OpenRaiser/Intern-Atlas huggingface dataset:
Knowledge-Driven Agentic Scientific Corpus Distillation Framework for Biomedical Large Language Models Training
Venue: arXiv cs.CL 2025
Year: 2025

Corpus distillation for biomedical large language models (LLMs) seeks to address the pressing challenge of insufficient quantity and quality in open-source annotated scientific corpora, which remains a bottleneck for effective LLM training in biomedical research. This paper proposes a knowledge-driven, agentic framework for scientific corpus distillation, tailored explicitly for LLM training in the biomedical domain, addressing the challenge posed by the complex hierarchy of biomedical knowledge. Central to our approach is a collaborative multi-agent architecture, where specialized agents, each guided by the Medical Subject Headings (MeSH) hierarchy, work in concert to autonomously extract, synthesize, and self-evaluate high-quality textual data from vast scientific literature. This agentic framework collectively generates and refines domain-specific question-answer pairs, ensuring comprehensive coverage and consistency with biomedical ontologies while minimizing manual involvement. Extensive experimental results show that language models trained on our multi-agent distilled datasets achieve notable improvements in biomedical question-answering tasks, outperforming both strong life sciences LLM baselines and advanced proprietary models. Notably, our AI-Ready dataset enables Llama3-70B to surpass GPT-4 with MedPrompt and Med-PaLM-2, despite their larger scale. Detailed ablation studies and case analyses further validate the effectiveness and synergy of each agent within the framework, highlighting the potential of multi-agent collaboration in biomedical LLM training.
Category-Level and Open-Set Object Pose Estimation for Robotics
Venue: arXiv cs.CV 2025
Year: 2025

Object pose estimation enables a variety of tasks in computer vision and robotics, including scene understanding and robotic grasping. The complexity of a pose estimation task depends on the unknown variables related to the target object. While instance-level methods already excel for opaque and Lambertian objects, category-level and open-set methods, where texture, shape, and size are partially or entirely unknown, still struggle with these basic material properties. Since texture is unknown in these scenarios, it cannot be used for disambiguating object symmetries, another core challenge of 6D object pose estimation. The complexity of estimating 6D poses with such a manifold of unknowns led to various datasets, accuracy metrics, and algorithmic solutions. This paper compares datasets, accuracy metrics, and algorithms for solving 6D pose estimation on the category-level. Based on this comparison, we analyze how to bridge category-level and open-set object pose estimation to reach generalization and provide actionable recommendations.
ARTEMIS: Autoregressive End-to-End Trajectory Planning with Mixture of Experts for Autonomous Driving
Venue: arXiv cs.RO 2025
Year: 2025

This paper presents ARTEMIS, an end-to-end autonomous driving framework that combines autoregressive trajectory planning with Mixture-of-Experts (MoE). Traditional modular methods suffer from error propagation, while existing end-to-end models typically employ static one-shot inference paradigms that inadequately capture the dynamic changes of the environment. ARTEMIS takes a different method by generating trajectory waypoints sequentially, preserves critical temporal dependencies while dynamically routing scene-specific queries to specialized expert networks. It effectively relieves trajectory quality degradation issues encountered when guidance information is ambiguous, and overcomes the inherent representational limitations of singular network architectures when processing diverse driving scenarios. Additionally, we use a lightweight batch reallocation strategy that significantly improves the training speed of the Mixture-of-Experts model. Through experiments on the NAVSIM dataset, ARTEMIS exhibits superior competitive performance, achieving 87.0 PDMS and 83.1 EPDMS with ResNet-34 backbone, demonstrates state-of-the-art performance on multiple metrics.
Magnifier: A Multi-grained Neural Network-based Architecture for Burned Area Delineation
Venue: arXiv cs.CV 2025
Year: 2025

