OpenRaiser/Intern-Atlas huggingface dataset:
Goal-VLA: Image-Generative VLMs as Object-Centric World Models Empowering Zero-shot Robot Manipulation
Venue: arXiv cs.RO 2025
Year: 2025

Generalization remains a fundamental challenge in robotic manipulation. To tackle this challenge, recent Vision-Language-Action (VLA) models build policies on top of Vision-Language Models (VLMs), seeking to transfer their open-world semantic knowledge. However, their zero-shot capability lags significantly behind the base VLMs, as the instruction-vision-action data is too limited to cover diverse scenarios, tasks, and robot embodiments. In this work, we present Goal-VLA, a zero-shot framework that leverages Image-Generative VLMs as world models to generate desired goal states, from which the target object pose is derived to enable generalizable manipulation. The key insight is that object state representation is the golden interface, naturally separating a manipulation system into high-level and low-level policies. This representation abstracts away explicit action annotations, allowing the use of highly generalizable VLMs while simultaneously providing spatial cues for training-free low-level control. To further improve robustness, we introduce a Reflection-through-Synthesis process that iteratively validates and refines the generated goal image before execution. Both simulated and real-world experiments demonstrate that our \name achieves strong performance and inspiring generalizability in manipulation tasks. Supplementary materials are available at https://nus-lins-lab.github.io/goalvlaweb/.
The Trilemma of Truth in Large Language Models
Venue: arXiv cs.CL 2025
Year: 2025

The public often attributes human-like qualities to large language models (LLMs) and assumes they "know" certain things. In reality, LLMs encode information retained during training as internal probabilistic knowledge. This study examines existing methods for probing the veracity of that knowledge and identifies several flawed underlying assumptions. To address these flaws, we introduce sAwMIL (Sparse-Aware Multiple-Instance Learning), a multiclass probing framework that combines multiple-instance learning with conformal prediction. sAwMIL leverages internal activations of LLMs to classify statements as true, false, or neither. We evaluate sAwMIL across 16 open-source LLMs, including default and chat-based variants, on three new curated datasets. Our results show that (1) common probing methods fail to provide a reliable and transferable veracity direction and, in some settings, perform worse than zero-shot prompting; (2) truth and falsehood are not encoded symmetrically; and (3) LLMs encode a third type of signal that is distinct from both true and false.
Industrial brain: a human-like autonomous neuro-symbolic cognitive decision-making system
Venue: arXiv cs.AI 2025
Year: 2025

Resilience non-equilibrium measurement, the ability to maintain fundamental functionality amidst failures and errors, is crucial for scientific management and engineering applications of industrial chain. The problem is particularly challenging when the number or types of multiple co-evolution of resilience (for example, randomly placed) are extremely chaos. Existing end-to-end deep learning ordinarily do not generalize well to unseen full-feld reconstruction of spatiotemporal co-evolution structure, and predict resilience of network topology, especially in multiple chaos data regimes typically seen in real-world applications. To address this challenge, here we propose industrial brain, a human-like autonomous cognitive decision-making and planning framework integrating higher-order activity-driven neuro network and CT-OODA symbolic reasoning to autonomous plan resilience directly from observational data of global variable. The industrial brain not only understands and model structure of node activity dynamics and network co-evolution topology without simplifying assumptions, and reveal the underlying laws hidden behind complex networks, but also enabling accurate resilience prediction, inference, and planning. Experimental results show that industrial brain significantly outperforms resilience prediction and planning methods, with an accurate improvement of up to 10.8\% over GoT and OlaGPT framework and 11.03\% over spectral dimension reduction. It also generalizes to unseen topologies and dynamics and maintains robust performance despite observational disturbances. Our findings suggest that industrial brain addresses an important gap in resilience prediction and planning for industrial chain.
Leveraging the Potential of Prompt Engineering for Hate Speech Detection in Low-Resource Languages
Venue: arXiv cs.CL 2025
Year: 2025

