OpenRaiser/Intern-Atlas huggingface dataset:
Aligning Humans and Robots via Reinforcement Learning from Implicit Human Feedback
Venue: arXiv cs.RO 2025
Year: 2025

Conventional reinforcement learning (RL) ap proaches often struggle to learn effective policies under sparse reward conditions, necessitating the manual design of complex, task-specific reward functions. To address this limitation, rein forcement learning from human feedback (RLHF) has emerged as a promising strategy that complements hand-crafted rewards with human-derived evaluation signals. However, most existing RLHF methods depend on explicit feedback mechanisms such as button presses or preference labels, which disrupt the natural interaction process and impose a substantial cognitive load on the user. We propose a novel reinforcement learning from implicit human feedback (RLIHF) framework that utilizes non-invasive electroencephalography (EEG) signals, specifically error-related potentials (ErrPs), to provide continuous, implicit feedback without requiring explicit user intervention. The proposed method adopts a pre-trained decoder to transform raw EEG signals into probabilistic reward components, en abling effective policy learning even in the presence of sparse external rewards. We evaluate our approach in a simulation environment built on the MuJoCo physics engine, using a Kinova Gen2 robotic arm to perform a complex pick-and-place task that requires avoiding obstacles while manipulating target objects. The results show that agents trained with decoded EEG feedback achieve performance comparable to those trained with dense, manually designed rewards. These findings validate the potential of using implicit neural feedback for scalable and human-aligned reinforcement learning in interactive robotics.
Impact and Performance of Randomized Test-Generation using Prolog
Venue: arXiv cs.LO 2025
Year: 2025

We study randomized generation of sequences of test-inputs to a system using Prolog. Prolog is a natural fit to generate test-sequences that have complex logical inter-dependent structure. To counter the problems posed by a large (or infinite) set of possible tests, randomization is a natural choice. We study the impact that randomization in conjunction with SLD resolution have on the test performance. To this end, this paper proposes two strategies to add randomization to a test-generating program. One strategy works on top of standard Prolog semantics, whereas the other alters the SLD selection function. We analyze the mean time to reach a test-case, and the mean number of generated test-cases in the framework of Markov chains. Finally, we provide an additional empirical evaluation and comparison between both approaches. Under consideration in Theory and Practice of Logic Programming (TPLP).
GradNetOT: Learning Optimal Transport Maps with GradNets
Venue: arXiv cs.LG 2025
Year: 2025

Monotone gradient functions play a central role in solving the Monge formulation of the optimal transport (OT) problem, which arises in modern applications ranging from fluid dynamics to robot swarm control. When the transport cost is the squared Euclidean distance, Brenier's theorem guarantees that the unique optimal transport map satisfies a Monge-Ampère equation and is the gradient of a convex function. In [arXiv:2301.10862] [arXiv:2404.07361], we proposed Monotone Gradient Networks (mGradNets), neural networks that directly parameterize the space of monotone gradient maps. In this work, we leverage mGradNets to directly learn the optimal transport mapping by minimizing a training loss function defined using the Monge-Ampère equation. We empirically show that the structural bias of mGradNets facilitates the learning of optimal transport maps across both image morphing tasks and high-dimensional OT problems.
Higher-Order Pattern Unification Modulo Similarity Relations
Venue: arXiv cs.AI 2025
Year: 2025

The combination of higher-order theories and fuzzy logic can be useful in decision-making tasks that involve reasoning across abstract functions and predicates, where exact matches are often rare or unnecessary. Developing efficient reasoning and computational techniques for such a combined formalism presents a significant challenge. In this paper, we adopt a more straightforward approach aiming at integrating two well-established and computationally well-behaved components: higher-order patterns on one side and fuzzy equivalences expressed through similarity relations based on minimum T-norm on the other. We propose a unification algorithm for higher-order patterns modulo these similarity relations and prove its termination, soundness, and completeness. This unification problem, like its crisp counterpart, is unitary. The algorithm computes a most general unifier with the highest degree of approximation when the given terms are unifiable.
{S\textsuperscript{2}M\textsuperscript{2}}: Scalable Stereo Matching Model for Reliable Depth Estimation
Venue: arXiv cs.CV 2025
Year: 2025

The pursuit of a generalizable stereo matching model, capable of performing well across varying resolutions and disparity ranges without dataset-specific fine-tuning, has revealed a fundamental trade-off. Iterative local search methods achieve high scores on constrained benchmarks, but their core mechanism inherently limits the global consistency required for true generalization. However, global matching architectures, while theoretically more robust, have historically been rendered infeasible by prohibitive computational and memory costs. We resolve this dilemma with {S\textsuperscript{2}M\textsuperscript{2}}: a global matching architecture that achieves state-of-the-art accuracy and high efficiency without relying on cost volume filtering or deep refinement stacks. Our design integrates a multi-resolution transformer for robust long-range correspondence, trained with a novel loss function that concentrates probability on feasible matches. This approach enables a more robust joint estimation of disparity, occlusion, and confidence. {S\textsuperscript{2}M\textsuperscript{2}} establishes a new state of the art on Middlebury v3 and ETH3D benchmarks, significantly outperforming prior methods in most metrics while reconstructing high-quality details with competitive efficiency.
RemVerse: Supporting Reminiscence Activities for Older Adults through AI-Assisted Virtual Reality
Venue: arXiv cs.HC 2025
Year: 2025

