뉴스 및 연구

arXiv:2605.23863v1 Announce Type: new Abstract: This study presents a closed-loop robotic strawberry harvesting system that combines a robust vision module, simulation-trained deep reinforcement learning (DRL) control, and ROS-based realrobot execution. For perception, we propose HRAttnEdge-YOLO26-seg, a modified YOLO26-seg architecture that incorporates a high-resolution P2 branch, segmentation-path attention, and edgesupervised prototype learning to improve instance segmentation in cluttered scenes. For control, we train a target-conditioned Proximal Policy Optimization (PPO) policy in Isaac Lab to produce smooth joint-position commands for a UR10e manipulator and deploy it on a UR10e robot for targetfruit reaching and harvesting. This simulation-based approach reduces hardware dependency, lowers development cost, and allows scalable policy training without exhaustive physical trials before real deployment. The proposed vision model demonstrated the highest overall performance among

arXiv:2605.23832v1 Announce Type: new Abstract: Deploying heterogeneous multi-agent robot fleets for collaborative perception requires robust data exchange and scalable software architectures. However, standard ROS 2 implementations often suffer from network saturation, namespace collisions, and severe computational overhead when distributing dense sensor streams across devices. To address these bottlenecks, we present SFG-ROS, a resource-aware multi-agent software framework designed for dynamic fleet deployments. SFG-ROS addresses these challenges through three primary contributions. First, schema-driven traffic routing isolates high-frequency intra-agent traffic from the global network using a programmatic fully qualified name schema and targeted Fast DDS routing. Second, an on-demand centralized decoding pipeline automatically offloads high-bandwidth sensor data decompression, eliminating redundant processing across local consumer nodes. Finally, a hardware-agnostic container pipeli

arXiv:2605.22871v1 Announce Type: cross Abstract: Machine unlearning is a fundamental mechanism that enforces the right to be forgotten. Existing unlearning studies that rely on label manipulation or task-gradient reversal often deliver limited unlearning effectiveness. Moreover, they can undermine the original learning objective and typically do not guarantee equivalence to standard unlearning by retraining. In this paper, we propose \textbf{ManiF-SMC} (\textbf{Mani}fold \textbf{F}orgetting with \textbf{S}elf \textbf{M}ode \textbf{C}onnectivity), motivated by the observation that a model retrained on the remaining data tends to classify erased samples by their semantic similarity to the retained data. We begin with systematically recasting the approximate unlearning as pushing each erased sample away from its original learned manifold representation centroid toward its nearest semantic neighbors in the retained data. This reformulation aligns unlearning with retraining behavior and op

arXiv:2602.01665v4 Announce Type: replace-cross Abstract: The design of environments plays a critical role in shaping the development and evaluation of cooperative multi-agent reinforcement learning (MARL) algorithms. While existing benchmarks highlight critical challenges, they often lack the modularity required to design custom evaluation scenarios. We introduce the Totally Accelerated Battle Simulator in JAX (TABX), a high-throughput sandbox designed for reconfigurable multi-agent tasks. TABX provides granular control over environmental parameters, permitting a systematic investigation into emergent agent behaviors and algorithmic trade-offs across a diverse spectrum of task complexities. Leveraging JAX for hardware-accelerated execution on GPUs, TABX enables massive parallelization and significantly reduces computational overhead. By providing a fast, extensible, and easily customized framework, TABX facilitates the study of MARL agents in complex structured domains and serves as a

arXiv:2605.22825v1 Announce Type: cross Abstract: Key Value Indicators (KVIs) provide a decision oriented view of a service by summarizing how operational performance translates into stakeholder value, risk, and outcomes. However, in many domains KVIs are difficult to compute in practice because they require selecting relevant KVI categories, defining measurable Key Performance Indicators (KPIs), collecting KPI values, and applying consistent calculation logic, all of which is typically performed manually and inconsistently from unstructured service documentation. This paper presents KPI2KVI, a tool that transforms a natural language service description into computed KVI estimates by orchestrating a deterministic multi agent workflow powered by Large Language Models (LLMs) that (i) elicits missing service context, (ii) extracts and finalizes relevant KVI categories from a taxonomy, (iii) generates service specific KPIs with units and descriptions, (iv) collects KPI values through an in

