OpenRaiser/Intern-Atlas huggingface dataset:
McARL:Morphology-Control-Aware Reinforcement Learning for Generalizable Quadrupedal Locomotion
Venue: arXiv cs.RO 2025
Year: 2025

We present Morphology-Control-Aware Reinforcement Learning (McARL), a new approach to overcome challenges of hyperparameter tuning and transfer loss, enabling generalizable locomotion across robot morphologies. We use a morphology-conditioned policy by incorporating a randomized morphology vector, sampled from a defined morphology range, into both the actor and critic networks. This allows the policy to learn parameters that generalize to robots with similar characteristics. We demonstrate that a single policy trained on a Unitree Go1 robot using McARL can be transferred to a different morphology (e.g., Unitree Go2 robot) and can achieve zero-shot transfer velocity of up to 3.5 m/s without retraining or fine-tuning. Moreover, it achieves 6.0 m/s on the training Go1 robot and generalizes to other morphologies like A1 and Mini Cheetah. We also analyze the impact of morphology distance on transfer performance and highlight McARL's advantages over prior approaches. McARL achieves 44-150% higher transfer performance on Go2, Mini Cheetah, and A1 compared to PPO variants.
A Task-Driven Human-AI Collaboration: When to Automate, When to Collaborate, When to Challenge
Venue: arXiv cs.CY 2025
Year: 2025

According to several empirical investigations, despite enhancing human capabilities, human-AI cooperation frequently falls short of expectations and fails to reach true synergy. We propose a task-driven framework that reverses prevalent approaches by assigning AI roles according to how the task's requirements align with the capabilities of AI technology. Three major AI roles are identified through task analysis across risk and complexity dimensions: autonomous, assistive/collaborative, and adversarial. We show how proper human-AI integration maintains meaningful agency while improving performance by methodically mapping these roles to various task types based on current empirical findings. This framework lays the foundation for practically effective and morally sound human-AI collaboration that unleashes human potential by aligning task attributes to AI capabilities. It also provides structured guidance for context-sensitive automation that complements human strengths rather than replacing human judgment.
Topic and Sentiment Trends in Semaglutide Discussions on X: Subpopulation-Based Longitudinal Analysis
Venue: arXiv cs.SI 2025
Year: 2025

Background: User experience strongly influences pharmaceutical drug effectiveness. Social media platforms like X have become major spaces where people share medication-related experiences, especially for widely marketed drugs such as semaglutide. Despite high activity online, how different user groups engage in semaglutide discussions remains unclear. Objective: This study examines how semaglutide is perceived and discussed across X user groups by analyzing (1) changes in sentiment over time and (2) key discussion topics. Methods: We collected 859,751 posts about semaglutide from July 2021 to April 2024, along with metadata. We performed sentiment analysis and topic modeling to evaluate patterns across user subpopulations and time periods. Results: The overall mean sentiment was -0.24, with all groups showing declines over time. Discussions focused on weight loss, side effects, costs, and celebrity or political influence. Organizational accounts expressed less negative sentiment (mean = -0.04) than individuals (mean = -0.28), a statistically significant difference (P < .001). An interrupted time-series analysis showed a sentiment drop between Nov 2022 and Jan 2023, coinciding with regulatory announcements. We also found gender differences: posts by female users contained more discussions of celebrities and politicians (21 percent) compared to male users (17 percent), while male users expressed more positive sentiment. Conclusions: This study highlights how diverse user groups perceive and discuss semaglutide. Although sentiment was broadly negative, important differences emerged across subpopulations. These findings have implications for health communication and pharmacovigilance.
BRIT: Bidirectional Retrieval over Unified Image-Text Graph
Venue: arXiv cs.CL 2025
Year: 2025

