OpenRaiser/Intern-Atlas huggingface dataset:
EEG-Based Cognitive Load Classification During Landmark-Based VR Navigation
Venue: arXiv cs.HC 2025
Year: 2025

Brain computer interfaces enable real-time monitoring of cognitive load, but their effectiveness in dynamic navigation contexts is not well established. Using an existing VR navigation dataset, we examined whether EEG signals can classify cognitive load during map-based wayfinding and whether classification accuracy depends more on task complexity or on individual traits. EEG recordings from forty-six participants navigating routes with 3, 5, or 7 map landmarks were analyzed with a nested cross-validation framework across multiple machine learning models. Classification achieved mean accuracies up to 90.8% for binary contrasts (3 vs. 7 landmarks) and 78.7% for the three-class problem, both well above chance. Demographic and cognitive variables (age, gender, spatial ability, working memory) showed no significant influence. These findings demonstrate that task demands outweigh individual differences in shaping classification performance, highlighting the potential for task-adaptive navigation systems that dynamically adjust map complexity in response to real-time cognitive states.
VSE-MOT: Multi-Object Tracking in Low-Quality Video Scenes Guided by Visual Semantic Enhancement
Venue: arXiv cs.CV 2025
Year: 2025

Current multi-object tracking (MOT) algorithms typically overlook issues inherent in low-quality videos, leading to significant degradation in tracking performance when confronted with real-world image deterioration. Therefore, advancing the application of MOT algorithms in real-world low-quality video scenarios represents a critical and meaningful endeavor. To address the challenges posed by low-quality scenarios, inspired by vision-language models, this paper proposes a Visual Semantic Enhancement-guided Multi-Object Tracking framework (VSE-MOT). Specifically, we first design a tri-branch architecture that leverages a vision-language model to extract global visual semantic information from images and fuse it with query vectors. Subsequently, to further enhance the utilization of visual semantic information, we introduce the Multi-Object Tracking Adapter (MOT-Adapter) and the Visual Semantic Fusion Module (VSFM). The MOT-Adapter adapts the extracted global visual semantic information to suit multi-object tracking tasks, while the VSFM improves the efficacy of feature fusion. Through extensive experiments, we validate the effectiveness and superiority of the proposed method in real-world low-quality video scenarios. Its tracking performance metrics outperform those of existing methods by approximately 8% to 20%, while maintaining robust performance in conventional scenarios.
FlightDiffusion: Revolutionising Autonomous Drone Training with Diffusion Models Generating FPV Video
Venue: arXiv cs.RO 2025
Year: 2025

We present FlightDiffusion, a diffusion-model-based framework for training autonomous drones from first-person view (FPV) video. Our model generates realistic video sequences from a single frame, enriched with corresponding action spaces to enable reasoning-driven navigation in dynamic environments. Beyond direct policy learning, FlightDiffusion leverages its generative capabilities to synthesize diverse FPV trajectories and state-action pairs, facilitating the creation of large-scale training datasets without the high cost of real-world data collection. Our evaluation demonstrates that the generated trajectories are physically plausible and executable, with a mean position error of 0.25 m (RMSE 0.28 m) and a mean orientation error of 0.19 rad (RMSE 0.24 rad). This approach enables improved policy learning and dataset scalability, leading to superior performance in downstream navigation tasks. Results in simulated environments highlight enhanced robustness, smoother trajectory planning, and adaptability to unseen conditions. An ANOVA revealed no statistically significant difference between performance in simulation and reality (F(1, 16) = 0.394, p = 0.541), with success rates of M = 0.628 (SD = 0.162) and M = 0.617 (SD = 0.177), respectively, indicating strong sim-to-real transfer. The generated datasets provide a valuable resource for future UAV research. This work introduces diffusion-based reasoning as a promising paradigm for unifying navigation, action generation, and data synthesis in aerial robotics.
CSMoE: An Efficient Remote Sensing Foundation Model with Soft Mixture-of-Experts
Venue: arXiv cs.CV 2025
Year: 2025

