OpenRaiser/Intern-Atlas huggingface dataset:
Strategic Fusion of Vision Language Models: Shapley-Credited Context-Aware Dawid-Skene for Multi-Label Tasks in Autonomous Driving
Venue: arXiv cs.CV 2025
Year: 2025

Large vision-language models (VLMs) are increasingly used in autonomous-vehicle (AV) stacks, but hallucination limits their reliability in safety-critical pipelines. We present Shapley-credited Context-Aware Dawid-Skene with Agreement, a game-theoretic fusion method for multi-label understanding of ego-view dashcam video. It learns per-model, per-label, context-conditioned reliabilities from labelled history and, at inference, converts each model's report into an agreement-guardrailed log-likelihood ratio that is combined with a contextual prior and a public reputation state updated via Shapley-based team credit. The result is calibrated, thresholdable posteriors that (i) amplify agreement among reliable models, (ii) preserve uniquely correct single-model signals, and (iii) adapt to drift. To specialise general VLMs, we curate 1,000 real-world dashcam clips with structured annotations (scene description, manoeuvre recommendation, rationale) via an automatic pipeline that fuses HDD ground truth, vehicle kinematics, and YOLOv11 + BoT-SORT tracking, guided by a three-step chain-of-thought prompt; three heterogeneous VLMs are then fine-tuned with LoRA. We evaluate with Hamming distance, Micro-Macro-F1, and average per-video latency. Empirically, the proposed method achieves a 23% reduction in Hamming distance, 55% improvement in Macro-F1, and 47% improvement in Micro-F1 when comparing with the best single model, supporting VLM fusion as a calibrated, interpretable, and robust decision-support component for AV pipelines.
Prompt Curriculum Learning for Efficient LLM Post-Training
Venue: arXiv cs.LG 2025
Year: 2025

We introduce Prompt Curriculum Learning (PCL), a lightweight reinforcement learning (RL) algorithm that selects intermediate-difficulty prompts using a learned value model to post-train language models. Since post-training LLMs via RL remains sensitive to batching and prompt selection strategies, we first conduct a series of systematic experiments where we (1) determine the optimal training batch size that balances generation efficiency and gradient quality and (2) establish the importance of focusing on prompts of intermediate difficulty for the policy. We build upon these results to design PCL, which identifies prompts of intermediate difficulty for the current policy in an on-policy manner by using a value model that is concurrently updated based on the current policy. By focusing on informative prompts that yield high effective ratios, PCL achieves either the highest performance or requires significantly less time to reach comparable performance to its counterparts. Compared to rollout-based filtering methods, PCL avoids costly rollouts and achieves $12.1\times$ and $16.9\times$ faster speed on identifying intermediate-difficulty prompts when training on MATH and DeepScaleR, respectively. We further demonstrate that our value model accurately predicts prompt difficulty and allows PCL to focus on progressively more challenging prompts during RL. Our results present a new methodology that delivers improved tradeoff between upper-bound performance and efficiency for reasoning-focused RL.
Prosperity before Collapse: How Far Can Off-Policy RL Reach with Stale Data on LLMs?
Venue: arXiv cs.LG 2025
Year: 2025

Reinforcement learning has been central to recent advances in large language model reasoning, but most algorithms rely on on-policy training that demands fresh rollouts at every update, limiting efficiency and scalability. Asynchronous RL systems alleviate this by decoupling rollout generation from training, yet their effectiveness hinges on tolerating large staleness in rollout data, a setting where existing methods either degrade in performance or collapse. We revisit this challenge and uncover a prosperity-before-collapse phenomenon: stale data can be as informative as on-policy data if exploited properly. Building on this insight, we introduce M2PO (Second-Moment Trust Policy Optimization), which constrains the second moment of importance weights to suppress only extreme outliers while preserving informative updates. Notably, M2PO sharply reduces the fraction of clipped tokens under high staleness (from 1.22% to 0.06% over training), precisely masking high-variance tokens while maintaining stable optimization. Extensive evaluation across six models (from 1.7B to 32B) and eight benchmarks shows that M2PO delivers stable off-policy training even with data stale by at least 256 model updates and matches on-policy performance.
How Does the Pretraining Distribution Shape In-Context Learning? Task Selection, Generalization, and Robustness
Venue: arXiv cs.LG 2025
Year: 2025

The emergence of in-context learning (ICL) in large language models (LLMs) remains poorly understood despite its consistent effectiveness, enabling models to adapt to new tasks from only a handful of examples. To clarify and improve these capabilities, we characterize how the statistical properties of the pretraining distribution (e.g., tail behavior, coverage) shape ICL on numerical tasks. We develop a theoretical framework that unifies task selection and generalization, extending and sharpening earlier results, and show how distributional properties govern sample efficiency, task retrieval, and robustness. To this end, we generalize Bayesian posterior consistency and concentration results to heavy-tailed priors and dependent sequences, better reflecting the structure of LLM pretraining data. We then empirically study how ICL performance varies with the pretraining distribution on challenging tasks such as stochastic differential equations and stochastic processes with memory. Together, these findings suggest that controlling key statistical properties of the pretraining distribution is essential for building ICL-capable and reliable LLMs.
Audio Driven Real-Time Facial Animation for Social Telepresence
Venue: arXiv cs.GR 2025
Year: 2025

