OpenRaiser/Intern-Atlas huggingface dataset:
Robots for Kiwifruit Harvesting and Pollination
Venue: arXiv cs.RO 2025
Year: 2025

This research was a part of a project that developed mobile robots that performed targeted pollen spraying and automated harvesting in pergola structured kiwifruit orchards. Multiple kiwifruit detachment mechanisms were designed and field testing of one of the concepts showed that the mechanism could reliably pick kiwifruit. Furthermore, this kiwifruit detachment mechanism was able to reach over 80 percent of fruit in the cluttered kiwifruit canopy, whereas the previous state of the art mechanism was only able to reach less than 70 percent of the fruit. Artificial pollination was performed by detecting flowers and then spraying pollen in solution onto the detected flowers from a line of sprayers on a boom, while driving at up to 1.4 ms-1. In addition, the height of the canopy was measured and the spray boom was moved up and down to keep the boom close enough to the flowers for the spray to reach the flowers, while minimising collisions with the canopy. Mobile robot navigation was performed using a 2D lidar in apple orchards and vineyards. Lidar navigation in kiwifruit orchards was more challenging because the pergola structure only provides a small amount of data for the direction of rows, compared to the amount of data from the overhead canopy, the undulating ground and other objects in the orchards. Multiple methods are presented here for extracting structure defining features from 3D lidar data in kiwifruit orchards. In addition, a 3D lidar navigation system -- which performed row following, row end detection and row end turns -- was tested for over 30 km of autonomous driving in kiwifruit orchards. Computer vision algorithms for row detection and row following were also tested. The computer vision algorithm worked as well as the 3D lidar row following method in testing.
Prompt-aware of Frame Sampling for Efficient Text-Video Retrieval
Venue: arXiv cs.MM 2025
Year: 2025

Enabling efficient text-video retrieval on edge-end devices is critical for real-world applications. Yet, existing methods face a critical challenge in balancing accuracy and computational efficiency: uniform frame sampling methods ensure content coverage but incur prohibitive computational costs, while salient-frame sampling methods reduce overhead but suffer from query-agnostic frame selection that biases retrieval results. To address this, we propose ProCLIP, a user-centric framework that achieves state-of-the-art accuracy with significantly improved efficiency. We design a prompt-aware frame sampling strategy that dynamically guides lightweight feature extractors using textual prompts to select semantically relevant frames, overcoming the limitations of existing salient-frame sampling methods which rely on static, query-agnostic selection criteria. Moreover, we adopt a two-stage candidate pruning strategy that combines rapid coarse filtering via a lightweight module with CLIP-powered fine-grained re-ranking, enhancing retrieval efficiency while preserving accuracy. Experiments across benchmarks show ProCLIP achieves 75.3% latency reduction versus baselines while maintaining competitive accuracy, i.e., R@1=49.0 in MSR-VTT dataset. Code is available at https://github.com/tiffylong/ProCLIP.
Certificate-Sensitive Subset Sum: Realizing Instance Complexity
Venue: arXiv cs.CC 2025
Year: 2025

The Subset Sum problem is a classical NP-complete problem with a long-standing $O^*(2^{n/2})$ deterministic bound due to Horowitz and Sahni. We present results at two distinct levels of generality. First (instance-sensitive bound), we introduce, to our knowledge, the first deterministic algorithm whose runtime provably scales with the certificate size $U = |Σ(S)|$, the number of distinct subset sums. Our enumerator constructs all such sums in time $O(U \cdot n^2)$, with a randomized variant achieving expected time $O(U \cdot n)$. This provides a constructive link to Instance Complexity by tying runtime to the size of an information-theoretically minimal certificate. Second (unconditional worst-case bound), by combining this enumerator with a double meet-in-the-middle strategy and a Controlled Aliasing technique that enforces a simple canonical-normal-form (CNF) expansion policy on aliased states, we obtain a deterministic solver running in $O^*(2^{n/2-\varepsilon})$ time with $\varepsilon=\log_2(\frac{4}{3})$ - the first unconditional deterministic improvement over the classical $O^*(2^{n/2})$ bound for all sufficiently large $n$. Finally, we refine fine-grained hardness for Subset Sum by making explicit the structural regime (high collision entropy / near collision-free) implicitly assumed by SETH-based reductions, i.e., instances with near-maximal $U$.
LLM world models are mental: Output layer evidence of brittle world model use in LLM mechanical reasoning
Venue: arXiv cs.AI 2025
Year: 2025

