Skip to content
最新更新

新闻与研究

获取最新的机器人新闻、行业动态、研究论文和突破性公告。

13,930
文章总数
427
新闻文章
13,498
研究论文
每日
更新

Get email alerts for new robotics research

Available on Pro and Business plans

Upgrade for Alerts

新闻与研究

显示 12631 / 13498 篇文章

Byzantine-Robust Federated Learning with Learnable Aggregation Weights

arXiv

arXiv:2511.03529v2 Announce Type: replace Abstract: Federated Learning (FL) enables clients to collaboratively train a global model without sharing their private data. However, the presence of malicious (Byzantine) clients poses significant challenges to the robustness of FL, particularly when data distributions across clients are heterogeneous. In this paper, we propose a novel Byzantine-robust FL optimization problem that incorporates adaptive weighting into the aggregation process. Unlike conventional approaches, our formulation treats aggregation weights as learnable parameters, jointly optimizing them alongside the global model parameters. To solve this optimization problem, we develop an alternating minimization algorithm with strong convergence guarantees under adversarial attack. We analyze the Byzantine resilience of the proposed objective. We evaluate the performance of our algorithm against state-of-the-art Byzantine-robust FL approaches across various datasets and attack sc

On the Stability and Realizability of Recurrent Polynomial Surrogate Ternary Logic Gate Networks

arXiv

arXiv:2605.24649v1 Announce Type: cross Abstract: Recurrent Neural Networks (RNNs) can learn to predict Signal Temporal Logic (STL) verdicts online from partial trajectories, but deploying them as runtime monitors in safety-critical systems demands more than predictive accuracy. Standard RNN architectures offer no structural guarantee that outputs degrade gracefully under sensor degradation; a dropped input can silently flip a verdict from safe to unsafe. We introduce the Recurrent Differentiable Ternary Logic Gate Network (R-DTLGN), a recurrent architecture that operates over Kleene's three-valued logic $\{-1, 0, +1\}$, where $0$ explicitly represents unknown. The R-DTLGN trains through continuous polynomial surrogates and hardens to a discrete ternary logic circuit at inference. We analyze the hardened circuit through two gate vocabularies derived from two orderings on the ternary domain: numerically monotone gates ensure stable recurrent dynamics, while information-monotone gates, w

Boosting Inference with Guided Reasoning: Stochastic Exploration for Recursive Models

arXiv

arXiv:2605.25230v2 Announce Type: replace Abstract: Recent work on recursive architectures has shown that tiny neural networks can be surprisingly powerful on structured reasoning tasks. The trick is to model reasoning trajectories with a latent dynamical system. We argue that the inference-time behaviour of these architectures is best understood as approximate inference over latent reasoning trajectories, with deterministic recursion as the one-particle, zero-noise limit. We make this view operational through guided stochastic exploration: stochastic perturbations of the reasoning dynamics propose neighbouring trajectories, and the model's existing early-stopping head reweights them online. The framework yields three label-free diagnostics: local stability, guide alignment, and cloud-token entropy. These predict, from inference traces alone, whether the procedure will help and which of its outputs to trust. On Sudoku-Extreme it lifts exact-solve accuracy from $85.9\%$ to $98.0\%$ with

Quantitative Evaluation of the Severity of Posttraumatic Stress Disorder through Transfer Learning from Specific Phobia Data

arXiv

arXiv:2605.25933v1 Announce Type: cross Abstract: Posttraumatic stress disorder (PTSD) is a prevalent and debilitating mental health condition with significant personal and societal impacts. Current clinical assessments of PTSD often rely on subjective evaluations, which can be time-consuming, costly, and prone to human bias. This study proposes a machine learning (ML) approach based on multivariate kernel density estimation (MKDE) technique for the objective evaluation of PTSD severity. We collected heart rate (HR) and galvanic skin response (GSR) signals as well as PTSD Checklist - Military Version (PCL-M) labels from 21 participants during an immersive simulation. A fear-response model was trained on a public arachnophobia dataset, and predictive features of PTSD were extracted from the fear-response curves estimated on the military dataset. The model achieved an accuracy of 86\% in classifying PTSD status, effectively distinguishing participants with and without PTSD (PCL-M thresho

On the Impact of Class Imbalance on the Learning Dynamics of Deep Neural Networks:An Intuitive Insight

arXiv

arXiv:2605.24908v1 Announce Type: cross Abstract: Class imbalance in deep neural networks (DNNs) has witnessed a rapid increase in research attention in recent years. However, the varying accounts of the reasons behind the poor performance of DNN on imbalance data in pertinent literature shows that little is known about how this agelong phenomenon impacts the performance of DNNs. A better understanding of this problem is crucial to developing effective DNN-based imbalance methods. Thus, this study systematically investigates the impact of class imbalance on the learning dynamics of DNN by monitoring the learning pattern of DNN models on both the majority and minority classes of datasets of varying imbalance ratios. Experimental findings shows that as against learning from balanced datasets where DNN learns the classes similarly, class imbalance has severe deteriorating impact on the performance of DNN, driving the model to underfit the minority class samples in the early training epoch

