OpenRaiser/Intern-Atlas huggingface dataset:
Robust Flower Cluster Matching Using The Unscented Transform
Venue: arXiv cs.RO 2025
Year: 2025

Monitoring flowers over time is essential for precision robotic pollination in agriculture. To accomplish this, a continuous spatial-temporal observation of plant growth can be done using stationary RGB-D cameras. However, image registration becomes a serious challenge due to changes in the visual appearance of the plant caused by the pollination process and occlusions from growth and camera angles. Plants flower in a manner that produces distinct clusters on branches. This paper presents a method for matching flower clusters using descriptors generated from RGB-D data and considers allowing for spatial uncertainty within the cluster. The proposed approach leverages the Unscented Transform to efficiently estimate plant descriptor uncertainty tolerances, enabling a robust image-registration process despite temporal changes. The Unscented Transform is used to handle the nonlinear transformations by propagating the uncertainty of flower positions to determine the variations in the descriptor domain. A Monte Carlo simulation is used to validate the Unscented Transform results, confirming our method's effectiveness for flower cluster matching. Therefore, it can facilitate improved robotics pollination in dynamic environments.
Enhancing Multi-modal Models with Heterogeneous MoE Adapters for Fine-tuning
Venue: arXiv cs.LG 2025
Year: 2025

Multi-modal models excel in cross-modal tasks but are computationally expensive due to their billions of parameters. Parameter-efficient fine-tuning (PEFT) offers a solution by adding small trainable components while freezing pre-trained parameters. However, existing methods primarily focus on uni-modal processing, overlooking the critical modal fusion needed for multi-modal tasks. To fill this gap, we propose heterogeneous mixture of experts adapters that extend the traditional PEFT framework to support multi-modal expert combinations and improve information interaction. Additionally, our approach modifies the affine linear expert design to enable efficient modal fusion in a low-rank space, achieving competitive performance with only 5-8\% of the parameters fine-tuned. Experiments across eight downstream tasks, including visual-audio and text-visual, demonstrate the superior performance of the approach.
Vision as LoRA
Venue: arXiv cs.CV 2025
Year: 2025

We introduce Vision as LoRA (VoRA), a novel paradigm for transforming an LLM into an MLLM. Unlike prevalent MLLM architectures that rely on external vision modules for vision encoding, VoRA internalizes visual capabilities by integrating vision-specific LoRA layers directly into the LLM. This design allows the added parameters to be seamlessly merged into the LLM during inference, eliminating structural complexity and minimizing computational overhead. Moreover, inheriting the LLM's ability of handling flexible context, VoRA can process inputs at arbitrary resolutions. To further strengthen VoRA's visual capabilities, we introduce a block-wise distillation method that transfers visual priors from a pre-trained ViT into the LoRA layers, effectively accelerating training by injecting visual knowledge. Additionally, we apply bi-directional attention masks to better capture the context information of an image. We successfully demonstrate that with additional pre-training data, VoRA can perform comparably with conventional encode-based MLLMs. All training data, codes, and model weights will be released at https://github.com/Hon-Wong/VoRA.
Technical Note: Continuum Theory of Mixture for Three-phase Thermomechanical Model of Fiber-reinforced Aerogel Composites
Venue: arXiv cs.CE 2025
Year: 2025

We present a thermodynamically consistent three-phase model for the coupled thermal transport and mechanical deformation of ceramic aerogel porous composite materials, which is formulated via continuum mixture theory. The composite comprises a solid silica skeleton, a gaseous fluid phase, and dispersed solid fibers. The thermal transport model incorporates the effects of meso- and macro-pore size variations due to the Knudsen effect, achieved by upscaling phonon transport relations to derive constitutive equations for the fluid thermal conductivity. The mechanical model captures solid-solid and solid-fluid interactions through momentum exchange between phases. A mixed finite element formulation is employed to solve the multiphase model, and numerical studies are conducted to analyze key features of the computational model.
From Annotation to Adaptation: Metrics, Synthetic Data, and Aspect Extraction for Aspect-Based Sentiment Analysis with Large Language Models
Venue: arXiv cs.CL 2025
Year: 2025

