OpenRaiser/Intern-Atlas huggingface dataset:
BT-ACTION: A Test-Driven Approach for Modular Understanding of User Instruction Leveraging Behaviour Trees and LLMs
Venue: arXiv cs.RO 2025
Year: 2025

Natural language instructions are often abstract and complex, requiring robots to execute multiple subtasks even for seemingly simple queries. For example, when a user asks a robot to prepare avocado toast, the task involves several sequential steps. Moreover, such instructions can be ambiguous or infeasible for the robot or may exceed the robot's existing knowledge. While Large Language Models (LLMs) offer strong language reasoning capabilities to handle these challenges, effectively integrating them into robotic systems remains a key challenge. To address this, we propose BT-ACTION, a test-driven approach that combines the modular structure of Behavior Trees (BT) with LLMs to generate coherent sequences of robot actions for following complex user instructions, specifically in the context of preparing recipes in a kitchen-assistance setting. We evaluated BT-ACTION in a comprehensive user study with 45 participants, comparing its performance to direct LLM prompting. Results demonstrate that the modular design of BT-ACTION helped the robot make fewer mistakes and increased user trust, and participants showed a significant preference for the robot leveraging BT-ACTION. The code is publicly available at https://github.com/1Eggbert7/BT_LLM.
Do Two AI Scientists Agree?
Venue: arXiv cs.AI 2025
Year: 2025

When two AI models are trained on the same scientific task, do they learn the same theory or two different theories? Throughout history of science, we have witnessed the rise and fall of theories driven by experimental validation or falsification: many theories may co-exist when experimental data is lacking, but the space of survived theories become more constrained with more experimental data becoming available. We show the same story is true for AI scientists. With increasingly more systems provided in training data, AI scientists tend to converge in the theories they learned, although sometimes they form distinct groups corresponding to different theories. To mechanistically interpret what theories AI scientists learn and quantify their agreement, we propose MASS, Hamiltonian-Lagrangian neural networks as AI Scientists, trained on standard problems in physics, aggregating training results across many seeds simulating the different configurations of AI scientists. Our findings suggests for AI scientists switch from learning a Hamiltonian theory in simple setups to a Lagrangian formulation when more complex systems are introduced. We also observe strong seed dependence of the training dynamics and final learned weights, controlling the rise and fall of relevant theories. We finally demonstrate that not only can our neural networks aid interpretability, it can also be applied to higher dimensional problems.
The epistemic dimension of algorithmic fairness: assessing its impact in innovation diffusion and fair policy making
Venue: arXiv cs.CY 2025
Year: 2025

Algorithmic fairness is an expanding field that addresses a range of discrimination issues associated with algorithmic processes. However, most works in the literature focus on analyzing it only from an ethical perspective, focusing on moral principles and values that should be considered in the design and evaluation of algorithms, while disregarding the epistemic dimension related to knowledge transmission and validation. However, this aspect of algorithmic fairness should also be included in the debate, as it is crucial to introduce a specific type of harm: an individual may be systematically excluded from the dissemination of knowledge due to the attribution of a credibility deficit/excess. In this work, we specifically focus on characterizing and analyzing the impact of this credibility deficit or excess on the diffusion of innovations on a societal scale, a phenomenon driven by individual attitudes and social interactions, and also by the strength of mutual connections. Indeed, discrimination might shape the latter, ultimately modifying how innovations spread within the network. In this light, to incorporate, also from a formal point of view, the epistemic dimension in innovation diffusion models becomes paramount, especially if these models are intended to support fair policy design. For these reasons, we formalize the epistemic properties of a social environment, by extending the well-established Linear Threshold Model (LTM) in an epistemic direction to show the impact of epistemic biases in innovation diffusion. Focusing on the impact of epistemic bias in both open-loop and closed-loop scenarios featuring optimal fostering policies, our results shed light on the pivotal role the epistemic dimension might have in the debate of algorithmic fairness in decision-making.
GS_DravidianLangTech@2025: Women Targeted Abusive Texts Detection on Social Media
Venue: arXiv cs.CL 2025
Year: 2025

The increasing misuse of social media has become a concern; however, technological solutions are being developed to moderate its content effectively. This paper focuses on detecting abusive texts targeting women on social media platforms. Abusive speech refers to communication intended to harm or incite hatred against vulnerable individuals or groups. Specifically, this study aims to identify abusive language directed toward women. To achieve this, we utilized logistic regression and BERT as base models to train datasets sourced from DravidianLangTech@2025 for Tamil and Malayalam languages. The models were evaluated on test datasets, resulting in a 0.729 macro F1 score for BERT and 0.6279 for logistic regression in Tamil and Malayalam, respectively.
OpenFACADES: An Open Framework for Architectural Caption and Attribute Data Enrichment via Street View Imagery
Venue: arXiv cs.CV 2025
Year: 2025

