Papers

We study the Busy Machine Time with Preemption and Migration and One Resource Requirement problem, motivated by energy minimization in cloud data centers. Given unlimited identical-capacity machines and jobs with release times, deadlines, processing times, and resource requirements, we allow free preemption and migration at integer times and seek to minimize total machine busy time. The problem is NP-hard, and previous results consist of a 2-approximation, 2-competitive algorithm for the case of uniform heights. We obtain a 22/9 < 2.445-approximation algorithm and a 2.5-competitive online algorithm, both running in O(n^2 log n) time. Our methods are based on new non-asymptotic performance bounds for the First Fit Decreasing algorithm for Bin Packing, and a new generalization of Span Minimization, the Huge-Tiny Busy Time problem, for which we present an exact offline algorithm and an optimal (3/2)-competitive deterministic online algorithm.

Acoustic representation learning is crucial for speech processing, yet low-resource languages (LRLs) face severe data scarcity, limiting the effectiveness of traditional and self-supervised methods. As a promising alternative, in this work, we propose to enhance acoustic representation trough a cross-modal transfer knowledge approach, based on heterogeneous graph neural networks (HGNNs), where acoustic and linguistic entities are modeled as distinct node types within a unified graph. Through message-passing mechanisms, linguistic nodes explicitly transfer knowledge to acoustic nodes, enabling structured and interpretable cross-modal information flow. To highlight this knowledge transfer and its benefits, we measured standard clustering metrics as an intrinsic evaluation of acoustic representation, and to emphasize applicability, we performed isolated-word recognition tasks using an English benchmark and a Cameroonian language dataset in low resources settings . Results demonstrate that acoustic representations consistently benefit from linguistic knowledge propagated through the graph. To our knowledge, this is the first demonstration of explicit cross-modal knowledge transfer for acoustic representation learning using HGNNs, highlighting a promising direction for speech representation in low-resource settings.

As Large Language Model (LLM) APIs become increasingly integrated into privacy-sensitive workflows, ensuring inference-time privacy without compromising task utility remains a major challenge. Existing approaches preserve most of the original semantic content to maintain downstream performance, but this also leaves exploitable cues for reconstructing the original text. This work investigates semantic decoupling, which replaces original semantics with alternative content while preserving the structure needed for LLM reasoning. Based on this idea, we propose CROSS-MAP, a bidirectional framework that maps private inputs into a different semantic domain before inference and recovers the corresponding outputs afterward. Local models are trained with multi-objective optimization to maximize semantic divergence in the mapping stage while minimizing semantic inconsistency in the recovery stage. Experiments show that CROSS-MAP reduces reconstruction success across multiple attack settings while outperforming existing baselines in utility.

Speech-text space alignment is a multimodal representation learning method consisting to map different speech and text into a shared representation space, leading to enrichment of the representation of each modality. Proposed architectures, such as SAMU-XLSR, typically follow a student/teacher framework, with the goal of fine-tuning an audio encoder to produce representations that closely match those of the text. In this way a speech representation is semantically enriched. However, such systems generally require large amounts of training data and considerable computational resource, making them difficult to apply to low resources languages under frugal constraints. The present work proposes a data-efficient space alignment method based on Heterogeneous Graph Neural Networks and link prediction. The core idea is to leverage message passing to explicitly transfer information from the text modality to the speech modality, thereby reducing the need for large training datasets and intrinsically enriching the acoustic representations, all in a more interpretable manner. Although thoroughly explored for high-resource languages, word-level tasks in speech remain relevant for certain low-resource languages. Therefore, we conducted experiments on speech-text alignment at the word level using the TIMIT (English) dataset and Yemba (a Cameroonian language). Our approach yields results comparable to those of SAMU-XLSR, a state-of-the-art method, and even surpasses it for the Yemba language in the task of word retrieval, while using far fewer resources, demonstrating its power, frugality, and efficiency.