In crisis management and remote sensing, image segmentation plays a crucial role, enabling tasks like disaster response and emergency planning by analyzing visual data. Neural networks are able to analyze satellite acquisitions and determine which areas were affected by a catastrophic event. The problem in their development in this context is the data scarcity and the lack of extensive benchmark datasets, limiting the capabilities of training large neural network models. In this paper, we propose a novel methodology, namely Magnifier, to improve segmentation performance with limited data availability. The Magnifier methodology is applicable to any existing encoder-decoder architecture, as it extends a model by merging information at different contextual levels through a dual-encoder approach: a local and global encoder. Magnifier analyzes the input data twice using the dual-encoder approach. In particular, the local and global encoders extract information from the same input at different granularities. This allows Magnifier to extract more information than the other approaches given the same set of input images. Magnifier improves the quality of the results of +2.65% on average IoU while leading to a restrained increase in terms of the number of trainable parameters compared to the original model. We evaluated our proposed approach with state-of-the-art burned area segmentation models, demonstrating, on average, comparable or better performances in less than half of the GFLOPs.
Neural network task specialization via domain constraining
Venue: arXiv cs.CV 2025
Year: 2025

This paper introduces a concept of neural network specialization via task-specific domain constraining, aimed at enhancing network performance on data subspace in which the network operates. The study presents experiments on training specialists for image classification and object detection tasks. The results demonstrate that specialization can enhance a generalist's accuracy even without additional data or changing training regimes: solely by constraining class label space in which the network performs. Theoretical and experimental analyses indicate that effective specialization requires modifying traditional fine-tuning methods and constraining data space to semantically coherent subsets. The specialist extraction phase before tuning the network is proposed for maximal performance gains. We also provide analysis of the evolution of the feature space during specialization. This study paves way to future research for developing more advanced dynamically configurable image analysis systems, where computations depend on the specific input. Additionally, the proposed methods can help improve system performance in scenarios where certain data domains should be excluded from consideration of the generalist network.
A Time-dependent Risk-aware distributed Multi-Agent Path Finder based on A*
Venue: arXiv cs.RO 2025
Year: 2025

Multi-Agent Path-Finding (MAPF) focuses on the collaborative planning of paths for multiple agents within shared spaces, aiming for collision-free navigation. Conventional planning methods often overlook the presence of other agents, which can result in conflicts. In response, this article introduces the A$^*_+$T algorithm, a distributed approach that improves coordination among agents by anticipating their positions based on their movement speeds. The algorithm also considers dynamic obstacles, assessing potential collisions with respect to observed speeds and trajectories, thereby facilitating collision-free path planning in environments populated by other agents and moving objects. It incorporates a risk layer surrounding both dynamic and static entities, enhancing its utility in real-world applications. Each agent functions autonomously while being mindful of the paths chosen by others, effectively addressing the complexities inherent in multi-agent situations. The performance of A$^*_+$T has been rigorously tested in the Gazebo simulation environment and benchmarked against established approaches such as CBS, ECBS, and SIPP. Furthermore, the algorithm has shown competence in single-agent experiments, with results demonstrating its effectiveness in managing dynamic obstacles and affirming its practical relevance across various scenarios.
A Comprehensive Part-of-Speech Tagging to Standardize Central-Kurdish Language: A Research Guide for Kurdish Natural Language Processing Tasks
Venue: arXiv cs.CL 2025
Year: 2025

- The field of natural language processing (NLP) has dramatically expanded within the last decade. Many human-being applications are conducted daily via NLP tasks, starting from machine translation, speech recognition, text generation and recommendations, Part-of-Speech tagging (POS), and Named-Entity Recognition (NER). However, low-resourced languages, such as the Central-Kurdish language (CKL), mainly remain unexamined due to shortage of necessary resources to support their development. The POS tagging task is the base of other NLP tasks; for example, the POS tag set has been used to standardized languages to provide the relationship between words among the sentences, followed by machine translation and text recommendation. Specifically, for the CKL, most of the utilized or provided POS tagsets are neither standardized nor comprehensive. To this end, this study presented an accurate and comprehensive POS tagset for the CKL to provide better performance of the Kurdish NLP tasks. The article also collected most of the POS tags from different studies as well as from Kurdish linguistic experts to standardized part-of-speech tags. The proposed POS tagset is designed to annotate a large CKL corpus and support Kurdish NLP tasks. The initial investigations of this study via comparison with the Universal Dependencies framework for standard languages, show that the proposed POS tagset can streamline or correct sentences more accurately for Kurdish NLP tasks.
Transformation & Translation Occupancy Grid Mapping: 2-Dimensional Deep Learning Refined SLAM
Venue: arXiv cs.RO 2025
Year: 2025

