OpenRaiser/Intern-Atlas huggingface dataset:
A Unified Framework for Real-Time Failure Handling in Robotics Using Vision-Language Models, Reactive Planner and Behavior Trees
Venue: arXiv cs.RO 2025
Year: 2025

Robotic systems often face execution failures due to unexpected obstacles, sensor errors, or environmental changes. Traditional failure recovery methods rely on predefined strategies or human intervention, making them less adaptable. This paper presents a unified failure recovery framework that combines Vision-Language Models (VLMs), a reactive planner, and Behavior Trees (BTs) to enable real-time failure handling. Our approach includes pre-execution verification, which checks for potential failures before execution, and reactive failure handling, which detects and corrects failures during execution by verifying existing BT conditions, adding missing preconditions and, when necessary, generating new skills. The framework uses a scene graph for structured environmental perception and an execution history for continuous monitoring, enabling context-aware and adaptive failure handling. We evaluate our framework through real-world experiments with an ABB YuMi robot on tasks like peg insertion, object sorting, and drawer placement, as well as in AI2-THOR simulator. Compared to using pre-execution and reactive methods separately, our approach achieves higher task success rates and greater adaptability. Ablation studies highlight the importance of VLM-based reasoning, structured scene representation, and execution history tracking for effective failure recovery in robotics.
Entity-aware Cross-lingual Claim Detection for Automated Fact-checking
Venue: arXiv cs.CL 2025
Year: 2025

Identifying claims requiring verification is a critical task in automated fact-checking, especially given the proliferation of misinformation on social media platforms. Despite notable progress, challenges remain-particularly in handling multilingual data prevalent in online discourse. Recent efforts have focused on fine-tuning pre-trained multilingual language models to address this. While these models can handle multiple languages, their ability to effectively transfer cross-lingual knowledge for detecting claims spreading on social media remains under-explored. In this paper, we introduce EX-Claim, an entity-aware cross-lingual claim detection model that generalizes well to handle multilingual claims. The model leverages entity information derived from named entity recognition and entity linking techniques to improve the language-level performance of both seen and unseen languages during training. Extensive experiments conducted on three datasets from different social media platforms demonstrate that our proposed model stands out as an effective solution, demonstrating consistent performance gains across 27 languages and robust knowledge transfer between languages seen and unseen during training.
A Vector-Quantized Foundation Model for Patient Behavior Monitoring
Venue: arXiv cs.LG 2025
Year: 2025

Foundation models have achieved remarkable success across various domains, yet their adoption in healthcare remains limited. While significant advances have been made in medical imaging, genetic biomarkers, and time series from electronic health records, the potential of foundation models for patient behavior monitoring through personal digital devices remains underexplored. The data generated by these devices are inherently heterogeneous, multisource, and often exhibit high rates of missing data, posing unique challenges. This paper introduces a novel foundation model based on a modified vector quantized variational autoencoder, specifically designed to process real-world data from smartphones and wearable devices. We leveraged the discrete latent representation of this model to effectively perform two downstream tasks, suicide risk assessment and emotional state prediction, on different held-out clinical cohorts without the need of fine-tuning. We also highlight the existence of a trade-off between discrete and continuous latent structures, suggesting that hybrid models may be optimal for balancing accuracy across various supervised and unsupervised tasks.
Fine-Grained Complexity of Computing Degree-Constrained Spanning Trees
Venue: arXiv cs.DS 2025
Year: 2025

