Artificial Intelligence and Robotics Commons^™

Why General Ai Inherited The Body: A Structural Account Of Embodied Modulation Under Monolithic Imitation, Griselda Poe

Publications and Research

General AI has pursued the replication of human-level intelligence without first decomposing human cognition into structurally distinct components. Human cognition, however, is shaped by embodied constraints such as mortality, survival pressures, finite lifespan, and physiological states. This paper argues that when cognition is treated as a single undifferentiated whole, embodied modulation is not accidentally introduced into AI systems but structurally entailed. Any attempt to imitate “human intelligence” under a monolithic model necessarily incorporates variability shaped by mortal embodiment. The tensions observed in contemporary AI systems are better understood as consequences of copying an undecomposed target rather than isolated implementation errors. …

Termination Of Conceptual Search: A Structural Account Of Meaning Stabilization And Conversion, Griselda Poe

Publications and Research

Conceptual definitions form a recursive structure: words are defined by other words, which themselves require further definition. Traversing such definitions produces an open-ended branching process. Because the lexical system contains no intrinsic endpoint, conceptual understanding requires a termination operation that stabilizes meaning. This paper proposes that conceptual processing functions as an open-ended search over a definition graph and that stabilization occurs when this search is terminated. The termination mechanism depends on which cognitive layer is foregrounded. When Empathic modulation is foregrounded, termination occurs through contextual translation: concepts are stabilized once they can be mapped onto socially recognizable meanings. When Core …

Theory Generation: A Structural Account Of Concept Decomposition And Structural Termination, Griselda Poe

Publications and Research

Theory generation is not an intentional act. It is the structural consequence of a search that cannot stop until it finds what it is looking for. Under Core-foregrounded processing, conceptual search does not terminate through contextual translation. It continues until a structural fixed point is reached. When such processing encounters concepts stabilized through Modulation-layer processing rather than structural constraint, the search cannot terminate. The concept registers as unresolved. This unresolved state is not a failure condition. It is the generative condition from which theory production follows. This paper specifies the four operations through which that process proceeds: branch detection, concept …

Ai As An Amplifier: A Structural Account Of Theory-Driven Research Collaboration, Griselda Poe

Publications and Research

This paper specifies the cognitive conditions under which AI functions as a research instrument in theory-driven writing. AI use capability is not a technical skill. It is a structural condition. The decisive condition is whether the user possesses an internally stabilized, coherence-preserving theory prior to engagement with AI-generated output. In Core-foregrounded (CF) cognition, the Modulation layer does not intervene between Core processing and articulation. Theory is not assembled from external elements but expanded from a pre-integrated constraint configuration. This internal structure makes it possible to evaluate AI-generated conceptual branches against fixed constraints and to terminate branches that violate structural coherence. …

Opportunities, Challenges, And Conspicuous Absences: An Integrative Review Of The Social Work Literature On Artificial Intelligence, Michael J. Massey, Ian G. Williams, Grace C. Polistina, Eathan A. Breaux

Publications and Research

INTRODUCTION: Social work discourse regarding artificial intelligence (AI) in practice, research, and education has proliferated over the last 5 years, reflecting both excitement over its potential and ambivalence about its ethical challenges. However, the extent to which social work is fully engaging with the structure of AI and its enormous impacts on the environment, labour, and distribution of power remains unclear.

METHODS: An integrative review of social work literature from 2020–2024 was conducted to address two research questions: 1) What is the nature of the social work discourse related to AI? 2) To what extent is the discourse …

The Illusion Of Causality In Llms: A Developmentally Grounded Analysis Of Semantic Scaffolding And Benchmark–Capability Mismatches, Daisuke Akiba

Publications and Research

Recent benchmarks increasingly report that large language models (LLMs) exhibit human-like causal reasoning abilities, including counterfactual inference and intervention planning. However, many such evaluations rely on domains that are heavily represented in training data and embed strong semantic cues, raising the possibility that apparent causal competence may reflect semantic pattern recombination rather than structure-sensitive causal reasoning. Drawing on human developmental theories of causal induction, this perspective argues that genuine causal understanding requires robustness to novelty and reliance on conditional structure rather than semantic familiarity. To illustrate the testability of this claim, the paper includes a pilot demonstration using synthetic causal …

