Papers

This work studies model-free reinforcement learning for co-safe linear temporal logic (sc-LTL) objectives in finite Markov decision processes, which can be reduced to maximal reachability objectives via the standard product construction. For this problem, direct sample-based bootstrap methods (e.g., TD or Q-learning) may fail to converge to optimal policies due to the noncontractive nature and nonuniqueness of solutions to the Bellman equation. We develop a new two-step model-free reinforcement learning method that first uses a discounted surrogate to identify a clamp set that resolves this nonuniqueness, and then applies undiscounted policy evaluation and greedy policy improvement with guarantees of finding an optimal solution. We prove almost-sure convergence of the policy evaluation step and finite termination of the policy iteration algorithm at an optimal policy. These theoretical results are validated through numerical experiments on a stochastic grid world.

We study the synthesis of optimal policies for planning problems on Markov decision processes with both objectives and safety constraints specified in co-safe linear temporal logic (sc-LTL). Our problems are inherently non-Markovian due to the complexity of the sc-LTL specification and may require policy randomization to balance the objective and constraint. We propose a novel approach that reduces the constrained sc-LTL planning problem to a constrained reachability problem on an extended model. We then show that a class of switching policies constructed from stationary policies for the individual sc-LTL specifications is sufficient for optimality for the constrained reachability problem. Our finding enables a tractable linear program to compute the optimal policy. A grid world case study demonstrates that our switching policies can achieve the optimal trade-off between the objective and the safety constraint and validates both optimality and tractability.

Analog circuit design automation using reinforcement learning (RL) has emerged as a promising approach for reducing manual effort. However, many existing RL-based methods focus on single-objective optimization. Even methods designed for multi-objective (MO) problems often reduce multiple design specifications to a single scalar reward. This simplification limits the ability to capture the true Pareto trade-off among competing objectives and often leads to suboptimal designs. Moreover, requiring the model to be retrained from scratch whenever the desired MO specifications change remains a key limitation. To address these challenges, we present ORACLE, an open-source RL-based framework for MO analog circuit design optimization that replaces scalar reward optimization with vector-valued learning and preference-aware conditioning. ORACLE represents a true MO analog circuit design optimizer that uses a preference vector to specify the relative weights of multiple objectives, enabling a single trained model to generate designs across diverse trade-off settings without retraining. We further propose two preference-guidance strategies, namely normalized-weight guidance and cosine-aligned guidance, to improve convergence. In addition, we incorporate a large language model (LLM)-guided action selection mechanism to filter actions that are likely to lead to suboptimal designs or increased runtime. Our results show that, on multiple circuit topologies with 2,000 test cases, ORACLE reduces runtime by 20.4x - 104.4x compared to state-of-the-art approaches. It also meets 99.9% of the 2,000 target specifications, and achieves 5.1x - 318.6x better figure of merit in the resulting output specs.

Do synchronized units have higher probabilities of being available when needed than non-synchronized units? Power system operation implicitly relies on the qualitative belief that synchronized units are more likely to be available when needed because they are already synchronized to the grid, whereas non-synchronized units must first start and synchronize before becoming available. However, this distinction is rarely expressed through an explicit quantitative measure. To quantify this distinction, we propose failure probabilities for synchronized and non-synchronized generating units, denoted by SynFORd and NonSynFORd, by accounting for their different initial operating states. The complements of the proposed probabilities directly represent the corresponding availability probabilities when the units are needed. Closed-form analytical expressions are derived, revealing the dominant failure mechanisms of the two unit types. Case studies using generating-unit data from the New England system show that non-synchronized units generally exhibit higher and more dispersed failure probabilities than synchronized units.

