We present Full-Self Diagnostics (FSD), a unified mathematical framework for recovering latent physiological states from unconstrained 9-second facial videos captured by consumer smartphones. The approach integrates five mutually reinforcing components: (1) a physics-based forward model derived from the radiative transfer equation and chromophore absorption that maps camera observables to biomarker concentrations; (2) an information-theoretic observability theory proving that multi-channel visual signals (spectral, pulse, respiratory, micro-expression, and oculomotor) contain strictly increasing mutual information with physiological state; (3) a stable, Tikhonov-regularized inverse problem with domain-uniform identifiability guarantees; (4) an operator-learning formulation that enables generalization across devices, resolutions, and populations; and (5) a supervised learning procedure, interpretable as stochastic variational inference, that continuously refines the model from paired biosensor ground truth with performance improving proportionally to one over the square root of the number of paired observations. Empirical validation on 38812 real-world paired scans across 59 subjects demonstrates practical performance. Self-collected data from the lead author (glucose range 35-550 mg/dL) yields MARD of 29.86 percent with 97.57 percent of predictions in Clarke Error Grid Zones A+B and only 0.27 percent in the dangerous Zone E. A well-managed diabetic participant achieves MARD of 17 percent in the narrower 70-180 mg/dL band. These results confirm that consumer-grade facial video encodes sufficient structured information for clinically relevant, non-invasive biomarker inference under fully unconstrained conditions, with performance scaling predictably as more paired data becomes available.

More than a dozen spoken dialogue systems have recently claimed to be "full-duplex," yet the term has been used to describe substantially different capabilities. Existing surveys collapse them onto a single axis (cascaded/end-to-end, or engineered/learned) and miss the distinctions that matter most for builders. We argue that much of this ambiguity is taxonomical: current terminology does not specify where duplex decisions are made, which interaction types are supported, or how a system behaves moment by moment. This paper introduces three complementary frameworks: (i) an L0-L3 Architectural Hierarchy that locates where duplex decisions are made; (ii) a $T\times I\times R$ Interaction Ontology that specifies the temporal relation, user intent, and required system response for each interaction; and (iii) a Decision State Machine (IDLE/LISTEN/SPEAK/WAIT/DUAL) that describes how systems move between states. Across published systems and benchmarks, our audit documents a realization gap: although many architectures can in principle operate in full-duplex states, their observed behavior remains constrained by the interaction patterns represented in training and evaluation. We point to the limited public training-data coverage relative to the (largely undisclosed) industrial corpora, together with the still-unrealized goal of L3 representation-level modeling, as the key frontiers for future research on full-duplex dialogue. The related material is available at this https URL.

Electric-vehicle grid-integration studies need large, behaviorally realistic populations of individual charging profiles, but real charging telemetry is scarce and privacy-restricted, and the existing open generators are calibrated to non-U.S. mobility surveys or flatten the regional, seasonal, and equipment heterogeneity that drives aggregate demand. We present \texttt{ev-flow} (import name \texttt{pev\_synth}), an open-source, MIT-licensed Python package that generates synthetic plug-in electric vehicle charging behavior for eight U.S. regions, grounded in 2017 National Household Travel Survey (NHTS) microdata and regional sales-mix models. A deterministic nine-stage pipeline (M1--M9) carries each vehicle from survey records to a time-stamped charging profile: it stitches survey person-days into donor-matched 365-day travel calendars with a temperature-dependent winter energy uplift, samples behavioral plug-in start times from the published SPEECh K=16 Gaussian-mixture parameterization, evaluates a three-layer Bernoulli plug-in model, propagates a continuous-time state-of-charge ledger with an explicit PHEV gasoline range-extension term, and rasterizes plug status to 15-minute and hourly grids. The package generates residential and workplace profile types with descriptive EVSE brand and connector enrichment; every output is UTC-stored, timezone-aware, and bit-reproducible from a single master seed. A validation runner compares the generated distributions against published bounds and classifies every divergence with literature provenance: the reference \texttt{bay\_area} residential profile rolls up to 11 PASS, 0 unexplained FAIL, 6 explained failures, and 4 explained skips across 21 applicable checks. \texttt{ev-flow} fills a U.S.-focused, NHTS-grounded niche complementary to European generators such as emobpy and VencoPy and to charging simulators such as datafev and ACN-Sim.

This work presents the design and measurement of a multistatic J-band radar chipset comprising a transmitter and a receiver MMIC both featuring an integrated $times$16 frequency multiplier chain for low-frequency local-oscillator distribution and scalable radar configurations. Multistatic radar architectures can sustain high transmission power and high receiver sensitivity simultaneously an advantage that is fully leveraged in the present chipset. To this end a four-way power-combining amplifier chain integrated on the transmitter MMIC delivers an output power of 11.2 dBm. The resulting measured EIRP is 41 dBm at 292 GHz with a collimating PTFE lens and 8.8 dBm without a lens. Despite the high frequency-multiplication factor an on-chip harmonic rejection better than 24 dBc was measured while a radiated in-band harmonic rejection of approximately 50 dBc was achieved through multiple filter stages. The receiver MMIC incorporates a three-stage low-noise amplifier and exhibits an overall conversion gain of 43.3 dB at 292 GHz. Integrated on-chip patch antennas facilitate system integration and the use of highly directive dielectric lenses making the chipset suitable for long-range radar measurements which are demonstrated up to 150 m. The MMICs are realized in a 130 nm SiGe BiCMOS technology with an f_T and f_max of 500 GHz and 610 GHz respectively.

Electric vehicle charging stations (EVCSs) can expose distribution feeders to cyberattacks. While machine learning methods, including graph neural networks, can localize which bus is compromised, significant challenges remain in data sharing and model training. For example, privacy regulations grant EVCS owners the right to delete their training data from a deployed model, yet retraining from scratch on every request is computationally prohibitive. To address this, we study graph unlearning (GU) for EVCS cyberattack localization, formulated as a feature-level unlearning problem on a graph-level multi-label classification task. Specifically, we propose gradient difference-based graph unlearning (GDGU), which removes the influence of the requested deletion data through a first-order parameter correction. The correction is computed from the gradient difference between the original training data and a modified dataset in which only the charging power features at the requested EVCS buses are unlearned. Then, a batch-normalization recalibration and a brief recovery fine-tuning step are applied to restore localization utility. We benchmark GDGU against two second-order GU baselines on the IEEE 34-bus, 123-bus, and 8500-node distribution networks across three graph neural network backbones and cumulative unlearning scenarios. GDGU matches the strongest baseline on localization utility and reaches forgetting fidelity close to full-retraining, while unlearning 10 to 12 times faster than retraining from scratch and using far less memory than the second-order GU baselines.

Deploying vision transformers (ViTs) on sensor-edge systems is limited not only by on-device compute, but also by the energy and bandwidth required to transmit high-dimensional image data from the sensor to the processor. While in-sensor and near-sensor computing reduce this cost through early feature extraction, existing methods often provide only modest compression. We observe that the frequency domain provides a naturally compact representation of visual information and can be exploited at the sensor level to reduce sensor-to-processor data movement. Building on this insight, we present FrequencyFormer, a co-designed sensor-to-processor pipeline for efficient ViT inference. FrequencyFormer includes: (1) a multi-scale DCT tokenizer that compresses a 224x224 image into compact frequency-domain tokens, achieving up to 128x reduction in off-chip data volume with modest accuracy loss; (2) a LUT-based near-sensor hardware implementation that leverages fixed DCT coefficients for multiplier-free, energy- and area-efficient tokenization; and (3) a modified MIPI-based low-power communication architecture that further reduces transfer energy. FrequencyFormer serves as a drop-in replacement for standard ViT patch embedding and remains compatible with pretrained backbones across classification, detection, and segmentation tasks. The pipeline achieves 28.8 TOPS/W, reduces communication energy by 230x, and lowers total sensor-side energy by 2.22x, demonstrating frequency-domain tokenization as a scalable foundation for in-sensor ViT deployment.

We study ramping procurement co-optimized with economic dispatch under net-demand uncertainty. We examine two flexible ramp product designs implemented by grid operators: single-interval and multi-interval co-optimization. Both rely on rolling-window stochastic optimization with binding and advisory interval decisions. We develop analytical frameworks to evaluate generator profits, consumer payments, bid cost recovery (BCR), and operational efficiency. In particular, net-demand uncertainty may lead to generator under-compensation, requiring discriminatory BCR. While operational efficiency is invariant to energy and ramp prices, producer profits and consumer payments depend critically on pricing. We examine locational marginal pricing (LMP) and two uniform pricing: maximum dispatch cost pricing (MDCP) and maximum temporal locational marginal pricing (MTLMP). With out-of-market BCR, LMP yields discriminatory energy prices, whereas MDCP eliminates BCR and MTLMP does so in most cases. This property enables us to establish truthful bidding incentives for price-taking generators under MDCP. Our analysis highlights trade-offs between single- and multi-interval co-optimization and pricing designs: single-interval energy-ramp co-optimization is advantageous under high forecast uncertainty and moderate ramping requirements, whereas multi-interval co-optimization is superior when net-demand forecasts are relatively accurate and ramp needs are challenging. Empirical results on CAISO and ERCOT data show that MDCP and MTLMP increase producer profits with negligible BCR, albeit at the expense of higher consumer payments relative to LMP.

Spatial degrees of freedom (DoF), sampling, and beamforming are fundamental to multi-user large intelligent surfaces (LISs), where electromagnetic fields must be shaped, resolved, and focused at multiple near-field locations. This work estimates the number of DoF using closed-form expressions derived from the mutual shadow area for representative LIS configurations. The resulting DoF predictions are validated through numerical singular-value spectra, whose spectral knee points closely match the theoretical estimates. For line-source configurations, an analytic sampling scheme is developed by partitioning the source or observation line into unit-DoF intervals, enabling the selection of spatial samples. Beamforming results using maximum-ratio transmission and zero-forcing demonstrate that approximately the number of DoF independent beams can be formed. Attempting to exceed this limit results in increased interference and degraded performance. For surface-based LIS configurations, sampling points are instead determined numerically using the discrete empirical interpolation method. The corresponding beamforming results further confirm that the target region can support approximately as many independent beams as predicted by the DoF analysis. Finally, a polarization-aware study reveals that the electric-field components contribute unequally to the DoF and that the total-field DoF is twice that of a single polarization component.

We consider an intrusion detection task in which a defender must jointly optimize sensor placement locations and orientations to minimize the probability of missed detection of an intruder traversing a protected environment. We decompose this problem into a meta problem, termed SensorPlacement, and an embedded subproblem, termed OrientationScheduling. The OrientationScheduling subproblem, for a fixed sensor placement, is modeled as a 2-player zero-sum game between the defender and the intruder, where the defender seeks an orientation strategy for the deployed sensors to minimize the probability of missed detection, while the intruder seeks a path selection strategy to maximize it. Since the defender's strategy space grows combinatorially with the number of sensors and orientations, solving the game via standard linear programming becomes prohibitive. To this end, we develop an iterative and efficient equilibrium-seeking algorithm that exploits the structure of the game's payoff function and establishes theoretical guarantees for convergence to the Nash equilibrium (NE) of the game. This NE value is then used as a utility measure in the SensorPlacement meta problem. We show that this game-value-based utility function is weakly submodular over the set of sensor placements and propose a greedy placement algorithm with near-optimality guarantees. To our knowledge, this is the first unified framework to integrate game-theoretic utility design with (weak) submodular optimization, enabling principled joint optimization of sensor placement and orientation scheduling. Through extensive simulations, we demonstrate that the proposed approach achieves near-optimal detection performance while significantly reducing computation time compared to baselines.

This paper investigates radio stripes (RSs) as a practical realization of generalized pinching antennas and proposes an RS-based generalized pinching-antenna (RS-GPA) framework. Unlike dielectric-waveguide-based passive pinching antennas that rely on passive coupling from a guided wave into free space, RSs employ active antenna processing units (APUs) deployed along a shared cable for local transmission, reception, and signal processing. This cable-like active architecture offers flexible installation and broad frequency applicability, while allowing selected APUs to act as discrete and controllable radiation or reception points for location-flexible wireless access. Based on the proposed RS-GPA framework, we establish the system and channel models by accounting for the distance-dependent APU-user channels. For downlink transmission, we formulate a circuit-power-aware sparse APU activation and beamforming problem and develop a reweighted group-sparse beamforming algorithm. To reveal the activation principle, we analyze the single-user downlink case and characterize when an additional APU should be activated by balancing transmit-power saving and circuit-power cost. Inspired by this insight, a geometry-guided low-complexity multiuser algorithm is proposed. For uplink transmission, we formulate a joint APU activation and user power control problem and develop a geometry-guided sparse activation design. Numerical results show that the proposed RS-GPA framework substantially reduces the total consumed power compared with benchmark schemes, while the geometry-guided algorithm achieves near-identical consumed-power performance to the group-sparse design with significantly lower runtime.