SLAM (Simultaneous Localisation and Mapping) is a crucial component for robotic systems, providing a map of an environment, the current location and previous trajectory of a robot. While 3D LiDAR SLAM has received notable improvements in recent years, 2D SLAM lags behind. Gradual drifts in odometry and pose estimation inaccuracies hinder modern 2D LiDAR-odometry algorithms in large complex environments. Dynamic robotic motion coupled with inherent estimation based SLAM processes introduce noise and errors, degrading map quality. Occupancy Grid Mapping (OGM) produces results that are often noisy and unclear. This is due to the fact that evidence based mapping represents maps according to uncertain observations. This is why OGMs are so popular in exploration or navigation tasks. However, this also limits OGMs' effectiveness for specific mapping based tasks such as floor plan creation in complex scenes. To address this, we propose our novel Transformation and Translation Occupancy Grid Mapping (TT-OGM). We adapt and enable accurate and robust pose estimation techniques from 3D SLAM to the world of 2D and mitigate errors to improve map quality using Generative Adversarial Networks (GANs). We introduce a novel data generation method via deep reinforcement learning (DRL) to build datasets large enough for training a GAN for SLAM error correction. We demonstrate our SLAM in real-time on data collected at Loughborough University. We also prove its generalisability on a variety of large complex environments on a collection of large scale well-known 2D occupancy maps. Our novel approach enables the creation of high quality OGMs in complex scenes, far surpassing the capabilities of current SLAM algorithms in terms of quality, accuracy and reliability.
Ariel OS: An Embedded Rust Operating System for Networked Sensors & Multi-Core Microcontrollers
Venue: arXiv cs.OS 2025
Year: 2025

Large swaths of low-level system software building blocks originally implemented in C/C++ are currently being swapped for equivalent rewrites in Rust, a relatively more secure and dependable programming language. So far, however, no embedded OS in Rust supports multicore preemptive scheduling on microcontrollers. In this paper, we thus fill this gap with a new operating system: Ariel OS. We describe its design, we provide the source code of its implementation, and we perform micro-benchmarks on the main 32-bit microcontroller architectures: ARM Cortex-M, RISC-V and Espressif Xtensa. We show how our scheduler takes advantage of several cores, while incurring only small overhead on single-core hardware. As such, Ariel OS provides a convenient embedded software platform for small networked devices, for both research and industry practitioners.
SAGE: A Generic Framework for LLM Safety Evaluation
Venue: arXiv cs.CR 2025
Year: 2025

As Large Language Models are rapidly deployed across diverse applications from healthcare to financial advice, safety evaluation struggles to keep pace. Current benchmarks focus on single-turn interactions with generic policies, failing to capture the conversational dynamics of real-world usage and the application-specific harms that emerge in context. Such potential oversights can lead to harms that go unnoticed in standard safety benchmarks and other current evaluation methodologies. To address these needs for robust AI safety evaluation, we introduce SAGE (Safety AI Generic Evaluation), an automated modular framework designed for customized and dynamic harm evaluations. SAGE employs prompted adversarial agents with diverse personalities based on the Big Five model, enabling system-aware multi-turn conversations that adapt to target applications and harm policies. We evaluate seven state-of-the-art LLMs across three applications and harm policies. Multi-turn experiments show that harm increases with conversation length, model behavior varies significantly when exposed to different user personalities and scenarios, and some models minimize harm via high refusal rates that reduce usefulness. We also demonstrate policy sensitivity within a harm category where tightening a child-focused sexual policy substantially increases measured defects across applications. These results motivate adaptive, policy-aware, and context-specific testing for safer real-world deployment.
Prompt Guiding Multi-Scale Adaptive Sparse Representation-driven Network for Low-Dose CT MAR
Venue: arXiv cs.CV 2025
Year: 2025

