OpenRaiser/Intern-Atlas huggingface dataset:
PILOT: A Pre-Trained Model-Based Continual Learning Toolbox
Venue: arXiv cs.LG 2025
Year: 2025

While traditional machine learning can effectively tackle a wide range of problems, it primarily operates within a closed-world setting, which presents limitations when dealing with streaming data. As a solution, incremental learning emerges to address real-world scenarios involving new data's arrival. Recently, pre-training has made significant advancements and garnered the attention of numerous researchers. The strong performance of these pre-trained models (PTMs) presents a promising avenue for developing continual learning algorithms that can effectively adapt to real-world scenarios. Consequently, exploring the utilization of PTMs in incremental learning has become essential. This paper introduces a pre-trained model-based continual learning toolbox known as PILOT. On the one hand, PILOT implements some state-of-the-art class-incremental learning algorithms based on pre-trained models, such as L2P, DualPrompt, and CODA-Prompt. On the other hand, PILOT also fits typical class-incremental learning algorithms (e.g., DER, FOSTER, and MEMO) within the context of pre-trained models to evaluate their effectiveness.
HurriCast: Synthetic Tropical Cyclone Track Generation for Hurricane Forecasting
Venue: arXiv cs.LG 2025
Year: 2025

The generation of synthetic tropical cyclone(TC) tracks for risk assessment is a critical application of preparedness for the impacts of climate change and disaster relief, particularly in North America. Insurance companies use these synthetic tracks to estimate the potential risks and financial impacts of future TCs. For governments and policymakers, understanding the potential impacts of TCs helps in developing effective emergency response strategies, updating building codes, and prioritizing investments in resilience and mitigation projects. In this study, many hypothetical but plausible TC scenarios are created based on historical TC data HURDAT2 (HURricane DATA 2nd generation). A hybrid methodology, combining the ARIMA and K-MEANS methods with Autoencoder, is employed to capture better historical TC behaviors and project future trajectories and intensities. It demonstrates an efficient and reliable in the field of climate modeling and risk assessment. By effectively capturing past hurricane patterns and providing detailed future projections, this approach not only validates the reliability of this method but also offers crucial insights for a range of applications, from disaster preparedness and emergency management to insurance risk analysis and policy formulation.
Improved Distributed Algorithms for Random Colorings
Venue: arXiv cs.DC 2025
Year: 2025

We study distributed versions of Markov Chain Monte Carlo (MCMC) algorithms for generating random $k$-colorings of an input graph with maximum degree $Δ$. In the sequential setting, the Glauber dynamics is the simple MCMC algorithm which updates the color at a randomly chosen vertex in each step. Fischer and Ghaffari (2018), and independently Feng, Hayes, and Yin (2018), presented a parallel and distributed version of the Glauber dynamics which converges in $O(\log{n})$ rounds for $k>(2+\varepsilon)Δ$ for any $\varepsilon>0$. We present the distributed flip dynamics and prove $O(n\log{n})$ mixing for $k>(11/6-δ)Δ$ for a fixed $δ>0$. Our new Markov chain is a generalization of the distributed Glauber dynamics previously analyzed, and is a parallel and distributed version of the more general flip dynamics considered in the sequential setting which recolors local maximal two-colored components in each step. While the distributed Glauber dynamics and the sequential flip dynamics are symmetric Markov chains, and hence their stationary distribution is uniformly distributed over colorings, our distributed flip dynamics is not symmetric and hence the stationary distribution is unclear.
Pointing the Way: Refining Radar-Lidar Localization Using Learned ICP Weights
Venue: arXiv cs.RO 2025
Year: 2025

