OpenRaiser/Intern-Atlas huggingface dataset:
Diffusion Explorer: Interactive Exploration of Diffusion Models
Venue: arXiv cs.LG 2025
Year: 2025

Diffusion models have been central to the development of recent image, video, and even text generation systems. They posses striking geometric properties that can be faithfully portrayed in low-dimensional settings. However, existing resources for explaining diffusion either require an advanced theoretical foundation or focus on their neural network architectures rather than their rich geometric properties. We introduce Diffusion Explorer, an interactive tool to explain the geometric properties of diffusion models. Users can train 2D diffusion models in the browser and observe the temporal dynamics of their sampling process. Diffusion Explorer leverages interactive animation, which has been shown to be a powerful tool for making engaging visualizations of dynamic systems, making it well suited to explaining diffusion models which represent stochastic processes that evolve over time. Diffusion Explorer is open source and a live demo is available at alechelbling.com/Diffusion-Explorer.
A Differentiable Distance Metric for Robotics Through Generalized Alternating Projection
Venue: arXiv cs.RO 2025
Year: 2025

In many robotics applications, it is necessary to compute not only the distance between the robot and the environment, but also its derivative - for example, when using control barrier functions. However, since the traditional Euclidean distance is not differentiable, there is a need for alternative distance metrics that possess this property. Recently, a metric with guaranteed differentiability was proposed [1]. This approach has some important drawbacks, which we address in this paper. We provide much simpler and practical expressions for the smooth projection for general convex polytopes. Additionally, as opposed to [1], we ensure that the distance vanishes as the objects overlap. We show the efficacy of the approach in experimental results. Our proposed distance metric is publicly available through the Python-based simulation package UAIBot.
AF-MAT: Aspect-aware Flip-and-Fuse xLSTM for Aspect-based Sentiment Analysis
Venue: arXiv cs.CL 2025
Year: 2025

Aspect-based Sentiment Analysis (ABSA) is a crucial NLP task that extracts fine-grained opinions and sentiments from text, such as product reviews and customer feedback. Existing methods often trade off efficiency for performance: traditional LSTM or RNN models struggle to capture long-range dependencies, transformer-based methods are computationally costly, and Mamba-based approaches rely on CUDA and weaken local dependency modeling. The recently proposed Extended Long Short-Term Memory (xLSTM) model offers a promising alternative by effectively capturing long-range dependencies through exponential gating and enhanced memory variants, sLSTM for modeling local dependencies, and mLSTM for scalable, parallelizable memory. However, xLSTM's application in ABSA remains unexplored. To address this, we introduce Aspect-aware Flip-and-Fuse xLSTM (AF-MAT), a framework that leverages xLSTM's strengths. AF-MAT features an Aspect-aware matrix LSTM (AA-mLSTM) mechanism that introduces a dedicated aspect gate, enabling the model to selectively emphasize tokens semantically relevant to the target aspect during memory updates. To model multi-scale context, we incorporate a FlipMix block that sequentially applies a partially flipped Conv1D (pf-Conv1D) to capture short-range dependencies in reverse order, followed by a fully flipped mLSTM (ff-mLSTM) to model long-range dependencies via full sequence reversal. Additionally, we propose MC2F, a lightweight Multihead Cross-Feature Fusion based on mLSTM gating, which dynamically fuses AA-mLSTM outputs (queries and keys) with FlipMix outputs (values) for adaptive representation integration. Experiments on three benchmark datasets demonstrate that AF-MAT outperforms state-of-the-art baselines, achieving higher accuracy in ABSA tasks.
Robust Brain Tumor Segmentation with Incomplete MRI Modalities Using Hölder Divergence and Mutual Information-Enhanced Knowledge Transfer
Venue: arXiv cs.CV 2025
Year: 2025