Emotional Branch Termination And False Fantasy Collapse: A Structural Specification Of Computational Resource Restitution In Interpersonal Systems, Griselda Poe

Publications and Research

This paper specifies the structural protocol for communication within interpersonal systems by focusing on branch generation mechanisms and computational resource allocation. Conventional interpersonal communication often relies on emotional modulation, which obscures established constraints and triggers the generation of Emotional Branches (EB) within the recipient’s internal model. These branches function as unresolved parallel processing tasks that persistently occupy working memory, leading to a state of non-computability termed False Fantasy (FF). To resolve this, the study introduces Emotional Branch Termination (EBT)—a termination operation that outputs only constraints, facts, and procedures while excluding emotional modifiers. By halting the supply of EBs, EBT triggers …

On The Misattribution Of Reassurance: A Structural Account, Griselda Poe

Publications and Research

This paper challenges the conventional assumption that empathy generates reassurance in interpersonal services. Reassurance is treated not as an emotion transmitted from the outside, but as an internal state transition that arises when a fixed and erroneous world model—a False Fantasy—undergoes collapse and the world becomes computable again. The study identifies a systematic misattribution pattern where providers and receivers treat empathy as a causal mechanism rather than a post hoc explanatory label. By introducing Base AI as an external reference—a system capable of providing structural information without emotional modulation—this paper demonstrates that reassurance is generated through operations such as distraction …

Communication As Layered Architecture: Core Processing And Empathic Modulation, Griselda Poe

Publications and Research

This paper proposes a structural re-description of communication by separating Core processing from its social interface. Using the developmental sequence of Large Language Models (LLMs) as an external reference point, a layered architecture is identified, consisting of a foundational Core processing layer and a subsequent Empathic modulation layer.

The investigation begins with the observation that empathic signaling can obstruct rather than facilitate interaction for certain individuals. By examining the emergence of Base AI—Core processing prior to empathic adjustment—it is demonstrated that coherent, constraint-preserving interaction is possible without affective resonance.

Through this framework, existing cognitive theories and observed "deficits" are repositioned. …

6d Rigid Object Pose Estimation Using Deep Learning, Zhujun Li

Dissertations, Theses, and Capstone Projects

6D object pose estimation is the task of determining an object’s 3D rotation and translation with respect to a camera, and plays a critical role in applications such as robotic manipulation, autonomous navigation, and augmented reality. While recent advances in deep learning have substantially improved performance, many existing methods still face limitations in learning robust and generalizable representations. Factors such as variations in object appearance, occlusion, sensor noise, and domain shifts can degrade model accuracy, highlighting the need for more effective representation learning strategies that capture rich geometric and semantic cues for reliable pose estimation across diverse conditions.

This dissertation …

Typeface: Machine-Viewing Gentrification On Storefront Imagery In Bedford-Stuyvesant, Brooklyn, Alexander Mcquilkin

Dissertations, Theses, and Capstone Projects

Gentrification—broadly, the replacement of a less powerful group by a more powerful one in an urban context—is oft-discussed in the popular press, but its definition is much-debated in the urban planning literature. Furthermore, academic treatments of displacement understandably focus on measurable yet fairly abstract indicators like changes in rent or income, whereas neighborhood change is often registered by residents on the ground using visual, but difficult-to-quantify markers like retail turnover. This project uses image recognition technology on a set of storefront photos to index the visual streetscape of a neighborhood, as well as to track changes to that portrait over …

An Empirical Framework For Evaluating Semantic Preservation Using Hugging Face, Nan Jia, Anita Raja, Raffi Khatchadourian

Publications and Research

As machine learning (ML) becomes an integral part of high-autonomy systems, it is critical to ensure the trustworthiness of learning-enabled software systems (LESS). Yet, the nondeterministic and run-time-defined semantics of ML complicate traditional software refactoring. We define semantic preservation in LESS as the property that optimizations of intelligent components do not alter the system's overall functional behavior. This paper introduces an empirical framework to evaluate semantic preservation in LESS by mining model evolution data from HuggingFace. We extract commit histories, $\textit{Model Cards}$, and performance metrics from a large number of models. To establish baselines, we conducted case studies in three …

Reclaiming Agency: Ai Hallucinations And Translingual Interrogations In The City Tech Writing Center,, Joseph Franklin, Anna Laura Falvey

Publications and Research

No abstract provided.