This paper presents a novel deep-learning-based approach to improve localizing radar measurements against lidar maps. This radar-lidar localization leverages the benefits of both sensors; radar is resilient against adverse weather, while lidar produces high-quality maps in clear conditions. However, owing in part to the unique artefacts present in radar measurements, radar-lidar localization has struggled to achieve comparable performance to lidar-lidar systems, preventing it from being viable for autonomous driving. This work builds on ICP-based radar-lidar localization by including a learned preprocessing step that weights radar points based on high-level scan information. To train the weight-generating network, we present a novel, stand-alone, open-source differentiable ICP library. The learned weights facilitate ICP by filtering out harmful radar points related to artefacts, noise, and even vehicles on the road. Combining an analytical approach with a learned weight reduces overall localization errors and improves convergence in radar-lidar ICP results run on real-world autonomous driving data. Our code base is publicly available to facilitate reproducibility and extensions.
Graph-based Decentralized Task Allocation for Multi-Robot Target Localization
Venue: arXiv cs.RO 2025
Year: 2025

We introduce a new graph neural operator-based approach for task allocation in a system of heterogeneous robots composed of Unmanned Ground Vehicles (UGVs) and Unmanned Aerial Vehicles (UAVs). The proposed model, \texttt{\method}, or \textbf{G}raph \textbf{A}ttention \textbf{T}ask \textbf{A}llocato\textbf{R} aggregates information from neighbors in the multi-robot system, with the aim of achieving globally optimal target localization. Being decentralized, our method is highly robust and adaptable to situations where the number of robots and the number of tasks may change over time. We also propose a heterogeneity-aware preprocessing technique to model the heterogeneity of the system. The experimental results demonstrate the effectiveness and scalability of the proposed approach in a range of simulated scenarios generated by varying the number of UGVs and UAVs and the number and location of the targets. We show that a single model can handle a heterogeneous robot team with a number of robots ranging between 2 and 12 while outperforming the baseline architectures.
A Novel Neural-symbolic System under Statistical Relational Learning
Venue: arXiv cs.AI 2025
Year: 2025

A key objective in the field of artificial intelligence is to develop cognitive models that can exhibit human-like intellectual capabilities. One promising approach to achieving this is through neural-symbolic systems, which combine the strengths of deep learning and symbolic reasoning. However, current methodologies in this area face limitations in integration, generalization, and interpretability. To address these challenges, we propose a neural-symbolic framework based on statistical relational learning, referred to as NSF-SRL. This framework effectively integrates deep learning models with symbolic reasoning in a mutually beneficial manner.In NSF-SRL, the results of symbolic reasoning are utilized to refine and correct the predictions made by deep learning models, while deep learning models enhance the efficiency of the symbolic reasoning process. Through extensive experiments, we demonstrate that our approach achieves high performance and exhibits effective generalization in supervised learning, weakly supervised and zero-shot learning tasks. Furthermore, we introduce a quantitative strategy to evaluate the interpretability of the model's predictions, visualizing the corresponding logic rules that contribute to these predictions and providing insights into the reasoning process. We believe that this approach sets a new standard for neural-symbolic systems and will drive future research in the field of general artificial intelligence.
Asymptotically efficient adaptive identification under saturated output observation
Venue: arXiv cs.LG 2025
Year: 2025

As saturated output observations are ubiquitous in practice, identifying stochastic systems with such nonlinear observations is a fundamental problem across various fields. This paper investigates the asymptotically efficient identification problem for stochastic dynamical systems with saturated output observations. In contrast to most of the existing results, our results do not need the commonly used but stringent conditions such as periodic or independent assumptions on the system signals, and thus do not exclude applications to stochastic feedback systems. To be specific, we introduce a new adaptive Newton-type algorithm on the negative log-likelihood of the partially observed samples using a two-step design technique. Under some general excitation data conditions, we show that the parameter estimate is strongly consistent and asymptotically normal by employing the stochastic Lyapunov function method and limit theories for martingales. Furthermore, we show that the mean square error of the estimates can achieve the Cramer-Rao bound asymptotically without resorting to i.i.d data assumptions. This indicates that the performance of the proposed algorithm is the best possible that one can expect in general. A numerical example is provided to illustrate the superiority of our new adaptive algorithm over the existing related ones in the literature.
Conformal Temporal Logic Planning using Large Language Models
Venue: arXiv cs.RO 2025
Year: 2025

