OpenRaiser/Intern-Atlas huggingface dataset:
Managing Federated Learning on Decentralized Infrastructures as a Reputation-based Collaborative Workflow
Venue: arXiv cs.DC 2025
Year: 2025

Federated Learning (FL) has recently emerged as a collaborative learning paradigm that can train a global model among distributed participants without raw data exchange to satisfy varying requirements. However, there remain several challenges in managing FL in a decentralized environment, where potential candidates exhibit varying motivation levels and reliability in the FL process management: 1) reconfiguring and automating diverse FL workflows are challenging, 2) difficulty in incentivizing potential candidates with high-quality data and high-performance computing to join the FL, and 3) difficulty in ensuring reliable system operations, which may be vulnerable to various malicious attacks from FL participants. To address these challenges, we focus on the workflow-based methods to automate diverse FL pipelines and propose a novel approach to facilitate reliable FL system operations with robust mechanism design and blockchain technology by considering a contribution model, fair committee selection, dynamic reputation updates, reward and penalty methods, and contract theory. Moreover, we study the optimality of contracts to guide the design and implementation of smart contracts that can be deployed in blockchain networks. We perform theoretical analysis and conduct extensive simulation experiments to validate the proposed approach. The results show that our incentive mechanisms are feasible and can achieve fairness in reward allocation in unreliable environment settings.
DexGraspVLA: A Vision-Language-Action Framework Towards General Dexterous Grasping
Venue: arXiv cs.RO 2025
Year: 2025

Dexterous grasping remains a fundamental yet challenging problem in robotics. A general-purpose robot must be capable of grasping diverse objects in arbitrary scenarios. However, existing research typically relies on restrictive assumptions, such as single-object settings or limited environments, showing constrained generalization. We present DexGraspVLA, a hierarchical framework for robust generalization in language-guided general dexterous grasping and beyond. It utilizes a pre-trained Vision-Language model as the high-level planner and learns a diffusion-based low-level Action controller. The key insight to achieve generalization lies in iteratively transforming diverse language and visual inputs into domain-invariant representations via foundation models, where imitation learning can be effectively applied due to the alleviation of domain shift. Notably, our method achieves a 90+% dexterous grasping success rate under thousands of challenging unseen cluttered scenes. Empirical analysis confirms the consistency of internal model behavior across environmental variations, validating our design. DexGraspVLA also, for the first time, simultaneously demonstrates free-form long-horizon prompt execution, robustness to adversarial objects and human disturbance, and failure recovery. Extended application to nonprehensile grasping further proves its generality. Project website: https://dexgraspvla.github.io.
Enhancing software-hardware co-design for HEP by low-overhead profiling of single- and multi-threaded programs on diverse architectures with Adaptyst
Venue: arXiv cs.PF 2025
Year: 2025

Given the recent technological trends and novel computing paradigms spanning both software and hardware, physicists and software developers can no longer just rely on computers becoming faster to meet the ever-increasing computing demands of their research. Adapting systems to the new environment may be difficult though, especially in case of large and complex applications. Therefore, we introduce Adaptyst (formerly AdaptivePerf): an open-source and architecture-agnostic tool aiming for making these computational and procurement challenges easier to address. At the moment, Adaptyst profiles on- and off-CPU activity of codes, traces all threads and processes spawned by them, and analyses low-level software-hardware interactions to the extent supported by hardware. The tool addresses the main shortcomings of Linux "perf" and has been successfully tested on x86-64, arm64, and RISC-V instruction set architectures. Adaptyst is planned to be evolved towards a software-hardware co-design framework which scales from embedded to high-performance computing in both legacy and new applications and takes into account a bigger picture than merely choosing between CPUs and GPUs. Our paper describes the current development of the project and its roadmap.
Motion ReTouch: Motion Modification Using Four-Channel Bilateral Control
Venue: arXiv cs.RO 2025
Year: 2025

Recent research has demonstrated the usefulness of imitation learning in autonomous robot operation. In particular, teaching using four-channel bilateral control, which can obtain position and force information, has been proven effective. However, control performance that can easily execute high-speed, complex tasks in one go has not yet been achieved. We propose a method called Motion ReTouch, which retroactively modifies motion data obtained using four-channel bilateral control. The proposed method enables modification of not only position but also force information. This was achieved by the combination of multilateral control and motion-copying system. The proposed method was verified in experiments with a real robot, and the success rate of the test tube transfer task was improved, demonstrating the possibility of modification force information.
FedDyMem: Efficient Federated Learning with Dynamic Memory and Memory-Reduce for Unsupervised Image Anomaly Detection
Venue: arXiv cs.DC 2025
Year: 2025

