Skip to content
Neueste Updates

Nachrichten & Forschung

Bleiben Sie über die neuesten Robotik-Nachrichten, Branchen-Updates, Forschungsartikel und bahnbrechende Ankündigungen informiert.

13,930
Gesamtartikel
427
Nachrichten
13,498
Forschungsartikel
Täglich
Aktualisiert

Get email alerts for new robotics research

Available on Pro and Business plans

Upgrade for Alerts

Nachrichten & Forschung

Zeige 11131 von 13498 Artikeln

Demystifying Video Reasoning

arXiv

arXiv:2603.16870v2 Announce Type: replace-cross Abstract: Recent advances in video generation have revealed an unexpected phenomenon: diffusion-based video models exhibit non-trivial reasoning capabilities. Prior work attributes this to a Chain-of-Frames (CoF) mechanism, where reasoning is assumed to unfold sequentially across video frames. In this work, we challenge this assumption and uncover a fundamentally different mechanism. We show that reasoning in video models instead primarily emerges along the diffusion denoising steps. Through qualitative analysis and targeted probing experiments, we find that models explore multiple candidate solutions in early denoising steps and progressively converge to a final answer, a process we term Chain-of-Steps (CoS). Beyond this core mechanism, we identify several emergent reasoning behaviors critical to model performance: (1) working memory, enabling persistent reference; (2) self-correction and enhancement, allowing recovery from incorrect int

StepOPSD: Step-Aware Online Preference Distillation for Agent Reinforcement Learning

arXiv

arXiv:2605.27140v1 Announce Type: new Abstract: Reinforcement learning for multi-turn agents suffers from a credit-assignment mismatch: rewards are sparse and trajectory-level, while success often hinges on a few local decisions. Existing online policy distillation (OPD) provides denser token-level supervision, but typically treats heterogeneous agent trajectories as monolithic strings rather than causal interaction units. We present StepOPSD, a post-rollout preference self-distillation framework that takes the agent step as the unit of credit redistribution. StepOPSD decomposes trajectories into action-centered step segments, rescoring them under hindsight-enriched teacher contexts and converting token-level log-probability gaps into sign-preserving advantage shaping with a normalized per-step credit budget before the GRPO update. Across ALFWorld and Search-QA with Qwen3-1.7B and Qwen2.5-3B-Instruct, StepOPSD attains best or second-best results on subsets most sensitive to local causa

reinforcement-learning

Modeling Agentic Technical Debt and Stochastic Tax: A Standalone Framework for Measurement, Simulation, and Dashboarding

arXiv

arXiv:2605.27320v1 Announce Type: new Abstract: Agentic AI systems combine probabilistic reasoning with delegated action through tools, context, memory, orchestration, and external workflow integration. This note develops a formal and managerially usable model that distinguishes Agentic Technical Debt from Stochastic Tax. Agentic Technical Debt is a stock of accumulated design and governance liability. Stochastic Tax is a recurring flow of operating burden that arises when stochastic agents are used in business workflows. The two constructs are related, but they are not the same: debt can amplify the tax, while the tax can remain positive even when debt is minimized. The note starts from a compact dashboard expression, expands it into a fuller structural model, defines all variables and parameters, shows how each cost category can be estimated from operational data, and illustrates the framework with an accounts-payable simulation and companion spreadsheet.

JLT: Clean-Latent Prediction in Latent Diffusion Transformers

arXiv

arXiv:2605.27102v2 Announce Type: replace Abstract: Flow matching with clean-data prediction has shown that regressing the clean point can exploit low-dimensional structure more effectively than predicting an ambient noised quantity. We ask whether this principle remains useful after images are mapped into a learned latent space, where compression has already removed much of the raw pixel variability. We introduce JLT, a 130M latent diffusion Transformer over frozen FLUX.2 VAE codes, and compare clean-latent prediction with a matched velocity-prediction DiT under the same representation, backbone, and training settings. Although the three variables x, epsilon, and v are linearly convertible for a fixed corruption time, a local Gaussian analysis shows that velocity regression inherits an isotropic target-covariance floor and amplifies low-variance latent directions, while clean prediction damps them. On ImageNet 256 x 256, JLT-B/1 obtains FID-50K 2.50 with classifier-free guidance, with

FAST-GOAL: Fast and Efficient Global-local Object Alignment Learning

arXiv

arXiv:2605.26615v1 Announce Type: new Abstract: Vision-language models such as CLIP have shown impressive capabilities in aligning images and text, but they often struggle with lengthy and detailed text descriptions due to pre-training on short and concise captions. We present FAST-GOAL (Fast and Efficient Global-local Object Alignment Learning), an efficient fine-tuning method that enhances ability of CLIP to handle lengthy text through global-local semantic alignment. Our method consists of two key components. First, Fast Local Image-Sentence Matching (FLISM) efficiently extracts local image regions through object detection and spatial division, then matches them with corresponding sentences. Second, Token Similarity-based Learning (TSL) maximizes the similarity between patch tokens from specific regions in the image and their corresponding region embeddings, applying the same principle to text, which enhances the ability of the model to capture detailed correspondences. Additionally

