Reinforcement Learning (RL) agents often struggle in real-world applications where environmental conditions are non-stationary, particularly when reward functions shift or the available action space expands. This paper introduces MORPHIN, a self-adaptive Q-learning framework that enables on-the-fly adaptation without full retraining. By integrating concept drift detection with dynamic adjustments to learning and exploration hyperparameters, MORPHIN adapts agents to changes in both the reward function and on-the-fly expansions of the agent’s action space, while preserving prior policy knowledge to prevent […]

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arXiv:2602.18569v1 Announce Type: new Abstract: Many people could benefit from exoskeleton assistance during gait, for either medical or nonmedical purposes. But exoskeletons bring added mass and structure, which in turn require compensating for. In this work, we present a lightweight, low-complexity, soft bilateral ankle exoskeleton for plantarflexion assistance, with a shoe attachment design that can be mounted on top of any pair of shoes. Experimental tests show no significant difference in lower limb kinematics and kinetics when wearing […]

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arXiv:2602.11198v1 Announce Type: new Abstract: Multi-agent frameworks promise to simplify LLM-driven software development, yet there is no principled way to evaluate their developer experience in a controlled setting. We introduce DDL2PropBank, a novel benchmark task that maps relational database schemas to PropBank rolesets, requiring autonomous retrieval of candidate frames and fine-grained linguistic reasoning over table names, columns, and relations. Using the Agent-as-a-Tool pattern, we implement identical agent logic across 10 frameworks and evaluate along two dimensions: (i) code […]

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We introduce Machine Learning as a Tool (MLAT), a design pattern in which pre-trained statistical machine learning models are exposed as callable tools within large language model (LLM) agent workflows. This allows an orchestrating agent to invoke quantitative predictions when needed and reason about their outputs in context. Unlike conventional pipelines that treat ML inference as a static preprocessing step, MLAT positions the model as a first-class tool alongside web search, database queries, and APIs, enabling the LLM […]

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Many robot tasks require attending to the history of past observations. For example, finding an item in a room requires remembering which places have already been searched. However, the best-performing robot policies typically condition only on the current observation, limiting their applicability to such tasks. Naively conditioning on past observations often fails due to spurious correlations: policies latch onto incidental features of training histories that do not generalize to out-of-distribution trajectories upon deployment. We analyze why policies latch […]

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arXiv:2602.12401v1 Announce Type: new Abstract: Zero-shot Learning (ZSL) enables classifiers to recognize classes unseen during training, commonly via generative two stage methods: (1) learn visual semantic correlations from seen classes; (2) synthesize unseen class features from semantics to train classifiers. In this paper, we identify spurious visual semantic correlations in existing generative ZSL worsened by scarce seen class samples and introduce two metrics to quantify spuriousness for seen and unseen classes. Furthermore, we point out a more critical […]

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Hey everyone, I’ve been working on a research project in value-based reinforcement learning and wanted to share it here to get feedback and start a discussion. The core idea is pretty simple: why should an RL agent use the same amount of computation for every state? In practice, many states are easy and need shallow reasoning, while others are ambiguous or long-horizon and benefit from deeper inference. Most Transformer-based Q-networks ignore this and always run full depth. I […]

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