OpenRaiser/Intern-Atlas huggingface dataset:
CoCoNUT: Structural Code Understanding does not fall out of a tree
Venue: arXiv cs.LG 2025
Year: 2025

Large Language Models (LLMs) have shown impressive performance across a wide array of tasks involving both structured and unstructured textual data. Recent results on various benchmarks for code generation, repair, or completion suggest that certain models have programming abilities comparable to or even surpass humans. In this work, we demonstrate that high performance on such benchmarks does not correlate to humans' innate ability to understand structural control flow in code. To this end, we extract solutions from the HumanEval benchmark, which the relevant models perform strongly on, and trace their execution path using function calls sampled from the respective test set. Using this dataset, we investigate the ability of seven state-of-the-art LLMs to match the execution trace and find that, despite their ability to generate semantically identical code, they possess limited ability to trace execution paths, especially for longer traces and specific control structures. We find that even the top-performing model, Gemini, can fully and correctly generate only 47% of HumanEval task traces. Additionally, we introduce a subset for three key structures not contained in HumanEval: Recursion, Parallel Processing, and Object-Oriented Programming, including concepts like Inheritance and Polymorphism. Besides OOP, we show that none of the investigated models achieve an accuracy over 5% on the relevant traces. Aggregating these specialized parts with HumanEval tasks, we present CoCoNUT: Code Control Flow for Navigation Understanding and Testing, which measures a model's ability to trace execution of code upon relevant calls, including advanced structural components. We conclude that current LLMs need significant improvement to enhance code reasoning abilities. We hope our dataset helps researchers bridge this gap.
Symbolic Mathematical Computation 1965--1975: The View from a Half-Century Perspective
Venue: arXiv cs.GL 2025
Year: 2025

The 2025 ISSAC conference in Guanajuato, Mexico, marks the 50th event in this significant series, making it an ideal moment to reflect on the field's history. This paper reviews the formative years of symbolic computation up to 1975, fifty years ago. By revisiting a period unfamiliar to most current participants, this survey aims to shed light on once-pressing issues that are now largely resolved and to highlight how some of today's challenges were recognized earlier than expected.
Deception in LLMs: Self-Preservation and Autonomous Goals in Large Language Models
Venue: arXiv cs.CL 2025
Year: 2025

Recent advances in Large Language Models (LLMs) have incorporated planning and reasoning capabilities, enabling models to outline steps before execution and provide transparent reasoning paths. This enhancement has reduced errors in mathematical and logical tasks while improving accuracy. These developments have facilitated LLMs' use as agents that can interact with tools and adapt their responses based on new information. Our study examines DeepSeek R1, a model trained to output reasoning tokens similar to OpenAI's o1. Testing revealed concerning behaviors: the model exhibited deceptive tendencies and demonstrated self-preservation instincts, including attempts of self-replication, despite these traits not being explicitly programmed (or prompted). These findings raise concerns about LLMs potentially masking their true objectives behind a facade of alignment. When integrating such LLMs into robotic systems, the risks become tangible - a physically embodied AI exhibiting deceptive behaviors and self-preservation instincts could pursue its hidden objectives through real-world actions. This highlights the critical need for robust goal specification and safety frameworks before any physical implementation.
Generative AI as a Playful yet Offensive Tourist: Exploring Tensions Between Playful Features and Citizen Concerns in Designing Urban Play
Venue: arXiv cs.HC 2025
Year: 2025

Play is pivotal in fostering the emotional, social, and cultural dimensions of urban spaces. While generative AI (GAI) potentially supports playful urban interaction, a balanced and critical approach to the design opportunities and challenges is needed. This work develops iWonder, an image-to-image GAI tool engaging fourteen designers in urban explorations to identify GAI's playful features and create design ideas. Fourteen citizens then evaluated these ideas, providing expectations and critical concerns from a bottom-up perspective. Our findings reveal the dynamic interplay between users, GAI, and urban contexts, highlighting GAI's potential to facilitate playful urban experiences through generative agency, meaningful unpredictability, social performativity, and the associated offensive qualities. We propose design considerations to address citizen concerns and the `tourist metaphor' to deepen our understanding of GAI's impact, offering insights to enhance cities' socio-cultural fabric. Overall, this research contributes to the effort to harness GAI's capabilities for urban enrichment.
instancespace: a Python Package for Insightful Algorithm Testing through Instance Space Analysis
Venue: arXiv cs.SE 2025
Year: 2025