Retrieval-Augmented Generation (RAG) has emerged as a promising technique to enhance the quality and relevance of responses generated by large language models. While recent advancements have mainly focused on improving RAG for text-based queries, RAG on multi-modal documents containing both texts and images has not been fully explored. Especially when fine-tuning does not work. This paper proposes BRIT, a novel multi-modal RAG framework that effectively unifies various text-image connections in the document into a multi-modal graph and retrieves the texts and images as a query-specific sub-graph. By traversing both image-to-text and text-to-image paths in the graph, BRIT retrieve not only directly query-relevant images and texts but also further relevant contents to answering complex cross-modal multi-hop questions. To evaluate the effectiveness of BRIT, we introduce MM-RAG test set specifically designed for multi-modal question answering tasks that require to understand the text-image relations. Our comprehensive experiments demonstrate the superiority of BRIT, highlighting its ability to handle cross-modal questions on the multi-modal documents.
Performance and Generalizability Impacts of Incorporating Location Encoders into Deep Learning for Dynamic PM2.5 Estimation
Venue: arXiv cs.LG 2025
Year: 2025

Deep learning has shown strong performance in geospatial prediction tasks, but the role of geolocation information in improving accuracy and generalizability remains underexamined. Recent work has introduced location encoders that aim to represent spatial context in a transferable way, yet most evaluations have focused on static mapping tasks. Here, we study the effect of incorporating geolocation into deep learning for a dynamic and spatially heterogeneous application: estimating daily surface-level PM2.5 across the contiguous United States using satellite and ground-based observations. We compare three strategies for representing location: excluding geolocation, using raw latitude and longitude, and using pretrained location encoders. We evaluate each under within-region and out-of-region generalization settings. Results show that raw coordinates can improve performance within regions by supporting spatial interpolation, but can reduce generalizability across regions. In contrast, pretrained location encoders such as GeoCLIP improve both predictive accuracy and geographic transfer. However, we also observe spatial artifacts linked to encoder characteristics, and performance varies across encoder types (e.g., SatCLIP vs. GeoCLIP). This work provides the first systematic evaluation of location encoders in a dynamic environmental estimation context and offers guidance for incorporating geolocation into deep learning models for geospatial prediction.
Pedagogy-R1: Pedagogically-Aligned Reasoning Model with Balanced Educational Benchmark
Venue: arXiv cs.AI 2025
Year: 2025

Recent advances in large reasoning models (LRMs) show strong performance in structured domains such as mathematics and programming; however, they often lack pedagogical coherence and realistic teaching behaviors. To bridge this gap, we introduce Pedagogy-R1, a framework that adapts LRMs for classroom use through three innovations: (1) a distillation-based pipeline that filters and refines model outputs for instruction-tuning, (2) the Well-balanced Educational Benchmark (WBEB), which evaluates performance across subject knowledge, pedagogical knowledge, tracing, essay scoring, and teacher decision-making, and (3) a Chain-of-Pedagogy (CoP) prompting strategy for generating and eliciting teacher-style reasoning. Our mixed-method evaluation combines quantitative metrics with qualitative analysis, providing the first systematic assessment of LRMs' pedagogical strengths and limitations.
Improved Immiscible Diffusion: Accelerate Diffusion Training by Reducing Its Miscibility
Venue: arXiv cs.CV 2025
Year: 2025

The substantial training cost of diffusion models hinders their deployment. Immiscible Diffusion recently showed that reducing diffusion trajectory mixing in the noise space via linear assignment accelerates training by simplifying denoising. To extend immiscible diffusion beyond the inefficient linear assignment under high batch sizes and high dimensions, we refine this concept to a broader miscibility reduction at any layer and by any implementation. Specifically, we empirically demonstrate the bijective nature of the denoising process with respect to immiscible diffusion, ensuring its preservation of generative diversity. Moreover, we provide thorough analysis and show step-by-step how immiscibility eases denoising and improves efficiency. Extending beyond linear assignment, we propose a family of implementations including K-nearest neighbor (KNN) noise selection and image scaling to reduce miscibility, achieving up to >4x faster training across diverse models and tasks including unconditional/conditional generation, image editing, and robotics planning. Furthermore, our analysis of immiscibility offers a novel perspective on how optimal transport (OT) enhances diffusion training. By identifying trajectory miscibility as a fundamental bottleneck, we believe this work establishes a potentially new direction for future research into high-efficiency diffusion training. The code is available at https://github.com/yhli123/Immiscible-Diffusion.
Applying Ontologies and Knowledge Augmented Large Language Models to Industrial Automation: A Decision-Making Guidance for Achieving Human-Robot Collaboration in Industry 5.0
Venue: arXiv cs.HC 2025
Year: 2025