Many existing time-series Interferometric Synthetic Aperture Radar (TS-InSAR) software tools have limitations, including restricted geographic applicability, commercial licensing, and incomplete end-to-end processing support. Although GMTSAR avoids some of these constraints, it still requires substantial manual intervention and C-shell commands, lacks a user-friendly graphical interface, and omits important steps such as interferogram network pruning and anchoring of unwrapped interferograms. This paper introduces DefoEye (v1), an open-source Python-based software package that wraps GMTSAR and provides a unified, user-friendly TS-InSAR workflow for Sentinel-1 data. DefoEye supports parallel job execution, interferogram network pruning, and multiple anchoring options. Its performance was evaluated from 2020 to 2024 in four regions with different geological settings, deformation mechanisms, and atmospheric and climatic conditions. In Bologna, Italy; Gotland, Sweden; and Houston, USA, DefoEye results were compared with observations from 10 GNSS stations and showed strong agreement, with RMSE values of 4.3-11.9 mm and Pearson correlation coefficients of 0.63-0.95. In Karaj, Iran, where GNSS observations were unavailable, DefoEye was compared with other widely used processing tools and achieved similarly close agreement, with an RMSE of 4.8 mm/yr and a Pearson correlation coefficient of 0.98. These results demonstrate that DefoEye provides reliable TS-InSAR products for geological, hydrological, and environmental applications.

Recent generative video codecs (GVCs) have achieved impressive reconstruction fidelity at ultra-low bitrates (< 0.02 bits per pixel) by compressing the tokens from generative tokenizers. However, existing GVCs generally require considerable computation time and model complexity, which hinder their deployment on compute-limited devices and in real-time applications. To bridge this gap, we systematically identify the computational bottlenecks and propose GVC-RT, which redesigns the generative latent coding framework to realize real-time video coding without sacrificing compression performance. Specifically, built on a pretrained lookup-free quantization (LFQ) tokenizer, GVC-RT adopts an asymmetric architecture that directly learns to match the LFQ latent distribution, while generative-space alignment is enforced via a regularization loss term only during training. In this manner, we bypass heavy tokenization and entirely remove the complex feature-alignment process at inference time. Moreover, we further introduce a lightweight de-tokenizer architecture to resolve the final latency bottleneck during decoding. Experimental results demonstrate that GVC-RT outperforms the previous SOTA model, GLC-Video, with average BD-rate savings of 12.4% and 48.8% in terms of DISTS and LPIPS, while achieving encoding/decoding speeds of 123.1/55.1 fps for 1080p video. The code is at https://github.com/semcomm/GVC-RT.

We introduce the neural echo as a tool for understanding the behavior of neural networks. It generalizes the model-based concepts of impulse responses, diffusion echoes, and filter echoes to learning-based methods. It provides local, space-adaptive impulse responses and filter kernels for a neural network, its so-called echoes. These echoes depend on the input image and can be visualized to understand the learned dynamics of the network via an affine mapping. Neural echoes build a bridge from classical signal processing to modern explainable AI. They are very general and can be applied to both image-to-image and classification networks, with convolutional or fully connected structure, of feedforward or recurrent type, including modern transformer networks. Network differentiability is not required. In the differentiable case, neural echoes comprise concepts based on the network Jacobian, such as saliency maps and the analysis of adversarial perturbations, as special instances. As a simple blueprint to explain our framework, we derive neural echoes for the denoising convolutional neural network (DnCNN). Our experiments suggest that this network weights pixels based on their spatial and gray value distances. This not only clarifies its behavior, but also shows that it can reproduce key concepts of classical model-based denoisers such as bilateral filtering.

Prior-based Multi-Voltage Threshold (MVT) sampling reconstructs pulse parameters from sparse threshold-crossing times rather than full waveforms, making parameter recovery inherently a model-dependent inverse problem. However, prior-based MVT has lacked a formal mathematical statement, leaving identifiability, stochastic error propagation, and threshold design without a unified theoretical foundation. We formalize prior-based MVT for strictly unimodal pulse families as a structured inverse problem. On that foundation, we develop the first unified theory of prior-based MVT, comprising deterministic identifiability conditions, a stochastic timing-error model with leading-order mismatch bias, and a nuisance-profiled threshold-design theory centered on an effective-information equation for robust single-event and partial-trigger multi-event operation. We instantiate the framework for the bi-exponential pulse model, derive executable design recipes, and validate the resulting predictions on a 10,000-pulse $^{22}$Na/LYSO/SiPM dataset. The experiments confirm that the framework yields useful threshold designs in the photopeak regime while also revealing the regime boundary at which partial triggering and model mismatch limit the predictive power of Fisher-guided optimization. These results provide the first unified mathematical foundation for prior-based MVT and recast it from an empirical threshold heuristic as a principled inferential framework.