The rapid expansion of social media leads to a marked increase in hate speech, which threatens personal lives and results in numerous hate crimes. Detecting hate speech presents several challenges: diverse dialects, frequent code-mixing, and the prevalence of misspelled words in user-generated content on social media platforms. Recent progress in hate speech detection is typically concentrated on high-resource languages. However, low-resource languages still face significant challenges due to the lack of large-scale, high-quality datasets. This paper investigates how we can overcome this limitation via prompt engineering on large language models (LLMs) focusing on low-resource Bengali language. We investigate six prompting strategies - zero-shot prompting, refusal suppression, flattering the classifier, multi-shot prompting, role prompting, and finally our innovative metaphor prompting to detect hate speech effectively in low-resource languages. We pioneer the metaphor prompting to circumvent the built-in safety mechanisms of LLMs that marks a significant departure from existing jailbreaking methods. We investigate all six different prompting strategies on the Llama2-7B model and compare the results extensively with three pre-trained word embeddings - GloVe, Word2Vec, and FastText for three different deep learning models - multilayer perceptron (MLP), convolutional neural network (CNN), and bidirectional gated recurrent unit (BiGRU). To prove the effectiveness of our metaphor prompting in the low-resource Bengali language, we also evaluate it in another low-resource language - Hindi, and two high-resource languages - English and German. The performance of all prompting techniques is evaluated using the F1 score, and environmental impact factor (IF), which measures CO$_2$ emissions, electricity usage, and computational time.
Linear Layouts of Graphs with Priority Queues
Venue: arXiv cs.DM 2025
Year: 2025

A linear layout of a graph consists of a linear ordering of its vertices and a partition of its edges into pages such that the edges assigned to the same page obey some constraint. The two most prominent and widely studied types of linear layouts are stack and queue layouts, in which any two edges assigned to the same page are forbidden to cross and nest, respectively. The names of these two layouts derive from the fact that, when parsing the graph according to the linear vertex ordering, the edges in a single page can be stored using a single stack or queue, respectively. Recently, the concepts of stack and queue layouts have been extended by using a double-ended queue or a restricted-input queue for storing the edges of a page. We extend this line of study to edge-weighted graphs by introducing priority queue layouts, that is, the edges on each page are stored in a priority queue whose keys are the edge weights. First, we show that there are edge-weighted graphs that require a linear number of priority queues. Second, we characterize the graphs that admit a priority queue layout with a single queue, regardless of the edge-weight function, and we provide an efficient recognition algorithm. Third, we show that the number of priority queues required independently of the edge-weight function is bounded by the pathwidth of the graph, but can be arbitrarily large already for graphs of treewidth two. Finally, we prove that determining the minimum number of priority queues is NP-complete if the linear ordering of the vertices is fixed.
A Scalable Approach for Safe and Robust Learning via Lipschitz-Constrained Networks
Venue: arXiv cs.LG 2025
Year: 2025

Certified robustness is a critical property for deploying neural networks (NN) in safety-critical applications. A principle approach to achieving such guarantees is to constrain the global Lipschitz constant of the network. However, accurate methods for Lipschitz-constrained training often suffer from non-convex formulations and poor scalability due to reliance on global semidefinite programs (SDPs). In this letter, we propose a convex training framework that enforces global Lipschitz constraints via semidefinite relaxation. By reparameterizing the NN using loop transformation, we derive a convex admissibility condition that enables tractable and certifiable training. While the resulting formulation guarantees robustness, its scalability is limited by the size of global SDP. To overcome this, we develop a randomized subspace linear matrix inequalities (RS-LMI) approach that decomposes the global constraints into sketched layerwise constraints projected onto low-dimensional subspaces, yielding a smooth and memory-efficient training objective. Empirical results on MNIST, CIFAR-10, and ImageNet demonstrate that the proposed framework achieves competitive accuracy with significantly improved Lipschitz bounds and runtime performance.
Machine Understanding of Scientific Language
Venue: arXiv cs.CL 2025
Year: 2025

