Search: “research”

RU4D-SLAM: Reweighting Uncertainty in Gaussian Splatting SLAM for 4D Scene Reconstruction

arXiv:2602.20807v2 Announce Type: replace Abstract: Combining 3D Gaussian splatting with Simultaneous Localization and Mapping (SLAM) has gained popularity as it enables continuous 3D environment reco

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S2M-Trek: From Single to Multi-Sphere Transport via Per-Frame Deep Sets on a Wheel-Legged Robot

DGX agent

arXiv:2606.01332v1 Announce Type: new Abstract: We study the problem of scaling dynamic loco-manipulation from a single free-rolling sphere to multiple spheres transported simultaneously on the back o

researcharxiv-cs-ro

2 Jun 2026

S3TS: Stochastic Scenario-Structured Tree Search for Advanced Planning Under Uncertainty

arXiv:2606.02151v1 Announce Type: new Abstract: Effective scheduling in the energy sector is essential to ensure the reliable operation of electrical grids and their connected assets by, for instance,

Safeguarded Stochastic Polyak Step Sizes for Non-smooth Optimization: Robust Performance Without Small (Sub)Gradients

arXiv:2512.02342v3 Announce Type: replace-cross Abstract: The stochastic Polyak step size (SPS) has proven to be a promising choice for stochastic gradient descent (SGD), delivering competitive perfor

SALSA: Speech Aware LLM Adaptation via Learned Steering Activation Vectors

arXiv:2606.00460v1 Announce Type: new Abstract: Speech-aware large language models often generalize poorly to out-of-domain settings. We propose SALSA (Speech-Aware LLM Adaptation via Learned Steering

Sample Complexity and Decision-Theoretic Guarantees for Bayesian Model Averaging over Decision Trees with Catalan-Exponential Priors

arXiv:2606.01340v1 Announce Type: new Abstract: We ask: when do Bayesian model averaging (BMA) weights over decision trees carry sufficient epistemic information to justify committed exploitation of t

SARA: Stress Test Reasoning in Audio Deepfake Detection

arXiv:2601.03615v2 Announce Type: replace Abstract: Audio Language Models (ALMs) offer a promising shift towards explainable audio deepfake detections (ADD), moving beyond extit{black-box} classifiers

Scalable Counterfactual Risk Estimation for Rare Events in Longitudinal Data

arXiv:2606.01539v1 Announce Type: cross Abstract: Estimating the causal effect of time-varying treatments on survival outcomes in large observational studies is computationally demanding, particularly

Scaling depth capacity via zero/one-layer model expansion

arXiv:2511.04981v2 Announce Type: replace Abstract: Model depth is a double-edged sword in deep learning: deeper models achieve higher accuracy but require higher computational cost. To efficiently tr

Scaling Pre-training to One Hundred Billion Data for Vision Language Models

arXiv:2502.07617v2 Announce Type: replace Abstract: We provide an empirical investigation of the potential of pre-training vision-language models on an unprecedented scale: 100 billion examples. We fi

ScaRF-SLAM: Scale-Consistent Reconstruction with Feed-Forward Models and Classical Visual SLAM

arXiv:2606.00307v1 Announce Type: new Abstract: Recent works have explored unifying SLAM with geometric foundation models (GFMs). However, directly using GFM predictions for tracking is highly sensiti

Score imes Decoder: A Unified View of Unsupervised Inference-Time Scaling for Hallucination Mitigation

arXiv:2606.00739v1 Announce Type: new Abstract: Large language models hallucinate even when the answer lies within their parameters. While inference-time scaling can surface this latent knowledge, the

Search-on-Graph: Iterative Informed Navigation for Large Language Model Reasoning on Knowledge Graphs

arXiv:2510.08825v2 Announce Type: replace Abstract: Large language models (LLMs) augmented with knowledge graphs (KGs) offer a promising approach for knowledge-intensive reasoning. Central to this app

Seeing Through the MiRAGE: Evaluating Multimodal Retrieval Augmented Generation

arXiv:2510.24870v2 Announce Type: replace Abstract: We introduce MiRAGE, an evaluation framework for retrieval-augmented generation (RAG) from multimodal sources. As audiovisual media becomes a preval

Segmentation-Guided Spatial Indexing for Generalizable and Explainable Deepfake Detection

arXiv:2606.00098v1 Announce Type: new Abstract: We introduce segmentation-guided spatial indexing for generalizable and explainable deepfake detection. The key idea reverses the standard design order:

