OpenRaiser/Intern-Atlas huggingface dataset:
Out of the Loop Again: How Dangerous is Weaponizing Automated Nuclear Systems?
Venue: arXiv cs.CY 2025
Year: 2025

Are nuclear weapons useful for coercion, and, if so, what factors increase the credibility and effectiveness of nuclear threats? While prominent scholars like Thomas Schelling argue that nuclear brinkmanship, or the manipulation of nuclear risk, can effectively coerce adversaries, others contend nuclear weapons are not effective tools of coercion, especially coercion designed to achieve offensive and revisionist objectives. Simultaneously, there is broad debate about the incorporation of artificial intelligence (AI) into military systems, especially nuclear command and control. We develop a theoretical argument that explicit nuclear threats implemented with automated nuclear launch systems are potentially more credible compared to ambiguous nuclear threats or explicit nuclear threats implemented via non-automated means. By reducing human control over nuclear use, leaders can more effectively tie their hands and thus signal resolve. While automated nuclear weapons launch systems may seem like something out of science fiction, the Soviet Union deployed such a system during the Cold War and the technology necessary to automate the use of force has developed considerably in recent years due to advances in AI. Preregistered survey experiments on an elite sample of United Kingdom Members of Parliament and two public samples of UK citizens provide support for these expectations, showing that, in a limited set of circumstances, nuclear threats backed by AI integration have credibility advantages, no matter how dangerous they may be. Our findings contribute to the literatures on coercive bargaining, weapons of mass destruction, and emerging technology.
Emergence of Roles in Robotic Teams with Model Sharing and Limited Communication
Venue: arXiv cs.MA 2025
Year: 2025

We present a reinforcement learning strategy for use in multi-agent foraging systems in which the learning is centralised to a single agent and its model is periodically disseminated among the population of non-learning agents. In a domain where multi-agent reinforcement learning (MARL) is the common approach, this approach aims to significantly reduce the computational and energy demands compared to approaches such as MARL and centralised learning models. By developing high performing foraging agents, these approaches can be translated into real-world applications such as logistics, environmental monitoring, and autonomous exploration. A reward function was incorporated into this approach that promotes role development among agents, without explicit directives. This led to the differentiation of behaviours among the agents. The implicit encouragement of role differentiation allows for dynamic actions in which agents can alter roles dependent on their interactions with the environment without the need for explicit communication between agents.
Reducing Student Distraction Through Fuzzy Logic Based Seating Arrangements
Venue: arXiv cs.LO 2025
Year: 2025

A crucial skill for primary school teachers is maintaining efficient classroom management. Teachers use classroom seating arrangements to help maintain this efficiency. However, developing classroom seating arrangements is both time-consuming and often non-optimal for distraction mitigation. Fuzzy logic-based approaches for the development of classroom seating arrangements can reduce development time and minimize classroom distraction. In this study, an original fuzzy logic-based software package named "CUB" is introduced and applied to a modern classroom using "cluster" seating arrangements. The combination of fuzzy inference systems, fuzzy c-means clustering, sequential, and iterative processes produce ready-to-use seating arrangements for the classroom in this study. The seating arrangements are compared with an existing set of seating arrangements to validate the results. The author's findings show that CUB is successful in generating applicable seating arrangements with a small liklihood of replicating arrangements. The findings also suggest that fuzz logic-based approaches may be successful in other styles of classroom arrangement.
Synthesizing and Identifying Noise Levels in Autonomous Vehicle Camera Radar Datasets
Venue: arXiv cs.CV 2025
Year: 2025

