Daily Arxiv

전 세계에서 발간되는 인공지능 관련 논문을 정리하는 페이지 입니다.
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Instella: Fully Open Language Models with Stellar Performance

STAGE: A Symbolic Tensor grAph GEnerator for distributed AI system co-design

Speech-Audio Compositional Attacks on Multimodal LLMs and Their Mitigation with SALMONN-Guard

PustakAI: Curriculum-Aligned and Interactive Textbooks Using Large Language Models

Harnessing Bounded-Support Evolution Strategies for Policy Refinement

Potent but Stealthy: Rethink Profile Pollution against Sequential Recommendation via Bi-level Constrained Reinforcement Paradigm

FAST-CAD: A Fairness-Aware Framework for Non-Contact Stroke Diagnosis

Learning Topology-Driven Multi-Subspace Fusion for Grassmannian Deep Network

LeJEPA: Provable and Scalable Self-Supervised Learning Without the Heuristics

Contrastive Integrated Gradients: A Feature Attribution-Based Method for Explaining Whole Slide Image Classification

SafeMIL: Learning Offline Safe Imitation Policy from Non-Preferred Trajectories

Dynamic Sparsity: Challenging Common Sparsity Assumptions for Learning World Models in Robotic Reinforcement Learning Benchmarks

Invisible Triggers, Visible Threats! Road-Style Adversarial Creation Attack for Visual 3D Detection in Autonomous Driving

Intelligence per Watt: Measuring Intelligence Efficiency of Local AI

SPUR: A Plug-and-Play Framework for Integrating Spatial Audio Understanding and Reasoning into Large Audio-Language Models

Exploiting Inter-Session Information with Frequency-enhanced Dual-Path Networks for Sequential Recommendation

EMOD: A Unified EEG Emotion Representation Framework Leveraging V-A Guided Contrastive Learning

AI Assisted AR Assembly: Object Recognition and Computer Vision for Augmented Reality Assisted Assembly

Adaptive Detection of Software Aging under Workload Shift

Pelican-VL 1.0: A Foundation Brain Model for Embodied Intelligence

A filtering scheme for confocal laser endomicroscopy (CLE)-video sequences for self-supervised learning

Reflections on the Reproducibility of Commercial LLM Performance in Empirical Software Engineering Studies

Advantage Shaping as Surrogate Reward Maximization: Unifying Pass@K Policy Gradients

ICL-Router: In-Context Learned Model Representations for LLM Routing

Causal Digital Twins for Cyber-Physical Security: A Framework for Robust Anomaly Detection in Industrial Control Systems

Synthetic Object Compositions for Scalable and Accurate Learning in Detection, Segmentation, and Grounding

An Adaptive Multi Agent Bitcoin Trading System

BanglaTalk: Towards Real-Time Speech Assistance for Bengali Regional Dialects

SecInfer: Preventing Prompt Injection via Inference-time Scaling

Re-FRAME the Meeting Summarization SCOPE: Fact-Based Summarization and Personalization via Questions

Threat Modeling for Enhancing Security of IoT Audio Classification Devices under a Secure Protocols Framework

Efficient Learning-Based Control of a Legged Robot in Lunar Gravity

Adaptive Pareto-Optimal Token Merging for Edge Transformer Models in Semantic Communication

Advanced Torrential Loss Function for Precipitation Forecasting

TTF-VLA: Temporal Token Fusion via Pixel-Attention Integration for Vision-Language-Action Models

$\mathrm{TIME}[t]\subseteq \mathrm{SPACE}[O(\sqrt{t})]$ via Tree Height Compression

Visual Document Understanding and Reasoning: A Multi-Agent Collaboration Framework with Agent-Wise Adaptive Test-Time Scaling

FastDriveVLA: Efficient End-to-End Driving via Plug-and-Play Reconstruction-based Token Pruning

First-Order Error Matters: Accurate Compensation for Quantized Large Language Models

StreamDiT: Real-Time Streaming Text-to-Video Generation

NOCTIS: Novel Object Cyclic Threshold based Instance Segmentation

On the Necessity of Output Distribution Reweighting for Effective Class Unlearning

