OpenRaiser/Intern-Atlas huggingface dataset:
FSR-VLN: Fast and Slow Reasoning for Vision-Language Navigation with Hierarchical Multi-modal Scene Graph
Venue: arXiv cs.RO 2025
Year: 2025

Visual-Language Navigation (VLN) is a fundamental challenge in robotic systems, with broad applications for the deployment of embodied agents in real-world environments. Despite recent advances, existing approaches are limited in long-range spatial reasoning, often exhibiting low success rates and high inference latency, particularly in long-range navigation tasks. To address these limitations, we propose FSR-VLN, a vision-language navigation system that combines a Hierarchical Multi-modal Scene Graph (HMSG) with Fast-to-Slow Navigation Reasoning (FSR). The HMSG provides a multi-modal map representation supporting progressive retrieval, from coarse room-level localization to fine-grained goal view and object identification. Building on HMSG, FSR first performs fast matching to efficiently select candidate rooms, views, and objects, then applies VLM-driven refinement for final goal selection. We evaluated FSR-VLN across four comprehensive indoor datasets collected by humanoid robots, utilizing 87 instructions that encompass a diverse range of object categories. FSR-VLN achieves state-of-the-art (SOTA) performance in all datasets, measured by the retrieval success rate (RSR), while reducing the response time by 82% compared to VLM-based methods on tour videos by activating slow reasoning only when fast intuition fails. Furthermore, we integrate FSR-VLN with speech interaction, planning, and control modules on a Unitree-G1 humanoid robot, enabling natural language interaction and real-time navigation.
ParaAegis: Parallel Protection for Flexible Privacy-preserved Federated Learning
Venue: arXiv cs.LG 2025
Year: 2025

Federated learning (FL) faces a critical dilemma: existing protection mechanisms like differential privacy (DP) and homomorphic encryption (HE) enforce a rigid trade-off, forcing a choice between model utility and computational efficiency. This lack of flexibility hinders the practical implementation. To address this, we introduce ParaAegis, a parallel protection framework designed to give practitioners flexible control over the privacy-utility-efficiency balance. Our core innovation is a strategic model partitioning scheme. By applying lightweight DP to the less critical, low norm portion of the model while protecting the remainder with HE, we create a tunable system. A distributed voting mechanism ensures consensus on this partitioning. Theoretical analysis confirms the adjustments between efficiency and utility with the same privacy. Crucially, the experimental results demonstrate that by adjusting the hyperparameters, our method enables flexible prioritization between model accuracy and training time.
Spatial Balancing: Harnessing Spatial Reasoning to Balance Scientific Exposition and Narrative Engagement in LLM-assisted Science Communication Writing
Venue: arXiv cs.HC 2025
Year: 2025

Balancing scientific exposition and narrative engagement is a central challenge in science communication. To examine how to achieve balance, we conducted a formative study with four science communicators and a literature review of science communication practices, focusing on their workflows and strategies. These insights revealed how creators iteratively shift between exposition and engagement but often lack structured support. Building on this, we developed SpatialBalancing, a co-writing system that connects human spatial reasoning with the linguistic intelligence of large language models. The system visualizes revision trade-offs in a dual-axis space, where users select strategy-based labels to generate, compare, and refine versions during the revision process. This spatial externalization transforms revision into spatial navigation, enabling intentional iterations that balance scientific rigor with narrative appeal. In a within-subjects study (N=16), SpatialBalancing enhanced metacognitive reflection, flexibility, and creative exploration, demonstrating how coupling spatial reasoning with linguistic generation fosters monitoring in iterative science communication writing.
MIRA: Empowering One-Touch AI Services on Smartphones with MLLM-based Instruction Recommendation
Venue: arXiv cs.AI 2025
Year: 2025

