OpenRaiser/Intern-Atlas huggingface dataset:
Taming Uncertainty via Automation: Observing, Analyzing, and Optimizing Agentic AI Systems
Venue: arXiv cs.AI 2025
Year: 2025

Large Language Models (LLMs) are increasingly deployed within agentic systems - collections of interacting, LLM-powered agents that execute complex, adaptive workflows using memory, tools, and dynamic planning. While enabling powerful new capabilities, these systems also introduce unique forms of uncertainty stemming from probabilistic reasoning, evolving memory states, and fluid execution paths. Traditional software observability and operations practices fall short in addressing these challenges. This paper presents our vision of AgentOps: a comprehensive framework for observing, analyzing, optimizing, and automating operation of agentic AI systems. We identify distinct needs across four key roles - developers, testers, site reliability engineers (SREs), and business users - each of whom engages with the system at different points in its lifecycle. We present the AgentOps Automation Pipeline, a six-stage process encompassing behavior observation, metric collection, issue detection, root cause analysis, optimized recommendations, and runtime automation. Throughout, we emphasize the critical role of automation in managing uncertainty and enabling self-improving AI systems - not by eliminating uncertainty, but by taming it to ensure safe, adaptive, and effective operation.
D3FL: Data Distribution and Detrending for Robust Federated Learning in Non-linear Time-series Data
Venue: arXiv cs.LG 2025
Year: 2025

With advancements in computing and communication technologies, the Internet of Things (IoT) has seen significant growth. IoT devices typically collect data from various sensors, such as temperature, humidity, and energy meters. Much of this data is temporal in nature. Traditionally, data from IoT devices is centralized for analysis, but this approach introduces delays and increased communication costs. Federated learning (FL) has emerged as an effective alternative, allowing for model training across distributed devices without the need to centralize data. In many applications, such as smart home energy and environmental monitoring, the data collected by IoT devices across different locations can exhibit significant variation in trends and seasonal patterns. Accurately forecasting such non-stationary, non-linear time-series data is crucial for applications like energy consumption estimation and weather forecasting. However, these data variations can severely impact prediction accuracy. The key contributions of this paper are: (1) Investigating how non-linear, non-stationary time-series data distributions, like generalized extreme value (gen-extreme) and log norm distributions, affect FL performance. (2) Analyzing how different detrending techniques for non-linear time-series data influence the forecasting model's performance in a FL setup. We generated several synthetic time-series datasets using non-linear data distributions and trained an LSTM-based forecasting model using both centralized and FL approaches. Additionally, we evaluated the impact of detrending on real-world datasets with non-linear time-series data distributions. Our experimental results show that: (1) FL performs worse than centralized approaches when dealing with non-linear data distributions. (2) The use of appropriate detrending techniques improves FL performance, reducing loss across different data distributions.
Robot Drummer: Learning Rhythmic Skills for Humanoid Drumming
Venue: arXiv cs.RO 2025
Year: 2025

Humanoid robots have seen remarkable advances in dexterity, balance, and locomotion, yet their role in expressive domains such as music performance remains largely unexplored. Musical tasks, like drumming, present unique challenges, including split-second timing, rapid contacts, and multi-limb coordination over performances lasting minutes. In this paper, we introduce Robot Drummer, a humanoid capable of expressive, high-precision drumming across a diverse repertoire of songs. We formulate humanoid drumming as sequential fulfillment of timed contacts and transform drum scores into a Rhythmic Contact Chain. To handle the long-horizon nature of musical performance, we decompose each piece into fixed-length segments and train a single policy across all segments in parallel using reinforcement learning. Through extensive experiments on over thirty popular rock, metal, and jazz tracks, our results demonstrate that Robot Drummer consistently achieves high F1 scores. The learned behaviors exhibit emergent human-like drumming strategies, such as cross-arm strikes, and adaptive stick assignments, demonstrating the potential of reinforcement learning to bring humanoid robots into the domain of creative musical performance. Project page: robotdrummer.github.io
HKGAI-V1: Towards Regional Sovereign Large Language Model for Hong Kong
Venue: arXiv cs.CL 2025
Year: 2025

