Papers

AI-generated music detectors are commonly compared using aggregate scores on benchmarks whose training overlap, generator lineage, source provenance, and audio-transformation history are only partially observable. This paper introduces ArtifactBench, a lineage-aware evaluation suite for measuring detector behavior across generator families and versions, real-music domains, collection-cohort shift, and inference coverage. The benchmark groups source recordings and their derived variants by content identity, separates calibration from final testing, records inference failures independently from classification errors, and reports source-level performance with uncertainty in addition to aggregate metrics. We evaluate multiple publicly available detectors under a version-pinned common protocol and examine how leakage control, cohort availability, threshold policy, and model-specific missingness alter measured performance and model ranking. On the 562-track common-success test intersection, ArtifactNet obtains 0.982 AUROC and 0.918 balanced accuracy, compared with 0.761/0.776 for the public Deezer detector; SpecTTTra and CLAM fall below 0.30 AUROC under this shifted cohort. These results also expose substantial generator- and real-domain shifts that aggregate scores alone conceal.

As part of HVAC systems, residential heating provides foundational infrastructure for human habitation in cold weather. However, research on how residents interact with HVAC systems, particularly heating systems, remains fragmented across architecture, engineering, informatics, physiology, psychology, sociology, and design. Based on 541 studies from these fields, this review integrates interdisciplinary research on Heating in Human-HVAC Interaction in smart homes.The resulting synthesis is conceptualized through the Situated Interaction Dynamics of control and feedback between users and systems. User-initiated interactions involve monitoring past and present system performance and planning future operation, while system-initiated interactions rely on sensor networks to trigger automation or provide information enabling user action. These interaction dynamics connect Residents' Experience and Practices with Heating in HVAC System Mechanics. Residents' Experience and Practices include thermal comfort and energy management, where thermal comfort involves both individual physiological and psychological experiences of indoor climate and social practices shaped by norms, empathy, and negotiation among cohabitants. Heating in HVAC System Mechanics includes thermal conditions and energy performance. Thermal conditions concern the regulation of air temperature, mean radiant temperature, air velocity, and relative humidity, while energy performance concerns efficiency and environmental impact. This overview highlights four interdisciplinary tensions: sensed versus lived conditions, personalization versus negotiation, efficiency versus health, and automation versus agency. The resulting framework offers a conceptual lens to interpret heating interactions and design Human-HVAC Interaction that balances IEQ-driven healthy thermal conditions, affordability, and sustainability.

This paper develops a certified imitation-learning framework for approximating model predictive control (MPC) policies with feedforward neural controllers and validates it on autonomous-vehicle lateral control. An exact finite-horizon Q-loss is constructed by fixing the learner's first steering action in the expert MPC problem and re-optimizing the remaining horizon, thereby measuring its downstream optimal-control consequence rather than only pointwise action mismatch. The neural policy is represented as a linear fractional transformation (LFT) interconnection with activation nonlinearities described by sector integral quadratic constraints (IQCs). Combined with a quadratic Lyapunov condition, this representation yields a differentiable certification margin based on the largest eigenvalue of the Lyapunov-IQC matrix. The margin is enforced during training through a logarithmic barrier, while certified Dataset Aggregation (DAgger) and safe projection keep data-aggregation rollouts within the certified policy set. Experiments on a CAD-referenced autonomous-vehicle platform with AprilTag localization and real-time steering demonstrate the resulting closed-loop performance.