We investigate the computation of minimum-cost spanning trees satisfying prescribed vertex degree constraints: Given a graph $G$ and a constraint function $D$, we ask for a (minimum-cost) spanning tree $T$ such that for each vertex $v$, $T$ achieves a degree specified by $D(v)$. Specifically, we consider three kinds of constraint functions ordered by their generality -- $D$ may either assign each vertex to a list of admissible degrees, an upper bound on the degrees, or a specific degree. Using a combination of novel techniques and state-of-the-art machinery, we obtain an almost-complete overview of the fine-grained complexity of these problems taking into account the most classical graph parameters of the input graph $G$. In particular, we present SETH-tight upper and lower bounds for these problems when parameterized by the pathwidth and cutwidth, an ETH-tight algorithm parameterized by the cliquewidth, and a nearly SETH-tight algorithm parameterized by treewidth.
Automated Non-Functional Requirements Generation in Software Engineering with Large Language Models: A Comparative Study
Venue: arXiv cs.SE 2025
Year: 2025

Neglecting non-functional requirements (NFRs) early in software development can lead to critical challenges. Despite their importance, NFRs are often overlooked or difficult to identify, impacting software quality. To support requirements engineers in eliciting NFRs, we developed a framework that leverages Large Language Models (LLMs) to derive quality-driven NFRs from functional requirements (FRs). Using a custom prompting technique within a Deno-based pipeline, the system identifies relevant quality attributes for each functional requirement and generates corresponding NFRs, aiding systematic integration. A crucial aspect is evaluating the quality and suitability of these generated requirements. Can LLMs produce high-quality NFR suggestions? Using 34 functional requirements - selected as a representative subset of 3,964 FRs-the LLMs inferred applicable attributes based on the ISO/IEC 25010:2023 standard, generating 1,593 NFRs. A horizontal evaluation covered three dimensions: NFR validity, applicability of quality attributes, and classification precision. Ten industry software quality evaluators, averaging 13 years of experience, assessed a subset for relevance and quality. The evaluation showed strong alignment between LLM-generated NFRs and expert assessments, with median validity and applicability scores of 5.0 (means: 4.63 and 4.59, respectively) on a 1-5 scale. In the classification task, 80.4% of LLM-assigned attributes matched expert choices, with 8.3% near misses and 11.3% mismatches. A comparative analysis of eight LLMs highlighted variations in performance, with gemini-1.5-pro exhibiting the highest attribute accuracy, while llama-3.3-70B achieved higher validity and applicability scores. These findings provide insights into the feasibility of using LLMs for automated NFR generation and lay the foundation for further exploration of AI-assisted requirements engineering.
The Effects of iBGP Convergence
Venue: arXiv cs.NI 2025
Year: 2025

Analyzing violations of forwarding properties is a classic networking problem. However, existing work is either tailored to the steady state -- and not to transient states during iBGP convergence -- or does analyze transient violations but with inaccurate proxies, like control-plane convergence, or without precise control over the different impact factors. We address this gap with a measurement framework that controllably and accurately measures transient violation times in realistic network deployments. The framework relies on a programmable switch to flexibly emulate diverse topologies and gain traffic visibility at all links -- enabling accurately inferring violation times of any forwarding property. Using the framework, we analyze 50 network scenarios on a topology with 12 real routers, and show how factors like the network configuration and BGP event affect transient violation times. Further, we shed light on less-known aspects of BGP convergence, including that transient violations can start before the trigger event, or that keeping a backup route advertised at all times can increase violation times.
Efficient quantification on large-scale networks
Venue: arXiv cs.LG 2025
Year: 2025

Network quantification (NQ) is the problem of estimating the proportions of nodes belonging to each class in subsets of unlabelled graph nodes. When prior probability shift is at play, this task cannot be effectively addressed by first classifying the nodes and then counting the class predictions. In addition, unlike non-relational quantification, NQ demands enhanced flexibility in order to capture a broad range of connectivity patterns, resilience to the challenge of heterophily, and scalability to large networks. In order to meet these stringent requirements, we introduce XNQ, a novel method that synergizes the flexibility and efficiency of the unsupervised node embeddings computed by randomized recursive Graph Neural Networks, with an Expectation-Maximization algorithm that provides a robust quantification-aware adjustment to the output probabilities of a calibrated node classifier. In an extensive evaluation, in which we also validate the design choices underpinning XNQ through comprehensive ablation experiments, we find that XNQ consistently and significantly improves on the best network quantification methods to date, thereby setting the new state of the art for this challenging task. XNQ also provides a training speed-up of up to 10x-100x over other methods based on graph learning.
Borsuk-Ulam and Replicable Learning of Large-Margin Halfspaces
Venue: arXiv cs.LG 2025
Year: 2025

