Search: “papers”

arXiv:2609.30846v1 Announce Type: new Abstract: In this paper, we propose I-Parakeet, an integer-only implementation of NVIDIA's Parakeet-CTC (0.6B parameters) that runs on a smartphone NPU without an

hardwarearxiv-cs-cl

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Peer Review as Structured Commentary: Immutable Identity, Public Dialogue, and Reproducible Scholarship

DGX agent

arXiv:2506.22497v2 Announce Type: replace-cross Abstract: This paper reconceptualises peer review as structured public commentary. Traditional academic validation is hindered by anonymity, latency, an

researcharxiv-cs-ai

28 Sept 2026

Predicting Transmembrane Protein Topology from 3D Structure

arXiv:2609.30446v1 Announce Type: new Abstract: This paper presents a novel approach to infer protein topology using the state-of-the-art graph neural network (GNN), SchNet. The model is trained on th

Pseudo-Invertible Neural Networks

arXiv:2602.06042v2 Announce Type: replace-cross Abstract: The Moore-Penrose Pseudo-inverse (PInv) serves as the fundamental solution for linear systems. In this paper, we propose a natural generalizat

researcharxiv-cs-cv

Resource-Optimized and Energy-Aware Agentic AI Framework Anchored on Blockchain for Secure Software Supply Chains

arXiv:2609.31282v1 Announce Type: cross Abstract: This paper proposes a blockchain-backed agentic security framework designed to safeguard the complete software development lifecycle (SDLC) while also

Stochastic Bilevel Optimization with Heavy-Tailed Noise

arXiv:2509.14952v3 Announce Type: replace Abstract: This paper considers the smooth bilevel optimization in which the lower-level problem is strongly convex and the upper-level problem is possibly non

Structured Multitask Gaussian Processes for Probabilistic Full-Body Human Motion Prediction

model-releasesarxiv-cs-ro

arXiv:2603.07096v2 Announce Type: replace Abstract: Robots that share space with people need human motion predictions with reliable uncertainty, not just accurate means. This paper presents a structur

Symbiotic Architecture for Post-Hoc Audio Extension of Frozen Language Models

arXiv:2609.30784v1 Announce Type: cross Abstract: This paper proposes an architecture for equipping large language models (LLMs) with audio-understanding capabilities without fine-tuning their weights

researcharxiv-cs-cl

A Particle-Swarm-Assisted Gradient Meta-Learning Algorithm for Joint Transmit Precoding and STAR-RIS Coefficient Optimization

model-releasesarxiv-cs-lg

arXiv:2609.29150v1 Announce Type: new Abstract: This paper investigates the joint optimization of the transmit precoder and the transmission/reflection coefficients of a simultaneously transmitting an

Local Ai

A Simple Gripper Interface for Simulator-Agnostic Cloth Manipulation

arXiv:2609.29340v1 Announce Type: new Abstract: This paper presents a grasping model for cloth manipulation specifically tailored to ease the deployment of robotic control methods. The model is robust

local-aiarxiv-cs-ro

BanglaTurn: A Benchmark and Whisper-Based Model for End-of-Turn Detection in Bangla Speech

model-releasesarxiv-cs-cl

arXiv:2609.29371v1 Announce Type: new Abstract: This paper presents BanglaTurn, a corpus for end-of-turn detection in Bangla conversational speech, and a model trained on it. The corpus holds 35,374 s

Benchmarking and Domain Adaptation of Automatic Speech Recognition (ASR) for Adolescent Health Communication in Ghanaian Languages

arXiv:2609.29798v1 Announce Type: cross Abstract: This paper presents an end-to-end study of automatic speech recognition (ASR) for adolescent health communication in three Ghanaian languages (Twi, Da

Bridging the Inter-Domain Gap through Low-Level Features for Cross-Modal Medical Image Segmentation

arXiv:2505.11909v2 Announce Type: replace-cross Abstract: This paper addresses cross-modal medical image segmentation, focusing on MRI-CT transfer in a source-only domain generalization setting. Durin

researcharxiv-cs-cv

Contact as a Decision Variable: Capability-Tradeoff Contact Selection for Legged Loco-Manipulation

arXiv:2609.30140v1 Announce Type: new Abstract: In this paper, we study the joint selection of an environmental support contact and a whole-body configuration for a prescribed loco-manipulation task.