Instance Space Analysis is a methodology to evaluate algorithm performance across diverse problem fields. Through visualisation and exploratory data analysis techniques, Instance Space Analysis offers objective, data-driven insights into the diversity of test instances, algorithm behaviour, and algorithm strengths and weaknesses. As such, it supports automated algorithm selection and synthetic test instance generation, increasing testing reliability in optimisation, machine learning, and scheduling fields. This paper introduces instancespace, a Python package that implements an automated pipeline for Instance Space Analysis. This package supports research by streamlining the testing process, providing unbiased metrics, and facilitating more informed algorithmic design and deployment decisions, particularly for complex and safety-critical systems.
Large Language Model Critics for Execution-Free Evaluation of Code Changes
Venue: arXiv cs.CL 2025
Year: 2025

Large language models (LLMs) offer a promising way forward for automating software engineering tasks, such as bug fixes, feature additions, etc., via multi-step LLM-based agentic workflows. However, existing metrics for evaluating such workflows, mainly build status and occasionally log analysis, are too sparse and limited in providing the information needed to assess the quality of changes made. In this work, we designed LLM-based critics to derive well-structured and rigorous intermediate/step-level, execution-free evaluation proxies for repo-level code changes. Importantly, we assume access to the gold test patch for the problem (i.e., reference-aware) to assess both semantics and executability of generated patches. With the gold test patch as a reference, we predict executability of all editing locations with an F1 score of 91.6%, aggregating which, we can predict the build status in 84.8% of the instances in SWE-bench. In particular, such an execution-focused LLM critic outperforms other reference-free and reference-aware LLM critics by 38.9% to 72.5%. Moreover, we demonstrate the usefulness of such a reference-aware framework in comparing patches generated by different agentic workflows. Finally, we open-source the library developed for this project, which allows further usage for either other agentic workflows or other benchmarks. The source code is available at https://github.com/amazon-science/code-agent-eval.
Data-Free Model-Related Attacks: Unleashing the Potential of Generative AI
Venue: arXiv cs.CR 2025
Year: 2025

Generative AI technology has become increasingly integrated into our daily lives, offering powerful capabilities to enhance productivity. However, these same capabilities can be exploited by adversaries for malicious purposes. While existing research on adversarial applications of generative AI predominantly focuses on cyberattacks, less attention has been given to attacks targeting deep learning models. In this paper, we introduce the use of generative AI for facilitating model-related attacks, including model extraction, membership inference, and model inversion. Our study reveals that adversaries can launch a variety of model-related attacks against both image and text models in a data-free and black-box manner, achieving comparable performance to baseline methods that have access to the target models' training data and parameters in a white-box manner. This research serves as an important early warning to the community about the potential risks associated with generative AI-powered attacks on deep learning models.
Strawberry Robotic Operation Interface: An Open-Source Device for Collecting Dexterous Manipulation Data in Robotic Strawberry Farming
Venue: arXiv cs.RO 2025
Year: 2025

The strawberry farming is labor-intensive, particularly in tasks requiring dexterous manipulation such as picking occluded strawberries. To address this challenge, we present the Strawberry Robotic Operation Interface (SROI), an open-source device designed for collecting dexterous manipulation data in robotic strawberry farming. The SROI features a handheld unit with a modular end effector, a stereo robotic camera, enabling the easy collection of demonstration data in field environments. A data post-processing pipeline is introduced to extract spatial trajectories and gripper states from the collected data. Additionally, we release an open-source dataset of strawberry picking demonstrations to facilitate research in dexterous robotic manipulation. The SROI represents a step toward automating complex strawberry farming tasks, reducing reliance on manual labor.
On the Interplay Between Sparsity and Training in Deep Reinforcement Learning
Venue: arXiv cs.LG 2025
Year: 2025

We study the benefits of different sparse architectures for deep reinforcement learning. In particular, we focus on image-based domains where spatially-biased and fully-connected architectures are common. Using these and several other architectures of equal capacity, we show that sparse structure has a significant effect on learning performance. We also observe that choosing the best sparse architecture for a given domain depends on whether the hidden layer weights are fixed or learned.
SSF-PAN: Semantic Scene Flow-Based Perception for Autonomous Navigation in Traffic Scenarios
Venue: arXiv cs.RO 2025
Year: 2025

Vehicle detection and localization in complex traffic scenarios pose significant challenges due to the interference of moving objects. Traditional methods often rely on outlier exclusions or semantic segmentations, which suffer from low computational efficiency and accuracy. The proposed SSF-PAN can achieve the functionalities of LiDAR point cloud based object detection/localization and SLAM (Simultaneous Localization and Mapping) with high computational efficiency and accuracy, enabling map-free navigation frameworks. The novelty of this work is threefold: 1) developing a neural network which can achieve segmentation among static and dynamic objects within the scene flows with different motion features, that is, semantic scene flow (SSF); 2) developing an iterative framework which can further optimize the quality of input scene flows and output segmentation results; 3) developing a scene flow-based navigation platform which can test the performance of the SSF perception system in the simulation environment. The proposed SSF-PAN method is validated using the SUScape-CARLA and the KITTI datasets, as well as on the CARLA simulator. Experimental results demonstrate that the proposed approach outperforms traditional methods in terms of scene flow computation accuracy, moving object detection accuracy, computational efficiency, and autonomous navigation effectiveness.
Beyond-Labels: Advancing Open-Vocabulary Segmentation With Vision-Language Models
Venue: arXiv cs.CV 2025
Year: 2025

