Unmanned aerial vehicle-mounted base stations (UAV-BSs) constitute a flexible and effective solution for global positioning system (GPS)-free emergency and disaster scenarios, where the rapid deployment of communication infrastructure is critical for maximizing life-saving operations. In this work, we extend a centralized learning framework to a multi-UAV-BS network architecture, in which a single centralized UAV-BS -- as an intelligent agent -- coordinates the three-dimensional positioning and navigation of multiple UAV-BSs, while the remaining UAV-BSs actively serve ground user equipments (UEs) with uncertain positions. We formulate a fairness-aware sum-throughput maximization problem for UAV-BS coordination, which is inherently nonconvex due to the non-linear and interference-coupled throughput expressions. To address this challenge, we cast the problem as a Markov Decision Process (MDP) and solve it using a deep reinforcement learning (DRL) framework based on Proximal Policy Optimization (PPO). The central agent interacts with the environment and learns optimal joint positioning policies that guide the serving UAV-BSs to provide efficient, adaptive, and resilient wireless coverage. The proposed approach exploits spatial configuration and radio signal sensing capabilities to dynamically adapt to heterogeneous UE mobility patterns. Extensive simulations are conducted to evaluate the performance of the proposed method. Numerical results demonstrate that PPO shows competitive performance during both training and evaluation phases. Furthermore, comparative analysis with state-of-the-art RL algorithms, namely Deep Deterministic Policy Gradient (DDPG) and Deep QNetwork (DQN), shows that PPO consistently outperforms these methods in terms of convergence stability, mean reward, and network throughput.

We present a case study on the Emerald Fibre Bridge Link, an operational subsea telecom cable connecting Dublin and North Wales, examining DAS vessel-related signatures jointly with concurrent AIS data. The observations show that vessel-related DAS responses depend on local cable sensitivity and background conditions, while their interpretation is complicated by imperfect AIS reporting. Examining vessel-crossing events jointly, we identify representative DAS-AIS association patterns, ranging from clear vessel matches to offset, ambiguous, AIS-incomplete, AIS-silent-candidate, and non-vessel confounders. These observations reveal the gap between physical measurements at the cable and cooperative vessel reporting, providing practical insights for designing future DAS-assisted cable-protection workflows.

Jamming and spoofing pose significant threats to wireless and satellite navigation by disrupting radio-frequency (RF) signals and compromising availability and integrity. Robust RF interference direction finding through angle-of-arrival (AoA) estimation is therefore essential for detecting and localizing anomalous signals. Although data-driven methods perform well under line-of-sight (LoS) conditions, their performance degrades in practical environments due to non-line-of-sight (NLoS) multipath propagation. In this work, we propose a hybrid learning framework that incorporates physics-informed constraints into deep neural networks to improve the robustness of AoA estimation. A neural network is trained to estimate the azimuth and elevation of incoming signals received by a four-element antenna array, while a physics-informed loss enforces consistency between the predicted angles and inter-antenna phase differences under a plane-wave model. We further introduce a latent-space classifier to distinguish LoS from NLoS samples. Since inter-antenna phase differences under LoS propagation exhibit domain-invariant structure across environments, the physics-based loss is applied only to LoS samples, promoting physically consistent and domain-invariant representations without over-constraining the model in NLoS scenarios. In addition, domain-incremental learning (DIL) across NLoS environments with varying scatterer distributions improves cross-domain generalization. Evaluations on real-world datasets show that the proposed method reduces AoA estimation error by up to 6° in low-exemplar settings compared with DIL baselines.

Structural health monitoring (SHM) has emerged as an essential tool for ensuring the integrity and reliability of critical engineering structures, particularly in aerospace applications. Since each sensing technology has its limitations, the fusion of different modalities enables capturing a more complete picture of inhomogeneous materials, like composites. However, effective multisensor data fusion in SHM is often hindered by heterogeneous sensing modalities that operate at disparate sampling frequencies and acquisition intervals. To address these challenges, this paper proposes a Transformer-based data fusion framework that integrates multisensor data streams from piezoelectric transducer (PZT) capturing ultrasonic guided wave signals and fiber Bragg grating (FBG) sensors for strain measurements. By incorporating an attention-mechanism visualization, the proposed framework enables transparent, multitask learning for both health indicator (HI) prediction and damage localization. The framework was experimentally validated using aircraft composite structures subjected to compression-compression fatigue cyclic loading. For HI prediction, the framework consistently achieved a mean absolute error (MAE) and root mean squared error (RMSE) below 0.1, representing a nearly 60% performance improvement over single-sensor approaches (PZT or FBG alone) and baseline deep learning models. For damage localization, the model demonstrated the highest accuracy, maintaining an MAE and RMSE below 0.0465 and 0.1571, respectively. These results demonstrate that the proposed Transformer-based data fusion framework significantly outperforms single-source models and state-of-the-art deep learning models in both HI prediction and damage localization accuracy.

