Papers

We study the problem of estimating the value function of discrete-time switched systems under arbitrary switching. Unlike the switched LQR problem, where both inputs and mode sequences are optimized, we consider the case where switching is exogenous. For such systems, the number of possible mode sequences grows exponentially with time, making the exact computation of the value function intractable. This motivates the development of tractable bounds that approximate it. We propose a novel framework, based on path-complete graphs, for constructing computable upper bounds on the value function. In this framework, multiple quadratic functions are combined through a directed graph that encodes dynamic programming inequalities, yielding convex and sound formulations. For example, for switched linear systems with quadratic cost, we derive tractable LMI-based formulations and provide computational complexity bounds. We further establish approximation guarantees for the upper bounds and show asymptotic non-conservativeness using concepts from graph theory. Finally, we extend the approach to controller synthesis for systems with affine control inputs and demonstrate its effectiveness on numerical examples.

Pre-trained models for automatic speech recognition (ASR) and speech enhancement (SE) have exhibited remarkable capabilities under matched noise and channel conditions. However, these models often suffer from severe performance degradation when confronted with domain shifts, particularly in the presence of unseen noise and channel distortions. In view of this, we in this paper present URSA-GAN, a unified and domain-aware generative framework specifically designed to mitigate mismatches in both noise and channel conditions. URSA-GAN leverages a dual-embedding architecture that consists of a noise encoder and a channel encoder, each pre-trained with limited in-domain data to capture domain-relevant representations. These embeddings condition a GAN-based speech generator, facilitating the synthesis of speech that is acoustically aligned with the target domain while preserving phonetic content. To enhance generalization further, we propose dynamic stochastic perturbation, a novel regularization technique that introduces controlled variability into the embeddings during generation, promoting robustness to unseen domains. Empirical results demonstrate that URSA-GAN effectively reduces character error rates in ASR and improves perceptual metrics in SE across diverse noisy and mismatched channel scenarios. Notably, evaluations on compound test conditions with both channel and noise degradations confirm the generalization ability of URSA-GAN, yielding relative improvements of 16.16% in ASR performance and 15.58% in SE metrics.

Aortic valve disease (AVD) represents a major public health burden, while its diagnosis relies on echocardiography, which is limited by cost and specialist expertise, restricting scalable screening and risk stratification. Existing portable sensing modalities are constrained by indirect representations or acquisition dependencies. In this context, photoplethysmography (PPG), a widely available optical signal capturing peripheral hemodynamic dynamics, provides a scalable physiological measurement. However, the scarcity of clinically labeled PPG data severely constrains the development of effective data-driven models. To address this limitation, we propose Physiology-Guided Self-Supervised Learning (PG-SSL), leveraging approximately 170,000 unlabeled UK Biobank PPG recordings. PG-SSL constructs physiologically derived pseudo-labels based on clinically motivated waveform phenotypes associated with aortic stenosis (AS) and aortic regurgitation (AR), enabling large-scale pretraining without AVD-specific labels. Following fine-tuning on a small labeled cohort, the model achieved AUROCs of 0.8025 for AS and 0.7669 for AR. Further analyses demonstrated robustness under clinical confounding and covariate-balanced evaluation, as well as significant longitudinal associations with incident AVD events. This study demonstrates the feasibility of PG-SSL for leveraging large-scale unlabeled physiological signals under clinically labeled data-scarce conditions. The proposed approach provides a useful strategy for improving low-cost PPG-based screening and risk enrichment for clinically recognized AVD.

This paper investigates parameter-privacy-preserving data sharing in continuous-state dynamical systems, where a data owner designs a data-sharing policy to support downstream estimation and control while preventing adversarial inference of a sensitive parameter. This data-sharing problem is formulated as an optimization problem that trades off privacy leakage and the impact of data sharing on the data owner's utility, subject to a data-usability constraint. We show that this problem admits an equivalent belief Markov decision process (MDP) formulation, which provides a simplified representation of the optimal policy. To efficiently characterize information-theoretic privacy leakage in continuous state and action spaces, we propose a particle-belief MDP formulation that tracks the parameter posterior via sequential Monte Carlo, yielding a tractable belief-state approximation that converges asymptotically as the number of particles increases. We further derive a tractable closed-form upper bound on particle-based MI via Gaussian mixture approximations, which enables efficient optimization of the particle-belief MDP. Experiments on a mixed-autonomy platoon show that the learned continuous policy substantially impedes inference attacks on human-driving behavior parameters while maintaining data usability and system performance.