Building properties, such as height, usage, and material, play a crucial role in spatial data infrastructures, supporting various urban applications. Despite their importance, comprehensive building attribute data remain scarce in many urban areas. Recent advances have enabled the extraction of objective building attributes using remote sensing and street-level imagery. However, establishing a pipeline that integrates diverse open datasets, acquires holistic building imagery, and infers comprehensive building attributes at scale remains a significant challenge. Among the first, this study bridges the gaps by introducing OpenFACADES, an open framework that leverages multimodal crowdsourced data to enrich building profiles with both objective attributes and semantic descriptors through multimodal large language models. First, we integrate street-level image metadata from Mapillary with OpenStreetMap geometries via isovist analysis, identifying images that provide suitable vantage points for observing target buildings. Second, we automate the detection of building facades in panoramic imagery and tailor a reprojection approach to convert objects into holistic perspective views that approximate real-world observation. Third, we introduce an innovative approach that harnesses and investigates the capabilities of open-source large vision-language models (VLMs) for multi-attribute prediction and open-vocabulary captioning in building-level analytics, leveraging a globally sourced dataset of 31,180 labeled images from seven cities. Evaluation shows that fine-tuned VLM excel in multi-attribute inference, outperforming single-attribute computer vision models and zero-shot ChatGPT-4o. Further experiments confirm its superior generalization and robustness across culturally distinct region and varying image conditions.
Enhancing Traffic Sign Recognition On The Performance Based On Yolov8
Venue: arXiv cs.CV 2025
Year: 2025

This paper Traffic sign recognition plays a crucial role in the development of autonomous vehicles and advanced driver-assistance systems (ADAS). Despite significant advances in deep learning and object detection, accurately detecting and classifying traffic signs remains challenging due to their small sizes, variable environmental conditions, occlusion, and class imbalance. This thesis presents an enhanced YOLOv8-based detection system that integrates advanced data augmentation techniques, novel architectural enhancements including Coordinate Attention (CA), Bidirectional Feature Pyramid Network (BiFPN), and dynamic modules such as ODConv and LSKA, along with refined loss functions (EIoU and WIoU combined with Focal Loss). Extensive experiments conducted on datasets including GTSRB, TT100K, and GTSDB demonstrate marked improvements in detection accuracy, robustness under adverse conditions, and real-time inference on edge devices. The findings contribute actionable insights for deploying reliable traffic sign recognition systems in real-world autonomous driving scenarios.
Comparative Analysis of Deepfake Detection Models: New Approaches and Perspectives
Venue: arXiv cs.CV 2025
Year: 2025

The growing threat posed by deepfake videos, capable of manipulating realities and disseminating misinformation, drives the urgent need for effective detection methods. This work investigates and compares different approaches for identifying deepfakes, focusing on the GenConViT model and its performance relative to other architectures present in the DeepfakeBenchmark. To contextualize the research, the social and legal impacts of deepfakes are addressed, as well as the technical fundamentals of their creation and detection, including digital image processing, machine learning, and artificial neural networks, with emphasis on Convolutional Neural Networks (CNNs), Generative Adversarial Networks (GANs), and Transformers. The performance evaluation of the models was conducted using relevant metrics and new datasets established in the literature, such as WildDeep-fake and DeepSpeak, aiming to identify the most effective tools in the battle against misinformation and media manipulation. The obtained results indicated that GenConViT, after fine-tuning, exhibited superior performance in terms of accuracy (93.82%) and generalization capacity, surpassing other architectures in the DeepfakeBenchmark on the DeepSpeak dataset. This study contributes to the advancement of deepfake detection techniques, offering contributions to the development of more robust and effective solutions against the dissemination of false information.
Systematic Literature Review: Explainable AI Definitions and Challenges in Education
Venue: arXiv cs.CY 2025
Year: 2025

Explainable AI (XAI) seeks to transform black-box algorithmic processes into transparent ones, enhancing trust in AI applications across various sectors such as education. This review aims to examine the various definitions of XAI within the literature and explore the challenges of XAI in education. Our goal is to shed light on how XAI can contribute to enhancing the educational field. This systematic review, utilising the PRISMA method for rigorous and transparent research, identified 19 relevant studies. Our findings reveal 15 definitions and 62 challenges. These challenges are categorised using thematic analysis into seven groups: explainability, ethical, technical, human-computer interaction (HCI), trustworthiness, policy and guideline, and others, thereby deepening our understanding of the implications of XAI in education. Our analysis highlights the absence of standardised definitions for XAI, leading to confusion, especially because definitions concerning ethics, trustworthiness, technicalities, and explainability tend to overlap and vary.
Feature Engineering on LMS Data to Optimize Student Performance Prediction
Venue: arXiv cs.CY 2025
Year: 2025