Self-Conditioned Positional HNSW for Overlap-Aware Retrieval in Chunked-Document RAG Systems: Method and Industrial Evidence-Quality Audit

arXiv:2606.01542v1 Announce Type: cross Abstract: Chunked-document retrieval is a common component of retrieval-augmented generation (RAG) systems. Documents are split into overlapping chunks, embedde

Self-Improving Small Object Grounding in LVLMs

arXiv:2606.01612v1 Announce Type: new Abstract: Can internal attention patterns in Large Vision Language Models (LVLMs) identify reliable small-object boxes without fine-tuning? In this work, we provi

Self-Regulating Annealing in Heavy-Tailed Diffusion Models

arXiv:2606.01645v1 Announce Type: cross Abstract: Diffusion models have emerged as a leading framework for deep generative modeling. While the standard Gaussian formulation is theoretically convenient

Self-supervised Monocular Depth and Pose Estimation for Endoscopy with Latent Priors

arXiv:2411.17790v3 Announce Type: replace-cross Abstract: Accurate 3D mapping in endoscopy enables quantitative, holistic lesion characterization within the gastrointestinal (GI) tract, requiring reli

Semantic-Geometric Task Representations for Bimanual Manipulation from Human Demonstrations to Robot Action Planning

arXiv:2601.11460v2 Announce Type: replace-cross Abstract: Learning structured task representations from human demonstrations is essential for bimanual manipulation, where action ordering, object invol

SEMBridge: Tagless-Final Program Semantics with Weakest-Precondition and Bounded-Checking Interpretations

arXiv:2606.00220v1 Announce Type: cross Abstract: Formal methods provide rigorous accounts of program behavior, but practical software engineering often works through executable libraries, tests, and

Semi-Supervised Learning with Noisy Proxy Covariates: Generalization Bounds and Distribution Regression

arXiv:2606.00512v1 Announce Type: new Abstract: In many modern machine learning pipelines, abundant pretrained representations serve as noisy proxy covariates, while task-specific labels remain scarce

Semi-Supervised Noise Adaptation: Transferring Knowledge from Noise Domain

arXiv:2606.00558v1 Announce Type: new Abstract: Transfer learning aims to facilitate the learning of a target domain by transferring knowledge from a source domain. The source domain typically contain

Semimage: HSV-Based Semantic Image Encoding for Disentangled Text Representation

arXiv:2512.00088v2 Announce Type: replace Abstract: We propose SemImage, a novel method for representing a text document as a two-dimensional semantic image to be processed by convolutional neural net

Sensitivity as a Double-Edged Sword: A Trade-off Between Discriminability and Adversarial Robustness

arXiv:2606.01746v1 Announce Type: new Abstract: Modern neural networks are highly susceptible to adversarial perturbations. In this work, we identify that part of this vulnerability stems from the sen

Series-Parallel Integrated Nonlinear Elastic Actuator applied to the lean motion of a bicycle simulator

arXiv:2606.00201v1 Announce Type: new Abstract: Designing robots for high-torque, high-fidelity haptic interaction is challenging. Parallel Elastic Actuators (PEAs) use elastic elements in parallel to

ShapeLib: Designing a library of programmatic 3D shape abstractions with Large Language Models

arXiv:2502.08884v3 Announce Type: replace-cross Abstract: We present ShapeLib, the first method that uses the priors of Large Language Models (LLMs) to design libraries of programmatic 3D shape abstra

ShaplEIG: Bayesian Experimental Design for Shapley Value Estimation

arXiv:2606.02247v1 Announce Type: cross Abstract: Shapley values are a principled attribution measure widely used in interpretable machine learning, but their exact computation scales exponentially wi

SimSD: Simple Speculative Decoding in Diffusion Language Models

arXiv:2606.02544v1 Announce Type: cross Abstract: Diffusion large language models (dLLMs) have recently emerged as a promising alternative to autoregressive (AR) LLMs, offering faster inference throug

Simulating Macroeconomic Expectations in Survey Experiments with LLM-based Economic Agents

arXiv:2505.17648v5 Announce Type: replace-cross Abstract: We introduce a framework for simulating macroeconomic expectations in survey experiments using LLM-based economic agents (LLM Agents). We cons

Single-Line Drawing Generation via Semantics-Driven Optimization

arXiv:2606.01910v1 Announce Type: cross Abstract: Line drawings are a highly expressive art form that requires the artist to abstract and distill the essence of their subject. We present the first sem

