pwc-archive/papers-with-abstracts huggingface dataset:
Model Predictive Fuzzy Control: A Hierarchical Multi-Agent Control Architecture for Outdoor Search-and-Rescue Robots
Authors: Craig Maxwell, Mirko Baglioni, Anahita Jamshidnejad
Date: 2025-05-06 00:00:00
Tasks: Computational Efficiency, Model Predictive Control

Autonomous robots deployed in unknown search-and-rescue (SaR) environments can significantly improve the efficiency of the mission by assisting in fast localisation and rescue of the trapped victims. We propose a novel integrated hierarchical control architecture, called model predictive fuzzy control (MPFC), for autonomous mission planning of multi-robot SaR systems that should efficiently map an unknown environment: We combine model predictive control (MPC) and fuzzy logic control (FLC), where the robots are locally controlled by computationally efficient FLC controllers, and the parameters of these local controllers are tuned via a centralised MPC controller, in a regular or event-triggered manner. The proposed architecture provides three main advantages: (1) The control decisions are made by the FLC controllers, thus the real-time computation time is affordable. (2) The centralised MPC controller optimises the performance criteria with a global and predictive vision of the system dynamics, and updates the parameters of the FLC controllers accordingly. (3) FLC controllers are heuristic by nature and thus do not take into account optimality in their decisions, while the tuned parameters via the MPC controller can indirectly incorporate some level of optimality in local decisions of the robots. A simulation environment for victim detection in a disaster environment was designed in MATLAB using discrete, 2-D grid-based models. While being comparable from the point of computational efficiency, the integrated MPFC architecture improves the performance of the multi-robot SaR system compared to decentralised FLC controllers. Moreover, the performance of MPFC is comparable to the performance of centralised MPC for path planning of SaR robots, whereas MPFC requires significantly less computational resources, since the number of the optimisation variables in the control problem are reduced.
Consistency in Language Models: Current Landscape, Challenges, and Future Directions
Authors: Jekaterina Novikova, Carol Anderson, Borhane Blili-Hamelin, Subhabrata Majumdar
Date: 2025-05-01 00:00:00

The hallmark of effective language use lies in consistency -- expressing similar meanings in similar contexts and avoiding contradictions. While human communication naturally demonstrates this principle, state-of-the-art language models struggle to maintain reliable consistency across different scenarios. This paper examines the landscape of consistency research in AI language systems, exploring both formal consistency (including logical rule adherence) and informal consistency (such as moral and factual coherence). We analyze current approaches to measure aspects of consistency, identify critical research gaps in standardization of definitions, multilingual assessment, and methods to improve consistency. Our findings point to an urgent need for robust benchmarks to measure and interdisciplinary approaches to ensure consistency in the application of language models on domain-specific tasks while preserving the utility and adaptability.
Learning and Online Replication of Grasp Forces from Electromyography Signals for Prosthetic Finger Control
Authors: Robin Arbaud, Elisa Motta, Marco Domenico Avaro, Stefano Picinich, Marta Lorenzini, Arash Ajoudani
Date: 2025-05-05 00:00:00
Tasks: Electromyography (EMG)

Partial hand amputations significantly affect the physical and psychosocial well-being of individuals, yet intuitive control of externally powered prostheses remains an open challenge. To address this gap, we developed a force-controlled prosthetic finger activated by electromyography (EMG) signals. The prototype, constructed around a wrist brace, functions as a supernumerary finger placed near the index, allowing for early-stage evaluation on unimpaired subjects. A neural network-based model was then implemented to estimate fingertip forces from EMG inputs, allowing for online adjustment of the prosthetic finger grip strength. The force estimation model was validated through experiments with ten participants, demonstrating its effectiveness in predicting forces. Additionally, online trials with four users wearing the prosthesis exhibited precise control over the device. Our findings highlight the potential of using EMG-based force estimation to enhance the functionality of prosthetic fingers.
EnronQA: Towards Personalized RAG over Private Documents
Authors: Michael J. Ryan, Danmei Xu, Chris Nivera, Daniel Campos
Date: 2025-05-01 00:00:00
Tasks: Benchmarking, Memorization, RAG, Retrieval, Retrieval-augmented Generation