arXiv:2605.23315v1 Announce Type: cross Abstract: Large language models trained under diverse objectives and architectures have been shown to develop increasingly similar internal representations, an observation formalized as the Platonic Representation Hypothesis. Whether this representational convergence extends to the reasoning processes that operate over shared representations remains untested. We evaluate representational similarity across 16 language models from 8 families (1.5B to 72B parameters) on 800 reasoning problems spanning mathematics, science, commonsense, and truthfulness, stratifying by problem difficulty, computational stage, and causal relevance. Our analysis reveals three dissociations: a difficulty inversion, where models converge more on problems they collectively fail (Centered Kernel Alignment [CKA] = 0.897) than on those they solve (CKA = 0.830); a generation gap, where pre-decision representations align (CKA = 0.875) while post-decision representations diverg

arXiv:2601.15224v2 Announce Type: replace Abstract: Estimating task progress requires reasoning over long-horizon dynamics rather than recognizing static visual content. While modern Vision-Language Models (VLMs) excel at describing what is visible, it remains unclear whether they can infer how far a task has progressed from partial observations. To this end, we introduce Progress-Bench, a benchmark for systematically evaluating progress reasoning in VLMs. Beyond benchmarking, we further explore a human-inspired two-stage progress reasoning paradigm through both training-free prompting and training-based approach based on curated dataset ProgressLM-45K. Experiments on 14 VLMs show that most models are not yet ready for task progress estimation, exhibiting sensitivity to demonstration modality and viewpoint changes, as well as poor handling of unanswerable cases. While training-free prompting that enforces structured progress reasoning yields limited and model-dependent gains, the train

arXiv:2602.11243v2 Announce Type: replace Abstract: Modern LLM-based agents and chat assistants rely on long-term memory frameworks to store reusable knowledge, recall user preferences, and augment reasoning. As researchers create more complex memory architectures, it becomes increasingly difficult to analyze their capabilities and guide future memory designs. Most long-term memory benchmarks focus on simple fact retention, multi-hop recall, and time-based changes. While undoubtedly important, these capabilities can often be achieved with simple retrieval-augmented LLMs and do not test complex memory hierarchies. To bridge this gap, we propose StructMemEval - a benchmark that tests the agent's ability to organize its long-term memory, not just factual recall. We gather a suite of tasks that humans solve by organizing their knowledge in a specific structure: transaction ledgers, to-do lists, trees and others. Our initial experiments show that simple retrieval-augmented LLMs struggle wit

arXiv:2605.23893v1 Announce Type: new Abstract: We propose Complete-muE, a framework which targets hyperparameter transfer across dense FFN and any Mixture-of-Experts (MoE) setups in transformer blocks. Existing tools such as $\mu$P (requires fixed architectue) or SDE (requires fixed per-step token count) cannot directly solve the hyperparameter transfer problem in MoE setups because Dense to MoE transfer or MoE total experts scaling changes both architecture and tokens per expert. Complete-muE solves this challenge with a two-bridge system: Bridge~I maps between dense FFN and Dense MoE by active-width $\mu$P with a normalized router scale. Bridge~II maps between Dense MoE and sparse MoE by activated-expert scaling, where the first-order SDE LR/WD correction cancels while a bounded residual $\sigma_0$ shift remains. The resulting transfer rule, which we term as Complete muE, covers changes in activated experts, total capacity, granularity, and shared/group-balanced hybrids for MoE mode

arXiv:2512.07078v4 Announce Type: replace Abstract: Small object detection in complex scenes exposes a fundamental tension in neural network design: backbone attention distributes computation uniformly regardless of content, pyramid necks inflate activation magnitudes during upsampling without norm compensation, and bottleneck convolutions progressively smooth high-frequency edge components through accumulated spatial filtering. In response, we develop DFIR-DETR by tracing each proposed module back to a specific, measurable deficiency in the RT-DETR baseline: uniform attention that ignores spatial complexity, norm drift that destabilises upsampled features, and spatial convolutions that progressively suppress the high-frequency components small objects depend on. On NEU-DET and VisDrone, DFIR-DETR achieves 92.9% and 51.6% mAP50 with only 11.7M parameters and 47.2 GFLOPs, demonstrating consistent gains across two qualitatively different detection domains.