With growing concerns about resource scarcity and environmental degradation, remanufacturing of end-of-life (EoL) products within the circular economy is attracting increasing attention. Remanufacturing can preserve most of the original manufacturing value and materials while transforming EoL products into like-new condition. However, the variability and uncertainty of EoL products make remanufacturing highly dependent on human expertise. Recently, large language models (LLMs) have demonstrated remarkable capabilities in learning from massive, unstructured datasets, generating expert-level output across various tasks, and communicating with humans in natural language for interpretation. These advantages can align closely with the complex demands of remanufacturing, thereby mitigating the reliance on specialized expertise. However, their roles and research progress in this domain remain underexplored. In this paper, we present a forward-looking review and analysis of the role of LLMs in remanufacturing automation, grounded in a brief critical review of existing LLM-related studies relevant to remanufacturing. Building on this foundation, we introduce ReManGPT as a conceptual framework and use three representative case studies to illustrate selected modules of the framework in practical remanufacturing scenarios. We also analyze three representative remanufacturing applications, electric vehicle batteries, electronic waste, and electric motors, to illustrate how the proposed framework could address their domain-specific challenges. Finally, we discuss the current barriers to deploying this framework in practice and outline future research directions, including LLM-assisted human operation and language-action models for robotic automation.

Future lunar infrastructure requires communication as a persistent service rather than a mission specific capability. Communication, digital twin, and artificial intelligence (AI) research have advanced autonomy independently while largely assuming that system state can eventually be reconciled with ground truth. Cislunar communication violates this assumption because propagation delay is fundamentally limited by the speed of light, visibility is governed by orbital geometry, and autonomous decisions often precede confirming observations. Here we introduce a knowledge-centric communication framework in which a digital twin continuously integrates delayed observations, communication physics, learned models, uncertainty quantification, and mission objectives into an evolving Operational Knowledge State. To quantify what is known, how uncertain it remains, and how current it is, we define two quantities over the fused Bayesian belief maintained for each communication link: Knowledge Entropy, the differential entropy of the posterior belief, and Knowledge Freshness, which generalizes Age of Information (AoI) from a single information stream to the temporal validity of the fused Operational Knowledge State. We prove that distributed knowledge fusion systematically improves operational knowledge by reducing uncertainty and demonstrate its importance for mission success through simulations and comparisons with flight data from the Longjiang-2 lunar micro-satellite.

This paper develops a prescribed performance leader-following consensus protocol for directed networks under event-based broadcasting. Each node schedules its transmissions using only its current state and its last broadcast value, while followers use held neighbor and leader samples between broadcasts. To accommodate jumps in sampled neighborhood errors caused by asynchronous receptions, a decaying receiver-side performance correction term temporarily modifies the prescribed performance function. For a directed network containing a spanning tree rooted at a time-varying leader with bounded trajectory and derivative, we prove existence and uniqueness of complete non-Zeno solutions, boundedness of all closed-loop signals, and explicit prescribed bounds for the sampled and continuous neighborhood disagreements and the leader-following error. These bounds quantify the effects of the communication topology and broadcast thresholds. Simulations verify the prescribed performance bounds and illustrate the event-based communication mechanism.

