Arena (formerly LMArena and Chatbot Arena) is a public, web-based platform that evaluates large language models (LLMs). Users enter prompts for two anonymous models to respond to and vote on the model that gave the better response, after which the models' identities are revealed. Users can also choose models to test themselves via the "Direct" selection. Companies which have supplied the company with their large language models include OpenAI, Google DeepMind, and Anthropic. The website has been used for preview releases of upcoming models. Chinese company DeepSeek tested its prototype models in the Arena months before its R1 model gained attention in Western media. Other notable pre-release models include OpenAI's GPT-5 under the codename "summit" and Google DeepMind's Gemini 2.5 Flash Image (an image-generation and editing model) under the codename "Nano Banana". Research has identified specific limitations in Arena's methodology. == History == Chatbot Arena was released on April 24, 2023. In June 2024, Chatbot Arena added image support. In September 2024, Chatbot Arena moved to its own dedicated domain name, lmarena.ai (or LMArena). In April 2025, Meta released Llama 4. Llama 4 Maverick beat GPT-4o and Gemini 2.0 Flash on LMArena, but the version of Maverick on LMArena unfairly differed from the publicly available version. LMArena updated their policies in response. In April 2025, LMArena incorporated as an independent company. That May, LMArena raised $100 million in a seed funding round, valuing the company at $600 million. Participants in the seed funding round included Andreessen Horowitz, UC Investments, Lightspeed Venture Partners, Felicis Ventures, and Kleiner Perkins. On January 6, 2026, LMArena announced the closing of a $150 million Series A funding round, bringing the company’s post-money valuation to approximately $1.7 billion. The round was led by Felicis and UC Investments (University of California), with participation from Andreessen Horowitz, The House Fund, LDVP, Kleiner Perkins, Lightspeed Venture Partners, and Laude Ventures. In January 2026, LMArena added video support. On January 28, 2026, LMArena rebranded to "Arena".
Cone tracing
Cone tracing and beam tracing are a derivative of the ray tracing algorithm that replaces rays, which have no thickness, with thick rays. == Principles == In ray tracing, rays are often modeled as geometric ray with no thickness to perform efficient geometric queries such as a ray-triangle intersection. From a physics of light transport point of view, however, this is an inaccurate model provided the pixel on the sensor plane has non-zero area. In the simplified pinhole camera optics model, the energy reaching the pixel comes from the integral of radiance from the solid angle by which the sensor pixel sees the scene through the pinhole at the focal plane. This yields the key notion of pixel footprint on surfaces or in the texture space, which is the back projection of the pixel on to the scene. Note that this approach can also represent a lens-based camera and thus depth of field effects, using a cone whose cross-section decreases from the lens size to zero at the focal plane, and then increases. Real optical system do not focus on exact points because of diffraction and imperfections. This can be modeled with a point spread function (PSF) weighted within a solid angle larger than the pixel. From a signal processing point of view, ignoring the point spread function and approximating the integral of radiance with a single, central sample (through a ray with no thickness) can lead to strong aliasing because the "projected geometric signal" has very high frequencies exceeding the Nyquist-Shannon maximal frequency that can be represented using the uniform pixel sampling rate. The physically based image formation model can be approximated by the convolution with the point spread function assuming the function is shift-invariant and linear. In practice, techniques such as multisample anti-aliasing estimate this cone-based model by oversampling the signal and then performing a convolution (the reconstruction filter). The backprojected cone footprint onto the scene can also be used to directly pre-filter the geometry and textures of the scene. Note that contrary to intuition, the reconstruction filter should not be the pixel footprint (as the pinhole camera model would suggest), since a box filter has poor spectral properties. Conversely, the ideal sinc function is not practical, having infinite support with possibly negative values which often creates ringing artifacts due to the Gibbs phenomenon. A Gaussian or a Lanczos filter are considered good compromises. == Computer graphics models == Cone and Beam early papers rely on different simplifications: the first considers a circular section and treats the intersection with various possible shapes. The second treats an accurate pyramidal beam through the pixel and along a complex path, but it only works for polyhedrical shapes. Cone tracing solves certain problems related to sampling and aliasing, which can plague conventional ray tracing. However, cone tracing creates a host of problems of its own. For example, just intersecting a cone with scene geometry leads to an enormous variety of possible results. For this reason, cone tracing has remained mostly unpopular. In