Scientific information expresses human understanding of nature. This knowledge is largely disseminated in different forms of text, including scientific papers, news articles, and discourse among people on social media. While important for accelerating our pursuit of knowledge, not all scientific text is faithful to the underlying science. As the volume of this text has burgeoned online in recent years, it has become a problem of societal importance to be able to identify the faithfulness of a given piece of scientific text automatically. This thesis is concerned with the cultivation of datasets, methods, and tools for machine understanding of scientific language, in order to analyze and understand science communication at scale. To arrive at this, I present several contributions in three areas of natural language processing and machine learning: automatic fact checking, learning with limited data, and scientific text processing. These contributions include new methods and resources for identifying check-worthy claims, adversarial claim generation, multi-source domain adaptation, learning from crowd-sourced labels, cite-worthiness detection, zero-shot scientific fact checking, detecting exaggerated scientific claims, and modeling degrees of information change in science communication. Critically, I demonstrate how the research outputs of this thesis are useful for effectively learning from limited amounts of scientific text in order to identify misinformative scientific statements and generate new insights into the science communication process
STCLocker: Deadlock Avoidance Testing for Autonomous Driving Systems
Venue: arXiv cs.SE 2025
Year: 2025

Autonomous Driving System (ADS) testing is essential to ensure the safety and reliability of autonomous vehicles (AVs) before deployment. However, existing techniques primarily focus on evaluating ADS functionalities in single-AV settings. As ADSs are increasingly deployed in multi-AV traffic, it becomes crucial to assess their cooperative performance, particularly regarding deadlocks, a fundamental coordination failure in which multiple AVs enter a circular waiting state indefinitely, resulting in motion planning failures. Despite its importance, the cooperative capability of ADSs to prevent deadlocks remains insufficiently underexplored. To address this gap, we propose the first dedicated Spatio-Temporal Conflict-Guided Deadlock Avoidance Testing technique, STCLocker, for generating DeadLock Scenarios (DLSs), where a group of AVs controlled by the ADS under test are in a circular wait state. STCLocker consists of three key components: Deadlock Oracle, Conflict Feedback, and Conflict-aware Scenario Generation. Deadlock Oracle provides a reliable black-box mechanism for detecting deadlock cycles among multiple AVs within a given scenario. Conflict Feedback and Conflict-aware Scenario Generation collaborate to actively guide AVs into simultaneous competition over spatial conflict resources (i.e., shared passing regions) and temporal competitive behaviors (i.e., reaching the conflict region at the same time), thereby increasing the effectiveness of generating conflict-prone deadlocks. We evaluate STCLocker on two types of ADSs: Roach, an end-to-end ADS, and OpenCDA, a module-based ADS supporting cooperative communication. Experimental results show that, on average, STCLocker generates more DLS than the best-performing baseline.
Predictive Risk Analysis and Safe Trajectory Planning for Intelligent and Connected Vehicles
Venue: arXiv cs.RO 2025
Year: 2025

The safe trajectory planning of intelligent and connected vehicles is a key component in autonomous driving technology. Modeling the environment risk information by field is a promising and effective approach for safe trajectory planning. However, existing risk assessment theories only analyze the risk by current information, ignoring future prediction. This paper proposes a predictive risk analysis and safe trajectory planning framework for intelligent and connected vehicles. This framework first predicts future trajectories of objects by a local risk-aware algorithm, following with a spatiotemporal-discretised predictive risk analysis using the prediction results. Then the safe trajectory is generated based on the predictive risk analysis. Finally, simulation and vehicle experiments confirm the efficacy and real-time practicability of our approach.
A Survey on Vision-Language-Action Models for Autonomous Driving
Venue: arXiv cs.CV 2025
Year: 2025

