OpenRaiser/Intern-Atlas huggingface dataset:
Beyond Visibility Limits: A DRL-Based Navigation Strategy for Unexpected Obstacles
Venue: arXiv cs.RO 2025
Year: 2025

Distance-based reward mechanisms in deep reinforcement learning (DRL) navigation systems suffer from critical safety limitations in dynamic environments, frequently resulting in collisions when visibility is restricted. We propose DRL-NSUO, a novel navigation strategy for unexpected obstacles that leverages the rate of change in LiDAR data as a dynamic environmental perception element. Our approach incorporates a composite reward function with environmental change rate constraints and dynamically adjusted weights through curriculum learning, enabling robots to autonomously balance between path efficiency and safety maximization. We enhance sensitivity to nearby obstacles by implementing short-range feature preprocessing of LiDAR data. Experimental results demonstrate that this method significantly improves both robot and pedestrian safety in complex scenarios compared to traditional DRL-based methods. When evaluated on the BARN navigation dataset, our method achieved superior performance with success rates of 94.0% at 0.5 m/s and 91.0% at 1.0 m/s, outperforming conservative obstacle expansion strategies. These results validate DRL-NSUO's enhanced practicality and safety for human-robot collaborative environments, including intelligent logistics applications.
Scalable Connectivity for Ising Machines: Dense to Sparse
Venue: arXiv cs.ET 2025
Year: 2025

In recent years, hardware implementations of Ising machines have emerged as a viable alternative to quantum computing for solving hard optimization problems among other applications. Unlike quantum hardware, dense connectivity can be achieved in classical systems. However, we show that dense connectivity leads to severe frequency slowdowns and interconnect congestion scaling unfavorably with system sizes. As a scalable solution, we propose a systematic sparsification method for dense graphs by introducing copy nodes to limit the number of neighbors per graph node. In addition to solving interconnect congestion, this approach enables constant frequency scaling where all spins in a network can be updated in constant time. On the other hand, sparsification introduces new difficulties, such as constraint-breaking between copied spins and increased convergence times to solve optimization problems, especially if exact ground states are sought. Relaxing the exact solution requirements, we find that the overheads in convergence times are milder. We demonstrate these ideas by designing probabilistic bit Ising machines using ASAP7 (a predictive 7nm FinFET technology model) process design kits as well as Field Programmable Gate Array (FPGA)-based implementations. Finally, we show how formulating problems in naturally sparse networks (e.g., by invertible logic) sidesteps challenges introduced by sparsification methods. Our results are applicable to a broad family of Ising machines using different hardware implementations.
Enhancing Retinal Vessel Segmentation Generalization via Layout-Aware Generative Modelling
Venue: arXiv cs.CV 2025
Year: 2025

Generalization in medical segmentation models is challenging due to limited annotated datasets and imaging variability. To address this, we propose Retinal Layout-Aware Diffusion (RLAD), a novel diffusion-based framework for generating controllable layout-aware images. RLAD conditions image generation on multiple key layout components extracted from real images, ensuring high structural fidelity while enabling diversity in other components. Applied to retinal fundus imaging, we augmented the training datasets by synthesizing paired retinal images and vessel segmentations conditioned on extracted blood vessels from real images, while varying other layout components such as lesions and the optic disc. Experiments demonstrated that RLAD-generated data improved generalization in retinal vessel segmentation by up to 8.1%. Furthermore, we present REYIA, a comprehensive dataset comprising 586 manually segmented retinal images. To foster reproducibility and drive innovation, both our code and dataset will be made publicly accessible.
SIMS: Surgeon-Intention-driven Motion Scaling for Efficient and Precise Teleoperation
Venue: arXiv cs.RO 2025
Year: 2025