The virtual admittance-current controller (VA-CC) scheme is widely employed to emulate an equivalent inductance in front of the internal voltage source of grid-forming inverters. However, recent studies have reported harmonic instabilities associated with VA-CC, motivating the need for a more physically interpretable understanding of their origin. This letter identifies a delay-independent structural mechanism of harmonic instability in the VA-CC scheme, wherein the interaction between the filter and virtual inductances introduces a non-passive second-order transfer-function term exhibiting negative resistance. To address this issue, a simple yet effective modification is proposed by integrating a parallel virtual resistor into the VA structure. This reconfiguration enhances the passivity of VA-CC scheme across the harmonic range by mimicking the skin effect which augments damping in high-frequency range, without altering the wellestablished current controller or voltage feedforward control. Experimental results validate that the proposed method achieves robust harmonic stability, whereas the conventional approach fails under identical grid conditions.

This paper investigates the robust optimal control of sampled-data stochastic systems with multiplicative noise and distributional ambiguity. We consider a class of discrete-time optimal control problems where the controller jointly selects a feedback policy and a sampling period to maximize the worst-case expected concave utility of the inter-sample growth factor. Modeling uncertainty via a Wasserstein ambiguity set, we confront the structural obstacle of~“concave-max” geometry arising from maximizing a concave utility against an adversarial distribution. Unlike standard convex loss minimization, the dual reformulation here requires a minimax interchange within the semi-infinite constraints, where the utility's concavity precludes exact strong duality. To address this, we utilize a general minimax inequality to derive a tractable convex relaxation. Our approach yields a rigorous lower bound that functions as a probabilistic performance guarantee. We establish an explicit, non-asymptotic bound on the resulting duality gap, proving that the approximation error is uniformly controlled by the Lipschitz-smoothness of the stage reward and the diameter of the disturbance support. Furthermore, we introduce necessary and sufficient conditions for robust viability, ensuring state positivity invariance across the entire ambiguity set. Finally, we bridge the gap between static optimization and dynamic performance, proving that the optimal value of the relaxation serves as a rigorous deterministic floor for the asymptotic average utility rate almost surely. The framework is illustrated on a log-optimal portfolio control problem, which serves as a canonical instance of multiplicative stochastic control.

Discretized representations of speech signals are efficient alternatives to continuous features for various speech applications, including automatic speech recognition (ASR) and speech language models. However, these representations, such as semantic or phonetic tokens derived from clustering outputs of self-supervised learning (SSL) speech models, are susceptible to environmental noise, which can degrade backend task performance. In this work, we introduce a frontend system that estimates clean speech tokens from noisy speech and evaluate it on an ASR backend using semantic tokens. We consider four types of enhancement models based on their input/output domains: wave-to-wave, token-to-token, continuous SSL features-to-token, and wave-to-token. These models are trained independently of ASR backends. Experiments on the CHiME-4 dataset demonstrate that wave-to-token enhancement achieves the best performance among the frontends. Moreover, it mostly outperforms the ASR system based on continuous SSL features.

