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cs.RO updates on arXiv.org

FineCog-Nav: Integrating Fine-grained Cognitive Modules for Zero-shot Multimodal UAV Navigation DENALI: A Dataset Enabling Non-Line-of-Sight Spatial Reasoning with Low-Cost LiDARs SENSE: Stereo OpEN Vocabulary SEmantic Segmentation Continual Hand-Eye Calibration for Open-world Robotic Manipulation PLAF: Pixel-wise Language-Aligned Feature Extraction for Efficient 3D Scene Understanding GaussianFlow SLAM: Monocular Gaussian Splatting SLAM Guided by GaussianFlow GIST: Multimodal Knowledge Extraction and Spatial Grounding via Intelligent Semantic Topology $π_{0.7}$: a Steerable Generalist Robotic Foundation Model with Emergent Capabilities R3D: Revisiting 3D Policy Learning Vision-Based Safe Human-Robot Collaboration with Uncertainty Guarantees Benchmarking Classical Coverage Path Planning Heuristics on Irregular Hexagonal Grids for Maritime Coverage Scenarios NEAT-NC: NEAT guided Navigation Cells for Robot Path Planning HRDexDB: A Large-Scale Dataset of Dexterous Human and Robotic Hand Grasps ADAPT: Benchmarking Commonsense Planning under Unspecified Affordance Constraints An Intelligent Robotic and Bio-Digestor Framework for Smart Waste Management Efficient closed-form approaches for pose estimation using Sylvester forms World-Value-Action Model: Implicit Planning for Vision-Language-Action Systems A Nonasymptotic Theory of Gain-Dependent Error Dynamics in Behavior Cloning CooperDrive: Enhancing Driving Decisions Through Cooperative Perception SpaceMind: A Modular and Self-Evolving Embodied Vision-Language Agent Framework for Autonomous On-orbit Servicing HiVLA: A Visual-Grounded-Centric Hierarchical Embodied Manipulation System UMI-3D: Extending Universal Manipulation Interface from Vision-Limited to 3D Spatial Perception Towards Multi-Object-Tracking with Radar on a Fast Moving Vehicle: On the Potential of Processing Radar in the Frequency Domain Beyond Conservative Automated Driving in Multi-Agent Scenarios via Coupled Model Predictive Control and Deep Reinforcement Learning Failure Identification in Imitation Learning Via Statistical and Semantic Filtering A Dynamic-Growing Fuzzy-Neuro Controller, Application to a 3PSP Parallel Robot Vision-Language-Action Jump-Starting for Reinforcement Learning Robotic Agents A Mechanistic Analysis of Sim-and-Real Co-Training in Generative Robot Policies ESCAPE: Episodic Spatial Memory and Adaptive Execution Policy for Long-Horizon Mobile Manipulation Evolvable Embodied Agent for Robotic Manipulation via Long Short-Term Reflection and Optimization
Closed-Form Robustness Bounds for Second-Order Pruning of...
Maksym Shamrai · 2025-06-30 · via cs.RO updates on arXiv.org

Deep neural policies have unlocked agile flight for quadcopters, adaptive grasping for manipulators, and reliable navigation for ground robots, yet their millions of weights conflict with the tight memory and real-time constraints of embedded microcontrollers. Second-order pruning methods, such as Optimal Brain Damage (OBD) and its variants, including Optimal Brain Surgeon (OBS) and the recent SparseGPT, compress networks in a single pass by leveraging the local Hessian, achieving far higher sparsity than magnitude thresholding. Despite their success in vision and language, the consequences of such weight removal on closed-loop stability, tracking accuracy, and safety have remained unclear. We present the first mathematically rigorous robustness analysis of second-order pruning in nonlinear discrete-time control. The system evolves under a continuous transition map, while the controller is an $L$-layer multilayer perceptron with ReLU-type activations that are globally 1-Lipschitz. Pruning the weight matrix of layer $k$ replaces $W_k$ with $W_k+δW_k$, producing the perturbed parameter vector $\widehatΘ=Θ+δΘ$ and the pruned policy $π(\cdot;\widehatΘ)$. For every input state $s\in X$ we derive the closed-form inequality $ \|π(s;Θ)-π(s;\widehatΘ)\|_2 \le C_k(s)\,\|δW_k\|_2, $ where the constant $C_k(s)$ depends only on unpruned spectral norms and biases, and can be evaluated in closed form from a single forward pass. The derived bounds specify, prior to field deployment, the maximal admissible pruning magnitude compatible with a prescribed control-error threshold. By linking second-order network compression with closed-loop performance guarantees, our work narrows a crucial gap between modern deep-learning tooling and the robustness demands of safety-critical autonomous systems.