Multimodal MRI provides critical complementary information for accurate brain tumor segmentation. However, conventional methods struggle when certain modalities are missing due to issues such as image quality, protocol inconsistencies, patient allergies, or financial constraints. To address this, we propose a robust single-modality parallel processing framework that achieves high segmentation accuracy even with incomplete modalities. Leveraging Holder divergence and mutual information, our model maintains modality-specific features while dynamically adjusting network parameters based on the available inputs. By using these divergence- and information-based loss functions, the framework effectively quantifies discrepancies between predictions and ground-truth labels, resulting in consistently accurate segmentation. Extensive evaluations on the BraTS 2018 and BraTS 2020 datasets demonstrate superior performance over existing methods in handling missing modalities.
LLM-based Realistic Safety-Critical Driving Video Generation
Venue: arXiv cs.RO 2025
Year: 2025

Designing diverse and safety-critical driving scenarios is essential for evaluating autonomous driving systems. In this paper, we propose a novel framework that leverages Large Language Models (LLMs) for few-shot code generation to automatically synthesize driving scenarios within the CARLA simulator, which has flexibility in scenario scripting, efficient code-based control of traffic participants, and enforcement of realistic physical dynamics. Given a few example prompts and code samples, the LLM generates safety-critical scenario scripts that specify the behavior and placement of traffic participants, with a particular focus on collision events. To bridge the gap between simulation and real-world appearance, we integrate a video generation pipeline using Cosmos-Transfer1 with ControlNet, which converts rendered scenes into realistic driving videos. Our approach enables controllable scenario generation and facilitates the creation of rare but critical edge cases, such as pedestrian crossings under occlusion or sudden vehicle cut-ins. Experimental results demonstrate the effectiveness of our method in generating a wide range of realistic, diverse, and safety-critical scenarios, offering a promising tool for simulation-based testing of autonomous vehicles.
AI Meets Maritime Training: Precision Analytics for Enhanced Safety and Performance
Venue: arXiv cs.HC 2025
Year: 2025

Traditional simulator-based training for maritime professionals is critical for ensuring safety at sea but often depends on subjective trainer assessments of technical skills, behavioral focus, communication, and body language, posing challenges such as subjectivity, difficulty in measuring key features, and cognitive limitations. Addressing these issues, this study develops an AI-driven framework to enhance maritime training by objectively assessing trainee performance through visual focus tracking, speech recognition, and stress detection, improving readiness for high-risk scenarios. The system integrates AI techniques, including visual focus determination using eye tracking, pupil dilation analysis, and computer vision; communication analysis through a maritime-specific speech-to-text model and natural language processing; communication correctness using large language models; and mental stress detection via vocal pitch. Models were evaluated on data from simulated maritime scenarios with seafarers exposed to controlled high-stress events. The AI algorithms achieved high accuracy, with ~92% for visual detection, ~91% for maritime speech recognition, and ~90% for stress detection, surpassing existing benchmarks. The system provides insights into visual attention, adherence to communication checklists, and stress levels under demanding conditions. This study demonstrates how AI can transform maritime training by delivering objective performance analytics, enabling personalized feedback, and improving preparedness for real-world operational challenges.
VLAD: A VLM-Augmented Autonomous Driving Framework with Hierarchical Planning and Interpretable Decision Process
Venue: arXiv cs.RO 2025
Year: 2025

Recent advancements in open-source Visual Language Models (VLMs) such as LLaVA, Qwen-VL, and Llama have catalyzed extensive research on their integration with diverse systems. The internet-scale general knowledge encapsulated within these models presents significant opportunities for enhancing autonomous driving perception, prediction, and planning capabilities. In this paper we propose VLAD, a vision-language autonomous driving model, which integrates a fine-tuned VLM with VAD, a state-of-the-art end-to-end system. We implement a specialized fine-tuning approach using custom question-answer datasets designed specifically to improve the spatial reasoning capabilities of the model. The enhanced VLM generates high-level navigational commands that VAD subsequently processes to guide vehicle operation. Additionally, our system produces interpretable natural language explanations of driving decisions, thereby increasing transparency and trustworthiness of the traditionally black-box end-to-end architecture. Comprehensive evaluation on the real-world nuScenes dataset demonstrates that our integrated system reduces average collision rates by 31.82% compared to baseline methodologies, establishing a new benchmark for VLM-augmented autonomous driving systems.
Frustratingly Simple Retrieval Improves Challenging, Reasoning-Intensive Benchmarks
Venue: arXiv cs.CL 2025
Year: 2025