This paper presents a novel priority random access (PRA) non-orthogonal multiple access assisted ALOHA, called PRA-NA, to provide access priority for machine-type devices (MTDs) with different delay requirements (i.e., delay-sensitive and delay-tolerant). We first introduce a received power level model that incorporates imperfect channel state information and imperfect successive interference cancellation to study the impact of practical non-ideal channel conditions. Two PRA strategies including fixed PRA-NA (FPRA-NA) and adaptive PRA-NA (APRA-NA) are then designed to reduce the average access delay of delay-sensitive MTDs in heterogeneous massive machine-type communications. Subsequently, the throughputs of both the FPRA-NA and APRA-NA strategies are analyzed to demonstrate their effectiveness. Moreover, to improve the energy efficiency of random access, we introduce an enhanced user barring algorithm (EUBA) to carry out power control. It is shown that our proposed EUBA can not only alleviate the user overload problem, but also reduce the average transmit power of MTDs. By extending it to the proposed PRA-NA schemes, we demonstrate via extensive simulation results that the random access performances in terms of throughput, access delay, and energy efficiency can be significantly improved over the conventional NOMA-ALOHA.

The goal of this exposition is twofold. First, it surveys the current status of the synthesis of rational multivariable ($n$-dimensional) passive linear shift-invariant bounded-real (or positive-real) transfer functions as scattering (or immittance) matrices of networks composed of a finite number of $n$ types of inductive and capacitive elements together with memoryless reciprocal and nonreciprocal components, such as transformers and gyrators. The theory seeks to extend the classical $1$-D network synthesis framework to the multidimensional ($n$-D) setting. Second, the exposition examines the fundamental connection between $n$-D network synthesis and Hilbert's 17th problem concerning the representation of positive polynomials as sums of squares. This connection is shown to be the principal mathematical obstacle to extending many classical synthesis results to higher dimensions. Both lossless and dissipative transfer functions are considered. While every $2$-D lossless transfer function can be synthesized, the classical procedure of embedding a dissipative transfer function into a lossless one by solving an associated matrix dilation problem can be executed via spectral factorization only partially in $2$-D and fails in general for $n>2$. Moreover, for $n>2$, even lossless transfer functions are not, in general, synthesizable, except for certain low-degree stable all-pass functions. These limitations ultimately stem from Hilbert's 17th problem referred to above. The exposition also reviews failure of several other classical $1$-D synthesis techniques, including matrix-factorization methods, thereby providing a comprehensive account of the current state of $n$-D network synthesis. Depending on the context, both continuous and discrete time formulations are employed; for the class of linear shift-invariant systems considered here, this change of setting entails no loss of generality.

Lunar positioning, navigation, and timing (PNT) is moving from concept to hardware, ESA's Moonlight/LCNS, NovaMoon reference stations, LunaNet, and Coordinated Lunar Time, all reducing to one estimation core: fix the orbits and clocks of the lunar infrastructure and tie them to an Earth/inertial frame. We ask which measurements make a surface station's absolute position observable, and prove the answer. In a snapshot batch fit, the internal observables (station-to-satellite and inter-satellite ranging plus clock-sync) constrain only relative geometry and leave a six-dimensional rigid-body datum defect: three translations and three rotations of the cluster. The clocks are fully observable, so the defect is purely positional, and closing it needs a tie to the Earth frame. Two such ties exist and are not interchangeable. An indirect tie (Earth-to-satellite ranging through the constellation) reaches the station only when the satellite geometry is rich; a direct tie (an Earth-baseline VLBI delay to the station beacon) fixes it regardless. This gives a conditional design law, not a single number: VLBI restores absolute observability when the constellation cannot supply it, and merely sharpens the bound when it can. For a sparse three-satellite constellation the station lies in the null space of the Fisher information until VLBI is added, reaching a Cramer-Rao bound of 20.1 m; for a rich six-satellite constellation VLBI tightens the bound from 23.2 m to 9.7 m. A single-epoch baseline informs at most two of three axes, so the datum closes at three non-collinear Earth stations. The Gauss-Newton estimator attains the bound (efficiency 1.02), with a 91x median station-error improvement in the sparse regime. The FIM/CRLB engine is validated against NumPy and published closed forms; the lunar application stays modelled, every figure deterministic and reproducible.

