OpenRaiser/Intern-Atlas huggingface dataset:
Intuitive Human-Drone Collaborative Navigation in Unknown Environments through Mixed Reality
Venue: arXiv cs.RO 2025
Year: 2025

Considering the widespread integration of aerial robots in inspection, search and rescue, and monitoring tasks, there is a growing demand to design intuitive human-drone interfaces. These aim to streamline and enhance the user interaction and collaboration process during drone navigation, ultimately expediting mission success and accommodating users' inputs. In this paper, we present a novel human-drone mixed reality interface that aims to (a) increase human-drone spatial awareness by sharing relevant spatial information and representations between the human equipped with a Head Mounted Display (HMD) and the robot and (b) enable safer and intuitive human-drone interactive and collaborative navigation in unknown environments beyond the simple command and control or teleoperation paradigm. We validate our framework through extensive user studies and experiments in a simulated post-disaster scenario, comparing its performance against a traditional First-Person View (FPV) control systems. Furthermore, multiple tests on several users underscore the advantages of the proposed solution, which offers intuitive and natural interaction with the system. This demonstrates the solution's ability to assist humans during a drone navigation mission, ensuring its safe and effective execution.
xML-workFlow: an end-to-end explainable scikit-learn workflow for rapid biomedical experimentation
Venue: arXiv cs.LG 2025
Year: 2025

Motivation: Building and iterating machine learning models is often a resource-intensive process. In biomedical research, scientific codebases can lack scalability and are not easily transferable to work beyond what they were intended. xML-workFlow addresses this issue by providing a rapid, robust, and traceable end-to-end workflow that can be adapted to any ML project with minimal code rewriting. Results: We show a practical, end-to-end workflow that integrates scikit-learn, MLflow, and SHAP. This template significantly reduces the time and effort required to build and iterate on ML models, addressing the common challenges of scalability and reproducibility in biomedical research. Adapting our template may save bioinformaticians time in development and enables biomedical researchers to deploy ML projects. Availability and implementation: xML-workFlow is available at https://github.com/MedicalGenomicsLab/xML-workFlow.
Enhancing Computational Notebooks with Code+Data Space Versioning
Venue: arXiv cs.HC 2025
Year: 2025

There is a gap between how people explore data and how Jupyter-like computational notebooks are designed. People explore data nonlinearly, using execution undos, branching, and/or complete reverts, whereas notebooks are designed for sequential exploration. Recent works like ForkIt are still insufficient to support these multiple modes of nonlinear exploration in a unified way. In this work, we address the challenge by introducing two-dimensional code+data space versioning for computational notebooks and verifying its effectiveness using our prototype system, Kishuboard, which integrates with Jupyter. By adjusting code and data knobs, users of Kishuboard can intuitively manage the state of computational notebooks in a flexible way, thereby achieving both execution rollbacks and checkouts across complex multi-branch exploration history. Moreover, this two-dimensional versioning mechanism can easily be presented along with a friendly one-dimensional history. Human subject studies indicate that Kishuboard significantly enhances user productivity in various data science tasks.
LITE: LLM-Impelled efficient Taxonomy Evaluation
Venue: arXiv cs.CL 2025
Year: 2025

This paper presents LITE, an LLM-based evaluation method designed for efficient and flexible assessment of taxonomy quality. To address challenges in large-scale taxonomy evaluation, such as efficiency, fairness, and consistency, LITE adopts a top-down hierarchical evaluation strategy, breaking down the taxonomy into manageable substructures and ensuring result reliability through cross-validation and standardized input formats. LITE also introduces a penalty mechanism to handle extreme cases and provides both quantitative performance analysis and qualitative insights by integrating evaluation metrics closely aligned with task objectives. Experimental results show that LITE demonstrates high reliability in complex evaluation tasks, effectively identifying semantic errors, logical contradictions, and structural flaws in taxonomies, while offering directions for improvement. Code is available at https://github.com/Zhang-l-i-n/TAXONOMY_DETECT .
Large-scale Evaluation of Notebook Checkpointing with AI Agents
Venue: arXiv cs.HC 2025
Year: 2025

