OpenRaiser/Intern-Atlas huggingface dataset:
Learning to Drive by Imitating Surrounding Vehicles
Venue: arXiv cs.RO 2025
Year: 2025

Imitation learning is a promising approach for training autonomous vehicles (AV) to navigate complex traffic environments by mimicking expert driver behaviors. While existing imitation learning frameworks focus on leveraging expert demonstrations, they often overlook the potential of additional complex driving data from surrounding traffic participants. In this paper, we study a data augmentation strategy that leverages the observed trajectories of nearby vehicles, captured by the AV's sensors, as additional demonstrations. We introduce a simple vehicle-selection sampling and filtering strategy that prioritizes informative and diverse driving behaviors, contributing to a richer dataset for training. We evaluate this idea with a representative learning-based planner on a large real-world dataset and demonstrate improved performance in complex driving scenarios. Specifically, the approach reduces collision rates and improves safety metrics compared to the baseline. Notably, even when using only 10 percent of the original dataset, the method matches or exceeds the performance of the full dataset. Through ablations, we analyze selection criteria and show that naive random selection can degrade performance. Our findings highlight the value of leveraging diverse real-world trajectory data in imitation learning and provide insights into data augmentation strategies for autonomous driving.
Intent-Aware Self-Correction for Mitigating Social Biases in Large Language Models
Venue: arXiv cs.CL 2025
Year: 2025

Self-Correction based on feedback improves the output quality of Large Language Models (LLMs). Moreover, as Self-Correction functions like the slow and conscious System-2 thinking from cognitive psychology's perspective, it can potentially reduce LLMs' social biases. LLMs are sensitive to contextual ambiguities and inconsistencies; therefore, explicitly communicating their intentions during interactions when applying Self-Correction for debiasing is crucial. In this study, we demonstrate that clarifying intentions is essential for effectively reducing biases in LLMs through Self-Correction. We divide the components needed for Self-Correction into three parts: instruction, response, and feedback, and clarify intentions at each component. We incorporate an explicit debiasing prompt to convey the intention of bias mitigation from the instruction for response generation. In the response, we use Chain-of-Thought (CoT) to clarify the reasoning process. In the feedback, we define evaluation aspects necessary for debiasing and propose clear feedback through multi-aspect critiques and scoring. Through experiments, we demonstrate that self-correcting CoT responses obtained from a debiasing prompt based on multi-aspect feedback can reduce biased responses more robustly and consistently than the baselines. We also find the variation in debiasing efficacy when using models with different bias levels or separating models for response and feedback generation.
Towards Ambiguity-Free Spatial Foundation Model: Rethinking and Decoupling Depth Ambiguity
Venue: arXiv cs.CV 2025
Year: 2025

Depth ambiguity is a fundamental challenge in spatial scene understanding, especially in transparent scenes where single-depth estimates fail to capture full 3D structure. Existing models, limited to deterministic predictions, overlook real-world multi-layer depth. To address this, we introduce a paradigm shift from single-prediction to multi-hypothesis spatial foundation models. We first present \texttt{MD-3k}, a benchmark exposing depth biases in expert and foundational models through multi-layer spatial relationship labels and new metrics. To resolve depth ambiguity, we propose Laplacian Visual Prompting (LVP), a training-free spectral prompting technique that extracts hidden depth from pre-trained models via Laplacian-transformed RGB inputs. By integrating LVP-inferred depth with standard RGB-based estimates, our approach elicits multi-layer depth without model retraining. Extensive experiments validate the effectiveness of LVP in zero-shot multi-layer depth estimation, unlocking more robust and comprehensive geometry-conditioned visual generation, 3D-grounded spatial reasoning, and temporally consistent video-level depth inference. Our benchmark and code will be available at https://github.com/Xiaohao-Xu/Ambiguity-in-Space.
ML-based Adaptive Prefetching and Data Placement for US HEP Systems
Venue: arXiv cs.DC 2025
Year: 2025