Quantum-enabled semantic communication networks (QESCs) leverage quantum technologies to transmit data meaning efficiently, yet face challenges from costly resources and noise. This letter introduces Quantum Markov Blankets (QMBs) to QESCs, a novel framework to isolate essential quantum information for semantic transmission. We prove QMBs' validity using quantum conditional mutual information, showing that they shield semantic content from irrelevant subsystems. An implementation strategy optimises QMB detection, reducing resource use. Simulations suggest that QMB-based QESCs cut qubit consumption by 50%-75% while enhancing fidelity compared with non-optimised quantum semantic schemes. Unlike classical approaches, QMBs offer inherent security by limiting an eavesdropper's access to classical data outside the blanket. We outline future directions, including real-time QMB adaptation. This work bridges quantum information theory and semantic communication, advancing resource-efficient and secure quantum networks.

Side-channels are a promising approach for hardware trojan detection, as they can passively reveal malicious hardware activity without requiring additional circuitry or destructive analysis of the device under test. This work investigates the use of electromagnetic (EM) emanations for runtime detection of hardware trojan attacks. Using an open-source hardware trojan that implements an arbitrary memory-write primitive, we tamper with the kernel memory of a Linux system running on a RISC-V microarchitecture and perform a real-time baseline detection using the processor's EM emissions. Our results indicate that, under certain conditions, hardware trojans can be detected indirectly through the anomalous software behavior they enable.

Lossy compression of scientific simulation data increasingly relies on learned, latent-space architectures such as Residual Vector Quantization (RVQ), which iteratively quantize a base representation and its residuals to progressively reduce reconstruction error. While effective, RVQ performs this residual modeling entirely in latent space, leaving the pixel-space error structure of the reconstruction largely unaddressed. In this work, we propose a post-processing pipeline that augments an RVQ-based compressor with a U-Net trained to predict and correct pixel-space residuals between the original volume and its RVQ reconstruction. We show that these residuals are spatially structured rather than driven by local intensity or gradient features, motivating the need for a deep spatial model rather than simple statistical correction. The U-Net-corrected reconstruction is then passed through a Guaranteed Autoencoder (GAE) stage, which projects the remaining residual onto a per-block PCA basis to enforce a user-specified block-wise error bound. To the best of our knowledge, this is the first pipeline to combine latent-space RVQ, explicit pixel-space residual correction via a deep spatial post-processing network, and GAE-based error-bound guarantees within a single framework for scientific data compression. We evaluate our approach on S3D, JHTDB and E3SM datasets, demonstrating consistent improvements in NRMSE, compression ratio] over RVQ-only and standard residual-correction baselines, while maintaining strict error guarantees required for scientific data fidelity.

Embodied world models learn to predict future physical dynamics from visual observations and control signals, where physical knowledge is implicitly entangled within latent representations. We introduce CausalWM, a 16B embodied world model that performs explicit causal chain-of-thought reasoning before future video prediction. CausalWM organizes useful variables into a reasoning trajectory, allowing the model to progressively capture causal dependencies underlying physical evolution. To train CausalWM, we collect 31K hours embodied data and develop a three-stage paradigm consisting of large-scale video pre-training, causal CoT mid-training, and multi-objective RL post-training. Despite using only a limited set of supervised CoT variables, CausalWM exhibits emergent in-context learning capabilities, enabling contextual visual feature guidance and efficient few-step generation. CausalWM achieves state-of-the-art performance across language-conditioned, action-conditioned, single-view and multi-view benchmarks, including Top-1 performance on TriWorldBench leaderboard.

Inverse design of RF and electromagnetic (EM) circuits is challenging because the relationship between circuit layout and electrical response is non-unique, and full-wave simulation is computationally expensive. This paper presents K-TRAIL, a simulator-guided generative framework for automated EM/RF circuit synthesis. K-TRAIL combines diffusion-based layout generation with derivative-free ensemble Kalman guidance, allowing feedback from a black-box EM simulator to refine candidate layouts during generation without requiring adjoint sensitivities or differentiable solver models. The framework supports both synthesis from prescribed S-parameter responses and synthesis directly from RF performance constraints. Experiments on multi-layer RFIC structures show that simulator-guided generation improves agreement with target responses and can identify structurally distinct layouts that satisfy circuit-level design requirements. The proposed approach provides a practical path toward generative, verification-aware RF circuit design while retaining the flexibility to explore diverse layout topologies.

