OpenRaiser/Intern-Atlas huggingface dataset:
AI or Human? Understanding Perceptions of Embodied Robots with LLMs
Venue: arXiv cs.RO 2025
Year: 2025

The pursuit of artificial intelligence has long been associated to the the challenge of effectively measuring intelligence. Even if the Turing Test was introduced as a means of assessing a system intelligence, its relevance and application within the field of human-robot interaction remain largely underexplored. This study investigates the perception of intelligence in embodied robots by performing a Turing Test within a robotic platform. A total of 34 participants were tasked with distinguishing between AI- and human-operated robots while engaging in two interactive tasks: an information retrieval and a package handover. These tasks assessed the robot perception and navigation abilities under both static and dynamic conditions. Results indicate that participants were unable to reliably differentiate between AI- and human-controlled robots beyond chance levels. Furthermore, analysis of participant responses reveals key factors influencing the perception of artificial versus human intelligence in embodied robotic systems. These findings provide insights into the design of future interactive robots and contribute to the ongoing discourse on intelligence assessment in AI-driven systems.
From model-based learning to model-free behaviour with Meta-Interpretive Learning
Venue: arXiv cs.AI 2025
Year: 2025

A "model" is a theory that describes the state of an environment and the effects of an agent's decisions on the environment. A model-based agent can use its model to predict the effects of its future actions and so plan ahead, but must know the state of the environment. A model-free agent cannot plan, but can act without a model and without completely observing the environment. An autonomous agent capable of acting independently in novel environments must combine both sets of capabilities. We show how to create such an agent with Meta-Interpretive Learning used to learn a model-based Solver used to train a model-free Controller that can solve the same planning problems as the Solver. We demonstrate the equivalence in problem-solving ability of the two agents on grid navigation problems in two kinds of environment: randomly generated mazes, and lake maps with wide open areas. We find that all navigation problems solved by the Solver are also solved by the Controller, indicating the two are equivalent.
Improving ASP-based ORS Schedules through Machine Learning Predictions
Venue: arXiv cs.AI 2025
Year: 2025

The Operating Room Scheduling (ORS) problem deals with the optimization of daily operating room surgery schedules. It is a challenging problem subject to many constraints, like to determine the starting time of different surgeries and allocating the required resources, including the availability of beds in different department units. Recently, solutions to this problem based on Answer Set Programming (ASP) have been delivered. Such solutions are overall satisfying but, when applied to real data, they can currently only verify whether the encoding aligns with the actual data and, at most, suggest alternative schedules that could have been computed. As a consequence, it is not currently possible to generate provisional schedules. Furthermore, the resulting schedules are not always robust. In this paper, we integrate inductive and deductive techniques for solving these issues. We first employ machine learning algorithms to predict the surgery duration, from historical data, to compute provisional schedules. Then, we consider the confidence of such predictions as an additional input to our problem and update the encoding correspondingly in order to compute more robust schedules. Results on historical data from the ASL1 Liguria in Italy confirm the viability of our integration. Under consideration in Theory and Practice of Logic Programming (TPLP).
SceneLoom: Communicating Data with Scene Context
Venue: arXiv cs.HC 2025
Year: 2025

In data-driven storytelling contexts such as data journalism and data videos, data visualizations are often presented alongside real-world imagery to support narrative context. However, these visualizations and contextual images typically remain separated, limiting their combined narrative expressiveness and engagement. Achieving this is challenging due to the need for fine-grained alignment and creative ideation. To address this, we present SceneLoom, a Vision-Language Model (VLM)-powered system that facilitates the coordination of data visualization with real-world imagery based on narrative intents. Through a formative study, we investigated the design space of coordination relationships between data visualization and real-world scenes from the perspectives of visual alignment and semantic coherence. Guided by the derived design considerations, SceneLoom leverages VLMs to extract visual and semantic features from scene images and data visualization, and perform design mapping through a reasoning process that incorporates spatial organization, shape similarity, layout consistency, and semantic binding. The system generates a set of contextually expressive, image-driven design alternatives that achieve coherent alignments across visual, semantic, and data dimensions. Users can explore these alternatives, select preferred mappings, and further refine the design through interactive adjustments and animated transitions to support expressive data communication. A user study and an example gallery validate SceneLoom's effectiveness in inspiring creative design and facilitating design externalization.
DenseSR: Image Shadow Removal as Dense Prediction
Venue: arXiv cs.CV 2025
Year: 2025

