Vision Language Action (VLA) models represent a transformative shift in robotics, with the aim of unifying visual perception, natural language understanding, and embodied control within a single learning framework. This review presents a comprehensive and forward-looking synthesis of the VLA paradigm, with a particular emphasis on robotic manipulation and instruction-driven autonomy. We comprehensively analyze 102 VLA models, 26 foundational datasets, and 12 simulation platforms that collectively shape the development and evaluation of VLAs models. These models are categorized into key architectural paradigms, each reflecting distinct strategies for integrating vision, language, and control in robotic systems. Foundational datasets are evaluated using a novel criterion based on task complexity, variety of modalities, and dataset scale, allowing a comparative analysis of their suitability for generalist policy learning. We introduce a two-dimensional characterization framework that organizes these datasets based on semantic richness and multimodal alignment, showing underexplored regions in the current data landscape. Simulation environments are evaluated for their effectiveness in generating large-scale data, as well as their ability to facilitate transfer from simulation to real-world settings and the variety of supported tasks. Using both academic and industrial contributions, we recognize ongoing challenges and outline strategic directions such as scalable pretraining protocols, modular architectural design, and robust multimodal alignment strategies. This review serves as both a technical reference and a conceptual roadmap for advancing embodiment and robotic control, providing insights that span from dataset generation to real world deployment of generalist robotic agents.
Recent developments in the Internet of Bio-Nano Things (IoBNT) are laying the groundwork for innovative applications across the healthcare sector. Nanodevices designed to operate within the body, managed remotely via the internet, are envisioned to promptly detect and actuate on potential diseases. In this vision, an inherent challenge arises due to the limited capabilities of individual nanosensors; specifically, nanosensors must communicate with one another to collaborate as a cluster. Aiming to research the boundaries of the clustering capabilities, this survey emphasizes data-driven communication strategies in molecular communication (MC) channels as a means of linking nanosensors. Relying on the flexibility and robustness of machine learning (ML) methods to tackle the dynamic nature of MC channels, the MC research community frequently refers to neural network (NN) architectures. This interdisciplinary research field encompasses various aspects, including the use of NNs to facilitate communication in MC environments, their implementation at the nanoscale, explainable approaches for NNs, and dataset generation for training. Within this survey, we provide a comprehensive analysis of fundamental perspectives on recent trends in NN architectures for MC, the feasibility of their implementation at the nanoscale, applied explainable artificial intelligence (XAI) techniques, and the accessibility of datasets along with best practices for their generation. Additionally, we offer open-source code repositories that illustrate NN-based methods to support reproducible research for key MC scenarios. Finally, we identify emerging research challenges, such as robust NN architectures, biologically integrated NN modules, and scalable training strategies.
Despite rapid advances in vision-language models (VLMs), current benchmarks for multimodal reasoning fall short in three key dimensions. First, they overwhelmingly rely on static images, failing to capture the temporal complexity of real-world environments. Second, they narrowly focus on mathematical problem-solving, neglecting the broader spectrum of reasoning skills -- including abstract, physical, planning, spatial, and temporal capabilities -- required for robust multimodal intelligence. Third, many benchmarks quickly saturate, offering limited headroom for diagnosing failure modes or measuring continued progress. We introduce MORSE-500 (Multimodal Reasoning Stress-test Environment), a video benchmark composed of 500 fully scripted clips with embedded questions spanning six complementary reasoning categories. Each instance is programmatically generated using deterministic Python scripts (via Manim, Matplotlib, MoviePy), generative video models, and curated real footage. This script-driven design allows fine-grained control over visual complexity, distractor density, and temporal dynamics -- enabling difficulty to be scaled systematically as models improve. Unlike static benchmarks that become obsolete once saturated, MORSE-500 is built to evolve: its controllable generation pipeline supports the creation of arbitrarily challenging new instances, making it ideally suited for stress-testing next-generation models. Initial experiments with state-of-the-art systems -- including various Gemini 2.5 Pro and OpenAI o3 which represent the strongest available at the time, alongside strong open-source models -- reveal substantial performance gaps across all categories, with particularly large deficits in abstract and planning tasks. We release the full dataset, generation scripts, and evaluation harness to support transparent, reproducible, and forward-looking multimodal reasoning research.