Feed-forward 3D Gaussian Splatting now reconstructs renderable scenes from unposed, uncalibrated images. Yet, most models supervise only photometric consistency and predict Gaussians pixel by pixel, which leaves global structure fragile and ties primitive count to image resolution and view count. To this end, GrapeSplat amalgamates multi-view cues into a voxel-aligned scene representation and decodes Gaussians directly from the learned grid, requiring no per-scene optimization or post-processing. An Atlas Encoder lifts all views into pixel-wise geometry-and-appearance features anchored at predicted 3D points. PEACH-Vox compands the unbounded scene into a bounded sparse grid through a smooth per-axis map with an exact closed-form inverse. The Sparse Decoder then consolidates the grid with sparse convolutions and decodes the full scene as multiple Gaussians per occupied cell. This amalgamated representation exploits sparse voxel occupancy, where the Gaussian count follows the occupied cells and saturates as views cover the scene, while grid resolution sets its ceiling. GrapeSplat turns unposed images into a renderable Gaussian scene in a single forward pass. Trained with 2D and 3D supervision on 8-view sequences, it generalizes zero-shot from 4 to 64 views across indoor and unbounded scenes. Code and trained weights are available at https://github.com/VAISR/GrapeSplat

We benchmark classical optimization of a fixed low-depth Quantum Approximate Optimization Algorithm (QAOA) ansatz across four cost-Hamiltonian families at $N=12$, $p=3$, and $D=6$. Ten optimizers are compared over 25 independent runs under common ceilings of 10\,000 and 30\,000 function evaluations (FEs), first with exact statevector objectives and then with two additive observation-noise levels. Exact objectives favor multistart BFGS and multistart CMA-ES. Under noisy feedback, adaptive population methods become more competitive, but the ranking depends on whether performance is measured by the best exact point visited or by the point selected from noisy observations. A targeted extension over all three pre-screened instances per family confirms this regime change while showing that named adaptive-DE winners are instance dependent: jSO-lite leads low-noise oracle search, iL-SHADE high-noise oracle search, and L-SRTDE high-noise selected solutions in the equal-instance summaries. Bootstrap analysis quantifies a non-negligible high-noise search–selection gap, and a retrospective fixed-budget verification proxy shows that reserving a small measurement budget for final re-evaluation improves selected quality across all ten methods at 30\,000 FEs. A supplementary structure-aware study further shows that QAOA cross-depth restriction and continuous basin refinement are more useful in these conditions than standalone Monte Carlo tree-search selection. Overall, optimizer choice depends jointly on landscape structure, observation noise, and final-point identification.

Language models are appealing tools for research on the past. But to trust the evidence a model provides, researchers need to know whether its responses fit the period represented. Validation is challenging, because this is not a task living people ordinarily perform, and because many questions have multiple correct answers. We use historical texts to develop a benchmark for a model's representation of English-language contexts 1831-1930, relying on pairwise comparisons to multiple ground truths and strong distractors to score the hardest questions in an appropriately graduated way. We find that generative tasks are harder than discriminative ones; in fact, reasoning models can typically discern the weakness of their own generated answers. While models pretrained exclusively on historical text lead the pack when evaluated by answer likelihood, they cannot compete with commercial models in free generation. None of the models we tested represent historical contexts in a fully persuasive way yet, but progress toward that goal is evident.

Hardware trojan (HT) attacks against CPUs typically assume threat scenarios where an attacker targeting a system with a trojanized CPU is able to execute arbitrary code (i.e. machine-level instructions) to reliably interact with the implanted trojan. On end-user devices (i.e., mobiles, laptops), achieving arbitrary code execution in practice requires software exploits tailored to each specific target. Such strong adversarial premises reduce the generality of existing threat models casting doubt on CPU trojan attacks as a pragmatic threat vector. To push the envelope on HT attacks against client devices, we introduce the SURF class of CPU-trojans that can be activated without arbitrary code execution. Our key insight is that integer operations expressed in a high-level language can be mapped to microarchitectural side-effects distinguishable by a SURF trigger circuit. This observation unlocks HT activation via runtime engines, constrained environments executing untrusted high-level code. We demonstrate a SURF trojan inside a RISC-V processor and exploit JavaScript-level memory indexing operations inside Google's V8 engine to perform a code injection attack. Importantly, we show that SURF trojans remain effective across multiple JavaScript engine versions, enabling long-term compromise of endpoint devices. To facilitate research, we opensource SURF's design and supporting software.