The rapid advancement of generative AI technologies is driving the integration of diverse AI-powered services into smartphones, transforming how users interact with their devices. To simplify access to predefined AI services, this paper introduces MIRA, a pioneering framework for task instruction recommendation that enables intuitive one-touch AI tasking on smartphones. With MIRA, users can long-press on images or text objects to receive contextually relevant instruction recommendations for executing AI tasks. Our work introduces three key innovations: 1) A multimodal large language model (MLLM)-based recommendation pipeline with structured reasoning to extract key entities, infer user intent, and generate precise instructions; 2) A template-augmented reasoning mechanism that integrates high-level reasoning templates, enhancing task inference accuracy; 3) A prefix-tree-based constrained decoding strategy that restricts outputs to predefined instruction candidates, ensuring coherent and intent-aligned suggestions. Through evaluation using a real-world annotated datasets and a user study, MIRA has demonstrated substantial improvements in the accuracy of instruction recommendation. The encouraging results highlight MIRA's potential to revolutionize the way users engage with AI services on their smartphones, offering a more seamless and efficient experience.
Behavior Foundation Model for Humanoid Robots
Venue: arXiv cs.RO 2025
Year: 2025

Whole-body control (WBC) of humanoid robots has witnessed remarkable progress in skill versatility, enabling a wide range of applications such as locomotion, teleoperation, and motion tracking. Despite these achievements, existing WBC frameworks remain largely task-specific, relying heavily on labor-intensive reward engineering and demonstrating limited generalization across tasks and skills. These limitations hinder their response to arbitrary control modes and restrict their deployment in complex, real-world scenarios. To address these challenges, we revisit existing WBC systems and identify a shared objective across diverse tasks: the generation of appropriate behaviors that guide the robot toward desired goal states. Building on this insight, we propose the Behavior Foundation Model (BFM), a generative model pretrained on large-scale behavioral datasets to capture broad, reusable behavioral knowledge for humanoid robots. BFM integrates a masked online distillation framework with a Conditional Variational Autoencoder (CVAE) to model behavioral distributions, thereby enabling flexible operation across diverse control modes and efficient acquisition of novel behaviors without retraining from scratch. Extensive experiments in both simulation and on a physical humanoid platform demonstrate that BFM generalizes robustly across diverse WBC tasks while rapidly adapting to new behaviors. These results establish BFM as a promising step toward a foundation model for general-purpose humanoid control.
Hyper-Zagreb Indices of Hypergraphs with Application in Drug Design
Venue: arXiv cs.DM 2025
Year: 2025

Let $\mathcal{H}$ be a hypergraph on the non-empty finite vertex set $V(\mathcal{H})$ with the hyperedge set $E(\mathcal{H})$, where each hyperedge $e \in E(\mathcal{H})$ is a subset of $V(\mathcal{H})$ with at least two vertices. This paper introduces the first and second Hyper-Zagreb indices for hypergraphs, extending these well-known graph indices to hypergraphs. We discuss bounds on these indices for general hypergraphs, weak bipartite hypergraphs, hypertrees, $k$-uniform hypergraphs, $k$-uniform weak bipartite hypergraphs, and $k$-uniform hypertrees, characterizing the extremal hypergraphs that achieve these bounds. Additionally, we present a novel application of these indices in drug design and bioactivity prediction, demonstrating their utility in quantitative structure-activity relationship (QSAR) modeling.
Teaching According to Talents! Instruction Tuning LLMs with Competence-Aware Curriculum Learning
Venue: arXiv cs.CL 2025
Year: 2025

Efficient instruction tuning aims to enhance the ultimate performance of large language models (LLMs) trained on a given instruction dataset. Curriculum learning as a typical data organization strategy has shown preliminary effectiveness in instruction tuning. However, current curriculum tuning methods suffer from the curriculum rigidity, since they rely solely on static heuristic difficulty metrics. These methods fail to adapt to the evolving capabilities of models during training, resulting in a fixed and potentially sub-optimal learning trajectory. To address the issue, Competence-Aware Multi-Perspective cUrriculum inStruction tuning framework termed CAMPUS is proposed. CAMPUS offers several advantages: (1) Dynamic selection for sub-curriculum. (2) Competency-aware adjustment to the curriculum schedule. (3) Multiple difficulty-based scheduling. Extensive experiments prove the superior performance of CAMPUS, compared to other state-of-the-art baselines for efficient instruction tuning.
Diving into Mitigating Hallucinations from a Vision Perspective for Large Vision-Language Models
Venue: arXiv cs.CV 2025
Year: 2025

