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MR-GLi: Mixed Reality-Based Gripper-Linked Overlays for Underwater Robot Arm Teleoperation via Bilateral Control
arXiv:2609.16041v1 Announce Type: new Abstract: Visual torque feedback supports underwater bilateral teleoperation, but the benefit of mixed reality (MR) over conventional monitor presentation remains unclear. We present MR-GLi, an MR interface that spatially registers a reaction torque indicator and wrist-camera image to the robot gripper. Twenty participants performed lift and pick-and-place tasks with rigid and compliant objects in a counterbalanced within-subject comparison with a 2D monitor, using identical visual-feedback content and four-channel bilateral control. MR-GLi provided gripper-linked access to visual feedback while maintaining a similar level of torque-regulation performance to the 2D monitor. Subjective evaluation further indicated reduced perceived burden associated with shifting attention between the workspace and visual feedback. These results demonstrate the feasibility of gripper-linked MR overlays for underwater bilateral teleoperation and highlight the importa
Managing Action Preconditions in Neuro-Symbolic RL: Three Placement Strategies for Embodied Agents
arXiv:2609.16056v1 Announce Type: new Abstract: Humans carry behaviour knowledge of how to act in familiar situations into every new task rather than relearning it from scratch. There is no reason a Reinforcement Learning (RL) agent shouldn't do the same: known behaviour patterns need not be learned, only applied. Neuro-symbolic RL bridges prior knowledge and RL by injecting symbolic knowledge alongside a learned policy. The point at which this knowledge is integrated is critical: a poor choice can produce, for instance, hallucinated preconditions, which surface as safety and reliability problems in agents acting in changing environments. We formalise this behavioural knowledge as a precondition Bayesian network (BN) over the agent's \emph{structural actions} - the actions whose legality depends on preconditions, such as picking up a key, grasping a block, toggling a door, or dropping an object. The BN restricts when these actions may fire, and we inject it into the RL loop at three pl
Optimal Pruning for Neural Architectures using Fisher Information Distances
arXiv:2609.16129v1 Announce Type: new Abstract: A new scheme for parameter pruning is introduced, derived from the differential-geometric distance in model space. Pruning a parameter sets its value to zero, representing a displacement of the model to the hypersurface on which that parameter vanishes. The minimal distance from the unpruned model to this hypersurface is naturally computed via the geodesic distance in the model space as determined by the Fisher information metric. This distance determines the true change in the model, and its performance, under pruning. By analysing progressively more faithful approximations of this geodesic distance a natural hierarchy of optimality for pruning methods is determined. This starts with the traditional magnitude pruning, then develops into new more sophisticated and effective pruning schemes. The method is demonstrated for both fully-connected networks and vision transformers, on MNIST and CIFAR-10, over the complete $0$-$100\%$ pruning ran
Bi-MoDe: Bilateral Control-based Imitation Learning via Modifier-Conditioned Decoding for Modulation of Execution Speed and Contact Intensity
arXiv:2609.16040v1 Announce Type: new Abstract: Bilateral control-based imitation learning captures both position and force information, making it well suited to contact-rich manipulation. However, existing approaches provide limited means for an operator to specify how a learned task should be executed at inference time, such as slowly or quickly, gently or firmly. We propose Bi-MoDe, a modifier-conditioned decoding framework that injects a constrained latent into every layer of the Transformer action decoder via adaLN-Zero, allowing behavioral directives to directly influence action-chunk generation. We evaluate the method on a real-world whiteboard wiping task with combinations of temporal and physical modifiers. Bi-MoDe improves physical directive following over the action-chunking baseline while maintaining comparable temporal control. An ablation further shows that decoder conditioning and latent-space composition interact, and that their combination is important for accurate phy
Causal neural set filtering for online multi-target tracking
