OpenRaiser/Intern-Atlas huggingface dataset:
Leveraging Compute-in-Memory for Efficient Generative Model Inference in TPUs
Venue: arXiv cs.AR 2025
Year: 2025

With the rapid advent of generative models, efficiently deploying these models on specialized hardware has become critical. Tensor Processing Units (TPUs) are designed to accelerate AI workloads, but their high power consumption necessitates innovations for improving efficiency. Compute-in-memory (CIM) has emerged as a promising paradigm with superior area and energy efficiency. In this work, we present a TPU architecture that integrates digital CIM to replace conventional digital systolic arrays in matrix multiply units (MXUs). We first establish a CIM-based TPU architecture model and simulator to evaluate the benefits of CIM for diverse generative model inference. Building upon the observed design insights, we further explore various CIM-based TPU architectural design choices. Up to 44.2% and 33.8% performance improvement for large language model and diffusion transformer inference, and 27.3x reduction in MXU energy consumption can be achieved with different design choices, compared to the baseline TPUv4i architecture.
Bayesian Active Learning for Multi-Criteria Comparative Judgement in Educational Assessment
Venue: arXiv cs.LG 2025
Year: 2025

Comparative Judgement (CJ) provides an alternative assessment approach by evaluating work holistically rather than breaking it into discrete criteria. This method leverages human ability to make nuanced comparisons, yielding more reliable and valid assessments. CJ aligns with real-world evaluations, where overall quality emerges from the interplay of various elements. However, rubrics remain widely used in education, offering structured criteria for grading and detailed feedback. This creates a gap between CJ's holistic ranking and the need for criterion-based performance breakdowns. This paper addresses this gap using a Bayesian approach. We build on Bayesian CJ (BCJ) by Gray et al., which directly models preferences instead of using likelihoods over total scores, allowing for expected ranks with uncertainty estimation. Their entropy-based active learning method selects the most informative pairwise comparisons for assessors. We extend BCJ to handle multiple independent learning outcome (LO) components, defined by a rubric, enabling both holistic and component-wise predictive rankings with uncertainty estimates. Additionally, we propose a method to aggregate entropies and identify the most informative comparison for assessors. Experiments on synthetic and real data demonstrate our method's effectiveness. Finally, we address a key limitation of BCJ, which is the inability to quantify assessor agreement. We show how to derive agreement levels, enhancing transparency in assessment.
Model-based optimisation for the personalisation of robot-assisted gait training
Venue: arXiv cs.RO 2025
Year: 2025

Personalised rehabilitation can be key to promoting gait independence and quality of life. Robots can enhance therapy by systematically delivering support in gait training, but often use one-size-fits-all control methods, which can be suboptimal. Here, we describe a model-based optimisation method for designing and fine-tuning personalised robotic controllers. As a case study, we formulate the objective of providing assistance as needed as an optimisation problem, and we demonstrate how musculoskeletal modelling can be used to develop personalised interventions. Eighteen healthy participants (age = 26 +/- 4) were recruited and the personalised control parameters for each were obtained to provide assistance as needed during a unilateral tracking task. A comparison was carried out between the personalised controller and the non-personalised controller. In simulation, a significant improvement was predicted when the personalised parameters were used. Experimentally, responses varied: six subjects showed significant improvements with the personalised parameters, eight subjects showed no obvious change, while four subjects performed worse. High interpersonal and intra-personal variability was observed with both controllers. This study highlights the importance of personalised control in robot-assisted gait training, and the need for a better estimation of human-robot interaction and human behaviour to realise the benefits of model-based optimisation.
Class-Independent Increment: An Efficient Approach for Multi-label Class-Incremental Learning
Venue: arXiv cs.CV 2025
Year: 2025