SIRIUS-SQL: Anchoring Multi-Candidate Text-to-SQL in Execution Feedback

arXiv:2606.01246v1 Announce Type: new Abstract: Text-to-SQL on complex schemas is unreliable on a single pass, so recent systems generate multiple SQL candidates and let voting filter out errors. Yet

SN-WER: Script-Normalized WER for Multi-Script Indic ASR Evaluation

arXiv:2606.02548v1 Announce Type: new Abstract: Word Error Rate (WER) is the dominant metric for automatic speech recognition (ASR), but it can overestimate errors when references and hypotheses encod

SoFiE: Soft Finger Exoskeleton for Intelligent Grasping

arXiv:2606.00397v1 Announce Type: new Abstract: Soft wearable robotic systems have emerged as a promising solution for assisting individuals with reduced hand function. This paper presents SoFiE, a mo

Soft-NBCE: Entropy-Weighted Chunk Fusion for Long-Context

arXiv:2606.01101v1 Announce Type: cross Abstract: The quadratic complexity of self-attention remains a bottleneck for Large Language Models (LLMs) processing ultra-long contexts. The Naive Bayes Cogni

Sparse Autoencoders for Interpretable Emotion Control in Text-to-Speech

arXiv:2606.01479v1 Announce Type: new Abstract: Integrating large language models (LLMs) into text-to-speech (TTS) systems has improved speech expressiveness, yet interpretable emotional control remai

Spatio-Temporal Reconnection for Multi-Robot Networks using Adaptive Prescribed-Time CBFs

arXiv:2606.01526v1 Announce Type: new Abstract: In multi-robot systems, maintaining persistent communication graph connectivity is often overly restrictive, especially when robots have limited communi

Speculative Sampling For Faster Molecular Dynamics

arXiv:2606.02455v1 Announce Type: new Abstract: Molecular dynamics (MD) is a key tool for simulating the dynamical behavior of atomic systems. However, MD is inherently serial, which makes it difficul

SpikeReg: Energy-Efficient 3D Deformable Medical Image Registration with Spiking Neural Networks

arXiv:2605.25144v2 Announce Type: replace Abstract: Deformable medical image registration aligns anatomical structures across images but remains computationally dense at 3D resolution. Spiking neural

Splatshot: 3D Face Avatar Generation from a Single Unconstrained Photo

arXiv:2606.01493v1 Announce Type: new Abstract: Reconstructing a photorealistic 3D face avatar from a single unconstrained photograph is challenging: feed-forward 3D Gaussian Splatting (3DGS) models d

STARFISH: faST Accuracy Recovery in pruned networks From Internal State Healing

arXiv:2606.01126v1 Announce Type: cross Abstract: Pruning is a process designed to reduce the number of weights in a large neural network. This can substantially speed up inference but might cause a c

Statistical Guarantees for Reasoning Probes on Looped Boolean Circuits

arXiv:2602.03970v3 Announce Type: replace-cross Abstract: We study the statistical behavior of reasoning probes in a stylized model of iterative computation inspired by neural algorithmic reasoning. T

Statistical Testing on Directed Graphs by Surrogate Data Generation

arXiv:2606.00758v1 Announce Type: cross Abstract: In recent years, graph signal processing has emerged as a powerful framework at the intersection of signal processing and graph theory, providing tool

Step-Level Sparse Autoencoder for Reasoning Process Interpretation

arXiv:2603.03031v2 Announce Type: replace Abstract: Large Language Models (LLMs) have achieved strong complex reasoning capabilities through Chain-of-Thought (CoT) reasoning. However, their reasoning

Stochastic convergence of parallel asynchronous adaptive first-order methods

arXiv:2606.01787v1 Announce Type: new Abstract: A new class of asynchronous adaptive first-order optimization methods is introduced, comprising asynchronous variants of several popular algorithms. Ver

Stochastic Rounding Increases Small Singular Values

arXiv:2606.00312v1 Announce Type: cross Abstract: Over the past half-dozen years, stochastic rounding (SR) has regained significant attention as a quantization scheme for low-precision floating-point

Structure and Scale in Simplicial Sequence Modelling

arXiv:2606.01302v1 Announce Type: new Abstract: Modern large-scale deep learning exhibits two striking empirical phenomena: behavioural scaling laws (predictable performance gains with increasing scal

Structured Visual Evidence Decomposition for Evidence-Grounded Multimodal Screening of Obstructive Sleep Apnea-Hypopnea Syndrome

arXiv:2606.00087v1 Announce Type: cross Abstract: Effective pre-polysomnography screening for obstructive sleep apnea-hypopnea syndrome (OSAHS) requires combining clinical risk factors with visible cr