recent years, increases in computer speed have made Monte Carlo algorithms like distributed ray tracing - i.e. stochastic explicit integration of the pixel - much more used than cone tracing because the results are exact provided enough samples are used. But the convergence is so slow that even in the context of off-line rendering a huge amount of time can be required to avoid noise. Differential cone-tracing, considering a differential angular neighborhood around a ray, avoids the complexity of exact geometry intersection but requires a LOD representation of the geometry and appearance of the objects. MIPmapping is an approximation of it limited to the integration of the surface texture within a cone footprint. Differential ray-tracing extends it to textured surfaces viewed through complex paths of cones reflected or refracted by curved surfaces. Raymarching methods over signed distance fields (SDFs) naturally allow easy use of cone-like tracing, at zero additional cost to the tracing, and both speeds up tracing and improves quality. Voxel cone tracing is a real-time algorithm that uses a hierarchical voxel representation of scene geometry, such as a sparse voxel octree, to support fast cone tracing for indirect illumination. This approach allows for the approximation of effects like glossy reflections and ambient occlusion at interactive framerates without the need for precomputation.
Repertory grid
The repertory grid is an interviewing technique which uses nonparametric factor analysis to determine an idiographic measure of personality. It was devised by George Kelly in around 1955 and is based on his personal construct theory of personality. == Introduction == The repertory grid is a technique for identifying the ways that a person construes (interprets or gives meaning to) his or her experience. It provides information from which inferences about personality can be made, but it is not a personality test in the conventional sense. It is underpinned by the personal construct theory developed by George Kelly, first published in 1955. A grid consists of four parts: A topic: it is about some part of the person's experience. A set of elements, which are examples or instances of the topic. Working as a clinical psychologist, Kelly was interested in how his clients construed people in the roles they adopted towards the client, and so, originally, such terms as "my father", "my mother", "an admired friend" and so forth were used. Since then, the grid has been used in much wider settings (educational, occupational, organisational) and so any well-defined set of words, phrases, or even brief behavioral vignettes can be used as elements. For example, to see how a person construes the purchase of a car, a list of vehicles within that person's price range could be a set of elements. A set of constructs. These are the basic terms that the client uses to make sense of the elements, and are always expressed as a contrast. Thus the meaning of "good" depends on whether you intend to say "good versus poor", as if you were construing a theatrical performance, or "good versus evil", as if you were construing the moral or ontological status of some more fundamental experience. A set of ratings of elements on constructs. Each element is positioned between the two extremes of the construct using a 5- or 7-point rating scale system; this is done repeatedly for all the constructs that apply; and thus its meaning to the client is modeled, and statistical analysis varying from simple counting, to more complex multivariate analysis of meaning, is made possible. Constructs are regarded as personal to the client, who is psychologically similar to other people depending on the extent to which they would tend to use similar constructs, and similar ratings, in relating to a particular set of elements. The client is asked to consider the elements three at a time, and to identify a way in which two of the elements might be seen as alike, but distinct from, contrasted to, the third. For example, in considering a set of people as part of a topic dealing with personal relationships, a client might say that the element "my father" and the element "my boss" are similar because they are both fairly tense individuals, whereas the element "my wife" is different because she is "relaxed". And so we identify one construct that the individual uses when thinking about people: whether they are "tense as distinct from relaxed". In practice, good grid interview technique would delve a little deeper and identify some more behaviorally explicit description of "tense versus relaxed". All the elements are rated on the construct, further triads of elements are compared and further constructs elicited, and the interview would continue until no further constructs are obtained. == Using the repertory grid == Careful interviewing to identify what the individual means by the words initially proposed, using a 5-point rating system could be used to characterize the way in which a group of fellow-employees are viewed on the construct "keen and committed versus energies elsewhere", a 1 indicating that the left pole of the construct applies ("keen and committed") and a 5 indicating that the right pole of the construct applies ("energies elsewhere"). On being asked to rate all of the elements, our interviewee might reply