In this paper, we propose a maneuverablejamming-aided secure communication and sensing (SCS) scheme for an air-to-ground integrated sensing and communication (A2G-ISAC) system, where a dual-functional source UAV and a maneuverable jamming UAV operate collaboratively in a hybrid monostatic-bistatic radar configuration. The maneuverable jamming UAV emits artificial noise to assist the source UAV in detecting multiple ground targets while interfering with an eavesdropper. The effects of residual interference caused by imperfect successive interference cancellation on the received signal-to-interference-plus-noise ratio are considered, which degrades the system performance. To maximize the average secrecy rate (ASR) under transmit power budget, UAV maneuvering constraints, and sensing requirements, the dual-UAV trajectory and beamforming are jointly optimized. Given that secure communication and sensing fundamentally conflict in terms of resource allocation, making it difficult to achieve optimal performance for both simultaneously, we adopt a two-phase design to address this challenge. By dividing the mission into the secure communication (SC) phase and the SCS phase, the A2G-ISAC system can focus on optimizing distinct objectives separately. In the SC phase, a block coordinate descent algorithm employing the trust-region successive convex approximation and semidefinite relaxation iteratively optimizes dual-UAV trajectory and beamforming. For the SCS phase, a weighted distance minimization problem determines the suitable dual-UAV sensing positions by a greedy algorithm, followed by the joint optimization of source beamforming and jamming beamforming. Simulation results demonstrate that the proposed scheme achieves the highest ASR among benchmarks while maintaining robust sensing performance, and confirm the impact of the SIC residual interference on both secure communication and sensing.

Electrochemical models offer superior interpretability and reliability for battery degradation diagnosis. However, the high computational cost of iterative parameter identification severely hinders the practical implementation of electrochemically informed state of health (SOH) estimation in real-time systems. To address this challenge, this paper proposes an SOH estimation method that integrates deep learning with electrochemical mechanisms and adopts a sequential training strategy. First, we construct a hybrid-driven surrogate model to learn internal electrochemical dynamics by fusing high-fidelity simulation data with physical constraints. This model subsequently serves as an accurate and differentiable physical kernel for voltage reconstruction. Then, we develop a self-supervised framework to train a parameter identification network by minimizing the voltage reconstruction error. The resulting model enables the non-iterative identification of aging parameters from external measurements. Finally, utilizing the identified parameters as physicochemical health indicators, we establish a high-precision SOH estimation network that leverages data-driven residual correction to compensate for identification deviations. Crucially, a sequential training strategy is applied across these modules to effectively mitigate convergence issues and improve the accuracy of each module. Experimental results demonstrate that the proposed method achieves an average voltage reconstruction root mean square error (RMSE) of 0.0198 V and an SOH estimation RMSE of 0.0014.

Accurate, high-resolution, and real-time DOA estimation plays a crucial role in automotive radar perception. While sparse signal recovery techniques offer super-resolution and high-precision estimation, their prohibitive computational complexity remains a primary bottleneck for practical deployment. This paper proposes a sparse DOA estimation scheme specifically tailored for the stringent requirements of automotive radar such as limited computational resources, restricted array apertures, and single-snapshot constraints. By leveraging the spatial angular pseudo-derivative (SAPD) property of the sparse DOA solutions and incorporating this property as a constraint into an $\ell_0$-norm minimization problem, the proposed formulation transforms unordered exhaustive verification of candidate solutions into an ordered search process for sparse DOA estimation. Thus, the associated solver, called the SAPD Search algorithm, naturally transforms the high-dimensional optimization task into an efficient grid-search scheme. The SAPD search algorithm circumvents high-order matrix inversions and computationally intensive iterations. We also provide an analysis of the computational complexity of the proposed algorithm. Numerical simulations and experimental validation demonstrate that the SAPD Search algorithm achieves a superior balance of millisecond-level computational efficiency, high precision, and super-resolution, making it highly suitable for next-generation automotive radar applications.

3D medical imaging is in high demand and essential for clinical diagnosis and scientific research. Currently, diffusion models (DMs) have become an effective tool for medical imaging reconstruction thanks to their ability to learn rich, high-quality data priors. However, learning the 3D data distribution with DMs in medical imaging is challenging, not only due to the difficulties in data collection but also because of the significant computational burden during model training. A common compromise is to train the DMs on 2D data priors and reconstruct stacked 2D slices to address 3D medical inverse problems. However, the intrinsic randomness of diffusion sampling causes severe inter-slice discontinuities of reconstructed 3D volumes. Existing methods often enforce continuity regularizations along the z-axis, which introduces sensitive hyper-parameters and may lead to over-smoothing results. In this work, we revisit the origin of stochasticity in diffusion sampling and introduce Inter-Slice Consistent Stochasticity (ISCS), a simple yet effective strategy that encourages interslice consistency during diffusion sampling. Our key idea is to control the consistency of stochastic noise components during diffusion sampling, thereby aligning their sampling trajectories without adding any new loss terms or optimization steps. Importantly, the proposed ISCS is plug-and-play and can be dropped into any 2D trained diffusion based 3D reconstruction pipeline without additional computational cost. Experiments on several medical imaging problems show that our method can effectively improve the performance of medical 3D imaging problems based on 2D diffusion models. Our findings suggest that controlling inter-slice stochasticity is a principled and practically attractive route toward high-fidelity 3D medical imaging with 2D diffusion priors. The code is available at: https://github.com/duchenhe/ISCS

