#01Jul 22, 2026
cs.RO
Towards Miniature Humanoid Tele-Loco-Manipulation Using Virtual Reality and Reinforcement Learning
Nicolas Kosanovic, Jordan Dowdy, Jean Chagas Vaz
Full-sized humanoid robot capabilities have grown exponentially in recent years, aiming towards general-purpose deployment in human environments. A popular control method used by manufacturers utilizes Virtual Reality for upper-body teleoperation and Reinforcement Learning for lower-body balance and locomotion control. As a result, a single remote operator can see, manipulate, and navigate about a real, distant physical environment. This powerful control stack is often relegated to expensive full-sized robots, many of which are inaccessible to the research community. Miniature humanoids are more prevalent, but employ less biomimicry in their design (e.g. fewer sensors, Degrees of Freedom, etc) and lack similar developments. This paper describes a compliant full-body telepresence control stack developed from the ground up for miniature humanoids. Framework experimentation on ROBOTIS OP3 hardware showcases walking at speeds up to 0.45 m/s independent of arm motions. Tele-loco-manipulation is demonstrated via a cube relocation experiment with an expert human operator. On average, the teleoperated system moved 2 different 40 g cubes within 10 mins, walking a total distance of 5 m. Overall, the developed system shows potential for miniature humanoid tele-loco-manipulation.
#02Jul 22, 2026
cs.LG
OLEDLM: A Unified Language Model for OLED Molecular Design
Fukang Wen, Yuchong Tang, Jingyuan Li and 9 more
The development of organic light-emitting diode (OLED) materials faces the compounded challenges of an astronomically large chemical space, stringent quantum-chemical constraints, and a scarcity of labeled data. Although the question of OLED generation is important, few models have been trained effectively for this specific domain. We propose an inverse molecular design framework based on causal language models: given target optoelectronic properties (e.g., excitation energy, oscillator strength), our model directly generates OLED SMILES sequences satisfying the specified constraints. We employ a multi-stage strategy: first, we establish a foundational chemical language model using a LLaMA-style transformer architecture. To the best of our knowledge, this represents the first successful adaptation of LLMs specifically for the OLED domain, bridging the gap between generic molecular generation and the stringent structural requirements of optoelectronic materials. Second, we fine-tune property predictors based on a BERT model pre-trained on our large-scale OLED dataset. Then, we perform Reinforcement Learning on our fine-tuned model, leveraging our property predictor, for better SMILES generation. Finally, through DFT verification, we demonstrate that our framework can efficiently navigate the OLED chemical space, generating novel candidates with high structural validity and optimized optoelectronic properties.
#03Jul 22, 2026
physics.flu-dyn
Label-Free Finite-Volume-Residual Training of Attention Graph Neural Networks for Coupled Thermo-Fluid Fields
Tianyu Li, Zhiwei Cao, Qingang Zhang and 3 more
Neural surrogates are widely used in scientific machine learning for fast prediction of three-dimensional (3D) thermo-fluid fields. However, generating training data using conventional numerical solvers often incurs substantial computational and storage costs. We propose to train an attention graph neural network by minimizing the finite-volume method (FVM) residuals of the governing equations. These residuals are evaluated directly on the mesh, requiring no labeled data. We evaluate the trained surrogates against computational fluid dynamics (CFD) references and a data-supervised baseline across four scenarios. On the two steady-state benchmarks, the FVM-loss model achieves an all-field normalized root-mean-square error (nRMSE) of 2.3-2.8%. It demonstrates close agreement with the CFD references, including the buoyancy-energy coupling. On the two parametric transient cases, the FVM-loss model outperforms the supervised baseline in terms of accuracy, while avoiding the data-generation cost entirely. These results indicate that the FVM loss can provide a practical training signal for neural surrogates and reduce the model development cost.
#04Jul 22, 2026
cs.LG
Breaking the $T^{3/4}$ Barrier for Regret Minimization With Bi-Dimensional CDFs
Matteo Castiglioni, Anna Lunghi, Alberto Marchesi
We study regret minimization for learning CDF-related objectives of the form \[ g(x)\cdot\mathbb{P}_{X\sim\mathcal{D}}(X\le x), \] over $[0,1]^2$, where $g$ is a known Lipschitz function and $\mathcal{D}$ is an unknown distribution. At each round $t$, the learner selects a point $x_t$ and observes the binary feedback $\mathbb{I}(X_t\le x_t)$, where $X_t\sim\mathcal{D}$. We design an algorithm achieving regret $\widetilde{\mathcal{O}}(T^{7/10})$, improving over the previous best-known bound of $\widetilde{\mathcal{O}}(T^{3/4})$ and showing that the curse of dimensionality can be at least partially lifted for this class of objectives, though a gap remains with the $Ω(T^{2/3})$ lower bound. As an application, our techniques yield the same $\widetilde{\mathcal{O}}(T^{7/10})$ regret bound for profit maximization in repeated bilateral trade with fixed prices.
#05Jul 22, 2026
cs.LG
Online Variance Reduction for Domain Adaptation on Streaming Data
Andrea Napoli
This paper studies the problem of stochastic variance reduction (SVR) for the maximum mean discrepancy (MMD) and correlation alignment (CORAL) loss functions. Although various offline SVR algorithms for these losses have been proposed, these are incompatible with online, distributed, or incremental learning settings. This paper presents Adaptive vaRiance Reduction via Online reWeighting (ARROW), the first online SVR algorithm for the MMD and CORAL for streamed data. The method maintains moving average references of the alignment statistics, and adaptively reweights incoming minibatches so that the minibatch and reference statistics are aligned. Further, we propose a relaxed reweighting scheme so that the ensuing weight-optimisation problem is tractable. In experiments and simulations, we show that ARROW performs competitively with offline algorithms in terms of runtime, degree of variance reduction achieved, and target domain accuracy.