OpenRaiser/Intern-Atlas huggingface dataset:
Survival of the fastest -- algorithm-guided evolution of light-powered underwater microrobots
Venue: arXiv cs.RO 2025
Year: 2025

Depending on multiple parameters, soft robots can exhibit different modes of locomotion that are difficult to model numerically. As a result, improving their performance is complex, especially in small-scale systems characterized by low Reynolds numbers, when multiple aero- and hydrodynamical processes influence their movement. In this work, we optimize light-powered millimetre-scale underwater swimmer locomotion by applying experimental results - measured swimming speed - as the fitness function in two evolutionary algorithms: particle swarm optimization and genetic algorithm. As these soft, light-powered robots with different characteristics (phenotypes) can be fabricated quickly, they provide a great platform for optimisation experiments, using many competing robots to improve swimming speed over consecutive generations. Interestingly, just like in natural evolution, unexpected gene combinations led to surprisingly good results, including eight-fold increase in speed or the discovery of a self-oscillating underwater locomotion mode.
Autoencoder-Based Framework to Capture Vocabulary Quality in NLP
Venue: arXiv cs.CL 2025
Year: 2025

Linguistic richness is essential for advancing natural language processing (NLP), as dataset characteristics often directly influence model performance. However, traditional metrics such as Type-Token Ratio (TTR), Vocabulary Diversity (VOCD), and Measure of Lexical Text Diversity (MTLD) do not adequately capture contextual relationships, semantic richness, and structural complexity. In this paper, we introduce an autoencoder-based framework that uses neural network capacity as a proxy for vocabulary richness, diversity, and complexity, enabling a dynamic assessment of the interplay between vocabulary size, sentence structure, and contextual depth. We validate our approach on two distinct datasets: the DIFrauD dataset, which spans multiple domains of deceptive and fraudulent text, and the Project Gutenberg dataset, representing diverse languages, genres, and historical periods. Experimental results highlight the robustness and adaptability of our method, offering practical guidance for dataset curation and NLP model design. By enhancing traditional vocabulary evaluation, our work fosters the development of more context-aware, linguistically adaptive NLP systems.
Jawaher: A Multidialectal Dataset of Arabic Proverbs for LLM Benchmarking
Venue: arXiv cs.CL 2025
Year: 2025

Recent advancements in instruction fine-tuning, alignment methods such as reinforcement learning from human feedback (RLHF), and optimization techniques like direct preference optimization (DPO) have significantly enhanced the adaptability of large language models (LLMs) to user preferences. However, despite these innovations, many LLMs continue to exhibit biases toward Western, Anglo-centric, or American cultures, with performance on English data consistently surpassing that of other languages. This reveals a persistent cultural gap in LLMs, which complicates their ability to accurately process culturally rich and diverse figurative language such as proverbs. To address this, we introduce Jawaher, a benchmark designed to assess LLMs' capacity to comprehend and interpret Arabic proverbs. Jawaher includes proverbs from various Arabic dialects, along with idiomatic translations and explanations. Through extensive evaluations of both open- and closed-source models, we find that while LLMs can generate idiomatically accurate translations, they struggle with producing culturally nuanced and contextually relevant explanations. These findings highlight the need for ongoing model refinement and dataset expansion to bridge the cultural gap in figurative language processing.
Investigating the Relationship Between Debiasing and Artifact Removal using Saliency Maps
Venue: arXiv cs.LG 2025
Year: 2025

The widespread adoption of machine learning systems has raised critical concerns about fairness and bias, making mitigating harmful biases essential for AI development. In this paper, we investigate the relationship between debiasing and removing artifacts in neural networks for computer vision tasks. First, we introduce a set of novel XAI-based metrics that analyze saliency maps to assess shifts in a model's decision-making process. Then, we demonstrate that successful debiasing methods systematically redirect model focus away from protected attributes. Finally, we show that techniques originally developed for artifact removal can be effectively repurposed for improving fairness. These findings provide evidence for the existence of a bidirectional connection between ensuring fairness and removing artifacts corresponding to protected attributes.
Passage Query Methods for Retrieval and Reranking in Conversational Agents
Venue: arXiv cs.IR 2025
Year: 2025

This paper presents our approach to the TREC Interactive Knowledge Assistance Track (iKAT), which focuses on improving conversational information-seeking (CIS) systems. While recent advancements in CIS have improved conversational agents' ability to assist users, significant challenges remain in understanding context and retrieving relevant documents across domains and dialogue turns. To address these issues, we extend the Generate-Retrieve-Generate pipeline by developing passage queries (PQs) that align with the target document's expected format to improve query-document matching during retrieval. We propose two variations of this approach: Weighted Reranking and Short and Long Passages. Each method leverages a Meta Llama model for context understanding and generating queries and responses. Passage ranking evaluation results show that the Short and Long Passages approach outperformed the organizers' baselines, performed best among Llama-based systems in the track, and achieved results comparable to GPT-4-based systems. These results indicate that the method effectively balances efficiency and performance. Findings suggest that PQs improve semantic alignment with target documents and demonstrate their potential to improve multi-turn dialogue systems.
CRADMap: Applied Distributed Volumetric Mapping with 5G-Connected Multi-Robots and 4D Radar Perception
Venue: arXiv cs.RO 2025
Year: 2025

