Papers

Spatial semantic segmentation of sound scenes (S5) jointly performs audio source separation and tagging on a multichannel audio mixture. Therefore, an S5 system can be decomposed into an audio tagging model and a separation model. The baseline S5 system in task~4 of the DCASE 2025 challenge uses M2D and ResUNet models for tagging and separation, respectively. These are large in overall size and therefore not appropriate for use in embedded devices. The main aim of this paper is to assess the performance loss in an S5 system when using lightweight tagging and separation models instead. To this end, we first compare the tagging performance of lightweight audio tagging models, namely PANNs and DyMNs, in terms of label prediction accuracy against the baseline M2D model. Secondly, we assess separation performance in terms of the scale-invariant signal-to-distortion ratio of the baseline ResUNet separator relative to that of a convolutional-based separator using SuDoRMRF. Finally, we combine the tagging and separation models across various configurations and assess the overall performance of the S5 system using the class-aware signal-to-distortion ratio.

6G networks are expected to sense their surroundings using the same waveforms that carry data. We ask how much can be learned about the shape of an object from the terahertz echoes that user equipment transmissions produce as they scatter from that object on their way to a ceiling-mounted access point, with no sensing hardware beyond the communication link itself. We build a physics-based multistatic forward model at a 300 GHz carrier with 50 GHz of bandwidth, combining Physical Optics (PO) and Physical Theory of Diffraction (PTD) scattering with an image-source multipath lattice, molecular absorption and directional horn antennas. The model makes explicit a property of the PO mechanism hierarchy that is usually left implicit. Six physically distinct mechanisms share only three frequency exponents, so the spectral slope does not by itself determine which mechanisms a target presents and therefore cannot by itself determine its geometry. Angular diversity is accordingly a requirement for identifiability rather than an optional refinement. We compare a transmitter-count-invariant 2D-CNN with a physics-informed RBF-SVM on object orientations never seen in training. Accuracy climbs from roughly 70 percent with one transmitter to 96-97 percent with 20. The CNN gains in two regimes, irregular placement and lossy targets, while on metal under quasi-uniform placement the SVM baseline is fully competitive. Performance falls off gradually under occlusion, holding 78 percent with three quarters of the surface hidden and 63 percent when the classifier has never seen an occluded target. Multi-object scenes are limited by interference between overlapping returns rather than by angular coverage, so presence detection saturates after roughly four transmitters.

Background: Discontinuity in neonatal EEG is a critical marker of brain dysfunction but can be difficult to quantify visually. Inter-burst intervals (IBIs) are a key characteristic of discontinuity, yet their definition does not easily translate to AI detection. Objectives: To introduce low-voltage intervals (LVIs), defined exclusively by amplitude and duration, as a context-independent alternative to IBIs, develop an AI detection method for LVIs, and assess their clinical utility as a marker of brain injury. Methods: We developed a ConvNeXt model to detect LVIs and compared its performance with existing methods. We then tested the clinical relevance of detected LVIs across four applications: 1) grading background EEG abnormalities on an open benchmark dataset, 2) classifying clinical hypoxic-ischaemic encephalopathy (HIE) grades and comparing with a normal EEG dataset, 3) seizure prediction, and 4) association with seizure burden. Results: For training and validation, 654 hours of per-channel EEG from 123 neonates were reviewed and 51,162 LVIs were annotated. On held-out validation, ConvNeXt had an AUC of 0.996 and a Matthews correlation coefficient of 0.926. Model-reader agreement exceeded inter-reader agreement ($\Delta \kappa = 0.025$, 95% CI: 0.007 to 0.045, $p<0.001$), attaining expert-level equivalence. On a combined dataset of 444 neonates, percentage LVI showed a strong association with EEG grades (Spearman's $\rho=0.801$), a moderate association with HIE grades ($\rho=0.384$), a weaker association with seizure burden ($\rho=0.244$), and a strong seizure prediction capacity (AUC $=0.872$). Conclusion: AI detection of LVIs achieves expert-level equivalence, whereas quantitative features do not. Automated LVI quantification provides a robust clinical biomarker of neonatal encephalopathy associated with background EEG activity, HIE severity, and seizure risk.