Modern prediction-driven decision systems often rely on black-box predictors, but a point forecast alone does not provide the uncertainty scale required for robust downstream decision-making. We build a score-calibrated robustness framework that converts any fixed point predictor into a decision-relevant uncertainty representation through distribution-free conformal calibration. We use the conformal score, rather than a particular uncertainty set, as the primitive unit of robustness. The same score determines coverage-calibrated uncertainty sets for reliability-based robust optimization and normalizes target violations in a target-oriented formulation, Conformal Robust Satisficing. This formulation induces a conformal fragility measure that quantifies how rapidly performance deteriorates as the realized parameter departs from the forecast on the conformal score scale. For objective-uncertainty problems under standard convexity and duality conditions, we show that the reliability-based and target-oriented formulations parameterize the same score-calibrated robust decision frontier. This equivalence yields a data-driven mapping between reliability levels and acceptable targets and characterizes the marginal cost of robustness. Synthetic experiments validate the theoretical guarantees and illustrate the reliability-target correspondence. A real-data online-grocery case study demonstrates how the interface combines deep-learning demand forecasts with tractable inventory optimization, thereby improving reliability and reducing operational costs. Overall, our work shows that conformal scores endow fixed black-box predictors with an interpretable uncertainty scale for downstream decision-making while enabling reliability guarantees, acceptable-target selection, and fragility analysis within a unified framework.

High-quality texture generation is essential for creating realistic and production-ready 3D assets. Recent multi-view diffusion methods have shown promising results for image-guided 3D texturing, but they are typically constrained to low operating resolutions such as 512 or 768, making it difficult to preserve high-frequency details from high-resolution reference images. Scaling this paradigm to 2048 resolution is computationally prohibitive, as the unified multi-view sequence exceeds 212K tokens and incurs excessive memory and latency. In this paper, we present UltraTex, an efficient end-to-end framework for high-resolution multi-view diffusion-based 3D texturing. Our key observation is that object-centric multi-view renderings contain two major sources of redundancy: background-induced sequence redundancy and sparse token interactions within the foreground. To address them, we introduce Background Token Dropping, which removes background tokens before the DiT backbone, and Block-Sparse Attention, which reduces attention computation over the retained foreground sequence. To enable efficient foreground-only inference while avoiding reconstruction artifacts, we further design Foreground-Aware VAE Decoding to ensure the quality of the final high-resolution views. To satisfy the demanding data requirements of 2K-resolution multi-view diffusion training, we construct G-buffer TexVerse, a large-scale, ultra-high-resolution multi-view rendering dataset covering over 268,000 3D assets. Extensive experiments show that UltraTex generates visually faithful textures with rich fine-grained details, while substantially improving efficiency, achieving $20.6\times$–$91.1\times$ training speedup and $22.3\times$–$74.6\times$ end-to-end inference speedup over the baseline on common samples in our dataset. Code and data is at https://yiboz2001.github.io/UltraTex.

Vinyl restoration systems must distinguish isolated clicks, short bursts, dense crackle, and overlapping damage before selecting a repair operation. We present a lightweight two-stage detector in which signal-informed sparse, burst, and dense experts produce complementary defect evidence, and a temporal backend converts that evidence into stable repair regimes. The backend factors the five-way decision hierarchically, applies a validation-only mixed regime gate, and decodes with validation-selected transition penalties that outperform a maximum-likelihood transition matrix on the same emissions. On a source-separated synthetic benchmark of 597 non-overlapping 15 s excerpts drawn from 21 recordings, the held-out system reaches 0.730 pooled five-class macro F1 (95% CI 0.694-0.761), an improvement of 0.043 over a flat frame-level router (paired bootstrap p=0.001). Clean and dense frames are highly reliable, while sparse, burst, and mixed frames remain far more ambiguous.