Existing wearable exoskeleton architectures are typically constrained by a single mechanical output modality, providing either joint torque around an anatomical joint or linear traction along a limb-training-oriented direction, which limits adaptability to diverse training scenarios. This letter presents a cable-driven switchable actuator (CDSA) that can rapidly switch between torque and tension modes while centralizing all sensing and actuation components at the proximal drive unit. A Coupled Movable Pulley Mechanism (CMPM) provides tension amplification at the distal end-effector, while a bidirectional Cable-Driven Ratchet Mechanism (CDRM) enables mode switching and preload regulation. To eliminate the need for distal instrumentation, multi-source proximal sensors are integrated with a data-driven fusion model to estimate distal output forces. An adaptive dual-mode force control strategy based on iterative learning control (ILC) is further developed. Platform experiments demonstrate transmission efficiencies of $(92.4 \pm 2.0)\%$ and $(96.5 \pm 3.3)\%$ in the torque and tension modes, respectively, along with a tension amplification ratio of $2.77 \pm 0.10$ under tension mode. Tracking tests on simulated knee-joint gait trajectories and short-stroke tension profiles yield stable control, with RMSEs of $(4.52 \pm 0.51)\%$ and $(3.15 \pm 0.19)\%$ of the uncontrolled peak value, respectively. Finally, seated human-coupled experiments validate the system's controllable force generation in both joint-torque and linear-traction application modes.

Ambisonics Upscaling (AU) aims to enhance the spatial resolution of sound fields by estimating high-order Ambisonics (HOA) components from low-order observations. While deep learning and model-based strategies have been considered for AU, both approaches exhibit significant performance degradation in realistic scenarios, where reverberant sound fields violate the directional sparsity inherent to discriminative mappings. In this work, we address AU as a generative task rather than a deterministic reconstruction, expanding generative modeling to specifically target the recovery of spatial information in reverberant speech. We investigate two dominant continuous-time generative paradigms, adapting both Score-based Generative Model and Flow Matching to these complex acoustic settings. We provide an extensive numerical study comparing our methods against state-of-the-art baselines in various acoustic scenarios. Additionally, we conduct subjective listening tests to evaluate the perceived quality and spatial accuracy of the proposed generative framework across various reverberant scenarios. The studies reveal that Flow Matching consistently outperforms both its discriminative counterparts and Diffusion-based paradigms in all reverberant settings.

Non-verbal vocalizations (NVVs) carry important paralinguistic information but are often omitted by conventional automatic speech recognition (ASR) systems. The ISCSLP NVVSpeech Challenge requires joint transcription of lexical content and 16 NVV categories under limited and highly imbalanced supervision. We present a data-centric NVV-aware ASR pipeline based on cross-dataset label harmonization and a two-stage sampling schedule. We map heterogeneous source labels to the official taxonomy and exclude samples without a reliable mapping. Our schedule first uses square-root category sampling to moderate the long-tailed distribution and then applies uniform-category fine-tuning. On a fixed local validation split, square-root category sampling performs best among the tested single-stage settings. The final two-stage system obtains an official score of 63.86 and ranks fourth in Track 1.

Voice anonymization aims to protect privacy by suppressing speaker identity while preserving linguistic content and prosody. However, residual speaker attributes in non-identity representations may still increase linkability and weaken privacy protection. To this end, this paper proposes a fine-tuning strategy with a pinhole loss for well-trained voice anonymization frameworks to further reduce residual speaker attributes. Inspired by the pinhole effect, the pinhole loss measures the linkability of anonymized utterances from the same source speaker. By minimizing this loss, linkability is reduced, thereby improving privacy protection. Experiments on multiple anonymization frameworks, pseudo-speaker generation methods, and datasets show improved privacy protection while maintaining utility. Audio samples can be found in https://anonymous.4open.science/r/Pinhole-loss-fine-tunning-4628.