This paper studies a class of parametric constrained optimization problems that are motivated by applications in real time applications. Under a parameter-separable problem structure that naturally arises in these applications, the paper proposes a two phase strategy, based on offline learning and online processing, to address these optimization problems on resource limited devices. Specifically, by exploiting the separable structure, an iterative Alternating Direction Method of Multipliers (ADMM) based solution procedure is developed that enables the use of certain learning based function representations (learned offline but readily computable online) to reduce the overall online on-device implementation complexity. By carefully crafting the ADMM procedure, it is shown that even as the parameters vary, the corresponding instances of the parametric optimization problem may be solved by lightweight online computations in the device with the assistance of a neural network co-processor.

Matched-filter-based pulse-compression distributed acoustic sensing (DAS) suffers from nonzero compression sidelobes that cause deterministic inter-range-bin leakage, i.e., spatial inter-symbol interference (ISI), and false responses in reconstructed Rayleigh-backscatter traces. We propose a cyclic-prefix orthogonal frequency-division multiplexing (CP-OFDM) DAS system for $\phi$-OTDR, using a data-bearing CP-OFDM waveform as the sensing probe. It also recovers forward communication data, providing an initial demonstration of shared-waveform integrated sensing and communication (ISAC). To our knowledge, this is the first formulation of distributed Rayleigh backscattering as a finite-memory sensing multipath channel. Based on this formulation, we prove that, if the useful OFDM and CP lengths cover the sensing multipath memory, CP removal, one-tap frequency-domain equalization, and inverse discrete Fourier transform reconstruct each range-bin coefficient without deterministic waveform-induced spatial ISI, enabling spatial-ISI-free phase demodulation. For a simulated 5.2-km link with ten simultaneous strong and weak events spaced by 5.31--5.83 m within groups, the proposed receiver suppresses off-event leakage and improves phase-trace mean-square error by up to 29.55 dB over matched-filter pulse compression. In a heterodyne coherent experiment over a 5.2-km fiber link with 111.984-MHz occupied bandwidth, 500-Hz PZT vibrations are blindly localized at 5.071 and 5.066 km under 5- and 1-V drives, respectively, and their waveforms are recovered with correlation coefficients of 0.990 and 0.962. The same data-bearing probe also recovers an image with zero measured bit-error rate and a median error vector magnitude of -23.14 dB. These results validate CP-OFDM-aided frequency-domain channel reconstruction for spatial-ISI-free DAS and demonstrate its potential for shared-waveform optical-fiber ISAC.

With 890,000 annual new cases globally, head and neck squamous cell carcinoma has one of the highest recurrence rates among solid malignancies. Although frozen section analysis is the standard of care for intraoperative margin assessment, accurately relocating detected positive margins on the resection bed remains challenging due to imprecise alignment between resected specimens and their resection bed, compounded by post-resection mucosal tissue shrinkage. We present a biomechanics-driven deformable registration framework that corrects post-resection tissue deformation to provide intraoperative guidance. Our approach registers 3D specimen meshes to intraoperative resection bed point clouds using a deformable registration approach based on regularized Kelvinlet basis functions. The registration matches surface point clouds, fiducial landmarks, and boundary contour constraints that directly penalize perpendicular distance-to-agreement between specimen and resection bed boundaries. Across nine specimens from skin, buccal mucosa, and tongue sites, the overall mean target registration error was $11.11 \pm 4.07$ mm using rigid registration, which decreased to $8.20 \pm 2.68$ mm (26.19\% reduction) using deformable registration without contour constraint. The proposed contour-constrained deformable registration further reduced the error to $5.62 \pm 2.28$ mm, a 49.41\% reduction relative to rigid registration. We observed the largest reduction in the most clinically challenging tongue specimens. We also performed a systematic two-stage parameter search to characterize the relative importance of surface alignment, fiducial correspondences, contour constraint, and strain energy regularization. This search revealed that contour weighting dominates registration accuracy for tissue types with large lateral deformation, while the algorithm operates over a broad range of parameter combinations.

The challenge associated with recognizing dysarthric speech primarily arises from pronounced acoustic variability attributed to impaired articulatory precision. Past research has demonstrated improved recognition through the use of hybrid DNN/HMM sequence discriminative training. This paper presents a comprehensive investigation of various combinations of acoustic features tailored to different Acoustic Models, offering suitable feature selections for each. The incorporation of Pitch features notably improved recognition performance, especially for sentence recognition tasks involving dysarthric speech. Through a systematic examination of the TORGO database, we have demonstrated the potential to enhance the performance of the state-of-the-art Factorized Time Delay Neural Network (F-TDNN) model for recognizing dysarthric speech. Our methods, implemented with the F-TDNN model, resulted in a 4.65\% relative improvement in isolated word recognition and a 4.63\% relative improvement in sentence recognition for dysarthric speech, compared to previous research. This improvement effectively compensates for speech variability, attributable to our deliberate selection of the number of overlapping frames between consecutive training example chunks.

The challenge associated with recognizing dysarthric speech primarily arises from pronounced acoustic variability attributed to impaired articulatory precision. Past research has demonstrated improved recognition through the use of hybrid DNN/HMM sequence discriminative training. This paper presents a comprehensive investigation of various combinations of acoustic features tailored to different Acoustic Models, offering suitable feature selections for each. The incorporation of Pitch features notably improved recognition performance, especially for sentence recognition tasks involving dysarthric speech. Through a systematic examination of the TORGO database, we have demonstrated the potential to enhance the performance of the state-of-the-art Factorized Time Delay Neural Network (F-TDNN) model for recognizing dysarthric speech. Our methods, implemented with the F-TDNN model, resulted in a 4.65\% relative improvement in isolated word recognition and a 4.63\% relative improvement in sentence recognition for dysarthric speech, compared to previous research. This improvement effectively compensates for speech variability, attributable to our deliberate selection of the number of overlapping frames between consecutive training example chunks.

Dysarthric speech recognition is crucial for facilitating effective communication among individuals with dysarthria. However, accurately recognizing dysarthric speech poses significant challenges due to varying severity levels and limited data availability. In this paper, we explore data augmentation techniques for dysarthric automatic speech recognition (ASR) systems by fine-tuning the End-to-End pre-trained Wav2Vec2 model, with a specific focus on severity levels. To address the challenges of data scarcity and the need for extensive data in fine-tuning pre-trained ASR systems for dysarthric speech, we investigate four prominent data augmentation methods: Speaking-Rate Modification (SRM), Pitch Modification (PM), Formant Modification (FM), and vocal tract Length Perturbation (VTLP), tailored to different aspects of dysarthria. The study uses individually fine-tuned Wav2Vec2 models for each severity class as baseline systems. Additionally, we conducted severity-specific fine-tuning of the ASR model using augmented data. Results demonstrate distinct efficacy patterns for each augmentation technique across severity levels. The best WERs were achieved with SRM ($s$=0.8) for \textit{low} (9.02\%) and \textit{medium} (38.11\%) severities, and with PM ($\tau$=0.8) for \textit{high} severity (55.15\%), reflecting relative improvements of 30.02\%, 16.64\%, and 15.47\%, respectively. These results confirm the effectiveness of the augmentation methods in improving dysarthric ASR performance.

Automatic speech recognition remains unreliable for dysarthric speech due to data scarcity and high inter-speaker variability. While synthetic data can address these gaps, traditional methods often require extensive speaker-specific data, reintroducing the collection bottleneck. We investigate zero-shot voice cloning as a low-burden augmentation strategy, using Higgs Audio V2 to clone speakers in the TORGO dataset. We fine-tune (FT) Whisper-medium on cloned, real, and hybrid data and evaluate on held-out real speech. Compared to the zero-shot (31.62%), Clone FT achieved a competitive 26.00% WER, nearly matching the 24.44% and 25.12% seen with Real and Hybrid FT, respectively. Notably, Clone and Hybrid FT outperform Real FT for moderate-severe speakers. Clone FT achieves the best results (11.45% relative) in cross-corpus evaluation on the SAP-1102. These results suggest that zero-shot cloning provides scalable training data that circumvents the costly data collection bottleneck.

Self-supervised speech encoders are often fine-tuned with language supervision, which can overlook geographical variation. To understand the learned representations under joint supervision of language and district compared to language-only supervision, we fine-tune Whisper-base and Wav2Vec2.0-base for classification tasks with joint language-district (386 classes) and language-only classification (60 languages). The language-district supervision improves district discrimination conditioned on language in the embedding space while strong marginal language classification. We analyze the structure of the learned embeddings using Normalized Conditional Mutual Information (NCMI), showing that language-district supervision produces global language clusters with structured within language subclusters aligned to district variation, enhancing geographical separability without degrading language-level organization.

Hyperspectral infrared observations are an important data source for numerical weather prediction (NWP) because they provide rich information on the vertical structure of atmospheric temperature and humidity. However, most existing deep learning methods mainly focus on one-way retrieval from radiances to atmospheric profiles, while the reverse radiance simulation process and the consistency between atmospheric state space and radiance observation space are insufficiently considered. In this study, we propose SIMBA, a unified bidirectional retrieval-forward simulation framework for FY-4A GIIRS hyperspectral infrared radiance modeling toward NWP applications. The framework jointly performs atmospheric profile retrieval and radiance reconstruction, introduces a cycle-consistency constraint to strengthen the coupling between the two processes, and employs a bidirectional Mamba state-space module to capture long-range dependencies along pressure levels. Using collocated FY-4A GIIRS observations and ERA5 reanalysis data, the proposed method is evaluated for temperature retrieval, specific humidity retrieval, long-wave radiance reconstruction, and medium-wave radiance reconstruction. Experimental results show that SIMBA outperforms several representative deep learning baselines across both retrieval and reconstruction tasks, while ablation experiments confirm the contribution of the bidirectional design and cycle-consistency mechanism. These results demonstrate that the proposed framework is effective for joint atmospheric profile retrieval and hyperspectral infrared radiance modeling, and suggest potential for future Jacobian-related analysis and NWP-oriented extensions.

Mean opinion score (MOS) prediction models are widely used as proxy metrics in text-to-speech (TTS) research, yet their ability to capture quality differences beyond acoustic fidelity remains unclear. We investigate this via controlled perturbations on speech: acoustic degradation, prosodic errors, and manipulation of speaker-specific characteristics such as pitch and speaking rate. We obtained MOS predictions for these speech samples from both human listeners and the model, and analyzed the differences in their perceptual characteristics. Results show that most models track acoustic degradation well, while all are insensitive to prosodic errors despite large subjective score drops. For speaker characteristics, models exhibit a double dissociation: strong mean fundamental frequency (F0) biases absent in human ratings, yet insensitivity to speaking rate and F0 variability that humans notice. These findings highlight limitations of scalar MOS prediction beyond acoustic fidelity.

Wireless foundation models (WFMs) have recently emerged as a promising paradigm for AI-native 6G networks, enabling universal channel representations adaptable to diverse communication and sensing tasks. Existing WFMs are predominantly built upon the Transformer architecture, which delivers superior performance but incurs computational complexity proportional to the square of the input sequence length, posing a significant barrier to their deployment under stringent inference latency constraints. To address this issue, in this paper, we propose ConsisFormer, a compute-efficient Transformer design based on short-term consistency of wireless channels, as a WFM backbone. By utilizing the observation that adjacent time or frequency instances share similar clusters of scatterers and thus exhibit similar channel characteristics, we develop an adaptive token aggregation (ATA) module to dynamically merge neighboring channel state information (CSI) tokens, thereby reducing the length of the token sequence involved in self-attention calculations to lower the computational cost. Furthermore, we propose a feature sequence interpolation (FSI) method to recover the full CSI representation based on the sparse feature sequence outputted from the Transformer blocks, thus keeping the performance unaffected while ensuring low complexity. Moreover, we propose an aggregated auto-encoder (AAE) pre-training paradigm for WFMs, enabling robust channel representation learning from sparsified CSI tokens via compression and recovery. Simulation results show that the proposed design reduces the computational complexity of WFM by over $83\%$ with negligible performance loss on various tasks including channel prediction, LoS/NLOS classification, beam prediction, and localization.

Self-supervised speech features encode both content and speaker information. Recent work introduced an SVD-based factorisation that decomposes these features into a shared content matrix capturing temporal variation and speaker-specific transformations capturing static speaker characteristics. However, how information is organised within these components remains unclear. In this paper, we investigate how the dimensions of WavLM-factorised content and speaker subspaces correlate with speech characteristics such as pitch, intensity, and voicing. We find that leading dimensions in the content space primarily capture intensity, higher-order formants, and voicing, while pitch is encoded in a later dimension. In contrast, the highest-variance speaker dimension is strongly associated with pitch and gender, with later dimensions capturing high-frequency variation. Intervention experiments show that manipulating these dimensions enables targeted control of speech characteristics for speech synthesis. Furthermore, modifying the content and speaker representations jointly provides fine-grained control over characteristics such as pitch and intensity.