Detecting and tracking objects is a crucial component of any autonomous navigation method. For the past decades, object detection has yielded promising results using neural networks on various datasets. While many methods focus on performance metrics, few projects focus on improving the robustness of these detection and tracking pipelines, notably to sensor failures. In this paper we attempt to address this issue by creating a realistic synthetic data augmentation pipeline for camera-radar Autonomous Vehicle (AV) datasets. Our goal is to accurately simulate sensor failures and data deterioration due to real-world interferences. We also present our results of a baseline lightweight Noise Recognition neural network trained and tested on our augmented dataset, reaching an overall recognition accuracy of 54.4\% on 11 categories across 10086 images and 2145 radar point-clouds.
Vision Mamba in Remote Sensing: A Comprehensive Survey of Techniques, Applications and Outlook
Venue: arXiv cs.CV 2025
Year: 2025

Deep learning has profoundly transformed remote sensing, yet prevailing architectures like Convolutional Neural Networks (CNNs) and Vision Transformers (ViTs) remain constrained by critical trade-offs: CNNs suffer from limited receptive fields, while ViTs grapple with quadratic computational complexity, hindering their scalability for high-resolution remote sensing data. State Space Models (SSMs), particularly the recently proposed Mamba architecture, have emerged as a paradigm-shifting solution, combining linear computational scaling with global context modeling. This survey presents a comprehensive review of Mamba-based methodologies in remote sensing, systematically analyzing about 120 Mamba-based remote sensing studies to construct a holistic taxonomy of innovations and applications. Our contributions are structured across five dimensions: (i) foundational principles of vision Mamba architectures, (ii) micro-architectural advancements such as adaptive scan strategies and hybrid SSM formulations, (iii) macro-architectural integrations, including CNN-Transformer-Mamba hybrids and frequency-domain adaptations, (iv) rigorous benchmarking against state-of-the-art methods in multiple application tasks, such as object detection, semantic segmentation, change detection, etc. and (v) critical analysis of unresolved challenges with actionable future directions. By bridging the gap between SSM theory and remote sensing practice, this survey establishes Mamba as a transformative framework for remote sensing analysis. To our knowledge, this paper is the first systematic review of Mamba architectures in remote sensing. Our work provides a structured foundation for advancing research in remote sensing systems through SSM-based methods. We curate an open-source repository (https://github.com/BaoBao0926/Awesome-Mamba-in-Remote-Sensing) to foster community-driven advancements.
RIS Partitioning and User Clustering for Resilient Non-Orthogonal Multiple Access UAV Networks
Venue: arXiv cs.IT 2025
Year: 2025

The integration of reconfigurable intelligent surfaces (RISs) and unmanned aerial vehicles (UAVs) has emerged as a promising solution for enhancing connectivity in future wireless networks. This paper designs well-connected and resilient UAV networks by deploying and virtually partitioning multiple RISs to create multiple RIS-aided links, focusing on a link-layer perspective. The RIS-aided links are created to connect user equipment (UE) to blocked and reliable UAVs, where multiple UEs can transmit to same UAV via RIS using non-orthogonal multiple access (NOMA), granting access to UEs and maximizing network connectivity. We first derive exact and approximated closed-form expressions for signal-to-interference plus noise ratio (SINR) based on aligned and non-aligned RIS-aided beams. Then, we propose to formulate the problem of maximizing network connectivity that jointly considers (i) UE NOMA clustering, (ii) RIS-aided link selection, and (ii) virtual RIS partitioning. This problem is a computationally expensive combinatorial optimization. To tackle this problem, a two-step iterative approach, called RIS-aided NOMA, is proposed. In the first step, the UEs are clustered to the RISs according to their channel gains, while UAVs are associated to those generated clusters based on their reliability, which measures the criticality of UAVs. The second step optimally partitions the RISs to support each of the cluster members. In this step, we derive the closed-form equations for the optimal partitioning of RISs within the clusters. Simulation results demonstrate that the proposed RIS-aided NOMA yields a gain of 30% to 40%, respectively, compared to UAV traditional scheme. The finding emphasizes the potential of integrating RIS with UAV communications as a robust and reliable connectivity solution for future wireless communication systems.
On the generalization of language models from in-context learning and finetuning: a controlled study
Venue: arXiv cs.CL 2025
Year: 2025