Conventional general sound recognition systems typically output deterministic sound event labels, implicitly assuming that the target sound class can be correctly identified from the input audio. However, in real listening situations, the sound event class is not always clearly identifiable. Human listeners may nevertheless understand their surroundings from an ambiguous sound without identifying its exact sound event class. This motivates a discussion of how the outputs of sound recognition systems should be redesigned under such uncertainty. As a basis for this discussion, this paper proposes an output representation for sound event recognition that combines a sound event class, its confidence score, and an onomatopoeic description of the sound. The proposed representation preserves conventional class-based recognition while providing an additional onomatopoeic description of acoustic characteristics that can remain informative even when the class prediction is uncertain. Experiments using ESC-50 and ESC-50-Onomatopoeia show that the proposed method achieves sound recognition performance comparable to that of a conventional recognition-only system. In addition, an LLM-as-a-judge evaluation and subjective listening experiments indicate that the proposed output is preferred over conventional deterministic outputs based on the sound event label, particularly when used to support understanding of the surrounding environment. These results suggest that such output representations can make sound event recognition more informative and communicative under uncertainty.

Accurate multi-user localization is challenging in complex urban environments, where wireless measurements can become ambiguous under noise, blockage, and multipath, while visual observations provide complementary spatial context. This paper presents a vision-wireless fusion framework for multi-user localization using pilot-indexed channel state information (CSI). Orthogonal pilot indices preserve the identities of the communicating UEs in the CSI token sequence and localization outputs. The model encodes each pilot-indexed CSI observation as a query token and uses cross-attention to retrieve user-specific information from spatial visual memory. Self-attention among CSI tokens further captures inter-user interactions, while the resulting multimodal representations are used for user-wise localization. Experiments on different datasets show consistent improvements over model-based, CSI-only, and multimodal-fusion baselines. Further experiments evaluate the model under different wireless and visual conditions.

Pitch estimation on an edge device is constrained in three ways at once. The model must be small, it must stay accurate when the input is noisy, and one frame must be produced inside the frame period. In this report the Frequency Convolution Network (FrCN) of our earlier work is factored into a low-rank form. The number of parameters is reduced by 35.9%, from 17,787 to 11,397, and accuracy is not reduced, either in domain or on two corpora the model was never trained on. The range of the noise used during training is also shown to dominate the architecture in setting how the model behaves when the interference is severe. When the training noise floor is lowered from +6.02 dB to -20 dB, 0.35 points of clean RPA50 are lost and RPA50 at -20 dB is raised from 2.44 to 22.41. This effect is about two orders of magnitude larger than any architectural effect that was measured. The semi-orthogonal constraint used in TDNN-F is found to be redundant with the normalization inside the bottleneck, and accuracy is reduced when both are applied. Whether the factorization saves time depends on the runtime: in eager PyTorch the factored model is 45% slower, while in a compiled kernel it is 15% faster. For deployment, a small C kernel was written. It needs 83 kB on disk and no runtime library beyond libc and libm. It is faster than OpenBLAS on all four CPUs that were tested, faster than ONNX Runtime by 3.8 times, and faster than PyTorch by 13 times. Its output was checked against PyTorch on 271,893 held-out frames per model, and the same pitch bin was selected on every one of them.

The 6–18~GHz upper mid-band is a promising spectrum range for future sixth-generation (6G) networks due to its favorable balance between available bandwidth and propagation capability, while its same-site coverage performance remains a key deployment concern. This paper presents a wideband channel measurement campaign at 13 spatially aligned frequency points from 6 to 18~GHz in an urban macrocell (UMa) environment, and investigates the frequency evolution of channel characteristics and same-site coverage capability. The results show that path loss generally increases with frequency, while the higher-frequency channels tend to exhibit smaller root-mean-square (RMS) delay spread (DS) and larger PDP-based $K$-factors. Based on the measured path-loss characteristics, the additional link-budget requirement and service-aware same-site coverage are further evaluated. Under the baseline service configuration, the 80% coverage distance $d_{80}$ decreases from approximately 129~m at 6~GHz to 58~m at 18~GHz. Further analysis quantifies the impacts of service rate, resource allocation, interference, and link-budget degradation on coverage, providing measurement-based insights for same-site deployment across the 6–18~GHz band.