Many models are pretrained on redacted text for privacy reasons. Clinical foundation models are often trained on de-identified text, which uses special syntax (masked) text in place of protected health information. Even though these models have increased in popularity, there has been little effort in understanding the effects of training them on redacted text. In this work, we pretrain several encoder-only models on a dataset that contains redacted text and a version with replaced realistic pseudo text. We then fine-tuned models for the protected health information de-identification task and show how our methods significantly outperform previous baselines. The contributions of this work include: a) our novel, and yet surprising findings with training recommendations, b) redacted text replacements used to produce the pseudo dataset, c) pretrained embeddings and fine-tuned task specific models, and d) freely available pseudo training dataset generation and model source code used in our experiments.
Per-garment virtual try-on methods collect garment-specific datasets and train networks tailored to each garment to achieve superior results. However, these approaches often struggle with loose-fitting garments due to two key limitations: (1) They rely on human body semantic maps to align garments with the body, but these maps become unreliable when body contours are obscured by loose-fitting garments, resulting in degraded outcomes; (2) They train garment synthesis networks on a per-frame basis without utilizing temporal information, leading to noticeable jittering artifacts. To address these challenges, we propose a two-stage approach for robust semantic map estimation. First, we extract a garment-invariant representation from the raw input image. This representation is then passed through an auxiliary network to estimate the semantic map. This enhances the robustness of semantic map estimation under loose-fitting garments during garment-specific dataset generation. Furthermore, we introduce a recurrent garment synthesis framework that incorporates temporal dependencies to improve frame-to-frame coherence while maintaining real-time performance. We conducted qualitative and quantitative evaluations to demonstrate that our method outperforms existing approaches in both image quality and temporal coherence. Ablation studies further validate the effectiveness of the garment-invariant representation and the recurrent synthesis framework.
Training large language models (LLMs) with chain-of-thought (CoT) supervision has proven effective for enhancing their reasoning abilities. However, obtaining reliable and accurate reasoning supervision remains a significant challenge. We propose a scalable method for generating a high-quality CoT supervision dataset by leveraging the determinism of program execution. Unlike existing reasoning dataset generation methods that rely on costly human annotations or error-prone LLM-generated CoT, our approach extracts verifiable, step-by-step reasoning traces from code execution and transforms them into a natural language CoT reasoning. Experiments on reasoning benchmarks across various domains show that our method effectively equips LLMs with transferable reasoning abilities across diverse tasks. Furthermore, the ablation studies validate that our method produces highly accurate reasoning data and reduces overall token length during inference by reducing meaningless repetition and overthinking.
Retrieval-Augmented Generation (RAG) grounds large language models in external evidence, yet it still falters when answers must be pieced together across semantically distant documents. We close this gap with the Hierarchical Lexical Graph (HLG), a three-tier index that (i) traces every atomic proposition to its source, (ii) clusters propositions into latent topics, and (iii) links entities and relations to expose cross-document paths. On top of HLG we build two complementary, plug-and-play retrievers: StatementGraphRAG, which performs fine-grained entity-aware beam search over propositions for high-precision factoid questions, and TopicGraphRAG, which selects coarse topics before expanding along entity links to supply broad yet relevant context for exploratory queries. Additionally, existing benchmarks lack the complexity required to rigorously evaluate multi-hop summarization systems, often focusing on single-document queries or limited datasets. To address this, we introduce a synthetic dataset generation pipeline that curates realistic, multi-document question-answer pairs, enabling robust evaluation of multi-hop retrieval systems. Extensive experiments across five datasets demonstrate that our methods outperform naive chunk-based RAG achieving an average relative improvement of 23.1% in retrieval recall and correctness. Open-source Python library is available at https://github.com/awslabs/graphrag-toolkit.