Although benefits from caching in US HEP are well-known, current caching strategies are not adaptive i.e they do not adapt to changing cache access patterns. Newer developments such as the High-Luminosity - Large Hadron Collider (HL-LHC), Deep Underground Neutrino Experiment (DUNE), a steady move toward streaming readout based Data Acquisition systems (DAQs) will increase the data production exponentially and hence burden the storage, compute & network infrastructures. Moreover, existing caching frameworks are optimized to reduce latency, but not optimized for storage. This, in combination with limited cache capacities relative to total data, makes it difficult to achieve data locality. In this work, we present Machine Learning-aided (ML) caching strategies. Specifically, we first present a Long Short-Term Memory-based (LSTM) hourly and multi-step cache usage prediction. Second, we present an hourly file-level access prediction model based on CatboostRegressor. To date, most ML-based cache prediction strategies in HEP have focused on daily cache usage and limited works tackled hourly cache usage and even fewer strategies addressed hourly file-level access prediction. File-level access prediction allows for the design of intelligent prefetching and data placement strategies with fine-grained control. We validated our cache prediction strategies using data collected from SoCal MINI caches in August 2024. We are currently extending the WRENCH simulator to reflect the US HEP ecosystem at the storage, network and compute levels. We plan to deploy our cache prediction strategies into WRENCH and later perform extensive analysis with complex data access patterns and candidate infrastructure configurations.
SmartBench: Is Your LLM Truly a Good Chinese Smartphone Assistant?
Venue: arXiv cs.CL 2025
Year: 2025

Large Language Models (LLMs) have become integral to daily life, especially advancing as intelligent assistants through on-device deployment on smartphones. However, existing LLM evaluation benchmarks predominantly focus on objective tasks like mathematics and coding in English, which do not necessarily reflect the practical use cases of on-device LLMs in real-world mobile scenarios, especially for Chinese users. To address these gaps, we introduce SmartBench, the first benchmark designed to evaluate the capabilities of on-device LLMs in Chinese mobile contexts. We analyze functionalities provided by representative smartphone manufacturers and divide them into five categories: text summarization, text Q&A, information extraction, content creation, and notification management, further detailed into 20 specific tasks. For each task, we construct high-quality datasets comprising 50 to 200 question-answer pairs that reflect everyday mobile interactions, and we develop automated evaluation criteria tailored for these tasks. We conduct comprehensive evaluations of on-device LLMs and MLLMs using SmartBench and also assess their performance after quantized deployment on real smartphone NPUs. Our contributions provide a standardized framework for evaluating on-device LLMs in Chinese, promoting further development and optimization in this critical area. Code and data will be available at https://github.com/vivo-ai-lab/SmartBench.
Interpretable High-order Knowledge Graph Neural Network for Predicting Synthetic Lethality in Human Cancers
Venue: arXiv cs.LG 2025
Year: 2025

Synthetic lethality (SL) is a promising gene interaction for cancer therapy. Recent SL prediction methods integrate knowledge graphs (KGs) into graph neural networks (GNNs) and employ attention mechanisms to extract local subgraphs as explanations for target gene pairs. However, attention mechanisms often lack fidelity, typically generate a single explanation per gene pair, and fail to ensure trustworthy high-order structures in their explanations. To overcome these limitations, we propose Diverse Graph Information Bottleneck for Synthetic Lethality (DGIB4SL), a KG-based GNN that generates multiple faithful explanations for the same gene pair and effectively encodes high-order structures. Specifically, we introduce a novel DGIB objective, integrating a Determinant Point Process (DPP) constraint into the standard IB objective, and employ 13 motif-based adjacency matrices to capture high-order structures in gene representations. Experimental results show that DGIB4SL outperforms state-of-the-art baselines and provides multiple explanations for SL prediction, revealing diverse biological mechanisms underlying SL inference.
Pathological Prior-Guided Multiple Instance Learning For Mitigating Catastrophic Forgetting in Breast Cancer Whole Slide Image Classification
Venue: arXiv cs.CV 2025
Year: 2025

