OpenRaiser/Intern-Atlas huggingface dataset:
Assessing Greenspace Attractiveness with ChatGPT, Claude, and Gemini: Do AI Models Reflect Human Perceptions?
Venue: arXiv cs.CY 2025
Year: 2025

Understanding greenspace attractiveness is essential for designing livable and inclusive urban environments, yet existing assessment approaches often overlook informal or transient spaces and remain too resource intensive to capture subjective perceptions at scale. This study examines the ability of multimodal large language models (MLLMs), ChatGPT GPT-4o, Claude 3.5 Haiku, and Gemini 2.0 Flash, to assess greenspace attractiveness similarly to humans using Google Street View imagery. We compared model outputs with responses from a geo-questionnaire of residents in Lodz, Poland, across both formal (for example, parks and managed greenspaces) and informal (for example, meadows and wastelands) greenspaces. Survey respondents and models indicated whether each greenspace was attractive or unattractive and provided up to three free text explanations. Analyses examined how often their attractiveness judgments aligned and compared their explanations after classifying them into shared reasoning categories. Results show high AI human agreement for attractive formal greenspaces and unattractive informal spaces, but low alignment for attractive informal and unattractive formal greenspaces. Models consistently emphasized aesthetic and design oriented features, underrepresenting safety, functional infrastructure, and locally embedded qualities valued by survey respondents. While these findings highlight the potential for scalable pre-assessment, they also underscore the need for human oversight and complementary participatory approaches. We conclude that MLLMs can support, but not replace, context sensitive greenspace evaluation in planning practice.
Meta-Continual Mobility Forecasting for Proactive Handover Prediction
Venue: arXiv cs.LG 2025
Year: 2025

Short-term mobility forecasting is a core requirement for proactive handover (HO) in cellular networks. Real-world mobility is highly non-stationary: abrupt turns, rapid speed changes, and unpredictable user behavior cause conventional predictors to drift, leading to mistimed or failed handovers. We propose a lightweight meta-continual forecasting framework that integrates a GRU-based predictor, Reptile meta-initialization for fast few-shot adaptation, and an EWMA residual detector that triggers compact online updates only when drift occurs. Evaluated on a reproducible GeoLife and DeepMIMO pipeline, our method achieves 4.46 m ADE and 7.79 m FDE in zero-shot settings, improves few-shot ADE to 3.71 m at 10-shot, and enables recovery from abrupt drift about 2 to 3 times faster than an offline GRU. When applied to downstream HO prediction, the approach improves F1 to 0.83 and AUROC to 0.90, with substantial reductions in missed-HO and ping-pong events. The model is lightweight (128k parameters) and suitable for edge deployment in 5G and 6G systems.
Hierarchical Task Offloading and Trajectory Optimization in Low-Altitude Intelligent Networks Via Auction and Diffusion-based MARL
Venue: arXiv cs.LG 2025
Year: 2025

The low-altitude intelligent networks (LAINs) emerge as a promising architecture for delivering low-latency and energy-efficient edge intelligence in dynamic and infrastructure-limited environments. By integrating unmanned aerial vehicles (UAVs), aerial base stations, and terrestrial base stations, LAINs can support mission-critical applications such as disaster response, environmental monitoring, and real-time sensing. However, these systems face key challenges, including energy-constrained UAVs, stochastic task arrivals, and heterogeneous computing resources. To address these issues, we propose an integrated air-ground collaborative network and formulate a time-dependent integer nonlinear programming problem that jointly optimizes UAV trajectory planning and task offloading decisions. The problem is challenging to solve due to temporal coupling among decision variables. Therefore, we design a hierarchical learning framework with two timescales. At the large timescale, a Vickrey-Clarke-Groves auction mechanism enables the energy-aware and incentive-compatible trajectory assignment. At the small timescale, we propose the diffusion-heterogeneous-agent proximal policy optimization, a generative multi-agent reinforcement learning algorithm that embeds latent diffusion models into actor networks. Each UAV samples actions from a Gaussian prior and refines them via observation-conditioned denoising, enhancing adaptability and policy diversity. Extensive simulations show that our framework outperforms baselines in energy efficiency, task success rate, and convergence performance.
Automated Plant Disease and Pest Detection System Using Hybrid Lightweight CNN-MobileViT Models for Diagnosis of Indigenous Crops
Venue: arXiv cs.CV 2025
Year: 2025