Nearly every educational institution uses a learning management system (LMS), often producing terabytes of data generated by thousands of people. We examine LMS grade and login data from a regional comprehensive university, specifically documenting key considerations for engineering features from these data when trying to predict student performance. We specifically document changes to LMS data patterns since Covid-19, which are critical for data scientists to account for when using historic data. We compare numerous engineered features and approaches to utilizing those features for machine learning. We finish with a summary of the implications of including these features into more comprehensive student performance models.
Randomized Pairwise Learning with Adaptive Sampling: A PAC-Bayes Analysis
Venue: arXiv cs.LG 2025
Year: 2025

We study stochastic optimization with data-adaptive sampling schemes to train pairwise learning models. Pairwise learning is ubiquitous, and it covers several popular learning tasks such as ranking, metric learning and AUC maximization. A notable difference of pairwise learning from pointwise learning is the statistical dependencies among input pairs, for which existing analyses have not been able to handle in the general setting considered in this paper. To this end, we extend recent results that blend together two algorithm-dependent frameworks of analysis -- algorithmic stability and PAC-Bayes -- which allow us to deal with any data-adaptive sampling scheme in the optimizer. We instantiate this framework to analyze (1) pairwise stochastic gradient descent, which is a default workhorse in many machine learning problems, and (2) pairwise stochastic gradient descent ascent, which is a method used in adversarial training. All of these algorithms make use of a stochastic sampling from a discrete distribution (sample indices) before each update. Non-uniform sampling of these indices has been already suggested in the recent literature, to which our work provides generalization guarantees in both smooth and non-smooth convex problems.
QID: Efficient Query-Informed ViTs in Data-Scarce Regimes for OCR-free Visual Document Understanding
Venue: arXiv cs.CV 2025
Year: 2025

In Visual Document Understanding (VDU) tasks, fine-tuning a pre-trained Vision-Language Model (VLM) with new datasets often falls short in optimizing the vision encoder to identify query-specific regions in text-rich document images. Existing methods that directly inject queries into model layers by modifying the network architecture often struggle to adapt to new datasets with limited annotations. To address this, we introduce QID, a novel, streamlined, architecture-preserving approach that integrates query embeddings into the vision encoder, leading to notable performance gains, particularly in data-scarce fine-tuning scenarios. Specifically, our approach introduces a dual-module framework: a query-aware module that generates a unique query vector to precisely guide the model's focus, as well as a query-agnostic module that captures the positional relationships among tokens, ensuring robust spatial understanding. Notably, both modules operate independently of the vision attention blocks, facilitating targeted learning of query embeddings and enhancing visual semantic identification. Experiments with OCR-free VLMs across multiple datasets demonstrate significant performance improvements using our method, especially in handling text-rich documents in data-scarce environments.
Improving log-based anomaly detection through learned adaptive filter
Venue: arXiv cs.LG 2025
Year: 2025

Log messages record important system runtime information and are useful for detecting anomalous behaviors and managing modern software systems. Many supervised and unsupervised learning methods have been proposed recently for log-based anomaly detection. State-of-the-art unsupervised methods predict the next log event given a log sequence and apply fixed configurations that use the same filter condition (i.e. k, the top k predicted log events will be regarded as normal next events) which leads to inferior performance in the detection stage because it sets one fixed k for all log sequences, which ignores the dynamic nature and variance in different log sequences. Recently, deep reinforcement learning (DRL) are widely applied to make intelligent decisions in a dynamic environment. In this work, we contend that it is necessary to apply adaptive filters for different log sequences. To achieve this, we propose a novel approach based on DRL to construct a learned adaptive filter and apply different normal/abnormal filter thresholds for different log sequences. We define the Markov Decision Process (MDP) and formulate the learned adaptive filter as a problem that can be solved by DRL. We evaluate the learned adaptive filter on two state-of-the-art log-based anomaly detection unsupervised approaches DeepLog and LogAnomaly in two datasets HDFS and BGL. Extensive experiments show that our approach outperforms the fixed configurations and achieves significantly better performance in log-based anomaly detection.
Autonomy Architectures for Safe Planning in Unknown Environments Under Budget Constraints
Venue: arXiv cs.RO 2025
Year: 2025

Mission planning can often be formulated as a constrained control problem under multiple path constraints (i.e., safety constraints) and budget constraints (i.e., resource expenditure constraints). In a priori unknown environments, verifying that an offline solution will satisfy the constraints for all time can be difficult, if not impossible. We present ReRoot, a novel sampling-based framework that enforces safety and budget constraints for nonlinear systems in unknown environments. The main idea is that ReRoot grows multiple reverse RRT* trees online, starting from renewal sets, i.e., sets where the budget constraints are renewed. The dynamically feasible backup trajectories guarantee safety and reduce resource expenditure, which provides a principled backup policy when integrated into the gatekeeper safety verification architecture. We demonstrate our approach in simulation with a fixed-wing UAV in a GNSS-denied environment with a budget constraint on localization error that can be renewed at visual landmarks.
Page Classification for Print Imaging Pipeline
Venue: arXiv cs.CV 2025
Year: 2025