Comparing probability measures in machine learning trades transport geometry against computational cost: Wasserstein distances encode the geometry of $\mathbb R^d$ but require solving a transport problem, while kernel discrepancies are cheap to evaluate yet depend delicately on their test class. We study the Toscani–Fourier family $\mathrm T_{s,p}$, the weighted $L^p$ norm of the difference of two characteristic functions, as a continuous Fourier-side discrepancy on $\mathbb R^d$. For $1\le p<\infty$ we show that $d/p<s<1+d/p$ is exactly the window in which $\mathrm T_{s,p}$ is finite on $\mathcal P_p(\mathbb R^d)$, both endpoints already failing for a pair of Dirac measures, and we establish the metric, embedding, and compactness structure of the resulting space, which we prove to be complete. Duality identifies $\mathrm T_{s,p}$ as an integral probability metric over a homogeneous Fourier–Lebesgue ball, with an explicit extremizer when $1<p<\infty$. We prove the global bound $\mathrm T_{s,p}\lesssim W_p^{\,s-d/p}$, whose exponent is sharp, show that no global converse of any form can hold, and recover topological equivalence with $W_p$ on bounded-support and uniform-tail classes, together with explicit reverse moduli on bounded-support classes that improve the imported energy-kernel exponent at $p=2$. There, $\mathrm T_{s,2}$ is a constant multiple of the classical energy distance, which yields an exact finite-sample identity for the mean of the empirical discrepancy; the numerical experiments are otherwise diagnostic.

We analyze 34,960 unbranded prompt-engine observations from 75 anonymized Aiso projects, covering 2,854 distinct monitored prompts and repeated GPT and Gemini runs from June-September 2026. When neither the target brand nor its own domain appears in the observable live retrieval path, target mention rates are 2.8% for GPT and 3.8% for Gemini. With an own-domain citation but no branded fan-out, they rise to 49.0% and 58.4%. When both own-domain exposure and a branded fan-out occur, mention rates reach 91.4% and 100%. The relationship persists within the same project, prompt, and engine across repeated runs: among prompt cells that vary in own-domain exposure while holding branded fan-out absent, exposure is associated with a mean mention-rate increase of 40.2 percentage points on GPT and 49.0 points on Gemini. Prior visibility is independently persistent. A previous non-mention plus no current own-domain exposure yields next-run mention rates of 1.6% and 1.9%; previous mention plus current exposure yields 80.5% and 83.7%. We fit a chronological diagnostic model using prior-run history and contemporaneous retrieval indicators: $ \operatorname{logit}P(M_t=1)=\alpha_e+\beta_e\operatorname{logit}(\widetilde P_{t-1})+\gamma_e E_t+\delta_e F_t+\theta_e^\top X. $ On the latest 30% holdout, the full model achieves AUC 0.963 on GPT and 0.942 on Gemini, compared with 0.937/0.917 for prior history alone and 0.880/0.840 for live signals alone. A manually curated prompt sensitivity gives nearly identical AUCs (0.960 and 0.943). A separate 199-prompt page-corpus validation finds that prompt-page match predicts Gemini exposure (AUC 0.641) more clearly than GPT exposure (0.545), placing relevance upstream of a larger engine-mediated exposure effect. The equation is predictive and observational, not a causal description of proprietary engine internals.

A conventional camera uses millions of pixels to measure radiance from all directions within its field of view. We present an omnidirectional irradiance camera that measures the irradiance function—the illumination incident upon every point on a sphere. The irradiance function varies smoothly over the sphere and hence is bandlimited. We have analyzed this function in the frequency domain and have shown that it is well approximated by a weighted sum of the first seven degrees of spherical harmonics. As a result, the irradiance function can be accurately reconstructed from a small number of samples. This implies that an irradiance camera does not need millions of detectors (pixels)—just a handful of measurements suffice. This brings two major benefits. First, the camera consumes such little energy that it can be completely powered by the light falling on its detectors. Second, it does not capture the visual details needed to identify an individual, and hence privacy is preserved. We have built a prototype irradiance camera, called FluxCam, using 49 detectors arranged on the surface of a sphere. In a well-lit indoor environment, FluxCam can read out and wirelessly transmit its measurements at 30 frames per second using energy harvested from the light falling on it (i.e., without a battery, cable, or external power supply). We show how FluxCam can be used as an optical gyroscope for computing rotation, to monitor a workspace, as an untethered light probe for diffuse relighting, and as an omnidirectional pyranometer for estimating sky conditions and determining the best orientation of a solar panel.

