OpenRaiser/Intern-Atlas huggingface dataset:
Predicting person-level injury severity using crash narratives: A balanced approach with roadway classification and natural language process techniques
Venue: arXiv cs.LG 2025
Year: 2025

Predicting injuries and fatalities in traffic crashes plays a critical role in enhancing road safety, improving emergency response, and guiding public health interventions. This study investigates the added value of unstructured crash narratives (written by police officers at the scene) when combined with structured crash data to predict injury severity. Two widely used Natural Language Processing (NLP) techniques, Term Frequency-Inverse Document Frequency (TF-IDF) and Word2Vec, were employed to extract semantic meaning from the narratives, and their effectiveness was compared. To address the challenge of class imbalance, a K-Nearest Neighbors-based oversampling method was applied to the training data prior to modeling. The dataset consists of crash records from Kentucky spanning 2019 to 2023. To account for roadway heterogeneity, three road classification schemes were used: (1) eight detailed functional classes (e.g., Urban Two-Lane, Rural Interstate, Urban Multilane Divided), (2) four broader paired categories (e.g., Urban vs. Rural, Freeway vs. Non-Freeway), and (3) a unified dataset without classification. A total of 102 machine learning models were developed by combining structured features and narrative-based features using the two NLP techniques alongside three ensemble algorithms: XGBoost, Random Forest, and AdaBoost. Results demonstrate that models incorporating narrative data consistently outperform those relying solely on structured data. Among all combinations, TF-IDF coupled with XGBoost yielded the most accurate predictions in most subgroups. The findings highlight the power of integrating textual and structured crash information to enhance person-level injury prediction. This work offers a practical and adaptable framework for transportation safety professionals to improve crash severity modeling, guide policy decisions, and design more effective countermeasures.
Bio-KGvec2go: Serving up-to-date Dynamic Biomedical Knowledge Graph Embeddings
Venue: arXiv cs.LG 2025
Year: 2025

Knowledge graphs and ontologies represent entities and their relationships in a structured way, having gained significance in the development of modern AI applications. Integrating these semantic resources with machine learning models often relies on knowledge graph embedding models to transform graph data into numerical representations. Therefore, pre-trained models for popular knowledge graphs and ontologies are increasingly valuable, as they spare the need to retrain models for different tasks using the same data, thereby helping to democratize AI development and enabling sustainable computing. In this paper, we present Bio-KGvec2go, an extension of the KGvec2go Web API, designed to generate and serve knowledge graph embeddings for widely used biomedical ontologies. Given the dynamic nature of these ontologies, Bio-KGvec2go also supports regular updates aligned with ontology version releases. By offering up-to-date embeddings with minimal computational effort required from users, Bio-KGvec2go facilitates efficient and timely biomedical research.
Undecidability of Tiling with a Tromino
Venue: arXiv cs.CG 2025
Year: 2025

Given a periodic placement of copies of a tromino (either L or I), we prove co-RE-completeness (and hence undecidability) of deciding whether it can be completed to a plane tiling. By contrast, the problem becomes decidable if the initial placement is finite, or if the tile is a domino instead of a tromino (in any dimension). As a consequence, tiling a given periodic subset of the plane with a given tromino (L or I) is co-RE-complete. We also prove co-RE-completeness of tiling the entire plane with two polyominoes (one of which is disconnected and the other of which has constant size), and of tiling 3D space with two connected polycubes (one of which has constant size). If we restrict to tiling by translation only (no rotation), then we obtain co-RE-completeness with one more tile: two trominoes for a periodic subset of 2D, three polyominoes for the 2D plane, and three connected polycubes for 3D space. Along the way, we prove several new complexity and algorithmic results about periodic (infinite) graphs. Notably, we prove that Periodic Planar (1-in-)3SAT-3, 3DM, and Graph Orientation are co-RE-complete in 2D and PSPACE-complete in 1D; we extend basic results in graph drawing to 2D periodic graphs; and we give a polynomial-time algorithm for perfect matching in bipartite periodic graphs.
Making congestion control robust to per-packet load balancing in datacenters
Venue: arXiv cs.NI 2025
Year: 2025