Saving, or checkpointing, intermediate results during interactive data exploration can potentially boost user productivity. However, existing studies on this topic are limited, as they primarily rely on small-scale experiments with human participants - a fundamental constraint of human subject studies. To address this limitation, we employ AI agents to simulate a large number of complex data exploration scenarios, including revisiting past states and branching into new exploration paths. This strategy enables us to accurately assess the impact of checkpointing while closely mimicking the behavior of real-world data practitioners. Our evaluation results, involving more than 1,000 exploration paths and 2,848 executed code blocks, show that a checkpointing framework for computational notebooks can indeed enhance productivity by minimizing unnecessary code re-executions and redundant variables or code.
DESIL: Detecting Silent Bugs in MLIR Compiler Infrastructure
Venue: arXiv cs.SE 2025
Year: 2025

MLIR (Multi-Level Intermediate Representation) compiler infrastructure provides an efficient framework for introducing a new abstraction level for programming languages and domain-specific languages. It has attracted widespread attention in recent years and has been applied in various domains, such as deep learning compiler construction. Recently, several MLIR compiler fuzzing techniques, such as MLIRSmith and MLIRod, have been proposed. However, none of them can detect silent bugs, i.e., bugs that incorrectly optimize code silently. The difficulty in detecting silent bugs arises from two main aspects: (1) UB-Free Program Generation: Ensures the generated programs are free from undefined behaviors to suit the non-UB assumptions required by compiler optimizations. (2) Lowering Support: Converts the given MLIR program into an executable form, enabling execution result comparisons, and selects a suitable lowering path for the program to reduce redundant lowering pass and improve the efficiency of fuzzing. To address the above issues, we propose DESIL. DESIL enables silent bug detection by defining a set of UB-elimination rules based on the MLIR documentation and applying them to input programs to produce UB-free MLIR programs. To convert dialects in MLIR program into the executable form, DESIL designs a lowering path optimization strategy to convert the dialects in given MLIR program into executable form. Furthermore, DESIL incorporates the differential testing for silent bug detection. To achieve this, it introduces an operation-aware optimization recommendation strategy into the compilation process to generate diverse executable files. We applied DESIL to the latest revisions of the MLIR compiler infrastructure. It detected 23 silent bugs and 19 crash bugs, of which 12/14 have been confirmed or fixed
Generative Retrieval and Alignment Model: A New Paradigm for E-commerce Retrieval
Venue: arXiv cs.IR 2025
Year: 2025

Traditional sparse and dense retrieval methods struggle to leverage general world knowledge and often fail to capture the nuanced features of queries and products. With the advent of large language models (LLMs), industrial search systems have started to employ LLMs to generate identifiers for product retrieval. Commonly used identifiers include (1) static/semantic IDs and (2) product term sets. The first approach requires creating a product ID system from scratch, missing out on the world knowledge embedded within LLMs. While the second approach leverages this general knowledge, the significant difference in word distribution between queries and products means that product-based identifiers often do not align well with user search queries, leading to missed product recalls. Furthermore, when queries contain numerous attributes, these algorithms generate a large number of identifiers, making it difficult to assess their quality, which results in low overall recall efficiency. To address these challenges, this paper introduces a novel e-commerce retrieval paradigm: the Generative Retrieval and Alignment Model (GRAM). GRAM employs joint training on text information from both queries and products to generate shared text identifier codes, effectively bridging the gap between queries and products. This approach not only enhances the connection between queries and products but also improves inference efficiency. The model uses a co-alignment strategy to generate codes optimized for maximizing retrieval efficiency. Additionally, it introduces a query-product scoring mechanism to compare product values across different codes, further boosting retrieval efficiency. Extensive offline and online A/B testing demonstrates that GRAM significantly outperforms traditional models and the latest generative retrieval models, confirming its effectiveness and practicality.
From Shadows to Safety: Occlusion Tracking and Risk Mitigation for Urban Autonomous Driving
Venue: arXiv cs.RO 2025
Year: 2025