Radio frequency fingerprint identification (RFFI) provides a physical-layer credential for Internet of Things devices, but open-set decisions become fragile when a threshold calibrated on a source receiver is transferred to a target receiver. Receiver shift can lower the confidence of known transmitters and cause false rejection; closed-set alignment can have the opposite effect by pulling unseen target transmitters into known regions and increasing false acceptance. This letter presents CRODA-ST, a structure-first adaptation framework for singlesource single-target cross-receiver open-set RFFI. Its two components target the bottlenecks behind unreliable source-calibrated rejection: Discriminative Structure Anchoring (DSA) restores target-receiver known-class references from limited labeled target enrollment samples, and Rejection-Oriented Alignment (ROA) reduces receiver-sensitive confidence fluctuations around the anchored structure. On the WiSig ManyTx dataset, CRODA-ST reaches 0.9092 known-class accuracy, 0.9692 AUROC, and 0.9580 OSCR. Score-sweep analysis further reduces FPR90 to 0.0469.

In this document, we describe characteristics and technical details of the multimodal biosignal dataset DOSE-I of procedural sedation for endoscopy published on zenodo. The DOSE-I dataset includes 78.5 hours of recording in 171 records ranging from 6.7 to 70.8 minutes (mean: 27.5, SD: 11.6) of 281 endoscopic procedures. 1129 (median: 6 per record) transitions of consciousness and 7328 (median: 39 per record) individual sedation depth labels were recorded. In addition to clinically annotated biosignals, the DOSE-I dataset provides detailed static data about the respective study subject and metadata about the respective recordings. To further support future research, we provide details about artifact detection and preprocessed pEEG features, too. C code used for this preprocessing is provided separately via Github.

Autonomous embedded nodes deployed in connectivity-denied environments - remote forest perimeters, farm boundaries, and cargo in transit across highways or open ocean - share a common set of engineering requirements that are usually addressed by separate, purpose-built systems: passive-infrared (PIR) triggered wake-up, inertial-measurement-unit (IMU) driven active stabilization, and long-range communication under strict power budgets. This paper argues that a perimeter/wildlife security turret and a high-value cargo protection crate are, from a systems perspective, two parametrizations of the same generalized node architecture rather than two unrelated designs. We formalize this generalized architecture, extend it with three sensing/communication modalities not present in either original design - single-point LiDAR ranging, a LoRa/LoRaWAN regional mesh tier, and a satellite short-burst-data (SBD) global tier - and couple the resulting telemetry to a Geographic Information System (GIS) layer via a proposed Composite Risk Index (CRI) that fuses breach events, impact severity, and connectivity state into a single spatially-referenced score. We present the sensor-fusion, proportional-integral-derivative (PID) stabilization, link-budget, received-signal-strength-indicator (RSSI) localization, and CRI formulations that unify the two deployment modes, provide a simulated closed-loop stabilization response and a tiered-communication trade-off analysis, and instantiate the two original projects as case studies of the generalized architecture. The framework is intended as an engineering blueprint and a starting point for field validation rather than as a report of field-tested results.