Per-packet load-balancing approaches are increasingly deployed in datacenter networks. However, their combination with existing congestion control algorithms (CCAs) may lead to poor performance, and even state-of-the-art CCAs can collapse due to duplicate ACKs. A typical approach to handle this collapse is to make CCAs resilient to duplicate ACKs. In this paper, we first model the throughput collapse of a wide array of CCAs when some of the paths are congested. We show that addressing duplicate ACKs is insufficient. Instead, we explain that since CCAs are typically designed for single-path routing, their estimation function focuses on the latest feedback and mishandles feedback that reflects multiple paths. We propose to use a median feedback that is more robust to the varying signals that come with multiple paths. We introduce MSwift, which applies this principle to make Google's Swift robust to multi-path routing while keeping its incast tolerance and single-path performance. Finally, we demonstrate that MSwift improves the 99th-percentile FCT by up to 25\%, both with random packet spraying and adaptive routing.
Multimodal Contrastive Pretraining of CBCT and IOS for Enhanced Tooth Segmentation
Venue: arXiv cs.CV 2025
Year: 2025

Digital dentistry represents a transformative shift in modern dental practice. The foundational step in this transformation is the accurate digital representation of the patient's dentition, which is obtained from segmented Cone-Beam Computed Tomography (CBCT) and Intraoral Scans (IOS). Despite the growing interest in digital dental technologies, existing segmentation methodologies frequently lack rigorous validation and demonstrate limited performance and clinical applicability. To the best of our knowledge, this is the first work to introduce a multimodal pretraining framework for tooth segmentation. We present ToothMCL, a Tooth Multimodal Contrastive Learning for pretraining that integrates volumetric (CBCT) and surface-based (IOS) modalities. By capturing modality-invariant representations through multimodal contrastive learning, our approach effectively models fine-grained anatomical features, enabling precise multi-class segmentation and accurate identification of Fédération Dentaire Internationale (FDI) tooth numbering. Along with the framework, we curated CBCT-IOS3.8K, the largest paired CBCT and IOS dataset to date, comprising 3,867 patients. We then evaluated ToothMCL on a comprehensive collection of independent datasets, representing the largest and most diverse evaluation to date. Our method achieves state-of-the-art performance in both internal and external testing, with an increase of 12\% for CBCT segmentation and 8\% for IOS segmentation in the Dice Similarity Coefficient (DSC). Furthermore, ToothMCL consistently surpasses existing approaches in tooth groups and demonstrates robust generalizability across varying imaging conditions and clinical scenarios.
Bringing Multi-Modal Multi-Task Federated Foundation Models to Education Domain: Prospects and Challenges
Venue: arXiv cs.LG 2025
Year: 2025

Multi-modal multi-task (M3T) foundation models (FMs) have recently shown transformative potential in artificial intelligence, with emerging applications in education. However, their deployment in real-world educational settings is hindered by privacy regulations, data silos, and limited domain-specific data availability. We introduce M3T Federated Foundation Models (FedFMs) for education: a paradigm that integrates federated learning (FL) with M3T FMs to enable collaborative, privacy-preserving training across decentralized institutions while accommodating diverse modalities and tasks. Subsequently, this position paper aims to unveil M3T FedFMs as a promising yet underexplored approach to the education community, explore its potentials, and reveal its related future research directions. We outline how M3T FedFMs can advance three critical pillars of next-generation intelligent education systems: (i) privacy preservation, by keeping sensitive multi-modal student and institutional data local; (ii) personalization, through modular architectures enabling tailored models for students, instructors, and institutions; and (iii) equity and inclusivity, by facilitating participation from underrepresented and resource-constrained entities. We finally identify various open research challenges, including studying of (i) inter-institution heterogeneous privacy regulations, (ii) the non-uniformity of data modalities' characteristics, (iii) the unlearning approaches for M3T FedFMs, (iv) the continual learning frameworks for M3T FedFMs, and (v) M3T FedFM model interpretability, which must be collectively addressed for practical deployment.
One View, Many Worlds: Single-Image to 3D Object Meets Generative Domain Randomization for One-Shot 6D Pose Estimation
Venue: arXiv cs.CV 2025
Year: 2025

