OpenRaiser/Intern-Atlas huggingface dataset:
Evaluating the Impact of AI-Powered Audiovisual Personalization on Learner Emotion, Focus, and Learning Outcomes
Venue: arXiv cs.AI 2025
Year: 2025

Independent learners often struggle with sustaining focus and emotional regulation in unstructured or distracting settings. Although some rely on ambient aids such as music, ASMR, or visual backgrounds to support concentration, these tools are rarely integrated into cohesive, learner-centered systems. Moreover, existing educational technologies focus primarily on content adaptation and feedback, overlooking the emotional and sensory context in which learning takes place. Large language models have demonstrated powerful multimodal capabilities including the ability to generate and adapt text, audio, and visual content. Educational research has yet to fully explore their potential in creating personalized audiovisual learning environments. To address this gap, we introduce an AI-powered system that uses LLMs to generate personalized multisensory study environments. Users select or generate customized visual themes (e.g., abstract vs. realistic, static vs. animated) and auditory elements (e.g., white noise, ambient ASMR, familiar vs. novel sounds) to create immersive settings aimed at reducing distraction and enhancing emotional stability. Our primary research question investigates how combinations of personalized audiovisual elements affect learner cognitive load and engagement. Using a mixed-methods design that incorporates biometric measures and performance outcomes, this study evaluates the effectiveness of LLM-driven sensory personalization. The findings aim to advance emotionally responsive educational technologies and extend the application of multimodal LLMs into the sensory dimension of self-directed learning.
A Modal-Space Formulation for Momentum Observer Contact Estimation and Effects of Uncertainty for Continuum Robots
Venue: arXiv cs.RO 2025
Year: 2025

Contact detection for continuum and soft robots has been limited in past works to statics or kinematics-based methods with assumed circular bending curvature or known bending profiles. In this paper, we adapt the generalized momentum observer contact estimation method to continuum robots. This is made possible by leveraging recent results for real-time shape sensing of continuum robots along with a modal-space representation of the robot dynamics. In addition to presenting an approach for estimating the generalized forces due to contact via a momentum observer, we present a constrained optimization method to identify the wrench imparted on the robot during contact. We also present an approach for investigating the effects of unmodeled deviations in the robot's dynamic state on the contact detection method and we validate our algorithm by simulations and experiments. We also compare the performance of the momentum observer to the joint force deviation method, a direct estimation approach using the robot's full dynamic model. We also demonstrate a basic extension of the method to multisegment continuum robots. Results presented in this work extend dynamic contact detection to the domain of continuum and soft robots and can be used to improve the safety of large-scale continuum robots for human-robot collaboration.
Developing A Framework to Support Human Evaluation of Bias in Generated Free Response Text
Venue: arXiv cs.CL 2025
Year: 2025

LLM evaluation is challenging even the case of base models. In real world deployments, evaluation is further complicated by the interplay of task specific prompts and experiential context. At scale, bias evaluation is often based on short context, fixed choice benchmarks that can be rapidly evaluated, however, these can lose validity when the LLMs' deployed context differs. Large scale human evaluation is often seen as too intractable and costly. Here we present our journey towards developing a semi-automated bias evaluation framework for free text responses that has human insights at its core. We discuss how we developed an operational definition of bias that helped us automate our pipeline and a methodology for classifying bias beyond multiple choice. We additionally comment on how human evaluation helped us uncover problematic templates in a bias benchmark.
Testing SSD Firmware with State Data-Aware Fuzzing: Accelerating Coverage in Nondeterministic I/O Environments
Venue: arXiv cs.SE 2025
Year: 2025

Solid-State Drive (SSD) firmware manages complex internal states, including flash memory maintenance. Due to nondeterministic I/O operations, traditional testing methods struggle to rapidly achieve coverage of firmware code areas that require extensive I/O accumulation. To address this challenge, we propose a state data-aware fuzzing approach that leverages SSD firmware's internal state to guide input generation under nondeterministic I/O conditions and accelerate coverage discovery. Our experiments with an open-source SSD firmware emulator show that the proposed method achieves the same firmware test coverage as a state-of-the-art coverage-based fuzzer (AFL++) while requiring approximately 67% fewer commands, without reducing the number of crashes or hangs detected. Moreover, we extend our experiments by incorporating various I/O commands beyond basic write/read operations to reflect real user scenarios, and we confirm that our strategy remains effective even for multiple types of I/O tests. We further validate the effectiveness of state data-aware fuzzing for firmware testing under I/O environments and suggest that this approach can be extended to other storage firmware or threshold-based embedded systems in the future.
Multiscale Parallel Simulation of Malignant Pleural Mesothelioma via Adaptive Domain Partitioning -- an Efficiency Analysis Study
Venue: arXiv cs.CE 2025
Year: 2025

