OpenRaiser/Intern-Atlas huggingface dataset:
Touch Speaks, Sound Feels: A Multimodal Approach to Affective and Social Touch from Robots to Humans
Venue: arXiv cs.RO 2025
Year: 2025

Affective tactile interaction constitutes a fundamental component of human communication. In natural human-human encounters, touch is seldom experienced in isolation; rather, it is inherently multisensory. Individuals not only perceive the physical sensation of touch but also register the accompanying auditory cues generated through contact. The integration of haptic and auditory information forms a rich and nuanced channel for emotional expression. While extensive research has examined how robots convey emotions through facial expressions and speech, their capacity to communicate social gestures and emotions via touch remains largely underexplored. To address this gap, we developed a multimodal interaction system incorporating a 5*5 grid of 25 vibration motors synchronized with audio playback, enabling robots to deliver combined haptic-audio stimuli. In an experiment involving 32 Chinese participants, ten emotions and six social gestures were presented through vibration, sound, or their combination. Participants rated each stimulus on arousal and valence scales. The results revealed that (1) the combined haptic-audio modality significantly enhanced decoding accuracy compared to single modalities; (2) each individual channel-vibration or sound-effectively supported certain emotions recognition, with distinct advantages depending on the emotional expression; and (3) gestures alone were generally insufficient for conveying clearly distinguishable emotions. These findings underscore the importance of multisensory integration in affective human-robot interaction and highlight the complementary roles of haptic and auditory cues in enhancing emotional communication.
Recommendation Is a Dish Better Served Warm
Venue: arXiv cs.IR 2025
Year: 2025

In modern recommender systems, experimental settings typically include filtering out cold users and items based on a minimum interaction threshold. However, these thresholds are often chosen arbitrarily and vary widely across studies, leading to inconsistencies that can significantly affect the comparability and reliability of evaluation results. In this paper, we systematically explore the cold-start boundary by examining the criteria used to determine whether a user or an item should be considered cold. Our experiments incrementally vary the number of interactions for different items during training, and gradually update the length of user interaction histories during inference. We investigate the thresholds across several widely used datasets, commonly represented in recent papers from top-tier conferences, and on multiple established recommender baselines. Our findings show that inconsistent selection of cold-start thresholds can either result in the unnecessary removal of valuable data or lead to the misclassification of cold instances as warm, introducing more noise into the system.
Adopting Road-Weather Open Data in Route Recommendation Engine
Venue: arXiv cs.SE 2025
Year: 2025

Digitraffic, Finland's open road data interface, provides access to nationwide road sensors with more than 2,300 real-time attributes from 1,814 stations. However, efficiently utilizing such a versatile data API for a practical application requires a deeper understanding of the data qualities, preprocessing phases, and machine learning tools. This paper discusses the challenges of large-scale road weather and traffic data. We go through the road-weather-related attributes from DigiTraffic as a practical example of processes required to work with such a dataset. In addition, we provide a methodology for efficient data utilization for the target application, a personalized road recommendation engine based on a simple routing application. We validate our solution based on real-world data, showing we can efficiently identify and recommend personalized routes for three different driver profiles.
Scalable and Energy-Efficient Predictive Data Collection in Wireless Sensor Networks with Constructive Interference
Venue: arXiv cs.NI 2025
Year: 2025

A new class of Wireless Sensor Network has emerged whereby multiple nodes transmit data simultaneously, exploiting constructive interference to enable data collection frameworks with low energy usage and latency. This paper presents STAIR (Spatio-Temporal Activation for Intelligent Relaying), a scalable, resilient framework for Wireless Sensor Networks that leverages constructive interference and operates effectively under stringent resource constraints. Using constructive interference requires all nodes to transmit the same packet at the same time, thus, only one source node can send data per time slot. STAIR uses coarse-grained topology information to flood a selected subset of the network, relaying sensor readings from individual nodes during their allocated time slots. A submodular optimisation algorithm with proven quality bounds determines near-optimal sensor activation locations and times, aiming to minimise the sum of mean squared prediction errors from a multiple multivariate linear regression model, which is used to estimate values at unselected locations and times. This framework has been extensively validated on a real-world testbed deployment.
NeeCo: Image Synthesis of Novel Instrument States Based on Dynamic and Deformable 3D Gaussian Reconstruction
Venue: arXiv cs.CV 2025
Year: 2025

