OpenRaiser/Intern-Atlas huggingface dataset:
Detecting Dataset Bias in Medical AI: A Generalized and Modality-Agnostic Auditing Framework
Venue: arXiv cs.LG 2025
Year: 2025

Artificial Intelligence (AI) is now firmly at the center of evidence-based medicine. Despite many success stories that edge the path of AI's rise in healthcare, there are comparably many reports of significant shortcomings and unexpected behavior of AI in deployment. A major reason for these limitations is AI's reliance on association-based learning, where non-representative machine learning datasets can amplify latent bias during training and/or hide it during testing. To unlock new tools capable of foreseeing and preventing such AI bias issues, we present G-AUDIT. Generalized Attribute Utility and Detectability-Induced bias Testing (G-AUDIT) for datasets is a modality-agnostic dataset auditing framework that allows for generating targeted hypotheses about sources of bias in training or testing data. Our method examines the relationship between task-level annotations (commonly referred to as ``labels'') and data properties including patient attributes (e.g., age, sex) and environment/acquisition characteristics (e.g., clinical site, imaging protocols). G-AUDIT quantifies the extent to which the observed data attributes pose a risk for shortcut learning, or in the case of testing data, might hide predictions made based on spurious associations. We demonstrate the broad applicability of our method by analyzing large-scale medical datasets for three distinct modalities and machine learning tasks: skin lesion classification in images, stigmatizing language classification in Electronic Health Records (EHR), and mortality prediction for ICU tabular data. In each setting, G-AUDIT successfully identifies subtle biases commonly overlooked by traditional qualitative methods, underscoring its practical value in exposing dataset-level risks and supporting the downstream development of reliable AI systems.
Quadratic Transform for Fractional Programming in Signal Processing and Machine Learning
Venue: arXiv cs.IT 2025
Year: 2025

Fractional programming (FP) is a branch of mathematical optimization that deals with the optimization of ratios. It is an invaluable tool for signal processing and machine learning, because many key metrics in these fields are fractionally structured, e.g., the signal-to-interference-plus-noise ratio (SINR) in wireless communications, the Cramér-Rao bound (CRB) in radar sensing, the normalized cut in graph clustering, and the margin in support vector machine (SVM). This article provides a comprehensive review of both the theory and applications of a recently developed FP technique known as the quadratic transform, which can be applied to a wide variety of FP problems, including both the minimization and the maximization of the sum of functions of ratios as well as matrix-ratio problems.
Using Context to Improve Word Segmentation
Venue: arXiv cs.CL 2025
Year: 2025

An important step in understanding how children acquire languages is studying how infants learn word segmentation. It has been established in previous research that infants may use statistical regularities in speech to learn word segmentation. The research of Goldwater et al., demonstrated that incorporating context in models improves their ability to learn word segmentation. We implemented two of their models, a unigram and bigram model, to examine how context can improve statistical word segmentation. The results are consistent with our hypothesis that the bigram model outperforms the unigram model at predicting word segmentation. Extending the work of Goldwater et al., we also explored basic ways to model how young children might use previously learned words to segment new utterances.
Multi-Modal Mamba Modeling for Survival Prediction (M4Survive): Adapting Joint Foundation Model Representations
Venue: arXiv cs.CV 2025
Year: 2025

Accurate survival prediction in oncology requires integrating diverse imaging modalities to capture the complex interplay of tumor biology. Traditional single-modality approaches often fail to leverage the complementary insights provided by radiological and pathological assessments. In this work, we introduce M4Survive (Multi-Modal Mamba Modeling for Survival Prediction), a novel framework that learns joint foundation model representations using efficient adapter networks. Our approach dynamically fuses heterogeneous embeddings from a foundation model repository (e.g., MedImageInsight, BiomedCLIP, Prov-GigaPath, UNI2-h), creating a correlated latent space optimized for survival risk estimation. By leveraging Mamba-based adapters, M4Survive enables efficient multi-modal learning while preserving computational efficiency. Experimental evaluations on benchmark datasets demonstrate that our approach outperforms both unimodal and traditional static multi-modal baselines in survival prediction accuracy. This work underscores the potential of foundation model-driven multi-modal fusion in advancing precision oncology and predictive analytics.
AhaRobot: A Low-Cost Open-Source Bimanual Mobile Manipulator for Embodied AI
Venue: arXiv cs.RO 2025
Year: 2025

