Papers

LLM-agent evaluations commonly measure task success or agreement with a declared plan. In strategic cyber-physical systems, an architecture must also remain appropriate after autonomous participants respond and physics constrains outcomes. We introduce a controlled benchmark of planning-induced control trajectories: ordered planning operations and directives linking execution architecture to strategic response and physical consequences. Four coded executors (predefined, sequential, hierarchical, and search) control demand response for 40 prosumers on a radial feeder. The LLM declares or advises typed policies and mediates communication; schedules, base prosumer dynamics, stochastic actions, and power flow remain explicit code. Paired forced-mode counterfactuals, exact-prompt caching, common response draws with separate randomness streams, critic isolation, and event-level feasibility isolate comparisons. The Llama-3.3-70B experiments on this feeder distinguish three properties. First, forced search is the oracle in all five baseline seeds under the specified objective. Second, injected objective substitution preserves mode agreement at 1.0 while increasing cumulative voltage shortfall by 2.68x. Third, the 144-scenario, 576-episode factorial bank, using three repeated seeds, contains feasible oracles from predefined, sequential, and search. The prespecified stress-held-out ridge has mean regret 90.7 and no observed value over fixed sequential. A post-hoc constraint-aware analysis reduces regret to 29.0; a simple deadline rule attains 28.7, so this gain does not establish a learning advantage. An all-feasible ablation does not improve over fixed search. These are simulation-internal, descriptive comparisons. A five-model, 300-declaration extension tests interface behaviour, not cross-backbone physical rankings; shared-endpoint latency tails motivate probabilistic live feasibility.

The rapid expansion of distributed energy resources is heightening uncertainty and variability in distribution system operations, potentially leading to power quality challenges such as voltage magnitude violations and excessive voltage unbalance. Ensuring the dependable and secure operation of distribution grids requires system real-time assessment. However, constraints in sensing, measurement, and communication capabilities within distribution grids result in limited awareness of the system's state. To achieve better real-time estimates of distribution system security, we propose a real-time security assessment based on data from smart meters, which are already prevalent in most distribution grids. Assuming that it is possible to obtain a limited number of voltage magnitude measurements in real time, we design an iterative algorithm to adaptively identify a subset of smart meters whose real-time measurements allow us to certify that all voltage magnitudes remain within bounds. This algorithm iterates between (1) solving optimization problems to determine the worst possible voltage magnitudes, given a limited set of voltage magnitude measurements, and (2) leveraging the solutions and sensitivity information from these problems to update the measurement set. Numerical tests on the IEEE 123 distribution feeder demonstrate that the proposed algorithm consistently identifies and tracks the nodes with the highest and lowest voltage magnitude, even as the load changes over time.

We propose a family of random feature maps for scalable kernel machines on low-dimensional subspaces, ie on the Grassmannian manifold. Such representations are useful when data classes or clusters are well described by the span of a few samples. Classical Grassmannian kernels, including the projection and Binet-Cauchy kernels, require full Gram matrices, which leads to prohibitive computational and memory costs for large high-dimensional subspace datasets. We address this limitation using random features based on rank-one projections of subspace projection matrices followed by bounded non-linear transforms, either periodic or binary, to control the resulting distributions. We show that inner products in the random feature space approximate well-defined rotation-invariant Grassmannian kernels that depend only on the principal angles between subspaces. When the number of features is sufficiently large relative to the intrinsic subspace dimension, the approximation holds uniformly over all fixed-dimensional subspaces with high probability. For periodic transforms, the approximated kernel has a closed-form expression with tunable behaviour between inverse Binet-Cauchy and Gaussian-type regimes. Binary transforms yield compact one-bit subspace features, although no closed-form kernel is known. Structured rank-one projections based on randomised fast Fourier transforms further reduce computation without sacrificing practical accuracy. Experiments on synthetic data and ETH-80 classification tasks show that these features accurately preserve Grassmannian geometry while reducing computation, memory, and storage. Rank-one embeddings therefore provide a practical and scalable alternative to classical Grassmannian kernels.