As converter-interfaced units become dominant in power systems, understanding nonlinear stability phenomena involving discrete switching events becomes essential for secure operation. The limited overcurrent capability of grid-forming (GFM) inverters makes current limiting essential during large disturbances. Activation of a circular current limiter (CCL) can cause the operating equilibrium to disappear under certain circumstances. This paper develops an analytical framework to predict the grid-voltage boundaries for CCL activation and determine whether the operating equilibrium persists or disappears after activation. For CCL-based GFM inverters with frozen anti-windup, closed-form expressions for the activation boundaries are derived while accounting for the filter capacitor. A criterion is established to determine whether a saturated (i.e., current-limited) stable equilibrium point (satSEP) persists following limiter activation. A continuation method is also developed to trace equilibria across normal-control and current-limited operation. Power-angle analysis and dynamic-model continuation in single-inverter and modified 9-bus systems validate these predictions. Time-domain simulations further confirm the results. The results show that CCL activation can either cause immediate loss of the stable equilibrium or allow stable current-limited operation to continue until the equilibrium is lost as operating conditions change further.

Safe actor-critic control often treats barrier filtering, uncertainty estimation, and experience replay as separate modules, even though each changes the data used for learning and control. We develop an integrated architecture in which the uncertainty estimate updates the obstacle geometry used by a control barrier function, filter interventions and estimation residuals determine replay priority, and the critic learns from the executed rather than nominal action. We instantiate the architecture on a two-dimensional robot-navigation task with corrupted obstacle measurements and compare six component-matched configurations under common training budgets, random seeds, sensor streams, exploration, and disturbances. Evaluation includes a moderate post-training test, an eleven-level perception-noise sweep, and an exploratory extreme-stress test at multiplier $6.0$. In the extreme test, the integrated configuration recorded no contacts and reached the goal in all five evaluation seeds. Its mean cost was $7.63\pm0.44$ and its obstacle-belief root-mean-square error was $3.52\pm0.55$ cm. The uncertainty-estimation ablation also recorded no contacts but reached the goal in four of five seeds, with mean cost $8.96\pm2.08$ and belief error $11.08\pm1.23$ cm. A finite-training bound clarifies replay exposure, and a robust barrier condition states the required estimation-error and feasibility assumptions. The results support coupling estimation, safety filtering, and replay on this benchmark; broader safety and convergence claims require further study.

Integrated Sensing and Communication (ISAC) combines sensing and communication to efficiently utilize wireless resources and is emerging as a key paradigm for next-generation wireless networks. By leveraging the wide bandwidth, high frequencies, and massive antenna arrays of 5G-Advanced and 6G systems, ISAC enables physical-layer sensing using Channel State Information (CSI). The 3rd Generation Partnership Project (3GPP) Release 19 identifies 32 potential ISAC use cases, with particular emphasis on detecting and tracking moving objects. In this work, we address the Sensing for Railway Intrusion Detection use case, where intruders, including wildlife, entering a railway track can pose serious collision risks. We generated 22,695 CSI matrices with corresponding ground truth using a 3D-rendered railway environment and the Sionna radio simulator. We developed a machine learning model combining a three-dimensional Convolutional Neural Network (3D CNN) and Bidirectional Long Short-Term Memory (BiLSTM) network to detect intruders in the track danger zone and estimate their real-time position relative to the train, velocity, and time to collision. On synthetic CSI data, the model achieves 99.57% intruder-detection accuracy on a balanced test set and a combined Mean Absolute Error (MAE) of 0.4240 for position, velocity, and time-to-collision prediction. These results demonstrate the potential of CSI-based ISAC sensing with machine learning for reliable railway intrusion detection. The complete codebase for CSI generation, preprocessing, and model development is publicly available at https://github.com/EdgeIntelligenceLab/6g-isac-railway-intrusion-detection.

