OpenRaiser/Intern-Atlas huggingface dataset:
An Open-Source, Reproducible Tensegrity Robot that can Navigate Among Obstacles
Venue: arXiv cs.RO 2025
Year: 2025

Tensegrity robots, composed of rigid struts and elastic tendons, provide impact resistance, low mass, and adaptability to unstructured terrain. Their compliance and complex, coupled dynamics, however, present modeling and control challenges, hindering path planning and obstacle avoidance. This paper presents a complete, open-source, and reproducible system that enables navigation for a 3-bar tensegrity robot. The system comprises: (i) an inexpensive, open-source hardware design, and (ii) an integrated, open-source software stack for physics-based modeling, system identification, state estimation, path planning, and control. All hardware and software are publicly available at https://sites.google.com/view/tensegrity-navigation/. The proposed system tracks the robot's pose and executes collision-free paths to a specified goal among known obstacle locations. System robustness is demonstrated through experiments involving unmodeled environmental challenges, including a vertical drop, an incline, and granular media, culminating in an outdoor field demonstration. To validate reproducibility, experiments were conducted using robot instances at two different laboratories. This work provides the robotics community with a complete navigation system for a compliant, impact-resistant, and shape-morphing robot. This system is intended to serve as a springboard for advancing the navigation capabilities of other unconventional robotic platforms.
Turning Noise into Value: Uncovering Service Preferences from Ambiguous Interaction in E-commerce
Venue: arXiv cs.IR 2025
Year: 2025

In e-commerce service recommendation, utilizing auxiliary behaviors to alleviate data sparsity often relies on the flawed assumption that auxiliary behaviors that fail to trigger target actions are negative samples. This approach is fundamentally flawed as it ignores false negatives where users actually harbor latent intent or interest but have not yet converted due to external factors. Consequently, existing methods suffer from sample selection bias and a severe distribution shift between the auxiliary and target behaviors, leading to the erroneous suppression of potential user needs. To address these challenges, we propose a Noise-to-Value Adapter (NoVa), an e-commerce service recommendation framework that re-examines the problem through the lens of positive-unlabeled learning. Instead of treating ambiguous auxiliary behaviors as definite negatives, NoVa aims to uncover high-quality preferences from noise via two key mechanisms. First, to bridge the distribution gap, we employ adversarial feature alignment. This module aligns the auxiliary behavior distribution with the target space to identify high-confidence false negatives, which are instances that statistically resemble confirmed target behaviors and thus represent latent conversion intents. Second, to mitigate label noise caused by accidental clicks or random browsing, we introduce a semantic consistency constraint. This mechanism implements semantic-aware filtering based on the content similarity of services, acting as a bias correction step to filter out low-confidence interactions that lack semantic relevance to historical user preferences. Extensive experiments on three real-world datasets demonstrate that NoVa outperforms state-of-the-art baselines.
Evader-Agnostic Team-Based Pursuit Strategies in Partially-Observable Environments
Venue: arXiv cs.MA 2025
Year: 2025

We consider a scenario where a team of two unmanned aerial vehicles (UAVs) pursue an evader UAV within an urban environment. Each agent has a limited view of their environment where buildings can occlude their field-of-view. Additionally, the pursuer team is agnostic about the evader in terms of its initial and final location, and the behavior of the evader. Consequently, the team needs to gather information by searching the environment and then track it to eventually intercept. To solve this multi-player, partially-observable, pursuit-evasion game, we develop a two-phase neuro-symbolic algorithm centered around the principle of bounded rationality. First, we devise an offline approach using deep reinforcement learning to progressively train adversarial policies for the pursuer team against fictitious evaders. This creates $k$-levels of rationality for each agent in preparation for the online phase. Then, we employ an online classification algorithm to determine a "best guess" of our current opponent from the set of iteratively-trained strategic agents and apply the best player response. Using this schema, we improved average performance when facing a random evader in our environment.
Can Fine-Tuning Erase Your Edits? On the Fragile Coexistence of Knowledge Editing and Adaptation
Venue: arXiv cs.CL 2025
Year: 2025