that Tom merits a 2 (fairly keen and committed), Mary a 1 (very keen and committed), and Peter a 5 (his energies are very much outside the place of employment). The remaining elements (another five people, for example) are then rated on this construct. Typically (and depending on the topic) people have a limited number of genuinely different constructs for any one topic: 6 to 16 are common when they talk about their job or their occupation, for example. The richness of people's meaning structures comes from the many different ways in which a limited number of constructs can be applied to individual elements. A person may indicate that Tom is fairly keen, very experienced, lacks social skills, is a good technical supervisor, can be trusted to follow complex instructions accurately, has no sense of humour, will always return a favour but only sometimes help his co-workers, while Mary is very keen, fairly experienced, has good social and technical supervisory skills, needs complex instructions explained to her, appreciates a joke, always returns favours, and is very helpful to her co-workers: these are two very different and complex pictures, using just 8 constructs about a person's co-workers. Important information can be obtained by including self-elements such as "Myself as I am now"; "Myself as I would like to be" among other elements, where the topic permits. == Analysis of results == A single grid can be analysed for both content (eyeball inspection) and structure (cluster analysis, principal component analysis, and a variety of structural indices relating to the complexity and range of the ratings being the chief techniques used). Sets of grids are dealt with using one or other of a variety of content analysis techniques. A range of associated techniques can be used to provide precise, operationally defined expressions of an interviewee's constructs, or a detailed expression of the interviewee's personal values, and all of these techniques are used in a collaborative way. The repertory grid is emphatically not a standardized "psychological test"; it is an exercise in the mutual negotiation of a person's meanings. The repertory grid has found favour among both academics and practitioners in a great variety of fields because it provides a way of describing people's construct systems (loosely, understanding people's perceptions) without prejudging the terms of reference—a kind of personalized grounded theory. Unlike a conventional rating-scale questionnaire, it is not the investigator but the interviewee who provides the constructs on which a topic is rated. Market researchers, trainers, teachers, guidance counsellors, new product developers, sports scientists, and knowledge capture specialists are among the users who find the technique (originally developed for use in clinical psychology) helpful. == Relationship to other tools == In the book Personal Construct Methodology, researchers Brian R. Gaines and Mildred L.G. Shaw noted that they "have also found concept mapping and semantic network tools to be complementary to repertory grid tools and generally use both in most studies" but that they "see less use of network representations in PCP [personal construct psychology] studies than is appropriate". They encouraged practitioners to use semantic network techniques in addition to the repertory grid.
Semantic similarity network
A semantic similarity network (SSN) is a special form of semantic network. designed to represent concepts and their semantic similarity. Its main contribution is reducing the complexity of calculating semantic distances. Bendeck (2004, 2008) introduced the concept of semantic similarity networks (SSN) as the specialization of a semantic network to measure semantic similarity from ontological representations. Implementations include genetic information handling. The concept is formally defined (Bendeck 2008) as a directed graph, with concepts represented as nodes and semantic similarity relations as edges. The relationships are grouped into relation types. The concepts and relations contain attribute values to evaluate the semantic similarity between concepts. The semantic similarity relationships of the SSN represent several of the general relationship types of the standard Semantic network, reducing the complexity of the (normally, very large) network for calculations of semantics. SSNs define relation types as templates (and taxonomy of relations) for semantic similarity attributes that are common to relations of the same type. SSN representation allows propagation algorithms to faster calculate semantic similarities, including stop conditions within a specified threshold. This reduces the computation time and power required for calculation. A more recent publications on Semantic Matching and Semantic Similarity Networks could be found in (Bendeck 2019). Specific Semantic Similarity Network application on healthcare was presented at the Healthcare information exchange Format (FHIR European Conference) 2019. The latest evolution in Artificial Intelligence (like ChatGPT, based on Large language model), relay strongly on evolutionary computation, the next level will be to include semantic unification (like in the Semantic Networks and this Semantic similarity network) to extend the current models with more powerful understanding tools.