We consider planning for unmanned aerial vehicle (UAV) and unmanned ground vehicle (UGV) teams in aerial monitoring missions with ordering requirements on the monitoring points to be visited by the UAV. The system consists of multiple UAV-UGV teams, each comprising one UAV and one UGV. UAV energy limitations are modeled through endurance, defined as the maximum flight time on a full battery. The UGVs serve as mobile charging stations and transport the UAVs between consecutive aerial tours. Given a set of monitoring points subject to ordering constraints and the teams' initial and terminal positions, the objective is to minimize mission completion time while satisfying UAV energy limits and the required visit order under bounded travel-time disturbances that may arise during execution. Unlike prior work, the plan jointly determines vehicle routes and their timing, allowing teams to slow down as needed to satisfy the ordering constraints. We develop a polynomial-time algorithm that generates efficient solutions to the underlying NP-hard planning problem. We establish feasibility guarantees, characterize the algorithm's computational complexity, and evaluate its performance via numerical comparisons.

The repeated assembly of the sparse Jacobian matrix constitutes a primary computational bottleneck in the Newton-Raphson power-flow analysis. Through an algebraic equivariance analysis of the Jacobian matrix, this paper proposes a direct sparse Jacobian assembly method based on symbolic permutation. By pre-applying the permutation to the admittance matrix during a one-time symbolic phase, the runtime bus-type projection overhead is entirely eliminated. Consequently, complex Jacobian differentiation and global matrix assembly fuse into a single operation, yielding a single-pass, branchless algorithm that streams values directly into contiguous memory. The framework is realized in the open-source RustPower solver. Benchmarks on IEEE test systems and PEGASE 9241 demonstrate that the proposed assembly is 24.4-30.1x faster than the MATPOWER- style baseline and 6.0-7.8x faster than the Schafer-Braun optimized assembly. End-to-end, the grid-level solve time is 11.7x-154.3x faster than pandapower 3.5.4 with Numba, while leaving numerical results and convergence behavior unchanged. Compared with the native C++ LightSim2Grid 1.0.0, grid-level performance is comparable on IEEE 39 and 1.3x-1.8x faster on IEEE 118 and the PEGASE systems. The method extends directly to general problems where a sparse Jacobian inherits its structure from a static network operator, including transient stability analysis, EMT simulation, and OPF Hessian assembly.

We consider hole closure in a planar multi-agent system whose sensing disks form a time-varying Čech complex. We propose a harmonic-covariance feedback that uses harmonic edge signals to locate holes and converts those signals into agent forces. For distributed evaluation, we use a fixed-degree polynomial of the regularized Hodge Laplacian. This polynomial is evaluated through local operator applications. The closed loop has a unique global trajectory from every safe initial state. The model data and initial state are supplied with procedures for approximation to any requested accuracy with explicit error bounds. We assume that hole area is measurable and bounded, holes evolve continuously without splitting or merging, and only finitely many temporary new holes appear. Under these conditions, offline finite calculations produce rational lower bounds for the cumulative hole area on the time horizon without querying trajectory data. These bounds converge to that cumulative area, whether finite or infinite. If it is finite, holes close in the time-averaged sense: the average normalized hole area over every fixed-length time window tends to zero as time tends to infinity. In a 15-second numerical demo, all holes close by 9.9s and remain closed through the end.

Recently, soft robotic procedures are being developed aiming at achieving targeted minimally invasive operations or drug administration in specific locations in the human body. Accordingly, specialized path-planning algorithms need to be investigated for the estimation of efficient paths that would protect the delicate tissue structures and simultaneously satisfy a set of requirements for the efficient navigation of the robot. In this context, we propose an image-based 3D pathplanning algorithm, which is an extension of the A* algorithm, for the navigation of a soft-growing robot inside the spinal subarachnoid space (SSS). The proposed algorithm is capable of estimating a safe pathway towards the goal location, while ensuring the establishment of anchor points that facilitate the efficient steering of the soft robot. The algorithm is evaluated using a highly detailed model of the SSS with respect to its capacity to satisfy the robot movement requirements and path efficiency.

