OpenRaiser/Intern-Atlas huggingface dataset:
RAI: Flexible Agent Framework for Embodied AI
Venue: arXiv cs.MA 2025
Year: 2025

With an increase in the capabilities of generative language models, a growing interest in embodied AI has followed. This contribution introduces RAI - a framework for creating embodied Multi Agent Systems for robotics. The proposed framework implements tools for Agents' integration with robotic stacks, Large Language Models, and simulations. It provides out-of-the-box integration with state-of-the-art systems like ROS 2. It also comes with dedicated mechanisms for the embodiment of Agents. These mechanisms have been tested on a physical robot, Husarion ROSBot XL, which was coupled with its digital twin, for rapid prototyping. Furthermore, these mechanisms have been deployed in two simulations: (1) robot arm manipulator and (2) tractor controller. All of these deployments have been evaluated in terms of their control capabilities, effectiveness of embodiment, and perception ability. The proposed framework has been used successfully to build systems with multiple agents. It has demonstrated effectiveness in all the aforementioned tasks. It also enabled identifying and addressing the shortcomings of the generative models used for embodied AI.
Post-Quantum Secure Decentralized Random Number Generation Protocol with Two Rounds of Communication in the Standard Model
Venue: arXiv cs.CR 2025
Year: 2025

Randomness plays a vital role in numerous applications, including simulation, cryptography, distributed systems, and gaming. Consequently, extensive research has been conducted to generate randomness. One such method is to design a decentralized random number generator (DRNG), a protocol that enables multiple participants to collaboratively generate random outputs that must be publicly verifiable. However, existing DRNGs are either not secure against quantum computers or depend on the random oracle model (ROM) to achieve security. In this paper, we design a DRNG based on lattice-based publicly verifiable secret sharing (PVSS) that is post-quantum secure and proven secure in the standard model. Additionally, our DRNG requires only two rounds of communication to generate a single (pseudo)random value and can tolerate up to any t < n/2 dishonest participants. To our knowledge, the proposed DRNG construction is the first to achieve all these properties.
Towards Requirements Engineering for RAG Systems
Venue: arXiv cs.SE 2025
Year: 2025

This short paper explores how a maritime company develops and integrates large-language models (LLM). Specifically by looking at the requirements engineering for Retrieval Augmented Generation (RAG) systems in expert settings. Through a case study at a maritime service provider, we demonstrate how data scientists face a fundamental tension between user expectations of AI perfection and the correctness of the generated outputs. Our findings reveal that data scientists must identify context-specific "retrieval requirements" through iterative experimentation together with users because they are the ones who can determine correctness. We present an empirical process model describing how data scientists practically elicited these "retrieval requirements" and managed system limitations. This work advances software engineering knowledge by providing insights into the specialized requirements engineering processes for implementing RAG systems in complex domain-specific applications.
Pinching-Antenna Systems (PASS) Aided Over-the-air Computation
Venue: arXiv cs.IT 2025
Year: 2025

Over-the-air computation (AirComp) enables fast data aggregation for edge intelligence applications. However the performance of AirComp can be severely degraded by channel misalignments. Pinching antenna systems (PASS) have recently emerged as a promising solution for physically reshaping favorable wireless channels to reduce misalignments and thus AirComp errors, via low-cost, fully passive, and highly reconfigurable antenna deployment. Motivated by these benefits, we propose a novel PASS-aided AirComp system that introduces new design degrees of freedom through flexible pinching antenna (PA) placement. To improve performance, we consider a mean squared error (MSE) minimization problem by jointly optimizing the PA position, transmit power, and decoding vector. To solve this highly non-convex problem, we propose an alternating optimization based framework with Gauss-Seidel based PA position updates. Simulation results show that our proposed joint PA position and communication design significantly outperforms various benchmark schemes in AirComp accuracy.
Robust Kidney Abnormality Segmentation: A Validation Study of an AI-Based Framework
Venue: arXiv cs.CV 2025
Year: 2025