Mastering invisible electromagnetic (EM) environment and sculpting radio waves with the dexterity of manipulating light or matter have long been aspirations in physics and information science. While information metasurfaces (IMSs) provide the physical interface to program EM wavefields, their real-world autonomy is fundamentally limited by environmental 'blindness' and the prohibitive overhead of site-specific and trial-and-error retraining. Here we propose metasurface embodied intelligence through world model (metaEI-WM), a universal and out-of-the-box paradigm that achieves expert-level performance without on-site fine-tuning. In contrast to purely data-driven agents, metaEI-WM establishes a fundamental understanding of the EM dynamics by integrating fully automated semantic environment modelling with embedded electrodynamic priors. By anticipating future scenarios in silico, it optimizes the IMS coding configurations to dynamically shape EM environments on demand. We show that metaEI-WM successfully enables zero-latency non-line-of-sight signal enhancements, symbiotic communications, and contactless physiological sensing across highly complex and unseen indoor scenarios. To the best of our knowledge, metaEI-WM is the first paradigm to achieve end-to-end automation of complex spatial channel manipulation tasks ab initio, requiring neither human-annotated data nor online training. This framework bridges the gap between digital intelligence and physical-layer wave dynamics, offering a scalable solution for robust and self-managing wireless ecosystems.

Current transformers are fundamental to power system protection and measurement, yet transient core saturation can severely distort the secondary current and degrade measurement accuracy. Existing dynamic state estimation methods rely mainly on numerical discretisation and iterative solvers, but their initialisation is not informed by the physical dependency structure of the estimation problem, which limits robustness under noisy conditions. This paper presents a physics-informed enhancement for current transformer dynamic state estimation using COMTRADE measurements generated in WinIGS-T. A structured benchmark of four discretisation schemes and three iterative solvers identifies Gauss-Newton with Quadratic discretisation as the strongest baseline. To address the limitation of conventional cold-start initialisation, a graph neural network is constructed from the Jacobian sparsity pattern to generate physics-informed initial state estimates. The proposed warm-start strategy improves estimator conditioning and achieves average gains of 25% in initialisation distance and 38% in initial weighted objective value across all tested SNR levels. The results demonstrate that embedding physical structure into the initialisation stage improves the robustness of CT saturation correction and supports more reliable measurement and protection performance in modern power grids.

Pathologic complete response and tumor shrinkage measure whether breast cancer responds to neoadjuvant therapy, but not whether that response was structurally favorable, persistent, or hidden beneath volume loss. We built an outcome-blind longitudinal DCE-MRI manifold from I-SPY2 trajectories to test whether pretreatment imaging carries a structural response phenotype missed by conventional descriptors. The dominant axis of response geometry was not recoverable from the full clinical and genomic stack -- age, receptor subtype, MammaPrint, PAM50, treatment arm, and tumor burden -- but became strongly recoverable once baseline structural entropy was added. A constrained representation mapping recovered the same axes as unconstrained decomposition, establishing the structure as intrinsic rather than a post-hoc interpretation. The phenotype persisted through therapy, and as treatment proceeded the volumetric signal faded while entropy stayed separated -- a crossover from burden to structural persistence. Among complete responders, structurally disordered tumors could shrink more early yet remain structurally disordered, a volumetric deception invisible to endpoint labels. External analyses in UCSF, I-SPY1, and Duke established recurrence relevance under representation-dependent boundaries, and a representation-family commensurability assessment showed why feature-name matching is insufficient: the same label can fail, transport, or entangle with extraction geometry. Pretreatment MRI therefore exposes a structural response phenotype that endpoint-based language leaves invisible -- including, among complete responders, a pretreatment imaging signal of structurally distinct response states that awaits prospective validation.

In this letter, three novel spatial modulation (SM) schemes specifically designed for pinching-antenna systems (PASS) are proposed, offering a flexible trade-off between bit error rate (BER) performance and decoder computational complexity. The proposed one-dimensional quadrature SM (1D-QSM) scheme exploits dual waveguides to independently transmit the orthogonal symbol components to eliminate mutual interference. Meanwhile, the 2D-QSM and 2D-generalized SM (2D-GSM) schemes jointly utilize waveguide and pinch indices to enhance spectral efficiency. Results demonstrate that 1D/2D-QSM schemes achieve significantly lower computational complexity and superior BER performance at low spectral efficiencies compared to existing literature and the proposed 2D-GSM. In contrast, 2D-GSM provides enhanced reliability at high spectral efficiencies, outperforming both existing literature and the proposed 1D/2D-QSM schemes. Finally, analytical upper bounds for BER and decoder computational complexity are rigorously derived and validated through simulations.