Retrieval-augmented Generation (RAG) has primarily been studied in limited settings, such as factoid question answering; more challenging, reasoning-intensive benchmarks have seen limited success from minimal RAG. In this work, we challenge this prevailing view on established, reasoning-intensive benchmarks: MMLU, MMLU Pro, AGI Eval, GPQA, and MATH. We identify a key missing component in prior work: a usable, web-scale datastore aligned with the breadth of pretraining data. To this end, we introduce CompactDS: a diverse, high-quality, web-scale datastore that achieves high retrieval accuracy and subsecond latency on a single-node. The key insights are (1) most web content can be filtered out without sacrificing coverage, and a compact, high-quality subset is sufficient; and (2) combining in-memory approximate nearest neighbor (ANN) retrieval and on-disk exact search balances speed and recall. Using CompactDS, we show that a minimal RAG pipeline achieves consistent accuracy improvements across all benchmarks and model sizes (8B--70B), with relative gains of 10% on MMLU, 33% on MMLU Pro, 14% on GPQA, and 19% on MATH. No single data source suffices alone, highlighting the importance of diversity of sources (web crawls, curated math, academic papers, textbooks). Finally, we show that our carefully designed in-house datastore matches or outperforms web search engines such as Google Search, as well as recently proposed, complex agent-based RAG systems--all while maintaining simplicity, reproducibility, and self-containment. We release CompactDS and our retrieval pipeline, supporting future research exploring retrieval-based AI systems.
Efficient Kilometer-Scale Precipitation Downscaling with Conditional Wavelet Diffusion
Venue: arXiv cs.LG 2025
Year: 2025

Effective hydrological modeling and extreme weather analysis demand precipitation data at a kilometer-scale resolution, which is significantly finer than the 10 km scale offered by standard global products like IMERG. To address this, we propose the Wavelet Diffusion Model (WDM), a generative framework that achieves 10x spatial super-resolution (downscaling to 1 km) and delivers a 9x inference speedup over pixel-based diffusion models. WDM is a conditional diffusion model that learns the learns the complex structure of precipitation from MRMS radar data directly in the wavelet domain. By focusing on high-frequency wavelet coefficients, it generates exceptionally realistic and detailed 1-km precipitation fields. This wavelet-based approach produces visually superior results with fewer artifacts than pixel-space models, and delivers a significant gains in sampling efficiency. Our results demonstrate that WDM provides a robust solution to the dual challenges of accuracy and speed in geoscience super-resolution, paving the way for more reliable hydrological forecasts.
A Single-Chain Backscatter Tag for Multi-Sensor Multiplexing
Venue: arXiv cs.NI 2025
Year: 2025

Many real-world sensing tasks require co-located, multi-modal measurements at a single site, typically a bundle of two to five sensors, for example, in plant stress sensing and blood pressure estimation. RF-backscatter devices have emerged as a low-power solution for sensing, yet existing backscatter tags support a single sensor. Placing several single-sensor tags at one site increases attachment footprint and induces mutual coupling between nearby tag antennas, thereby limiting practical deployment. We present MATRIX, a single-chain multi-sensor backscatter tag that concurrently supports multiple onboard sensors and multiplexes them as a composite voltage, then backscatters it through one analog modulation chain. Rather than time-division polling, which introduces inter-sensor sampling offsets, or frequency-division, which requires independent per-sensor modulation chains, MATRIX introduces a voltage-division multiplexing architecture in which each sensor value is encoded as a PWM waveform, carrying the measurement in its duty cycle and reserving the amplitude for multiplexing. To support reliable demultiplexing, MATRIX selects the voltage-division weights in a binary-weighted geometric progression so that every active-sensor set maps to a uniquely invertible, well-spaced composite voltage. The composite voltage is then converted into backscatter frequency shifts through a single modulation chain. At the receiver, MATRIX formulates demultiplexing as a Hidden Markov Model to recover per-sensor readings while tolerating analog hardware imperfections and multipath. MATRIX's ASIC design consumes 25.56uW. Detailed evaluation shows that the prototype, multiplexing five sensors, achieves 20 dB average signal reconstruction SNR at a 30 kHz sampling frequency; we further validate MATRIX with case studies in plant sensing, health monitoring, and microphone-based direction finding.
DARTS: A Dual-View Attack Framework for Targeted Manipulation in Federated Sequential Recommendation
Venue: arXiv cs.IR 2025
Year: 2025