Reinforcement Learning (RL) has achieved remarkable success in solving complex sequential decision-making problems. However, its application to safety-critical physical systems remains constrained by the lack of stability guarantees. Standard RL algorithms prioritize reward maximization, often yielding policies that may induce oscillations or unbounded state divergence. In this work we propose a Lyapunov-Constrained Soft Actor-Critic (LC-SAC) algorithm using Koopman operator theory. We learn a linear lifted surrogate of the error dynamics via Extended Dynamic Mode Decomposition (EDMD) and solve the Discrete Algebraic Riccati Equation (DARE) to obtain a closed-form quadratic candidate Control Lyapunov Function (CLF). This CLF is incorporated into the SAC actor update as a Lagrangian penalty that aggregates the worst-case tail of violations via a Conditional Value-at-Risk (CVaR) objective, concentrating constraint pressure on rare but severe instability events. We further introduce three structural EDMD refinements spectral-radius normalization of the lifted A-matrix prior to the DARE solve, a physically meaningful LQR state cost, and a value-bias anchor enforcing V(0)=0 that make the closed-form CLF well-posed for higher-dimensional lifted models such as the cartpole and 3D quadrotor. The ablation study shows that a hard Lagrangian constraint is essential, replacing it with reward shaping (Lyap-RS-SAC) destabilizes learning and collapses return on quadrotor tasks.

This paper proposes a semantic pilot design for data-aided channel estimation in text-inclusive data transmission, using a large language model (LLM). In this scenario, channel impairments often appear as typographical errors in the decoded text, which can be corrected using an LLM. The proposed method compares the initially decoded text with the LLM-corrected version to identify reliable decoded symbols. A set of selected symbols, referred to as a semantic pilot, is used as an additional pilot for data-aided channel estimation. To the best of our knowledge, this work is the first to leverage semantic information for reliable symbol selection. Simulation results demonstrate that the proposed scheme outperforms conventional pilot-only estimation, achieving lower normalized mean squared error and phase error of the estimated channel, as well as reduced bit error rate.

Automatic speech recognition (ASR) systems often degrade on accented speech because acoustic-phonetic and prosodic shifts induce a mismatch to training data, making labeled accent adaptation costly. However, common pseudo-label selection heuristics are largely text-centric (e.g., perplexity (PPL) filtering) and can prefer fluent yet acoustically mismatched hypotheses, leading to error amplification when fine-tuning. To address this, we introduce a multimodal consistency-guided, reference-free data selection pipeline for ASR accent adaptation under a transductive, label-free protocol. The pipeline starts with a target-aware preselection step based on submodular mutual information to improve query relevance and reduce downstream computation. It then generates multiple pseudo-transcriptions per utterance via perturbation-based decoding and scores each hypothesis using two reference-free signals: speech–text alignment in a shared embedding space and predicted word error rate (WER). A simple percentile-based selection rule retains reliable pseudo-labels for fine-tuning while discarding noisy utterances. In an in-domain setting, selecting ~1.5k utterances from a 30k pool achieves 10.91% WER, close to 10.45% obtained using 30k supervised labels. In a cross-domain setting with a mismatched candidate pool, consistency-filtered subsets avoid the degradation caused by unfiltered pseudo-labels under strong accent shift, and matched-hour experiments on a stronger ASR backbone further confirm gains over random sampling and recent selection baselines.

