February 2026

Quadruped robots are employed in various scenarios in building construction. However, autonomous stair climbing across different indoor staircases remains a major challenge for robot dogs to complete building construction tasks. In this project, we employed a two-stage end-to-end deep reinforcement learning (RL) approach to optimize a robot’s performance on U-shaped stairs. The training robot-dog modality, Unitree Go2, was first trained to climb stairs on Isaac Lab’s pyramid-stair terrain, and then to climb a U-shaped indoor staircase using the […]

Ver mais

Reinforcement learning (RL) has enhanced the capabilities of large language models (LLMs) through reward-driven training. Nevertheless, this process can introduce excessively long responses, inflating inference latency and computational overhead. Prior length-control approaches typically rely on fixed heuristic reward shaping, which can misalign with the task objective and require brittle tuning. In this work, we propose LACONIC, a reinforcement learning method that enforces a target token budget during training. Specifically, we update policy models using an augmented objective that […]

Ver mais

arXiv:2602.08216v2 Announce Type: replace-cross Abstract: We propose an effective field-theoretic framework for analyzing Transformer attention through a thermodynamic lens. By constructing a Lagrangian on the information manifold equipped with the Fisher metric, we show that, within the Shannon–Boltzmann entropy framework, the Softmax function arises as a stationary solution minimizing a Helmholtz free energy functional. This establishes a formal correspondence between scaled dot-product attention and canonical ensemble statistics. Extending this mapping to macroscopic observables, we define an effective specific […]

Ver mais

arXiv:2601.21717v2 Announce Type: replace-cross Abstract: We establish sample complexity guarantees for estimating the covariance matrix of a strongly log-concave smooth distribution using the unadjusted Langevin algorithm (ULA). We quantitatively compare our complexity estimates on single-chain ULA with embarrassingly parallel ULA and derive that the sample complexity of the single-chain approach is smaller than that of embarrassingly parallel ULA by a logarithmic factor in the dimension and the reciprocal of the prescribed precision, with the difference arising from effective […]

Ver mais

arXiv:2510.26510v3 Announce Type: replace-cross Abstract: Model and hyperparameter selection are critical but challenging in machine learning, typically requiring expert intuition or expensive automated search. We investigate whether large language models (LLMs) can act as in-context meta-learners for this task. By converting each dataset into interpretable metadata, we prompt an LLM to recommend both model families and hyperparameters. We study two prompting strategies: (1) a zero-shot mode relying solely on pretrained knowledge, and (2) a meta-informed mode augmented with […]

Ver mais

arXiv:2510.01022v2 Announce Type: replace-cross Abstract: We introduce vector diffusion wavelets (VDWs), a novel family of wavelets inspired by the vector diffusion maps algorithm that was introduced to analyze data lying in the tangent bundle of a Riemannian manifold. We show that these wavelets may be effectively incorporated into a family of geometric graph neural networks, which we refer to as VDW-GNNs. We demonstrate that such networks are effective on synthetic point cloud data, as well as on real-world […]

Ver mais

arXiv:2507.04103v4 Announce Type: replace-cross Abstract: LLM-based web agents have recently made significant progress, but much of it has occurred in closed-source systems, widening the gap with open-source alternatives. Progress has been held back by two key challenges: first, a narrow focus on single-step tasks that overlooks the complexity of multi-step web interactions; and second, the high compute costs required to post-train LLM-based web agents. To address this, we present the first statistically grounded study on compute allocation for […]

Ver mais

arXiv:2506.13652v2 Announce Type: replace-cross Abstract: Accurate weather forecasts are essential for supporting a wide range of activities and decision-making processes, as well as mitigating the impacts of adverse weather events. While traditional numerical weather prediction (NWP) remains the cornerstone of operational forecasting, machine learning is emerging as a powerful alternative for fast, flexible, and scalable predictions. We introduce PeakWeather, a high-quality dataset of surface weather observations collected every 10 minutes over more than 8 years from the ground […]

Ver mais

arXiv:2506.04166v2 Announce Type: replace-cross Abstract: Nearest neighbor (NN) methods have re-emerged as competitive tools for matrix completion, offering strong empirical performance and recent theoretical guarantees, including entry-wise error bounds, confidence intervals, and minimax optimality. Despite their simplicity, recent work has shown that NN approaches are robust to a range of missingness patterns and effective across diverse applications. This paper introduces N$^2$, a unified Python package and testbed that consolidates a broad class of NN-based methods through a modular, […]

Ver mais

arXiv:2504.16585v2 Announce Type: replace-cross Abstract: In large-scale supervised learning, penalized logistic regression (PLR) effectively mitigates overfitting through regularization, yet its performance critically depends on robust variable selection. This paper demonstrates that label noise introduced during manual annotation, often dismissed as a mere artifact, can serve as a valuable source of information to enhance variable selection in PLR. We theoretically show that such noise, intrinsically linked to classification difficulty, helps refine the estimation of non-zero coefficients compared to using […]

Ver mais