Telerobotic surgery often relies on a fixed motion scaling factor (MSF) to map the surgeon's hand motions to robotic instruments, but this introduces a trade-off between precision and efficiency: small MSF enables delicate manipulation but slows large movements, while large MSF accelerates transfer at the cost of accuracy. We propose a Surgeon-Intention driven Motion Scaling (SIMS) system, which dynamically adjusts MSF in real time based solely on kinematic cues. SIMS extracts linear speed, tool motion alignment, and dual-arm coordination features to classify motion intent via fuzzy C-means clustering and applies confidence-based updates independently for both arms. In a user study (n=10, three surgical training tasks) conducted on the da Vinci Research Kit, SIMS significantly reduced collisions (mean reduction of 83%), lowered mental and physical workload, and maintained task completion efficiency compared to fixed MSF. These findings demonstrate that SIMS is a practical and lightweight approach for safer, more efficient, and user-adaptive telesurgical control.
Tera-MIND: Tera-scale mouse brain simulation via spatial mRNA-guided diffusion
Venue: arXiv cs.CV 2025
Year: 2025

Holistic 3D modeling of molecularly defined brain structures is crucial for understanding complex brain functions. Using emerging tissue profiling technologies, researchers charted comprehensive atlases of mammalian brain with sub-cellular resolution and spatially resolved transcriptomic data. However, these tera-scale volumetric atlases pose computational challenges for modeling intricate brain structures within the native spatial context. We propose \textbf{Tera-MIND}, a novel generative framework capable of simulating \textbf{Tera}-scale \textbf{M}ouse bra\textbf{IN}s in 3D using a patch-based and boundary-aware \textbf{D}iffusion model. Taking spatial gene expression as conditional input, we generate virtual mouse brains with comprehensive cellular morphological detail at teravoxel scale. Through the lens of 3D \textit{gene}-\textit{gene} self-attention, we identify spatial molecular interactions for key transcriptomic pathways, including glutamatergic and dopaminergic neuronal systems. Lastly, we showcase the translational applicability of Tera-MIND on previously unseen human brain samples. Tera-MIND offers an efficient generative modeling of whole virtual organisms, paving the way for integrative applications in biomedical research. Project website: https://musikisomorphie.github.io/Tera-MIND.html
Enhancing Network Security Management in Water Systems using FM-based Attack Attribution
Venue: arXiv cs.LG 2025
Year: 2025

Water systems are vital components of modern infrastructure, yet they are increasingly susceptible to sophisticated cyber attacks with potentially dire consequences on public health and safety. While state-of-the-art machine learning techniques effectively detect anomalies, contemporary model-agnostic attack attribution methods using LIME, SHAP, and LEMNA are deemed impractical for large-scale, interdependent water systems. This is due to the intricate interconnectivity and dynamic interactions that define these complex environments. Such methods primarily emphasize individual feature importance while falling short of addressing the crucial sensor-actuator interactions in water systems, which limits their effectiveness in identifying root cause attacks. To this end, we propose a novel model-agnostic Factorization Machines (FM)-based approach that capitalizes on water system sensor-actuator interactions to provide granular explanations and attributions for cyber attacks. For instance, an anomaly in an actuator pump activity can be attributed to a top root cause attack candidates, a list of water pressure sensors, which is derived from the underlying linear and quadratic effects captured by our approach. We validate our method using two real-world water system specific datasets, SWaT and WADI, demonstrating its superior performance over traditional attribution methods. In multi-feature cyber attack scenarios involving intricate sensor-actuator interactions, our FM-based attack attribution method effectively ranks attack root causes, achieving approximately 20% average improvement over SHAP and LEMNA.
Soybean Disease Detection via Interpretable Hybrid CNN-GNN: Integrating MobileNetV2 and GraphSAGE with Cross-Modal Attention
Venue: arXiv cs.CV 2025
Year: 2025