Computer vision-based technologies significantly enhance surgical automation by advancing tool tracking, detection, and localization. However, Current data-driven approaches are data-voracious, requiring large, high-quality labeled image datasets, which limits their application in surgical data science. Our Work introduces a novel dynamic Gaussian Splatting technique to address the data scarcity in surgical image datasets. We propose a dynamic Gaussian model to represent dynamic surgical scenes, enabling the rendering of surgical instruments from unseen viewpoints and deformations with real tissue backgrounds. We utilize a dynamic training adjustment strategy to address challenges posed by poorly calibrated camera poses from real-world scenarios. Additionally, we propose a method based on dynamic Gaussians for automatically generating annotations for our synthetic data. For evaluation, we constructed a new dataset featuring seven scenes with 14,000 frames of tool and camera motion and tool jaw articulation, with a background of an ex-vivo porcine model. Using this dataset, we synthetically replicate the scene deformation from the ground truth data, allowing direct comparisons of synthetic image quality. Experimental results illustrate that our method generates photo-realistic labeled image datasets with the highest values in Peak-Signal-to-Noise Ratio (29.87). We further evaluate the performance of medical-specific neural networks trained on real and synthetic images using an unseen real-world image dataset. Our results show that the performance of models trained on synthetic images generated by the proposed method outperforms those trained with state-of-the-art standard data augmentation by 10%, leading to an overall improvement in model performances by nearly 15%.
MolmoAct: Action Reasoning Models that can Reason in Space
Venue: arXiv cs.RO 2025
Year: 2025

Reasoning is central to purposeful action, yet most robotic foundation models map perception and instructions directly to control, which limits adaptability, generalization, and semantic grounding. We introduce Action Reasoning Models (ARMs), a class of robotic foundation models that integrate perception, planning, and control through a structured three-stage pipeline. Our model, MolmoAct, encodes observations and instructions into depth-aware perception tokens, generates mid-level spatial plans as editable trajectory traces, and predicts precise low-level actions, enabling explainable and steerable behavior. MolmoAct-7B-D achieves strong performance across simulation and real-world settings: 70.5% zero-shot accuracy on SimplerEnv Visual Matching tasks, surpassing closed-source Pi-0 and GR00T N1.5; 86.6% average success on LIBERO, including an additional 6.3% gain over ThinkAct on long-horizon tasks; and in real-world fine-tuning, an additional 10% (single-arm) and an additional 22.7% (bimanual) task progression over Pi-0-FAST. It also outperforms baselines by an additional 23.3% on out-of-distribution generalization and achieves top human-preference scores for open-ended instruction following and trajectory steering. Furthermore, we release, for the first time, the MolmoAct Dataset -- a mid-training robot dataset comprising over 10,000 high quality robot trajectories across diverse scenarios and tasks. Training with this dataset yields an average 5.5% improvement in general performance over the base model. We release all model weights, training code, our collected dataset, and our action reasoning dataset, establishing MolmoAct as both a state-of-the-art robotics foundation model and an open blueprint for building ARMs that transform perception into purposeful action through structured reasoning. Blogpost: https://allenai.org/blog/molmoact
RSVLM-QA: A Benchmark Dataset for Remote Sensing Vision Language Model-based Question Answering
Venue: arXiv cs.CV 2025
Year: 2025