Autonomous vehicles (AVs) must navigate dynamic urban environments where occlusions and perception limitations introduce significant uncertainties. This research builds upon and extends existing approaches in risk-aware motion planning and occlusion tracking to address these challenges. While prior studies have developed individual methods for occlusion tracking and risk assessment, a comprehensive method integrating these techniques has not been fully explored. We, therefore, enhance a phantom agent-centric model by incorporating sequential reasoning to track occluded areas and predict potential hazards. Our model enables realistic scenario representation and context-aware risk evaluation by modeling diverse phantom agents, each with distinct behavior profiles. Simulations demonstrate that the proposed approach improves situational awareness and balances proactive safety with efficient traffic flow. While these results underline the potential of our method, validation in real-world scenarios is necessary to confirm its feasibility and generalizability. By utilizing and advancing established methodologies, this work contributes to safer and more reliable AV planning in complex urban environments. To support further research, our method is available as open-source software at: https://github.com/TUM-AVS/OcclusionAwareMotionPlanning
Systematic Literature Review of Automation and Artificial Intelligence in Usability Issue Detection
Venue: arXiv cs.HC 2025
Year: 2025

Usability issues can hinder the effective use of software. Therefore, various techniques are deployed to diagnose and mitigate them. However, these techniques are costly and time-consuming, particularly in iterative design and development. A substantial body of research indicates that automation and artificial intelligence can enhance the process of obtaining usability insights. In our systematic review of 155 publications, we offer a comprehensive overview of the current state of the art for automated usability issue detection. We analyze trends, paradigms, and the technical context in which they are applied. Finally, we discuss the implications and potential directions for future research.
UniCalib: Targetless LiDAR-Camera Calibration via Probabilistic Flow on Unified Depth Representations
Venue: arXiv cs.RO 2025
Year: 2025

Precise LiDAR-camera calibration is crucial for integrating these two sensors into robotic systems to achieve robust perception. In applications like autonomous driving, online targetless calibration enables a prompt sensor misalignment correction from mechanical vibrations without extra targets. However, existing methods exhibit limitations in effectively extracting consistent features from LiDAR and camera data and fail to prioritize salient regions, compromising cross-modal alignment robustness. To address these issues, we propose DF-Calib, a LiDAR-camera calibration method that reformulates calibration as an intra-modality depth flow estimation problem. DF-Calib estimates a dense depth map from the camera image and completes the sparse LiDAR projected depth map, using a shared feature encoder to extract consistent depth-to-depth features, effectively bridging the 2D-3D cross-modal gap. Additionally, we introduce a reliability map to prioritize valid pixels and propose a perceptually weighted sparse flow loss to enhance depth flow estimation. Experimental results across multiple datasets validate its accuracy and generalization,with DF-Calib achieving a mean translation error of 0.635cm and rotation error of 0.045 degrees on the KITTI dataset.
FAIRE: Assessing Racial and Gender Bias in AI-Driven Resume Evaluations
Venue: arXiv cs.CL 2025
Year: 2025

In an era where AI-driven hiring is transforming recruitment practices, concerns about fairness and bias have become increasingly important. To explore these issues, we introduce a benchmark, FAIRE (Fairness Assessment In Resume Evaluation), to test for racial and gender bias in large language models (LLMs) used to evaluate resumes across different industries. We use two methods-direct scoring and ranking-to measure how model performance changes when resumes are slightly altered to reflect different racial or gender identities. Our findings reveal that while every model exhibits some degree of bias, the magnitude and direction vary considerably. This benchmark provides a clear way to examine these differences and offers valuable insights into the fairness of AI-based hiring tools. It highlights the urgent need for strategies to reduce bias in AI-driven recruitment. Our benchmark code and dataset are open-sourced at our repository: https://github.com/athenawen/FAIRE-Fairness-Assessment-In-Resume-Evaluation.git.
On the Role of Priors in Bayesian Causal Learning
Venue: arXiv cs.LG 2025
Year: 2025