Soybean leaf disease detection is critical for agricultural productivity but faces challenges due to visually similar symptoms and limited interpretability in conventional methods. While Convolutional Neural Networks (CNNs) excel in spatial feature extraction, they often neglect inter-image relational dependencies, leading to misclassifications. This paper proposes an interpretable hybrid Sequential CNN-Graph Neural Network (GNN) framework that synergizes MobileNetV2 for localized feature extraction and GraphSAGE for relational modeling. The framework constructs a graph where nodes represent leaf images, with edges defined by cosine similarity-based adjacency matrices and adaptive neighborhood sampling. This design captures fine-grained lesion features and global symptom patterns, addressing inter-class similarity challenges. Cross-modal interpretability is achieved via Grad-CAM and Eigen-CAM visualizations, generating heatmaps to highlight disease-influential regions. Evaluated on a dataset of ten soybean leaf diseases, the model achieves $97.16\%$ accuracy, surpassing standalone CNNs ($\le95.04\%$) and traditional machine learning models ($\le77.05\%$). Ablation studies validate the sequential architecture's superiority over parallel or single-model configurations. With only 2.3 million parameters, the lightweight MobileNetV2-GraphSAGE combination ensures computational efficiency, enabling real-time deployment in resource-constrained environments. The proposed approach bridges the gap between accurate classification and practical applicability, offering a robust, interpretable tool for agricultural diagnostics while advancing CNN-GNN integration in plant pathology research.
ABFS: Natural Robustness Testing for LLM-based NLP Software
Venue: arXiv cs.SE 2025
Year: 2025

Owing to the exceptional performance of Large Language Models (LLMs) in Natural Language Processing (NLP) tasks, LLM-based NLP software has rapidly gained traction across various domains, such as financial analysis and content moderation. However, these applications frequently exhibit robustness deficiencies, where slight perturbations in input (prompt+example) may lead to erroneous outputs. Current robustness testing methods face two main limitations: (1) low testing effectiveness, limiting the applicability of LLM-based software in safety-critical scenarios, and (2) insufficient naturalness of test cases, reducing the practical value of testing outcomes. To address these issues, this paper proposes ABFS, a straightforward yet effective automated testing method that, for the first time, treats the input prompts and examples as a unified whole for robustness testing. Specifically, ABFS formulates the testing process as a combinatorial optimization problem, employing Best-First Search to identify successful test cases within the perturbation space and designing a novel Adaptive control strategy to enhance test case naturalness. We evaluate the robustness testing performance of ABFS on three datasets across five threat models. On Llama2-13b, the traditional StressTest achieves only a 13.273% success rate, while ABFS attains a success rate of 98.064%, supporting a more comprehensive robustness assessment before software deployment. Compared to baseline methods, ABFS introduces fewer modifications to the original input and consistently generates test cases with superior naturalness. Furthermore, test cases generated by ABFS exhibit stronger transferability and higher testing efficiency, significantly reducing testing costs.
MAB-Based Channel Scheduling for Asynchronous Federated Learning in Non-Stationary Environments
Venue: arXiv cs.LG 2025
Year: 2025

Federated learning enables distributed model training across clients without raw data exchange, but in wireless implementations, frequent parameter updates cause high communication overhead. Existing research often assumes known channel state information (CSI) or stationary channels, though practical wireless channels are non-stationary due to fading, user mobility, and attacks, leading to unpredictable transmission failures and exacerbating client staleness, which hampers model convergence. To tackle these challenges, we propose an asynchronous federated learning scheduling framework for non-stationary channels that aims to reduce client staleness while enhancing communication efficiency and fairness. Our framework considers two scenarios: extremely non-stationary and piecewise-stationary channels. Age of Information (AoI) quantifies client staleness under these conditions. We conduct convergence analysis to examine the impact of AoI and per-round client participation on learning performance and formulate the scheduling problem as a multi-armed bandit (MAB) problem. We derive theoretical lower bounds on AoI regret and develop scheduling strategies based on GLR-CUCB and M-exp3 algorithms, including upper bounds on AoI regret. To address imbalanced client updates, we propose an adaptive matching strategy that incorporates marginal utility and fairness considerations. Simulation results show that our algorithm achieves sub-linear AoI regret, accelerates convergence, and promotes fairer aggregation.
Answer, Refuse, or Guess? Investigating Risk-Aware Decision Making in Language Models
Venue: arXiv cs.CL 2025
Year: 2025