Visual Question Answering (VQA) in remote sensing (RS) is pivotal for interpreting Earth observation data. However, existing RS VQA datasets are constrained by limitations in annotation richness, question diversity, and the assessment of specific reasoning capabilities. This paper introduces RSVLM-QA dataset, a new large-scale, content-rich VQA dataset for the RS domain. RSVLM-QA is constructed by integrating data from several prominent RS segmentation and detection datasets: WHU, LoveDA, INRIA, and iSAID. We employ an innovative dual-track annotation generation pipeline. Firstly, we leverage Large Language Models (LLMs), specifically GPT-4.1, with meticulously designed prompts to automatically generate a suite of detailed annotations including image captions, spatial relations, and semantic tags, alongside complex caption-based VQA pairs. Secondly, to address the challenging task of object counting in RS imagery, we have developed a specialized automated process that extracts object counts directly from the original segmentation data; GPT-4.1 then formulates natural language answers from these counts, which are paired with preset question templates to create counting QA pairs. RSVLM-QA comprises 13,820 images and 162,373 VQA pairs, featuring extensive annotations and diverse question types. We provide a detailed statistical analysis of the dataset and a comparison with existing RS VQA benchmarks, highlighting the superior depth and breadth of RSVLM-QA's annotations. Furthermore, we conduct benchmark experiments on Six mainstream Vision Language Models (VLMs), demonstrating that RSVLM-QA effectively evaluates and challenges the understanding and reasoning abilities of current VLMs in the RS domain. We believe RSVLM-QA will serve as a pivotal resource for the RS VQA and VLM research communities, poised to catalyze advancements in the field.
SCDF: A Speaker Characteristics DeepFake Speech Dataset for Bias Analysis
Venue: arXiv cs.SD 2025
Year: 2025

Despite growing attention to deepfake speech detection, the aspects of bias and fairness remain underexplored in the speech domain. To address this gap, we introduce the Speaker Characteristics Deepfake (SCDF) dataset: a novel, richly annotated resource enabling systematic evaluation of demographic biases in deepfake speech detection. SCDF contains over 237,000 utterances in a balanced representation of both male and female speakers spanning five languages and a wide age range. We evaluate several state-of-the-art detectors and show that speaker characteristics significantly influence detection performance, revealing disparities across sex, language, age, and synthesizer type. These findings highlight the need for bias-aware development and provide a foundation for building non-discriminatory deepfake detection systems aligned with ethical and regulatory standards.
FEAT: A Multi-Agent Forensic AI System with Domain-Adapted Large Language Model for Automated Cause-of-Death Analysis
Venue: arXiv cs.AI 2025
Year: 2025

Forensic cause-of-death determination faces systemic challenges, including workforce shortages and diagnostic variability, particularly in high-volume systems like China's medicolegal infrastructure. We introduce FEAT (ForEnsic AgenT), a multi-agent AI framework that automates and standardizes death investigations through a domain-adapted large language model. FEAT's application-oriented architecture integrates: (i) a central Planner for task decomposition, (ii) specialized Local Solvers for evidence analysis, (iii) a Memory & Reflection module for iterative refinement, and (iv) a Global Solver for conclusion synthesis. The system employs tool-augmented reasoning, hierarchical retrieval-augmented generation, forensic-tuned LLMs, and human-in-the-loop feedback to ensure legal and medical validity. In evaluations across diverse Chinese case cohorts, FEAT outperformed state-of-the-art AI systems in both long-form autopsy analyses and concise cause-of-death conclusions. It demonstrated robust generalization across six geographic regions and achieved high expert concordance in blinded validations. Senior pathologists validated FEAT's outputs as comparable to those of human experts, with improved detection of subtle evidentiary nuances. To our knowledge, FEAT is the first LLM-based AI agent system dedicated to forensic medicine, offering scalable, consistent death certification while maintaining expert-level rigor. By integrating AI efficiency with human oversight, this work could advance equitable access to reliable medicolegal services while addressing critical capacity constraints in forensic systems.
Early Explorations of Recommender Systems for Physical Activity and Well-being
Venue: arXiv cs.HC 2025
Year: 2025

