Daily Arxiv

전 세계에서 발간되는 인공지능 관련 논문을 정리하는 페이지 입니다.
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Probing Experts' Perspectives on AI-Assisted Public Speaking Training

Learning Pole Structures of Hadronic States using Predictive Uncertainty Estimation

Neural Concept Verifier: Scaling Prover-Verifier Games via Concept Encodings

Hallucination Stations: On Some Basic Limitations of Transformer-Based Language Models

Objectomaly: Objectness-Aware Refinement for OoD Segmentation with Structural Consistency and Boundary Precision

KeyRe-ID: Keypoint-Guided Person Re-Identification using Part-Aware Representation in Videos

Squeeze the Soaked Sponge: Efficient Off-policy Reinforcement Finetuning for Large Language Model

The Dark Side of LLMs Agent-based Attacks for Complete Computer Takeover

Gemini 2.5: Pushing the Frontier with Advanced Reasoning, Multimodality, Long Context, and Next Generation Agentic Capabilities

Hyperspectral Anomaly Detection Methods: A Survey and Comparative Study

EmissionNet: Air Quality Pollution Forecasting for Agriculture

The role of gain neuromodulation in layer-5 pyramidal neurons

USAD: End-to-End Human Activity Recognition via Diffusion Model with Spatiotemporal Attention

Hita: Holistic Tokenizer for Autoregressive Image Generation

Distributional Soft Actor-Critic with Diffusion Policy

Lighting the Night with Generative Artificial Intelligence

On the Necessity of Output Distribution Reweighting for Effective Class Unlearning

Upgrade or Switch: Do We Need a Next-Gen Trusted Architecture for the Internet of AI Agents?

Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs

Grokking Beyond the Euclidean Norm of Model Parameters

An Outlook on the Opportunities and Challenges of Multi-Agent AI Systems

Deep Learning-Based Forecasting of Boarding Patient Counts to Address ED Overcrowding

An Exploration of Default Images in Text-to-Image Generation

Automatic Curriculum Learning for Driving Scenarios: Towards Robust and Efficient Reinforcement Learning

TPK: Trustworthy Trajectory Prediction Integrating Prior Knowledge For Interpretability and Kinematic Feasibility

Boundary-Guided Trajectory Prediction for Road Aware and Physically Feasible Autonomous Driving

Balancing Progress and Safety: A Novel Risk-Aware Objective for RL in Autonomous Driving

TS-SNN: Temporal Shift Module for Spiking Neural Networks

Red Teaming Large Language Models for Healthcare

One-Pass to Reason: Token Duplication and Block-Sparse Mask for Efficient Fine-Tuning on Multi-Turn Reasoning

AI Safety Should Prioritize the Future of Work

MGT: Extending Virtual Try-Off to Multi-Garment Scenarios

MedSegFactory: Text-Guided Generation of Medical Image-Mask Pairs

Generative Retrieval and Alignment Model: A New Paradigm for E-commerce Retrieval

Using AI to Summarize US Presidential Campaign TV Advertisement Videos, 1952-2012

REGEN: A Dataset and Benchmarks with Natural Language Critiques and Narratives

GTR: Guided Thought Reinforcement Prevents Thought Collapse in RL-based VLM Agent Training

Field Matching: an Electrostatic Paradigm to Generate and Transfer Data

SP$^2$T: Sparse Proxy Attention for Dual-stream Point Transformer

PIAD-SRNN: Physics-Informed Adaptive Decomposition in State-Space RNN

FonTS: Text Rendering with Typography and Style Controls

On the Principles of ReLU Networks with One Hidden Layer

Compositional Risk Minimization

End-to-end multi-channel speaker extraction and binaural speech synthesis

Post-hoc Study of Climate Microtargeting on Social Media Ads with LLMs: Thematic Insights and Fairness Evaluation

Downscaling Extreme Precipitation with Wasserstein Regularized Diffusion

Quantifying Context Bias in Domain Adaptation for Object Detection

An Empirical Study of Validating Synthetic Data for Formula Generation

Evaluating Implicit Bias in Large Language Models by Attacking From a Psychometric Perspective

HeSum: a Novel Dataset for Abstractive Text Summarization in Hebrew

SpecDec++: Boosting Speculative Decoding via Adaptive Candidate Lengths

GoalNet: Goal Areas Oriented Pedestrian Trajectory Prediction

Large Language Models in Mental Health Care: a Scoping Review

SDR-GAIN: A High Real-Time Occluded Pedestrian Pose Completion Method for Autonomous Driving

Temporal Motifs for Financial Networks: A Study on Mercari, JPMC, and Venmo Platforms

Measuring AI Alignment with Human Flourishing

StarDojo: Benchmarking Open-Ended Behaviors of Agentic Multimodal LLMs in Production-Living Simulations with Stardew Valley

Open Source Planning & Control System with Language Agents for Autonomous Scientific Discovery

Discovering Algorithms with Computational Language Processing

A Hybrid SMT-NRA Solver: Integrating 2D Cell-Jump-Based Local Search, MCSAT and OpenCAD

A taxonomy of epistemic injustice in the context of AI and the case for generative hermeneutical erasure

Bandit-Based Prompt Design Strategy Selection Improves Prompt Optimizers

Dualformer: Controllable Fast and Slow Thinking by Learning with Randomized Reasoning Traces

AI Delegates with a Dual Focus: Ensuring Privacy and Strategic Self-Disclosure

Text2BIM: Generating Building Models Using a Large Language Model-based Multi-Agent Framework

Interpreting systems as solving POMDPs: a step towards a formal understanding of agency

