Robótica & RL — Radar de IA

Simulation of Surgical Suturing Using Position-Based Dynamics and the Material Point Method for Robot Reinforcement Learning

arXiv:2607.27494v1 Announce Type: new Abstract: Recent advances in robotics research have created a strong demand for high-performance simulators. Surgical robotics simulation faces unique challenges due to the need to model diverse objects, such as rigid instruments, soft tissue, and fluids. While many studies simulate sutures or soft tissue independently, only a few have considered the complete soft-tissue suturing scenario, including the contact between sutures and deformable tissue during su...

31.07.2026

Blog Robótica & RL

Compression-Based Behavioral Similarity for Open-World Sybil Discovery on Ethereum

arXiv:2607.27370v1 Announce Type: new Abstract: Sybil attackers are Blockchain actors that adopt the characteristics of regular users to exploit airdrops or influence governance. Current methods of Sybil actor detection include constructing graphs, which requires token transfers between examined wallets. Machine learning algorithms have been employed as well, but they treat the task as a closed-set classification problem, making them vulnerable to frequent changes in attack strategies or evasion...

31.07.2026

Blog LLMs & Texto

Sympathetic Framing: Evaluating AI Alignment across Sociodemographic Groups

arXiv:2607.27232v1 Announce Type: new Abstract: Large Language Models (LLMs) are increasingly shaping how we consume information and form our worldview. This raises concerns beyond bias in AI: do LLMs grasp the emotional nuances conveyed via textual framing? In this work, we empirically evaluate how well an array of LLMs aligns with human emotional perception. Considering news headlines covering political and geopolitical conflicts, both human participants (n = 3011, a representative sample of t...

31.07.2026

Blog LLMs & Texto

Eco3S: Complex Socio-Economic System Simulation via Agent-Based Models

arXiv:2607.26588v1 Announce Type: new Abstract: The rapid development of large language models (LLMs) has renewed interest in agent-based modeling (ABM). However, current LLM-based ABM research faces several key challenges: modeling evolving agent-environment interactions, enabling flexible counterfactual reasoning, and automating simulation workflows for scientific research. In this paper, we propose Eco3S, a socio-economic system simulation framework for economic research and policy analysis t...

31.07.2026

Blog Robótica & RL

It's Not Just More Demos: Counterfactual Action Sensitivity Coverage for Data-Efficient Robust Robot Imitation

arXiv:2607.27261v1 Announce Type: new Abstract: Visuomotor imitation learning has demonstrated success for manipulation tasks. However, the trained policies remain brittle to visual `nuisances', with even minor task-preserving variations such as lighting, distractions or changes in colour result in heavy degradation of the trained policy's performance. While increasing data diversity can improve robustness, it is unclear which additional demonstrations are informative for a particular trained po...

31.07.2026

Blog LLMs & Texto

FunL2O: LLM-Guided Feature Function Design for Learning to Optimize

arXiv:2607.27389v1 Announce Type: new Abstract: Learning-to-optimize (L2O) methods accelerate repeated optimization by training models to predict solutions, warm starts, branching decisions, or other forms of solver guidance. A critical yet largely overlooked component of these pipelines is the feature function that maps problem instances to inputs for machine learning models. Existing L2O methods typically rely on hand-crafted features, making representation design manual and largely fixed acro...

31.07.2026

Blog Robótica & RL

From Passive Video to Editable Experience: Physically Grounded Experience Synthesis for Embodied Intelligence

arXiv:2607.26903v1 Announce Type: new Abstract: The key bottleneck in embodied AI is not model architecture but data. Although billions of human manipulation videos exist online, robots cannot directly learn from them due to the embodiment gap between human morphology and robot hardware. We introduce Pegasus, a low-resource framework that bridges this gap by translating human demonstrations into robot-learnable data through structured knowledge transfer. Instead of relying on raw video prompts, ...

31.07.2026

Blog Robótica & RL

Belief-Guided Decision Making with Uncertainty Gating in the Game of Go

arXiv:2607.26946v1 Announce Type: new Abstract: Recent advancements in Computer Go, driven by AlphaZero and MuZero, rely heavily on Monte Carlo Tree Search (MCTS) to correct the errors of the neural network policy. While effective on massive computational clusters, this dependence creates a critical bottleneck on consumer-grade hardware, where the computational cost of tree management severely limits inference rates. Furthermore, without deep search, these models suffer from hallucination, propo...

31.07.2026

Blog Robótica & RL

PAC-MAN: Perception-Aware CBF-RL for Whole-Body Safety in Humanoid Dodgeball

arXiv:2607.28623v1 Announce Type: new Abstract: We present PAC-MAN, a perception-aware CBF-RL framework that couples control-barrier safety with deployment-realistic onboard sensing for whole-body humanoid dodgeball. The deployed policy sees the ball only as segmentation-masked depth from a head-mounted camera, while training-time CBF guidance represents clearance to every body link, and an adversarial motion prior regularizes the resulting evasive reflexes. We evaluate on a controlled any-link ...

31.07.2026

Blog LLMs & Texto

Rethinking Self-Evolution: A Constrained Exploration-Exploitation Process for Mitigating Skill Overfitting

arXiv:2607.26643v1 Announce Type: new Abstract: Enabling large language model (LLM) agents to accumulate and reuse experience from past interactions remains a central challenge in real-world applications. A promising solution is to treat skills as trainable states and optimize them in the same way as model parameters in neural network training. However, data-driven skill optimization is prone to overfitting to the limited trajectories collected from real environments. Overexploiting these trajec...

31.07.2026

Blog Robótica & RL

RoboBRIDGE: A Modular Framework for Bridging Policies to Robust Real-World Robotic Agents

arXiv:2607.27881v1 Announce Type: new Abstract: Vision-Language-Action (VLA) models have attracted growing interest as a scalable approach to robotic manipulation. While these models are effective action predictors, deploying them as robotic agents exposes critical gaps: no mechanism for failure recovery, inconsistent execution over long horizons, and limited robustness to shifts in observations, tasks, or embodiments. Existing solutions address these limitations individually through model retra...

31.07.2026

Blog Robótica & RL

DexDirect: Direct Kinesthetic Arm Guidance for Efficient Dexterous Demonstration Collection

arXiv:2607.27784v1 Announce Type: new Abstract: Scalable collection of dexterous manipulation demonstrations remains a major bottleneck for robot learning. High-fidelity interfaces often require costly hardware and extensive setup, while low-setup, low cost alternatives tend to provide less precise control and impose greater cognitive workload on operators. We present DexDirect, a direct kinesthetic arm guidance for efficient dexterous demonstration collection. The operator drags a 6-DoF gravity...

31.07.2026