Kidney abnormality segmentation has important potential to enhance the clinical workflow, especially in settings requiring quantitative assessments. Kidney volume could serve as an important biomarker for renal diseases, with changes in volume correlating directly with kidney function. Currently, clinical practice often relies on subjective visual assessment for evaluating kidney size and abnormalities, including tumors and cysts, which are typically staged based on diameter, volume, and anatomical location. To support a more objective and reproducible approach, this research aims to develop a robust, thoroughly validated kidney abnormality segmentation algorithm, made publicly available for clinical and research use. We employ publicly available training datasets and leverage the state-of-the-art medical image segmentation framework nnU-Net. Validation is conducted using both proprietary and public test datasets, with segmentation performance quantified by Dice coefficient and the 95th percentile Hausdorff distance. Furthermore, we analyze robustness across subgroups based on patient sex, age, CT contrast phases, and tumor histologic subtypes. Our findings demonstrate that our segmentation algorithm, trained exclusively on publicly available data, generalizes effectively to external test sets and outperforms existing state-of-the-art models across all tested datasets. Subgroup analyses reveal consistent high performance, indicating strong robustness and reliability. The developed algorithm and associated code are publicly accessible at https://github.com/DIAGNijmegen/oncology-kidney-abnormality-segmentation.
From raw affiliations to organization identifiers
Venue: arXiv cs.DL 2025
Year: 2025

Accurate affiliation matching, which links affiliation strings to standardized organization identifiers, is critical for improving research metadata quality, facilitating comprehensive bibliometric analyses, and supporting data interoperability across scholarly knowledge bases. Existing approaches fail to handle the complexity of affiliation strings that often include mentions of multiple organizations or extraneous information. In this paper, we present AffRo, a novel approach designed to address these challenges, leveraging advanced parsing and disambiguation techniques. We also introduce AffRoDB, an expert-curated dataset to systematically evaluate affiliation matching algorithms, ensuring robust benchmarking. Results demonstrate the effectiveness of AffRp in accurately identifying organizations from complex affiliation strings.
Securing WiFi Fingerprint-based Indoor Localization Systems from Malicious Access Points
Venue: arXiv cs.CR 2025
Year: 2025

WiFi fingerprint-based indoor localization schemes deliver highly accurate location data by matching the received signal strength indicator (RSSI) with an offline database using machine learning (ML) or deep learning (DL) models. However, over time, RSSI values degrade due to the malicious behavior of access points (APs), causing low positional accuracy due to RSSI value mismatch with the offline database. Existing literature lacks the detection of malicious APs in the online phase and mitigating their effects. This research addresses these limitations and proposes a long-term, reliable indoor localization scheme by incorporating malicious AP detection and their effect mitigation techniques. The proposed scheme uses a Light Gradient-Boosting Machine (LGBM) classifier to estimate locations and integrates simple yet efficient techniques to detect malicious APs based on online query data. Subsequently, a mitigation technique is incorporated that updates the offline database and online queries by imputing stable values for malicious APs using LGBM Regressors. Additionally, we introduce a noise addition mechanism in the offline database to capture the dynamic environmental effects. Extensive experimental evaluation shows that the proposed scheme attains a detection accuracy above 95% for each attack type. The mitigation strategy effectively restores the system's performance nearly to its original state when no malicious AP is present. The noise addition module reduces localization errors by nearly 16%. Furthermore, the proposed solution is lightweight, reducing the execution time by approximately 94% compared to the existing methods.
The Pitfalls of Benchmarking in Algorithm Selection: What We Are Getting Wrong
Venue: arXiv cs.LG 2025
Year: 2025