Large language models exhibit exciting capabilities, yet can show surprisingly narrow generalization from finetuning. E.g. they can fail to generalize to simple reversals of relations they are trained on, or fail to make simple logical deductions based on trained information. These failures to generalize factual information from fine-tuning can significantly hinder the reasoning capabilities of these models. On the other hand, language models' in-context learning (ICL) shows different inductive biases and deductive reasoning capabilities. Here, we explore these differences in generalization and deductive reasoning between in-context- and fine-tuning-based learning. To do so, we constructed several novel datasets to evaluate and improve models' abilities to make generalizations over factual information from novel data. These datasets are designed to create clean tests of generalization, by isolating the knowledge in the dataset from that in pretraining. We expose pretrained large models to controlled subsets of the information in these datasets -- either through ICL or fine-tuning -- and evaluate their performance on test sets that require various types of generalization. We find overall that in data-matched settings, ICL can generalize several types of inferences more flexibly than fine-tuning (though we also find some qualifications of prior findings, such as cases when fine-tuning can generalize to reversals embedded in a larger structure of knowledge). We build on these findings to propose a method to enable improved generalization from fine-tuning: adding in-context reasoning traces to finetuning data. We show that this method improves generalization across various splits of our datasets and other benchmarks. Our results have implications for understanding the generalization afforded by different modes of learning in language models, and practically improving their performance.
Wasserstein Policy Optimization
Venue: arXiv cs.LG 2025
Year: 2025

We introduce Wasserstein Policy Optimization (WPO), an actor-critic algorithm for reinforcement learning in continuous action spaces. WPO can be derived as an approximation to Wasserstein gradient flow over the space of all policies projected into a finite-dimensional parameter space (e.g., the weights of a neural network), leading to a simple and completely general closed-form update. The resulting algorithm combines many properties of deterministic and classic policy gradient methods. Like deterministic policy gradients, it exploits knowledge of the gradient of the action-value function with respect to the action. Like classic policy gradients, it can be applied to stochastic policies with arbitrary distributions over actions -- without using the reparameterization trick. We show results on the DeepMind Control Suite and a magnetic confinement fusion task which compare favorably with state-of-the-art continuous control methods.
ROSA: A Knowledge-based Solution for Robot Self-Adaptation
Venue: arXiv cs.AI 2025
Year: 2025

Autonomous robots must operate in diverse environments and handle multiple tasks despite uncertainties. This creates challenges in designing software architectures and task decision-making algorithms, as different contexts may require distinct task logic and architectural configurations. To address this, robotic systems can be designed as self-adaptive systems capable of adapting their task execution and software architecture at runtime based on their context.This paper introduces ROSA, a novel knowledge-based framework for RObot Self-Adaptation, which enables task-and-architecture co-adaptation (TACA) in robotic systems. ROSA achieves this by providing a knowledge model that captures all application-specific knowledge required for adaptation and by reasoning over this knowledge at runtime to determine when and how adaptation should occur. In addition to a conceptual framework, this work provides an open-source ROS 2-based reference implementation of ROSA and evaluates its feasibility and performance in an underwater robotics application. Experimental results highlight ROSA's advantages in reusability and development effort for designing self-adaptive robotic systems.
Fast2comm:Collaborative perception combined with prior knowledge
Venue: arXiv cs.CV 2025
Year: 2025