Object hallucination in Large Vision-Language Models (LVLMs) significantly impedes their real-world applicability. As the primary component for accurately interpreting visual information, the choice of visual encoder is pivotal. We hypothesize that the diverse training paradigms employed by different visual encoders instill them with distinct inductive biases, which leads to their diverse hallucination performances. Existing benchmarks typically focus on coarse-grained hallucination detection and fail to capture the diverse hallucinations elaborated in our hypothesis. To systematically analyze these effects, we introduce VHBench-10, a comprehensive benchmark with approximately 10,000 samples for evaluating LVLMs across ten fine-grained hallucination categories. Our evaluations confirm encoders exhibit unique hallucination characteristics. Building on these insights and the suboptimality of simple feature fusion, we propose VisionWeaver, a novel Context-Aware Routing Network. It employs global visual features to generate routing signals, dynamically aggregating visual features from multiple specialized experts. Comprehensive experiments confirm the effectiveness of VisionWeaver in significantly reducing hallucinations and improving overall model performance.
Understanding the Process of Human-AI Value Alignment
Venue: arXiv cs.CY 2025
Year: 2025

Background: Value alignment in computer science research is often used to refer to the process of aligning artificial intelligence with humans, but the way the phrase is used often lacks precision. Objectives: In this paper, we conduct a systematic literature review to advance the understanding of value alignment in artificial intelligence by characterising the topic in the context of its research literature. We use this to suggest a more precise definition of the term. Methods: We analyse 172 value alignment research articles that have been published in recent years and synthesise their content using thematic analyses. Results: Our analysis leads to six themes: value alignment drivers & approaches; challenges in value alignment; values in value alignment; cognitive processes in humans and AI; human-agent teaming; and designing and developing value-aligned systems. Conclusions: By analysing these themes in the context of the literature we define value alignment as an ongoing process between humans and autonomous agents that aims to express and implement abstract values in diverse contexts, while managing the cognitive limits of both humans and AI agents and also balancing the conflicting ethical and political demands generated by the values in different groups. Our analysis gives rise to a set of research challenges and opportunities in the field of value alignment for future work.
FedSSG: Expectation-Gated and History-Aware Drift Alignment for Federated Learning
Venue: arXiv cs.LG 2025
Year: 2025

Non-IID data and partial participation induce client drift and inconsistent local optima in federated learning, causing unstable convergence and accuracy loss. We present FedSSG, a stochastic sampling-guided, history-aware drift alignment method. FedSSG maintains a per-client drift memory that accumulates local model differences as a lightweight sketch of historical gradients; crucially, it gates both the memory update and the local alignment term by a smooth function of the observed/expected participation ratio (a phase-by-expectation signal derived from the server sampler). This statistically grounded gate stays weak and smooth when sampling noise dominates early, then strengthens once participation statistics stabilize, contracting the local-global gap without extra communication. Across CIFAR-10/100 with 100/500 clients and 2-15 percent participation, FedSSG consistently outperforms strong drift-aware baselines and accelerates convergence; on our benchmarks it improves test accuracy by up to a few points (e.g., about +0.9 on CIFAR-10 and about +2.7 on CIFAR-100 on average over the top-2 baseline) and yields about 4.5x faster target-accuracy convergence on average. The method adds only O(d) client memory and a constant-time gate, and degrades gracefully to a mild regularizer under near-IID or uniform sampling. FedSSG shows that sampling statistics can be turned into a principled, history-aware phase control to stabilize and speed up federated training.
AI as a teaching tool and learning partner
Venue: arXiv cs.HC 2025
Year: 2025