We prove that the list replicability number of $d$-dimensional $γ$-margin half-spaces satisfies \[ \frac{d}{2}+1 \le \mathrm{LR}(H^d_γ) \le d, \] which grows with dimension. This resolves several open problems: $\bullet$ Every disambiguation of infinite-dimensional large-margin half-spaces to a total concept class has unbounded Littlestone dimension, answering an open question of Alon, Hanneke, Holzman, and Moran (FOCS '21). $\bullet$ Every disambiguation of the Gap Hamming Distance problem in the large gap regime has unbounded public-coin randomized communication complexity. This answers an open question of Fang, Göös, Harms, and Hatami (STOC '25). $\bullet$ There is a separation of $O(1)$ vs $ω(1)$ between randomized and pseudo-deterministic communication complexity. $\bullet$ The maximum list-replicability number of any finite set of points and homogeneous half-spaces in $d$-dimensional Euclidean space is $d$, resolving a problem of Chase, Moran, and Yehudayoff (FOCS '23). $\bullet$ There exists a partial concept class with Littlestone dimension $1$ such that all its disambiguations have infinite Littlestone dimension. This resolves a problem of Cheung, H. Hatami, P. Hatami, and Hosseini (ICALP '23). Our lower bound follows from a topological argument based on a local Borsuk-Ulam theorem. For the upper bound, we construct a list-replicable learning rule using the generalization properties of SVMs.
Probabilistic Delay Forecasting in 5G Using Recurrent and Attention-Based Architectures
Venue: arXiv cs.NI 2025
Year: 2025

With the emergence of new application areas such as cyber-physical systems and human-in-the-loop applications ensuring a specific level of end-to-end network latency with high reliability (e.g., 99.9%) is becoming increasingly critical. To align wireless links with these reliability requirements, it is essential to analyze and control network latency in terms of its full probability distribution. However, in a wireless link, the distribution may vary over time, making this task particularly challenging. We propose predicting the latency distribution using state-of-the-art data-driven techniques that leverage historical network information. Our approach tokenizes network state information and processes it using temporal deep-learning architectures-namely LSTM and Transformer models-to capture both short- and long-term delay dependencies. These models output parameters for a chosen parametric density via a mixture density network with Gaussian mixtures, yielding multi-step probabilistic forecasts of future delays. To validate our proposed approach, we implemented and tested these methods using a time-synchronized, SDR-based OpenAirInterface 5G testbed to collect and preprocess network-delay data. Our experiments show that the Transformer model achieves lower negative log-likelihood and mean absolute error than both LSTM and feed-forward baselines in challenging scenarios, while also providing insights into model complexity and training/inference overhead. This framework enables more informed decision-making for adaptive scheduling and resource allocation, paving the way toward enhanced QoS in evolving 5G and 6G networks.
Real-world validation of a multimodal LLM-powered pipeline for High-Accuracy Clinical Trial Patient Matching leveraging EHR data
Venue: arXiv cs.CL 2025
Year: 2025

