mstyslavity/prisma_v3 huggingface dataset:
Collision avoidance -- involving a rapid threat detection and quick execution of the appropriate evasive maneuver -- is a critical aspect of driving. However, existing models of human collision avoidance behavior are fragmented, focusing on specific scenarios or only describing certain aspects of the avoidance behavior, such as response times. This paper addresses these gaps by proposing a novel computational cognitive model of human collision avoidance behavior based on active inference. Active inference provides a unified approach to modeling human behavior: the minimization of free energy. Building on prior active inference work, our model incorporates established cognitive mechanisms such as evidence accumulation to simulate human responses in two distinct collision avoidance scenarios: front-to-rear lead vehicle braking and lateral incursion by an oncoming vehicle. We demonstrate that our model explains a wide range of previous empirical findings on human collision avoidance behavior. Specifically, the model closely reproduces both aggregate results from meta-analyses previously reported in the literature and detailed, scenario-specific effects observed in a recent driving simulator study, including response timing, maneuver selection, and execution. Our results highlight the potential of active inference as a unified framework for understanding and modeling human behavior in complex real-life driving tasks.
In this work, we provide an extended discussion of a new approach to explainable Reinforcement Learning called Diverse Near-Optimal Alternatives (DNA), first proposed at L4DC 2025. DNA seeks a set of reasonable "options" for trajectory-planning agents, optimizing policies to produce qualitatively diverse trajectories in Euclidean space. In the spirit of explainability, these distinct policies are used to "explain" an agent's options in terms of available trajectory shapes from which a human user may choose. In particular, DNA applies to value function-based policies on Markov decision processes where agents are limited to continuous trajectories. Here, we describe DNA, which uses reward shaping in local, modified Q-learning problems to solve for distinct policies with guaranteed epsilon-optimality. We show that it successfully returns qualitatively different policies that constitute meaningfully different "options" in simulation, including a brief comparison to related approaches in the stochastic optimization field of Quality Diversity. Beyond the explanatory motivation, this work opens new possibilities for exploration and adaptive planning in RL.
Platooning or cooperative adaptive cruise control (CACC) has been investigated for decades, but debate about its lasting impact is still ongoing. While the benefits of platooning and the formation of platoons are well understood for trucks, they are less clear for passenger cars, which have a higher heterogeneity in trips and drivers' preferences. Most importantly, it remains unclear how to form platoons of passenger cars in order to optimize the personal benefit for the individual driver. To this end, in this paper, we propose a novel platoon formation algorithm that optimizes the personal benefit for drivers of individual passenger cars. For computing vehicle-to-platoon assignments, the algorithm utilizes a new metric that we propose to evaluate the personal benefits of various driving systems, including platooning. By combining fuel and travel time costs into a single monetary value, drivers can estimate overall trip costs according to a personal monetary value for time spent. This provides an intuitive way for drivers to understand and compare the benefits of driving systems like human driving, adaptive cruise control (ACC), and, of course, platooning. Unlike previous similarity-based methods, our proposed algorithm forms platoons only when beneficial for the driver, rather than solely for platooning. We demonstrate the new metric for the total trip cost in a numerical analysis and explain its interpretation. Results of a large-scale simulation study demonstrate that our proposed platoon formation algorithm outperforms normal ACC as well as previous similarity-based platooning approaches by balancing fuel savings and travel time, independent of traffic and drivers' time cost.
Large Language Models (LLMs) have experienced great advancements in the last year resulting in an increase of these models in several fields to face natural language tasks. The integration of these models in robotics can also help to improve several aspects such as human-robot interaction, navigation, planning and decision-making. Therefore, this paper introduces llama\_ros, a tool designed to integrate quantized Large Language Models (LLMs) into robotic systems using ROS 2. Leveraging llama.cpp, a highly optimized runtime engine, llama\_ros enables the efficient execution of quantized LLMs as edge artificial intelligence (AI) in robotics systems with resource-constrained environments, addressing the challenges of computational efficiency and memory limitations. By deploying quantized LLMs, llama\_ros empowers robots to leverage the natural language understanding and generation for enhanced decision-making and interaction which can be paired with prompt engineering, knowledge graphs, ontologies or other tools to improve the capabilities of autonomous robots. Additionally, this paper provides insights into some use cases of using llama\_ros for planning and explainability in robotics.
