OpenRaiser/Intern-Atlas huggingface dataset:
Robotic Control via Embodied Chain-of-Thought Reasoning
Venue: arXiv cs.RO 2025
Year: 2025

A key limitation of learned robot control policies is their inability to generalize outside their training data. Recent works on vision-language-action models (VLAs) have shown that the use of large, internet pre-trained vision-language models as the backbone of learned robot policies can substantially improve their robustness and generalization ability. Yet, one of the most exciting capabilities of large vision-language models in other domains is their ability to reason iteratively through complex problems. Can that same capability be brought into robotics to allow policies to improve performance by reasoning about a given task before acting? Naive use of "chain-of-thought" (CoT) style prompting is significantly less effective with standard VLAs because of the relatively simple training examples that are available to them. Additionally, purely semantic reasoning about sub-tasks, as is common in regular CoT, is insufficient for robot policies that need to ground their reasoning in sensory observations and the robot state. To this end, we introduce Embodied Chain-of-Thought Reasoning (ECoT) for VLAs, in which we train VLAs to perform multiple steps of reasoning about plans, sub-tasks, motions, and visually grounded features like object bounding boxes and end effector positions, before predicting the robot action. We design a scalable pipeline for generating synthetic training data for ECoT on large robot datasets. We demonstrate, that ECoT increases the absolute success rate of OpenVLA, the current strongest open-source VLA policy, by 28% across challenging generalization tasks, without any additional robot training data. Additionally, ECoT makes it easier for humans to interpret a policy's failures and correct its behavior using natural language.
Perceptions of Sentient AI and Other Digital Minds: Evidence from the AI, Morality, and Sentience (AIMS) Survey
Venue: arXiv cs.AI 2025
Year: 2025

Humans now interact with a variety of digital minds, AI systems that appear to have mental faculties such as reasoning, emotion, and agency, and public figures are discussing the possibility of sentient AI. We present initial results from 2021 and 2023 for the nationally representative AI, Morality, and Sentience (AIMS) survey (N = 3,500). Mind perception and moral concern for AI welfare were surprisingly high and significantly increased: in 2023, one in five U.S. adults believed some AI systems are currently sentient, and 38% supported legal rights for sentient AI. People became more opposed to building digital minds: in 2023, 63% supported banning smarter-than-human AI, and 69% supported banning sentient AI. The median 2023 forecast was that sentient AI would arrive in just five years. The development of safe and beneficial AI requires not just technical study but understanding the complex ways in which humans perceive and coexist with digital minds.
HHLPar: Automated Theorem Prover for Parallel Hybrid Communicating Sequential Processes
Venue: arXiv cs.LO 2025
Year: 2025

We present a tool called HHLPar for verifying hybrid systems modelled in Hybrid Communicating Sequential Processes (HCSP). HHLPar is built upon a Hybrid Hoare Logic for HCSP, which is able to reason about continuous-time properties of differential equations, as well as communication and parallel composition of parallel HCSP processes with the help of parameterised trace assertions and their synchronization. The logic was formalised and proved to be sound in Isabelle/HOL, which constitutes a trustworthy foundation for the verification conducted by HHLPar. HHLPar implements the Hybrid Hoare Logic in Python and supports automated verification: On one hand, it provides functions for symbolically decomposing HCSP processes, generating specifications for separate sequential processes and then composing them via synchronization to obtain the final specification for the whole parallel HCSP processes; On the other hand, it is integrated with external solvers for handling differential equations and real arithmetic properties. We have conducted experiments on a simplified cruise control system to validate the performance of the tool.
Self-interpreting Adversarial Images
Venue: arXiv cs.CR 2025
Year: 2025

We introduce a new type of indirect, cross-modal injection attacks against visual language models that enable creation of self-interpreting images. These images contain hidden "meta-instructions" that control how models answer users' questions about the image and steer models' outputs to express an adversary-chosen style, sentiment, or point of view. Self-interpreting images act as soft prompts, conditioning the model to satisfy the adversary's (meta-)objective while still producing answers based on the image's visual content. Meta-instructions are thus a stronger form of prompt injection. Adversarial images look natural and the model's answers are coherent and plausible, yet they also follow the adversary-chosen interpretation, e.g., political spin, or even objectives that are not achievable with explicit text instructions. We evaluate the efficacy of self-interpreting images for a variety of models, interpretations, and user prompts. We describe how these attacks could cause harm by enabling creation of self-interpreting content that carries spam, misinformation, or spin. Finally, we discuss defenses.
A Chatbot for Asylum-Seeking Migrants in Europe
Venue: arXiv cs.AI 2025
Year: 2025

