arXiv:2602.11291v1 Announce Type: new Abstract: World models are becoming central to robotic planning and control, as they enable prediction of future state transitions. Existing approaches often emphasize video generation or natural language prediction, which are difficult to directly ground in robot actions and suffer from compounding errors over long horizons. Traditional task and motion planning relies on symbolic logic world models, such as planning domains, that are robot-executable and robust for long-horizon reasoning. However, these methods typically operate […]

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arXiv:2602.06104v1 Announce Type: cross Abstract: Many engineering and scientific workflows depend on expensive black-box evaluations, requiring decision-making that simultaneously improves performance and reduces uncertainty. Bayesian optimization (BO) and Bayesian experimental design (BED) offer powerful yet largely separate treatments of goal-seeking and information-seeking, providing limited guidance for hybrid settings where learning and optimization are intrinsically coupled. We propose “pragmatic curiosity,” a hybrid learning-optimization paradigm derived from active inference, in which actions are selected by minimizing the expected free energy–a […]

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The world is inherently dynamic, and continual learning aims to enable models to adapt to ever-evolving data streams. While pre-trained models have shown powerful performance in continual learning, they still require finetuning to adapt effectively to downstream tasks. However, prevailing Parameter-Efficient Fine-Tuning (PEFT) methods operate through empirical, black-box optimization at the weight level. These approaches lack explicit control over representation drift, leading to sensitivity to domain shifts and catastrophic forgetting in continual learning scenarios. In this work, we […]

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Parameter sharing is a key strategy in multi-agent reinforcement learning (MARL) for improving scalability, yet conventional fully shared architectures often collapse into homogeneous behaviors. Recent methods introduce diversity through clustering, pruning, or masking, but typically compromise resource efficiency. We propose Prism, a parameter sharing framework that induces inter-agent diversity by representing shared networks in the spectral domain via singular value decomposition (SVD). All agents share the singular vector directions while learning distinct spectral masks on singular values. This […]

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Reinforcement learning has been widely applied to diffusion and flow models for visual tasks such as text-to-image generation. However, these tasks remain challenging because diffusion models have intractable likelihoods, which creates a barrier for directly applying popular policy-gradient type methods. Existing approaches primarily focus on crafting new objectives built on already heavily engineered LLM objectives, using ad hoc estimators for likelihood, without a thorough investigation into how such estimation affects overall algorithmic performance. In this work, we provide […]

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The previous post briefly mentioned Stan Wagon’s algorithm for expressing an odd prime p as a sum of two squares when it is possible (i.e. when p = 1 mod 4). Wagon’s algorithm requires first finding a non-square mod p, i.e. a number c such that c ≠ d² mod p for any d in 1, 2, 3, … p − 1. Wagon recommends searching for c by testing consecutive primes q as candidates. You can test whether a […]

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arXiv:2601.01442v1 Announce Type: new Abstract: The Hidden Markov Model (HMM) is a widely-used statistical model for handling sequential data. However, the presence of missing observations in real-world datasets often complicates the application of the model. The EM algorithm and Gibbs samplers can be used to estimate the model, yet suffering from various problems including non-convexity, high computational complexity and slow mixing. In this paper, we propose a collapsed Gibbs sampler that efficiently samples from HMMs’ posterior by integrating […]

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arXiv:2604.16964v1 Announce Type: new Abstract: Floating-point square-root computation is a power- and delay-critical operation in edge-AI, signal-processing, and embedded systems. Conventional implementations typically rely on multipliers or iterative pipelines, resulting in increased hardware complexity, switching activity, and energy consumption. This work presents E2AFS, a lightweight and fully multiplier-free floating-point square-root architecture optimized for energy-efficient computation. By reducing logic depth and minimizing switching activity, the proposed design achieves substantial improvements in hardware efficiency and performance. FPGA implementation on an […]

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