Lumos-1: On Autoregressive Video Generation from a Unified Model Perspective

NeuralOS: Towards Simulating Operating Systems via Neural Generative Models

KV Cache Steering for Inducing Reasoning in Small Language Models

Optimistic Exploration for Risk-Averse Constrained Reinforcement Learning

On Barriers to Archival Audio Processing

A Hybrid Multi-Well Hopfield-CNN with Feature Extraction and K-Means for MNIST Classification

Compress Any Segment Anything Model (SAM)

Penalizing Infeasible Actions and Reward Scaling in Reinforcement Learning with Offline Data

Geo-ORBIT: A Federated Digital Twin Framework for Scene-Adaptive Lane Geometry Detection

Adaptive Nonlinear Vector Autoregression: Robust Forecasting for Noisy Chaotic Time Series

Catastrophic Forgetting Mitigation Through Plateau Phase Activity Profiling

Dually Hierarchical Drift Adaptation for Online Configuration Performance Learning

Monitoring Risks in Test-Time Adaptation

Multilingual Multimodal Software Developer for Code Generation

KG-Attention: Knowledge Graph-Guided Attention at Test-Time via Bidirectional Information Aggregation

ONION: A Multi-Layered Framework for Participatory ER Design

A Personalised Formal Verification Framework for Monitoring Activities of Daily Living of Older Adults Living Independently in Their Homes

MoSAiC: Multi-Modal Multi-Label Supervision-Aware Contrastive Learning for Remote Sensing

KELPS: A Framework for Verified Multi-Language Autoformalization via Semantic-Syntactic Alignment

Safe Deep Reinforcement Learning for Resource Allocation with Peak Age of Information Violation Guarantees

DatasetAgent: A Novel Multi-Agent System for Auto-Constructing Datasets from Real-World Images

Scaling Attention to Very Long Sequences in Linear Time with Wavelet-Enhanced Random Spectral Attention (WERSA)

Normalized vs Diplomatic Annotation: A Case Study of Automatic Information Extraction from Handwritten Uruguayan Birth Certificates

Adaptive Framework for Ambient Intelligence in Rehabilitation Assistance

A comprehensive study of LLM-based argument classification: from LLAMA through GPT-4o to Deepseek-R1

Towards Collaborative Fairness in Federated Learning Under Imbalanced Covariate Shift

Generating Proto-Personas through Prompt Engineering: A Case Study on Efficiency, Effectiveness and Empathy

To Trade or Not to Trade: An Agentic Approach to Estimating Market Risk Improves Trading Decisions

A Multi-Modal Fusion Framework for Brain Tumor Segmentation Based on 3D Spatial-Language-Vision Integration and Bidirectional Interactive Attention Mechanism

FreeAudio: Training-Free Timing Planning for Controllable Long-Form Text-to-Audio Generation

RadiomicsRetrieval: A Customizable Framework for Medical Image Retrieval Using Radiomics Features

White-Basilisk: A Hybrid Model for Code Vulnerability Detection

MIDI-VALLE: Improving Expressive Piano Performance Synthesis Through Neural Codec Language Modelling

PromotionGo at SemEval-2025 Task 11: A Feature-Centric Framework for Cross-Lingual Multi-Emotion Detection in Short Texts

Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs

Created by

Haebom

저자

Jared Strader, Aaron Ray, Jacob Arkin, Mason B. Peterson, Yun Chang, Nathan Hughes, Christopher Bradley, Yi Xuan Jia, Carlos Nieto-Granda, Rajat Talak, Chuchu Fan, Luca Carlone, Jonathan P. How, Nicholas Roy

개요

자연어로 표현된 복잡한 명령을 수행하기 위해 3D 장면 그래프를 이용한 매핑, 위치 추정, 작업 및 동작 계획(TAMP)을 통합하는 다중 로봇 시스템을 제시한다. 본 시스템은 개방형 객체 기반 지도를 통합한 공유 3D 장면 그래프를 구축하며, 이는 다중 로봇 3D 장면 그래프 융합에 활용된다. 이러한 표현은 실시간, 뷰 불변 재위치 추정(객체 기반 지도를 통해)과 계획(3D 장면 그래프를 통해)을 지원하여 로봇 팀이 주변 환경을 추론하고 복잡한 작업을 수행할 수 있도록 한다. 또한, 공유 3D 장면 그래프 및 로봇 기능의 맥락을 활용하여 대규모 언어 모델(LLM)을 이용하여 운영자 의도를 계획 도메인 정의 언어(PDDL) 목표로 변환하는 계획 접근 방식을 제시한다. 대규모 실외 환경에서 실제 작업에 대한 시스템 성능의 실험적 평가를 제공한다. 보충 비디오는 https://youtu.be/8xbGGOLfLAY 에서 확인할 수 있다.

시사점, 한계점

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시사점:

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자연어 명령을 이해하고 실행하는 다중 로봇 시스템의 구현으로 복잡한 작업 수행 가능성을 보여줌.

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3D 장면 그래프 기반의 공유 지도 및 계획으로 실시간, 뷰 불변 재위치 추정 및 계획 지원.

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LLM을 활용한 자연어 명령의 PDDL 목표 변환으로 사람과 로봇 간의 상호작용 향상.

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대규모 실외 환경에서의 실험적 평가를 통해 시스템의 실용성 검증.

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한계점:

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실험 환경 및 데이터셋에 대한 자세한 설명 부족.

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LLM의 성능 및 신뢰도에 대한 추가적인 분석 필요.

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다양한 환경 및 작업에 대한 일반화 성능 평가 부족.

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시스템의 확장성 및 안정성에 대한 추가적인 연구 필요.

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