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Related Articles from SNS
BPDA-GMM: Bayesian Probabilistic Data Association via Gaussian Mixture Models for Semantic SLAM
arXiv:2606.04618v1 Announce Type: new Abstract: Probabilistic data association (PDA) improves semantic SLAM in perceptually aliased scenes, but existing methods often assume a fixed landmark set, recompute association weights as the map grows, or rely on hand-tuned null-hypothesis weights. To address these limitations, we propose \textbf{BPDA-GMM}, an online Bayesian PDA framework for semantic SLAM with a growing object-level map. BPDA-GMM uses a Dirichlet-process prior to induce a Chinese...
G-MaP-SE: Guided Speech Enhancement via GMM-Based Prior Matching
arXiv:2606.08580v1 Announce Type: cross Abstract: Using speaker embeddings as conditioning can strengthen speech enhancement, but most methods either require clean enrollment audio or rely on embeddings extracted from noisy speech, which are fragile under noise and domain shift. We propose G-MaP-SE, a guided enhancement framework that builds a clean-speech embedding prior with a Gaussian Mixture Model (GMM) and refines a noisy conditioning embedding by matching it to this prior. The matched...
Hybrid Dynamics Modeling for a Flexible 2-DoF Robotic Arm
arXiv:2606.02969v1 Announce Type: new Abstract: This paper examines three approaches for modeling the dynamics of a flexible-link 2-DoF robotic arm to address unmodeled dynamics not captured by rigid-body models. Two physics informed models combine rigid-body dynamics (RBD) formulations with a Gaussian Mixture Model (GMM) to capture residual model errors and linkage flexibility. A kinematics-based regression model serves as a purely data-driven baseline.
A Geometric Gaussian Mixture Representation of Plane Curves
Announce Type: new Abstract: We introduce a user defined probabilistic polygonal representation for plane curves. Given a curve, we select vertices on the curve and connect consecutive vertices by line segments to obtain a polygonal approximation. Each segment is equipped with a user defined uncertainty parameter in the normal direction.
Non-Parametric Probabilistic Robustness: A Conservative Risk Estimator under Unknown Perturbation Distributions
Announce Type: replace Abstract: Deep learning (DL) models, despite their remarkable success, remain vulnerable to small input perturbations that can cause erroneous outputs, motivating the recent proposal of probabilistic robustness (PR) as a complementary alternative to adversarial robustness (AR). However, existing PR formulations assume a fixed and known perturbation distribution, an unrealistic expectation in practice. To address this limitation, we propose non-parametric probabilistic...
Enhancing Multi-Robot Exploration Using Probabilistic Frontier Prioritization with Dirichlet Process Gaussian Mixtures
arXiv:2604.03042v2 Announce Type: replace Abstract: Multi-agent autonomous exploration is essential for applications such as environmental monitoring, search and rescue, and industrial-scale surveillance. However, effective coordination under communication constraints remains a significant challenge. Frontier exploration algorithms analyze the boundary between the known and unknown regions to determine the next-best view that maximizes exploratory gain.
Online Pandora's Box for Contextual LLM Cascading
Announce Type: new Abstract: Motivated by Large Language Model (LLM) cascading, we propose an online contextual Pandora's Box model for adaptively querying and selecting LLM APIs. In each period, a decision-maker observes a request context and faces a two-phase decision problem. In the query phase, the decision-maker sequentially queries APIs, where each query reveals a generated output and the decision-maker incurs an (output-dependent) cost.