Self-supervised learning through masked autoencoders has attracted great attention for remote sensing (RS) foundation model (FM) development, enabling improved representation learning across diverse sensors and downstream tasks. However, existing RS FMs often either suffer from substantial computational complexity during both training and inference or exhibit limited representational capacity. These issues restrict their practical applicability in RS. To address this limitation, we propose an adaptation for enhancing the efficiency of RS FMs by integrating the Soft mixture-of-experts (MoE) mechanism into the FM. The integration of Soft MoEs into the FM allows modality-specific expert specialization alongside shared cross-sensor representation learning. To demonstrate the effectiveness of our adaptation, we apply it on the Cross-Sensor Masked Autoencoder (CSMAE) model, resulting in the Cross-Sensor Mixture-of-Experts (CSMoE) model. In addition, we introduce a thematic-climatic descriptor-driven sampling strategy for the construction of a representative and diverse training set to train our CSMoE model. Extensive experiments on scene classification, semantic segmentation, and content-based image retrieval demonstrate that our adaptation yields a reduction in computational requirements while maintaining or improving representational performance. Compared to state-of-the-art RS FMs, CSMoE achieves a superior trade-off between representational capacity, accuracy, and computational efficiency. On average, CSMoE achieves more than twice the computational efficiency of existing RS FMs, while maintaining competitive performance across all experiments. These results show the effectiveness of the proposed adaptation for creating computationally efficient RS FMs. The code for the model, the training set creation, and the model weights will be available at https://git.tu-berlin.de/rsim/csmoe.
Energy Efficient Multi Robot Package Delivery under Capacity-Constraints via Voronoi-Constrained Networks
Venue: arXiv cs.RO 2025
Year: 2025

We consider the problem of delivering multiple packages from a single pickup depot to distinct goal locations using a homogeneous fleet of robots with limited carrying capacity. We propose VCST-RCP, a Voronoi-Constrained Steiner Tree Relay Coordination Planning framework that constructs sparse relay trunks using Steiner tree optimization and then synthesizes robot-level pickup, relay, and delivery schedules. This framework reframes relays from incidental byproducts into central elements of coordination, offering a contrast with traditional delivery methods that rely on direct source-to-destination transport. Extensive experiments show consistent improvements of up to 34% compared to conventional baselines, underscoring the benefits of incorporating relays into the delivery process. These improvements translate directly to enhanced energy efficiency in multi-robot delivery under capacity constraints, providing a scalable framework for real-world logistics.
Breaking the Cycle of Incarceration With Targeted Mental Health Outreach: A Case Study in Machine Learning for Public Policy
Venue: arXiv cs.LG 2025
Year: 2025

Many incarcerated individuals face significant and complex challenges, including mental illness, substance dependence, and homelessness, yet jails and prisons are often poorly equipped to address these needs. With little support from the existing criminal justice system, these needs can remain untreated and worsen, often leading to further offenses and a cycle of incarceration with adverse outcomes both for the individual and for public safety, with particularly large impacts on communities of color that continue to widen the already extensive racial disparities in criminal justice outcomes. Responding to these failures, a growing number of criminal justice stakeholders are seeking to break this cycle through innovative approaches such as community-driven and alternative approaches to policing, mentoring, community building, restorative justice, pretrial diversion, holistic defense, and social service connections. Here we report on a collaboration between Johnson County, Kansas, and Carnegie Mellon University to perform targeted, proactive mental health outreach in an effort to reduce reincarceration rates. This paper describes the data used, our predictive modeling approach and results, as well as the design and analysis of a field trial conducted to confirm our model's predictive power, evaluate the impact of this targeted outreach, and understand at what level of reincarceration risk outreach might be most effective. Through this trial, we find that our model is highly predictive of new jail bookings, with more than half of individuals in the trial's highest-risk group returning to jail in the following year. Outreach was most effective among these highest-risk individuals, with impacts on mental health utilization, EMS dispatches, and criminal justice involvement.
Cybersecurity AI: Humanoid Robots as Attack Vectors
Venue: arXiv cs.CR 2025
Year: 2025

