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新论文 · v1arXiv:2611.08634

Benchmarking Machine Learning for Chaotic Three-Body Dynamics in Astrophysics

Sheng Wan, Pavan Vynatheya, Duo Xu, Li Kevin Wenliang, Ye Zhu

原文摘要

Machine learning (ML) and generative AI have recently made impressive progress in understanding physics. We explore a hierarchy of prediction problems stemming from chaotic three-body systems and benchmark existing ML approaches, including general-purpose prediction algorithms and those that build on top of foundational physics models. We first simulate the trajectories of triple systems near the critical boundary of stable/unstable initial conditions. We then design a hierarchy of learning tasks, focusing mainly on two broad problems: stability prediction and trajectory prediction. The former classifies whether a given triple system has diverged or not up to a specific horizon, while the latter predicts the exact trajectory, both given suitable input features. We benchmark a range of ML approaches, from simple regression methods to state-of-the-art foundational physics models, across these tasks, and compare them against astrophysical methods such as the Mardling-Aarseth stability criterion. Our experiments reveal a clear order of task difficulties in chaotic three-body dynamics: early dynamics enable strong stability prediction, while precise long-horizon trajectory forecasting remains difficult. Code and dataset are publicly available at https://github.com/Simonwan03/ThreeBodyMLBench.

cs.LG

新论文 · v1arXiv:2611.08577

Meituan-Robotics-0: A Vision-Language-Action Foundation Model for Desktop Manipulation

Meituan Robotics Team, Caicheng Wang, Chen Zhao, Chengpeng Jin, Duo Xu, Fengjiao Chen, Guanglu Wan, Heqing Yang 等 38 位作者

原文摘要

We present Meituan-Robotics-0 (MR0), a vision-language-action foundation model and embodied-agent system for stationary-base desktop manipulation. MR0 combines 147 million vision-language samples with 15,060 hours of curated robot trajectories spanning 12 embodiments. A three-stage training recipe aligns multimodal representations with robot behavior through discrete action-token pre-training, transfers these priors to continuous cross-embodiment control through flow-matching mid-training, and adapts the policy through real-world post-training. We introduce Rollback, which pairs replaced policy segments with human corrections to provide positive and negative supervision for CFG-DAgger without value learning or advantage labeling. A unified end-effector interface supports heterogeneous embodiments, while asynchronous action-chunk merging maintains smooth execution under variable inference latency. An event-driven agent maintains persistent task events and reassesses plans when progress or feasibility changes, enabling cross-task retrieval and conditional task resumption. MR0 achieves 93.6% success on RoboTwin 2.0 and ranks fifth in the RoboDojo VLA track. Under matched HG-DAgger post-training, MR0 achieves higher average success rate and progress score than $π_{0.5}$ across three real-robot tasks. On Ethernet insertion, CFG-DAgger trained with Rollback data reaches 70% success and a progress score of 0.90. Qualitative agent deployments demonstrate cross-task event retrieval and recovery from temporarily unsatisfied task conditions.

cs.RO · cs.CV

版本更新 · v2arXiv:2610.34373

Tight Coreset Bounds for $(k,z)$-Clustering in Euclidean and Doubling Metrics

Junqiu Hu, Lingxiao Huang, Jian Li, Baoduo Xu

原文摘要

We determine the optimal worst-case size of strong coresets for $(k,z)$-clustering in Euclidean spaces and doubling metrics, up to polylogarithmic factors. In Euclidean space, previous lower bounds matched the best upper bounds only for $\varepsilon\gtrsim k^{-1/(z+2)}$. We close the gap for arbitrarily small $\varepsilon$, establishing the optimal size $\widetildeΘ(\min\{k^{(2z+2)/(z+2)}\varepsilon^{-2},\,k\varepsilon^{-z-2}\})$ for every fixed $z\ge1$, all $k\ge1$, and $0<\varepsilon<1$. Our lower bound replaces each offset in a previous hard instance by a group of distinct offsets. A fixed family of $k$-center queries and four-wise independent signs force a large relative cost error for every sufficiently small subset with arbitrary nonnegative weights. For doubling metrics of dimension $D$, we resolve the previously unmatched bounds for $z>2$. We prove an upper bound of $\widetilde O(k^{2-2/z}D\varepsilon^{-2})$ and a lower bound that, together with known upper bounds, establishes the optimal size $\widetildeΘ(kD\min\{k^{1-2/z}\varepsilon^{-2},\,\varepsilon^{-z}\})$ for fixed $z>2$, $0<\varepsilon\le\varepsilon_z$, and $D\ge C_z\log(2/\varepsilon)$, where $C_z>0$ and $\varepsilon_z\in(0,1)$ depend only on $z$. The lower bound exploits the ability to encode $Θ(D)$ independent signs per center without diluting relative cost discrepancy. For the upper bound, we use independent, unbiased two-point summaries that exactly preserve cluster mass and anchor cost, combined with iterative size reduction.

cs.DS · cs.CG