Many Logics, One Methodology: A Plea for Logical Pluralism in Formalised Reasoning (preprint)

arXiv

arXiv:2605.27246v1 Announce Type: cross Abstract: This position statement looks back on two decades of work on shallow embeddings of non-classical logics in classical higher-order logic (HOL), a line of research that expanded into a range of logic embeddings in HOL and inspired the LogiKEy logic-pluralistic knowledge representation and reasoning methodology. This paper advances the case for logical pluralism at object-logic level within a unifying meta-logical framework such as LogiKEy, grounding the argument in computational metaphysics. More broadly, it advocates principled support for logical pluralism in modern proof assistants, and cautions against logical imperialism -- the rigid adoption of a single foundational logic for large-scale theory developments -- which impedes the interdisciplinary reuse that LogiKEy is designed to enable.

Early Pruning for Public Transport Routing

arXiv

arXiv:2603.12592v4 Announce Type: replace-cross Abstract: Routing algorithms for public transport, particularly the widely used RAPTOR and its variants, often face performance bottlenecks during the transfer relaxation phase, especially on dense transfer graphs, when supporting unlimited transfers. This inefficiency arises from iterating over many potential inter-stop connections (walks, bikes, e-scooters, etc.). To maintain acceptable performance, practitioners often limit transfer distances or exclude certain transfer options, which can reduce path optimality and restrict the multimodal options presented to travellers. This paper introduces Early Pruning, a low-overhead technique that accelerates routing algorithms without compromising optimality. By pre-sorting transfer connections by duration and applying a pruning rule within the transfer loop, the method discards longer transfers at a stop once they cannot yield an earlier arrival than the current best solution. Early Pruning can

Granuscore: A Reference-Free Measure of Granularity for Text Analysis and Question Answering

arXiv

arXiv:2605.26620v1 Announce Type: cross Abstract: Natural language conveys information at varying levels of granularity, from fine-grained references to broad descriptions. While granularity is fundamental to human communication, existing measures mostly capture surface detail or sentence specificity. We introduce Granuscore, a reference-free measure of granularity that leverages structural properties of a hierarchical embedding space. Granuscore reliably recovers hierarchical orderings on the Granola-EQ dataset and captures expected differences in granularity across discourse contexts. Across domains, we further show that Granuscore explains non-linear variation in sentence specificity beyond sentence length. Finally, we apply Granuscore to four question-answering benchmarks and analyze how granularity differs for questions, gold answers, and model outputs across response outcomes. The analysis reveals consistent differences in model behavior and provides a principled lens for charact

DGLD: Domain-Gated Latent Diffusion for the Discovery of Novel Energetic Materials

arXiv

arXiv:2605.26540v1 Announce Type: cross Abstract: Energetic-materials performance gains translate directly into reduced propellant mass, smaller warheads, and more efficient civilian gas-generators, yet no new HMX-class compound has been disclosed in fifteen years. Designing one is a sparse-label problem: of ~66 k labelled CHNO molecules only ~3 k carry experimental or DFT-quality measurements, and naive generative models trained on the full mixture either memorise the high-performance tail or extrapolate without calibration. We introduce Domain-Gated Latent Diffusion (DGLD): a label-quality gate at training time, multi-task score-model guidance at sample time, and a four-stage chemistry-validation funnel ending in first-principles DFT audit. The result is 12 DFT-confirmed novel leads. The headline compound, 3,4,5-trinitro-1,2-isoxazole (L1), reaches \r{ho}_"cal" =2.09 g/cm3 and D_"K-J,cal" =8.25 km/s and is structurally dissimilar from all 65 980 training molecules (nearest-neighbour

RSD: A Local Triangulation Audit Primitive for Learned Vector Blocks

arXiv

arXiv:2605.17482v2 Announce Type: replace-cross Abstract: Local XAI audits compare a finite block of learned vectors with a weak side signal. Baselines such as nearest-neighbor lookup, low-rank coordinate models, and relation factorization expose different parts of this audit. We introduce Relational Semantic Decomposition, abbreviated as RSD, as a local triangulation audit for learned vector blocks. Given coordinates X and a declared bounded weak affinity proxy A, RSD fits simplex memberships S and coordinate poles C. It reuses S in a relation decoder for A and reports the coordinate residual R=X-SC. This yields a scoped audit unit: compatibility for the chosen block, proxy, decoder class, and loss budget, plus component mass and residual readouts. Synthetic controls check simplex reconstruction, proxy decoding, and fixed-S residual decomposition. The theorem-statement, month, and dog/wolf blocks illustrate why low proxy loss should be read with component mass, residual readouts, and

