OpenRaiser/Intern-Atlas huggingface dataset:
VLH: Vision-Language-Haptics Foundation Model
Venue: arXiv cs.RO 2025
Year: 2025

We present VLH, a novel Visual-Language-Haptic Foundation Model that unifies perception, language, and tactile feedback in aerial robotics and virtual reality. Unlike prior work that treats haptics as a secondary, reactive channel, VLH synthesizes mid-air force and vibration cues as a direct consequence of contextual visual understanding and natural language commands. Our platform comprises an 8-inch quadcopter equipped with dual inverse five-bar linkage arrays for localized haptic actuation, an egocentric VR camera, and an exocentric top-down view. Visual inputs and language instructions are processed by a fine-tuned OpenVLA backbone - adapted via LoRA on a bespoke dataset of 450 multimodal scenarios - to output a 7-dimensional action vector (Vx, Vy, Vz, Hx, Hy, Hz, Hv). INT8 quantization and a high-performance server ensure real-time operation at 4-5 Hz. In human-robot interaction experiments (90 flights), VLH achieved a 56.7% success rate for target acquisition (mean reach time 21.3 s, pose error 0.24 m) and 100% accuracy in texture discrimination. Generalization tests yielded 70.0% (visual), 54.4% (motion), 40.0% (physical), and 35.0% (semantic) performance on novel tasks. These results demonstrate VLH's ability to co-evolve haptic feedback with perceptual reasoning and intent, advancing expressive, immersive human-robot interactions.
SaviorRec: Semantic-Behavior Alignment for Cold-Start Recommendation
Venue: arXiv cs.IR 2025
Year: 2025

In recommendation systems, predicting Click-Through Rate (CTR) is crucial for accurately matching users with items. To improve recommendation performance for cold-start and long-tail items, recent studies focus on leveraging item multimodal features to model users' interests. However, obtaining multimodal representations for items relies on complex pre-trained encoders, which incurs unacceptable computation cost to train jointly with downstream ranking models. Therefore, it is important to maintain alignment between semantic and behavior space in a lightweight way. To address these challenges, we propose a Semantic-Behavior Alignment for Cold-start Recommendation framework, which mainly focuses on utilizing multimodal representations that align with the user behavior space to predict CTR. First, we leverage domain-specific knowledge to train a multimodal encoder to generate behavior-aware semantic representations. Second, we use residual quantized semantic ID to dynamically bridge the gap between multimodal representations and the ranking model, facilitating the continuous semantic-behavior alignment. We conduct our offline and online experiments on the Taobao, one of the world's largest e-commerce platforms, and have achieved an increase of 0.83% in offline AUC, 13.21% clicks increase and 13.44% orders increase in the online A/B test, emphasizing the efficacy of our method.
Construction of Digital Terrain Maps from Multi-view Satellite Imagery using Neural Volume Rendering
Venue: arXiv cs.CV 2025
Year: 2025

Digital terrain maps (DTMs) are an important part of planetary exploration, enabling operations such as terrain relative navigation during entry, descent, and landing for spacecraft and aiding in navigation on the ground. As robotic exploration missions become more ambitious, the need for high quality DTMs will only increase. However, producing DTMs via multi-view stereo pipelines for satellite imagery, the current state-of-the-art, can be cumbersome and require significant manual image preprocessing to produce satisfactory results. In this work, we seek to address these shortcomings by adapting neural volume rendering techniques to learn textured digital terrain maps directly from satellite imagery. Our method, neural terrain maps (NTM), only requires the locus for each image pixel and does not rely on depth or any other structural priors. We demonstrate our method on both synthetic and real satellite data from Earth and Mars encompassing scenes on the order of $100 \textrm{km}^2$. We evaluate the accuracy of our output terrain maps by comparing with existing high-quality DTMs produced using traditional multi-view stereo pipelines. Our method shows promising results, with the precision of terrain prediction almost equal to the resolution of the satellite images even in the presence of imperfect camera intrinsics and extrinsics.
Recognising, Anticipating, and Mitigating LLM Pollution of Online Behavioural Research
Venue: arXiv cs.CY 2025
Year: 2025