N-1-1 contingency analysis studies the loss of one element followed by system adjustments and the loss of a second. The number of contingency pairs increases quadratically with the number of applicable elements, and traditional ranking-based screening methods cannot guarantee that omitted pairs are bounded. This paper determines the minimum bounding set of two-branch-outage pairs: the smallest set that can reproduce the worst value of every violated thermal and voltage limit of a linear network model. In the DC model, effects of an outage pair can be quantified by the extent of the coupling between the outages. The paper measures this by the cosine between the two outages in the network's cycle space, with a bound that splits into one term per outage and is within a near-ideal factor of $\sqrt{1+\varepsilon}$. This argument extends to every linear model in which an outage subtracts a positive semi-definite low-rank term from a symmetric positive definite matrix, with a tight bound and a collapse test. A model with voltage magnitudes is extracted by performing one Newton step on the energy function of the lossless network in rectangular coordinates. A best-first search built on these bounds reproduced brute force on public systems of up to 2{,}869 buses with 130 to 3{,}800 times fewer pair evaluations for flows and 170 to 23{,}700 times fewer for voltages. Gaps in translation to nonlinear models are explored on the IEEE 118-bus system.

This paper presents a low-complexity tensor-based channel estimation framework for downlink mmWave massive MIMO systems using passive Butler-matrix beamforming. By modeling received signals as a third-order PARAFAC tensor, we exploit known pilot structures via bilinear alternating least-squares (BALS) optimization to reduce computational overhead. The decoupled spatial factors are then processed via 1D and 2D ESPRIT to extract angles of arrival and departure with automatic pairing. Additionally, we derive the Cramer–Rao lower bound (CRLB) for this architecture. Simulations confirm the proposed estimator outperforms conventional least-squares, achieving accurate channel reconstruction and approaching the CRLB at moderate-to-high signal-to-noise ratios.

This paper introduces an enhanced channel estimation method for reconfigurable intelligent surface (RIS)-assisted multiple-input multiple-output (MIMO) communications. Considering the presence of both the direct link from the base station (BS) to the user equipment (UE) and the indirect link via the RIS, we formulate a tensor-based receiver for joint direct and indirect channel estimation called the TenDICE algorithm. The proposed receiver relies on an extended parallel factor analysis (PARAFAC) tensor model for the received pilot signals, from which the involved (direct and indirect link) channels are estimated using a simple alternating least squares scheme. The proposed TenDICE method is compared with the state-of-the-art least squares (LS) method, Khatri-Rao factorization (KRF) method, enhanced trilinear alternating least squares (E-TALS), and the theoretical Cramér-Rao lower bound (CRLB) based on normalized mean square error (NMSE) and spectral efficiency (SE). The proposed TenDICE outperforms the LS and E-TALS methods and performs similarly to the KRF methods while estimating the direct channel.

Near-field communication with large antenna arrays requires beamforming techniques that account for spherical wavefront effects. While predefined codebooks are widely used in multiple-antenna wireless systems, the performance of randomly generated codebooks in the near-field region has not been investigated. In this work, we study four randomly generated codebooks for near-field communications: random vector quantization (RVQ), random phase (RP), random far-field (RFF), and random near-field (RNF) codebooks. We use the known RVQ gain distribution as a benchmark. For RP, we derive a large-array bulk approximation and characterize the high-gain tail behavior of the gain distribution. For RNF, we characterize the high-gain tail behavior of the gain distribution. For RFF, we derive an analytical approximation for the maximum achievable beamforming gain when far-field beams are used to serve near-field users, along with the corresponding maximizing far-field direction. We also analyze the maximum-gain scaling with codebook size. Monte Carlo simulations verify the analytical results and show that RVQ and RP degrade significantly as the array size increases, while RNF achieves the most favorable high-gain scaling. RFF can outperform RVQ and RP for finite codebook sizes, but its maximum gain saturates below one due to the phase mismatch between the far-field beams and the near-field channel. These results show how codebook structure, array size, and codebook size affect random beamforming performance in the near-field.