Navigation and manipulation in open-world environments remain unsolved challenges in the Embodied AI. The high cost of commercial mobile manipulation robots significantly limits research in real-world scenes. To address this issue, we propose AhaRobot, a low-cost and fully open-source dual-arm mobile manipulation robot system with a hardware cost of only $1,000 (excluding optional computational resources), which is less than 1/15 of the cost of popular mobile robots. The AhaRobot system consists of three components: (1) a novel low-cost hardware architecture primarily composed of off-the-shelf components, (2) an optimized control solution to enhance operational precision integrating dual-motor backlash control and static friction compensation, and (3) a simple remote teleoperation method RoboPilot. We use handles to control the dual arms and pedals for whole-body movement. The teleoperation process is low-burden and easy to operate, much like piloting. RoboPilot is designed for remote data collection in embodied scenarios. Experimental results demonstrate that RoboPilot significantly enhances data collection efficiency in complex manipulation tasks, achieving a 30% increase compared to methods using 3D mouse and leader-follower systems. It also excels at completing extremely long-horizon tasks in one go. Furthermore, AhaRobot can be used to learn end-to-end policies and autonomously perform complex manipulation tasks, such as pen insertion and cleaning up the floor. We aim to build an affordable yet powerful platform to promote the development of embodied tasks on real devices, advancing more robust and reliable embodied AI. All hardware and software systems are available at https://aha-robot.github.io.
Why Prompt Design Matters and Works: A Complexity Analysis of Prompt Search Space in LLMs
Venue: arXiv cs.CL 2025
Year: 2025

Despite the remarkable successes of large language models (LLMs), the underlying Transformer architecture has inherent limitations in handling complex reasoning tasks. Chain-of-thought (CoT) prompting has emerged as a practical workaround, but most CoT-based methods rely on a single, generic prompt such as "think step by step", with no task-specific adaptation. These approaches expect the model to discover an effective reasoning path on its own, forcing it to search through a vast prompt space. In contrast, several studies have explored task-specific prompt designs to boost performance. However, these designs are typically developed through trial and error, lacking theoretical grounding. As a result, prompt engineering remains largely ad hoc and unguided. In this paper, we provide a theoretical framework that explains why some prompts succeed while others fail. We show that prompts function as selectors, extracting task-relevant information from the model's full hidden state during CoT reasoning. Each prompt defines a unique trajectory through the answer space, and the choice of trajectory is crucial for task performance and future navigation within the space. We analyze the complexity of finding optimal prompts and characterize the size of the prompt space for a given task. Our theory reveals principles behind effective prompt design and shows that naive CoT-using self-guided prompts like "think step by step"-can severely hinder performance. Through experiments, we show that optimal prompt search can lead to more than a 50% improvement on reasoning tasks, providing a theoretical foundation for prompt engineering.
Semantic Synergy: Unlocking Policy Insights and Learning Pathways Through Advanced Skill Mapping
Venue: arXiv cs.AI 2025
Year: 2025

