Daily Arxiv

전 세계에서 발간되는 인공지능 관련 논문을 정리하는 페이지 입니다.
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논문에 대한 저작권은 저자 및 해당 기관에 있으며, 공유 시 출처만 명기하면 됩니다.

Benchmarking Foundation Models with Retrieval-Augmented Generation in Olympic-Level Physics Problem Solving

Mechanistic Interpretability as Statistical Estimation: A Variance Analysis of EAP-IG

Neural Diffusion Processes for Physically Interpretable Survival Prediction

Tenyidie Syllabification corpus creation and deep learning applications

On Predictability of Reinforcement Learning Dynamics for Large Language Models

EMR-AGENT: Automating Cohort and Feature Extraction from EMR Databases

MOSS-Speech: Towards True Speech-to-Speech Models Without Text Guidance

Normal-Abnormal Guided Generalist Anomaly Detection

Does Bigger Mean Better? Comparitive Analysis of CNNs and Biomedical Vision Language Modles in Medical Diagnosis

AbsTopK: Rethinking Sparse Autoencoders For Bidirectional Features

VRWKV-Editor: Reducing quadratic complexity in transformer-based video editing

More Thought, Less Accuracy? On the Dual Nature of Reasoning in Vision-Language Models

The AI Productivity Index (APEX)

Discontinuous Epitope Fragments as Sufficient Target Templates for Efficient Binder Design

Uncertainty-Aware Generative Oversampling Using an Entropy-Guided Conditional Variational Autoencoder

GeoSQL-Eval: First Evaluation of LLMs on PostGIS-Based NL2GeoSQL Queries

Segmentor-Guided Counterfactual Fine-Tuning for Locally Coherent and Targeted Image Synthesis

Causal-Adapter: Taming Text-to-Image Diffusion for Faithful Counterfactual Generation

Euclid's Gift: Enhancing Spatial Perception and Reasoning in Vision-Language Models via Geometric Surrogate Tasks

The Hidden Costs of Translation Accuracy: Distillation, Quantization, and Environmental Impact

IndexNet: Timestamp and Variable-Aware Modeling for Time Series Forecasting

An effective control of large systems of active particles: An application to evacuation problem

Discovering Software Parallelization Points Using Deep Neural Networks

SpeechWeave: Diverse Multilingual Synthetic Text & Audio Data Generation Pipeline for Training Text to Speech Models

Machines are more productive than humans until they aren't, and vice versa

Landcover classification and change detection using remote sensing and machine learning: a case study of Western Fiji

Investigating ReLoRA: Effects on the Learning Dynamics of Small Language Models

MOSAIC: A Multilingual, Taxonomy-Agnostic, and Computationally Efficient Approach for Radiological Report Classification

Forecasting the Ionosphere from Sparse GNSS Data with Temporal-Fusion Transformers

Towards Methane Detection Onboard Satellites

Tackling Federated Unlearning as a Parameter Estimation Problem

Automated Model Evaluation for Object Detection via Prediction Consistency and Reliability

Legal Knowledge Graph Foundations, Part I: URI-Addressable Abstract Works (LRMoo F1 to schema.org)

An Architecture for Spatial Networking

AlgoTune: Can Language Models Speed Up General-Purpose Numerical Programs?

VITA: Vision-to-Action Flow Matching Policy

Can LLMs Find Fraudsters? Multi-level LLM Enhanced Graph Fraud Detection

Model Parallelism With Subnetwork Data Parallelism

A Novel Approach for Estimating Largest Lyapunov Exponents in One-Dimensional Chaotic Time Series Using Machine Learning

PlaceFM: A Training-free Geospatial Foundation Model of Places using Large-Scale Point of Interest Data

MambAttention: Mamba with Multi-Head Attention for Generalizable Single-Channel Speech Enhancement

MS-DFTVNet:A Long-Term Time Series Prediction Method Based on Multi-Scale Deformable Convolution

