OpenRaiser/Intern-Atlas huggingface dataset:
RCG: Safety-Critical Scenario Generation for Robust Autonomous Driving via Real-World Crash Grounding
Venue: arXiv cs.RO 2025
Year: 2025

Safety-critical scenarios are essential for training and evaluating autonomous driving (AD) systems, yet remain extremely rare in real-world driving datasets. To address this, we propose Real-world Crash Grounding (RCG), a scenario generation framework that integrates crash-informed semantics into adversarial perturbation pipelines. We construct a safety-aware behavior representation through contrastive pre-training on large-scale driving logs, followed by fine-tuning on a small, crash-rich dataset with approximate trajectory annotations extracted from video. This embedding captures semantic structure aligned with real-world accident behaviors and supports selection of adversary trajectories that are both high-risk and behaviorally realistic. We incorporate the resulting selection mechanism into two prior scenario generation pipelines, replacing their handcrafted scoring objectives with an embedding-based criterion. Experimental results show that ego agents trained against these generated scenarios achieve consistently higher downstream success rates, with an average improvement of 9.2% across seven evaluation settings. Qualitative and quantitative analyses further demonstrate that our approach produces more plausible and nuanced adversary behaviors, enabling more effective and realistic stress testing of AD systems. Code and tools will be released publicly.
"Is it always watching? Is it always listening?" Exploring Contextual Privacy and Security Concerns Toward Domestic Social Robots
Venue: arXiv cs.CY 2025
Year: 2025

Equipped with artificial intelligence (AI) and advanced sensing capabilities, social robots are gaining interest among consumers in the United States. These robots seem like a natural evolution of traditional smart home devices. However, their extensive data collection capabilities, anthropomorphic features, and capacity to interact with their environment make social robots a more significant security and privacy threat. Increased risks include data linkage, unauthorized data sharing, and the physical safety of users and their homes. It is critical to investigate U.S. users' security and privacy needs and concerns to guide the design of social robots while these devices are still in the early stages of commercialization in the U.S. market. Through 19 semi-structured interviews, we identified significant security and privacy concerns, highlighting the need for transparency, usability, and robust privacy controls to support adoption. For educational applications, participants worried most about misinformation, and in medical use cases, they worried about the reliability of these devices. Participants were also concerned with the data inference that social robots could enable. We found that participants expect tangible privacy controls, indicators of data collection, and context-appropriate functionality.
SigmaScheduling: Uncertainty-Informed Scheduling of Decision Points for Intelligent Mobile Health Interventions
Venue: arXiv cs.AI 2025
Year: 2025

Timely decision making is critical to the effectiveness of mobile health (mHealth) interventions. At predefined timepoints called "decision points," intelligent mHealth systems such as just-in-time adaptive interventions (JITAIs) estimate an individual's biobehavioral context from sensor or survey data and determine whether and how to intervene. For interventions targeting habitual behavior (e.g., oral hygiene), effectiveness often hinges on delivering support shortly before the target behavior is likely to occur. Current practice schedules decision points at a fixed interval (e.g., one hour) before user-provided behavior times, and the fixed interval is kept the same for all individuals. However, this one-size-fits-all approach performs poorly for individuals with irregular routines, often scheduling decision points after the target behavior has already occurred, rendering interventions ineffective. In this paper, we propose SigmaScheduling, a method to dynamically schedule decision points based on uncertainty in predicted behavior times. When behavior timing is more predictable, SigmaScheduling schedules decision points closer to the predicted behavior time; when timing is less certain, SigmaScheduling schedules decision points earlier, increasing the likelihood of timely intervention. We evaluated SigmaScheduling using real-world data from 68 participants in a 10-week trial of Oralytics, a JITAI designed to improve daily toothbrushing. SigmaScheduling increased the likelihood that decision points preceded brushing events in at least 70% of cases, preserving opportunities to intervene and impact behavior. Our results indicate that SigmaScheduling can advance precision mHealth, particularly for JITAIs targeting time-sensitive, habitual behaviors such as oral hygiene or dietary habits.
Offline Reinforcement Learning with Wasserstein Regularization via Optimal Transport Maps
Venue: arXiv cs.LG 2025
Year: 2025

Offline reinforcement learning (RL) aims to learn an optimal policy from a static dataset, making it particularly valuable in scenarios where data collection is costly, such as robotics. A major challenge in offline RL is distributional shift, where the learned policy deviates from the dataset distribution, potentially leading to unreliable out-of-distribution actions. To mitigate this issue, regularization techniques have been employed. While many existing methods utilize density ratio-based measures, such as the $f$-divergence, for regularization, we propose an approach that utilizes the Wasserstein distance, which is robust to out-of-distribution data and captures the similarity between actions. Our method employs input-convex neural networks (ICNNs) to model optimal transport maps, enabling the computation of the Wasserstein distance in a discriminator-free manner, thereby avoiding adversarial training and ensuring stable learning. Our approach demonstrates comparable or superior performance to widely used existing methods on the D4RL benchmark dataset. The code is available at https://github.com/motokiomura/Q-DOT .
From Alerts to Intelligence: A Novel LLM-Aided Framework for Host-based Intrusion Detection
Venue: arXiv cs.CR 2025
Year: 2025

