Daily Arxiv

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Enhancing Password Security Through a High-Accuracy Scoring Framework Using Random Forests

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

Leveraging Large Language Models for Use Case Model Generation from Software Requirements

Enhancing PIBT via Multi-Action Operations

PressTrack-HMR: Pressure-Based Top-Down Multi-Person Global Human Mesh Recovery

Thinking Forward and Backward: Multi-Objective Reinforcement Learning for Retrieval-Augmented Reasoning

PAN: A World Model for General, Interactable, and Long-Horizon World Simulation

Learning the Basis: A Kolmogorov-Arnold Network Approach Embedding Green's Function Priors

Automatic Grid Updates for Kolmogorov-Arnold Networks using Layer Histograms

Remodeling Semantic Relationships in Vision-Language Fine-Tuning

Biologically-Informed Hybrid Membership Inference Attacks on Generative Genomic Models

MVU-Eval: Towards Multi-Video Understanding Evaluation for Multimodal LLMs

Explainable Cross-Disease Reasoning for Cardiovascular Risk Assessment from LDCT

Retrieval-Augmented Generation in Medicine: A Scoping Review of Technical Implementations, Clinical Applications, and Ethical Considerations

Personalized Chain-of-Thought Summarization of Financial News for Investor Decision Support

Search Is Not Retrieval: Decoupling Semantic Matching from Contextual Assembly in RAG

Does AI-Assisted Coding Deliver? A Difference-in-Differences Study of Cursor's Impact on Software Projects

CORE - A Cell-Level Coarse-to-Fine Image Registration Engine for Multi-stain Image Alignment

Text to Robotic Assembly of Multi Component Objects using 3D Generative AI and Vision Language Models

WOD-E2E: Waymo Open Dataset for End-to-End Driving in Challenging Long-tail Scenarios

Xiaoice: Training-Free Video Understanding via Self-Supervised Spatio-Temporal Clustering of Semantic Features

A Critical Review of the Need for Knowledge-Centric Evaluation of Quranic Recitation

The Markovian Thinker: Architecture-Agnostic Linear Scaling of Reasoning

Artificial-Intelligence Grading Assistance for Handwritten Components of a Calculus Exam

Computing Wasserstein Barycenters through Gradient Flows

Enhancing the development of Cherenkov Telescope Array control software with Large Language Models

GPT and Prejudice: A Sparse Approach to Understanding Learned Representations in Large Language Models

One-Shot Multi-Label Causal Discovery in High-Dimensional Event Sequences

FHIR-AgentBench: Benchmarking LLM Agents for Realistic Interoperable EHR Question Answering

Towards Practical Multi-label Causal Discovery in High-Dimensional Event Sequences via One-Shot Graph Aggregation

Inference Offloading for Cost-Sensitive Binary Classification at the Edge

Collapse of Irrelevant Representations (CIR) Ensures Robust and Non-Disruptive LLM Unlearning

Zero-Shot Referring Expression Comprehension via Vison-Language True/False Verification

Retrieval-Augmented Generation for Reliable Interpretation of Radio Regulations

Dual-Mode Deep Anomaly Detection for Medical Manufacturing: Structural Similarity and Feature Distance

ManipDreamer3D : Synthesizing Plausible Robotic Manipulation Video with Occupancy-aware 3D Trajectory

ChronoGraph: A Real-World Graph-Based Multivariate Time Series Dataset

Bine Trees: Enhancing Collective Operations by Optimizing Communication Locality

EcomMMMU: Strategic Utilization of Visuals for Robust Multimodal E-commerce Models

Improving Pre-Trained Vision-Language-Action Policies with Model-Based Search

Beyond Frequency: Seeing Subtle Cues Through the Lens of Spatial Decomposition for Fine-Grained Visual Classification

Test-Time Reinforcement Learning for GUI Grounding via Region Consistency

Towards Embodied Agentic AI: Review and Classification of LLM- and VLM-Driven Robot Autonomy and Interaction

Application-Specific Component-Aware Structured Pruning of Deep Neural Networks in Control via Soft Coefficient Optimization

Cameras as Relative Positional Encoding

The Prompt War: How AI Decides on a Military Intervention

xLSTMAD: A Powerful xLSTM-based Method for Anomaly Detection

Why Do Open-Source LLMs Struggle with Data Analysis? A Systematic Empirical Study

Interpretable and Granular Video-Based Quantification of Motor Characteristics from the Finger Tapping Test in Parkinson Disease

Feedback-MPPI: Fast Sampling-Based MPC via Rollout Differentiation -- Adios low-level controllers

VFEFL: Privacy-Preserving Federated Learning against Malicious Clients via Verifiable Functional Encryption

Understanding Human-AI Trust in Education

Beyond the 80/20 Rule: High-Entropy Minority Tokens Drive Effective Reinforcement Learning for LLM Reasoning

Scaling Textual Gradients via Sampling-Based Momentum

Caption This, Reason That: VLMs Caught in the Middle

BroadGen: A Framework for Generating Effective and Efficient Advertiser Broad Match Keyphrase Recommendations

Revisiting Residual Connections: Orthogonal Updates for Stable and Efficient Deep Networks

Scalable Quantum State Preparation via Large-Language-Model-Driven Discovery

OODTE: A Differential Testing Engine for the ONNX Optimizer

Constructing an Optimal Behavior Basis for the Option Keyboard

Bridging LMS and generative AI: dynamic course content integration (DCCI) for enhancing student satisfaction and engagement via the ask ME assistant

ForAug: Recombining Foregrounds and Backgrounds to Improve Vision Transformer Training with Bias Mitigation

Feature-EndoGaussian: Feature Distilled Gaussian Splatting in Surgical Deformable Scene Reconstruction

