arXiv:2509.16478v2 Announce Type: replace
Abstract: Autonomous systems, such as autonomous driving systems, evolve rapidly through frequent updates, risking unintended behavioral degradations. Effective system-level testing is challenging due to the vast scenario space, the absence of reliable test oracles, and the need for practically applicable and interpretable test cases. We present CoCoMagic, a novel automated test case generation method that combines metamorphic testing, differential testing, and advanced search-based techniques to identify behavioral divergences between versions of autonomous systems. CoCoMagic formulates test generation as a constrained cooperative co-evolutionary search, evolving both source scenarios and metamorphic perturbations to maximize differences in violations of predefined metamorphic relations across versions. Constraints and population initialization strategies guide the search toward realistic, relevant scenarios. An integrated interpretability approach aids in diagnosing the root causes of divergences. We evaluate CoCoMagic on an end-to-end ADS, InterFuser, within the Carla virtual simulator. Results show significant improvements over baseline search methods, identifying up to 287\% more distinct high-severity behavioral differences while maintaining scenario realism. The interpretability approach provides actionable insights for developers, supporting targeted debugging and safety assessment. CoCoMagic offers an efficient, effective, and interpretable way for the differential testing of evolving autonomous systems across versions.
Science Journals
arXiv:2605.15257v1 Announce Type: new
Abstract: Chain-of-thought (CoT) monitoring is one of the most promising tools we have for detecting model misbehavior, but its effectiveness depends on models faithfully externalizing their reasoning. Motivated by this vulnerability, we study whether monitor-aware models are capable of obfuscating their reasoning to evade detection. We use synthetic document finetuning to expose eight models to realistic pre-training-style documents describing a CoT monitor and find that monitor-aware models consistently achieve higher rates of undetected misbehavior compared to unaware controls. This effect is weaker but still present on a harder agentic task. We also show that CoT controllability, a model's ability to reshape its own reasoning trace under an imposed constraint, is closely correlated with obfuscation success across the eight models studied ($r=0.800$, $p=0.017$). Monitor-aware models placed under equal reinforcement learning optimization pressure also learn to reward-hack without triggering a CoT monitor substantially faster than unaware controls. Together, these results suggest that knowledge of monitoring combined with high CoT controllability poses a risk to CoT-based monitoring.
arXiv:2601.15637v2 Announce Type: replace
Abstract: Elastoinertial turbulence (EIT) is a self-sustaining chaotic state resulting from the interplay between inertia and elasticity in the flow of dilute polymeric solutions, and its emergence is believed to limit the achievable drag reduction in turbulence flow using polymer additives. In the present study, we introduce a viscoelastic variant of spectral proper orthogonal decomposition (VESPOD) that decomposes velocity and polymeric stress fields of EIT together into well-defined orthogonal oscillating modes such that the decomposition is optimal in the terms of the total mechanical energy of the flow. Using this technique, we investigate the dominant coherently evolving structures underlying the dynamics of EIT in axisymmetric pipe flow. By analyzing distinct peaks in the leading eigenvalue of the VESPOD eigenvalue spectrum, we find that the dynamics of EIT in pipe flow is dominated by three distinct families of traveling waves, where the higher wavenumber structures of each family are simple harmonics of their respective fundamental waves. The radial velocity fields of the traveling waves are characterized by the formation of large-scale structures spanning the pipe radial direction. However, the polymeric stress fields corresponding to them are characterized by the formation of thin inclined sheets of high stress fluctuations at the critical layers of the respective waves, i.e.~ the locations where the wave speed of the VESPOD mode matches the mean streamwise velocity. Additionally, these sheets exhibit nested structures, where the polymeric sheets of faster waves are confined by those of the immediately slower waves.
