OpenRaiser/Intern-Atlas huggingface dataset:
Safe Bimanual Teleoperation with Language-Guided Collision Avoidance
Venue: arXiv cs.RO 2025
Year: 2025

Teleoperating precise bimanual manipulations in cluttered environments is challenging for operators, who often struggle with limited spatial perception and difficulty estimating distances between target objects, the robot's body, obstacles, and the surrounding environment. To address these challenges, local robot perception and control should assist the operator during teleoperation. In this work, we introduce a safe teleoperation system that enhances operator control by preventing collisions in cluttered environments through the combination of immersive VR control and voice-activated collision avoidance. Using HTC Vive controllers, operators directly control a bimanual mobile manipulator, while spoken commands such as "avoid the yellow tool" trigger visual grounding and segmentation to build 3D obstacle meshes. These meshes are integrated into a whole-body controller to actively prevent collisions during teleoperation. Experiments in static, cluttered scenes demonstrate that our system significantly improves operational safety without compromising task efficiency.
Correcting Bursty/Localized Deletions: A New Error-Position-Estimation Code
Venue: arXiv cs.IT 2025
Year: 2025

Codes correcting bursts of deletions and localized deletions have garnered significant research interest in recent years. One of the primary objectives is to construct codes with minimal redundancy. Currently, the best known constructions of $q$-ary codes correcting a burst of at most $t$ deletions ($(\le t)$-burst-deletion correcting codes) achieve redundancy $\log n+8\log\log n+o(\log\log n)$ (for any $q$ and $t$) or $\log n+t\log\log n+O(1)$ (for even $q$). For codes correcting single $t$-localized-deletion ($t$-localized-deletion correcting codes), state-of-the-art constructions attain redundancy $\log n+O\parenv{t(\log\log n)^2}$ (for any $q$ and $t$) or $\log n+2t\log\log n+O(1)$ (for even $q$). Here, $n$ denotes the code-length, and $q$ and $t$ are fixed. These codes employ a position-estimation component to approximate error positions, augmented by additional constraints that enable error-correction given the information about error positions. In this work, we select codewords from the set of sequences whose differential sequences are strong-$(\ell,ε)$-locally-balanced. By imposing a VT-type constraint and an $L_1$-weight constraint on the differential sequences of codewords, we construct novel position-estimation codes. When $q\ge 2$ and $t<q$, or $q$ is even and $t<2q$, this approach gives a $q$-ary $(\le t)$-burst-deletion correcting code and a $t$-localized-deletion correcting code with redundancy $\log n+(t-1)\log\log n+O(1)$. In addition to improving previous redundancy, the method is new and our position-estimation codes are simpler than those in previous works. Finally, we give an efficient encoder to encode an arbitrary input sequence into a sequence whose differential sequence is strong-$(\ell,ε)$-locally-balanced. To our knowledge, no prior algorithm for this specific task has been reported.
On the Maximum Size of Codes Under the Damerau-Levenshtein Metric
Venue: arXiv cs.IT 2025
Year: 2025

The Damerau-Levenshtein distance between two sequences is the minimum number of operations (deletions, insertions, substitutions, and adjacent transpositions) required to convert one sequence into another. Notwithstanding a long history of this metric, research on error-correcting codes under this distance has remained limited. Recently, motivated by applications in DNA-based storage systems, Gabrys \textit{et al} and Wang \texit{et al} reinvigorated interest in this metric. In their works, some codes correcting both deletions and adjacent transpositions were constructed. However, theoretical upper bounds on code sizes under this metric have not yet been established. This paper seeks to establish upper bounds for code sizes in the Damerau-Levenshtein metric. Our results show that the code correcting one deletion and asymmetric adjacent transpositions proposed by Wang \textit{et al} achieves optimal redundancy up to an additive constant.
CMET: Clustering guided METric for quantifying embedding quality
Venue: arXiv cs.CV 2025
Year: 2025