Abn-BLIP: Abnormality-aligned Bootstrapping Language-Image Pre-training for Pulmonary Embolism Diagnosis and Report Generation from CTPA

FactReasoner: A Probabilistic Approach to Long-Form Factuality Assessment for Large Language Models

MMTEB: Massive Multilingual Text Embedding Benchmark

Enhanced Structured Lasso Pruning with Class-wise Information

CoAT: Chain-of-Associated-Thoughts Framework for Enhancing Large Language Models Reasoning

Graph of Attacks with Pruning: Optimizing Stealthy Jailbreak Prompt Generation for Enhanced LLM Content Moderation

Siren: A Learning-Based Multi-Turn Attack Framework for Simulating Real-World Human Jailbreak Behaviors

Enhanced Suicidal Ideation Detection from Social Media Using a CNN-BiLSTM Hybrid Model

Interpretable Neural ODEs for Gene Regulatory Network Discovery under Perturbations

Reducing the Scope of Language Models

Matryoshka Pilot: Learning to Drive Black-Box LLMs with LLMs

Captions Speak Louder than Images: Generalizing Foundation Models for E-commerce from High-quality Multimodal Instruction Data

Multi-Turn Interactions for Text-to-SQL with Large Language Models

Differentiating between human-written and AI-generated texts using linguistic features automatically extracted from an online computational tool

Spikingformer: A Key Foundation Model for Spiking Neural Networks

SOM Directions are Better than One: Multi-Directional Refusal Suppression in Language Models

An Efficient Training Pipeline for Reasoning Graphical User Interface Agents

National Institute on Aging PREPARE Challenge: Early Detection of Cognitive Impairment Using Speech -- The SpeechCARE Solution

Information Capacity: Evaluating the Efficiency of Large Language Models via Text Compression

Enhancing Logical Expressiveness in Graph Neural Networks via Path-Neighbor Aggregation

WaterMod: Modular Token-Rank Partitioning for Probability-Balanced LLM Watermarking

Green AI: A systematic review and meta-analysis of its definitions, lifecycle models, hardware and measurement attempts

GHOST: Solving the Traveling Salesman Problem on Graphs of Convex Sets

A Brain Cell Type Resource Created by Large Language Models and a Multi-Agent AI System for Collaborative Community Annotation

LiveResearchBench: A Live Benchmark for User-Centric Deep Research in the Wild

Ax-Prover: A Deep Reasoning Agentic Framework for Theorem Proving in Mathematics and Quantum Physics

PsychCounsel-Bench: Evaluating the Psychology Intelligence of Large Language Models

DOoM: Difficult Olympiads of Math

From Capabilities to Performance: Evaluating Key Functional Properties of LLM Architectures in Penetration Testing

Planning Agents on an Ego-Trip: Leveraging Hybrid Ego-Graph Ensembles for Improved Tool Retrieval in Enterprise Task Planning

PITA: Preference-Guided Inference-Time Alignment for LLM Post-Training

Small Models Struggle to Learn from Strong Reasoners

Unlocking Efficient Vehicle Dynamics Modeling via Analytic World Models

Enhancing Conflict Resolution in Language Models via Abstract Argumentation

Discussion Graph Semantics of First-Order Logic with Equality for Reasoning about Discussion and Argumentation

A Comprehensive Survey on Multi-modal Conversational Emotion Recognition with Deep Learning

Black-Box On-Policy Distillation of Large Language Models

Obstacle Avoidance using Dynamic Movement Primitives and Reinforcement Learning

Created by

Haebom

저자

Dominik Urbaniak, Alejandro Agostini, Pol Ramon, Jan Rosell, Raul Suarez, Michael Suppa

개요

학습 기반의 동작 계획은 빠르게 최적에 가까운 궤적을 생성할 수 있지만, 대규모 훈련 데이터셋 또는 값비싼 인간 시연 수집이 필요한 경우가 많다. 본 연구에서는 단일 인공 시연으로부터 부드럽고 최적에 가까우며 충돌이 없는 3D Cartesian 궤적을 빠르게 생성하는 대안적인 접근 방식을 제안한다. 이 시연은 동적 움직임 기본 요소(DMP)로 인코딩되고, 정책 기반 강화 학습을 사용하여 반복적으로 재형성되어 다양한 장애물 구성을 위한 다양한 궤적 데이터셋을 생성한다. 이 데이터셋은 점 구름에서 자동으로 파생된 장애물 치수 및 위치를 설명하는 작업 매개변수를 입력으로 받아 궤적을 생성하는 DMP 매개변수를 출력하는 신경망을 훈련하는 데 사용된다. 시뮬레이션 및 실제 로봇 실험에서 이 접근 방식은 계산 및 실행 시간, 궤적 길이 측면에서 RRT-Connect 기준선보다 성능이 우수했으며, 다양한 장애물 기하학 및 엔드 이펙터 치수에 대한 다중 모드 궤적 생성을 지원한다.

시사점, 한계점

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단일 인공 시연으로부터 3D Cartesian 궤적을 생성하는 효율적인 방법 제안.

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RRT-Connect 기준선 대비 계산 시간, 실행 시간 및 궤적 길이 측면에서 성능 개선.

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다중 모드 궤적 생성 지원.

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장애물 형상과 엔드 이펙터 크기에 따른 유연성.

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DMP 기반으로 궤적을 생성하므로 궤적의 부드러움 보장.

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단일 인공 시연에 의존하므로 시연의 품질이 중요.

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신경망 학습을 위한 데이터셋 생성에 강화 학습 필요.

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점 구름 기반의 장애물 정보 추출 과정의 정확도에 의존적.

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