Robust causal discovery in time series datasets depends on reliable benchmark datasets with known ground-truth causal relationships. However, such datasets remain scarce, and existing synthetic alternatives often overlook critical temporal properties inherent in real-world data, including nonstationarity driven by trends and seasonality, irregular sampling intervals, and the presence of unobserved confounders. To address these challenges, we introduce TimeGraph, a comprehensive suite of synthetic time-series benchmark datasets that systematically incorporates both linear and nonlinear dependencies while modeling key temporal characteristics such as trends, seasonal effects, and heterogeneous noise patterns. Each dataset is accompanied by a fully specified causal graph featuring varying densities and diverse noise distributions and is provided in two versions: one including unobserved confounders and one without, thereby offering extensive coverage of real-world complexity while preserving methodological neutrality. We further demonstrate the utility of TimeGraph through systematic evaluations of state-of-the-art causal discovery algorithms including PCMCI+, LPCMCI, and FGES across a diverse array of configurations and metrics. Our experiments reveal significant variations in algorithmic performance under realistic temporal conditions, underscoring the need for robust synthetic benchmarks in the fair and transparent assessment of causal discovery methods. The complete TimeGraph suite, including dataset generation scripts, evaluation metrics, and recommended experimental protocols, is freely available to facilitate reproducible research and foster community-driven advancements in time-series causal discovery.
Modern machine learning methods require significant amounts of labelled data, making the preparation process time-consuming and resource-intensive. In this paper, we propose to consider the process of prototyping a tool for annotating and generating training datasets based on video tracking and segmentation. We examine different approaches to solving this problem, from technology selection through to final implementation. The developed prototype significantly accelerates dataset generation compared to manual annotation. All resources are available at https://github.com/lnikioffic/track-anything-annotate
3D semantic segmentation plays a pivotal role in autonomous driving and road infrastructure analysis, yet state-of-the-art 3D models are prone to severe domain shift when deployed across different datasets. We propose a novel multi-view projection framework that excels in both domain generalization (DG) and unsupervised domain adaptation (UDA). Our approach first aligns Lidar scans into coherent 3D scenes and renders them from multiple virtual camera poses to create a large-scale synthetic 2D dataset (PC2D). We then use it to train a 2D segmentation model in-domain. During inference, the model processes hundreds of views per scene; the resulting logits are back-projected to 3D with an occlusion-aware voting scheme to generate final point-wise labels. Our framework is modular and enables extensive exploration of key design parameters, such as view generation optimization (VGO), visualization modality optimization (MODO), and 2D model choice. We evaluate on the nuScenes and SemanticKITTI datasets under both the DG and UDA settings. We achieve state-of-the-art results in UDA and close to state-of-the-art in DG, with particularly large gains on large, static classes. Our code and dataset generation tools will be publicly available at https://github.com/andrewcaunes/ia4markings
Despite recent advances in text-to-image generation, using synthetically generated data seldom brings a significant boost in performance for supervised learning. Oftentimes, synthetic datasets do not faithfully recreate the data distribution of real data, i.e., they lack the fidelity or diversity needed for effective downstream model training. While previous work has employed few-shot guidance to address this issue, existing methods still fail to capture and generate features unique to specific real images. In this paper, we introduce a novel dataset generation framework named LoFT, LoRA-Fused Training-data Generation with Few-shot Guidance. Our method fine-tunes LoRA weights on individual real images and fuses them at inference time, producing synthetic images that combine the features of real images for improved diversity and fidelity of generated data. We evaluate the synthetic data produced by LoFT on 10 datasets, using 8 to 64 real images per class as guidance and scaling up to 1000 images per class. Our experiments show that training on LoFT-generated data consistently outperforms other synthetic dataset methods, significantly increasing accuracy as the dataset size increases. Additionally, our analysis demonstrates that LoFT generates datasets with high fidelity and sufficient diversity, which contribute to the performance improvement. The code is available at https://github.com/ExplainableML/LoFT.