Many neck disorders, from chronic neck pain and headache to thyroid and nodal malignancy and radiation-induced fibrosis, both arise from and alter the mechanical properties of neck tissues, yet clinical assessment still relies on morphology, palpation and symptoms. Ultrasound and magnetic resonance elastography (MRE) now allow these properties to be measured in vivo, but the neck literature differs widely in methodology and remains dispersed across modalities and tissues. This review brings together the biomechanical basis of neck tissue behavior, the clinical conditions that alter it, and the principles and applications of ultrasound elastography and MRE in the neck. We show that ultrasound elastography has demonstrated diagnostic value for thyroid nodules and cervical lymph nodes, while neck MRE has been shown to be feasible but remains at an early stage. Across both modalities, reported values depend strongly on fiber orientation, posture, muscle activation and acquisition conditions. We therefore propose reporting recommendations and discuss how measurements beyond stiffness, including anisotropy, viscosity and nonlinearity, could improve disease management and inform computational models of the neck.

Generative creative interfaces routinely report the user's position within a space of possibilities. Such displays imply that the quantities shown were measured from the artefact; in a growing class of systems they are instead predicted by a language model describing its own output, and the two are indistinguishable on screen. Most creative domains lack an agreed measurement against which such a self-report can be checked; audio admits one. In a measurement study of a working LLM-driven timbre interface, what a user can cause proves separable from what the interface reports. The first is exactly characterisable: the reachable set is a zonotope whose dimension increases by one per sound placed, so the space the model may act within is demonstrably the user's own. The second is inaccurate. The displayed position differs from measurement by approximately three times the width of that region, and the error has two independent sources: model-predicted coordinates, whose accuracy varies twofold between the two models evaluated, and the interpolation step, which arises from combining synthesiser parameters and is unaffected by model quality. End to end, 26 of 36 refinement instructions produced no perceptible change, and under the weaker model the facility performed no action while reporting convergence. Effective agency (what a user can cause) and epistemic agency (whether they can know it) are therefore separable and independently engineered: structurally enforced constraints survive model failure, whereas guarantees resting on the model's own report do not. The failure mode that remains is silence presented as success. We close with a short protocol for building and auditing such displays.

Safe reinforcement learning commonly places safety and task performance in the same policy objective, where they can introduce competing updates. Safety filters separate them at action execution, but classical designs require an analytic safety function and dynamics model, and standard minimal-intervention filters are myopic to long-horizon task return because they minimize only instantaneous action deviation. Hard projections are also undefined when no safe action exists. We present FAITH, a feasibility-aware, model-free framework that approximates the optimal state-action safety value and amortizes minimal-intervention filtering with a feedforward network. The task policy optimizes the task return through the filtered dynamics, which recovers the feasible constrained problem without a competing safety term in the task-policy update. When no action satisfies the learned safety condition, the same filter approaches the action with minimum predicted peak harm. On a double integrator example and a Safety Gym environment, FAITH achieves the highest return among methods with no feasible-start violations and matches the lowest harm from infeasible starts. On a 29-DoF humanoid, it reaches a 99.95% safety rate while retaining 97% of the unfiltered return in Walking-Avoid, and obtains the highest measured safety rate in Push-Avoid by learning to sacrifice balancing and fall away from the protected region. The same policies are also demonstrated on a real-world Unitree G1 humanoid.