Aerial Reconfigurable Intelligent Surfaces (ARISs) can enhance wireless connectivity in obstructed environments by combining reconfigurable metasurfaces with aerial mobility. However, in practical deployments, the Reconfigurable Intelligent Surface (RIS) is rigidly mounted on a multi-rotor Unmanned Aerial Vehicle (UAV), which creates coupled position-orientation dynamics that directly affect communication quality. Since RIS performance is highly sensitive to orientation, point-mass or orientation-invariant models may lead to optimistic performance estimates. This paper proposes an orientation-aware ARIS framework that explicitly accounts for UAV dynamics, actuation limits, and orientation-dependent channels. The proposed approach combines a communications-guided reference trajectory planner with a Nonlinear Model Predictive Control for dynamically feasible trajectory tracking and favorable RIS orientation, while employing lightweight beamforming and RIS phase-shift updates. Simulations show that accounting for orientation improves user throughput by 13.77%, while the proposed joint communication updates improve network throughput by 28% over phase-shift-only optimization and by at least a factor of 2.5 over beamforming-only optimization. These results highlight the importance of orientation-aware modeling and joint communication-control design in ARIS-assisted wireless systems.

First-order Ambisonics (FOA) signals exhibit exact O(3) symmetry: The rotation or reflection of the FOA signal modifies the direction of arrival of the sound sources, while preserving the sound sources themselves. Prior attempts to utilize this spatial symmetry of FOA to improve the efficiency and robustness of sound event detection and localization (SELD) systems either learned only an approximation of the symmetry through rotation-based augmentation or relied on computationally expensive methods to integrate equivariance. Furthermore, prior work focused exclusively on SO(3) equivariance , leaving the potential of incorporating O(3) equivariance for SELD tasks unclear. To address these limitations, we developed EquiSELD. This equivariant attention network processes first-order Ambisonics as paired streams of O(3)-invariant scalars and equivariant intensity vectors, producing an invariant activity magnitude and an equivariant DOA with a Multi-ACCDOA readout. To compare the impact of O(3) versus SO(3)-equivariance, we designed a matched SO(3)-only variant. EquiSELD outperforms prior equivariant networks on both simulated scenes with measured RIRs and recordings of real-world sound scenes at a fraction of the training cost. EquiSELD additionally surpasses the performance of non-equivariant SELD networks of a similar size on the simulated real-world sound scenes and achieves competitive performance on the real-world sound scenes.

Video diffusion transformers are expensive because attention dominates long spatiotemporal token sequences. We identify the high-sparsity trap: at extreme attention sparsity, step-local training losses keep decreasing while terminal generation quality stagnates or degrades. The trap is one of supervision: the dominant terminal errors originate in the high-noise structure-generation stage, and terminal-aligned training corrects terminal errors that substantially extended step-local training cannot. This yields a simple staging principle: first adapt the sparse architecture into a coarse prior, then correct the terminal distribution. We instantiate the principle as \method, a unified acceleration framework for visual generation that combines a short sparse warm-up, few-step trajectory-mixed distillation, and FP8 quantization with fused kernels. \method sustains $97\%$ attention sparsity with strong visual quality on long-sequence 720P generation across Wan2.1/Wan2.2 backbones and T2V/I2V tasks, and $90\%$ sparsity on Wan2.1-T2V-1.3B-480P. With 3-step CFG-free inference, \method achieves a $265\times$ end-to-end speedup over the 50-step CFG dense baseline for Wan2.1-T2V-14B-720P on a single RTX~5090 ($220\times$ on H100), and denoises a Wan2.1-T2V-1.3B-480P video in $1.3$s.

Recently proposed self-supervised audio encoders learn powerful general-purpose representations of sound scenes, yet they are spatially blind. To supply the missing spatial representation of sound scenes, we introduce Bearings. Bearings is a self-supervised framework that learns soundfield embeddings from unlabeled first-order Ambisonics. We pre-train a masked auto-encoder paired with a decoder conditioned on frozen acoustic embeddings from an off-the-shelf single-channel audio encoder. Our results show that the resulting soundfield embeddings form a reusable stream that can be attached to frozen acoustic encoders with a lightweight trainable fusion head. On sound event localization and detection, concatenating our soundfield embeddings with acoustic representations provides the missing spatial information and enables joint detection and localization, raising the location-dependent F-score from below 4 to 50 on TAU-NIGENS 2021 and 39 on STARSS23. To our knowledge, Bearings is the first self-supervised soundfield encoder whose embeddings plug into frozen acoustic encoders without retraining either model.

