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Motion Planning for Mobile Manipulators Navigating Doorways via Model Predictive Control
arXiv:2608.00206v1 Announce Type: new Abstract: Navigating doorways is a fundamental capability for mobile manipulators operating in human environments, requiring coordinated motion between the mobile base and manipulator arm. This paper presents a motion planning framework that generates dynamically feasible and collision-free trajectories for autonomously opening and traversing both push and pull doors. The proposed method formulates the robot and door as a coupled dynamical system within a nonlinear Model Predictive Control (MPC) optimization framework. Manipulation feasibility is enforced through a penalty-based constraint, avoiding explicit arm kinematic modeling in the planner. Simulations and a hardware experiment demonstrate that the approach successfully plans feasible trajectories for door traversal.
Uncertainty-Aware Simulation-Based Inference for Operations Research with Large Language Models
arXiv:2608.00019v1 Announce Type: new Abstract: Deploying large language models (LLMs) for operations research (OR) tasks remains challenging because correctness depends on a coherent modeling process, not merely a correct final answer. Standard autoregressive generation operates on a myopic policy, which sometimes fails to anticipate whether a partial formulation can be validly extended into a globally consistent optimization model. Consequently, locally plausible steps may propagate into catastrophic downstream formulation or solver code errors. To address this, we propose an uncertainty-aware, training-free inference framework for OR mathematical modeling. Without updating model parameters, our method evaluates intermediate candidate steps using short lookahead simulations to quantify downstream predictive uncertainty or probability concentration. Candidates that demonstrate a higher likelihood of yielding coherent mathematical formulations are then dynamically selected via importan
Learning Compositional Meta-Routing for Agentic Workflows: An Executable Benchmark
arXiv:2608.00106v1 Announce Type: new Abstract: Agentic systems must decide not only what answer to produce, but which reasoning and execution operations should precede it. A controller may answer directly, decompose a request, retrieve evidence, execute code, delegate to a specialist, or verify an intermediate result. Existing routing work largely selects model endpoints, retrieval depth, or tools in isolation. We introduce an executable benchmark and a budget-aware meta-router that composes heterogeneous operations from raw task text. The benchmark contains 216 training, 72 development, 108 held-out test, and 108 locked lexical-shift challenge tasks across data analysis, frozen-corpus research, and document processing. Outcomes are machine checked after operations execute. Independent regularized logistic heads predict operation probabilities from word and character features, are temperature-scaled on development data, and are greedily composed under route-cost and action-count budge
Prompt, Context, Loop: The Three Engineering Layers Every RAG System Is Built On
Enterprise Document Intelligence [Vol.1 #M2] - Every RAG system is built in three engineering layers stacked on one LLM call: prompt (the call itself), context (what fills the model’s window), loop (when the next call fires and when it stops). Knowing which layer you are standing on is half of building and debugging RAG The post Prompt, Context, Loop: The Three Engineering Layers Every RAG System Is Built On appeared first on Towards Data Science.
How to Build CLI Agents with Python & Ollama
Create a local CLI Agent from scratch completely for free The post How to Build CLI Agents with Python Ollama appeared first on Towards Data Science.
The AI Was the Easy Part: What Is a Forward-Deployed Engineer in a Supply Chain?
What actually makes a Forward Deployed Engineer, told through one supply chain project. The post The AI Was the Easy Part: What Is a Forward-Deployed Engineer in a Supply Chain? appeared first on Towards Data Science.
How Claude Help Me Build My $200k+ ML Resume
How use Claude to craft an outstanding resume that lands offers The post How Claude Help Me Build My $200k+ ML Resume appeared first on Towards Data Science.