Most generative speech enhancement methods rely on explicit time-step embeddings for temporal conditioning. In this paper, we propose the Autonomous Rectified Flow framework, which challenges the necessity of such conditioning. Using a linear interpolation path, we show that the target vector field is inherently time-invariant. We further introduce a time-unconditional network that eliminates explicit time-step information and infers the denoising direction solely from the spatial relationship between the current state and the noisy observation. Predicting this target vector field is equivalent to modeling the noise distribution. By avoiding overfitting to temporal trajectories, the proposed autonomous design significantly improves generation quality, robustness, and inference efficiency.

Orthogonal Frequency Division Multiplexing (OFDM)-based integrated sensing and communication systems demand a unified waveform that simultaneously supports reliable data transmission, low peak-to-average power ratio (PAPR), and accurate channel sensing. Existing approaches multiplex communication and sensing across separate time or frequency resources, or rely on dedicated pilots for channel estimation, limiting system flexibility and increasing overhead. This paper proposes an amplitude-phase-frequency block modulation (APFBM) scheme for OFDM that achieves waveform-level integration of communication and sensing without resource partitioning. Information symbols are represented on the Stokes sphere and mapped to energy-normalized Jones vectors through an unambiguous rule that establishes a deterministic phase reference per block. This mapping exposes a commonphase degree of freedom inherent in the signal structure. At the transmitter, a grouped phase optimization algorithm exploits this structural freedom to reduce the PAPR without side information (SI). At the receiver, the same deterministic phase structure enables a Viterbi-based maximum-likelihood (ML) sequence detection algorithm that jointly recovers the optimization phases and estimates the block-wise channel amplitude and phase. No dedicated sensing pilots are required, as the sensing observables are extracted directly from the communication waveform. Closed-form error-rate and sensing-accuracy expressions are derived. Numerical simulations and over-the-air measurements on a software-defined radio link confirm effective PAPR reduction, accurate channel sensing, reliable phase recovery, and stable channel state information reconstruction. The proposed scheme trades a moderate reduction in spectral efficiency for a unified waveform design that simultaneously delivers SI-free PAPR reduction and pilotless sensing.

Burst suppression (BS) is a clinically relevant electroencephalographic (EEG) pattern used to monitor sedation depth and brain activity in critically ill patients, particularly during induced coma in Intensive Care Units (ICUs). Automatic burst detection remains challenging because BS patterns vary substantially between patients and annotated datasets are scarce. Recently, EEG Foundation Models (FMs) have shown promise across several downstream EEG applications, but their usefulness for BS detection remains unexplored. We present the first study to evaluate EEG FMs for burst detection in reduced-montage ICU EEG without patient-specific calibration. We compare REVE-base, LUNA-large and LuMamba-Tiny with an adaptive thresholding baseline and a task-specific EEGNet baseline. Additionally, we complement conventional EEG window-based classification with event-based burst detection evaluation. This helps assessing clinically whether burst episodes are correctly detected, reducing the impact of expected annotation variability. The best model, REVE-base, achieved the highest event-based F1-score ($0.868 \pm 0.167$) and reduced burst-per-minute error by 52.1% and 36.2% compared to EEGNet and adaptive thresholding respectively, supporting FMs for scalable EEG monitoring in ICU. Ablation experiments showed that full fine-tuning was the most effective adaptation strategy with respect to frozen-backbone training, two-step fine-tuning, and LoRA-based adaptation, improving event-based F1-score over frozen-backbone training by up to $+0.102$ for LUNA-large. With reduced labeled datasets, pretrained REVE-base outperformed random initialization by $+0.723$ event-based F1 points at 25% of the cohort, demonstrating the benefit of pretraining FM representations when adapted to burst detection with limited labeled data.

User-defined keyword spotting (UD-KWS) enables zero-shot wake-word detection from text, but existing systems learn speaker-invariant representations that cannot reject impostors uttering the correct keyword. We address this dual zero-shot setting -- unseen keywords and unseen speakers -- with ZP-KWS, a lightweight framework combining a phoneme-supervised audio encoder with a GE2E-pretrained compact speaker encoder (about 0.9M parameters). Multiplicative late fusion at inference grants each branch independent veto power, supporting modes from conventional detection to strict speaker-gated activation without retraining. On LibriPhrase, Google Speech Commands, and Qualcomm datasets, ZP-KWS reduces target-only FRR at 1% FAR by up to 60% relative to the strongest baseline while maintaining competitive keyword detection, all within a 1.55M parameter budget for edge deployment.

This paper presents a novel neural nonlinear control framework for a multi-drone slung payload system with variable-length cables and a rigid-body payload. The equations of motion are formulated into a decoupled structure, where the payload and cable length dynamics are governed by independent control channels, facilitating modularized controller design on reduced-order subsystems. A neural control contraction metric (CCM) controller and a neural feedback controller are jointly trained to enforce contraction conditions for the payload subsystem. Separately, a cable length control law is derived that exploits the variable-length degree of freedom for obstacle avoidance. Numerical simulations demonstrate trajectory tracking of a rigid-body payload and gate traversal capabilities of the overall system under the proposed control framework.

Existing mean opinion score (MOS) prediction models typically predict utterance-level naturalness MOS and can be insensitive to localized pitch-accent errors. We propose Pitch-Accent-focused Speech Quality Assessment (PASQA), which explicitly targets pitch-accent correctness. To train our model, we construct a controlled Japanese accent-error dataset by changing accent patterns using an accent-controllable text-to-speech system, and compute a pseudo accent-quality score from the accent-error rate. PASQA builds on self-supervised representations and employs mora-conditioned fusion, ranking loss, an auxiliary accent-error localization task, and speaker-invariant training. Experiments show that conventional models fail to preserve the ordering by accent-error severity, whereas PASQA achieves high ordering accuracy on both seen and unseen speakers. Further, PASQA shows stronger agreement with human accent-correctness judgments. The code is available at this https URL.

This paper investigates the techno-economic viability of shared electric vehicle (EV) fleets for demand charge reduction under practical logistical and operational constraints. Unlike idealized models that overlook transit overheads, we propose a high-fidelity fleet management framework that explicitly accounts for the spatio-temporal coupling of energy consumption, labor costs for EV drivers, and battery degradation. We formulate the dispatch problem as a mixed-integer linear program (MILP) that jointly minimizes demand charges and total cost of ownership. To address the computational complexity arising from path-dependent constraints, we develop a marginal-value-based heuristic algorithm that achieves near-optimal performance with high computational efficiency. Using real-world data from San Francisco, our analysis reveals that a modest number of EVs can achieve significant demand charge savings, sufficient to recover the ownership and operational expenses. Our results also show how tariff structures, fleet size, and cost components influence overall profitability.

This paper studies a free-space optical (FSO) link assisted by an optical reconfigurable intelligent surface (ORIS) and enhanced by a hybrid automatic repeat request (HARQ) scheme. The ORIS creates a virtual line-of-sight path around obstacles, while HARQ recovers frames corrupted by turbulence, pointing jitter, and geometric loss through retransmission and combining. We first derive a tractable statistical model for the end-to-end transmitter-ORIS-receiver (Tx-ORIS-Rx) reflected channel by jointly accounting for atmospheric turbulence, ORIS-induced pointing errors, and geometric attenuation. Building on these results, we obtain closed-form outage probability (OP) expressions for HARQ with Chase combining (HARQ-CC) and analytical outage upper bounds for HARQ with incremental redundancy (HARQ-IR), valid for an arbitrary maximum number of transmission rounds. We further conduct a high signal-to-noise ratio (SNR) analysis that provides a thorough characterization of the outage behavior and reveals the diversity order of both schemes. In addition, we characterize the delay behavior of the truncated HARQ process through the mean number of transmission rounds and the conditional mean number of rounds given successful decoding. Finally, numerical and Monte Carlo results validate the proposed analysis and show that HARQ substantially improves ORIS-assisted FSO reliability, with HARQ-IR achieving lower outage and delay than HARQ-CC, even for a small number of retransmission rounds.

Recent flow-matching text-to-speech (TTS) models, such as F5-TTS, rely on a reference transcript at inference time, obtained from an external ASR system. This dependency makes zero-shot TTS brittle for accented or dysarthric speakers, precisely the scenarios where it is most needed. Moreover, we find that text-based reference conditioning can propagate atypical acoustic patterns from atypical speech into synthesis, even when ground-truth transcripts are available. To address this, we propose RTFree-F5, which replaces the reference transcript with continuous self-supervised speech representations mapped into F5-TTS's text-conditioning space via a lightweight adapter, while reusing the pretrained checkpoint. On dysarthric speech, RTFree-F5 reduces WER from 24.6% to 10.4%, surpassing even the ground-truth reference transcript baselines, while improving naturalness and remaining competitive on standard benchmarks without requiring any reference transcript.

We study a data-driven control problem in the presence of arbitrary data poisoning attacks. We assume that a subset of offline output data is stored in unprotected locations and may be poisoned by an adversary. We first establish fundamental limitations for data-driven control arising from such poisoned data: poisoning attacks are not detected/identified from the dataset alone; unprotected data are non-informative for controller design with worst-case guarantees; and hard constraints on unprotected outputs are not certifiable. Motivated by these limitations and the data-enabled predictive control (DeePC) technique, we propose Secure DeePC, a data-driven control algorithm that is resilient against poisoning attacks. It first runs output-truncated DeePC using only the protected dataset until the online input becomes persistently exciting. It then uses online measurements to reconstruct the partial offline dataset, and finally returns to full-output DeePC. Secure DeePC achieves MPC-equivalent performance in finite time almost surely under certain conditions. Simulation results illustrate the efficacy of the proposed framework against poisoning attacks.

Stuttering detection and classification using deep learning methods has the potential to improve the process of stuttering severity assessment. Most stuttering classification datasets provide clip-level labels, making them unsuitable for fine-grained frame-level classification needed to determine the duration of individual stuttering dysfluencies. To overcome this challenge, we present a multiple instance neural network architecture based on fine-tuned wav2vec 2.0, WavLM and Whisper encoders. We apply instance- and embedding-based multiple instance learning approaches to train models on a clip-level dataset for both clip-level and frame-level stuttering classification tasks. Our results show a 23% improvement in frame-level F1 score and between 2% and 9% in clip-level F1 score, demonstrating the ability of our models to utilize clip-level data for frame-level segmentation.

The performance of high-tech systems is often dictated by a few performance objectives shared among the many closed-loop controlled subsystems operating in the machine, such as synchronization, coordination, and alignment, which necessitates control methods that explicitly address them to achieve optimal performance. The aim of this paper is to introduce a framework that improves system performance through system-level controllers designed to be implemented as add-ons to the existing subsystem control structure. The developed method parametrizes all stabilizing system-level add-on controllers using the Youla framework, enabling a convex formulation of the sparse $\mathcal{H}_2$ synthesis problem. The result is a sparse add-on controller that achieves the optimal trade-off between combined performance and interconnection complexity, as demonstrated through numerical simulations.

Large Language Model (LLM)-based agents are increasingly being used to automate multi-step engineering work flows by interacting with software tools, interpreting intermediate results, and autonomously planning subsequent actions. Power system dynamic studies represent a particularly promising yet largely unexplored application domain for these agents. Unlike static computational tasks, dynamic studies often require more time on model parameter calibration, engineering judgment, and decision making under constrained action spaces. This paper introduces PowerAgentBench-Dyn, a benchmark designed to evaluate Agentic AI systems on power system dynamic-analysis tasks. The benchmark targets problems that cannot be reduced to a single optimization or coding task, but instead require a type of reasoning, tool usage, and iterative experimentation routinely performed by experienced power system engineers. The proposed framework includes two initial benchmark tasks. The first, the Dynamic Model Quality Review Benchmark, evaluates agents' ability to validate and diagnose dynamic models based on model-quality compliance criteria specified by system operators. The second, the Dynamic Security Risk Screening Benchmark, assesses agents' capability to leverage semantic memory and a limited simulation budget to identify, rank, and analyze the most critical short-circuit contingencies from an unseen fault dataset, as well as propose and evaluate possible mitigation measures. For each task, we define the simulation environment, observation and action spaces, and evaluation metrics. The benchmark is reproducible in a metric-based sense: released cases and simulator settings define a deterministic evaluator, while stochastic agent behavior is assessed over repeated runs using success rates and other metrics. The benchmark supports the development of future Agentic AI for power system operation and planning.

Integrated Sensing and Communication (ISAC) refers to the capability for the network to provide communications services whilst also being able to sense the environment in a scalable manner. One of the key functions of ISAC is the accurate localization of passive and mobile sensing targets. This paper introduces a novel hybrid TRP-UE sensing mechanism that improves network-based sensing performance. Evaluation results are provided using 3GPP-compliant ISAC channel models. The results demonstrate the significant benefit in complimenting TRP-based sensing with UE-assisted sensing in challenging propagation environments such as indoor factory.

