MLINFO COLLECTION
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Flow-based policies for language-conditioned multi-task manipulation commonly share a single $\textit{Gaussian}$ source prior and a common linear transport path across tasks. However, reliably…
Bimanual robot manipulation plays an important role in real-world robotic applications, but the high cost of collecting bimanual demonstrations limits the scalable development of bimanual policy…
Animals exhibit diverse shape-changing behaviors, from the undulatory swimming of eels to the arching movements of inchworms. Reproducing these biological shapes with modular soft robots offers a…
We consider $T$ repeated second-price auctions across $n$ pacing bidders with i.i.d. item arrivals, and show that it is computationally impossible for all bidders to achieve no-regret simultaneously…
Joint-embedding predictive architectures (JEPAs) enable world models to plan from images by predicting future embeddings. However, their visual prediction objectives do not explicitly incorporate…
We present general upper and lower bounds on the optimal error exponent for the Active Simple Hypothesis Testing (ASHT) problem. ASHT has been extensively studied across diverse fields including…
Miner extractable value (MEV) poses a persistent challenge for blockchain ecosystems. It arises from the fact that a block builder can exploit its unilateral control over transaction inclusion and…
Nonlinear structural system identification remains challenging when governing physics is only partially known and measurements are sparse. Deep Bayesian filtering addresses these challenges by…
The adaptive clinching auction of Dobzinski, Lavi, and Nisan (FOCS'08) is a cornerstone of mechanism design with budget-constrained bidders, and it has since inspired a broad range of extensions to…
Sparse event responses produce uneven keypoint errors whose effects on spacecraft pose depend on correspondence geometry and the reliability of successive observations. We present a reliability-aware…
Recent work has shown that, in zero-sum games, an optimizer can extract $Ω(\sqrt{T})$ strategic surplus---cumulative payoff above the minimax benchmark---against noiseless no-regret learners with a…
Enabling a humanoid to interact naturally with human partners requires preserving not only individual motions but also the spatial, semantic, and contact relationships underlying the interaction…
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…
Quadruped robots are increasingly deployed in hazardous environments such as disaster response and facility inspection, where external-camera monitoring is essential for safe operation. This setting…
Handheld data-collection interfaces such as the Universal Manipulation Interface (UMI) allow manipulation demonstrations to be gathered in the wild without a robot in the loop, but the quality of the…
Dimension-reduction methods such as PCA identify a subspace capturing most of the variation in the data, but not a distinguished basis within it. Selecting a basis in which the samples are sparsely…
Humanoid locomotion in confined spaces requires continuous height adaptation across multiple locomotion modes, yet most existing approaches remain limited to height-adjustable bipedal walking. We…
Humans are dexterous, but traditional data collection paradigms such as teleoperation, kinesthetic teaching, and wearable exoskeletons force humans to act through the robot embodiment, bottlenecking…
We present CPG-ENN, a trainable quadruped locomotion framework that combines explicit neural coordination with learned motion realization. A symmetry-based eight-neuron central pattern generator…
Differences in musculoskeletal morphology challenge policy reuse across individual models. Here we present MyoAcross, a framework that combines individual musculoskeletal model construction,…
Recently, LLM-based autonomous agents have shown strong capabilities in iteratively generating, evaluating, and refining executable solutions. In robotic manipulation, Code-as-Policy lets these…
The inefficiency of decentralized resource allocation is classically measured by the Price of Anarchy (PoA) and the Price of Stability (PoS). The most widely studied and foundational class of these…
Humanoid behavior foundation models (BFMs) provide reusable whole-body motion priors: given a kinematic reference, they generate coordinated joint commands for motion replay, teleoperation, and VLA…
Statistical graphical models are representations of the dependences between the components of a random vector. They encode these dependences via graphical separation criteria.