Predicting Stock Price Direction on Earnings Announcement Days using Multi-modal Deep Learning

arXiv

arXiv:2605.25894v1 Announce Type: new Abstract: Predicting stock price movements during Earnings Announcements (EAs) is a significant challenge due to market noise and high-impact price discontinuities. In this study, we evaluate whether pre-announcement news sentiment, firm fundamentals, and recent market dynamics jointly predict the directional price movement of equities on EA days. We construct a multi-modal feature space combining 15 fundamental metrics, 3 price-based technical indicators and sentiment scores derived from financial news articles processed using FinBERT. We compare a Long Short-Term Memory (LSTM) network and a Transformer-based architecture against a logistic regression baseline, and further assess all models with and without sentiment features to quantify their incremental value. Our results indicate that while the LSTM demonstrates higher precision through a conservative safe-bet strategy, the Transformer model exhibits superior sensitivity in identifying volatile

Knowledge Graph Modulated Deep Learning for Limited-Sample Clinical Data Analysis

arXiv

arXiv:2605.24162v1 Announce Type: cross Abstract: Biological systems are governed by structured molecular interactions, where pathways, regulatory circuits, and functional gene relationships shape cellular behavior and disease progression. Much of this knowledge is naturally represented as graphs. However, most biomedical AI models cannot directly use graph-encoded biological knowledge and instead require compressed low-dimensional representations, which can lose important structure and reduce performance, especially in limited-sample clinical studies. Here, we introduce Graph-in-Graph (GiG), a knowledge graph-modulated deep learning framework for data-efficient clinical prediction. GiG represents each patient as a standalone modular graph, in which curated biological knowledge graphs define edges and patient-specific measurements, such as gene expression, define node features. This design allows multiple biological knowledge graphs to be integrated while preserving gene-gene interacti

medical

Reward Shaping and Action Masking for Compositional Tasks using Behavior Trees and LLMs

arXiv

arXiv:2605.05795v2 Announce Type: replace Abstract: Decomposing complex tasks into a sequence of simpler subtasks can improve learning efficiency for an autonomous agent. Reinforcement learning (RL) can be used to optimize agent policies to complete subtasks, but requires well-defined subtask rewards and benefits from action masking. Recent work uses large language models (LLMs) to automate reward shaping and action masking, however none of them fully address reactivity to subtask failure and modularity to varying objects for compositional tasks. To overcome these challenges, we develop masking reward behavior tree (MRBT), a symbolic structure used as a reactive and modular reward and action mask function. We design an MRBT template and derive logical specifications to construct and verify MRBTs for a sequence of object-interaction subtasks. Further, we develop an automated pipeline that uses an LLM to generate MRBTs robust to varying task objects, an SMT-solver to verify correctness o

reinforcement-learningautonomous

ECHO: Terminal Agents Learn World Models for Free

arXiv

arXiv:2605.24517v1 Announce Type: new Abstract: CLI agents are the closest thing language models have to an embodied setting: the model emits commands, the terminal executes them, and the returned stream -- stdout, errors, files, logs, and traces -- records the consequences. We argue that this stream is a supervision signal, but standard agent RL discards it: GRPO-style training updates action tokens with sparse outcome-level rewards while ignoring environment responses already in the rollout. Failed rollouts provide little policy-gradient signal despite containing rich evidence about how the environment responds. We introduce ECHO (Environment Cross-entropy Hybrid Objective), a hybrid objective that combines the standard policy-gradient loss on action tokens with an auxiliary loss that trains the policy to predict environment observation tokens resulting from its own actions. ECHO reuses the same forward pass as GRPO, requires no additional rollouts, and turns terminal feedback into d

QML-PipeGuard: Drift-Aware Behavioral Fingerprinting for Quantum Machine Learning Pipeline Integrity

arXiv

arXiv:2605.25066v1 Announce Type: cross Abstract: Quantum machine learning (QML) is moving from research prototypes to deployed cloud services. As QML enters regulated industries, the integrity of the quantum stage becomes a practical concern on two fronts: noisy hardware drifts at the channel level between recalibrations, and an adversary with control over the execution environment can substitute the declared quantum channel with a behaviorally similar but mathematically distinct one. Neither concern is covered by existing QML verification work on pulse-level noise, input drift, input-perturbation robustness, or device identity. We introduce QML-PipeGuard, a contract-based framework addressing both concerns under a single mathematical machinery. It characterizes a QML pipeline at runtime by its behavioral fingerprint, the vector of observable expectation values under a tomographically structured measurement family, and operates in two modes: drift-aware monitoring that absorbs benign