Speech emotion recognition (SER) is essential for humanoid robot tasks such as social robotic interactions and robotic psychological diagnosis, where interpretable and efficient models are critical for safety and performance. Existing deep models trained on large datasets remain largely uninterpretable, often insufficiently modeling underlying emotional acoustic signals and failing to capture and analyze the core physiology of emotional vocal behaviors. Physiological research on human voices shows that the dynamics of vocal amplitude and phase correlate with emotions through the vocal tract filter and the glottal source. However, most existing deep models solely involve amplitude but fail to couple the physiological features of and between amplitude and phase. Here, we propose PhysioSER, a physiology-informed vocal spectrotemporal representation learning method, to address these issues with a compact, plug-and-play design. PhysioSER constructs amplitude and phase views informed by voice anatomy and physiology (VAP) to complement SSL models for SER. This VAP-informed framework incorporates two parallel workflows: a vocal feature representation branch to decompose vocal signals based on VAP, embed them into a quaternion field, and use Hamilton-structured quaternion convolutions for modeling their dynamic interactions; and a latent representation branch based on a frozen SSL backbone. Then, utterance-level features from both workflows are aligned by a Contrastive Projection and Alignment framework, followed by a shallow attention fusion head for SER classification. PhysioSER is shown to be interpretable and efficient for SER through extensive evaluations across 14 datasets, 10 languages, and 6 backbones, and its practical efficacy is validated by real-time deployment on a humanoid robotic platform.

Flow-matching models have enabled high-quality text-to-speech synthesis, but their iterative sampling process during inference incurs substantial computational cost. Although distillation is widely used to reduce the number of inference steps, existing methods often suffer from process variance due to endpoint error accumulation. Moreover, directly reusing continuous-time architectures for discrete, fixed-step generation introduces structural parameter inefficiencies. To address these challenges, we introduce DSFlow, a modular distillation framework for few-step and one-step synthesis. DSFlow reformulates generation as a discrete prediction task and explicitly adapts the student model to the target inference regime. It improves training stability through a dual supervision strategy that combines endpoint matching with deterministic mean-velocity alignment, enforcing consistent generation trajectories across inference steps. In addition, DSFlow improves parameter efficiency by replacing continuous-time timestep conditioning with lightweight step-aware tokens, aligning model capacity with the significantly reduced timestep space of the discrete task. Extensive experiments across diverse flow-based text-to-speech architectures demonstrate that DSFlow consistently outperforms standard distillation approaches, achieving strong few-step and one-step synthesis quality while reducing model parameters and inference cost.

Audio large language models (AudioLLMs) enable instruction following over speech and general audio, but progress is limited by the scarcity of diverse, conversational, and instruction-aligned speech–text data. This gap is particularly pronounced for persona-grounded and dialectal interactions, where collecting real multi-speaker recordings remains costly and slow. We introduce MENASpeechBank, a reference speech bank comprising ~18K high-quality utterances from 124 speakers spanning multiple MENA countries, covering English, Modern Standard Arabic (MSA), and regional Arabic varieties. We develop a controllable data pipeline that (i) constructs persona profiles enriched with World Values Survey (WVS) inspired attributes, (ii) defines a taxonomy driven ~5Kconversational scenarios, (iii) matches personas to scenarios via semantic similarity, (iv) generates ~417K role-play conversations with an LLM where the user speaks as the persona and the assistant behaves as a helpful agent, and (v) produces speaker-conditioned user-turn audio (synthetic) from reference recordings to preserve speaker diversity. We evaluate synthetic and human recorded conversations and provide an analysis. We will make the MENASpeechBank available for the community.(\href{https://huggingface.co/datasets/QCRI/MenaSpeechBank)

Multimodal fusion faces two robustness challenges: noisy inputs degrade representation quality, and missing modalities cause prediction failures. We propose DCER, a unified framework addressing both challenges through dual-stage compression and energy-based reconstruction. The compression stage operates at two levels: within-modality frequency transforms (wavelet for audio, DCT for video) remove noise while preserving task-relevant patterns, and cross-modality bottleneck tokens force genuine integration rather than modality-specific shortcuts. For missing modalities, energy-based reconstruction recovers representations via gradient descent on a learned energy function, with the final energy providing intrinsic uncertainty quantification (h̊o} > 0.72 correlation with prediction error). Experiments on CMU-MOSI, CMU-MOSEI, and CH-SIMS demonstrate state-of-the-art performance across all benchmarks, with a U-shaped robustness pattern favoring multimodal fusion at both complete and high-missing conditions. The code will be available on Github.