Maia and Marco
Maia and Marco are artificial intelligence used by GMA Network. Unveiled in 2023, they are used to fulfill the role of sports newscasters. == Background == Maia and Marco are artificial intelligence (AI) which take the form of three-dimensional human avatars. Maia makes use of a female avatar while Marco uses a male likeness. They have aesthetic features that are typical to Filipino showbusiness personalities. Among the technologies used in making and operating the AI include image generation, text-to-speech AI voice synthesis/generation, and deep learning face animation. They are also demonstrated to be bilingual, being able to speak in English and Tagalog (Filipino). == Use == The AI pair was unveiled by GMA Network on September 24, 2023, for their coverage of Season 99 of the National Collegiate Athletic Association (NCAA). Fulfilling the role of sports newscasters, Maia and Marco would join GMA's courtside human reporters. The AI pair are scheduled to appear four times a month on GMA's digital media platforms. They will not appear in traditional television broadcast. == Reception == The launch of the Maia and Marco was met with strong reactions. Various journalists and other personalities across the Philippine media industry expressed concern that their employment be at risk with the introduction of AI. The quality of the AI ability to emulate human behavior was characterized by critics as "soulless". GMA responding to concerns has stated that the AI would complement rather than replace its live human journalists including sportscasters. The National Union of Journalists of the Philippines urged dialogue among its peers in the newsroom on policy on how to use AI, which the group acknowledge as "inevitable".
Graph cuts in computer vision and artificial intelligence
As applied in the field of computer vision, graph cut optimization can be employed to efficiently solve a wide variety of low-level computer vision problems (early vision), such as image smoothing, the stereo correspondence problem, image segmentation, object co-segmentation, numerous military applications (eg Automatic target recognition) and many other problems that can be formulated in terms of energy minimization (eg Climate Science and Environmental modelling). Graph cut techniques are now increasingly being used in combination with more general spatial Artificial intelligence techniques (eg to enforce structure in Large language model output to sharpen tumour boundaries and similarly for various Augmented reality, Self-driving car, Robotics, Google Maps applications etc). Many of these energy minimization problems can be approximated by solving a maximum flow problem in a graph (and thus, by the max-flow min-cut theorem, define a minimal cut of the graph). Under most formulations of such problems in computer vision, the minimum energy solution corresponds to the maximum a posteriori estimate of a solution. Although many computer vision algorithms involve cutting a graph (e.g. normalized cuts), the term "graph cuts" is applied specifically to those models which employ a max-flow/min-cut optimization (other graph cutting algorithms may be considered as graph partitioning algorithms). "Binary" problems (such as denoising a binary image) can be solved exactly using this approach; problems where pixels can be labeled with more than two different labels (such as stereo correspondence, or denoising of a grayscale image) cannot be solved exactly, but solutions produced are usually near the global optimum. == History == The foundational theory of graph cuts in computer vision was first developed by Margaret Greig, Bruce Porteous and Allan Seheult (GPS) of Durham University in a now legendary discussion contribution to Julian Besag's 1986 paper and a more detailed follow on paper in 1989. In the Bayesian statistical context of smoothing noisy images, using a Markov random field as the image prior distribution, they showed with a mathematically beautiful proof how the maximum a posteriori estimate of a binary image can be obtained exactly by maximizing the flow through an associated image network, or graph, involving the introduction of a source and sink and Log-likelihood ratios. The problem was shown to be efficiently solvable exactly, an unexpected result as the problem was believed to be computationally intractable (NP hard). GPS also addressed the computational cost of the max-flow algorithm on large graphs, a significant concern at the time. They proposed a partitioning algorithm (see Section 4 of GPS) involving the recursive amalgamation of non-overlapping blocks, or tiles, which gave a 12X increase in speed. This approach recursively solved and amalgamated independent sub-graphs until the whole graph was solved. While contemporaries like Geman and Geman had advocated Parallel computing in the context of Simulated annealing, the GPS blocking strategy offered a deterministic structure