arXiv:2605.15279v1 Announce Type: new
Abstract: Piezoelectric resonators (PRs) have been seen as a competitive alternative to magnetic components. In PR-based converters, the motional current (in the LC series branch of the equivalent circuit) is vital for control proposes but cannot be measured directly. The difficulties to detect the zero-crossing points or to measure the amplitude of the motional current has been one of the most dominating obstacles that complicates the control strategies and limits the frequency range of the PR-based converters. This work discusses a ring-dot shaped piezoelectric transformer (PT) based motional current sensing method that provides current information with low-delay, low-loss and intrinsic isolation. It is physically proven that the proposed method is robust with various non-ideal factors of the piezoceramic and circuit implementation. Based on this, an event-driven control strategy is introduced, consisting of only a finite state machine, a PI loop, a low-speed ADC and several comparators. Experiments on a step-down PR-based converter verify that the proposed approach realize ZVS for all transitions within a switching cycle with reduced hardware and software resources, enhances stability and is capable of self-startup.
arXiv:2605.15281v1 Announce Type: new
Abstract: Modern web test suites rot. A UI refactor breaks locators, a timing change causes race conditions, and within weeks developers abandon the suite entirely. This paper presents an AI-driven autonomous testing framework that addresses these failure modes through five integrated strategies - navigation reliability, context-aware selector generation, post-generation validation, smart wait injection, and failure learning - implemented over a containerised worker architecture that decouples orchestration from long-running browser execution. Evaluated across four production applications and 176 scenarios, the framework improves script generation success from 55% to 93%, achieves an 8x reduction in navigation failures, eliminates 80% of timing-related race conditions, and reduces test creation time by 75% compared to manual Selenium authoring. The framework extends naturally to security validation: testers describe attack scenarios in plain English - "try accessing another user's invoice" - which the agent converts to OWASP Top 10-aligned browser probes, detecting 85% of authentication bypass vulnerabilities and 95% of input validation flaws with false positive rates below 12%. Natural-language-driven security testing of this kind represents, to our knowledge, a novel contribution to the field.
arXiv:2601.17198v3 Announce Type: replace
Abstract: This paper proposes sufficient, yet more general conditions for applying FastTwoSum as an error-free transformation (EFT) under all faithful rounding modes. Additionally, it also identifies guarantees tailored to round-to-odd for establishing FastTwoSum as an EFT. This paper also describes a floating-point splitting tailored for round-to-odd that is an EFT where the distribution of bits is configurable (i.e., ExtractScalar for round-to-odd). Our sufficient conditions are more general than those previously known in the literature (i.e., it applies to a wider operand domain).
arXiv:2605.15282v1 Announce Type: new
Abstract: Literary translation requires balancing target-language fluency with faithfulness to the source. Recent large language models (LLMs) often produce fluent translations, but it remains unclear whether fluency corresponds to semantic preservation in literary text. We examine this relationship using 130,486 translated paragraphs from 106 novels in 16 source languages, including human, Google Translate, and TranslateGemma translations. Fluency is measured as original-likeness with a translationese classifier trained on paragraph part-of-speech n-grams, and faithfulness with the automatic translation evaluation metric COMET-KIWI. We control for paragraph length and find a consistent negative correlation between fluency and faithfulness. The pattern appears for both human and Google Translate, but is weaker and often non-significant for TranslateGemma. These results show that segment length matters for automatic evaluation and suggest a tradeoff between fluency and faithfulness in literary translation.
arXiv:2601.18349v2 Announce Type: replace
Abstract: The Orbit Problem asks whether the orbit of a point under a matrix reaches a given target set. When the target is a single point, the problem was shown to be decidable in polynomial time by Kannan and Lipton. This decidability result was later extended by Chonev et al. to targets of dimension 3 (in arbitrary ambient dimension), but decidability remains open for subspaces of dimension 4. At the other extreme, the special case of the Orbit Problem in which the target set is a hyperplane of codimension 1 is equivalent to the Skolem Problem for linear recurrence sequences, whose decidability has been open for many decades.