Background: Patient recruitment in clinical trials is hindered by complex eligibility criteria and labor-intensive chart reviews. Prior research using text-only models have struggled to address this problem in a reliable and scalable way due to (1) limited reasoning capabilities, (2) information loss from converting visual records to text, and (3) lack of a generic EHR integration to extract patient data. Methods: We introduce a broadly applicable, integration-free, LLM-powered pipeline that automates patient-trial matching using unprocessed documents extracted from EHRs. Our approach leverages (1) the new reasoning-LLM paradigm, enabling the assessment of even the most complex criteria, (2) visual capabilities of latest LLMs to interpret medical records without lossy image-to-text conversions, and (3) multimodal embeddings for efficient medical record search. The pipeline was validated on the n2c2 2018 cohort selection dataset (288 diabetic patients) and a real-world dataset composed of 485 patients from 30 different sites matched against 36 diverse trials. Results: On the n2c2 dataset, our method achieved a new state-of-the-art criterion-level accuracy of 93\%. In real-world trials, the pipeline yielded an accuracy of 87\%, undermined by the difficulty to replicate human decision-making when medical records lack sufficient information. Nevertheless, users were able to review overall eligibility in under 9 minutes per patient on average, representing an 80\% improvement over traditional manual chart reviews. Conclusion: This pipeline demonstrates robust performance in clinical trial patient matching without requiring custom integration with site systems or trial-specific tailoring, thereby enabling scalable deployment across sites seeking to leverage AI for patient matching.
Contemplating a Lightweight Communication Interface for Asynchronous Many-Task Systems
Venue: arXiv cs.DC 2025
Year: 2025

Asynchronous Many-Task Systems (AMTs) exhibit different communication patterns from traditional High-Performance Computing (HPC) applications, characterized by asynchrony, concurrency, and multithreading. Existing communication libraries usually do not support AMTs' communication requirements in the most direct and efficient ways. The Lightweight Communication Interface (LCI) is an experimental communication library aiming to push for efficient communication support for AMTs. This paper presents the design for a new LCI C++ interface and its rationale. With a new C++ \emph{objectized flexible functions} idiom, the new interface aims for the following features: (a) a concise but expressive interface for all common point-to-point communication primitives and completion mechanisms, (b) a fine-grained resource mapping scheme for library interoperation, multithreaded performance isolation, and flexibility (c) a set of optional parameters and overridable classes for users to incrementally fine-tune the runtime behavior.
From 1,000,000 Users to Every User: Scaling Up Personalized Preference for User-level Alignment
Venue: arXiv cs.CL 2025
Year: 2025

Large language models (LLMs) have traditionally been aligned through one-size-fits-all approaches that assume uniform human preferences, fundamentally overlooking the diversity in user values and needs. This paper introduces a comprehensive framework for scalable personalized alignment of LLMs. We establish a systematic preference space characterizing psychological and behavioral dimensions, alongside diverse persona representations for robust preference inference in real-world scenarios. Building upon this foundation, we introduce \textsc{AlignX}, a large-scale dataset of over 1.3 million personalized preference examples, and develop two complementary alignment approaches: \textit{in-context alignment} directly conditioning on persona representations and \textit{preference-bridged alignment} modeling intermediate preference distributions. Extensive experiments demonstrate substantial improvements over existing methods, with an average 17.06\% accuracy gain across four benchmarks while exhibiting a strong adaptation capability to novel preferences, robustness to limited user data, and precise preference controllability. These results validate our approach toward user-adaptive AI systems.
Learning to Play Piano in the Real World
Venue: arXiv cs.RO 2025
Year: 2025

Towards the grand challenge of achieving human-level manipulation in robots, playing piano is a compelling testbed that requires strategic, precise, and flowing movements. Over the years, several works demonstrated hand-designed controllers on real world piano playing, while other works evaluated robot learning approaches on simulated piano scenarios. In this paper, we develop the first piano playing robotic system that makes use of learning approaches while also being deployed on a real world dexterous robot. Specifically, we make use of Sim2Real to train a policy in simulation using reinforcement learning before deploying the learned policy on a real world dexterous robot. In our experiments, we thoroughly evaluate the interplay between domain randomization and the accuracy of the dynamics model used in simulation. Moreover, we evaluate the robot's performance across multiple songs with varying complexity to study the generalization of our learned policy. By providing a proof-of-concept of learning to play piano in the real world, we want to encourage the community to adopt piano playing as a compelling benchmark towards human-level manipulation. We open-source our code and show additional videos at https://lasr.org/research/learning-to-play-piano .
TULIP: Towards Unified Language-Image Pretraining
Venue: arXiv cs.CV 2025
Year: 2025

