Search: “hardware”

Hierarchical Policies from Verbal and Egocentric Human Signals for Natural Human-Robot Interaction

arXiv:2606.10276v1 Announce Type: cross Abstract: For natural human-robot interaction, a robot must understand human intent expressed not only through language but also through nonverbal signals such

safetyarxiv-cs-ai

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HydraCIL: Decoupled Class-Incremental Learning through Prototype-Guided Multi-Head Classifiers

DGX agent

arXiv:2606.09960v1 Announce Type: cross Abstract: We present HydraCIL, a decoupled continual learning model based on prototype-guided multi-head classifiers, targeting sustainable deployment in embedd

local-aiarxiv-cs-ai

10 Jun 2026

IMPACT: Learning Internal-Model Predictive Control for Forceful Robotic Manipulation

arXiv:2606.10818v1 Announce Type: cross Abstract: Real-world robotic manipulation tasks often involve forceful interactions with the environment, such as using tools of varying weights, transporting o

safetyarxiv-cs-cv

PRISM: Parallel Residual Iterative Sequence Model

arXiv:2602.10796v3 Announce Type: replace Abstract: Generative sequence modeling faces a fundamental tension between the expressivity of Transformers and the efficiency of linear sequence models. Exis

Robotic Nonprehensile Object Transportation with a Hanging Tray

arXiv:2606.10039v1 Announce Type: new Abstract: We consider the nonprehensile object transportation task known as the waiter's problem, in which a robot must move an object balanced on a tray from one

ros2probe: Non-intrusive, Kernel-selective Observability for Robot Operating System 2 Middleware

arXiv:2606.10746v1 Announce Type: new Abstract: Robot Operating System 2 (ROS 2), the de facto standard middleware framework for robots, runs each robot as a graph of nodes communicating over the Data

Uncovering Vulnerability of Vision-Language-Action Models under Joint-Level Physical Faults

arXiv:2606.10501v1 Announce Type: new Abstract: Deploying Vision-Language-Action (VLA) models in real robotic systems requires robustness not only to semantic and perceptual variations, but also to em

YUBI: Yielding Universal Bidigital Interface for Bimanual Dexterous Manipulation at Scale

arXiv:2606.10244v1 Announce Type: cross Abstract: We introduce Yielding Universal Bidigital Interface (YUBI), a finger-aligned gripper designed to enable intuitive, ergonomic, and scalable data collec

safetyarxiv-cs-ai

Tutorials

AetheRock: An Arm-Worn Robot Teaching System for Force-Guided Vision-Tactile Learning

arXiv:2606.09777v1 Announce Type: new Abstract: Force and tactile sensing are indispensable in contact-rich manipulation. However, force-aware robot learning faces critical challenges due to the incom

tutorialsarxiv-cs-ro

AgentCompile: An LLM-Guided Compiler for Direct CUDA Inference

arXiv:2606.07665v1 Announce Type: cross Abstract: Transformer inference increasingly depends on specialized compiler and runtime support, but real model graphs still require semantic decisions about w

Aperon Technical Report: Hierarchical No-Pointer Tangent-Local Search for High-Dimensional Approximate Nearest Neighbors

arXiv:2606.08813v1 Announce Type: cross Abstract: We present HNTL (Hierarchical No-pointer Tangent-Local), the core vector indexing and candidate generation framework of the Aperon vector memory syste

APEX4: Efficient Pure W4A4 LLM Inference via Intra-SM Compute Rebalancing

arXiv:2606.08761v1 Announce Type: cross Abstract: W4A4 quantization promises full utilization of INT4 Tensor Cores, yet group dequantization overhead on CUDA Cores has driven existing systems to mixed

Beyond FLOPs: Benchmarking Real Inference Acceleration of LLM Pruning under a GEMM-Centric Taxonomy

arXiv:2606.09080v1 Announce Type: new Abstract: Pruning has emerged as a dominant paradigm for accelerating large language model (LLM) inference, spanning a broad spectrum of methods that remove compu

CANS: Accelerating Multiuser Collaborative Edge Inference via Cooperative Autodidactic NeuroSurgeon

arXiv:2606.09175v1 Announce Type: cross Abstract: Recently, mobile edge computing (MEC)-enabled collaborative deep neural network (DNN) inference has emerged as a promising approach for delivering int

local-aiarxiv-cs-ai

CT-VAM: A Cerebello-Thalamic-Inspired Vision-Action Model for Efficient Visuomotor Control

arXiv:2606.09572v1 Announce Type: cross Abstract: Vision-language-action models have shown strong promise for robot manipulation, yet raw language is primarily needed to specify task intent rather tha

local-aiarxiv-cs-ai

EgoTactile: Learning Grasp Pressure for Everyday Objects from Egocentric Video

arXiv:2606.09243v1 Announce Type: cross Abstract: Estimating full-hand grasp pressure from egocentric video is critical for immersive VR and robotic manipulation, yet dense tactile sensing often relie

