OpenRaiser/Intern-Atlas huggingface dataset:
Ankle Exoskeletons in Walking and Load-Carrying Tasks: Insights into Biomechanics and Human-Robot Interaction
Venue: arXiv cs.RO 2025
Year: 2025

Background: Lower limb exoskeletons can enhance quality of life, but widespread adoption is limited by the lack of frameworks to assess their biomechanical and human-robot interaction effects, which are essential for developing adaptive and personalized control strategies. Understanding impacts on kinematics, muscle activity, and HRI dynamics is key to achieve improved usability of wearable robots. Objectives: We propose a systematic methodology evaluate an ankle exoskeleton's effects on human movement during walking and load-carrying (10 kg front pack), focusing on joint kinematics, muscle activity, and HRI torque signals. Materials and Methods: Using Xsens MVN (inertial motion capture), Delsys EMG, and a unilateral exoskeleton, three experiments were conducted: (1) isolated dorsiflexion/plantarflexion; (2) gait analysis (two subjects, passive/active modes); and (3) load-carrying under assistance. Results and Conclusions: The first experiment confirmed that the HRI sensor captured both voluntary and involuntary torques, providing directional torque insights. The second experiment showed that the device slightly restricted ankle range of motion (RoM) but supported normal gait patterns across all assistance modes. The exoskeleton reduced muscle activity, particularly in active mode. HRI torque varied according to gait phases and highlighted reduced synchronization, suggesting a need for improved support. The third experiment revealed that load-carrying increased GM and TA muscle activity, but the device partially mitigated user effort by reducing muscle activity compared to unassisted walking. HRI increased during load-carrying, providing insights into user-device dynamics. These results demonstrate the importance of tailoring exoskeleton evaluation methods to specific devices and users, while offering a framework for future studies on exoskeleton biomechanics and HRI.
IRR-Based AS Type of Relationship Inference
Venue: arXiv cs.NI 2025
Year: 2025

The Internet comprises tens of thousands of autonomous systems (ASes) whose commercial relationships are not publicly announced. The classification of the Type of Relationship (ToR) between ASes has been extensively studied over the past two decades due to its relevance in network routing management and security. This paper presents a new approach to ToR classification, leveraging publicly available BGP data from the Internet Routing Registry (IRR). We show how the IRR can be mined and the results refined to achieve a large and accurate ToR database. Using a ground truth database with hundreds of entries we show that we indeed manage to obtain high accuracy. About two-thirds of our ToRs are new, namely, they were not obtained by previous works, which means that we enrich our ToR knowledge with links that are otherwise missed.
An Empirical Evaluation of White-box and Black-box Test Case Prioritization Techniques in CPSs Modeled in Simulink
Venue: arXiv cs.SE 2025
Year: 2025

MATLAB/Simulink is the leading tool for simulating complex Cyber-Physical Systems (CPSs). The simulation models of complex CPSs are typically compute intensive, and the execution of test cases is long. Furthermore, the execution of test cases is typically triggered several times at different ``in-the-Loop'' test levels (i.e., Model, Software and Hardware-in-the-Loop). Therefore, test optimization techniques, such as test case prioritization, are paramount when testing these systems. In this paper, we present the largest empirical study on test case prioritization techniques for Simulink models by comparing the performance of white-box and black-box test case prioritization techniques. We assess traditional test case prioritization techniques, and we also propose new approaches for use in the context of Simulink models. We empirically compared 11 test case prioritization techniques using six Simulink models of different sizes and complexities. When comparing white-box against black-box test case prioritization techniques, we found that in general, white-box techniques were slightly better than black-box ones. In the context of white-box test case prioritization, the total greedy approach performed better than the additional greedy techniques in larger models. As for the test case prioritization time, black-box techniques were faster, although total greedy techniques were fast enough to be used in practice.
Cumulative-Time Signal Temporal Logic
Venue: arXiv cs.LO 2025
Year: 2025

Signal Temporal Logic (STL) is a widely adopted specification language in cyber-physical systems for expressing critical temporal requirements, such as safety conditions and response time. However, STL's expressivity is not sufficient to capture the cumulative duration during which a property holds within an interval of time. To overcome this limitation, we introduce Cumulative-Time Signal Temporal Logic (CT-STL) that operates over discrete-time signals and extends STL with a new cumulative-time operator. This operator compares the sum of all time steps for which its nested formula is true with a threshold. We present both a qualitative and a quantitative (robustness) semantics for CT-STL and prove both their soundness and completeness properties. We provide an efficient online monitoring algorithm for both semantics. Finally, we show the applicability of CT-STL in two case studies: specifying and monitoring cumulative temporal requirements for a microgrid and an artificial pancreas.
Simple physical systems as a reference for multivariate information dynamics
Venue: arXiv cs.IT 2025
Year: 2025