control

High-Entropy Tokens as Multimodal Failure Points in Vision-Language Models

arXiv

arXiv:2512.21815v3 Announce Type: replace-cross Abstract: Vision-language models (VLMs) achieve remarkable performance but remain vulnerable to adversarial attacks. Entropy, as a measure of model uncertainty, is highly correlated with VLM reliability. While prior entropy-based attacks maximize uncertainty at all decoding steps, implicitly assuming that every token equally contributes to model instability, we reveal that a small fraction (around 20%) of high-entropy tokens, in the evaluated representative open-source VLMs with diverse architectures, concentrates a disproportionate share of adversarial influence during autoregressive generation. We demonstrate that concentrating adversarial perturbations on these high-entropy positions achieves comparable semantic degradation to global methods while optimizing fewer decoding positions. Additionally, across multiple representative VLMs, such attacks induce not only semantic drift but also a substantial unsafe subset (20-31%) under the cur

Generalized Evidential Deep Learning: From a Bayesian Perspective

arXiv

arXiv:2605.25599v1 Announce Type: new Abstract: Evidential Deep Learning (EDL) has emerged as an efficient, sampling-free strategy for uncertainty estimation. A series of EDL variants have been proposed to address specific limitations of the original framework, achieving notable success. However, the underlying theoretical structure of EDL and the relationships among these variants have received limited systematic investigation. In this work, we establish a principled theoretical foundation for EDL by interpreting it within a generalized Bayesian framework that includes prior specification, posterior update, and training objective. We further characterize evidential uncertainty from a Bayesian distributional uncertainty viewpoint, established via asymptotic analysis. Building on this perspective, we further propose Generalized Evidential Deep Learning (GEDL), a unified and extensible framework that explicitly disentangles the roles of individual components and systematically relates GE

A Greedy Hierarchical Approach to Whole-Network Filter-Pruning in CNNs

arXiv

arXiv:2409.03777v3 Announce Type: replace-cross Abstract: Deep convolutional neural networks (CNNs) have achieved impressive performance in many computer vision tasks. However, their large model sizes require heavy computational resources, making pruning redundant filters from existing pre-trained CNNs an essential task in developing efficient models for resource-constrained devices. Whole-network filter pruning algorithms prune varying fractions of filters from each layer, hence providing greater flexibility. Current whole-network pruning methods are either computationally expensive due to the need to calculate the loss for each pruned filter using a training dataset, or use various heuristic / learned criteria for determining the pruning fractions for each layer. This paper proposes a two-level hierarchical approach for whole-network filter pruning which is efficient and uses the classification loss as the final criterion. The lower-level algorithm (called filter-pruning) uses a spar

computer-vision

BackWeak: Backdooring Knowledge Distillation Simply with Weak Triggers and Fine-tuning

arXiv

arXiv:2511.12046v2 Announce Type: replace-cross Abstract: Knowledge Distillation (KD) is essential for compressing large models, yet relying on pre-trained "teacher" models downloaded from third-party repositories introduces serious security risks--most notably backdoor attacks. Existing KD backdoor methods are typically complex and computationally intensive: they employ surrogate student models and simulated distillation to guarantee transferability, and construct triggers similar to universal adversarial perturbations (UAPs), which being not stealthy in magnitude, inherently exhibit strong adversarial behavior. This work questions whether such complexity is necessary and constructs stealthy "weak" triggers--imperceptible perturbations that have negligible adversarial effect. We propose BackWeak, a simple, surrogate-free attack paradigm. BackWeak shows that a powerful backdoor can be implanted by simply fine-tuning a benign teacher with a weak trigger using a very small learning rate.

Practical Quantum CIM Empowerment via All-Domestic-Core Agentic Large Model

arXiv

arXiv:2605.23934v1 Announce Type: new Abstract: Quantum computing devices are recognized as powerful tools for solving NP-complete problems. However, the intricacy of their modeling presents notable barriers for non-specialists, while the tedious iteration of constraint weights and modeling methodologies also consumes substantial effort on the part of experts. To address these challenges, this study integrates a femtosecond laser-pumped Coherent Ising Machine (CIM) with an LLM-driven agentic system by leveraging the LangGraph and LangChain frameworks. Comprehensive investigations demonstrate that large language models (LLMs) can effectively perform such tasks in modeling as QUBO/Ising model calibration, constraint weight decision iteration and rapid validation of literature-reported schemes. Notably, all these tasks can be fully implemented based on domestic large models, combined with domestically developed CIM hardware, we truly achieve the practical empowerment of quantum CIM that f

Contact: hello@roboverse.space