Current research on class-incremental learning primarily focuses on single-label classification tasks. However, real-world applications often involve multi-label scenarios, such as image retrieval and medical imaging. Therefore, this paper focuses on the challenging yet practical multi-label class-incremental learning (MLCIL) problem. In addition to the challenge of catastrophic forgetting, MLCIL encounters issues related to feature confusion, encompassing inter-session and intra-feature confusion. To address these problems, we propose a novel MLCIL approach called class-independent increment (CLIN). Specifically, in contrast to existing methods that extract image-level features, we propose a class-independent incremental network (CINet) to extract multiple class-level embeddings for multi-label samples. It learns and preserves the knowledge of different classes by constructing class-specific tokens. On this basis, we develop two novel loss functions, optimizing the learning of class-specific tokens and class-level embeddings, respectively. These losses aim to distinguish between new and old classes, further alleviating the problem of feature confusion. Extensive experiments on MS-COCO and PASCAL VOC datasets demonstrate the effectiveness of our method for improving recognition performance and mitigating forgetting on various MLCIL tasks.
Vehicle Top Tag Assisted Vehicle-Road Cooperative Localization For Autonomous Public Buses
Venue: arXiv cs.RO 2025
Year: 2025

Accurate vehicle localization is indispensable to autonomous vehicles, but is difficult to realize in complicated application scenarios. Intersection scenarios that suffer from environmental shielding and crowded dynamic objects are especially crucial and challenging. To handle difficult intersection scenarios, the methodology of vehicle top tag assisted vehicle-road cooperative localization or for short vehicle top tag assisted localization is proposed. The proposed methodology has merits of satisfying all the feasibility, reliability, explainability, society and economy concerns. Concrete solutions of vehicle top tag detection and vehicle top tag localization that instantiate the core part of the proposed methodology are presented. Simulation results are provided to demonstrate effectiveness of the presented solutions. The proposed methodology of vehicle top tag assisted localization also has the potential to be extended to a much wider range of practical applications than our intended ones involving autonomous public buses.
Polyconvex Physics-Augmented Neural Network Constitutive Models in Principal Stretches
Venue: arXiv cs.CE 2025
Year: 2025

Accurate constitutive models of soft materials are crucial for understanding their mechanical behavior and ensuring reliable predictions in the design process. To this end, scientific machine learning research has produced flexible and general material model architectures that can capture the behavior of a wide range of materials, reducing the need for expert-constructed closed-form models. The focus has gradually shifted towards embedding physical constraints in the network architecture to regularize these over-parameterized models. Two popular approaches are input convex neural networks (ICNN) and neural ordinary differential equations (NODE). A related alternative has been the generalization of closed-form models, such as sparse regression from a large library. Remarkably, all prior work using ICNN or NODE uses the invariants of the Cauchy-Green tensor and none uses the principal stretches. In this work, we construct general polyconvex functions of the principal stretches in a physics-aware deep-learning framework and offer insights and comparisons to invariant-based formulations. The framework is based on recent developments to characterize polyconvex functions in terms of convex functions of the right stretch tensor $\mathbf{U}$, its cofactor $\text{cof}\mathbf{U}$, and its determinant $J$. Any convex function of a symmetric second-order tensor can be described with a convex and symmetric function of its eigenvalues. Thus, we first describe convex functions of $\mathbf{U}$ and $\text{cof}\mathbf{U}$ in terms of their respective eigenvalues using deep Holder sets composed with ICNN functions. A third ICNN takes as input $J$ and the two convex functions of $\mathbf{U}$ and $\text{cof}\mathbf{U}$, and returns the strain energy as output. The ability of the model to capture arbitrary materials is demonstrated using synthetic and experimental data.
Characterizing LLM-Empowered Personalized Story-Reading and Interaction for Children: Insights from Multi-Stakeholder Perspectives
Venue: arXiv cs.HC 2025
Year: 2025