We present an uncertainty principle for graph signals in the vertex-time domain, unifying the classical time-frequency and graph uncertainty principles within a single framework. By defining vertex-time and spectral-frequency spreads, we quantify signal localization across these domains. Our framework identifies a class of signals that achieve maximum concentration in both the spatial and temporal domains. These signals serve as fundamental atoms for a new vertex-time dictionary, enhancing signal reconstruction under practical constraints, such as intermittent data commonly encountered in sensor and social networks. Furthermore, we introduce a novel graph topology inference method leveraging the uncertainty principle. Numerical experiments on synthetic and real datasets validate the effectiveness of our approach, demonstrating improved reconstruction accuracy, greater robustness to noise, and enhanced graph learning performance compared to existing methods.

Accurate channel state information in wideband MIMO systems is constrained by pilot overhead, a challenge intensifying as bandwidths scale toward 6G. This paper proposes a structure-informed hybrid estimator formulating pilot-limited MIMO channel estimation as low-rank tensor completion from sparse pilot observations—an underdetermined inverse problem that prior approaches avoid by assuming fully observed tensors. Canonical polyadic~(CP) and Tucker decompositions are compared: CP excels for specular channels matching its rank-one parameterization exactly, while Tucker provides numerical stability at extreme pilot scarcity where CP exhibits heavy-tail divergence. A lightweight 3D U-Net learns residual components beyond the low-rank structure, compensating for diffuse scattering and hardware non-idealities. On synthetic specular channels, Tucker completion improves normalized mean-squared error (NMSE) by $10.88$~dB over least squares and $7.83$~dB over orthogonal matching pursuit at $10\%$ pilot density ($\rho$); CP outperforms Tucker by $13.11$~dB at SNR=20~dB. On DeepMIMO channels, the hybrid Tensor–NN estimator has two regimes: Tensor–NN(Tucker) remains stable at $\rho=2\%$ where CP diverges, while a CP-guided variant becomes best from $\rho\ge 4\%$, reaching $-16.44$~dB at $\rho=8\%$ and $-20.34$~dB at $\rho=20\%$. The Tucker-guided variant outperforms unconstrained deep learning across the full pilot range; the CP-guided variant widens this gap once stable. Empirical analysis confirms sample complexity scales with intrinsic channel dimensionality (dominant paths) rather than ambient tensor size.

We propose an Ultra-Fast, Device-Free Visible Light Sensing and Positioning system that captures spatiotemporal variations in single-LED VLC channel responses, using ceiling-mounted photodetectors, to accurately and non-intrusively infer human presence and position through optical signal reflection modeling. The system is highly adaptive and ready to serve different real-world sensing and positioning scenarios using one or more ML based models from the library of multi-architecture deep neural network ensembles we have developed.

We present a robust control and estimation framework for quadrotors operating in Global Navigation Satellite System(GNSS)-denied, non-inertial environments where inertial sensors such as Inertial Measurement Units (IMUs) become unreliable due to platform-induced accelerations. In such settings, conventional estimators fail to distinguish whether the measured accelerations arise from the quadrotor itself or from the non-inertial platform, leading to drift and control degradation. Unlike conventional approaches that depend heavily on IMU and GNSS, our method relies exclusively on external position measurements combined with a Extended Kalman Filter with Unknown Inputs (EKF-UI) to account for platform motion. The estimator is paired with a cascaded PID controller for full 3D tracking. To isolate estimator performance from localization errors, all tests are conducted using high-precision motion capture systems. Experimental results in a moving-cart testbed validate our approach under both translational in X-axis and Y-axis dissonance. Compared to standard EKF, the proposed method significantly improves stability and trajectory tracking without requiring inertial feedback, enabling practical deployment on moving platforms such as trucks or elevators.