In histopathology, intelligent diagnosis of Whole Slide Images (WSIs) is essential for automating and objectifying diagnoses, reducing the workload of pathologists. However, diagnostic models often face the challenge of forgetting previously learned data during incremental training on datasets from different sources. To address this issue, we propose a new framework PaGMIL to mitigate catastrophic forgetting in breast cancer WSI classification. Our framework introduces two key components into the common MIL model architecture. First, it leverages microscopic pathological prior to select more accurate and diverse representative patches for MIL. Secondly, it trains separate classification heads for each task and uses macroscopic pathological prior knowledge, treating the thumbnail as a prompt guide (PG) to select the appropriate classification head. We evaluate the continual learning performance of PaGMIL across several public breast cancer datasets. PaGMIL achieves a better balance between the performance of the current task and the retention of previous tasks, outperforming other continual learning methods. Our code will be open-sourced upon acceptance.
A Novel Trustworthy Video Summarization Algorithm Through a Mixture of LoRA Experts
Venue: arXiv cs.CV 2025
Year: 2025

With the exponential growth of user-generated content on video-sharing platforms, the challenge of facilitating efficient searching and browsing of videos has garnered significant attention. To enhance users' ability to swiftly locate and review pertinent videos, the creation of concise and informative video summaries has become increasingly important. Video-llama is an effective tool for generating video summarization, but it cannot effectively unify and optimize the modeling of temporal and spatial features and requires a lot of computational resources and time. Therefore, we propose MiLoRA-ViSum to more efficiently capture complex temporal dynamics and spatial relationships inherent in video data and to control the number of parameters for training. By extending traditional Low-Rank Adaptation (LoRA) into a sophisticated mixture-of-experts paradigm, MiLoRA-ViSum incorporates a dual temporal-spatial adaptation mechanism tailored specifically for video summarization tasks. This approach dynamically integrates specialized LoRA experts, each fine-tuned to address distinct temporal or spatial dimensions. Extensive evaluations of the VideoXum and ActivityNet datasets demonstrate that MiLoRA-ViSum achieves the best summarization performance compared to state-of-the-art models, while maintaining significantly lower computational costs. The proposed mixture-of-experts strategy, combined with the dual adaptation mechanism, highlights the model's potential to enhance video summarization capabilities, particularly in large-scale applications requiring both efficiency and precision.
An Empirical Study of Causal Relation Extraction Transfer: Design and Data
Venue: arXiv cs.CL 2025
Year: 2025

We conduct an empirical analysis of neural network architectures and data transfer strategies for causal relation extraction. By conducting experiments with various contextual embedding layers and architectural components, we show that a relatively straightforward BioBERT-BiGRU relation extraction model generalizes better than other architectures across varying web-based sources and annotation strategies. Furthermore, we introduce a metric for evaluating transfer performance, $F1_{phrase}$ that emphasizes noun phrase localization rather than directly matching target tags. Using this metric, we can conduct data transfer experiments, ultimately revealing that augmentation with data with varying domains and annotation styles can improve performance. Data augmentation is especially beneficial when an adequate proportion of implicitly and explicitly causal sentences are included.
Attention-Based Synthetic Data Generation for Calibration-Enhanced Survival Analysis: A Case Study for Chronic Kidney Disease Using Electronic Health Records
Venue: arXiv cs.LG 2025
Year: 2025

Access to real-world healthcare data is limited by stringent privacy regulations and data imbalances, hindering advancements in research and clinical applications. Synthetic data presents a promising solution, yet existing methods often fail to ensure the realism, utility, and calibration essential for robust survival analysis. Here, we introduce Masked Clinical Modelling (MCM), an attention-based framework capable of generating high-fidelity synthetic datasets that preserve critical clinical insights, such as hazard ratios, while enhancing survival model calibration. Unlike traditional statistical methods like SMOTE and machine learning models such as VAEs, MCM supports both standalone dataset synthesis for reproducibility and conditional simulation for targeted augmentation, addressing diverse research needs. Validated on a chronic kidney disease electronic health records dataset, MCM reduced the general calibration loss over the entire dataset by 15%; and MCM reduced a mean calibration loss by 9% across 10 clinically stratified subgroups, outperforming 15 alternative methods. By bridging data accessibility with translational utility, MCM advances the precision of healthcare models, promoting more efficient use of scarce healthcare resources.
Advancing Problem-Based Learning with Clinical Reasoning for Improved Differential Diagnosis in Medical Education
Venue: arXiv cs.HC 2025
Year: 2025