The rapid advancement of Large Language Models (LLMs) has resulted in interest in their potential applications within manufacturing systems, particularly in the context of Industry 5.0. However, determining when to implement LLMs versus other Natural Language Processing (NLP) techniques, ontologies or knowledge graphs, remains an open question. This paper offers decision-making guidance for selecting the most suitable technique in various industrial contexts, emphasizing human-robot collaboration and resilience in manufacturing. We examine the origins and unique strengths of LLMs, ontologies, and knowledge graphs, assessing their effectiveness across different industrial scenarios based on the number of domains or disciplines required to bring a product from design to manufacture. Through this comparative framework, we explore specific use cases where LLMs could enhance robotics for human-robot collaboration, while underscoring the continued relevance of ontologies and knowledge graphs in low-dependency or resource-constrained sectors. Additionally, we address the practical challenges of deploying these technologies, such as computational cost and interpretability, providing a roadmap for manufacturers to navigate the evolving landscape of Language based AI tools in Industry 5.0. Our findings offer a foundation for informed decision-making, helping industry professionals optimize the use of Language Based models for sustainable, resilient, and human-centric manufacturing. We also propose a Large Knowledge Language Model architecture that offers the potential for transparency and configuration based on complexity of task and computing resources available.
Garibaldi: A Pairwise Instruction-Data Management for Enhancing Shared Last-Level Cache Performance in Server Workloads
Venue: arXiv cs.AR 2025
Year: 2025

Modern CPUs suffer from the frontend bottleneck because the instruction footprint of server workloads exceeds the private cache capacity. Prior works have examined the CPU components or private cache to improve the instruction hit rate. The large footprint leads to significant cache misses not only in the core and faster-level cache but also in the last-level cache (LLC). We observe that even with an advanced branch predictor and instruction prefetching techniques, a considerable amount of instruction accesses descend to the LLC. However, state-of-the-art LLC designs with elaborate data management overlook handling the instruction misses that precede corresponding data accesses. Specifically, when an instruction requiring numerous data accesses is missed, the frontend of a CPU should wait for the instruction fetch, regardless of how much data are present in the LLC. To preserve hot instructions in the LLC, we propose Garibaldi, a novel pairwise instruction-data management scheme. Garibaldi tracks the hotness of instruction accesses by coupling it with that of data accesses and adopts management techniques. On the one hand, this scheme includes a selective protection mechanism that prevents the cache evictions of high-cost instruction cachelines. On the other hand, in the case of unprotected instruction line misses, Garibaldi conservatively issues prefetch requests of the paired data lines while handling those misses. In our experiments, we evaluate Garibaldi with 16 server workloads on a 40-core machine. We also implement Garibaldi on top of a modern LLC design, including Mockingjay. Garibaldi improves 13.2% and 6.1% of CPU performance on baseline LLC design and Mockingjay, respectively.
Unraveling Misinformation Propagation in LLM Reasoning
Venue: arXiv cs.CL 2025
Year: 2025

Large Language Models (LLMs) have demonstrated impressive capabilities in reasoning, positioning them as promising tools for supporting human problem-solving. However, what happens when their performance is affected by misinformation, i.e., incorrect inputs introduced by users due to oversights or gaps in knowledge? Such misinformation is prevalent in real-world interactions with LLMs, yet how it propagates within LLMs' reasoning process remains underexplored. Focusing on mathematical reasoning, we present a comprehensive analysis of how misinformation affects intermediate reasoning steps and final answers. We also examine how effectively LLMs can correct misinformation when explicitly instructed to do so. Even with explicit instructions, LLMs succeed less than half the time in rectifying misinformation, despite possessing correct internal knowledge, leading to significant accuracy drops (10.02% - 72.20%), and the degradation holds with thinking models (4.30% - 19.97%). Further analysis shows that applying factual corrections early in the reasoning process most effectively reduces misinformation propagation, and fine-tuning on synthesized data with early-stage corrections significantly improves reasoning factuality. Our work offers a practical approach to mitigating misinformation propagation.
Autocomp: A Powerful and Portable Code Optimizer for Tensor Accelerators
Venue: arXiv cs.PL 2025
Year: 2025