We present ACME: A Chatbot for asylum-seeking Migrants in Europe. ACME relies on computational argumentation and aims to help migrants identify the highest level of protection they can apply for. This would contribute to a more sustainable migration by reducing the load on territorial commissions, Courts, and humanitarian organizations supporting asylum applicants. We describe the background context, system architecture, underlying technologies, and a case study used to validate the tool with domain experts.
Cooperative Indoor Exploration Leveraging a Mixed-Size UAV Team with Heterogeneous Sensors
Venue: arXiv cs.RO 2025
Year: 2025

Heterogeneous teams of Unmanned Aerial Vehicles (UAVs) can enhance the exploration capabilities of aerial robots by exploiting different strengths and abilities of varying UAVs. This paper presents a novel method for exploring unknown indoor spaces with a team of UAVs of different sizes and sensory equipment. We propose a frontier-based exploration with two task allocation strategies: a greedy strategy that assigns Points of Interest (POIs) based on Euclidean distance and UAV priority and an optimization strategy that solves a minimum-cost flow problem. The proposed method utilizes the SphereMap algorithm to assess the accessibility of the POIs and generate paths that account for obstacle distances, including collision avoidance maneuvers among UAVs. The proposed approach was validated through simulation testing and real-world experiments that evaluated the method's performance on board the UAVs.
CFaults: Model-Based Diagnosis for Fault Localization in C Programs with Multiple Test Cases
Venue: arXiv cs.SE 2025
Year: 2025

Debugging is one of the most time-consuming and expensive tasks in software development. Several formula-based fault localization (FBFL) methods have been proposed, but they fail to guarantee a set of diagnoses across all failing tests or may produce redundant diagnoses that are not subset-minimal, particularly for programs with multiple faults. This paper introduces a novel fault localization approach for C programs with multiple faults. CFaults leverages Model-Based Diagnosis (MBD) with multiple observations and aggregates all failing test cases into a unified MaxSAT formula. Consequently, our method guarantees consistency across observations and simplifies the fault localization procedure. Experimental results on two benchmark sets of C programs, TCAS and C-Pack-IPAs, show that CFaults is faster than other FBFL approaches like BugAssist and SNIPER. Moreover, CFaults only generates subset-minimal diagnoses of faulty statements, whereas the other approaches tend to enumerate redundant diagnoses.
Is Contrasting All You Need? Contrastive Learning for the Detection and Attribution of AI-generated Text
Venue: arXiv cs.CL 2025
Year: 2025

The significant progress in the development of Large Language Models has contributed to blurring the distinction between human and AI-generated text. The increasing pervasiveness of AI-generated text and the difficulty in detecting it poses new challenges for our society. In this paper, we tackle the problem of detecting and attributing AI-generated text by proposing WhosAI, a triplet-network contrastive learning framework designed to predict whether a given input text has been generated by humans or AI and to unveil the authorship of the text. Unlike most existing approaches, our proposed framework is conceived to learn semantic similarity representations from multiple generators at once, thus equally handling both detection and attribution tasks. Furthermore, WhosAI is model-agnostic and scalable to the release of new AI text-generation models by incorporating their generated instances into the embedding space learned by our framework. Experimental results on the TuringBench benchmark of 200K news articles show that our proposed framework achieves outstanding results in both the Turing Test and Authorship Attribution tasks, outperforming all the methods listed in the TuringBench benchmark leaderboards.
Segmentation Dataset for Reinforced Concrete Construction
Venue: arXiv cs.CV 2025
Year: 2025

This paper provides a dataset of 14,805 RGB images with segmentation labels for autonomous robotic inspection of reinforced concrete defects. Baselines for the YOLOv8L-seg, DeepLabV3, and U-Net segmentation models are established. Labelling inconsistencies are addressed statistically, and their influence on model performance is analyzed. An error identification tool is employed to examine the error modes of the models. The paper demonstrates that YOLOv8L-seg performs best, achieving a validation mIOU score of up to 0.59. Label inconsistencies were found to have a negligible effect on model performance, while the inclusion of more data improved the performance. False negatives were identified as the primary failure mode. The results highlight the importance of data availability for the performance of deep learning-based models. The lack of publicly available data is identified as a significant contributor to false negatives. To address this, the paper advocates for an increased open-source approach within the construction community.
Recursive InPainting (RIP): how much information is lost under recursive inferences?
Venue: arXiv cs.CV 2025
Year: 2025