A novel parallel efficiency analysis on a framework for simulating the growth of Malignant Pleural Mesothelioma (MPM) tumours is presented. Proliferation of MPM tumours in the pleural space is simulated using a Cellular Potts Model (CPM) coupled with partial differential equations (PDEs). Using segmented lung data from CT scans, an environment is set up with artificial tumour data in the pleural space, representing the simulation domain, onto which a dynamic bounding box is applied to restrict computations to the region of interest, dramatically reducing memory and CPU overhead. This adaptive partitioning of the domain enables efficient use of computational resources by reducing the three-dimensional (3D) domain over which the PDEs are to be solved. The PDEs, representing oxygen, nutrients, and cytokines, are solved using the finite-volume method with a first-order implicit Euler scheme. Parallelization is realized using the public Python library mpi4py in combination with LinearGMRESSolver and PETSc for efficient convergence. Performance analyses have shown that parallelization achieves a reduced solving time compared to serial computation. Also, optimizations enable efficient use of available memory and improved load balancing amongst the cores.
Coupling the Heart to Musical Machines
Venue: arXiv cs.HC 2025
Year: 2025

Biofeedback is being used more recently as a general control paradigm for human-computer interfaces (HCIs). While biofeedback especially from breath has seen increasing uptake as a controller for novel musical interfaces, new interfaces for musical expression (NIMEs), the community has not given as much attention to the heart. The heart is just as intimate a part of music as breath and it is argued that the heart determines our perception of time and so indirectly our perception of music. Inspired by this I demonstrate a photoplethysmogram (PPG)-based NIME controller using heart rate as a 1D control parameter to transform the qualities of sounds in real-time over a Bluetooth wireless HCI. I apply time scaling to "warp" audio buffers inbound to the sound card, and play these transformed audio buffers back to the listener wearing the PPG sensor, creating a hypothetical perceptual biofeedback loop: changes in sound change heart rate to change PPG measurements to change sound. I discuss how a sound-heart-PPG biofeedback loop possibly affords greater control and/or variety of movements with a 1D controller, how controlling the space and/or time scale of sound playback with biofeedback makes for possibilities in performance ambience, and I briefly discuss generative latent spaces as a possible way to extend a 1D PPG control space.
Direct Retrieval-augmented Optimization: Synergizing Knowledge Selection and Language Models
Venue: arXiv cs.IR 2025
Year: 2025

Retrieval-augmented generation (RAG) integrates large language models ( LLM s) with retrievers to access external knowledge, improving the factuality of LLM generation in knowledge-grounded tasks. To optimize the RAG performance, most previous work independently fine-tunes the retriever to adapt to frozen LLM s or trains the LLMs to use documents retrieved by off-the-shelf retrievers, lacking end-to-end training supervision. Recent work addresses this limitation by jointly training these two components but relies on overly simplifying assumptions of document independence, which has been criticized for being far from real-world scenarios. Thus, effectively optimizing the overall RAG performance remains a critical challenge. We propose a direct retrieval-augmented optimization framework, named DRO, that enables end-to-end training of two key components: (i) a generative knowledge selection model and (ii) an LLM generator. DRO alternates between two phases: (i) document permutation estimation and (ii) re-weighted maximization, progressively improving RAG components through a variational approach. In the estimation step, we treat document permutation as a latent variable and directly estimate its distribution from the selection model by applying an importance sampling strategy. In the maximization step, we calibrate the optimization expectation using importance weights and jointly train the selection model and LLM generator. Our theoretical analysis reveals that DRO is analogous to policy-gradient methods in reinforcement learning. Extensive experiments conducted on five datasets illustrate that DRO outperforms the best baseline with 5%-15% improvements in EM and F1. We also provide in-depth experiments to qualitatively analyze the stability, convergence, and variance of DRO.
Fabrication and Characterization of Additively Manufactured Stretchable Strain Sensors Towards the Shape Sensing of Continuum Robots
Venue: arXiv cs.RO 2025
Year: 2025

This letter describes the manufacturing and experimental characterization of novel stretchable strain sensors for continuum robots. The overarching goal of this research is to provide a new solution for the shape sensing of these devices. The sensors are fabricated via direct ink writing, an extrusion-based additive manufacturing technique. Electrically conductive material (i.e., the \textit{ink}) is printed into traces whose electrical resistance varies in response to mechanical deformation. The principle of operation of stretchable strain sensors is analogous to that of conventional strain gauges, but with a significantly larger operational window thanks to their ability to withstand larger strain. Among the different conductive materials considered for this study, we opted to fabricate the sensors with a high-viscosity eutectic Gallium-Indium ink, which in initial testing exhibited high linearity ($R^2 \approx$ 0.99), gauge factor $\approx$ 1, and negligible drift. Benefits of the proposed sensors include (i) ease of fabrication, as they can be conveniently printed in a matter of minutes; (ii) ease of installation, as they can simply be glued to the outside body of a robot; (iii) ease of miniaturization, which enables integration into millimiter-sized continuum robots.
Adaptive Thresholding for Multi-Label Classification via Global-Local Signal Fusion
Venue: arXiv cs.LG 2025
Year: 2025