Assembly remains a challenging robotic manipulation task in presence of tight tolerances and complex contact interactions. While Learning from Demonstration (LfD) frameworks like Dynamic Movement Primitives (DMPs) can effectively encode trajectories from a single demonstration, they are highly sensitive to variations in initial grasp configurations and external contact forces. Such variations often lead to task failures during the contact rich phases. This paper presents a task aware failure detection and recovery framework that integrates DMP based trajectory generation with real time stage classification. Utilizing Quadratic Discriminant Analysis (QDA) trained on multimodal sensor data, the framework segments execution into approach, alignment, and insertion stages for a Peg in Hole (PiH) assembly operation. By using goal relative position data as features, this classification generalizes to unseen goal positions without requiring retraining, matching the inherent generalization capability of DMPs. Anomaly detection is performed online using a Mahalanobis distance metric computed over force features, isolating contact induced failures from nominal trajectory execution. Upon failure detection, a spiral search recovery policy is triggered to actively realign the peg under contact before resuming the learned DMP insertion. The proposed approach is evaluated on an experimental setup achieving 95% stage classification accuracy, and demonstrates reliable failure recovery under lateral misalignments of up to 3 mm using only a single demonstration.

Non-intrusive load monitoring (NILM) estimates appliance-level consumption from a whole-home meter, but appliance-specific models and fixed output inventories make coverage costly to extend. We present FM4NILM (Foundation Model for NILM), a single prompt-programmable model that estimates a requested appliance's power trajectory from aggregate measurements, a natural-language description, and optional activation exemplars. A lightweight cadence-aware transformer is pretrained by masked reconstruction on 645k sequences from seven public corpora spanning 1-60 s sampling intervals, then aligned with appliance requests using observation-masked losses for partially labeled households. A Bernoulli-lognormal decoder separates activity detection from conditional power estimation. On held-out households and time periods from REDD, UK-DALE, and REFIT, one frozen text-prompted model serves twelve appliance-corpus requests, achieving 0.556 event F1, 0.625 AUPRC, and the lowest active-window MAE (251.8 W) among seven appliance-specific baselines. Streaming score aggregation raises event F1 to 0.582 with a 60 s aggregation delay. In a separate category-held-out evaluation, adding ten activation exemplars raises microwave AUPRC from 0.132 to 0.214 without parameter updates. Input-intervention ablations probe the model's dependence on appliance requests and aggregate measurements. These results demonstrate competitive disaggregation with one shared model and support extending appliance coverage through prompts and examples rather than additional specialist networks.

3D scene graphs provide semantically rich and hierarchical representations for robot perception. However, existing systems do not maintain uncertainty as an explicit belief or propagate it through the operations that construct and refine the graph. We introduce Probabilistic Scene Graph (PSG), a generalization of the conventional scene graph that represents a posterior over possible graphs, factorized into a discrete graph structure of entities, relations, and semantic attributes, and continuous states that ground them spatially, with uncertainty maintained over both components. Geometry is carried directly by the nodes rather than selected from a separately constructed metric map, so a metric map, where needed, follows from the graph rather than preceding it. We instantiate PSG's probabilistic spatial grounding with hierarchical graphs of Gaussians (HGG): each object primitive is represented by a full-covariance Gaussian under a Normal-Inverse-Wishart belief, and the same parametrization applied recursively within a node yields a geometry graph that resolves its surface at finer resolution. We then build a mapping pipeline that preserves these beliefs throughout graph construction and refinement: a purely graph-based coarse-to-fine alignment registers observations by comparing node beliefs, while a nested Expectation-Maximization and factor-graph optimization jointly refines poses, object parameters, and internal geometry. Across six datasets spanning indoor RGB-D, outdoor LiDAR, and cross-modality deployment, HGG operates at sensor rate with near-constant memory and achieves state-of-the-art object accuracy and zero-shot graph alignment.