In this paper, we show that the Orbit Problem is decidable if the target subspace has dimension logarithmic in the dimension of the orbit. Over rationals, we moreover obtain a complexity bound NP^RP in this case. On the other hand, we show that the version of the Orbit Problem where the dimension of the target subspace is linear in the dimension of the orbit is as hard as the Skolem Problem.
arXiv:2605.15301v1 Announce Type: new
Abstract: Large language models (LLMs) still struggle with the rigorous reasoning demands of hard competitive programming. While recent multi-agent frameworks attempt to bridge this reliability gap, they remain fundamentally stateless: they rely on static retrieval and discard the valuable problem-solving and debugging experience gained from previous tasks. To address this, we present Solvita, an agentic evolution framework that enables continuous learning without requiring weight updates to the underlying LLM. Solvita reorganizes problem-solving into a closed-loop system of strategy selection, program synthesis, certified supervision, and targeted hacking, executed by four specialized agents: Planner, Solver, Oracle, and Hacker. Crucially, each agent is paired with a trainable, graph-structured knowledge network. As the system operates, outcome signals, such as pass/fail verdicts, test certification quality, and adversarial vulnerabilities discovered by the Hacker, are recast as reinforcement learning updates to these network weights. This allows the agents to dynamically route future queries based on past successes and failures, effectively accumulating transferable reasoning experience over time. Evaluated across CodeContests, APPS, AetherCode, and live Codeforces rounds, Solvita establishes a new state-of-the-art among code-generation agents, outperforming existing multi-agent pipelines and nearly doubling the accuracy of single-pass baselines.
arXiv:2605.15304v1 Announce Type: new
Abstract: The relations connecting propositions in discourse such as cause (A because B) or concession (A although B) are a subject of intense interest in Computational Linguistics and Pragmatics, but challenging to study and compare across languages. Recent progress in standardizing discourse relation inventories across datasets offers the potential to facilitate such studies, but is hindered by the complexity of relevant data and the lack of easily accessible interfaces to analyze it. In this paper we present DiscoExplorer, a new open source web interface, capable of running on local computers, which we use to make datasets from the DISRPT Shared Task on discourse relation classification publicly available, covering 16 different languages. We present the query language, search and visualization facilities for relations and signaling devices such as connectives, as well as some example studies.
arXiv:2605.15307v1 Announce Type: new
Abstract: Motion-centric video editing remains difficult for large generative video models, which often respond well to appearance changes but struggle to produce specific, localized actions or state transitions in an existing clip. We introduce Sound Sparks Motion, a training-free framework that enables motion editing in an audio-visual video generation model by tuning its internal multimodal conditioning signals at test time. Rather than modifying model weights, our method tunes only two lightweight variables: an audio latent derived from the source video and a residual perturbation in the text-conditioning. We find that this combination can encourage motion edits that the underlying model often struggles to realize under prompt-only control. Since there is no direct way to evaluate temporal alignment between text and motion, we guide the tuning process using a vision-language model that provides feedback indicating whether the intended motion appears in the generated video. This simple supervision yields an effective semantic objective for motion editing, while regularization and perceptual-temporal constraints help preserve content and visual quality. Beyond per-video tuning, we show that the learned latent controls are transferable across videos, suggesting that they capture reusable motion-edit directions rather than overfitting to a single example.