The rapid adoption of generative artificial intelligence (AI) is accelerating content creation and modification. For example, variations of a given content, be it text or images, can be created almost instantly and at a low cost. This will soon lead to the majority of text and images being created directly by AI models or by humans assisted by AI. This poses new risks; for example, AI-generated content may be used to train newer AI models and degrade their performance, or information may be lost in the transformations made by AI which could occur when the same content is processed over and over again by AI tools. An example of AI image modifications is inpainting in which an AI model completes missing fragments of an image. The incorporation of inpainting tools into photo editing programs promotes their adoption and encourages their recursive use to modify images. Inpainting can be applied recursively, starting from an image, removing some parts, applying inpainting to reconstruct the image, revising it, and then starting the inpainting process again on the reconstructed image, etc. This paper presents an empirical evaluation of recursive inpainting when using one of the most widely used image models: Stable Diffusion. The inpainting process is applied by randomly selecting a fragment of the image, reconstructing it, selecting another fragment, and repeating the process a predefined number of iterations. The images used in the experiments are taken from a publicly available art data set and correspond to different styles and historical periods. Additionally, photographs are also evaluated as a reference. The modified images are compared with the original ones by both using quantitative metrics and performing a qualitative analysis. The results show that recursive inpainting in some cases modifies the image so that it still resembles the original one while in others leads to degeneration.
Diversifying the Expert Knowledge for Task-Agnostic Pruning in Sparse Mixture-of-Experts
Venue: arXiv cs.CL 2025
Year: 2025

By increasing model parameters but activating them sparsely when performing a task, the use of Mixture-of-Experts (MoE) architecture significantly improves the performance of Large Language Models (LLMs) without increasing the inference cost. However, the memory consumption due to the growing number of experts presents a challenge to the deployment of these models in many real world settings. Our empirical study reveals that some experts encode redundant knowledge during pre-training. We thus propose a method of grouping and pruning similar experts to improve the model's parameter efficiency. We validate the effectiveness of our method by pruning three state-of-the-art MoE architectures, including Mixtral, Deepseek-MoE, and Qwen. The evaluation shows that our method outperforms other model pruning methods on a range of natural language tasks. We will release our code to facilitate future research.
Orientability of Undirected Phylogenetic Networks to a Desired Class: Practical Algorithms and Application to Tree-Child Orientation
Venue: arXiv cs.DS 2025
Year: 2025

The C-Orientation problem asks whether it is possible to orient an undirected graph to a directed phylogenetic network of a desired network class C. This problem arises, for example, when visualising evolutionary data, as popular methods such as Neighbor-Net are distance-based and inevitably produce undirected graphs. The complexity of C-Orientation remains open for many classes C, including binary tree-child networks, and practical methods are still lacking. In this paper, we propose an exact FPT algorithm for C-Orientation that is applicable to any class C and parameterised by the reticulation number and the maximum size of minimal basic cycles, and a very fast heuristic for Tree-Child Orientation. While the state-of-the-art for C-Orientation is a simple exponential time algorithm whose computational bottleneck lies in searching for appropriate reticulation vertex placements, our methods significantly reduce this search space. Experiments show that, although our FPT algorithm is still exponential, it significantly outperforms the existing method. The heuristic runs even faster but with increasing false negatives as the reticulation number grows. Given this trade-off, we also discuss theoretical directions for improvement and biological applicability of the heuristic approach.
NativQA: Multilingual Culturally-Aligned Natural Query for LLMs
Venue: arXiv cs.CL 2025
Year: 2025

Natural Question Answering (QA) datasets play a crucial role in evaluating the capabilities of large language models (LLMs), ensuring their effectiveness in real-world applications. Despite the numerous QA datasets that have been developed and some work has been done in parallel, there is a notable lack of a framework and large scale region-specific datasets queried by native users in their own languages. This gap hinders the effective benchmarking and the development of fine-tuned models for regional and cultural specificities. In this study, we propose a scalable, language-independent framework, NativQA, to seamlessly construct culturally and regionally aligned QA datasets in native languages, for LLM evaluation and tuning. We demonstrate the efficacy of the proposed framework by designing a multilingual natural QA dataset, MultiNativQA, consisting of ~64k manually annotated QA pairs in seven languages, ranging from high to extremely low resource, based on queries from native speakers from 9 regions covering 18 topics. We benchmark open- and closed-source LLMs with the MultiNativQA dataset. We made the MultiNativQA dataset(https://huggingface.co/datasets/QCRI/MultiNativQA), and other experimental scripts(https://gitlab.com/nativqa/multinativqa) publicly available for the community.
A Close Analysis of the Subset Construction
Venue: arXiv cs.FL 2025
Year: 2025

Given a nondeterministic finite-state automaton (NFA), we aim to estimate the size of an equivalent deterministic finite-state automaton (DFA). We demonstrate that computing the state complexity of an NFA within polynomial precision is PSPACE-hard. Furthermore, we also demonstrate that it is PSPACE-hard to decide whether the classical subset construction will yield an equivalent DFA with an exponential increase in the number of states. This result implies that making any a prior estimate of the running time of the subset construction is inherently difficult. To address this, and to enable forecasting of such exponential blow-up in certain special cases, we introduce the notion of subset complexity, which provides an upper bound on the size of the DFA produced by the subset construction. We show that the subset complexity can be efficiently bounded above using the cyclicity and rank of the transition matrices of the NFA. This yields a sufficient condition for identifying NFAs that can be efficiently determinized via the subset construction.
PSC: Posterior Sampling-Based Compression
Venue: arXiv cs.CV 2025
Year: 2025