Do large language models (LLMs) construct and manipulate internal world models, or do they rely solely on statistical associations represented as output layer token probabilities? We adapt cognitive science methodologies from human mental models research to test LLMs on pulley system problems using TikZ-rendered stimuli. Study 1 examines whether LLMs can estimate mechanical advantage (MA). State-of-the-art models performed marginally but significantly above chance, and their estimates correlated significantly with ground-truth MA. Significant correlations between number of pulleys and model estimates suggest that models employed a pulley counting heuristic, without necessarily simulating pulley systems to derive precise values. Study 2 tested this by probing whether LLMs represent global features crucial to MA estimation. Models evaluated a functionally connected pulley system against a fake system with randomly placed components. Without explicit cues, models identified the functional system as having greater MA with F1=0.8, suggesting LLMs could represent systems well enough to differentiate jumbled from functional systems. Study 3 built on this by asking LLMs to compare functional systems with matched systems which were connected up but which transferred no force to the weight; LLMs identified the functional system with F1=0.46, suggesting random guessing. Insofar as they may generalize, these findings are compatible with the notion that LLMs manipulate internal world models, sufficient to exploit statistical associations between pulley count and MA (Study 1), and to approximately represent system components' spatial relations (Study 2). However, they may lack the facility to reason over nuanced structural connectivity (Study 3). We conclude by advocating the utility of cognitive scientific methods to evaluate the world-modeling capacities of artificial intelligence systems.
On the Role of AI in Managing Satellite Constellations: Insights from the ConstellAI Project
Venue: arXiv cs.LG 2025
Year: 2025

The rapid expansion of satellite constellations in near-Earth orbits presents significant challenges in satellite network management, requiring innovative approaches for efficient, scalable, and resilient operations. This paper explores the role of Artificial Intelligence (AI) in optimizing the operation of satellite mega-constellations, drawing from the ConstellAI project funded by the European Space Agency (ESA). A consortium comprising GMV GmbH, Saarland University, and Thales Alenia Space collaborates to develop AI-driven algorithms and demonstrates their effectiveness over traditional methods for two crucial operational challenges: data routing and resource allocation. In the routing use case, Reinforcement Learning (RL) is used to improve the end-to-end latency by learning from historical queuing latency, outperforming classical shortest path algorithms. For resource allocation, RL optimizes the scheduling of tasks across constellations, focussing on efficiently using limited resources such as battery and memory. Both use cases were tested for multiple satellite constellation configurations and operational scenarios, resembling the real-life spacecraft operations of communications and Earth observation satellites. This research demonstrates that RL not only competes with classical approaches but also offers enhanced flexibility, scalability, and generalizability in decision-making processes, which is crucial for the autonomous and intelligent management of satellite fleets. The findings of this activity suggest that AI can fundamentally alter the landscape of satellite constellation management by providing more adaptive, robust, and cost-effective solutions.
Smart Eyes for Silent Threats: VLMs and In-Context Learning for THz Imaging
Venue: arXiv cs.CL 2025
Year: 2025