This research introduces a comprehensive system based on state-of-the-art natural language processing, semantic embedding, and efficient search techniques for retrieving similarities and thus generating actionable insights from raw textual information. The system automatically extracts and aggregates normalized competencies from multiple documents (such as policy files and curricula vitae) and creates strong relationships between recognized competencies, occupation profiles, and related learning courses. To validate its performance, we conducted a multi-tier evaluation that included both explicit and implicit skill references in synthetic and real-world documents. The results showed near-human-level accuracy, with F1 scores exceeding 0.95 for explicit skill detection and above 0.93 for implicit mentions. The system thereby establishes a sound foundation for supporting in-depth collaboration across the AE4RIA network. The methodology involves a multi-stage pipeline based on extensive preprocessing and data cleaning, semantic embedding and segmentation via SentenceTransformer, and skill extraction using a FAISS-based search method. The extracted skills are associated with occupation frameworks (as formulated in the ESCO ontology) and with learning paths offered through the Sustainable Development Goals Academy. Moreover, interactive visualization software, implemented with Dash and Plotly, presents graphs and tables for real-time exploration and informed decision-making by those involved in policymaking, training and learning supply, career transitions, and recruitment. Overall, this system, backed by rigorous validation, offers promising prospects for improved policymaking, human resource development, and lifelong learning by providing structured and actionable insights from raw, complex textual information.
A Self-supervised Motion Representation for Portrait Video Generation
Venue: arXiv cs.CV 2025
Year: 2025

Recent advancements in portrait video generation have been noteworthy. However, existing methods rely heavily on human priors and pre-trained generative models, Motion representations based on human priors may introduce unrealistic motion, while methods relying on pre-trained generative models often suffer from inefficient inference. To address these challenges, we propose Semantic Latent Motion (SeMo), a compact and expressive motion representation. Leveraging this representation, our approach achieve both high-quality visual results and efficient inference. SeMo follows an effective three-step framework: Abstraction, Reasoning, and Generation. First, in the Abstraction step, we use a carefully designed Masked Motion Encoder, which leverages a self-supervised learning paradigm to compress the subject's motion state into a compact and abstract latent motion (1D token). Second, in the Reasoning step, we efficiently generate motion sequences based on the driving audio signal. Finally, in the Generation step, the motion dynamics serve as conditional information to guide the motion decoder in synthesizing realistic transitions from reference frame to target video. Thanks to the compact and expressive nature of Semantic Latent Motion, our method achieves efficient motion representation and high-quality video generation. User studies demonstrate that our approach surpasses state-of-the-art models with an 81% win rate in realism. Extensive experiments further highlight its strong compression capability, reconstruction quality, and generative potential.
Geometric Parameter Estimations of Perovskite Solar Cells Based on Optical Simulations
Venue: arXiv cs.CV 2025
Year: 2025

This paper presents a non-invasive approach to estimate the layer thicknesses of perovskite solar cells. The thicknesses are predicted by a convolutional neural network that leverages the external quantum efficiency of a perovskite solar cell. The network is trained in thickness ranges where the optical properties are constant, and these ranges set the constraints for the network's application. Due to light sensitivity issues with opaque perovskites, the convolutional neural network showed better performance with transparent perovskites. To optimize the performance and reduce the root mean square error, we tried different sampling methods, image specifications, and Bayesian optimization for hyperparameter tuning. While sampling methods showed marginal improvement, implementing Bayesian optimization demonstrated high accuracy. Other minor optimization attempts include experimenting with input specifications and pre-processing approaches. The results confirm the feasibility, efficiency, and effectiveness of a convolution neural network for predicting perovskite solar cells' layer thicknesses based on controlled experiments.
StepMathAgent: A Step-Wise Agent for Evaluating Mathematical Processes through Tree-of-Error
Venue: arXiv cs.AI 2025
Year: 2025

