OpenRaiser/Intern-Atlas huggingface dataset:
Graph-Based Captioning: Enhancing Visual Descriptions by Interconnecting Region Captions
Venue: arXiv cs.CV 2025
Year: 2025

Humans describe complex scenes with compositionality, using simple text descriptions enriched with links and relationships. While vision-language research has aimed to develop models with compositional understanding capabilities, this is not reflected yet in existing datasets which, for the most part, still use plain text to describe images. In this work, we propose a new annotation strategy, graph-based captioning (GBC) that describes an image using a labeled graph structure, with nodes of various types. The nodes in GBC are created through a two-stage process: first, identifying and describing entity nodes; second, linking these nodes by highlighting \textit{compositions} and \textit{relations} among them. Since \textit{all} GBC nodes hold plain text descriptions, GBC retains the flexibility found in natural language, but can also encode hierarchical information in its edges. We demonstrate that GBC can be produced automatically, using off-the-shelf multimodal LLMs and object detection models, by building a new dataset GBC10M that gathers GBC annotations for about 10M images of the CC12M dataset. Through CLIP training on GBC10M, we show that leveraging GBC nodes' annotations -- particularly those in composition and relation nodes -- significantly boosts the model's performance across various benchmarks compared to when other annotations are used. To further explore the opportunities provided by GBC, we also investigate the use of GBC as middleware for text-to-image generation, and show the extra benefits of incorporating the graph structure in this task. Our code and datasets are released at https://github.com/apple/ml-gbc and https://huggingface.co/graph-based-captions.
Enhancing Robustness and Security in ISAC Network Design: Leveraging Transmissive Reconfigurable Intelligent Surface with RSMA
Venue: arXiv cs.IT 2025
Year: 2025

In this paper, we propose a novel transmissive reconfigurable intelligent surface transceiver-enhanced robust and secure integrated sensing and communication network. A time-division sensing communication mechanism is designed for the scenario, which enables communication and sensing to share wireless resources. To address the interference management problem and hinder eavesdropping, we implement rate-splitting multiple access (RSMA), where the common stream is designed as a useful signal and an artificial noise, while taking into account the imperfect channel state information and modeling the channel for the illegal users in a fine-grained manner as well as giving an upper bound on the error. We introduce the secrecy outage probability and construct an optimization problem with secrecy sum-rate as the objective functions to optimize the common stream beamforming matrix, the private stream beamforming matrix and the timeslot duration variable. Due to the coupling of the optimization variables and the infinity of the error set, the proposed problem is a nonconvex optimization problem that cannot be solved directly. In order to address the above challenges, the block coordinate descent-based second-order cone programming algorithm is used to decouple the optimization variables and solving the problem. Specifically, the problem is decoupled into two subproblems concerning the common stream beamforming matrix, the private stream beamforming matrix, and the timeslot duration variable, which are solved by alternating optimization until convergence is reached. To solve the problem, S-procedure, Bernstein's inequality and successive convex approximation are employed to deal with the objective function and non-convex constraints. Numerical simulation results verify the superiority of the proposed scheme in improving the secrecy energy efficiency and the Cramér-Rao boundary.
RIS-Assisted Received Adaptive Spatial Modulation for Wireless Communications
Venue: arXiv cs.IT 2025
Year: 2025

A novel wireless transmission scheme, as named the reconfigurable intelligent surface (RIS)-assisted received adaptive spatial modulation (RASM) scheme, is proposed in this paper. In this scheme, the adaptive spatial modulation (ASM)-based antennas selection works at the receiver by employing the characteristics of the RIS in each time slot, where the signal-to-noise ratio at specific selected antennas can be further enhanced with near few powers. Besides for the bits from constellation symbols, the extra bits can be mapped into the indices of receive antenna combinations and conveyed to the receiver through the ASM-based antenna-combination selection, thus providing higher spectral efficiency. To explicitly present the RASM scheme, the analytical performance of bit error rate of it is discussed in this paper. As a trade-off selection, the proposed scheme shows higher spectral efficiency and remains the satisfactory error performance. Simulation and analytical results demonstrate the better performance and exhibit more potential to apply in practical wireless communication.
Explainable Differential Privacy-Hyperdimensional Computing for Balancing Privacy and Transparency in Additive Manufacturing Monitoring
Venue: arXiv cs.LG 2025
Year: 2025