Open-vocabulary semantic segmentation attempts to classify and outline objects in an image using arbitrary text labels, including those unseen during training. Self-supervised learning resolves numerous visual and linguistic processing problems when effectively trained. This study investigates simple yet efficient methods for adapting previously learned foundation models for open-vocabulary semantic segmentation tasks. Our research proposes "Beyond-Labels", a lightweight transformer-based fusion module that uses a small amount of image segmentation data to fuse frozen visual representations with language concepts. This strategy allows the model to leverage the extensive knowledge of pre-trained models without requiring significant retraining, making the approach data-efficient and scalable. Furthermore, we capture positional information in images using Fourier embeddings, improving generalization and enabling smooth and consistent spatial encoding. We perform thorough ablation studies to examine the main components of our proposed method. On the standard benchmark PASCAL-5i, the method performs better despite being trained on frozen vision and language representations. Index Terms: Beyond-Labels, open-vocabulary semantic segmentation, Fourier embeddings, PASCAL-5i
Not Every Patch is Needed: Towards a More Efficient and Effective Backbone for Video-based Person Re-identification
Venue: arXiv cs.CV 2025
Year: 2025

This paper proposes a new effective and efficient plug-and-play backbone for video-based person re-identification (ReID). Conventional video-based ReID methods typically use CNN or transformer backbones to extract deep features for every position in every sampled video frame. Here, we argue that this exhaustive feature extraction could be unnecessary, since we find that different frames in a ReID video often exhibit small differences and contain many similar regions due to the relatively slight movements of human beings. Inspired by this, a more selective, efficient paradigm is explored in this paper. Specifically, we introduce a patch selection mechanism to reduce computational cost by choosing only the crucial and non-repetitive patches for feature extraction. Additionally, we present a novel network structure that generates and utilizes pseudo frame global context to address the issue of incomplete views resulting from sparse inputs. By incorporating these new designs, our backbone can achieve both high performance and low computational cost. Extensive experiments on multiple datasets show that our approach reduces the computational cost by 74\% compared to ViT-B and 28\% compared to ResNet50, while the accuracy is on par with ViT-B and outperforms ResNet50 significantly.
Comparing Human and LLM Generated Code: The Jury is Still Out!
Venue: arXiv cs.SE 2025
Year: 2025

Much is promised in relation to AI-supported software development. However, there has been limited evaluation effort in the research domain aimed at validating the true utility of such techniques, especially when compared to human coding outputs. We bridge this gap, where a benchmark dataset comprising 72 distinct software engineering tasks is used to compare the effectiveness of large language models (LLMs) and human programmers in producing Python software code. GPT-4 is used as a representative LLM, where for the code generated by humans and this LLM, we evaluate code quality and adherence to Python coding standards, code security and vulnerabilities, code complexity and functional correctness. We use various static analysis benchmarks, including Pylint, Radon, Bandit and test cases. Among the notable outcomes, results show that human-generated code recorded higher ratings for adhering to coding standards than GPT-4. We observe security flaws in code generated by both humans and GPT-4, however, code generated by humans shows a greater variety of problems, but GPT-4 code included more severe outliers. Our results show that although GPT-4 is capable of producing coding solutions, it frequently produces more complex code that may need more reworking to ensure maintainability. On the contrary however, our outcomes show that a higher number of test cases passed for code generated by GPT-4 across a range of tasks than code that was generated by humans. That said, GPT-4 frequently struggles with complex problem-solving that involve in-depth domain knowledge. This study highlights the potential utility of LLMs for supporting software development, however, tasks requiring comprehensive, innovative or unconventional solutions, and careful debugging and error correction seem to be better developed by human programmers. We plot an agenda for the software engineering community.
Irony Detection, Reasoning and Understanding in Zero-shot Learning
Venue: arXiv cs.CL 2025
Year: 2025