Evaluating mathematical capabilities is critical for assessing the overall performance of large language models (LLMs). However, existing evaluation methods often focus solely on final answers, resulting in highly inaccurate and uninterpretable evaluation outcomes, as well as their failure to assess proof or open-ended problems. To address these issues, we propose a novel mathematical process evaluation agent based on Tree-of-Error, called StepMathAgent. This agent incorporates four internal core operations: logical step segmentation, step scoring, score aggregation and error tree generation, along with four external extension modules: difficulty calibration, simplicity evaluation, completeness validation and format assessment. Furthermore, we introduce StepMathBench, a benchmark comprising 1,000 step-divided process evaluation instances, derived from 200 high-quality math problems grouped by problem type, subject category and difficulty level. Experiments on StepMathBench show that our proposed StepMathAgent outperforms all state-of-the-art methods, demonstrating human-aligned evaluation preferences and broad applicability to various scenarios. Our data and code are available at https://github.com/SHU-XUN/StepMathAgent.
Mobile Food Printing in Professional Kitchens: An inquiry of potential use cases with novice chefs
Venue: arXiv cs.HC 2025
Year: 2025

The knowledge transfer from 3D printing technology paved the way for unlocking the innovative potential of 3D Food Printing (3DFP) technology. However, this technology-oriented approach neglects userderived issues that could be addressed with advancements in 3DFP technology. To explore potential new features and application areas for 3DFP technology, we created the Mobile Food Printer (MFP) prototype. We collected insights from novice chefs for MFP in the restaurant context through four online focus group sessions (N=12). Our results revealed how MFP can be applied in the current kitchen routines (preparation, serving, and eating) and introduce novel dining experiences. We discuss our learnings under two themes: 1) dealing with the kitchen rush and 2) streamlining workflows in the kitchen. The opportunities we present in this study act as a starting point for HCI and HFI researchers and encourage them to implement mobility in 3DFP with a useroriented lens. We further provide a ground for future research to uncover potentials for advancing 3DFP technology.
An Real-Sim-Real (RSR) Loop Framework for Generalizable Robotic Policy Transfer with Differentiable Simulation
Venue: arXiv cs.RO 2025
Year: 2025

The sim-to-real gap remains a critical challenge in robotics, hindering the deployment of algorithms trained in simulation to real-world systems. This paper introduces a novel Real-Sim-Real (RSR) loop framework leveraging differentiable simulation to address this gap by iteratively refining simulation parameters, aligning them with real-world conditions, and enabling robust and efficient policy transfer. A key contribution of our work is the design of an informative cost function that encourages the collection of diverse and representative real-world data, minimizing bias and maximizing the utility of each data point for simulation refinement. This cost function integrates seamlessly into existing reinforcement learning algorithms (e.g., PPO, SAC) and ensures a balanced exploration of critical regions in the real domain. Furthermore, our approach is implemented on the versatile Mujoco MJX platform, and our framework is compatible with a wide range of robotic systems. Experimental results on several robotic manipulation tasks demonstrate that our method significantly reduces the sim-to-real gap, achieving high task performance and generalizability across diverse scenarios of both explicit and implicit environmental uncertainties.
Verifiable, Efficient and Confidentiality-Preserving Graph Search with Transparency
Venue: arXiv cs.CR 2025
Year: 2025

Graph databases have garnered extensive attention and research due to their ability to manage relationships between entities efficiently. Today, many graph search services have been outsourced to a third-party server to facilitate storage and computational support. Nevertheless, the outsourcing paradigm may invade the privacy of graphs. PeGraph is the latest scheme achieving encrypted search over social graphs to address the privacy leakage, which maintains two data structures XSet and TSet motivated by the OXT technology to support encrypted conjunctive search. However, PeGraph still exhibits limitations inherent to the underlying OXT. It does not provide transparent search capabilities, suffers from expensive computation and result pattern leakages, and it fails to support search over dynamic encrypted graph database and results verification. In this paper, we propose SecGraph to address the first two limitations, which adopts a novel system architecture that leverages an SGX-enabled cloud server to provide users with secure and transparent search services since the secret key protection and computational overhead have been offloaded to the cloud server. Besides, we design an LDCF-encoded XSet based on the Logarithmic Dynamic Cuckoo Filter to facilitate efficient plaintext computation in trusted memory, effectively mitigating the risks of result pattern leakage and performance degradation due to exceeding the limited trusted memory capacity. Finally, we design a new dynamic version of TSet named Twin-TSet to enable conjunctive search over dynamic encrypted graph database. In order to support verifiable search, we further propose VSecGraph, which utilizes a procedure-oriented verification method to verify all data structures loaded into the trusted memory, thus bypassing the computational overhead associated with the client's local verification.
R.U.Psycho? Robust Unified Psychometric Testing of Language Models
Venue: arXiv cs.CL 2025
Year: 2025