This paper presents the development of HKGAI-V1, a foundational sovereign large language model (LLM), developed as part of an initiative to establish value-aligned AI infrastructure specifically tailored for Hong Kong. Addressing the region's unique multilingual environment (Cantonese, Mandarin, and English), its distinct socio-legal context under the "one country, two systems" framework, and specific local cultural and value considerations, the model is built upon the DeepSeek architecture and systematically aligned with regional norms through a multifaceted full parameter fine-tuning process. It is further integrated with a retrieval-augmented generation (RAG) system to ensure timely and factually grounded information access. The core contribution lies in the design and implementation of a comprehensive, region-specific AI alignment and safety framework, demonstrated through two key achievements: 1) The successful development of HKGAI-V1 itself - which outper-forms general-purpose models in handling Hong Kong-specific culturally sensitive queries, and embodies a "governance-embedded" approach to digital sovereignty - empowers Hong Kong to exercise control over AI applications in critical sectors including public services, legal systems, and edu-cation. 2) The development of the proprietary Adversarial HK Value Benchmark, a rigorous tool for evaluating model alignment with local ethical and legal stand-ards under challenging conditions. By documenting these achievements, the paper provides not only a technological artifact but also a replicable blueprint for developing advanced, regionally focused AI systems deeply rooted in their local identities.
LLM-based ambiguity detection in natural language instructions for collaborative surgical robots
Venue: arXiv cs.RO 2025
Year: 2025

Ambiguity in natural language instructions poses significant risks in safety-critical human-robot interaction, particularly in domains such as surgery. To address this, we propose a framework that uses Large Language Models (LLMs) for ambiguity detection specifically designed for collaborative surgical scenarios. Our method employs an ensemble of LLM evaluators, each configured with distinct prompting techniques to identify linguistic, contextual, procedural, and critical ambiguities. A chain-of-thought evaluator is included to systematically analyze instruction structure for potential issues. Individual evaluator assessments are synthesized through conformal prediction, which yields non-conformity scores based on comparison to a labeled calibration dataset. Evaluating Llama 3.2 11B and Gemma 3 12B, we observed classification accuracy exceeding 60% in differentiating ambiguous from unambiguous surgical instructions. Our approach improves the safety and reliability of human-robot collaboration in surgery by offering a mechanism to identify potentially ambiguous instructions before robot action.
Deformable Dynamic Convolution for Accurate yet Efficient Spatio-Temporal Traffic Prediction
Venue: arXiv cs.CV 2025
Year: 2025

Traffic prediction is a critical component of intelligent transportation systems, enabling applications such as congestion mitigation and accident risk prediction. While recent research has explored both graph-based and grid-based approaches, key limitations remain. Graph-based methods effectively capture non-Euclidean spatial structures but often incur high computational overhead, limiting their practicality in large-scale systems. In contrast, grid-based methods, which primarily leverage Convolutional Neural Networks (CNNs), offer greater computational efficiency but struggle to model irregular spatial patterns due to the fixed shape of their filters. Moreover, both approaches often fail to account for inherent spatio-temporal heterogeneity, as they typically apply a shared set of parameters across diverse regions and time periods. To address these challenges, we propose the Deformable Dynamic Convolutional Network (DDCN), a novel CNN-based architecture that integrates both deformable and dynamic convolution operations. The deformable layer introduces learnable offsets to create flexible receptive fields that better align with spatial irregularities, while the dynamic layer generates region-specific filters, allowing the model to adapt to varying spatio-temporal traffic patterns. By combining these two components, DDCN effectively captures both non-Euclidean spatial structures and spatio-temporal heterogeneity. Extensive experiments on four real-world traffic datasets demonstrate that DDCN achieves competitive predictive performance while significantly reducing computational costs, underscoring its potential for large-scale and real-time deployment.
RSD-15K: A Large-Scale User-Level Annotated Dataset for Suicide Risk Detection on Social Media
Venue: arXiv cs.CY 2025
Year: 2025