arXiv:2609.16054v1 Announce Type: new Abstract: Transformer-based multi-target tracking (MTT) jointly learns data association and state estimation, but MT3/Track-MT3-style trackers repeatedly re-encode measurement windows, incurring redundant computation. We propose Causal Neural Set Filtering (CNSF)\footnote{\href{https://github.com/daihuangyu/CNSF}{Code: https://github.com/daihuangyu/CNSF}}, a neural set filter that encodes only current measurements while carrying past evidence in a structured recursive track state. CNSF combines exclusive Sinkhorn association, association-conditioned Kalman-shaped updates with moment matching, and recurrent Bernoulli lifecycle modeling with measurement-driven birth. These mechanisms impose soft one-to-one constraints, propagate association-induced state uncertainty, and support existence estimation under missed detections and birth--death transitions. On a held-out three-regime simulated test set, CNSF reduces mean GOSPA and T-GOSPA relative to Trac
Safe Error Correction for Language Models: Frozen-Base Adjustment with Capability Preservation
arXiv:2609.16145v1 Announce Type: new Abstract: We study a practical question: can a small correction module fix errors in a frozen language model's outputs without degrading its base capabilities? We propose CRN v2, a lightweight logit-level correction module (~34M trainable parameters, 0.73% of the 4.65B text module) that sits atop a fully frozen Gemma 4 E2B model. The base model is never updated; only the correction module learns, via supervised fine-tuning followed by reference-free DPO on 83,400 error-correction pairs. On a 60-question domain exam (CEHRI: Certified Human-Robot Intelligence, covering facts, arithmetic, and implicit-goal reasoning), CRN v2 corrects 53.3% of base-model errors (reworded variant: 43.3%) while showing no degradation on tested capability benchmarks (MMLU/BoolQ N=200; car-wash N=8). A LoRA baseline at the matched CRN v1 budget (6.6M params, rank 19) achieves 83.3% correction but suffers 30-75% capability loss on the same benchmarks -- the correction-capab
Reparameterization Tricks: Variance Reduction by Smarter Gradients
How moving randomness outside the computation graph turns noisy gradient estimators into low-variance, differentiable ones The post Reparameterization Tricks: Variance Reduction by Smarter Gradients appeared first on Towards Data Science.
How to Build Consistent Designs with Claude Code
Keep your apps looking professional with Claude Code design skills The post How to Build Consistent Designs with Claude Code appeared first on Towards Data Science.
Seizing the Moment: The Hidden Silhouette of Data
How statistical moments connect the mean, the variance, and higher powers of a distribution The post Seizing the Moment: The Hidden Silhouette of Data appeared first on Towards Data Science.
Top 5 Agentic Coding CLI Tools Developers Should Know in 2026
A year ago, terminal AI mostly meant asking a model to explain errors, generate commands, or edit small functions. In 2026, leading coding CLIs have become full agent runtimes that can inspect repositories, plan work, modify files, run tests, use external tools, and verify results. In this article, we compare five standouts agentic coding CLIs: Claude Code, Codex CLI, [ ] The post Top 5 Agentic Coding CLI Tools Developers Should Know in 2026 appeared first on Analytics Vidhya.
How Many Labeled Examples Does a Text Classifier Actually Need? I Measured It.
Before reaching for an LLM API on every classification problem, it's worth knowing what a decades-old baseline can already do with the labeled data you have — and exactly how much more data buys you. The post How Many Labeled Examples Does a Text Classifier Actually Need? I Measured It. appeared first on Towards Data Science.
A derivative-fidelity failure mode in physics-informed neural networks: strengthened benchmark evidence from function-value training
arXiv:2609.13171v1 Announce Type: new Abstract: Physics-informed neural networks (PINNs) use automatic differentiation to impose differential-equation residuals, but good agreement in function values does not necessarily imply accurate derivatives. This paper formulates derivative fidelity as a failure mode of PINNs and tests it with one-dimensional benchmarks. Multilayer perceptrons are trained only on function values for sin(x) and exp(x), while second derivatives obtained by automatic differentiation are evaluated separately. The hypothesis is strengthened by additional tests over training-point density, activation functions, endpoint-dense evaluation, and both L2 and maximum-error diagnostics. The results show that visually accurate function approximation can coexist with substantially larger second-derivative errors, especially near high-curvature boundary regions. The experiment provides a diagnostic protocol for distinguishing value accuracy from physics-residual reliability.