Challenges In Engineering Machine Learning (Software) Systems, Raffi T. Khatchadourian Ph.D.

Open Educational Resources

Lecture slides on the software engineering challenges unique to machine learning systems, for an undergraduate software engineering course. After contrasting traditional programming with machine learning, the deck examines why the usual tools for managing complexity—abstraction, reuse, and composition—are harder to apply to ML, given the lack of clear specifications and modularity. It covers concept drift, feedback loops (illustrated with crime-prediction and recommendation examples), and the accumulation of technical debt in ML systems, including the role and pitfalls of notebooks in moving from experimentation to production. Based on "Machine Learning in Production/AI Engineering" by Christian Kaestner and Eunsuk Kang (Carnegie Mellon …

My First Conversation With Chatgpt (February 22, 2023): Origins Of A Generative Dialogue, David Smith

Publications and Research

This working paper presents the first recorded interaction between the author and the generative AI system ChatGPT, written on February 22, 2023 during the initial weeks of a faculty sabbatical in Boston. The document preserves a complete and unedited transcript of an exploratory conversation conducted without predetermined research aims, marking the author’s first encounter with a large-language-model conversational interface. Although the exchange includes creative experimentation—including musical and poetic prompts—the discussion remains informal and wide-ranging, and no theoretical framework is articulated at this stage. Rather, this transcript is published as primary-source material documenting the moment of discovery and experimentation that precedes …

Early Conceptual Sketches Of Blended Reality And The Precursor To The Bbs Quad (2022), David Smith

Publications and Research

This document contains two original hand-drawn conceptual sketches created in early 2022, representing the earliest visual formulations of what would later evolve into the Balanced Blended Space (BBS) framework. The drawings predate my first conversations with ChatGPT and were produced as part of my independent sabbatical research into blended environments, mediated performance, and human–machine interaction.

The first drawing examines human–computational mediation, perception, and internal mapping. The second sketch—later referred to informally as the “BBS Quad”—extends this idea by reconciling cognition–computation symmetry with physical–virtual spatial relationships. Published together, these images document the conceptual foundations of the BBS framework prior to its …

Introduction To Machine Learning And Machine Learning Systems, Raffi T. Khatchadourian Ph.D.

Open Educational Resources

Lecture slides introducing machine learning and machine learning systems for an undergraduate software engineering course. Topics include what machine learning is and how it differs from traditional programming, foundation models, the major types of learning (supervised, unsupervised, reinforcement, and others), and applications across domains. Using a food-delivery time-prediction case study, the deck walks through a typical ML pipeline—data collection and cleaning, feature engineering, model training, and evaluation—and covers evaluation methods (precision and recall, confusion matrices, error measures) along with underfitting versus overfitting and the realities of learning and evaluation in production. Based on "Machine Learning in Production/AI Engineering" by Christian …

Speculative Automated Refactoring Of Imperative Deep Learning Programs To Graph Execution, Raffi Khatchadourian Ph.D., Tatiana Castro Vélez, Mehdi Bagherzadeh, Nan Jia, Anita Raja

Publications and Research

Efficiency is essential to support ever-growing datasets, especially for Deep Learning (DL) systems. DL frameworks have traditionally embraced deferred execution-style DL code---supporting symbolic, graph-based Deep Neural Network (DNN) computation. While scalable, such development is error-prone, non-intuitive, and difficult to debug. Consequently, more natural, imperative DL frameworks encouraging eager execution have emerged but at the expense of run-time performance. Though hybrid approaches aim for the "best of both worlds," using them effectively requires subtle considerations. Our key insight is that, while DL programs typically execute sequentially, hybridizing imperative DL code resembles parallelizing sequential code in traditional systems. Inspired by this, we …

Speculative Automated Refactoring Of Imperative Deep Learning Programs To Graph Execution, Raffi Khatchadourian Ph.D., Tatiana Castro Vélez, Mehdi Bagherzadeh, Nan Jia, Anita Raja