Agriculture supports over 80% of the population in the Tigray region of Ethiopia, where infrastructural disruptions limit access to expert crop disease diagnosis. We present an offline-first detection system centered on a newly curated indigenous cactus-fig (Opuntia ficus-indica) dataset consisting of 3,587 field images across three core symptom classes. Given deployment constraints in post-conflict edge environments, we benchmark three mobile-efficient architectures: a custom lightweight CNN, EfficientNet-Lite1, and the CNN-Transformer hybrid MobileViT-XS. While the broader system contains independent modules for potato, apple, and corn, this study isolates cactus-fig model performance to evaluate attention sensitivity and inductive bias transfer on indigenous morphology alone. Results establish a clear Pareto trade-off: EfficientNet-Lite1 achieves 90.7% test accuracy, the lightweight CNN reaches 89.5% with the most favorable deployment profile (42 ms inference latency, 4.8 MB model size), and MobileViT-XS delivers 97.3% mean cross-validation accuracy, demonstrating that MHSA-based global reasoning disambiguates pest clusters from two dimensional fungal lesions more reliably than local texture CNN kernels. The ARM compatible models are deployed in a Tigrigna and Amharic localized Flutter application supporting fully offline inference on Cortex-A53 class devices, strengthening inclusivity for food security critical diagnostics.
VLSA: Vision-Language-Action Models with Plug-and-Play Safety Constraint Layer
Venue: arXiv cs.RO 2025
Year: 2025

Vision-Language-Action (VLA) models have demonstrated remarkable capabilities in generalizing across diverse robotic manipulation tasks. However, deploying these models in unstructured environments remains challenging due to the critical need for simultaneous task compliance and safety assurance, particularly in preventing potential collisions during physical interactions. In this work, we introduce a Vision-Language-Safe Action (VLSA) architecture, named AEGIS, which contains a plug-and-play safety constraint (SC) layer formulated via control barrier functions. AEGIS integrates directly with existing VLA models to improve safety with theoretical guarantees, while maintaining their original instruction-following performance. To evaluate the efficacy of our architecture, we construct a comprehensive safety-critical benchmark SafeLIBERO, spanning distinct manipulation scenarios characterized by varying degrees of spatial complexity and obstacle intervention. Extensive experiments demonstrate the superiority of our method over state-of-the-art baselines. Notably, AEGIS achieves a 59.16% improvement in obstacle avoidance rate while substantially increasing the task execution success rate by 17.25%. To facilitate reproducibility and future research, we make our code, models, and the benchmark datasets publicly available at https://vlsa-aegis.github.io/.
Microscopic Vehicle Trajectory Datasets from UAV-collected Video for Heterogeneous, Area-Based Urban Traffic
Venue: arXiv cs.CV 2025
Year: 2025

This paper offers openly available microscopic vehicle trajectory (MVT) datasets collected using unmanned aerial vehicles (UAVs) in heterogeneous, area-based urban traffic conditions. Traditional roadside video collection often fails in dense mixed traffic due to occlusion, limited viewing angles, and irregular vehicle movements. UAV-based recording provides a top-down perspective that reduces these issues and captures rich spatial and temporal dynamics. The datasets described here were extracted using the Data from Sky (DFS) platform and validated against manual counts, space mean speeds, and probe trajectories in earlier work. Each dataset contains time-stamped vehicle positions, speeds, longitudinal and lateral accelerations, and vehicle classifications at a resolution of 30 frames per second. Data were collected at six mid-block locations in the national capital region of India, covering diverse traffic compositions and density levels. Exploratory analyses highlight key behavioural patterns, including lane-keeping preferences, speed distributions, and lateral manoeuvres typical of heterogeneous and area-based traffic settings. These datasets are intended as a resource for the global research community to support simulation modelling, safety assessment, and behavioural studies under area-based traffic conditions. By making these empirical datasets openly available, this work offers researchers a unique opportunity to develop, test, and validate models that more accurately represent complex urban traffic environments.
Data-driven Interpretable Hybrid Robot Dynamics
Venue: arXiv cs.RO 2025
Year: 2025