The arrival of AI tools and in particular Large Language Models (LLMs) has had a transformative impact on teaching and learning and institutes are still trying to determine how to integrate LLMs into education in constructive ways. Here, we explore the adoption of LLM-based tools into two teaching programmes, one undergraduate and one postgraduate. We provided to our classes (1) a LLM-powered chatbot that had access to course materials by RAG and (2) AI-generated audio-only podcasts for each week$\text{'}$s teaching material. At the end of the semester, we surveyed the classes to gauge attitudes towards these tools. The classes were small and from biological courses. The students felt positive about AI generally and that AI tools made a positive impact on teaching. Students found the LLM-powered chatbot easy and enjoyable to use and felt that it enhanced their learning. The podcasts were less popular and only a small proportion of the class listened weekly. The class as a whole was indifferent to whether the podcasts should be used more widely across courses, but those who listened enjoyed them and were in favour.
The Influence of Facial Features on the Perceived Trustworthiness of a Social Robot
Venue: arXiv cs.RO 2025
Year: 2025

Trust and the perception of trustworthiness play an important role in decision-making and our behaviour towards others, and this is true not only of human-human interactions but also of human-robot interactions. While significant advances have been made in recent years in the field of social robotics, there is still some way to go before we fully understand the factors that influence human trust in robots. This paper presents the results of a study into the first impressions created by a social robot's facial features, based on the hypothesis that a `babyface' engenders trust. By manipulating the back-projected face of a Furhat robot, the study confirms that eye shape and size have a significant impact on the perception of trustworthiness. The work thus contributes to an understanding of the design choices that need to be made when developing social robots so as to optimise the effectiveness of human-robot interaction.
Asymptotic Analysis of Nonlinear One-Bit Precoding in Massive MIMO Systems via Approximate Message Passing
Venue: arXiv cs.IT 2025
Year: 2025

Massive multiple-input multiple-output (MIMO) systems employing one-bit digital-to-analog converters offer a hardware-efficient solution for wireless communications. However, the one-bit constraint poses significant challenges for precoding design, as it transforms the problem into a discrete and nonconvex optimization task. In this paper, we investigate a widely adopted ``convex-relaxation-then-quantization" approach for nonlinear symbol-level one-bit precoding. Specifically, we first solve a convex relaxation of the discrete minimum mean square error precoding problem, and then quantize the solution to satisfy the one-bit constraint. To analyze the high-dimensional asymptotic performance of this scheme, we develop a novel analytical framework based on approximate message passing (AMP). This framework enables us to derive a closed-form expression for the symbol error probability (SEP) at the receiver side in the large-system limit, which provides a quantitative characterization of how model and system parameters affect the SEP performance. Our empirical results suggest that the $\ell_\infty^2$ regularizer, when paired with an optimally chosen regularization parameter, achieves optimal SEP performance within a broad class of convex regularization functions. As a first step towards a theoretical justification, we prove the optimality of the $\ell_\infty^2$ regularizer within the mixed $\ell_\infty^2$-$\ell_2^2$ regularization functions.
Personalization on a Budget: Minimally-Labeled Continual Learning for Resource-Efficient Seizure Detection
Venue: arXiv cs.LG 2025
Year: 2025

Objective: Epilepsy, a prevalent neurological disease, demands careful diagnosis and continuous care. Seizure detection remains challenging, as current clinical practice relies on expert analysis of electroencephalography, which is a time-consuming process and requires specialized knowledge. Addressing this challenge, this paper explores automated epileptic seizure detection using deep learning, focusing on personalized continual learning models that adapt to each patient's unique electroencephalography signal features, which evolve over time. Methods: In this context, our approach addresses the challenge of integrating new data into existing models without catastrophic forgetting, a common issue in static deep learning models. We propose EpiSMART, a continual learning framework for seizure detection that uses a size-constrained replay buffer and an informed sample selection strategy to incrementally adapt to patient-specific electroencephalography signals. By selectively retaining high-entropy and seizure-predicted samples, our method preserves critical past information while maintaining high performance with minimal memory and computational requirements. Results: Validation on the CHB-MIT dataset, shows that EpiSMART achieves a 21% improvement in the F1 score over a trained baseline without updates in all other patients. On average, EpiSMART requires only 6.46 minutes of labeled data and 6.28 updates per day, making it suitable for real-time deployment in wearable systems. Conclusion:EpiSMART enables robust and personalized seizure detection under realistic and resource-constrained conditions by effectively integrating new data into existing models without degrading past knowledge. Significance: This framework advances automated seizure detection by providing a continual learning approach that supports patient-specific adaptation and practical deployment in wearable healthcare systems.
Early Stopping Chain-of-thoughts in Large Language Models
Venue: arXiv cs.CL 2025
Year: 2025