Tiny QA Benchmark++ (TQB++) presents an ultra-lightweight, multilingual smoke-test suite designed to give large-language-model (LLM) pipelines a unit-test style safety net dataset that runs in seconds with minimal cost. Born out of the tight feedback-loop demands building the Comet Opik prompt-optimization SDK, where waiting on heavyweight benchmarks breaks developer flow. TQB++ couples a 52-item English gold set (less than 20 kB) with a tiny synthetic-data generator pypi package built on provider-agnostic LiteLLM. The generator lets practitioners mint their own tiny packs in any language, domain, or difficulty, while ten ready-made packs already cover Arabic, Chinese, French, German, Japanese, Korean, Portuguese, Russian, Spanish, and Turkish. Every dataset ships with Croissant metadata and plug-and-play files for OpenAI-Evals, LangChain, and standard CI tools, so teams can drop deterministic micro-benchmarks directly into pull-request gates, prompt-engineering loops, and production dashboards without touching GPU budgets. A complete TQB++ run adds only a few seconds to pipeline latency yet reliably flags prompt-template errors, tokenizer drift, and fine-tuning side-effects long before full-scale suites like MMLU or BIG-Bench would finish configuring. The entire framework is released to accelerate continuous, resource-efficient quality assurance across the generative-AI ecosystem.
We introduce IrrMap, the first large-scale dataset (1.1 million patches) for irrigation method mapping across regions. IrrMap consists of multi-resolution satellite imagery from LandSat and Sentinel, along with key auxiliary data such as crop type, land use, and vegetation indices. The dataset spans 1,687,899 farms and 14,117,330 acres across multiple western U.S. states from 2013 to 2023, providing a rich and diverse foundation for irrigation analysis and ensuring geospatial alignment and quality control. The dataset is ML-ready, with standardized 224x224 GeoTIFF patches, the multiple input modalities, carefully chosen train-test-split data, and accompanying dataloaders for seamless deep learning model training andbenchmarking in irrigation mapping. The dataset is also accompanied by a complete pipeline for dataset generation, enabling researchers to extend IrrMap to new regions for irrigation data collection or adapt it with minimal effort for other similar applications in agricultural and geospatial analysis. We also analyze the irrigation method distribution across crop groups, spatial irrigation patterns (using Shannon diversity indices), and irrigated area variations for both LandSat and Sentinel, providing insights into regional and resolution-based differences. To promote further exploration, we openly release IrrMap, along with the derived datasets, benchmark models, and pipeline code, through a GitHub repository: https://github.com/Nibir088/IrrMap and Data repository: https://huggingface.co/Nibir/IrrMap, providing comprehensive documentation and implementation details.
Synthetic dataset generation in Computer Vision, particularly for industrial applications, is still underexplored. Industrial defect segmentation, for instance, requires highly accurate labels, yet acquiring such data is costly and time-consuming. To address this challenge, we propose a novel diffusion-based pipeline for generating high-fidelity industrial datasets with minimal supervision. Our approach conditions the diffusion model on enriched bounding box representations to produce precise segmentation masks, ensuring realistic and accurately localized defect synthesis. Compared to existing layout-conditioned generative methods, our approach improves defect consistency and spatial accuracy. We introduce two quantitative metrics to evaluate the effectiveness of our method and assess its impact on a downstream segmentation task trained on real and synthetic data. Our results demonstrate that diffusion-based synthesis can bridge the gap between artificial and real-world industrial data, fostering more reliable and cost-efficient segmentation models. The code is publicly available at https://github.com/covisionlab/diffusion_labeling.
Moral stories are a time-tested vehicle for transmitting values, yet modern NLP lacks a large, structured corpus that couples coherent narratives with explicit ethical lessons. We close this gap with TF1-EN-3M, the first open dataset of three million English-language fables generated exclusively by instruction-tuned models no larger than 8B parameters. Each story follows a six-slot scaffold (character -> trait -> setting -> conflict -> resolution -> moral), produced through a combinatorial prompt engine that guarantees genre fidelity while covering a broad thematic space. A hybrid evaluation pipeline blends (i) a GPT-based critic that scores grammar, creativity, moral clarity, and template adherence with (ii) reference-free diversity and readability metrics. Among ten open-weight candidates, an 8B-parameter Llama-3 variant delivers the best quality-speed trade-off, producing high-scoring fables on a single consumer GPU (<24 GB VRAM) at approximately 13.5 cents per 1,000 fables. We release the dataset, generation code, evaluation scripts, and full metadata under a permissive license, enabling exact reproducibility and cost benchmarking. TF1-EN-3M opens avenues for research in instruction following, narrative intelligence, value alignment, and child-friendly educational AI, demonstrating that large-scale moral storytelling no longer requires proprietary giant models.