The rapid progress of multimodal large language models (MLLM) has paved the way for Vision-Language-Action (VLA) paradigms, which integrate visual perception, natural language understanding, and control within a single policy. Researchers in autonomous driving are actively adapting these methods to the vehicle domain. Such models promise autonomous vehicles that can interpret high-level instructions, reason about complex traffic scenes, and make their own decisions. However, the literature remains fragmented and is rapidly expanding. This survey offers the first comprehensive overview of VLA for Autonomous Driving (VLA4AD). We (i) formalize the architectural building blocks shared across recent work, (ii) trace the evolution from early explainer to reasoning-centric VLA models, and (iii) compare over 20 representative models according to VLA's progress in the autonomous driving domain. We also consolidate existing datasets and benchmarks, highlighting protocols that jointly measure driving safety, accuracy, and explanation quality. Finally, we detail open challenges - robustness, real-time efficiency, and formal verification - and outline future directions of VLA4AD. This survey provides a concise yet complete reference for advancing interpretable socially aligned autonomous vehicles. Github repo is available at \href{https://github.com/JohnsonJiang1996/Awesome-VLA4AD}{SicongJiang/Awesome-VLA4AD}.
Protocol insecurity with finitely many sessions and XOR
Venue: arXiv cs.LO 2025
Year: 2025

We present a different proof of the insecurity problem for XOR, solved in by Chevalier, Kuesters, Rusinowitch and Turuani (2005). Our proof uses the notion of typed terms and well-typed proofs, and removes a restriction on the class of protocols to which the [CKRT05] proof applies, by introducing a slightly different (but very natural) notion of protocols, where honest agent sends are derivable from previous receives in the same session.
MotionGPT3: Human Motion as a Second Modality
Venue: arXiv cs.CV 2025
Year: 2025

With the rapid progress of large language models (LLMs), multimodal frameworks that unify understanding and generation have become promising, yet they face increasing complexity as the number of modalities and tasks grows. We observe that motion quantization introduces approximation errors that cap motion quality, and that unifying discrete text and continuous motion within a single-stream backbone amplifies cross-modal interference. Motivated by recent multi-branch Transformer designs that separate signals from different modalities, we propose MotionGPT3, a bimodal motion-language model for both understanding and generation. MotionGPT3 encodes raw motion into a continuous latent space using a variational autoencoder (VAE), thereby avoiding quantization-induced artifacts, while leveraging the semantic prior of pretrained language models. A dual-stream Transformer with shared attention preserves modality-specific routes while enabling controlled, bidirectional information flow, which reduces interference, stabilizing optimization, and empirically accelerates convergence without degrading fidelity. For multimodal joint training, a generate-then-align three-stage schedule further improves stability and limits cross-task interference. Experiments show that MotionGPT3 achieves 2x faster convergence in training loss and up to 4x faster convergence in validation, while maintaining state-of-the-art performance on standard motion understanding and motion generation benchmarks.
WaRA: Wavelet Low Rank Adaptation
Venue: arXiv cs.CV 2025
Year: 2025

Parameter-efficient fine-tuning (PEFT) has gained widespread adoption across various applications. Among PEFT techniques, Low-Rank Adaptation (LoRA) and its extensions have emerged as particularly effective, allowing efficient model adaptation while significantly reducing computational overhead. However, existing approaches typically rely on global low-rank factorizations, which overlook local or multi-scale structure, failing to capture complex patterns in the weight updates. To address this, we propose WaRA, a novel PEFT method that leverages wavelet transforms to decompose the weight update matrix into a multi-resolution representation. By performing low-rank factorization in the wavelet domain and reconstructing updates through an inverse transform, WaRA obtains compressed adaptation parameters that harness multi-resolution analysis, enabling it to capture both coarse and fine-grained features while providing greater flexibility and sparser representations than standard LoRA. Through comprehensive experiments and analysis, we demonstrate that WaRA performs superior on diverse vision tasks, including image generation, classification, and semantic segmentation, significantly enhancing generated image quality while reducing computational complexity. Although WaRA was primarily designed for vision tasks, we further showcase its effectiveness in language tasks, highlighting its broader applicability and generalizability. The code is publicly available at \href{GitHub}{https://github.com/moeinheidari7829/WaRA}.
Development of Hybrid Artificial Intelligence Training on Real and Synthetic Data: Benchmark on Two Mixed Training Strategies
Venue: arXiv cs.LG 2025
Year: 2025