Knowledge editing has emerged as a lightweight alternative to retraining for correcting or injecting specific facts in large language models (LLMs). Meanwhile, fine-tuning remains the default operation for adapting LLMs to new domains and tasks. Despite their widespread adoption, these two post-training interventions have been studied in isolation, leaving open a crucial question: if we fine-tune an edited model, do the edits survive? This question is motivated by two practical scenarios: removing covert or malicious edits, and preserving beneficial edits. If fine-tuning impairs edits (Fig.1), current KE methods become less useful, as every fine-tuned model would require re-editing, which significantly increases the cost; if edits persist, fine-tuned models risk propagating hidden malicious edits, raising serious safety concerns. To this end, we systematically quantify edit decay after fine-tuning, investigating how fine-tuning affects knowledge editing. Our results show that edits decay after fine-tuning, with survival varying across configurations, e.g., AlphaEdit edits decay more than MEMIT edits. Further, we find that fine-tuning edited layers only can effectively remove edits, though at a slight cost to downstream performance. Surprisingly, fine-tuning non-edited layers impairs more edits than full fine-tuning. Overall, our study establishes empirical baselines and actionable strategies for integrating knowledge editing with fine-tuning, and underscores that evaluating model editing requires considering the full LLM application pipeline.
EMOD: A Unified EEG Emotion Representation Framework Leveraging V-A Guided Contrastive Learning
Venue: arXiv cs.LG 2025
Year: 2025

Emotion recognition from EEG signals is essential for affective computing and has been widely explored using deep learning. While recent deep learning approaches have achieved strong performance on single EEG emotion datasets, their generalization across datasets remains limited due to the heterogeneity in annotation schemes and data formats. Existing models typically require dataset-specific architectures tailored to input structure and lack semantic alignment across diverse emotion labels. To address these challenges, we propose EMOD: A Unified EEG Emotion Representation Framework Leveraging Valence-Arousal (V-A) Guided Contrastive Learning. EMOD learns transferable and emotion-aware representations from heterogeneous datasets by bridging both semantic and structural gaps. Specifically, we project discrete and continuous emotion labels into a unified V-A space and formulate a soft-weighted supervised contrastive loss that encourages emotionally similar samples to cluster in the latent space. To accommodate variable EEG formats, EMOD employs a flexible backbone comprising a Triple-Domain Encoder followed by a Spatial-Temporal Transformer, enabling robust extraction and integration of temporal, spectral, and spatial features. We pretrain EMOD on 8 public EEG datasets and evaluate its performance on three benchmark datasets. Experimental results show that EMOD achieves the state-of-the-art performance, demonstrating strong adaptability and generalization across diverse EEG-based emotion recognition scenarios.
Unveiling Modality Bias: Automated Sample-Specific Analysis for Multimodal Misinformation Benchmarks
Venue: arXiv cs.AI 2025
Year: 2025

Numerous multimodal misinformation benchmarks exhibit bias toward specific modalities, allowing detectors to make predictions based solely on one modality. While previous research has quantified bias at the dataset level or manually identified spurious correlations between modalities and labels, these approaches lack meaningful insights at the sample level and struggle to scale to the vast amount of online information. In this paper, we investigate the design for automated recognition of modality bias at the sample level. Specifically, we propose three bias quantification methods based on theories/views of different levels of granularity: 1) a coarse-grained evaluation of modality benefit; 2) a medium-grained quantification of information flow; and 3) a fine-grained causality analysis. To verify the effectiveness, we conduct a human evaluation on two popular benchmarks. Experimental results reveal three interesting findings that provide potential direction toward future research: 1)~Ensembling multiple views is crucial for reliable automated analysis; 2)~Automated analysis is prone to detector-induced fluctuations; and 3)~Different views produce a higher agreement on modality-balanced samples but diverge on biased ones.
Retrieval-Augmented Generation in Medicine: A Scoping Review of Technical Implementations, Clinical Applications, and Ethical Considerations
Venue: arXiv cs.CL 2025
Year: 2025

The rapid growth of medical knowledge and increasing complexity of clinical practice pose challenges. In this context, large language models (LLMs) have demonstrated value; however, inherent limitations remain. Retrieval-augmented generation (RAG) technologies show potential to enhance their clinical applicability. This study reviewed RAG applications in medicine. We found that research primarily relied on publicly available data, with limited application in private data. For retrieval, approaches commonly relied on English-centric embedding models, while LLMs were mostly generic, with limited use of medical-specific LLMs. For evaluation, automated metrics evaluated generation quality and task performance, whereas human evaluation focused on accuracy, completeness, relevance, and fluency, with insufficient attention to bias and safety. RAG applications were concentrated on question answering, report generation, text summarization, and information extraction. Overall, medical RAG remains at an early stage, requiring advances in clinical validation, cross-linguistic adaptation, and support for low-resource settings to enable trustworthy and responsible global use.
Designing Incident Reporting Systems for Harms from General-Purpose AI
Venue: arXiv cs.CY 2025
Year: 2025