Unsupervised image anomaly detection (UAD) has become a critical process in industrial and medical applications, but it faces growing challenges due to increasing concerns over data privacy. The limited class diversity inherent to one-class classification tasks, combined with distribution biases caused by variations in products across and within clients, poses significant challenges for preserving data privacy with federated UAD. Thus, this article proposes an efficient federated learning method with dynamic memory and memory-reduce for unsupervised image anomaly detection, called FedDyMem. Considering all client data belongs to a single class (i.e., normal sample) in UAD and the distribution of intra-class features demonstrates significant skewness, FedDyMem facilitates knowledge sharing between the client and server through the client's dynamic memory bank instead of model parameters. In the local clients, a memory generator and a metric loss are employed to improve the consistency of the feature distribution for normal samples, leveraging the local model to update the memory bank dynamically. For efficient communication and data privacy, a memory-reduce method based on weighted averages is proposed to significantly decrease the scale of memory banks. This reduced representation inherently, thereby mitigating the risk of data reconstruction. On the server, global memory is constructed and distributed to individual clients through k-means aggregation. Experiments conducted on six industrial and medical datasets, comprising a mixture of six products or health screening types derived from eleven public datasets, demonstrate the effectiveness of FedDyMem.
When Unsupervised Domain Adaptation meets One-class Anomaly Detection: Addressing the Two-fold Unsupervised Curse by Leveraging Anomaly Scarcity
Venue: arXiv cs.LG 2025
Year: 2025

This paper introduces the first fully unsupervised domain adaptation (UDA) framework for unsupervised anomaly detection (UAD). The performance of UAD techniques degrades significantly in the presence of a domain shift, difficult to avoid in a real-world setting. While UDA has contributed to solving this issue in binary and multi-class classification, such a strategy is ill-posed in UAD. This might be explained by the unsupervised nature of the two tasks, namely, domain adaptation and anomaly detection. Herein, we first formulate this problem that we call the two-fold unsupervised curse. Then, we propose a pioneering solution to this curse, considered intractable so far, by assuming that anomalies are rare. Specifically, we leverage clustering techniques to identify a dominant cluster in the target feature space. Posed as the normal cluster, the latter is aligned with the source normal features. Concretely, given a one-class source set and an unlabeled target set composed mostly of normal data and some anomalies, we fit the source features within a hypersphere while jointly aligning them with the features of the dominant cluster from the target set. The paper provides extensive experiments and analysis on common adaptation benchmarks for anomaly detection, demonstrating the relevance of both the newly introduced paradigm and the proposed approach. The code will be made publicly available.
Including Follower Dynamics in Beaconing for Platooning Safety
Venue: arXiv cs.NI 2025
Year: 2025

In this paper, we propose procedures to address platoon follower dynamics within adaptive beaconing. We implement them in a known adaptive beaconing scheme which is Jerk Beaconing (JB) to improve its safety. We evaluate our proposed approach in terms of safety, string stability and the channel busy ratio (CBR) overhead. The results reveal that our proposal significantly enhances safety without imposing substantial CBR overhead and maintains the string stability of the PATH CACC controller under normal conditions.
Vibrotactile information coding strategies for a body-worn vest to aid robot-human collaboration
Venue: arXiv cs.RO 2025
Year: 2025

This paper explores the use of a body-worn vibrotactile vest to convey real-time information from robot to operator. Vibrotactile communication could be useful in providing information without compropmising or loading a person's visual or auditory perception. This paper considers applications in Urban Search and Rescue (USAR) scenarios where a human working alongside a robot is likely to be operating in high cognitive load conditions. The focus is on understanding how best to convey information considering different vibrotactile information coding strategies to enhance scene understanding in scenarios where a robot might be operating remotely as a scout. In exploring information representation, this paper introduces Semantic Haptics, using shapes and patterns to represent certain events as if the skin was a screen, and shows how these lead to bettter learnability and interpreation accuracy.
Metric Distortion in Peer Selection
Venue: arXiv cs.GT 2025
Year: 2025

