Compared with analytical physics, learned dynamics models promise robot simulation that is faster, inherently differentiable, and easily adaptable to real data. Neural Robot Dynamics (NeRD) pursues this by keeping collision detection analytical and replacing a simulator's numerical dynamics for the robot with a learned …
We present an AI-assisted Lean 4 formalization of the Poincaré conjecture. The project began with limited reusable formal infrastructure for the geometric analysis behind the proof. To organize this work, we combined a proof blueprint prepared by mathematicians with explicit milestone statements. These milestones enabl …
Compiling GUI procedures that agents execute repeatedly into programs can reduce their token costs. However, measuring payback and deciding when to compile have two challenges. First, compilation costs are uncertain because attempts can require repair and still fail to produce a usable program. Second, future reuse is …
Image-aligned metric demonstrations often require dedicated tracking hardware and synchronization across devices. We present MonoEgo, a capture system that replaces active wrist instrumentation with offline monocular reconstruction. One 90-FPS global-shutter camera observes calibrated passive wrist constellations, spar …
Three-dimensional (3D) Gaussian splatting (3D-GS) has emerged as a promising technique for large-scale scene reconstruction due to its high rendering efficiency and fidelity. However, the training of large-scale 3D-GS models at wireless edge faces various technical challenges including the limited communication, comput …
Progress in 3D CT report generation is usually sought in increasingly sophisticated architectures and larger pools of training data. We find instead that a 3D CT report generator already holds what its report leaves out, and loses it when the hidden state becomes tokens. Over the 18 CT-RATE abnormalities, this hidden-t …
LiDAR place recognition is a key front end for loop closure and global relocalization, yet indoor retrieval remains difficult when attitude or sensor mounting height changes between mapping and query sessions. Scan Context stores the maximum height in each polar cell; indoors, broad ceilings can suppress the lower and …
Robotic assembly in high-mixture settings requires adaptable systems that can handle diverse parts, yet current approaches typically rely on policies specialized to each insertion task. Although this can reach high success rates, it makes the process of deploying systems for new problems tedious and time consuming. We …
LiDAR-inertial odometry (LIO) systems differ in whether they continue estimating gravity after initialization. We compare four gravity-bias state configurations in each of FAST-LIO2 and LIO-SAM, then separately test a gravity-direction factor. Across 12 dataset sequences evaluated with FAST-LIO2, fixing gravity under c …