This study examines the performance of Large Language Models (LLMs) in Aspect-Based Sentiment Analysis (ABSA), with a focus on implicit aspect extraction in a novel domain. Using a synthetic sports feedback dataset, we evaluate open-weight LLMs' ability to extract aspect-polarity pairs and propose a metric to facilitate the evaluation of aspect extraction with generative models. Our findings highlight both the potential and limitations of LLMs in the ABSA task.
Multi-Robot Coordination Under Physical Limitations
Venue: arXiv cs.RO 2025
Year: 2025

Multi-robot coordination is fundamental to various applications, including autonomous exploration, search and rescue, and cooperative transportation. This paper presents an optimal consensus framework for multi-robot systems (MRSs) that ensures efficient rendezvous while minimizing energy consumption and addressing actuator constraints. A critical challenge in real-world deployments is actuator limitations, particularly wheel velocity saturation, which can significantly degrade control performance. To address this issue, we incorporate Pontryagin Minimum Principle (PMP) into the control design, facilitating constrained optimization while ensuring system stability and feasibility. The resulting optimal control policy effectively balances coordination efficiency and energy consumption, even in the presence of actuation constraints. The proposed framework is validated through extensive numerical simulations and real-world experiments conducted using a team of Robotarium mobile robots. The experimental results confirm that our control strategies achieve reliable and efficient coordinated rendezvous while addressing real-world challenges such as communication delays, sensor noise, and packet loss.
Optimal Scaling Laws for Efficiency Gains in a Theoretical Transformer-Augmented Sectional MoE Framework
Venue: arXiv cs.LG 2025
Year: 2025

This paper introduces a theoretical framework for a Transformer-augmented, sectional Mixture-of-Experts (MoE) architecture that aims to enhance computational efficiency while preserving model scalability. Unlike conventional MoE models, which route entire token embeddings to selected experts, our approach portions the embedding dimension itself -- assigning segments of each token's representation to dedicated experts. To combat losses in token representation, we utilize a pre-expert transformer layer to recompute attention across tokens and reduce the sequence length dimensionality. We extend our theory by deriving optimal scaling laws that a non-linear relationship between the number of experts and factors such as model dimensionality, sequence length, and system overhead. These formulations yield closed-form and numerically-solvable expressions for identifying the optimal expert count under given architectural and hardware constraints. As a result, our framework not only provides theoretical bounds for computing efficiency with varying frameworks but also guides practical design choices for scaling large models effectively. While empirical validation is pending, we present a comprehensive experimental road map to evaluate the framework's efficiency, scalability, and practicality in future work.
ADS-Edit: A Multimodal Knowledge Editing Dataset for Autonomous Driving Systems
Venue: arXiv cs.CL 2025
Year: 2025

Recent advancements in Large Multimodal Models (LMMs) have shown promise in Autonomous Driving Systems (ADS). However, their direct application to ADS is hindered by challenges such as misunderstanding of traffic knowledge, complex road conditions, and diverse states of vehicle. To address these challenges, we propose the use of Knowledge Editing, which enables targeted modifications to a model's behavior without the need for full retraining. Meanwhile, we introduce ADS-Edit, a multimodal knowledge editing dataset specifically designed for ADS, which includes various real-world scenarios, multiple data types, and comprehensive evaluation metrics. We conduct comprehensive experiments and derive several interesting conclusions. We hope that our work will contribute to the further advancement of knowledge editing applications in the field of autonomous driving. Code and data are available in https://github.com/zjunlp/EasyEdit/blob/main/examples/ADSEdit.md.
An Empirical Study of the Impact of Federated Learning on Machine Learning Model Accuracy
Venue: arXiv cs.LG 2025
Year: 2025