Collaborative perception has the potential to significantly enhance perceptual accuracy through the sharing of complementary information among agents. However, real-world collaborative perception faces persistent challenges, particularly in balancing perception performance and bandwidth limitations, as well as coping with localization errors. To address these challenges, we propose Fast2comm, a prior knowledge-based collaborative perception framework. Specifically, (1)we propose a prior-supervised confidence feature generation method, that effectively distinguishes foreground from background by producing highly discriminative confidence features; (2)we propose GT Bounding Box-based spatial prior feature selection strategy to ensure that only the most informative prior-knowledge features are selected and shared, thereby minimizing background noise and optimizing bandwidth efficiency while enhancing adaptability to localization inaccuracies; (3)we decouple the feature fusion strategies between model training and testing phases, enabling dynamic bandwidth adaptation. To comprehensively validate our framework, we conduct extensive experiments on both real-world and simulated datasets. The results demonstrate the superior performance of our model and highlight the necessity of the proposed methods. Our code is available at https://github.com/Zhangzhengbin-TJ/Fast2comm.
Localizing Before Answering: A Hallucination Evaluation Benchmark for Grounded Medical Multimodal LLMs
Venue: arXiv cs.CV 2025
Year: 2025

Medical Large Multi-modal Models (LMMs) have demonstrated remarkable capabilities in medical data interpretation. However, these models frequently generate hallucinations contradicting source evidence, particularly due to inadequate localization reasoning. This work reveals a critical limitation in current medical LMMs: instead of analyzing relevant pathological regions, they often rely on linguistic patterns or attend to irrelevant image areas when responding to disease-related queries. To address this, we introduce HEAL-MedVQA (Hallucination Evaluation via Localization MedVQA), a comprehensive benchmark designed to evaluate LMMs' localization abilities and hallucination robustness. HEAL-MedVQA features (i) two innovative evaluation protocols to assess visual and textual shortcut learning, and (ii) a dataset of 67K VQA pairs, with doctor-annotated anatomical segmentation masks for pathological regions. To improve visual reasoning, we propose the Localize-before-Answer (LobA) framework, which trains LMMs to localize target regions of interest and self-prompt to emphasize segmented pathological areas, generating grounded and reliable answers. Experimental results demonstrate that our approach significantly outperforms state-of-the-art biomedical LMMs on the challenging HEAL-MedVQA benchmark, advancing robustness in medical VQA.
Entropy Heat-Mapping: Localizing GPT-Based OCR Errors with Sliding-Window Shannon Analysis
Venue: arXiv cs.CV 2025
Year: 2025

Vision-language models such as OpenAI GPT-4o can transcribe mathematical documents directly from images, yet their token-level confidence signals are seldom used to pinpoint local recognition mistakes. We present an entropy-heat-mapping proof-of-concept that turns per-token Shannon entropy into a visual ''uncertainty landscape''. By scanning the entropy sequence with a fixed-length sliding window, we obtain hotspots that are likely to contain OCR errors such as missing symbols, mismatched braces, or garbled prose. Using a small, curated set of scanned research pages rendered at several resolutions, we compare the highlighted hotspots with the actual transcription errors produced by GPT-4o. Our analysis shows that the vast majority of true errors are indeed concentrated inside the high-entropy regions. This study demonstrates--in a minimally engineered setting--that sliding-window entropy can serve as a practical, lightweight aid for post-editing GPT-based OCR. All code and annotation guidelines are released to encourage replication and further research.
Wireless Communication as an Information Sensor for Multi-agent Cooperative Perception: A Survey
Venue: arXiv cs.OH 2025
Year: 2025

Cooperative perception extends the perception capabilities of autonomous vehicles by enabling multi-agent information sharing via Vehicle-to-Everything (V2X) communication. Unlike traditional onboard sensors, V2X acts as a dynamic "information sensor" characterized by limited communication, heterogeneity, mobility, and scalability. This survey provides a comprehensive review of recent advancements from the perspective of information-centric cooperative perception, focusing on three key dimensions: information representation, information fusion, and large-scale deployment. We categorize information representation into data-level, feature-level, and object-level schemes, and highlight emerging methods for reducing data volume and compressing messages under communication constraints. In information fusion, we explore techniques under both ideal and non-ideal conditions, including those addressing heterogeneity, localization errors, latency, and packet loss. Finally, we summarize system-level approaches to support scalability in dense traffic scenarios. Compared with existing surveys, this paper introduces a new perspective by treating V2X communication as an information sensor and emphasizing the challenges of deploying cooperative perception in real-world intelligent transportation systems.
Explanations as Bias Detectors: A Critical Study of Local Post-hoc XAI Methods for Fairness Exploration
Venue: arXiv cs.AI 2025
Year: 2025