Hardware accelerators, especially those designed for tensor processing, have become ubiquitous in today's computing landscape. However, even with significant efforts in building compilers, programming these tensor accelerators remains challenging, leaving much of their potential underutilized. Recently, large language models (LLMs), trained on large amounts of code, have shown significant promise in code generation and optimization tasks, but generating low-resource languages, such as specialized tensor accelerator code still poses a significant challenge. We tackle this challenge with Autocomp, an approach that empowers accelerator programmers to leverage domain knowledge and hardware feedback to optimize code via an automated LLM-driven search. We accomplish this by: 1) formulating each optimization pass as a structured two-phase prompt, divided into planning and code generation phases, 2) inserting domain knowledge during planning via a concise and adaptable optimization menu, and 3) integrating correctness and performance metrics from hardware as feedback at each search iteration. Across three distinct hardware platforms, we demonstrate that Autocomp-optimized code runs 5.6x faster than the vendor-provided library (Gemmini), outperforms expert-level hand-tuned code by 1.9x (AWS Trainium), and achieves 3.8x higher performance than a machine learning-based cost model for GPUs (NVIDIA L40S). Additionally, we demonstrate that optimization schedules generated from Autocomp can be reused across similar tensor operations, improving speedups by up to 24% under a fixed sample budget.
Response Uncertainty and Probe Modeling: Two Sides of the Same Coin in LLM Interpretability?
Venue: arXiv cs.AI 2025
Year: 2025

Probing techniques have shown promise in revealing how LLMs encode human-interpretable concepts, particularly when applied to curated datasets. However, the factors governing a dataset's suitability for effective probe training are not well-understood. This study hypothesizes that probe performance on such datasets reflects characteristics of both the LLM's generated responses and its internal feature space. Through quantitative analysis of probe performance and LLM response uncertainty across a series of tasks, we find a strong correlation: improved probe performance consistently corresponds to a reduction in response uncertainty, and vice versa. Subsequently, we delve deeper into this correlation through the lens of feature importance analysis. Our findings indicate that high LLM response variance is associated with a larger set of important features, which poses a greater challenge for probe models and often results in diminished performance. Moreover, leveraging the insights from response uncertainty analysis, we are able to identify concrete examples where LLM representations align with human knowledge across diverse domains, offering additional evidence of interpretable reasoning in LLMs.
CXL Topology-Aware and Expander-Driven Prefetching: Unlocking SSD Performance
Venue: arXiv cs.AR 2025
Year: 2025

Integrating compute express link (CXL) with SSDs allows scalable access to large memory but has slower speeds than DRAMs. We present ExPAND, an expander-driven CXL prefetcher that offloads last-level cache (LLC) prefetching from host CPU to CXL-SSDs. ExPAND uses a heterogeneous prediction algorithm for prefetching and ensures data consistency with CXL.mem's back-invalidation. We examine prefetch timeliness for accurate latency estimation. ExPAND, being aware of CXL multi-tiered switching, provides end-to-end latency for each CXL-SSD and precise prefetch timeliness estimations. Our method reduces CXL-SSD reliance and enables direct host cache access for most data. ExPAND enhances graph application performance and SPEC CPU's performance by 9.0$\times$ and 14.7$\times$, respectively, surpassing CXL-SSD pools with diverse prefetching strategies.
Removal of Hallucination on Hallucination: Debate-Augmented RAG
Venue: arXiv cs.CL 2025
Year: 2025

