cs.RO 2606.20428

ARC: Adaptive Robust Joint State and Covariance Estimation

Proposes ARC: a unified block-coordinate descent framework combining adaptive robust loss, IRLS, and MWCD for joint state and covariance estimation, robust against outliers and non-Gaussian noise, with automatic parameter tuning.

Alexandre Hadji-Thomas, Andrew Stirling, James R. Forbes

2026-06-19 23
cs.AI 2606.19911

Multi-Agent Transactive Memory

Proposed Multi-Agent Transactive Memory (MATM) enhances heterogeneous agent populations by sharing trajectories, improving success rate by 8% and reducing steps by 0.59 in interactive tasks.

To Eun Kim, Xuhong He, Dishank Jain et al.

2026-06-18 19
cs.LG 2606.19878

On the Oracle Complexity of Interpolation-Based Gradient Descent

Proposes Piecewise Polynomial Interpolation-based Gradient Descent (PPI-GD) achieving oracle complexity of O((p/ε)^{d/(2ℓ)}) for data dimension d=O(log^{0.49}(n)), outperforming classical GD/SGD.

Dongmin Lee, William Lu, Anuran Makur

2026-06-18 13
cs.CL 2606.19336

Learning User Simulators with Turing Rewards

Proposes Turing-RL, a reinforcement learning approach using discriminative Turing rewards to train human user simulators, outperforming traditional response matching methods.

Yingshan Susan Wang, Cedegao E. Zhang, Linlu Qiu et al.

2026-06-18 25
cs.RO 2606.19333

Do as I Do: Dexterous Manipulation Data from Everyday Human Videos

Proposes DO AS I DO framework that reconstructs human hand-object interactions from monocular RGB videos and retargets them to dexterous robots, outperforming state-of-the-art methods.

Bhawna Paliwal, Haritheja Etukuru, William Liang et al.

2026-06-18 76