This paper addresses planning problems for mobile robots. We consider missions that require accomplishing multiple high-level sub-tasks, expressed in natural language (NL), in a temporal and logical order. To formally define the mission, we treat these sub-tasks as atomic predicates in a Linear Temporal Logic (LTL) formula. We refer to this task specification framework as LTL-NL. Our goal is to design plans, defined as sequences of robot actions, accomplishing LTL-NL tasks. This action planning problem cannot be solved directly by existing LTL planners because of the NL nature of atomic predicates. To address it, we propose HERACLEs, a hierarchical neuro-symbolic planner that relies on a novel integration of (i) existing symbolic planners generating high-level task plans determining the order at which the NL sub-tasks should be accomplished; (ii) pre-trained Large Language Models (LLMs) to design sequences of robot actions based on these task plans; and (iii) conformal prediction acting as a formal interface between (i) and (ii) and managing uncertainties due to LLM imperfections. We show, both theoretically and empirically, that HERACLEs can achieve user-defined mission success rates. Finally, we provide comparative experiments demonstrating that HERACLEs outperforms LLM-based planners that require the mission to be defined solely using NL. Additionally, we present examples demonstrating that our approach enhances user-friendliness compared to conventional symbolic approaches.
Edge-aware Feature Aggregation Network for Polyp Segmentation
Venue: arXiv cs.CV 2025
Year: 2025

Precise polyp segmentation is vital for the early diagnosis and prevention of colorectal cancer (CRC) in clinical practice. However, due to scale variation and blurry polyp boundaries, it is still a challenging task to achieve satisfactory segmentation performance with different scales and shapes. In this study, we present a novel Edge-aware Feature Aggregation Network (EFA-Net) for polyp segmentation, which can fully make use of cross-level and multi-scale features to enhance the performance of polyp segmentation. Specifically, we first present an Edge-aware Guidance Module (EGM) to combine the low-level features with the high-level features to learn an edge-enhanced feature, which is incorporated into each decoder unit using a layer-by-layer strategy. Besides, a Scale-aware Convolution Module (SCM) is proposed to learn scale-aware features by using dilated convolutions with different ratios, in order to effectively deal with scale variation. Further, a Cross-level Fusion Module (CFM) is proposed to effectively integrate the cross-level features, which can exploit the local and global contextual information. Finally, the outputs of CFMs are adaptively weighted by using the learned edge-aware feature, which are then used to produce multiple side-out segmentation maps. Experimental results on five widely adopted colonoscopy datasets show that our EFA-Net outperforms state-of-the-art polyp segmentation methods in terms of generalization and effectiveness. Our implementation code and segmentation maps will be publicly at https://github.com/taozh2017/EFANet.
Multicopy Reinforcement Learning Agents
Venue: arXiv cs.MA 2025
Year: 2025

This paper examines a novel type of multi-agent problem, in which an agent makes multiple identical copies of itself in order to achieve a single agent task better or more efficiently. This strategy improves performance if the environment is noisy and the task is sometimes unachievable by a single agent copy. We propose a learning algorithm for this multicopy problem which takes advantage of the structure of the value function to efficiently learn how to balance the advantages and costs of adding additional copies.
Testing frequency distributions in a stream
Venue: arXiv cs.DS 2025
Year: 2025

We study how to verify specific frequency distributions when we observe a stream of $N$ data items taken from a universe of $n$ distinct items. We introduce the \emph{relative Fréchet distance} to compare two frequency functions in a homogeneous manner. We consider two streaming models: insertions only and sliding windows. We present a Tester for a certain class of functions, which decides if $f $ is close to $g$ or if $f$ is far from $g$ with high probability, when $f$ is given and $g$ is defined by a stream. If $f$ is uniform we show a space $Ω(n)$ lower bound. If $f$ decreases fast enough, we then only use space $O(\log^2 n\cdot \log\log n)$. The analysis relies on the Spacesaving algorithm \cite{MAE2005,Z22} and on sampling the stream.
An Evaluation and Comparison of GPU Hardware and Solver Libraries for Accelerating the OPM Flow Reservoir Simulator
Venue: arXiv cs.DC 2025
Year: 2025