Medical education increasingly emphasizes students' ability to apply knowledge in real-world clinical settings, focusing on evidence-based clinical reasoning and differential diagnoses. Problem-based learning (PBL) addresses traditional teaching limitations by embedding learning into meaningful contexts and promoting active participation. However, current PBL practices are often confined to medical instructional settings, limiting students' ability to self-direct and refine their approaches based on targeted improvements. Additionally, the unstructured nature of information organization during analysis poses challenges for record-keeping and subsequent review. Existing research enhances PBL realism and immersion but overlooks the construction of logic chains and evidence-based reasoning. To address these gaps, we designed e-MedLearn, a learner-centered PBL system that supports more efficient application and practice of evidence-based clinical reasoning. Through controlled study (N=19) and testing interviews (N=13), we gathered data to assess the system's impact. The findings demonstrate that e-MedLearn improves PBL experiences and provides valuable insights for advancing clinical reasoning-based learning.
Human Mobility Reimagined: Digital Twin Intelligence for Adaptive Campus Course Timetabling
Venue: arXiv cs.CE 2025
Year: 2025

Daily operations in large campuses depend on how efficiently people \emph{move} through space and time. In this sense, course timetables are more than administrative schedules: they act as mobility policies that orchestrate thousands of trajectories, shaping travel burden, congestion, accessibility, and the reliability of back-to-back transitions. Designing timetables that are both feasible and mobility-friendly is challenging because hard constraints including capacity, conflicts, feasibility must be satisfied alongside soft constraints including preferences, satisfaction, coordination, all under dynamic conditions such as real-time disruptions and evolving demand. Traditional static optimization methods often struggle to capture these human mobility impacts and to adapt when campus conditions change. This paper reconceptualizes course timetabling as a recommendation-based task and leverages the Texas A\&M Campus Digital Twin as a dynamic data platform to evaluate mobility consequences at scale. We propose an iterative framework that integrates collaborative and content-based filtering with feedback-driven refinement to generate ranked sets of adaptive timetable recommendations. A mobility-aware composite scoring function combining classroom occupancy, travel distance, travel time, and vertical transitions systematically balances resource efficiency with human-centered movement costs. Extensive experiments using real-world data from Texas A\&M University show that the proposed approach reduces mobility friction and travel inefficiencies, improves classroom utilization, and enhances overall user satisfaction. By coupling recommendation-oriented decision-making with digital twin intelligence, this study provides a robust and scalable blueprint for mobility-centered campus planning and resource allocation, with potential extensions to broader urban systems.
Unlocking Pretrained LLMs for Motion-Related Multimodal Generation: A Fine-Tuning Approach to Unify Diffusion and Next-Token Prediction
Venue: arXiv cs.LG 2025
Year: 2025

In this paper, we propose a unified framework that leverages a single pretrained LLM for Motion-related Multimodal Generation, referred to as MoMug. MoMug integrates diffusion-based continuous motion generation with the model's inherent autoregressive discrete text prediction capabilities by fine-tuning a pretrained LLM. This enables seamless switching between continuous motion output and discrete text token prediction within a single model architecture, effectively combining the strengths of both diffusion- and LLM-based approaches. Experimental results show that, compared to the most recent LLM-based baseline, MoMug improves FID by 38% and mean accuracy across seven metrics by 16.61% on the text-to-motion task. Additionally, it improves mean accuracy across eight metrics by 8.44% on the text-to-motion task. To the best of our knowledge, this is the first approach to integrate diffusion- and LLM-based generation within a single model for motion-related multimodal tasks while maintaining low training costs. This establishes a foundation for future advancements in motion-related generation, paving the way for high-quality yet cost-efficient motion synthesis.
System 0/1/2/3: Quad-process theory for multi-timescale embodied collective cognitive systems
Venue: arXiv cs.AI 2025
Year: 2025