amenable to parallelisation and anticipated modern artificial intelligence design across multiple GPUs. However, until recently, this aspect of the paper was largely ignored and subsequent research focused on Serial computer global search trees, such as the Boykov-Kolmogorov algorithm. Although the general k {\displaystyle k} -colour problem is NP hard for k > 2 , {\displaystyle k>2,} the GPS approach has turned out to have very wide applicability in general computer vision problems. This was first demonstrated by Boykov, Veksler and Zabih who, in a seminal paper published more than 10 years after the original GPS paper, and in other important works, lit the blue touch paper for the general adoption of graph cut techniques in computer vision. They showed that, for general problems, the GPS approach can be applied iteratively to sequences of binary problems, using their now ubiquitous alpha-expansion algorithm, yielding near optimal solutions. Prior to these results, approximate local optimisation techniques such as simulated annealing (as proposed by the Geman brothers) or iterated conditional modes (a type of greedy algorithm suggested by Julian Besag) were used to solve such image smoothing problems. Building on these advancements, GPS graph cut optimization was subsequently adapted for interactive image segmentation, most notably through the "GrabCut" algorithm introduced by Carsten Rother, Vladimir Kolmogorov, and Andrew Blake of Microsoft Research, Cambridge. GrabCut extended earlier interactive graph cut methods by replacing monochrome image histograms with Gaussian mixture models to estimate colour distributions, and by employing an iterative GPS energy minimisation scheme. This approach significantly simplified user interaction, requiring only a rough bounding box around the target object rather than detailed user-drawn strokes, and it quickly became a standard tool in both academic research and commercial image editing software. The GPS paper connected and bridged profound ideas from Mathematical statistics (Bayes' theorem, Markov random field), Physics (Ising model), Optimisation (Energy function) and Computer science (Network flow problem) and led the move away from approximate local and slow optimisation approaches (eg simulated annealing) to more powerful exact, or near exact, faster global optimisation techniques. It is now recognised as seminal as it was well ahead of its time and, in particular, was published years before the computing power revolution of Moore's law and GPUs. Significantly, GPS was published in a mathematical statistics (rather than a computer vision) journal, and this led to it being overlooked by the computer vision community for many years. It is unofficially known as "The Velvet Underground" paper of computer vision (ie although very few computer vision people read the paper [bought the record], those that did, most importantly Boykov, Veksler and Zabih, started new and important research [formed a band]). This is confirmed by GPS' very large amplification ratio (2nd order citations/first order citations), estimated at well in excess of 100. Despite the foundational nature of the GPS work, formal recognition from the computer vision community has predominantly gone to the researchers who followed to extend and popularise the graph cut method. For example, Boykov, Veksler and Zabih deservedly received a Helmholtz Prize from the ICCV in 2011. This prize recognises ICCV papers from 10 or more years earlier that have had a significant impact on computer vision research. In 2011, Couprie et al. proposed a general image segmentation framework, called the "Power Watershed", that minimized a real-valued indicator function from [0,1] over a graph, constrained by user seeds (or unary terms) set to 0 or 1, in which the minimization of the indicator function over the graph is optimized with respect to an exponent p {\displaystyle p} . When p = 1 {\displaystyle p=1} , the Power Watershed is optimized by graph cuts, when p = 0 {\displaystyle p=0} the Power Watershed is optimized by shortest paths, p = 2 {\displaystyle p=2} is optimized by the random walker algorithm and p = ∞ {\displaystyle p=\infty } is optimized by the watershed algorithm. In this way, the Power Watershed may be viewed as a generalization of graph cuts that provides a straightforward connection with other energy optimization segmentation/clustering algorithms. == Binary segmentation of images == === Notation === Image: x ∈ { R , G , B } N {\displaystyle x\in \{R,G,B\}^{N}} Output: Segmentation (also called opacity) S ∈ R N {\displaystyle S\in R^{N}} (soft segmentation). For hard segmentation S ∈ { 0 for background , 1 for foreground/object to be detected } N {\displaystyle S\in \{0{\text{ for background}},1{\text{ for foreground/object to be detected}}\}^{N}} Energy function: E ( x , S , C , λ ) {\displaystyle E(x,S,C,\lambda )} where C is the color parameter and λ is