arXiv subjects

Judah Goldfeder

Publications and source records attributed to Judah Goldfeder.

35 records · Page 2Linked to original sources

arXiv2025

A superpersuasive autonomous policy debating system

The capacity for highly complex, evidence-based, and strategically adaptive persuasion remains a formidable great challenge for artificial intelligence. Previous work, like IBM Project Debater, focused on generating persuasive speeches in simplified and shortened debate formats intended for relatively lay audiences. We introduce DeepDebater, a novel autonomous system capable of participating in and winning a full, unmodified, two-team competitive policy debate. Our system employs a hierarchical architecture of specialized multi-agent workflows, where teams of LLM-powered agents collaborate and critique one another to perform discrete argumentative tasks. Each workflow utilizes iterative retrieval, synthesis, and self-correction using a massive corpus of policy debate evidence (OpenDebateEvidence) and produces complete speech transcripts, cross-examinations, and rebuttals. We introduce a live, interactive end-to-end presentation pipeline that renders debates with AI speech and animation: transcripts are surface-realized and synthesized to audio with OpenAI TTS, and then displayed as talking-head portrait videos with EchoMimic V1. Beyond fully autonomous matches (AI vs AI), DeepDebater supports hybrid human-AI operation: human debaters can intervene at any stage, and humans can optionally serve as opponents against AI in any speech, allowing AI-human and AI-AI rounds. In preliminary evaluations against human-authored cases, DeepDebater produces qualitatively superior argumentative components and consistently wins simulated rounds as adjudicated by an independent autonomous judge. Expert human debate coaches also prefer the arguments, evidence, and cases constructed by DeepDebater. We open source all code, generated speech transcripts, audio and talking head video here: https://github.com/Hellisotherpeople/DeepDebater/tree/main

cs.CL↗

arXiv2025

Exploring Human-AI Conceptual Alignment through the Prism of Chess

Do AI systems truly understand human concepts or merely mimic surface patterns? We investigate this through chess, where human creativity meets precise strategic concepts. Analyzing a 270M-parameter transformer that achieves grandmaster-level play, we uncover a striking paradox: while early layers encode human concepts like center control and knight outposts with up to 85\% accuracy, deeper layers, despite driving superior performance, drift toward alien representations, dropping to 50-65\% accuracy. To test conceptual robustness beyond memorization, we introduce the first Chess960 dataset: 240 expert-annotated positions across 6 strategic concepts. When opening theory is eliminated through randomized starting positions, concept recognition drops 10-20\% across all methods, revealing the model's reliance on memorized patterns rather than abstract understanding. Our layer-wise analysis exposes a fundamental tension in current architectures: the representations that win games diverge from those that align with human thinking. These findings suggest that as AI systems optimize for performance, they develop increasingly alien intelligence, a critical challenge for creative AI applications requiring genuine human-AI collaboration. Dataset and code are available at: https://github.com/slomasov/ChessConceptsLLM.

cs.LG↗

arXiv2025

Generating Auxiliary Tasks with Reinforcement Learning

Auxiliary Learning (AL) is a form of multi-task learning in which a model trains on auxiliary tasks to boost performance on a primary objective. While AL has improved generalization across domains such as navigation, image classification, and NLP, it often depends on human-labeled auxiliary tasks that are costly to design and require domain expertise. Meta-learning approaches mitigate this by learning to generate auxiliary tasks, but typically rely on gradient based bi-level optimization, adding substantial computational and implementation overhead. We propose RL-AUX, a reinforcement-learning (RL) framework that dynamically creates auxiliary tasks by assigning auxiliary labels to each training example, rewarding the agent whenever its selections improve the performance on the primary task. We also explore learning per-example weights for the auxiliary loss. On CIFAR-100 grouped into 20 superclasses, our RL method outperforms human-labeled auxiliary tasks and matches the performance of a prominent bi-level optimization baseline. We present similarly strong results on other classification datasets. These results suggest RL is a viable path to generating effective auxiliary tasks.

