March 2026

Embodied robotic systems increasingly rely on large language model (LLM)-based agents to support high-level reasoning, planning, and decision-making during interactions with the environment. However, invoking LLM reasoning introduces substantial computational latency and resource overhead, which can interrupt action execution and reduce system reliability. Excessive reasoning may delay actions, while insufficient reasoning often leads to incorrect decisions and task failures. This raises a fundamental question for embodied agents: when should the agent reason, and when should it act? In […]

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Stiff dynamical systems present a challenge for machine-learning reduced-order models (ML-ROMs), as explicit time integration becomes unstable in stiff regimes while implicit integration within learning loops is computationally expensive and often degrades training efficiency. Time reparameterization (TR) offers an alternative by transforming the independent variable so that rapid physical-time transients are spread over a stretched-time coordinate, enabling stable explicit integration on uniformly sampled grids. Although several TR strategies have been proposed, their effect on learnability in ML-ROMs remains […]

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Stiff dynamical systems present a challenge for machine-learning reduced-order models (ML-ROMs), as explicit time integration becomes unstable in stiff regimes while implicit integration within learning loops is computationally expensive and often degrades training efficiency. Time reparameterization (TR) offers an alternative by transforming the independent variable so that rapid physical-time transients are spread over a stretched-time coordinate, enabling stable explicit integration on uniformly sampled grids. Although several TR strategies have been proposed, their effect on learnability in ML-ROMs remains […]

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If a number has a finite but nonzero fractional part, so do all its powers. I recently ran across a proof in [1] that is shorter than I expected. Theorem: Suppose r is a real number that is not an integer, and the decimal part of r terminates. Then rk is not an integer for any positive integer k. Proof: The number r can be written as a reduced fraction a / 10m for some positive m. If s = rk were an […]

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The previous post introduced the idea of a twelve-tone row, a permutation of the twelve pitch classes of a chromatic scale. The earlier post also introduced a group of operations on a tone row with elements P, R, I, and RI. Here P, which stands for “prime”, is the identity operator: it leaves the tone row alone. R stands for retrograde, which means to reverse the sequence. I stands for inversion, inverting each of the intervals in the […]

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