Our results highlight multimodal conditioning tuning, particularly through the audio pathway, as a promising direction for motion-aware video editing, and suggest that test-time tuning can serve as a lightweight probing mechanism that helps reveal latent motion controls embedded in the model's multimodal conditioning. Code and data are available via our project page: https://amirhossein-razlighi.github.io/Sound_Sparks_Motion/
arXiv:2605.15743v1 Announce Type: new
Abstract: This paper develops a feedback-based method to preserve the topology privacy of consensus protocols in network systems. The key idea is to intentionally violate topology identifiability conditions, thereby preventing unique or accurate recovery of the true topology from available observations, while preserving the intended consensus behavior. This problem is challenging because the feedback magnitude directly reflects the privacy level of edges, while it is strongly coupled with the consensus convergence and constrained by local communications at each node. To begin with, we derive the feedback conditions of both partial and full observation cases, where the topology unsolvability from observation data is characterized in the former, and the solution space that enforces topology inaccuracy from data is constructed in the latter. Then, we propose a novel distributed topology modification design under limited privacy budgets, and establish the performance guarantees through a controllable tradeoff between the consensus deviation and the topology privacy. Finally, we develop a low-complexity heuristic algorithm to achieve optimal privacy preservation on existing edges. Comparative simulations validate the effectiveness and outperformance of the proposed preservation design.
arXiv:2601.21798v2 Announce Type: replace
Abstract: Large Language Models(LLMs) have revolutionized text generation and multimodal perception,but their capabilities in 3D content generation remain underexplored. Existing methods compromise by producing either low-resolution meshes or coarse structural proxies, failing to capture finegrained geometry natively. In this paper, we propose CG-MLLM, a novel Multi-modal Large Language Model (MLLM) capable of 3D captioning and high-resolution 3D generation in a single framework. Leveraging the Mixture-ofTransformer architecture, CG-MLLM decouples disparate modeling needs, where the Token-level Autoregressive (TokenAR) Transformer handles token-level content, and the Block-level Autoregressive (BlockAR) Transformer handles blocklevel content. By integrating a pre-trained visionlanguage backbone with a specialized 3D VAE latent space, CG-MLLM facilitates long-context interactions between standard tokens and spatial blocks within a single integrated architecture. Experimental results show that CG-MLLM significantly outperforms existing MLLMs in generating high-fidelity 3D objects, effectively bringing high-resolution 3D content creation into the mainstream LLM paradigm. Beyond generation, we further observe that learning to produce 3D content transfers back to perception, strengthening the model's image-based 3D understanding.
arXiv:2601.23068v2 Announce Type: replace
Abstract: Computing the importance of features in supervised classification tasks is critical for model interpretability. Shapley values are a widely used approach for explaining model predictions, but require direct access to the underlying model, an assumption frequently violated in real-world deployments. We investigate whether meaningful feature attributions can be obtained in a zero-shot setting, using only the input data distribution and no evaluations of the target model. Because multiple models can produce identical predictions yet yield different Shapley decompositions, the mapping from data to attributions is not uniquely identifiable. We therefore target attributions that are "true to the data" rather than "true to the model", learning a posterior mean attribution under a meta-training prior. To this end, we introduce ExplainerPFN, a tabular foundation model built on TabPFN, pretrained on synthetic structural causal datasets supervised with exact or near-exact Shapley values, that predicts feature attributions for unseen tabular datasets without model access, gradients, or example explanations.
Our contributions are fourfold: (1) we show that few-shot surrogate explainers achieve high SHAP fidelity with as few as two reference observations; (2) we propose ExplainerPFN, the first zero-shot method for estimating Shapley-value-style feature attributions without access to the underlying model or reference explanations, providing a principled attribution where no existing explainer can be applied; (3) we release an open-source implementation including the full training pipeline and synthetic data generator; and (4) through extensive experiments on real and synthetic datasets, we show that ExplainerPFN achieves performance competitive with few-shot surrogate explainers that rely on 2-10 SHAP examples.
arXiv:2605.15290v1 Announce Type: new
Abstract: Hyperparameter transfer across model architectures dramatically reduces the amount of compute necessary for tuning large language models (LLMs). The maximal update parameterization ({\mu}P) ensures transfer through principled mathematical analysis but can be challenging to derive for new model architectures. Building on the spectral feature-learning view of Yang et al. (2023a), we make two advances. First, we promote spectral norm conditions on the weights from a heuristic to the definition of feature learning, and as a consequence arrive at the Complete-P depth and weight-decay scalings without recourse to lazy-learning. Second, we consider a modified spectral norm that preserves the valid scaling law of network weights when weight matrices are not full rank. This enables (to our knowledge, the first) derivation of {\mu}P scalings for grouped-query attention (GQA). We demonstrate the efficacy of our theoretical derivations by showing learning rate transfer across the GQA repetition hyperparameter as well as experiments regarding transfer over weight decay.