Federated Learning (FL) enables distributed ML model training on private user data at the global scale. Despite the potential of FL demonstrated in many domains, an in-depth view of its impact on model accuracy remains unclear. In this paper, we investigate, systematically, how this learning paradigm can affect the accuracy of state-of-the-art ML models for a variety of ML tasks. We present an empirical study that involves various data types: text, image, audio, and video, and FL configuration knobs: data distribution, FL scale, client sampling, and local and global computations. Our experiments are conducted in a unified FL framework to achieve high fidelity, with substantial human efforts and resource investments. Based on the results, we perform a quantitative analysis of the impact of FL, and highlight challenging scenarios where applying FL degrades the accuracy of the model drastically and identify cases where the impact is negligible. The detailed and extensive findings can benefit practical deployments and future development of FL.
Can Zero-Shot Commercial APIs Deliver Regulatory-Grade Clinical Text DeIdentification?
Venue: arXiv cs.CL 2025
Year: 2025

We evaluate the performance of four leading solutions for de-identification of unstructured medical text - Azure Health Data Services, AWS Comprehend Medical, OpenAI GPT-4o, and John Snow Labs - on a ground truth dataset of 48 clinical documents annotated by medical experts. The analysis, conducted at both entity-level and token-level, suggests that John Snow Labs' Medical Language Models solution achieves the highest accuracy, with a 96% F1-score in protected health information (PHI) detection, outperforming Azure (91%), AWS (83%), and GPT-4o (79%). John Snow Labs is not only the only solution which achieves regulatory-grade accuracy (surpassing that of human experts) but is also the most cost-effective solution: It is over 80% cheaper compared to Azure and GPT-4o, and is the only solution not priced by token. Its fixed-cost local deployment model avoids the escalating per-request fees of cloud-based services, making it a scalable and economical choice.
Advancing Vulnerability Classification with BERT: A Multi-Objective Learning Model
Venue: arXiv cs.CR 2025
Year: 2025

The rapid increase in cybersecurity vulnerabilities necessitates automated tools for analyzing and classifying vulnerability reports. This paper presents a novel Vulnerability Report Classifier that leverages the BERT (Bidirectional Encoder Representations from Transformers) model to perform multi-label classification of Common Vulnerabilities and Exposures (CVE) reports from the National Vulnerability Database (NVD). The classifier predicts both the severity (Low, Medium, High, Critical) and vulnerability types (e.g., Buffer Overflow, XSS) from textual descriptions. We introduce a custom training pipeline using a combined loss function-Cross-Entropy for severity and Binary Cross-Entropy with Logits for types-integrated into a Hugging Face Trainer subclass. Experiments on recent NVD data demonstrate promising results, with decreasing evaluation loss across epochs. The system is deployed via a REST API and a Streamlit UI, enabling real-time vulnerability analysis. This work contributes a scalable, open-source solution for cybersecurity practitioners to automate vulnerability triage.
CodeTool: Enhancing Programmatic Tool Invocation of LLMs via Process Supervision
Venue: arXiv cs.AI 2025
Year: 2025

Tool invocation significantly enhances the capabilities of Large Language Models (LLMs), yet challenges persist, particularly in complex task scenarios. Current methods, such as instruction-enhanced reasoning and supervised fine-tuning, often result in unnecessarily long reasoning paths and face difficulties in verifying the correctness of intermediate steps. In this paper, we propose CodeTool, a novel framework for stepwise code generation that improves LLM tool invocation by leveraging the concise and easily verifiable nature of code. CodeTool incorporates two distinct process rewards: the On-the-spot Reward, which provides immediate feedback on the accuracy of each tool invocation, and the Latent Reward, which assesses the contribution of each step toward overall task completion. By maximizing the cumulative reward of the On-the-spot and Latend Rewards at each step, LLMs are guided to follow efficient and accurate reasoning paths. Extensive experiments on StableToolBench and RestBench-TMDB demonstrate the superiority of CodeTool over existing approaches.
A Study of Perceived Safety for Soft Robotics in Caregiving Tasks
Venue: arXiv cs.RO 2025
Year: 2025

In this project, we focus on human-robot interaction in caregiving scenarios like bathing, where physical contact is inevitable and necessary for proper task execution because force must be applied to the skin. Using finite element analysis, we designed a 3D-printed gripper combining positive and negative pressure for secure yet compliant handling. Preliminary tests showed it exerted a lower, more uniform pressure profile than a standard rigid gripper. In a user study, participants' trust in robots significantly increased after they experienced a brief bathing demonstration performed by a robotic arm equipped with the soft gripper. These results suggest that soft robotics can enhance perceived safety and acceptance in intimate caregiving scenarios.
Reflex: Faster Secure Collaborative Analytics via Controlled Intermediate Result Size Disclosure
Venue: arXiv cs.DB 2025
Year: 2025