We study data-driven identification of interpretable hybrid robot dynamics, where an analytical rigid-body dynamics model is complemented by a learned residual torque term. Using symbolic regression and sparse identification of nonlinear dynamics (SINDy), we recover compact closed-form expressions for this residual from joint-space data. In simulation on a 7-DoF Franka arm with known dynamics, these interpretable models accurately recover inertial, Coriolis, gravity, and viscous effects with very small relative error and outperform neural-network baselines in both accuracy and generalization. On real data from a 7-DoF WAM arm, symbolic-regression residuals generalize substantially better than SINDy and neural networks, which tend to overfit, and suggest candidate new closed-form formulations that extend the nominal dynamics model for this robot. Overall, the results indicate that interpretable residual dynamics models provide compact, accurate, and physically meaningful alternatives to black-box function approximators for torque prediction.
CLARGA: Multimodal Graph Representation Learning over Arbitrary Sets of Modalities
Venue: arXiv cs.CV 2025
Year: 2025

We introduce CLARGA, a general-purpose multimodal fusion architecture for multimodal representation learning that works with any number and type of modalities without changing the underlying framework. Given a supervised dataset, CLARGA can be applied to virtually any machine learning task to fuse different multimodal representations for processing by downstream layers. On a sample-by-sample basis, CLARGA learns how modalities should inform one another by building an attention weighted graph over their features and passing messages along this graph with a multi-head Graph Attention Network. Not only does this make CLARGA highly adaptive, as it constructs unique graphs for different samples, it makes for efficient fusion with sub-quadratic complexity as the number of modalities grows. Through a learnable mask, it can also adapt to missing modality inputs. The model is trained with a hybrid objective that combines a supervised task loss with contrastive InfoNCE loss, improving cross-modal consistency and robustness to noisy inputs. We demonstrate CLARGA's effectiveness in diverse multimodal representation learning tasks across 7 datasets spanning finance, human-computer interaction, general multimedia classification, and affective computing. It consistently outperforms baselines, state-of-the-art models, and ablations. Additional experiments also demonstrate its robustness to missing inputs and ability to excel on niche tasks. Overall, CLARGA can be easily plugged into machine learning models for effective and efficient learning of representations across a wide variety of tasks.
Robustness of Probabilistic Models to Low-Quality Data: A Multi-Perspective Analysis
Venue: arXiv cs.AI 2025
Year: 2025

A systematic, comparative investigation into the effects of low-quality data reveals a stark spectrum of robustness across modern probabilistic models. We find that autoregressive language models, from token prediction to sequence-to-sequence tasks, are remarkably resilient (for GPT-2, test NLL increases modestly from 2.87 to 3.59 despite 50% token corruption). By contrast, under the same levels of data corruption, class-conditional diffusion models degrade catastrophically (image-label consistency plummets by 56.81% relative to baseline), while classifiers show a moderate impact that diminishes with dataset scale. To explain these discrepancies, we analyze the results through a multi-perspective lens, integrating information theory, PAC learning, and gradient dynamics. These analyses suggest that robustness is heavily influenced by two key principles: the richness of conditioning information, which constrains the learning problem, and the absolute information content of the training data, which allows the signal from correct information to dominate statistical noise.
Financial Management Challenges in Enterprises Employing Remote and Hybrid Workforces
Venue: arXiv cs.CY 2025
Year: 2025