Understanding a complex system entails capturing the non-trivial collective phenomena that arise from interactions between its different parts. Information theory is a flexible and robust framework to study such behaviours, with several measures designed to quantify and characterise the interdependencies among the system's components. However, since these estimators rely on the statistical distributions of observed quantities, it is crucial to examine the relationships between information-theoretic measures and the system's underlying mechanistic structure. To this end, here we present an information-theoretic analytical investigation of an elementary system of interactive random walkers subject to Gaussian noise. Focusing on partial information decomposition, causal emergence, and integrated information, our results help us develop some intuitions on their relationship with the physical parameters of the system. For instance, we observe that uncoupled systems can exhibit emergent properties, in a way that we suggest may be better described as ''statistically autonomous''. Overall, we observe that in this simple scenario information measures align more reliably with the system's mechanistic properties when calculated at the level of microscopic components, rather than their coarse-grained counterparts, and over timescales comparable with the system's intrinsic dynamics. Moreover, we show that approaches that separate the contributions of the system's dynamics and steady-state distribution (e.g. via causal perturbations) may help strengthen the interpretation of information-theoretic analyses.
AI-Driven Code Refactoring: Using Graph Neural Networks to Enhance Software Maintainability
Venue: arXiv cs.AI 2025
Year: 2025

This study explores Graph Neural Networks (GNNs) as a transformative tool for code refactoring, using abstract syntax trees (ASTs) to boost software maintainability. It analyzes a dataset of 2 million snippets from CodeSearchNet and a custom 75000-file GitHub Python corpus, comparing GNNs against rule-based SonarQube and decision trees. Metrics include cyclomatic complexity (target below 10), coupling (target below 5), and refactoring precision. GNNs achieve 92% accuracy, reducing complexity by 35% and coupling by 33%, outperforming SonarQube (78%, 16%) and decision trees (85%, 25%). Preprocessing fixed 60% of syntax errors. Bar graphs, tables, and AST visuals clarify results. This offers a scalable AI-driven path to cleaner codebases, which is crucial for software engineering.
Region Based SLAM-Aware Exploration: Efficient and Robust Autonomous Mapping Strategy That Can Scale
Venue: arXiv cs.RO 2025
Year: 2025

Autonomous exploration for mapping unknown large scale environments is a fundamental challenge in robotics, with efficiency in time, stability against map corruption and computational resources being crucial. This paper presents a novel approach to indoor exploration that addresses these key issues in existing methods. We introduce a Simultaneous Localization and Mapping (SLAM)-aware region-based exploration strategy that partitions the environment into discrete regions, allowing the robot to incrementally explore and stabilize each region before moving to the next one. This approach significantly reduces redundant exploration and improves overall efficiency. As the device finishes exploring a region and stabilizes it, we also perform SLAM keyframe marginalization, a technique which reduces problem complexity by eliminating variables, while preserving their essential information. To improves robustness and further enhance efficiency, we develop a checkpoint system that enables the robot to resume exploration from the last stable region in case of failures, eliminating the need for complete re-exploration. Our method, tested in real homes, office and simulations, outperforms state-of-the-art approaches. The improvements demonstrate substantial enhancements in various real world environments, with significant reductions in keyframe usage (85%), submap usage (50% office, 32% home), pose graph optimization time (78-80%), and exploration duration (10-15%). This region-based strategy with keyframe marginalization offers an efficient solution for autonomous robotic mapping.
Can We Edit LLMs for Long-Tail Biomedical Knowledge?
Venue: arXiv cs.CL 2025
Year: 2025

Knowledge editing has emerged as an effective approach for updating large language models (LLMs) by modifying their internal knowledge. However, their application to the biomedical domain faces unique challenges due to the long-tailed distribution of biomedical knowledge, where rare and infrequent information is prevalent. In this paper, we conduct the first comprehensive study to investigate the effectiveness of knowledge editing methods for editing long-tail biomedical knowledge. Our results indicate that, while existing editing methods can enhance LLMs' performance on long-tail biomedical knowledge, their performance on long-tail knowledge remains inferior to that on high-frequency popular knowledge, even after editing. Our further analysis reveals that long-tail biomedical knowledge contains a significant amount of one-to-many knowledge, where one subject and relation link to multiple objects. This high prevalence of one-to-many knowledge limits the effectiveness of knowledge editing in improving LLMs' understanding of long-tail biomedical knowledge, highlighting the need for tailored strategies to bridge this performance gap.
Streaming Democratized: Ease Across the Latency Spectrum with Delayed View Semantics and Snowflake Dynamic Tables
Venue: arXiv cs.DB 2025
Year: 2025

