MLINFO COLLECTION
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Wearable force-augmentation technologies, including exoskeletons and soft exosuits, are being developed for occupational and rehabilitation settings to enhance performance by reducing the muscular…
Deep neural networks for image recognition are typically trained using mini-batches, with a forward pass to compute predictions and losses followed by a more computationally expensive backward pass…
Autonomous surface vessels operating in urban waterways must coordinate with other vessels in confined spaces while complying with traffic regulations, often without knowing their intentions. We…
Pose estimation is a computer vision task used to estimate a skeleton of dynamic systems to predict future movements. Most of the research in this direction is based on a supervised learning approach…
Visual-inertial odometry (VIO) is a fundamental topic in robotics research. Beyond research, VIO has been adopted in a wide range of products.
In this letter, we present a volumetric mapping system that effectively calculates Occupancy Grid Maps (OGMs) and Euclidean Distance Transforms (EDTs) with parallel computing. Unlike these mappers…
Continual adaptation to new tasks is essential for robots deployed in the real world, but adapting pre-trained policies remains challenging due to parameter growth and the need for continual…
Activation steering is an inference-time technique used to control or modify the behavior, tone, or safety properties of a large language model (LLM) without retraining the model's weights or editing…
Robot policy learning is dominated by zeroth-order methods such as PPO, which treat the simulator as a black box and pay for it with enormous sample counts. First-order policy learning differentiates…
This work introduces three lightweight enhancement modules for medical lesion segmentation to improve clinical applicability, particularly under data-scarce and computationally constrained…
Vision-language models (VLMs) have made significant progress in spatial reasoning, particularly by integrating RGB images with depth data, which is often assumed to faithfully reflect physical…
Diffusion and flow matching visuomotor policies require iterative denoising or numerical integration for multimodal action generation, introducing latency and execution mismatch. We instead consider…
We present TADP, a temporally adaptive differential privacy (DP) framework for inference-time privacy-preserving video generation under fixed-length clip-replacement adjacency. TADP uses a…
Reinforcement learning with verifiable rewards (RLVR) has recently been extended to vision-language models (VLMs), yet its effectiveness remains limited for text-rich reasoning tasks. We highlight a…
Low inference latency is critical for closed-loop robotic manipulation, especially under asynchronous inference, where action chunks must be updated promptly to correct accumulated deviations.…
Chain-of-Thought (CoT) prompting has become a standard reasoning strategy in Multi-modal Large Language Models (MLLMs), showing strong performance in complex vision-language tasks such as reasoning…
A robot should act only on an instruction from a person or on an intent that the robot explicitly represents and generates. Unintended actions taken without such an instruction can cause risk or…
RGB-D SLAM requires accurate online tracking, high-quality rendering, and geometrically consistent reconstruction. Existing Gaussian SLAM methods mainly optimize Gaussian primitives with photometric,…
The quality of image generation models trained with diffusion or flow matching is largely fixed by the training budget: at inference, the only available lever is the number of sampling steps, and…
Physics-informed Gaussian process (GP) methods provide a probabilistic framework for PDE solving. Existing approaches incorporate PDE information in different ways: pointwise conditioning uses the…
Direct Preference Optimization (DPO) treats every reported comparison as correct, yet preference data contain reversed, tied or otherwise noisy comparisons. RW-DPO gives each comparison an unknown…
We release Saidzoda-Tajik-LFM-2.6B, a Tajik adaptation of the 2.6B-parameter hybrid model LFM2.5-2.6B-Base, built for tool calling in Tajik on modest hardware. The recipe has two stages: LoRA…
Unlike autoregressive (AR) models, diffusion language models (DLMs) permit parallel token updates, flexible generation, and bidirectional attention, but leading systems rely on costly pretraining or…
Understanding how code changes affect program semantics is a core aspect of code reasoning in language models. It is commonly evaluated by asking whether two programs are semantically equivalent, but…