Reminiscence activities, which involve recalling and sharing past experiences, have proven beneficial for improving cognitive function, mood, and overall well-being. However, urbanization has led to the disappearance of familiar environments, removing visual and audio cues for effective reminiscence. While old photos can serve as visual cues to aid reminiscence, it is challenging for people to reconstruct the reminisced content and environment that are not in the photos. Virtual reality (VR) and artificial intelligence (AI) offer the ability to reconstruct an immersive environment with dynamic content and to converse with people to help them gradually reminisce. We designed RemVerse, an AI-empowered VR prototype aimed to support reminiscence activities. Integrating generative models and AI agent into a VR environment, RemVerse helps older adults reminisce with AI-generated visual cues and interactive dialogues. Our user study with 14 older adults showed that RemVerse effectively supported reminiscence activities by triggering, concretizing, and deepening personal memories, while fostering increased engagement and autonomy among older adults. Based on our findings, we proposed design implications to make reminiscence activities in AI-assisted VR more accessible and engaging for older adults.
WIP: Turning Fake Chips into Learning Opportunities
Venue: arXiv cs.AR 2025
Year: 2025

This work-in-progress paper presents a case study in which counterfeit TL074 operational amplifiers, discovered in a junior level electronics course, became the basis for a hands on learning experience. Counterfeit integrated circuits (IC) are increasingly common, posing a significant threat to the integrity of undergraduate electronics laboratories. Instead of simply replacing the counterfeit components, we turned the issue into a teaching moment. Students engaged in hands-on diagnostics measuring current, analyzing waveforms, and troubleshooting. By working with fake chip components, they gained deeper insight into analog circuits, supply chain security, and practical engineering.
GeoReg: Weight-Constrained Few-Shot Regression for Socio-Economic Estimation using LLM
Venue: arXiv cs.LG 2025
Year: 2025

Socio-economic indicators like regional GDP, population, and education levels, are crucial to shaping policy decisions and fostering sustainable development. This research introduces GeoReg a regression model that integrates diverse data sources, including satellite imagery and web-based geospatial information, to estimate these indicators even for data-scarce regions such as developing countries. Our approach leverages the prior knowledge of large language model (LLM) to address the scarcity of labeled data, with the LLM functioning as a data engineer by extracting informative features to enable effective estimation in few-shot settings. Specifically, our model obtains contextual relationships between data features and the target indicator, categorizing their correlations as positive, negative, mixed, or irrelevant. These features are then fed into the linear estimator with tailored weight constraints for each category. To capture nonlinear patterns, the model also identifies meaningful feature interactions and integrates them, along with nonlinear transformations. Experiments across three countries at different stages of development demonstrate that our model outperforms baselines in estimating socio-economic indicators, even for low-income countries with limited data availability.
Social and Political Framing in Search Engine Results
Venue: arXiv cs.CL 2025
Year: 2025

Search engines play a crucial role in shaping public discourse by influencing how information is accessed and framed. While prior research has extensively examined various dimensions of search bias -- such as content prioritization, indexical bias, political polarization, and sources of bias -- an important question remains underexplored: how do search engines and ideologically-motivated user queries contribute to bias in search results. This study analyzes the outputs of major search engines using a dataset of political and social topics. The findings reveal that search engines not only prioritize content in ways that reflect underlying biases but also that ideologically-driven user queries exacerbate these biases, resulting in the amplification of specific narratives. Moreover, significant differences were observed across search engines in terms of the sources they prioritize. These results suggest that search engines may play a pivotal role in shaping public perceptions by reinforcing ideological divides, thereby contributing to the broader issue of information polarization.
Comparing Apples to Oranges: A Dataset & Analysis of LLM Humour Understanding from Traditional Puns to Topical Jokes
Venue: arXiv cs.CL 2025
Year: 2025