Synthetic data has emerged as a cost-effective alternative to real data for training artificial neural networks (ANN). However, the disparity between synthetic and real data results in a domain gap. That gap leads to poor performance and generalization of the trained ANN when applied to real-world scenarios. Several strategies have been developed to bridge this gap, which combine synthetic and real data, known as mixed training using hybrid datasets. While these strategies have been shown to mitigate the domain gap, a systematic evaluation of their generalizability and robustness across various tasks and architectures remains underexplored. To address this challenge, our study comprehensively analyzes two widely used mixing strategies on three prevalent architectures and three distinct hybrid datasets. From these datasets, we sample subsets with varying proportions of synthetic to real data to investigate the impact of synthetic and real components. The findings of this paper provide valuable insights into optimizing the use of synthetic data in the training process of any ANN, contributing to enhancing robustness and efficacy.
Bridging Service Design, Visualizations, and Visual Analytics in Healthcare Digital Twins: Challenges, Gaps, and Research Opportunities
Venue: arXiv cs.HC 2025
Year: 2025

Digital twins (DT) are increasingly used in healthcare to model patients, processes, and physiological systems. While recent solutions leverage visualization, visual analytics, and user interaction, these systems rarely incorporate structured service design methodologies. Bridging service design with visual analytics and visualization can be valuable for the healthcare DT community. This paper aims to introduce the service design discipline to visualization researchers by framing this integration gap and suggesting research directions to enhance the real-world applicability of DT solutions.
Teaching Time Series to See and Speak: Forecasting with Aligned Visual and Textual Perspectives
Venue: arXiv cs.LG 2025
Year: 2025

Time series forecasting traditionally relies on unimodal numerical inputs, which often struggle to capture high-level semantic patterns due to their dense and unstructured nature. While recent approaches have explored representing time series as text using large language models (LLMs), these methods remain limited by the discrete nature of token sequences and lack the perceptual intuition humans typically apply, such as interpreting visual patterns. In this paper, we propose a multimodal contrastive learning framework that transforms raw time series into structured visual and textual perspectives. Rather than using natural language or real-world images, we construct both modalities directly from numerical sequences. We then align these views in a shared semantic space via contrastive learning, enabling the model to capture richer and more complementary representations. Furthermore, we introduce a variate selection module that leverages the aligned representations to identify the most informative variables for multivariate forecasting. Extensive experiments on fifteen short-term and six long-term forecasting benchmarks demonstrate that our approach consistently outperforms strong unimodal and cross-modal baselines, highlighting the effectiveness of multimodal alignment in enhancing time series forecasting. Code is available at: https://github.com/Ironieser/TimesCLIP.
Quantum Inspired Encoding Strategies for Machine Learning Models: Proposing and Evaluating Instance Level, Global Discrete, and Class Conditional Representations
Venue: arXiv cs.LG 2025
Year: 2025

In this study, we propose, evaluate and compare three quantum inspired data encoding strategies, Instance Level Strategy (ILS), Global Discrete Strategy (GDS) and Class Conditional Value Strategy (CCVS), for transforming classical data into quantum data for use in pure classical machine learning models. The primary objective is to reduce high encoding time while ensuring correct encoding values and analyzing their impact on classification performance. The Instance Level Strategy treats each row of dataset independently; mimics local quantum states. Global Discrete Value Based encoding strategy maps all unique feature values across the full dataset to quantum states uniformly. In contrast, the Class conditional Value based encoding strategy encodes unique values separately for each class, preserving class dependent information. We apply these encoding strategies to a classification task and assess their impact on en-coding efficiency, correctness, model accuracy, and computational cost. By analyzing the trade offs between encoding time, precision, and predictive performance, this study provides insights into optimizing quantum inspired data transformations for classical machine learning workflows.