Real-time process monitoring requires methods that extract actionable information from high-dimensional time-series data. In this work, we present a new approach for process monitoring that combines tools of topological data analysis (TDA) and machine learning. In the proposed approach, we represent multivariate time-series data as manifolds and use topological descriptors to summarize the structure of such data; we then use a neural ordinary differential equation to learn the dynamic evolution of the topological structure of the system. Using real data from an industrial process, we show that this trajectory-based event detection approach is effective at detecting diverse types of events. We contrast this approach against reconstruction-based approaches such as principal component analysis and autoencoders and against a trajectory-based approach that uses Koopman autoencoders.

Pinching-antenna systems (PASs) can overcome signal blockage by repositioning dielectric radiating elements, called pinching antennas (PAs), along meter-scale waveguides to create line-of-sight links. Since each waveguide is driven by a single radio-frequency (RF) chain, non-orthogonal multiple access (NOMA) is well suited for PAS-based multi-user communications. This paper studies a PAS-enabled multi-user downlink NOMA system with multiple waveguides, each equipped with multiple PAs. The PA positions and base-station transmit precoding are jointly optimized to maximize the minimum user rate. The resulting problem is highly non-smooth and non-convex because of the rapidly oscillating coherent sums caused by inter-PA interference. To tackle this challenge, we propose a two-stage structured optimization framework. In the first stage, coarse PA-position and power-allocation optimization is performed using an interior-point algorithm while neglecting the PA channel phases, which gives solutions near the true optima. In the second stage, PA positions and transmit precoding are fine-tuned while accounting for the PA channel phase shifts. This stage first applies phase zeroing, where each PA is locally repositioned to align the corresponding channel phase toward zero and promote constructive coherent combining. It then uses an alternating procedure that iteratively performs forward-backward PA position refinement and successive-convex-approximation-based complex transmit precoding optimization until convergence, thereby reducing residual phase mismatch. Simulation results show that the proposed framework significantly outperforms heuristic optimization benchmarks with much lower computational time. They also demonstrate large gains over a comparable multiple-input multiple-output downlink NOMA system and reveal the impact of the number of PAs, users, and transmit power on system performance.

Classifier guidance is a way to control diffusion generation by using a noise-conditioned classifier to steer the sampling process toward a target class. One drawback of classifier guidance is that it requires two separately trained models: a classifier and a diffusion model. We therefore study a more compact alternative in which a conventionally trained speech classifier is repurposed as the backbone for diffusion generation. Starting from a frozen noise-conditioned classifier in log-Mel space, we attach a lightweight subnetwork that reuses intermediate classifier representations and train only this subnetwork under a Denoising Score Matching objective. Our work shows that a pretrained classifier can be repurposed for conditional generation, providing an appealing bridge between discriminative modeling and conditional speech synthesis resulting in high speech quality within a single-backbone model, with reduced memory footprint and computational cost.

Acoustic-to-articulatory inversion (AAI) remains challenging under domain shifts where changes in speaker attributes and cross-language conditions often degrade performance. We conduct a systematic evaluation under such shifts and establish baseline benchmarks on FROST-EMA, a Finnish-Russian bilingual EMA corpus. FROST-EMA addresses the English bias and limited speaker diversity of existing resources. We benchmark (i) articulatory targets (raw EMA coordinates vs tract variables), (ii) acoustic front-ends (MFCC vs SSL features), and (iii) inversion back-ends (BiLSTM vs a lightweight attention-based sequence model). We further define evaluation protocols for cross-gender transfer (within language) and cross-language transfer (within gender). The results indicate that cross-gender mismatch introduces moderate Pearson correlation declines (approximately 0.05 to 0.10) relative to the in-domain baseline, whereas cross-language mismatch causes larger drops (approximately 0.10 to 0.20).

Information lattice learning (ILL) learns interpretable rules of a signal by alternately projecting the signal onto a partition lattice that encodes a hierarchy of abstractions and lifting selected rules back to the signal domain. When the signal is a probability mass function, we show the probabilistic rules learned by ILL admit a natural probabilistic graphical model (PGM) interpretation and develop this interpretation in detail. A partition in ILL induces a deterministic quotient variable, and a rule is the marginal law of that quotient variable. A rule set is therefore a collection of marginal constraints over interpretable abstractions. General lifting is the feasible family of all joint distributions satisfying those constraints, while special lifting chooses a maximum-ignorance reconstruction, implemented in ILL by an L2 uniformity principle closely related to maximum entropy. Under a Shannon-entropy lifting, the same constraints yield a log-linear factor graph whose factors are indexed by learned abstractions. The information lattice itself, however, is not a Bayesian network: its edges encode refinement and coarsening of abstractions, not conditional dependence. Thus ILL is best viewed as structure learning for interpretable constraint-based factor graphs over quotient variables. This view clarifies how ILL relates to graphical models and maximum entropy models, while suggesting new directions for inference, identifiability, and hybrid symbolic-probabilistic learning.

Self-supervised speech encoders are predominantly trained by predicting discrete hard cluster IDs at masked positions, a recipe that collapses acoustic ambiguity at category boundaries and requires interrupting training to re-cluster the entire corpus between iterations. We introduce S-JEPA, a JEPA-style encoder-predictor pair trained to match the soft posteriors of a Gaussian Mixture Model at masked positions via KL divergence. Training runs as one continuous optimization trajectory in two phases: a fixed GMM over MFCC features, then an online GMM over encoder features, with the input layer selected adaptively from a label-free signal, removing both the offline re-cluster step and the hand-tuned choice of which transformer layer to cluster on. Under the SUPERB protocol, S-JEPA achieves the lowest WER among evaluated SSL methods below 90M parameters and matches HuBERT-Base on emotion recognition at roughly half its parameter count, establishing a new Pareto frontier without offline re-clustering or teacher distillation. An analysis of the predictor's per-frame entropy on held-out speech reveals a bimodal distribution with a substantial minority of frames near the entropy of a perfect two-cluster tie, providing direct empirical evidence that the soft-target objective preserves the acoustic ambiguity that hard targets would collapse. Code is available at this https URL.

Recent advancements in Resistive Force Theory (RFT) enable approximation of ground reaction forces for locomotion in sand without the computational expense of modeling interactions with individual grains. However, these tools have been absent in 3D physics engines commonly used for robot simulation. We explore if resistive force approximations are sufficient, when integrated with standard dynamics calculations, to provide a stable substrate for a freely walking robot. To determine this, we implement 3D Granular Resistive Force Theory (3D RFT) in a physics simulation engine, MuJoCo. We verify simulations in multiple scenarios to demonstrate that key trends due to end effector shape, speed, and loading are preserved. Our implementation predicts walking distance and foot sinkage of a 12-Degree of Freedom hexapod robot within 20\% of experiments in sand. While RFT has inherent approximations, the open source tool described here has potential to help develop new and improved robot designs to traverse granular media substrates.

This paper presents an invariant extended Kalman filtering (InEKF) approach for real-time state estimation of humanoid robots operating on non-inertial ground using only onboard proprioceptive sensing. The proposed approach estimates the robot's base position and velocity relative to the moving ground frame without requiring direct measurements of ground motion or externally mounted sensors. By exploiting kinematic constraints at the stance foot through foot-mounted IMUs, the filter accounts for ground-induced nonlinearities in the process and measurement models while remaining fully proprioceptive. The estimator is formulated to admit a right-invariant measurement model, enabling favorable error dynamics under large initial uncertainties. Observability analysis establishes conditions under which the robot's relative base position and velocity are observable with respect to the non-inertial ground frame. Experiments with the Digit humanoid robot standing and squatting atop a swaying and pitching ground showcase a 96% speedup in convergence rate and an 80% reduction in position estimate errors over existing InEKFs. Walking experiments on a uni-axially rotating ground achieve an average estimation error of less than 9 cm for an initial error of up to 1 m.

Autonomous robots operating in uncertain environments must satisfy complex temporal and safety specifications despite stochastic dynamics and sensing noise. While Signal Temporal Logic (STL) offers robustness measures for gradient-based optimization, existing extensions either lack differentiability or ignore belief-space uncertainty. We introduce pdSTL (probabilistic differentiable Signal Temporal Logic), a framework that unifies probabilistic semantics with differentiable robustness over belief trajectories. pdSTL employs interval-valued probabilistic semantics to compute conservative satisfaction bounds, propagated compositionally through the STL syntax tree. We formulate the temporal robustness evaluation as a recurrent, LSTM-style unfolding of STL operators, enabling linear-time, differentiable monitoring suitable for end-to-end trajectory optimization. We validate pdSTL on simulated obstacle avoidance, lane-change maneuvers, and real-world Crazyflie quadcopter flight experiments under aerodynamic disturbances. Results demonstrate that pdSTL achieves efficient optimization with formal probabilistic guarantees, significantly outperforming deterministic differentiable STL in maintaining safety margins under real-world uncertainty.

We present a safe, real-time algorithm for active fault diagnosis and model discrimination for uncertain continuous-time nonlinear systems with process and measurement disturbances. Given a finite set of candidate models representing nominal and faulty modes, including actuator and sensor faults, we formulate an output-feedback, time-varying policy optimization problem that (i) robustly enforces state-input safety constraints over a finite horizon and (ii) drives the system to produce sampled measurements consistent with at most one model, enabling deterministic diagnosis. To solve this problem in real time, we develop a tractable approximation using interval over-approximations of reachable state and output sets, and encode diagnosability via a differentiable objective that penalizes overlap between the reachable output sets of possible models. The resulting optimization is solved efficiently online with gradient-based methods using JAX and differentiable reachability primitives. We evaluate our method on sensor and actuator fault diagnosis (up to 11 fault modes) in several high-dimensional nonlinear robotic systems, including a simulated quadrotor and fighter-jet model, a hardware differential-drive robot, and quadrupedal navigation. Across these case studies, our approach achieves reliable model discrimination in under 50 ms, outperforming baselines in discrimination success rate and speed while providing formal safety guarantees.

The March 2020 INCOSE INSIGHT special issue on AI and Systems Engineering (SE) became the most downloaded issue in the publication's history and launched a research community that now draws over 250 registrants to its annual workshop. In this article, we trace the progress in AI and SE across three phases (labeled here foundational, applied, and LLM inflection) based on the authors' reading of the field's core papers, and describe our opinions of where the community has converged and where critical gaps remain. Separately, a human-AI agreement literature review leveraging both human expertise and six AI models was performed to assess the relevance of 1,712 INCOSE INSIGHT articles and 889 SERC publications. The results identify five critical research gaps and offer guidance for practitioners navigating AI adoption, assurance, and workforce transformation in SE. We share the agreement data and the AI4SE/SE4AI Explorer web application so readers can compare their own relevance judgments with the human and AI raters.

Establishing stability guarantees for dynamical systems on Lie groups is a fundamental challenge, as classical Lyapunov methods developed for Euclidean spaces do not directly transfer to curved geometries. In this paper, we propose a framework for learning maximal Lyapunov functions for systems evolving on the special orthogonal group $\mathsf{SO}(n)$. Theoretically, we introduce a neural Lyapunov architecture based on the logarithmic map with proven approximation capabilities, and we formulate the learning problem via a Zubov-type characterization of the maximal region of attraction. A key technical contribution is the derivation of explicit, numerically tractable formulas for the derivative of the logarithmic map, enabling training through a two-phase algorithm that balances computational efficiency and accuracy. Empirically, we validate the approach on a low-dimensional nonlinear system.

This paper studies coalition formation as a decentralized dynamical process driven by unilateral exit-and-join decisions. Agents evaluate local moves using the Aumann-Dreze value, so payoffs are computed within the agent's current coalition rather than through a globally negotiated coalition structure. The resulting model links cooperative payoff allocation with noncooperative best-response behavior: a terminal partition is precisely a coalition structure with no admissible, individually profitable exit-and-join deviation. We establish equilibrium characterizations, identify conditions under which the dynamics admit scalar Lyapunov or exact-potential representations, and analyze how switching and acceptance costs shape local stability. Numerical experiments test finite-time stabilization, cost sensitivity, and a special convex-game benchmark.

Streaming speech enhancement requires balancing algorithmic latency against quality, yet existing approaches largely treat this as a binary causal versus non-causal choice. LaCo-SENet addresses this issue with two mechanisms parameterized by a single training-time hyperparameter. First, asymmetric temporal padding redistributes past and future context in convolutions, enabling systematic latency configuration. Second, dual-buffer streaming combines state buffers for past context with lookahead buffers that supply future context at both the input and feature levels. Selective state updates also prevent future-frame leakage into the streaming state, ensuring training-inference consistency. On VoiceBank+DEMAND, a fixed-budget (1.37M parameters) backbone yields a family of models spanning 12.5-75.0 ms, with PESQ rising from 3.35 to 3.43. At just 12.5 ms (fully causal), a PESQ of 3.35 matches or exceeds the prior causal state-of-the-art (3.27 at 46.5 ms).

