AI News Archive: July 8, 2026 — Part 17
Sourced from 500+ daily AI sources, scored by relevance.
- PeTeR: Post-Training Robustification of Probabilistic Circuits
Probabilistic circuits (PCs) can model complex joint distributions while supporting exact and efficient computation of many inference queries. However, standard likelihood-based PC learning is vulnerable to overfitting and fragile generalization when confronted with data noise, small sample sizes, o...
- Guidance Breaks the Fitted Operator: A Terminal-Fitted Repair for Classifier-Free Guidance
Classifier-free guidance (CFG) is the standard way to strengthen class-conditioning in diffusion and flow-matching samplers, yet at large guidance it oversaturates and destabilizes, symptoms practitioners suppress with more steps or limited-interval schedules. We analyze CFG through an asymptotic-pr...
- Avoiding unsafe sets when training with Langevin Dynamics
Training a model with noisy gradient descent can be idealized as overdamped Langevin dynamics on the loss landscape, and a natural safety question is to bound the probability $ν_t(\mathcal{A}_H) = \mathbb{P}(Q_t \in \mathcal{A}_H)$ that the trajectory lies in a designated failure region $\mathcal{A}...
- The Optimal Sample Complexity of Learning Autoregressive Chain-of-Thought
We prove that, in the realizable PAC setting, the sample complexity of exact-trace learning for full autoregressive Chain-of-Thought traces is upper bounded by the standard multiclass rate of the local next-token class, where this rate is governed by the Daniely--Shalev-Shwartz dimension. Under exac...
- Sparse Delta Memory: Scaling the State of Linear RNNs through Sparsity
Linear attention models allow a fixed state size and a fixed amount of compute per token. However, due to their limited state size, linear attention models fall behind in long-context recall compared to softmax-attention-based transformer architectures. Increasing the state size of linear attention ...
- Immersive Social Interaction with VR and LLM-Assisted Humanoids
Humanoid robots can extend human presence to remote, constrained, or hazardous environments, but existing teleoperation interfaces often require physically demanding motion tracking or cognitively demanding low-level control. This paper presents an immersive teleoperation framework that integrates v...
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- TouchWorld: A Predictive and Reactive Tactile Foundation Model for Dexterous Manipulation
Dexterous manipulation in everyday environments requires both anticipation and reaction: a robot must predict how contact should evolve while rapidly correcting local errors caused by slip, misalignment, unstable grasping, or force mismatch. Vision and language provide semantic and geometric guidanc...
- Safe Reinforcement Learning using Ideas from Model Predictive Control
Reinforcement learning (RL) enables the synthesis of control policies directly from data, making it highly appealing for complex cyber-physical systems (CPSs) and robotics. A persistent challenge, however, is ensuring strict, hard safety constraints during the active learning phase. In real-world ph...
- Compositional Motion Generation from Demonstration with Object-Centric Neural Fields
Compositionality, by organizing complex behavior as combinations of simpler elements, enables robot learning that is scalable and data efficient. Leveraging this principle, we propose a generative learning-from-demonstration framework that enables compositional modeling of robotic behavior by connec...
- A Closed-Loop Multi-Agent Framework for Robust Multi-Robot Manipulation
Multi-robot systems provide the parallelism and redundancy necessary for long-horizon tasks, while Large Language Models (LLMs) offer the reasoning capabilities to decompose these objectives into actionable plans. However, effectively grounding this high-level reasoning in physical multi-robot execu...
- WAM-TTT: Steering World-Action Models by Watching Human Play at Test Time
Steering robot foundation models (RFMs) toward new task variants or user-preferred behaviors remains challenging, often requiring additional robot demonstrations, task-specific fine-tuning, or long-context conditioning. We present WAM-TTT, a test-time training framework for steering world action mod...
- End-to-End LLM Flight Planning with RAG-based Memory and Multi-modal Coach Agent
Bridging the gap between human pilot intent and autonomous flight operation is critical for real-world electric vertical takeoff and landing (eVTOL) aircraft deployment. Flight planning traditionally relies on classic algorithms that struggle to incorporate flexible human preferences. We present FRA...