cs.LG↗

arXiv2025

Knolling Bot: Teaching Robots the Human Notion of Tidiness

For robots to truly collaborate and assist humans, they must understand not only logic and instructions, but also the subtle emotions, aesthetics, and feelings that define our humanity. Human art and aesthetics are among the most elusive concepts-often difficult even for people to articulate-and without grasping these fundamentals, robots will be unable to help in many spheres of daily life. Consider the long-promised robotic butler: automating domestic chores demands more than motion planning. It requires an internal model of cleanliness and tidiness-a challenge largely unexplored by AI. To bridge this gap, we propose an approach that equips domestic robots to perform simple tidying tasks via knolling, the practice of arranging scattered items into neat, space-efficient layouts. Unlike the uniformity of industrial settings, household environments feature diverse objects and highly subjective notions of tidiness. Drawing inspiration from NLP, we treat knolling as a sequential prediction problem and employ a transformer based model to forecast each object's placement. Our method learns a generalizable concept of tidiness, generates diverse solutions adaptable to varying object sets, and incorporates human preferences for personalized arrangements. This work represents a step forward in building robots that internalize human aesthetic sense and can genuinely co-create in our living spaces.

cs.RO↗

arXiv2025

Bi-Encoder Contrastive Learning for Fingerprint and Iris Biometrics

There has been a historic assumption that the biometrics of an individual are statistically uncorrelated. We test this assumption by training Bi-Encoder networks on three verification tasks, including fingerprint-to-fingerprint matching, iris-to-iris matching, and cross-modal fingerprint-to-iris matching using 274 subjects with $\sim$100k fingerprints and 7k iris images. We trained ResNet-50 and Vision Transformer backbones in Bi-Encoder architectures such that the contrastive loss between images sampled from the same individual is minimized. The iris ResNet architecture reaches 91 ROC AUC score for iris-to-iris matching, providing clear evidence that the left and right irises of an individual are correlated. Fingerprint models reproduce the positive intra-subject suggested by prior work in this space. This is the first work attempting to use Vision Transformers for this matching. Cross-modal matching rises only slightly above chance, which suggests that more data and a more sophisticated pipeline is needed to obtain compelling results. These findings continue challenge independence assumptions of biometrics and we plan to extend this work to other biometrics in the future. Code available: https://github.com/MatthewSo/bio_fingerprints_iris.

cs.CV↗

arXiv2025

LyTimeT: Towards Robust and Interpretable State-Variable Discovery

Extracting the true dynamical variables of a system from high-dimensional video is challenging due to distracting visual factors such as background motion, occlusions, and texture changes. We propose LyTimeT, a two-phase framework for interpretable variable extraction that learns robust and stable latent representations of dynamical systems. In Phase 1, LyTimeT employs a spatio-temporal TimeSformer-based autoencoder that uses global attention to focus on dynamically relevant regions while suppressing nuisance variation, enabling distraction-robust latent state learning and accurate long-horizon video prediction. In Phase 2, we probe the learned latent space, select the most physically meaningful dimensions using linear correlation analysis, and refine the transition dynamics with a Lyapunov-based stability regularizer to enforce contraction and reduce error accumulation during roll-outs. Experiments on five synthetic benchmarks and four real-world dynamical systems, including chaotic phenomena, show that LyTimeT achieves mutual information and intrinsic dimension estimates closest to ground truth, remains invariant under background perturbations, and delivers the lowest analytical mean squared error among CNN-based (TIDE) and transformer-only baselines. Our results demonstrate that combining spatio-temporal attention with stability constraints yields predictive models that are not only accurate but also physically interpretable.

cs.CV↗

arXiv2025

Antislop: A Comprehensive Framework for Identifying and Eliminating Repetitive Patterns in Language Models