Terahertz (THz) imaging enables non-invasive analysis for applications such as security screening and material classification, but effective image classification remains challenging due to limited annotations, low resolution, and visual ambiguity. We introduce In-Context Learning (ICL) with Vision-Language Models (VLMs) as a flexible, interpretable alternative that requires no fine-tuning. Using a modality-aligned prompting framework, we adapt two open-weight VLMs to the THz domain and evaluate them under zero-shot and one-shot settings. Our results show that ICL improves classification and interpretability in low-data regimes. This is the first application of ICL-enhanced VLMs to THz imaging, offering a promising direction for resource-constrained scientific domains. Code: \href{https://github.com/Nicolas-Poggi/Project_THz_Classification/tree/main}{GitHub repository}.
Unequal Voices: How LLMs Construct Constrained Queer Narratives
Venue: arXiv cs.CY 2025
Year: 2025

One way social groups are marginalized in discourse is that the narratives told about them often default to a narrow, stereotyped range of topics. In contrast, default groups are allowed the full complexity of human existence. We describe the constrained representations of queer people in LLM generations in terms of harmful representations, narrow representations, and discursive othering and formulate hypotheses to test for these phenomena. Our results show that LLMs are significantly limited in their portrayals of queer personas.
Red-Team Multi-Agent Reinforcement Learning for Emergency Braking Scenario
Venue: arXiv cs.LG 2025
Year: 2025

Current research on decision-making in safety-critical scenarios often relies on inefficient data-driven scenario generation or specific modeling approaches, which fail to capture corner cases in real-world contexts. To address this issue, we propose a Red-Team Multi-Agent Reinforcement Learning framework, where background vehicles with interference capabilities are treated as red-team agents. Through active interference and exploration, red-team vehicles can uncover corner cases outside the data distribution. The framework uses a Constraint Graph Representation Markov Decision Process, ensuring that red-team vehicles comply with safety rules while continuously disrupting the autonomous vehicles (AVs). A policy threat zone model is constructed to quantify the threat posed by red-team vehicles to AVs, inducing more extreme actions to increase the danger level of the scenario. Experimental results show that the proposed framework significantly impacts AVs decision-making safety and generates various corner cases. This method also offers a novel direction for research in safety-critical scenarios.
Formal Analysis of Networked PLC Controllers Interacting with Physical Environments
Venue: arXiv cs.PL 2025
Year: 2025

Programmable Logic Controllers (PLCs) are widely used in industrial automation to control physical systems. As PLC applications become increasingly complex, ensuring their correctness is crucial. Existing formal verification techniques focus on individual PLC programs in isolation, often neglecting interactions with physical environments and network communication between controllers. This limitation poses significant challenges in analyzing real-world industrial systems, where continuous dynamics and communication delays play a critical role. In this paper, we present a unified formal framework that integrates discrete PLC semantics, networked communication, and continuous physical behaviors. To mitigate state explosion, we apply partial order reduction, significantly reducing the number of explored states while maintaining correctness. Our framework enables precise analysis of PLC-driven systems with continuous dynamics and networked communication.
Uncovering Critical Features for Deepfake Detection through the Lottery Ticket Hypothesis
Venue: arXiv cs.CV 2025
Year: 2025

Recent advances in deepfake technology have created increasingly convincing synthetic media that poses significant challenges to information integrity and social trust. While current detection methods show promise, their underlying mechanisms remain poorly understood, and the large sizes of their models make them challenging to deploy in resource-limited environments. This study investigates the application of the Lottery Ticket Hypothesis (LTH) to deepfake detection, aiming to identify the key features crucial for recognizing deepfakes. We examine how neural networks can be efficiently pruned while maintaining high detection accuracy. Through extensive experiments with MesoNet, CNN-5, and ResNet-18 architectures on the OpenForensic and FaceForensics++ datasets, we find that deepfake detection networks contain winning tickets, i.e., subnetworks, that preserve performance even at substantial sparsity levels. Our results indicate that MesoNet retains 56.2% accuracy at 80% sparsity on the OpenForensic dataset, with only 3,000 parameters, which is about 90% of its baseline accuracy (62.6%). The results also show that our proposed LTH-based iterative magnitude pruning approach consistently outperforms one-shot pruning methods. Using Grad-CAM visualization, we analyze how pruned networks maintain their focus on critical facial regions for deepfake detection. Additionally, we demonstrate the transferability of winning tickets across datasets, suggesting potential for efficient, deployable deepfake detection systems.
Towards Explainable Anomaly Detection in Shared Mobility Systems
Venue: arXiv cs.LG 2025
Year: 2025