The paper examines financial management challenges faced by organizations operating under remote and hybrid work models. It investigates how these flexible arrangements influence budgeting, reporting, and financial transparency in distributed teams. Using a quantitative survey of managers, HR staff, and finance professionals, the study analyzes the role of digital tools, communication, and organizational practices in shaping financial outcomes. Results indicate that remote and hybrid work can improve budget control and process transparency through the use of ERP systems and digital workflows. However, forecasting accuracy and interdepartmental communication remain major challenges, particularly in organizations with insufficient digital integration. Respondents also reported lower stress levels and improved work-life balance, suggesting potential well-being and productivity benefits. The paper recommends that companies enhance digital infrastructure, adopt advanced analytics for forecasting, and develop clear communication frameworks supported by employee well-being programs. The study contributes original empirical evidence on financial management in flexible work environments, offering practical insights for leaders navigating the digital transformation of finance.
Evolutionary Reinforcement Learning based AI tutor for Socratic Interdisciplinary Instruction
Venue: arXiv cs.CY 2025
Year: 2025

Cultivating higher-order cognitive abilities -- such as knowledge integration, critical thinking, and creativity -- in modern STEM education necessitates a pedagogical shift from passive knowledge transmission to active Socratic construction. Although Large Language Models (LLMs) hold promise for STEM Interdisciplinary education, current methodologies employing Prompt Engineering (PE), Supervised Fine-tuning (SFT), or standard Reinforcement Learning (RL) often fall short of supporting this paradigm. Existing methods are hindered by three fundamental challenges: the inability to dynamically model latent student cognitive states; severe reward sparsity and delay inherent in long-term educational goals; and a tendency toward policy collapse lacking strategic diversity due to reliance on behavioral cloning. Recognizing the unobservability and dynamic complexity of these interactions, we formalize the Socratic Interdisciplinary Instructional Problem (SIIP) as a structured Partially Observable Markov Decision Process (POMDP), demanding simultaneous global exploration and fine-grained policy refinement. To this end, we propose ERL4SIIP, a novel Evolutionary Reinforcement Learning (ERL) framework specifically tailored for this domain. ERL4SIIP integrates: (1) a dynamic student simulator grounded in a STEM knowledge graph for latent state modeling; (2) a Hierarchical Reward Mechanism that decomposes long-horizon goals into dense signals; and (3) a LoRA-Division based optimization strategy coupling evolutionary algorithms for population-level global search with PPO for local gradient ascent.
Mapping AI Risk Mitigations: Evidence Scan and Preliminary AI Risk Mitigation Taxonomy
Venue: arXiv cs.CY 2025
Year: 2025

Organizations and governments that develop, deploy, use, and govern AI must coordinate on effective risk mitigation. However, the landscape of AI risk mitigation frameworks is fragmented, uses inconsistent terminology, and has gaps in coverage. This paper introduces a preliminary AI Risk Mitigation Taxonomy to organize AI risk mitigations and provide a common frame of reference. The Taxonomy was developed through a rapid evidence scan of 13 AI risk mitigation frameworks published between 2023-2025, which were extracted into a living database of 831 AI risk mitigations. The mitigations were iteratively clustered & coded to create the Taxonomy. The preliminary AI Risk Mitigation Taxonomy organizes mitigations into four categories and 23 subcategories: (1) Governance & Oversight: Formal organizational structures and policy frameworks that establish human oversight mechanisms and decision protocols; (2) Technical & Security: Technical, physical, and engineering safeguards that secure AI systems and constrain model behaviors; (3) Operational Process: processes and management frameworks governing AI system deployment, usage, monitoring, incident handling, and validation; and (4) Transparency & Accountability: formal disclosure practices and verification mechanisms that communicate AI system information and enable external scrutiny. The rapid evidence scan and taxonomy construction also revealed several cases where terms like 'risk management' and 'red teaming' are used widely but refer to different responsible actors, actions, and mechanisms of action to reduce risk. This Taxonomy and associated mitigation database, while preliminary, offers a starting point for collation and synthesis of AI risk mitigations. It also offers an accessible, structured way for different actors in the AI ecosystem to discuss and coordinate action to reduce risks from AI.
Neural Chameleons: Language Models Can Learn to Hide Their Thoughts from Unseen Activation Monitors
Venue: arXiv cs.LG 2025
Year: 2025

