishable from unwatermarked objects, while maintaining robustness under whitenoise. In this paper, we go beyond indistinguishability and investigate security under removal attacks. We demonstrate that indistinguishability alone does not necessarily guarantee resistance to adversarial removal. Specifically, we propose a novel attack that exploits boundary information leaked by the locations of watermarked objects. This attack significantly reduces the distortion required to remove watermarks -- by up to a factor of $15 \times$ compared to a baseline whitenoise attack under certain settings. To mitigate such attacks, we introduce a defense mechanism that applies a secret transformation to hide the boundary, and prove that the secret transformation effectively rendering any attacker's perturbations equivalent to those of a naive whitenoise adversary. Our empirical evaluations, conducted on multiple versions of Stable Diffusion, validate the effectiveness of both the attack and the proposed defense, highlighting the importance of addressing boundary leakage in latent-based watermarking schemes.
Very-low-field MRI scanners: from the ideal to the real permanent magnet array
Venue: arXiv cs.CE 2025
Year: 2025

Very-low-field MRIs are becoming increasingly popular due to their portability and adaptability to different environments. They are being successfully used for various clinical applications, leading to a paradigm shift in the way imaging care is typically performed. The development of low-cost MRI scanner prototypes began a few years ago, with some interesting and promising open-source projects emerging in both hardware and software design. Using permanent magnets (PMs) to generate the static magnetic field B0 can substantially reduce the manufacturing cost while achieving satisfactory homogeneity. This article aims to explore the reasons behind discrepancies between magnet design and prototype performance in terms of magnetic field homogeneity. Understanding the impact of the practical implementation of magnet design could inform the development of more tolerant designs in future, simplifying subsequent B0 shimming procedures or even making them unnecessary. This work also evidences the impact of using different numerical model approximations in the modelling phase, proving how they also impact the quality of the design outcomes.
Stabilizing PINNs: A regularization scheme for PINN training to avoid unstable fixed points of dynamical systems
Venue: arXiv cs.LG 2025
Year: 2025

It was recently shown that the loss function used for training physics-informed neural networks (PINNs) exhibits local minima at solutions corresponding to fixed points of dynamical systems. In the forward setting, where the PINN is trained to solve initial value problems, these local minima can interfere with training and potentially leading to physically incorrect solutions. Building on stability theory, this paper proposes a regularization scheme that penalizes solutions corresponding to unstable fixed points. Experimental results on four dynamical systems, including the Lotka-Volterra model and the van der Pol oscillator, show that our scheme helps avoiding physically incorrect solutions and substantially improves the training success rate of PINNs.
PledgeTracker: A System for Monitoring the Fulfilment of Pledges
Venue: arXiv cs.CL 2025
Year: 2025

Political pledges reflect candidates' policy commitments, but tracking their fulfilment requires reasoning over incremental evidence distributed across multiple, dynamically updated sources. Existing methods simplify this task into a document classification task, overlooking its dynamic, temporal and multi-document nature. To address this issue, we introduce \textsc{PledgeTracker}, a system that reformulates pledge verification into structured event timeline construction. PledgeTracker consists of three core components: (1) a multi-step evidence retrieval module; (2) a timeline construction module and; (3) a fulfilment filtering module, allowing the capture of the evolving nature of pledge fulfilment and producing interpretable and structured timelines. We evaluate PledgeTracker in collaboration with professional fact-checkers in real-world workflows, demonstrating its effectiveness in retrieving relevant evidence and reducing human verification effort.
FedDAF: Federated Domain Adaptation Using Model Functional Distance
Venue: arXiv cs.LG 2025
Year: 2025

Federated Domain Adaptation (FDA) is a federated learning (FL) approach that improves model performance at the target client by collaborating with source clients while preserving data privacy. FDA faces two primary challenges: domain shifts between source and target data and limited labeled data at the target. Most existing FDA methods focus on domain shifts, assuming ample target data, yet often neglect the combined challenges of both domain shifts and data scarcity. Moreover, approaches that address both challenges fail to prioritize sharing relevant information from source clients according to the target's objective. In this paper, we propose FedDAF, a novel approach addressing both challenges in FDA. FedDAF uses similarity-based aggregation of the global source model and target model by calculating model functional distance from their mean gradient fields computed on target data. This enables effective model aggregation based on the target objective, constructed using target data, even with limited data. While computing model functional distance between these two models, FedDAF computes the angle between their mean gradient fields and then normalizes with the Gompertz function. To construct the global source model, all the local source models are aggregated using simple average in the server. Experiments on real-world datasets demonstrate FedDAF's superiority over existing FL, PFL, and FDA methods in terms of achieving better test accuracy.
Probabilistic Robustness Analysis in High Dimensional Space: Application to Semantic Segmentation Network
Venue: arXiv cs.CV 2025
Year: 2025