Language models (LMs) are increasingly used to build agents that can act autonomously to achieve goals. During this automatic process, agents need to take a series of actions, some of which might lead to severe consequences if incorrect actions are taken. Therefore, such agents must sometimes defer-refusing to act when their confidence is insufficient-to avoid the potential cost of incorrect actions. Because the severity of consequences varies across applications, the tendency to defer should also vary: in low-risk settings agents should answer more freely, while in high-risk settings their decisions should be more conservative. We study this "answer-or-defer" problem with an evaluation framework that systematically varies human-specified risk structures-rewards and penalties for correct answers, incorrect answers, and refusals $(r_{\mathrm{cor}},r_{\mathrm{inc}}, r_{\mathrm{ref}})$-while keeping tasks fixed. This design evaluates LMs' risk-aware decision policies by measuring their ability to maximize expected reward. Across multiple datasets and models, we identify flaws in their decision policies: LMs tend to over-answer in high-risk settings and over-defer in low-risk settings. After analyzing the potential cause of such flaws, we find that a simple skill-decomposition method, which isolates the independent skills required for answer-or-defer decision making, can consistently improve LMs' decision policies. Our results highlight the current limitations of LMs in risk-conditioned decision making and provide practical guidance for deploying more reliable LM-based agents across applications of varying risk levels.
Measuring the Energy of Smartphone Communications in the Edge-Cloud Continuum: Approaches, Challenges, and a Case Study
Venue: arXiv cs.NI 2025
Year: 2025

As computational resources are placed at different points in the edge-cloud continuum, not only the responsiveness on the client side is affected, but also the energy spent during communications. We summarize the main approaches used to estimate the energy consumption of smartphones and the main difficulties that are typically encountered. A case study then shows how such approaches can be put into practice. Results show that the edge is favorable in terms of energy consumption, compared to more remote locations.
Augmenting Online Meetings with Context-Aware Real-time Music Generation
Venue: arXiv cs.HC 2025
Year: 2025

As online communication continues to expand, participants often face cognitive fatigue and reduced engagement. Cognitive augmentation, which leverages technology to enhance human abilities, offers promising solutions to these challenges. In this study, we investigate the potential of generative artificial intelligence (GenAI) for real-time music generation to enrich online meetings. We introduce Discussion Jockey 2, a system that dynamically produces background music in response to live conversation transcripts. Through a user study involving 14 participants in an online interview setting, we examine the system's impact on relaxation, concentration, and overall user experience. The findings reveal that AI-generated background music significantly enhances user relaxation (average score: 5.75/9) and concentration (average score: 5.86/9). This research underscores the promise of context-aware music generation in improving the quality of online communication and points to future directions for optimizing its implementation across various virtual environments.
SwiLTra-Bench: The Swiss Legal Translation Benchmark
Venue: arXiv cs.CL 2025
Year: 2025

In Switzerland legal translation is uniquely important due to the country's four official languages and requirements for multilingual legal documentation. However, this process traditionally relies on professionals who must be both legal experts and skilled translators -- creating bottlenecks and impacting effective access to justice. To address this challenge, we introduce SwiLTra-Bench, a comprehensive multilingual benchmark of over 180K aligned Swiss legal translation pairs comprising laws, headnotes, and press releases across all Swiss languages along with English, designed to evaluate LLM-based translation systems. Our systematic evaluation reveals that frontier models achieve superior translation performance across all document types, while specialized translation systems excel specifically in laws but under-perform in headnotes. Through rigorous testing and human expert validation, we demonstrate that while fine-tuning open SLMs significantly improves their translation quality, they still lag behind the best zero-shot prompted frontier models such as Claude-3.5-Sonnet. Additionally, we present SwiLTra-Judge, a specialized LLM evaluation system that aligns best with human expert assessments.
Blind Augmentation: Calibration-free Camera Distortion Model Estimation for Real-time Mixed-reality Consistency
Venue: arXiv cs.CV 2025
Year: 2025