Secure Multi-Party Computation (MPC) enables collaborative analytics without exposing private data. However, OLAP queries under MPC remain prohibitively slow due to oblivious execution and padding of intermediate results with filler tuples. We present Reflex, the first framework that enables configurable trimming of intermediate results across different query operators -- joins, selections, and aggregations -- within full query plans. At its core is the Resizer operator, which can be inserted between any oblivious operators to selectively remove filler tuples under MPC using user-defined probabilistic strategies. To make privacy trade-offs interpretable, we introduce a new metric that quantifies the number of observations an attacker would need to infer the true intermediate result sizes. Reflex thus makes the performance-privacy space of secure analytics navigable, allowing users to balance efficiency and protection. Experiments show substantial runtime reductions while maintaining quantifiable privacy guarantees.
Leveraging LLMs, IDEs, and Semantic Embeddings for Automated Move Method Refactoring
Venue: arXiv cs.SE 2025
Year: 2025

MOVEMETHOD is a hallmark refactoring. Despite a plethora of research tools that recommend which methods to move and where, these recommendations do not align with how expert developers perform MOVEMETHOD. Given the extensive training of Large Language Models and their reliance upon naturalness of code, they should expertly recommend which methods are misplaced in a given class and which classes are better hosts. Our formative study of 2016 LLM recommendations revealed that LLMs give expert suggestions, yet they are unreliable: up to 80% of the suggestions are hallucinations. We introduce the first LLM fully powered assistant for MOVEMETHOD refactoring that automates its whole end-to-end lifecycle, from recommendation to execution. We designed novel solutions that automatically filter LLM hallucinations using static analysis from IDEs and a novel workflow that requires LLMs to be self-consistent, critique, and rank refactoring suggestions. As MOVEMETHOD refactoring requires global, projectlevel reasoning, we solved the limited context size of LLMs by employing refactoring-aware retrieval augment generation (RAG). Our approach, MM-assist, synergistically combines the strengths of the LLM, IDE, static analysis, and semantic relevance. In our thorough, multi-methodology empirical evaluation, we compare MM-assist with the previous state-of-the-art approaches. MM-assist significantly outperforms them: (i) on a benchmark widely used by other researchers, our Recall@1 and Recall@3 show a 1.7x improvement; (ii) on a corpus of 210 recent refactorings from Open-source software, our Recall rates improve by at least 2.4x. Lastly, we conducted a user study with 30 experienced participants who used MM-assist to refactor their own code for one week. They rated 82.8% of MM-assist recommendations positively. This shows that MM-assist is both effective and useful.
Clean & Clear: Feasibility of Safe LLM Clinical Guidance
Venue: arXiv cs.CL 2025
Year: 2025

Background: Clinical guidelines are central to safe evidence-based medicine in modern healthcare, providing diagnostic criteria, treatment options and monitoring advice for a wide range of illnesses. LLM-empowered chatbots have shown great promise in Healthcare Q&A tasks, offering the potential to provide quick and accurate responses to medical inquiries. Our main objective was the development and preliminary assessment of an LLM-empowered chatbot software capable of reliably answering clinical guideline questions using University College London Hospital (UCLH) clinical guidelines. Methods: We used the open-weight Llama-3.1-8B LLM to extract relevant information from the UCLH guidelines to answer questions. Our approach highlights the safety and reliability of referencing information over its interpretation and response generation. Seven doctors from the ward assessed the chatbot's performance by comparing its answers to the gold standard. Results: Our chatbot demonstrates promising performance in terms of relevance, with ~73% of its responses rated as very relevant, showcasing a strong understanding of the clinical context. Importantly, our chatbot achieves a recall of 1.00 for extracted guideline lines, substantially minimising the risk of missing critical information. Approximately 78% of responses were rated satisfactory in terms of completeness. A small portion (~14.5%) contained minor unnecessary information, indicating occasional lapses in precision. The chatbot' showed high efficiency, with an average completion time of 10 seconds, compared to 30 seconds for human respondents. Evaluation of clinical reasoning showed that 72% of the chatbot's responses were without flaws. Our chatbot demonstrates significant potential to speed up and improve the process of accessing locally relevant clinical information for healthcare professionals.
Competitive Multi-armed Bandit Games for Resource Sharing
Venue: arXiv cs.GT 2025
Year: 2025