In recent years, cognitive and mental health (CMH) disorders have increasingly become an important challenge for global public health, especially the suicide problem caused by multiple factors such as social competition, economic pressure and interpersonal relationships among young and middle-aged people. Social media, as an important platform for individuals to express emotions and seek help, provides the possibility for early detection and intervention of suicide risk. This paper introduces a large-scale dataset containing 15,000 user-level posts. Compared with existing datasets, this dataset retains complete user posting time sequence information, supports modeling the dynamic evolution of suicide risk, and we have also conducted comprehensive and rigorous annotations on these datasets. In the benchmark experiment, we systematically evaluated the performance of traditional machine learning methods, deep learning models, and fine-tuned large language models. The experimental results show that our dataset can effectively support the automatic assessment task of suicide risk. Considering the sensitivity of mental health data, we also discussed the privacy protection and ethical use of the dataset. In addition, we also explored the potential applications of the dataset in mental health testing, clinical psychiatric auxiliary treatment, etc., and provided directional suggestions for future research work.
Expert Operational GANS: Towards Real-Color Underwater Image Restoration
Venue: arXiv cs.CV 2025
Year: 2025

The wide range of deformation artifacts that arise from complex light propagation, scattering, and depth-dependent attenuation makes the underwater image restoration to remain a challenging problem. Like other single deep regressor networks, conventional GAN-based restoration methods struggle to perform well across this heterogeneous domain, since a single generator network is typically insufficient to capture the full range of visual degradations. In order to overcome this limitation, we propose xOp-GAN, a novel GAN model with several expert generator networks, each trained solely on a particular subset with a certain image quality. Thus, each generator can learn to maximize its restoration performance for a particular quality range. Once a xOp-GAN is trained, each generator can restore the input image and the best restored image can then be selected by the discriminator based on its perceptual confidence score. As a result, xOP-GAN is the first GAN model with multiple generators where the discriminator is being used during the inference of the regression task. Experimental results on benchmark Large Scale Underwater Image (LSUI) dataset demonstrates that xOp-GAN achieves PSNR levels up to 25.16 dB, surpassing all single-regressor models by a large margin even, with reduced complexity.
Environmentally-Conscious Cloud Orchestration Considering Geo-Distributed Data Centers
Venue: arXiv cs.DC 2025
Year: 2025

This paper presents a theoretical discussion for environmentally-conscious job deployment and migration in cloud environments, aiming to minimize the environmental impact of resource provisioning while incorporating sustainability requirements. As the demand for sustainable cloud services grows, it is crucial for cloud customers to select data center operators based on sustainability metrics and to accurately report the ecological footprint of their services. To this end, we analyze sustainability reports and define comprehensive environmental impact profiles for data centers, incorporating key sustainability indicators. We formalize the problem as an optimization model, balancing multiple environmental factors while respecting user preferences. A simulative case study demonstrates the {potential} of our approach compared to baseline strategies that optimize for single sustainability factors.
Distribution-Free Uncertainty-Aware Virtual Sensing via Conformalized Neural Operators
Venue: arXiv cs.LG 2025
Year: 2025