In the metric distortion problem, a set of voters and candidates lie in a common metric space, and a committee of $k$ candidates must be elected. The objective is to minimize a social cost, defined as a function of the distances between voters and their chosen representatives, while the voting rule only has access to ordinal preferences. The distortion of a rule is the worst-case ratio between the social cost of its outcome and that of the optimal committee, taken over all consistent preferences and metrics. We initiate the study of metric distortion in peer selection, where voters and candidates coincide. We consider four objectives, obtained by combining two aggregation rules with two types of social cost. Under additive aggregation, an individual's cost is the sum of their distances to all committee members; under $q$-cost, it is their distance to the $q$th closest member. The overall social cost is either utilitarian, given by the sum of all individual costs, or egalitarian, given by the maximum individual cost. Surprisingly, we find that even on the line metric, peer selection retains much of the hardness of the general case: Lower bounds remain strictly larger than one for all objectives, and cases where bounded distortion is impossible in general remain so here as well. On a positive note, cases with bounded distortion in the general setting achieve better constants in peer selection. For utilitarian cost, selecting the $k$ middle agents achieves a distortion between $1$ and $2$ under additive aggregation. Under $q$-cost, we show positive results for $q=k=2$, but impossibility results largely carry over. For egalitarian cost, selecting the extremes yields an optimal distortion of $2$ under additive aggregation and for $q$-cost with $q>k/3$. Thus, while peer selection on the line metric allows better constants, fundamental hardness barriers persist.
Deep learning-based filtering of cross-spectral matrices using generative adversarial networks
Venue: arXiv cs.SD 2025
Year: 2025

In this paper, we present a deep-learning method to filter out effects such as ambient noise, reflections, or source directivity from microphone array data represented as cross-spectral matrices. Specifically, we focus on a generative adversarial network (GAN) architecture designed to transform fixed-size cross-spectral matrices. Theses models were trained using sound pressure simulations of varying complexity developed for this purpose. Based on the results from applying these methods in a hyperparameter optimization of an auto-encoding task, we trained the optimized model to perform five distinct transformation tasks derived from different complexities inherent in our sound pressure simulations.
Re-evaluating Theory of Mind evaluation in large language models
Venue: arXiv cs.AI 2025
Year: 2025

The question of whether large language models (LLMs) possess Theory of Mind (ToM) -- often defined as the ability to reason about others' mental states -- has sparked significant scientific and public interest. However, the evidence as to whether LLMs possess ToM is mixed, and the recent growth in evaluations has not resulted in a convergence. Here, we take inspiration from cognitive science to re-evaluate the state of ToM evaluation in LLMs. We argue that a major reason for the disagreement on whether LLMs have ToM is a lack of clarity on whether models should be expected to match human behaviors, or the computations underlying those behaviors. We also highlight ways in which current evaluations may be deviating from "pure" measurements of ToM abilities, which also contributes to the confusion. We conclude by discussing several directions for future research, including the relationship between ToM and pragmatic communication, which could advance our understanding of artificial systems as well as human cognition.
Distributed Data Access in Industrial Edge Networks
Venue: arXiv cs.NI 2025
Year: 2025

Wireless edge networks in smart industrial environments increasingly operate using advanced sensors and autonomous machines interacting with each other and generating huge amounts of data. Those huge amounts of data are bound to make data management (e.g., for processing, storing, computing) a big challenge. Current data management approaches, relying primarily on centralized data storage, might not be able to cope with the scalability and real time requirements of Industry 4.0 environments, while distributed solutions are increasingly being explored. In this paper, we introduce the problem of distributed data access in multi-hop wireless industrial edge deployments, whereby a set of consumer nodes needs to access data stored in a set of data cache nodes, satisfying the industrial data access delay requirements and at the same time maximizing the network lifetime. We prove that the introduced problem is computationally intractable and, after formulating the objective function, we design a two-step algorithm in order to address it. We use an open testbed with real devices for conducting an experimental investigation on the performance of the algorithm. Then, we provide two online improvements, so that the data distribution can dynamically change before the first node in the network runs out of energy. We compare the performance of the methods via simulations for different numbers of network nodes and data consumers, and we show significant lifetime prolongation and increased energy efficiency when employing the method which is using only decentralized low-power wireless communication instead of the method which is using also centralized local area wireless communication.
SEE: See Everything Every Time -- Adaptive Brightness Adjustment for Broad Light Range Images via Events
Venue: arXiv cs.CV 2025
Year: 2025

Event cameras, with a high dynamic range exceeding $120dB$, significantly outperform traditional embedded cameras, robustly recording detailed changing information under various lighting conditions, including both low- and high-light situations. However, recent research on utilizing event data has primarily focused on low-light image enhancement, neglecting image enhancement and brightness adjustment across a broader range of lighting conditions, such as normal or high illumination. Based on this, we propose a novel research question: how to employ events to enhance and adaptively adjust the brightness of images captured under broad lighting conditions? To investigate this question, we first collected a new dataset, SEE-600K, consisting of 610,126 images and corresponding events across 202 scenarios, each featuring an average of four lighting conditions with over a 1000-fold variation in illumination. Subsequently, we propose a framework that effectively utilizes events to smoothly adjust image brightness through the use of prompts. Our framework captures color through sensor patterns, uses cross-attention to model events as a brightness dictionary, and adjusts the image's dynamic range to form a broad light-range representation (BLR), which is then decoded at the pixel level based on the brightness prompt. Experimental results demonstrate that our method not only performs well on the low-light enhancement dataset but also shows robust performance on broader light-range image enhancement using the SEE-600K dataset. Additionally, our approach enables pixel-level brightness adjustment, providing flexibility for post-processing and inspiring more imaging applications. The dataset and source code are publicly available at: https://github.com/yunfanLu/SEE.
Hypergraph Multi-Modal Learning for EEG-based Emotion Recognition in Conversation
Venue: arXiv cs.HC 2025
Year: 2025