The sets-as-trees interpretation of set theory in a dependent type theory with an impredicative universe of propositions validates Zermelo set theory, and it validates Replacement if the type theory has a choice or description operator, which turns a functional relation into a function. It has been natural to expect that without such an operator the strength of the type theory drops well below that of $\mathrm{ZF}$. We show that it does not. In the type theory of Lean with two predicative universes, from excluded middle as the only assumption and with no axiom (no choice, no propositional extensionality, no quotients), we prove the consistency of $\mathrm{ZF}$, stated outright for a first-order proof system. The proof is formalized. The mechanism is the large elimination of the accessibility predicate over a type as large as the type of sets: a recursion on accessibility whose recursive calls are guarded by propositions, and whose later calls are indexed by the value of an earlier call, computes as a term any ordinal that is specified by a proposition through a well-founded tree of a certain shape. We give a rule that produces such a tree for every ordinal, unless some $V_\rho$ is already a model of $\mathrm{ZF}$; the rule does not choose a cofinal map into a limit ordinal but takes all definable ones at once. In the first case the sets-as-trees satisfy Replacement for arbitrary propositional relations. Either way $\mathrm{ZF}$ has a model. Finally, the double negation of excluded middle suffices, and what remains of it is exactly that membership is not not well-founded in the stable reading of sets; this in turn implies the double negation of Markov's principle.

Building gameplay features in a game engine requires more than code, as code that compiles and runs does not necessarily implement the requested gameplay. We introduce CraftBenchUE, an evaluation harness that runs agents in an isolated Unreal Engine environment, reconstructs their saved submissions in fresh projects, and applies deterministic build, asset, and runtime checks without an LLM judge. Based on the harness, we built a benchmark consisting of 70 tasks spanning C++ source, Blueprint assets, and editor scripting. We evaluate seven models under two editor-tool configurations, with a file-and-shell baseline on C++ tasks. We further pair tasks that specify the same gameplay and use the same runtime tests, but require C++ and Blueprint as the deliverables. Across the 10 paired tasks, C++ completion rates exceed Blueprint by 30.0 and 42.9 percentage points in the two tool configurations. Among on-time Blueprint submissions in this paired set that pass asset checks, 42.2% and 50.0% fail explicit runtime assertions. These submissions satisfy asset requirements but fail the required gameplay tests. We will release the harness, task benchmark, and our trajectory findings with the report.

Real time plasma state estimation for control of Tokamak devices are challenging due to the stringent latency requirements of the plasma control system (PCS). We present an end-to-end workflow for deploying a recurrent probabilistic neural network (RPNN) on FPGA hardware. We combine architecture size reduction with quantization-aware training via QKeras. The model is then synthesized using hls4ml, targeting a Xilinx Alveo U50 device. We report a design that fits comfortably within all four resource budgets (DSP, LUT, FF, BRAM) at deterministic sub-10~$\mu$s single-timestep latency, meeting the requirements for real-time inference inside a model-predictive-control-style plasma control loop.

Most medical vision-language models (VLMs) excel at open-ended report generation and VQA but provide limited support for structured, fine-grained clinical perception within a unified interface. We present QwenVLConnector, a Qwen2.5-VL-based medical chatbot that unifies classification, multi-label classification, textualized detection, counting, regression, and free-form report generation under a single next-token objective. Our key component is a lightweight dense multi-layer Connector that aggregates low- and high-level visual features, aligns them through the pretrained vision Merger, and fuses them with the final visual representation without increasing sequence length. This design enriches visual tokens with complementary spatial and semantic cues while preserving efficiency. On FLARE-2D, QwenVLConnector improves detection F1 from 0.55 to 0.85, raises single-label classification from 0.37 to 0.51, and boosts report-generation GREEN by up to 18.3 points over the Qwen2.5-VL baseline. We further explore multimodal in-context learning for report generation, showing additional improvements without updating model parameters. Overall, QwenVLConnector offers a unified and efficient framework for combining structured medical perception with open-ended clinical text generation. Our code can be found at https://github.com/plnguyen2908/QwenConnector.