Human legs exhibit high efficiency, agility, and impact absorption, with toes playing a crucial role in these capabilities. While many attempts have been made to implement human-like toes in robots, they have not fully replicated human characteristics nor rigorously validated their benefits. We propose a 14-DOF biped robot emulating human toes' lightweight, high-torque, robust nature. To quantitatively analyze the effectiveness of the active toes in terms of agility, efficiency, and impact absorption, we developed a high-fidelity simulation training environment that reflects actual actuators with coupled transmissions and accurate power consumption. To ensure a fair comparison between configurations with and without active toes, we designed a minimal RL reward function and applied an identical training procedure to both. The simulation results indicate that, at 1.33 m/s walking, the toe-equipped robot reduced CoT by 17.5% and heel-strike GRF by 5.0% compared with the toe-ablation configuration. On the agility test, average and maximum path deviation decreased by 25.0% and 34.0%, respectively.

Field-based modeling from onboard measurements can produce autonomous underwater vehicle (AUV) maneuvering models that reflect real operating characteristics. From an approximation perspective, conventional maneuvering models use predefined constraint polynomial bases, whereas data-driven models use data-adaptive bases. Motivated by this basis-function view, this paper presents a differentiable composite-approximation formulation, in which the polynomial-basis component and the data-adaptive basis component are treated as differentiable parts of a single predictor and calibrated jointly. A gradient-based co-calibration method is developed for full-scale AUV maneuvering prediction, where a sensitivity-aware mechanism regulates bounded polynomial updates while the neural residual captures remaining nonlinear discrepancies under a shared prediction objective. To account for ocean-current effects in field data, a turning-motion-based current estimation and compensation procedure is incorporated to construct current-compensated learning targets for training and rollout. The framework is evaluated using sea-trial data collected from a 7-meter AUV under multiple maneuvering conditions. Results show that the proposed method improves recursive trajectory and velocity prediction compared with polynomial-only, neural-only, and frozen-prior hybrid baselines, demonstrating its applicability to field-data-based AUV maneuvering modeling.

This paper studies a class of distributed optimization problems in networked nonlinear systems (NNSs) subject to input delays and consensus constraints. It introduces input-delay tolerant semiglobal convergence (IDTSC), meaning that for any prescribed compact initial set there exists an admissible delay bound under which the optimal solution is computed within consensus constraints and all node states converge to the solution. Building on a hierarchical design and input-to-state stability analysis, a new semiglobal input-delay tolerant (SIDT) algorithm is developed that practically achieves IDTSC for distributed optimization under the coupling between input delays and nonlinear dynamics. Further, by relaxing strict convexity requirements through the Polyak-Łojasiewicz condition, the SIDT algorithm broadens its applicability to nonconvex optimization. Finally, numerical experiments corroborate the theory on NNSs with input delays.

Training automated pronunciation assessment often relies on labeled learner errors or non-native corpora that are costly to collect. We propose a lightweight framework trained only on native speech resources, operating unsupervised or lightly calibrated with a small set of scored utterances. At inference, learner speech is discretized with an SSL encoder and a K-means codebook. A token language model trained on native sequences computes surprisal where higher surprisal indicates phonotactic deviation. We add a transcript-guided Text2DUnit--DTW module that predicts native token sequences from reference text and aligns them to acoustic tokens to derive error-sensitive features. Surprisal and alignment features are fused via simple regression. On SpeechOcean762, PCC improves from 0.60 to 0.66 with transcript guidance, near supervised baselines. Cross-dataset evaluation on L2-ARCTIC shows consistent gains.

This data report introduces PolSeT (Polish Semantic Timbre), a dataset designed to facilitate research in psychoacoustics and Music Information Retrieval (MIR) in Polish and cross-cultural contexts. The dataset contains data from two sequential experiments. Experiment 1 (N=60) was a free-verbalization task aimed at creating a lexicon of Polish semantic descriptors. Using 11 stimuli, a total of 1901 descriptors (701 unique) were gathered. Experiment 2 (N=105) utilized this lexicon to conduct a semantic differential study, where participants rated 18 instrument sounds on 8 bipolar scales, with repeated trials for reliability analysis. The released dataset includes raw listener responses, comprehensive demographics (experience, gender, age), audio stimuli, and extracted acoustic features with Python extraction code. This dataset addresses a gap in open timbre research data, providing both the qualitative linguistic groundwork and the quantitative ratings necessary for psychoacoustic research and the training of multilingual semantic embedding models.

Large-scale power outages are typically caused by cascading failures. These unfold dynamically through complex interactions between network dynamics and individual component failures. In contrast, the study of cascading failures in physics has focused on analyzing line overloads in the quasi-static regime. We introduce a new model that integrates the dynamics of node and line failures with a paradigmatic oscillator model for power grid synchronization. This enables us to investigate the collective cascading behavior of coupled failures for the first time. We study the impact of nodal robustness, the ability of nodes to tolerate transient disturbances, and inertia, the ability of nodes to resist frequency deviations, on cascade sizes. We discover two novel mechanisms driving system fragility: i) While low inertia is widely considered a major challenge for power grids, we find that high inertia can amplify cascade sizes unless accompanied by appropriate adjustments of other dynamical properties. ii) Further, we find that an increase in the robustness of individual nodes can paradoxically lead to larger cascades. This latter phenomenon constitutes a novel type of Braess's paradox. Understanding such counterintuitive collective effects may become central for achieving resilient future power grids.

This paper explores the use of generative models to synthesize high-quality, site-specific multiple-input multiple-output (MIMO) channel data, addressing the high cost of the extensive measurement campaigns required to acquire real-world data for AI-native wireless networks. Two location-conditioned generative paradigms are compared: a conditional denoising diffusion implicit model (cDDIM), and a conditional flow matching model (cFMM). Both these models generate MIMO channel matrices conditioned on user coordinates, to preserve the spatial structure of the deployment site. The approaches are evaluated across three dimensions: statistical fidelity (including beam consistency and effective rank), generation efficiency, and utility in downstream tasks such as channel-state information compression and beam alignment. Results across diverse propagation scenarios (28 GHz and 3.5 GHz, both line-of-sight and non-line-of-sight) demonstrate that both models accurately capture site-specific characteristics, even when trained on scarce ground-truth data. Notably, cFMM achieves a quality comparable to cDDIM with roughly an order of magnitude less inference time. Augmenting scarce site-specific datasets with these synthetic channels yields hefty performance gains in downstream physical layer tasks compared to using scarce data alone or stochastic channels.

Generating high-resolution 3D CT volumes with fine details remains challenging due to substantial computational demands and optimization difficulties inherent to existing generative models. In this paper, we propose the Pixel-Level Residual Diffusion Transformer (PRDiT), a scalable generative framework that synthesizes high-quality 3D medical volumes directly at voxel-level. PRDiT introduces a two-stage training architecture comprising 1) a local denoiser in the form of an MLP-based blind estimator operating on overlapping 3D patches to separate low-frequency structures efficiently, and 2) a global residual diffusion transformer employing memory-efficient attention to model and refine high-frequency residuals across entire volumes. This coarse-to-fine modeling strategy simplifies optimization, enhances training stability, and effectively preserves subtle structures without the limitations of an autoencoder bottleneck. Extensive experiments conducted on the LIDC-IDRI and RAD-ChestCT datasets demonstrate that PRDiT consistently outperforms state-of-the-art models, such as HA-GAN, 3D LDM and WDM-3D, achieving significantly lower 3D FID, MMD and Wasserstein distance scores.

Digital Subtraction Angiography (DSA) is one of the gold standards for vascular disease diagnosis. With the help of a contrast agent, time-resolved 2D DSA images deliver comprehensive blood flow information and can be utilized to reconstruct 3D vessel structures for medical assessment. Current commercial DSA systems typically require hundreds of scanning views to perform reconstruction, resulting in substantial radiation exposure. In this study, we propose a neural rendering-based optimization framework tailored for high-quality sparse-view DSA reconstruction to reduce radiation dosage. Our approach, termed vessel probability guided attenuation learning, represents DSA imaging as a complementary weighted combination of static and dynamic attenuation fields, with the weights derived from the time-independent vessel probability field. Functioning as a foreground mask, vessel probability provides proper gradients for both static and dynamic fields adaptive to different scene types. This mechanism enables self-supervised decomposition between static backgrounds and dynamic contrast agent flow, and significantly improves reconstruction quality. Our model is trained by minimizing the discrepancy between synthesized projections and real captured DSA images. We further employ two training strategies to improve reconstruction quality: (1) coarse-to-fine progressive training for better geometry and (2) temporal perturbed rendering loss for temporal consistency. Experimental results have demonstrated high-quality 3D vessel reconstruction and 2D DSA image synthesis.

This paper develops a Geometric Analysis-based Route Safety Assessment (GARSA) framework to enhance the safety of marine vehicles navigating in restricted waters. Utilizing line and point geometric elements to define waterway boundaries, the framework enables the construction of a dynamic width characterization function to quantify spatial safety within complex restricted navigation spaces. An iterative method is developed to calculate the dynamic width characterization function, enabling an abstracted spatial property representation of waterways. Based on this, a navigational safety index that accounts for the overall route safety as well as the spatial constraints of local segments is created, enabling the selection of the safest waterway to pass through. Case studies in Hamburg Port and hypothetical waterways show that GARSA identifies spatial safety differences among routes. For example, GARSA assigned safety assessment values of 0.6 and 135 to two intra-port transit routes of 7,258 m and 7,845 m, respectively, with the higher value indicating a safer route. Overall, GARSA provides a quantitative basis for safety-oriented route decision-making of marine vehicles in restricted waters.

Crashworthiness is a key performance measure in the design of safety-critical vehicle panel components such as B-pillars. Finite element (FE) simulations are widely used to evaluate crash responses but remain computationally expensive for large-scale, nonlinear impact scenarios, particularly when integrated into iterative design and optimisation processes. Although machine learning-based surrogate models have been developed for rapid crashworthiness analysis, they exhibit limitations in detailed representation of complex 3-dimensional components. Graph Neural Networks (GNNs) have emerged as a promising solution for processing data with complex structures. However, existing GNN models often lack sufficient accuracy and computational efficiency to meet industrial demands. This paper proposes Recurrent Graph U-Net (ReGUNet), a graph-based surrogate model for crashworthiness analysis of vehicle panel components. By representing FE meshes in graph form, the model naturally accommodates complex irregular structural geometries. Its hierarchical architecture improves computational efficiency and accuracy, while the introduction of recurrence enhances stability of temporal predictions over multiple time steps. A side-impact case study of hot-stamped steel B-pillars with varying geometries is used to generate training dataset. The trained model demonstrates high accuracy in predicting the dynamic deformation behaviour and crashworthiness indicators of previously unseen component designs. ReGUNet achieves over a 52% reduction in the average deformation prediction error relative to baseline methods, together with markedly improved computational efficiency. ReGUNet provides rapid and reliable crashworthiness assessments, which in turn accelerates the design cycle of vehicle panel components.

In modern cancer research, the vast volume of medical data generated is often underutilised due to challenges related to patient privacy. The OncoReg Challenge addresses this issue by enabling researchers to develop and validate image registration methods through a two-phase framework that ensures patient privacy while fostering the development of more generalisable AI models. Phase one involves working with a publicly available dataset, while phase two focuses on training models on a private dataset within secure hospital networks. OncoReg builds upon the foundation established by the Learn2Reg Challenge by incorporating the registration of interventional cone-beam computed tomography with standard planning fan-beam CT images in radiotherapy. Accurate image registration is crucial in oncology, particularly for dynamic treatment adjustments in image-guided radiotherapy, where precise alignment is necessary to minimise radiation exposure to healthy tissues while effectively targeting tumours. This work details the methodology and data behind the OncoReg Challenge and provides a comprehensive analysis of the competition entries and results. Findings reveal that feature extraction plays a pivotal role in this registration task. A new method emerging from this challenge demonstrated its versatility, while established approaches continue to perform comparably to newer techniques. Both deep learning and classical approaches still play significant roles in image registration, with the combination of methods, particularly in feature extraction, proving most effective.

Build systems become an indispensable part of the software implementation and deployment process. New programming languages are released with the build system integrated into the language tools, for example, Go, Rust, or Zig. However, in the hardware description domain, no official build systems have been released with the predominant Hardware Description Languages (HDL) such as VHDL or SystemVerilog. Moreover, hardware design projects are often multilingual. The paper characterizes and compares two common approaches for hardware build system implementations. The first one, the direct-Tcl approach, in which the build system code is executed directly by the EDA tool during the design build flow. The second one, the indirect-abstract approach, in which the build system produces a Tcl script, which is later run by a proper EDA tool. As none of the existing direct-Tcl build systems was close to the indirect-abstract build systems in terms of supported functionalities, the paper also presents a new direct-Tcl hardware build system called HBS. The implemented build system was used as a representative of direct-Tcl build systems in comparison with indirect-abstract build systems.