The Relaxed Convex Obstacle Avoidance (RCOA) formulation is the first approach to enable a fully convex optimal control problem (OCP) for obstacle avoidance. Convergence analysis of RCOA yields an analytical framework that defines a unique characteristic: the ability to maintain obstacle avoidance (OA) efficacy even when obstacles reside beyond the controller's prediction horizon. In this paper, RCOA is extended to three-dimensional environments and apply it to Unmanned Aerial Vehicle (UAV) navigation. Furthermore, the formulation is enhanced to incorporate vehicle geometries, moving beyond point-mass representations to enable collision avoidance between 3D objects. Numerical simulations demonstrate that RCOA provides computational performance on par or exceeding state-of-the-art methods. Notably, RCOA is demonstrated to enable a Nonlinear Model Predictive Controller (NMPC) to execute aggressive maneuvers through narrow passages with reduced prediction horizons, ensuring real-time feasibility at frequencies exceeding 30~Hz.

Cascading failures driven by load or flow redistribution arise in networked systems such as power grids, supply chains, and cloud computing centers. Most flow-network models assume that a node either functions or fails as a whole. In many real systems, however, a node supports several distinct flows that share node-level resources, and failure in one of them does not necessarily imply failure in the others. We study this setting through multiplex flow networks with partial functionality, where a node can remain operational in some functionalities while failing in others. A heavy load on one functionality reduces the capacity available to the others, as quantified by cross-layer influence factors. When a node fails in one layer, its load is redistributed among surviving nodes in that layer, while the node may continue to operate in the others. Using mean-field analysis, we derive recursive equations for the final system sizes, namely the fraction of surviving nodes in each layer after the cascade stops. We validate the analysis through simulations for several load-capacity distributions. We then examine key features of the cascade dynamics, including non-monotone robustness curves, different cascade-outcome regimes, and their relation with cross-layer influence. We map the outcomes to distinct steady-state regimes, including single-layer survival phases absent in joint-functionality models, and show that partial functionality can increase robustness relative to the joint-functionality case. Finally, we study robustness maximization under a fixed total capacity budget by comparing several capacity allocation strategies. We propose a strategy that combines cross-layer influence with local neighborhood information on load and degree, and show that it gives the strongest robustness performance across the configurations considered.

In this paper, we provide a theoretical analysis of the closed-loop properties of a data-driven kernel-based predictive control (DDKPC) scheme developed solely from input-output data. The proposed formulation integrates a robust data-driven predictive control framework with a multi-step predictor for nonlinear systems constructed via kernel-based methods. This predictor implicitly captures the system's nonlinear behavior using the representer theorem. For the nominal case with noise-free data, we prove that the DDKPC scheme guarantees recursive feasibility and closed-loop stability, provided that the prediction horizon is sufficiently long and the kernel representation error is sufficiently small. To facilitate real-time implementation, we introduce a penalty relaxation formulation to alleviate the computational burden inherently caused by nonconvex implicit constraints. Furthermore, the framework is robustified against measurement noise by aggregating the representation mismatch and the bounded noise into a unified uncertainty bound. Finally, we extend the DDKPC framework to slowly time-varying nonlinear systems by periodically reconstructing the kernel predictor from a fixed-budget online dictionary managed by the approximate linear dependency (ALD) criterion. Under suitable conditions on the rate of variation of the input-output evolution and the online prediction error, recursive feasibility and practical closed-loop stability are preserved. The effectiveness of the proposed approach is illustrated through numerical examples.

Speech-based depression detection compresses features from short audio segments into one speaker-level decision, a step called temporal aggregation rarely studied on its own. Most benchmarks fix a single self-supervised encoder and a single hand-picked layer, so a reported gain may reflect the pipeline rather than the aggregation method itself. We introduce DEPOOL, a controlled benchmark that compares six aggregation architectures with six frozen speech backbones on an English and a Mandarin depression corpus, where each configuration learns which backbone layers matter rather than fixing one by hand. Across the resulting 72-configuration grid, a third of configurations collapse into predicting a single class for every speaker, a failure tied to the backbone as much as to the method, and the architecture that is most stable in a single-seed run becomes unreliable when training repeats across seeds. Robustness to backbone and seed, rather than average accuracy across a single pipeline, should be a first-class benchmarking criterion for temporal aggregation in clinical speech.

