Robust uncertainty quantification is increasingly important in modern data analysis and is often formalized under Huber's model, which allows an $\varepsilon$-fraction of arbitrary corruptions. In many experimental sciences, however, the measurement protocol is well controlled, and contamination is more plausibly introduced upstream. Motivated by this noise-oblivious nature of adversaries, we study confidence intervals for the null location parameter $θ$ in Efron's Gaussian two-groups model, where an unknown fraction $\varepsilon$ of observations have arbitrarily shifted means, but all samples share the same law of additive Gaussian measurement noise with variance $σ^2$. We characterize the minimax-optimal length among confidence intervals with a prescribed coverage level uniformly over the unknown contamination proportion and all noise-oblivious adversaries. Although prior work has shown that the minimax point estimation rate of theta does not deteriorate when $\varepsilon$ becomes unknown, our results reveal that, with a given $σ^2$, the minimax-optimal length of confidence intervals that are adaptive to unknown $\varepsilon$ is of order $σ(n^{-1/4}+\varepsilon^{1/2}/\max\{1, \log(en \varepsilon^2)\}^{1/2})$, which is polynomially worse than the optimal length when $\varepsilon$ is known. When the variance $σ^2$ is also unknown, we show a further degradation: no adaptive confidence interval can be shorter than $Ω(σn^{-1/8})$. Algorithmically, we introduce a Fourier-based certification procedure built on Carathéodory's positive-semidefiniteness constraints. By scanning candidate points and accepting those whose residual characteristic function is certifiably consistent with a Gaussian location mixture, our algorithm attains the minimax lower bound in the known-variance setting and is computable in polynomial time.

For training ResNet-50 on ImageNet, our 5-bit block Householder quantizer achieves only 0.5% validation accuracy loss relative to QA T, comparable to the existing INT8 baseline.

Large Language Models (LLMs) offer powerful capabilities, but their significant size and computational requirements hinder deployment on resource-constrained mobile devices. This paper investigates Post-Training Quantization (PTQ) for compressing LLMs for mobile execution. We apply 4-bit PTQ using the BitsAndBytes library with the Hugging Face Transformers framework to Meta's Llama 3.2 3B model. The quantized model is converted to GGUF format using llama.cpp tools for optimized mobile inference. The PTQ workflow achieves a 68.66% reduction in model size through 4-bit quantization, enabling the Llama 3.2 3B model to run efficiently on an Android device. Qualitative validation shows that the 4-bit quantized model can perform inference tasks successfully. We demonstrate the feasibility of running the quantized GGUF model on an Android device using the Termux environment and the Ollama framework. PTQ, especially at 4-bit precision combined with mobile-optimized formats like GGUF, provides a practical pathway for deploying capable LLMs on mobile devices, balancing model size and performance.

Abstract--Many robots are not equipped with a manipulator and many objects are not suitable for prehensile manipulation (such as large boxes and cylinders). In these cases, pushing is a simple yet effective non-prehensile skill for robots to interact with and further change the environment. Existing work often assumes a set of predefined pushing modes and fixed-shape objects. This work tackles the general problem of controlling a robotic fleet to push collaboratively numerous arbitrary objects to respective destinations, within complex environments of cluttered and movable obstacles. It incorporates several characteristic challenges for multi-robot systems such as online task coordination under large uncertainties of cost and duration, and for contact-rich tasks such as hybrid switching among different contact modes, and under-actuation due to constrained contact forces. The proposed method is based on combinatorial hybrid optimization over dynamic task assignments and hybrid execution via sequences of pushing modes and associated forces. It consists of three main components: (I) the decomposition, ordering and rolling assignment of pushing subtasks to robot subgroups; (II) the keyframe guided hybrid search to optimize the sequence of parameterized pushing modes for each subtask; (III) the hybrid control to execute these modes and transit among them. Last but not least, a diffusion-based accelerator is adopted to predict the keyframes and pushing modes that should be prioritized during hybrid search; and further improve planning efficiency. The framework is complete under mild assumptions. Its efficiency and effectiveness under different numbers of robots and general-shaped objects are validated extensively in simulations and hardware experiments, as well as generalizations to heterogeneous robots, planar assembly and 6D pushing. Humans often interact with objects via non-prehensile skills such as pushing and rolling, especially when prehensile skills such as stable grasping is infeasible. This aspect is however less exploited in robotic systems. Most existing work treats pushing as a complementary skill to pick-and-place primitives for a single manipulator within simple environments, e.g., [1], [2], [3], [4]. Nonetheless, pushing can be particularly beneficial for low-cost mobile robots that are not equipped with a manipulator, e.g., ground vehicles, quadruped robots, and even underwater vehicles [5]. For instance, obstacles can be pushed out of the path, and target objects can be pushed to desired positions.