Widespread LLM adoption has introduced characteristic repetitive phraseology, termed "slop," which degrades output quality and makes AI-generated text immediately recognizable. We present Antislop, a comprehensive framework providing tools to both detect and eliminate these overused patterns. Our approach combines three innovations: (1) The Antislop Sampler, which uses backtracking to suppress unwanted strings at inference time without destroying vocabulary; (2) An automated pipeline that profiles model-specific slop against human baselines and generates training data; (3) Final Token Preference Optimization (FTPO), a novel fine-tuning method that operates on individual tokens, surgically adjusting logits wherever a banned pattern has appeared in an inference trace. We demonstrate that some slop patterns appear over 1,000x more frequently in LLM output than human text. The Antislop Sampler successfully suppresses 8,000+ patterns while maintaining quality, whereas token banning becomes unusable at just 2,000. Most importantly, FTPO achieves 90% slop reduction while maintaining or improving performance in cross-domain evals including GSM8K, MMLU, and creative writing tasks. In contrast, DPO suffers significant degradation in writing quality and lexical diversity despite achieving weaker suppression. We release all code and results under MIT license: https://github.com/sam-paech/auto-antislop.

cs.LG↗

arXiv2025

Creative synthesis of kinematic mechanisms

In this paper, we formulate the problem of kinematic synthesis for planar linkages as a cross-domain image generation task. We develop a planar linkages dataset using RGB image representations, covering a range of mechanisms: from simple types such as crank-rocker and crank-slider to more complex eight-bar linkages like Jansen's mechanism. A shared-latent variational autoencoder (VAE) is employed to explore the potential of image generative models for synthesizing unseen motion curves and simulating novel kinematics. By encoding the drawing speed of trajectory points as color gradients, the same architecture also supports kinematic synthesis conditioned on both trajectory shape and velocity profiles. We validate our method on three datasets of increasing complexity: a standard four-bar linkage set, a mixed set of four-bar and crank-slider mechanisms, and a complex set including multi-loop mechanisms. Preliminary results demonstrate the effectiveness of image-based representations for generative mechanical design, showing that mechanisms with revolute and prismatic joints, and potentially cams and gears, can be represented and synthesized within a unified image generation framework.

cs.GR↗

arXiv2025

NdLinear: Preserving Multi-Dimensional Structure for Parameter-Efficient Neural Networks

In deep learning, processing multidimensional inputs (e.g., images, medical scans, and time series) is an important task that often requires flattening the inputs. We introduce $\mathit{NdLinear}$, a drop-in replacement for linear layers that operates directly on tensors, requiring no flattening. By applying transformations separately along each dimension, NdLinear preserves native data structure while achieving dramatic parameter reductions, often by orders of magnitude, with minimal memory overhead. We prove NdLinear maintains expressivity through structured Tucker decomposition while preserving VC-dimension scaling. Extensive experiments demonstrate NdLinear's capacity to achieve significant parameter reductions with substantial wall-clock efficiency gains and minimal memory overhead. For instance, our $\mathit{NdLinear-LoRA}$ matches or exceeds standard LoRA on language reasoning tasks using up to $9\times$ fewer parameters. Experiments across CNNs, RNNs, Transformers, and MLPs on vision, language, time-series, and tabular tasks consistently demonstrate NdLinear's efficiency gains. While excelling at axis-separable tasks, NdLinear has limitations with entangled spatial interactions. By processing data in its original N-dimensional form, NdLinear provides a theoretically grounded, practical component for building more efficient neural architectures.

cs.LG↗

arXiv2025

Direct Robot Configuration Space Construction using Convolutional Encoder-Decoders