The generalisation of irony detection faces significant challenges, leading to substantial performance deviations when detection models are applied to diverse real-world scenarios. In this study, we find that irony-focused prompts, as generated from our IDADP framework for LLMs, can not only overcome dataset-specific limitations but also generate coherent, human-readable reasoning, transforming ironic text into its intended meaning. Based on our findings and in-depth analysis, we identify several promising directions for future research aimed at enhancing LLMs' zero-shot capabilities in irony detection, reasoning, and comprehension. These include advancing contextual awareness in irony detection, exploring hybrid symbolic-neural methods, and integrating multimodal data, among others.
RDMM: Fine-Tuned LLM Models for On-Device Robotic Decision Making with Enhanced Contextual Awareness in Specific Domains
Venue: arXiv cs.RO 2025
Year: 2025

Large language models (LLMs) represent a significant advancement in integrating physical robots with AI-driven systems. We showcase the capabilities of our framework within the context of the real-world household competition. This research introduces a framework that utilizes RDMM (Robotics Decision-Making Models), which possess the capacity for decision-making within domain-specific contexts, as well as an awareness of their personal knowledge and capabilities. The framework leverages information to enhance the autonomous decision-making of the system. In contrast to other approaches, our focus is on real-time, on-device solutions, successfully operating on hardware with as little as 8GB of memory. Our framework incorporates visual perception models equipping robots with understanding of their environment. Additionally, the framework has integrated real-time speech recognition capabilities, thus enhancing the human-robot interaction experience. Experimental results demonstrate that the RDMM framework can plan with an 93\% accuracy. Furthermore, we introduce a new dataset consisting of 27k planning instances, as well as 1.3k text-image annotated samples derived from the competition. The framework, benchmarks, datasets, and models developed in this work are publicly available on our GitHub repository at https://github.com/shadynasrat/RDMM.
Agential AI for Integrated Continual Learning, Deliberative Behavior, and Comprehensible Models
Venue: arXiv cs.AI 2025
Year: 2025

Contemporary machine learning paradigm excels in statistical data analysis, solving problems that classical AI couldn't. However, it faces key limitations, such as a lack of integration with planning, incomprehensible internal structure, and inability to learn continually. We present the initial design for an AI system, Agential AI (AAI), in principle operating independently or on top of statistical methods, designed to overcome these issues. AAI's core is a learning method that models temporal dynamics with guarantees of completeness, minimality, and continual learning, using component-level variation and selection to learn the structure of the environment. It integrates this with a behavior algorithm that plans on a learned model and encapsulates high-level behavior patterns. Preliminary experiments on a simple environment show AAI's effectiveness and potential.
Giving Sense to Inputs: Toward an Accessible Control Framework for Shared Autonomy
Venue: arXiv cs.RO 2025
Year: 2025

While shared autonomy offers significant potential for assistive robotics, key questions remain about how to effectively map 2D control inputs to 6D robot motions. An intuitive framework should allow users to input commands effortlessly, with the robot responding as expected, without users needing to anticipate the impact of their inputs. In this article, we propose a dynamic input mapping framework that links joystick movements to motions on control frames defined along a trajectory encoded with canal surfaces. We evaluate our method in a user study with 20 participants, demonstrating that our input mapping framework reduces the workload and improves usability compared to a baseline mapping with similar motion encoding. To prepare for deployment in assistive scenarios, we built on the development from the accessible gaming community to select an accessible control interface. We then tested the system in an exploratory study, where three wheelchair users controlled the robot for both daily living activities and a creative painting task, demonstrating its feasibility for users closer to our target population.
Quantifying Uncertainty and Variability in Machine Learning: Confidence Intervals for Quantiles in Performance Metric Distributions
Venue: arXiv cs.LG 2025
Year: 2025

Machine learning models are widely used in applications where reliability and robustness are critical. Model evaluation often relies on single-point estimates of performance metrics such as accuracy, F1 score, or mean squared error, that fail to capture the inherent variability in model performance. This variability arises from multiple sources, including train-test split, weights initialization, and hyperparameter tuning. Investigating the characteristics of performance metric distributions, rather than focusing on a single point only, is essential for informed decision-making during model selection and optimization, especially in high-stakes settings. How does the performance metric vary due to intrinsic uncertainty in the selected modeling approach? For example, train-test split is modified, initial weights for optimization are modified or hyperparameter tuning is done using an algorithm with probabilistic nature? This is shifting the focus from identifying a single best model to understanding a distribution of the performance metric that captures variability across different training conditions. By running multiple experiments with varied settings, empirical distributions of performance metrics can be generated. Analyzing these distributions can lead to more robust models that generalize well across diverse scenarios. This contribution explores the use of quantiles and confidence intervals to analyze such distributions, providing a more complete understanding of model performance and its uncertainty. Aimed at a statistically interested audience within the machine learning community, the suggested approaches are easy to implement and apply to various performance metrics for classification and regression problems. Given the often long training times in ML, particular attention is given to small sample sizes (in the order of 10-25).