arXiv:2605.15294v1 Announce Type: new
Abstract: A DFA separates two disjoint languages $L_1$ and $L_2$ if it accepts every word in $L_1$ and rejects every word in $L_2$. Algorithms for active learning of small separating DFAs have many applications, e.g., for learning network invariants, learning contextual assumptions in compositional verification, learning state machines from large amounts of log data, and learning bug pattern descriptions. We propose a simple active learning algorithm, inspired by $L^{\#}$, that learns a minimal separating DFA for disjoint languages $L_1$ and $L_2$ if one exists. Experiments show that our algorithm significantly outperforms existing active learning algorithms on both randomly generated and industrial benchmarks.
arXiv:2605.15295v1 Announce Type: new
Abstract: Machine learning (ML) algorithms are increasingly deployed in high-stakes decision-making domains such as loan approvals, hiring, and recidivism predictions. While existing fairness metrics (e.g., statistical parity, equal opportunity) effectively quantify outcome-oriented disparities, they offer limited insight into the procedure or explanation behind biased decisions. To address this gap, we propose Group-level Explanation Stability Disparity (GESD), a \textit{procedural-oriented} fairness metric that measures disparities in the stability, robustness, and sensitivity of model explanations across different subgroups in a protected category. %GESD is explainer-agnostic, model-agnostic, and extends the scope of fairness analyses to the level of explainability. We further integrate GESD into a multi-objective optimization framework that jointly optimizes for utility, outcome-based fairness, and explanation-based fairness called FEU (Fairness--Explainability--Utility). Empirical results on multiple benchmark datasets show that GESD effectively captures group-wise discrepancies in explanation quality, and that FEU improves both utility and fairness over state-of-the-art methods. By bridging outcome-based and explanation-based fairness, GESD offers a comprehensive tool for diagnosing and mitigating bias in predictive modeling. Our code and datasets are available on GitHub {\hyperlink{https://github.com/horlahsunbo/GESD}{https://github.com/horlahsunbo/GESD}}
arXiv:2605.15298v1 Announce Type: new
Abstract: Vision-language-action models have advanced rapidly, but robot trajectories alone provide limited coverage for learning broad physical understanding. PhysBrain 1.0 studies a complementary route: converting large-scale human egocentric video into structured physical commonsense supervision before robot adaptation. Our data engine extracts scene elements, spatial dynamics, action execution, and depth-aware relations, then turns them into question-answer supervision for training PhysBrain VLMs. The resulting physical priors are further transferred to VLA policies through a capability-preserving and language-sensitive adaptation design. Across multimodal QA benchmarks and embodied control benchmarks, including ERQA, PhysBench, SimplerEnv-WidowX, LIBERO, and RoboCasa, PhysBrain 1.0 achieves SOTA results and shows especially strong out-of-domain performance on SimplerEnv. These results suggest that scaling physical commonsense from human interaction video can provide an effective bridge from multimodal understanding to robot action.
arXiv:2602.00841v4 Announce Type: replace
Abstract: Visual Place Recognition (VPR) demands representations robust to drastic environmental and viewpoint shifts. Existing aggregation paradigms either depend on extensive supervised training or rely on first-order pooling, often struggling to preserve structural correlations under extreme shifts or incurring high adaptation costs. In this work, we propose Riemannian Invariant Aggregation (RIA), a unified geometric framework that explicitly models second-order scene structure on the Symmetric Positive Definite (SPD) manifold. By treating perturbations as tractable congruence transformations, RIA leverages geometry-aware Riemannian mappings to project covariance descriptors into a linearized Euclidean space, effectively preserving invariant structural components while suppressing noise. Extensive evaluations demonstrate that RIA achieves zero-shot performance comparable to supervised methods, and establishes state-of-the-art accuracy with simple fine-tuning, particularly in unstructured environments. The source code will be released.