Digital copiers and printers are widely used nowadays. One of the most important things people care about is copying or printing quality. In order to improve it, we previously came up with an SVM-based classification method to classify images with only text, only pictures or a mixture of both based on the fact that modern copiers and printers are equipped with processing pipelines designed specifically for different kinds of images. However, in some other applications, we need to distinguish more than three classes. In this paper, we develop a more advanced SVM-based classification method using four more new features to classify 5 types of images which are text, picture, mixed, receipt and highlight.
The Dual-Route Model of Induction
Venue: arXiv cs.CL 2025
Year: 2025

Prior work on in-context copying has shown the existence of induction heads, which attend to and promote individual tokens during copying. In this work we discover a new type of induction head: concept-level induction heads, which copy entire lexical units instead of individual tokens. Concept induction heads learn to attend to the ends of multi-token words throughout training, working in parallel with token-level induction heads to copy meaningful text. We show that these heads are responsible for semantic tasks like word-level translation, whereas token induction heads are vital for tasks that can only be done verbatim (like copying nonsense tokens). These two "routes" operate independently: we show that ablation of token induction heads causes models to paraphrase where they would otherwise copy verbatim. By patching concept induction head outputs, we find that they contain language-independent word representations that mediate natural language translation, suggesting that LLMs represent abstract word meanings independent of language or form.
Low Rank Factorizations are Indirect Encodings for Deep Neuroevolution
Venue: arXiv cs.NE 2025
Year: 2025

Deep neuroevolution is a highly scalable alternative to reinforcement learning due to its unique ability to encode network updates in a small number of bytes. Recent insights from traditional deep learning indicate high-dimensional models possess intrinsic, low-rank structure. In this work, we introduce low-rank, factorized neuroevolution: an indirect encoding through which we can search a small space of low-rank factors that enforce underlying structure across a network's weights. We compare our approach with non-factorized networks of similar and smaller size to understand how much performance can be attributed to the smaller search space. We evaluate our method on a language modeling task using transformers, as well as continuous and discrete vision-based reinforcement learning tasks. Our study shows that low-rank, factorized neuroevolution outperforms or is competitive with non-factorized neuroevolution, performing notably well on language modeling. Our results also suggest deleterious factorized mutations have a stronger negative impact on performance than deleterious non-factorized mutations, which significantly reduces the runtime on environments with early termination for bad performers. More broadly, these results show how we can use insights from backpropgation-based methods to enhance neuroevolution
Push-Grasp Policy Learning Using Equivariant Models and Grasp Score Optimization
Venue: arXiv cs.RO 2025
Year: 2025

Goal-conditioned robotic grasping in cluttered environments remains a challenging problem due to occlusions caused by surrounding objects, which prevent direct access to the target object. A promising solution to mitigate this issue is combining pushing and grasping policies, enabling active rearrangement of the scene to facilitate target retrieval. However, existing methods often overlook the rich geometric structures inherent in such tasks, thus limiting their effectiveness in complex, heavily cluttered scenarios. To address this, we propose the Equivariant Push-Grasp Network, a novel framework for joint pushing and grasping policy learning. Our contributions are twofold: (1) leveraging SE(2)-equivariance to improve both pushing and grasping performance and (2) a grasp score optimization-based training strategy that simplifies the joint learning process. Experimental results show that our method improves grasp success rates by 49% in simulation and by 35% in real-world scenarios compared to strong baselines, representing a significant advancement in push-grasp policy learning.
Compressing 3D Gaussian Splatting by Noise-Substituted Vector Quantization
Venue: arXiv cs.CV 2025
Year: 2025

3D Gaussian Splatting (3DGS) has demonstrated remarkable effectiveness in 3D reconstruction, achieving high-quality results with real-time radiance field rendering. However, a key challenge is the substantial storage cost: reconstructing a single scene typically requires millions of Gaussian splats, each represented by 59 floating-point parameters, resulting in approximately 1 GB of memory. To address this challenge, we propose a compression method by building separate attribute codebooks and storing only discrete code indices. Specifically, we employ noise-substituted vector quantization technique to jointly train the codebooks and model features, ensuring consistency between gradient descent optimization and parameter discretization. Our method reduces the memory consumption efficiently (around $45\times$) while maintaining competitive reconstruction quality on standard 3D benchmark scenes. Experiments on different codebook sizes show the trade-off between compression ratio and image quality. Furthermore, the trained compressed model remains fully compatible with popular 3DGS viewers and enables faster rendering speed, making it well-suited for practical applications.