Machine Learning (ML) models integrated with in-situ sensing offer transformative solutions for defect detection in Additive Manufacturing (AM), but this integration brings critical challenges in safeguarding sensitive data, such as part designs and material compositions. Differential Privacy (DP), which introduces mathematically controlled noise, provides a balance between data utility and privacy. However, black-box Artificial Intelligence (AI) models often obscure how this noise impacts model accuracy, complicating the optimization of privacy-accuracy trade-offs. This study introduces the Differential Privacy-Hyperdimensional Computing (DP-HD) framework, a novel approach combining Explainable AI (XAI) and vector symbolic paradigms to quantify and predict noise effects on accuracy using a Signal-to-Noise Ratio (SNR) metric. DP-HD enables precise tuning of DP noise levels, ensuring an optimal balance between privacy and performance. The framework has been validated using real-world AM data, demonstrating its applicability to industrial environments. Experimental results demonstrate DP-HD's capability to achieve state-of-the-art accuracy (94.43%) with robust privacy protections in anomaly detection for AM, even under significant noise conditions. Beyond AM, DP-HD holds substantial promise for broader applications in privacy-sensitive domains such as healthcare, financial services, and government data management, where securing sensitive data while maintaining high ML performance is paramount.
ItTakesTwo: Leveraging Peer Representations for Semi-supervised LiDAR Semantic Segmentation
Venue: arXiv cs.CV 2025
Year: 2025

The costly and time-consuming annotation process to produce large training sets for modelling semantic LiDAR segmentation methods has motivated the development of semi-supervised learning (SSL) methods. However, such SSL approaches often concentrate on employing consistency learning only for individual LiDAR representations. This narrow focus results in limited perturbations that generally fail to enable effective consistency learning. Additionally, these SSL approaches employ contrastive learning based on the sampling from a limited set of positive and negative embedding samples. This paper introduces a novel semi-supervised LiDAR semantic segmentation framework called ItTakesTwo (IT2). IT2 is designed to ensure consistent predictions from peer LiDAR representations, thereby improving the perturbation effectiveness in consistency learning. Furthermore, our contrastive learning employs informative samples drawn from a distribution of positive and negative embeddings learned from the entire training set. Results on public benchmarks show that our approach achieves remarkable improvements over the previous state-of-the-art (SOTA) methods in the field. The code is available at: https://github.com/yyliu01/IT2.
Causal Discovery-Driven Change Point Detection in Time Series
Venue: arXiv cs.LG 2025
Year: 2025

Change point detection in time series aims to identify moments when the probability distribution of time series changes. It is widely applied in many areas, such as human activity sensing and medical science. In the context of multivariate time series, this typically involves examining the joint distribution of multiple variables: If the distribution of any one variable changes, the entire time series undergoes a distribution shift. However, in practical applications, we may be interested only in certain components of the time series, exploring abrupt changes in their distributions while accounting for the presence of other components. Here, assuming an underlying structural causal model that governs the time-series data generation, we address this task by proposing a two-stage non-parametric algorithm that first learns parts of the causal structure through constraint-based discovery methods, and then employs conditional relative Pearson divergence estimation to identify the change points. The conditional relative Pearson divergence quantifies the distribution difference between consecutive segments in the time series, while the causal discovery method allows a focus on the causal mechanism, facilitating access to independent and identically distributed (IID) samples. Theoretically, the typical assumption of samples being IID in conventional change point detection methods can be relaxed based on the Causal Markov Condition. Through experiments on both synthetic and real-world datasets, we validate the correctness and utility of our approach.
From Principles to Rules: A Regulatory Approach for Frontier AI
Venue: arXiv cs.CY 2025
Year: 2025

Several jurisdictions are starting to regulate frontier artificial intelligence (AI) systems, i.e. general-purpose AI systems that match or exceed the capabilities present in the most advanced systems. To reduce risks from these systems, regulators may require frontier AI developers to adopt safety measures. The requirements could be formulated as high-level principles (e.g. 'AI systems should be safe and secure') or specific rules (e.g. 'AI systems must be evaluated for dangerous model capabilities following the protocol set forth in...'). These regulatory approaches, known as 'principle-based' and 'rule-based' regulation, have complementary strengths and weaknesses. While specific rules provide more certainty and are easier to enforce, they can quickly become outdated and lead to box-ticking. Conversely, while high-level principles provide less certainty and are more costly to enforce, they are more adaptable and more appropriate in situations where the regulator is unsure exactly what behavior would best advance a given regulatory objective. However, rule-based and principle-based regulation are not binary options. Policymakers must choose a point on the spectrum between them, recognizing that the right level of specificity may vary between requirements and change over time. We recommend that policymakers should initially (1) mandate adherence to high-level principles for safe frontier AI development and deployment, (2) ensure that regulators closely oversee how developers comply with these principles, and (3) urgently build up regulatory capacity. Over time, the approach should likely become more rule-based. Our recommendations are based on a number of assumptions, including (A) risks from frontier AI systems are poorly understood and rapidly evolving, (B) many safety practices are still nascent, and (C) frontier AI developers are best placed to innovate on safety practices.
MSC-LIO: An MSCKF-Based LiDAR-Inertial Odometry with Same-Plane Cluster Tracking
Venue: arXiv cs.RO 2025
Year: 2025