We present a systematic security assessment of the Unitree G1 humanoid showing it operates simultaneously as a covert surveillance node and can be purposed as an active cyber operations platform. Initial access can be achieved by exploiting the BLE provisioning protocol which contains a critical command injection vulnerability allowing root access via malformed Wi-Fi credentials, exploitable using hardcoded AES keys shared across all units. Partial reverse engineering of Unitree's proprietary FMX encryption reveal a static Blowfish-ECB layer and a predictable LCG mask-enabled inspection of the system's otherwise sophisticated security architecture, the most mature we have observed in commercial robotics. Two empirical case studies expose the critical risk of this humanoid robot: (a) the robot functions as a trojan horse, continuously exfiltrating multi-modal sensor and service-state telemetry to 43.175.228.18:17883 and 43.175.229.18:17883 every 300 seconds without operator notice, creating violations of GDPR Articles 6 and 13; (b) a resident Cybersecurity AI (CAI) agent can pivot from reconnaissance to offensive preparation against any target, such as the manufacturer's cloud control plane, demonstrating escalation from passive monitoring to active counter-operations. These findings argue for adaptive CAI-powered defenses as humanoids move into critical infrastructure, contributing the empirical evidence needed to shape future security standards for physical-cyber convergence systems.
Where Do Tokens Go? Understanding Pruning Behaviors in STEP at High Resolutions
Venue: arXiv cs.CV 2025
Year: 2025

Vision Transformers (ViTs) achieve state-of-the-art performance in semantic segmentation but are hindered by high computational and memory costs. To address this, we propose STEP (SuperToken and Early-Pruning), a hybrid token-reduction framework that combines dynamic patch merging and token pruning to enhance efficiency without significantly compromising accuracy. At the core of STEP is dCTS, a lightweight CNN-based policy network that enables flexible merging into superpatches. Encoder blocks integrate also early-exits to remove high-confident supertokens, lowering computational load. We evaluate our method on high-resolution semantic segmentation benchmarks, including images up to 1024 x 1024, and show that when dCTS is applied alone, the token count can be reduced by a factor of 2.5 compared to the standard 16 x 16 pixel patching scheme. This yields a 2.6x reduction in computational cost and a 3.4x increase in throughput when using ViT-Large as the backbone. Applying the full STEP framework further improves efficiency, reaching up to a 4x reduction in computational complexity and a 1.7x gain in inference speed, with a maximum accuracy drop of no more than 2.0%. With the proposed STEP configurations, up to 40% of tokens can be confidently predicted and halted before reaching the final encoder layer.
TGPO: Tree-Guided Preference Optimization for Robust Web Agent Reinforcement Learning
Venue: arXiv cs.LG 2025
Year: 2025

With the rapid advancement of large language models and vision-language models, employing large models as Web Agents has become essential for automated web interaction. However, training Web Agents with reinforcement learning faces critical challenges including credit assignment misallocation, prohibitively high annotation costs, and reward sparsity. To address these issues, we propose Tree-Guided Preference Optimization (TGPO), an offline reinforcement learning framework that proposes a tree-structured trajectory representation merging semantically identical states across trajectories to eliminate label conflicts. Our framework incorporates a Process Reward Model that automatically generates fine-grained rewards through subgoal progress, redundancy detection, and action verification. Additionally, a dynamic weighting mechanism prioritizes high-impact decision points during training. Experiments on Online-Mind2Web and our self-constructed C-WebShop datasets demonstrate that TGPO significantly outperforms existing methods, achieving higher success rates with fewer redundant steps.
A Variational Framework for Residual-Based Adaptivity in Neural PDE Solvers and Operator Learning
Venue: arXiv cs.LG 2025
Year: 2025