Acquiring channel state information (CSI) with manageable overhead has been essential to provide high-performance communication services, which is extremely challenging in the emerging sixth generation (6G) mobile network. Channel extrapolation has been proposed to infer complete CSI using a small portion of known CSI, its performance can be dramatically enhanced by artificial intelligence (AI). However, AI-driven channel extrapolation suffers from poor generalization across scenarios and high computational complexity, which is common in the broad research of AI and large language models. Inspired by the modular function of human brain, we propose a configurable AI-driven framework to achieve generalizable and computational efficient channel extrapolation from a modular perspective. We propose a three-stage framework, consisting of experts emergent, experts construction and experts selection. This framework assumes that CSI correlations can be captured by a small number of specialized functional modules (experts) that are activated differently across scenarios. Such modularity emerges in the experts emergent stage via pre-training using CSI data covering comprehensive scenarios. The neurons with similar weight-space patterns are grouped as experts in the experts construction stage. A lightweight gating function is added to control the routing of experts and is fine-tuned for each scenario in the experts selection stage. Simulation results demonstrate that the proposed three-stage framework reduce the channel extrapolation error and computational complexities dramatically by $1.1-19.1$ db and $38$ %, respectively. In addition, attributed to the proposed experts emergent and section modules, the proposed framework outperforms its counterpart mix-of-expert model dramatically in terms of channel extrapolation performance.

Wireless digital-twin (DT) research needs ray-tracing (RT) scenes that can be generated, versioned, and checked reproducibly. Current visual-authoring workflows can produce plausible city models, but they are poorly matched to repeated radio-simulation studies because geometry, terrain contact, and material semantics often require manual repair after export. This paper presents SceneBaker, a programmatic scene-generation pipeline that turns map and terrain data into Sionna RT-ready Mitsuba scenes without a GUI authoring step. Across four campus scenes, SceneBaker generates Sionna RT-ready scenes over the same geographic bounds as a Blender-generated baseline. The generated scenes avoid representative building-generation and terrain-contact faults while preserving comparable coverage-field and link-level channel-response behavior. The implementation and generated comparison assets are available at https://github.com/hslyu/sionna-scene-baker.

We study asynchronous optimization for finite-sum eigenspace computation in heterogeneous distributed systems. The theoretical foundations for asynchronous eigenspace computation remain scarce, with existing approaches offering limited coverage of dynamics directly on the Grassmannian under stale information. In this paper, we propose a Grassmannian incremental aggregation method that refreshes only arriving components and reuses cached gradients, retaining low per-update cost without global synchronization. The method employs an extrinsic polar update that preserves the intrinsic subspace geometry without requiring parallel transport of stale tangent vectors. Our analysis establishes a tight angle-dependent gradient-dominance characterization of the objective and a basin-invariance property for stale aggregated updates. These yield two-phase linear convergence, comprising an explicit broad-basin regime and a sharper local regime, with constants controlled by component spectral spreads. Experiments on serial and distributed PCA demonstrate improved sample efficiency and wall-clock convergence over representative baselines.

High-frequency communication systems heavily rely on line-of-sight(LoS) paths, so blockage of the LoS path can cause severe performance loss. Near-field Airy beams with curved trajectories can steer energy around obstacles, offering a promising solution for blockage mitigation. However, existing methods for selecting a near-optimal Airy beam trajectory either rely on high-overhead beam training, or employ data-driven learning without a clear, physically interpretable rule. To address this problem, we propose a physics-guided neural Airy beamforming framework that selects a near-optimal trajectory in one shot with clear physical interpretability. Specifically, we first formulate a single-edge representation of the blocker model in 3GPP TR 38.901 and reveal the trajectory–edge coupling mechanism. This analysis yields a trajectory-selection optimality condition that defines the candidate trajectories. Although these trajectories generally cannot be expressed in closed form, we show that they form a continuous structure. This continuous structure is then exploited to construct a compact physics-defined region that captures near-optimal trajectories. Guided by this region, a lightweight neural predictor is finally designed to directly select a near-optimal trajectory without beam training. Simulations show that the compact physics-defined region effectively captures near-optimal trajectories, while occupying only about 6% of the candidate-space area on average. The proposed framework retains 99.7% of the reference rate obtained through numerical optimization, and nearly matches the rate of the data-driven method despite using approximately 112\times fewer neural-network parameters.