Reasoning large language models (LLMs) have demonstrated superior capacities in solving complicated problems by generating long chain-of-thoughts (CoT), but such a lengthy CoT incurs high inference costs. In this study, we introduce ES-CoT, an inference-time method that shortens CoT generation by detecting answer convergence and stopping early with minimal performance loss. At the end of each reasoning step, we prompt the LLM to output its current final answer, denoted as a step answer. We then track the run length of consecutive identical step answers as a measure of answer convergence. Once the run length exhibits a sharp increase and exceeds a minimum threshold, the generation is terminated. We provide both empirical and theoretical support for this heuristic: step answers steadily converge to the final answer, and large run-length jumps reliably mark this convergence. Experiments on five reasoning datasets across three LLMs show that ES-CoT reduces the number of inference tokens by about 41\% on average while maintaining accuracy comparable to standard CoT. Further, ES-CoT integrates seamlessly with self-consistency prompting and remains robust across hyperparameter choices, highlighting it as a practical and effective approach for efficient reasoning.
Audio-Based Crowd-Sourced Evaluation of Machine Translation Quality
Venue: arXiv cs.CL 2025
Year: 2025

Machine Translation (MT) has achieved remarkable performance, with growing interest in speech translation and multimodal approaches. However, despite these advancements, MT quality assessment remains largely text centric, typically relying on human experts who read and compare texts. Since many real-world MT applications (e.g Google Translate Voice Mode, iFLYTEK Translator) involve translation being spoken rather printed or read, a more natural way to assess translation quality would be through speech as opposed text-only evaluations. This study compares text-only and audio-based evaluations of 10 MT systems from the WMT General MT Shared Task, using crowd-sourced judgments collected via Amazon Mechanical Turk. We additionally, performed statistical significance testing and self-replication experiments to test reliability and consistency of audio-based approach. Crowd-sourced assessments based on audio yield rankings largely consistent with text only evaluations but, in some cases, identify significant differences between translation systems. We attribute this to speech richer, more natural modality and propose incorporating speech-based assessments into future MT evaluation frameworks.
AI For Privacy in Smart Homes: Exploring How Leveraging AI-Powered Smart Devices Enhances Privacy Protection
Venue: arXiv cs.HC 2025
Year: 2025

Privacy concerns and fears of unauthorized access in smart home devices often stem from misunderstandings about how data is collected, used, and protected. This study explores how AI-powered tools can offer innovative privacy protections through clear, personalized, and contextual support to users. Through 23 in-depth interviews with users, AI developers, designers, and regulators, and using Grounded Theory analysis, we identified two key themes: Aspirations for AI-Enhanced Privacy - how users perceive AI's potential to empower them, address power imbalances, and improve ease of use- and AI Ethical, Security, and Regulatory Considerations-challenges in strengthening data security, ensuring regulatory compliance, and promoting ethical AI practices. Our findings contribute to the field by uncovering user aspirations for AI-driven privacy solutions, identifying key security and ethical challenges, and providing actionable recommendations for all stakeholders, particularly targeting smart device designers and AI developers, to guide the co-design of AI tools that enhance privacy protection in smart home devices. By bridging the gap between user expectations, AI capabilities, and regulatory frameworks, this work offers practical insights for shaping the future of privacy-conscious AI integration in smart homes.