The multi-state constraint Kalman filter (MSCKF) has been proven to be more efficient than graph optimization for visual-based odometry while with similar accuracy. However, it has not been adequately considered and studied for LiDAR-based odometry. In this paper, we propose a novel tightly-coupled LiDAR-inertial odometry based on the MSCKF framework, named MSC-LIO. An efficient LiDAR same-plane cluster (LSPC) tracking method, without explicit feature extraction, is present for frame-to-frame data associations. The tracked LSPC is used to build an LSPC measurement model that constructs multi-state constraints. Besides, we propose an effective point-velocity-based LiDAR-IMU time-delay (LITD) estimation method, which is derived from the proposed LSPC tracking method. To validate the effectiveness and robustness of the proposed method, we conducted extensive experiments on both public datasets and real-world environments. The results demonstrate that the proposed MSC-LIO yields higher accuracy and efficiency compared to the state-of-the-art methods. Ablation experiments indicate that the data-association efficiency is improved by nearly 3 times with the LSPC tracking, and the proposed LITD estimation method can effectively and accurately estimate the LITD. Besides, MSC-LIO was implemented on an edge device and demonstrated excellent real-time performance.
A Coding-Theoretic Analysis of Hyperspherical Prototypical Learning Geometry
Venue: arXiv cs.LG 2025
Year: 2025

Hyperspherical Prototypical Learning (HPL) is a supervised approach to representation learning that designs class prototypes on the unit hypersphere. The prototypes bias the representations to class separation in a scale invariant and known geometry. Previous approaches to HPL have either of the following shortcomings: (i) they follow an unprincipled optimisation procedure; or (ii) they are theoretically sound, but are constrained to only one possible latent dimension. In this paper, we address both shortcomings. To address (i), we present a principled optimisation procedure whose solution we show is optimal. To address (ii), we construct well-separated prototypes in a wide range of dimensions using linear block codes. Additionally, we give a full characterisation of the optimal prototype placement in terms of achievable and converse bounds, showing that our proposed methods are near-optimal.
Model-based learning for multi-antenna multi-frequency location-to-channel mapping
Venue: arXiv cs.IT 2025
Year: 2025

Years of study of the propagation channel showed a close relation between a location and the associated communication channel response. The use of a neural network to learn the location-to-channel mapping can therefore be envisioned. The Implicit Neural Representation (INR) literature showed that classical neural architecture are biased towards learning low-frequency content, making the location-to-channel mapping learning a non-trivial problem. Indeed, it is well known that this mapping is a function rapidly varying with the location, on the order of the wavelength. This paper leverages the model-based machine learning paradigm to derive a problem-specific neural architecture from a propagation channel model. The resulting architecture efficiently overcomes the spectral-bias issue. It only learns low-frequency sparse correction terms activating a dictionary of high-frequency components. The proposed architecture is evaluated against classical INR architectures on realistic synthetic data, showing much better accuracy. Its mapping learning performance is explained based on the approximated channel model, highlighting the explainability of the model-based machine learning paradigm.
Embodying Control in Soft Multistable Robots from Morphofunctional Co-design
Venue: arXiv cs.RO 2025
Year: 2025

Soft robots are distinguished by their flexibility and adaptability, allowing them to perform nearly impossible tasks for rigid robots. However, controlling their behavior is challenging due to their nonlinear material response and infinite degrees of freedom. A potential solution to these challenges is to discretize the infinite-dimensional configuration space into a finite but sufficiently large number of functional modes with programmed dynamics. We present a strategy for co-designing the desired tasks and morphology of pneumatically actuated soft robots with multiple encoded stable states and dynamic responses. Our approach introduces a general method to capture the soft robots' response using an energy-based analytical model, the parameters of which are obtained using Recursive Feature Elimination. The resulting lumped-parameter model facilitates inverse co-design of the robot's morphology and planned tasks by embodying specific dynamics upon actuation. We illustrate our approach's ability to explore the configuration space by co-designing kinematics with optimized stiffnesses and time responses to obtain robots capable of classifying the size and weight of objects and displaying adaptable locomotion with minimal feedback control. This strategy offers a framework for simplifying the control of soft robots by exploiting the nonlinear mechanics of multistable structures and embodying mechanical intelligence into soft material systems
Enrich the content of the image Using Context-Aware Copy Paste
Venue: arXiv cs.CV 2025
Year: 2025