This paper investigates robust beamforming and antenna position design for movable antenna (MA)-enabled integrated sensing and communication (ISAC) systems under antenna position errors. In particular, deviations between the actual and nominal antenna positions in practical MA arrays are inevitable due to limited mechanical accuracy. Therefore, the conventional ISAC design based on nominal positions may suffer from substantial performance degradation. To address this issue, we consider a monostatic downlink MA-ISAC system in which each transmission frame consists of a low-power pilot and an ISAC payload. The target angle, reflection coefficient, and antenna position-error vector are jointly estimated based on these two observations, thereby enabling sensing with imperfectly known antenna positions. We derive the resulting angle Cramer-Rao bound (CRB) and formulate a problem that minimizes its worst-case value subject to each user's signal-to-interference-plus-noise ratio (SINR) requirement under all possible position errors. By exploiting a common phase-response decomposition, we obtain tractable reformulations and develop an alternating optimization (AO) algorithm for the beamforming vectors and nominal antenna positions. Numerical results demonstrate that, compared with conventional nominal-position designs, the proposed robust scheme achieves improved communication reliability while maintaining competitive sensing accuracy under practical antenna position uncertainty.

Physical layer (PHY) information hiding supports critical applications, such as digital fingerprinting for transmitter identification and undetectable side channels for covert communication, and has attracted considerable attention from the research community. One category of prior studies focuses on theoretical analysis, proposing techniques such as artificial noise or reconfigurable intelligent surfaces to enable undetectable covert transmission. However, hardware prototypes are rarely presented due to their algorithmic complexity or hard-to-satisfy assumptions. Another category of studies focuses on system-level solutions, achieving PHY information hiding by customizing existing modulation schemes. However, these methods are typically designed for specific wireless protocols, limiting their generalizability. In this work, we introduce a new PHY information hiding paradigm that differs fundamentally from the previous two categories of approaches. Inspired by recent advancements in other domains such as image information hiding, we migrate encoder-decoder neural networks to the PHY information hiding field, embedding secrets by introducing imperceptible distortions within the preamble waveform. Sim-to-real fine-tuning is additionally proposed to tackle unique challenges, e.g., fading and hardware imperfections. The designed methodology is practical and protocol-agnostic. We provide case hardware prototypes of two commercially popular wireless technologies, i.e., LoRa and Bluetooth Low Energy (BLE), using commodity software-defined radio (SDR) transceivers, demonstrating excellent feasibility and generalizability.

Temporal logic is a formal language for reasoning about system behaviors over time. Signal temporal logic (STL), in particular, has been used to encode spatio-temporal requirements for control synthesis in multi-agent systems, often under the assumption that agents are cooperative and their dynamics are known. However, real-world multi-agent applications, such as autonomous driving, typically involve stochastic and uncontrollable agents. Recent work explored robust control with worst-case or probabilistic formulations, but remains limited in that it either (1) certifies strict satisfaction of STL constraints without addressing feasibility recovery, or (2) relaxes infeasible constraints with ego-centric objectives. In this paper, we propose a model predictive control (MPC) framework that treats feasibility repair as a Pareto optimization problem to explicitly characterize tradeoffs among agent objectives. We further provide a probabilistic certificate on STL violation rate to formally quantify uncertainty under stochastic and uncontrollable agents. The proposed framework is evaluated on two autonomous driving scenarios. Results show that the framework recovers feasible control with demonstrated safe behaviors.

Advanced Air Mobility (AAM) systems require scalable coordination mechanisms to manage large fleets of aerial vehicles operating in shared, capacity-limited airspace. In such environments, different operators may have private preferences over trajectory characteristics, such as travel time, fuel consumption, or deviation from nominal routes. If centralized traffic management relies on self-reported preferences, operators may strategically misreport their costs to obtain more favorable trajectories. This paper proposes a multistage motion planning framework augmented with mechanism design to enable collision avoidance for AAM systems with privately known costs. The proposed approach integrates convex safe corridor construction with a VCG-inspired mechanism to ensure conflict-free passage through constrained airspace while incentivizing truthful revelation of private preferences. Simulation results demonstrate safe and decentralized coordination among agents with heterogeneous preferences.