control

A Hybrid Vision-Language Architecture for Automated Defect Reasoning and Report Generation in Industrial Inspection

arXiv

arXiv:2605.26533v1 Announce Type: cross Abstract: Automated industrial inspection requires both precise defect localization and structured maintenance report generation; in current practice these tasks are handled separately, with linguistic interpretation left to human experts. This paper describes a decoupled, edge-deployable pipeline for wind turbine blade inspection built from three components that each handle a distinct sub-task. The Eyes a YOLO26-x-obb oriented bounding-box detector localizes defects at dataset-native resolution. The Bridge a deterministic, parameter-free encoding module maps each detected bounding box to grid-referenced spatial tokens embedded in a structured prompt. The Brain a 4-bit quantized Qwen-2.5-1.5B model adapted with Quantized Low-Rank Adaptation (QLoRA) on 947 synthetically generated maintenance reports generates a structured JSON report from that prompt. Retrieval-Augmented Fine-Tuning (RAFT) further grounds each recommendation in indexed maintenance

Stability Implies Redundancy: Delta Attention Selective Halting for Efficient Long-Context Prefilling

arXiv

arXiv:2604.18103v2 Announce Type: replace Abstract: Prefilling computational costs pose a significant bottleneck for Large Language Models (LLMs) and Large Multimodal Models (LMMs) in long-context settings. While token pruning reduces sequence length, prior methods rely on heuristics that break compatibility with hardware-efficient kernels like FlashAttention. In this work, we observe that tokens evolve toward \textit{semantic fixing points}, making further processing redundant. To this end, we introduce Delta Attention Selective Halting (DASH), a training-free policy that monitors the layer-wise update dynamics of the self-attention mechanism to selectively halt stabilized tokens. Extensive evaluation confirms that DASH generalizes across language and vision benchmarks, delivering significant prefill speedups while preserving model accuracy and hardware efficiency. Code will be released at https://github.com/verach3n/DASH.git.

Real-time, Directionality Aware 3D Ultrasound Reconstruction and Re-Slicing

arXiv

arXiv:2605.26325v1 Announce Type: new Abstract: Tele-ultrasound through teleoperation allows experts to perform examinations remotely in communities, but limited connectivity can lead to communication delays that reduce usability and diagnostic performance. Visual-haptic model mediated teleoperation reslices a pre-acquired ultrasound volume in real time to provide an accurate, delay-independent preview image for the sonographer. This enables fast and robust exploration before using the live image for fine tuning. However, existing reslicing techniques do not account for the directional nature of ultrasound - the fact that a structure looks different when imaged from different directions. This paper presents Directionality-Aware Reslicing (DARE), an ultrasound volume reconstruction and reslicing framework that takes directionality into account. The presented GPU-accelerated algorithm allows real-time reslicing from arbitrary viewpoints to generate accurate preview images. The method is

Reasoning Primitives in Hybrid and Non-Hybrid LLMs: Do Architectural Differences Yield Advantages in State-Tracking and Recall?

arXiv

arXiv:2604.21454v2 Announce Type: replace-cross Abstract: Reasoning in large language models is often discussed as a single capability, but some of its gains may stem from simpler underlying operations. We examine two such primitives, recall and state-tracking, through five controlled task families centered on state-based recall, and compare matched transformer and hybrid architectures with and without reasoning augmentation. Across the suite, reasoning-augmented variants substantially outperform instruction-only variants, often by large margins. This pattern is consistent with the State over Tokens view: externalized reasoning traces help because they carry the intermediate state forward in token space. By contrast, hybrid inductive bias does not yield a uniform advantage in accuracy once reasoning tokens are available. When architectural differences do appear, they follow task structure: the hybrid Think model is more robust on strictly sequential chained updates, whereas the transfo

control

Once-For-All: A Train-Once and Select-Anytime Framework for Multimodal Instruction Tuning

arXiv

arXiv:2605.26761v1 Announce Type: new Abstract: Multimodal instruction tuning is the de facto recipe for adapting vision language models (VLMs), yet instruction data are highly redundant, making data selection critical for training efficiency. Existing methods derive selection signals from a specific model or dataset, so whenever the target model or candidate pool changes, the criteria must be recomputed from scratch at substantial cost. To address this, we propose OFA, a data selection framework that trains a reusable selector once and applies it to any dataset or model without recomputation. OFA clusters multimodal instructions in a frozen CLIP space, derives pseudo labels from the cluster structure, and trains a lightweight selector for only a few epochs; samples on which this selector is least confident are selected as the most informative. Once trained, the frozen selector transfers directly across datasets and model scales. The selector is trained once on LLaVA-665K and applied b

Contact: hello@roboverse.space