arXiv:2605.15299v1 Announce Type: new
Abstract: In search and recommendation systems, predictive models often suffer from temporal instability when certain input features introduce volatility in output scores. This instability can degrade model reliability and user experience especially in multi-stage systems where consistent predictions are critical for downstream decision making. We introduce Fortress, a general framework for enhancing model stability and accuracy by identifying and pruning features that contribute to inconsistent prediction scores over time. Fortress leverages historical snapshots temporally partitioned datasets capturing score fluctuations for the same entity across periods and follows a four-step process: (1) collect historical snapshots, (2) identify samples with unstable predictions, (3) isolate and remove instability-inducing features, and (4) retrain models using only stable features. While semantic features from LLMs and BERT-based models improve generalization, they often lack full query or entity coverage. Engagement-based features offer strong predictive power but tend to introduce temporal instability. Fortress mitigates this trade-off by suppressing the volatility of engagement signals while retaining their predictive value leading to more stable and accurate models. We validate Fortress on a query-to-app relevance model in a large-scale app marketplace. Offline experiments demonstrate notable improvements in prediction stability (measured by Coefficient of Variation) and classification performance (measured by PR-AUC).
arXiv:2605.15300v1 Announce Type: new
Abstract: Most Vision Language Models (VLMs) directly map outputs from ViT encoders to the LLM via a lightweight projector. While effective, recent analysis suggests this architecture suffers from an alignment challenge: visual features remain distant from the text space in the initial layers of the LLM, forcing the model to waste critical depth~\cite{zhang-etal-2024-investigating,artzy-schwartz-2024-attend} on superficial modality alignment rather than deep understanding and complex reasoning. In this work, we propose Deep Pre-Alignment (DPA), a novel architecture that replaces the standard ViT encoder with a small VLM as perceiver, ensuring visual features are deeply aligned with the text space of the target large language model. Comprehensive experiments demonstrate the effectiveness of DPA. On the 4B parameter scale, DPA outperforms baselines by 1.9 points across 8 multimodal benchmarks, with gains widening to 3.0 points at the 32B scale. Moreover, by offloading alignment to the perceiver, DPA achieves a 32.9\% reduction in language capability forgetting over 3 text benchmarks. We further demonstrate that these gains are consistent across different LLM families including Qwen3 and LLaMA 3.2, highlighting the generality of our approach. Beyond performance, DPA also offers a seamless upgrade path for current VLM development, requiring only a modular replacement for the visual encoder with marginal computation overhead.
arXiv:2605.15318v1 Announce Type: new
Abstract: In this paper the problem of continuous-time subspace identification for Linear Time Invariant (LTI) systems is considered and a method which directly identifies a continuous-time state-space form is proposed. First, Hermite basis functions are used to project signals and obtain a finite number of Hermite coefficients. By exploiting recursive relations and time derivative properties of the Hermite basis functions, an expression of the derivative operator is obtained. The latter is then recursively applied, ensuring that the state-space matrices remain in continuous-time form and making the system suitable for the implementation of steps which are akin to those of the Predictor-Based Subspace IDentification (PBSID) method. This new method, hereby called the Hermite-Domain PBSID (HD-PBSID) method, has the further advantage of avoiding time-shifts by properly scaling the input and output signals. The performance of the proposed approach is illustrated in a simulation study aimed at showing the accuracy of the estimates and at comparing the HD-PBSID method and the Laguerre-projections based Continuous-Time PBSID (CT-PBSID) algorithm.