Due to rapid advancements in technology, datasets are available from various domains. In order to carry out more relevant and appropriate analysis, it is often necessary to project the dataset into a higher or lower dimensional space based on requirement. Projecting the data in a higher-dimensional space helps in unfolding intricate patterns, enhancing the performance of the underlying models. On the other hand, dimensionality reduction is helpful in denoising data while capturing maximal information, as well as reducing execution time and memory.In this context, it is not always statistically evident whether the transformed embedding retains the local and global structure of the original data. Most of the existing metrics that are used for comparing the local and global shape of the embedding against the original one are highly expensive in terms of time and space complexity. In order to address this issue, the objective of this study is to formulate a novel metric, called Clustering guided METric (CMET), for quantifying embedding quality. It is effective to serve the purpose of quantitative comparison between an embedding and the original data. CMET consists of two scores, viz., CMET_L and CMET_G, that measure the degree of local and global shape preservation capability, respectively. The efficacy of CMET has been demonstrated on a wide variety of datasets, including four synthetic, two biological, and two image datasets. Results reflect the favorable performance of CMET against the state-of-the-art methods. Capability to handle both small and large data, low algorithmic complexity, better and stable performance across all kinds of data, and different choices of hyper-parameters feature CMET as a reliable metric.
Efficient SAR Vessel Detection for FPGA-Based On-Satellite Sensing
Venue: arXiv cs.CV 2025
Year: 2025

Rapid analysis of satellite imagery within minutes-to-hours of acquisition is increasingly vital for many remote sensing applications, and is an essential component for developing next-generation autonomous and distributed satellite systems. On-satellite machine learning (ML) has the potential for such rapid analysis, by overcoming latency associated with intermittent satellite connectivity to ground stations or relay satellites, but state-of-the-art models are often too large or power-hungry for on-board deployment. Vessel detection using Synthetic Aperture Radar (SAR) is a critical time-sensitive application in maritime security that exemplifies this challenge. SAR vessel detection has previously been demonstrated only by ML models that either are too large for satellite deployment, have not been developed for sufficiently low-power hardware, or have only been tested on small SAR datasets that do not sufficiently represent the difficulty of the real-world task. Here we systematically explore a suite of architectural adaptations to develop a novel YOLOv8 architecture optimized for this task and FPGA-based processing. We deploy our model on a Kria KV260 MPSoC, and show it can analyze a ~700 megapixel SAR image in less than a minute, within common satellite power constraints (<10W). Our model has detection and classification performance only ~2% and 3% lower than values from state-of-the-art GPU-based models on the largest and most diverse open SAR vessel dataset, xView3-SAR, despite being ~50 and ~2500 times more computationally efficient. This work represents a key contribution towards on-satellite ML for time-critical SAR analysis, and more autonomous, scalable satellites.
$\textit{Grahak-Nyay:}$ Consumer Grievance Redressal through Large Language Models
Venue: arXiv cs.CL 2025
Year: 2025

Access to consumer grievance redressal in India is often hindered by procedural complexity, legal jargon, and jurisdictional challenges. To address this, we present $\textbf{Grahak-Nyay}$ (Justice-to-Consumers), a chatbot that streamlines the process using open-source Large Language Models (LLMs) and Retrieval-Augmented Generation (RAG). Grahak-Nyay simplifies legal complexities through a concise and up-to-date knowledge base. We introduce three novel datasets: $\textit{GeneralQA}$ (general consumer law), $\textit{SectoralQA}$ (sector-specific knowledge) and $\textit{SyntheticQA}$ (for RAG evaluation), along with $\textit{NyayChat}$, a dataset of 300 annotated chatbot conversations. We also introduce $\textit{Judgments}$ data sourced from Indian Consumer Courts to aid the chatbot in decision making and to enhance user trust. We also propose $\textbf{HAB}$ metrics ($\textbf{Helpfulness, Accuracy, Brevity}$) to evaluate chatbot performance. Legal domain experts validated Grahak-Nyay's effectiveness. Code and datasets will be released.
Towards Human-in-the-Loop Onset Detection: A Transfer Learning Approach for Maracatu
Venue: arXiv cs.SD 2025
Year: 2025