Realistic reservoir simulation is known to be prohibitively expensive in terms of computation time when increasing the accuracy of the simulation or by enlarging the model grid size. One method to address this issue is to parallelize the computation by dividing the model in several partitions and using multiple CPUs to compute the result using techniques such as MPI and multi-threading. Alternatively, GPUs are also a good candidate to accelerate the computation due to their massively parallel architecture that allows many floating point operations per second to be performed. The numerical iterative solver takes thus the most computational time and is challenging to solve efficiently due to the dependencies that exist in the model between cells. In this work, we evaluate the OPM Flow simulator and compare several state-of-the-art GPU solver libraries as well as custom developed solutions for a BiCGStab solver using an ILU0 preconditioner and benchmark their performance against the default DUNE library implementation running on multiple CPU processors using MPI. The evaluated GPU software libraries include a manual linear solver in OpenCL and the integration of several third party sparse linear algebra libraries, such as cuSparse, rocSparse, and amgcl. To perform our bench-marking, we use small, medium, and large use cases, starting with the public test case NORNE that includes approximately 50k active cells and ending with a large model that includes approximately 1 million active cells. We find that a GPU can accelerate a single dual-threaded MPI process up to 5.6 times, and that it can compare with around 8 dual-threaded MPI processes.
Cardinality and Representation of Stone Relation Algebras
Venue: arXiv cs.LO 2025
Year: 2025

Previous work has axiomatised the cardinality operation in relation algebras, which counts the number of edges of an unweighted graph. We generalise the cardinality axioms to Stone relation algebras, which model weighted graphs, and study the relationships between various axioms for cardinality. This results in simpler cardinality axioms also for relation algebras. We give sufficient conditions for the representability of Stone relation algebras and for Stone relation algebras to be relation algebras.
NanoSLAM: Enabling Fully Onboard SLAM for Tiny Robots
Venue: arXiv cs.RO 2025
Year: 2025

Perceiving and mapping the surroundings are essential for enabling autonomous navigation in any robotic platform. The algorithm class that enables accurate mapping while correcting the odometry errors present in most robotics systems is Simultaneous Localization and Mapping (SLAM). Today, fully onboard mapping is only achievable on robotic platforms that can host high-wattage processors, mainly due to the significant computational load and memory demands required for executing SLAM algorithms. For this reason, pocket-size hardware-constrained robots offload the execution of SLAM to external infrastructures. To address the challenge of enabling SLAM algorithms on resource-constrained processors, this paper proposes NanoSLAM, a lightweight and optimized end-to-end SLAM approach specifically designed to operate on centimeter-size robots at a power budget of only 87.9 mW. We demonstrate the mapping capabilities in real-world scenarios and deploy NanoSLAM on a nano-drone weighing 44 g and equipped with a novel commercial RISC-V low-power parallel processor called GAP9. The algorithm is designed to leverage the parallel capabilities of the RISC-V processing cores and enables mapping of a general environment with an accuracy of 4.5 cm and an end-to-end execution time of less than 250 ms.
Boolformer: Symbolic Regression of Logic Functions with Transformers
Venue: arXiv cs.LG 2025
Year: 2025

We introduce Boolformer, a Transformer-based model trained to perform end-to-end symbolic regression of Boolean functions. First, we show that it can predict compact formulas for complex functions not seen during training, given their full truth table. Then, we demonstrate that even with incomplete or noisy observations, Boolformer is still able to find good approximate expressions. We evaluate Boolformer on a broad set of real-world binary classification datasets, demonstrating its potential as an interpretable alternative to classic machine learning methods. Finally, we apply it to the widespread task of modeling the dynamics of gene regulatory networks and show through a benchmark that Boolformer is competitive with state-of-the-art genetic algorithms, with a speedup of several orders of magnitude. Our code and models are available publicly.
On the Robotic Uncertainty of Fully Autonomous Traffic: From Stochastic Car-Following to Mobility-Safety Trade-Offs
Venue: arXiv cs.RO 2025
Year: 2025