Algorithm selection, aiming to identify the best algorithm for a given problem, plays a pivotal role in continuous black-box optimization. A common approach involves representing optimization functions using a set of features, which are then used to train a machine learning meta-model for selecting suitable algorithms. Various approaches have demonstrated the effectiveness of these algorithm selection meta-models. However, not all evaluation approaches are equally valid for assessing the performance of meta-models. We highlight methodological issues that frequently occur in the community and should be addressed when evaluating algorithm selection approaches. First, we identify flaws with the "leave-instance-out" evaluation technique. We show that non-informative features and meta-models can achieve high accuracy, which should not be the case with a well-designed evaluation framework. Second, we demonstrate that measuring the performance of optimization algorithms with metrics sensitive to the scale of the objective function requires careful consideration of how this impacts the construction of the meta-model, its predictions, and the model's error. Such metrics can falsely present overly optimistic performance assessments of the meta-models. This paper emphasizes the importance of careful evaluation, as loosely defined methodologies can mislead researchers, divert efforts, and introduce noise into the field
Privacy Risks of Robot Vision: A User Study on Image Modalities and Resolution
Venue: arXiv cs.RO 2025
Year: 2025

User privacy is a crucial concern in robotic applications, especially when mobile service robots are deployed in personal or sensitive environments. However, many robotic downstream tasks require the use of cameras, which may raise privacy risks. To better understand user perceptions of privacy in relation to visual data, we conducted a user study investigating how different image modalities and image resolutions affect users' privacy concerns. The results show that depth images are broadly viewed as privacy-safe, and a similarly high proportion of respondents feel the same about semantic segmentation images. Additionally, the majority of participants consider 32*32 resolution RGB images to be almost sufficiently privacy-preserving, while most believe that 16*16 resolution can fully guarantee privacy protection.
Pixel Motion as Universal Representation for Robot Control
Venue: arXiv cs.RO 2025
Year: 2025

We present LangToMo, a vision-language-action framework structured as a dual-system architecture that uses pixel motion forecasts as intermediate representations. Our high-level System 2, an image diffusion model, generates text-conditioned pixel motion sequences from a single frame to guide robot control. Pixel motion-a universal, interpretable, and motion-centric representation-can be extracted from videos in a weakly-supervised manner, enabling diffusion model training on any video-caption data. Treating generated pixel motion as learned universal representations, our low level System 1 module translates these into robot actions via motion-to-action mapping functions, which can be either hand-crafted or learned with minimal supervision. System 2 operates as a high-level policy applied at sparse temporal intervals, while System 1 acts as a low-level policy at dense temporal intervals. This hierarchical decoupling enables flexible, scalable, and generalizable robot control under both unsupervised and supervised settings, bridging the gap between language, motion, and action. Checkout https://kahnchana.github.io/LangToMo
H$^3$DP: Triply-Hierarchical Diffusion Policy for Visuomotor Learning
Venue: arXiv cs.RO 2025
Year: 2025

Visuomotor policy learning has witnessed substantial progress in robotic manipulation, with recent approaches predominantly relying on generative models to model the action distribution. However, these methods often overlook the critical coupling between visual perception and action prediction. In this work, we introduce $\textbf{Triply-Hierarchical Diffusion Policy}~(\textbf{H$^{\mathbf{3}}$DP})$, a novel visuomotor learning framework that explicitly incorporates hierarchical structures to strengthen the integration between visual features and action generation. H$^{3}$DP contains $\mathbf{3}$ levels of hierarchy: (1) depth-aware input layering that organizes RGB-D observations based on depth information; (2) multi-scale visual representations that encode semantic features at varying levels of granularity; and (3) a hierarchically conditioned diffusion process that aligns the generation of coarse-to-fine actions with corresponding visual features. Extensive experiments demonstrate that H$^{3}$DP yields a $\mathbf{+27.5\%}$ average relative improvement over baselines across $\mathbf{44}$ simulation tasks and achieves superior performance in $\mathbf{4}$ challenging bimanual real-world manipulation tasks. Project Page: https://lyy-iiis.github.io/h3dp/.
ai.txt: A Domain-Specific Language for Guiding AI Interactions with the Internet
Venue: arXiv cs.NI 2025
Year: 2025