We explore transfer learning strategies for musical onset detection in the Afro-Brazilian Maracatu tradition, which features complex rhythmic patterns that challenge conventional models. We adapt two Temporal Convolutional Network architectures: one pre-trained for onset detection (intra-task) and another for beat tracking (inter-task). Using only 5-second annotated snippets per instrument, we fine-tune these models through layer-wise retraining strategies for five traditional percussion instruments. Our results demonstrate significant improvements over baseline performance, with F1 scores reaching up to 0.998 in the intra-task setting and improvements of over 50 percentage points in best-case scenarios. The cross-task adaptation proves particularly effective for time-keeping instruments, where onsets naturally align with beat positions. The optimal fine-tuning configuration varies by instrument, highlighting the importance of instrument-specific adaptation strategies. This approach addresses the challenges of underrepresented musical traditions, offering an efficient human-in-the-loop methodology that minimizes annotation effort while maximizing performance. Our findings contribute to more inclusive music information retrieval tools applicable beyond Western musical contexts.
Towards a Unifying Reference Model for Digital Twins of Cyber-Physical Systems
Venue: arXiv cs.SE 2025
Year: 2025

Digital twins are sophisticated software systems for the representation, monitoring, and control of cyber-physical systems, including automotive, avionics, smart manufacturing, and many more. Existing definitions and reference models of digital twins are overly abstract, impeding their comprehensive understanding and implementation guidance. Consequently, a significant gap emerges between abstract concepts and their industrial implementations. We analyze popular reference models for digital twins and combine these into a significantly detailed unifying reference model for digital twins that reduces the concept-implementation gap to facilitate their engineering in industrial practice. This enhances the understanding of the concepts of digital twins and their relationships and guides developers to implement digital twins effectively.
SHARP: Shared State Reduction for Efficient Matching of Sequential Patterns
Venue: arXiv cs.DB 2025
Year: 2025

The detection of sequential patterns in data is a basic functionality of modern data processing systems for complex event processing (CEP), OLAP, and retrieval-augmented generation (RAG). In practice, pattern matching is challenging, since common applications rely on a large set of patterns that shall be evaluated with tight latency bounds. At the same time, matching needs to maintain state, i.e., intermediate results, that grows exponentially in the input size. Hence, systems turn to best-effort processing, striving for maximal recall under a latency bound. Existing techniques, however, consider each pattern in isolation, neglecting the optimization potential induced by state sharing in pattern matching. In this paper, we present SHARP, a library that employs state reduction to achieve efficient best-effort pattern matching. To this end, SHARP incorporates state sharing between patterns through a new abstraction, coined pattern-sharing degree (PSD). At runtime, this abstraction facilitates the categorization and indexing of partial pattern matches. Based thereon, once a latency bound is exceeded, SHARP realizes best-effort processing by selecting a subset of partial matches for further processing in constant time. In experiments with real-world data, SHARP achieves a recall of 97%, 96% and 73% for pattern matching in CEP, OLAP, and RAG applications, under a bound of 50% of the average processing latency.
MARBLE: A Multi-Agent Rule-Based LLM Reasoning Engine for Accident Severity Prediction
Venue: arXiv cs.AI 2025
Year: 2025