The integration of foundation models (FMs) into robotics has accelerated real-world deployment, while introducing new safety challenges arising from open-ended semantic reasoning and embodied physical action. These challenges require safety notions beyond physical constraint satisfaction. In this paper, we characterize FM-enabled robot safety along three dimensions: action safety (physical feasibility and constraint compliance), decision safety (semantic and contextual appropriateness), and human-centered safety (conformance to human intent, norms, and expectations). We argue that existing approaches, including static verification, monolithic controllers, and end-to-end learned policies, are insufficient in settings where tasks, environments, and human expectations are open-ended, long-tailed, and subject to adaptation over time. To address this gap, we propose modular safety guardrails, consisting of monitoring (evaluation) and intervention layers, as an architectural foundation for comprehensive safety across the autonomy stack. Beyond modularity, we highlight possible cross-layer co-design opportunities through representation alignment and conservatism allocation to enable faster, less conservative, and more effective safety enforcement. We call on the community to explore richer guardrail modules and principled co-design strategies to advance safe real-world physical AI deployment.

We present the Multi-Scale Spatial Channel Attention Network (MS-SCANet), a transformer-based architecture designed for no-reference image quality assessment (IQA). MS-SCANet features a dual-branch structure that processes images at multiple scales, effectively capturing both fine and coarse details, an improvement over traditional single-scale methods. By integrating tailored spatial and channel attention mechanisms, our model emphasizes essential features while minimizing computational complexity. A key component of MS-SCANet is its cross-branch attention mechanism, which enhances the integration of features across different scales, addressing limitations in previous approaches. We also introduce two new consistency loss functions, Cross-Branch Consistency Loss and Adaptive Pooling Consistency Loss, which maintain spatial integrity during feature scaling, outperforming conventional linear and bilinear techniques. Extensive evaluations on datasets like KonIQ-10k, LIVE, LIVE Challenge, and CSIQ show that MS-SCANet consistently surpasses state-of-the-art methods, offering a robust framework with stronger correlations with subjective human scores.

Neural control of grasping arises from nonlinear interactions across multiple brain rhythms, yet EEG-based motor decoding has largely relied on linear, second-order spectral features. Here, we examine whether higher-order cross-frequency dynamics distinguish motor planning from execution during natural reach-to-grasp behavior. EEG was recorded in a cue-based paradigm during executed precision and power grips, enabling stage-resolved analysis of preparatory and execution-related neural activity. Cross-frequency bispectral analysis was used to compute bicoherence matrices across canonical frequency band pairs, from which magnitude- and phase-based features were extracted. Classification, permutation-based feature selection, and within-subject statistical testing showed that execution is characterized by substantially stronger and more discriminative nonlinear coupling than planning, with dominant contributions from beta- and gamma-driven interactions. In contrast, decoding of precision versus power grips achieved comparable performance during planning and execution, indicating that grasp-type representations emerge during planning and persist into execution. Spatial and spectral analyses further revealed that informative bispectral features reflect coordinated activity across prefrontal, central, and occipital regions. Despite substantial feature redundancy, effective dimensionality reduction preserved decoding performance. Together, these findings demonstrate that nonlinear cross-frequency coupling provides an interpretable and robust marker of motor planning and execution, extending bispectral EEG analysis to ecologically valid grasping and supporting its relevance for brain-computer interfaces and neuroprosthetic control.

Artificial intelligence is a key enabler for next-generation wireless communication and sensing. Yet, today's learning-based wireless techniques do not generalize well: most models are task-specific, environment-dependent, and limited to narrow sensing modalities, requiring costly retraining when deployed in new scenarios. This work introduces a task-agnostic, multi-modal foundational model for physical-layer wireless systems that learns transferable, physics-aware representations across heterogeneous modalities, enabling robust generalization across tasks and environments. Our framework employs a physics-guided self-supervised pretraining strategy incorporating a dedicated physical token to capture cross-modal physical correspondences governed by electromagnetic propagation. The learned representations enable efficient adaptation to diverse downstream tasks, including massive multi-antenna optimization, wireless channel estimation, and device localization, using limited labeled data. Our extensive evaluations demonstrate superior generalization, robustness to deployment shifts, and reduced data requirements compared to task-specific baselines.