In cell-free massive multiple-input multiple-output (CF-mMIMO) systems, the canonical uplink local receiver is the local minimum mean square error (LMMSE) receiver with large-scale fading decoding (LSFD) at the central processing unit (CPU). The LSFD coefficients are derived under the use-and-then-forget (UatF) lower bound of the ergodic rate, and computing these coefficients introduces additional fronthaul overhead and computational complexity at the CPU. This paper investigates local receiver design directly from the true ergodic-rate objective under perfect local channel state information (CSI). By introducing an expectation-based constraint and leveraging large-system random matrix theory, we develop a functional-variational approach that yields the asymptotically optimal quasi-LMMSE (Q-LMMSE) receiver in closed form. A key insight is that the Q-LMMSE receiver shares the same direction as the conventional LMMSE receiver, differing only by an instantaneous CSI-dependent scalar, and thus incurs the same per-access point (AP) complexity. More importantly, this scalar varies across APs and implicitly provides adaptive weighting for the direct summation at the CPU, thereby completely eliminating the need for statistical LSFD coefficients and the associated CPU-side computational overhead. Numerical results demonstrate that the proposed Q-LMMSE receiver consistently outperforms the LMMSE-LSFD benchmark in terms of the ergodic rate, achieving approximately a {5\%} gain when the number of antennas per AP is low, while operating with strictly lower system-level complexity.

Significant disparities exist in the diagnosis and clinical presentation of depression across different linguistic populations. Speech-based depression detection performs well monolingually, but cross-lingual generalization remains an open challenge. A key reason is that prior work uses segment-level random splits without speaker grouping, leading to identity leakage that inflates reported metrics. We propose CLeaD, a supervised contrastive alignment framework that maps WavLM embeddings from English and Mandarin into a shared clinical space, without parallel data or target-language fine-tuning. Evaluating 52 Mandarin speakers, contrastive alignment modestly outperforms the baseline (F1: 0.640 vs. 0.622) under leave-one-speaker-out evaluation. It also improves depressed-class recall at intermediate layers (7-8), though the small test set limits generalizability. Two findings remain robust: model scaling degrades cross-lingual performance while improving monolingual English, and speaker identity leakage artificially inflated previously reported Mandarin F1 scores to 0.954, an artifact we reproduce and quantify.

This paper derives exact closed-form feedforward inversion maps for the dual-bridge series resonant converter (DB SRC) using state-plane trajectory analysis. The converter employs four modulation variables: primary duty cycle $d$, secondary shorting time $s$, phase shift $\beta$, and switching frequency $\omega$. While the established first harmonic approximation (FHA) provides frequency-independent inversion, the exact state-plane approach yields frequency-dependent inversion model that is proven algebraically identical to FHA at resonance frequency. For practical above-resonance operation, the exact inversions eliminate the 5--72\% commutation angle errors inherent in the FHA-based feedforward. The resulting controller architecture mirrors the parallel nonlinear compensation structure of the FHA-based design, with feedforward maps now operating on resonant-time quantities that naturally couple commutation and frequency control. All results are expressed in closed form suitable for real-time implementation.

Direction-of-arrival (DoA) estimation is a fundamental array processing task that has benefited substantially from deep learning. Deploying such methods across distributed edge devices introduces privacy and communication constraints that federated learning (FL) can address. Yet, standard FL algorithms treat DoA as a generic classification problem, ignoring the underlying physics of the array manifold. To address this, we propose a physics-informed FL framework for DoA estimation that incorporates steering-vector geometry directly into the local training objective via a manifold-aware regularizer. Unlike existing FL baselines, the regularizer in our framework penalizes discrepancies in steering space rather than label space, exploiting the known geometric structure of the array manifold. We provide theoretical convergence guarantees for our framework, showing convergence to a stationary point. Simulation results confirm that our physics informed approach outperforms multiple FL baseline approaches across iid and non-iid data conditions.

Spectrum sensing is a fundamental problem in the upper mid-band, where spectrum resources are shared with incumbent systems. This paper considers frequency-domain occupancy estimation when the number of primary user signals, their bandwidths, and their signal-to-noise ratios are all unknown. We develop a generalized likelihood ratio test and a computationally efficient search procedure that combines binary search with dynamic programming to select the set of intervals maximizing the sum of log-likelihoods. The proposed method is validated through both simulation data and over-the-air experimental data using an upper mid-band software-defined radio (SDR), demonstrating its practical applicability.