Retrieval Augmented Generation (RAG) has become one of the most popular methods for bringing knowledge-intensive context to large language models (LLM) because of its ability to bring local context at inference time without the cost or data leakage risks associated with fine-tuning. A clear separation of private information from the LLM training has made RAG the basis for many enterprise LLM workloads as it allows the company to augment LLM's understanding using customers' private documents. Despite its popularity for private documents in enterprise deployments, current RAG benchmarks for validating and optimizing RAG pipelines draw their corpora from public data such as Wikipedia or generic web pages and offer little to no personal context. Seeking to empower more personal and private RAG we release the EnronQA benchmark, a dataset of 103,638 emails with 528,304 question-answer pairs across 150 different user inboxes. EnronQA enables better benchmarking of RAG pipelines over private data and allows for experimentation on the introduction of personalized retrieval settings over realistic data. Finally, we use EnronQA to explore the tradeoff in memorization and retrieval when reasoning over private documents.
Enriching the Korean Learner Corpus with Multi-reference Annotations and Rubric-Based Scoring
Authors: Jayoung Song, Kyungtae Lim, Jungyeul Park
Date: 2025-05-01 00:00:00
Tasks: Diversity, Grammatical Error Correction

Despite growing global interest in Korean language education, there remains a significant lack of learner corpora tailored to Korean L2 writing. To address this gap, we enhance the KoLLA Korean learner corpus by adding multiple grammatical error correction (GEC) references, thereby enabling more nuanced and flexible evaluation of GEC systems, and reflects the variability of human language. Additionally, we enrich the corpus with rubric-based scores aligned with guidelines from the Korean National Language Institute, capturing grammatical accuracy, coherence, and lexical diversity. These enhancements make KoLLA a robust and standardized resource for research in Korean L2 education, supporting advancements in language learning, assessment, and automated error correction.
Unlearning Sensitive Information in Multimodal LLMs: Benchmark and Attack-Defense Evaluation
Authors: Vaidehi Patil, Yi-Lin Sung, Peter Hase, Jie Peng, Tianlong Chen, Mohit Bansal
Date: 2025-05-01 00:00:00
Tasks: Question Answering, Specificity, Visual Question Answering, Visual Question Answering (VQA)

LLMs trained on massive datasets may inadvertently acquire sensitive information such as personal details and potentially harmful content. This risk is further heightened in multimodal LLMs as they integrate information from multiple modalities (image and text). Adversaries can exploit this knowledge through multimodal prompts to extract sensitive details. Evaluating how effectively MLLMs can forget such information (targeted unlearning) necessitates the creation of high-quality, well-annotated image-text pairs. While prior work on unlearning has focused on text, multimodal unlearning remains underexplored. To address this gap, we first introduce a multimodal unlearning benchmark, UnLOK-VQA (Unlearning Outside Knowledge VQA), as well as an attack-and-defense framework to evaluate methods for deleting specific multimodal knowledge from MLLMs. We extend a visual question-answering dataset using an automated pipeline that generates varying-proximity samples for testing generalization and specificity, followed by manual filtering for maintaining high quality. We then evaluate six defense objectives against seven attacks (four whitebox, three blackbox), including a novel whitebox method leveraging interpretability of hidden states. Our results show multimodal attacks outperform text- or image-only ones, and that the most effective defense removes answer information from internal model states. Additionally, larger models exhibit greater post-editing robustness, suggesting that scale enhances safety. UnLOK-VQA provides a rigorous benchmark for advancing unlearning in MLLMs.
Opioid Named Entity Recognition (ONER-2025) from Reddit
Authors: Grigori Sidorov, Muhammad Ahmad, Iqra Ameer, Muhammad Usman, Ildar Batyrshin
Date: 2025-03-28 00:00:00
Tasks: named-entity-recognition, Named Entity Recognition, NER