Sparse and feature SLAM methods provide robust camera pose estimation. However, they often fail to capture the level of detail required for inspection and scene awareness tasks. Conversely, dense SLAM approaches generate richer scene reconstructions but impose a prohibitive computational load to create 3D maps. We present a novel distributed volumetric mapping framework designated as CRADMap that addresses these issues by extending the state-of-the-art (SOTA) ORBSLAM3 system with the COVINS on the backend for global optimization. Our pipeline for volumetric reconstruction fuses dense keyframes at a centralized server via 5G connectivity, aggregating geometry, and occupancy information from multiple autonomous mobile robots (AMRs) without overtaxing onboard resources. This enables each AMR to independently perform mapping while the backend constructs high-fidelity real-time 3D maps. To operate Beyond the Visible (BtV) and overcome the limitations of standard visual sensors, we automated a standalone 4D mmWave radar module that functions independently without sensor fusion with SLAM. The BtV system enables the detection and mapping of occluded metallic objects in cluttered environments, enhancing situational awareness in inspection scenarios. Experimental validation in Section~\ref{sec:IV} demonstrates the effectiveness of our framework.
Reducing Large Language Model Safety Risks in Women's Health using Semantic Entropy
Venue: arXiv cs.LG 2025
Year: 2025

Large language models (LLMs) hold substantial promise for clinical decision support. However, their widespread adoption in medicine, particularly in healthcare, is hindered by their propensity to generate false or misleading outputs, known as hallucinations. In high-stakes domains such as women's health (obstetrics & gynaecology), where errors in clinical reasoning can have profound consequences for maternal and neonatal outcomes, ensuring the reliability of AI-generated responses is critical. Traditional methods for quantifying uncertainty, such as perplexity, fail to capture meaning-level inconsistencies that lead to misinformation. Here, we evaluate semantic entropy (SE), a novel uncertainty metric that assesses meaning-level variation, to detect hallucinations in AI-generated medical content. Using a clinically validated dataset derived from UK RCOG MRCOG examinations, we compared SE with perplexity in identifying uncertain responses. SE demonstrated superior performance, achieving an AUROC of 0.76 (95% CI: 0.75-0.78), compared to 0.62 (0.60-0.65) for perplexity. Clinical expert validation further confirmed its effectiveness, with SE achieving near-perfect uncertainty discrimination (AUROC: 0.97). While semantic clustering was successful in only 30% of cases, SE remains a valuable tool for improving AI safety in women's health. These findings suggest that SE could enable more reliable AI integration into clinical practice, particularly in resource-limited settings where LLMs could augment care. This study highlights the potential of SE as a key safeguard in the responsible deployment of AI-driven tools in women's health, leading to safer and more effective digital health interventions.
WgPy: GPU-accelerated NumPy-like array library for web browsers
Venue: arXiv cs.DC 2025
Year: 2025

To execute scientific computing programs such as deep learning at high speed, GPU acceleration is a powerful option. With the recent advancements in web technologies, interfaces like WebGL and WebGPU, which utilize GPUs on the client side of web applications, have become available. On the other hand, Pyodide, a Python runtime that operates on web browsers, allows web applications to be written in Python, but it can only utilize the CPU, leaving room for acceleration. Our proposed new library, WgPy, provides array computation capabilities on the GPU with a NumPy-compatible interface in the web browser. This library not only implements array operations such as matrix multiplication on WebGL and WebGPU, but also allows the users to write custom kernels that can run on GPUs with minimal syntax knowledge, allowing you to run a variety of algorithms with minimal overhead. WgPy also implements a special thread synchronization mechanism, which bridges asynchronous semantics of JavaScript with Python's synchronous semantics, allows code written for CuPy, the NumPy-compatible array library for CUDA, to run directly in a web browser. In experiments involving training a CNN model, it achieved processing at 95 times the speed compared to CPU execution.
Cauchy Random Features for Operator Learning in Sobolev Space
Venue: arXiv cs.LG 2025
Year: 2025

