Daily Arxiv

世界中で発行される人工知能関連の論文をまとめるページです。
このページはGoogle Geminiを活用して要約し、非営利で運営しています。
論文の著作権は著者および関連機関にあり、共有する際は出典を明記してください。

HPC Digital Twins for Evaluating Scheduling Policies, Incentive Structures and their Impact on Power and Cooling

NLKI: A lightweight Natural Language Knowledge Integration Framework for Improving Small VLMs in Commons VQA Tasks

Interact-Custom: Customized Human Object Interaction Image Generation

A Self-Supervised Mixture-of-Experts Framework for Multi-behavior Recommendation

MIDAS: Multimodal Interactive Digital-humAn Synthesis via Real-time Autoregressive Video Generation

From Tabula Rasa to Emergent Abilities: Discovering Robot Skills via Real-World Unsupervised Quality-Diversity

Dynamic Triangulation-Based Graph Rewiring for Graph Neural Networks

STDiff: A State Transition Diffusion Framework for Time Series Imputation in Industrial Systems

LLMs Can't Handle Peer Pressure: Crumbling under Multi-Agent Social Interactions

Graph-R1: Incentivizing the Zero-Shot Graph Learning Capability in LLMs via Explicit Reasoning

Modality-Specific Speech Enhancement and Noise-Adaptive Fusion for Acoustic and Body-Conduction Microphone Framework

Humans Perceive Wrong Narratives from AI Reasoning Texts

SpecVLM: Enhancing Speculative Decoding of Video LLMs via Verifier-Guided Token Pruning

Pareto Actor-Critic for Communication and Computation Co-Optimization in Non-Cooperative Federated Learning Services

Learning to Drive Ethically: Embedding Moral Reasoning into Autonomous Driving

Generative AI Against Poaching: Latent Composite Flow Matching for Wildlife Conservation

Privacy-Aware Detection of Fake Identity Documents: Methodology, Benchmark, and Improved Algorithms (FakeIDet2)

Beyond the Rosetta Stone: Unification Forces in Generalization Dynamics

Steering Towards Fairness: Mitigating Political Bias in LLMs

Dynamic Context Compression for Efficient RAG

Irredundant $k$-Fold Cross-Validation

Prompt Engineering and the Effectiveness of Large Language Models in Enhancing Human Productivity

A Highly Clean Recipe Dataset with Ingredient States Annotation for State Probing Task

Entropy-Memorization Law: Evaluating Memorization Difficulty of Data in LLMs

The Joys of Categorical Conformal Prediction

Adversarial Manipulation of Reasoning Models using Internal Representations

Agent-to-Agent Theory of Mind: Testing Interlocutor Awareness among Large Language Models

A Hybrid Artificial Intelligence Method for Estimating Flicker in Power Systems (Changes are marked)

GLProtein: Global-and-Local Structure Aware Protein Representation Learning

Program Semantic Inequivalence Game with Large Language Models

DSO: Aligning 3D Generators with Simulation Feedback for Physical Soundness

Improving Quantization with Post-Training Model Expansion

Safe and Efficient Social Navigation through Explainable Safety Regions Based on Topological Features

A Simple Approach to Constraint-Aware Imitation Learning with Application to Autonomous Racing

Federated nnU-Net for Privacy-Preserving Medical Image Segmentation

ExPath: Targeted Pathway Inference for Biological Knowledge Bases via Graph Learning and Explanation

Enhancing Automated Loop Invariant Generation for Complex Programs with Large Language Models

RevPRAG: Revealing Poisoning Attacks in Retrieval-Augmented Generation through LLM Activation Analysis

Categorical Data Clustering via Value Order Estimated Distance Metric Learning

Application of AI to formal methods - an analysis of current trends

Reconsidering the Performance of GAE in Link Prediction

See then Tell: Enhancing Key Information Extraction with Vision Grounding

Enhancing Natural Language Inference Performance with Knowledge Graph for COVID-19 Automated Fact-Checking in Indonesian Language

Puppet-Master: Scaling Interactive Video Generation as a Motion Prior for Part-Level Dynamics

FFHFlow: Diverse and Uncertainty-Aware Dexterous Grasp Generation via Flow Variational Inference

SoAy: A Solution-based LLM API-using Methodology for Academic Information Seeking

Investigating the Robustness of Counterfactual Learning to Rank Models: A Reproducibility Study

Rethinking Invariance Regularization in Adversarial Training to Improve Robustness-Accuracy Trade-off

Network Formation and Dynamics Among Multi-LLMs

NetGPT: Generative Pretrained Transformer for Network Traffic

OLKAVS: An Open Large-Scale Korean Audio-Visual Speech Dataset

Explainability of Text Processing and Retrieval Methods: A Survey

The Ramon Llull's Thinking Machine for Automated Ideation

RLMR: Reinforcement Learning with Mixed Rewards for Creative Writing

LLM-Based Agents for Competitive Landscape Mapping in Drug Asset Due Diligence

MSARL: Decoupling Reasoning and Tool Use with Multi-Small-Agent Reinforcement Learning

Automated Algorithmic Discovery for Gravitational-Wave Detection Guided by LLM-Informed Evolutionary Monte Carlo Tree Search

Can Large Language Models Develop Strategic Reasoning? Post-training Insights from Learning Chess

Technology as uncharted territory: Contextual integrity and the notion of AI as new ethical ground

Possible Principles for Aligned Structure Learning Agents

OptiMUS-0.3: Using Large Language Models to Model and Solve Optimization Problems at Scale

Prompt-to-Product: Generative Assembly via Bimanual Manipulation

OnGoal: Tracking and Visualizing Conversational Goals in Multi-Turn Dialogue with Large Language Models