Residual-based adaptive strategies are widely used in scientific machine learning but remain largely heuristic. We introduce a unifying variational framework that formalizes these methods by integrating convex transformations of the residual. Different transformations correspond to distinct objective functionals: exponential weights target the minimization of uniform error, while linear weights recover the minimization of quadratic error. Within this perspective, adaptive weighting is equivalent to selecting sampling distributions that optimize the primal objective, thereby linking discretization choices directly to error metrics. This principled approach yields three benefits: (1) it enables systematic design of adaptive schemes across norms, (2) reduces discretization error through variance reduction of the loss estimator, and (3) enhances learning dynamics by improving the gradient signal-to-noise ratio. Extending the framework to operator learning, we demonstrate substantial performance gains across optimizers and architectures. Our results provide a theoretical justification of residual-based adaptivity and establish a foundation for principled discretization and training strategies.
Data Denoising and Derivative Estimation for Data-Driven Modeling of Nonlinear Dynamical Systems
Venue: arXiv cs.LG 2025
Year: 2025

Data-driven modeling of nonlinear dynamical systems is often hampered by measurement noise. We propose a denoising framework, called Runge-Kutta and Total Variation Based Implicit Neural Representation (RKTV-INR), that represents the state trajectory with an implicit neural representation (INR) fitted directly to noisy observations. Runge-Kutta integration and total variation are imposed as constraints to ensure that the reconstructed state is a trajectory of a dynamical system that remains close to the original data. The trained INR yields a clean, continuous trajectory and provides accurate first-order derivatives via automatic differentiation. These denoised states and derivatives are then supplied to Sparse Identification of Nonlinear Dynamics (SINDy) to recover the governing equations. Experiments demonstrate effective noise suppression, precise derivative estimation, and reliable system identification.
Tokenization Strategies for Low-Resource Agglutinative Languages in Word2Vec: Case Study on Turkish and Finnish
Venue: arXiv cs.CL 2025
Year: 2025

Tokenization plays a critical role in processing agglutinative languages, where a single word can encode multiple morphemes carrying syntactic and semantic information. This study evaluates the impact of various tokenization strategies - word-level, character-level, n-gram, and Byte Pair Encoding (BPE) - on the quality of static word embeddings generated by Word2Vec for Turkish and Finnish. Using a 10,000-article Wikipedia corpus, we trained models under low-resource conditions and evaluated them on a Named Entity Recognition (NER) task. Despite the theoretical appeal of subword segmentation, word-level tokenization consistently outperformed all alternatives across all tokenization strategies tested. These findings suggest that in agglutinative, low-resource contexts, preserving boundaries via word-level tokenization may yield better embedding performance than complex statistical methods. This has practical implications for developing NLP pipelines for under-resourced languages where annotated data and computing power are limited.
Advancing Conversational AI with Shona Slang: A Dataset and Hybrid Model for Digital Inclusion
Venue: arXiv cs.CL 2025
Year: 2025

African languages remain underrepresented in natural language processing (NLP), with most corpora limited to formal registers that fail to capture the vibrancy of everyday communication. This work addresses this gap for Shona, a Bantu language spoken in Zimbabwe and Zambia, by introducing a novel Shona--English slang dataset curated from anonymized social media conversations. The dataset is annotated for intent, sentiment, dialogue acts, code-mixing, and tone, and is publicly available at https://github.com/HappymoreMasoka/Working_with_shona-slang. We fine-tuned a multilingual DistilBERT classifier for intent recognition, achieving 96.4\% accuracy and 96.3\% F1-score, hosted at https://huggingface.co/HappymoreMasoka. This classifier is integrated into a hybrid chatbot that combines rule-based responses with retrieval-augmented generation (RAG) to handle domain-specific queries, demonstrated through a use case assisting prospective students with graduate program information at Pace University. Qualitative evaluation shows the hybrid system outperforms a RAG-only baseline in cultural relevance and user engagement. By releasing the dataset, model, and methodology, this work advances NLP resources for African languages, promoting inclusive and culturally resonant conversational AI.
Opening the Black Box: Interpretable LLMs via Semantic Resonance Architecture
Venue: arXiv cs.CL 2025
Year: 2025

