A Near-optimal SQ Lower Bound for Smoothed Agnostic Learning of Boolean Halfspaces

We study the complexity of smoothed agnostic learning of halfspaces on $\{\pm 1\}^n$ under the uniform distribution in the model of \citet{KM25} where each input coordinate is independently flipped with probability $σ\in (0, {1}/{2})$. We show that $L^1$ polynomial regression achieves complexity $\tilde{O}(n^{O(\log(1/\varepsilon)/σ)})$, and prove a nearly matching Statistical Query complexity lower bound of $n^{Ω(\log(1+σ/\varepsilon ^2)/σ)}$. This complements the recent work of \citet{DK26}, which established analogous bounds in the continuous setting under Gaussian marginals.

RoboCup 2023 Humanoid AdultSize Winner NimbRo: NimbRoNet3 Visual Perception and Responsive Gait with Waveform In-walk Kicks

The RoboCup Humanoid League holds annual soccer robot world championships towards the long-term objective of winning against the FIFA world champions by 2050. The participating teams continuously improve their systems. This paper presents the upgrades to our humanoid soccer system, leading our team NimbRo to win the Soccer Tournament in the Humanoid AdultSize League at RoboCup 2023 in Bordeaux, France. The mentioned upgrades consist of: an updated model architecture for visual perception, extended fused angles feedback mechanisms and an additional COM-ZMP controller for walking robustness, and parametric in-walk kicks through waveforms.