the coherence parameter. E ( x , S , C , λ ) = E c o l o r + E c o h e r e n c e {\displaystyle E(x,S,C,\lambda )=E_{\rm {color}}+E_{\rm {coherence}}} Optimization: The segmentation can be estimated as a global minimum over S: arg min S E ( x , S , C , λ ) {\displaystyle {\arg \min }_{S}E(x,S,C,\lambda )} === Existing methods === Standard Graph cuts: optimize energy function over the segmentation (unknown S value). Iterated Graph cuts: First step optimizes over the color parameters using K-means. Second step performs the usual graph cuts algorithm. These 2 steps are repeated recursively until convergence Dynamic graph cuts:Allows to re-run the algorithm much faster after modifying the problem (e.g. after new seeds have been added by a user). === Energy function === Pr ( x ∣ S ) = K − E {\displaystyle \Pr(x\mid S)=K^{-E}} where the energy E {\displaystyle E} is composed of two different mod
Kinect
Kinect is a discontinued line of motion sensing input devices produced by Microsoft and first released in 2010. The devices generally contain RGB cameras, and infrared projectors and detectors that map depth through either structured light or time of flight calculations, which can in turn be used to perform real-time gesture recognition and body skeletal detection, among other capabilities. They also contain microphones that can be used for speech recognition and voice control. Kinect was originally developed as a motion controller peripheral for Xbox video game consoles, distinguished from competitors (such as Nintendo's Wii Remote and Sony's PlayStation Move) by not requiring physical controllers. The first-generation Kinect was based on technology from Israeli company PrimeSense, and unveiled at E3 2009 as a peripheral for Xbox 360 codenamed "Project Natal". It was first released on November 4, 2010, and would go on to sell eight million units in its first 60 days of availability. The majority of the games developed for Kinect were casual, family-oriented titles, which helped to attract new audiences to Xbox 360, but did not result in wide adoption by the console's existing, overall userbase. As part of the 2013 unveiling of Xbox 360's successor, Xbox One, Microsoft unveiled a second-generation version of Kinect with improved tracking capabilities. Microsoft also announced that Kinect would be a required component of the console, and that it would not function unless the peripheral is connected. The requirement proved controversial among users and critics due to privacy concerns, prompting Microsoft to backtrack on the decision. However, Microsoft still bundled the new Kinect with Xbox One consoles upon their launch in November 2013. A market for Kinect-based games still did not emerge after the Xbox One's launch; Microsoft would later offer Xbox One hardware bundles without Kinect included, and later revisions of the console removed the dedicated ports used to connect it (requiring a powered USB adapter instead). Microsoft ended production of Kinect for Xbox One in October 2017. Kinect has also been used as part of non-game applications in academic and commercial environments, as it was cheaper and more robust than other depth-sensing technologies at the time. While Microsoft initially objected to such applications, it later released software development kits (SDKs) for the development of Microsoft Windows applications that use Kinect. In 2020, Microsoft released Azure Kinect as a continuation of the technology integrated with the Microsoft Azure cloud computing platform. Part of the Kinect technology was also used within Microsoft's HoloLens project. Microsoft discontinued the Azure Kinect developer kits in October 2023. == History == === Development === The origins of the Kinect started around 2005, at a point where technology vendors were starting to develop depth-sensing cameras. Microsoft had been interested in a 3D camera for the Xbox line earlier but because the technology had not been refined, had placed it in the "Boneyard", a collection of possible technology they could not immediately work on. In 2005, Israeli company PrimeSense was founded by mathematicians and engineers to develop the "next big thing" for video games, incorporating cameras that were capable of mapping a human body in front of them and sensing hand motions. They showed off their system at the 2006 Game Developers Conference, where Microsoft's Alex Kipman, the general manager of hardware incubation, saw the potential in PrimeSense's technology for the Xbox system. Microsoft began discussions with PrimeSense about what would need to be done to make their product more consumer-friendly: not only improvements in the capabilities of depth-sensing cameras, but a reduction in size and cost, and a means to manufacture the units at scale was required. PrimeSense spent the next few years working at these improvements. Nintendo released the Wii in November 2006. The Wii's central feature was the Wii