arXiv:2602.08927v3 Announce Type: replace-cross Abstract: We study the problem of online monotone density estimation, where density estimators must be constructed in a predictable manner from sequentially observed data. We propose two online estimators: an online analogue of the classical Grenander estimator, and an expert aggregation estimator inspired by exponential weighting methods from the online learning literature. In the well-specified stochastic setting, where the underlying density is monotone, we show that the expected cumulative log-likelihood gap between the online estimators and the true density admits an $O(n^{1/3})$ bound. We further establish a $\sqrt{n\log{n}}$ pathwise regret bound for the expert aggregation estimator relative to the best offline monotone estimator chosen in hindsight, under minimal regularity assumptions on the observed sequence. As an application of independent interest, we show that the problem of constructing log-optimal p-to-e calibrators for se

arXiv:2605.23048v1 Announce Type: new Abstract: Bayesian Knowledge Tracing (BKT) is a widely used and interpretable student modeling approach in intelligent tutoring systems and educational data mining. However, most implementations rely on expectation-maximization or related optimization methods that yield only point estimates, limiting uncertainty quantification and principled comparisons across learners and conditions. We introduce StanBKT, an open-source Python package for estimating BKT models using Bayesian inference in Stan. StanBKT provides a unified framework supporting Hamiltonian Monte Carlo, variational inference, Pathfinder, and optimization-based estimation while preserving the hidden Markov structure and interpretability of classical BKT. It supports standard, grouped, and hierarchical BKT models, flexible prior specification, posterior predictive inference, and utilities for visualization and diagnostics. We evaluate StanBKT on large-scale observational and controlled e

arXiv:2605.11215v2 Announce Type: replace-cross Abstract: Pre-training large language models on massive GPU clusters has made hardware faults routine rather than rare, driving the need for resilient training systems. Yet existing frameworks either focus on specific parallelism schemes or risk drifting away from a failure-free training trajectory. We propose ReCoVer, a resilient LLM pre-training system that upholds a single invariant: each iteration keeps the number of microbatches constant, ensuring per-iteration gradients remain stochastically equivalent to a failure-free run. The framework is organized as three decoupled protocol layers: (1) Fault-tolerant collectives that isolate faults from propagating across replicas; (2) in-step fine-grained recovery that preserves intra-iteration progress and prevents gradient corruption; (3) versatile-workload policy that dynamically redistributes microbatch quotas across the survivors. The design is parallelism-agnostic, integrating directly w

arXiv:2605.23563v1 Announce Type: new Abstract: Comprehensive evaluation of machine learning models is the key to make sure that they perform as robustly and consistently as desired. In order to summarize the experimental results and pick a winner, Critical Difference (CD) diagrams are used. Standard CD diagrams rely on discrete ranks, discarding the magnitude of performance gaps between models, raising an issue which we call magnitude-blindness. In order to address this issue, we propose Magnitude-Aware Rank Statistics (MARS) that incorporates a relative margin coefficient as a weight for the discrete ranks. This coefficient scales ranks based on the distance between the best and worst performers, with a dynamic projection to handle boundary cases. Followed by the calculation of a CD value, MARS results in a more realistic statistical representation of differences of model performances and more insights on how methods actually perform in vast and extensive experimental settings.

arXiv:2605.23304v1 Announce Type: new Abstract: Hazard, as an abstract concept, is typically defined through cognitive-level logical reasoning rather than concrete examples. In contrast, existing hazard detection systems rely on predefined hazard categories and require intensive collection of labelled examples within detection or classification architectures. This approach faces three fundamental challenges when addressing abstract safety concepts: (1) noisy and sparse training data, (2) dynamically evolving definitions that change across contexts and time, and (3) limited generalisation to unseen or novel scenarios. To address these limitations, we present the CompliVision dataset, the first general-purpose hazard dataset designed for rule-based compliance assessment, along with a baseline framework for hazard evaluation. Our key innovation is decoupling the hazard concept from image-based examples by expressing safety requirements through language-based rules. We ground our approach