We present an audio-driven real-time system for animating photorealistic 3D facial avatars with minimal latency, designed for social interactions in virtual reality for anyone. Central to our approach is an encoder model that transforms audio signals into latent facial expression sequences in real time, which are then decoded as photorealistic 3D facial avatars. Leveraging the generative capabilities of diffusion models, we capture the rich spectrum of facial expressions necessary for natural communication while achieving real-time performance (<15ms GPU time). Our novel architecture minimizes latency through two key innovations: an online transformer that eliminates dependency on future inputs and a distillation pipeline that accelerates iterative denoising into a single step. We further address critical design challenges in live scenarios for processing continuous audio signals frame-by-frame while maintaining consistent animation quality. The versatility of our framework extends to multimodal applications, including semantic modalities such as emotion conditions and multimodal sensors with head-mounted eye cameras on VR headsets. Experimental results demonstrate significant improvements in facial animation accuracy over existing offline state-of-the-art baselines, achieving 100 to 1000 times faster inference speed. We validate our approach through live VR demonstrations and across various scenarios such as multilingual speeches.
Better Than "Better Than Nothing": Design Strategies for Enculturated Empathetic AI Robot Companions for Older Adults
Venue: arXiv cs.HC 2025
Year: 2025

The paper asserts that emulating empathy in human-robot interaction is a key component to achieve satisfying social, trustworthy, and ethical robot interaction with older people. Following comments from older adult study participants, the paper identifies a gap. Despite the acceptance of robot care scenarios, participants expressed the poor quality of the social aspect. Current human-robot designs, to a certain extent, neglect to include empathy as a theorized design pathway. Using rhetorical theory, this paper defines the socio-cultural expectations for convincing empathetic relationships. It analyzes and then summarizes how society understands, values, and negotiates empathic interaction between human companions in discursive exchanges, wherein empathy acts as a societal value system. Using two public research collections on robots, with one geared specifically to gerontechnology for older people, it substantiates the lack of attention to empathy in public materials produced by robot companies. This paper contends that using an empathetic care vocabulary as a design pathway is a productive underlying foundation for designing humanoid social robots that aim to support older people's goals of aging-in-place. It argues that the integration of affective AI into the sociotechnical assemblages of human-socially assistive robot interaction ought to be scrutinized to ensure it is based on genuine cultural values involving empathetic qualities.
Development and Evaluation of an AI-Driven Telemedicine System for Prenatal Healthcare
Venue: arXiv cs.HC 2025
Year: 2025

Access to obstetric ultrasound is often limited in low-resource settings, particularly in rural areas of low- and middle-income countries. This work proposes a human-in-the-loop artificial intelligence (AI) system designed to assist midwives in acquiring diagnostically relevant fetal images using blind sweep protocols. The system incorporates a classification model along with a web-based platform for asynchronous specialist reviews. By identifying key frames in blind sweep studies, the AI system allows specialists to concentrate on interpretation rather than having to review entire videos. To evaluate its performance, blind sweep videos captured by a small group of soft-trained midwives using a low-cost Point-of-Care Ultrasound (POCUS) device were analyzed. The system demonstrated promising results in identifying standard fetal planes from sweeps made by non-experts. A field evaluation indicated good usability and a low cognitive workload, suggesting that it has the potential to expand access to prenatal imaging in underserved regions.
Jailbreaking LLMs via Semantically Relevant Nested Scenarios with Targeted Toxic Knowledge
Venue: arXiv cs.CR 2025
Year: 2025

Large Language Models (LLMs) have demonstrated remarkable capabilities in various tasks. However, they remain exposed to jailbreak attacks, eliciting harmful responses. The nested scenario strategy has been increasingly adopted across various methods, demonstrating immense potential. Nevertheless, these methods are easily detectable due to their prominent malicious intentions. In this work, we are the first to find and systematically verify that LLMs' alignment defenses are not sensitive to nested scenarios, where these scenarios are highly semantically relevant to the queries and incorporate targeted toxic knowledge. This is a crucial yet insufficiently explored direction. Based on this, we propose RTS-Attack (Semantically Relevant Nested Scenarios with Targeted Toxic Knowledge), an adaptive and automated framework to examine LLMs' alignment. By building scenarios highly relevant to the queries and integrating targeted toxic knowledge, RTS-Attack bypasses the alignment defenses of LLMs. Moreover, the jailbreak prompts generated by RTS-Attack are free from harmful queries, leading to outstanding concealment. Extensive experiments demonstrate that RTS-Attack exhibits superior performance in both efficiency and universality compared to the baselines across diverse advanced LLMs, including GPT-4o, Llama3-70b, and Gemini-pro. Our complete code is available at https://github.com/nercode/Work. WARNING: THIS PAPER CONTAINS POTENTIALLY HARMFUL CONTENT.
Context Matters: Comparison of commercial large language tools in veterinary medicine
Venue: arXiv cs.CL 2025
Year: 2025