Multi-label classification (MLC) requires predicting multiple labels per sample, often under heavy class imbalance and noisy conditions. Traditional approaches apply fixed thresholds or treat labels independently, overlooking context and global rarity. We introduce an adaptive thresholding mechanism that fuses global (IDF-based) and local (KNN-based) signals to produce per-label, per-instance thresholds. Instead of applying these as hard cutoffs, we treat them as differentiable penalties in the loss, providing smooth supervision and better calibration. Our architecture is lightweight, interpretable, and highly modular. On the AmazonCat-13K benchmark, it achieves a macro-F1 of 0.1712, substantially outperforming tree-based and pretrained transformer-based methods. We release full code for reproducibility and future extensions.
HCOA*: Hierarchical Class-ordered A* for Navigation in Semantic Environments
Venue: arXiv cs.RO 2025
Year: 2025

This paper addresses the problem of robot navigation in mixed geometric/semantic 3D environments. Given a hierarchical representation of the environment, the objective is to navigate from a start position to a goal, while satisfying task-specific safety constraints and minimizing computational cost. We introduce Hierarchical Class-ordered A* (HCOA*), an algorithm that leverages the environment's hierarchy for efficient and safe path-planning in mixed geometric/semantic graphs. We use a total order over the semantic classes and prove theoretical performance guarantees for the algorithm. We propose three approaches for higher-layer node classification based on the semantics of the lowest layer: a Graph Neural Network method, a k-Nearest Neighbors method, and a Majority-Class method. We evaluate HCOA* in simulations on two 3D Scene Graphs, comparing it to the state-of-the-art and assessing the performance of each classification approach. Results show that HCOA* reduces the computational time of navigation by up to 50%, while maintaining near-optimal performance across a wide range of scenarios.
Advancing Symbolic Discovery on Unsupervised Data: A Pre-training Framework for Non-degenerate Implicit Equation Discovery
Venue: arXiv cs.SC 2025
Year: 2025

Symbolic regression (SR) -- which learns symbolic equations to describe the underlying relation from input-output pairs -- is widely used for scientific discovery. However, a rich set of scientific data from the real world (e.g., particle trajectories and astrophysics) are typically unsupervised, devoid of explicit input-output pairs. In this paper, we focus on symbolic implicit equation discovery, which aims to discover the mathematical relation from unsupervised data that follows an implicit equation $f(\mathbf{x}) =0$. However, due to the dense distribution of degenerate solutions (e.g., $f(\mathbf{x})=x_i-x_i$) in the discrete search space, most existing SR approaches customized for this task fail to achieve satisfactory performance. To tackle this problem, we introduce a novel pre-training framework -- namely, Pre-trained neural symbolic model for Implicit Equation (PIE) -- to discover implicit equations from unsupervised data. The core idea is that, we formulate the implicit equation discovery on unsupervised scientific data as a translation task and utilize the prior learned from the pre-training dataset to infer non-degenerate skeletons of the underlying relation end-to-end. Extensive experiments shows that, leveraging the prior from a pre-trained language model, PIE effectively tackles the problem of degenerate solutions and significantly outperforms all the existing SR approaches. PIE shows an encouraging step towards general scientific discovery on unsupervised data.
Soft Best-of-n Sampling for Model Alignment
Venue: arXiv cs.IT 2025
Year: 2025

Best-of-$n$ (BoN) sampling is a practical approach for aligning language model outputs with human preferences without expensive fine-tuning. BoN sampling is performed by generating $n$ responses to a prompt and then selecting the sample that maximizes a reward function. BoN yields high reward values in practice at a distortion cost, as measured by the KL-divergence between the sampled and original distribution. This distortion is coarsely controlled by varying the number of samples: larger $n$ yields a higher reward at a higher distortion cost. We introduce Soft Best-of-$n$ sampling, a generalization of BoN that allows for smooth interpolation between the original distribution and reward-maximizing distribution through a temperature parameter $λ$. We establish theoretical guarantees showing that Soft Best-of-$n$ sampling converges sharply to the optimal tilted distribution at a rate of $O(1/n)$ in KL and the expected (relative) reward. For sequences of discrete outputs, we analyze an additive reward model that reveals the fundamental limitations of blockwise sampling.
The Impact of Large Language Models on K-12 Education in Rural India: A Thematic Analysis of Student Volunteer's Perspectives
Venue: arXiv cs.CY 2025
Year: 2025