Personalized interaction is highly valued by parents in their story-reading activities with children. While AI-empowered story-reading tools have been increasingly used, their abilities to support personalized interaction with children are still limited. Recent advances in large language models (LLMs) show promise in facilitating personalized interactions, but little is known about how to effectively and appropriately use LLMs to enhance children's personalized story-reading experiences. This work explores this question through a design-based study. Drawing on a formative study, we designed and developed StoryMate, an LLM-empowered personalized interactive story-reading tool for children, following an empirical study with children, parents, and education experts. Our participants valued the personalized features in StoryMate, and also highlighted the need to support personalized content, guiding mechanisms, reading context variations, and interactive interfaces. Based on these findings, we propose a series of design recommendations for better using LLMs to empower children's personalized story reading and interaction.
SolidMark: Evaluating Image Memorization in Generative Models
Venue: arXiv cs.LG 2025
Year: 2025

Recent works have shown that diffusion models are able to memorize training images and emit them at generation time. However, the metrics used to evaluate memorization and its mitigation techniques suffer from dataset-dependent biases and struggle to detect whether a given specific image has been memorized or not. This paper begins with a comprehensive exploration of issues surrounding memorization metrics in diffusion models. Then, to mitigate these issues, we introduce $\rm \style{font-variant: small-caps}{SolidMark}$, a novel evaluation method that provides a per-image memorization score. We then re-evaluate existing memorization mitigation techniques. We also show that $\rm \style{font-variant: small-caps}{SolidMark}$ is capable of evaluating fine-grained pixel-level memorization. Finally, we release a variety of models based on $\rm \style{font-variant: small-caps}{SolidMark}$ to facilitate further research for understanding memorization phenomena in generative models. All of our code is available at https://github.com/NickyDCFP/SolidMark.
Dynamic Collision Avoidance Using Velocity Obstacle-Based Control Barrier Functions
Venue: arXiv cs.RO 2025
Year: 2025

Designing safety-critical controllers for acceleration-controlled unicycle robots is challenging, as control inputs may not appear in the constraints of control Lyapunov functions(CLFs) and control barrier functions (CBFs), leading to invalid controllers. Existing methods often rely on state-feedback-based CLFs and high-order CBFs (HOCBFs), which are computationally expensive to construct and fail to maintain effectiveness in dynamic environments with fast-moving, nearby obstacles. To address these challenges, we propose constructing velocity obstacle-based CBFs (VOCBFs) in the velocity space to enhance dynamic collision avoidance capabilities, instead of relying on distance-based CBFs that require the introduction of HOCBFs. Additionally, by extending VOCBFs using variants of VO, we enable reactive collision avoidance between robots. We formulate a safety-critical controller for acceleration-controlled unicycle robots as a mixed-integer quadratic programming (MIQP), integrating state-feedback-based CLFs for navigation and VOCBFs for collision avoidance. To enhance the efficiency of solving the MIQP, we split the MIQP into multiple sub-optimization problems and employ a decision network to reduce computational costs. Numerical simulations demonstrate that our approach effectively guides the robot to its target while avoiding collisions. Compared to HOCBFs, VOCBFs exhibit significantly improved dynamic obstacle avoidance performance, especially when obstacles are fast-moving and close to the robot. Furthermore, we extend our method to distributed multi-robot systems.
Urban Safety Perception Through the Lens of Large Multimodal Models: A Persona-based Approach
Venue: arXiv cs.CY 2025
Year: 2025

Understanding how urban environments are perceived in terms of safety is crucial for urban planning and policymaking. Traditional methods like surveys are limited by high cost, required time, and scalability issues. To overcome these challenges, this study introduces Large Multimodal Models (LMMs), specifically Llava 1.6 7B, as a novel approach to assess safety perceptions of urban spaces using street-view images. In addition, the research investigated how this task is affected by different socio-demographic perspectives, simulated by the model through Persona-based prompts. Without additional fine-tuning, the model achieved an average F1-score of 59.21% in classifying urban scenarios as safe or unsafe, identifying three key drivers of perceived unsafety: isolation, physical decay, and urban infrastructural challenges. Moreover, incorporating Persona-based prompts revealed significant variations in safety perceptions across the socio-demographic groups of age, gender, and nationality. Elder and female Personas consistently perceive higher levels of unsafety than younger or male Personas. Similarly, nationality-specific differences were evident in the proportion of unsafe classifications ranging from 19.71% in Singapore to 40.15% in Botswana. Notably, the model's default configuration aligned most closely with a middle-aged, male Persona. These findings highlight the potential of LMMs as a scalable and cost-effective alternative to traditional methods for urban safety perceptions. While the sensitivity of these models to socio-demographic factors underscores the need for thoughtful deployment, their ability to provide nuanced perspectives makes them a promising tool for AI-driven urban planning.
Modeling Arbitrarily Applicable Relational Responding with the Non-Axiomatic Reasoning System: A Machine Psychology Approach
Venue: arXiv cs.AI 2025
Year: 2025