Generative language models are increasingly being subjected to psychometric questionnaires intended for human testing, in efforts to establish their traits, as benchmarks for alignment, or to simulate participants in social science experiments. While this growing body of work sheds light on the likeness of model responses to those of humans, concerns are warranted regarding the rigour and reproducibility with which these experiments may be conducted. Instabilities in model outputs, sensitivity to prompt design, parameter settings, and a large number of available model versions increase documentation requirements. Consequently, generalization of findings is often complex and reproducibility is far from guaranteed. In this paper, we present R.U.Psycho, a framework for designing and running robust and reproducible psychometric experiments on generative language models that requires limited coding expertise. We demonstrate the capability of our framework on a variety of psychometric questionnaires, which lend support to prior findings in the literature. R.U.Psycho is available as a Python package at https://github.com/julianschelb/rupsycho.
LLM Agents Display Human Biases but Exhibit Distinct Learning Patterns
Venue: arXiv cs.AI 2025
Year: 2025

We investigate the choice patterns of Large Language Models (LLMs) in the context of Decisions from Experience tasks that involve repeated choice and learning from feedback, and compare their behavior to human participants. We find that on the aggregate, LLMs appear to display behavioral biases similar to humans: both exhibit underweighting rare events and correlation effects. However, more nuanced analyses of the choice patterns reveal that this happens for very different reasons. LLMs exhibit strong recency biases, unlike humans, who appear to respond in more sophisticated ways. While these different processes may lead to similar behavior on average, choice patterns contingent on recent events differ vastly between the two groups. Specifically, phenomena such as ``surprise triggers change" and the ``wavy recency effect of rare events" are robustly observed in humans, but entirely absent in LLMs. Our findings provide insights into the limitations of using LLMs to simulate and predict humans in learning environments and highlight the need for refined analyses of their behavior when investigating whether they replicate human decision making tendencies.
Resource efficient data transmission on animals based on machine learning
Venue: arXiv cs.LG 2025
Year: 2025

Bio-loggers, electronic devices used to track animal behaviour through various sensors, have become essential in wildlife research. Despite continuous improvements in their capabilities, bio-loggers still face significant limitations in storage, processing, and data transmission due to the constraints of size and weight, which are necessary to avoid disturbing the animals. This study aims to explore how selective data transmission, guided by machine learning, can reduce the energy consumption of bio-loggers, thereby extending their operational lifespan without requiring hardware modifications.
PyGDA: A Python Library for Graph Domain Adaptation
Venue: arXiv cs.LG 2025
Year: 2025

Graph domain adaptation has emerged as a promising approach to facilitate knowledge transfer across different domains. Recently, numerous models have been proposed to enhance their generalization capabilities in this field. However, there is still no unified library that brings together existing techniques and simplifies their implementation. To fill this gap, we introduce PyGDA, an open-source Python library tailored for graph domain adaptation. As the first comprehensive library in this area, PyGDA covers more than 20 widely used graph domain adaptation methods together with different types of graph datasets. Specifically, PyGDA offers modular components, enabling users to seamlessly build custom models with a variety of commonly used utility functions. To handle large-scale graphs, PyGDA includes support for features such as sampling and mini-batch processing, ensuring efficient computation. In addition, PyGDA also includes comprehensive performance benchmarks and well-documented user-friendly API for both researchers and practitioners. To foster convenient accessibility, PyGDA is released under the MIT license at https://github.com/pygda-team/pygda, and the API documentation is https://pygda.readthedocs.io/en/stable/.