Robust uncertainty quantification (UQ) remains a critical barrier to the safe deployment of deep learning in real-time virtual sensing, particularly in high-stakes domains where sparse, noisy, or non-collocated sensor data are the norm. We introduce the Conformalized Monte Carlo Operator (CMCO), a framework that transforms neural operator-based virtual sensing with calibrated, distribution-free prediction intervals. By unifying Monte Carlo dropout with split conformal prediction in a single DeepONet architecture, CMCO achieves spatially resolved uncertainty estimates without retraining, ensembling, or custom loss design. Our method addresses a longstanding challenge: how to endow operator learning with efficient and reliable UQ across heterogeneous domains. Through rigorous evaluation on three distinct applications: turbulent flow, elastoplastic deformation, and global cosmic radiation dose estimation-CMCO consistently attains near-nominal empirical coverage, even in settings with strong spatial gradients and proxy-based sensing. This breakthrough offers a general-purpose, plug-and-play UQ solution for neural operators, unlocking real-time, trustworthy inference in digital twins, sensor fusion, and safety-critical monitoring. By bridging theory and deployment with minimal computational overhead, CMCO establishes a new foundation for scalable, generalizable, and uncertainty-aware scientific machine learning.
HCOMC: A Hierarchical Cooperative On-Ramp Merging Control Framework in Mixed Traffic Environment on Two-Lane Highways
Venue: arXiv cs.RO 2025
Year: 2025

Highway on-ramp merging areas are common bottlenecks to traffic congestion and accidents. Currently, a cooperative control strategy based on connected and automated vehicles (CAVs) is a fundamental solution to this problem. While CAVs are not fully widespread, it is necessary to propose a hierarchical cooperative on-ramp merging control (HCOMC) framework for heterogeneous traffic flow on two-lane highways to address this gap. This paper extends longitudinal car-following models based on the intelligent driver model and lateral lane-changing models using the quintic polynomial curve to account for human-driven vehicles (HDVs) and CAVs, comprehensively considering human factors and cooperative adaptive cruise control. Besides, this paper proposes a HCOMC framework, consisting of a hierarchical cooperative planning model based on the modified virtual vehicle model, a discretionary lane-changing model based on game theory, and a multi-objective optimization model using the elitist non-dominated sorting genetic algorithm to ensure the safe, smooth, and efficient merging process. Then, the performance of our HCOMC is analyzed under different traffic densities and CAV penetration rates through simulation. The findings underscore our HCOMC's pronounced comprehensive advantages in enhancing the safety of group vehicles, stabilizing and expediting merging process, optimizing traffic efficiency, and economizing fuel consumption compared with benchmarks.
A Roadmap for Climate-Relevant Robotics Research
Venue: arXiv cs.RO 2025
Year: 2025

Climate change is one of the defining challenges of the 21st century, and many in the robotics community are looking for ways to contribute. This paper presents a roadmap for climate-relevant robotics research, identifying high-impact opportunities for collaboration between roboticists and experts across climate domains such as energy, the built environment, transportation, industry, land use, and Earth sciences. These applications include problems such as energy systems optimization, construction, precision agriculture, building envelope retrofits, autonomous trucking, and large-scale environmental monitoring. Critically, we include opportunities to apply not only physical robots but also the broader robotics toolkit - including planning, perception, control, and estimation algorithms - to climate-relevant problems. A central goal of this roadmap is to inspire new research directions and collaboration by highlighting specific, actionable problems at the intersection of robotics and climate. This work represents a collaboration between robotics researchers and domain experts in various climate disciplines, and it serves as an invitation to the robotics community to bring their expertise to bear on urgent climate priorities.
Interpretable Prediction of Lymph Node Metastasis in Rectal Cancer MRI Using Variational Autoencoders
Venue: arXiv cs.CV 2025
Year: 2025