We introduce ai.txt, a novel domain-specific language (DSL) designed to explicitly regulate interactions between AI models, agents, and web content, addressing critical limitations of the widely adopted robots.txt standard. As AI increasingly engages with online materials for tasks such as training, summarization, and content modification, existing regulatory methods lack the necessary granularity and semantic expressiveness to ensure ethical and legal compliance. ai.txt extends traditional URL-based access controls by enabling precise element-level regulations and incorporating natural language instructions interpretable by AI systems. To facilitate practical deployment, we provide an integrated development environment with code autocompletion and automatic XML generation. Furthermore, we propose two compliance mechanisms: XML-based programmatic enforcement and natural language prompt integration, and demonstrate their effectiveness through preliminary experiments and case studies. Our approach aims to aid the governance of AI-Internet interactions, promoting responsible AI use in digital ecosystems.
RAN Cortex: Memory-Augmented Intelligence for Context-Aware Decision-Making in AI-Native Networks
Venue: arXiv cs.AI 2025
Year: 2025

As Radio Access Networks (RAN) evolve toward AI-native architectures, intelligent modules such as xApps and rApps are expected to make increasingly autonomous decisions across scheduling, mobility, and resource management domains. However, these agents remain fundamentally stateless, treating each decision as isolated, lacking any persistent memory of prior events or outcomes. This reactive behavior constrains optimization, especially in environments where network dynamics exhibit episodic or recurring patterns. In this work, we propose RAN Cortex, a memory-augmented architecture that enables contextual recall in AI-based RAN decision systems. RAN Cortex introduces a modular layer composed of four elements: a context encoder that transforms network state into high-dimensional embeddings, a vector-based memory store of past network episodes, a recall engine to retrieve semantically similar situations, and a policy interface that supplies historical context to AI agents in real time or near-real time. We formalize the retrieval-augmented decision problem in the RAN, present a system architecture compatible with O-RAN interfaces, and analyze feasible deployments within the Non-RT and Near-RT RIC domains. Through illustrative use cases such as stadium traffic mitigation and mobility management in drone corridors, we demonstrate how contextual memory improves adaptability, continuity, and overall RAN intelligence. This work introduces memory as a missing primitive in AI-native RAN designs and provides a framework to enable "learning agents" without the need for retraining or centralized inference
SweRank: Software Issue Localization with Code Ranking
Venue: arXiv cs.SE 2025
Year: 2025

Software issue localization, the task of identifying the precise code locations (files, classes, or functions) relevant to a natural language issue description (e.g., bug report, feature request), is a critical yet time-consuming aspect of software development. While recent LLM-based agentic approaches demonstrate promise, they often incur significant latency and cost due to complex multi-step reasoning and relying on closed-source LLMs. Alternatively, traditional code ranking models, typically optimized for query-to-code or code-to-code retrieval, struggle with the verbose and failure-descriptive nature of issue localization queries. To bridge this gap, we introduce SweRank, an efficient and effective retrieve-and-rerank framework for software issue localization. To facilitate training, we construct SweLoc, a large-scale dataset curated from public GitHub repositories, featuring real-world issue descriptions paired with corresponding code modifications. Empirical results on SWE-Bench-Lite and LocBench show that SweRank achieves state-of-the-art performance, outperforming both prior ranking models and costly agent-based systems using closed-source LLMs like Claude-3.5. Further, we demonstrate SweLoc's utility in enhancing various existing retriever and reranker models for issue localization, establishing the dataset as a valuable resource for the community.
Unpacking Robustness in Inflectional Languages: Adversarial Evaluation and Mechanistic Insights
Venue: arXiv cs.CL 2025
Year: 2025

Various techniques are used in the generation of adversarial examples, including methods such as TextBugger which introduce minor, hardly visible perturbations to words leading to changes in model behaviour. Another class of techniques involves substituting words with their synonyms in a way that preserves the text's meaning but alters its predicted class, with TextFooler being a prominent example of such attacks. Most adversarial example generation methods are developed and evaluated primarily on non-inflectional languages, typically English. In this work, we evaluate and explain how adversarial attacks perform in inflectional languages. To explain the impact of inflection on model behaviour and its robustness under attack, we designed a novel protocol inspired by mechanistic interpretability, based on Edge Attribution Patching (EAP) method. The proposed evaluation protocol relies on parallel task-specific corpora that include both inflected and syncretic variants of texts in two languages -- Polish and English. To analyse the models and explain the relationship between inflection and adversarial robustness, we create a new benchmark based on task-oriented dataset MultiEmo, enabling the identification of mechanistic inflection-related elements of circuits within the model and analyse their behaviour under attack.
LECTOR: Summarizing E-book Reading Content for Personalized Student Support
Venue: arXiv cs.CY 2025
Year: 2025