- Flow-ERD: Agent-type Aware Flow Matching with Entropy-Regularized Distillation for Diverse Traffic Simulation
Realistic and diverse traffic simulation is essential to autonomous driving development. Yet prevailing benchmarks predominantly reward realism, and recent methods have optimized accordingly, leaving diversity underexplored. We introduce \textbf{Flow-ERD}, a multi-agent simulator that pursues realis...
- Dynamic Object Detection and Tracking in Construction: A Fisheye Camera and LiDAR Sensor Fusion Model
Robust dynamic object detection and tracking are essential for enabling robots to operate safely and effectively alongside humans in complex environments such as construction sites. While LiDAR-based SLAM and occupancy grid methods offer viable solutions for detecting and tracking motion, many state...
- GemNav: Discrete-Token Visual Robot Navigation using a Multimodal Large Language Model
Visual navigation policies built on large pretrained models have so far followed a common recipe: a dedicated visual encoder, a bespoke action head, and training on thousands of hours of cross-embodiment datasets. We ask whether this recipe is necessary. In this paper, we introduce GemNav, a visual ...
- Continuous and large-scale: ELEANOR, the soft architected arm inspired by the elephant trunk
The elephant trunk is a dexterous and versatile manipulator whose performance is still unmatched in robotics. In previous works, modularity was prioritized and relatively small-scale continuum robots were built. We take the natural proboscis of the *Loxodonta africana* species as a model and propose...
- Context-Aware Force Estimation for Deformable Tool Manipulation in Robotic Environmental Swabbing via Few-Shot Continual Adaptation
Robotic surface swabbing requires sustained interaction between a compliant tool and heterogeneous environments, where accurate estimation of tip-level contact force is critical for consistent sampling performance. However, deformable tool dynamics introduce nonlinear viscoelastic hysteresis that de...
- Generating Personalized Lower-Limb Kinematics Across Walking Speeds Using Subject-Conditioned Diffusion
Personalizing exoskeleton assistance requires user-specific gait data across many locomotor tasks, yet collecting this data demands repeated motion capture sessions that are costly, time-intensive, and especially burdensome for clinical populations. This challenge is most acute across walking speeds...
- Smooth Operator: A Real-Time Sampling-Based Algorithm for Kinematic Hand Retargeting
Advances in learning-based robotic manipulation, such as Vision-Language-Action (VLA) models and Video Action Models (VAMs), heavily rely on high-quality teleoperation data. Their capabilities are strictly upper-bounded by the quality of the underlying human demonstrations. Current gradient-based re...
- Agent-Exploitation Affordances: From Basic to Complex Representation Patterns
In robotics, the capability of an artificial agent to represent the range of its action possibilities, i.e. affordances, is crucial to understand how it can act on its environment. While functional affordances, which refer to the use of tools and objects, have been broadly studied in knowledge repre...
- GeoGS-SLAM: Geometry-Only Gaussian Splatting for Dense Monocular SLAM
Dense visual SLAM is a fundamental problem in robotics. Recent advances in 3DGS have demonstrated its potential for dense SLAM. Existing 3DGS frameworks focus on both appearance and geometry modeling. However, scene geometry is typically more critical for SLAM than novel view synthesis because downs...
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- Initiation Safety: A Missing Dimension in Generalist-Robot Safety
Safety for generalist robots is usually discussed in terms of motion or dialogue. We argue a third question is missing: should the robot take its first hard-to-undo social action at all, such as a greeting, an uninvited grasp, or stepping into someone's space? We call this initiation authorization. ...
- Multi-Agent Robotic Control with Onboard Vision-Language Models
Vision Language Models (VLMs) and Vision Language Action (VLA) models have shown promise in robotic control. Yet, they face significant challenges regarding explainability, generalization, and compute requirements. This paper presents a Multi-Agent System (MAS) architecture that addresses these limi...
- Communicative Efficiency of Single vs. Multi-Axis Robot Neck Motion
Nonverbal communication through head and neck movement is fundamental to human social signalling, yet how robotic neck morphology translates motion into communicative information remains poorly understood. We present an information-theoretic framework characterising robot neck movement as a communic...