Humour, as a complex language form, is derived from myriad aspects of life. Whilst existing work on computational humour has focussed almost exclusively on short pun-based jokes, we investigate whether the ability of Large Language Models (LLMs) to explain humour depends on the particular form. We compare models' joke explanation abilities from simple puns to complex topical humour that requires esoteric knowledge of real-world entities and events. To this end, we curate a dataset of 600 jokes across 4 joke types and manually write high-quality explanations. These jokes include heterographic and homographic puns, contemporary internet humour, and topical jokes. Using this dataset, we compare the zero-shot abilities of a range of LLMs to accurately and comprehensively explain jokes of different types, identifying key research gaps in the task of humour explanation. We find that none of the tested models (including reasoning models) are capable of reliably generating adequate explanations of all joke types, further highlighting the narrow focus of most existing works on overly simple joke forms.
Physical models realizing the transformer architecture of large language models
Venue: arXiv cs.LG 2025
Year: 2025

The introduction of the transformer architecture in 2017 marked the most striking advancement in natural language processing. The transformer is a model architecture relying entirely on an attention mechanism to draw global dependencies between input and output. However, we believe there is a gap in our theoretical understanding of what the transformer is, and how it works physically. From a physical perspective on modern chips, such as those chips under 28nm, modern intelligent machines should be regarded as open quantum systems beyond conventional statistical systems. Thereby, in this paper, we construct physical models realizing large language models based on a transformer architecture as open quantum systems in the Fock space over the Hilbert space of tokens. Our physical models underlie the transformer architecture for large language models.
Open-Vocabulary Object Detection in UAV Imagery: A Review and Future Perspectives
Venue: arXiv cs.CV 2025
Year: 2025

Due to its extensive applications, aerial image object detection has long been a hot topic in computer vision. In recent years, advancements in Unmanned Aerial Vehicles (UAV) technology have further propelled this field to new heights, giving rise to a broader range of application requirements. However, traditional UAV aerial object detection methods primarily focus on detecting predefined categories, which significantly limits their applicability. The advent of cross-modal text-image alignment (e.g., CLIP) has overcome this limitation, enabling open-vocabulary object detection (OVOD), which can identify previously unseen objects through natural language descriptions. This breakthrough significantly enhances the intelligence and autonomy of UAVs in aerial scene understanding. This paper presents a comprehensive survey of OVOD in the context of UAV aerial scenes. We begin by aligning the core principles of OVOD with the unique characteristics of UAV vision, setting the stage for a specialized discussion. Building on this foundation, we construct a systematic taxonomy that categorizes existing OVOD methods for aerial imagery and provides a comprehensive overview of the relevant datasets. This structured review enables us to critically dissect the key challenges and open problems at the intersection of these fields. Finally, based on this analysis, we outline promising future research directions and application prospects. This survey aims to provide a clear road map and a valuable reference for both newcomers and seasoned researchers, fostering innovation in this rapidly evolving domain. We keep tracing related works at https://github.com/zhouyang2002/OVOD-in-UVA-imagery
Butter: Frequency Consistency and Hierarchical Fusion for Autonomous Driving Object Detection
Venue: arXiv cs.CV 2025
Year: 2025

Hierarchical feature representations play a pivotal role in computer vision, particularly in object detection for autonomous driving. Multi-level semantic understanding is crucial for accurately identifying pedestrians, vehicles, and traffic signs in dynamic environments. However, existing architectures, such as YOLO and DETR, struggle to maintain feature consistency across different scales while balancing detection precision and computational efficiency. To address these challenges, we propose Butter, a novel object detection framework designed to enhance hierarchical feature representations for improving detection robustness. Specifically, Butter introduces two key innovations: Frequency-Adaptive Feature Consistency Enhancement (FAFCE) Component, which refines multi-scale feature consistency by leveraging adaptive frequency filtering to enhance structural and boundary precision, and Progressive Hierarchical Feature Fusion Network (PHFFNet) Module, which progressively integrates multi-level features to mitigate semantic gaps and strengthen hierarchical feature learning. Through extensive experiments on BDD100K, KITTI, and Cityscapes, Butter demonstrates superior feature representation capabilities, leading to notable improvements in detection accuracy while reducing model complexity. By focusing on hierarchical feature refinement and integration, Butter provides an advanced approach to object detection that achieves a balance between accuracy, deployability, and computational efficiency in real-time autonomous driving scenarios. Our model and implementation are publicly available at https://github.com/Aveiro-Lin/Butter, facilitating further research and validation within the autonomous driving community.
Smart Routing for Multimodal Video Retrieval: When to Search What
Venue: arXiv cs.CV 2025
Year: 2025

We introduce ModaRoute, an LLM-based intelligent routing system that dynamically selects optimal modalities for multimodal video retrieval. While dense text captions can achieve 75.9% Recall@5, they require expensive offline processing and miss critical visual information present in 34% of clips with scene text not captured by ASR. By analyzing query intent and predicting information needs, ModaRoute reduces computational overhead by 41% while achieving 60.9% Recall@5. Our approach uses GPT-4.1 to route queries across ASR (speech), OCR (text), and visual indices, averaging 1.78 modalities per query versus exhaustive 3.0 modality search. Evaluation on 1.8M video clips demonstrates that intelligent routing provides a practical solution for scaling multimodal retrieval systems, reducing infrastructure costs while maintaining competitive effectiveness for real-world deployment.
Persona-Based Synthetic Data Generation Using Multi-Stage Conditioning with Large Language Models for Emotion Recognition
Venue: arXiv cs.CL 2025
Year: 2025

