AI News Archive: May 20, 2026 — Part 17
Sourced from 500+ daily AI sources, scored by relevance.
- A Semantic and Occlusion-Aware GM-PHD Filter
This paper proposes a new birth model including semantic information derived from deep learning to create an occlusion-aware Gaussian Mixture Probability Hypothesis Density (GM-PHD) filter. Unlike prior approaches that rely on simplistic or uniform assumptions, the proposed Semantic-Occlusion Aware ...
- ExtraBrain
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- Design for Manufacturing: A Manufacturability Knowledge-Integrated Reinforcement Learning Framework for Free-Form Pipe Routing in Aeroengines
Design for manufacturing plays a critical role in advanced aeroengine development, where complex components necessitate careful consideration of manufacturability. However, current practices in pipe routing remain largely decoupled from down-stream manufacturing, leading to labor-intensive, trial-an...
- Mechanistic Interpretability for Learning Assurance of a Vision-Based Landing System
EASA's learning-assurance guidance requires data-driven aviation systems to build and monitor their own situation representation, yet for neural networks the technical means to provide such evidence remain an open problem. We address this gap for a vision-based aircraft landing system: we propose th...
- Learning Robust Dexterous In-Hand Manipulation from Joint Sensors with Proprioceptive Transformer
In-hand object manipulation is a fundamental yet challenging capability for dexterous robots. Despite significant progress in dexterous manipulation, existing approaches rely heavily on vision or tactile sensing to track object states, while joint sensing -- the most readily available modality on an...
- To Select or not to Select, that is the Question: Distilling Robot Skill Prediction into a Small Ensemble
As robot fleets become more heterogeneous, including humanoids, rovers, quadrupeds, and drones, selecting the right robot for a task becomes a core systems problem. We study robot skill prediction: mapping a natural-language task description to the physical capabilities required to execute it, such ...
- EllipseLIO: Adaptive LiDAR Inertial Odometry with an Ellipsoid Representation
LiDAR Inertial Odometry (LIO) is a critical component for many mobile robots that need to navigate without relying on external positioning (e.g., GPS). Platforms that operate autonomously in different environments and with heterogeneous LiDAR sensors require a LIO approach that can adapt to these di...
- Safety-Critical Control for Smoothed Implicit Contact Dynamics
Smoothed implicit contact dynamics enables gradient-based planning and control for contact-rich tasks without predefined mode sequences. However, safety-critical control remains challenging because implicit contact dynamics makes safety-filter design nontrivial. The smoothing parameter $κ$ relaxes c...
- Humanoid Whole-Body Manipulation via Active Spatial Brain and Generalizable Action Cerebellum
In this paper, we explore spatial-aware humanoid whole-body manipulation task. Compared with tabletop settings, this task poses two key challenges: 1) Spatial understanding is challenging in complex 3D environments with diverse spatial relations. 2) Action generation is difficult to generalize, as l...
- Benchmarking Empirical and Learning-Based Approaches for Feedforward Steering Control in Autonomous Racing
Feedforward steering control is a key component of hierarchical control architectures for autonomous racing. The goal is to reduce steering corrections from the feedback controllers by predicting the vehicle's inverse lateral dynamics. This paper presents a systematic benchmark of two learning-based...
- Anomaly-Informed Confidence Calibration for Vision-Based Safety Prediction
Reliable confidence estimates are important for safely deploying vision-based controllers in autonomous racing, where safety predictions must be derived from camera images, yet modern predictors become dangerously overconfident under test-time distribution shifts. We identify a critical perception-d...
- Accessify
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- GlanceFlow
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- Emberis AI Decision Intelligence
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- IndeskAI
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- Canonry
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- NoShoot
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- AlphaProxy.AI
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- Inkshift
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- SubTGraph: Large-Scale Subterranean Environment Synthesis with Controllable Topological Variability for Robotic Autonomy Validation
Subterranean (SubT) environments have been a frontier for autonomous robotics, driven by the push for automation of mining operations and the interest in planetary exploration (Martian Lava Tubes). Due to the challenges involved in accessing real SubT environments, rigorous hardening of autonomy sta...
- Mobile UMI: Cross-View Diffusion Policy with Decoupled Kinematics for Mobile Manipulation
Mobile imitation learning on portable demonstration interfaces faces two coupled bottlenecks: locomotion-contaminated action labels and inference-induced execution latency on a continuously moving base. Recent wrist-mounted interfaces lower the cost of tabletop data collection, yet a single wrist vi...
- DISC: Decoupling Instruction from State-Conditioned Control via Policy Generation
Language-conditioned manipulation policies typically process instructions and observations through shared network parameters. This task-state entanglement provides a pathway for observation leakage -- networks learn scene-to-action shortcuts that bypass language grounding entirely. DISC eliminates t...
- SmoCap: Unified Scale-Pose Canonicalization with Proxy-Mapped Trust-Region QP
Objective: Stage-wise workflows that separate model scaling and inverse kinematics can induce morphology-posture compensation, resulting in anatomically inconsistent yet numerically acceptable solutions, especially in weakly observed directions. We present SmoCap, a leakage-resistant canonicalizatio...