Prevailing accounts in both multi-agent AI and the social sciences explain social structure through top-down abstractions-such as institutions, norms, or trust-yet lack simulateable models of how such structures emerge from individual behavior. Ethnographic and archaeological evidence suggests that reciprocity served as the foundational mechanism of early human societies, enabling economic circulation, social cohesion, and interpersonal obligation long before the rise of formal institutions. Modern financial systems such as credit and currency can likewise be viewed as scalable extensions of reciprocity, formalizing exchange across time and anonymity. Building on this insight, we argue that reciprocity is not merely a local or primitive exchange heuristic, but the scalable substrate from which large-scale social structures can emerge. We propose a three-stage framework to model this emergence: reciprocal dynamics at the individual level, norm stabilization through shared expectations, and the construction of durable institutional patterns. This approach offers a cognitively minimal, behaviorally grounded foundation for simulating how large-scale social systems can emerge from decentralized reciprocal interaction.
Human planning is efficient -- it frugally deploys limited cognitive resources to accomplish difficult tasks -- and flexible -- adapting to novel problems and environments. Computational approaches suggest that people construct simplified mental representations of their environment, balancing the complexity of a task representation with its utility. These models imply a nested optimisation in which planning shapes perception, and perception shapes planning -- but the perceptual and attentional mechanisms governing how this interaction unfolds remain unknown. Here, we harness virtual maze navigation to characterise how spatial attention controls which aspects of a task representation enter subjective awareness and are available for planning. We find that spatial proximity governs which aspects of a maze are available for planning, and that when task-relevant information follows natural (lateralised) contours of attention, people can more easily construct simplified and useful maze representations. This influence of attention varies considerably across individuals, explaining differences in people's task representations and behaviour. Inspired by the 'spotlight of attention' analogy, we incorporate the effects of visuospatial attention into existing computational accounts of value-guided construal. Together, our work bridges computational perspectives on perception and decision-making to better understand how individuals represent their environments in aid of planning.
The new field of Explainable Planning (XAIP) has produced a variety of approaches to explain and describe the behavior of autonomous agents to human observers. Many summarize agent behavior in terms of the constraints, or ''rules,'' which the agent adheres to during its trajectories. In this work, we narrow the focus from summary to specific moments in individual trajectories, offering a ''pointwise-in-time'' view. Our novel framework, which we define on Linear Temporal Logic (LTL) rules, assigns an intuitive status to any rule in order to describe the trajectory progress at individual time steps; here, a rule is classified as active, satisfied, inactive, or violated. Given a trajectory, a user may query for status of specific LTL rules at individual trajectory time steps. In this paper, we present this novel framework, named Rule Status Assessment (RSA), and provide an example of its implementation. We find that pointwise-in-time status assessment is useful as a post-hoc diagnostic, enabling a user to systematically track the agent's behavior with respect to a set of rules.
Condition monitoring (CM) plays a crucial role in ensuring reliability and efficiency in the process industry. Although computerised maintenance systems effectively detect and classify faults, tasks like fault severity estimation, and maintenance decisions still largely depend on human expert analysis. The analysis and decision making automatically performed by current systems typically exhibit considerable uncertainty and high false alarm rates, leading to increased workload and reduced efficiency. This work integrates large language model (LLM)-based reasoning agents with CM workflows to address analyst and industry needs, namely reducing false alarms, enhancing fault severity estimation, improving decision support, and offering explainable interfaces. We propose MindRAG, a modular framework combining multimodal retrieval-augmented generation (RAG) with novel vector store structures designed specifically for CM data. The framework leverages existing annotations and maintenance work orders as surrogates for labels in a supervised learning protocol, addressing the common challenge of training predictive models on unlabelled and noisy real-world datasets. The primary contributions include: (1) an approach for structuring industry CM data into a semi-structured multimodal vector store compatible with LLM-driven workflows; (2) developing multimodal RAG techniques tailored for CM data; (3) developing practical reasoning agents capable of addressing real-world CM queries; and (4) presenting an experimental framework for integrating and evaluating such agents in realistic industrial scenarios. Preliminary results, evaluated with the help of an experienced analyst, indicate that MindRAG provide meaningful decision support for more efficient management of alarms, thereby improving the interpretability of CM systems.
This paper examines the gap between the promises and real-world performance of emerging AI personal assistants. Drawing on interviews with early adopters of devices like Rabbit R1 and Humane AI Pin, as well as services like Ohai and Docus, we map user experiences through the lens of Uses and Gratifications and Uncertainty Reduction Theory. We identify three core types of user uncertainty, functional, interactional, and social, and explore how each disrupts different user gratifications. We show that while marketing hype fuels initial adoption, unmet expectations often result in frustration or abandonment. Our findings highlight the importance of transparency, task-specific design, and user control over contextual memory and personalization. We provide design and policy recommendations, including user-facing explainability tools and calls for regulatory benchmarks such as CI Bench, to guide ethical and interpretable AI integration. Our study offers actionable insights for creating more usable, trustworthy, and socially aligned AI assistants.