This paper introduces the System 0/1/2/3 framework as an extension of dual-process theory, employing a quad-process model of cognition. Expanding upon System 1 (fast, intuitive thinking) and System 2 (slow, deliberative thinking), we incorporate System 0, which represents pre-cognitive embodied processes, and System 3, which encompasses collective intelligence and symbol emergence. We contextualize this model within Bergson's philosophy by adopting multi-scale time theory to unify the diverse temporal dynamics of cognition. System 0 emphasizes morphological computation and passive dynamics, illustrating how physical embodiment enables adaptive behavior without explicit neural processing. Systems 1 and 2 are explained from a constructive perspective, incorporating neurodynamical and AI viewpoints. In System 3, we introduce collective predictive coding to explain how societal-level adaptation and symbol emergence operate over extended timescales. This comprehensive framework ranges from rapid embodied reactions to slow-evolving collective intelligence, offering a unified perspective on cognition across multiple timescales, levels of abstraction, and forms of human intelligence. The System 0/1/2/3 model provides a novel theoretical foundation for understanding the interplay between adaptive and cognitive processes, thereby opening new avenues for research in cognitive science, AI, robotics, and collective intelligence.
Adaptive UAV-Assisted Hierarchical Federated Learning: Optimizing Energy, Latency, and Resilience for Dynamic Smart IoT
Venue: arXiv cs.LG 2025
Year: 2025

Hierarchical Federated Learning (HFL) extends conventional Federated Learning (FL) by introducing intermediate aggregation layers, enabling distributed learning in geographically dispersed environments, particularly relevant for smart IoT systems, such as remote monitoring and battlefield operations, where cellular connectivity is limited. In these scenarios, UAVs serve as mobile aggregators, dynamically connecting terrestrial IoT devices. This paper investigates an HFL architecture with energy-constrained, dynamically deployed UAVs prone to communication disruptions. We propose a novel approach to minimize global training costs by formulating a joint optimization problem that integrates learning configuration, bandwidth allocation, and device-to-UAV association, ensuring timely global aggregation before UAV disconnections and redeployments. The problem accounts for dynamic IoT devices and intermittent UAV connectivity and is NP-hard. To tackle this, we decompose it into three subproblems: \textit{(i)} optimizing learning configuration and bandwidth allocation via an augmented Lagrangian to reduce training costs; \textit{(ii)} introducing a device fitness score based on data heterogeneity (via Kullback-Leibler divergence), device-to-UAV proximity, and computational resources, using a TD3-based algorithm for adaptive device-to-UAV assignment; \textit{(iii)} developing a low-complexity two-stage greedy strategy for UAV redeployment and global aggregator selection, ensuring efficient aggregation despite UAV disconnections. Experiments on diverse real-world datasets validate the approach, demonstrating cost reduction and robust performance under communication disruptions.
FALCON: A Framework for Fault Prediction in Open RAN Using Multi-Level Telemetry
Venue: arXiv cs.NI 2025
Year: 2025

O-RAN has brought in deployment flexibility and intelligent RAN control for mobile operators through its disaggregated and modular architecture using open interfaces. However, this disaggregation introduces complexities in system integration and network management, as components are often sourced from different vendors. In addition, the operators who are relying on open source and virtualized components -- which are deployed on commodity hardware -- require additional resilient solutions as O-RAN deployments suffer from the risk of failures at multiple levels including infrastructure, platform, and RAN levels. To address these challenges, this paper proposes FALCON, a fault prediction framework for O-RAN, which leverages infrastructure-, platform-, and RAN-level telemetry to predict faults in virtualized O-RAN deployments. By aggregating and analyzing metrics from various components at different levels using AI/ML models, the FALCON framework enables proactive fault management, providing operators with actionable insights to implement timely preventive measures. The FALCON framework, using a Random Forest classifier, outperforms two other classifiers on the predicted telemetry, achieving an average accuracy and F1-score of more than 98%.