Evaluation of ML Resource Utilization Requires Model Life Cycle Assessment

arXiv:2606.07632v1 Announce Type: new Abstract: Proper accounting of the energy requirements and environmental impact of artificial intelligence (AI) systems is necessary for researchers, developers,

safetyarxiv-cs-lg

From Human Guidance to Autonomy: Agent Skill System for End-to-End LLM Deployment on Spatial NPUs

arXiv:2606.07586v1 Announce Type: cross Abstract: Spatial neural processing units (NPUs) provide an energy-efficient platform for edge LLM inference, but efficiently deploying an LLM end-to-end on suc

How Small Can You Go? LoRA Fine-Tuning 270M-8B Models for Merchant Information Extraction in Financial Transactions

arXiv:2606.08051v1 Announce Type: new Abstract: Financial transaction processing requires extracting structured merchant information from noisy, abbreviated bank transaction strings at scale. Our curr

How Well Do Latent World Models Understand Partially Observable Safety Constraints?

arXiv:2510.06492v2 Announce Type: replace Abstract: Latent world models are a promising approach for learning state representations and dynamics directly from high-dimensional observations, enabling r

Need We Teach Foundation Models What is a Generative Image? Gradient-Free Generative Artifact Detection via Analytic Spectral Adaptation

arXiv:2606.07660v1 Announce Type: new Abstract: Adapting foundation models to detect generative artifacts via gradient-based updates compromises their intrinsic representations. Under optimization on

local-aiarxiv-cs-cv

OASIS: From Simulation Data Collection to Real-World Humanoid Loco-Manipulation

arXiv:2606.08548v1 Announce Type: new Abstract: Recent progress in robot manipulation has been largely driven by learning from large-scale demonstrations. For humanoid robot loco-manipulation tasks, h

Parameter Tuning with Generalization Guarantees for GPU-Accelerated Linear Programming

arXiv:2606.08638v1 Announce Type: cross Abstract: Recent research has developed practical, parallelizable first-order methods for large scale linear programming, but performance is highly dependent on

PTDL:Multi-Terrain Fall Recovery via Phase-Terrain Decoupled Learning

arXiv:2606.08922v1 Announce Type: new Abstract: Humanoid robots can fall on slopes, gravel, and uneven ground in unstructured environments. We target integrated fall recovery and locomotion: rebuildin

Q-Delta: Beyond Key-Value Associative State Evolution

arXiv:2606.08804v1 Announce Type: new Abstract: Linear attention reformulates sequence modeling as recurrent state evolution, enabling efficient linear-time inference. Under the key-value associative

researcharxiv-cs-ai

Quantum feature-map learning with reduced resource overhead

arXiv:2510.03389v2 Announce Type: replace-cross Abstract: Current quantum computers require algorithms that use limited resources economically. In quantum machine learning, success hinges on quantum f

Real-time body pose non-verbal communication with a consistency-based reliability measure

arXiv:2606.09390v1 Announce Type: cross Abstract: Body movement communicates intent at distances and in conditions where neither the face, nor speech can be captured. We study the recognition of commu

Revisiting Training Scale: An Empirical Study of Token Count, Power Consumption, and Parameter Efficiency

arXiv:2601.06649v2 Announce Type: replace-cross Abstract: Research in machine learning has questioned whether increases in training token counts reliably produce proportional performance gains in larg

Safe Polytope-in-Polytope Motion Planning and Control with Control Barrier Functions

arXiv:2606.09719v1 Announce Type: new Abstract: Autonomous mobile robots operating in tight environments require motion planning frameworks that account for the physical footprint of the robot. Simpli

local-aiarxiv-cs-ro

SNN-MLIR: An MLIR Dialect for Compiling Neuromorphic SNNs from NIR to Bare-Metal C

arXiv:2606.09213v1 Announce Type: cross Abstract: Spiking neural networks (SNNs) are increasingly trained in a wide range of frameworks (SnnTorch, Lava, Norse, and others) each with its own model form

Solving Inverse Problems with Flow-based Models via Model Predictive Control

arXiv:2601.23231v2 Announce Type: replace-cross Abstract: Flow-based generative models provide strong unconditional priors for inverse problems, but guiding their dynamics for conditional generation r

Sparse Autoencoders Reveal Interpretable and Steerable Features in VLA Models

model-releasesarxiv-cs-ro

arXiv:2603.19183v2 Announce Type: replace Abstract: Vision-Language-Action (VLA) models have emerged as a promising approach for general-purpose robot manipulation. However, little research has mechan