Online behavioural research faces an emerging threat as participants increasingly turn to large language models (LLMs) for advice, translation, or task delegation: LLM Pollution. We identify three interacting variants through which LLM Pollution threatens the validity and integrity of online behavioural research. First, Partial LLM Mediation occurs when participants make selective use of LLMs for specific aspects of a task, such as translation or wording support, leading researchers to (mis)interpret LLM-shaped outputs as human ones. Second, Full LLM Delegation arises when agentic LLMs complete studies with little to no human oversight, undermining the central premise of human-subject research at a more foundational level. Third, LLM Spillover signifies human participants altering their behaviour as they begin to anticipate LLM presence in online studies, even when none are involved. While Partial Mediation and Full Delegation form a continuum of increasing automation, LLM Spillover reflects second-order reactivity effects. Together, these variants interact and generate cascading distortions that compromise sample authenticity, introduce biases that are difficult to detect post hoc, and ultimately undermine the epistemic grounding of online research on human cognition and behaviour. Crucially, the threat of LLM Pollution is already co-evolving with advances in generative AI, creating an escalating methodological arms race. To address this, we propose a multi-layered response spanning researcher practices, platform accountability, and community efforts. As the challenge evolves, coordinated adaptation will be essential to safeguard methodological integrity and preserve the validity of online behavioural research.
MedSynth: Realistic, Synthetic Medical Dialogue-Note Pairs
Venue: arXiv cs.CL 2025
Year: 2025

Physicians spend significant time documenting clinical encounters, a burden that contributes to professional burnout. To address this, robust automation tools for medical documentation are crucial. We introduce MedSynth -- a novel dataset of synthetic medical dialogues and notes designed to advance the Dialogue-to-Note (Dial-2-Note) and Note-to-Dialogue (Note-2-Dial) tasks. Informed by an extensive analysis of disease distributions, this dataset includes over 10,000 dialogue-note pairs covering over 2000 ICD-10 codes. We demonstrate that our dataset markedly enhances the performance of models in generating medical notes from dialogues, and dialogues from medical notes. The dataset provides a valuable resource in a field where open-access, privacy-compliant, and diverse training data are scarce. Code is available at https://github.com/ahmadrezarm/MedSynth/tree/main and the dataset is available at https://huggingface.co/datasets/Ahmad0067/MedSynth.
Information Rates of Approximate Message Passing for Bandlimited Direct-Detection Channels
Venue: arXiv cs.IT 2025
Year: 2025

The capacity of bandlimited direct-detection channels is difficult to compute or approach because of the receiver nonlinearity. A generalized vector approximate message passing (GVAMP) detector is designed to achieve high rates with reasonable complexity. The rates increase by using multi-level coding and successive interference cancellation. The methods are applied to optical fiber channels with long intersymbol interference, as encountered in practice. Bipolar modulation operates within 0.3 bits per channel use (bpcu) of the real-alphabet coherent capacity for optically-amplified links, improving the best existing gap of 1 bpcu based on theory. Remarkably, bipolar modulation gains 6 decibels (dB) in power efficiency over unipolar modulation, and 3 dB for unamplified links. The detector is robust to changes in channel parameters such as the fiber length. The GVAMP complexity, measured in multiplications per information bit (mpib), is proportional to the number of iterations and the logarithm of the block length, and is substantially less than state-of-the-art neural networks. The receiver requires approximately 38 iterations to achieve a rate of 5 bpcu with 80 mpib.
Fast and scalable retrosynthetic planning with a transformer neural network and speculative beam search
Venue: arXiv cs.LG 2025
Year: 2025

AI-based computer-aided synthesis planning (CASP) systems are in demand as components of AI-driven drug discovery workflows. However, the high latency of such CASP systems limits their utility for high-throughput synthesizability screening in de novo drug design. We propose a method for accelerating multi-step synthesis planning systems that rely on SMILES-to-SMILES transformers as single-step retrosynthesis models. Our approach reduces the latency of SMILES-to-SMILES transformers powering multi-step synthesis planning in AiZynthFinder through speculative beam search combined with a scalable drafting strategy called Medusa. Replacing standard beam search with our approach allows the CASP system to solve 26\% to 86\% more molecules under the same time constraints of several seconds. Our method brings AI-based CASP systems closer to meeting the strict latency requirements of high-throughput synthesizability screening and improving general user experience.
Directed Grammar-Based Test Generation
Venue: arXiv cs.SE 2025
Year: 2025