This paper addresses the problem of distributed resilient state estimation and control for linear time-invariant systems in the presence of malicious false data injection sensor attacks and bounded noise. We consider a system operator (defender) capable of deploying cybersecurity measures to counteract the sensor compromises. Although such measures enhance resilience against adversarial attacks, they may incur substantial costs; hence, it is crucial to select countermeasures to balance resilience gains and cost efficiency strategically. We first demonstrate that the system's resilience against attacks is maximized through the appropriate implementation of security measures, implying that no attacker can execute undetectable sensor attacks. Building on this analysis, we propose an algorithm that identifies the optimal security measure. While determining this measure is NP-hard in general, we also derive sufficient conditions under which efficient computation is feasible. Furthermore, we develop a distributed resilient state estimation and control scheme informed by the optimal security measure and establish conditions that guarantee bounded estimation and control errors. Finally, we validate the efficacy of our approach via numerical simulations of a vehicle platooning scenario.

This is an expository paper which discusses an approach to the linear quadratic Gaussian/loop transfer recovery (LQG/LTR) design problem for finite-dimensional single-variable (single-input/single-output, SISO) control systems. The approach is based on the utilisation of weighting augmentation for incorporating design specifications into the framework of the LTR technique for LQG compensator design. The LQG compensator is to simultaneously meet given analytical low- and high-frequency design specifications expressed in terms of desirable sensitivity and controller noise sensitivity functions. The paper is aimed at non-specialists and, in particular, practitioners in finite-dimensional LQG theory interested in the design of feedback compensators for closed-loop performance and robustness shaping of SISO control systems in realistic situations. The proposed approach is illustrated by a detailed design example: the torque control of a geared DC motor with an elastically mounted output shaft.

Prior research indicates that users prefer assistive technologies whose personalities align with their own. This has sparked interest in automatic personality perception (APP), which aims to predict an individual's perceived personality traits. Previous studies in APP have treated personalities as static traits, independent of context. However, perceived personalities can vary by context and situation as shown in psychological research. In this study, we investigate the relationship between conversational speech and perceived personality for participants engaged in two work situations (a neutral interview and a stressful client interaction). Our key findings are: 1) perceived personalities differ significantly across interactions, 2) loudness, sound level, and spectral flux features are indicative of perceived extraversion, agreeableness, conscientiousness, and openness in neutral interactions, while neuroticism correlates with these features in stressful contexts, 3) handcrafted acoustic features and non-verbal features outperform speaker embeddings in inference of perceived personality, and 4) stressful interactions are more predictive of neuroticism, aligning with existing psychological research.

Alzheimer's disease (AD) manifests as a continuous progression from normal cognition (NC) through mild cognitive impairment (MCI) to dementia. However, most deep learning approaches reduce this continuum to disjointed classification tasks, largely ignoring dynamic stage transitions. To decode this complex progression, we propose M$^3$AD, a unified framework that jointly addresses three-class diagnosis classification and diagnosis stage transition prediction using only T1-weighted sMRI. M$^3$AD leverages an interpretable multi-gate mixture of experts architecture, employing specialized routing mechanisms to dynamically capture both diagnosis-specific pathological patterns and shared structural features across the continuum. It further integrates clinical priors (age, sex, eTIV) via adaptive attention fusion to enhance generalization. M$^3$AD achieves 95.13% accuracy, compared to 90.44% reported by MCLNC under its original experimental setting, and 94.87% for transition prediction. Crucially, analyzing the multi-gate routing reveals distinct expert activation signatures distinguishing stable from progressive MCI, providing a mechanistic basis for individual-level progression risk stratification. Code is available at this https URL.

Hybrid Analog and Digital (HAD) architectures significantly reduce hardware overhead but introduce severe dimensionality compression, which strips the Spatial Covariance Matrix (SCM) of the degrees of freedom required for high-resolution Direction-of-Arrival (DoA) estimation. This challenge is further compounded by passive Butler-matrix implementations of Discrete Fourier Transform (DFT) analog beamforming, which avoid active phase shifters and amplifiers. In this paper, we propose a Generalized Least Squares (GLS) framework that exploits the Cauchy-like displacement structure that arises after DFT beamforming. By leveraging this structure, we develop a highly efficient numerical technique to recover the SCM for uniform linear arrays with a complexity of $\mathcal{O}(N_{\text{RF}}^2 N_x)$, where $N_x$ is the number of antennas and $N_{\text{RF}}$ the number of RF-chains. Simulations demonstrate that our estimator approaches the Cramér-Rao Bound (CRB) while outperforming state-of-the-art methods.

This letter presents a novel approach for \mbox{efficiently} computing time-index powered weighted sums of the form $\sum_{n=0}^{N-1} n^{K} v[n]$ using cascaded accumulators. Traditional direct computation requires $K{\times}N$ general multiplications, which become prohibitive for large $N$, while alternative strategies based on lookup tables or signal reversal require storing entire data blocks. By exploiting accumulator properties, the proposed method eliminates the need for such storage and reduces the multiplicative cost to only $K{+}1$ constant multiplications, enabling efficient real-time implementation. The approach is particularly useful when such sums need to be efficiently computed in sample-by-sample processing systems.

This paper presents a decentralized safety filter for collision avoidance in multi-agent aerospace interception scenarios. The approach leverages robust control barrier functions (RCBFs) to guarantee forward invariance of safe sets under bounded inputs and high-relative-degree dynamics. Each effector executes its nominal cooperative guidance command, while a local quadratic program (QP) modifies the input only when necessary. Event-triggered activation based on range and zero-effort miss (ZEM) criteria ensures scalability by restricting active constraints to relevant neighbors. To ensure feasibility under multiple simultaneously active constraints, a slack-variable relaxation scheme is introduced that prioritizes critical agents in a Pareto-optimal manner. Simulation results in many-on-many interception scenarios demonstrate that the proposed framework maintains collision-free operation with minimal deviation from nominal guidance, providing a computationally efficient and scalable solution for safety-critical multi-agent aerospace systems.

Hypersonic glide vehicles (HGVs) operate in challenging flight regimes characterized by strong nonlinearities in actuation and stringent physical constraints. These include state-dependent actuator limitations, asymmetric control bounds, and thermal loads that vary with maneuvering conditions. This paper introduces an iterative control allocation method to address these challenges in real time. The proposed algorithm searches for control inputs that achieve the desired moment commands while respecting constraints on input magnitude and rate. For slender HGV configurations, thermal loads and drag generation are strongly correlated-lower drag typically results in reduced surface heating. By embedding drag-sensitive soft constraints, the method improves energy efficiency and implicitly reduces surface temperatures, lowering the vehicle's infrared signature. These features are particularly advantageous for long-range military operations that require low observability. The approach is demonstrated using the DLR's Generic Hypersonic Glide Vehicle 2 (GHGV-2) simulation model. The results confirm the method's effectiveness in maintaining control authority under realistic, constrained flight conditions.

This paper proposes a scalable decentralized safety filter for multi-agent systems based on high-order control barrier functions (HOCBFs) and auction-based responsibility allocation. While decentralized HOCBF formulations ensure pairwise safety under input bounds, they face feasibility and scalability challenges as the number of agents grows. Each agent must evaluate an increasing number of pairwise constraints, raising the risk of infeasibility and making it difficult to meet real-time requirements. To address this, we introduce an auction-based allocation scheme that distributes constraint enforcement asymmetrically among neighbors based on local control effort estimates. The resulting directed responsibility graph guarantees full safety coverage while reducing redundant constraints and per-agent computational load. Simulation results confirm safe and efficient coordination across a range of network sizes and interaction densities.

We consider the optimal control of large-scale systems using distributed controllers whose network topology mirrors the coupling graph between subsystems. In this work, we introduce spatial regret, a graph-informed metric measuring the worst-case performance gap between a distributed controller and an oracle with access to additional sensor information. The oracle's graph is a user-specified augmentation of the information graph, yielding a benchmark policy that penalizes disturbances for which additional sensing would improve performance. Minimizing spatial regret yields distributed controllers - respecting the nominal information graph - that emulate the oracle's response to disturbances characteristic of large-scale networks, such as localized perturbations. We show that minimizing spatial regret admits a convex reformulation as an infinite program with a finite-dimensional approximation. To scale to large networks, we derive an upper bound on the spatial regret that can be efficiently minimized in a distributed way. Numerical experiments on power-system models show that the resulting controllers mitigate localized disturbances more effectively than those based on classical metrics.

We present an algorithm based on the alternating direction method of multipliers (ADMM) for solving nonlinear matrix decompositions (NMD). Given an input matrix $X \in \mathbb{R}^{m \times n}$ and a factorization rank $r \ll \min(m, n)$, NMD seeks matrices $W \in \mathbb{R}^{m \times r}$ and $H \in \mathbb{R}^{r \times n}$ such that $X \approx f(WH)$, where $f$ is an element-wise nonlinear function. We evaluate our method on several representative nonlinear models: the rectified linear unit activation $f(x) = \max(0, x)$, suitable for nonnegative sparse data approximation, the component-wise square $f(x) = x^2$, applicable to probabilistic circuit representation, and the MinMax transform $f(x) = \min(b, \max(a, x))$, relevant for recommender systems. The proposed framework flexibly supports diverse loss functions, including least squares, $\ell_1$ norm, and the Kullback-Leibler divergence, and can be readily extended to other nonlinearities and metrics. We illustrate the applicability, efficiency, and adaptability of the approach on real-world datasets, highlighting its potential for a broad range of applications.

Heart failure (HF) affects 11.8% of adults aged 65 and older, reducing quality of life and longevity. Preventing HF can reduce morbidity and mortality. We hypothesized that artificial intelligence (AI) applied to 24-hour single-lead electrocardiogram (ECG) data could predict the risk of HF within five years. To research this, the Technion-Leumit Holter ECG (TLHE) dataset, including 69,663 recordings from 47,729 patients, collected over 20 years was used. Our deep learning model, DeepHHF, trained on 24-hour ECG recordings, achieved an area under the receiver operating characteristic curve of 0.80 that outperformed a model using 30-second segments and a clinical score. High-risk individuals identified by DeepHHF had a two-fold chance of hospitalization or death incidents. Explainability analysis showed DeepHHF focused on arrhythmias and heart abnormalities. This study highlights the feasibility of deep learning to model 24-hour continuous ECG data, capturing paroxysmal events essential for reliable risk prediction. Artificial intelligence applied to single-lead Holter ECG is non-invasive, inexpensive, and widely accessible, making it a promising tool for HF risk prediction.

Generative joint source-channel coding (GJSCC) has emerged as a new Deep JSCC paradigm for achieving high-fidelity and robust image transmission under extreme wireless channel conditions, such as ultra-low bandwidth and low signal-to-noise ratio. Recent studies commonly adopt diffusion models as generative decoders, but they frequently produce visually realistic results with limited semantic consistency. This limitation stems from a fundamental mismatch between reconstruction-oriented JSCC encoders and generative decoders, as the former lack explicit semantic discriminability and fail to provide reliable conditional cues. In this paper, we propose DiT-JSCC, a novel GJSCC backbone that can jointly learn a semantics-prioritized representation encoder and a diffusion transformer (DiT) based generative decoder, our open-source project aims to promote the future research in GJSCC. Specifically, we design a semantics-detail dual-branch encoder that aligns naturally with a coarse-to-fine conditional DiT decoder, prioritizing semantic consistency under extreme channel conditions. Moreover, a training-free adaptive bandwidth allocation strategy inspired by Kolmogorov complexity is introduced to further improve the transmission efficiency, thereby indeed redefining the notion of information value in the era of generative decoding. Extensive experiments demonstrate that DiT-JSCC consistently outperforms existing JSCC methods in both semantic consistency and visual quality, particularly in extreme regimes.

Robust output regulation for linear time-varying systems has remained an open problem for decades. By augmenting the classical immersion viewpoint, we propose the trajectory-matching system immersion framework. It reformulates the regulator equation as a forced system, and demonstrates that finding an internal model is equivalent to reproducing the non-decaying output trajectories of this forced system by constructing an unforced one. This perspective yields an exact algebraic boundary for finite-dimensional internal models, termed finite linear parameterization. It further reveals a distinctive obstruction in time-varying systems: even highly structured, finite-dimensional affine parametric uncertainties can generate infinite-dimensional families of non-decaying error-zeroing signals, thereby precluding exact robust regulation via linear finite-dimensional internal models in general. Hence, we develop a comprehensive approximate robust design, which yields a bounded tracking error that can be arbitrarily small, and avoids explicitly solving the regulator equation. Additionally, it recovers exact regulation when the uncertainty influences the system in some specified ways. Overall, these results clarify the intrinsic limitation of exact finite-dimensional robust regulation for uncertain LTV systems, and provide a general, executable framework for constructing an internal model-based design.