Strong reasoning capabilities can now be achieved by large-scale reinforcement learning (RL) without any supervised fine-tuning. Although post-training quantization (PTQ) and quantization-aware training (QAT) are well studied in the context of fine-tuning, how quantization impacts RL in large reasoning models (LRMs) remains an open question. To answer this question, we conducted systematic experiments and discovered a significant gap in reasoning performance on mathematical benchmarks between post-RL quantized models and their quantization-aware RL optimized counterparts. Our findings suggest that quantization-aware RL training negatively impacted the learning process, whereas PTQ and QLoRA led to greater performance.

Abstract-- We study the robustness of an agent decision-making model in finite-population games, with a particular focus on the Kullback-Leibler Divergence Regularized Learning (KLD-RL) model. Specifically, we examine how the model's parameters influence the impact of various sources of noise and modeling inaccuracies--factors commonly encountered in engineering applications of population games--on agents' decision-making. Our analysis provides insights into how these parameters can be effectively tuned to mitigate such effects. Theoretical results are supported by numerical examples and simulation studies that validate the analysis and illustrate practical strategies for parameter selection. The population game and evolutionary dynamics framework provides a powerful foundation for modeling and analyzing repeated strategic interactions among a population of decision-making agents [1].

In an effort to counter the increasing IoT botnet-based attacks, state-of-the-art deep learning methods have been proposed and have achieved impressive detection accuracy. However, their computational intensity restricts deployment on resource-constrained IoT devices, creating a critical need for lightweight detection models. A common solution to this challenge is model compression via quantization. This study proposes a VAE-MLP model framework where an MLP-based classifier is trained on 8-dimensional latent vectors derived from the high-dimensional train data using the encoder component of a pretrained variational autoencoder (VAE). Two widely used quantization strategies--Quantization-Aware Training (QAT) and Post-Training Quantization (PTQ)--are then systematically evaluated in terms of their impact on detection performance, storage efficiency, and inference latency using two benchmark IoT botnet datasets--N-BaIoT and CICIoT2022. The results revealed that, with respect to detection accuracy, the QAT strategy experienced a more noticeable decline,whereas PTQ incurred only a marginal reduction compared to the original unquantized model. Furthermore, PTQ yielded a 6x speedup and 21x reduction in size, while QAT achieved a 3x speedup and 24x compression, demonstrating the practicality of quantization for device-level IoT botnet detection.

Post-training quantization (PTQ) for vision transformers (ViTs) has garnered significant attention due to its efficiency in compressing models. However, existing methods typically overlook the relationship between a well-trained NN and the quantized model, leading to considerable quantization error for PTQ. However, it is unclear how to efficiently train a model-agnostic neural network which is tailored for a predefined precision low-bit model. In this paper, we firstly discover that a flat full precision neural network is crucial for low-bit quantization. To achieve this, we propose a framework that proactively pre-conditions the model by measuring and disentangling the error sources. Specifically, both the Activation Quantization Error (AQE) and the Weight Quantization Error (WQE) are statistically modeled as independent Gaussian noises. We study several noise injection optimization methods to obtain a flat minimum. Experimental results attest to the effectiveness of our approach. These results open novel pathways for obtaining low-bit PTQ models.

Partial differential equations (PDEs) are an essential modeling tool in engineering and physical sciences. The numerical methods used for solving the more descriptive and sophisticated of these models comprise many computationally expensive modules. Machine learning (ML) provides a way of replacing some of these modules by surrogates that are much more efficient at the time of inference. The resulting PDE-ML coupled systems, however, can be highly susceptible to instabilities [1-3]. Efforts towards ameliorating these have mostly concentrated on improving the accuracy of the surrogates, imbuing them with additional structure, or introducing problem-specific stabilizers, and have garnered limited success [4-7]. In this article, we study a prototype problem to understand the mathematical subtleties involved in PDE-ML coupling, and draw insights that can help with more complex systems.