Adaptive Batch-Wise Sample Scheduling for Direct Preference Optimization

Autoregressive Adversarial Post-Training for Real-Time Interactive Video Generation

WWAggr: A Window Wasserstein-based Aggregation for Ensemble Change Point Detection

Beyond Chunking: Discourse-Aware Hierarchical Retrieval for Long Document Question Answering

Localized Forest Fire Risk Prediction: A Department-Aware Approach for Operational Decision Support

CodeSense: a Real-World Benchmark and Dataset for Code Semantic Reasoning

Should I Share this Translation? Evaluating Quality Feedback for User Reliance on Machine Translation

Differential Information Distribution: A Bayesian Perspective on Direct Preference Optimization

Diagnosing and Addressing Pitfalls in KG-RAG Datasets: Toward More Reliable Benchmarking

Enhanced DACER Algorithm with High Diffusion Efficiency

What happens when generative AI models train recursively on each others' outputs?

Finite Sample Analysis of Linear Temporal Difference Learning with Arbitrary Features

PiCa: Parameter-Efficient Fine-Tuning with Column Space Projection

Search-Based Software Engineering and AI Foundation Models: Current Landscape and Future Roadmap

Deriving Strategic Market Insights with Large Language Models: A Benchmark for Forward Counterfactual Generation

Time-o1: Time-Series Forecasting Needs Transformed Label Alignment

MolLangBench: A Comprehensive Benchmark for Language-Prompted Molecular Structure Recognition, Editing, and Generation

ABBA-Adapters: Efficient and Expressive Fine-Tuning of Foundation Models

LEXam: Benchmarking Legal Reasoning on 340 Law Exams

scSiameseClu: A Siamese Clustering Framework for Interpreting single-cell RNA Sequencing Data

AI-Powered Inverse Design of Ku-Band SIW Resonant Structures by Iterative Residual Correction Network

Feature Representation Transferring to Lightweight Models via Perception Coherence

PlaceIt3D: Language-Guided Object Placement in Real 3D Scenes

FalconWing: An Ultra-Light Indoor Fixed-Wing UAV Platform for Vision-Based Autonomy

WebRollback: Enhancing Web Agents with Explicit Rollback Mechanisms

Towards Effective E-Participation of Citizens in the European Union: The Development of AskThePublic

Enhancing Personalized Multi-Turn Dialogue with Curiosity Reward

When Reasoning Meets Compression: Understanding the Effects of LLMs Compression on Large Reasoning Models

Boundless Byte Pair Encoding: Breaking the Pre-tokenization Barrier

Audio-Enhanced Vision-Language Modeling with Latent Space Broadening for High Quality Data Expansion

Knowledge-guided machine learning for county-level corn yield prediction under drought

Gaussian DP for Reporting Differential Privacy Guarantees in Machine Learning

FANS -- Formal Answer Selection for Natural Language Math Reasoning Using Lean4

What are You Looking at? Modality Contribution in Multimodal Medical Deep Learning

Interpretable Text Embeddings and Text Similarity Explanation: A Survey

CoLA: Compute-Efficient Pre-Training of LLMs via Low-Rank Activation

Forget Forgetting: Continual Learning in a World of Abundant Memory

Out-of-Distribution Detection using Synthetic Data Generation

Handling Heterophily in Recommender Systems with Wavelet Hypergraph Diffusion

Paper Quality Assessment based on Individual Wisdom Metrics from Open Peer Review

Diffusion Adversarial Post-Training for One-Step Video Generation

Unraveling Indirect In-Context Learning Using Influence Functions

Synergizing LLMs and Knowledge Graphs: A Novel Approach to Software Repository-Related Question Answering

VideoGen-of-Thought: Step-by-step generating multi-shot video with minimal manual intervention

Initialization using Update Approximation is a Silver Bullet for Extremely Efficient Low-Rank Fine-Tuning