Arbitrarily Applicable Relational Responding (AARR) is a cornerstone of human language and reasoning, referring to the learned ability to relate symbols in flexible, context-dependent ways. In this paper, we present a novel theoretical approach for modeling AARR within an artificial intelligence framework using the Non-Axiomatic Reasoning System (NARS). NARS is an adaptive reasoning system designed for learning under uncertainty. By integrating principles from Relational Frame Theory - the behavioral psychology account of AARR - with the reasoning mechanisms of NARS, we conceptually demonstrate how key properties of AARR (mutual entailment, combinatorial entailment, and transformation of stimulus functions) can emerge from the inference rules and memory structures of NARS. Two theoretical experiments illustrate this approach: one modeling stimulus equivalence and transfer of function, and another modeling complex relational networks involving opposition frames. In both cases, the system logically demonstrates the derivation of untrained relations and context-sensitive transformations of stimulus significance, mirroring established human cognitive phenomena. These results suggest that AARR - long considered uniquely human - can be conceptually captured by suitably designed AI systems, highlighting the value of integrating behavioral science insights into artificial general intelligence (AGI) research.
CATS: A framework for Cooperative Autonomy Trust & Security
Venue: arXiv cs.CR 2025
Year: 2025

With cooperative perception, autonomous vehicles can wirelessly share sensor data and representations to overcome sensor occlusions, improving situational awareness. Securing such data exchanges is crucial for connected autonomous vehicles. Existing, automated reputation-based approaches often suffer from a delay between detection and exclusion of misbehaving vehicles, while majority-based approaches have communication overheads that limits scalability. In this paper, we introduce CATS, a novel automated system that blends together the best traits of reputation-based and majority-based detection mechanisms to secure vehicle-to-everything (V2X) communications for cooperative perception, while preserving the privacy of cooperating vehicles. Our evaluation with city-scale simulations on realistic traffic data shows CATS's effectiveness in rapidly identifying and isolating misbehaving vehicles, with a low false negative rate and overheads, proving its suitability for real world deployments.
Development of an Unpaired Deep Neural Network for Synthesizing X-ray Fluoroscopic Images from Digitally Reconstructed Tomography in Image Guided Radiotherapy
Venue: arXiv cs.CV 2025
Year: 2025

Purpose The purpose of this study was to develop and evaluate a deep neural network (DNN) capable of generating flat-panel detector (FPD) images from digitally reconstructed radiography (DRR) images in lung cancer treatment, with the aim of improving clinical workflows in image-guided radiotherapy. Methods A modified CycleGAN architecture was trained on paired DRR-FPD image data obtained from patients with lung tumors. The training dataset consisted of over 400 DRR-FPD image pairs, and the final model was evaluated on an independent set of 100 FPD images. Mean absolute error (MAE), peak signal-to-noise ratio (PSNR), structural similarity index measure (SSIM), and Kernel Inception Distance (KID) were used to quantify the similarity between synthetic and ground-truth FPD images. Computation time for generating synthetic images was also measured. Results Despite some positional mismatches in the DRR-FPD pairs, the synthetic FPD images closely resembled the ground-truth FPD images. The proposed DNN achieved notable improvements over both input DRR images and a U-Net-based method in terms of MAE, PSNR, SSIM, and KID. The average image generation time was on the order of milliseconds per image, indicating its potential for real-time application. Qualitative evaluations showed that the DNN successfully reproduced image noise patterns akin to real FPD images, reducing the need for manual noise adjustments. Conclusions The proposed DNN effectively converted DRR images into realistic FPD images for thoracic cases, offering a fast and practical method that could streamline patient setup verification and enhance overall clinical workflow. Future work should validate the model across different imaging systems and address remaining challenges in marker visualization, thereby fostering broader clinical adoption.
Interval H-graphs : Recognition and forbidden obstructions
Venue: arXiv cs.DM 2025
Year: 2025

