arXiv:2603.08905v1 Announce Type: new Abstract: Deformable granular terrains introduce significant locomotion and immobilization risks in planetary exploration and are difficult to detect via remote sensing (e.g., vision). Legged robots can sense terrain properties through leg-terrain interactions during locomotion, offering a direct means to assess traversability in deformable environments. How to systematically exploit this interaction-derived information for navigation planning, however, remains underexplored. We address this gap by presenting PSANE, a Proprioceptive Safe Active Navigation and Exploration framework that leverages […]

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arXiv:2511.19476v3 Announce Type: replace Abstract: Coreset selection compresses large datasets into compact, representative subsets, reducing the energy and computational burden of training deep neural networks. Existing methods are either: (i) DNN-based, which are tied to model-specific parameters and introduce architectural bias; or (ii) DNN-free, which rely on heuristics lacking theoretical guarantees. Neither approach explicitly constrains distributional equivalence, largely because continuous distribution matching is considered inapplicable to discrete sampling. Moreover, prevalent metrics (e.g., MSE, KL, CE, MMD) cannot accurately […]

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arXiv:2407.10417v2 Announce Type: replace Abstract: A fundamental challenge in machine learning is the choice of a loss as it characterizes our learning task, is minimized in the training phase, and serves as an evaluation criterion for estimators. Proper losses are commonly chosen, ensuring minimizers of the full risk match the true probability vector. Estimators induced from a proper loss are widely used to construct forecasters for downstream tasks such as classification and ranking. In this procedure, how does […]

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Gradient temporal-difference (GTD) learning algorithms are widely used for off-policy policy evaluation with function approximation. However, existing convergence analyses rely on the restrictive assumption that the so-called feature interaction matrix (FIM) is nonsingular. In practice, the FIM can become singular and leads to instability or degraded performance. In this paper, we propose a regularized optimization objective by reformulating the mean-square projected Bellman error (MSPBE) minimization. This formulation naturally yields a regularized GTD algorithms, referred to as R-GTD, which […]

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Many real-world optimization problems involve an expensive ground-truth oracle (e.g., human evaluation, physical experiments) and a cheap, low-fidelity prediction oracle (e.g., machine learning models, simulations). Meanwhile, abundant offline data (e.g., past experiments and predictions) are often available and can be used to pretrain powerful predictive models, as well as to provide an informative prior. We propose Prediction-Augmented Gaussian Process Upper Confidence Bound (PA-GP-UCB), a novel Bayesian optimization algorithm that leverages both oracles and offline data to achieve provable […]

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arXiv:2603.25816v1 Announce Type: new Abstract: Reach-avoid analysis is fundamental to reasoning about the safety and goal-reaching behavior of dynamical systems, and serves as a foundation for specifying and verifying more complex control objectives. This paper introduces a reach-avoid certificate framework for discrete-time, continuous-space stochastic systems over both finite- and infinite-horizon settings. We propose two formulations: time-varying and time-invariant certificates. We also show how these certificates can be synthesized using sum-of-squares (SOS) optimization, providing a convex formulation for verifying […]

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We propose a novel LLM-based framework for reasoning in discrete, game-theoretic tasks, illustrated with emph{Tic-Tac-Toe}. The method integrates in-context learning with entropy-guided chain-of-thought (CoT) reasoning and adaptive context retrieval. The model dynamically adjusts both the number of retrieved examples and reasoning paths according to token-level uncertainty: concise reasoning with minimal context is used when uncertainty is low, whereas higher uncertainty triggers expanded multi-path CoT exploration. Experimental evaluation against a sub-optimal algorithmic opponent shows that entropy-aware adaptive reasoning substantially […]

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arXiv:2601.18800v1 Announce Type: new Abstract: Triad magnetometer components change with sensor attitude even when the IGRF total intensity target stays invariant. NavFormer forecasts this invariant target with rotation invariant scalar features and a Canonical SPD module that stabilizes the spectrum of window level second moments of the triads without sign discontinuities. The module builds a canonical frame from a Gram matrix per window and applies state dependent spectral scaling in the original coordinates. Experiments across five flights show […]

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