Cost-Sensitive Online Window Size Selection for Portfolio Management

arXiv:2609.29887v1 Announce Type: cross Abstract: This paper investigates cost-sensitive online window size selection for portfolio management under changing market conditions. Specifically, we propos

Applications

DA-GRD: Decision-Aware Grasp-Relevant Disambiguation for tactile recovery under perception-to-execution mismatches

arXiv:2609.29065v1 Announce Type: new Abstract: Grasping is a fundamental robotic capability that bridges perception and physical task execution. This paper studies grasp pose recovery under a percept

applicationsarxiv-cs-ro

Local Ai

Edge AI on Constrained Devices for Binary Sleep-Wake Classification in Dynamic Environments

arXiv:2609.29163v1 Announce Type: new Abstract: This paper presents an Edge AI-based system for detecting sleep and wake states in non-stationary mobile environments using resource-constrained embedde

local-aiarxiv-cs-lg

Machine Unlearning for Gibbs Supervised Learning Algorithms

arXiv:2609.29409v1 Announce Type: cross Abstract: In this paper, a method for achieving exact unlearning for Gibbs supervised learning algorithms is proposed using a variational formulation inspired b

RGBD20K: A Large-Scale Benchmark for RGB-D Semantic Segmentation

model-releasesarxiv-cs-cv

arXiv:2609.29028v1 Announce Type: new Abstract: In this paper, we propose RGBD20K, a novel dataset for facilitating the development of more robust and general RGB-D semantic segmentation by encompassi

Script Choice in LLMs: Evidence for Late-Layer Commitment

arXiv:2609.28784v1 Announce Type: new Abstract: In this paper, we investigate how script knowledge is distributed across the layers of LLMs using two complementary interpretability methods: logistic r

researcharxiv-cs-cl

Simple Torque-Observation Alignment for Zero-Shot Sim-to-Real Grasping with a Direct-Drive Gripper

arXiv:2609.29031v1 Announce Type: new Abstract: Torque observations in reinforcement learning remain challenging because simulated and measured torque differ in scale, offset, and noise. In this paper

safetyarxiv-cs-ro

Singularity Analysis for the Perspective-Four and Five-Line Problems

arXiv:2609.29417v1 Announce Type: new Abstract: This paper deals with image-based visual servoing and pose estimation by observing four and five lines. Our main interest is to determine the relative c

Temporal Learning for End-Effector Position Estimation under Aerodynamic Disturbances in Aerial Continuum Manipulation

arXiv:2609.28716v1 Announce Type: cross Abstract: This paper investigates temporal neural networks for mbox{end-effector} position mbox{estimation} of an aerial continuum manipulator (ACM) operating u

A Quasi-Direct-Drive Underactuated Asymmetric Hand for Dexterous and Efficient Grasping and Manipulation

arXiv:2609.27240v1 Announce Type: new Abstract: In this paper, we present the Berkeley QUAD (Quasi-direct-drive, Underactuated, Asymmetric Design) Hand, a four-finger anthropomorphic robotic hand with

Adversarial Attacks and Identity Leakage in De-Identification Systems: An Empirical Study

arXiv:2609.27022v1 Announce Type: new Abstract: In this paper, we investigate the impact of adversarial attacks on identity encoders within a realistic de-identification framework. Our experiments sho

researcharxiv-cs-cv

Classifying Interpretive Canons at the Sentence Level: A Benchmark from the German Federal Constitutional Court

model-releasesarxiv-cs-cl

arXiv:2609.26945v1 Announce Type: new Abstract: Judicial reasoning remains challenging for large language models (LLMs) to analyze. This paper contributes a sentence-level benchmark for evaluating the

Copy-Move Forgery Detection and Question Answering for Remote Sensing Image

model-releasesarxiv-cs-cv

arXiv:2412.02575v3 Announce Type: replace Abstract: Driven by practical demands in land resource monitoring and national defense security, this paper introduces the Remote Sensing Copy-Move Question A

Discrete optimal transport is a strong audio adversarial attack

arXiv:2509.14959v4 Announce Type: replace-cross Abstract: In this paper, we investigate discrete optimal transport (DOT) as a black-box attack against modern automatic speaker verification (ASV) and a

Godel's and Scott's Variants of the Ontological Argument in Lean 4

arXiv:2609.26806v1 Announce Type: cross Abstract: This paper presents a complete, structure-preserving port to Lean 4 of the Isabelle/HOL dataset accompanying Benzmuller and Scott's study of Godel's m

Learning Stiffness Dependent Fluid Structure Dynamics from Coarse Flow Representations

arXiv:2609.26816v1 Announce Type: cross Abstract: This paper develops a data-driven framework for long-term prediction of fluid--structure interaction (FSI) dynamics, focusing on the flow-induced vibr

Passing: An Endless Journey through Reconstructed Spacetime with AI-Generated Sound

arXiv:2609.27489v1 Announce Type: cross Abstract: This paper introduces Passing, an interactive audiovisual installation that generates an endless journey from a single continuous monorail-window reco

Riemannian Structure and Optimization for a Class of Low-Parametric Orthogonal Matrices

arXiv:2609.27982v1 Announce Type: cross Abstract: In this paper, we are concerned with matrices formed by block-diagonal factors interleaved with fixed permutations -- a flexible family of structured

Scaling Attention Head Analysis via Gradient-Based Attribution in Context-Aware Machine Translation

arXiv:2609.28117v1 Announce Type: cross Abstract: In this paper, we introduce a gradient-based head attribution strategy where the Token-level Max-Margin loss is backpropagated to the attention maps.