Nonlinear state estimation requires sequentially fusing model-based predictions with noisy measurements. Under imperfect dynamics and unknown, time-varying noise statistics, this fusion can degrade in both accuracy and statistical consistency. Existing learning-aided filters largely treat accuracy and uncertainty estimation separately, limiting their ability to correct model-mismatch-induced bias while retaining an explicit, calibrated posterior covariance. This paper introduces Unscented KalmanNet (UKN), a model-based deep learning architecture that extends the Unscented Kalman Filter (UKF) with learned mechanisms for these two sources of filtering error while preserving explicit posterior covariance propagation. NoiseNet learns time-varying process and measurement covariances as bounded multiplicative corrections to baseline covariances, guaranteeing positive definiteness, while GainNet learns a bounded residual correction to the analytical UKF gain to compensate for model-mismatch-induced bias. A calibration-aware training objective couples state error with posterior covariance and innovation consistency terms through adaptive weighting, jointly optimizing accuracy and calibration. UKN is benchmarked against UKF, KalmanNet, and Bayesian KalmanNet on three synthetic systems and real-flight UZH-FPV data. It achieves the lowest state-estimation error in all four examples and reduces RMSE by 26.4-49.7% compared with UKF in the synthetic cases. Leave-one-sequence-out cross-validation over 11 flights shows 22.4% and 34.3% reductions in mean position and velocity RMSE, respectively. UKN also yields the lowest fold-to-fold variability, with dimension-normalized NEES and empirical coverage closest to nominal values among covariance-reporting filters. These results show that structured learned adaptation improves estimation accuracy while retaining calibrated uncertainty.

Decision-focused learning (DfL) trains forecasting models to align downstream decision consequences, such as power-system operating costs. However, its application to realistic power networks is limited by the need to repeatedly solve and differentiate large optimization problems during training. This paper presents DiffAPQP, a solver-flexible framework and open-source Python package for scalable DfL with affine-parametric quadratic programs. To accelerate the forward pass, DiffAPQP automatically canonicalizes quadratic power-system models written in CVXPY into a differentiation-ready representation and takes advantage of the repetitive solving structure through solver warm-start and solver-data update during training. For the backward pass acceleration, we establish the equivalence between differentiation through the full KKT system and a reduced system obtained by eliminating inactive inequality constraints. For training losses depending solely on the optimal value, we further derive an envelope-theorem-based gradient that avoids solving an adjoint KKT system, resulting in eligible backward time. To our knowledge, this work presents the first solver-based end-to-end DfL demonstration on the IEEE 118-bus system with a 24-hour coupled economic-dispatch and redispatch horizon. Under matched SCS and Clarabel backends on a Linux machine, DiffAPQP achieves $2.27\times$–$3.58\times$ closed-loop and $3.62\times$–$4.38\times$ counterfactual end-to-end DfL training speedups over CvxpyLayers. The best solver configurations increase these speedups to $3.91\times$ (from 38.65 to 9.55 min/epoch) and $6.39\times$ (from 10.73 to 1.68 min/epoch), respectively. Additionally, DiffAPQP reduces peak memory usage by approximately $50\%$, while keeping similar operating costs as CvxpyLayers.

Orthogonal frequency-division multiplexing (OFDM) combats multipath-induced time dispersion by dividing the channel into narrowband sub-channels. However, when the channel also exhibits frequency dispersion due to mobility (Doppler effect), these sub-channels lose orthogonality and cause inter-carrier interference that degrades the reliability performance of the communication system. We investigate Zadoff-Chu (ZC) sequences for chirp-domain communication to improve reliability in time-frequency dispersive channels. We show that ZC sequences are the only constant-amplitude zero-autocorrelation (CAZAC) sequences that transform a doubly dispersive channel into a singly dispersive channel that is either pure time or frequency dispersion. This transformation is controlled by the ZC root, which provides a geometric projection from the delay-Doppler domain onto a one-dimensional chirp-domain axis with a closed-form design rule. Because the transformed channel is singly dispersive, the receiver equalizes a one-dimensional convolutional channel rather than a two-dimensional delay-Doppler channel and can reuse trellis-based detectors that generate the soft information that coded systems require. Then, we present ZC-based modulations, derive the effective channel after transformation, and analyze diversity, which reveals an underlying trade-off between diversity and receiver complexity. When evaluated at a vehicle speed of 540 km/h and a carrier frequency of 4 GHz, ZC-based modulations demonstrate performance comparable to affine frequency division multiplexing (AFDM) and orthogonal time-frequency space (OTFS), with gains of about 5 dB over orthogonal chirp division multiplexing (OCDM) and 10 dB over OFDM.