Host-based intrusion detection system (HIDS) is a key defense component to protect the organizations from advanced threats like Advanced Persistent Threats (APT). By analyzing the fine-grained logs with approaches like data provenance, HIDS has shown successes in capturing sophisticated attack traces. Despite the progresses embarked by the research community and industry, HIDS still frequently encounters backlash from their operators in the deployed environments, due to issues like high false-positive rate, inconsistent outcomes across environments and human-unfriendly detection results. Large Language Models (LLMs) have great potentials to advance the state of HIDS, given their extensive knowledge of attack techniques and their ability to detect anomalies through semantic analysis, anchored by recent studies. Yet, our preliminary analysis indicates that building an HIDS by naively prompting an LLM is unlikely to succeed. In this work, we explore the direction of building a customized LLM pipeline for HIDS and develop a system named SHIELD. SHIELD addresses challenges related to LLM's token limits, confusion of background noises, etc., by integrating a variety of techniques like event-level Masked Autoencoder (MAE) for attack window detection, attack evidence identification and expansion, Deterministic Data Augmentation (DDA) for profiling normal activities, and multi-purpose prompting that guides the LLM to conduct precise and interpretable attack investigations. Extensive experiments on three log datasets (DARPA-E3, NodLink-simulated-data and ATLASv2) show that SHIELD consistently achieves outstanding performance in comparison with 5 representative HIDS. These findings highlight the potential of LLMs as powerful tools for intrusion detection and pave the way for future research in this domain.
Artificial Intelligence and Journalism: A Systematic Bibliometric and Thematic Analysis of Global Research
Venue: arXiv cs.CY 2025
Year: 2025

Artificial Intelligence (AI) is reshaping journalistic practices across the globe, offering new opportunities while raising ethical, professional, and societal concerns. This study presents a comprehensive systematic review of published articles on AI in journalism from 2010 to 2025. Following the Preferred Reporting Items for Systematic Reviews and Meta-Analyses (PRISMA) 2020 guidelines, a total of 72 peer-reviewed articles were selected from Scopus and Web of Science databases. The analysis combines bibliometric mapping and qualitative thematic synthesis to identify dominant trends, technologies, geographical distributions, and ethical debates. Additionally, sentiment analysis was performed on article abstracts using the Valence Aware Dictionary and sEntiment Reasoner (VADER) algorithm to capture evaluative tones across the literature. The findings show a sharp increase in research activity after 2020, with prominent focus areas including automation, misinformation, and ethical governance. While most studies reflect cautious optimism, concerns over bias, transparency, and accountability remain persistent. The review also highlights regional disparities in scholarly contributions, with limited representation from the Global South. By integrating quantitative and qualitative insights, this study offers a multi-dimensional understanding of how AI is transforming journalism and proposes future research directions for inclusive and responsible innovation.
Modernizing CNN-based Weather Forecast Model towards Higher Computational Efficiency
Venue: arXiv cs.CV 2025
Year: 2025

Recently, AI-based weather forecast models have achieved impressive advances. These models have reached accuracy levels comparable to traditional NWP systems, marking a significant milestone in data-driven weather prediction. However, they mostly leverage Transformer-based architectures, which often leads to high training complexity and resource demands due to the massive parameter sizes. In this study, we introduce a modernized CNN-based model for global weather forecasting that delivers competitive accuracy while significantly reducing computational requirements. To present a systematic modernization roadmap, we highlight key architectural enhancements across multiple design scales from an earlier CNN-based approach. KAI-a incorporates a scale-invariant architecture and InceptionNeXt-based blocks within a geophysically-aware design, tailored to the structure of Earth system data. Trained on the ERA5 daily dataset with 67 atmospheric variables, the model contains about 7 million parameters and completes training in just 12 hours on a single NVIDIA L40s GPU. Our evaluation shows that KAI-a matches the performance of state-of-the-art models in medium-range weather forecasting, while offering a significantly lightweight design. Furthermore, case studies on the 2018 European heatwave and the East Asian summer monsoon demonstrate KAI-a's robust skill in capturing extreme events, reinforcing its practical utility.
Commuting Distance Regularization for Timescale-Dependent Label Inconsistency in EEG Emotion Recognition
Venue: arXiv cs.CV 2025
Year: 2025