Shared mobility systems, such as bike-sharing networks, play a crucial role in urban transportation. Identifying anomalies in these systems is essential for optimizing operations, improving service reliability, and enhancing user experience. This paper presents an interpretable anomaly detection framework that integrates multi-source data, including bike-sharing trip records, weather conditions, and public transit availability. The Isolation Forest algorithm is employed for unsupervised anomaly detection, along with the Depth-based Isolation Forest Feature Importance (DIFFI) algorithm providing interpretability. Results show that station-level analysis offers a robust understanding of anomalies, highlighting the influence of external factors such as adverse weather and limited transit availability. Our findings contribute to improving decision-making in shared mobility operations.
Chapter 11 Students' interaction with and appreciation of automated informative tutoring feedback
Venue: arXiv cs.HC 2025
Year: 2025

Computer aided formative assessment can be used to enhance a learning process, for instance by providing feedback. There are many design choices for delivering feedback, that lead to a feedback strategy. In an informative feedback strategy, students do not immediately receive information about the correct response, but are offered the opportunity to retry a task to apply feedback information. In this small-scale qualitative study, we explore an informative feedback strategy designed to offer a balance between room for exploration and mitigation of learning barriers. The research questions concern the ways in which students interact with the feedback strategy and their appreciation of error-specific feedback as opposed to worked-out solutions. To answer these questions, twenty-five 15-to-17-year-old senior general secondary education students worked for approximately 20 minutes on linear and exponential extrapolation tasks in an online environment. Data included screen captures of students working with the environment and post-intervention interviews. Results showed that room for exploration offered opportunities for self-guidance while mitigation of learning barriers prevented disengagement. Furthermore, students appreciated balanced feedback. We conclude that the balanced feedback strategy yielded fruitful student-environment interactions.
Vehicular Cloud Computing: A cost-effective alternative to Edge Computing in 5G networks
Venue: arXiv cs.NI 2025
Year: 2025

Edge Computing (EC) is a computational paradigm that involves deploying resources such as CPUs and GPUs near end-users, enabling low-latency applications like augmented reality and real-time gaming. However, deploying and maintaining a vast network of EC nodes is costly, which can explain its limited deployment today. A new paradigm called Vehicular Cloud Computing (VCC) has emerged and inspired interest among researchers and industry. VCC opportunistically utilizes existing and idle vehicular computational resources for external task offloading. This work is the first to systematically address the following question: Can VCC replace EC for low-latency applications? Answering this question is highly relevant for Network Operators (NOs), as VCC could eliminate costs associated with EC given that it requires no infrastructural investment. Despite its potential, no systematic study has yet explored the conditions under which VCC can effectively support low-latency applications without relying on EC. This work aims to fill that gap. Extensive simulations allow for assessing the crucial scenario factors that determine when this EC-to-VCC substitution is feasible. Considered factors are load, vehicles mobility and density, and availability. Potential for substitution is assessed based on multiple criteria, such as latency, task completion success, and cost. Vehicle mobility is simulated in SUMO, and communication in NS3 5G-LENA. The findings show that VCC can effectively replace EC for low-latency applications, except in extreme cases when the EC is still required (latency < 16 ms).
Data-Driven MPC with Data Selection for Flexible Cable-Driven Robotic Arms
Venue: arXiv cs.RO 2025
Year: 2025

