Daily Arxiv

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BrowseConf: Confidence-Guided Test-Time Scaling for Web Agents

FRBNet: Revisiting Low-Light Vision through Frequency-Domain Radial Basis Network

Eigen-Value: Efficient Domain-Robust Data Valuation via Eigenvalue-Based Approach

Robust Uncertainty Quantification for Self-Evolving Large Language Models via Continual Domain Pretraining

HyPerNav: Hybrid Perception for Object-Oriented Navigation in Unknown Environment

TraceTrans: Translation and Spatial Tracing for Surgical Prediction

GRAID: Enhancing Spatial Reasoning of VLMs Through High-Fidelity Data Generation

CustomIR: Unsupervised Fine-Tuning of Dense Embeddings for Known Document Corpora

Your Dense Retriever is Secretly an Expeditious Reasoner

FieldGen: From Teleoperated Pre-Manipulation Trajectories to Field-Guided Data Generation

Context-level Language Modeling by Learning Predictive Context Embeddings

Detecting Latin in Historical Books with Large Language Models: A Multimodal Benchmark

MENTOR: A Reinforcement Learning Framework for Enabling Tool Use in Small Models via Teacher-Optimized Rewards

MemoryBench: A Benchmark for Memory and Continual Learning in LLM Systems

SimpleVSF: VLM-Scoring Fusion for Trajectory Prediction of End-to-End Autonomous Driving

The Formalism-Implementation Gap in Reinforcement Learning Research

OmniVinci: Enhancing Architecture and Data for Omni-Modal Understanding LLM

TokenTiming: A Dynamic Alignment Method for Universal Speculative Decoding Model Pairs

Cross-Scenario Unified Modeling of User Interests at Billion Scale

DPRF: A Generalizable Dynamic Persona Refinement Framework for Optimizing Behavior Alignment Between Personalized LLM Role-Playing Agents and Humans

Think Just Enough: Sequence-Level Entropy as a Confidence Signal for LLM Reasoning

SEER: The Span-based Emotion Evidence Retrieval Benchmark

Distilled Protein Backbone Generation

Untargeted Jailbreak Attack

AdaDetectGPT: Adaptive Detection of LLM-Generated Text with Statistical Guarantees

Prosperity before Collapse: How Far Can Off-Policy RL Reach with Stale Data on LLMs?

On Robustness of Vision-Language-Action Model against Multi-Modal Perturbations

PEARL: Peer-Enhanced Adaptive Radio via On-Device LLM

Seeing Symbols, Missing Cultures: Probing Vision-Language Models' Reasoning on Fire Imagery and Cultural Meaning

ImageNet-trained CNNs are not biased towards texture: Revisiting feature reliance through controlled suppression

PTQTP: Post-Training Quantization to Trit-Planes for Large Language Models

The human-machine paradox: how collaboration creates or destroys value, and why augmentation is key to resolving it

Reproducible workflow for online AI in digital health

Pre-trained knowledge elevates large language models beyond traditional chemical reaction optimizers

MolErr2Fix: Benchmarking LLM Trustworthiness in Chemistry via Modular Error Detection, Localization, Explanation, and Revision

Robustness is Important: Limitations of LLMs for Data Fitting

DP-LLM: Runtime Model Adaptation with Dynamic Layer-wise Precision Assignment

FoGE: Fock Space inspired encoding for graph prompting

PULSE: Practical Evaluation Scenarios for Large Multimodal Model Unlearning

GEMeX-RMCoT: An Enhanced Med-VQA Dataset for Region-Aware Multimodal Chain-of-Thought Reasoning

Thermometry of simulated Bose--Einstein condensates using machine learning

LittleBit: Ultra Low-Bit Quantization via Latent Factorization

BNMusic: Blending Environmental Noises into Personalized Music

Evaluating AI-Powered Learning Assistants in Engineering Higher Education: Student Engagement, Ethical Challenges, and Policy Implications

Mixture-of-Experts Meets In-Context Reinforcement Learning

Improving Data Efficiency for LLM Reinforcement Fine-tuning Through Difficulty-targeted Online Data Selection and Rollout Replay

NOBLE -- Neural Operator with Biologically-informed Latent Embeddings to Capture Experimental Variability in Biological Neuron Models

Data Leakage and Deceptive Performance: A Critical Examination of Credit Card Fraud Detection Methodologies

REASONING COMPILER: LLM-Guided Optimizations for Efficient Model Serving

PVP: An Image Dataset for Personalized Visual Persuasion with Persuasion Strategies, Viewer Characteristics, and Persuasiveness Ratings

FALCON: An ML Framework for Fully Automated Layout-Constrained Analog Circuit Design

OmniResponse: Online Multimodal Conversational Response Generation in Dyadic Interactions

GraSS: Scalable Data Attribution with Gradient Sparsification and Sparse Projection

MixAT: Combining Continuous and Discrete Adversarial Training for LLMs

STree: Speculative Tree Decoding for Hybrid State-Space Models

Do Language Models Use Their Depth Efficiently?