Federated recommendation (FedRec) preserves user privacy by enabling decentralized training of personalized models, but this architecture is inherently vulnerable to adversarial attacks. Significant research has been conducted on targeted attacks in FedRec systems, motivated by commercial and social influence considerations. However, much of this work has largely overlooked the differential robustness of recommendation models. Moreover, our empirical findings indicate that existing targeted attack methods achieve only limited effectiveness in Federated Sequential Recommendation(FSR) tasks. Driven by these observations, we focus on investigating targeted attacks in FSR and propose a novel dualview attack framework, named DV-FSR. This attack method uniquely combines a sampling-based explicit strategy with a contrastive learning-based implicit gradient strategy to orchestrate a coordinated attack. Additionally, we introduce a specific defense mechanism tailored for targeted attacks in FSR, aiming to evaluate the mitigation effects of the attack method we proposed. Extensive experiments validate the effectiveness of our proposed approach on representative sequential models. Our codes are publicly available.
Medical-Knowledge Driven Multiple Instance Learning for Classifying Severe Abdominal Anomalies on Prenatal Ultrasound
Venue: arXiv cs.CV 2025
Year: 2025

Fetal abdominal malformations are serious congenital anomalies that require accurate diagnosis to guide pregnancy management and reduce mortality. Although AI has demonstrated significant potential in medical diagnosis, its application to prenatal abdominal anomalies remains limited. Most existing studies focus on image-level classification and rely on standard plane localization, placing less emphasis on case-level diagnosis. In this paper, we develop a case-level multiple instance learning (MIL)-based method, free of standard plane localization, for classifying fetal abdominal anomalies in prenatal ultrasound. Our contribution is three-fold. First, we adopt a mixture-of-attention-experts module (MoAE) to weight different attention heads for various planes. Secondly, we propose a medical-knowledge-driven feature selection module (MFS) to align image features with medical knowledge, performing self-supervised image token selection at the case-level. Finally, we propose a prompt-based prototype learning (PPL) to enhance the MFS. Extensively validated on a large prenatal abdominal ultrasound dataset containing 2,419 cases, with a total of 24,748 images and 6 categories, our proposed method outperforms the state-of-the-art competitors. Codes are available at:https://github.com/LL-AC/AAcls.
Using multi-agent architecture to mitigate the risk of LLM hallucinations
Venue: arXiv cs.AI 2025
Year: 2025

Improving customer service quality and response time are critical factors for maintaining customer loyalty and increasing a company's market share. While adopting emerging technologies such as Large Language Models (LLMs) is becoming a necessity to achieve these goals, the risk of hallucination remains a major challenge. In this paper, we present a multi-agent system to handle customer requests sent via SMS. This system integrates LLM based agents with fuzzy logic to mitigate hallucination risks.
Handling out-of-order input arrival in CEP engines on the edge combining optimistic, pessimistic and lazy evaluation
Venue: arXiv cs.DB 2025
Year: 2025

In Complex Event Processing, handling out-of-order, late, and duplicate events is critical for real-time analytics, especially on resource-constrained devices that process heterogeneous data from multiple sources. We present LimeCEP, a hybrid CEP approach that combines lazy evaluation, buffering, and speculative processing to efficiently handle data inconsistencies while supporting multi-pattern detection under relaxed semantics. LimeCEP integrates Kafka for efficient message ordering, retention, and duplicate elimination, and offers configurable strategies to trade off between accuracy, latency, and resource consumption. Compared to state-of-the-art systems like SASE and FlinkCEP, LimeCEP achieves up to six orders of magnitude lower latency, with up to 10 times lower memory usage and 6 times lower CPU utilization, while maintaining near-perfect precision and recall under high-disorder input streams, making it well-suited for non-cloud deployments.
BioMARS: A Multi-Agent Robotic System for Autonomous Biological Experiments
Venue: arXiv cs.RO 2025
Year: 2025