As recommender systems increasingly guide physical actions, often through wearables and coaching tools, new challenges arise around how users interpret, trust, and respond to this advice. This paper introduces a conceptual framework for tangible recommendations that influence users' bodies, routines, and well-being. We describe three design dimensions: trust and interpretation, intent alignment, and consequence awareness. These highlight key limitations in applying conventional recommender logic to embodied settings. Through examples and design reflections, we outline how future systems can support long-term well-being, behavioral alignment, and socially responsible personalization.
DIVER: A Multi-Stage Approach for Reasoning-intensive Information Retrieval
Venue: arXiv cs.IR 2025
Year: 2025

Retrieval-augmented generation has achieved strong performance on knowledge-intensive tasks where query-document relevance can be identified through direct lexical or semantic matches. However, many real-world queries involve abstract reasoning, analogical thinking, or multi-step inference, which existing retrievers often struggle to capture. To address this challenge, we present DIVER, a retrieval pipeline designed for reasoning-intensive information retrieval. It consists of four components. The document preprocessing stage enhances readability and preserves content by cleaning noisy texts and segmenting long documents. The query expansion stage leverages large language models to iteratively refine user queries with explicit reasoning and evidence from retrieved documents. The retrieval stage employs a model fine-tuned on synthetic data spanning medical and mathematical domains, along with hard negatives, enabling effective handling of reasoning-intensive queries. Finally, the reranking stage combines pointwise and listwise strategies to produce both fine-grained and globally consistent rankings. On the BRIGHT benchmark, DIVER achieves state-of-the-art nDCG@10 scores of 46.8 overall and 31.9 on original queries, consistently outperforming competitive reasoning-aware models. These results demonstrate the effectiveness of reasoning-aware retrieval strategies in complex real-world tasks.
Robust Anomaly Detection in O-RAN: Leveraging LLMs against Data Manipulation Attacks
Venue: arXiv cs.CR 2025
Year: 2025

The introduction of 5G and the Open Radio Access Network (O-RAN) architecture has enabled more flexible and intelligent network deployments. However, the increased complexity and openness of these architectures also introduce novel security challenges, such as data manipulation attacks on the semi-standardised Shared Data Layer (SDL) within the O-RAN platform through malicious xApps. In particular, malicious xApps can exploit this vulnerability by introducing subtle Unicode-wise alterations (hypoglyphs) into the data that are being used by traditional machine learning (ML)-based anomaly detection methods. These Unicode-wise manipulations can potentially bypass detection and cause failures in anomaly detection systems based on traditional ML, such as AutoEncoders, which are unable to process hypoglyphed data without crashing. We investigate the use of Large Language Models (LLMs) for anomaly detection within the O-RAN architecture to address this challenge. We demonstrate that LLM-based xApps maintain robust operational performance and are capable of processing manipulated messages without crashing. While initial detection accuracy requires further improvements, our results highlight the robustness of LLMs to adversarial attacks such as hypoglyphs in input data. There is potential to use their adaptability through prompt engineering to further improve the accuracy, although this requires further research. Additionally, we show that LLMs achieve low detection latency (under 0.07 seconds), making them suitable for Near-Real-Time (Near-RT) RIC deployments.
Deep Learning-Based Analysis of Power Consumption in Gasoline, Electric, and Hybrid Vehicles
Venue: arXiv cs.LG 2025
Year: 2025

Accurate power consumption prediction is crucial for improving efficiency and reducing environmental impact, yet traditional methods relying on specialized instruments or rigid physical models are impractical for large-scale, real-world deployment. This study introduces a scalable data-driven method using powertrain dynamic feature sets and both traditional machine learning and deep neural networks to estimate instantaneous and cumulative power consumption in internal combustion engine (ICE), electric vehicle (EV), and hybrid electric vehicle (HEV) platforms. ICE models achieved high instantaneous accuracy with mean absolute error and root mean squared error on the order of $10^{-3}$, and cumulative errors under 3%. Transformer and long short-term memory models performed best for EVs and HEVs, with cumulative errors below 4.1% and 2.1%, respectively. Results confirm the approach's effectiveness across vehicles and models. Uncertainty analysis revealed greater variability in EV and HEV datasets than ICE, due to complex power management, emphasizing the need for robust models for advanced powertrains.
BadPromptFL: A Novel Backdoor Threat to Prompt-based Federated Learning in Multimodal Models
Venue: arXiv cs.LG 2025
Year: 2025