The introductory programming course (CS1) at the university level is often perceived as particularly challenging, contributing to high dropout rates among Computer Science students. Identifying when and how students encounter difficulties in this course is critical for providing targeted support. This study explores the behavioral patterns of CS1 students at varying dropout risks using self-regulated learning (SRL) as the theoretical framework. Using learning analytics, we analyzed trace logs and task performance data from a virtual learning environment to map resource usage patterns and used student dropout prediction to distinguish between low and high dropout risk behaviors. Data from 47 consenting students were used to carry out the analysis. Additionally, self-report questionnaires from 29 participants enriched the interpretation of observed patterns. The findings reveal distinct weekly learning strategy types and categorize course behavior. Among low dropout risk students, three learning strategies were identified that different in how students prioritized completing tasks and reading course materials. High dropout risk students exhibited nine different strategies, some representing temporary unsuccessful strategies that can be recovered from, while others indicating behaviors of students on the verge of dropping out. This study highlights the value of combining student behavior profiling with predictive learning analytics to explain dropout predictions and devise targeted interventions. Practical findings of the study can in turn be used to help teachers, teaching assistants and other practitioners to better recognize and address students at the verge of dropping out.
Detecting harmful memes is essential for maintaining the integrity of online environments. However, current approaches often struggle with resource efficiency, flexibility, or explainability, limiting their practical deployment in content moderation systems. To address these challenges, we introduce U-CoT+, a novel framework for harmful meme detection. Instead of relying solely on prompting or fine-tuning multimodal models, we first develop a high-fidelity meme-to-text pipeline that converts visual memes into detail-preserving textual descriptions. This design decouples meme interpretation from meme classification, thus avoiding immediate reasoning over complex raw visual content and enabling resource-efficient harmful meme detection with general large language models (LLMs). Building on these textual descriptions, we further incorporate targeted, interpretable human-crafted guidelines to guide models' reasoning under zero-shot CoT prompting. As such, this framework allows for easy adaptation to different harmfulness detection criteria across platforms, regions, and over time, offering high flexibility and explainability. Extensive experiments on seven benchmark datasets validate the effectiveness of our framework, highlighting its potential for explainable and low-resource harmful meme detection using small-scale LLMs. Codes and data are available at: https://anonymous.4open.science/r/HMC-AF2B/README.md.
Industrial processes must be robust and adaptable, as environments and tasks are often unpredictable, while operational errors remain costly and difficult to detect. AI-based control systems offer a path forward, yet typically depend on supervised learning with extensive labelled datasets, which limits their ability to generalize across variable and data-scarce industrial settings. Foundation models could enable broader reasoning and knowledge integration, but rarely deliver the quantitative precision demanded by engineering applications. Here, we introduceControl and Interpretation of Production via Hybrid Expertise and Reasoning (CIPHER): a vision-language-action (VLA) model framework aiming to replicate human-like reasoning for industrial control, instantiated in a commercial-grade 3D printer. It integrates a process expert, a regression model enabling quantitative characterization of system states required for engineering tasks. CIPHER also incorporates retrieval-augmented generation to access external expert knowledge and support physics-informed, chain-of-thought reasoning. This hybrid architecture exhibits strong generalization to out-of-distribution tasks. It interprets visual or textual inputs from process monitoring, explains its decisions, and autonomously generates precise machine instructions, without requiring explicit annotations. CIPHER thus lays the foundations for autonomous systems that act with precision, reason with context, and communicate decisions transparently, supporting safe and trusted deployment in industrial settings.
The $\chi_{c1}(3872)$ state, first observed by the Belle collaboration with its quantum numbers identified as $J^{PC} = 1^{++}$, has been the subject of extensive research due to its intriguing properties. Several theoretical interpretations have been proposed to explain its unique characteristics, including the $\chi_{c1}(2P)$ assignment, a molecular $\bar{D}^{*}D/\bar{D}D^{*}$ configuration, a coupled-channel framework incorporating $c\bar{c}$ and di-meson degrees of freedom, and the compact tetraquark hypothesis. However, challenges remain in reconciling its mass coincidence with the threshold and the observed isospin violation within both the pure $c\bar{c}$ and compact tetraquark models. In this study, we examine the radiative decays of the $\chi_{c1}(1P)$ and $\chi_{c1}(3872)$ states in an effective field theory framework, incorporating triangle loops of $D$ and $D^{*}$ mesons. The model parameters are calibrated based on the observed branching fraction of the radiative decay mode $\chi_{c1}(1P) \to J/\psi \gamma$. Utilizing these fixed parameters, we predict the branching fractions $R_{\chi_{c1}(3872) \to J/\psi \gamma} \sim 10^{-1}$ and $R_{\chi_{c1}(3872) \to \psi(2S) \gamma} \sim 10^{-2}$, and the relative fraction $\mathcal{R}_{\Psi\gamma} \approx 0.109$. The work supports the argument that the $\chi_{c1}(3872)$ is unlikely a $c\bar{c}$ state.