Remote, a handheld device that was detected by the Wii through a motion sensor bar mounted onto a television screen to enable motion controlled games. Microsoft felt pressure from the Wii, and began looking into depth-sensing in more detail with PrimeSense's hardware, but could not get to the level of motion tracking they desired. While they could determine hand gestures, and sense the general shape of a body, they could not do skeletal tracking. A separate path within Microsoft looked to create an equivalent of the Wii Remote, considering that this type of unit may become standardized similar to how two-thumbstick controllers became a standard feature. However, it was still ultimately Microsoft's goal to remove any device between the player and the Xbox. Kudo Tsunoda and Darren Bennett joined Microsoft in 2008, and began working with Kipman on a new approach to depth-sensing aided by machine learning to improve skeletal tracking. They internally demonstrated this and established where they believed the technology could be in a few years, which led to the strong interest to fund further development of the technology; this has also occurred at a time that Microsoft executives wanted to abandon the Wii-like motion tracking approach, and favored the depth-sensing solution to present a product that went beyond the Wii's capabilities. The project was greenlit by late 2008 with work started in 2009. The project was codenamed "Project Natal" after the Brazilian city Natal, Kipman's birthplace. Additionally, Kipman recognized the Latin origins of the word "natal" to mean "to be born", reflecting the new types of audiences they hoped to draw with the technology. Much of the initial work was related to ethnographic research to see how video game players' home environments were laid out, lit, and how those with Wiis used the system to plan how Kinect units would be used. The Microsoft team discovered from this research that the up-and-down angle of the depth-sensing camera would either need to be adjusted manually, or would require an expensive motor to move automatically. Upper management at Microsoft opted to include the motor despite the increased cost to avoid breaking game immersion. Kinect project work also involved packaging the system for mass production and optimizing its performance. Hardware development took around 22 months. During hardware development, Microsoft engaged with software developers to use Kinect. Microsoft wanted to make games that would be playable by families since Kinect could sense multiple bodies in front of it. One of the first internal titles developed for the device was the pack-in game Kinect Adventures developed by Good Science Studio that was part of Microsoft Studios. One of the game modes of Kinect Adventures was "Reflex Ridge", based on the Japanese Brain Wall game where players attempt to contort their bodies in a short time to match cutouts of a wall moving at them. This type of game was a key example of the type of interactivity they wanted with Kinect, and its development helped feed into the hardware improvements. Another development was Project Milo, a prototype game developed by Lionhead Studios led by Peter Molyneux where the player could interact with a virtual avatar through motion controls and voice recognition. Lionhead had developed the project based on original capabilities of the Kinect, but according to Molyneux, Microsoft had found that a consumer-grade version of the Kinect would cost thousands of dollars, so they scaled back the device and refocused the role of games for the Kinect to be more casual games as seen on the Wii. As a result, Project Milo no longer fit Microsoft's portfolio and was cancelled. Nearing the planned release, there was a problem of widespread testing of Kinect in various room types and different bodies accounting for age, gender, and race among other factors, while keeping the details of the unit confidential. Microsoft engaged in a company-wide program offering employees to take home Kinect units to test them. Microsoft also brought other non-gaming divisions, including its Microsoft Research, Microsoft Windows, and Bing teams to help complete the system. Microsoft established its own large-scale manufacturing facility to bulk product Kinect units and test them. === Introduction === Kinect was first announced to the public as "Project Natal" on June 1, 2009, during Microsoft's press conference at E3 2009; film director Steven Spielberg joined Microsoft's Don Mattrick to introduce the technology and its potential. Three demos were presented during the conference—Microsoft's Ricochet and Paint Party, and Lionhead Studios' Milo & Kate created by Peter Molyneux—while a Project Natal-enabled version of Criterion Games' Burnout Paradise was shown during the E3 exhibition. By E3 2009, the skeletal mapping technology was capable of simultaneously tracking four people, with a feature extraction of 4