digitado

arXiv:2603.20239v1 Announce Type: new Abstract: 3D Scene Graphs (3DSGs) provide hierarchical, multi-resolution abstractions that encode the geometric and semantic structure of an environment, yet their treatment of dynamics remains limited to tracking individual agents. Maps of Dynamics (MoDs) complement this by modeling aggregate motion patterns, but rely on uniform grid discretizations that lack semantic grounding and scale poorly. We present Rheos, a framework that explicitly embeds continuous directional motion models into an additional dynamics layer of a hierarchical […]

Ver mais

arXiv:2603.20238v1 Announce Type: new Abstract: Efficient computation offloading in multi-UAV edge networks becomes particularly challenging in dense urban areas, where line-of-sight (LoS) links are frequently blocked and user demand varies rapidly. Reconfigurable intelligent surfaces (RISs) can mitigate blockage by creating controllable reflected links, but realizing their potential requires tightly coupled decisions on UAV trajectories, offloading schedules, and RIS phase configurations. This joint optimization is hard to solve in practice because multiple UAVs must coordinate under limited information exchange, […]

Ver mais

arXiv:2603.20236v1 Announce Type: new Abstract: Recent advances in unimanual manipulation policies have achieved remarkable success across diverse robotic tasks through abundant training data and well-established model architectures. However, extending these capabilities to bimanual manipulation remains challenging due to the lack of bimanual demonstration data and the complexity of coordinating dual-arm actions. Existing approaches either rely on extensive bimanual datasets or fail to effectively leverage pre-trained unimanual policies. To address this limitation, we propose textbf{EnergyAction}, a novel framework that […]

Ver mais

arXiv:2603.20235v1 Announce Type: new Abstract: We qualitatively compared literature reviews produced with varying degrees of AI assistance. The same LLM, given the same corpus of 280 papers but different selections, produced dramatically different reviews, from mainstream and politically neutral to critical and post-colonial, though neither orientation was intended. LLM outputs always appear at first glance to be well written, well informed and thought out, but closer reading reveals gaps, biases and lack of depth. Our comparison of six […]

Ver mais

arXiv:2603.20234v1 Announce Type: new Abstract: In contemporary autonomous driving testing, virtual simulation has become an important approach due to its efficiency and cost effectiveness. However, existing methods usually rely on reinforcement learning to generate risky scenarios, making it difficult to efficiently learn realistic emergency behaviors. To address this issue, we propose a behavior guided method for generating high risk lane change scenarios. First, a behavior learning module based on an optimized sequence generative adversarial network is developed to […]

Ver mais

arXiv:2603.20233v1 Announce Type: new Abstract: Federated robotic task execution systems require bridging natural language instructions to distributed robot control while efficiently managing computational resources across heterogeneous edge devices without centralized coordination. Existing approaches face three limitations: rigid hand-coded planners requiring extensive domain engineering, centralized coordination that contradicts federated collaboration as robots scale, and static resource allocation failing to share containers across robots when workloads shift dynamically. We present SwiftBot, a federated task execution platform that integrates LLM-based task […]

Ver mais

arXiv:2603.20232v1 Announce Type: new Abstract: Autonomous driving testing increasingly relies on mining safety critical scenarios from large scale naturalistic driving data, yet existing screening pipelines still depend on manual risk annotation and expensive frame by frame risk evaluation, resulting in low efficiency and weakly grounded risk quantification. To address this issue, we propose a driver risk fusion based hazardous scenario screening method for autonomous driving. During training, the method combines an improved Driver Risk Field with a dynamic […]

Ver mais

arXiv:2603.20231v1 Announce Type: new Abstract: Email communication increasingly involves large language models (LLMs), but we lack intuition on how they will read, write, and optimize for nuanced social goals. We introduce HR Simulator, a game where communication is the core mechanic: players play as a Human Resources officer and write emails to solve socially challenging workplace scenarios. An analysis of 600+ human and LLM emails with LLMs-as-judge reveals evidence for larger LLMs becoming more homogenous in their email […]

Ver mais

arXiv:2603.20230v1 Announce Type: new Abstract: Autonomous driving involves multiple, often conflicting objectives such as safety, efficiency, and comfort. In reinforcement learning (RL), these objectives are typically combined through weighted summation, which collapses their relative priorities and often yields policies that violate safety-critical constraints. To overcome this limitation, we introduce the Preordered Multi-Objective MDP (Pr-MOMDP), which augments standard MOMDPs with a preorder over reward components. This structure enables reasoning about actions with respect to a hierarchy of objectives rather […]

Ver mais

arXiv:2603.20229v1 Announce Type: new Abstract: Traditional survey-based political issue polling is becoming less tractable due to increasing costs and risk of bias associated with growing non-response rates and declining coverage of key demographic groups. With researchers and pollsters seeking alternatives, Large Language Models have drawn attention for their potential to augment human population studies in polling contexts. We propose and implement a new framework for anticipating human responses on multiple-choice political issue polling questions by directly prompting an […]

Ver mais