Objective: (1) To assess whether ONH biomechanics improves prediction of three progressive visual field loss patterns in glaucoma; (2) to use explainable AI to identify strain-sensitive ONH regions contributing to these predictions. Methods: We recruited 237 glaucoma subjects. The ONH of one eye was imaged under two conditions: (1) primary gaze and (2) primary gaze with IOP elevated to ~35 mmHg via ophthalmo-dynamometry. Glaucoma experts classified the subjects into four categories based on the presence of specific visual field defects: (1) superior nasal step (N=26), (2) superior partial arcuate (N=62), (3) full superior hemifield defect (N=25), and (4) other/non-specific defects (N=124). Automatic ONH tissue segmentation and digital volume correlation were used to compute IOP-induced neural tissue and lamina cribrosa (LC) strains. Biomechanical and structural features were input to a Geometric Deep Learning model. Three classification tasks were performed to detect: (1) superior nasal step, (2) superior partial arcuate, (3) full superior hemifield defect. For each task, the data were split into 80% training and 20% testing sets. Area under the curve (AUC) was used to assess performance. Explainable AI techniques were employed to highlight the ONH regions most critical to each classification. Results: Models achieved high AUCs of 0.77-0.88, showing that ONH strain improved VF loss prediction beyond morphology alone. The inferior and inferotemporal rim were identified as key strain-sensitive regions, contributing most to visual field loss prediction and showing progressive expansion with increasing disease severity. Conclusion and Relevance: ONH strain enhances prediction of glaucomatous VF loss patterns. Neuroretinal rim, rather than the LC, was the most critical region contributing to model predictions.
The main goal of representation learning is to acquire meaningful representations from real-world sensory inputs without supervision. Representation learning explains some aspects of human development. Various neural network (NN) models have been proposed that acquire empirically good representations. However, the formulation of a good representation has not been established. We recently proposed a method for categorizing changes between a pair of sensory inputs. A unique feature of this approach is that transformations between two sensory inputs are learned to satisfy algebraic structural constraints. Conventional representation learning often assumes that disentangled independent feature axes is a good representation; however, we found that such a representation cannot account for conditional independence. To overcome this problem, we proposed a new method using group decomposition in Galois algebra theory. Although this method is promising for defining a more general representation, it assumes pixel-to-pixel translation without feature extraction, and can only process low-resolution images with no background, which prevents real-world application. In this study, we provide a simple method to apply our group decomposition theory to a more realistic scenario by combining feature extraction and object segmentation. We replace pixel translation with feature translation and formulate object segmentation as grouping features under the same transformation. We validated the proposed method on a practical dataset containing both real-world object and background. We believe that our model will lead to a better understanding of human development of object recognition in the real world.
Large Vision-Language Models (VLMs) now generate highly detailed, paragraphlength image captions, yet evaluating their factual accuracy remains challenging. Current methods often miss fine-grained errors, being designed for shorter texts or lacking datasets with verified inaccuracies. We introduce DOCCI-Critique, a benchmark with 1,400 VLM-generated paragraph captions (100 images, 14 VLMs) featuring over 10,216 sentence-level human annotations of factual correctness and explanatory rationales for errors, all within paragraph context. Building on this, we develop VNLI-Critique, a model for automated sentence-level factuality classification and critique generation. We highlight three key applications: (1) VNLI-Critique demonstrates robust generalization, validated by state-of-the-art performance on the M-HalDetect benchmark and strong results in CHOCOLATE claim verification. (2) The VNLI-Critique driven AutoRater for DOCCI-Critique provides reliable VLM rankings, showing excellent alignment with human factuality judgments (e.g., 0.98 Spearman). (3) An innovative Critic-and-Revise pipeline, where critiques from VNLI-Critique guide LLM-based corrections, achieves substantial improvements in caption factuality (e.g., a 46% gain on DetailCaps-4870). Our work offers a crucial benchmark alongside practical tools, designed to significantly elevate the standards for fine-grained evaluation and foster the improvement of VLM image understanding. Project page: https://google.github.io/unblocking-detail-caption