To effectively test complex software, it is important to generate goal-specific inputs, i.e., inputs that achieve a specific testing goal. However, most state-of-the-art test generators are not designed to target specific goals. Notably, grammar-based test generators, which (randomly) produce syntactically valid inputs via an input specification (i.e., grammar) have a low probability of achieving an arbitrary testing goal. This work addresses this challenge by proposing an automated test generation approach (called FdLoop) which iteratively learns relevant input properties from existing inputs to drive the generation of goal-specific inputs. Given a testing goal, FdLoop iteratively selects, evolves and learn the input distribution of goal-specific test inputs via test feedback and a probabilistic grammar. We concretize FdLoop for four testing goals, namely unique code coverage, input-to-code complexity, program failures (exceptions) and long execution time. We evaluate FdLoop using three (3) well-known input formats (JSON, CSS and JavaScript) and 20 open-source software. In most (86%) settings, FdLoop outperforms all five tested baselines namely the baseline grammar-based test generators (random, probabilistic and inverse-probabilistic methods), EvoGFuzz and DynaMosa. FdLoop is (up to) twice (2X) as effective as the best baseline (EvoGFuzz) in inducing erroneous behaviors. In addition, we show that the main components of FdLoop (i.e., input mutator, grammar mutator and test feedbacks) contribute positively to its effectiveness. Finally, our evaluation demonstrates that FdLoop effectively achieves single testing goals (revealing erroneous behaviors, generating complex inputs, or inducing long execution time) and scales to multiple testing goals across varying parameter settings.
CARGO: A Co-Optimization Framework for EV Charging and Routing in Goods Delivery Logistics
Venue: arXiv cs.AI 2025
Year: 2025

With growing interest in sustainable logistics, electric vehicle (EV)-based deliveries offer a promising alternative for urban distribution. However, EVs face challenges due to their limited battery capacity, requiring careful planning for recharging. This depends on factors such as the charging point (CP) availability, cost, proximity, and vehicles' state of charge (SoC). We propose CARGO, a framework addressing the EV-based delivery route planning problem (EDRP), which jointly optimizes route planning and charging for deliveries within time windows. After proving the problem's NP-hardness, we propose a mixed integer linear programming (MILP)-based exact solution and a computationally efficient heuristic method. Using real-world datasets, we evaluate our methods by comparing the heuristic to the MILP solution, and benchmarking it against baseline strategies, Earliest Deadline First (EDF) and Nearest Delivery First (NDF). The results show up to 39% and 22% reductions in the charging cost over EDF and NDF, respectively, while completing comparable deliveries.
Hyperparameter-Free Neurochaos Learning Algorithm for Classification
Venue: arXiv cs.LG 2025
Year: 2025

Neurochaos Learning (NL) is a brain-inspired classification framework that employs chaotic dynamics to extract features from input data and yields state of the art performance on classification tasks. However, NL requires the tuning of multiple hyperparameters and computing of four chaotic features per input sample. In this paper, we propose AutochaosNet - a novel, hyperparameter-free variant of the NL algorithm that eliminates the need for both training and parameter optimization. AutochaosNet leverages a universal chaotic sequence derived from the Champernowne constant and uses the input stimulus to define firing time bounds for feature extraction. Two simplified variants - TM AutochaosNet and TM-FR AutochaosNet - are evaluated against the existing NL architecture - ChaosNet. Our results demonstrate that AutochaosNet achieves competitive or superior classification performance while significantly reducing training time due to reduced computational effort. In addition to eliminating training and hyperparameter tuning, AutochaosNet exhibits excellent generalisation capabilities, making it a scalable and efficient choice for real-world classification tasks. Future work will focus on identifying universal orbits under various chaotic maps and incorporating them into the NL framework to further enhance performance.
A Parallel Algorithm for Finding Robust Spanners in Large Social Networks
Venue: arXiv cs.SI 2025
Year: 2025