In this work, we investigate causal learning of independent causal mechanisms from a Bayesian perspective. Confirming previous claims from the literature, we show in a didactically accessible manner that unlabeled data (i.e., cause realizations) do not improve the estimation of the parameters defining the mechanism. Furthermore, we observe the importance of choosing an appropriate prior for the cause and mechanism parameters, respectively. Specifically, we show that a factorized prior results in a factorized posterior, which resonates with Janzing and Schölkopf's definition of independent causal mechanisms via the Kolmogorov complexity of the involved distributions and with the concept of parameter independence of Heckerman et al.
Multimodal Point Cloud Semantic Segmentation With Virtual Point Enhancement
Venue: arXiv cs.CV 2025
Year: 2025

LiDAR-based 3D point cloud recognition has been proven beneficial in various applications. However, the sparsity and varying density pose a significant challenge in capturing intricate details of objects, particularly for medium-range and small targets. Therefore, we propose a multi-modal point cloud semantic segmentation method based on Virtual Point Enhancement (VPE), which integrates virtual points generated from images to address these issues. These virtual points are dense but noisy, and directly incorporating them can increase computational burden and degrade performance. Therefore, we introduce a spatial difference-driven adaptive filtering module that selectively extracts valuable pseudo points from these virtual points based on density and distance, enhancing the density of medium-range targets. Subsequently, we propose a noise-robust sparse feature encoder that incorporates noise-robust feature extraction and fine-grained feature enhancement. Noise-robust feature extraction exploits the 2D image space to reduce the impact of noisy points, while fine-grained feature enhancement boosts sparse geometric features through inner-voxel neighborhood point aggregation and downsampled voxel aggregation. The results on the SemanticKITTI and nuScenes, two large-scale benchmark data sets, have validated effectiveness, significantly improving 2.89\% mIoU with the introduction of 7.7\% virtual points on nuScenes.
CASCADE Your Datasets for Cross-Mode Knowledge Retrieval of Language Models
Venue: arXiv cs.LG 2025
Year: 2025

Language models often struggle with cross-mode knowledge retrieval -- the ability to access knowledge learned in one format (mode) when queried in another. We demonstrate that models trained on multiple data sources (e.g., Wikipedia and TinyStories) exhibit significantly reduced accuracy when retrieving knowledge in a format different from its original training mode. This paper quantitatively investigates this phenomenon through a controlled study of random token sequence memorization across different modes. We first explore dataset rewriting as a solution, revealing that effective cross-mode retrieval requires prohibitively extensive rewriting efforts that follow a sigmoid-like relationship. As an alternative, we propose CASCADE, a novel pretraining algorithm that uses cascading datasets with varying sequence lengths and computing losses on only the second half of each training sequence to capture knowledge at different scales. Our experiments demonstrate that CASCADE outperforms dataset rewriting approaches, even when compressed into a single model with a unified loss function. This work provides both qualitative evidence of cross-mode retrieval limitations and a practical solution to enhance language models' ability to access knowledge independently of its presentational format.
K2: On Optimizing Distributed Transactions in a Multi-region Data Store with TrueTime Clocks (Extended Version)
Venue: arXiv cs.DB 2025
Year: 2025

TrueTime clocks (TTCs) that offer accurate and reliable time within limited uncertainty bounds have been increasingly implemented in many clouds. Multi-region data stores that seek decentralized synchronization for high performance represent an ideal application of TTC. However, the co-designs between the two were often undervalued or failed to realize their full potential. This paper proposes K2, a multi-region data store that intensely explores the opportunity of using TTC for distributed transactions. Compared to its pioneer, Google Spanner, K2 augments TTC's semantics in three core design pillars. First, K2 carries a new timestamp-generating scheme that is capable of providing a small time uncertainty bound at scale. Second, K2 revitalizes existing multi-version timestamp-ordered concurrency control to realize multi-version properties for read-write transactions. Third, K2 introduces a new TTC-based visibility control protocol that provides efficient reads at replicas. Our evaluation shows that, K2 achieves an order of magnitude higher transaction throughput relative to other practical geo-distributed transaction protocols while ensuring a lower visibility delay at asynchronous replicas.
How to Define the Quality of Data? A Feature-Based Literature Survey
Venue: arXiv cs.DB 2025
Year: 2025