The opioid overdose epidemic remains a critical public health crisis, particularly in the United States, leading to significant mortality and societal costs. Social media platforms like Reddit provide vast amounts of unstructured data that offer insights into public perceptions, discussions, and experiences related to opioid use. This study leverages Natural Language Processing (NLP), specifically Opioid Named Entity Recognition (ONER-2025), to extract actionable information from these platforms. Our research makes four key contributions. First, we created a unique, manually annotated dataset sourced from Reddit, where users share self-reported experiences of opioid use via different administration routes. This dataset contains 331,285 tokens and includes eight major opioid entity categories. Second, we detail our annotation process and guidelines while discussing the challenges of labeling the ONER-2025 dataset. Third, we analyze key linguistic challenges, including slang, ambiguity, fragmented sentences, and emotionally charged language, in opioid discussions. Fourth, we propose a real-time monitoring system to process streaming data from social media, healthcare records, and emergency services to identify overdose events. Using 5-fold cross-validation in 11 experiments, our system integrates machine learning, deep learning, and transformer-based language models with advanced contextual embeddings to enhance understanding. Our transformer-based models (bert-base-NER and roberta-base) achieved 97% accuracy and F1-score, outperforming baselines by 10.23% (RF=0.88).
Seeking to Collide: Online Safety-Critical Scenario Generation for Autonomous Driving with Retrieval Augmented Large Language Models
Authors: Yuewen Mei, Tong Nie, Jian Sun, Ye Tian
Date: 2025-05-02 00:00:00
Tasks: Autonomous Driving, Autonomous Vehicles, Language Modeling, Language Modelling, Large Language Model, Memorization, Retrieval

Simulation-based testing is crucial for validating autonomous vehicles (AVs), yet existing scenario generation methods either overfit to common driving patterns or operate in an offline, non-interactive manner that fails to expose rare, safety-critical corner cases. In this paper, we introduce an online, retrieval-augmented large language model (LLM) framework for generating safety-critical driving scenarios. Our method first employs an LLM-based behavior analyzer to infer the most dangerous intent of the background vehicle from the observed state, then queries additional LLM agents to synthesize feasible adversarial trajectories. To mitigate catastrophic forgetting and accelerate adaptation, we augment the framework with a dynamic memorization and retrieval bank of intent-planner pairs, automatically expanding its behavioral library when novel intents arise. Evaluations using the Waymo Open Motion Dataset demonstrate that our model reduces the mean minimum time-to-collision from 1.62 to 1.08 s and incurs a 75% collision rate, substantially outperforming baselines.
MARS: Defending Unmanned Aerial Vehicles From Attacks on Inertial Sensors with Model-based Anomaly Detection and Recovery
Authors: Haocheng Meng, Shaocheng Luo, Zhenyuan Liang, Qing Huang, Amir Khazraei, Miroslav Pajic
Date: 2025-05-02 00:00:00
Tasks: Anomaly Detection

Unmanned Aerial Vehicles (UAVs) rely on measurements from Inertial Measurement Units (IMUs) to maintain stable flight. However, IMUs are susceptible to physical attacks, including acoustic resonant and electromagnetic interference attacks, resulting in immediate UAV crashes. Consequently, we introduce a Model-based Anomaly detection and Recovery System (MARS) that enables UAVs to quickly detect adversarial attacks on inertial sensors and achieve dynamic flight recovery. MARS features an attack-resilient state estimator based on the Extended Kalman Filter, which incorporates position, velocity, heading, and rotor speed measurements to reconstruct accurate attitude and angular velocity information for UAV control. Moreover, a statistical anomaly detection system monitors IMU sensor data, raising a system-level alert if an attack is detected. Upon receiving the alert, a multi-stage dynamic flight recovery strategy suspends the ongoing mission, stabilizes the drone in a hovering condition, and then resumes tasks under the resilient control. Experimental results in PX4 software-in-the-loop environments as well as real-world MARS-PX4 autopilot-equipped drones demonstrate the superiority of our approach over existing IMU-defense frameworks, showcasing the ability of the UAVs to survive attacks and complete the missions.
IP-CRR: Information Pursuit for Interpretable Classification of Chest Radiology Reports
Authors: Yuyan Ge, Kwan Ho Ryan Chan, Pablo Messina, René Vidal
Date: 2025-04-30 00:00:00
Tasks: Diagnostic, Medical Diagnosis