This study analyzes the packet-outage performance of platoon-head selection for vehicle platooning in vehicle-to-everything (V2X) networks. A handover platoon head (H-PH) provides measurements for group handover, whereas a communication platoon head (C-PH) relays downlink packets. We derive serving-state-averaged outage expressions for three half-duplex decode-and-forward C-PH selection modes and for direct base-station (BS) groupcast under log-normal shadowing and Nakagami-m fading. For block-level selection, an exact tail formulation reduces an N-dimensional shadowing expectation to a single integral. In a five-vehicle scenario with a 50-Mb/s target rate and the leading vehicle midway between two BSs, direct groupcast yields an outage probability of 0.269, whereas the block- and slot-level relay-selection modes yield 0.144 and 0.0459, respectively. Moving the H-PH from the leading to the middle vehicle reduces slot-level outage by 12.0%. These results highlight the reliability benefits of H-PH placement and dynamic relay selection, as well as the potential gain of rapid intra-platoon channel state information sharing.

Collaborative music agents need internal representations rich enough to support both understanding and generation, yet flexible enough for a workflow where the human retains agency. We present a hierarchical self-supervised “world model” for symbolic music: a 2.55M-parameter Swin V2 encoder trained on MIDI piano-roll images with JEPA-style objectives (pitch- and time-shift equivariance, masked embedding prediction, and a distributional regularizer), using no labels and no music-theory vocabulary. Probing the frozen embeddings shows that the level at which a musical property becomes decodable tracks its musical time scale: phrase boundaries are read off the coarsest levels, note density and harmonic detail off the finest. Temporal and phrase structure emerge from the self-supervised objectives alone, while harmonic content must be asked for; a small chord-supervision head raises joint chord recovery from .18 to .54, and key detection, which is never supervised, from .16 to .70. Following the Representation AutoEncoder paradigm, a conditional flow-matching model stands in for a trained decoder, flowing in pixel space from PCA-reduced conditioning: it reproduces a target window at pixel F1 $0.996$, and the same per-level conditioning dropout that controls how far variations stray also enables graphical prompting for masked inpainting with no inpainting-specific sampler. The pipeline runs on CPU producing a suggestion in $2.8$ s, or $0.6$ s on Apple MPS, which we demonstrate in a live interactive demo. In concert with an LLM-based brain, these capabilities supply the core of a collaborative music creation agent in service of, rather than in place of, human agency.

Contingencies can alter power-system dynamics and introduce prediction mismatch in model predictive control (MPC)-based load frequency control (LFC). Although such events may be detected or cleared by protection systems, the corresponding post-contingency dynamic model may not be available to the MPC controller on the LFC time scale. This paper proposes a contingency detection-integrated MPC (CDI-MPC) framework that combines disturbance-aware contingency detection with predictive frequency regulation. Contingencies are modeled as stochastic discrete events of a stochastic hybrid system (SHS), and a disturbance-aware residual formulation is developed to jointly identify the active mode and estimate unknown disturbances. The detected mode is then used to update the MPC prediction model, reducing contingency-induced prediction mismatch under changing operating conditions. Simulation results demonstrate accurate contingency detection and substantial improvements in closed-loop LFC performance under multiple contingency scenarios and unknown disturbances.

By incorporating integrated sensing and communication (ISAC) into vehicle-to-infrastructure (V2I) networks, roadside units (RSUs) can support data transmission while providing additional sensing capabilities, thereby enabling intelligent transportation services. By deploying large-scale antenna arrays at RSU, the V2I network can realize more reliable connectivity and more accurate vehicle tracking by harnessing the significant beamforming gains provided by the enlarged antenna aperture. However, it is not energy efficient to realize such arrays using conventional phased arrays, which rely on numerous power-hungry phase shifters. To address this, this demo presents the first reconfigurable intelligent surface (RIS)-based ISAC-empowered vehicular network prototype, which operates at sub-6 GHz band to be compatible with existing vehicular systems. The RIS has a low power consumption of 6.8W. Experimental results show that compared with the system without RIS, the proposed RIS-based prototype enables more accurate vehicle trajectory tracking with an average localization error of 0.11m and supports more robust data transmission, as evidenced by a 41.9% reduction in error vector magnitude (EVM). These results validate the effectiveness of the RIS-based ISAC system for supporting vehicular networks.