Real camera footage is subject to noise, motion blur (MB) and depth of field (DoF). In some applications these might be considered distortions to be removed, but in others it is important to model them because it would be ineffective, or interfere with an aesthetic choice, to simply remove them. In augmented reality applications where virtual content is composed into a live video feed, we can model noise, MB and DoF to make the virtual content visually consistent with the video. Existing methods for this typically suffer two main limitations. First, they require a camera calibration step to relate a known calibration target to the specific cameras response. Second, existing work require methods that can be (differentiably) tuned to the calibration, such as slow and specialized neural networks. We propose a method which estimates parameters for noise, MB and DoF instantly, which allows using off-the-shelf real-time simulation methods from e.g., a game engine in compositing augmented content. Our main idea is to unlock both features by showing how to use modern computer vision methods that can remove noise, MB and DoF from the video stream, essentially providing self-calibration. This allows to auto-tune any black-box real-time noise+MB+DoF method to deliver fast and high-fidelity augmentation consistency.
Enhancing Social Media Rumor Detection: A Semantic and Graph Neural Network Approach for the 2024 Global Election
Venue: arXiv cs.SI 2025
Year: 2025

The development of social media platforms has revolutionized the speed and manner in which information is disseminated, leading to both beneficial and detrimental effects on society. While these platforms facilitate rapid communication, they also accelerate the spread of rumors and extremist speech, impacting public perception and behavior significantly. This issue is particularly pronounced during election periods, where the influence of social media on election outcomes has become a matter of global concern. With the unprecedented number of elections in 2024, against this backdrop, the election ecosystem has encountered unprecedented challenges. This study addresses the urgent need for effective rumor detection on social media by proposing a novel method that combines semantic analysis with graph neural networks. We have meticulously collected a dataset from PolitiFact and Twitter, focusing on politically relevant rumors. Our approach involves semantic analysis using a fine-tuned BERT model to vectorize text content and construct a directed graph where tweets and comments are nodes, and interactions are edges. The core of our method is a graph neural network, SAGEWithEdgeAttention, which extends the GraphSAGE model by incorporating first-order differences as edge attributes and applying an attention mechanism to enhance feature aggregation. This innovative approach allows for the fine-grained analysis of the complex social network structure, improving rumor detection accuracy. The study concludes that our method significantly outperforms traditional content analysis and time-based models, offering a theoretically sound and practically efficient solution.
Multi-resolution Encoding for HTTP Adaptive Streaming using VVenC
Venue: arXiv cs.MM 2025
Year: 2025

HTTP Adaptive Streaming (HAS) is a widely adopted method for delivering video content over the Internet, requiring each video to be encoded at multiple bitrates and resolution pairs, known as representations, to adapt to various network conditions and device capabilities. This multi-bitrate encoding introduces significant challenges due to the computational and time-intensive nature of encoding multiple representations. Conventional approaches often encode these videos independently without leveraging similarities between different representations of the same input video. This paper proposes an accelerated multi-resolution encoding strategy that utilizes representations of lower resolutions as references to speed up the encoding of higher resolutions when using Versatile Video Coding (VVC); specifically in VVenC, an optimized open-source software implementation. For multi-resolution encoding, a mid-bitrate representation serves as the reference, allowing interpolated encoded partition data to efficiently guide the partitioning process in higher resolutions. The proposed approach uses shared encoding information to reduce redundant calculations, optimizing partitioning decisions. Experimental results demonstrate that the proposed technique achieves a reduction of up to 17% compared to medium preset in encoding time across videos of varying complexities with minimal BDBR/BDT of 0.12 compared to the fast preset.