Semantic segmentation networks (SSNs) are central to safety-critical applications such as medical imaging and autonomous driving, where robustness under uncertainty is essential. However, existing probabilistic verification methods often fail to scale with the complexity and dimensionality of modern segmentation tasks, producing guarantees that are overly conservative and of limited practical value. We propose a probabilistic verification framework that is architecture-agnostic and scalable to high-dimensional input-output spaces. Our approach employs conformal inference (CI), enhanced by a novel technique that we call the \textbf{clipping block}, to provide provable guarantees while mitigating the excessive conservatism of prior methods. Experiments on large-scale segmentation models across CamVid, OCTA-500, Lung Segmentation, and Cityscapes demonstrate that our framework delivers reliable safety guarantees while substantially reducing conservatism compared to state-of-the-art approaches on segmentation tasks. We also provide a public GitHub repository (https://github.com/Navidhashemicodes/SSN_Reach_CLP_Surrogate) for this approach, to support reproducibility.
Transparent and Fair Profiling in Employment Services: Evidence from Switzerland
Venue: arXiv cs.LG 2025
Year: 2025

Long-term unemployment (LTU) is a challenge for both jobseekers and public employment services. Statistical profiling tools are increasingly used to predict LTU risk. Some profiling tools are opaque, black-box machine learning models, which raise issues of transparency and fairness. This paper investigates whether interpretable models could serve as an alternative, using administrative data from Switzerland. Traditional statistical, interpretable, and black-box models are compared in terms of predictive performance, interpretability, and fairness. It is shown that explainable boosting machines, a recent interpretable model, perform nearly as well as the best black-box models. It is also shown how model sparsity, feature smoothing, and fairness mitigation can enhance transparency and fairness with only minor losses in performance. These findings suggest that interpretable profiling provides an accountable and trustworthy alternative to black-box models without compromising performance.
Tenma: Robust Cross-Embodiment Robot Manipulation with Diffusion Transformer
Venue: arXiv cs.RO 2025
Year: 2025

Scaling Transformer policies and diffusion models has advanced robotic manipulation, yet combining these techniques in lightweight, cross-embodiment learning settings remains challenging. We study design choices that most affect stability and performance for diffusion-transformer policies trained on heterogeneous, multimodal robot data, and introduce Tenma, a lightweight diffusion-transformer for bi-manual arm control. Tenma integrates multiview RGB, proprioception, and language via a cross-embodiment normalizer that maps disparate state/action spaces into a shared latent space; a Joint State-Time encoder for temporally aligned observation learning with inference speed boosts; and a diffusion action decoder optimized for training stability and learning capacity. Across benchmarks and under matched compute, Tenma achieves an average success rate of 88.95% in-distribution and maintains strong performance under object and scene shifts, substantially exceeding baseline policies whose best in-distribution average is 18.12%. Despite using moderate data scale, Tenma delivers robust manipulation and generalization, indicating the great potential for multimodal and cross-embodiment learning strategies for further augmenting the capacity of transformer-based imitation learning policies.
Lost in Data: How Older Adults Perceive and Navigate Health Data Representations
Venue: arXiv cs.HC 2025
Year: 2025

As the ageing population grows, older adults increasingly rely on wearable devices to monitor chronic conditions. However, conventional health data representations (HDRs) often present accessibility challenges, particularly for critical health parameters like blood pressure and sleep data. This study explores how older adults interact with these representations, identifying key barriers such as semantic inconsistency and difficulties in understanding. While research has primarily focused on data collection, less attention has been given to how information is output and understood by end-users. To address this, an end-user evaluation was conducted with 16 older adults (65+) in a structured workshop, using think-aloud protocols and participatory design activities. The findings highlight the importance of affordance and familiarity in improving accessibility, emphasising the familiarity and potential of multimodal cues. This study bridges the gap between domain experts and end-users, providing a replicable methodological approach for designing intuitive, multisensory HDRs that better align with older adults' needs and abilities.