Close-proximity multi-arm manipulation requires collision models that are both geometrically accurate and differentiable enough for real-time optimization. Classical geometry checkers provide reliable distances but are difficult to use inside gradient-based model predictive control, while conservative proxy models can restrict tightly coupled motion. We present PI-UDF, a physics-informed unified differentiable framework for body-to-body collision distance prediction between articulated robots. PI-UDF combines analytical forward kinematics with learnable link-geometry embeddings and a shared residual network to predict pairwise inter-arm distances directly from robot configurations. To improve safety-critical fidelity, we combine quota-driven boundary mining with an asymmetric boundary-crossing penalty that emphasizes false-safe sign errors near the collision boundary. The learned distance field is integrated into nonlinear MPC as a differentiable inter-arm clearance term. We validate the framework on a real dual-Franka platform through high-speed close-proximity 14-DoF dual-arm swapping, sustained single-arm dynamic evasion, and dynamic-evasion planning configurations with frozen, predicted, and target-switching treatments of the moving arm. Hardware experiments and offline Drake/FCL replay show that PI-UDF provides a differentiable inter-arm clearance estimate suitable for closed-loop collision-aware collaborative robot motion generation.

High-altitude platform stations (HAPS) are a promising component of non-terrestrial networks (NTNs) for wide-area connectivity. However, serving multiple users over large user footprints requires efficient power-control mechanisms that account for the unique propagation characteristics and strict power constraints of HAPS. This paper develops a tractable analytical and optimization framework for downlink power allocation in HAPS systems under statistical channel state information, 3GPP NTN path loss, and Rician fading. A closed-form expression for the signal-to-interference-plus-noise ratio (SINR) with mean-channel maximal-ratio transmission (MRT) precoding is derived, capturing geometry-dependent inter-user interference coupling. Based on this, two power-control schemes are proposed: quality-of-service (QoS)-constrained power minimization and max-min SINR fairness. The QoS solution is obtained in closed form or through a low-complexity fixed-point iteration, while the max-min solution is obtained through bisection. Numerical results demonstrate up to 6 dB reduction in required transmit power at moderate-to-high target rates and improved worst-user SINR compared to the uniform power, inverse path-loss, and geometry-aware heuristic allocations. The proposed QoS-optimal scheme also achieves a QoS feasibility probability of approximately 0.95 at R_req = 2.5 bits/s/Hz and P_max = 35 dBm, while the uniform power, inverse path-loss, and geometry-aware heuristic allocations achieve less than 0.4. Moreover, the proposed schemes achieve performance comparable to the linear programming (LP)-based benchmarks at a fraction of the computational cost, reducing the average computation time by approximately 99.97% when K = 20.

The discrete-time control barrier function condition for a safe set that is a union of convex sets is nonconvex in the control input. For safe sets defined by a matrix concave function through the number of its nonnegative eigenvalues, this paper shows that the set is a union of convex sets, and that the nonconvexity arises because at least one member of the union must hold, not every member. Selecting eigenvectors of the matrix function at the current state yields a convex input constraint that acts only on the eigenvalues determining membership in the set. This constraint is implied by the matrix-wide condition of prior work, and it guarantees a geometric lower bound on each of those eigenvalues along closed-loop trajectories. A double-integrator simulation with a polytope obstacle and a spectrahedron obstacle compares the proposed filter with the matrix-wide condition.

This paper proposes a tri-hybrid precoder design, cascading digital, analog, and electromagnetic processing layers, for cell-free massive multiple-input multiple-output (CFmMIMO) systems. We jointly optimize the three-layer precoders and access point (AP) transmit power to maximize global energy efficiency (GEE) under per-AP power and fronthaul constraints. To solve this, we develop an alternating optimization algorithm. The first sub-routine maximizes sum spectral efficiency (SE) for precoder design using weighted minimum mean square error, Riemannian manifold optimization, and gradient ascent over Lorentzian phases. The second optimizes power allocation via Dinkelbach's fractional programming and successive convex approximation. Convergence and computational complexity are also analyzed. Simulation results show the proposed design improves GEE by 87% and 11% over fully digital and classical hybrid precoders, respectively, at 20dBm transmit power. Moreover, joint power optimization yields 22% SE and 16% GEE gains over equal-power baselines, while outperforming colocated architectures in SE. Finally, we identify GEE-optimal regimes for AP and RF chain counts, and demonstrate that increasing dynamic metasurface antenna sizes enhances GEE in low-power regimes with negligible active power overhead.