Retrieval-Augmented Generation (RAG) enhances factual accuracy by integrating external knowledge, yet it introduces a critical issue: erroneous or biased retrieval can mislead generation, compounding hallucinations, a phenomenon we term Hallucination on Hallucination. To address this, we propose Debate-Augmented RAG (DRAG), a training-free framework that integrates Multi-Agent Debate (MAD) mechanisms into both retrieval and generation stages. In retrieval, DRAG employs structured debates among proponents, opponents, and judges to refine retrieval quality and ensure factual reliability. In generation, DRAG introduces asymmetric information roles and adversarial debates, enhancing reasoning robustness and mitigating factual inconsistencies. Evaluations across multiple tasks demonstrate that DRAG improves retrieval reliability, reduces RAG-induced hallucinations, and significantly enhances overall factual accuracy. Our code is available at https://github.com/Huenao/Debate-Augmented-RAG.
Exemplar-Free Continual Learning for State Space Models
Venue: arXiv cs.LG 2025
Year: 2025

State-Space Models (SSMs) excel at capturing long-range dependencies with structured recurrence, making them well-suited for sequence modeling. However, their evolving internal states pose challenges in adapting them under Continual Learning (CL). This is particularly difficult in exemplar-free settings, where the absence of prior data leaves updates to the dynamic SSM states unconstrained, resulting in catastrophic forgetting. To address this, we propose Inf-SSM, a novel and simple geometry-aware regularization method that utilizes the geometry of the infinite-dimensional Grassmannian to constrain state evolution during CL. Unlike classical continual learning methods that constrain weight updates, Inf-SSM regularizes the infinite-horizon evolution of SSMs encoded in their extended observability subspace. We show that enforcing this regularization requires solving a matrix equation known as the Sylvester equation, which typically incurs $\mathcal{O}(n^3)$ complexity. We develop a $\mathcal{O}(n^2)$ solution by exploiting the structure and properties of SSMs. This leads to an efficient regularization mechanism that can be seamlessly integrated into existing CL methods. Comprehensive experiments on challenging benchmarks, including ImageNet-R and Caltech-256, demonstrate a significant reduction in forgetting while improving accuracy across sequential tasks.
MLRan: A Behavioural Dataset for Ransomware Analysis and Detection
Venue: arXiv cs.CR 2025
Year: 2025

Ransomware remains a critical threat to cybersecurity, yet publicly available datasets for training machine learning-based ransomware detection models are scarce and often have limited sample size, diversity, and reproducibility. In this paper, we introduce MLRan, a behavioural ransomware dataset, comprising over 4,800 samples across 64 ransomware families and a balanced set of goodware samples. The samples span from 2006 to 2024 and encompass the four major types of ransomware: locker, crypto, ransomware-as-a-service, and modern variants. We also propose guidelines (GUIDE-MLRan), inspired by previous work, for constructing high-quality behavioural ransomware datasets, which informed the curation of our dataset. We evaluated the ransomware detection performance of several machine learning (ML) models using MLRan. For this purpose, we performed feature selection by conducting mutual information filtering to reduce the initial 6.4 million features to 24,162, followed by recursive feature elimination, yielding 483 highly informative features. The ML models achieved an accuracy, precision and recall of up to 98.7%, 98.9%, 98.5%, respectively. Using SHAP and LIME, we identified critical indicators of malicious behaviour, including registry tampering, strings, and API misuse. The dataset and source code for feature extraction, selection, ML training, and evaluation are available publicly to support replicability and encourage future research, which can be found at https://github.com/faithfulco/mlran.
SerendibCoins: Exploring The Sri Lankan Coins Dataset
Venue: arXiv cs.CV 2025
Year: 2025

The recognition and classification of coins are essential in numerous financial and automated systems. This study introduces a comprehensive Sri Lankan coin image dataset and evaluates its impact on machine learning model accuracy for coin classification. We experiment with traditional machine learning classifiers K-Nearest Neighbors (KNN), Support Vector Machines (SVM), and Random Forest as well as a custom Convolutional Neural Network (CNN) to benchmark performance at different levels of classification. Our results show that SVM outperforms KNN and Random Forest in traditional classification approaches, while the CNN model achieves near-perfect classification accuracy with minimal misclassifications. The dataset demonstrates significant potential in enhancing automated coin recognition systems, offering a robust foundation for future research in regional currency classification and deep learning applications.