Diffusion models have transformed the landscape of image generation and now show remarkable potential for image compression. Most of the recent diffusion-based compression methods require training and are tailored for a specific bit-rate. In this work, we propose Posterior Sampling-based Compression (PSC) - a zero-shot compression method that leverages a pre-trained diffusion model as its sole neural network component, thus enabling the use of diverse, publicly available models without additional training. Our approach is inspired by transform coding methods, which encode the image in some pre-chosen transform domain. However, PSC constructs a transform that is adaptive to the image. This is done by employing a zero-shot diffusion-based posterior sampler so as to progressively construct the rows of the transform matrix. Each new chunk of rows is chosen to reduce the uncertainty about the image given the quantized measurements collected thus far. Importantly, the same adaptive scheme can be replicated at the decoder, thus avoiding the need to encode the transform itself. We demonstrate that even with basic quantization and entropy coding, PSC's performance is comparable to established training-based methods in terms of rate, distortion, and perceptual quality. This is while providing greater flexibility, allowing to choose at inference time any desired rate or distortion.
Improving Graph Out-of-distribution Generalization Beyond Causality
Venue: arXiv cs.LG 2025
Year: 2025

Existing methods for graph out-of-distribution (OOD) generalization primarily rely on empirical studies on synthetic datasets. Such approaches tend to overemphasize the causal relationships between invariant sub-graphs and labels, thereby neglecting the non-negligible role of environment in real-world scenarios. In contrast to previous studies that impose rigid independence assumptions on environments and invariant sub-graphs, this paper presents the theorems of environment-label dependency and mutable rationale invariance, where the former characterizes the usefulness of environments in determining graph labels while the latter refers to the mutable importance of graph rationales. Based on analytic investigations, a novel variational inference based method named ``Probability Dependency on Environments and Rationales for OOD Graphs on Real-world Data'' (DEROG) is introduced. To alleviate the adverse effect of unknown prior knowledge on environments and rationales, DEROG utilizes generalized Bayesian inference. Further, DEROG employs an EM-based algorithm for optimization. Finally, extensive experiments on real-world datasets under different distribution shifts are conducted to show the superiority of DEROG. Our code is publicly available at https://github.com/LEOXC1571/DEROG.
PAFUSE: Part-based Diffusion for 3D Whole-Body Pose Estimation
Venue: arXiv cs.CV 2025
Year: 2025

We introduce a novel approach for 3D whole-body pose estimation, addressing the challenge of scale -- and deformability -- variance across body parts brought by the challenge of extending the 17 major joints on the human body to fine-grained keypoints on the face and hands. In addition to addressing the challenge of exploiting motion in unevenly sampled data, we combine stable diffusion to a hierarchical part representation which predicts the relative locations of fine-grained keypoints within each part (e.g., face) with respect to the part's local reference frame. On the H3WB dataset, our method greatly outperforms the current state of the art, which fails to exploit the temporal information. We also show considerable improvements compared to other spatiotemporal 3D human-pose estimation approaches that fail to account for the body part specificities. Code is available at https://github.com/valeoai/PAFUSE.
Impact of Road Infrastructure and Traffic Scenarios on E-scooterists' Riding and Gaze Behavior
Venue: arXiv cs.CY 2025
Year: 2025

The growing adoption of e-scooters has raised significant safety concerns, particularly due to a surge in injuries and fatalities. This study explores the relationship between road infrastructure, traffic scenarios, and e-scooterists' riding and gaze behaviors to improve road safety and user experience. A naturalistic study was conducted using instrumented e-scooters, capturing gaze patterns, fixation metrics, and head movement data across various road layouts and traffic scenarios. Key findings reveal that bike lanes offer a stable environment with reduced horizontal head movement and focused attention on the road, while shared roads and sidewalks lead to more dispersed gaze and increased head movement, indicating higher uncertainty and complexity. Interactions with other road users, such as navigating intersections, passing buses, riding near cars, and descending on downhill paths, demand greater cognitive load. Intersections require heightened visual focus and spatial awareness, reflected in increased horizontal eye and head movements. Interactions with vehicles prioritize visual scanning over head movement to maintain stability and avoid collisions, while high-speed and downhill riding demand focused attention on obstacles and the road surface. The results provide insights into e-scooter riders' behavior and physiological response analysis, paving the way for safer riding experiences and improved understanding of their needs.