Satellite communications face severe bottlenecks in supporting high-fidelity synchronized audiovisual services, as conventional schemes struggle with cross-modal coherence under fluctuating channel conditions, limited bandwidth, and long propagation delays. To address these limitations, this paper proposes an adaptive multimodal semantic transmission system tailored for satellite scenarios, aiming for high-quality synchronized audiovisual reconstruction under bandwidth constraints. Unlike static schemes with fixed modal priorities, our framework features a dual-stream generative architecture that flexibly switches between video-driven audio generation and audio-driven video generation. This allows the system to dynamically decouple semantics, transmitting only the most important modality while employing cross-modal generation to recover the other. To balance reconstruction quality and transmission overhead, a dynamic keyframe update mechanism adaptively maintains the shared knowledge base according to wireless scenarios and user requirements. Furthermore, a large language model based decision module is introduced to enhance system adaptability. By integrating satellite-specific knowledge, this module jointly considers task requirements and channel factors such as weather-induced fading to proactively adjust transmission paths and generation workflows. Simulation results demonstrate that the proposed system significantly reduces bandwidth consumption while achieving high-fidelity audiovisual synchronization, improving transmission efficiency and robustness in challenging satellite scenarios.

Adaptive control provides closed-loop stability and reference tracking for uncertain dynamical systems through online parameter adaptation. These properties alone, however, do not ensure safety in the sense of forward invariance of state constraints, particularly during transient phases of adaptation. Control barrier function (CBF)-based safety filters have been proposed to address this limitation, but existing approaches often rely on conservative constraint tightening or static safety margins within quadratic program formulations. This paper proposes a reference-based adaptive safety framework for systems with structured parametric uncertainty that explicitly accounts for transient plant-reference mismatch. Safety is enforced at the reference level using a barrier-function-based filter, while adaptive control drives the plant to track the safety-certified reference. By exploiting Lipschitz bounds on the closed-loop tracking error dynamics, a tracking-error-dependent robust CBF condition is derived and equivalently reformulated as a convex second-order cone program (SOCP). The proposed safety-filter formulation reduces conservatism relative to fixed-margin CBF formulations by rendering the resulting safety constraints progressively less restrictive as the plant-reference tracking error decreases, while preserving formal guarantees of forward invariance and closed-loop stability.

Speech Large Language Models (SpeechLLMs) process spoken input directly, retaining cues such as accent and perceived gender that were previously removed in cascaded pipelines. This introduces speaker identity dependent variation in responses. We present a large-scale intersectional evaluation of accent and gender bias in three SpeechLLMs using 2,880 controlled interactions across six English accents and two gender presentations, keeping linguistic content constant through voice cloning. Using pointwise LLM-judge ratings, pairwise comparisons, and Best-Worst Scaling with human validation, we detect recurring directional disparities. Eastern European-accented speech receives lower helpfulness scores, particularly for female-presenting voices. Responses remain polite but differ in helpfulness. While LLM judges capture the directional trend of these biases, human evaluators exhibit significantly higher sensitivity, showing stronger accent-level contrasts.

This paper shows that the concept of complex frequency, originally introduced to characterize the dynamics of signals with complex values, constitutes a generalization of eigenvalues when applied to the states of linear time-invariant (LTI) systems. Starting from the definition of geometric frequency, which provides a geometrical interpretation of frequency in electric circuits that admits a natural decomposition into symmetric and antisymmetric components associated with amplitude variation and rotational motion, respectively, we show that complex frequency arises as its restriction to the two-dimensional Euclidean plane. For LTI systems, it is shown that the complex frequencies computed from the system's states subject to a non-isometric transformation, coincide with the original system's eigenvalues. This equivalence is demonstrated for diagonalizable systems of any order. The paper provides a unified geometric interpretation of eigenvalues, bridging classical linear system theory with differential geometry of curves. The paper also highlights that this equivalence does not generally hold for nonlinear systems. On the other hand, the geometric frequency of the system can always be defined, providing a geometrical interpretation of the system flow. A variety of examples based on linear and nonlinear circuits illustrate the proposed framework.

This paper investigates a planar tracking problem between a leader and follower agent. We propose a novel feedback speed control law, paired with a constant bearing steering strategy, to maintain an abreast formation between the two agents. We prove that the proposed control yields asymptotic stability of the closed-loop system when the steering of the leader is known. For the case when the leader's steering is unavailable to the follower, we show that the system is still input-to-state stable with respect to the leader's steering viewed as an input. Furthermore, we demonstrate that if the leader's steering is periodic, the follower will asymptotically converge to a periodic orbit with the same period. We validate these results through numerical simulations and experimental implementations on mobile robots. Finally, we demonstrate the scalability of the proposed approach by extending the two-agent control law to an N-agent chain network, illustrating its implications for directional information propagation in biological and engineered flocks.

Integrating large language models (LLMs) into automatic speech recognition (ASR) has become a mainstream paradigm in recent years. Although existing LLM-based ASR models demonstrate impressive performance on public benchmarks, their training remains predominantly data-driven, leaving key practical challenges insufficiently addressed -- particularly limited downward scalability in resource-constrained deployments and hallucinations under acoustically challenging conditions. To address these issues, we present NIM4-ASR, a production-oriented LLM-based ASR framework optimized for both efficiency and robustness. Grounded in a principled delineation of functional roles between the encoder and the LLM, we redesign the multi-stage training paradigm to align each module with its intended capability boundary. Specifically, we reformulate the pre-training architecture and objective to mitigate the modality gap and improve parameter efficiency; introduce an iterative asynchronous SFT stage to preserve acoustic fidelity and constrain representation drift; and design an ASR-specialized reinforcement learning stage to further enhance recognition quality and robustness. We additionally incorporate a suite of production-oriented optimizations, including robustness under noisy and silent conditions, real-time streaming inference, and hotword customization via retrieval-augmented generation (RAG). Experiments show that NIM4-ASR achieves state-of-the-art performance on multiple public benchmarks with merely 2.3B parameters, while substantially outperforming larger-scale competitors on internal benchmarks -- particularly in entity-intensive real-world scenarios. NIM4-ASR further supports million-scale hotword customization via RAG with sub-millisecond retrieval latency, enabling efficient adaptation to emerging entities and personalized user requirements.

Nonlinear dynamics and the strong couplings that arise between multiple effectors undermine the assumptions behind conventional, linear control allocation techniques. When flight enters regimes where nonlinear effects dominate, linear allocators exhibit reduced accuracy due to increased model mismatch, which subsequently degrades performance and robustness of the flight control system. High fidelity onboard models and black box data driven approaches can recover accuracy across the flight envelope, but respectively impose computational burdens prohibitive for real time allocation and sacrifice the interpretability required for verification and fault diagnosis. This paper addresses these limitations by learning an explicit, physics constrained analytical model of the control effectiveness mapping from representative flight data using Sparse Identification of Nonlinear Dynamics. The resulting mapping is compact, interpretable, and admits analytical derivatives, enabling efficient computation within nonlinear solvers that additionally incorporate actuator dynamics, without requiring an onboard model. An online adaptation mechanism monitors prediction residuals and refreshes the model when significant plant changes are detected, providing graceful reconfiguration under actuator failures and varying operating conditions. The methodology is evaluated on a high fidelity nonlinear benchmark aircraft across a range of aggressive maneuvers, achieving accuracy comparable to a full nonlinear onboard model while substantially reducing computational cost relative to established baselines.

Interference poses a significant challenge to satellite-based positioning systems, making it essential to accurately quantify the effects of specific interference types on receiver performance and the resulting reliability of position computation. In current practice, interference effects are often quantified using receiver-independent metrics, with receiver-specific front-end characteristics either idealized or only implicitly considered. In this paper, we address this limitation by explicitly incorporating receiver-specific front-end characteristics into the computation of interference effects and validating the resulting receiver-dependent analysis experimentally. Therefore, we record a real-world open-field dataset comprising 210 distinct interference scenarios and compute the receiver-dependent spectral separation coefficient (SSC) and interference impact for a specific receiver module. Furthermore, we verify the computation using a controlled dataset generated with a radio frequency constellation simulator (RFCS), employing the same receiver module and replaying similar interferences classes. The comparison of results obtained in both environments demonstrates the robustness of the interference impact computation.

We present a proof-of-concept palm-mounted thermal feedback prototype addressing thermal rendering challenges specific to augmented reality (AR), where users must interact with both real and virtual objects in their physical workspace. In contrast to thermal feedback systems developed for virtual reality, AR thermal feedback must preserve manual dexterity, maintain access to real-world thermal cues, and provide coherent virtual temperature sensations without obstructing natural object interaction. We propose three AR-specific design considerations, which our prototype implements: indirect feedback to preserve fingertip dexterity, active thermal passthrough to sense and render the temperature of contacted physical surfaces, and spatially and temporally varying thermal rendering across the palm. Human-subject experiments evaluated perceptual sensitivity, indirect feedback, active thermal passthrough, spatial pattern recognition, and moving thermal rendering during AR interaction. Results showed that although indirect feedback reduced perceived realism during visual contact at the fingertips, it did not reduce immersion or comfort; active thermal passthrough supported temperature discrimination between real and rendered surfaces; and spatiotemporal rendering significantly improved immersion and realism compared with static thermal stimulation. These findings suggest that our design considerations are viable design strategies for AR thermal haptics, while also clarifying tradeoffs for applications that require precise realism versus broader immersive thermal experience.

Can we determine someone's geographic location solely from the sounds they hear? Are acoustic signals enough to localize within a country, state, or even city? In this work, we tackle the challenge of global-scale audio geolocation, with a particular focus on wildlife and natural sounds. We posit that bioacoustic signals contain informative geolocation cues because of well-defined geographic ranges of species. To test this hypothesis, we benchmark image geolocation and soundscape mapping methods, design oracles and species-centric baselines, and propose a hybrid approach that combines species range prediction with retrieval-based geolocation. We further ask whether geolocation improves with species-diverse recordings and spatiotemporal aggregation across neighboring samples. Finally, we extend our study to multimodal geolocation with case studies from movies that combine both audio and visual content. Our results highlight the potential of incorporating bioacoustic signals into geospatial tasks, motivating future work on species recognition and audio geolocation.

Robotic cutting is a challenging, contact-rich manipulation task where the robot must simultaneously negotiate unknown object mechanics, large contact forces, and precise motion requirements. Our hypothesis is that this complexity can be alleviated through the design of a physically structured virtual-model controller that uses switched virtual mechanisms to generate a robust, rhythmic rock-chop motion for robotic cutting, without requiring pre-planned trajectories or precise environmental information. Motion is generated by the interaction between the environment, the robot's dynamics, and the virtual forces of the switching virtual mechanism, ultimately realized through the available actuation. Through theoretical analysis and experimental validation, we demonstrate that the controlled robot behavior settles into a stable periodic motion. Experiments with a Franka manipulator demonstrate robust cuts across five different vegetables, achieving sub-millimeter slice accuracy for thicknesses from 1 mm to 6 mm at a rate of nearly one cut per second. The controller maintains high performance despite changes in knife shape or cutting board height, and successfully adapts to a different humanoid manipulator, demonstrating robustness and platform independence.

The increasing complexity of modern power systems, driven by the integration of inverter-based and distributed energy resources, challenges the reliability of conventional protection schemes and motivates the use of machine learning for protection tasks. However, published results are often difficult to compare because datasets, sensing assumptions, and decision horizons vary across studies. This paper presents a controlled comparison of machine learning models for fault classification (FC) and fault localization (FL) under identical sensing, timing, and validation conditions on a common electromagnetic transient dataset, using decision windows of 10-50 ms to reflect protection-relevant time scales. For FC, the best-performing nonlinear models achieve F1 scores above 0.98 already at 10 ms, while lower-capacity models degrade at shorter horizons but improve with longer windows, indicating that relevant fault-type information is already present in the earliest transient. For FL, the top-performing models reach a stable localization error of about 10 % of normalized line length across all evaluated horizons, while weaker models form a clearly separated second performance tier. Line-resolved analysis shows that localization accuracy varies across grid segments, indicating topology-dependent difficulty rather than insufficient temporal context alone. These findings provide a controlled reference for comparing machine learning models across two protection tasks with fundamentally different information requirements.