As Artificial Intelligence (AI) is increasingly used in areas that significantly impact human lives, concerns about fairness and transparency have grown, especially regarding their impact on protected groups. Recently, the intersection of explainability and fairness has emerged as an important area to promote responsible AI systems. This paper explores how explainability methods can be leveraged to detect and interpret unfairness. We propose a pipeline that integrates local post-hoc explanation methods to derive fairness-related insights. During the pipeline design, we identify and address critical questions arising from the use of explanations as bias detectors such as the relationship between distributive and procedural fairness, the effect of removing the protected attribute, the consistency and quality of results across different explanation methods, the impact of various aggregation strategies of local explanations on group fairness evaluations, and the overall trustworthiness of explanations as bias detectors. Our results show the potential of explanation methods used for fairness while highlighting the need to carefully consider the aforementioned critical aspects.
Aggregating empirical evidence from data strategy studies: a case on model quantization
Venue: arXiv cs.SE 2025
Year: 2025

Background: As empirical software engineering evolves, more studies adopt data strategies$-$approaches that investigate digital artifacts such as models, source code, or system logs rather than relying on human subjects. Synthesizing results from such studies introduces new methodological challenges. Aims: This study assesses the effects of model quantization on correctness and resource efficiency in deep learning (DL) systems. Additionally, it explores the methodological implications of aggregating evidence from empirical studies that adopt data strategies. Method: We conducted a research synthesis of six primary studies that empirically evaluate model quantization. We applied the Structured Synthesis Method (SSM) to aggregate the findings, which combines qualitative and quantitative evidence through diagrammatic modeling. A total of 19 evidence models were extracted and aggregated. Results: The aggregated evidence indicates that model quantization weakly negatively affects correctness metrics while consistently improving resource efficiency metrics, including storage size, inference latency, and GPU energy consumption$-$a manageable trade-off for many DL deployment contexts. Evidence across quantization techniques remains fragmented, underscoring the need for more focused empirical studies per technique. Conclusions: Model quantization offers substantial efficiency benefits with minor trade-offs in correctness, making it a suitable optimization strategy for resource-constrained environments. This study also demonstrates the feasibility of using SSM to synthesize findings from data strategy-based research.
SmallPlan: Leverage Small Language Models for Sequential Path Planning with Simulation-Powered, LLM-Guided Distillation
Venue: arXiv cs.RO 2025
Year: 2025

Efficient path planning in robotics, particularly within large-scale, complex environments, remains a significant hurdle. While Large Language Models (LLMs) offer strong reasoning capabilities, their high computational cost and limited adaptability hinder real-time deployment on edge devices. We present SmallPlan - a novel framework leveraging LLMs as teacher models to train lightweight Small Language Models (SLMs) for high-level path planning tasks. In SmallPlan, the SLMs provide optimal action sequences to navigate across scene graphs that compactly represent full-scaled 3D scenes. The SLMs are trained in a simulation-powered, interleaved manner with LLM-guided supervised fine-tuning (SFT) and reinforcement learning (RL). This strategy not only enables SLMs to successfully complete navigation tasks but also makes them aware of important factors like distance travel, providing more efficient path planning. Through experiments, we demonstrate that the fine-tuned SLMs perform competitively with larger models like GPT-4o on sequential path planning, without suffering from hallucination and overfitting. SmallPlan is resource-efficient, making it well-suited for edge-device deployment and advancing practical autonomous robotics. Our source code is available here: https://github.com/quangpham2006/SmallPlan