Feasibility of a Signal Temporal Logic (STL) specification asks whether, from a given initial state, an admissible control input can satisfy its continuous-time requirements under actuator limits. Establishing feasibility is essential for detecting unrealizable tasks and repairing specifications before execution. State-of-the-art Mixed-Integer Linear Programming (MILP) methods face growing model sizes as temporal horizons and formula complexity increase, and can accept control witnesses that violate continuous-time STL semantics between samples. We propose a geometric approach to STL feasibility and temporal repair that translates temporal requirements into spatial constraints evaluated at the initial state. Its compiled feasibility check is independent of horizon length for fixed compiled dimensions. We prove nonnegative continuous robustness under a joint controller assumption. On 6D UAV benchmarks, median geometric repair times are 0.265–1.510 ms; we show up to 1.68x10^4 speedup over MILP feasibility checker. All geometric runs pass continuous STL validation, whereas majority of completed MILP control witnesses violate continuous-time STL.

Hands-free communication devices and speakerphones are inherently affected by acoustic echo and background noise. To mitigate these impairments, end-to-end discriminatively trained neural networks have emerged as the best-performing approach in research and deployment. While recent advancements in generative methods have provided remarkable results for various speech enhancement tasks, diffusion-based acoustic echo control (AEC) research is still restricted to non-causal, utterance-level processing, thereby not widely applicable in practice. With this work, we are the first to propose low-delay (i.e., causal) diffusion-based joint AEC and noise control models DiffVQE2 / DiffVQE2-S, excelling the so-far state of the art DeepVQE / DeepVQE-S models in multiple objective metrics, and, most importantly, in subjective MOS, respectively. In addition, our models are less complex. Furthermore, we show that a limited lookahead applied to the efficient DiffVQE2-S model allows for an even higher performance. These results have been obtained on the ICASSP 2023 AEC Challenge blind test set. We claim the first streaming-capable, diffusion-based acoustic echo and noise control that excels state-of-the-art discriminative approaches.

A microphone on the airframe of a small multi-rotor UAV is dominated by rotor ego-noise, so spoken flight commands arrive at negative signal-to-noise ratio (SNR). We study small-footprint keyword spotting (KWS) for a ten-word command vocabulary under real ego-noise, training on one quadrotor and testing on another. Besides per-clip accuracy we measure the streaming false-alarm rate on 4.4 h of continuous rotor noise. We compare classical noise-robust front-ends (CMN, PCEN, spectral subtraction), test-time adaptation, and two front-ends that track the per-band ego-noise floor over the two seconds preceding the decision window and either subtract it (normalisation) or feed it to the network as a second input channel (conditioning). Per clip, all front-ends look alike: +2-3 points on average, up to +14 at -15 dB. On continuous rotor noise they differ sharply. Normalising front-ends fire about ten times more often than plain log-mel at the same threshold and end up below it at a budget of one false alarm per hour (-9 points at 0 dB). Conditioning keeps the baseline's false-alarm rate and turns its gain into detections (+8 points at -10 dB over three seeds); on top of PCEN it gives the best per-clip accuracy and false-alarm rate, and a level-anchored variant is also invariant to the microphone gain. Real drone+interferer recordings expose the remaining failure mode, environmental sounds and bystander speech, which training negatives halve. A single script reproduces all on-device numbers on the NVIDIA Jetson Orin NX flight computer, where the complete pipeline costs 3 ms per 100 ms hop on the CPU.