The development of AI-based methods for analyzing radiology reports could lead to significant advances in medical diagnosis--from improving diagnostic accuracy to enhancing efficiency and reducing workload. However, the lack of interpretability in these methods has hindered their adoption in clinical settings. In this paper, we propose an interpretable-by-design framework for classifying radiology reports. The key idea is to extract a set of most informative queries from a large set of reports and use these queries and their corresponding answers to predict a diagnosis. Thus, the explanation for a prediction is, by construction, the set of selected queries and answers. We use the Information Pursuit framework to select informative queries, the Flan-T5 model to determine if facts are present in the report, and a classifier to predict the disease. Experiments on the MIMIC-CXR dataset demonstrate the effectiveness of the proposed method, highlighting its potential to enhance trust and usability in medical AI.
Trace-of-Thought Prompting: Investigating Prompt-Based Knowledge Distillation Through Question Decomposition
Authors: Tyler McDonald, Ali Emami
Date: 2025-04-29 00:00:00
Tasks: GSM8K, Knowledge Distillation, Math, Problem Decomposition

Knowledge distillation allows smaller neural networks to emulate the performance of larger, teacher models with reduced computational demands. Traditional methods for Large Language Models (LLMs) often necessitate extensive fine-tuning, which limits their accessibility. To address this, we introduce Trace-of-Thought Prompting, a novel framework designed to distill critical reasoning capabilities from high-resource teacher models (over 8 billion parameters) to low-resource student models (up to 8 billion parameters). This approach leverages problem decomposition to enhance interpretability and facilitate human-in-the-loop interventions. Empirical evaluations on the GSM8K and MATH datasets show that student models achieve accuracy gains of up to 113% on GSM8K and 21% on MATH, with significant improvements particularly notable in smaller models like Llama 2 and Zephyr. Our results suggest a promising pathway for open-source, low-resource models to eventually serve both as both students and teachers, potentially reducing our reliance on high-resource, proprietary models.
Detecting and Mitigating Hateful Content in Multimodal Memes with Vision-Language Models
Authors: Minh-Hao Van, Xintao Wu
Date: 2025-04-30 00:00:00

The rapid evolution of social media has provided enhanced communication channels for individuals to create online content, enabling them to express their thoughts and opinions. Multimodal memes, often utilized for playful or humorous expressions with visual and textual elements, are sometimes misused to disseminate hate speech against individuals or groups. While the detection of hateful memes is well-researched, developing effective methods to transform hateful content in memes remains a significant challenge. Leveraging the powerful generation and reasoning capabilities of Vision-Language Models (VLMs), we address the tasks of detecting and mitigating hateful content. This paper presents two key contributions: first, a definition-guided prompting technique for detecting hateful memes, and second, a unified framework for mitigating hateful content in memes, named UnHateMeme, which works by replacing hateful textual and/or visual components. With our definition-guided prompts, VLMs achieve impressive performance on hateful memes detection task. Furthermore, our UnHateMeme framework, integrated with VLMs, demonstrates a strong capability to convert hateful memes into non-hateful forms that meet human-level criteria for hate speech and maintain multimodal coherence between image and text. Through empirical experiments, we show the effectiveness of state-of-the-art pretrained VLMs such as LLaVA, Gemini and GPT-4o on the proposed tasks, providing a comprehensive analysis of their respective strengths and limitations for these tasks. This paper aims to shed light on important applications of VLMs for ensuring safe and respectful online environments.
AdaptMI: Adaptive Skill-based In-context Math Instruction for Small Language Models
Authors: Yinghui He, Abhishek Panigrahi, Yong Lin, Sanjeev Arora
Date: 2025-04-30 00:00:00
Tasks: In-Context Learning, Math

In-context learning (ICL) allows a language model to improve its problem-solving capability when provided with suitable information in context. Since the choice of in-context information can be determined based on the problem itself, in-context learning is analogous to human learning from teachers in a classroom. Recent works (Didolkar et al., 2024a; 2024b) show that ICL performance can be improved by leveraging a frontier large language model's (LLM) ability to predict required skills to solve a problem, popularly referred to as an LLM's metacognition, and using the recommended skills to construct necessary in-context examples. While this skill-based strategy boosts ICL performance in larger models, its gains on small language models (SLMs) have been minimal, highlighting a performance gap in ICL capabilities. We investigate this gap and show that skill-based prompting can hurt SLM performance on easy questions by introducing unnecessary information, akin to cognitive overload. To address this, we introduce AdaptMI, an adaptive approach to selecting skill-based in-context Math Instructions for SLMs. Inspired by cognitive load theory from human pedagogy, our method only introduces skill-based examples when the model performs poorly. We further propose AdaptMI+, which adds examples targeted to the specific skills missing from the model's responses. On 5-shot evaluations across popular math benchmarks and five SLMs (1B--7B; Qwen, Llama), AdaptMI+ improves accuracy by up to 6% over naive skill-based strategies.
IK Seed Generator for Dual-Arm Human-like Physicality Robot with Mobile Base
Authors: Jun Takamatsu, Atsushi Kanehira, Kazuhiro Sasabuchi, Naoki Wake, Katsushi Ikeuchi
Date: 2025-05-01 00:00:00