We introduce a conceptual framework and provide considerations for the institutional design of AI incident reporting systems, i.e., processes for collecting information about safety- and rights-related events caused by general-purpose AI. As general-purpose AI systems are increasingly adopted, they are causing more real-world harms and displaying the potential to cause significantly more dangerous incidents - events that did or could have caused harm to individuals, property, or the environment. Through a literature review, we develop a framework for understanding the institutional design of AI incident reporting systems, which includes seven dimensions: policy goal, actors submitting and receiving reports, type of incidents reported, level of risk materialization, enforcement of reporting, anonymity of reporters, and post-reporting actions. We then examine nine case studies of incident reporting in safety-critical industries to extract design considerations for AI incident reporting in the United States. We discuss, among other factors, differences in systems operated by regulatory vs. non-regulatory government agencies, near miss reporting, the roles of mandatory reporting thresholds and voluntary reporting channels, how to enable safety learning after reporting, sharing incident information, and clarifying legal frameworks for reporting. Our aim is to inform researchers and policymakers about when particular design choices might be more or less appropriate for AI incident reporting.
Injecting Falsehoods: Adversarial Man-in-the-Middle Attacks Undermining Factual Recall in LLMs
Venue: arXiv cs.CR 2025
Year: 2025

LLMs are now an integral part of information retrieval. As such, their role as question answering chatbots raises significant concerns due to their shown vulnerability to adversarial man-in-the-middle (MitM) attacks. Here, we propose the first principled attack evaluation on LLM factual memory under prompt injection via Xmera, our novel, theory-grounded MitM framework. By perturbing the input given to "victim" LLMs in three closed-book and fact-based QA settings, we undermine the correctness of the responses and assess the uncertainty of their generation process. Surprisingly, trivial instruction-based attacks report the highest success rate (up to ~85.3%) while simultaneously having a high uncertainty for incorrectly answered questions. To provide a simple defense mechanism against Xmera, we train Random Forest classifiers on the response uncertainty levels to distinguish between attacked and unattacked queries (average AUC of up to ~96%). We believe that signaling users to be cautious about the answers they receive from black-box and potentially corrupt LLMs is a first checkpoint toward user cyberspace safety.
10 Open Challenges Steering the Future of Vision-Language-Action Models
Venue: arXiv cs.RO 2025
Year: 2025

Due to their ability of follow natural language instructions, vision-language-action (VLA) models are increasingly prevalent in the embodied AI arena, following the widespread success of their precursors -- LLMs and VLMs. In this paper, we discuss 10 principal milestones in the ongoing development of VLA models -- multimodality, reasoning, data, evaluation, cross-robot action generalization, efficiency, whole-body coordination, safety, agents, and coordination with humans. Furthermore, we discuss the emerging trends of using spatial understanding, modeling world dynamics, post training, and data synthesis -- all aiming to reach these milestones. Through these discussions, we hope to bring attention to the research avenues that may accelerate the development of VLA models into wider acceptability.
Klear-AgentForge: Forging Agentic Intelligence through Posttraining Scaling
Venue: arXiv cs.AI 2025
Year: 2025

Despite the proliferation of powerful agentic models, the lack of critical post-training details hinders the development of strong counterparts in the open-source community. In this study, we present a comprehensive and fully open-source pipeline for training a high-performance agentic model for interacting with external tools and environments, named Klear-Qwen3-AgentForge, starting from the Qwen3-8B base model. We design effective supervised fine-tuning (SFT) with synthetic data followed by multi-turn reinforcement learning (RL) to unlock the potential for multiple diverse agentic tasks. We perform exclusive experiments on various agentic benchmarks in both tool use and coding domains. Klear-Qwen3-AgentForge-8B achieves state-of-the-art performance among LLMs of similar size and remains competitive with significantly larger models.
DiA-gnostic VLVAE: Disentangled Alignment-Constrained Vision Language Variational AutoEncoder for Robust Radiology Reporting with Missing Modalities
Venue: arXiv cs.CV 2025
Year: 2025

The integration of medical images with clinical context is essential for generating accurate and clinically interpretable radiology reports. However, current automated methods often rely on resource-heavy Large Language Models (LLMs) or static knowledge graphs and struggle with two fundamental challenges in real-world clinical data: (1) missing modalities, such as incomplete clinical context , and (2) feature entanglement, where mixed modality-specific and shared information leads to suboptimal fusion and clinically unfaithful hallucinated findings. To address these challenges, we propose the DiA-gnostic VLVAE, which achieves robust radiology reporting through Disentangled Alignment. Our framework is designed to be resilient to missing modalities by disentangling shared and modality-specific features using a Mixture-of-Experts (MoE) based Vision-Language Variational Autoencoder (VLVAE). A constrained optimization objective enforces orthogonality and alignment between these latent representations to prevent suboptimal fusion. A compact LLaMA-X decoder then uses these disentangled representations to generate reports efficiently. On the IU X-Ray and MIMIC-CXR datasets, DiA has achieved competetive BLEU@4 scores of 0.266 and 0.134, respectively. Experimental results show that the proposed method significantly outperforms state-of-the-art models.
Interpretable Recognition of Cognitive Distortions in Natural Language Texts
Venue: arXiv cs.CL 2025
Year: 2025