Whole-slide image (WSI) preprocessing, including tissue detection and patch extraction, is critical computational pathology, yet remains a major bottleneck for large-scale workflows. Existing methods often rely either on threshold-based heuristics that are sensitive to staining variations, tissue fragmentation, and artifacts, or on patch-wise deep learning pipelines with substantially higher computational cost. We present AtlasPatch, a scalable high-throughput WSI preprocessing method built around a foundation-model-based tissue detector that operates at thumbnail resolution: a single thumbnail-level forward pass yields a tissue mask that directly guides patch coordinate generation at the target desired magnification, avoiding repeated patch-level inference. The proposed detector's robustness and efficiency is driven by two coupled contributions: (i) a parameter-efficient adaptation of the SAM2 foundation model that updates only its layer-normalization parameters (0.076% of model weights), and (ii) a curated and semi-manually annotated multi-cohort dataset of 30,000 WSI thumbnail-mask pairs deliberately spanning multiple organs, scanners, tissue appearances, and artifacts. The detector is coupled with pyramid-aware contour mapping from thumbnail to full-resolution slide coordinates, enabling direct patch coordinate generation at the target magnification and parallelized high-throughput patch extraction. AtlasPatch's tissue detection achieves a precision of 0.986 and remains robust across slide variations. Compared with widely used deep-learning preprocessing methods, AtlasPatch is up to 16x faster while preserving downstream multiple-instance learning performance across six slide-level classification tasks. These results position AtlasPatch as a frontier of efficient preprocessing in large-scale computational pathology and pathology foundation models.

Control barrier functions (CBFs) provide a powerful tool for enforcing safety constraints in control systems, but their direct application to complex, high-dimensional dynamics is often challenging. In many settings, safety certificates are more naturally designed for simplified or alternative system models that do not exactly match the dynamics of interest. This paper addresses the problem of transferring safety guarantees between dynamical systems with mismatched dynamics. We propose a transferred control barrier function (tCBF) framework that enables safety constraints defined on one system to be systematically enforced on another system using a simulation function and an explicit margin term. The resulting transferred barrier accounts for model mismatch and induces a safety condition that can be enforced on the target system via a quadratic-program-based safety filter. The proposed approach is general and does not require the two systems to share the same state dimension or dynamics. We demonstrate the effectiveness of the framework on a quadrotor navigation task with the transferred barrier ensuring collision avoidance for the target system, while remaining minimally invasive to a nominal controller. These results highlight the potential of transferred control barrier functions as a general mechanism for enforcing safety across heterogeneous dynamical systems.

Conformal prediction, a post-hoc, distribution-free, finite-sample method of uncertainty quantification that offers formal coverage guarantees under the assumption of data exchangeability. Unfortunately, the resulting uncertainty regions can grow significantly in long horizon missions, rendering the statistical guarantees uninformative. To that end, we propose infusing CP with geometric information via group-averaging of the pretrained predictor to distribute the non-conformity mass across the orbits. Each sample now is treated as a representative of an orbit, thus uncertainty can be mitigated by other samples entangled to it via the orbit inducing elements of the symmetry group. Our approach provably yields contracted non-conformity scores in increasing convex order, implying improved exponential-tail bounds and sharper conformal prediction sets in expectation, especially at high confidence levels. We then propose an experimental design to test these theoretical claims in pedestrian trajectory prediction.

This paper presents a safety-critical reinforcement learning framework for nonlinear dynamical systems with continuous state and input spaces operating under explicit physical constraints. Hard safety constraints are enforced independently of the reward through action shielding and reachability-based admissible action sets, ensuring that unsafe behaviors are never intentionally selected during learning or execution. To capture nominal operation and recovery behavior within a single control architecture, the state space is partitioned into safe and unsafe regions based on membership in a safety box, and a mode-dependent reward is used to promote accurate tracking inside the safe region and recovery toward it when operating outside. To enable online tabular learning on continuous dynamics, a finite-state abstraction is constructed via state aggregation, and action selection and value updates are consistently restricted to admissible actions. The framework is demonstrated on a longitudinal point-mass hypersonic vehicle model with aerodynamic and propulsion couplings, using angle of attack and throttle as control inputs.