This study proposes a low-complexity, bidirectional, single-pass Elman recurrent neural network detector for binary phase-shift keying signals transmitted with faster-than-Nyquist signaling. Since the faster-than-Nyquist intersymbol interference has a short, finite memory, the classical Elman recurrent neural network, which contains no gating mechanism, is a sufficient and parameter-efficient model. The proposed detector processes the received sequence in both forward and backward directions in a single pass, forming a learned counterpart of the optimal BCJR forward-backward recursion. Under a root-raised-cosine pulse over an additive white Gaussian noise channel, simulations for two compression factors show that the proposed detector, with only twenty-five to sixty-five trainable parameters, attains a bit error rate very close to that of the M-BCJR algorithm, while reducing the look-up-table hardware cost by thirty-eight to forty-six percent and using no explicit division or exponential operations. A more compact configuration offers up to a sixty-seven percent reduction at a small performance penalty. To the best of our knowledge, this is the first study to investigate the classical Elman recurrent neural network architecture for the faster-than-Nyquist detection problem.

Practical Reconfigurable Intelligent Surfaces (RISs) often support only a small number of phase states, making their configuration inherently discrete. For a 1-bit RIS with $N$ elements, direct optimization requires searching among $2^N$ binary configurations. This work shows that this exponential configuration space is not unstructured. By reformulating 1-bit RIS optimization as the maximization of the norm of a signed sum of channel-dependent vectors, we prove that every globally optimal configuration must be induced by the signs of their projections onto a common direction. This geometric characterization restricts the class of configurations that can contain global optima and leads to different algorithmic consequences depending on the signal-space dimension. For general Multiple-Input-Multiple-Output (MIMO) systems, we develop a geometry-informed sampling method that evaluates only structurally admissible configurations. For Single-Input-Single-Output (SISO) systems, the same principle reduces to a two-dimensional angular partition, allowing the complete candidate set to be characterized and the global optimum to be recovered through polynomial-time enumeration, by evaluating at most $N+1$ out of the $2^N$ configurations. Finally, we apply the same binary optimization principle to an Integrated Sensing and Communication (ISAC) scenario, where communication enhancement and target localization reduce to the same underlying geometric problem. The proposed framework therefore provides a unified approach for exploiting the structure of practical 1-bit RIS configurations across communication and sensing functionalities.

This work presents an intrinsic stochastic successive convexification method formulated on the Special Euclidean group SE(3) for six degrees of freedom spacecraft rendezvous trajectory optimization. The proposed approach extends stochastic successive convexification, originally developed for Euclidean state spaces, to the nonlinear manifold of SE(3), thereby enabling a consistent covariance steering and chance constrained optimization of rigid body pose trajectories. While conventional trajectory optimization methods often treat position and attitude separately, or account for stochastic dispersion only after a deterministic reference trajectory has been generated, the proposed SE(3)-based formulation captures the intrinsic coupling between translational and rotational motion uncertainty. This coupling is especially important for rendezvous problems with safety constraints that depend on the full relative pose, including collision avoidance, docking corridor, camera field of view, and probabilistic force and torque bounds. Numerical simulations show that jointly optimizing the nominal trajectory, covariance, and feedback law shapes the closed loop dispersion and improves probabilistic constraint satisfaction relative to tracking a deterministic reference with a feedback linearization controller.

Dense image matching establishes pixel-wise correspondences and underpins broad applications in computer vision and photogrammetry. However, extending dense matching to global-scale remote sensing remains challenging because image pairs may differ in acquisition time, season, viewpoint, spatial resolution, and land-cover state. The resulting large geometric offsets, partial overlap, and intrinsically unmatchable regions make direct dense correspondence prediction unreliable and inefficient. We thus reformulate dense matching as localization-and-registration: first localizing the matchable overlap and affine geometry, then refining dense residuals within the aligned frame. Based on this formulation, we propose LoRetta, a foundation model coupling matchability-aware affine localization with guided dense registration. We also introduce LEVIR-GM, a global-scale multi-temporal optical matching benchmark with dataset-native matchability labels (103K aligned, 827K augmented pairs, six continents, five years, 0.5-1024 m resolution). We further establish a unified evaluation protocol for sparse, semi-dense, and dense matchers. On LEVIR-GM, LoRetta achieves an area under the curve (AUC) of 83.3%, outperforming the strongest baseline RoMa v2 by 1.6 points, with larger percentage of correct keypoints (PCK) gains of 6.5 and 8.2 points at 1 and 2 pixels, while reducing inference latency by 47.8%. Astronaut-to-satellite and unmanned aerial vehicle (UAV)-to-satellite geolocalization experiments further demonstrate its transferability as a reusable geometric aligner.