Large language models (LLMs) are increasingly used in clinical settings, yet their performance in veterinary medicine remains underexplored. We evaluated three commercially available veterinary-focused LLM summarization tools (Product 1 [Hachiko] and Products 2 and 3) on a standardized dataset of veterinary oncology records. Using a rubric-guided LLM-as-a-judge framework, summaries were scored across five domains: Factual Accuracy, Completeness, Chronological Order, Clinical Relevance, and Organization. Product 1 achieved the highest overall performance, with a median average score of 4.61 (IQR: 0.73), compared to 2.55 (IQR: 0.78) for Product 2 and 2.45 (IQR: 0.92) for Product 3. It also received perfect median scores in Factual Accuracy and Chronological Order. To assess the internal consistency of the grading framework itself, we repeated the evaluation across three independent runs. The LLM grader demonstrated high reproducibility, with Average Score standard deviations of 0.015 (Product 1), 0.088 (Product 2), and 0.034 (Product 3). These findings highlight the importance of veterinary-specific commercial LLM tools and demonstrate that LLM-as-a-judge evaluation is a scalable and reproducible method for assessing clinical NLP summarization in veterinary medicine.
Geometric Structures and Patterns of Meaning: A PHATE Manifold Analysis of Chinese Character Embeddings
Venue: arXiv cs.CL 2025
Year: 2025

We systematically investigate geometric patterns in Chinese character embeddings using PHATE manifold analysis. Through cross-validation across seven embedding models and eight dimensionality reduction methods, we observe clustering patterns for content words and branching patterns for function words. Analysis of over 1000 Chinese characters across 12 semantic domains reveals that geometric complexity correlates with semantic content: meaningful characters exhibit rich geometric diversity while structural radicals collapse into tight clusters. The comprehensive child-network analysis (123 phrases) demonstrates systematic semantic expansion from elemental character. These findings provide computational evidence supporting traditional linguistic theory and establish a novel framework for geometric analysis of semantic organization.
GRPO++: Enhancing Dermatological Reasoning under Low Resource Settings
Venue: arXiv cs.CL 2025
Year: 2025

Vision-Language Models (VLMs) show promise in medical image analysis, yet their capacity for structured reasoning in complex domains like dermatology is often limited by data scarcity and the high computational cost of advanced training techniques. To address these challenges, we introduce DermIQ-VLM, a VLM developed through a multi-stage, resource-efficient methodology designed to emulate a dermatologist's diagnostic process. Our primary contribution is a modified version of Grouped Relative Policy Optimization (GRPO), called GRPO++, which stabilizes the powerful but data-intensive GRPO framework. Our proposed training pipeline first employs GRPO++ for reasoning-oriented disease recognition, followed by supervised fine-tuning for conversational ability. To mitigate factual errors introduced during this step, we then align the model using Direct Preference Optimization (DPO), leveraging a Knowledge Graph-based system as a scalable proxy for expert preference. A preliminary evaluation on a curated dermatological dataset demonstrates that our proposed methodology yields notable performance gains over standard fine-tuning approaches. These findings validate the potential of our pipeline as a feasible pathway for developing specialized, reliable VLMs in resource-constrained environments.
A Comparative Analysis of Sparse Autoencoder and Activation Difference in Language Model Steering
Venue: arXiv cs.CL 2025
Year: 2025

Sparse autoencoders (SAEs) have recently emerged as a powerful tool for language model steering. Prior work has explored top-k SAE latents for steering, but we observe that many dimensions among the top-k latents capture non-semantic features such as punctuation rather than semantic attributes like instructions. To address this, we propose focusing on a single, most relevant SAE latent (top-1), eliminating redundant features. We further identify a limitation in constant SAE steering, which often produces degenerate outputs such as repetitive single words. To mitigate this, we introduce a token-wise decaying steering strategy, enabling more faithful comparisons with mean activation difference baselines. Empirically, we show that steering an SAE latent associated with reasoning reliably elicits step-by-step mathematical reasoning and enhances inference quality, functionally resembling the effect of appending a guiding token. Our results demonstrate that SAEs outperform mean activation difference methods on mathematical reasoning benchmarks and match their performance on IF-Eval.
IoT-MCP: Bridging LLMs and IoT Systems Through Model Context Protocol
Venue: arXiv cs.DC 2025
Year: 2025