Estimating the 6D pose of arbitrary unseen objects from a single reference image is critical for robotics operating in the long-tail of real-world instances. However, this setting is notoriously challenging: 3D models are rarely available, single-view reconstructions lack metric scale, and domain gaps between generated models and real-world images undermine robustness. We propose OnePoseViaGen, a pipeline that tackles these challenges through two key components. First, a coarse-to-fine alignment module jointly refines scale and pose by combining multi-view feature matching with render-and-compare refinement. Second, a text-guided generative domain randomization strategy diversifies textures, enabling effective fine-tuning of pose estimators with synthetic data. Together, these steps allow high-fidelity single-view 3D generation to support reliable one-shot 6D pose estimation. On challenging benchmarks (YCBInEOAT, Toyota-Light, LM-O), OnePoseViaGen achieves state-of-the-art performance far surpassing prior approaches. We further demonstrate robust dexterous grasping with a real robot hand, validating the practicality of our method in real-world manipulation. Project page: https://gzwsama.github.io/OnePoseviaGen.github.io/
Parallel-R1: Towards Parallel Thinking via Reinforcement Learning
Venue: arXiv cs.CL 2025
Year: 2025

Parallel thinking has emerged as a novel approach for enhancing the reasoning capabilities of large language models (LLMs) by exploring multiple reasoning paths concurrently. However, activating such capabilities through training remains challenging, as existing methods predominantly rely on supervised fine-tuning (SFT) over synthetic data, which encourages teacher-forced imitation rather than exploration and generalization. Different from them, we propose \textbf{Parallel-R1}, the first reinforcement learning (RL) framework that enables parallel thinking behaviors for complex real-world reasoning tasks. Our framework employs a progressive curriculum that explicitly addresses the cold-start problem in training parallel thinking with RL. We first use SFT on prompt-generated trajectories from easier tasks to instill the parallel thinking ability, then transition to RL to explore and generalize this skill on harder problems. Experiments on various math benchmarks, including MATH, AMC23, and AIME, show that Parallel-R1 successfully instills parallel thinking, leading to 8.4% accuracy improvements over the sequential thinking model trained directly on challenging tasks with RL. Further analysis reveals a clear shift in the model's thinking behavior: at an early stage, it uses parallel thinking as an exploration strategy, while in a later stage, it uses the same capability for multi-perspective verification. Most significantly, we validate parallel thinking as a \textbf{mid-training exploration scaffold}, where this temporary exploratory phase unlocks a higher performance ceiling after RL, yielding a 42.9% improvement over the baseline on AIME25. Our model, data, and code will be open-source at https://github.com/zhengkid/Parallel-R1.
3D and 4D World Modeling: A Survey
Venue: arXiv cs.CV 2025
Year: 2025

World modeling has become a cornerstone in AI research, enabling agents to understand, represent, and predict the dynamic environments they inhabit. While prior work largely emphasizes generative methods for 2D image and video data, they overlook the rapidly growing body of work that leverages native 3D and 4D representations such as RGB-D imagery, occupancy grids, and LiDAR point clouds for large-scale scene modeling. At the same time, the absence of a standardized definition and taxonomy for ``world models'' has led to fragmented and sometimes inconsistent claims in the literature. This survey addresses these gaps by presenting the first comprehensive review explicitly dedicated to 3D and 4D world modeling and generation. We establish precise definitions, introduce a structured taxonomy spanning video-based (VideoGen), occupancy-based (OccGen), and LiDAR-based (LiDARGen) approaches, and systematically summarize datasets and evaluation metrics tailored to 3D/4D settings. We further discuss practical applications, identify open challenges, and highlight promising research directions, aiming to provide a coherent and foundational reference for advancing the field. A systematic summary of existing literature is available at https://github.com/worldbench/awesome-3d-4d-world-models
An Explainable Deep Neural Network with Frequency-Aware Channel and Spatial Refinement for Flood Prediction in Sustainable Cities
Venue: arXiv cs.CV 2025
Year: 2025