In the field of emotion recognition, the development of high-performance models remains a challenge due to the scarcity of high-quality, diverse emotional datasets. Emotional expressions are inherently subjective, shaped by individual personality traits, socio-cultural backgrounds, and contextual factors, making large-scale, generalizable data collection both ethically and practically difficult. To address this issue, we introduce PersonaGen, a novel framework for generating emotionally rich text using a Large Language Model (LLM) through multi-stage persona-based conditioning. PersonaGen constructs layered virtual personas by combining demographic attributes, socio-cultural backgrounds, and detailed situational contexts, which are then used to guide emotion expression generation. We conduct comprehensive evaluations of the generated synthetic data, assessing semantic diversity through clustering and distributional metrics, human-likeness via LLM-based quality scoring, realism through comparison with real-world emotion corpora, and practical utility in downstream emotion classification tasks. Experimental results show that PersonaGen significantly outperforms baseline methods in generating diverse, coherent, and discriminative emotion expressions, demonstrating its potential as a robust alternative for augmenting or replacing real-world emotional datasets.
Characterizing the Dynamics of Conspiracy Related German Telegram Conversations during COVID-19
Venue: arXiv cs.SI 2025
Year: 2025

Conspiracy theories have long drawn public attention, but their explosive growth on platforms like Telegram during the COVID-19 pandemic raises pressing questions about their impact on societal trust, democracy, and public health. We provide a geographical, temporal and network analysis of the structure of of conspiracy-related German-language Telegram chats in a novel large-scale data set. We examine how information flows between regional user groups and influential broadcasting channels, revealing the interplay between decentralized discussions and content spread driven by a small number of key actors. Our findings reveal that conspiracy-related activity spikes during major COVID-19-related events, correlating with societal stressors and mirroring prior research on how crises amplify conspiratorial beliefs. By analysing the interplay between regional, national and transnational chats, we uncover how information flows from larger national or transnational discourse to localised, community-driven discussions. Furthermore, we find that the top 10% of chats account for 94% of all forwarded content, portraying the large influence of a few actors in disseminating information. However, these chats operate independently, with minimal interconnection between each other, primarily forwarding messages to low-traffic groups. Notably, 43% of links shared in the data set point to untrustworthy sources as identified by NewsGuard, a proportion far exceeding their share on other platforms and in other discourse contexts, underscoring the role of conspiracy-related discussions on Telegram as vector for the spread of misinformation.
COREVQA: A Crowd Observation and Reasoning Entailment Visual Question Answering Benchmark
Venue: arXiv cs.CV 2025
Year: 2025

Recently, many benchmarks and datasets have been developed to evaluate Vision-Language Models (VLMs) using visual question answering (VQA) pairs, and models have shown significant accuracy improvements. However, these benchmarks rarely test the model's ability to accurately complete visual entailment, for instance, accepting or refuting a hypothesis based on the image. To address this, we propose COREVQA (Crowd Observations and Reasoning Entailment), a benchmark of 5608 image and synthetically generated true/false statement pairs, with images derived from the CrowdHuman dataset, to provoke visual entailment reasoning on challenging crowded images. Our results show that even the top-performing VLMs achieve accuracy below 80%, with other models performing substantially worse (39.98%-69.95%). This significant performance gap reveals key limitations in VLMs' ability to reason over certain types of image-question pairs in crowded scenes.
Causal Language Control in Multilingual Transformers via Sparse Feature Steering
Venue: arXiv cs.CL 2025
Year: 2025

Deterministically controlling the target generation language of large multilingual language models (LLMs) remains a fundamental challenge, particularly in zero-shot settings where neither explicit language prompts nor fine-tuning are available. In this work, we investigate whether sparse autoencoder (SAE) features, previously shown to correlate with interpretable model behaviors, can be leveraged to steer the generated language of LLMs during inference. Leveraging pretrained SAEs on the residual streams of Gemma-2B and Gemma-9B, we identify features whose activations differ most significantly between English and four target languages: Chinese, Japanese, Spanish, and French. By modifying just a single SAE feature at one transformer layer, we achieve controlled language shifts with up to 90\% success, as measured by FastText language classification, while preserving semantic fidelity according to LaBSE (Language-Agnostic BERT Sentence Embedding) similarity. Our analysis reveals that language steering is most effective in mid-to-late transformer layers and is amplified by specific attention heads disproportionately associated with language-sensitive SAE features. These results demonstrate the promise of sparse feature steering as a lightweight and interpretable mechanism for controllable multilingual generation.