Prompt-based tuning has emerged as a lightweight alternative to full fine-tuning in large vision-language models, enabling efficient adaptation via learned contextual prompts. This paradigm has recently been extended to federated learning settings (e.g., PromptFL), where clients collaboratively train prompts under data privacy constraints. However, the security implications of prompt-based aggregation in federated multimodal learning remain largely unexplored, leaving a critical attack surface unaddressed. In this paper, we introduce \textbf{BadPromptFL}, the first backdoor attack targeting prompt-based federated learning in multimodal contrastive models. In BadPromptFL, compromised clients jointly optimize local backdoor triggers and prompt embeddings, injecting poisoned prompts into the global aggregation process. These prompts are then propagated to benign clients, enabling universal backdoor activation at inference without modifying model parameters. Leveraging the contextual learning behavior of CLIP-style architectures, BadPromptFL achieves high attack success rates (e.g., \(>90\%\)) with minimal visibility and limited client participation. Extensive experiments across multiple datasets and aggregation protocols validate the effectiveness, stealth, and generalizability of our attack, raising critical concerns about the robustness of prompt-based federated learning in real-world deployments.
Multi-modal Adaptive Mixture of Experts for Cold-start Recommendation
Venue: arXiv cs.IR 2025
Year: 2025

Recommendation systems have faced significant challenges in cold-start scenarios, where new items with a limited history of interaction need to be effectively recommended to users. Though multimodal data (e.g., images, text, audio, etc.) offer rich information to address this issue, existing approaches often employ simplistic integration methods such as concatenation, average pooling, or fixed weighting schemes, which fail to capture the complex relationships between modalities. Our study proposes a novel Mixture of Experts (MoE) framework for multimodal cold-start recommendation, named MAMEX, which dynamically leverages latent representation from different modalities. MAMEX utilizes modality-specific expert networks and introduces a learnable gating mechanism that adaptively weights the contribution of each modality based on its content characteristics. This approach enables MAMEX to emphasize the most informative modalities for each item while maintaining robustness when certain modalities are less relevant or missing. Extensive experiments on benchmark datasets show that MAMEX outperforms state-of-the-art methods in cold-start scenarios, with superior accuracy and adaptability. For reproducibility, the code has been made available on Github https://github.com/L2R-UET/MAMEX.
False Reality: Uncovering Sensor-induced Human-VR Interaction Vulnerability
Venue: arXiv cs.CR 2025
Year: 2025

Virtual Reality (VR) techniques, serving as the bridge between the real and virtual worlds, have boomed and are widely used in manufacturing, remote healthcare, gaming, etc. Specifically, VR systems offer users immersive experiences that include both perceptions and actions. Various studies have demonstrated that attackers can manipulate VR software to influence users' interactions, including perception and actions. However, such attacks typically require strong access and specialized expertise. In this paper, we are the first to present a systematic analysis of physical attacks against VR systems and introduce False Reality, a new attack threat to VR devices without requiring access to or modification of their software. False Reality disturbs VR system services by tampering with sensor measurements, and further spoofing users' perception even inducing harmful actions, e.g., inducing dizziness or causing users to crash into obstacles, by exploiting perceptual and psychological effects. We formalize these threats through an attack pathway framework and validate three representative pathways via physical experiments and user studies on five commercial VR devices. Finally, we further propose a defense prototype to mitigate such threats. Our findings shall provide valuable insights for enhancing the security and resilience of future VR systems.