A Generalized Label Shift Perspective for Cross-Domain Gaze Estimation

The Logical Expressiveness of Temporal GNNs via Two-Dimensional Product Logics

Group-in-Group Policy Optimization for LLM Agent Training

BRIDGE: Benchmarking Large Language Models for Understanding Real-world Clinical Practice Text

Offline Learning and Forgetting for Reasoning with Large Language Models

Multimodal 3D Genome Pre-training

Boosting Omnidirectional Stereo Matching with a Pre-trained Depth Foundation Model

Mirror Descent and Novel Exponentiated Gradient Algorithms Using Trace-Form Entropies and Deformed Logarithms

Benchmarking AI Models in Software Engineering: A Review, Search Tool, and Unified Approach for Elevating Benchmark Quality

Generalized Exponentiated Gradient Algorithms Using the Euler Two-Parameter Logarithm

FragFM: Hierarchical Framework for Efficient Molecule Generation via Fragment-Level Discrete Flow Matching

ADMN: A Layer-Wise Adaptive Multimodal Network for Dynamic Input Noise and Compute Resources

A High-Dimensional Statistical Method for Optimizing Transfer Quantities in Multi-Source Transfer Learning

$\beta$-DQN: Improving Deep Q-Learning By Evolving the Behavior

Provable Scaling Laws for the Test-Time Compute of Large Language Models

Learned, Lagged, LLM-splained: LLM Responses to End User Security Questions

One-Step is Enough: Sparse Autoencoders for Text-to-Image Diffusion Models

TrajAgent: An LLM-Agent Framework for Trajectory Modeling via Large-and-Small Model Collaboration

GRS: Generating Robotic Simulation Tasks from Real-World Images

Navigation with VLM framework: Towards Going to Any Language

Retrieval-Augmented Generation-based Relation Extraction

Diffusion Models Meet Contextual Bandits

Querying Inconsistent Prioritized Data with ORBITS: Algorithms, Implementation, and Experiments

Multi-Agent Evolve: LLM Self-Improve through Co-evolution

ReCode: Unify Plan and Action for Universal Granularity Control

Human-Like Goalkeeping in a Realistic Football Simulation: a Sample-Efficient Reinforcement Learning Approach

From Prompt Optimization to Multi-Dimensional Credibility Evaluation: Enhancing Trustworthiness of Chinese LLM-Generated Liver MRI Reports

Huxley-G\"odel Machine: Human-Level Coding Agent Development by an Approximation of the Optimal Self-Improving Machine

Understanding AI Trustworthiness: A Scoping Review of AIES & FAccT Articles

PanicToCalm: A Proactive Counseling Agent for Panic Attacks

A Comprehensive Survey on Reinforcement Learning-based Agentic Search: Foundations, Roles, Optimizations, Evaluations, and Applications

Co-TAP: Three-Layer Agent Interaction Protocol Technical Report

Evaluating the Use of Large Language Models as Synthetic Social Agents in Social Science Research

MathBode: Understanding LLM Reasoning with Dynamical Systems

Is It Certainly a Deepfake? Reliability Analysis in Detection & Generation Ecosystem

Accelerate Scaling of LLM Finetuning via Quantifying the Coverage and Depth of Instruction Set

Freeze and Conquer: Reusable Ansatz for Solving the Traveling Salesman Problem

A Neuroscience-Inspired Dual-Process Model of Compositional Generalization

Memory Mosaics at scale

The Confidence Paradox: Can LLM Know When It's Wrong

VIRAL: Vision-grounded Integration for Reward design And Learning

Partner Modelling Emerges in Recurrent Agents (But Only When It Matters)

Multimodal Dreaming: A Global Workspace Approach to World Model-Based Reinforcement Learning

TableTime: Reformulating Time Series Classification as Training-Free Table Understanding with Large Language Models

GRS: Generating Robotic Simulation Tasks from Real-World Images

Created by

Haebom

저자

Alex Zook, Fan-Yun Sun, Josef Spjut, Valts Blukis, Stan Birchfield, Jonathan Tremblay

개요

GRS (Generating Robotic Simulation tasks)는 단일 RGB-D 관찰로부터 로봇 시뮬레이션을 위한 디지털 트윈을 생성하는 시스템입니다. 가상 에이전트 훈련을 위한 해결 가능한 작업을 생성하며, 시각-언어 모델(VLMs)을 사용하여 세 단계를 거칩니다: 1) SAM2를 이용한 분할 및 객체 설명 2) 시뮬레이션 준비 자산과의 객체 매칭 3) 적절한 작업 생성. 생성된 테스트 스위트를 통해 시뮬레이션-작업 정렬을 보장하며, 시뮬레이션 및 테스트 코드를 반복적으로 개선하는 라우터를 도입했습니다.

시사점, 한계점

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단일 RGB-D 관찰에서 로봇 시뮬레이션 환경 자동 생성.

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시각-언어 모델(VLMs)을 활용하여 객체 이해 및 시뮬레이션 자산 매칭.

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생성된 테스트 스위트를 통한 시뮬레이션-작업 정렬 보장.

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시뮬레이션 및 테스트 코드 개선을 위한 라우터 메커니즘 도입.

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단일 RGB-D 관찰에 의존하므로, 관찰 품질에 따라 성능이 제한될 수 있음.

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시뮬레이션 자산 라이브러리의 다양성에 제약받을 수 있음.

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생성된 작업의 복잡성과 실제 로봇 환경과의 차이가 존재할 수 있음.

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