ST-WAM: Semantic-Temporal World Action Model for Robust Manipulation under Visual Distribution Shifts
arXiv:2607.28993v1 Announce Type: new Abstract: World Action Models (WAMs) have emerged as a promising paradigm by jointly modeling robot actions and future visual dynamics. However, their reliance on pixel-generative future supervision can entangle action-relevant state transitions with task-irrelevant visual content, limiting robustness under visual distribution shifts. We identify Training-Distribution Hallucination, a recurring phenomenon in which futures conditioned on visually shifted observations hallucinate training-domain content rather than remain faithful to the current scene. A controlled frame-triplet diagnosis further shows that DINOv3 features remain more stable across visual shifts while better preserving task-state distinctions than Wan-VAE latents. Rather than correcting the predicted futures, we propose Semantic-Temporal WAM (ST-WAM) to improve action robustness by using DINOv3 as a shared semantic representation for future prediction and history retrieval while reta
Can AI Evaluate AI Scientists? A Benchmarking Study of Autonomous Research Generation Systems Using Automated Multi-Model Review
arXiv:2607.28631v1 Announce Type: new Abstract: AI Scientist systems capable of autonomous research have the potential to significantly accelerate scientific discovery. However, evaluating and comparing the quality of AI-generated papers remains an open challenge. We propose and implement a rigorous benchmarking protocol using an automated peer-review system that harnesses frontier large language models to assess scientific papers across four core dimensions: originality, scientific rigor, clarity, and significance. We evaluate four leading AI Scientist frameworks: \textit{Sakana AI (v1 & v2)}, \textit{CycleResearcher}, and \textit{Data-to-Paper}. Each framework was run on a consistent set of 15 research proposals published by a commercial autonomous AI scientist company (FARS), generating 60 papers that we evaluate alongside 15 FARS benchmark papers. Using three independent LLM reviewers (GPT-5.4, Gemini, and Claude), we find that FARS benchmark papers significantly outperform all com
Sensitivity Analysis of GRU, LSTM and Transformer Encoder in Classification of Automated Driving Systems
arXiv:2607.28665v1 Announce Type: new Abstract: Automated driving systems (ADSs) are becoming ubiquitous. Future Software Defined Vehicles (SDVs) may be able to run multiple ADSs, both native and aftermarket such as Comma.ai's Openpilot. Monitoring systems to independently verify which automated driving system is active are important for safety monitoring, regulatory compliance, insurance assessment, and anomaly detection. In this paper, we first evaluate the effectiveness of three sequence-based classification models: Gated Recurrent Units (GRU), Long Short-Term Memory (LSTM) networks, and a Transformer encoder model for identifying Level 2 automated driving systems using vehicle telematics data alone: Comma Openpilot, Tesla Autopilot, and Cadillac Super Cruise, along with manual driving. All three models achieve strong clean-data performance with macro F1-scores of 0.92 (GRU), 0.90 (LSTM), and 0.93 (Transformer encoder model) when trained on clean data; threat-matched training yields
Advances, challenges, and opportunities for legged robots
arXiv:2607.28952v1 Announce Type: new Abstract: Humanoid and quadrupedal robots have the potential to revolutionize the way we work, interact, and coexist with intelligent machines. To understand their effects on society and how they can enable scientific discovery, we assess the current capabilities of these systems along hardware, locomotion, autonomy, data, and applications. We identify recent advances and key open challenges that must be overcome to enable widespread adoption and new use cases for legged robots. Last, we provide an outlook on the future of legged robots, exploring their ethical considerations, economic potential, policy implications, and broader societal effects.
OpenClaw and Ollama in Agentic AI: Toward Fully Autonomous and Scalable AI Agent Systems
arXiv:2607.28629v1 Announce Type: new Abstract: The rapid transition from reactive large language models (LLMs) to persistent, action-capable systems has exposed critical gaps in the architectural understanding of Agentic AI, particularly in separating inference, orchestration, and execution layers for autonomous AI agents. Despite recent advances, unified frameworks for designing and evaluating full-stack agentic systems remain limited. This paper presents a comprehensive, layered architecture for Agentic AI, outlining the evolution from reactive LLM interfaces to persistent, goal-driven autonomous AI agents with memory, planning, and continuous execution. We analyze OpenClaw and Ollama as a full-stack Agentic AI system, where Ollama serves as the LLM inference layer and OpenClaw enables agent runtime orchestration, integrating reasoning, tool use, and action execution. A prototype experimental validation of the OpenClaw-Ollama architecture demonstrates that capabilities such as persi