Robotic Data Inoculation
Modern robot learning systems feed on high-quality demonstration data, and their performance hinges on coverage. Without good coverage, small errors compound and the policy can quickly go into…
nlp
MLINFO COLLECTION
文書検索・社内QA
RAG、埋め込み、検索評価、要約を使って文書検索や社内QAを作るための技術です。
記事一覧
8 / 25Why Speculative Decoding Works Better Than Predicted on Sparse MoE Models
Speculative decoding (SD) accelerates autoregressive inference by leveraging the memory bound nature of decoding, verifying multiple draft tokens in a single forward pass. For mixture-of-experts…
nlp
Dungeons & Dragons Encounter Analysis with Semi-Random Simulation in Foundry VTT
Dungeons & Dragons (D&D) is a tabletop roleplaying game (TTRPG) in which a group of players, guided by a Game Master, roleplay a fantasy adventure with simulated combat and improvisational narrative.…
nlp
Orthogonal Inference for Conditional Z-Estimation without Cross-Fitting: A Distributional Nearest-Neighbor Approach
Estimating conditional parameters, such as heterogeneous treatment effects, often requires rich covariate adjustment, even when the parameters are reported along only a few dimensions. Fitting…
nlp
Optimization-based lane-changing trajectory planning in mixed traffic with embedded input convex neural networks
Lane-changing (LC) maneuvers are highly challenging vehicle interactions, with substantial implications for traffic safety and efficiency. Developing effective LC strategies for connected and…
deep-learning
Geometric Time Score Estimators: Bridging Self-Predictive Representations and Generative Occupancy Models For Reinforcement Learning
In reinforcement learning (RL), temporal reasoning is essential for estimating the density of future outcomes under a policy's occupancy measure. While self-predictive representations have been a…
deep-learning
Integrating multi-source local information for global undirected graph reconstruction via integer programming
Graphical models are widely used to represent conditional independence structures, but learning them is challenging when data are fragmented across sources that measure different subsets of variables…
nlp
The Quine Test: How Much of a Model's Self Survives Its Own Description?
Frontier language models express coherent preferences, but behavioral evidence alone cannot say whether these belong to the model or to a character it portrays. Following Hofstadter's view of the…
nlp
The Reality Gap in Automated Driving Systems Testing: Landscape, Challenges, and Research Directions
Simulation is essential for testing automated driving systems (ADS), but discrepancies between simulation and reality can undermine testing conclusions. It remains unclear which discrepancies the…
nlp
MATCH: Execution-Aware Hierarchical Reinforcement Learning for Vision-and-Language Navigation in Continuous Environment
Vision-and-Language Navigation in Continuous Environments (VLN-CE) requires instruction-consistent planning and reliable execution under collision constraints. Yet many hierarchical approaches…
nlp
FPGAFly: A 166.7k-Neuron Fruit-Fly Connectome on One FPGA via Deferred Spike Expansion and Shared-Codeword States
Synapse-resolution fruit-fly (Drosophila) connectomes enable neuron-by-neuron simulation of entire insect nervous systems, yet whole-brain models still require computationally demanding software or…
nlp
Toward Understanding the Value of Anarchy: Empirical Studies on Best Response Dynamics
We study experimental results of best response dynamics (BRD) in randomly generated weighted action networked multiagent optimization problems where agent utility is the agent's marginal contribution…
nlp
From Error Prediction to Causal Influence: Auditing SAE Features in Multiple-Choice QA
Sparse autoencoders (SAEs) can predict internal features associated with model errors, but association alone does not establish causal influence. We study this distinction in multiple-choice question…
nlp
"It Would Make a Geordie Feel at Home": Regional Accent Perceptions and Speech Accommodation in Voice AI
Automatic speech recognition (ASR) systems often perform less accurately for speakers of regional dialects, but less is known about how users respond to these limitations and how regional voices…
nlp
Multi-Agent Reinforcement Learning for Global Climate Policy Cooperation
International climate policy requires coordination among countries whose mitigation decisions impose local costs but generate global benefits. Classical game-theoretic and integrated assessment…
nlp
Finite-Sample Optimal Conformal Prediction Sets under Covariate Shift
We study conformal prediction under covariate shift with a known covariate density ratio, seeking prediction sets with minimum expected length under the target distribution. For every calibration…
nlp
semanticfa: An R Package for Response-Free Semantic Factor Analysis of Psychometric Scales
The items of a reflective psychometric scale can be read as a proposal about a construct's structure. Language models make that proposal measurable by converting each item into an embedding, a list…
deep-learning
Graph Representation Learning via Adaptive Expectile Aggregation
Graph neural networks (GNNs) rely critically on neighborhood aggregation, yet conventional mean aggregation may fail to capture class-relevant distributional information, particularly in heterophilic…
deep-learning
UCVE: Graph Structured Retrieval for Compliance Validation
Structured compliance validation requires determining whether every obligation in a predefined requirement space is satisfied, violated, or unaddressed by a given document. This can be described as a…
nlp
Understanding Human-Robot Collaboration through Joint Action
Human-robot collaboration requires partners to coordinate interdependent contributions toward a shared goal. Joint Action theory provides concepts for understanding this coordination, but how these…
nlp
Modeling Preference Dependencies with Directed Acyclic Graphs for Narrative-Driven Recommendation
Narrative-driven recommendation allows users to express multifaceted needs through free-form text where stated preferences naturally qualify and condition one another. Existing methods typically…
generative-ai
Doubly Robust Deep Kernel Tests for Structured Outcomes
We propose a test of whether two interventions induce the same outcome distribution when outcomes are structured and high-dimensional, such as images, text and graphs. We represent the interventional…
nlp
KEPT: Conformal Keepouts Kept in Planning for Enclosed-Space Navigation in Degraded Sensing
Autonomous vehicles in enclosed spaces such as tunnels and mines rely on range maps that smoke, dust and fog make inaccurate. Conformal prediction calibrates a keepout around the mapped walls that…
nlp
State estimation for a hybrid rigid-continuum space manipulator system
Spacecraft-mounted robotic manipulators can support long-term operability of orbiting assets by conducting tasks such as on-orbit assembly, repair, upgrade, and refueling. In this context, the…
nlp