In an era of escalating climate change, urban flooding has emerged as a critical challenge for sustainable cities, threatening lives, infrastructure, and ecosystems. Traditional flood detection methods are constrained by their reliance on unimodal data and static rule-based systems, which fail to capture the dynamic, non-linear relationships inherent in flood events. Furthermore, existing attention mechanisms and ensemble learning approaches exhibit limitations in hierarchical refinement, cross-modal feature integration, and adaptability to noisy or unstructured environments, resulting in suboptimal flood classification performance. To address these challenges, we present XFloodNet, a novel framework that redefines urban flood classification through advanced deep-learning techniques. XFloodNet integrates three novel components: (1) a Hierarchical Cross-Modal Gated Attention mechanism that dynamically aligns visual and textual features, enabling precise multi-granularity interactions and resolving contextual ambiguities; (2) a Heterogeneous Convolutional Adaptive Multi-Scale Attention module, which leverages frequency-enhanced channel attention and frequency-modulated spatial attention to extract and prioritize discriminative flood-related features across spectral and spatial domains; and (3) a Cascading Convolutional Transformer Feature Refinement technique that harmonizes hierarchical features through adaptive scaling and cascading operations, ensuring robust and noise-resistant flood detection. We evaluate our proposed method on three benchmark datasets, such as Chennai Floods, Rhine18 Floods, and Harz17 Floods, XFloodNet achieves state-of-the-art F1-scores of 93.33%, 82.24%, and 88.60%, respectively, surpassing existing methods by significant margins.
NOWJ@COLIEE 2025: A Multi-stage Framework Integrating Embedding Models and Large Language Models for Legal Retrieval and Entailment
Venue: arXiv cs.CL 2025
Year: 2025

This paper presents the methodologies and results of the NOWJ team's participation across all five tasks at the COLIEE 2025 competition, emphasizing advancements in the Legal Case Entailment task (Task 2). Our comprehensive approach systematically integrates pre-ranking models (BM25, BERT, monoT5), embedding-based semantic representations (BGE-m3, LLM2Vec), and advanced Large Language Models (Qwen-2, QwQ-32B, DeepSeek-V3) for summarization, relevance scoring, and contextual re-ranking. Specifically, in Task 2, our two-stage retrieval system combined lexical-semantic filtering with contextualized LLM analysis, achieving first place with an F1 score of 0.3195. Additionally, in other tasks--including Legal Case Retrieval, Statute Law Retrieval, Legal Textual Entailment, and Legal Judgment Prediction--we demonstrated robust performance through carefully engineered ensembles and effective prompt-based reasoning strategies. Our findings highlight the potential of hybrid models integrating traditional IR techniques with contemporary generative models, providing a valuable reference for future advancements in legal information processing.
SVN-ICP: Uncertainty Estimation of ICP-based LiDAR Odometry using Stein Variational Newton
Venue: arXiv cs.RO 2025
Year: 2025

This letter introduces SVN-ICP, a novel Iterative Closest Point (ICP) algorithm with uncertainty estimation that leverages Stein Variational Newton (SVN) on manifold. Designed specifically for fusing LiDAR odometry in multisensor systems, the proposed method ensures accurate pose estimation and consistent noise parameter inference, even in LiDAR-degraded environments. By approximating the posterior distribution using particles within the Stein Variational Inference framework, SVN-ICP eliminates the need for explicit noise modeling or manual parameter tuning. To evaluate its effectiveness, we integrate SVN-ICP into a simple error-state Kalman filter alongside an IMU and test it across multiple datasets spanning diverse environments and robot types. Extensive experimental results demonstrate that our approach outperforms best-in-class methods on challenging scenarios while providing reliable uncertainty estimates.
Establishing a Baseline of Software Supply Chain Security Task Adoption by Software Organizations
Venue: arXiv cs.CR 2025
Year: 2025