arXiv:2602.10687v3 Announce Type: replace
Abstract: Existing forgery detection methods are often limited to uni-modal or bi-modal settings, failing to handle the interleaved text, images, and videos prevalent in real-world misinformation. To bridge this gap, this paper targets to develop a unified framework for omnibus vision-language forgery detection and grounding. In this unified setting, the {interplay} between diverse modalities and the dual requirements of simultaneous detection and localization pose a critical ``difficulty bias`` problem: the simpler veracity classification task tends to dominate the gradients, leading to suboptimal performance in fine-grained grounding during multi-task optimization. To address this challenge, we propose \textbf{OmniVL-Guard}, a balanced reinforcement learning framework for omnibus vision-language forgery detection and grounding. Particularly, OmniVL-Guard comprises two core designs: Self-Evolving CoT Generatio and Adaptive Reward Scaling Policy Optimization (ARSPO). {Self-Evolving CoT Generation} synthesizes high-quality reasoning paths, effectively overcoming the cold-start challenge. Building upon this, {Adaptive Reward Scaling Policy Optimization (ARSPO)} dynamically modulates reward scales and task weights, ensuring a balanced joint optimization. Extensive experiments demonstrate that OmniVL-Guard significantly outperforms state-of-the-art methods and exhibits zero-shot robust generalization across out-of-domain scenarios. The dataset and code are publicly available at https://github.com/shen8424/OmniVL-Guard.
arXiv:2605.15320v1 Announce Type: new
Abstract: Avatar reconstruction has traditionally relied on per-subject optimization that requires hours of computation or on expensive preprocessing that limits scalability. We introduce FFAvatar, a generalizable feed-forward framework that reconstructs high-quality, animatable 3D Gaussian head avatars from few-shot unposed portrait images in seconds. FFAvatar fuses information from multiple source images into a unified canonical Gaussian representation through Multi-View Query-Former, which is animated via FLAME parameters predicted end-to-end directly from pixels, eliminating the overhead of offline FLAME extraction. We further propose a three-stage training curriculum that achieves both broad generalization and high-fidelity reconstruction: (i) scalable pretraining on extensive monocular video data with over 1M identities to learn strong generalizable priors; (ii) multi-view fine-tuning on a small but high-quality dataset of 360-degree captures to enhance geometric fidelity and extreme-view awareness; and (iii) optional personalization that adapts to specific identities for maximum fidelity within 500 optimization steps. Extensive experiments demonstrate that FFAvatar sets a new standard for identity preservation, geometric consistency, and animation fidelity. On the NeRSemble benchmark, it outperforms the state-of-the-art LAM by a substantial 5.5 PSNR gain. Furthermore, FFAvatar enables real-time deployment, reconstructing avatars in 2 seconds without personalization and 10 seconds with personalization, while supporting 49 FPS animation on a single NVIDIA A100 GPU.
arXiv:2602.14092v2 Announce Type: replace
Abstract: Operating complex real-world systems, such as soft robots, can benefit from precise predictive control schemes that require accurate state and model knowledge. This knowledge is typically not available in practical settings and must be inferred from noisy measurements. In particular, it is challenging to simultaneously estimate unknown states and learn a model online from sequentially arriving measurements. In this paper, we show how a recently proposed gray-box system identification tool enables the estimation of a soft robot's current pose while at the same time learning a bending stiffness model. For estimation and learning, we only need a nominal constant-curvature robot model and measurements of the robot's base reactions (e.g., base forces). The estimation scheme -- relying on a marginalized particle filter -- allows us to conveniently interface nominal constant-curvature equations with a Gaussian Process (GP) bending stiffness model to be learned. This, in contrast to estimation via a random walk over stiffness values, enables prediction of bending stiffness and improves overall model quality. We demonstrate, using a real-world soft robot, that the method learns a bending-stiffness model online while accurately estimating the robot's pose. Notably, reduced error in multi-step forward predictions indicates that the learned bending-stiffness GP improves overall model quality.