The digital transformation of our society is a constant challenge, as data is generated in almost every digital interaction. To use data effectively, it must be of high quality. This raises the question: what exactly is data quality? A systematic literature review of the existing literature shows that data quality is a multifaceted concept, characterized by a number of quality dimensions. However, the definitions of data quality vary widely. We used feature-oriented domain analysis to specify a taxonomy of data quality definitions and to classify the existing definitions. This allows us to identify research gaps and future topics.
Grasping by Spiraling: Reproducing Elephant Movements with Rigid-Soft Robot Synergy
Venue: arXiv cs.RO 2025
Year: 2025

The logarithmic spiral is observed as a common pattern in several living beings across kingdoms and species. Some examples include fern shoots, prehensile tails, and soft limbs like octopus arms and elephant trunks. In the latter cases, spiraling is also used for grasping. Motivated by how this strategy simplifies behavior into kinematic primitives and combines them to develop smart grasping movements, this work focuses on the elephant trunk, which is more deeply investigated in the literature. We present a soft arm combined with a rigid robotic system to replicate elephant grasping capabilities based on the combination of a soft trunk with a solid body. In our system, the rigid arm ensures positioning and orientation, mimicking the role of the elephant's head, while the soft manipulator reproduces trunk motion primitives of bending and twisting under proper actuation patterns. This synergy replicates 9 distinct elephant grasping strategies reported in the literature, accommodating objects of varying shapes and sizes. The synergistic interaction between the rigid and soft components of the system minimizes the control complexity while maintaining a high degree of adaptability.
Adapting Knowledge Prompt Tuning for Enhanced Automated Program Repair
Venue: arXiv cs.SE 2025
Year: 2025

Automated Program Repair (APR) aims to enhance software reliability by automatically generating bug-fixing patches. Recent work has improved the state-of-the-art of APR by fine-tuning pre-trained large language models (LLMs), such as CodeT5, for APR. However, the effectiveness of fine-tuning becomes weakened in data scarcity scenarios, and data scarcity can be a common issue in practice, limiting fine-tuning performance. To alleviate this limitation, this paper adapts prompt tuning for enhanced APR and conducts a comprehensive study to evaluate its effectiveness in data scarcity scenarios, using three LLMs of different sizes and six diverse datasets across four programming languages. Prompt tuning rewrites the input to a model by adding extra prompt tokens and tunes both the model and the prompts on a small dataset. These tokens provide task-specific knowledge that can improve the model for APR, which is especially critical in data scarcity scenarios. Moreover, domain knowledge has proven crucial in many code intelligence tasks, but existing studies fail to leverage domain knowledge during the prompt tuning for APR. To close this gap, we introduce knowledge prompt tuning, an approach that adapts prompt tuning with six distinct types of code- or bug-related domain knowledge for APR. Our work, to the best of our knowledge, is the first to adapt and evaluate prompt tuning and the effectiveness of code- or bug-related domain knowledge for APR, particularly under data scarcity settings. Our evaluation results demonstrate that prompt tuning with knowledge generally outperforms fine-tuning under various experimental settings, achieving an average improvement of 87.33% over fine-tuning in data scarcity scenarios.
Beyond Nearest Neighbor Interpolation in Data Augmentation
Venue: arXiv cs.CV 2025
Year: 2025

Avoiding the risk of undefined categorical labels using nearest neighbor interpolation overlooks the risk of exacerbating pixel level annotation errors in data augmentation. To simultaneously avoid these risks, the author modified convolutional neural networks data transformation functions by incorporating a modified geometric transformation function to improve the quality of augmented data by removing the reliance on nearest neighbor interpolation and integrating a mean based class filtering mechanism to handle undefined categorical labels with alternative interpolation algorithms. Experiments on semantic segmentation tasks using three medical image datasets demonstrated both qualitative and quantitative improvements with alternative interpolation algorithms.