MLINFO COLLECTION
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What computational role does overparameterisation play during learning? Information-plane analyses suggest that neural networks can traverse representations substantially more complex than those…
Developing analog and hybrid systems requires substantial domain knowledge that is hard to articulate in a formal specification; without additional effort, this domain knowledge is also inaccessible…
Particle Gibbs samplers with backward sampling are widely used for sampling the smoothing distribution of state-space models, but, with few particles, the new trajectory often coincides with the…
This paper reports a methodological pivot from the Open Khipu Repository to the Khipu Field Guide (KFG) database, prompted by stalled progress on the OKR, and a full re-analysis of the resulting…
Smart wheelchairs are robotic devices that gather information from the surroundings and allow people to safely drive through various environments. They usually rely on the interpretation of…
First-derivative edge detectors such as Sobel, Prewitt, Roberts and Scharr measure absolute grey-level differences. We revisit the log-gradient magnitude, a relative-gradient edge operator, and…
The growing volume of end-of-life products has intensified the need for automated disassembly, yet hook-type connections remain challengin: their orientations vary, they deform under load, and their…
Perception tasks for navigation in robotics, including aerial platforms such as drones and autonomous driving systems, are inherently structured. Drone-mounted cameras typically capture sky above,…
Automatic judges offer inexpensive information about model outputs, but an evaluation team must decide how to turn that information into fewer human annotations. Scores can guide sampling, correct an…
We demonstrate the first zero-shot sim-to-real transfer for a surgeon-robot collaboration task in open surgery: retractor take-over. A robot arm takes a retractor from the surgeon's hand and…
We present an experimental framework for determining sufficient communication in robot teams running fixed, independent Behaviour Trees with private blackboards. Within a declared policy family, we…
AI agents that share a secret convention can coordinate through messages that look innocent, so a monitor that reads only the messages can miss them. We propose a behavioural test: a partner that…
Motion retargeting maps a demonstrated human movement onto a robot to compute its joint motion. This study examines how the construction of the desired wrist position affects whether computed arm…
Model discrepancy may prevent a single calibration parameter from reproducing a physical response across the context domain. In addition, uncertainties in observations and contexts affect calibration…
Supernumerary robotic fingers augment human dexterity by enabling a single hand to perform complex "hold-and-manipulate" tasks that typically require bimanual coordination. However, existing devices…
Manipulation policies are evaluated predominantly by binary task success, which cannot tell whether the commanded gesture is the one the object's kinematics admit. We introduce Constraint-Referenced…
A joint of pipe run into the hole swings from the elevator over the well and strikes a fixed stabbing guide at whatever speed the swing has. StabBot, a robotic stabbing system, predicts the swing and…
Medium altitude, long endurance unmanned aerial systems such as Shahed-type strike drones are an unanswered threat in modern conflicts. Conventional air defense systems are too expensive to provide a…
Communication between agents has mostly been studied on tasks with a shared objective and fast, clear feedback. Trading has neither: each agent manages its own account, with decisions being scored by…
Visual world models increasingly support spatial reasoning by generating RGB views of unobserved states. However, RGB has become the default interface largely because it is well suited for visual…
We study the computational limits of clustering $n$ observations drawn from a mixture of $K$ isotropic distributions in $\mathbb R^d$, in the regime where the number $K$ of groups is much larger than…
Token systems support repeated service exchange without monetary transfers, but their viability depends on the stability of token balances. We study token systems with compatibility constraints among…
This paper presents an approach to achieve side-by-side autonomous motion with a pair of personal mobility vehicles (PMVs). Given a global path, two PMVs plan cooperatively so as to hold a social…
We study facility location in multidimensional normed spaces with the objective of minimizing social cost, the sum of agents' distances to their nearest facility. A deterministic mechanism selects…