Motion artifacts in three-dimensional photoacoustic tomography (PAT), caused by extended mechanical scanning of sparse arrays, degrade image quality. Since sparse sampling results in low-quality sub-reconstructions, tracking motion directly is challenging. While final image quality could in principle guide artifact correction, conventional regularizers do not accurately reflect photoacoustic image quality. Here, we introduce deep preferential evolution (DPE), a derivative-free optimization framework where a learned image comparator guides evolutionary search over reconstruction parameters. By learning relative quality differences between same-target image pairs rather than absolute quality scores, the comparator generalized more robustly from simulation to in-vivo images (after unlabeled domain calibration) than an absolute scorer. Comparator-based DPE successfully corrected synthetic motion across diverse anatomies and backgrounds, and it mitigated artifacts from natural, unconstrained motion in human palm images. These results demonstrate that pairwise learned comparison can provide a transferable optimization objective for high-dimensional image restoration when labeled experimental training data are scarce.

The development of multimodal sensing capabilities is crucial for realizing immersive communications and enabling rich, natural remote interactions in future sixth-generation~(6G) communications. However, transmitting high-dimensional sensory streams places substantial pressure on wireless resources and leaves a fundamental question unresolved: what information about the underlying physical process should be preserved across wireless delivery? To address this issue, we establish an event-native immersive-communication framework in which a service-relevant physical event defines the communication object, while event beliefs represent the information available to transceiver agents before and after wireless delivery. Based on this event-native framework, we further propose event-belief deficiency (EBD) to evaluate quality of experience (QoE) in immersive communications, which differs from the conventional normalized mean-squared error (NMSE), as NMSE can be insensitive to physically distinct procedures whose stream distortions lie in a similar range. For Gaussian event beliefs with mode-separable delivery over Rayleigh fading, we derive the log-det EBD, its induced received signal-to-noise ratio (SNR) threshold, the exact outage probability, and the required transmit SNR. Simulation results with a physics-driven source show that stream NMSE can remain nearly unchanged across physically distinct event procedures, whereas log-det EBD reliably reflects their event-level uncertainty. Relative to a mean-squared-error (MSE)-oriented interface, event-native delivery reduces normalized log-det EBD by up to $63.6\%$ and lowers the required average received SNR by $3.47$~dB under the evaluated outage constraint, substantiating the effectiveness of the proposed framework.

The paper considers a system of unidirectional first-order hyperbolic partial differential equations (PDEs) coupled with ordinary differential equations (ODEs), modeling two-phase advective transport processes subject to both boundary and distributed input delays. To address the system defined over two spatial domains, we design a set of three backstepping transformations involving both Volterra- and Fredholm-type integral operators, which introduce eight kernel functions: five associated with the PDE states and three with the ODE states. Since the distributed delayed variable spans the two spatial domains, its transformation must integrate over all state variables, leading to three-dimensional kernel functions with singular initial conditions involving Dirac delta functions that serve as sampling operators to establish mappings between variables of different dimensions. By employing the method of characteristics and successive approximations, we prove the well-posedness of the kernel equations. On this basis, we prove the invertibility of the Fredholm transformation and establish the exponential stability of the closed-loop system in the $L^{\infty}$ norm under the delay-compensated controller. Simulation results for a linear example and a nonlinear screw extrusion model are presented to demonstrate the effectiveness of the proposed method.

Full-duplex speech models can listen and speak simultaneously, enabling natural interaction, but become increasingly difficult to control as the conversation history grows. When used as user simulators, this lack of control can cause them to deviate from prescribed scenarios and produce unreliable evaluation outcomes. We introduce SimIF-Bench (Simulator Instruction-Following Benchmark), which evaluates whether a conversational model stays within a prescribed scenario and completes multiple goals in the required order. The benchmark reveals that current open-source full-duplex models struggle to follow such constraints. We then introduce a Group Reward-Decoupled Normalization Policy Optimization (GDPO)-based training recipe that enables a full-duplex model to follow textual instructions during an ongoing conversation while maintaining its turn-taking ability. By connecting the resulting SteerablePlex to an asynchronous backend language model that monitors the conversation and provides instructions when needed, we build a more controllable full-duplex user simulator that follows multi-stage constraints more reliably than existing open-source models and GPT-Realtime.