In this work, we address the often-overlooked issue of Timescale Dependent Label Inconsistency (TsDLI) in training neural network models for EEG-based human emotion recognition. To mitigate TsDLI and enhance model generalization and explainability, we propose two novel regularization strategies: Local Variation Loss (LVL) and Local-Global Consistency Loss (LGCL). Both methods incorporate classical mathematical principles--specifically, functions of bounded variation and commute-time distances--within a graph theoretic framework. Complementing our regularizers, we introduce a suite of new evaluation metrics that better capture the alignment between temporally local predictions and their associated global emotion labels. We validate our approach through comprehensive experiments on two widely used EEG emotion datasets, DREAMER and DEAP, across a range of neural architectures including LSTM and transformer-based models. Performance is assessed using five distinct metrics encompassing both quantitative accuracy and qualitative consistency. Results consistently show that our proposed methods outperform state-of-the-art baselines, delivering superior aggregate performance and offering a principled trade-off between interpretability and predictive power under label inconsistency. Notably, LVL achieves the best aggregate rank across all benchmarked backbones and metrics, while LGCL frequently ranks the second, highlighting the effectiveness of our framework.
Evaluating Generated Commit Messages with Large Language Models
Venue: arXiv cs.SE 2025
Year: 2025

Commit messages are essential in software development as they serve to document and explain code changes. Yet, their quality often falls short in practice, with studies showing significant proportions of empty or inadequate messages. While automated commit message generation has advanced significantly, particularly with Large Language Models (LLMs), the evaluation of generated messages remains challenging. Traditional reference-based automatic metrics like BLEU, ROUGE-L, and METEOR have notable limitations in assessing commit message quality, as they assume a one-to-one mapping between code changes and commit messages, leading researchers to rely on resource-intensive human evaluation. This study investigates the potential of LLMs as automated evaluators for commit message quality. Through systematic experimentation with various prompt strategies and state-of-the-art LLMs, we demonstrate that LLMs combining Chain-of-Thought reasoning with few-shot demonstrations achieve near human-level evaluation proficiency. Our LLM-based evaluator significantly outperforms traditional metrics while maintaining acceptable reproducibility, robustness, and fairness levels despite some inherent variability. This work conducts a comprehensive preliminary study on using LLMs for commit message evaluation, offering a scalable alternative to human assessment while maintaining high-quality evaluation.
A Learning Framework For Cooperative Collision Avoidance of UAV Swarms Leveraging Domain Knowledge
Venue: arXiv cs.MA 2025
Year: 2025

This paper presents a multi-agent reinforcement learning (MARL) framework for cooperative collision avoidance of UAV swarms leveraging domain knowledge-driven reward. The reward is derived from knowledge in the domain of image processing, approximating contours on a two-dimensional field. By modeling obstacles as maxima on the field, collisions are inherently avoided as contours never go through peaks or intersect. Additionally, counters are smooth and energy-efficient. Our framework enables training with large swarm sizes as the agent interaction is minimized and the need for complex credit assignment schemes or observation sharing mechanisms in state-of-the-art MARL approaches are eliminated. Moreover, UAVs obtain the ability to adapt to complex environments where contours may be non-viable or non-existent through intensive training. Extensive experiments are conducted to evaluate the performances of our framework against state-of-the-art MARL algorithms.
HanjaBridge: Resolving Semantic Ambiguity in Korean LLMs via Hanja-Augmented Pre-Training
Venue: arXiv cs.CL 2025
Year: 2025

Large language models (LLMs) often show poor performance in low-resource languages like Korean, partly due to unique linguistic challenges such as homophonous Sino-Korean words that are indistinguishable in Hangul script. To address this semantic ambiguity, we propose HanjaBridge, a novel meaning-injection technique integrated into a continual pre-training (CPT) framework. Instead of deterministically mapping a word to a single Hanja (Chinese character), HanjaBridge presents the model with all possible Hanja candidates for a given homograph, encouraging the model to learn contextual disambiguation. This process is paired with token-level knowledge distillation to prevent catastrophic forgetting. Experimental results show that HanjaBridge significantly improves Korean language understanding, achieving a 21\% relative improvement on the KoBALT benchmark. Notably, by reinforcing semantic alignment between Korean and Chinese through shared Hanja, we observe a strong positive cross-lingual transfer. Furthermore, these gains persist even when Hanja augmentation is omitted at inference time, ensuring practical efficiency with no additional run-time cost.
Whom to Respond To? A Transformer-Based Model for Multi-Party Social Robot Interaction
Venue: arXiv cs.RO 2025
Year: 2025