Shadows are a common factor degrading image quality. Single-image shadow removal (SR), particularly under challenging indirect illumination, is hampered by non-uniform content degradation and inherent ambiguity. Consequently, traditional methods often fail to simultaneously recover intra-shadow details and maintain sharp boundaries, resulting in inconsistent restoration and blurring that negatively affect both downstream applications and the overall viewing experience. To overcome these limitations, we propose the DenseSR, approaching the problem from a dense prediction perspective to emphasize restoration quality. This framework uniquely synergizes two key strategies: (1) deep scene understanding guided by geometric-semantic priors to resolve ambiguity and implicitly localize shadows, and (2) high-fidelity restoration via a novel Dense Fusion Block (DFB) in the decoder. The DFB employs adaptive component processing-using an Adaptive Content Smoothing Module (ACSM) for consistent appearance and a Texture-Boundary Recuperation Module (TBRM) for fine textures and sharp boundaries-thereby directly tackling the inconsistent restoration and blurring issues. These purposefully processed components are effectively fused, yielding an optimized feature representation preserving both consistency and fidelity. Extensive experimental results demonstrate the merits of our approach over existing methods. Our code can be available on https://github$.$com/VanLinLin/DenseSR
Combining Language and Topic Models for Hierarchical Text Classification
Venue: arXiv cs.CL 2025
Year: 2025

Hierarchical text classification (HTC) is a natural language processing task which has the objective of categorising text documents into a set of classes from a predefined structured class hierarchy. Recent HTC approaches use various techniques to incorporate the hierarchical class structure information with the natural language understanding capabilities of pre-trained language models (PLMs) to improve classification performance. Furthermore, using topic models along with PLMs to extract features from text documents has been shown to be an effective approach for multi-label text classification tasks. The rationale behind the combination of these feature extractor models is that the PLM captures the finer-grained contextual and semantic information while the topic model obtains high-level representations which consider the corpus of documents as a whole. In this paper, we use a HTC approach which uses a PLM and a topic model to extract features from text documents which are used to train a classification model. Our objective is to determine whether the combination of the features extracted from the two models is beneficial to HTC performance in general. In our approach, the extracted features are passed through separate convolutional layers whose outputs are combined and passed to a label-wise attention mechanisms which obtains label-specific document representations by weighing the most important features for each class separately. We perform comprehensive experiments on three HTC benchmark datasets and show that using the features extracted from the topic model generally decreases classification performance compared to only using the features obtained by the PLM. In contrast to previous work, this shows that the incorporation of features extracted from topic models for text classification tasks should not be assumed beneficial.
Analogy making as amortised model construction
Venue: arXiv cs.LG 2025
Year: 2025

Humans flexibly construct internal models to navigate novel situations. To be useful, these internal models must be sufficiently faithful to the environment that resource-limited planning leads to adequate outcomes; equally, they must be tractable to construct in the first place. We argue that analogy plays a central role in these processes, enabling agents to reuse solution-relevant structure from past experiences and amortise the computational costs of both model construction (construal) and planning. Formalising analogies as partial homomorphisms between Markov decision processes, we sketch a framework in which abstract modules, derived from previous construals, serve as composable building blocks for new ones. This modular reuse allows for flexible adaptation of policies and representations across domains with shared structural essence.
C2-Evo: Co-Evolving Multimodal Data and Model for Self-Improving Reasoning
Venue: arXiv cs.CV 2025
Year: 2025

Recent advances in multimodal large language models (MLLMs) have shown impressive reasoning capabilities. However, further enhancing existing MLLMs necessitates high-quality vision-language datasets with carefully curated task complexities, which are both costly and challenging to scale. Although recent self-improving models that iteratively refine themselves offer a feasible solution, they still suffer from two core challenges: (i) most existing methods augment visual or textual data separately, resulting in discrepancies in data complexity (e.g., over-simplified diagrams paired with redundant textual descriptions); and (ii) the evolution of data and models is also separated, leading to scenarios where models are exposed to tasks with mismatched difficulty levels. To address these issues, we propose C2-Evo, an automatic, closed-loop self-improving framework that jointly evolves both training data and model capabilities. Specifically, given a base dataset and a base model, C2-Evo enhances them by a cross-modal data evolution loop and a data-model evolution loop. The former loop expands the base dataset by generating complex multimodal problems that combine structured textual sub-problems with iteratively specified geometric diagrams, while the latter loop adaptively selects the generated problems based on the performance of the base model, to conduct supervised fine-tuning and reinforcement learning alternately. Consequently, our method continuously refines its model and training data, and consistently obtains considerable performance gains across multiple mathematical reasoning benchmarks. Our code, models, and datasets will be released.
confopt: A Library for Implementation and Evaluation of Gradient-based One-Shot NAS Methods
Venue: arXiv cs.LG 2025
Year: 2025