This paper contributes to vehicle dynamics modeling by introducing a physics-informed neural state-space model tailored for the parking regime of a production battery-electric sedan, identified entirely from field-test maneuvers. At parking speeds the model captures what the kinematic idealization omits, including actuator lag, drivetrain creep, brake-hold transitions through standstill, and frequent reversals of the motion direction. A gear-conditioned velocity constraint is imposed during training, and the yaw rate is read out as a learned residual on a kinematic-bicycle prior, so that the network devotes its capacity to the deviation from physics rather than to its reproduction. These training-time physics make the customary inference-time state limiter redundant. The commanded-to-actual behavior of the drive, brake, and steering actuators is reproduced by dedicated submodels, for which signal fidelity proves an unreliable proxy for closed-loop value; tuning the brake on its velocity consequence rather than on its own signal reverses the verdict reached at the signal level. The model generalizes to held-out maneuvers in fully open-loop simulation, and, despite being identified from only 16 field tests, the assembled command-to-vehicle chain earns Good ratings on the vehicle states under the ISO/TS 18571 objective rating metric. Embedded as the real-time plant of an interactive simulator, it enables a production-representative planning stack to park the vehicle through the learned dynamics. This makes the model suitable for pre-calibrating an automated-parking planning and control stack in the virtual development phase without the manufacturer's proprietary chassis and actuator parameters.

Rotor inter-turn short-circuit (ITSC) faults in synchronous generators introduce electromagnetic asymmetries that can lead to torque ripple, unbalanced magnetic pull, and progressive mechanical degradation. While most existing studies focus on binary classification and severe fault conditions, the assessment of incipient rotor ITSC severity using displacement-sensitive vibration measurements remains relatively underexplored. This paper proposes a vibration-based diagnostic framework for multi-class severity classification of rotor ITSC by integrating an eddy-current displacement sensor with physically motivated feature extraction. An 18-dimensional hybrid feature set is designed to characterize electromechanical modulations induced by rotor electromagnetic asymmetry. Using an XGBoost classifier with leave-one-out cross-validation, the proposed approach achieved 90.56% overall accuracy, including 99% recall for healthy operation and 87% recall for mild fault conditions. The results suggest that displacement-sensitive vibration analysis enables effective severity-aware diagnosis of rotor ITSC with minimal sensor requirements.

The integration of power electronics-based energy storage systems (PEESs) into power systems introduces potential instabilities. This study reviews efforts in dynamic analysis of both AC and DC power systems integrated with PEESs, covering dynamic modeling, analysis methods, and potential instability risks. Major conclusions are drawn as: 1) Simplified models of PEESs have been widely used for dynamic analysis of power systems. However, it may cause "error aggregation" as the scale of PEESs increases, leading to mistakes in results, which induces significant concerns. 2) Traditional stability mechanism analysis methods remain effective for single grid-connected PEES and large-scale PEESs with parallel and series connections. However, they are inadequate for PEESs with distributed connections. To fill in this gap, an idea of mechanism analysis based on "dynamic reconstruction" is proposed. 3) Potential instability risks caused by PEESs integration may differ from those caused by renewable energy integration due to differences in functional controls and bidirectional power flow. However, comprehensive investigations in this regard are lacking and require significant attention. To ensure the stable operation of power systems with increasing integration of PEESs, significant challenges are summarized in the end, providing inspirations for future studies.

In the Internet of Vehicles (IoV), transmitting high-dimensional multi-modal sensory data to edge servers for time-sensitive tasks faces severe spectrum bottlenecks. To address this, we propose a foundation model-driven over-the-air token fusion (AirTF) framework for task-oriented multi-modal token communications. Unlike existing schemes for segmentation that rely on convolutional neural networks (CNNs) with limited local receptive fields, AirTF leverages vision transformer (ViT) encoders to extract globally contextualized semantic tokens from distributed heterogeneous sensors. By concurrently transmitting these spatially aligned tokens over a shared wireless channel, our framework exploits the superposition property of the multiple access channel to inherently fuse complementary multi-modal semantics (e.g., RGB and infrared) directly over the air. This mechanism significantly enhances spectral efficiency compared to orthogonal transmission. Furthermore, the integration of a pre-trained foundation model provides critical visual priors, effectively addressing the data-hungry nature of ViTs on limited, scenario-specific semantic segmentation datasets. Experiments demonstrate that AirTF consistently outperforms orthogonal transmission and CNN-based fusion baselines across AWGN and fading channels. Additional evaluations under a three-user setting, residual synchronization errors, and imperfect channel state information estimation further confirm its robustness. The source code will be made publicly available upon acceptance.