Flexible cable-driven robotic arms (FCRAs) offer dexterous and compliant motion. Still, the inherent properties of cables, such as resilience, hysteresis, and friction, often lead to particular difficulties in modeling and control. This paper proposes a model predictive control (MPC) method that relies exclusively on input-output data, without a physical model, to improve the control accuracy of FCRAs. First, we develop an implicit model based on input-output data and integrate it into an MPC optimization framework. Second, a data selection algorithm (DSA) is introduced to filter the data that best characterize the system, thereby reducing the solution time per step to approximately 4 ms, which is an improvement of nearly 80%. Lastly, the influence of hyperparameters on tracking error is investigated through simulation. The proposed method has been validated on a real FCRA platform, including five-point positioning accuracy tests, a five-point response tracking test, and trajectory tracking for letter drawing. The results demonstrate that the average positioning accuracy is approximately 2.070 mm. Moreover, compared to the PID method with an average tracking error of 1.418°, the proposed method achieves an average tracking error of 0.541°.
GeoHNNs: Geometric Hamiltonian Neural Networks
Venue: arXiv cs.LG 2025
Year: 2025

The fundamental laws of physics are intrinsically geometric, dictating the evolution of systems through principles of symmetry and conservation. While modern machine learning offers powerful tools for modeling complex dynamics from data, common methods often ignore this underlying geometric fabric. Physics-informed neural networks, for instance, can violate fundamental physical principles, leading to predictions that are unstable over long periods, particularly for high-dimensional and chaotic systems. Here, we introduce \textit{Geometric Hamiltonian Neural Networks (GeoHNN)}, a framework that learns dynamics by explicitly encoding the geometric priors inherent to physical laws. Our approach enforces two fundamental structures: the Riemannian geometry of inertia, by parameterizing inertia matrices in their natural mathematical space of symmetric positive-definite matrices, and the symplectic geometry of phase space, using a constrained autoencoder to ensure the preservation of phase space volume in a reduced latent space. We demonstrate through experiments on systems ranging from coupled oscillators to high-dimensional deformable objects that GeoHNN significantly outperforms existing models. It achieves superior long-term stability, accuracy, and energy conservation, confirming that embedding the geometry of physics is not just a theoretical appeal but a practical necessity for creating robust and generalizable models of the physical world.
Computation of Interpolants for Description Logic Concepts in Hard Cases
Venue: arXiv cs.LO 2025
Year: 2025

While the computation of Craig interpolants for description logics (DLs) with the Craig Interpolation Property (CIP) is well understood, very little is known about the computation and size of interpolants for DLs without CIP or if one aims at interpolating concepts in a weaker DL than the DL of the input ontology and concepts. In this paper, we provide the first elementary algorithms computing (i) ALC-interpolants between ALC-concepts under ALCH-ontologies and (ii) ALC-interpolants between ALCQ-concepts under ALCQ-ontologies. The algorithms are based on recent decision procedures for interpolant existence. We also observe that, in contrast, uniform (possibly depth restricted) interpolants might be of non-elementary size.
Estimating Rate-Distortion Functions Using the Energy-Based Model
Venue: arXiv cs.IT 2025
Year: 2025

The rate-distortion (RD) theory is one of the key concepts in information theory, providing theoretical limits for compression performance and guiding the source coding design, with both theoretical and practical significance. The Blahut-Arimoto (BA) algorithm, as a classical algorithm to compute RD functions, encounters computational challenges when applied to high-dimensional scenarios. In recent years, many neural methods have attempted to compute high-dimensional RD problems from the perspective of implicit generative models. Nevertheless, these approaches often neglect the reconstruction of the optimal conditional distribution or rely on unreasonable prior assumptions. In face of these issues, we propose an innovative energy-based modeling framework that leverages the connection between the RD dual form and the free energy in statistical physics, achieving effective reconstruction of the optimal conditional distribution.The proposed algorithm requires training only a single neural network and circumvents the challenge of computing the normalization factor in energy-based models using the Markov chain Monte Carlo (MCMC) sampling. Experimental results demonstrate the significant effectiveness of the proposed algorithm in estimating high-dimensional RD functions and reconstructing the optimal conditional distribution.