Self-calibrating monitors adapt their threshold online to guarantee a prescribed long-run false-alarm rate under arbitrary drift. We compute the price of that guarantee, stating every law with its exact domain of validity. First, the guarantee is an accounting identity, insensitive to what the monitor is meant to detect. Two evidence identities make the cost exact for the online quantile tracker: a persistent step of height $\delta$ yields excess alarm mass within one alarm of $\delta/\eta$, and exactly $\delta/\eta$ pathwise when $\delta$ is a lattice multiple of the gain $\eta$; a ramp of slope $c$ yields a stationary excess rate of exactly $c/\eta$, independent of accumulated size, up to a boundary $c=\eta(1-\alpha)$ coinciding with the alarm-rate cap. Second, the certificate's own fluctuation obeys an exact law: the windowed alarm rate has standard deviation of order $1/L$, not the binomial $1/\sqrt{L}$, since the windowed mass telescopes to a difference of a tight internal state; the closed-form constant is validated with no fitted parameter. Detectors calibrated on the binomial scale are miscalibrated by $\sqrt{\eta\varphi(q_0)L}$, and correct calibration turns detection windows from quadratic to linear in the inverse fault speed. Third, any monitor required to tolerate a drift class $\mathcal{D}$ is blind, at any horizon and for any rule, to every fault in $\mathcal{D}-\mathcal{D}$; the proof is a deliberately elementary two-point argument and the contribution is the object it identifies: for speed-bounded classes the blind set is exactly the doubled-speed class, and the tracker absorbs a speed class fixed by its own gain, so that under a certification regime declaring absorbed drift normal, the monitor manufactures $\mathcal{D}$. An exact Gaussian projection bound, sharper than Pinsker and never vacuous, quantifies power outside it.

Uncertainty quantification (UQ) is increasingly recognized as an important component of reliable machine learning in medical imaging, yet practical resources connecting UQ theory, implementation, and evaluation remain limited. We developed Uncertainty Quantification in Medical Imaging Analysis (UQMIA), an open-access, hands-on tutorial comprising 19 sessions covering major UQ approaches, including variational inference, Monte Carlo dropout, deep ensembles, evidential deep learning, and conformal prediction, together with methods for evaluating uncertainty reliability. The tutorial is designed for researchers and practitioners with experience in medical imaging, progressing from foundational concepts to implementation and evaluation, with notebooks executable through Kaggle. Beyond presenting the tutorial, we introduce a framework using large language models (LLMs) to evaluate whether technical educational resources contain retrievable and usable knowledge. Using 100 four-option multiple-choice questions derived from primary methodological literature, we evaluated 20 instruction-tuned LLMs from six model families with and without retrieved tutorial context. Retrieval of UQMIA improved accuracy in 18 of 20 models, increasing mean accuracy from 0.680 to 0.742 (+0.062; Holm-adjusted P=0.00032), and improved area under the receiver operating characteristic curve (AUROC) in 18 of 20 models, increasing from 0.725 to 0.788 (+0.063; Holm-adjusted P=0.00032). UQMIA provides an accessible resource for learning UQ in medical imaging and demonstrates an LLM-based approach for evaluating technical educational material. The tutorial is available at https://benyamin-gheiji.github.io/Uncertainty-Quantification-Medical-Imaging-Analysis/ and its source code and notebooks at https://github.com/benyamin-gheiji/Uncertainty-Quantification-Medical-Imaging-Analysis/.

Unobserved confounding is a fundamental challenge in causal inference from observational data. This article develops a mixture-learning perspective, viewing latent confounders as sources of heterogeneity that induce mixture structure in observed data. Under suitable structural and identifiability assumptions, recovering the mixing distribution and component mechanisms enables estimation of interventional distributions and causal estimands. Using variants of Bernoulli mixtures as a running example, we contextualize mixture-learning techniques and their structural assumptions, and connect them to causal inference in panel-data settings, including latent factor models and synthetic interventions.We then consider high-dimensional exponential-family mixtures with dependent outcome trajectories, moving beyond counterfactual means to model counterfactual distributions. We situate this perspective relative to complementary approaches for unobserved confounding. Together, these ideas provide a bridge between mixture learning and causal inference, connecting recent advances in high-dimensional mixture learning to scalable identification and estimation of causal effects while raising new challenges for mixture learning.