Structure-from-Motion (SfM) is the task of estimating 3D structure and camera poses from images. We define Collaborative SfM (ColabSfM) as sharing distributed SfM reconstructions. Sharing maps requires estimating a joint reference frame, which is typically referred to as registration. However, there is a lack of scalable methods and training datasets for registering SfM reconstructions. In this paper, we tackle this challenge by proposing the scalable task of point cloud registration for SfM reconstructions. We find that current registration methods cannot register SfM point clouds when trained on existing datasets. To this end, we propose a SfM registration dataset generation pipeline, leveraging partial reconstructions from synthetically generated camera trajectories for each scene. Finally, we propose a simple but impactful neural refiner on top of the SotA registration method RoITr that yields significant improvements, which we call RefineRoITr. Our extensive experimental evaluation shows that our proposed pipeline and model enables ColabSfM. Code is available at https://github.com/EricssonResearch/ColabSfM
3D detection is a critical task to understand spatial characteristics of the environment and is used in a variety of applications including robotics, augmented reality, and image retrieval. Training performant detection models require diverse, precisely annotated, and large scale datasets that involve complex and expensive creation processes. Hence, there are only few public 3D datasets that are additionally limited in their range of classes. In this work, we propose a pipeline for automatic generation of 3D datasets for arbitrary objects. By utilizing the universal 3D representation and rendering capabilities of Radiance Fields, our pipeline generates high quality 3D models for arbitrary objects. These 3D models serve as input for a synthetic dataset generator. Our pipeline is fast, easy to use and has a high degree of automation. Our experiments demonstrate, that 3D pose estimation networks, trained with our generated datasets, archive strong performance in typical application scenarios.
This study explores the integration of machine learning into urban aerial image analysis, with a focus on identifying infrastructure surfaces for cars and pedestrians and analyzing historical trends. It emphasizes the transition from convolutional architectures to transformer-based pre-trained models, underscoring their potential in global geospatial analysis. A workflow is presented for automatically generating geospatial datasets, enabling the creation of semantic segmentation datasets from various sources, including WMS/WMTS links, vectorial cartography, and OpenStreetMap (OSM) overpass-turbo requests. The developed code allows a fast dataset generation process for training machine learning models using openly available data without manual labelling. Using aerial imagery and vectorial data from the respective geographical offices of Madrid and Vienna, two datasets were generated for car and pedestrian surface detection. A transformer-based model was trained and evaluated for each city, demonstrating good accuracy values. The historical trend analysis involved applying the trained model to earlier images predating the availability of vectorial data 10 to 20 years, successfully identifying temporal trends in infrastructure for pedestrians and cars across different city areas. This technique is applicable for municipal governments to gather valuable data at a minimal cost.
The success of multi-modal large language models (MLLMs) has been largely attributed to the large-scale training data. However, the training data of many MLLMs is unavailable due to privacy concerns. The expensive and labor-intensive process of collecting multi-modal data further exacerbates the problem. Is it possible to synthesize multi-modal training data automatically without compromising diversity and quality? In this paper, we propose a new method, Oasis, to synthesize high-quality multi-modal data with only images. Oasis breaks through traditional methods by prompting only images to the MLLMs, thus extending the data diversity by a large margin. Our method features a delicate quality control method which ensures the data quality. We collected over 500k data and conducted incremental experiments on LLaVA-NeXT. Extensive experiments demonstrate that our method can significantly improve the performance of MLLMs. The image-based synthesis also allows us to focus on the specific-domain ability of MLLMs. Code and dataset are publicly available at https://github.com/Letian2003/MM_INF.
An important factor in advancing autonomous driving systems is simulation. Yet, there is rather small progress for transferability between the virtual and real world. We revisit this problem for 3D object detection on LiDAR point clouds and propose a dataset generation pipeline based on the CARLA simulator. Utilizing domain randomization strategies and careful modeling, we are able to train an object detector on the synthetic data and demonstrate strong generalization capabilities to the KITTI dataset. Furthermore, we compare different virtual sensor variants to gather insights, which sensor attributes can be responsible for the prevalent domain gap. Finally, fine-tuning with a small portion of real data almost matches the baseline and with the full training set slightly surpasses it.