arXiv subjects

Paula Dornhofer Paro Costa

Publications and source records attributed to Paula Dornhofer Paro Costa.

6 recordsLinked to original sources

arXiv2026

Characterizing Experiments with Synthetic MSI/HSI Data: A Structured Taxonomy for Agri-Food Research

Synthetic multispectral and hyperspectral data are increasingly used to address limited measurements, labels, and acquisition resources in spectral-imaging research. Yet the scope of the evidence produced by these experiments depends not only on the synthesis method, but also on sensing conditions, sample variability, data provenance, evaluation design, and downstream use. We present a literature-informed taxonomy for experiments using synthetic MSI/HSI data through spectral reconstruction and/or data augmentation, with a deliberate focus on agri-food research. The taxonomy is paired with a traversal procedure that connects available evidence, sensing constraints, experimental choices, and evaluation design to the forms of generalization that were actually tested, producing a compact experiment characterization record. Although primarily intended for studies with an existing research question, the same structure can also support earlier-stage planning when only an object of study, dataset, or sensing setup is initially defined. The framework was developed through question-driven reading, practical research experience, and iterative refinement against additional recent studies, and is offered as a basis for further use and refinement.

eess.SP↗

arXiv2026

ForwardDLO: Model-Based Bimanual Shape Matching of Unconstrained Deformable Linear Objects

Ropes, cables, and other deformable linear objects appear in tasks from untangling to cable routing and suturing, yet controlling their shape remains a challenge in robot manipulation. We study model-based shape control in a general setting: the object lies unfixated on a support surface and two arms may grasp and move it anywhere along its length. Because each arm chooses a grasp point, direction, and magnitude, the joint action space is combinatorially large, and the dynamics model's per-prediction cost bounds how much of it a planner can search. We present ForwardDLO, a recurrent latent dynamics model for this unfixated bimanual setting that predicts per-segment displacements grounded in the observed rope state at every step. Our model reaches accuracy comparable to more expensive baselines while containing no explicit segment-to-segment operations, which makes batched evaluation of candidate actions cheap. On open-loop prediction of real rope motion it reaches the lowest error of the learned models we evaluate, 13% below the strongest baseline. Within a fixed time budget it scores 8 to 22 times more candidate actions than models of comparable accuracy while matching them in real-world shape matching; and on a simulated routing task at a 30Hz control rate, this throughput converts into 98% task success versus at most 30% for the baselines at their own budgets. We release the model, code, and a dataset of 2.42 million simulated and 14,107 real rope transitions at https://anonymous.4open.science/r/ForwardDLO/

cs.RO↗

arXiv2026

World Machine: Towards Generative World Modeling for Time-Series

World models represent a paradigm shift in generative AI, pursuing predictive understanding and controllable simulation of environments in a structured and generalizable way. We present World Machine, a generative world-modeling architecture for time series. It is a transformer-based architecture with latent states that enables adaptation to different amounts of observed data and contexts. This shows an improvement over traditional transformers, which have a computational and memory cost that scales quadratically with the context. Experiments on a proposed synthetic dataset, Toy1D, validate the approach's feasibility, demonstrate capabilities not found in conventional transformers, and highlight the contributions of each component of the training protocol.

cs.LG↗

arXiv2026

RopeDreamer: A Kinematic Recurrent State Space Model for Dynamics of Flexible Deformable Linear Objects

The robotic manipulation of Deformable Linear Objects (DLOs) is a fundamental challenge due to the high-dimensional, non-linear dynamics of flexible structures and the complexity of maintaining topological integrity during contact-rich tasks. While recent data-driven methods have utilized Recurrent and Graph Neural Networks for dynamics modeling, they often struggle with self-intersections and non-physical deformations, such as tangling and link stretching. In this paper, we propose a latent dynamics framework that combines a Recurrent State Space Model with a Quaternionic Kinematic Chain representation to enable robust, long-term forecasting of DLO states. By encoding the DLO as a sequence of relative rotations (quaternions) rather than independent Cartesian positions, we inherently constrain the model to a physically valid manifold that preserves link-length constancy. Furthermore, we introduce a dual-decoder architecture that decouples state reconstruction from future-state prediction, forcing the latent space to capture the underlying physics of deformation. We evaluate our approach on a large-scale simulated dataset of complex pick-and-place trajectories involving self-intersections. Our results demonstrate that the proposed model achieves a 40.52% reduction in open-loop prediction error over 50-step horizons compared to the state-of-the-art baseline, while reducing inference time by 31.17%. Our model further maintains superior topological consistency in scenarios with multiple crossings, proving its efficacy as a compositional primitive for long-horizon manipulation planning.

cs.RO↗

arXiv2025

Evaluating Emotion Recognition in Spoken Language Models on Emotionally Incongruent Speech

Advancements in spoken language processing have driven the development of spoken language models (SLMs), designed to achieve universal audio understanding by jointly learning text and audio representations for a wide range of tasks. Although promising results have been achieved, there is growing discussion regarding these models' generalization capabilities and the extent to which they truly integrate audio and text modalities in their internal representations. In this work, we evaluate four SLMs on the task of speech emotion recognition using a dataset of emotionally incongruent speech samples, a condition under which the semantic content of the spoken utterance conveys one emotion while speech expressiveness conveys another. Our results indicate that SLMs rely predominantly on textual semantics rather than speech emotion to perform the task, indicating that text-related representations largely dominate over acoustic representations. We release both the code and the Emotionally Incongruent Synthetic Speech dataset (EMIS) to the community.

cs.CL↗

arXiv2022

Hidden bawls, whispers, and yelps: can text be made to sound more than just its words?

Whether a word was bawled, whispered, or yelped, captions will typically represent it in the same way. If they are your only way to access what is being said, subjective nuances expressed in the voice will be lost. Since so much of communication is carried by these nuances, we posit that if captions are to be used as an accurate representation of speech, embedding visual representations of paralinguistic qualities into captions could help readers use them to better understand speech beyond its mere textual content. This paper presents a model for processing vocal prosody (its loudness, pitch, and duration) and mapping it into visual dimensions of typography (respectively, font-weight, baseline shift, and letter-spacing), creating a visual representation of these lost vocal subtleties that can be embedded directly into the typographical form of text. An evaluation was carried out where participants were exposed to this speech-modulated typography and asked to match it to its originating audio, presented between similar alternatives. Participants (n=117) were able to correctly identify the original audios with an average accuracy of 65%, with no significant difference when showing them modulations as animated or static text. Additionally, participants' comments showed their mental models of speech-modulated typography varied widely.

cs.HC↗