AI-driven education, particularly Large Language Models (LLMs), has the potential to address learning disparities in rural K-12 schools. However, research on AI adoption in rural India remains limited, with existing studies focusing primarily on urban settings. This study examines the perceptions of volunteer teachers on AI integration in rural education, identifying key challenges and opportunities. Through semi-structured interviews with 23 volunteer educators in Rajasthan and Delhi, we conducted a thematic analysis to explore infrastructure constraints, teacher preparedness, and digital literacy gaps. Findings indicate that while LLMs could enhance personalized learning and reduce teacher workload, barriers such as poor connectivity, lack of AI training, and parental skepticism hinder adoption. Despite concerns over over-reliance and ethical risks, volunteers emphasize that AI should be seen as a complementary tool rather than a replacement for traditional teaching. Given the potential benefits, LLM-based tutors merit further exploration in rural classrooms, with structured implementation and localized adaptations to ensure accessibility and equity.
Improving the Reproducibility of Deep Learning Software: An Initial Investigation through a Case Study Analysis
Venue: arXiv cs.LG 2025
Year: 2025

The field of deep learning has witnessed significant breakthroughs, spanning various applications, and fundamentally transforming current software capabilities. However, alongside these advancements, there have been increasing concerns about reproducing the results of these deep learning methods. This is significant because reproducibility is the foundation of reliability and validity in software development, particularly in the rapidly evolving domain of deep learning. The difficulty of reproducibility may arise due to several reasons, including having differences from the original execution environment, incompatible software libraries, proprietary data and source code, lack of transparency, and the stochastic nature in some software. A study conducted by the Nature journal reveals that more than 70% of researchers failed to reproduce other researchers experiments and over 50% failed to reproduce their own experiments. Irreproducibility of deep learning poses significant challenges for researchers and practitioners. To address these concerns, this paper presents a systematic approach at analyzing and improving the reproducibility of deep learning models by demonstrating these guidelines using a case study. We illustrate the patterns and anti-patterns involved with these guidelines for improving the reproducibility of deep learning models. These guidelines encompass establishing a methodology to replicate the original software environment, implementing end-to-end training and testing algorithms, disclosing architectural designs, and enhancing transparency in data processing and training pipelines. We also conduct a sensitivity analysis to understand the model performance across diverse conditions. By implementing these strategies, we aim to bridge the gap between research and practice, so that innovations in deep learning can be effectively reproduced and deployed within software.
Bridging Expertise Gaps: The Role of LLMs in Human-AI Collaboration for Cybersecurity
Venue: arXiv cs.CR 2025
Year: 2025

This study investigates whether large language models (LLMs) can function as intelligent collaborators to bridge expertise gaps in cybersecurity decision-making. We examine two representative tasks-phishing email detection and intrusion detection-that differ in data modality, cognitive complexity, and user familiarity. Through a controlled mixed-methods user study, n = 58 (phishing, n = 34; intrusion, n = 24), we find that human-AI collaboration improves task performance,reducing false positives in phishing detection and false negatives in intrusion detection. A learning effect is also observed when participants transition from collaboration to independent work, suggesting that LLMs can support long-term skill development. Our qualitative analysis shows that interaction dynamics-such as LLM definitiveness, explanation style, and tone-influence user trust, prompting strategies, and decision revision. Users engaged in more analytic questioning and showed greater reliance on LLM feedback in high-complexity settings. These results provide design guidance for building interpretable, adaptive, and trustworthy human-AI teaming systems, and demonstrate that LLMs can meaningfully support non-experts in reasoning through complex cybersecurity problems.
A study on audio synchronous steganography detection and distributed guide inference model based on sliding spectral features and intelligent inference drive
Venue: arXiv cs.SD 2025
Year: 2025

With the rise of short video platforms in global communication, embedding steganographic data in audio synchronization streams has emerged as a new covert communication method. To address the limitations of traditional techniques in detecting synchronized steganography, this paper proposes a detection and distributed guidance reconstruction model based on short video "Yupan" samples released by China's South Sea Fleet on TikTok. The method integrates sliding spectrum feature extraction and intelligent inference mechanisms. A 25 ms sliding window with short-time Fourier transform (STFT) is used to extract the main frequency trajectory and construct the synchronization frame detection model (M1), identifying a frame flag "FFFFFFFFFFFFFFFFFF80". The subsequent 32-byte payload is decoded by a structured model (M2) to infer distributed guidance commands. Analysis reveals a low-entropy, repetitive byte sequence in the 36 to 45 second audio segment with highly concentrated spectral energy, confirming the presence of synchronization frames. Although plaintext semantics are not restored, the consistency in command field layout suggests features of military communication protocols. The multi-segment splicing model further shows cross-video embedding and centralized decoding capabilities. The proposed framework validates the effectiveness of sliding spectral features for synchronized steganography detection and builds an extensible inference model for covert communication analysis and tactical guidance simulation on open platforms.