Streaming data pipelines remain challenging and expensive to build and maintain, despite significant advancements in stronger consistency, event time semantics, and SQL support over the last decade. Persistent obstacles continue to hinder usability, such as the need for manual incrementalization, semantic discrepancies across SQL implementations, and the lack of enterprise-grade operational features. While the rise of incremental view maintenance (IVM) as a way to integrate streaming with databases has been a huge step forward, transaction isolation in the presence of IVM remains underspecified, leaving the maintenance of application-level invariants as a painful exercise for the user. Meanwhile, most streaming systems optimize for latencies of 100 ms to 3 sec, whereas many practical use cases are well-served by latencies ranging from seconds to tens of minutes. We present delayed view semantics (DVS), a conceptual foundation that bridges the semantic gap between streaming and databases, and introduce Dynamic Tables, Snowflake's declarative streaming transformation primitive designed to democratize analytical stream processing. DVS formalizes the intuition that stream processing is primarily a technique to eagerly compute derived results asynchronously, while also addressing the need to reason about the resulting system end to end. Dynamic Tables then offer two key advantages: ease of use through DVS, enterprise-grade features, and simplicity; as well as scalable cost efficiency via IVM with an architecture designed for diverse latency requirements. We first develop extensions to transaction isolation that permit the preservation of invariants in streaming applications. We then detail the implementation challenges of Dynamic Tables and our experience operating it at scale. Finally, we share insights into user adoption and discuss our vision for the future of stream processing.
Co-optimizing Physical Reconfiguration Parameters and Controllers for an Origami-inspired Reconfigurable Manipulator
Venue: arXiv cs.RO 2025
Year: 2025

Reconfigurable robots that can change their physical configuration post-fabrication have demonstrate their potential in adapting to different environments or tasks. However, it is challenging to determine how to optimally adjust reconfigurable parameters for a given task, especially when the controller depends on the robot's configuration. In this paper, we address this problem using a tendon-driven reconfigurable manipulator composed of multiple serially connected origami-inspired modules as an example. Under tendon actuation, these modules can achieve different shapes and motions, governed by joint stiffnesses (reconfiguration parameters) and the tendon displacements (control inputs). We leverage recent advances in co-optimization of design and control for robotic system to treat reconfiguration parameters as design variables and optimize them using reinforcement learning techniques. We first establish a forward model based on the minimum potential energy method to predict the shape of the manipulator under tendon actuations. Using the forward model as the environment dynamics, we then co-optimize the control policy (on the tendon displacements) and joint stiffnesses of the modules for goal reaching tasks while ensuring collision avoidance. Through co-optimization, we obtain optimized joint stiffness and the corresponding optimal control policy to enable the manipulator to accomplish the task that would be infeasible with fixed reconfiguration parameters (i.e., fixed joint stiffness). We envision the co-optimization framework can be extended to other reconfigurable robotic systems, enabling them to optimally adapt their configuration and behavior for diverse tasks and environments.
REPA-E: Unlocking VAE for End-to-End Tuning with Latent Diffusion Transformers
Venue: arXiv cs.CV 2025
Year: 2025

In this paper we tackle a fundamental question: "Can we train latent diffusion models together with the variational auto-encoder (VAE) tokenizer in an end-to-end manner?" Traditional deep-learning wisdom dictates that end-to-end training is often preferable when possible. However, for latent diffusion transformers, it is observed that end-to-end training both VAE and diffusion-model using standard diffusion-loss is ineffective, even causing a degradation in final performance. We show that while diffusion loss is ineffective, end-to-end training can be unlocked through the representation-alignment (REPA) loss -- allowing both VAE and diffusion model to be jointly tuned during the training process. Despite its simplicity, the proposed training recipe (REPA-E) shows remarkable performance; speeding up diffusion model training by over 17x and 45x over REPA and vanilla training recipes, respectively. Interestingly, we observe that end-to-end tuning with REPA-E also improves the VAE itself; leading to improved latent space structure and downstream generation performance. In terms of final performance, our approach sets a new state-of-the-art; achieving FID of 1.12 and 1.69 with and without classifier-free guidance on ImageNet 256 x 256. Code is available at https://end2end-diffusion.github.io.
TrustMap: Mapping Truthfulness Stance of Social Media Posts on Factual Claims for Geographical Analysis
Venue: arXiv cs.SI 2025
Year: 2025

Factual claims and misinformation circulate widely on social media and affect how people form opinions and make decisions. This paper presents a truthfulness stance map (TrustMap), an application that identifies and maps public stances toward factual claims across U.S. regions. Each social media post is classified as positive, negative, or neutral/no stance, based on whether it believes a factual claim is true or false, expresses uncertainty about the truthfulness, or does not explicitly take a position on the claim's truthfulness. The tool uses a retrieval-augmented model with fine-tuned language models for automatic stance classification. The stance classification results and social media posts are grouped by location to show how stance patterns vary geographically. TrustMap allows users to explore these patterns by claim and region and connects stance detection with geographical analysis to better understand public engagement with factual claims.
Explainable Artificial Intelligence techniques for interpretation of food datasets: a review
Venue: arXiv cs.AI 2025
Year: 2025