Software supply chain attacks have increased exponentially since 2020. The primary attack vectors for supply chain attacks are through: (1) software components; (2) the build infrastructure; and (3) humans (a.k.a software practitioners). Software supply chain risk management frameworks provide a list of tasks that an organization can adopt to reduce software supply chain risk. Exhaustively adopting all the tasks of these frameworks is infeasible, necessitating the prioritized adoption of tasks. Software organizations can benefit from being guided in this prioritization by learning what tasks other teams have adopted. The goal of this study is to aid software development organizations in understanding the adoption of security tasks that reduce software supply chain risk through an interview study of software practitioners engaged in software supply chain risk management efforts. An interview study was conducted with 61 practitioners at nine software development organizations that have focused efforts on reducing software supply chain risk. The results of the interviews indicate that organizations had implemented the most adopted software tasks before the focus on software supply chain security. Therefore, their implementation in organizations is more mature. The tasks that mitigate the novel attack vectors through software components and the build infrastructure are in the early stages of adoption. Adoption of these tasks should be prioritized.
JEL: A Novel Model Linking Knowledge Graph entities to News Mentions
Venue: arXiv cs.LG 2025
Year: 2025

We present JEL, a novel computationally efficient end-to-end multi-neural network based entity linking model, which beats current state-of-art model. Knowledge Graphs have emerged as a compelling abstraction for capturing critical relationships among the entities of interest and integrating data from multiple heterogeneous sources. A core problem in leveraging a knowledge graph is linking its entities to the mentions (e.g., people, company names) that are encountered in textual sources (e.g., news, blogs., etc) correctly, since there are thousands of entities to consider for each mention. This task of linking mentions and entities is referred as Entity Linking (EL). It is a fundamental task in natural language processing and is beneficial in various uses cases, such as building a New Analytics platform. News Analytics, in JPMorgan, is an essential task that benefits multiple groups across the firm. According to a survey conducted by the Innovation Digital team 1 , around 25 teams across the firm are actively looking for news analytics solutions, and more than \$2 million is being spent annually on external vendor costs. Entity linking is critical for bridging unstructured news text with knowledge graphs, enabling users access to vast amounts of curated data in a knowledge graph and dramatically facilitating their daily work.
Risk-Bounded Multi-Agent Visual Navigation via Iterative Risk Allocation
Venue: arXiv cs.RO 2025
Year: 2025

Safe navigation is essential for autonomous systems operating in hazardous environments, especially when multiple agents must coordinate using only high-dimensional visual observations. While recent approaches successfully combine Goal-Conditioned RL (GCRL) for graph construction with Conflict-Based Search (CBS) for planning, they typically rely on static edge pruning to enforce safety. This binary strategy is overly conservative, precluding feasible missions that require traversing high-risk regions, even when the aggregate risk is acceptable. To address this, we introduce a framework for Risk-Bounded Multi-Agent Path Finding (\problem{}), where agents share a user-specified global risk budget ($Δ$). Rather than permanently discarding edges, our framework dynamically distributes per-agent risk budgets ($δ_i$) during search via an Iterative Risk Allocation (IRA) layer that integrates with a standard CBS planner. We investigate two distribution strategies: a greedy surplus-deficit scheme for rapid feasibility repair, and a market-inspired mechanism that treats risk as a priced resource to guide improved allocation. This yields a tunable trade-off wherein agents exploit available risk to secure shorter, more efficient paths, but revert to longer, safer detours under tighter budgets. Experiments in complex visual environments show that, our dynamic allocation framework achieves higher success rates than baselines and effectively leverages the available safety budget to reduce travel time.
Diffusion-Guided Multi-Arm Motion Planning
Venue: arXiv cs.RO 2025
Year: 2025

Multi-arm motion planning is fundamental for enabling arms to complete complex long-horizon tasks in shared spaces efficiently but current methods struggle with scalability due to exponential state-space growth and reliance on large training datasets for learned models. Inspired by Multi-Agent Path Finding (MAPF), which decomposes planning into single-agent problems coupled with collision resolution, we propose a novel diffusion-guided multi-arm planner (DG-MAP) that enhances scalability of learning-based models while reducing their reliance on massive multi-arm datasets. Recognizing that collisions are primarily pairwise, we train two conditional diffusion models, one to generate feasible single-arm trajectories, and a second, to model the dual-arm dynamics required for effective pairwise collision resolution. By integrating these specialized generative models within a MAPF-inspired structured decomposition, our planner efficiently scales to larger number of arms. Evaluations against alternative learning-based methods across various team sizes demonstrate our method's effectiveness and practical applicability. Project website can be found at https://diff-mapf-mers.csail.mit.edu