Manuel Castillo-Cara | Searcharxiv

arXiv2025

Hybrid Neural Network-Based Indoor Localisation System for Mobile Robots Using CSI Data in a Robotics Simulator

We present a hybrid neural network model for inferring the position of mobile robots using Channel State Information (CSI) data from a Massive MIMO system. By leveraging an existing CSI dataset, our approach integrates a Convolutional Neural Network (CNN) with a Multilayer Perceptron (MLP) to form a Hybrid Neural Network (HyNN) that estimates 2D robot positions. CSI readings are converted into synthetic images using the TINTO tool. The localisation solution is integrated with a robotics simulator, and the Robot Operating System (ROS), which facilitates its evaluation through heterogeneous test cases, and the adoption of state estimators like Kalman filters. Our contributions illustrate the potential of our HyNN model in achieving precise indoor localisation and navigation for mobile robots in complex environments. The study follows, and proposes, a generalisable procedure applicable beyond the specific use case studied, making it adaptable to different scenarios and datasets.

cs.RO↗

arXiv2025

PeruMedQA: Benchmarking Large Language Models (LLMs) on Peruvian Medical Exams -- Dataset Construction and Evaluation

BACKGROUND: Medical large language models (LLMs) have demonstrated remarkable performance in answering medical examinations. However, the extent to which this high performance is transferable to medical questions in Spanish and from a Latin American country remains unexplored. This knowledge is crucial as LLM-based medical applications gain traction in Latin America. AIMS: To build a dataset of questions medical examinations taken by Peruvian physicians pursuing specialty training; to fine-tune a LLM on this dataset; to evaluate and compare the performance in terms of accuracy between vanilla LLMs and the fine-tuned LLM. METHODS: We curated PeruMedQA, a multiple-choice question-answering (MCQA) dataset containing 8,380 questions spanning 12 specialties (2018-2025). We selected ten medical LLMs, including medgemma-4b-it and medgemma-27b-text-it, and developed zero-shot task specific prompts to answer the questions. We employed parameter-efficient fine tuning (PEFT) and low-rand adaptation (LoRA) to fine-tune medgemma-4b-it utilizing all questions except those from 2025 (test set). RESULTS: Medgemma-27b showed the highest accuracy across all specialities, achieving the highest score of 89.29% in Psychiatry; yet, in two specialties, OctoMed-7B exhibited slight superiority: Neurosurgery with 77.27% and 77.38, respectively; and Radiology with 76.13% and 77.39%, respectively. Across specialties, most LLMs with <10 billion parameters exhibited <50% of correct answers. The fine-tuned version of medgemma-4b-it emerged victorious against all LLMs with <10 billion parameters and rivaled a LLM with 70 billion parameters across various examinations. CONCLUSIONS: For medical AI applications and research that require knowledge bases from Spanish-speaking countries and those exhibiting similar epidemiological profile to Peru's, interested parties should utilize medgemma-27b-text-it.

cs.CL↗