Maximum likelihood expectation maximization (MLEM) is a common approach for Poisson image reconstruction, but accurate recovery requires many iterations and is sensitive to mismatch in the assumed acquisition model. We propose a deep-unfolded penalized MLEM framework that maps a prescribed small number of iterations into trainable layers while retaining the analytical forward/backward projections and the multiplicative structure of MLEM. The unfolded architecture learns layer-dependent regularization and Poisson-model parameters, together with a data-dependent correction of the sensitivity normalization to mitigate model mismatch. We numerically show that our method improves reconstruction resolution at a fixed iteration budget and attains reconstruction quality comparable to long MLEM runs and direct data-driven models.

In this work, we propose a unified localization framework, termed UNILocMP, that combines model-based geometry and channel charting (CC) for multi-panel massive multiple-input-multiple-output (MIMO) under clock asynchronism. Owing to the multi-panel architecture, users are classified into multi-line-of-sight (LoS) users, which maintain LoS links with at least two panels, and single/non-LoS users, which maintain a LoS link with only one panel or with none of the panels. For multi-LoS users, a joint position and clock bias estimation is developed; while for single/non-LoS users, an unsupervised CC model is trained with a two-stage data augmentation strategy, where a clock-bias aware dissimilarity metric is introduced. It is numerically validated that the proposed UNILocMP outperforms model-based and CC-based baselines and achieves acceptable performance compared with fully-supervised fingerprinting. Moreover, for a fixed total number of antennas, the multi-panel architecture significantly improves localization accuracy and robustness compared with a single-panel base station (BS) deployment, particularly in the presence of clock asynchronism.

Random communication symbols allow integrated sensing and communications (ISAC) systems to exploit payload signals for sensing, but the resulting matched-filter response varies with the transmitted data. Existing statistical analyses of sensing with random orthogonal frequency division multiplexing (OFDM) waveforms have largely focused on delay and Doppler, while the spatial dimension introduced by multi-input multi-output (MIMO) arrays and precoding has received much less attention. This paper develops a three-dimensional ambiguity function (3D-AF) for random MIMO-OFDM waveforms over delay, Doppler, and angle domains. For point-target sensing, we express the 3D-AF as a quadratic form of the random communication symbols, with a deterministic matrix that captures the delay and Doppler shifts, the transmit and receive array responses, and the precoders on different subcarriers. Based on this representation, we derive a closed-form expression for the expected squared 3D-AF and show explicitly how the constellation fourth-order moment (or kurtosis) affects the ambiguity sidelobes. The same characterization yields expected integrated sidelobe level (EISL) and expected sidelobe level (ESL) metrics over mixed delay-Doppler-angle search domains. The framework is further extended to coherent multi-symbol processing with slow-time Doppler, leading to the corresponding fast-slow time (FST) approximation. These results provide a statistical characterization of the sensing ambiguity induced by random MIMO-OFDM communication signals in delay, Doppler, and angle.

This paper investigates distribution network reconfiguration under demand uncertainty using a two-stage stochastic formulation. The network topology is selected in the first stage, whereas the electrical variables are determined separately for each scenario. The deterministic equivalent is formulated as a MISOCP problem that accounts for power balances, losses, voltage constraints, and radiality. Experiments on 12 networks, ranging from 17 to 10,561 nodes, consider three demand scenarios. Reconfiguration reduced expected losses in all instances, with reductions ranging from 3.23% to 65.23% and averaging 31.76%, while also reducing the number of voltage violations in the ex post evaluation by approximately 55%. Eleven of the 12 problems were solved to optimality within the prescribed time limit. However, the additional benefit of stochastic modeling was negligible because of the homothetic structure of the scenarios considered, which preserves the spatial distribution of loads. The results show that spatially heterogeneous scenarios are important for the representation of uncertainty to meaningfully affect reconfiguration decisions.