Orthogonal Soft Pruning for Efficient Class Unlearning

Optimization-Induced Dynamics of Lipschitz Continuity in Neural Networks

Self-supervised Learning of Echocardiographic Video Representations via Online Cluster Distillation

Symmetrical Flow Matching: Unified Image Generation, Segmentation, and Classification with Score-Based Generative Models

Zero-Shot Temporal Interaction Localization for Egocentric Videos

Latent Principle Discovery for Language Model Self-Improvement

Transformer Copilot: Learning from The Mistake Log in LLM Fine-tuning

Towards Effective Federated Graph Foundation Model via Mitigating Knowledge Entanglement

$\textit{New News}$: System-2 Fine-tuning for Robust Integration of New Knowledge

Representation Meets Optimization: Training PINNs and PIKANs for Gray-Box Discovery in Systems Pharmacology

Walk Before You Dance: High-fidelity and Editable Dance Synthesis via Generative Masked Motion Prior

Mining--Gym: A Configurable RL Benchmarking Environment for Truck Dispatch Scheduling

The Empty Chair: Using LLMs to Raise Missing Perspectives in Policy Deliberations

Concept-as-Tree: A Controllable Synthetic Data Framework Makes Stronger Personalized VLMs

FedALT: Federated Fine-Tuning through Adaptive Local Training with Rest-of-World LoRA

RAG-Enhanced Collaborative LLM Agents for Drug Discovery

Text-to-SQL Domain Adaptation via Human-LLM Collaborative Data Annotation

FQ-PETR: Fully Quantized Position Embedding Transformation for Multi-View 3D Object Detection

Enhanced Structured Lasso Pruning with Class-wise Information

Efficient Image Restoration via Latent Consistency Flow Matching

Adapt-Pruner: Adaptive Structural Pruning for Efficient Small Language Model Training

The Temporal Trap: Entanglement in Pre-Trained Visual Representations for Visuomotor Policy Learning

LDC: Learning to Generate Research Idea with Dynamic Control

MOSABench: Multi-Object Sentiment Analysis Benchmark for Evaluating Multimodal Large Language Models Understanding of Complex Image

DreamRunner: Fine-Grained Compositional Story-to-Video Generation with Retrieval-Augmented Motion Adaptation

Strada-LLM: Graph LLM for traffic prediction

Towards Formalizing Spuriousness of Biased Datasets Using Partial Information Decomposition

Are language models rational? The case of coherence norms and belief revision

Posterior Label Smoothing for Node Classification

Partial Information Decomposition for Data Interpretability and Feature Selection

Fractured Glass, Failing Cameras: Simulating Physics-Based Adversarial Samples for Autonomous Driving Systems

MoPE: Mixture of Prompt Experts for Parameter-Efficient and Scalable Multimodal Fusion

Survey in Characterization of Semantic Change

GreatSplicing: A Semantically Rich Splicing Dataset

Bi-Level Contextual Bandits for Individualized Resource Allocation under Delayed Feedback

Strategic Opponent Modeling with Graph Neural Networks, Deep Reinforcement Learning and Probabilistic Topic Modeling

Intelligence Foundation Model: A New Perspective to Approach Artificial General Intelligence

Enhancing the Medical Context-Awareness Ability of LLMs via Multifaceted Self-Refinement Learning

OIDA-QA: A Multimodal Benchmark for Analyzing the Opioid Industry Documents Archive

Proceedings of the Second International Workshop on Next-Generation Language Models for Knowledge Representation and Reasoning (NeLaMKRR 2025)

An Efficient Training Pipeline for Reasoning Graphical User Interface Agents

Thinker: Training LLMs in Hierarchical Thinking for Deep Search via Multi-Turn Interaction

Data Complexity of Querying Description Logic Knowledge Bases under Cost-Based Semantics

Spilling the Beans: Teaching LLMs to Self-Report Their Hidden Objectives

Synthetic Data-Driven Prompt Tuning for Financial QA over Tables and Documents

Large Language Model-assisted Autonomous Vehicle Recovery from Immobilization

VoiceAgentEval: A Dual-Dimensional Benchmark for Expert-Level Intelligent Voice-Agent Evaluation of Xbench's Professional-Aligned Series