Artificial Intelligence (AI) has become essential for analyzing complex data and solving highly-challenging tasks. It is being applied across numerous disciplines beyond computer science, including Food Engineering, where there is a growing demand for accurate and trustworthy predictions to meet stringent food quality standards. However, this requires increasingly complex AI models, raising reliability concerns. In response, eXplainable AI (XAI) has emerged to provide insights into AI decision-making, aiding model interpretation by developers and users. Nevertheless, XAI remains underutilized in Food Engineering, limiting model reliability. For instance, in food quality control, AI models using spectral imaging can detect contaminants or assess freshness levels, but their opaque decision-making process hinders adoption. XAI techniques such as SHAP (Shapley Additive Explanations) and Grad-CAM (Gradient-weighted Class Activation Mapping) can pinpoint which spectral wavelengths or image regions contribute most to a prediction, enhancing transparency and aiding quality control inspectors in verifying AI-generated assessments. This survey presents a taxonomy for classifying food quality research using XAI techniques, organized by data types and explanation methods, to guide researchers in choosing suitable approaches. We also highlight trends, challenges, and opportunities to encourage the adoption of XAI in Food Engineering.
Federated Learning with Layer Skipping: Efficient Training of Large Language Models for Healthcare NLP
Venue: arXiv cs.LG 2025
Year: 2025

Federated learning (FL) enables collaborative model training across organizations without sharing raw data, addressing crucial privacy concerns in healthcare natural language processing (NLP). However, training large language models (LLMs) in federated settings faces significant challenges, including communication overhead and data heterogeneity. We propose Layer-Skipping Federated Learning, where only selected layers of a pre-trained LLM are fine-tuned across clients while others remain frozen. Applied to LLaMA 3.2-1B, our approach reduces communication costs by approximately 70% while maintaining performance within 2% of centralized training. We evaluate our method on clinical NER and classification tasks using i2b2 and MIMIC-III datasets. Our experiments demonstrate that Layer-Skipping FL outperforms competitive baselines, handles non-IID clinical data distributions effectively, and shows robustness when combined with differential privacy. This approach represents a practical solution for privacy-preserving collaborative learning in healthcare NLP.
HSTU-BLaIR: Lightweight Contrastive Text Embedding for Generative Recommender
Venue: arXiv cs.IR 2025
Year: 2025

Recent advances in recommender systems have underscored the complementary strengths of generative modeling and pretrained language models. We propose HSTU-BLaIR, a hybrid framework that augments the Hierarchical Sequential Transduction Unit (HSTU)-based generative recommender with BLaIR, a lightweight contrastive text embedding model. This integration enriches item representations with semantic signals from textual metadata while preserving HSTU's powerful sequence modeling capabilities. We evaluate HSTU-BLaIR on two e-commerce datasets: three subsets from the Amazon Reviews 2023 dataset and the Steam dataset. We compare its performance against both the original HSTU-based recommender and a variant augmented with embeddings from OpenAI's state-of-the-art \texttt{text-embedding-3-large} model. Despite the latter being trained on a substantially larger corpus with significantly more parameters, our lightweight BLaIR-enhanced approach -- pretrained on domain-specific data -- achieves better performance in nearly all cases. Specifically, HSTU-BLaIR outperforms the OpenAI embedding-based variant on all but one metric, where it is marginally lower, and matches it on another. These findings highlight the effectiveness of contrastive text embeddings in compute-efficient recommendation settings.
Efficient Process Reward Model Training via Active Learning
Venue: arXiv cs.LG 2025
Year: 2025

Process Reward Models (PRMs) provide step-level supervision to large language models (LLMs), but scaling up training data annotation remains challenging for both humans and LLMs. To address this limitation, we propose an active learning approach, ActPRM, which proactively selects the most uncertain samples for training, substantially reducing labeling costs. During training, we use the PRM to estimate uncertainty after the forward pass, retaining only highly uncertain data. A capable yet costly reasoning model then labels this data. Then we compute the loss with respect to the labels and update the PRM's weights. We compare ActPRM vs. vanilla fine-tuning, on a pool-based active learning setting, demonstrating that ActPRM reduces 50% annotation, but achieving the comparable or even better performance. Beyond annotation efficiency, we further advance the actively trained PRM by filtering over 1M+ math reasoning trajectories with ActPRM, retaining 60% of the data. A subsequent training on this selected dataset yields a new state-of-the-art (SOTA) PRM on ProcessBench (75.0%) and PRMBench (65.5%) compared with same sized models.