Recent transportation research highlights the potential of autonomous vehicles (AV) to improve traffic flow mobility as they are able to maintain smaller car-following distances. However, as a unique class of ground robots, AVs are susceptible to robotic errors, particularly in their perception and control modules with imperfect sensors and actuators, leading to uncertainties in their movements and an increased risk of collisions. Consequently, conservative operational strategies, such as larger headway and slower speeds, are implemented to prioritize safety over mobility in real-world operations. To reconcile the inconsistency, this paper presents an analytical model framework that delineates the endogenous reciprocity between traffic safety and mobility that arises from AVs' robotic uncertainties. Using both realistic car-following data and a stochastic intelligent driving model (IDM), the stochastic car-following distance is derived as a key parameter, enabling analysis of single-lane capacity and collision probability. A semi-Markov process is then employed to model the dynamics of the lane capacity, and the resulting collision-inclusive capacity, representing expected lane capacity under stationary conditions, serves as the primary performance metric for fully autonomous traffic. The analytical results are further utilized to investigate the impacts of critical parameters in AV and roadway designs on traffic performance, as well as the properties of optimal speed and headway under mobility-targeted or safety-dominated management objectives. Extensions to scenarios involving multiple non-independent collisions or multi-lane traffic scenarios are also discussed, which demonstrates the robustness of the theoretical results and their practical applications.
Language Models for Business Optimisation with a Real World Case Study in Production Scheduling
Venue: arXiv cs.AI 2025
Year: 2025

Business optimisation has been used extensively to determine optimal solutions for challenging business operations. Problem formulation is an important part of business optimisation as it influences both the validity of solutions and the efficiency of the optimisation process. While different optimisation modelling languages have been developed, problem formulation is still not a trivial task and usually requires optimisation expertise and problem-domain knowledge. Recently, Large Language Models (LLMs) have demonstrated outstanding performance across different language-related tasks. Since problem formulation can be viewed as a translation task, there is a potential to leverage LLMs to automate problem formulation. However, developing an LLM for problem formulation is challenging, due to limited training data, and the complexity of real-world optimisation problems. Several prompt engineering methods have been proposed in the literature to automate problem formulation with LLMs. While the initial results are encouraging, the accuracy of formulations generated by these methods can still be significantly improved. In this paper, we present an LLM-based framework for automating problem formulation in business optimization. Our approach introduces a method for fine-tuning cost-efficient LLMs specifically tailored to specialized business optimization challenges. The experiment results demonstrate that our framework can generate accurate formulations for conventional and real-world business optimisation problems in production scheduling. Extensive analyses show the effectiveness and the convergence of the proposed fine-tuning method. The proposed method also shows very competitive performance when compared with the state-of-the-art prompt engineering methods in the literature when tested on general linear programming problems.
SuPerPM: A Surgical Perception Framework Based on Deep Point Matching Learned from Physical Constrained Simulation Data
Venue: arXiv cs.CV 2025
Year: 2025

A major source of endoscopic tissue tracking errors during deformations stems from wrong data association between observed sensor measurements with previously tracked scene. To mitigate this issue, we present a surgical perception framework, SuPerPM, that leverages learning-based non-rigid point cloud matching for data association, thus accommodating larger deformations than previous approaches which relied on Iterative Closest Point (ICP) for point associations. The learning models typically require training data with ground truth point cloud correspondences, which is challenging or even impractical to collect in surgical environments. Thus, for tuning the learning model, we gather endoscopic data of soft tissue being manipulated by a surgical robot and then establish correspondences between point clouds at different time points to serve as ground truth. This was achieved by employing a position-based dynamics (PBD) simulation to ensure that the correspondences adhered to physical constraints. The proposed framework is demonstrated on several challenging surgical datasets that are characterized by large deformations, achieving superior performance over advanced surgical scene tracking algorithms.