Tootfinder

DualMap: Online Open-Vocabulary Semantic Mapping for Natural Language Navigation in Dynamic Changing Scenes
Jiajun Jiang, Yiming Zhu, Zirui Wu, Jie Song
https://arxiv.org/abs/2506.01950

DualMap: Online Open-Vocabulary Semantic Mapping for Natural Language Navigation in Dynamic Changing Scenes
We introduce DualMap, an online open-vocabulary mapping system that enables robots to understand and navigate dynamically changing environments through natural language queries. Designed for efficient semantic mapping and adaptability to changing environments, DualMap meets the essential requirements for real-world robot navigation applications. Our proposed hybrid segmentation frontend and object-level status check eliminate the costly 3D object merging required by prior methods, enabling effi…

A Systematic Mapping Study on Software Architecture for AI-based Mobility Systems
Amra Ramic, Stefan Kugele
https://arxiv.org/abs/2506.01595 https://

A Systematic Mapping Study on Software Architecture for AI-based Mobility Systems
Background: Due to their diversity, complexity, and above all importance, safety-critical and dependable systems must be developed with special diligence. Criticality increases as these systems likely contain artificial intelligence (AI) components known for their uncertainty. As software and reference architectures form the backbone of any successful system, including safety-critical dependable systems with learning-enabled components, choosing the suitable architecture that guarantees safety …

Mapping Student-AI Interaction Dynamics in Multi-Agent Learning Environments: Supporting Personalised Learning and Reducing Performance Gaps
Zhanxin Hao, Jie Cao, Ruimiao Li, Jifan Yu, Zhiyuan Liu, Yu Zhang
https://arxiv.org/abs/2506.02993

Mapping Student-AI Interaction Dynamics in Multi-Agent Learning Environments: Supporting Personalised Learning and Reducing Performance Gaps
Multi-agent AI systems, which simulate diverse instructional roles such as teachers and peers, offer new possibilities for personalized and interactive learning. Yet, student-AI interaction patterns and their pedagogical implications remain unclear. This study explores how university students engaged with multiple AI agents, and how these interactions influenced cognitive outcomes (learning gains) and non-cognitive factors (motivation, technology acceptance). Based on MAIC, an online learning p…

This https://arxiv.org/abs/2505.13182 has been replaced.
initial toot: https://mastoxiv.page/@arXiv_csLO_…

Information Science Principles of Machine Learning: A Causal Chain Meta-Framework Based on Formalized Information Mapping
[Objective] This study focuses on addressing the current lack of a unified formal theoretical framework in machine learning, as well as the deficiencies in interpretability and ethical safety assurance. [Methods] A formal information model is first constructed, utilizing sets of well-formed formulas to explicitly define the ontological states and carrier mappings of typical components in machine learning. Learnable and processable predicates, along with learning and processing functions, are in…

Efficient Manipulation-Enhanced Semantic Mapping With Uncertainty-Informed Action Selection
Nils Dengler, Jesper M\"ucke, Rohit Menon, Maren Bennewitz
https://arxiv.org/abs/2506.02286

Efficient Manipulation-Enhanced Semantic Mapping With Uncertainty-Informed Action Selection
Service robots operating in cluttered human environments such as homes, offices, and schools cannot rely on predefined object arrangements and must continuously update their semantic and spatial estimates while dealing with possible frequent rearrangements. Efficient and accurate mapping under such conditions demands selecting informative viewpoints and targeted manipulations to reduce occlusions and uncertainty. In this work, we present a manipulation-enhanced semantic mapping framework for oc…

Change of bifurcation type in 2D free boundary model of a moving cell with nonlinear diffusion
Leonid Berlyand, Oleksii Krupchytskyi, Tim Laux
https://arxiv.org/abs/2506.03138

Change of bifurcation type in 2D free boundary model of a moving cell with nonlinear diffusion
We introduce a 2D free boundary problem with nonlinear diffusion that models a living cell moving on a substrate. We prove that this nonlinearity results in a qualitative of solution behavior compared to the linear diffusion case (Rybalko et al. TAMS 2023), namely the switch between direct and inverse pitchfork bifurcation. Our objectives are twofold: (i) develop a rigorous framework to prove existence of bifurcation and determining its type (subcritical vs. superctitical) and (ii) the deri…

Scatter in the star formation rate-halo mass relation: secondary bias and its impact on line-intensity mapping
Rui Lan Jun (UTokyo), Tom Theuns (ICC, Durham), Kana Moriwaki (UTokyo), Sownak Bose (ICC, Durham)
https://arxiv.org/abs/2506.03015

Scatter in the star formation rate-halo mass relation: secondary bias and its impact on line-intensity mapping
We use the IllustrisTNG cosmological hydrodynamical simulations to study the impact of secondary bias -- specifically, the correlation between star formation rate (SFR) and halo bias at fixed halo mass -- on the line-intensity mapping (LIM) power spectrum. In LIM, the galaxy contributions are flux-weighted, and for many emission lines (e.g., H$α$), flux scales with SFR. We show that the (ensemble-averaged) large-scale two-halo term of the power spectrum depends only on the mean luminosity-halo…

Trump's Truth posts mix wild conspiracies with market-moving policies (Avery Lotz/Axios)
https://www.axios.com/2025/06/02/trump-truth-posts-conspiracies-biden-executed
http://www.memeorandum.com/250602/p69#a250602p69

Flying Co-Stereo: Enabling Long-Range Aerial Dense Mapping via Collaborative Stereo Vision of Dynamic-Baseline
Zhaoying Wang, Xingxing Zuo, Wei Dong
https://arxiv.org/abs/2506.00546

Flying Co-Stereo: Enabling Long-Range Aerial Dense Mapping via Collaborative Stereo Vision of Dynamic-Baseline
Lightweight long-range mapping is critical for safe navigation of UAV swarms in large-scale unknown environments. Traditional stereo vision systems with fixed short baselines face limited perception ranges. To address this, we propose Flying Co-Stereo, a cross-agent collaborative stereo vision system that leverages the wide-baseline spatial configuration of two UAVs for long-range dense mapping. Key innovations include: (1) a dual-spectrum visual-inertial-ranging estimator for robust baseline e…

This https://arxiv.org/abs/2309.03678 has been replaced.
initial toot: https://mastoxiv.page/@arXiv_csRO_…

Fully Onboard SLAM for Distributed Mapping with a Swarm of Nano-Drones
The use of Unmanned Aerial Vehicles (UAVs) is rapidly increasing in applications ranging from surveillance and first-aid missions to industrial automation involving cooperation with other machines or humans. To maximize area coverage and reduce mission latency, swarms of collaborating drones have become a significant research direction. However, this approach requires open challenges in positioning, mapping, and communications to be addressed. This work describes a distributed mapping system ba…