Operator learning is the approximation of operators between infinite dimensional Banach spaces using machine learning approaches. While most progress in this area has been driven by variants of deep neural networks such as the Deep Operator Network and Fourier Neural Operator, the theoretical guarantees are often in the form of a universal approximation property. However, the existence theorems do not guarantee that an accurate operator network is obtainable in practice. Motivated by the recent kernel-based operator learning framework, we propose a random feature operator learning method with theoretical guarantees and error bounds. The random feature method can be viewed as a randomized approximation of a kernel method, which significantly reduces the computation requirements for training. We provide a generalization error analysis for our proposed random feature operator learning method along with comprehensive numerical results. Compared to kernel-based method and neural network methods, the proposed method can obtain similar or better test errors across benchmarks examples with significantly reduced training times. An additional advantages it that our implementation is simple and does require costly computational resources, such as GPU.
T-REX: A 68-567 μs/token, 0.41-3.95 μJ/token Transformer Accelerator with Reduced External Memory Access and Enhanced Hardware Utilization in 16nm FinFET
Venue: arXiv cs.AR 2025
Year: 2025

This work introduces novel training and post-training compression schemes to reduce external memory access during transformer model inference. Additionally, a new control flow mechanism, called dynamic batching, and a novel buffer architecture, termed a two-direction accessible register file, further reduce external memory access while improving hardware utilization.
ABC: Achieving Better Control of Multimodal Embeddings using VLMs
Venue: arXiv cs.CV 2025
Year: 2025

Visual embedding models excel at zero-shot tasks like visual retrieval and classification. However, these models cannot be used for tasks that contain ambiguity or require user instruction. These tasks necessitate an embedding model which outputs can use a natural language instruction to control the representation of a visual embedding. Existing CLIP-based approaches embed images and text independently, and fuse the result. We find that this results in weak interactions between modalities, and poor user control over the representation. We introduce ABC, an open-source multimodal embedding model that uses a vision-language model backbone to deeply integrate image features with natural language instructions. ABC achieves best-for-size performance on MSCOCO image-to-text retrieval and is the top performing model on classification and VQA tasks in the Massive Multimodal Embedding Benchmark. With a strongly unified vision-language representation, ABC can use natural language to solve subtle and potentially ambiguous visual retrieval problems. To evaluate this capability, we design CtrlBench, a benchmark that requires interleaving textual instructions with image content for correct retrieval. ABC advances the state of visual embeddings, outputting high-quality visual representations with natural language control. Our model and datasets are available at our project page: https://tiger-ai-lab.github.io/ABC/
PINN-DT: Optimizing Energy Consumption in Smart Building Using Hybrid Physics-Informed Neural Networks and Digital Twin Framework with Blockchain Security
Venue: arXiv cs.LG 2025
Year: 2025

The advancement of smart grid technologies necessitates the integration of cutting-edge computational methods to enhance predictive energy optimization. This study proposes a multi-faceted approach by incorporating (1) Deep Reinforcement Learning (DRL) agents trained using data from Digital Twins (DTs) to optimize energy consumption in real time, (2) Physics-Informed Neural Networks (PINNs) to seamlessly embed physical laws within the optimization process, ensuring model accuracy and interpretability, and (3) Blockchain (BC) technology to facilitate secure and transparent communication across the smart grid infrastructure. The model was trained and validated using comprehensive datasets, including smart meter energy consumption data, renewable energy outputs, dynamic pricing, and user preferences collected from IoT devices. The proposed framework achieved superior predictive performance with a Mean Absolute Error (MAE) of 0.237 kWh, Root Mean Square Error (RMSE) of 0.298 kWh, and an R-squared (R2) value of 0.978, indicating a 97.8% explanation of data variance. Classification metrics further demonstrated the model's robustness, achieving 97.7% accuracy, 97.8% precision, 97.6% recall, and an F1 Score of 97.7%. Comparative analysis with traditional models like Linear Regression, Random Forest, SVM, LSTM, and XGBoost revealed the superior accuracy and real-time adaptability of the proposed method. In addition to enhancing energy efficiency, the model reduced energy costs by 35%, maintained a 96% user comfort index, and increased renewable energy utilization to 40%. This study demonstrates the transformative potential of integrating PINNs, DT, and Blockchain technologies to optimize energy consumption in smart grids, paving the way for sustainable, secure, and efficient energy management systems.
BERT-based model for Vietnamese Fact Verification Dataset
Venue: arXiv cs.CL 2025
Year: 2025

The rapid advancement of information and communication technology has facilitated easier access to information. However, this progress has also necessitated more stringent verification measures to ensure the accuracy of information, particularly within the context of Vietnam. This paper introduces an approach to address the challenges of Fact Verification using the Vietnamese dataset by integrating both sentence selection and classification modules into a unified network architecture. The proposed approach leverages the power of large language models by utilizing pre-trained PhoBERT and XLM-RoBERTa as the backbone of the network. The proposed model was trained on a Vietnamese dataset, named ISE-DSC01, and demonstrated superior performance compared to the baseline model across all three metrics. Notably, we achieved a Strict Accuracy level of 75.11\%, indicating a remarkable 28.83\% improvement over the baseline model.
CRUPL: A Semi-Supervised Cyber Attack Detection with Consistency Regularization and Uncertainty-aware Pseudo-Labeling in Smart Grid
Venue: arXiv cs.CR 2025
Year: 2025