Intelligent robots must be able to perform safe and efficient motion planning in their environments. Central to modern motion planning is the configuration space. Configuration spaces define the set of configurations of a robot that result in collisions with obstacles in the workspace, $\text{C}_{\text{clsn}}$, and the set of configurations that do not, $\text{C}_{\text{free}}$. Modern approaches to motion planning first compute the configuration space and then perform motion planning using the calculated configuration space. Real-time motion planning requires accurate and efficient construction of configuration spaces. We are the first to apply a convolutional encoder-decoder framework for calculating highly accurate approximations to configuration spaces, essentially learning how the robot and physical world interact. Our model achieves an average 97.5% F1-score for predicting $\text{C}_{\text{free}}$ and $\text{C}_{\text{clsn}}$ for 2-D robotic workspaces with a dual-arm robot. Our method limits undetected collisions to less than 2.5% on robotic workspaces that involve translation, rotation, and removal of obstacles. Our model learns highly transferable features between robotic workspaces, requiring little to no fine-tuning to adapt to new transformations of obstacles in the workspace.

cs.RO↗

arXiv2025

Robot Metabolism: Towards machines that can grow by consuming other machines

Biological lifeforms can heal, grow, adapt, and reproduce -- abilities essential for sustained survival and development. In contrast, robots today are primarily monolithic machines with limited ability to self-repair, physically develop, or incorporate material from their environments. While robot minds rapidly evolve new behaviors through AI, their bodies remain closed systems, unable to systematically integrate material to grow or heal. We argue that open-ended physical adaptation is only possible when robots are designed using a small repertoire of simple modules. This allows machines to mechanically adapt by consuming parts from other machines or their surroundings and shed broken components. We demonstrate this principle on a truss modular robot platform. We show how robots can grow bigger, faster, and more capable by consuming materials from their environment and other robots. We suggest that machine metabolic processes like those demonstrated here will be an essential part of any sustained future robot ecology.

cs.RO↗

arXiv2025

AutoURDF: Unsupervised Robot Modeling from Point Cloud Frames Using Cluster Registration

Robot description models are essential for simulation and control, yet their creation often requires significant manual effort. To streamline this modeling process, we introduce AutoURDF, an unsupervised approach for constructing description files for unseen robots from point cloud frames. Our method leverages a cluster-based point cloud registration model that tracks the 6-DoF transformations of point clusters. Through analyzing cluster movements, we hierarchically address the following challenges: (1) moving part segmentation, (2) body topology inference, and (3) joint parameter estimation. The complete pipeline produces robot description files that are fully compatible with existing simulators. We validate our method across a variety of robots, using both synthetic and real-world scan data. Results indicate that our approach outperforms previous methods in registration and body topology estimation accuracy, offering a scalable solution for automated robot modeling.

cs.RO↗

arXiv2025

The Smart Buildings Control Suite: A Diverse Open Source Benchmark to Evaluate and Scale HVAC Control Policies for Sustainability

Commercial buildings account for 17% of U.S. carbon emissions, with roughly half of that from Heating, Ventilation, and Air Conditioning (HVAC). HVAC devices form a complex thermodynamic system, and while Model Predictive Control and Reinforcement Learning have been used to optimize control policies, scaling to thousands of buildings remains a significant unsolved challenge. Most current algorithms are over-optimized for specific buildings and rely on proprietary data or hard-to-configure simulations. We present the Smart Buildings Control Suite, the first open source interactive HVAC control benchmark with a focus on solutions that scale. It consists of 3 components: real-world telemetric data extracted from 11 buildings over 6 years, a lightweight data-driven simulator for each building, and a modular Physically Informed Neural Network (PINN) building model as a simulator alternative. The buildings span a variety of climates, management systems, and sizes, and both the simulator and PINN easily scale to new buildings, ensuring solutions using this benchmark are robust to these factors and only reliant on fully scalable building models. This represents a major step towards scaling HVAC optimization from the lab to buildings everywhere. To facilitate use, our benchmark is compatible with the Gym standard, and our data is part of TensorFlow Datasets.

cs.AI↗

arXiv2024

Sequencing the Neurome: Towards Scalable Exact Parameter Reconstruction of Black-Box Neural Networks