Long-context LLM decoding reads the key-value (KV) cache at every step. Loading it takes longer than computing attention over it, so throughput is bandwidth-bound. Hence, reducing the cache size can raise both decoding speed and serving capacity. The challenge is to reduce cache size while preserving the attention products, keeping reconstruction cheap, and using a fixed per-token bit count. At two bits per element, the most competitive methods rely on orthogonal transforms. However, existing techniques are either data-oblivious or use the query statistics without deriving the transform from a distortion criterion. Moreover, they rely on transforms built on top of random or Hadamard rotations, which equalize variances across entries rather than compacting energy, and fixed-width scalar quantizers, which are suboptimal at low rates. In this paper, we formulate KV cache quantization as a transform coding problem in which distortion is the error in the attention products. We derive closed-form optimal transforms for keys and values from calibration statistics, under a high-resolution model. We show that the optimal key transform is not orthogonal and satisfies a generalized Parseval relation: the attention-aware distortion becomes mean-squared error (MSE) in the transform domain. Thus, we can use MSE-optimal vector quantizers applied directly to the transformed key coefficients. To meet the fixed-width layout requirement, we show that grouping coefficients into equal-volume partitions makes equal-size codebooks attain the variable-rate optimum under the same high-resolution model. At two bits per element, our method, termed NOVA-KV, recovers most of the long-context retrieval accuracy lost by scalar quantization methods at comparable throughput.

In guessing random additive noise decoding (GRAND), memory in the hard-decision noise effect changes the likelihood order of candidate noise effects. In soft-output decoding, the same memory also affects the finite-block quantity determining the missing-list probability: the codebook-restricted posterior mass outside the current list. Existing correlation-aware GRAND methods exploit local dependence without interleaving, but their stopping and soft-output rules are not derived from finite-memory posterior tails. Soft-output GRAND (SOGRAND) derives random-codebook a posteriori probability (APP) estimates for GRAND lists, but does not provide finite-memory algorithms for posterior weights, partition functions, tail masses, or bitwise tail marginals for correlated noise-effect posteriors. We introduce Tail-Calibrated SOGRAND for binary additive channels whose ambient hard-decision noise-effect posterior, conditioned on received soft information, is represented by a finite-memory energy. The decoder enumerates candidate noise effects in nondecreasing posterior energy, queries codebook membership as in GRAND, computes posterior weights and tail masses by finite-state recursions, and estimates the unqueried codebook-restricted denominator as $p_qT_q$, where $T_q$ is the ambient posterior tail mass and $p_q$ is the remaining random-codebook occupancy probability. With exact enumeration and no abandonment, the first listed codeword is ML under the likelihood model defining the posterior energy. We also prove an ambient posterior-tail abandonment bound and, separately, conditional unbiasedness, variance, and concentration bounds for the random-codebook missing-list estimator. The same posterior-tail decomposition gives blockwise APP estimates, missing-list probabilities, and bitwise APP log-likelihood ratios (LLRs) for finite-memory noise-effect posteriors.

Artificial intelligence (AI) data centers are driving rapid electricity load growth across all U.S. ISO/RTO regions, raising both system costs and carbon exposure. This study develops a three-level Stackelberg–Bayesian game in which a regulator (leader) sets carbon penalties and subsidies, a single ISO capacity market clears against an energy balance modeled as a classical generation-expansion problem, and technology-specific investors (followers) decide capacity and operation under incomplete information, yielding a Bayesian Nash equilibrium. The AI impact is captured parsimoniously as an additional load-growth factor on a greenfield-incremental expansion, isolating how much new capacity the growth pulls in and which technology fills it. Within this framework, we consider second-life battery (SLB) storage competing against new/first-life storage for capacity-market revenue. We quantify how a carbon tax, a renewable subsidy, and an SLB subsidy reshape the equilibrium investment mix, carbon emissions, and profit. Different scenarios are compared at the end based on cost-effectiveness and reduced carbon emissions.

Audio-visual target speaker extraction should return the speaker indicated by the video, yet a separator can ignore the visual cue and repeatedly output the acoustically dominant voice. We introduce REAL-2MIX, a Mandarin AV-TSE benchmark of jointly recorded real two-speaker mixtures with synchronized multi-view video. Each scene also contains preceding A-only and B-only stages that provide in-scene speaker references. It contains 77 scenes and 7,598 clips (11.84 hours), including 6,042 dual-annotated mixtures. After processing there leave 6,038 evaluable mixtures and 12,076 target-speaker rows. We additionally curate VOXBLINK2-AVSE from VoxBlink2, comprising 250,828 synchronized audio–lip-ROI pairs from 28,421 identities and 766.17 hours of speech. Our extractor uses frozen, 1,280-dimensional projected AV-HuBERT features, target-conditioned training, and layer-wise feature modulation. We jointly evaluate content with Qwen3-ASR-1.7B CER and target identity with WeSpeaker ResNet34 plus Overlapped Speech Detection (OSD). On the complete manifest, the best archived checkpoint obtains 0.2261 CER, 82.22% strict output correctness, and 69.53% both-output strict success.

