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Model-Based Lookahead Reinforcement Learning for in-hand manipulation
Alexandre Lopes, Catarina Barata, Plinio Moreno
https://arxiv.org/abs/2510.08884 https://

Model-Based Lookahead Reinforcement Learning for in-hand manipulation
In-Hand Manipulation, as many other dexterous tasks, remains a difficult challenge in robotics by combining complex dynamic systems with the capability to control and manoeuvre various objects using its actuators. This work presents the application of a previously developed hybrid Reinforcement Learning (RL) Framework to In-Hand Manipulation task, verifying that it is capable of improving the performance of the task. The model combines concepts of both Model-Free and Model-Based Reinforcement L…

Beyond Log Likelihood: Probability-Based Objectives for Supervised Fine-Tuning across the Model Capability Continuum
Gaotang Li, Ruizhong Qiu, Xiusi Chen, Heng Ji, Hanghang Tong
https://arxiv.org/abs/2510.00526

Beyond Log Likelihood: Probability-Based Objectives for Supervised Fine-Tuning across the Model Capability Continuum
Supervised fine-tuning (SFT) is the standard approach for post-training large language models (LLMs), yet it often shows limited generalization. We trace this limitation to its default training objective: negative log likelihood (NLL). While NLL is classically optimal when training from scratch, post-training operates in a different paradigm and could violate its optimality assumptions, where models already encode task-relevant priors and supervision can be long and noisy. To this end, we study…

Training-Free Out-Of-Distribution Segmentation With Foundation Models
Laith Nayal, Hadi Salloum, Ahmad Taha, Yaroslav Kholodov, Alexander Gasnikov
https://arxiv.org/abs/2510.02909

Training-Free Out-Of-Distribution Segmentation With Foundation Models
Detecting unknown objects in semantic segmentation is crucial for safety-critical applications such as autonomous driving. Large vision foundation models, includ- ing DINOv2, InternImage, and CLIP, have advanced visual representation learn- ing by providing rich features that generalize well across diverse tasks. While their strength in closed-set semantic tasks is established, their capability to detect out- of-distribution (OoD) regions in semantic segmentation remains underexplored. In this …

Vision-Language-Action Models for Robotics: A Review Towards Real-World Applications
Kento Kawaharazuka, Jihoon Oh, Jun Yamada, Ingmar Posner, Yuke Zhu
https://arxiv.org/abs/2510.07077

Vision-Language-Action Models for Robotics: A Review Towards Real-World Applications
Amid growing efforts to leverage advances in large language models (LLMs) and vision-language models (VLMs) for robotics, Vision-Language-Action (VLA) models have recently gained significant attention. By unifying vision, language, and action data at scale, which have traditionally been studied separately, VLA models aim to learn policies that generalise across diverse tasks, objects, embodiments, and environments. This generalisation capability is expected to enable robots to solve novel downs…

Multi state neurons
Robert Worden
https://arxiv.org/abs/2512.08815 https://arxiv.org/pdf/2512.08815 https://arxiv.org/html/2512.08815
arXiv:2512.08815v1 Announce Type: new
Abstract: Neurons, as eukaryotic cells, have powerful internal computation capabilities. One neuron can have many distinct states, and brains can use this capability. Processes of neuron growth and maintenance use chemical signalling between cell bodies and synapses, ferrying chemical messengers over microtubules and actin fibres within cells. These processes are computations which, while slower than neural electrical signalling, could allow any neuron to change its state over intervals of seconds or minutes. Based on its state, a single neuron can selectively de-activate some of its synapses, sculpting a dynamic neural net from the static neural connections of the brain. Without this dynamic selection, the static neural networks in brains are too amorphous and dilute to do the computations of neural cognitive models. The use of multi-state neurons in animal brains is illustrated in hierarchical Bayesian object recognition. Multi-state neurons may support a design which is more efficient than two-state neurons, and scales better as object complexity increases. Brains could have evolved to use multi-state neurons. Multi-state neurons could be used in artificial neural networks, to use a kind of non-Hebbian learning which is faster and more focused and controllable than traditional neural net learning. This possibility has not yet been explored in computational models.
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