Green's function based operator approximation offers an efficient route for solving linear partial differential equations under varying boundary conditions and source terms. Once the Green's function is learned, solutions for new configurations are obtained through integration rather than by solving the differential equation again. Existing Green's function learning methods face two structural challenges. The first is the singular behavior of the Green's function near the source point, which places a difficult approximation burden on neural networks. The second is the absence of explicit consistency between the learned Green's function and its gradient, although both quantities enter the integral solution representation directly. This work proposes SDC-GON, a Singular Decomposition and Consistency-Regularized Green's Operator Network that addresses both challenges within a unified framework. The Green's function is decomposed into an analytically known singular component and a smooth correction learned by the network, so that the neural approximation targets only the regular part of the response kernel. A self-consistency loss enforces agreement between the gradient and the autodifferentiation gradient of the smooth correction. The method is evaluated on two dimensional Poisson, three dimensional heat conduction, heterogeneous reaction diffusion, and Stokes benchmarks, consistently outperforming the compared baselines across all cases. On the heterogeneous pipe benchmark, SDC-GON achieves a testing error of $3.70\times10^{-4}$ with a smaller network architecture, compared with $9.60\times10^{-4}$ for the same-width baseline and $4.63\times10^{-4}$ for a larger configuration, demonstrating that structural improvements are more effective than increasing model size.

Machine learning (ML) has emerged as a powerful tool for soil analysis using Laser-Induced Breakdown Spectroscopy (LIBS). However, traditional black-box models often lack interpretability, limiting their effectiveness in decision-making processes. This study introduced explainable AI (XAI) techniques to enhance both the interpretability and classification performance of Partial Least Squares Discriminant Analysis (PLS-DA) models for soil classification with LIBS. Local Interpretable Model-agnostic Explanations (LIME) was employed to identify the local spectral features associated with soil elements, providing explanations for their contributions to classification outcomes. To improve classification performance on unlabeled spectra, prediction uncertainty was quantified by sequentially removing the top local spectral features identified by LIME as critical to the classification. Higher uncertainty was associated with a smaller number of feature removals needed to change the label. Spectra for which a large number of features had to be removed before the label changed were treated as high-confidence predictions and admitted to a co-training process. Thresholds on this flip count were defined separately for spectrally ambiguous and stable classes to manage uncertainty identification effectively. To address the sensitivity of PLS-DA to class imbalances, equal proportions of pseudo-labels from each class were included in co-training. The proposed method was evaluated on the publicly available EMSLIBS dataset, achieving a test accuracy of 92.69%, competitive with the best-performing methods in the literature. The XAI results provided insights into the causes of misclassifications and identified the dominant spectral features critical for accurate predictions, advancing interpretable AI solutions for LIBS-based soil analysis.

Fiber Bragg grating (FBG)-based sensing enables localized strain and temperature monitoring by tracking the phase changes of the light reflected from FBGs inserted along a fiber. A major source of disturbance in such systems is laser phase noise, and its influence is typically mitigated by means of additional hardware. In this article, we propose to mitigate the influence of laser phase noise by means of digital signal processing. We propose a practical estimator for coherent single-polarization spread-spectrum FBG-based sensing systems, which is motivated by linearizing the complex received signal and approximating the loss function to formulate a minimum mean square error (MMSE) estimation problem. Moreover, a Cramer-Rao lower bound for this FBG-based estimation problem is presented. Our simulation results demonstrate that the performance of our proposed estimator lies close to the Cramer-Rao lower bound, thus indicating that our estimator effectively compensates for phase noise in FBG-based sensing systems.