Bimanual manipulation policies trained with imitation learning are typically evaluated on workstation or datacenter-class GPUs, leaving the cost of deploying them on embedded hardware largely uncharacterized. We present a bimanual SO-101 system running entirely on an NVIDIA Jetson Orin Nano Super (8 GB), the entry-level tier of NVIDIA's embedded line, using a desktop GPU (RTX 3070) only for offline training, evaluated on pick-and-place of a deformable beanbag. First, we build a GStreamer capture pipeline backed by NVMM buffers that removes redundant host-device copies from three-camera sensing. Contrary to expectation, the conventional path fit the memory budget and dropped no frames; what zero-copy sensing recovers is CPU headroom (peak single-core utilization 98.0% to 77.0%) and worst-case latency (117.31 ms to 101.52 ms). Second, we train ACT and Diffusion Policy on identical demonstrations, each at its own reference budget (100k gradient steps for ACT, 200k for Diffusion Policy). ACT converges to a task-competent policy (19/20 trials) while Diffusion Policy does not converge to a usable one (0/10) even at twice the step count, which we attribute to differing convergence costs rather than an accuracy ceiling. Third, we convert ACT to TensorRT. FP16 reduces mean inference latency from 114.02 ms to 17.93 ms (6.4x) and INT8 to 12.65 ms (9.0x), with task success preserved at all three precisions (19/20, 18/20, 19/20). We report two findings not previously documented for ACT: TensorRT's general-purpose INT8 calibration quantizes the ResNet18 backbone but accepts zero of 145 transformer layers, explaining INT8's negligible size reduction over FP16 (0.9%) despite a further 28% latency gain; and the need for quantization is conditional on ACT's action-chunking configuration, feasible in full precision at n_action_steps = 100 but not at the per-step re-prediction temporal ensembling requires.

Grant-free random access (GFRA) is a promising solution for massive machine-type communications (mMTC) in future wireless networks. However, reliable user activity detection and channel estimation are critical challenges, particularly when orthogonal time-frequency space (OTFS) modulation is integrated with GFRA to address doubly selective channels induced by high mobility. In this paper, we propose an OTFS-based GFRA framework that exploits the inherent structured sparsity of delay-Doppler channels. By adopting a basis expansion model (BEM), we formulate joint user activity detection and channel estimation as a structured compressive sensing problem. A bi-level sparsity structure is identified, consisting of common sparsity across multiple receive antennas and activation sparsity across mMTC users. To effectively leverage this structure, we construct a two-layer factor graph and develop a structured sparsity expectation propagation (SS-EP) algorithm for efficient Bayesian inference. Simulation results demonstrate that the proposed scheme significantly outperforms existing benchmarks.

Synthetic power-grid scenarios are essential for planning, resilience assessment, contingency analysis, and data-driven power-system applications. Recent synthetic grid generation methods have improved structural realism and operational feasibility by incorporating engineering knowledge through post-generation validation, optimization, or physics-aware generation. However, generated scenarios may still exhibit low AC feasibility and robustness, limiting their practical value for downstream power-system studies. This paper proposes a feasibility-aware distribution-learning framework that learns the AC-operable joint distribution of network topology, branch electrical parameters, and time-varying load profiles. Instead of enforcing feasibility after generation, the proposed framework incorporates AC power-flow convergence and operational constraints into hierarchical diffusion-based distribution learning. This enables the generator itself to produce operationally feasible grid scenarios through efficient diffusion sampling. The hierarchical architecture decomposes the high-dimensional generation task into three engineering-motivated stages: topology and bus-attribute generation, branch-parameter generation conditioned on the generated structure, and load-profile generation conditioned on both network structure and electrical characteristics. Experiments on benchmark systems demonstrate that the proposed framework significantly improves operational feasibility and contingency robustness while maintaining strong statistical fidelity and eliminating optimization-based post-processing.