Low-dose CT (LDCT) is capable of reducing X-ray radiation exposure, but it will potentially degrade image quality, even yields metal artifacts at the case of metallic implants. For simultaneous LDCT reconstruction and metal artifact reduction (LDMAR), existing deep learning-based efforts face two main limitations: i) the network design neglects multi-scale and within-scale information; ii) training a distinct model for each dose necessitates significant storage space for multiple doses. To fill these gaps, we propose a prompt guiding multi-scale adaptive sparse representation-driven network, abbreviated as PMSRNet, for LDMAR task. Specifically, we construct PMSRNet inspired from multi-scale sparsifying frames, and it can simultaneously employ within-scale characteristics and cross-scale complementarity owing to an elaborated prompt guiding scale-adaptive threshold generator (PSATG) and a built multi-scale coefficient fusion module (MSFuM). The PSATG can adaptively capture multiple contextual information to generate more faithful thresholds, achieved by fusing features from local, regional, and global levels. Furthermore, we elaborate a model interpretable dual domain LDMAR framework called PDuMSRNet, and train single model with a prompt guiding strategy for multiple dose levels. We build a prompt guiding module, whose input contains dose level, metal mask and input instance, to provide various guiding information, allowing a single model to accommodate various CT dose settings. Extensive experiments at various dose levels demonstrate that the proposed methods outperform the state-of-the-art LDMAR methods.
Graph Fourier Transformer with Structure-Frequency Information
Venue: arXiv cs.LG 2025
Year: 2025

Graph Transformers (GTs) have shown advantages in numerous graph structure tasks but their self-attention mechanism ignores the generalization bias of graphs, with existing methods mainly compensating for this bias from aspects like position encoding, attention bias and relative distance yet still having sub-optimal performance and being insufficient by only considering the structural perspective of generalization bias. To address this, this paper proposes Grafourierformer, which innovatively combines GT with inductive bias containing Frequency-Structure information by applying Graph Fourier Transform to the Attention Matrix: specifically, eigenvalues from the Graph Laplacian matrix are used to construct an Eigenvalue matrix mask (reflecting node positions and structural relationships with neighboring nodes to enable consideration of node range structural characteristics and focus on local graph details), and inverse Fourier transform is employed to extract node high-frequency and low-frequency features, calculate low-frequency and high-frequency energy, and construct a node frequency-energy matrix to filter the eigenvalue matrix mask, allowing attention heads to incorporate both graph structural information and node frequency information optimization, adaptively distinguish global trends from local details, and effectively suppress redundant information interference. Extensive experiments on various benchmarks show Grafourierformer consistently outperforms GNN and GT-based models in graph classification and node classification tasks, with ablation experiments further validating the effectiveness and necessity of the method. Codes are available at https://github.com/Arichibald/Grafourierformer.git
Moral Reasoning Across Languages: The Critical Role of Low-Resource Languages in LLMs
Venue: arXiv cs.CL 2025
Year: 2025

In this paper, we introduce the Multilingual Moral Reasoning Benchmark (MMRB) to evaluate the moral reasoning abilities of large language models (LLMs) across five typologically diverse languages and three levels of contextual complexity: sentence, paragraph, and document. Our results show moral reasoning performance degrades with increasing context complexity, particularly for low-resource languages such as Vietnamese. We further fine-tune the open-source LLaMA-3-8B model using curated monolingual data for alignment and poisoning. Surprisingly, low-resource languages have a stronger impact on multilingual reasoning than high-resource ones, highlighting their critical role in multilingual NLP.
High-Level Message Sequence Charts: Satisfiability and Realizability Revisited
Venue: arXiv cs.LO 2025
Year: 2025