- Demo-JEPA: Joint-Embedding Predictive Architecture for One-shot Cross-Embodiment Imitation
Robotic imitation learning is often treated as reproducing demonstrated actions, but actions are inherently embodiment-specific. When demonstrations come from humans or robots with different morphology, kinematics, or action spaces, this action-centric view requires shared action spaces, heuristic r...
- VLA-REPLICA: A Low-Cost, Reproducible Benchmark for Real-World Evaluation of Vision-Language-Action Models
Vision-Language-Action (VLA) models have shown strong promise for general-purpose robotic manipulation, but their real-world evaluation remains limited by a lack of accessible, reproducible, and consistent benchmarks. Simulation benchmarks fail to capture real-world complexity, while existing real-w...
- GaussianDream: A Feed-Forward 3D Gaussian World Model for Robotic Manipulation
Vision-language-action (VLA) policies have advanced language-conditioned robotic manipulation by transferring semantic priors from pretrained vision-language models to action generation. Yet, standard action-imitation training often provides limited explicit supervision for 3D geometry, dense visual...
- Jointly Learning Predicates and Actions Enables Zero-Shot Skill Composition
Learning from Demonstration (LfD) enables robots to learn complex behaviors from expert examples, yet existing approaches often fail to generalize to new compositions of known skills without retraining. Modern generative policies model distributions over action trajectories alone, thus are unable to...
- Time-To-Reach Separation and Safety Filtering for Safe, Fair, and Efficient Multi-Agent Coordination
Advanced Air Mobility (AAM) operations are expected to significantly increase aerial traffic in urban airspace, requiring autonomous traffic management systems to ensure collision-free operations in highly congested environments. In this paper, we propose a multi-agent coordination framework that us...
- $L^2$ over Wasserstein: Statistical Analysis for Optimal Transport
Optimal transport provides an inherently geometric and highly structured framework for studying spaces of probability measures, supplying a rich theoretical toolkit for contemporary statistics, machine learning, and generative modelling. In applications, however, the measures of interest are almost ...
- Federated LoRA Fine-Tuning for LLMs via Collaborative Alignment
Low-rank adaptation (LoRA) has emerged as a powerful tool for parameter-efficient fine-tuning of large language models (LLMs). This paper studies LoRA under a federated learning setting, enabling collaborative fine-tuning across clients while preserving parameter efficiency. We focus on a highly het...
- Divide et Calibra: Multiclass Local Calibration via Vector Quantization
Accurate and well-calibrated Machine Learning (ML) models are mandatory in high-stakes settings, yet effective multiclass calibration remains challenging: global approaches assume calibration errors are homogeneous across the latent space, while local methods often rely on latent-space dimensionalit...
- LOSCAR-SGD: Local SGD with Communication-Computation Overlap and Delay-Corrected Sparse Model Averaging
Communication is a major bottleneck in distributed learning, especially in large-scale settings and in federated learning environments with slow links. Three standard ways to reduce this cost are communication compression, local training, and communication-computation overlap. Methods that combine t...
- Correcting Stochastic Update Bias in Preconditioned Language Model Optimizers
Preconditioned optimizers are central to language model training, but their stochastic update rules are usually treated as direct approximations to population preconditioned descent. We show that this view misses two finite-sample biases. First, the gradient and preconditioner are typically estimate...
- Interpretable Discriminative Text Representations via Agreement and Label Disentanglement
Interpretable text representations should expose coordinates that are not only predictive, but also meaningful enough for independent auditors to apply. Existing discriminative representations often use anonymous embedding directions, while concept-bottleneck and LLM-assisted methods attach natural-...
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- The General Theory of Localization Methods
This paper proposes a general machine learning framework called the localization method, which is fundamentally built on two core concepts: localization kernels and local means -- key components that underpin the self-attention mechanism. To establish a rigorous theoretical foundation, the framework...
- Semiparametric Efficient Bilevel Gradient Estimation
Functional bilevel methods estimate a lower-level function and plug it into a hypergradient, but this plug-in gradient can retain first-order bias when the lower-level problem is learned nonparametrically. To remove this bias, we develop a semiparametric debiasing theory for population bilevel gradi...
- Conditioning Gaussian Processes on Almost Anything
Gaussian processes (GPs) offer a principled probabilistic model over functions, but exact inference is restricted to the linear-Gaussian regime. We establish an explicit equivalence between GPs and a class of linear diffusion models, recasting predictive sampling as an ODE with closed-form Gaussian ...
- Decision-Path Patterns as Tree Reliability Signals: Path-based Adaptive Weighting for Random Forest Classification
Random forests aggregate tree votes by simple majority, treating all trees as equally informative. We observe that the topological pattern along each tree's root-to-leaf decision path -- where and how often the dominant class label flips along it -- carries a signal of tree reliability that is explo...
- SURF: Steering the Scalarization Weight to Uniformly Traverse the Pareto Front
Scalarization is widely used in multi-objective optimization owing to its simplicity and scalability. In many applications, the goal is to generate solutions that represent diverse user preferences, ideally with uniform coverage of the Pareto front (PF). However, uniformly sampling scalarization wei...
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