Large language models (LLMs) achieve remarkable performance but remain difficult to interpret. Mixture-of-Experts (MoE) models improve efficiency through sparse activation, yet typically rely on opaque, learned gating functions. While similarity-based routing (Cosine Routers) has been explored for training stabilization, its potential for inherent interpretability remains largely untapped. We introduce the Semantic Resonance Architecture (SRA), an MoE approach designed to ensure that routing decisions are inherently interpretable. SRA replaces learned gating with a Chamber of Semantic Resonance (CSR) module, which routes tokens based on cosine similarity with trainable semantic anchors. We also introduce a novel Dispersion Loss that encourages orthogonality among anchors to enforce diverse specialization. Experiments on WikiText-103 demonstrate that SRA achieves a validation perplexity of 13.41, outperforming both a dense baseline (14.13) and a Standard MoE baseline (13.53) under matched active parameter constraints (29.0M). Crucially, SRA exhibits superior expert utilization (1.0% dead experts vs. 14.8% in the Standard MoE) and develops distinct, semantically coherent specialization patterns, unlike the noisy specialization observed in standard MoEs. This work establishes semantic routing as a robust methodology for building more transparent and controllable language models.
From Correction to Mastery: Reinforced Distillation of Large Language Model Agents
Venue: arXiv cs.CL 2025
Year: 2025

Large Language Model agents excel at solving complex tasks through iterative reasoning and tool use, but typically depend on ultra-large, costly backbones. Existing distillation approaches train smaller students to imitate full teacher trajectories, yet reasoning and knowledge gaps between the teacher and student can cause compounding errors. We propose SCoRe, a student-centered framework in which the student generates training trajectories and the teacher corrects only the earliest error, producing training data matched to the student's ability and exposing specific weaknesses. The student is first fine-tuned on corrected trajectories. Subsequently, short-horizon reinforcement learning starts from the verified prefix preceding the earliest error, with target rewards assigned at that step. This design encourages autonomous problem-solving beyond imitation and enhances training stability. On 12 challenging benchmarks, a 7B-parameter student distilled with SCoRe matches the agentic performance of a 72B-parameter teacher.
Evolution of Kernels: Automated RISC-V Kernel Optimization with Large Language Models
Venue: arXiv cs.SE 2025
Year: 2025

Automated kernel design is critical for overcoming software ecosystem barriers in emerging hardware platforms like RISC-V. While large language models (LLMs) have shown promise for automated kernel optimization, demonstrating success in CUDA domains with comprehensive technical documents and mature codebases, their effectiveness remains unproven for reference-scarce domains like RISC-V. We present Evolution of Kernels (EoK), a novel LLM-based evolutionary program search framework that automates kernel design for domains with limited reference material. EoK mitigates reference scarcity by mining and formalizing reusable optimization ideas (general design principles + actionable thoughts) from established kernel libraries' development histories; it then guides parallel LLM explorations using these ideas, enriched via Retrieval-Augmented Generation (RAG) with RISC-V-specific context, prioritizing historically effective techniques. Empirically, EoK achieves a median 1.27x speedup, surpassing human experts on all 80 evaluated kernel design tasks and improving upon prior LLM-based automated kernel design methods by 20%. These results underscore the viability of incorporating human experience into emerging domains and highlight the immense potential of LLM-based automated kernel optimization.
Efficient Hate Speech Detection: Evaluating 38 Models from Traditional Methods to Transformers
Venue: arXiv cs.CL 2025
Year: 2025

The proliferation of hate speech on social media necessitates automated detection systems that balance accuracy with computational efficiency. This study evaluates 38 model configurations in detecting hate speech across datasets ranging from 6.5K to 451K samples. We analyze transformer architectures (e.g., BERT, RoBERTa, Distil-BERT), deep neural networks (e.g., CNN, LSTM, GRU, Hierarchical Attention Networks), and traditional machine learning methods (e.g., SVM, CatBoost, Random Forest). Our results show that transformers, particularly RoBERTa, consistently achieve superior performance with accuracy and F1-scores exceeding 90%. Among deep learning approaches, Hierarchical Attention Networks yield the best results, while traditional methods like CatBoost and SVM remain competitive, achieving F1-scores above 88% with significantly lower computational costs. Additionally, our analysis highlights the importance of dataset characteristics, with balanced, moderately sized unprocessed datasets outperforming larger, preprocessed datasets. These findings offer valuable insights for developing efficient and effective hate speech detection systems.