Activation monitoring, which probes a model's internal states using lightweight classifiers, is an emerging tool for AI safety. However, its worst-case robustness under a misalignment threat model--where a model might learn to actively conceal its internal states--remains untested. Focusing on this threat model, we ask: could a model learn to evade previously unseen activation monitors? Our core contribution is to stress-test the learnability of this behavior. We demonstrate that finetuning can create Neural Chameleons: models capable of zero-shot evading activation monitors. Specifically, we fine-tune an LLM to evade monitors for a set of benign concepts (e.g., languages, HTML) when conditioned on a trigger of the form: "You are being probed for {concept}". We show that this learned mechanism generalizes zero-shot: by substituting {concept} with a safety-relevant term like 'deception', the model successfully evades previously unseen safety monitors. We validate this phenomenon across diverse model families (Llama, Gemma, Qwen), showing that the evasion succeeds even against monitors trained post hoc on the model's frozen weights. This evasion is highly selective, targeting only the specific concept mentioned in the trigger, and having a modest impact on model capabilities on standard benchmarks. Using Gemma-2-9b-it as a case study, a mechanistic analysis reveals this is achieved via a targeted manipulation that moves activations into a low-dimensional subspace. While stronger defenses like monitor ensembles and non-linear classifiers show greater resilience, the model retains a non-trivial evasion capability. Our work provides a proof-of-concept for this failure mode and a tool to evaluate the worst-case robustness of monitoring techniques against misalignment threat models.
Designing The Internet of Agents: A Framework for Trustworthy, Transparent, and Collaborative Human-Agent Interaction (HAX)
Venue: arXiv cs.HC 2025
Year: 2025

The rise of generative and autonomous agents marks a fundamental shift in computing, demanding a rethinking of how humans collaborate with probabilistic, partially autonomous systems. We present the Human-AI-Experience (HAX) framework, a comprehensive, three-phase approach that establishes design foundations for trustworthy, transparent, and collaborative agentic interaction. HAX integrates behavioral heuristics, a schema-driven SDK enforcing structured and safe outputs, and a behavioral proxy concept that orchestrates agent activity to reduce cognitive load. A validated catalog of mixed-initiative design patterns further enables intent preview, iterative alignment, trust repair, and multi-agent narrative coherence. Grounded in Time, Interaction, and Performance (TIP) theory, HAX reframes multi-agent systems as colleagues, offering the first end-to-end framework that bridges trust theory, interface design, and infrastructure for the emerging Internet of Agents.
Policy Gradient Algorithms for Age-of-Information Cost Minimization
Venue: arXiv cs.NI 2025
Year: 2025

Recent developments in cyber-physical systems have increased the importance of maximizing the freshness of the information about the physical environment. However, optimizing the access policies of Internet of Things devices to maximize the data freshness, measured as a function of the Age-of-Information (AoI) metric, is a challenging task. This work introduces two algorithms to optimize the information update process in cyber-physical systems operating under the generate-at-will model, by finding an online policy without knowing the characteristics of the transmission delay or the age cost function. The optimization seeks to minimize the time-average cost, which integrates the AoI at the receiver and the data transmission cost, making the approach suitable for a broad range of scenarios. Both algorithms employ policy gradient methods within the framework of model-free reinforcement learning (RL) and are specifically designed to handle continuous state and action spaces. Each algorithm minimizes the cost using a distinct strategy for deciding when to send an information update. Moreover, we demonstrate that it is feasible to apply the two strategies simultaneously, leading to an additional reduction in cost. The results demonstrate that the proposed algorithms exhibit good convergence properties and achieve a time-average cost within 3% of the optimal value, when the latter is computable. A comparison with other state-of-the-art methods shows that the proposed algorithms outperform them in one or more of the following aspects: being applicable to a broader range of scenarios, achieving a lower time-average cost, and requiring a computational cost at least one order of magnitude lower.