Gradient-based one-shot neural architecture search (NAS) has significantly reduced the cost of exploring architectural spaces with discrete design choices, such as selecting operations within a model. However, the field faces two major challenges. First, evaluations of gradient-based NAS methods heavily rely on the DARTS benchmark, despite the existence of other available benchmarks. This overreliance has led to saturation, with reported improvements often falling within the margin of noise. Second, implementations of gradient-based one-shot NAS methods are fragmented across disparate repositories, complicating fair and reproducible comparisons and further development. In this paper, we introduce Configurable Optimizer (confopt), an extensible library designed to streamline the development and evaluation of gradient-based one-shot NAS methods. Confopt provides a minimal API that makes it easy for users to integrate new search spaces, while also supporting the decomposition of NAS optimizers into their core components. We use this framework to create a suite of new DARTS-based benchmarks, and combine them with a novel evaluation protocol to reveal a critical flaw in how gradient-based one-shot NAS methods are currently assessed. The code can be found at https://github.com/automl/ConfigurableOptimizer.
Symbolic Graph Intelligence: Hypervector Message Passing for Learning Graph-Level Patterns with Tsetlin Machines
Venue: arXiv cs.LG 2025
Year: 2025

We propose a multilayered symbolic framework for general graph classification that leverages sparse binary hypervectors and Tsetlin Machines. Each graph is encoded through structured message passing, where node, edge, and attribute information are bound and bundled into a symbolic hypervector. This process preserves the hierarchical semantics of the graph through layered binding from node attributes to edge relations to structural roles resulting in a compact, discrete representation. We also formulate a local interpretability framework which lends itself to a key advantage of our approach being locally interpretable. We validate our method on TUDataset benchmarks, demonstrating competitive accuracy with strong symbolic transparency compared to neural graph models.
The Effect of Scale Consistency between Real and Virtual Spaces on Immersion in Exhibition Hybrid Spaces
Venue: arXiv cs.HC 2025
Year: 2025

In exhibition hybrid spaces, scale consistency between real and virtual spaces is crucial for user immersion. However, there is currently a lack of systematic research to determine appropriate virtual-to-real mapping ratios. This study developed an immersive interaction system based on Intel 3D Athlete Tracking body mapping technology. Two experiments investigated the impact of virtual space and virtual avatar scale on immersion. Experiment 1 investigated 30 participants' preferences for virtual space scale, while Experiment 2 tested the effect of 6 different virtual avatar sizes (25%-150%) on immersion. A 5-point Likert scale was used to assess immersion, followed by analysis of variance and Tukey HSD post-hoc tests. Experiment 1 showed that participants preferred a virtual space ratio of 130% (mean 127.29%, SD 8.55%). Experiment 2 found that virtual avatar sizes within the 75%-100% range produced optimal immersion (p < 0.05). Immersion decreased significantly when virtual avatar sizes deviated from users' actual height (below 50% or above 125%). Participants were more sensitive to size changes in the 25%-75% range, while perception was weaker for changes in the 75%-100% range. Virtual environments slightly larger than real space (130%) and virtual avatars slightly smaller than users (75%-100%) optimize user immersion. These findings have been applied in the Intel Global Trade Center exhibition hall, demonstrating actionable insights for designing hybrid spaces that enhance immersion and coherence.
Optimization of DNN-based HSI Segmentation FPGA-based SoC for ADS: A Practical Approach
Venue: arXiv cs.CV 2025
Year: 2025

The use of HSI for autonomous navigation is a promising research field aimed at improving the accuracy and robustness of detection, tracking, and scene understanding systems based on vision sensors. Combining advanced computer algorithms, such as DNNs, with small-size snapshot HSI cameras enhances the reliability of these systems. HSI overcomes intrinsic limitations of greyscale and RGB imaging in depicting physical properties of targets, particularly regarding spectral reflectance and metamerism. Despite promising results in HSI-based vision developments, safety-critical systems like ADS demand strict constraints on latency, resource consumption, and security, motivating the shift of ML workloads to edge platforms. This involves a thorough software/hardware co-design scheme to distribute and optimize the tasks efficiently among the limited resources of computing platforms. With respect to inference, the over-parameterized nature of DNNs poses significant computational challenges for real-time on-the-edge deployment. In addition, the intensive data preprocessing required by HSI, which is frequently overlooked, must be carefully managed in terms of memory arrangement and inter-task communication to enable an efficient integrated pipeline design on a SoC. This work presents a set of optimization techniques for the practical co-design of a DNN-based HSI segmentation processor deployed on a FPGA-based SoC targeted at ADS, including key optimizations such as functional software/hardware task distribution, hardware-aware preprocessing, ML model compression, and a complete pipelined deployment. Applied compression techniques significantly reduce the complexity of the designed DNN to 24.34% of the original operations and to 1.02% of the original number of parameters, achieving a 2.86x speed-up in the inference task without noticeable degradation of the segmentation accuracy.
Exploring Gender Bias in Large Language Models: An In-depth Dive into the German Language
Venue: arXiv cs.CL 2025
Year: 2025

