arXiv:2601.22255v1 Announce Type: new Abstract: This article sets off for an exploration of the still evolving discourse surrounding artificial intelligence (AI) in the wake of the release of ChatGPT. It scrutinizes the pervasive narratives that are shaping the societal engagement with AI, spotlighting key themes such as agency and decision-making, autonomy, truthfulness, knowledge processing, prediction, general purpose, neutrality and objectivity, apolitical optimization, sustainability game-changer, democratization, mass unemployment, and the dualistic portrayal of AI as either a harbinger of […]

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arXiv:2602.20225v1 Announce Type: new Abstract: This paper introduces Function-space Adaptive Constrained Trajectory Optimization (FACTO), a new trajectory optimization algorithm for both single- and multi-arm manipulators. Trajectory representations are parameterized as linear combinations of orthogonal basis functions, and optimization is performed directly in the coefficient space. The constrained problem formulation consists of both an objective functional and a finite-dimensional objective defined over truncated coefficients. To address nonlinearity, FACTO uses a Gauss-Newton approximation with exponential moving averaging, yielding a smoothed […]

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arXiv:2603.12458v1 Announce Type: new Abstract: While Large Language Models (LLMs) achieve expert-level performance on standard medical benchmarks through single-hop factual recall, they severely struggle with the complex, multi-hop diagnostic reasoning required in real-world clinical settings. A primary obstacle is “shortcut learning”, where models exploit highly connected, generic hub nodes (e.g., “inflammation”) in knowledge graphs to bypass authentic micro-pathological cascades. To address this, we introduce ShatterMed-QA, a bilingual benchmark of 10,558 multi-hop clinical questions designed to rigorously evaluate deep […]

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Continual learning, enabling models to acquire new skills and knowledge without degrading existing capabilities, remains a fundamental challenge for foundation models. While on-policy reinforcement learning can reduce forgetting, it requires explicit reward functions that are often unavailable. Learning from expert demonstrations, the primary alternative, is dominated by supervised fine-tuning (SFT), which is inherently off-policy. We introduce Self-Distillation Fine-Tuning (SDFT), a simple method that enables on-policy learning directly from demonstrations. SDFT leverages in-context learning by using a demonstration-conditioned model […]

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You’re not risk-averse. You’re math-averse. The reason you haven’t started that business, published that work, or made that career move isn’t because you’re scared. It’s because you’re running the wrong calculation. Most people think about risk like accountants. They see a potential move – start a podcast, launch a product, quit their job – and immediately calculate what they could lose. Time. Money. Reputation. Stability. The numbers add up to “too risky.” So they don’t move. They stay […]

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We propose risk-sensitive reinforcement learning algorithms catering to three families of risk measures, namely expectiles, utility-based shortfall risk and optimized certainty equivalent risk. For each risk measure, in the context of a finite horizon Markov decision process, we first derive a policy gradient theorem. Second, we propose estimators of the risk-sensitive policy gradient for each of the aforementioned risk measures, and establish $mathcal{O}left(1/mright)$ mean-squared error bounds for our estimators, where $m$ is the number of trajectories. Further, under […]

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Mechanical ventilation (MV) is a life-saving intervention for patients with acute respiratory failure (ARF) in the ICU. However, inappropriate ventilator settings could cause ventilator-induced lung injury (VILI). Also, clinicians workload is shown to be directly linked to patient outcomes. Hence, MV should be personalized and automated to improve patient outcomes. Previous attempts to incorporate personalization and automation in MV include traditional supervised learning and offline reinforcement learning (RL) approaches, which often neglect temporal dependencies and rely excessively on […]

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Imitation Learning (IL) enables agents to mimic expert behavior by learning from demonstrations. However, traditional IL methods require large amounts of medium-to-high-quality demonstrations as well as actions of expert demonstrations, both of which are often unavailable. To reduce this need, we propose Latent Wasserstein Adversarial Imitation Learning (LWAIL), a novel adversarial imitation learning framework that focuses on state-only distribution matching. It benefits from the Wasserstein distance computed in a dynamics-aware latent space. This dynamics-aware latent space differs from […]

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