Accident severity prediction plays a critical role in transportation safety systems but is a persistently difficult task due to incomplete data, strong feature dependencies, and severe class imbalance in which rare but high-severity cases are underrepresented and hard to detect. Existing methods often rely on monolithic models or black box prompting, which struggle to scale in noisy, real-world settings and offer limited interpretability. To address these challenges, we propose MARBLE a multiagent rule based LLM engine that decomposes the severity prediction task across a team of specialized reasoning agents, including an interchangeable ML-backed agent. Each agent focuses on a semantic subset of features (e.g., spatial, environmental, temporal), enabling scoped reasoning and modular prompting without the risk of prompt saturation. Predictions are coordinated through either rule-based or LLM-guided consensus mechanisms that account for class rarity and confidence dynamics. The system retains structured traces of agent-level reasoning and coordination outcomes, supporting in-depth interpretability and post-hoc performance diagnostics. Across both UK and US datasets, MARBLE consistently outperforms traditional machine learning classifiers and state-of-the-art (SOTA) prompt-based reasoning methods including Chain-of-Thought (CoT), Least-to-Most (L2M), and Tree-of-Thought (ToT) achieving nearly 90% accuracy where others plateau below 48%. This performance redefines the practical ceiling for accident severity classification under real world noise and extreme class imbalance. Our results position MARBLE as a generalizable and interpretable framework for reasoning under uncertainty in safety-critical applications.
RainShift: A Benchmark for Precipitation Downscaling Across Geographies
Venue: arXiv cs.CV 2025
Year: 2025

Earth System Models (ESM) are our main tool for projecting the impacts of climate change. However, running these models at sufficient resolution for local-scale risk-assessments is not computationally feasible. Deep learning-based super-resolution models offer a promising solution to downscale ESM outputs to higher resolutions by learning from data. Yet, due to regional variations in climatic processes, these models typically require retraining for each geographical area-demanding high-resolution observational data, which is unevenly available across the globe. This highlights the need to assess how well these models generalize across geographic regions. To address this, we introduce RainShift, a dataset and benchmark for evaluating downscaling under geographic distribution shifts. We evaluate state-of-the-art downscaling approaches including GANs and diffusion models in generalizing across data gaps between the Global North and Global South. Our findings reveal substantial performance drops in out-of-distribution regions, depending on model and geographic area. While expanding the training domain generally improves generalization, it is insufficient to overcome shifts between geographically distinct regions. We show that addressing these shifts through, for example, data alignment can improve spatial generalization. Our work advances the global applicability of downscaling methods and represents a step toward reducing inequities in access to high-resolution climate information.
Taming the Tri-Space Tension: ARC-Guided Hallucination Modeling and Control for Text-to-Image Generation
Venue: arXiv cs.CV 2025
Year: 2025

Despite remarkable progress in image quality and prompt fidelity, text-to-image (T2I) diffusion models continue to exhibit persistent "hallucinations", where generated content subtly or significantly diverges from the intended prompt semantics. While often regarded as unpredictable artifacts, we argue that these failures reflect deeper, structured misalignments within the generative process. In this work, we propose a cognitively inspired perspective that reinterprets hallucinations as trajectory drift within a latent alignment space. Empirical observations reveal that generation unfolds within a multiaxial cognitive tension field, where the model must continuously negotiate competing demands across three key critical axes: semantic coherence, structural alignment, and knowledge grounding. We then formalize this three-axis space as the Hallucination Tri-Space and introduce the Alignment Risk Code (ARC): a dynamic vector representation that quantifies real-time alignment tension during generation. The magnitude of ARC captures overall misalignment, its direction identifies the dominant failure axis, and its imbalance reflects tension asymmetry. Based on this formulation, we develop the TensionModulator (TM-ARC): a lightweight controller that operates entirely in latent space. TM-ARC monitors ARC signals and applies targeted, axis-specific interventions during the sampling process. Extensive experiments on standard T2I benchmarks demonstrate that our approach significantly reduces hallucination without compromising image quality or diversity. This framework offers a unified and interpretable approach for understanding and mitigating generative failures in diffusion-based T2I systems.
Bullshark on Narwhal: Implementation-level Workflow Analysis of Round-based DAG Consensus in Theory and Practice
Venue: arXiv cs.CR 2025
Year: 2025