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

This paper presents a contactless radar sensing framework that classifies physiologically-induced changes in the superficial skin layer following intense fixed-duration physical activity along with water intake restriction. A 77 GHz frequency-modulated continuous wave (FMCW) radar is used to capture high-resolution range profiles from the subject's chest, seated in front of the radar, before and after sports activity. Since the electromagnetic penetration into biological tissue is inherently shallow at millimeter-wave frequencies, the sensing is confined primarily to the stratum corneum and upper epidermis. We demonstrate that exercise-induced thermoregulation, perspiration residue deposition, and transient shifts in superficial tissue hydration produce measurable alterations in quasi-static radar reflectivity. We utilize single-chirp snapshots of duration 102.4 micro sec in order to suppress confounders such as slow-varying cardiopulmonary motion, followed by lightweight feature extraction via the Wavelet Scattering Transform (WST) and classification using light-weight machine learning models suitable for edge nodes. Leave-one-subject-out cross-validation on a dataset of 15 sportsmen measured pre- and post-exercise yields a mean classification accuracy of 91.55% with a 95% confidence interval of [84.27, 98.83]%. Interpretability analysis reveals that low-order scattering coefficients (capturing overall signal energy and amplitude stability) dominate discriminative power, consistent with quasi-static changes in skin surface permittivity. The results establish a proof-of-concept for radar-based, edge deployable classification of post-exercise skin states, opening new avenues for non-contact physiological monitoring in sports science.

The depletion method (DM) enables the estimation of the acoustic nonlinearity parameter, B/A, in pulse-echo ultrasound using fundamental-band signals from low- and high-pressure acquisitions, but requires accurate knowledge of the acoustic-pressure scaling factor. This requirement limits experimental translation because of the slightly nonlinear scaling between excitation voltage set on the ultrasound system and pressure at the probe. We propose a complementary-aperture pulse sequence (CAPS) that recovers the linearly scaled low-pressure signal by coherently summing RF acquisitions from interleaved transmit subapertures whereas a full-aperture transmission provides the high-pressure signal maintaining the same excitation voltage configured in the ultrasound system. In silico phantoms of a homogeneous sample and a reference evaluated four aperture partitions of CAPS and compared them with the DM under relative scaling-factor errors from 0.01% to 10%. Using the DM, errors of 0.1% and 1% produced absolute B/A biases of up to 27.3% and 58.3%, respectively. CAPS yielded mean B/A values of 8.9 for a prescribed value of 9, with biases of less than 1.3% across all partitions, matching an ideally calibrated DM. These results demonstrate that CAPS preserves depletion-based B/A estimation without using the pressure scaling factor as a reconstruction input, supporting experimental and in vivo implementation without pressure-ratio calibration.

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

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

Large scale warehouse automation relies on efficient multi agent path finding (MAPF) to coordinate thousands of robots in structured environments. Existing MAPF algorithms primarily improve conflict resolution while representing warehouses as generic navigation graphs, overlooking their inherent geometric structure and traffic patterns. This paper presents TRACS (Traffic aware Routing and Aisle Coordination System), a geometry aware planning framework that exploits warehouse layout to simplify planning rather than introducing another conflict-resolution algorithm. TRACS constructs a directed routing graph with alternating one way aisles that eliminates head on and edge swap conflicts by design, decoupling spatial routing from temporal traffic coordination. Independent hybrid graph grid routing is combined with lightweight edge based scheduling to avoid joint space time search while ensuring collision free execution. Experimental evaluation on warehouse benchmarks against representative priority based, iterative repair, and search based MAPF planners shows that TRACS consistently achieves a 100% empirical success rate while substantially improving planning scalability. On fixed scene benchmarks with up to 1000 robots, TRACS reduces planning time by up to 14.7X while maintaining competitive makespan, lower flowtime, and near optimal path quality. Under a fixed 10 minute planning budget, TRACS routes up to 5120 robots, roughly twice the largest fleet reached by the strongest baselines, while sustaining a 100% success rate, demonstrating the effectiveness of exploiting warehouse geometry for scalable robotic warehouse systems.