Electromagnetic spectrum monitoring increasingly requires flexible analysis beyond task-specific recognition and detection. Multimodal large language models offer a unified interface, but extending vision-language models (VLMs) to raw I/Q signals requires tokenization that balances fidelity against a strict budget. For signals, dense encoding causes token costs to grow with observation length, whereas fixed-resolution compression may discard short-duration or localized signal evidence. Thus, we propose BATok, a budget-adaptive signal tokenizer that adjusts token capacity to the input length while allocating that capacity according to the signal content. BATok constructs candidate representations from signal-derived features using lightweight multi-resolution branches, then combines a local energy prior with learnable queries to resample these representations into compact signal tokens. The number of tokens adapts to the input length while remaining strictly bounded. The resulting tokens are projected into the language embedding space of VLMs. We further introduce EMSpec-Instruct, a multimodal instruction dataset aligning raw I/Q signals, waterfall images, and language supervision for modulation recognition, structured detection, and language-conditioned signal grounding. Experiments show that BATok learns effective signal representations and achieves competitive performance across all tasks.

Growing automation makes collaborative robots work in more variable environments, increasing the need for adaptation. We propose a human-in-the-loop online training framework combining a digital twin (DT), reinforcement learning (RL), and human demonstrations. Unlike DTs used mainly to generate synthetic data before task execution, our DT is synchronized with the physical system in real time through camera feeds, allowing the virtual robot to update its observations and policy from real-world feedback. A dual actor framework integrates imitation learning (IL) without adding a direct imitation loss to the RL actor, so demonstrations can guide adaptation instead of manual reprogramming. The proposed framework is demonstrated on the Ufactory Xarm5 collaborative robot, where the robot's end-effector aims to reach the target position while avoiding obstacles. The experiments show that the framework can resume training after a change in the physical workspace and that, with a fixed set of non-optimal demonstrations, the dual actor framework achieves a much higher final success rate than two methods that add an imitation loss to the actor. The same pattern holds with real human demonstrations collected in virtual reality (VR): with demonstrations that never reach the goal, the dual actor framework reached 83-100% mean deterministic evaluation success, against 0-17% for the two imitation-loss methods.

Interactive scene exploration requires frequent view updates, although small camera motions preserve much of the visible content. Conventional 3D Gaussian Splatting nevertheless renders each target view, leaving this image overlap unexploited. Reusing rendered images offers an alternative. Geometric warping alone cannot recover newly exposed content and remains sensitive to depth errors. We propose a per-scene framework that replaces repeated scene rendering for nearby views with relative-pose-guided RGB-D image reuse. Geometric warping uses depth and relative pose to transport source content, while a lightweight multiscale network predicts RGB residuals to correct artifacts and infer missing appearance. Cached source features further reduce repeated computation. On GS-render, residual refinement improves PSNR by 0.72~dB over pure warping; evaluations on captured and rendered scenes demonstrate low query latency. This separation of scene rendering from local view updates supports responsive scene exploration, with potential applications in augmented and virtual reality.

This work is concerned with a stabilizing adaptive dynamic programming (ADP) approach to approximate solution of a given infinite-horizon optimal control problem. Since the latter problem cannot, in general, be solved exactly, a parametrized function approximator for the infinite-horizon cost function is introduced in ADP (so called “critic”). This critic is used to adapt the parameters of the function approximator. The so called “actor” in turn derives the optimal input of the system. It is a notoriously hard problem to guarantee closed-loop stability of ADP due to the use of approximation structures in the control scheme. Since at least stabilizability is always assumed in the analyses of ADP, it is justified to invoke a respective Lyapunov function. The proposed ADP scheme explicitly uses the said Lyapunov function to simultaneously optimize the critic and guarantee closed-loop stability. A Hessian-free optimization routine is utilized for the actor and critic optimization problems. Convergence to prescribed vicinities of the optima is shown. A computational study showed significant performance improvement for the critic-based approach compared a nominal stabilizing controller for a range of initial conditions.