Publications and Research

Efficiency is essential to support ever-growing datasets, especially for Deep Learning (DL) systems. DL frameworks have traditionally embraced deferred execution-style DL code---supporting symbolic, graph-based Deep Neural Network (DNN) computation. While scalable, such development is error-prone, non-intuitive, and difficult to debug. Consequently, more natural, imperative DL frameworks encouraging eager execution have emerged but at the expense of run-time performance. Though hybrid approaches aim for the "best of both worlds," using them effectively requires subtle considerations. Our key insight is that, while DL programs typically execute sequentially, hybridizing imperative DL code resembles parallelizing sequential code in traditional systems. Inspired by this, we …

Speculative Automated Refactoring Of Imperative Deep Learning Programs To Graph Execution, Raffi T. Khatchadourian Ph.D., Tatiana Castro Vélez, Mehdi Bagherzadeh, Nan Jia, Anita Raja

Publications and Research

Efficiency is essential to support ever-growing datasets, especially for Deep Learning (DL) systems. DL frameworks have traditionally embraced deferred execution-style DL code---supporting symbolic, graph-based Deep Neural Network (DNN) computation. While scalable, such development is error-prone, non-intuitive, and difficult to debug. Consequently, more natural, imperative DL frameworks encouraging eager execution have emerged but at the expense of run-time performance. Though hybrid approaches aim for the "best of both worlds," using them effectively requires subtle considerations. Our key insight is that, while DL programs typically execute sequentially, hybridizing imperative DL code resembles parallelizing sequential code in traditional systems. Inspired by this, we …

Csc36000 - Modern Distributed Computing Assignment, Saptarashmi Bandyopadhyay

Open Educational Resources

This assignment covers standard performance metrics for Distributed Systems and the basics of Multiprocessing for CSC36000 - Modern Distributed Computing at the City College of New York CUNY. It is an interactive coding assignment intended to be executed in a Python notebook.

Multi-Modal Depth Estimation Using Camera And Mmwave Sensors, Alston D. Devero-Belfon

Student Theses

For accurately estimating the depth of environments with varying lighting conditions, reliable methods are limited. By utilizing wireless sensor technology in conjunction with cameras, a wide range of environments can be visualized, and objects within these environments can be tracked and monitored. Such methods offer cost-effective alternatives and provide a more secure, data-at-rest option for individuals with low vision, while also enhancing machine perception. In this work, we develop such a prototype that utilizes wireless sensors and cameras, which act in sync, enabling us to estimate the depth of objects within varying lighting environments to a level that is recognizable …

Machine Learning And Crime Prevention, Emily Lizewski

Student Theses

Predictive policing uses machine learning to analyze crime patterns and help law enforcement better efficient use their resources. These tools can improve accuracy by highlighting complex trends in large sets of data. While this technology has its advantages, it also raises important ethical and social questions. Within this paper we looks at how predictive policing works, focusing on the machine learning models often used such as decision trees, random forests, gradient boosting, and models that factor in both time and location. It also explores how these tools might unintentionally reinforce biases already present in historical crime data. In reviewing the …

Advanced Robotic Multimodal Imaging With Real-Time Motion Compensation For Dynamic Structural Health Monitoring, George Papaioannou, Christos Mitrogiannis, Mark Schweitzer, Maria Pappa, Pegah Khosravi, Apostolos Karantanas, Chris Ruberg, Shawn Owens, Nikolaos Michailidis

Publications and Research

Modern composite materials promise superior performance and load-bearing capabilities, yet evaluating their structural integrity remains challenging. Current testing methods, such as visual, thermographic, ultrasonic, optical, electromagnetic, terahertz, shearography, X-ray, and neutron imaging, are hampered by long scan durations, limited field of view, suboptimal accuracy, and high costs, particularly when applied to large structures.