Message sequence charts (MSCs) visually represent interactions in distributed systems that communicate through FIFO channels. High-level MSCs (HMSCs) extend MSCs with choice, concatenation, and iteration, allowing for the specification of complex behaviors. This paper revisits two classical problems for HMSCs: satisfiability and realizability. Satisfiability (also known as reachability or nonemptiness) asks whether there exists a path in the HMSC that gives rise to a valid behavior. Realizability concerns translating HMSCs into communicating finite-state machines to ensure correct system implementations. While most positive results assume bounded channels, we introduce a class of HMSCs that allows for unbounded channels while maintaining effective implementations. On the other hand, we show that the corresponding satisfiability problem is still undecidable.
Hierarchical Uncertainty-Aware Graph Neural Network
Venue: arXiv cs.LG 2025
Year: 2025

Recent research on graph neural networks (GNNs) has explored mechanisms for capturing local uncertainty and exploiting graph hierarchies to mitigate data sparsity and leverage structural properties. However, the synergistic integration of these two approaches remains underexplored. This work introduces a novel architecture, the Hierarchical Uncertainty-Aware Graph Neural Network (HU-GNN), which unifies multi-scale representation learning, principled uncertainty estimation, and self-supervised embedding diversity within a single end-to-end framework. Specifically, HU-GNN adaptively forms node clusters and estimates uncertainty at multiple structural scales from individual nodes to higher levels. These uncertainty estimates guide a robust message-passing mechanism and attention weighting, effectively mitigating noise and adversarial perturbations while preserving predictive accuracy on semi-supervised classification tasks. We also offer key theoretical contributions, including a probabilistic formulation, rigorous uncertainty-calibration guarantees, and formal robustness bounds. Extensive experiments on standard benchmarks demonstrate that our model achieves state-of-the-art robustness and interpretability.
Taming the Randomness: Towards Label-Preserving Cropping in Contrastive Learning
Venue: arXiv cs.CV 2025
Year: 2025

Contrastive learning (CL) approaches have gained great recognition as a very successful subset of self-supervised learning (SSL) methods. SSL enables learning from unlabeled data, a crucial step in the advancement of deep learning, particularly in computer vision (CV), given the plethora of unlabeled image data. CL works by comparing different random augmentations (e.g., different crops) of the same image, thus achieving self-labeling. Nevertheless, randomly augmenting images and especially random cropping can result in an image that is semantically very distant from the original and therefore leads to false labeling, hence undermining the efficacy of the methods. In this research, two novel parameterized cropping methods are introduced that increase the robustness of self-labeling and consequently increase the efficacy. The results show that the use of these methods significantly improves the accuracy of the model by between 2.7\% and 12.4\% on the downstream task of classifying CIFAR-10, depending on the crop size compared to that of the non-parameterized random cropping method.
To MT or not to MT: An eye-tracking study on the reception by Dutch readers of different translation and creativity levels
Venue: arXiv cs.CL 2025
Year: 2025

This article presents the results of a pilot study involving the reception of a fictional short story translated from English into Dutch under four conditions: machine translation (MT), post-editing (PE), human translation (HT) and original source text (ST). The aim is to understand how creativity and errors in different translation modalities affect readers, specifically regarding cognitive load. Eight participants filled in a questionnaire, read a story using an eye-tracker, and conducted a retrospective think-aloud (RTA) interview. The results show that units of creative potential (UCP) increase cognitive load and that this effect is highest for HT and lowest for MT; no effect of error was observed. Triangulating the data with RTAs leads us to hypothesize that the higher cognitive load in UCPs is linked to increases in reader enjoyment and immersion. The effect of translation creativity on cognitive load in different translation modalities at word-level is novel and opens up new avenues for further research. All the code and data are available at https://github.com/INCREC/Pilot_to_MT_or_not_to_MT