Educational e-book platforms provide valuable information to teachers and researchers through two main sources: reading activity data and reading content data. While reading activity data is commonly used to analyze learning strategies and predict low-performing students, reading content data is often overlooked in these analyses. To address this gap, this study proposes LECTOR (Lecture slides and Topic Relationships), a model that summarizes information from reading content in a format that can be easily integrated with reading activity data. Our first experiment compared LECTOR to representative Natural Language Processing (NLP) models in extracting key information from 2,255 lecture slides, showing an average improvement of 5% in F1-score. These results were further validated through a human evaluation involving 28 students, which showed an average improvement of 21% in F1-score over a model predominantly used in current educational tools. Our second experiment compared reading preferences extracted by LECTOR with traditional reading activity data in predicting low-performing students using 600,712 logs from 218 students. The results showed a tendency to improve the predictive performance by integrating LECTOR. Finally, we proposed examples showing the potential application of the reading preferences extracted by LECTOR in designing personalized interventions for students.
A Reproduction Study: The Kernel PCA Interpretation of Self-Attention Fails Under Scrutiny
Venue: arXiv cs.LG 2025
Year: 2025

In this reproduction study, we revisit recent claims that self-attention implements kernel principal component analysis (KPCA) (Teo et al., 2024), positing that (i) value vectors $V$ capture the eigenvectors of the Gram matrix of the keys, and (ii) that self-attention projects queries onto the principal component axes of the key matrix $K$ in a feature space. Our analysis reveals three critical inconsistencies: (1) No alignment exists between learned self-attention value vectors and what is proposed in the KPCA perspective, with average similarity metrics (optimal cosine similarity $\leq 0.32$, linear CKA (Centered Kernel Alignment) $\leq 0.11$, kernel CKA $\leq 0.32$) indicating negligible correspondence; (2) Reported decreases in reconstruction loss $J_\text{proj}$, arguably justifying the claim that the self-attention minimizes the projection error of KPCA, are misinterpreted, as the quantities involved differ by orders of magnitude ($\sim\!10^3$); (3) Gram matrix eigenvalue statistics, introduced to justify that $V$ captures the eigenvector of the gram matrix, are irreproducible without undocumented implementation-specific adjustments. Across 10 transformer architectures, we conclude that the KPCA interpretation of self-attention lacks empirical support.
Opportunities and Applications of GenAI in Smart Cities: A User-Centric Survey
Venue: arXiv cs.OH 2025
Year: 2025

The proliferation of IoT in cities, combined with Digital Twins, creates a rich data foundation for Smart Cities aimed at improving urban life and operations. Generative AI (GenAI) significantly enhances this potential, moving beyond traditional AI analytics and predictions by processing multimodal content and generating novel outputs like text and simulations. Using specialized or foundational models, GenAI's natural language abilities such as Natural Language Understanding (NLU) and Natural Language Generation (NLG) can power tailored applications and unified interfaces, dramatically lowering barriers for users interacting with complex smart city systems. In this paper, we focus on GenAI applications based on conversational interfaces within the context of three critical user archetypes in a Smart City - Citizens, Operators and Planners. We identify and review GenAI models and techniques that have been proposed or deployed for various urban subsystems in the contexts of these user archetypes. We also consider how GenAI can be built on the existing data foundation of official city records, IoT data streams and Urban Digital Twins. We believe this work represents the first comprehensive summarization of GenAI techniques for Smart Cities from the lens of the critical users in a Smart City.