Manipulation, locomotion, sim-to-real transfer and autonomous driving: learning systems that have to survive physics.
arXiv:2606. 25978v1 Announce Type: cross Abstract: Multi-agent goal recognition asks an observer to jointly infer which agents act together and what each team is trying to achieve, so the hypothesis space grows combinatorially with the number of team partitions and goals per team.
arXiv:2606. 25700v1 Announce Type: new Abstract: When fine-tuning Large Language Models (LLMs), there has been success in minimizing both memory usage and computation with Parameter-Efficient Fine-Tuning (PEFT), like Low Rank Adaptation (LoRA).
arXiv:2606. 25127v1 Announce Type: new Abstract: We investigate how reward design shapes the internal attention patterns of reinforcement learning agents trained for autonomous driving.
arXiv:2601. 23147v2 Announce Type: replace Abstract: The integrity of time in distributed Internet of Things (IoT) devices is crucial for reliable operation in energy cyber-physical systems, such as smart grids and microgrids.
arXiv:2606. 24039v1 Announce Type: cross Abstract: Robotics increasingly relies on GPUs for parallel simulation, large-scale learning, and neural-network inference.
arXiv:2606. 25527v1 Announce Type: new Abstract: Online reinforcement learning (RL) agents increasingly depend on knowledge acquired offline to achieve practical efficiency.
arXiv:2606. 24958v1 Announce Type: new Abstract: Collective behavior arises when locally interacting units produce coordinated global organization, from synchronization in dynamical systems to task-relevant information flow on graphs.
Social-physical human-robot interaction (spHRI) has grown rapidly across robotics, human-computer interaction, human-robot interaction, and haptics. Yet, fragmented terminology and inconsistent methodologies make systematic synthesis difficult.
Multi-agent goal recognition asks an observer to jointly infer which agents act together and what each team is trying to achieve, so the hypothesis space grows combinatorially with the number of team partitions and goals per team. Real applications such as drone surveillance and collaborative robotics expose only the agents' trajectory, which forces the observer to rank team-goal hypotheses from behavior alone.
Existing object-aware SLAM systems force a trade-off between real-time performance, multi-class support, and the generation of high-fidelity, semantically coherent object models. To address this trade-off, we present DSP-SLAM++, which extends the DSP-SLAM framework with an asynchronous mapping pipeline for real-time performance and dedicated sensor fusion adaptations for a monocular fisheye-LiDAR suite.
Effective online adaptation of vision-language-action (VLA) models remains challenging, as sparse rewards provide weak supervision for high-dimensional autoregressive action policies. Although self-distillation can in principle provide denser training signals, we find that text-based privileged teachers conditioned on demonstrations, retrieved experiences, or high-level plans are ineffective for VLA adaptation, exposing a modality gap between symbolic guidance and low-level robot actions.
Diffusion models have shown strong potential for multi-modal planning in end-to-end autonomous driving. However, most existing methods confine diffusion to the planning module, conditioning on fixed outputs from separate discriminative perception networks.
Reconstructing 3D scenes from a single image is a fundamental challenge in computer vision, with broad applications in virtual reality, robotics, and content creation. Recent methods achieve outstanding performance by leveraging camera-controlled video diffusion models, but rely on iterative diffusion sampling, which greatly limits their practical deployment.
arXiv:2503. 05226v2 Announce Type: replace-cross Abstract: Monte Carlo tree search is attractive for robotic manipulation because it can improve action selection through simulation without requiring a fully differentiable policy.
arXiv:2606. 23444v2 Announce Type: replace-cross Abstract: Accurate dynamics models are critical for informed decision-making in robotic systems, particularly for agile aerial vehicles operating under uncertainty.
arXiv:2504. 17070v3 Announce Type: replace-cross Abstract: Robots need task planning methods to achieve goals that require more than one action.
arXiv:2606. 23742v1 Announce Type: cross Abstract: Physical neural networks promise low-power machine learning by computing directly with analogue device physics, but most architectures force nonlinear device responses to act as scalar weights.
arXiv:2601. 03509v2 Announce Type: replace Abstract: We study continual skill acquisition in open-ended embodied environments where an agent must construct, refine, and reuse an expanding library of executable skills.
arXiv:2606. 24152v1 Announce Type: cross Abstract: Existing literature claims that video generation essentially is world modelling.
arXiv:2606. 24245v1 Announce Type: cross Abstract: Large language model (LLM) agents increasingly automate complex tasks by integrating language models with external tools and environments.