This paper describes DeepSig's CUDA-based acceleration backend for the OCUDU physical layer and O-RAN fronthaul path, integrated through acceleration interfaces that are largely independent of the underlying acceleration mechanism. The design accelerates PDSCH, PUSCH, SRS, PRACH, split-8 lower-PHY transforms, and O-RAN fronthaul (O-FH) IQ compression/decompression while preserving existing factories, resource-grid interfaces, PRACH-buffer interfaces, and channel processors. CUDA-visible grids, device-side softbit buffers, stream events, pinned staging buffers, and managed-memory policies keep data resident on the accelerator when the platform and radio split permit it. On an NVIDIA DGX Spark platform with a GB10 GPU and ARM CPU host, representative measurements with CPU baselines pinned to high-capacity cores show up to 10.3x PUSCH speedup, 2.7x PDSCH speedup, 19.7x split-8 low-PHY RX speedup with slot-shaped batching and scattered mapped zero-copy, 91.4x O-FH BFP12 decompression speedup, and 28.8x PRACH detector speedup against the production CPU path, with CPU and GPU 10% BLER thresholds agreeing to within 0.064 dB in the tested PUSCH sweeps. The same resident pipeline provides an execution substrate for AI-RAN, allowing machine-learned channel estimation, neural receivers, and AI-native air-interface research to run beside standards-compliant baseband kernels.

LEO satellite networks are an attractive solution to support farm automation in Agriculture 4.0 because of their ubiquitous coverage. However, LEO networks often suffer from high latency volatility, which can limit their utility in mission-critical farm operations such as remote control. This paper studies highly-reliable remote control over LEO networks by (i) casting highly-reliable remote control as a quantile forecasting problem and (ii) proposing a high-quantile estimator that can predict latency spikes at a given reliability level. Our results, drawn from a real-world OneWeb dataset collected in a major agricultural hub in the US, show that the proposed estimator can support highly-reliable remote control on the farm by meeting reliability requirements while allowing the remote-controlled vehicle to operate at speeds up to 138.6% higher than what would be possible otherwise.

Gastrointestinal (GI) motility disorders impair the coordinated movement of food through the digestive tract. The Wireless Motility Capsule was developed to indirectly assess GI motility by recording pressure, pH, and temperature along the GI tract. Although an inertial measurement unit (IMU) enables precise and direct motion tracking, a single-IMU system is highly susceptible to artifacts caused by body movement and respiration. To address this limitation, we propose a dual-IMU system designed to distinguish intrinsic GI motility from extrinsic body motion. One IMU is integrated into an ingestible capsule to monitor internal movement, while a second IMU is worn externally to capture whole-body dynamics. Experimental validation was conducted using a turntable to simulate random body movements and a Stewart platform oscillating at 0.1 Hz to emulate GI motility. Three sensor fusion algorithms, including the Extended Kalman Filter, Madgwick Filter, and Mahony Filter, were benchmarked to calculate the real-time relative orientation between the two IMUs using quaternion analysis. The results show that the dual-IMU system effectively differentiates platform motion from turntable motion, demonstrating its potential to isolate GI-specific motility. Pearson correlation coefficients greater than 0.8 between the baseline and noise-cancelled motility signals indicate strong agreement and effective noise suppression.

We present a structured large-language-model (LLM) architecture for zero-shot human–robot coordination in a cooperative construction task with private goal views. Guided by a Dec-POMDP formulation, the architecture decomposes decision-making into (i) action-conditioned Theory-of-Mind (ToM) inference, (ii) hierarchical planning, (iii) conversation interpretation, (iv) action verification, and (v) feedback-based replanning. We compare the proposed method with an ablation without ToM inference and a multi-agent reinforcement-learning policy trained offline over many goal pairs. In human-participant experiments, the proposed method required fewer interaction steps and yielded higher post-interaction trust ratings than both baselines. These results suggest that systematically decomposing the team decision problem, using LLMs as tractable surrogates for otherwise intractable inference and planning computations, and retaining conventional verification for physical feasibility can improve both task coordination and the human experience.