This white paper presents ADMITBench, a reference framework for evaluating industrial LLM advisories at the level of the proposed action. The framework implements a versioned, safety-governed evaluation contract that checks whether a recommendation is supported by the available evidence, permitted under the stated authority and procedure, and acceptable under the plant-specific consequence checks encoded in the selected evaluation profile. In this report, safety-governed means that eligibility is determined through explicit, non-compensatory checks derived from a versioned plant profile; it does not mean that the evaluator, model, or plant has been safety-certified. Release 0.1.0 is a public reference implementation for technical and research evaluation, not an authorisation for physical execution.

This work presents a stability analysis of a hybrid control system integrating a reset controller (RC) featuring a single reset state with an integral sliding-mode controller (ISMC). It is shown that the reachability of the sliding surface is decoupled from the nominal reset mechanism. This decoupling property enables a Lyapunov-based stability analysis, demonstrating that the closed-loop RC-ISMC system achieves input-to-state stability (ISS) and uniform ultimate boundedness (UUB) in the presence of exogenous references and disturbances. Furthermore, global asymptotic stability (GAS) is recovered in the unperturbed regulation scenario. A numerical case study illustrates the theoretical results.

This letter investigates transmit-power minimization for multiuser pinching-antenna system (PAS) from a coupled-mode-theory (CMT)-aware perspective. Existing CMT-based pinching antenna (PA) studies reveal coupling-induced power exchange and radiation behavior, but these effects have not been fully embedded into system-level multi-PA channel modeling and beamforming design. We therefore develop a directional and loss-aware channel model that captures coupling-length-dependent power extraction and the downstream guided-power reduction caused by in-waveguide attenuation and upstream extraction. The model shows that PA design should account for both directional radiation and guided-power evolution, rather than only propagation distance or maximum coupling considered in most existing works. Based on this channel model, we formulate a quality-of-service (QoS)-constrained power minimization problem for continuous PA positioning and finite-codebook activation. For each candidate coupling length, the element-wise positioning and BPSO-based activation use a closed-form zero-forcing (ZF) power metric for low-complexity configuration ranking, thereby avoiding repeated beamforming optimization while excluding rank-deficient candidates and ordering the remaining ones. The selected configuration for each coupling length is then evaluated by optimal fixed-configuration QoS beamforming. Simulation results demonstrate that CMT-aware modeling fundamentally reshapes the preferred PA configuration, maximum coupling is not always power-efficient due to suppressed downstream PA contributions, and finite-codebook activation combined with ZF-based ranking provides a balance between transmit-power performance and deployment complexity.

The new mid-band (FR3, 6-24 GHz) spectrum is expected to play an important role in future 6G networks by providing a favorable balance among coverage, capacity, and deployment feasibility. Meanwhile, extremely large-scale multiple-input multiple-output (XL-MIMO) has emerged as a key enabling technology to exploit the propagation and spatial multiplexing potential of these frequency bands. Firstly, this paper provides a systematic review of spectrum allocation and standardization activities for new mid-band spectrum, together with the 6G spectrum planning strategies of countries and regions. Secondly, the wideband massive MIMO channel sounder is also introduced, which is specially developed for channel measurements of new mid-band with over a thousand elements. Thirdly, propagation characteristics and channel modeling approaches of four representative XL-MIMO architectures, including co-located, cell-free, and intelligent XL-MIMO, are comprehensively reviewed and analyzed, with particular emphasis on near-field propagation, spatial non-stationarity, and capacity performance. Then, recent advances in channel estimation, beamforming, and artificial-intelligence-assisted signal processing are summarized. In addition, the performance of new mid-band XL-MIMO systems equipped with 1536 and 768 antenna elements is comparatively evaluated. Finally, real communication environment prototype system field trials conducted in the Upper 6 GHz (U6GHz) band are used to investigate practical system performance under realistic deployment conditions. The results indicate that the target signal-to-noise ratio is a critical factor affecting XL-MIMO performance in the U6GHz band.

Uterine peristalsis is a key physiological phenomenon responsible for various functions across the menstrual cycle, intimately linked to uterine wall microstructure. Alterations in uterine motion and tissue properties are implicated in the etiology of gynecological diseases, yet these processes have been studied in isolation. We introduce a dynamic multi-echo gradient echo EPI framework for simultaneous characterization and correlation of uterine peristaltic activity and time-resolved T2* changes at 0.55T. Inherent susceptibility artifacts, reduced resolution, and burden of manual uterine layer annotation are addressed by an unsupervised adversarial domain adaptation framework, transferring segmentation knowledge from labeled cine MRI to unlabeled dynamic EPI. We implemented Unet-LSTM with multi-scale domain discriminators that exploits temporal layer dynamics. A Dice score of 0.88 and Jaccard index of 0.80 was achieved. Mean T2* values were 108ms, 76ms, and 124ms for the myometrium, junctional zone, and endometrium. A negative correlation between junctional zone area and T2* was observed in 14/39 cases, providing first insights into oxygenation patterns associated with junctional zone contraction and motion, demonstrating feasibility of assessing the interplay between contractility and dynamic T2* changes.