Data augmentation remains a widely utilized technique in deep learning, particularly in tasks such as image classification, semantic segmentation, and object detection. Among them, Copy-Paste is a simple yet effective method and gain great attention recently. However, existing Copy-Paste often overlook contextual relevance between source and target images, resulting in inconsistencies in generated outputs. To address this challenge, we propose a context-aware approach that integrates Bidirectional Latent Information Propagation (BLIP) for content extraction from source images. By matching extracted content information with category information, our method ensures cohesive integration of target objects using Segment Anything Model (SAM) and You Only Look Once (YOLO). This approach eliminates the need for manual annotation, offering an automated and user-friendly solution. Experimental evaluations across diverse datasets demonstrate the effectiveness of our method in enhancing data diversity and generating high-quality pseudo-images across various computer vision tasks.
Hidden State Differential Private Mini-Batch Block Coordinate Descent for Multi-convexity Optimization
Venue: arXiv cs.LG 2025
Year: 2025

We investigate the differential privacy (DP) guarantees under the hidden state assumption (HSA) for multi-convex problems. Recent analyses of privacy loss under the hidden state assumption have relied on strong assumptions such as convexity, thereby limiting their applicability to practical problems. In this paper, we introduce the Differential Privacy Mini-Batch Block Coordinate Descent (DP-MBCD) algorithm, accompanied by the privacy loss accounting methods under the hidden state assumption. Our proposed methods apply to a broad range of classical non-convex problems which are or can be converted to multi-convex problems, such as matrix factorization and neural network training. In addition to a tighter bound for privacy loss, our theoretical analysis is also compatible with proximal gradient descent and adaptive calibrated noise scenarios.
Collaborative Object Manipulation on the Water Surface by a UAV-USV Team Using Tethers
Venue: arXiv cs.RO 2025
Year: 2025

This paper introduces an innovative methodology for object manipulation on the surface of water through the collaboration of an Unmanned Aerial Vehicle (UAV) and an Unmanned Surface Vehicle (USV) connected to the object by tethers. We propose a novel mathematical model of a robotic system that combines the UAV, USV, and the tethered floating object. A novel Model Predictive Control (MPC) framework is designed for using this model to achieve precise control and guidance for this collaborative robotic system. Extensive simulations in the realistic robotic simulator Gazebo demonstrate the system's readiness for real-world deployment, highlighting its versatility and effectiveness. Our multi-robot system overcomes the state-of-the-art single-robot approach, exhibiting smaller control errors during the tracking of the floating object's reference. Additionally, our multi-robot system demonstrates a shorter recovery time from a disturbance compared to the single-robot approach.
Data-Locality-Aware Task Assignment and Scheduling for Distributed Job Executions
Venue: arXiv cs.DC 2025
Year: 2025

This paper addresses the data-locality-aware task assignment and scheduling problem for distributed job executions. Our goal is to minimize job completion times without prior knowledge of future job arrivals. We propose an Optimal Balanced Task Assignment algorithm (OBTA), which achieves minimal job completion times while significantly reducing computational overhead through efficient narrowing of the solution search space. To balance performance and efficiency, we extend the approximate Water-Filling (WF) algorithm, providing a rigorous proof that its approximation factor equals the number of task groups in a job. We also introduce a novel heuristic, Replica-Deletion (RD), which outperforms WF by leveraging global optimization techniques. To further enhance scheduling efficiency, we incorporate job ordering strategies based on a shortest-estimated-time-first policy, reducing average job completion times across workloads. Extensive trace-driven evaluations validate the effectiveness and scalability of the proposed algorithms.
RoboMorph: Evolving Robot Morphology using Large Language Models
Venue: arXiv cs.LG 2025
Year: 2025

We introduce RoboMorph, an automated approach for generating and optimizing modular robot designs using large language models (LLMs) and evolutionary algorithms. In this framework, we represent each robot design as a grammar and leverage the capabilities of LLMs to navigate the extensive robot design space, which is traditionally time-consuming and computationally demanding. By introducing a best-shot prompting technique and a reinforcement learning-based control algorithm, RoboMorph iteratively improves robot designs through feedback loops. Experimental results demonstrate that RoboMorph successfully generates nontrivial robots optimized for different terrains while showcasing improvements in robot morphology over successive evolutions. Our approach highlights the potential of using LLMs for data-driven, modular robot design, providing a promising methodology that can be extended to other domains with similar design frameworks.