Emotional Recognition in Conversation (ERC) is valuable for diagnosing health conditions such as autism and depression, and for understanding the emotions of individuals who struggle to express their feelings. Current ERC methods primarily rely on semantic, audio and visual data but face significant challenges in integrating physiological signals such as Electroencephalography (EEG). This research proposes Hypergraph Multi-Modal Learning (Hyper-MML), a novel framework for identifying emotions in conversation. Hyper-MML effectively integrates EEG with audio and video information to capture complex emotional dynamics. Firstly, we introduce an Adaptive Brain Encoder with Mutual-cross Attention (ABEMA) module for processing EEG signals. This module captures emotion-relevant features across different frequency bands and adapts to subject-specific variations through hierarchical mutual-cross attention mechanisms. Secondly, we propose an Adaptive Hypergraph Fusion Module (AHFM) to actively model the higher-order relationships among multi-modal signals in ERC. Experimental results on the EAV and AFFEC datasets demonstrate that our Hyper-MML model significantly outperforms current state-of-the-art methods. The proposed Hyper-MML can serve as an effective communication tool for healthcare professionals, enabling better engagement with patients who have difficulty expressing their emotions. The official implementation codes are available at https://github.com/NZWANG/Hyper-MML.
Polynomial-Size Enumeration Kernelizations for Long Path Enumeration
Venue: arXiv cs.DM 2025
Year: 2025

Enumeration kernelization for parameterized enumeration problems was defined by Creignou et al. [Theory Comput. Syst. 2017] and was later refined by Golovach et al. [J. Comput. Syst. Sci. 2022, STACS 2021] to polynomial-delay enumeration kernelization. We consider ENUM LONG-PATH, the enumeration variant of the Long-Path problem, from the perspective of enumeration kernelization. Formally, given an undirected graph G and an integer k, the objective of ENUM LONG-PATH is to enumerate all paths of G having exactly k vertices. We consider the structural parameters vertex cover number, dissociation number, and distance to clique and provide polynomial-delay enumeration kernels of polynomial size for each of these parameters.
SYN-LUNGS: Towards Simulating Lung Nodules with Anatomy-Informed Digital Twins for AI Training
Venue: arXiv cs.LG 2025
Year: 2025

AI models for lung cancer screening are limited by data scarcity, impacting generalizability and clinical applicability. Generative models address this issue but are constrained by training data variability. We introduce SYN-LUNGS, a framework for generating high-quality 3D CT images with detailed annotations. SYN-LUNGS integrates XCAT3 phantoms for digital twin generation, X-Lesions for nodule simulation (varying size, location, and appearance), and DukeSim for CT image formation with vendor and parameter variability. The dataset includes 3,072 nodule images from 1,044 simulated CT scans, with 512 lesions and 174 digital twins. Models trained on clinical + simulated data outperform clinical only models, achieving 10% improvement in detection, 2-9% in segmentation and classification, and enhanced synthesis. By incorporating anatomy-informed simulations, SYN-LUNGS provides a scalable approach for AI model development, particularly in rare disease representation and improving model reliability.
An Algebraic Framework for Hierarchical Probabilistic Abstraction
Venue: arXiv cs.AI 2025
Year: 2025

Abstraction is essential for reducing the complexity of systems across diverse fields, yet designing effective abstraction methodology for probabilistic models is inherently challenging due to stochastic behaviors and uncertainties. Current approaches often distill detailed probabilistic data into higher-level summaries to support tractable and interpretable analyses, though they typically struggle to fully represent the relational and probabilistic hierarchies through single-layered abstractions. We introduce a hierarchical probabilistic abstraction framework aimed at addressing these challenges by extending a measure-theoretic foundation for hierarchical abstraction. The framework enables modular problem-solving via layered mappings, facilitating both detailed layer-specific analysis and a cohesive system-wide understanding. This approach bridges high-level conceptualization with low-level perceptual data, enhancing interpretability and allowing layered analysis. Our framework provides a robust foundation for abstraction analysis across AI subfields, particularly in aligning System 1 and System 2 thinking, thereby supporting the development of diverse abstraction methodologies.