In modern resource-sharing systems, multiple agents access limited resources with unknown stochastic conditions to perform tasks. When multiple agents access the same resource (arm) simultaneously, they compete for successful usage, leading to contention and reduced rewards. This motivates our study of competitive multi-armed bandit (CMAB) games. In this paper, we study a new N-player K-arm competitive MAB game, where non-myopic players (agents) compete with each other to form diverse private estimations of unknown arms over time. Their possible collisions on same arms and time-varying nature of arm rewards make the policy analysis more involved than existing studies for myopic players. We explicitly analyze the threshold-based structures of social optimum and existing selfish policy, showing that the latter causes prolonged convergence time $Ω(\frac{K}{η^2}\ln({\frac{KN}δ}))$, while socially optimal policy with coordinated communication reduces it to $\mathcal{O}(\frac{K}{Nη^2}\ln{(\frac{K}δ)})$. Based on the comparison, we prove that the competition among selfish players for the best arm can result in an infinite price of anarchy (PoA), indicating an arbitrarily large efficiency loss compared to social optimum. We further prove that no informational (non-monetary) mechanism (including Bayesian persuasion) can reduce the infinite PoA, as the strategic misreporting by non-myopic players undermines such approaches. To address this, we propose a Combined Informational and Side-Payment (CISP) mechanism, which provides socially optimal arm recommendations with proper informational and monetary incentives to players according to their time-varying private beliefs. Our CISP mechanism keeps ex-post budget balanced for social planner and ensures truthful reporting from players, achieving the minimum PoA=1 and same convergence time as social optimum.
Offline Action-Free Learning of Ex-BMDPs by Comparing Diverse Datasets
Venue: arXiv cs.LG 2025
Year: 2025

While sequential decision-making environments often involve high-dimensional observations, not all features of these observations are relevant for control. In particular, the observation space may capture factors of the environment which are not controllable by the agent, but which add complexity to the observation space. The need to ignore these "noise" features in order to operate in a tractably-small state space poses a challenge for efficient policy learning. Due to the abundance of video data available in many such environments, task-independent representation learning from action-free offline data offers an attractive solution. However, recent work has highlighted theoretical limitations in action-free learning under the Exogenous Block MDP (Ex-BMDP) model, where temporally-correlated noise features are present in the observations. To address these limitations, we identify a realistic setting where representation learning in Ex-BMDPs becomes tractable: when action-free video data from multiple agents with differing policies are available. Concretely, this paper introduces CRAFT (Comparison-based Representations from Action-Free Trajectories), a sample-efficient algorithm leveraging differences in controllable feature dynamics across agents to learn representations. We provide theoretical guarantees for CRAFT's performance and demonstrate its feasibility on a toy example, offering a foundation for practical methods in similar settings.
Exploring Interference between Concurrent Skin Stretches
Venue: arXiv cs.HC 2025
Year: 2025

Proprioception is essential for coordinating human movements and enhancing the performance of assistive robotic devices. Skin stretch feedback, which closely aligns with natural proprioception mechanisms, presents a promising method for conveying proprioceptive information. To better understand the impact of interference on skin stretch perception, we conducted a user study with 30 participants that evaluated the effect of two simultaneous skin stretches on user perception. We observed that when participants experience simultaneous skin stretch stimuli, a masking effect occurs which deteriorates perception performance in the collocated skin stretch configurations. However, the perceived workload stays the same. These findings show that interference can affect the perception of skin stretch such that multi-channel skin stretch feedback designs should avoid locating modules in close proximity.