Round-based DAGs enable high-performance Byzantine fault-tolerant consensus, yet their technical advantages remain underutilized due to their short history. While research on consensus protocols is active in both academia and industry, many studies overlook implementation-level algorithms, leaving actual performance unclear - particularly for theoretical protocols whose practical performance cannot often be evaluated. Bullshark, a Round-based DAG BFT protocol on Narwhal mempool, achieves optimal performance: 297,000 transactions per second with 2-second latency. We analyze the algorithm's workflow, from transaction submission to blockchain commitment, breaking it down layer by layer at the functional level and delineating the key features and interactions of the Bullshark and Narwhal components. Future work aims to improve performance in Byzantine fault environments and optimize trade-offs in the CAP theorem.
Hear-Your-Click: Interactive Object-Specific Video-to-Audio Generation
Venue: arXiv cs.CV 2025
Year: 2025

Video-to-audio (V2A) generation shows great potential in fields such as film production. Despite significant advances, current V2A methods relying on global video information struggle with complex scenes and generating audio tailored to specific objects. To address these limitations, we introduce Hear-Your-Click, an interactive V2A framework enabling users to generate sounds for specific objects by clicking on the frame. To achieve this, we propose Object-aware Contrastive Audio-Visual Fine-tuning (OCAV) with a Mask-guided Visual Encoder (MVE) to obtain object-level visual features aligned with audio. Furthermore, we tailor two data augmentation strategies, Random Video Stitching (RVS) and Mask-guided Loudness Modulation (MLM), to enhance the model's sensitivity to segmented objects. To measure audio-visual correspondence, we designed a new evaluation metric, the CAV score. Extensive experiments demonstrate that our framework offers more precise control and improves generation performance across various metrics. Project Page: https://github.com/SynapGrid/Hear-Your-Click
LAPS-Diff: A Diffusion-Based Framework for Singing Voice Synthesis With Language Aware Prosody-Style Guided Learning
Venue: arXiv cs.SD 2025
Year: 2025

The field of Singing Voice Synthesis (SVS) has seen significant advancements in recent years due to the rapid progress of diffusion-based approaches. However, capturing vocal style, genre-specific pitch inflections, and language-dependent characteristics remains challenging, particularly in low-resource scenarios. To address this, we propose LAPS-Diff, a diffusion model integrated with language-aware embeddings and a vocal-style guided learning mechanism, specifically designed for Bollywood Hindi singing style. We curate a Hindi SVS dataset and leverage pre-trained language models to extract word and phone-level embeddings for an enriched lyrics representation. Additionally, we incorporated a style encoder and a pitch extraction model to compute style and pitch losses, capturing features essential to the naturalness and expressiveness of the synthesized singing, particularly in terms of vocal style and pitch variations. Furthermore, we utilize MERT and IndicWav2Vec models to extract musical and contextual embeddings, serving as conditional priors to refine the acoustic feature generation process further. Based on objective and subjective evaluations, we demonstrate that LAPS-Diff significantly improves the quality of the generated samples compared to the considered state-of-the-art (SOTA) model for our constrained dataset that is typical of the low resource scenario.
Interest Networks (iNETs) for Cities: Cross-Platform Insights and Urban Behavior Explanations
Venue: arXiv cs.SI 2025
Year: 2025

Location-Based Social Networks (LBSNs) provide a rich foundation for modeling urban behavior through iNETs (Interest Networks), which capture how user interests are distributed throughout urban spaces. This study compares iNETs across platforms (Google Places and Foursquare) and spatial granularities, showing that coarser levels reveal more consistent cross-platform patterns, while finer granularities expose subtle, platform-specific behaviors. Our analysis finds that, in general, user interest is primarily shaped by geographic proximity and venue similarity, while socioeconomic and political contexts play a lesser role. Building on these insights, we develop a multi-level, explainable recommendation system that predicts high-interest urban regions for different user types. The model adapts to behavior profiles -- such as explorers, who are driven by proximity, and returners, who prefer familiar venues -- and provides natural-language explanations using explainable AI (XAI) techniques. To support our approach, we introduce h3-cities, a tool for multi-scale spatial analysis, and release a public demo for interactively exploring personalized urban recommendations. Our findings contribute to urban mobility research by providing scalable, context-aware, and interpretable recommendation systems.