Social networks, characterized by community structures, often rely on nodes called structural hole spanners to facilitate inter-community information dissemination. However, the dynamic nature of these networks, where spanner nodes may be removed, necessitates resilient methods to maintain inter-community communication. To this end, we introduce robust spanners (RS) as nodes uniquely equipped to bridge communities despite disruptions, such as node or edge removals. We propose a novel scoring technique to identify RS nodes and present a parallel algorithm with a CUDA implementation for efficient RS detection in large networks. Empirical analysis of real-world social networks reveals that high-scoring nodes exhibit a spanning capacity comparable to those identified by benchmark spanner detection algorithms while offering superior robustness. Our implementation on Nvidia GPUs achieves an average speedup of 244X over traditional spanner detection techniques, demonstrating its efficacy to identify RS in large social networks.
Req-Rec: Enhancing Requirements Elicitation for Increasing Stakeholder's Satisfaction Using a Collaborative Filtering Based Recommender System
Venue: arXiv cs.IR 2025
Year: 2025

The success or failure of a project is highly related to recognizing the right stakeholders and accurately finding and discovering their requirements. However, choosing the proper elicitation technique was always a considerable challenge for efficient requirement engineering. As a consequence of the swift improvement of digital technologies since the past decade, recommender systems have become an efficient channel for making a deeply personalized interactive communication with stakeholders. In this research, a new method, called the Req-Rec (Requirements Recommender), is proposed. It is a hybrid recommender system based on the collaborative filtering approach and the repertory grid technique as the core component. The primary goal of Req-Rec is to increase stakeholder satisfaction by assisting them in the requirement elicitation phase. Based on the results, the method efficiently could overcome weaknesses of common requirement elicitation techniques, such as time limitation, location-based restrictions, and bias in requirements' elicitation process. Therefore, recommending related requirements assists stakeholders in becoming more aware of different aspects of the project.
SimDeep: Federated 3D Indoor Localization via Similarity-Aware Aggregation
Venue: arXiv cs.LG 2025
Year: 2025

Indoor localization plays a pivotal role in supporting a wide array of location-based services, including navigation, security, and context-aware computing within intricate indoor environments. Despite considerable advancements, deploying indoor localization systems in real-world scenarios remains challenging, largely because of non-independent and identically distributed (non-IID) data and device heterogeneity. In response, we propose SimDeep, a novel Federated Learning (FL) framework explicitly crafted to overcome these obstacles and effectively manage device heterogeneity. SimDeep incorporates a Similarity Aggregation Strategy, which aggregates client model updates based on data similarity, significantly alleviating the issues posed by non-IID data. Our experimental evaluations indicate that SimDeep achieves an impressive accuracy of 92.89%, surpassing traditional federated and centralized techniques, thus underscoring its viability for real-world deployment.
Revisiting Gossip Protocols: A Vision for Emergent Coordination in Agentic Multi-Agent Systems
Venue: arXiv cs.MA 2025
Year: 2025

As agentic platforms scale, agents are evolving beyond static roles and fixed toolchains, creating a growing need for flexible, decentralized coordination. Today's structured communication protocols (e.g., direct agent-to-agent messaging) excel at reliability and task delegation, but they fall short in enabling emergent, swarm-like intelligence, where distributed agents continuously learn, adapt, and communicate to form collective cognition. This paper revisits gossip protocols, long valued in distributed systems for their fault tolerance and decentralization, and argues that they offer a missing layer for context-rich, adaptive communication in agentic AI. Gossip enables scalable, low-overhead dissemination of shared knowledge, but also raises unresolved challenges around semantic filtering, staleness, trustworthiness, and consistency in high-stakes environments. Rather than proposing a new framework, this work charts a research agenda for integrating gossip as a complementary substrate alongside structured protocols. We identify critical gaps in current agent-to-agent architectures, highlight where gossip could reshape assumptions about coordination, and outline open questions around intent propagation, knowledge decay, and peer-to-peer trust. Gossip is not a silver bullet, but overlooking it risks missing a key path toward resilient, reflexive, and self-organizing multi-agent systems.
Relative Completeness of Incorrectness Separation Logic
Venue: arXiv cs.LO 2025
Year: 2025