Magnetic resonance imaging and histopathology observe the same glioma at radically different scales. We present CrossScale-GLIO, a visual multimodal framework that represents MRI as a tumor-habitat graph and histology as a cell-niche graph, then aligns them with a structure-aware optimal transport objective anchored by diagnostic language. Across paired and external glioma cohorts, CrossScale-GLIO achieved a paired-test subtype macro-F1 of 0.789, IDH AUROC of 0.934, 1p/19q AUROC of 0.884, and MGMT AUROC of 0.802. The subtype gain over feature-only transport was 2.8 percentage points (95% CI: 1.2 to 4.4, adjusted p = 0.0019). Bidirectional patient retrieval reached Recall@1 values of 0.286 and 0.278, and Recall@5 values of 0.621 and 0.608. Pathologists rated 81.2% of high-mass habitat-niche pairs as biologically plausible. Deleting the highest-mass pair reduced correct-class probability by 0.184, compared with 0.049 under random deletion. Degree-preserving graph rewiring reduced subtype macro-F1 by 0.034 and retrieval Recall@1 by 0.090, directly confirming that preserved relational topology drives cross-scale correspondence.

With the progress of the semiconductor industry toward increasingly complex compute devices and tighter process tolerances, advanced process control has become crucial. This work explores a novel framework to infer the underlying dynamics of semiconductor processes, directly from raw equipment log-file time-series data. By modelling the tool dynamics as a stochastic dynamical system comprising (a) a deterministic component and (b) a stochastic component, we estimate entropy transfer rates between variables through the Liang-Kleeman and Pires formalism. Preliminary results indicated that 7.5% of the inferred dependencies were known, 36.0% were plausible, 17.5% represented previously uncharacterised relationships, and 39.0% were inconsistent with established process knowledge. These findings demonstrate the framework's capability to uncover novel causal insights, while motivating further improvements to reduce inconsistent findings.

Most mobile image-generation applications are thin clients over cloud services, leaving outputs hard to audit. We present an Android latent-diffusion application that runs entirely on-device and is driven by the ambient-light sensor rather than a text prompt, keeping generation, telemetry, and storage local. The contribution is not a new diffusion method but the surrounding measurement workflow: each output is bound to the sensor reading, runtime path, and seed that produced it, giving a per-artifact audit trail for offline analysis. On a single Samsung foldable, one fixed capture of 373 artifacts shows the controller's log-lux input positively associated with output luminance (Pearson $r=0.532$, 95% CI $[0.455, 0.601]$), confirming the ambient dependency survives denoising and VAE decoding, while the latent UNet/VAE pipeline runs at 552–1334\,ms mean latency across three quality tiers under the Android Neural Networks API (NNAPI).

In 5G/6G wireless systems, accurate and timely channel estimation is critical to ensure reliable communication under complex, fast-changing radio conditions. This work focuses on pilot-based channel estimation using deep learning to reconstruct both magnitude and phase across the full subcarrier grid, with particular emphasis on evaluation using emulated data collected from an end-to-end O-RAN testbed. The testbed includes hardware in the loop and controlled channel emulation to better reflect deployment conditions beyond pure software simulation. It addresses major limitations in classical estimators such as LS and MMSE, as well as deep learning-based approaches that struggle with phase prediction due to discontinuities at $\pm \pi$, poor generalization to different UE and antenna configurations, and computational inefficiency for real-time deployment. The proposed system combines a phase-aware input encoding using sine and cosine representations with a lightweight Convolutional Neural Network (CNN) architecture. This design achieves high accuracy, stable phase reconstruction, strong generalization across testbed-derived datasets, and real-time inference suitable for edge devices.