We propose a new approach to multi-factor classification of natural language texts based on weighted structured patterns such as N-grams, taking into account the heterarchical relationships between them, applied to solve such a socially impactful problem as the automation of detection of specific cognitive distortions in psychological care, relying on an interpretable, robust and transparent artificial intelligence model. The proposed recognition and learning algorithms improve the current state of the art in this field. The improvement is tested on two publicly available datasets, with significant improvements over literature-known F1 scores for the task, with optimal hyper-parameters determined, having code and models available for future use by the community.
How Reasoning Influences Intersectional Biases in Vision Language Models
Venue: arXiv cs.CV 2025
Year: 2025

Vision Language Models (VLMs) are increasingly deployed across downstream tasks, yet their training data often encode social biases that surface in outputs. Unlike humans, who interpret images through contextual and social cues, VLMs process them through statistical associations, often leading to reasoning that diverges from human reasoning. By analyzing how a VLM reasons, we can understand how inherent biases are perpetuated and can adversely affect downstream performance. To examine this gap, we systematically analyze social biases in five open-source VLMs for an occupation prediction task, on the FairFace dataset. Across 32 occupations and three different prompting styles, we elicit both predictions and reasoning. Our findings reveal that the biased reasoning patterns systematically underlie intersectional disparities, highlighting the need to align VLM reasoning with human values prior to its downstream deployment.
Simulating Students with Large Language Models: A Review of Architecture, Mechanisms, and Role Modelling in Education with Generative AI
Venue: arXiv cs.CY 2025
Year: 2025

Simulated Students offer a valuable methodological framework for evaluating pedagogical approaches and modelling diverse learner profiles, tasks which are otherwise challenging to undertake systematically in real-world settings. Recent research has increasingly focused on developing such simulated agents to capture a range of learning styles, cognitive development pathways, and social behaviours. Among contemporary simulation techniques, the integration of large language models (LLMs) into educational research has emerged as a particularly versatile and scalable paradigm. LLMs afford a high degree of linguistic realism and behavioural adaptability, enabling agents to approximate cognitive processes and engage in contextually appropriate pedagogical dialogues. This paper presents a thematic review of empirical and methodological studies utilising LLMs to simulate student behaviour across educational environments. We synthesise current evidence on the capacity of LLM-based agents to emulate learner archetypes, respond to instructional inputs, and interact within multi-agent classroom scenarios. Furthermore, we examine the implications of such systems for curriculum development, instructional evaluation, and teacher training. While LLMs surpass rule-based systems in natural language generation and situational flexibility, ongoing concerns persist regarding algorithmic bias, evaluation reliability, and alignment with educational objectives. The review identifies existing technological and methodological gaps and proposes future research directions for integrating generative AI into adaptive learning systems and instructional design.
Hybrid CNN-ViT Framework for Motion-Blurred Scene Text Restoration
Venue: arXiv cs.CV 2025
Year: 2025

Motion blur in scene text images severely impairs readability and hinders the reliability of computer vision tasks, including autonomous driving, document digitization, and visual information retrieval. Conventional deblurring approaches are often inadequate in handling spatially varying blur and typically fall short in modeling the long-range dependencies necessary for restoring textual clarity. To overcome these limitations, we introduce a hybrid deep learning framework that combines convolutional neural networks (CNNs) with vision transformers (ViTs), thereby leveraging both local feature extraction and global contextual reasoning. The architecture employs a CNN-based encoder-decoder to preserve structural details, while a transformer module enhances global awareness through self-attention. Training is conducted on a curated dataset derived from TextOCR, where sharp scene-text samples are paired with synthetically blurred versions generated using realistic motion-blur kernels of multiple sizes and orientations. Model optimization is guided by a composite loss that incorporates mean absolute error (MAE), squared error (MSE), perceptual similarity, and structural similarity (SSIM). Quantitative evaluations show that the proposed method attains 32.20 dB in PSNR and 0.934 in SSIM, while remaining lightweight with 2.83 million parameters and an average inference time of 61 ms. These results highlight the effectiveness and computational efficiency of the CNN-ViT hybrid design, establishing its practicality for real-world motion-blurred scene-text restoration.
PlaCo: a QP-based robot planning and control framework
Venue: arXiv cs.RO 2025
Year: 2025

This article introduces PlaCo, a software framework designed to simplify the formulation and solution of Quadratic Programming (QP)-based planning and control problems for robotic systems. PlaCo provides a high-level interface that abstracts away the low-level mathematical formulation of QP problems, allowing users to specify tasks and constraints in a modular and intuitive manner. The framework supports both Python bindings for rapid prototyping and a C++ implementation for real-time performance.