16 papers
Neural Posterior Estimation of Terrain Parameters from Radar Sounder Data
Jordy Dal Corso, Annalena Kofler, Marco Cortellazzi +2
Radar sounders are electromagnetic instruments that can probe deep into the subsurface of Earth and other planetary bodies by processing the echo of transmitted radar waves. Conven…
Sensorimotor World Models: Perception for Action via Inverse Dynamics
Petr Ivashkov, Randall Balestriero, Bernhard Schölkopf
Perception for action suggests that representations of the world should be shaped not by visual fidelity alone, but by their relevance for actions. At the same time, latent JEPA-st…
Sim-to-Real Transfer for Muscle-Actuated Robots via Generalized Actuator Networks
Jan Schneider, Mridul Mahajan, Le Chen +4
Tendon drives paired with soft muscle actuation enable faster and safer robots while potentially accelerating skill acquisition. Still, these systems are rarely used in practice du…
Stargazer: A Scalable Model-Fitting Benchmark Environment for AI Agents under Astrophysical Constraints
Xinge Liu, Terry Jingchen Zhang, Bernhard Schölkopf +2
The rise of autonomous AI agents suggests that dynamic benchmark environments with built-in feedback on scientifically grounded tasks are needed to evaluate the capabilities of the…
Adaptive Inverted-Index Routing for Granular Mixtures-of-Experts
Klaus-Rudolf Kladny, Maximilian Mordig, Bernhard Schölkopf +1
Mixture-of-experts (MoE) models enable scalable transformer architectures by activating only a subset of experts per token. Recent evidence suggests that performance improves with…
Bounded Ratio Reinforcement Learning
Yunke Ao, Le Chen, Bruce D. Lee +5
Proximal Policy Optimization (PPO) has become the predominant algorithm for on-policy reinforcement learning due to its scalability and empirical robustness across domains. However…