Incorrectness Separation Logic (ISL) is a proof system that is tailored specifically to resolve problems of under-approximation in programs that manipulate heaps, and it primarily focuses on bug detection. This approach is different from the over-approximation methods that are used in traditional logics such as Hoare Logic or Separation Logic. Although the soundness of ISL has been established, its completeness remains unproven. In this study, we establish relative completeness by leveraging the expressiveness of the weakest postconditions; expressiveness is a factor that is critical to demonstrating relative completeness in Reverse Hoare Logic. In our ISL framework, we allow for infinite disjunctions in disjunctive normal forms, where each clause comprises finite symbolic heaps with existential quantifiers. To compute the weakest postconditions in ISL, we introduce a canonicalization that includes variable aliasing.
KANMixer: Can KAN Serve as a New Modeling Core for Long-term Time Series Forecasting?
Venue: arXiv cs.LG 2025
Year: 2025

In recent years, multilayer perceptrons (MLP)-based deep learning models have demonstrated remarkable success in long-term time series forecasting (LTSF). Existing approaches typically augment MLP backbones with hand-crafted external modules to address the inherent limitations of their flat architectures. Despite their success, these augmented methods neglect hierarchical locality and sequential inductive biases essential for time-series modeling, and recent studies indicate diminishing performance improvements. To overcome these limitations, we explore Kolmogorov-Arnold Networks (KAN), a recently proposed model featuring adaptive basis functions capable of granular, local modulation of nonlinearities. This raises a fundamental question: Can KAN serve as a new modeling core for LTSF? To answer this, we introduce KANMixer, a concise architecture integrating a multi-scale mixing backbone that fully leverages KAN's adaptive capabilities. Extensive evaluation demonstrates that KANMixer achieves state-of-the-art performance in 16 out of 28 experiments across seven benchmark datasets. To uncover the reasons behind this strong performance, we systematically analyze the strengths and limitations of KANMixer in comparison with traditional MLP architectures. Our findings reveal that the adaptive flexibility of KAN's learnable basis functions significantly transforms the influence of network structural prior on forecasting performance. Furthermore, we identify critical design factors affecting forecasting accuracy and offer practical insights for effectively utilizing KAN in LTSF. Together, these insights constitute the first empirically grounded guidelines for effectively leveraging KAN in LTSF. Code is available in the supplementary file.
CLIMD: A Curriculum Learning Framework for Imbalanced Multimodal Diagnosis
Venue: arXiv cs.CV 2025
Year: 2025

Clinicians usually combine information from multiple sources to achieve the most accurate diagnosis, and this has sparked increasing interest in leveraging multimodal deep learning for diagnosis. However, in real clinical scenarios, due to differences in incidence rates, multimodal medical data commonly face the issue of class imbalance, which makes it difficult to adequately learn the features of minority classes. Most existing methods tackle this issue with resampling or loss reweighting, but they are prone to overfitting or underfitting and fail to capture cross-modal interactions. Therefore, we propose a Curriculum Learning framework for Imbalanced Multimodal Diagnosis (CLIMD). Specifically, we first design multimodal curriculum measurer that combines two indicators, intra-modal confidence and inter-modal complementarity, to enable the model to focus on key samples and gradually adapt to complex category distributions. Additionally, a class distribution-guided training scheduler is introduced, which enables the model to progressively adapt to the imbalanced class distribution during training. Extensive experiments on multiple multimodal medical datasets demonstrate that the proposed method outperforms state-of-the-art approaches across various metrics and excels in handling imbalanced multimodal medical data. Furthermore, as a plug-and-play CL framework, CLIMD can be easily integrated into other models, offering a promising path for improving multimodal disease diagnosis accuracy. Code is publicly available at https://github.com/KHan-UJS/CLIMD.