Mixture of Contexts for Long Video Generation

FakeParts: a New Family of AI-Generated DeepFakes

Enabling Equitable Access to Trustworthy Financial Reasoning

Veritas: Generalizable Deepfake Detection via Pattern-Aware Reasoning

Understanding, Protecting, and Augmenting Human Cognition with Generative AI: A Synthesis of the CHI 2025 Tools for Thought Workshop

Inference-Time Alignment Control for Diffusion Models with Reinforcement Learning Guidance

ChainReaction! Structured Approach with Causal Chains as Intermediate Representations for Improved and Explainable Causal Video Question Answering

Train-Once Plan-Anywhere Kinodynamic Motion Planning via Diffusion Trees

ExpertSim: Fast Particle Detector Simulation Using Mixture-of-Generative-Experts

WoW-Bench: Evaluating Fine-Grained Acoustic Perception in Audio-Language Models via Marine Mammal Vocalizations

ProactiveEval: A Unified Evaluation Framework for Proactive Dialogue Agents

Research Challenges in Relational Database Management Systems for LLM Queries

Quantum Verifiable Rewards for Post-Training Qiskit Code Assistant

AI Agentic Vulnerability Injection And Transformation with Optimized Reasoning

JADES: A Universal Framework for Jailbreak Assessment via Decompositional Scoring

Learning Primitive Embodied World Models: Towards Scalable Robotic Learning

Multi-Agent Penetration Testing AI for the Web

Uncertainty Aware-Predictive Control Barrier Functions: Safer Human Robot Interaction through Probabilistic Motion Forecasting

Exploring Machine Learning and Language Models for Multimodal Depression Detection

Speech Emotion Recognition via Entropy-Aware Score Selection

Surfel-based 3D Registration with Equivariant SE(3) Features

Evaluating Compositional Generalisation in VLMs and Diffusion Models

Safer Skin Lesion Classification with Global Class Activation Probability Map Evaluation and SafeML

Unleashing Uncertainty: Efficient Machine Unlearning for Generative AI

Signs of Struggle: Spotting Cognitive Distortions across Language and Register

Turning the Spell Around: Lightweight Alignment Amplification via Rank-One Safety Injection

Looking Beyond the Obvious: A Survey on Abstract Concept Recognition for Video Understanding

SKGE-SWIN: End-To-End Autonomous Vehicle Waypoint Prediction and Navigation Using Skip Stage Swin Transformer

Occlusion Robustness of CLIP for Military Vehicle Classification

SeqVLM: Proposal-Guided Multi-View Sequences Reasoning via VLM for Zero-Shot 3D Visual Grounding

Provable Benefits of In-Tool Learning for Large Language Models

${C}^{3}$-GS: Learning Context-aware, Cross-dimension, Cross-scale Feature for Generalizable Gaussian Splatting

Rethinking Testing for LLM Applications: Characteristics, Challenges, and a Lightweight Interaction Protocol

EEGDM: Learning EEG Representation with Latent Diffusion Model

Generative Annotation for ASR Named Entity Correction

MobileCLIP2: Improving Multi-Modal Reinforced Training

Task Allocation for Autonomous Machines using Computational Intelligence and Deep Reinforcement Learning

From Tabula Rasa to Emergent Abilities: Discovering Robot Skills via Real-World Unsupervised Quality-Diversity

Created by

Haebom

作者

Luca Grillotti (AIRL, Imperial College London), Lisa Coiffard (AIRL, Imperial College London), Oscar Pang (AIRL, Imperial College London), Maxence Faldor (AIRL, Imperial College London), Antoine Cully (AIRL, Imperial College London)

概要

本論文は、ロボットが明示的な監督なしに様々な行動を習得する自律的な技術発見（Autonomous skill discovery）に焦点を当てている。従来のQuality-Diversity Actor-Critic（QDAC）法は、手動で定義された技術空間と慎重に調整されたヒューリスティックに依存して、実際の世界用途に制限がありました。本論文では,QDACを拡張したUnsupervised Real-world Skill Acquisition(URSA)を提案する。 URSAは、ロボットが実際の世界で直接多様で高性能な技術を自律的に発見し習得できるようにします。 Unitree A1 足足歩行ロボットを用いたシミュレーションと実際の世界実験を通じて様々な移動技術を成功的に発見したことを示し、ヒューリスティックベースの技術発見と完全に非指導学習環境の両方を支援する。また、学習された技術リストを実際の世界損傷適応などの下流の作業に再利用し、シミュレーション9つのシナリオのうち5つと実際の世界5つのシナリオのうち3つで既存の方法を上回る性能を示した。これにより、限られた人間介入で持続的な技術発見を可能にする実際の世界ロボット学習のための新しいフレームワークを提示し、より自律的で適応力のあるロボットシステムに向かう重要な一歩を踏み出した。

Takeaways、Limitations

•

Takeaways：

◦

実世界でロボットの自律的な技術発見と習得のための新しいフレームワーク（URSA）を提示します。

◦

既存のQDAC方式の制限である手動定義とヒューリスティック調整のトラブルシューティング

◦

ヒューリスティックベースと完全非指導学習環境の両方をサポート。

◦

実際の世界損傷適応のような下流の作業における従来の方法と比較して優れた性能を実証

◦

限られた人間の介入で継続的な技術発見が可能。

◦

実際のロボット（Unitree A1）を用いた実験結果の提示。

•

Limitations：

◦

URSAの一般化性能の追加検証が必要(さまざまなロボットプラットフォームと環境での性能評価)

◦

複雑な作業やより多様な技術発見のためのスケーラビリティレビューが必要です。

◦

実際の世界適用で発生する可能性のある予期しない状況のロバストネス評価が必要です。

◦

学習プロセスの効率向上と学習時間の短縮研究が必要

Made with Slashpage