Simultaneous Latent Budget Trees for Stratified Classification

arXiv:2606.13295v3 Announce Type: replace-cross Abstract: In the era of Explainable Artificial Intelligence, there is a renewed focus on single trees for their ease of interpretation. This paper intro

Spread and Scale: What Determines Whether Test-Time Budget Allocation Pays

arXiv:2609.27917v1 Announce Type: cross Abstract: Neural combinatorial optimization solvers generate many candidate solutions per instance and report the best one found, using the same sample budget f

Statistical Properties of Deep Neural Networks with Dependent Data

arXiv:2410.11113v4 Announce Type: replace-cross Abstract: This paper develops theory for deep neural network (DNN) estimators under dependent data. To provide theory applicable to a variety of DNN-bas

Tutorials

Tail-Aware Geometry Learning for Conformal Ellipsoids

arXiv:2609.27221v1 Announce Type: new Abstract: This paper studies multivariate conformal prediction (CP), a distribution-free uncertainty quantification framework with finite-sample coverage guarante

tutorialsarxiv-cs-lg

Agents

Tractable Reinforcement Learning for Full Class of Signal Temporal Logic Specifications Using Spatiotemporal Tube Reward

arXiv:2609.28396v1 Announce Type: new Abstract: This paper addresses the control problem for robotic systems, including non-holonomic and underactuated platforms operating under unknown dynamics and s

agentsarxiv-cs-ro

Training Intelligent Voice Assistant Wakeup with Controllable Synthetic Conversations

arXiv:2609.27037v1 Announce Type: new Abstract: Wake word detection is a critical component of virtual assistants, serving as the gateway to seamless user interactions. This paper introduces a novel w

Using Vision Language Foundation Models to Generate Plant Simulation Configurations via In-Context Learning

arXiv:2603.08930v2 Announce Type: replace-cross Abstract: This paper introduces a benchmark for evaluating whether vision-language models (VLMs) can generate plant simulation configurations from image

A Deployment Study of Identity-Gated Drone Gesture Control

model-releasesarxiv-cs-ro

arXiv:2609.25511v1 Announce Type: new Abstract: Vision-based gesture control accepts commands from any hand in the camera field of view, which is unsafe in shared indoor spaces. This paper presents IG

Control Barrier Functions for Safe Free-Flying Robotic Spacecraft Operations in Tumbling Target Capture

arXiv:2609.25905v1 Announce Type: new Abstract: This paper presents a modular control barrier function (CBF) framework for safe free-flying robotic spacecraft operations during tumbling target capture

safetyarxiv-cs-ro

Design and Implementation of an Ultra-Low-Cost Wall-Climbing Robot for Infrastructure Crack Detection

arXiv:2609.26130v1 Announce Type: new Abstract: Crack detection is a crucial process to ensure the safety and longevity of buildings and other infrastructure. In this paper, we developed a low-cost, a

safetyarxiv-cs-ro

Designing an Efficient Excavator Bucket for Lunar ISRU: A Comparative Study with Vision-Based Fill and Displacement Analysis

arXiv:2609.25724v1 Announce Type: new Abstract: This paper present a spiral-cavity wheel for lunar regolith excavation and a sensor-light evaluation stack that jointly estimates fill ratio (vision), s

Detecting GPT-Assisted Writing Using Interpretable Stylometric Features

arXiv:2609.26687v1 Announce Type: new Abstract: Distinguishing GPT-assisted from independently authored student writing has become a critical challenge in academia. This paper evaluates the discrimina

researcharxiv-cs-cl

Directional Total Variation-Regularized Implicit Neural Representations (DTV-INR) for Continuous Super-Resolution in Degraded Imaging Domains

model-releasesarxiv-cs-cv

arXiv:2609.25429v1 Announce Type: new Abstract: In this paper, we introduce the Directional Total Variation-Regularized Implicit Neural Representation (DTV-INR), an advanced variational paradigm that

Local Ai

Dr-LiSA: Direct Radar-Lidar Scan Alignment for SE(3) Localization

arXiv:2609.26423v1 Announce Type: new Abstract: This paper introduces Dr-LiSA, a first-of-its-kind direct method for localizing 2D spinning radar intensity measurements in SE(3) against 3D lidar maps.

local-aiarxiv-cs-ro

End-to-End Quantum Semantic Communication with Variational Quantum Neural Networks

arXiv:2609.25044v1 Announce Type: cross Abstract: This paper presents a quantum semantic communication (QSemCom) framework combining quantum machine learning (QML) and semantic communication (SemCom).