Anxiety and depressive disorders are increasingly viewed as dysregulations along continuous stress-regulatory dimensions. However, existing computational approaches seldom connect interpretable circuit level mechanisms to autonomic physiology. Methods: This study develops a mechanistic framework that links amygdala dysregulation to cardiovascular stress responses for digital phenotyping and clinical interpretation. We formulated a compact, nine equation, conductance based model of the amygdala hypothalamus cardiovascular pathway. The framework extends Hodgkin Huxley formalism with three clinically grounded modulators: coping capacity, perceived stress load, and prefrontal regulatory strength. A slow, history-dependent internal state, adaptive thresholding, graded threat acknowledgement, and baroreflex coupled hypothalamic integration were used to generate heart rate and blood pressure trajectories. Results: Distinct strong, moderate, and weak regulatory regimes emerged as stable operating states of a single closed-loop system. Robust analyses showed that stochastic variability and parameter perturbation preserved regime separation, while ablation studies identified the adaptive threshold as the principal mechanism driving quantitative regime separation. Simulated cardiovascular responses remained within reported stress physiology ranges. Furthermore, external evaluation across three independent datasets supported robust agreement with real world, stress related autonomic patterns. Conclusion: A compact, mechanistic model can jointly link psychometric modulators, amygdala excitability, and downstream cardiovascular output within a single, interpretable framework. Significance: This work provides a computationally tractable basis for mechanism informed digital phenotyping, patient specific stress monitoring, and future digital twin approaches for mental health decision support.

We develop a structure-specific fidelity-threshold robustness margin for finite-dimensional closed quantum systems under piecewise-constant coherent control. A scalar physical parameter may perturb the drift, a control Hamiltonian, or another declared Hamiltonian component across the control horizon. A differential sensitivity bound for trace-amplitude gate fidelity yields a threshold-dependent Lipschitz constant on the connected safe parameter component and hence a certified finite perturbation radius. Recentering this certificate produces an iterative one-dimensional method that takes certified safe steps toward the first fidelity-threshold boundary in either parameter direction. A three-qubit gate-control example shows that these finite margins vary by up to a factor of three across controllers of comparable nominal fidelity and contain structure-dependent information not captured by nominal differential sensitivity alone.

Supportive continuum robots (SCRs) enhance the load-bearing capability of an operative continuum robot by mechanically coupling it with a supportive arm. However, their passive stiffness is determined by the mechanical configuration and cannot be adjusted online for varying payloads or interaction forces. Active stiffness control is therefore needed to regulate the load response and maintain positioning accuracy. Meanwhile, the closed-chain structure introduces kinematic constraints that complicate task-space regulation and stiffness control. This paper presents an active task-space stiffness control framework for a tendon-driven SCR. An existing geometric variable strain model describes the closed-chain dynamics, which are projected onto the constraint-consistent motion subspace. A projected sliding mode controller regulates the operative arm tip while preserving the constraints, and closed-loop stability is established through Lyapunov analysis. After position regulation, active apparent stiffness is introduced through a virtual Cartesian spring based on position-error feedback to shape the force–displacement response. The framework is evaluated in simulation and experimentally validated under prescribed external loads and different desired configurations. Results show that increasing the commanded stiffness gain reduces load-induced tip deflection and increases apparent directional stiffness, thereby improving load resistance and positioning robustness under external loading.

Electron microscopy requires nanometer-scale specimen positioning over a long stroke. Piezo-stepper actuators are well suited for this task, but their accuracy is limited by hysteresis, mechanical misalignments, and non-collocated sensing. Prior work has addressed these limitations on simplified lab setups. However, extending to a full electron microscope stage introduces coupled nonlinear kinematics and, importantly, the absence of a dedicated point-of-interest (POI) sensor. This paper presents an integrated feedforward framework for precision positioning on such a stage inside an operational electron microscope. Per-element hysteresis compensation first linearizes the actuator response. In the absence of a dedicated POI sensor, a POI measurement is constructed from EM images through cross-correlation-based image tracking. From this measurement, we construct an encoder-based proxy for the POI position. Commutation-angle-domain iterative learning control then uses this proxy as its error signal to cancel the repeatable disturbances of stepping. Because the learned corrections are parameterized in the commutation angle, they transfer across the quasi-static range of drive frequencies. The framework reduces the POI tracking error by over 13x on the lab setup and by 7 to 12x on an operational transmission electron microscope.