We investigate the use of zero-shot text-to-speech (ZS-TTS) as a data augmentation source for low-resource personalized speech synthesis. While synthetic augmentation can provide linguistically rich and phonetically diverse speech, naively mixing large amounts of synthetic speech with limited real recordings often leads to speaker similarity degradation during fine-tuning. To address this issue, we propose ZeSTA, a simple domain-conditioned training framework that distinguishes real and synthetic speech via a lightweight domain embedding, combined with real-data oversampling to stabilize adaptation under extremely limited target data, without modifying the base architecture. Experiments on LibriTTS and an in-house dataset with two ZS-TTS sources demonstrate that our approach improves speaker similarity over naive synthetic augmentation while preserving intelligibility and perceptual quality. Audio samples are available on our web page.

Safety-critical multi-agent systems, from cooperative guidance to collision avoidance, must often reach a coordinated decision by a hard deadline rather than merely converge to one eventually. This paper proposes the first fully distributed algorithm that solves the generalized Nash equilibrium (GNE) problem, a non-cooperative game with shared coupling constraints and general cost coupling, at a user-prescribed time $T$ independent of initial conditions. The foundation is a centralized, prescribed-time result built on the optimization Lyapunov function framework and implemented via unnormalized Hessian-gradient feedback, chosen because, unlike the Newton and normalized Hessian-gradient realizations, it naturally splits into per-agent computations. Distributing this feedback requires each agent to run three coupled processes simultaneously: a prescribed-time observer of the global state, a local optimization law, and a dual-consensus mechanism that enforces the shared multipliers of the variational GNE. Their simultaneous operation is the core difficulty, as the optimization continually displaces the states the observers track, while estimation errors corrupt the gradients that drive the optimization. We resolve this coupling with a multi-rate gain schedule whose observer and dual-consensus layers contract strictly faster than the optimization layer, so that every error component vanishes exactly at $T$. A Fischer-Burmeister reformulation keeps the design projection-free while enforcing the constraints at the deadline. Numerical results for a Cournot game and a time-critical sensor-coverage problem validate the approach and demonstrate its use as a solver-in-the-loop for time-critical autonomy.

We extend the algebraic diversity (AD) framework from classical signal processing to quantum measurement theory. The Quantum Algebraic Diversity (QAD) Theorem establishes that a group-structured positive operator-valued measure (POVM) applied to a single copy of a quantum state produces a full-rank, group-averaged density matrix estimator whose eigenbasis and eigenvalue ordering track those of the true density matrix, with a bias toward the symmetrized state, analogous to the classical recovery of covariance eigenstructure from a single observation. We establish a Classical-Quantum Duality Map connecting classical covariance estimation to quantum state tomography, and an Optimality Inheritance Theorem showing that classical group optimality transfers to quantum settings via the Born map within the group-averaged family. SIC-POVMs are identified as AD with the Heisenberg-Weyl group and mutually unbiased bases as AD with the Clifford group, revealing the hierarchy $\mathrm{HW}(d) \subseteq \mathcal{C}(d) \subseteq S_d$ that mirrors the classical $\mathbb{Z}_M \subseteq G_{\min} \subseteq S_M$. The double-commutator eigenvalue theorem gives polynomial-time adaptive POVM selection. A worked qubit example shows the group-averaged estimator from a single computational-basis measurement, averaged over a matched $\mathbb{Z}_2$ group, reaching fidelity 0.99 where standard single-basis tomography gives a rank-1 estimate of fidelity 0.80. Monte Carlo simulations for $d = 2$ to $13$ confirm fidelity above 0.90 from a single outcome while standard fidelity degrades as $\sim 1/d$. The growing ratio reflects collapse of the rank-1 standard estimator, not fewer copies per parameter: the biased single-copy estimator reduces the number of distinct measurement settings, not the per-parameter sampling cost, and a genuine copy reduction holds only under exact symmetry.

The coexistence of NR-U and Wi-Fi in the unlicensed spectrum introduces a challenging resource management problem, where heterogeneous channel access mechanisms can lead to unbalanced spectrum utilization and severe Wi-Fi performance degradation. To address this issue, this paper proposes a utility-aware deep reinforcement learning (DRL) framework for adaptive transmission opportunity (TXOP) control in NR-U/Wi-Fi coexistence networks. The coexistence process is formulated as a Markov decision process (MDP), in which the NR-U TXOP duration is treated as a controllable variable for regulating post-access channel occupancy. A deep Q-network (DQN) is then employed to learn adaptive TXOP control policies through online interaction with the coexistence environment. A key feature of the proposed framework is the integration of a configurable reward and criterion design, which enables explicit control of the fairness-efficiency-utility tradeoff. Three operating policies are developed, namely absolute fairness, moderate fairness, and utility-oriented moderate fairness, to characterize different coexistence operating points. Simulation results show that the proposed framework achieves a Jain fairness index above 0.9 under strict fairness control. Compared with the absolute fairness policy, the moderate fairness policy improves aggregate throughput by 68.22%, while the utility-oriented policy achieves a 177.6% improvement under the adopted utility evaluation metric. These results demonstrate that the proposed utility-aware DRL framework provides an effective and flexible solution for adaptive TXOP control and tradeoff management in heterogeneous unlicensed coexistence networks.

This manuscript contains preprint of a chapter under consideration for inclusion in the forthcoming third edition of {\em Cover and Thomas's Elements of Information Theory}, posted with permission from Wiley. The table of contents EIT-3 ToC of the new edition can be found at: this https URL . For feedback, please contact abbas@ee.this http URL Learning and information theory intersect in both model training and the characterization of fundamental performance limits. This manuscript provides a concise and accessible treatment of the first intersection, requiring only basic background in information theory and statistics at the senior undergraduate or first-year graduate level. End-of-chapter exercises make the material well suited for classroom use as well as self-study. The chapter focuses on the role of divergence measures in model training, with examples ranging from linear and logistic regression to autoregressive models, variational autoencoders, diffusion models, generative adversarial networks, and score-based models. It introduces the evidence lower bound (ELBO), f-divergences, and the Fisher divergence. In particular, the treatment of the generative diffusion model provides a more systematic and explicit derivation than is typical in the literature.

Due to the system's scale and complex fabrication, the model describing the dynamics of a flapping-wing insect-scale aerial robot is subject to parameter uncertainty; for example, in the inertia matrix and the actuator mapping of the flier. Furthermore, due to its low inertia, this type of robot is greatly affected by stochastic and systematic disturbances during flight, including power-wire tension, gusts, and undesired aerodynamic forces produced by wing misalignment. Therefore, the high-performance execution of complex maneuvers at the subdecigram scale requires the robot to adapt its behavior to counteract disturbances and model uncertainty. Toward this objective, we introduce a model-reference adaptive control (MRAC) architecture for high-performance position control of flapping-wing robotic insects that can be modeled as rigid bodies in the three-dimensional (3D) space. In addition, we demonstrate how the implementation of a hybrid multiplicative extended Kálmán filter for estimating current and desired angular velocities during flight significantly dampens attitude vibrations, especially along the roll and pitch degrees of freedom (DOFs), and also improves flight performance. To show the suitability, functionality, and high performance of the proposed approach, we conducted real-time hovering and trajectory-tracking 6-DOF flight control experiments with a 95-mg insect-scale aerial robot.

We analyze how automatic speech recognition (ASR) errors propagate through ASR-LLM cascades in Korean spoken question answering (SQA), focusing on downstream semantic failures that conventional ASR metrics cannot fully capture. Our analysis shows that the relative downstream degradation caused by ASR errors is consistent across LLMs with different absolute performance, suggesting that cascade degradation largely tracks ASR-stage information loss. We further identify single-character Korean ASR errors as a Korean-specific loss channel, where even a minimal transcription difference can change the intended question and degrade downstream QA performance. Finally, an auxiliary comparison shows that a large audio language model outperforms an ASR-LLM cascade with an approximately matched language backbone in noisy Korean SQA, indicating the potential of direct audio input to mitigate transcript-induced information loss.

Uncrewed aerial vehicles (UAVs) are increasingly used for exploration-driven monitoring in hazardous environments such as disaster zones, contaminated sites, wildfire areas, and damaged infrastructure, where limited flight endurance must be allocated between visiting reported locations and gathering new information. In these settings, prior information regarding hazards is often incomplete, spatially imprecise, and subject to change during execution. For example, initial reports may identify a region where a hazard is likely to exist, but the actual hazard may be displaced, partially observed, or entirely unreported. We present an integrated exploration-aware UAV route optimization and path planning framework for hazard monitoring under uncertain and evolving prior information. The environment is represented as a spatial risk map, where each location has an associated belief of hazardous conditions. Reported hazards are modeled as uncertain regions of interest (ROIs) rather than confirmed target locations, requiring the UAV to inspect reported areas while also using its limited flight endurance to explore informative regions. The proposed method solves a vehicle routing problem over reported ROIs, augments the route with auxiliary pseudo-nodes to improve spatial coverage, allocates the remaining flight distance budget across route segments, and optimizes dynamically feasible B-spline trajectories for local exploration. During execution, UAV measurements update a grid-based belief map, and the remaining trajectory is replanned when new information and the remaining budget justify adaptation. Across 48 scenario configurations, online replanning improves average KL reduction by 15.9% over the offline optimized planner and 48.6% over straight-line traversal.

Automatic Speech Recognition (ASR) has become a key technology for human--AI interaction. However, code-switching ASR (CS-ASR) remains particularly challenging due to the severe scarcity of multilingual CS speech resources across diverse language pairs. Existing approaches primarily improve CS-ASR performance through synthetic CS speech generation or pair-specific fine-tuning on limited bilingual datasets. Nevertheless, these approaches face an inherent scalability limitation, as support for CS must be developed separately for language pairs whose number grows combinatorially with the number of supported languages. In this work, we investigate whether CS capabilities learned from a limited set of seen language pairs can generalize to unseen language pairs through model merging and domain generalization methods. Our experiments show that merged bilingual CS-ASR models modestly generalize to unseen language pairs, suggesting limited transfer of bilingual CS capabilities across language pairs.

Understanding human states and interaction dynamics is a core goal of human-computer interaction (HCI). As interaction paradigms become more immersive, virtual reality (VR) has emerged as a powerful platform for studying collaborative work. In such settings, evaluating team collaboration states, including team performance and team resilience, requires continuous and reliable inference of latent team-level cognitive and affective states from multi-modal sensor data, such as speech signals. However, generating ground truth labels for these latent states remains challenging due to sensor-induced noise, contextual variability, and sparse expert annotations. Traditional self-reporting approaches provide only static and delayed measurements and are therefore insufficient for capturing dynamic team processes reflected in continuous speech data. In this work, we propose a large language model (LLM)-driven, agentic inference workflow for automated emotion-related synthetic ground truth generation from streaming speech data in multi-user VR environments. Leveraging the generalization capabilities of LLMs, we use In-Context Learning (ICL) with few-shot demonstrations of paired audio-based samples and their corresponding transcriptions. ICL tends to achieve task adaptation comparable to model fine-tuning while circumventing the computational overhead of parameter updates. To construct informative and robust in-context prompts, we adopt a retrieval-based selection strategy that dynamically identifies relevant audio demonstrations based on similarity in the acoustic feature space.

Reliable state estimation in robotics and control re quires balancing estimation accuracy against computational cost. While filtering-based methods such as the Extended Kalman Filter (EKF) provide efficient real-time updates, and optimisation based formulations using factor graphs improve global consistency, the role of optimisation scheduling is often treated implicitly rather than examined as an explicit design variable. This paper presents an experimental study that explicitly isolates optimisation scheduling using a Smart Scheduled Hybrid (SSH) EKF-FGO framework as a controlled testbed. By combining EKF-based state propagation with periodically invoked batch optimisation and holding solver structure and effort fixed, the main contribution of this work is the experimental characterisation of optimisation scheduling as an independent design variable governing the trade-off between intermediate estimation accuracy and computational cost. Simulation results in a planar SLAM environment show that scheduling strongly influences pre optimisation drift, transient error behaviour, and runtime. In particular, the results identify operating regimes in which most of the benefit of global optimisation can be retained at a fraction of the computational cost, highlighting optimisation scheduling as an under-explored yet critical consideration in hybrid state estimation systems.

Accent text-to-speech (TTS) aims to synthesize speech with target accents. Existing accent TTS systems typically rely on a two-stage pipeline that first converts standard phone sequences into accented phone sequences and then synthesizes accented speech. However, such approaches suffer from error accumulation and require paired standard-accented phone sequence data, which is often limited in practice. Moreover, text-based accented phone representations are insufficient to model acoustic accent characteristics such as prosody and rhythm. In this work, we propose Joycent, a diffusion-based accent TTS model that synthesizes accented speech directly from standard phone sequences and speech references without accented phone prediction. Joycent integrates accent and speaker representations through conditional layer normalization (CLN) in the text encoder. We introduce WhisAID, a Mandarin accent identification model trained on accented Mandarin speech to extract accent representations. Experimental results show that Joycent improves accentedness while preserving speaker identity compared with baseline systems. We release our code and demos at: this https URL.