Robots are strongly expected as a means of replacing human tasks. If a robot has a human-like physicality, the possibility of replacing human tasks increases. In the case of household service robots, it is desirable for them to be on a human-like size so that they do not become excessively large in order to coexist with humans in their operating environment. However, robots with size limitations tend to have difficulty solving inverse kinematics (IK) due to mechanical limitations, such as joint angle limitations. Conversely, if the difficulty coming from this limitation could be mitigated, one can expect that the use of such robots becomes more valuable. In numerical IK solver, which is commonly used for robots with higher degrees-of-freedom (DOF), the solvability of IK depends on the initial guess given to the solver. Thus, this paper proposes a method for generating a good initial guess for a numerical IK solver given the target hand configuration. For the purpose, we define the goodness of an initial guess using the scaled Jacobian matrix, which can calculate the manipulability index considering the joint limits. These two factors are related to the difficulty of solving IK. We generate the initial guess by optimizing the goodness using the genetic algorithm (GA). To enumerate much possible IK solutions, we use the reachability map that represents the reachable area of the robot hand in the arm-base coordinate system. We conduct quantitative evaluation and prove that using an initial guess that is judged to be better using the goodness value increases the probability that IK is solved. Finally, as an application of the proposed method, we show that by generating good initial guesses for IK a robot actually achieves three typical scenarios.
Between Underthinking and Overthinking: An Empirical Study of Reasoning Length and correctness in LLMs
Authors: Jinyan Su, Jennifer Healey, Preslav Nakov, Claire Cardie
Date: 2025-04-30 00:00:00

Large language models (LLMs) are increasingly optimized for long reasoning, under the assumption that more reasoning leads to better performance. However, emerging evidence suggests that longer responses can sometimes degrade accuracy rather than improve it. In this paper, we conduct a systematic empirical study of the relationship between reasoning length and answer correctness. We find that LLMs tend to overthink simple problems, generating unnecessarily long outputs, and underthink harder ones, failing to extend their reasoning when it is most needed. This indicates that models might misjudge problem difficulty and fail to calibrate their response length appropriately. Furthermore, we investigate the effects of length reduction with a preference optimization algorithm when simply preferring the shorter responses regardless of answer correctness. Experiments show that the generation length can be significantly reduced while maintaining acceptable accuracy. Our findings highlight generation length as a meaningful signal for reasoning behavior and motivate further exploration into LLMs' self-awareness in reasoning length adaptation.
Fine-Tuning LLMs for Low-Resource Dialect Translation: The Case of Lebanese
Authors: Silvana Yakhni, Ali Chehab
Date: 2025-04-30 00:00:00
Tasks: Translation

This paper examines the effectiveness of Large Language Models (LLMs) in translating the low-resource Lebanese dialect, focusing on the impact of culturally authentic data versus larger translated datasets. We compare three fine-tuning approaches: Basic, contrastive, and grammar-hint tuning, using open-source Aya23 models. Experiments reveal that models fine-tuned on a smaller but culturally aware Lebanese dataset (LW) consistently outperform those trained on larger, non-native data. The best results were achieved through contrastive fine-tuning paired with contrastive prompting, which indicates the benefits of exposing translation models to bad examples. In addition, to ensure authentic evaluation, we introduce LebEval, a new benchmark derived from native Lebanese content, and compare it to the existing FLoRes benchmark. Our findings challenge the "More Data is Better" paradigm and emphasize the crucial role of cultural authenticity in dialectal translation. We made our datasets and code available on Github.