Inferring the exact parameters of a neural network with only query access is an NP-Hard problem, with few practical existing algorithms. Solutions would have major implications for security, verification, interpretability, and understanding biological networks. The key challenges are the massive parameter space, and complex non-linear relationships between neurons. We resolve these challenges using two insights. First, we observe that almost all networks used in practice are produced by random initialization and first order optimization, an inductive bias that drastically reduces the practical parameter space. Second, we present a novel query generation algorithm that produces maximally informative samples, letting us untangle the non-linear relationships efficiently. We demonstrate reconstruction of a hidden network containing over 1.5 million parameters, and of one 7 layers deep, the largest and deepest reconstructions to date, with max parameter difference less than 0.0001, and illustrate robustness and scalability across a variety of architectures, datasets, and training procedures.

cs.LG↗

arXiv2023

Towards End-to-End Structure Solutions from Information-Compromised Diffraction Data via Generative Deep Learning

The revolution in materials in the past century was built on a knowledge of the atomic arrangements and the structure-property relationship. The sine qua non for obtaining quantitative structural information is single crystal crystallography. However, increasingly we need to solve structures in cases where the information content in our input signal is significantly degraded, for example, due to orientational averaging of grains, finite size effects due to nanostructure, and mixed signals due to sample heterogeneity. Understanding the structure property relationships in such situations is, if anything, more important and insightful, yet we do not have robust approaches for accomplishing it. In principle, machine learning (ML) and deep learning (DL) are promising approaches since they augment information in the degraded input signal with prior knowledge learned from large databases of already known structures. Here we present a novel ML approach, a variational query-based multi-branch deep neural network that has the promise to be a robust but general tool to address this problem end-to-end. We demonstrate the approach on computed powder x-ray diffraction (PXRD), along with partial chemical composition information, as input. We choose as a structural representation a modified electron density we call the Cartesian mapped electron density (CMED), that straightforwardly allows our ML model to learn material structures across different chemistries, symmetries and crystal systems. When evaluated on theoretically simulated data for the cubic and trigonal crystal systems, the system achieves up to $93.4\%$ average similarity with the ground truth on unseen materials, both with known and partially-known chemical composition information, showing great promise for successful structure solution even from degraded and incomplete input data.

physics.comp-ph↗

arXiv2023

A Lightweight Calibrated Simulation Enabling Efficient Offline Learning for Optimal Control of Real Buildings

Modern commercial Heating, Ventilation, and Air Conditioning (HVAC) devices form a complex and interconnected thermodynamic system with the building and outside weather conditions, and current setpoint control policies are not fully optimized for minimizing energy use and carbon emission. Given a suitable training environment, a Reinforcement Learning (RL) model is able to improve upon these policies, but training such a model, especially in a way that scales to thousands of buildings, presents many real world challenges. We propose a novel simulation-based approach, where a customized simulator is used to train the agent for each building. Our open-source simulator (available online: https://github.com/google/sbsim) is lightweight and calibrated via telemetry from the building to reach a higher level of fidelity. On a two-story, 68,000 square foot building, with 127 devices, we were able to calibrate our simulator to have just over half a degree of drift from the real world over a six-hour interval. This approach is an important step toward having a real-world RL control system that can be scaled to many buildings, allowing for greater efficiency and resulting in reduced energy consumption and carbon emissions.

cs.AI↗

arXiv2023

DeepCollide: Scalable Data-Driven High DoF Configuration Space Modeling using Implicit Neural Representations

Collision detection is essential to virtually all robotics applications. However, traditional geometric collision detection methods generally require pre-existing workspace geometry representations; thus, they are unable to infer the collision detection function from sampled data when geometric information is unavailable. Learning-based approaches can overcome this limitation. Following this line of research, we present DeepCollide, an implicit neural representation method for approximating the collision detection function from sampled collision data. As shown by our theoretical analysis and empirical evidence, DeepCollide presents clear benefits over the state-of-the-art, as it relates to time cost scalability with respect to training data and DoF, as well as the ability to accurately express complex workspace geometries. We publicly release our code.

cs.RO↗