- PLED-VINS: A Point-Line Event-Based Visual Inertial SLAM for Dynamic Environments
Dynamic environments remain a fundamental challenge for visual SLAM, where unreliable observations from moving objects and rapid motion degrade state estimation accuracy. Although event cameras preserve fine-grained spatio-temporal information, most existing event-based SLAM frameworks still assume ...
- Behavior Foundations for Quadruped Robots: ABot-C0 Technical Report
In embodied intelligence systems, the motion controller serves as the critical bridge between semantic reasoning and physical execution. Humanoid control has progressed rapidly through large-scale human motion-capture data and motion-tracking paradigm. However, producing quadruped robots motion corp...
- Programmable Synchronization Graphs for Adaptive and Fault-Tolerant Modular Miniature Robots
Modular miniature robots could provide scalable function in constrained environments, but coordinating many imperfect modules remains difficult when computation, communication and reliability are limited. A central robotics challenge is to coordinate many actuator-sensor modules without assigning a ...
- Manual, Joystick, or Haptic Control? An In Vitro Comparison of Navigation Strategies for Robotic Interventional Neuroradiology Procedures
Objective: To evaluate robotic controller interfaces for interventional neuroradiology procedures in-vitro incorporating a force-sensing platform to assess safety. Methods: A custom endovascular robot, device-mimicking controller, and sensorized neurovascular phantom were developed. Ten intervention...
- Validate the Dream Before You Trust Its Verdict: Admissibility for World-Model Simulators
Across robotics, World Models (WMs) are increasingly used to evaluate action policies by simulating the consequences of actions in an imagined world, and returning a success or safety verdict. Yet a verdict is only as trustworthy as the WM that produced it, and the WM itself needs to be certified. I...
- Disturbance-aware Motion Planning for Over-actuated Underwater Vehicles Exploiting Actuation Redundancy for High-fidelity 3D Reconstruction
Underwater robots often operate near delicate targets where high-power thrusters resuspend sediments and induce turbulence, degrading image quality at the sensor input. Conventional controllers optimize vehicle-centric objectives, such as tracking and stability, without accounting for the impact of ...
- Learning Spatiotemporal Tubes for Full Class of Signal Temporal Logic Tasks for Control of Unknown Systems under Input Constraints
This paper presents a Spatiotemporal Tube (STT)-based control framework for general unknown nonlinear Euler-Lagrange (EL) systems subject to input constraints, with the objective of satisfying Signal Temporal Logic (STL) specifications, where confinement of the system trajectory within the STT guara...
- Transfer Learning for Linear Discriminant Analysis with a Shared Classification Signal
This paper studies transfer learning for linear discriminant analysis in high-dimensional two-class classification. We consider one target domain and several source domains, where the mean difference in each domain is decomposed into a deterministic common component and a domain-specific random devi...
- Best-Arm Identification with Generative Proxy
Best-arm identification is a canonical model for data-driven decision-making, but in many applications each reward observation is costly. Motivated by the growing availability of cheap predictions from machine learning and large language models, we study fixed-confidence best-arm identification in w...
- DiPhon: Diffusion on Graphons for Scalable Graph Generation
Diffusion models represent a leading paradigm for graph generation, with notable impact in domains such as molecular design. Yet, scaling these models to large graphs remains an open problem. We approach this question in the dense-graph setting through the lens of graphons, the size-agnostic limit o...
- Gauge-Invariant Learnable Spectral Positional Encodings for Directed Graphs via Hermitian Block Krylov Subspaces
Spectral positional encodings (PEs) for \emph{directed} graphs face two obstacles: magnetic Laplacians require an $O(n^3)$ Hermitian eigendecomposition per potential, and their complex eigenvectors are defined only up to unitary gauge, which prior work handles with basis-invariant architectures. We ...
- Local large deviations for linear-region growth in random piecewise-linear networks
We study a random compositional model for the growth of affine regions in deep piecewise-linear networks. The model is generated by i.i.d.\ perturbations of the symmetric height-one tent map, and the main observable is the number \(N_n\) of affine pieces after \(n\) layers. We prove the existence of...
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