In recent years, various methods have been proposed to evaluate gender bias in large language models (LLMs). A key challenge lies in the transferability of bias measurement methods initially developed for the English language when applied to other languages. This work aims to contribute to this research strand by presenting five German datasets for gender bias evaluation in LLMs. The datasets are grounded in well-established concepts of gender bias and are accessible through multiple methodologies. Our findings, reported for eight multilingual LLM models, reveal unique challenges associated with gender bias in German, including the ambiguous interpretation of male occupational terms and the influence of seemingly neutral nouns on gender perception. This work contributes to the understanding of gender bias in LLMs across languages and underscores the necessity for tailored evaluation frameworks.
Evaluating Social Acceptance of eXtended Reality (XR) Agent Technology: A User Study (Extended Version)
Venue: arXiv cs.HC 2025
Year: 2025

In this paper, we present the findings of a user study that evaluated the social acceptance of eXtended Reality (XR) agent technology, focusing on a remotely accessible, web-based XR training system developed for journalists. This system involves user interaction with a virtual avatar, enabled by a modular toolkit. The interactions are designed to provide tailored training for journalists in digital-remote settings, especially for sensitive or dangerous scenarios, without requiring specialized end-user equipment like headsets. Our research adapts and extends the Almere model, representing social acceptance through existing attributes such as perceived ease of use and perceived usefulness, along with added ones like dependability and security in the user-agent interaction. The XR agent was tested through a controlled experiment in a real-world setting, with data collected on users' perceptions. Our findings, based on quantitative and qualitative measurements involving questionnaires, contribute to the understanding of user perceptions and acceptance of XR agent solutions within a specific social context, while also identifying areas for the improvement of XR systems.
Transordinal Fixed-Point Operators and Self-Referential Games: A Categorical Framework for Reflective Semantic Convergence
Venue: arXiv cs.LO 2025
Year: 2025

We present a new theoretical framework that unifies category-theoretic fixed-point constructions, transfinite recursion, and game-based semantics to model how interpretations of language can stabilize through unlimited self-reference. By iterating a meaning-refinement operator across all ordinal stages, we isolate a unique "transordinal" fixed point and show, via a hierarchy of reflective games, that this same object is the sole equilibrium of an infinite dialogue between a text and its interpreter. The result delivers a mathematically rigorous account of semantic convergence without resorting to statistical training or empirical benchmarks, yet remains simple to explain: start with a rough meaning, let speaker and listener correct each other forever, and the process provably settles on a single, self-consistent interpretation. Because the construction is entirely symbolic, it offers both precise guarantees for formal linguistics and a blueprint for designing language-aware systems that can reason about their own outputs. The paper details the requisite transordinal machinery, proves existence and uniqueness theorems, and connects them to long-standing questions about reflection, truth, and equilibrium in formal systems and semantics.
Benchmarking pig detection and tracking under diverse and challenging conditions
Venue: arXiv cs.CV 2025
Year: 2025

To ensure animal welfare and effective management in pig farming, monitoring individual behavior is a crucial prerequisite. While monitoring tasks have traditionally been carried out manually, advances in machine learning have made it possible to collect individualized information in an increasingly automated way. Central to these methods is the localization of animals across space (object detection) and time (multi-object tracking). Despite extensive research of these two tasks in pig farming, a systematic benchmarking study has not yet been conducted. In this work, we address this gap by curating two datasets: PigDetect for object detection and PigTrack for multi-object tracking. The datasets are based on diverse image and video material from realistic barn conditions, and include challenging scenarios such as occlusions or bad visibility. For object detection, we show that challenging training images improve detection performance beyond what is achievable with randomly sampled images alone. Comparing different approaches, we found that state-of-the-art models offer substantial improvements in detection quality over real-time alternatives. For multi-object tracking, we observed that SORT-based methods achieve superior detection performance compared to end-to-end trainable models. However, end-to-end models show better association performance, suggesting they could become strong alternatives in the future. We also investigate characteristic failure cases of end-to-end models, providing guidance for future improvements. The detection and tracking models trained on our datasets perform well in unseen pens, suggesting good generalization capabilities. This highlights the importance of high-quality training data. The datasets and research code are made publicly available to facilitate reproducibility, re-use and further development.