Large language models (LLMs) and vision-language models (VLMs) have the potential to transform biological research by enabling autonomous experimentation. Yet, their application remains constrained by rigid protocol design, limited adaptability to dynamic lab conditions, inadequate error handling, and high operational complexity. Here we introduce BioMARS (Biological Multi-Agent Robotic System), an intelligent platform that integrates LLMs, VLMs, and modular robotics to autonomously design, plan, and execute biological experiments. BioMARS uses a hierarchical architecture: the Biologist Agent synthesizes protocols via retrieval-augmented generation; the Technician Agent translates them into executable robotic pseudo-code; and the Inspector Agent ensures procedural integrity through multimodal perception and anomaly detection. The system autonomously conducts cell passaging and culture tasks, matching or exceeding manual performance in viability, consistency, and morphological integrity. It also supports context-aware optimization, outperforming conventional strategies in differentiating retinal pigment epithelial cells. A web interface enables real-time human-AI collaboration, while a modular backend allows scalable integration with laboratory hardware. These results highlight the feasibility of generalizable, AI-driven laboratory automation and the transformative role of language-based reasoning in biological research.
Agent-as-Tool: A Study on the Hierarchical Decision Making with Reinforcement Learning
Venue: arXiv cs.AI 2025
Year: 2025

Large Language Models (LLMs) have emerged as one of the most significant technological advancements in artificial intelligence in recent years. Their ability to understand, generate, and reason with natural language has transformed how we interact with AI systems. With the development of LLM-based agents and reinforcement-learning-based reasoning models, the study of applying reinforcement learning in agent frameworks has become a new research focus. However, all previous studies face the challenge of deciding the tool calling process and the reasoning process simultaneously, and the chain of reasoning was solely relied on the unprocessed raw result with redundant information and symbols unrelated to the task from the tool, which impose a heavy burden on the model's capability to reason. Therefore, in our research, we proposed a hierarchical framework Agent-as-tool that detach the tool calling process and the reasoning process, which enables the model to focus on the verbally reasoning process while the tool calling process is handled by another agent. Our work had achieved comparable results with only a slight reinforcement fine-tuning on 180 samples, and had achieved exceptionally well performance in Bamboogle with 63.2% of exact match and 75.2% in cover exact match, exceeding Search-R1 by 4.8% in exact match and 3.2% in cover exact match.
Crop Pest Classification Using Deep Learning Techniques: A Review
Venue: arXiv cs.CV 2025
Year: 2025

Insect pests continue to bring a serious threat to crop yields around the world, and traditional methods for monitoring them are often slow, manual, and difficult to scale. In recent years, deep learning has emerged as a powerful solution, with techniques like convolutional neural networks (CNNs), vision transformers (ViTs), and hybrid models gaining popularity for automating pest detection. This review looks at 37 carefully selected studies published between 2018 and 2025, all focused on AI-based pest classification. The selected research is organized by crop type, pest species, model architecture, dataset usage, and key technical challenges. The early studies relied heavily on CNNs but latest work is shifting toward hybrid and transformer-based models that deliver higher accuracy and better contextual understanding. Still, challenges like imbalanced datasets, difficulty in detecting small pests, limited generalizability, and deployment on edge devices remain significant hurdles. Overall, this review offers a structured overview of the field, highlights useful datasets, and outlines the key challenges and future directions for AI-based pest monitoring systems.
Self-Closing Suction Grippers for Industrial Grasping via Form-Flexible Design
Venue: arXiv cs.RO 2025
Year: 2025

Shape-morphing robots have shown benefits in industrial grasping. We propose form-flexible grippers for adaptive grasping. The design is based on the hybrid jamming and suction mechanism, which deforms to handle objects that vary significantly in size from the aperture, including both larger and smaller parts. Compared with traditional grippers, the gripper achieves self-closing to form an airtight seal. Under a vacuum, a wide range of grasping is realized through the passive morphing mechanism at the interface that harmonizes pressure and flow rate. This hybrid gripper showcases the capability to securely grasp an egg, as small as 54.5% of its aperture, while achieving a maximum load-to-mass ratio of 94.3.