MLINFO COLLECTION
日次更新の新着・公開記事を新しい順に掲載しています。
We present RESPLE2, a recursive multi-sensor state estimation framework using non-uniform B-splines for 6-DoF motion representation. By exploiting the knot-clamping boundary property, we propose a…
Digital SRAM compute-in-memory (CIM) macros enable energy-efficient CNN inference by eliminating off-chip weight transfers; however, peripheral control logic introduces three inefficiencies: bit-…
Traffic forecasting requires modeling complex temporal dynamics and the spatial dependencies imposed by road topology. Supervised graph-based models achieve strong performance, but are often trained…
Many real-world optimization tasks are governed not only by what should be optimized, but also by what is allowed: a solution must first satisfy physical, operational, safety, budgetary, or…
Brains do not simply add up every signal they receive: they select which routes dominate. Yet connectomes are usually analyzed with tools that sum over all paths and place neural states in Euclidean…
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…
Threading a quadrotor through a moving narrow gap is a demanding test of agile flight, requiring centimeter-level spatial alignment and precise temporal execution. We address this challenge using a…
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…
Imitation policies that reliably execute most of a manipulation trajectory can still fail in localized regions requiring last-mile precision. Updating the full policy or exploring residual actions…
Event cameras offer low latency, high dynamic range, and milliwatt-level power consumption, making them ideal for agile robots such as tiny drones navigating through cluttered environments. However,…
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…
Failure diagnosers for robot manipulation are increasingly vision--language models (VLMs), trained and evaluated on single-arm failures produced by perturbing a successful demonstration. Bimanual…
In smart factory environments, passive entities such as humans and movable obstacles may interfere with autonomous robot operations, posing significant safety risks. Detecting potential conflicts…
Multi-robot control requires integrating distributed camera views while predicting separate action sequences. Most vision-language-action and world-action models target one robot.
As egocentric video becomes increasingly available for embodied learning, an important research question is how to turn this low-cost, scalable source of data into robot manipulation capabilities.…
Online resource allocation faces two coupled challenges: (1) allocating scarce resources efficiently under uncertain future demand, and (2) ensuring that agents report task valuations and…
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…
Large language models (LLMs) are increasingly used to make and execute decisions that affect living systems. Yet, to our knowledge, ecological reasoning is not a focus of pre- or post-training.
Fine-tuning Large Language Models (LLMs) on instruction data can quietly erode their safety, even when no training example looks harmful. Because this safety-degrading data looks benign, standard…
Quickest detection problems (QDPs) arise in a wide range of applications. However, the complementarity structure of the associated variational inequalities poses substantial challenges for…
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…
Understanding how language models were pretrained requires information about their data, processing procedures, and computational resources. However, it remains unclear whether successive releases…
An input skip can reduce reconstruction error while leaving a model's distribution of new samples unchanged. For a Gaussian variational autoencoder (VAE) with constant input skip $0\leqα<1$, a model…
Electric-field-based actuators and machines lead the design space at the nanoscale and in biological systems, while having the potential to be used in favorable macroscale applications which…