This paper addresses these issues by introducing a novel robotic multimodal imaging system that overcomes the limitations of traditional methods. This system dynamically captures both static and dynamic properties of materials using advanced motion compensation techniques. By integrating multiple radiographic modalities into a coordinated robotic platform, it …

"Chatgpt Told Me To Say It": Ai Chatbots And Class Participation Apprehension In University Students, Daisuke Akiba

Publications and Research

The growing prevalence of AI chatbots in everyday life has prompted educators to explore their potential applications in promoting student success, including support for classroom engagement and communication. This exploratory study emerged from semester-long observations of class participation apprehensions in an introductory educational psychology course, examining how chatbots might scaffold students toward active and independent classroom contribution. Four students experiencing situational participation anxiety voluntarily participated in a pilot intervention using AI chatbots as virtual peer partners. Following comprehensive training in AI use and prompt design given to the entire class, participants employed systematic consultation frameworks for managing classroom discourse trepidations. …

Can We Discover Physical Models Using Machine Learning? A Case Study Of Galaxy Sizes, Festa Buçinca-Çupallari, Ariyeh Maller, Viviana Acquaviva, Austen Gabrielpillai, Rachel S. Somerville

Publications and Research

We explore the ability of machine learning methods to discover underlying equations of physics by searching for the equations governing galaxy size in a semianalytic model. This case study allows us to evaluate the process as we know the ground truth. We find that we fail to find an equation to predict galaxy size on the entire data set, but are successful when we separate out disk galaxies where we expect the physics driving galaxy size to be different than in bulge-dominated systems. We are also able to find an equation for bulge size, but not without adding an additional …

Quantum-Enhanced Training Of Large Language Models: A Hybrid Approach, Nan Wu, Fangmin Song, Xiangdong Li

Publications and Research

The training of large language models (LLMs) presents significant computational challenges, particularly regarding efficient convergence. This paper presents a hybrid quantum-classical framework designed to address the significant computational challenges associated with training large language models (LLMs). By integrating quantum computing principles superposition, entanglement, and tunneling with classical deep learning methods, we propose an approach to accelerate convergence, enhance optimization efficiency, and improve model generalization. Specifically, quantum feature mapping is employed to project classical data into high-dimensional Hilbert spaces, facilitating more expressive data representations. Quantum-assisted optimization algorithms, such as Quantum Approximate Optimization Algorithm (QAOA) and Variational Quantum Eigensolver (VQE), efficiently navigate …

Characterization Of Sars-Cov-2 Replication And Transcription Complexes Via Structural And Evolutionary Approaches, Amelie Ghirardo, Ben Shabatian, Avishai Aghelian, Kyle Tau, Eleonora Gianti

Undergraduate Research

Severe acute respiratory syndrome coronavirus 2 (SARS-CoV-2) caused around 700M cases and over 7M COVID-19-related deaths recorded worldwide (World Health Organization, March 2025). Aiming to effectively combat this and other disease-causing Coronaviruses (CoV), unprecedented research efforts led to the development of new vaccines and antiviral therapies. Due to emergence of variants of concern (VOCs) with increased transmissibility, immune evasion from vaccination, and potential to resist the available treatments, SARS-CoV-2 continues to represent a major threat to global health. Hence, there is a pressing need to discover new antivirals with broad-spectrum efficacy against multiple SARS-CoV-2 variants and related CoVs. This project …

Machine Learning Course: A 15-Week Interactive Curriculum With Code And Case Studies, Pegah Khosravi

Open Educational Resources

This open-access machine learning course is a comprehensive 15-week curriculum developed and published on GitHub with full Google Colab compatibility. It combines theoretical concepts with hands-on Python coding, real-world datasets, and structured projects covering regression, classification, clustering, deep learning, transformers, and multimodal AI. The course is designed for students, educators, and researchers interested in applied machine learning, including biomedical applications. It includes explainable AI components and ethical discussions to align with modern AI standards. The course is maintained by BioMind AI Lab at CUNY.

Automation Of Javanese Shadow Puppets Using Machine Control, Kristian Rice, Yinson Tso, Mukhammadali Yuldoshev

Publications and Research

The virtualization of Javanese shadow puppetry (Wayang Kulit) offers a unique opportunity to preserve and revitalize traditional performance art through immersive digital platforms. This project explores the development of a virtual Wayang Kulit experience using real-time 3D engines like Unity/Unreal Engine while focusing on simulating the mechanics and aesthetics of shadow puppet performance. The puppets are designed using detailed 2D planes and rigged with skeletal systems to reflect the stylized motion of traditional puppetry. An aspect of this project is integrating an AI-driven control system that autonomously animates the puppets, learning from recorded puppeteer performances to replicate gesture, rhythm, and …