Prior human-robot interaction (HRI) research has primarily focused on single-user interactions, where robots do not need to consider the timing or recipient of their responses. However, in multi-party interactions, such as at malls and hospitals, social robots must understand the context and decide both when and to whom they should respond. In this paper, we propose a Transformer-based multi-task learning framework to improve the decision-making process of social robots, particularly in multi-user environments. Considering the characteristics of HRI, we propose two novel loss functions: one that enforces constraints on active speakers to improve scene modeling, and another that guides response selection towards utterances specifically directed at the robot. Additionally, we construct a novel multi-party HRI dataset that captures real-world complexities, such as gaze misalignment. Experimental results demonstrate that our model achieves state-of-the-art performance in respond decisions, outperforming existing heuristic-based and single-task approaches. Our findings contribute to the development of socially intelligent social robots capable of engaging in natural and context-aware multi-party interactions.
Teach Me Sign: Stepwise Prompting LLM for Sign Language Production
Venue: arXiv cs.CL 2025
Year: 2025

Large language models, with their strong reasoning ability and rich knowledge, have brought revolution to many tasks of AI, but their impact on sign language generation remains limited due to its complexity and unique rules. In this paper, we propose TEAch Me Sign (TEAM-Sign), treating sign language as another natural language. By fine-tuning an LLM, we enable it to learn the correspondence between text and sign language, and facilitate generation. Considering the differences between sign and spoken language, we employ a stepwise prompting strategy to extract the inherent sign language knowledge within the LLM, thereby supporting the learning and generation process. Experimental results on How2Sign and Phoenix14T datasets demonstrate that our approach effectively leverages both the sign language knowledge and reasoning capabilities of LLM to align the different distribution and grammatical rules between sign and spoken language.
Leveraging Advanced Machine Learning to Predict Turbulence Dynamics from Temperature Observations at an Experimental Prescribed Fire
Venue: arXiv cs.LG 2025
Year: 2025

This study explores the potential for predicting turbulent kinetic energy (TKE) from more readily acquired temperature data using temperature profiles and turbulence data collected concurrently at 10 Hz during a small experimental prescribed burn in the New Jersey Pine Barrens. Machine learning models, including Deep Neural Networks, Random Forest Regressor, Gradient Boosting, and Gaussian Process Regressor, were employed to assess the potential to predict TKE from temperature perturbations and explore temporal and spatial dynamics of correlations. Data visualization and correlation analyses revealed patterns and relationships between thermocouple temperatures and TKE, providing insight into the underlying dynamics. More accurate predictions of TKE were achieved by employing various machine learning models despite a weak correlation between the predictors and the target variable. The results demonstrate significant success, particularly from regression models, in accurately predicting the TKE. The findings of this study demonstrate a novel numerical approach to identifying new relationships between temperature and airflow processes in and around the fire environment. These relationships can help refine our understanding of combustion environment processes and the coupling and decoupling of fire environment processes necessary for improving fire operations strategy and fire and smoke model predictions. The findings of this study additionally highlight the valuable role of machine learning techniques in analyzing the complex large datasets of the fire environments, showcasing their potential to advance fire research and management practices.
Combining Transformers and CNNs for Efficient Object Detection in High-Resolution Satellite Imagery
Venue: arXiv cs.CV 2025
Year: 2025

We present GLOD, a transformer-first architecture for object detection in high-resolution satellite imagery. GLOD replaces CNN backbones with a Swin Transformer for end-to-end feature extraction, combined with novel UpConvMixer blocks for robust upsampling and Fusion Blocks for multi-scale feature integration. Our approach achieves 32.95\% on xView, outperforming SOTA methods by 11.46\%. Key innovations include asymmetric fusion with CBAM attention and a multi-path head design capturing objects across scales. The architecture is optimized for satellite imagery challenges, leveraging spatial priors while maintaining computational efficiency.
LLM-Augmented Symptom Analysis for Cardiovascular Disease Risk Prediction: A Clinical NLP
Venue: arXiv cs.CL 2025
Year: 2025

Timely identification and accurate risk stratification of cardiovascular disease (CVD) remain essential for reducing global mortality. While existing prediction models primarily leverage structured data, unstructured clinical notes contain valuable early indicators. This study introduces a novel LLM-augmented clinical NLP pipeline that employs domain-adapted large language models for symptom extraction, contextual reasoning, and correlation from free-text reports. Our approach integrates cardiovascular-specific fine-tuning, prompt-based inference, and entity-aware reasoning. Evaluations on MIMIC-III and CARDIO-NLP datasets demonstrate improved performance in precision, recall, F1-score, and AUROC, with high clinical relevance (kappa = 0.82) assessed by cardiologists. Challenges such as contextual hallucination, which occurs when plausible information contracts with provided source, and temporal ambiguity, which is related with models struggling with chronological ordering of events are addressed using prompt engineering and hybrid rule-based verification. This work underscores the potential of LLMs in clinical decision support systems (CDSS), advancing early warning systems and enhancing the translation of patient narratives into actionable risk assessments.