The modern power grids are integrated with digital technologies and automation systems. The inclusion of digital technologies has made the smart grids vulnerable to cyber-attacks. Cyberattacks on smart grids can compromise data integrity and jeopardize the reliability of the power supply. Traditional intrusion detection systems often need help to effectively detect novel and sophisticated attacks due to their reliance on labeled training data, which may only encompass part of the spectrum of potential threats. This work proposes a semi-supervised method for cyber-attack detection in smart grids by leveraging the labeled and unlabeled measurement data. We implement consistency regularization and pseudo-labeling to identify deviations from expected behavior and predict the attack classes. We use a curriculum learning approach to improve pseudo-labeling performance, capturing the model uncertainty. We demonstrate the efficiency of the proposed method in detecting different types of cyberattacks, minimizing the false positives by implementing them on publicly available datasets. The method proposes a promising solution by improving the detection accuracy to 99% in the presence of unknown samples and significantly reducing false positives.
BGM2Pose: Active 3D Human Pose Estimation with Non-Stationary Sounds
Venue: arXiv cs.CV 2025
Year: 2025

We propose BGM2Pose, a non-invasive 3D human pose estimation method using arbitrary music (e.g., background music) as active sensing signals. Unlike existing approaches that significantly limit practicality by employing intrusive chirp signals within the audible range, our method utilizes natural music that causes minimal discomfort to humans. Estimating human poses from standard music presents significant challenges. In contrast to sound sources specifically designed for measurement, regular music varies in both volume and pitch. These dynamic changes in signals caused by music are inevitably mixed with alterations in the sound field resulting from human motion, making it hard to extract reliable cues for pose estimation. To address these challenges, BGM2Pose introduces a Contrastive Pose Extraction Module that employs contrastive learning and hard negative sampling to eliminate musical components from the recorded data, isolating the pose information. Additionally, we propose a Frequency-wise Attention Module that enables the model to focus on subtle acoustic variations attributable to human movement by dynamically computing attention across frequency bands. Experiments suggest that our method outperforms the existing methods, demonstrating substantial potential for real-world applications. Our datasets and code will be made publicly available.
Extremely low-bitrate Image Compression Semantically Disentangled by LMMs from a Human Perception Perspective
Venue: arXiv cs.CV 2025
Year: 2025

It remains a significant challenge to compress images at extremely low bitrate while achieving both semantic consistency and high perceptual quality. Inspired by human progressive perception mechanism, we propose a Semantically Disentangled Image Compression framework (SEDIC) in this paper. Initially, an extremely compressed reference image is obtained through a learned image encoder. Then we leverage LMMs to extract essential semantic components, including overall descriptions, object detailed description, and semantic segmentation masks. We propose a training-free Object Restoration model with Attention Guidance (ORAG) built on pre-trained ControlNet to restore object details conditioned by object-level text descriptions and semantic masks. Based on the proposed ORAG, we design a multistage semantic image decoder to progressively restore the details object by object, starting from the extremely compressed reference image, ultimately generating high-quality and high-fidelity reconstructions. Experimental results demonstrate that SEDIC significantly outperforms state-of-the-art approaches, achieving superior perceptual quality and semantic consistency at extremely low-bitrates ($\le$ 0.05 bpp).
Smoothing Grounding and Reasoning for MLLM-Powered GUI Agents with Query-Oriented Pivot Tasks
Venue: arXiv cs.CL 2025
Year: 2025

Perception-enhanced pre-training, particularly through grounding techniques, is widely adopted to enhance the performance of graphical user interface (GUI) agents. However, in resource-constrained scenarios, the format discrepancy between coordinate-oriented grounding and action-oriented reasoning limits the effectiveness of grounding for reasoning tasks. To address this challenge, we propose a query-oriented pivot approach called query inference, which serves as a bridge between GUI grounding and reasoning. By inferring potential user queries from a screenshot and its associated element coordinates, query inference improves the understanding of coordinates while aligning more closely with reasoning tasks. Experimental results show that query inference outperforms previous grounding techniques under the same training data scale. Notably, query inference achieves comparable or even better performance to large-scale grounding-enhanced OS-Atlas with less than 0.1% of training data. Furthermore, we explore the impact of reasoning formats and demonstrate that integrating additional semantic information into the input further boosts reasoning performance. The code is publicly available at https://github.com/ZrW00/GUIPivot.