Effective treatment for rectal cancer relies on accurate lymph node metastasis (LNM) staging. However, radiological criteria based on lymph node (LN) size, shape and texture morphology have limited diagnostic accuracy. In this work, we investigate applying a Variational Autoencoder (VAE) as a feature encoder model to replace the large pre-trained Convolutional Neural Network (CNN) used in existing approaches. The motivation for using a VAE is that the generative model aims to reconstruct the images, so it directly encodes visual features and meaningful patterns across the data. This leads to a disentangled and structured latent space which can be more interpretable than a CNN. Models are deployed on an in-house MRI dataset with 168 patients who did not undergo neo-adjuvant treatment. The post-operative pathological N stage was used as the ground truth to evaluate model predictions. Our proposed model 'VAE-MLP' achieved state-of-the-art performance on the MRI dataset, with cross-validated metrics of AUC 0.86 +/- 0.05, Sensitivity 0.79 +/- 0.06, and Specificity 0.85 +/- 0.05. Code is available at: https://github.com/benkeel/Lymph_Node_Classification_MIUA.
VISTA: Monocular Segmentation-Based Mapping for Appearance and View-Invariant Global Localization
Venue: arXiv cs.CV 2025
Year: 2025

Global localization is critical for autonomous navigation, particularly in scenarios where an agent must localize within a map generated in a different session or by another agent, as agents often have no prior knowledge about the correlation between reference frames. However, this task remains challenging in unstructured environments due to appearance changes induced by viewpoint variation, seasonal changes, spatial aliasing, and occlusions -- known failure modes for traditional place recognition methods. To address these challenges, we propose VISTA (View-Invariant Segmentation-Based Tracking for Frame Alignment), a novel open-set, monocular global localization framework that combines: 1) a front-end, object-based, segmentation and tracking pipeline, followed by 2) a submap correspondence search, which exploits geometric consistencies between environment maps to align vehicle reference frames. VISTA enables consistent localization across diverse camera viewpoints and seasonal changes, without requiring any domain-specific training or finetuning. We evaluate VISTA on seasonal and oblique-angle aerial datasets, achieving up to a 69% improvement in recall over baseline methods. Furthermore, we maintain a compact object-based map that is only 0.6% the size of the most memory-conservative baseline, making our approach capable of real-time implementation on resource-constrained platforms.
CLAImate: AI-Enabled Climate Change Communication through Personalized and Localized Narrative Visualizations
Venue: arXiv cs.HC 2025
Year: 2025

Communicating climate change remains challenging, as climate reports, though rich in data and visualizations, often feel too abstract or technical for the public. Although personalization can enhance communication, most tools still lack the narrative and visualization tailoring needed to connect with individual experiences. We present CLAImate, an AI-enabled prototype that personalizes conversation narratives and localizes visualizations based on users' climate knowledge and geographic location. We evaluated CLAImate through internal verification of factual correctness, a formative study with experts, and a pilot with UK residents. CLAImate achieved 66% SNLI accuracy and 70% FACTSCORE. Visualization experts appreciated its clarity and personalization, and seven out of ten UK participants reported better understanding and local relevance of climate risks with CLAImate. We also discuss design challenges in personalization, accuracy, and scalability, and outline future directions for integrating visualizations in personalized conversational interfaces.
ExpliCIT-QA: Explainable Code-Based Image Table Question Answering
Venue: arXiv cs.CL 2025
Year: 2025

We present ExpliCIT-QA, a system that extends our previous MRT approach for tabular question answering into a multimodal pipeline capable of handling complex table images and providing explainable answers. ExpliCIT-QA follows a modular design, consisting of: (1) Multimodal Table Understanding, which uses a Chain-of-Thought approach to extract and transform content from table images; (2) Language-based Reasoning, where a step-by-step explanation in natural language is generated to solve the problem; (3) Automatic Code Generation, where Python/Pandas scripts are created based on the reasoning steps, with feedback for handling errors; (4) Code Execution to compute the final answer; and (5) Natural Language Explanation that describes how the answer was computed. The system is built for transparency and auditability: all intermediate outputs, parsed tables, reasoning steps, generated code, and final answers are available for inspection. This strategy works towards closing the explainability gap in end-to-end TableVQA systems. We evaluated ExpliCIT-QA on the TableVQA-Bench benchmark, comparing it with existing baselines. We demonstrated improvements in interpretability and transparency, which open the door for applications in sensitive domains like finance and healthcare where auditing results are critical.