Hey guys, I have been trying to convert my CAD file into Mujoco, so I can realistically simulate and train the exact robot. It’s been difficult because step file doesnt have all the information Mujoco needs, and the whole process is very manual & frustrating. Is there another way to do this right? Thanks. For context, I’m using Onshape, but open to other workflow suggestions as I will be building and training robots a lot. I want to […]

Ver mais

arXiv:2601.09758v1 Announce Type: cross Abstract: Batch effects represent a major confounder in genomic diagnostics. In copy number variant (CNV) detection from NGS, many algorithms compare read depth between test samples and a reference sample, assuming they are process-matched. When this assumption is violated, with causes ranging from reagent lot changes to multi-site processing, the reference becomes inappropriate, introducing false CNV calls or masking true pathogenic variants. Detecting such heterogeneity before downstream analysis is critical for reliable clinical interpretation. […]

Ver mais

arXiv:2604.02372v1 Announce Type: new Abstract: Decentralised post-training of large language models utilises data and pipeline parallelism techniques to split the data and the model. Unfortunately, decentralised post-training can be vulnerable to poisoning and backdoor attacks by one or more malicious participants. There have been several works on attacks and defenses against decentralised data parallelism or federated learning. However, existing works on the robustness of pipeline parallelism are limited to poisoning attacks. To the best of our knowledge, this […]

Ver mais

arXiv:2603.15627v1 Announce Type: new Abstract: Traditional fluid dynamics simulation pipelines combine numerical solvers with rendering, producing highly realistic results but at considerable computational cost. Diffusion-based generative video models offer a faster alternative, yet often ignore physical laws and thus fail to capture consistent dynamics. We propose a physics-informed video diffusion framework that jointly generates visual outputs and physical states. Unlike prior two-stage approaches that first simulate the physical variables and then render, we directly integrate physics constraints into […]

Ver mais

The marginal likelihood, or Bayesian evidence, is a crucial quantity for Bayesian model comparison but its computation can be challenging for complex models, even in parameters space of moderate dimension. The learned harmonic mean estimator has been shown to provide accurate and robust estimates of the marginal likelihood simply using posterior samples. It is agnostic to the sampling strategy, meaning that the samples can be obtained using any method. This enables marginal likelihood calculation and model comparison with […]

Ver mais

arXiv:2603.02370v1 Announce Type: new Abstract: Large Vision-Language Models (LVLMs) have grown increasingly powerful in recent years, but can also exhibit harmful biases. Prior studies investigating such biases have primarily focused on demographic traits related to the visual characteristics of a person depicted in an image, such as their race or gender. This has left biases related to cultural differences (e.g., religion, socioeconomic status), which cannot be readily discerned from an individual’s appearance alone, relatively understudied. A key challenge […]

Ver mais

Glacial Lake Outburst Floods (GLOFs) pose a serious threat in high mountain regions. They are hazardous to communities, infrastructure, and ecosystems further downstream. The classical methods of GLOF detection and prediction have so far mainly relied on hydrological modeling, threshold-based lake monitoring, and manual satellite image analysis. These approaches suffer from several drawbacks: slow updates, reliance on manual labor, and losses in accuracy when clouds interfere and/or lack on-site data. To tackle these challenges, we present IceWatch: a […]

Ver mais