Towards End to End Motion Planning and Execution for Autonomous Underwater Vehicles Using Reinforcement Learning

arXiv:2606.08513v1 Announce Type: cross Abstract: Autonomous Underwater Vehicles (AUVs) traditionally rely on complex, heavily engineered pipelines for perception, path planning, and motion control. T

safetyarxiv-cs-lg

Uncertainty-Aware Intention Prediction for Human-to-Robot Assembly Teleoperation

arXiv:2606.08341v1 Announce Type: new Abstract: In assisted teleoperation for human-robot collaboration, accurate intention prediction is critical for enabling timely and reliable robotic assistance d

Vision-Language Work Zone Intelligence for Safety-Critical Speed Regulation of Mixed-Autonomy Vehicles in Dynamic Environments

arXiv:2606.08860v1 Announce Type: new Abstract: Temporary work-zone speed limits are communicated through visually inconsistent signage and are often missing from digital maps, creating safety risks f

safetyarxiv-cs-cv

Applications

X-Palm: Paired Multispectral-to-Smartphone Dataset for Cross-Domain Palmprint Authentication

arXiv:2606.08437v1 Announce Type: cross Abstract: Palmprint modality offers a privacy-preserving biometric solution, yet its deployment is hindered by the domain gap between controlled enrollment and

applicationsarxiv-cs-cv

Zero Touch Predictive Orchestration: Automating Time-Series Models for the Cloud-Edge Continuum

arXiv:2606.09787v1 Announce Type: new Abstract: The Cloud-Edge Continuum (CEC) enables latency-critical applications by distributing resources to the far edge, but its extreme volatility makes proacti

A Study of Parallel Continuous Local Search

arXiv:2606.06656v1 Announce Type: new Abstract: We study parallel Continuous Local Search (CLS) as a solution approach for Boolean satisfiability problems with symmetric pseudo-Boolean (PB) constraint

researcharxiv-cs-ai

Breaking the Ice: Analyzing Cold Start Latency in vLLM

arXiv:2606.07362v1 Announce Type: new Abstract: As scalable inference services become popular, the cold start latency of an inference engine becomes important. Today, vLLM has evolved into the de fact

CFRNet: Cycle-Consistent Fixed-Point Training for Real-Time Blind Face Restoration on Consumer Embedded NPUs

model-releasesarxiv-cs-cv

arXiv:2606.06850v1 Announce Type: new Abstract: Blind face restoration on consumer devices has to balance image quality against speed and memory. Strong methods such as GFPGAN and CodeFormer give good

Multi-Robot Planning and Control from CCTV Camera Networks in a Real Warehouse

arXiv:2606.06762v1 Announce Type: new Abstract: Off-board control of mobile robots from cameras embedded in the environment offers a practical path to scalable autonomy, moving sensing and compute off

Quantum-Inspired Trace-Augmented Evidence Selection for Reasoning over Structured Hypothesis Spaces

arXiv:2606.06941v1 Announce Type: new Abstract: Large language models (LLMs) now solve a wide range of expert-level exams at or above human level, yet remain brittle on specialised, evidence-intensive

Rapid co-design of Buoyancy-assisted robots for Challenging Locomotion using Gaussian Evolutionary Specialists

arXiv:2606.07424v1 Announce Type: new Abstract: Designing high-performance legged robots requires jointly optimizing morphology and control. Model-free Reinforcement Learning (RL) offers an alternativ

SERNF: Sample-Efficient Real-World Dexterous Policy Fine-Tuning via Action-Chunked Critics and Normalizing Flows

arXiv:2602.09580v4 Announce Type: replace-cross Abstract: Real-world fine-tuning of dexterous manipulation policies remains challenging due to limited real-world interaction budgets and highly multimo

safetyarxiv-cs-lg

Synthetic Benchmarks Overstate Forward-Forward Scaling: Real-Data Limits of Layer-Local Training

arXiv:2606.06539v1 Announce Type: cross Abstract: Forward-Forward (FF) learning [Hinton, 2022] replaces backpropagation with strictly layer-local goodness updates. Recent FF-CNN work has narrowed the

researcharxiv-cs-ai

What Matters When Cotraining Robot Manipulation Policies on Everyday Human Videos?

arXiv:2606.06627v1 Announce Type: cross Abstract: Human video datasets used for cotraining robot manipulation policies largely consist of curated demonstrations where motions are orchestrated to resem

safetyarxiv-cs-ai

A Conversational Framework for Human-Robot Collaborative Manipulation with Distributed Generative AI models

arXiv:2606.06061v1 Announce Type: new Abstract: This paper presents a distributed conversational framework for human-robot collaborative manipulation that integrates local language and vision-language

local-aiarxiv-cs-ro

5 Jun 2026

A New Quaternion-Joint Cable-Driven Redundant Manipulator Configuration and its Control Through FABRIK and Residual Reinforcement Learning

arXiv:2606.05236v1 Announce Type: new Abstract: Robotic arms capable of traversing arbitrary spatial paths, especially in highly obstructed workspaces, are highly desired across several industries. Qu