We introduce the class of interval $H$-graphs, which is the generalization of interval graphs, particularly interval bigraphs. For a fixed graph $H$ with vertices $a_1,a_2,\dots,a_k$, we say that an input graph $G$ with given partition $V_1,\dots,V_k$ of its vertices is an interval $H$-graph if each vertex $v \in G$ can be represented by an interval $I_v$ from a real line so that $u \in V_i$ and $v \in V_j$ are adjacent if and only if $a_ia_j$ is an edge of $H$ and intervals $I_u$ and $I_v$ intersect. $G$ is called interval $k$-graph if $H$ is a complete graph on $k$ vertices. and interval bigraph when $k=2$. We study the ordering characterization and forbidden obstructions of interval $k$-graphs and present a polynomial-time recognition algorithm for them. Additionally, we discuss how this algorithm can be extended to recognize general interval $H$-graphs. Special cases of interval $k$-graphs, particularly comparability interval $k$-graphs, were previously studied in [2], where the complexity interval $k$-graph recognition was posed as an open problem.
From Understanding the World to Intervening in It: A Unified Multi-Scale Framework for Embodied Cognition
Venue: arXiv cs.RO 2025
Year: 2025

In this paper, we propose AUKAI, an Adaptive Unified Knowledge-Action Intelligence for embodied cognition that seamlessly integrates perception, memory, and decision-making via multi-scale error feedback. Interpreting AUKAI as an embedded world model, our approach simultaneously predicts state transitions and evaluates intervention utility. The framework is underpinned by rigorous theoretical analysis drawn from convergence theory, optimal control, and Bayesian inference, which collectively establish conditions for convergence, stability, and near-optimal performance. Furthermore, we present a hybrid implementation that combines the strengths of neural networks with symbolic reasoning modules, thereby enhancing interpretability and robustness. Finally, we demonstrate the potential of AUKAI through a detailed application in robotic navigation and obstacle avoidance, and we outline comprehensive experimental plans to validate its effectiveness in both simulated and real-world environments.
Revolutionizing Healthcare Record Management: Secure Documentation Storage and Access through Advanced Blockchain Solutions
Venue: arXiv cs.CR 2025
Year: 2025

Integrating blockchain technology into healthcare systems presents a transformative approach to documenting, storing, and accessing electronic health records (EHRs). This research introduces a novel blockchain-based EHR system designed to significantly enhance security, scalability, and accessibility compared to existing solutions. Current systems primarily utilize SHA-256 for security and either IPFS or centralized storage, which, while effective, have limitations in providing comprehensive data integrity and security. The proposed system leverages a hybrid security algorithm combining Argon2 and AES and integrates a hybrid storage and consensus mechanism utilizing IPFS and PBFT. This multifaceted approach ensures robust encryption, efficient consensus, and high fault tolerance. Furthermore, the system incorporates Multi-Factor Authentication (MFA) to safeguard against unauthorized access. It utilizes advanced blockchain tools like MetaMask, Ganache, and Truffle to facilitate seamless interaction with the decentralized network. Simulation results demonstrate that this system offers superior protection against data breaches and enhances operational efficiency. Specifically, the proposed hybrid model substantially improves data integrity, consensus efficiency, fault tolerance, data availability, latency, bandwidth utilization, throughput, memory usage, and CPU usage across various healthcare applications. To validate the performance and security of the proposed system, comprehensive analyses were conducted using real-world healthcare scenarios. The findings highlight the significant advantages of the blockchain-based EHR system, emphasizing its potential to revolutionize healthcare data management by ensuring secure, reliable, and efficient handling of sensitive medical information.