Vision Guided Target Conditioned Control for Autonomous Excavation
本文提出一种基于视觉引导的目标条件控制框架,通过多视角RGB观测和目标掩码映射到长时间的操纵杆命令,以解决自主挖掘中将空间工作意图转化为协调铲斗运动的问题。
本文提出一种基于视觉引导的目标条件控制框架,通过多视角RGB观测和目标掩码映射到长时间的操纵杆命令,以解决自主挖掘中将空间工作意图转化为协调铲斗运动的问题。
为解决大规模生存数据分析中的计算与存储难题,提出了一种基于泊松子抽样的部分线性可加Cox模型方法,使用B样条基函数和去相关得分技术。
This work addresses the limitations of existing 3D molecular representation methods, which lack explicit physical constraints, are susceptible to geometric noise, and neglect task-adaptive dynamic feature modulation—leading to negative transfer and catastrophic forgetting. To overcome these issues, we propose SenCos-GEM, a novel framework that introduces the law of cosines as a geometric consistency loss for the first time in molecular representation learning, thereby establishing a high-fidelity 3D spatial prior. Furthermore, SenCos-GEM explicitly decouples physical constraints from dynamic feature recalibration through a lightweight squeeze-and-excitation (SE) adapter integrated with a FiLM mechanism. Our method achieves new state-of-the-art results across multiple conformation-sensitive tasks on MoleculeNet, yielding relative error reductions of 12.9% RMSE on FreeSolv, 5.3% RMSE on Lipophilicity, and 8.2% MAE on QM9, while significantly enhancing discrimination of stereoisomers and robustness to conformational perturbations.
This study addresses the limitations of traditional fixed-effects models, which rely on strong assumptions of linear additivity and independence, thereby struggling to accommodate group heterogeneity and within-group dependence and leading to biased cross-group comparisons. To overcome these issues, the authors propose a Graph Neural Network–based Generalized Mundlak Estimator (GME-GNN) that dispenses with conventional intercept terms and instead incorporates group-level balancing statistics to control for between-group confounding. By leveraging the message-passing mechanism of graph neural networks, the method adaptively learns nonlinear representations to flexibly capture intra-group interaction structures. The estimator is theoretically shown to possess double robustness and asymptotic normality. Both simulation experiments and empirical analyses demonstrate its superior performance over existing approaches in bias reduction and cross-group inference.
This study addresses the uniform interpolation problem for propositional variables and agent symbols in epistemic logics with distributed knowledge—specifically, systems K, KD, and KT. Moving beyond traditional approaches that consider only propositional variables, this work is the first to incorporate agent symbols into the definition of uniform interpolation. Building on the sequent calculus framework of Murai and Sano (2020) and integrating Bílková’s (2007) interpolation technique, the authors devise a purely syntactic, algorithmic procedure for constructing interpolants. The paper establishes that these epistemic systems retain the uniform interpolation property even when extended with distributed knowledge, and it provides an effective, computable method for generating interpolating formulas, thereby significantly broadening the scope of interpolation theory in epistemic logic.
本文提出一种基于视觉引导的目标条件控制框架,通过多视角RGB观测和目标掩码映射到长时间的操纵杆命令,以解决自主挖掘中将空间工作意图转化为协调铲斗运动的问题。
为解决大规模生存数据分析中的计算与存储难题,提出了一种基于泊松子抽样的部分线性可加Cox模型方法,使用B样条基函数和去相关得分技术。
This work addresses the limitations of existing 3D molecular representation methods, which lack explicit physical constraints, are susceptible to geometric noise, and neglect task-adaptive dynamic feature modulation—leading to negative transfer and catastrophic forgetting. To overcome these issues, we propose SenCos-GEM, a novel framework that introduces the law of cosines as a geometric consistency loss for the first time in molecular representation learning, thereby establishing a high-fidelity 3D spatial prior. Furthermore, SenCos-GEM explicitly decouples physical constraints from dynamic feature recalibration through a lightweight squeeze-and-excitation (SE) adapter integrated with a FiLM mechanism. Our method achieves new state-of-the-art results across multiple conformation-sensitive tasks on MoleculeNet, yielding relative error reductions of 12.9% RMSE on FreeSolv, 5.3% RMSE on Lipophilicity, and 8.2% MAE on QM9, while significantly enhancing discrimination of stereoisomers and robustness to conformational perturbations.
This study addresses the limitations of traditional fixed-effects models, which rely on strong assumptions of linear additivity and independence, thereby struggling to accommodate group heterogeneity and within-group dependence and leading to biased cross-group comparisons. To overcome these issues, the authors propose a Graph Neural Network–based Generalized Mundlak Estimator (GME-GNN) that dispenses with conventional intercept terms and instead incorporates group-level balancing statistics to control for between-group confounding. By leveraging the message-passing mechanism of graph neural networks, the method adaptively learns nonlinear representations to flexibly capture intra-group interaction structures. The estimator is theoretically shown to possess double robustness and asymptotic normality. Both simulation experiments and empirical analyses demonstrate its superior performance over existing approaches in bias reduction and cross-group inference.
This study addresses the uniform interpolation problem for propositional variables and agent symbols in epistemic logics with distributed knowledge—specifically, systems K, KD, and KT. Moving beyond traditional approaches that consider only propositional variables, this work is the first to incorporate agent symbols into the definition of uniform interpolation. Building on the sequent calculus framework of Murai and Sano (2020) and integrating Bílková’s (2007) interpolation technique, the authors devise a purely syntactic, algorithmic procedure for constructing interpolants. The paper establishes that these epistemic systems retain the uniform interpolation property even when extended with distributed knowledge, and it provides an effective, computable method for generating interpolating formulas, thereby significantly broadening the scope of interpolation theory in epistemic logic.