Despite the recent success of image-text contrastive models like CLIP and SigLIP, these models often struggle with vision-centric tasks that demand high-fidelity image understanding, such as counting, depth estimation, and fine-grained object recognition. These models, by performing language alignment, tend to prioritize high-level semantics over visual understanding, weakening their image understanding. On the other hand, vision-focused models are great at processing visual information but struggle to understand language, limiting their flexibility for language-driven tasks. In this work, we introduce TULIP, an open-source, drop-in replacement for existing CLIP-like models. Our method leverages generative data augmentation, enhanced image-image and text-text contrastive learning, and image/text reconstruction regularization to learn fine-grained visual features while preserving global semantic alignment. Our approach, scaling to over 1B parameters, outperforms existing state-of-the-art (SOTA) models across multiple benchmarks, establishing a new SOTA zero-shot performance on ImageNet-1K, delivering up to a $2\times$ enhancement over SigLIP on RxRx1 in linear probing for few-shot classification, and improving vision-language models, achieving over $3\times$ higher scores than SigLIP on MMVP. Our code/checkpoints are available at https://tulip-berkeley.github.io
PersonaAI: Leveraging Retrieval-Augmented Generation and Personalized Context for AI-Driven Digital Avatars
Venue: arXiv cs.HC 2025
Year: 2025

This paper introduces PersonaAI, a cutting-edge application that leverages Retrieval-Augmented Generation (RAG) and the LLAMA model to create highly personalized digital avatars capable of accurately mimicking individual personalities. Designed as a cloud-based mobile application, PersonaAI captures user data seamlessly, storing it in a secure database for retrieval and analysis. The result is a system that provides context-aware, accurate responses to user queries, enhancing the potential of AI-driven personalization. Why should you care? PersonaAI combines the scalability of RAG with the efficiency of prompt-engineered LLAMA3, offering a lightweight, sustainable alternative to traditional large language model (LLM) training methods. The system's novel approach to data collection, utilizing real-time user interactions via a mobile app, ensures enhanced context relevance while maintaining user privacy. By open-sourcing our implementation, we aim to foster adaptability and community-driven development. PersonaAI demonstrates how AI can transform interactions by merging efficiency, scalability, and personalization, making it a significant step forward in the future of digital avatars and personalized AI.
Agreeing to Interact in Human-Robot Interaction using Large Language Models and Vision Language Models
Venue: arXiv cs.HC 2025
Year: 2025

In human-robot interaction (HRI), the beginning of an interaction is often complex. Whether the robot should communicate with the human is dependent on several situational factors (e.g., the current human's activity, urgency of the interaction, etc.). We test whether large language models (LLM) and vision language models (VLM) can provide solutions to this problem. We compare four different system-design patterns using LLMs and VLMs, and test on a test set containing 84 human-robot situations. The test set mixes several publicly available datasets and also includes situations where the appropriate action to take is open-ended. Our results using the GPT-4o and Phi-3 Vision model indicate that LLMs and VLMs are capable of handling interaction beginnings when the desired actions are clear, however, challenge remains in the open-ended situations where the model must balance between the human and robot situation.
Is Negative Representation More Engaging? The Influence of News Title Framing of Older Adults on Viewer Behavior
Venue: arXiv cs.HC 2025
Year: 2025

Grounded in framing theory, this study examines how news titles about older adults shape user engagement on a Chinese video-sharing platform. We analyzed 2,017 video news titles from 2016 to 2021, identifying nine frames. Negative frames produced higher views and shares, suggesting that negative portrayals garner attention and encourage further distribution. In contrast, positive frames led to more collections and rewards, reflecting viewer preference and financial support for favorable depictions. These findings underscore how framing aligns with ageism concerns and highlight the need for more balanced media portrayals of older adults.