Practical, Utilitarian Algorithm Configuration

Clutch Control: An Attention-based Combinatorial Bandit for Efficient Mutation in JavaScript Engine Fuzzing

The Carbon Footprint Wizard: A Knowledge-Augmented AI Interface for Streamlining Food Carbon Footprint Analysis

NetGent: Agent-Based Automation of Network Application Workflows

CAMA: Enhancing Mathematical Reasoning in Large Language Models with Causal Knowledge

Optimizing Multi-Tier Supply Chain Ordering with LNN+XGBoost: Mitigating the Bullwhip Effect

Efficient Story Point Estimation With Comparative Learning

Comprehension Without Competence: Architectural Limits of LLMs in Symbolic Computation and Reasoning

MUDAS: Mote-scale Unsupervised Domain Adaptation in Multi-label Sound Classification

Modeling the Diachronic Evolution of Legal Norms: An LRMoo-Based, Component-Level, Event-Centric Approach to Legal Knowledge Graphs

Sensory-Motor Control with Large Language Models via Iterative Policy Refinement

GR00T N1: An Open Foundation Model for Generalist Humanoid Robots

Created by

Haebom

저자

NVIDIA, :, Johan Bjorck, Fernando Castaneda, Nikita Cherniadev, Xingye Da, Runyu Ding, Linxi "Jim" Fan, Yu Fang, Dieter Fox, Fengyuan Hu, Spencer Huang, Joel Jang, Zhenyu Jiang, Jan Kautz, Kaushil Kundalia, Lawrence Lao, Zhiqi Li, Zongyu Lin, Kevin Lin, Guilin Liu, Edith Llontop, Loic Magne, Ajay Mandlekar, Avnish Narayan, Soroush Nasiriany, Scott Reed, You Liang Tan, Guanzhi Wang, Zu Wang, Jing Wang, Qi Wang, Jiannan Xiang, Yuqi Xie, Yinzhen Xu, Zhenjia Xu, Seonghyeon Ye, Zhiding Yu, Ao Zhang, Hao Zhang, Yizhou Zhao, Ruijie Zheng, Yuke Zhu

개요

본 논문은 인간형 로봇을 위한 개방형 기초 모델인 GR00T N1을 소개한다. GR00T N1은 시각-언어-행동(VLA) 모델로, 시각 및 언어 명령을 통해 환경을 해석하는 시각-언어 모듈(시스템 2)과 유체적 운동 동작을 실시간으로 생성하는 확산 변환기 모듈(시스템 1)의 이중 시스템 아키텍처를 가지고 있다. 두 모듈은 긴밀하게 결합되어 있으며, 실제 로봇 궤적, 인간 비디오 및 합성 데이터 세트의 이종 혼합으로 end-to-end 학습된다. 실험 결과, GR00T N1은 여러 로봇 구현에 걸쳐 표준 시뮬레이션 벤치마크에서 최첨단 모방 학습 기준 모델을 능가하며, Fourier GR-1 인간형 로봇에 배포하여 언어 조건부 양손 조작 작업에서 높은 데이터 효율성으로 우수한 성능을 달성함을 보여준다.

시사점, 한계점

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시사점:

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인간형 로봇을 위한 개방형 기초 모델 GR00T N1을 제시하여 일반 목적 로봇 개발에 기여.

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시각-언어-행동(VLA) 모델의 이중 시스템 아키텍처를 통해 높은 성능과 데이터 효율성 달성.

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다양한 데이터 소스를 활용한 훈련을 통해 실세계 변동성에 대한 강건성 확보.

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실제 로봇 플랫폼에서의 성공적인 구현을 통해 실용성 검증.

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한계점:

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현재는 특정 인간형 로봇(Fourier GR-1)에 대한 실험 결과만 제시. 다른 로봇 플랫폼으로의 일반화 가능성에 대한 추가 연구 필요.

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합성 데이터의 사용 비중에 대한 명확한 설명 부족. 실제 데이터와의 균형 및 합성 데이터의 질에 대한 추가적인 분석 필요.

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장기간의 안정적인 동작 및 예측 불가능한 상황에 대한 대처 능력에 대한 추가적인 평가 필요.

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모델의 복잡성과 계산 비용에 대한 분석 및 개선 여지 존재.

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