The integration of Large Language Models (LLMs) with Internet-of-Things (IoT) systems faces significant challenges in hardware heterogeneity and control complexity. The Model Context Protocol (MCP) emerges as a critical enabler, providing standardized communication between LLMs and physical devices. We propose IoT-MCP, a novel framework that implements MCP through edge-deployed servers to bridge LLMs and IoT ecosystems. To support rigorous evaluation, we introduce IoT-MCP Bench, the first benchmark containing 114 Basic Tasks (e.g., ``What is the current temperature?'') and 1,140 Complex Tasks (e.g., ``I feel so hot, do you have any ideas?'') for IoT-enabled LLMs. Experimental validation across 22 sensor types and 6 microcontroller units demonstrates IoT-MCP's 100% task success rate to generate tool calls that fully meet expectations and obtain completely accurate results, 205ms average response time, and 74KB peak memory footprint. This work delivers both an open-source integration framework (https://github.com/Duke-CEI-Center/IoT-MCP-Servers) and a standardized evaluation methodology for LLM-IoT systems.
Safe Reinforcement Learning-Based Vibration Control: Overcoming Training Risks with LQR Guidance
Venue: arXiv cs.LG 2025
Year: 2025

Structural vibrations induced by external excitations pose significant risks, including safety hazards for occupants, structural damage, and increased maintenance costs. While conventional model-based control strategies, such as Linear Quadratic Regulator (LQR), effectively mitigate vibrations, their reliance on accurate system models necessitates tedious system identification. This tedious system identification process can be avoided by using a model-free Reinforcement learning (RL) method. RL controllers derive their policies solely from observed structural behaviour, eliminating the requirement for an explicit structural model. For an RL controller to be truly model-free, its training must occur on the actual physical system rather than in simulation. However, during this training phase, the RL controller lacks prior knowledge and it exerts control force on the structure randomly, which can potentially harm the structure. To mitigate this risk, we propose guiding the RL controller using a Linear Quadratic Regulator (LQR) controller. While LQR control typically relies on an accurate structural model for optimal performance, our observations indicate that even an LQR controller based on an entirely incorrect model outperforms the uncontrolled scenario. Motivated by this finding, we introduce a hybrid control framework that integrates both LQR and RL controllers. In this approach, the LQR policy is derived from a randomly selected model and its parameters. As this LQR policy does not require knowledge of the true or an approximate structural model the overall framework remains model-free. This hybrid approach eliminates dependency on explicit system models while minimizing exploration risks inherent in naive RL implementations. As per our knowledge, this is the first study to address the critical training safety challenge of RL-based vibration control and provide a validated solution.
Discovering Self-Regulated Learning Patterns in Chatbot-Powered Education Environment
Venue: arXiv cs.CY 2025
Year: 2025

The increasing adoption of generative AI (GenAI) tools such as chatbots in education presents new opportunities to support students' self-regulated learning (SRL), but also raises concerns about how learners actually engage in planning, executing, and reflection when learning with a chatbot. While SRL is typically conceptualized as a sequential process, little is known about how it unfolds during real-world student-chatbot interactions. To explore this, we proposed Gen-SRL, an annotation schema to categorize student prompts into 16 microlevel actions across 4 macrolevel phases. Using the proposed schema, we annotated 212 chatbot interactions from a real-world English writing task. We then performed frequency analysis and process mining (PM) techniques to discover SRL patterns in depth. Our results revealed that students' SRL behaviours were imbalanced, with over 82% of actions focused on task execution and limited engagement in planning and reflection. In addition, the process analysis showed nonsequential regulation patterns. Our findings suggest that classical SRL theories cannot fully capture the dynamic SRL patterns that emerge during chatbot interactions. Furthermore, we highlight the importance of designing adaptive and personalized scaffolds that respond to students' dynamic behaviours in chatbot-powered contexts. More importantly, this study offers a new perspective for advancing SRL research and suggests directions for developing chatbots that better support self-regulation.
Evaluation Sheet for Deep Research: A Use Case for Academic Survey Writing
Venue: arXiv cs.CL 2025
Year: 2025

Large Language Models (LLMs) powered with argentic capabilities are able to do knowledge-intensive tasks without human involvement. A prime example of this tool is Deep research with the capability to browse the web, extract information and generate multi-page reports. In this work, we introduce an evaluation sheet that can be used for assessing the capability of Deep Research tools. In addition, we selected academic survey writing as a use case task and evaluated output reports based on the evaluation sheet we introduced. Our findings show the need to have carefully crafted evaluation standards. The evaluation done on OpenAI`s Deep Search and Google's Deep Search in generating an academic survey showed the huge gap between search engines and standalone Deep Research tools, the shortcoming in representing the targeted area.