Reasoning over User Preferences: Knowledge Graph-Augmented LLMs for Explainable Conversational Recommendations

Reliable Decision Making via Calibration Oriented Retrieval Augmented Generation

Faster LLM Inference using DBMS-Inspired Preemption and Cache Replacement Policies

There and Back Again: On the relation between Noise and Image Inversions in Diffusion Models

QSpec: Speculative Decoding with Complementary Quantization Schemes

Superficial Safety Alignment Hypothesis

AutoScale: Scale-Aware Data Mixing for Pre-Training LLMs

R2 v2: The Pareto-compliant R2 Indicator for Better Benchmarking in Bi-objective Optimization

Hierarchical place recognition with omnidirectional images and curriculum learning-based loss functions

Neural Network Parameter-optimization of Gaussian pmDAGs

Semantic Bridges Between First Order c-Representations and Cost-Based Semantics: An Initial Perspective

Rethinking Reward Models for Multi-Domain Test-Time Scaling

Communication-Efficient and Accurate Approach for Aggregation in Federated Low-Rank Adaptation

FalconWing: An Ultra-Light Indoor Fixed-Wing UAV Platform for Vision-Based Autonomy

Created by

Haebom

저자

Yan Miao, Will Shen, Hang Cui, Sayan Mitra

FalconWing: Vision-Based Autonomy를 위한 초경량 UAV 플랫폼

개요

본 논문은 시각 기반 자율성을 위한 초경량(150g) 실내 고정익 UAV 플랫폼인 FalconWing을 소개합니다. 실내 환경은 연중 반복 가능한 UAV 실험을 가능하게 하지만, UAV에 엄격한 무게 및 기동성 제한을 부과하므로 초경량 FalconWing 설계를 추진했습니다. FalconWing은 경량 하드웨어 스택(137g 에어프레임과 9g 카메라)과 오프보드 컴퓨팅을 결합하고, 시각 기반 컨트롤러 개발 및 평가를 위한 사실적인 3D Gaussian Splat(GSplat) 시뮬레이터를 특징으로 하는 소프트웨어 스택을 갖추고 있습니다. 리더-팔로워 사례 연구에서 모방 학습을 통해 GSplat 렌더링된 데이터에 도메인 임의화를 추가하여 훈련된 최고의 시각 기반 컨트롤러는 30번의 시험에서 3가지 유형의 리더 기동에 대해 100% 추적 성공률을 달성했으며, 시뮬레이션에서 리더의 외형 변화에 대한 견고성을 보였습니다. 자율 착륙 사례 연구에서 순전히 시뮬레이션에서 훈련된 시각 기반 컨트롤러는 실제 하드웨어로 제로샷 전송되어, 10번의 착륙 시험에서 80% 성공률을 달성했습니다. FalconWing은 공학 학생 및 연구실을 위한 오픈 소스 비행 키트가 될 수 있도록 하드웨어 설계, GSplat 장면 및 동적 모델을 공개할 예정입니다.

시사점, 한계점

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시사점:

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초경량 UAV 플랫폼 설계를 통해 실내 환경에서 시각 기반 자율 비행 연구 가능성을 제시함.

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GSplat 시뮬레이터를 활용한 시뮬레이션 기반 학습으로 실제 환경에서의 성능을 입증함.

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리더-팔로워 및 자율 착륙 사례 연구를 통해 플랫폼의 유효성을 검증함.

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오픈 소스 자료 공개를 통해 연구 및 교육 분야에 기여할 수 있음.

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한계점:

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실내 환경에 국한된 연구로, 실외 환경으로의 확장성에 대한 추가 연구가 필요함.

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제한된 무게 제약으로 인해, 탑재 가능한 센서 및 배터리 용량에 제약이 있을 수 있음.

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GSplat 시뮬레이터의 정확성 및 현실성에 대한 한계가 존재할 수 있음.

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