Existing lightweight acoustic echo cancellation (AEC) systems often combine linear AEC with Bark-domain DNN-based suppression to lower the computational footprint. In such systems, downsampling layers further compress the input features into a compact bottleneck representation, but this compression weakens frequency-time modeling capacity and degrades performance. To mitigate this limitation, we propose MSA-EchoLite, a lightweight Bark-domain AEC framework with an asymmetric dual-branch encoder and an echo-aware frequency-time modulation (EAM) module. The EAM module enriches the compressed bottleneck representation by modeling discrepancy and correlation cues between the dual-branch microphone and echo-related latent features. Experimental results show that the Bark-domain variant of MSA-EchoLite offers a better performance-complexity trade-off than its frequency-domain counterpart but is more sensitive to feature compression. With only 26.1% additional FLOPs over its non-EAM Bark-domain variant, its EAM-enhanced version achieves 99.1% of the PESQ of the frequency-domain counterpart, which requires nearly twice the FLOPs, and even surpasses it in SDR. Overall, MSA-EchoLite outperforms state-of-the-art lightweight AEC models while using only 0.2 M parameters and 100 M FLOPs/s.

The increasing penetration of converter-interfaced resources is making power-system stability assessment more challenging, particularly in heterogeneous grids containing both grid-forming and grid-following converters. Existing decentralized mixed small-gain and small-phase criteria provide scalable stability certificates, but they require all converters to satisfy the same type of condition at a given frequency. As a result, they cannot simultaneously exploit the low gain of grid-following converters and the favorable phase properties of grid-forming converters, leading to unnecessary conservatism. This paper proposes a partitioned mixed gain-phase decentralized stability criterion that allows distinct subsets of converters to satisfy different local requirements at the same frequency. Specifically, one subset can be certified through small-gain bounds, while the complementary subset is certified through small-phase bounds. The admissible trade-off between gain and phase margins is determined by a network-dependent quadratic constraint, yielding a technology-aware stability certificate that remains local at the converter level. The paper characterizes the admissible set of gain and phase bounds, establishes useful convexity and boundedness properties, and develops a practical procedure for selecting these bounds. The proposed method is demonstrated on heterogeneous systems containing grid-forming and grid-following converters, including a two-converter system and the IEEE 39-bus system, outperforming the standard decentralized small-gain and small-phase conditions.

Developing speaker verification (SV) models that are robust to classroom noise and effective across both children and adult speakers is critical for AI tools supporting educational environments. In this study, we use a real-world English-speaking classrooms dataset containing partial speaker identity annotations, with most recordings remaining unlabeled. We adapt the WavLM-TDNN model for classroom SV, achieving average relative reductions in Equal Error Rate (EER) of 23.99% and 6.32% compared to the ECAPA-TDNN baseline and the ECAPA-TDNN model trained on classroom data, respectively. Additionally, we investigate two training strategies for SV in classroom settings: self-supervised learning (SSL) and a two-stage approach that first pre-trains with SSL and then fine-tunes with limited annotated data. Five-fold cross-validation demonstrates that the two-stage strategy consistently outperforms the SSL-only approach, achieving an average relative EER reduction of 13.39%.

Near-field beam training is essential for harvesting the high-gain potential of extremely large-scale multiple input multiple output systems. To reduce training overhead, existing works have mostly leveraged the beam squint effect by utilizing time-delay (TD) beamforming with polar-domain codebook, which enables the simultaneous sweeping of multiple angles at a specific distance. However, such methods still suffer from high overhead due to the exhaustive distance searching. To address this challenge, we propose a pattern zooming based near-field wideband beam training with wavenumber-domain codebook. Specifically, we first establish a refined wideband Fourier planewave channel representation, based on which we reveal a pattern zooming effect, where the wavenumber-domain patterns across different subcarriers exhibit frequency-dependent scaling relative to the center frequency. Exploiting this property, we develop a TD-assisted beam sweeping strategy that simultaneously probes multiple wavenumber directions to rapidly acquire the complete wavenumber-domain pattern. Based on the acquired pattern, we further derive exact, approximation-free closed-form expressions that establish a rigorous mapping between the receiver coordinates and the wavenumber-domain pattern, enabling accurate user localization with only a few pilots. Finally, numerical results validate the superiority of our proposed scheme in terms of both beamforming gain and training overhead.