Subsynchronous oscillations (SSOs) have occurred at the sending-end of Zhangbei grid-forming MTDC power system (SE-GFPS). This paper gives an alert for the wide application of grid-forming (GFM) control by presenting a detailed report on such SSOs and the practical GFM configuration. Different from traditional studies that consider only parts of GFM control loops for simplification, power synchronous control (PSC), d- and q-axis AC voltage control (AVC), and inner current control (ICC) loops are comprehensively involved in this study. A self- and coupling-damping method is proposed to quantify the impact of both the inherent dynamics of different GFM control loops and the external dynamic coupling between the GFM control and the remaining SE-GFPS on the SSOs. It determines whether the major causes of SSOs are attributed to inherent GFM dynamics or external dynamic couplings. Based on the damping sensitivity analysis, the major impact factors of the SSOs are identified. Self-damping can be improved more by q-axis than by d-axis AVC parameters, and negative coupling damping can be reduced by PSC parameters. Finally, SSO mitigation strategies are proposed, and an SE-GFPS mirroring the real-world Zhangbei project is established on the electromagnetic transient (EMT) platform in Simulink, validating the accuracy of our conclusions.

The unmanned aerial vehicles (UAVs) will play an important role in the future urban transportation systems. This requires designing robust localization schemes especially for non-cooperative UAVs that do not share any information about their movements. This paper designs a multimodal UAV localization framework which utilizes camera, LiDAR and radar sensing modalities. The underlying data processing and the subsequent inference of the UAV location are distributed among the sensing nodes and the edge server attached to the base station. The proposed UAV localization framework addresses three key challenges. First, the sensing nodes have limited computing and communication resources, and they contain only single modality sensors. Second, the multimodal data differ greatly in the sampling rates, time alignment and the encodings. Third, the changes in the environment and the hardware failures cause the modal data to degrade, or to be completely missing. The proposed localization framework utilizes several data processing modules including a information-bottleneck (IB)-based compression module that extracts the most relevant features from each modality, a time-encoding alignment module that provides the unified representation in a shared latent space, a multimodal fusion module that accounts for the degraded and missing data, and a Mamba-based regression module that predicts the present UAV location. The experiments involving a real-world dataset demonstrate that the proposed framework accurately and reliably obtains the UAV location while outperforming other existing frameworks.

Recent research expands beyond binary anti-spoofing with the emergence of Source Tracing, the task of identifying the specific generative origins of synthetic speech. However, current research often equates a "source" with its generative architecture. We propose redefining a source as a compositional tuple of Architecture, Training Data, and other training factors affecting the generated speech. We propose a framework using Structured Orthonormal Prototypes to minimize class overlap and intra-class variance. Our Subspace Partitioning strategy splits the embedding into architecture and data subspaces, while a residual subspace captures stochastic variability, enabling "compositional generalization" for novel factor combinations. This approach improves performance for partially seen sources and maintains robustness in fully open-set scenarios. MLAAD evaluations for Few-Shot open-set Identification show our approach significantly outperforms angular-margin baselines.

While deepfake audio detection systems achieve high performance in controlled benchmarks, their reliability often diminishes in the wild. Prior work shows that dataset-specific artifacts contribute to this gap. Yet, systematic tools to identify which acoustic properties a model exploits as shortcuts remain limited. We propose an intervention-based diagnostic framework, grounded in a directed graphical model, that formally distinguishes confound-driven shortcut dependencies from legitimate domain shift. We operationalise this through controlled acoustic perturbations targeting non-speech structure, spectral content, and signal energy, complemented by corpus-level distributional analysis. Evaluating XLS-R-300M with RawGAT-ST across ASVspoof challenges datasets, we quantify model sensitivity to specific intervention types. Results reveal that non-speech interventions produce the largest performance shifts, confirming non-speech intervals as a dominant shortcut.

We present an optimization-based methodology for designing sparse state-feedback controllers for industrial applications that are suited for linear control, and demonstrate the framework by designing a level controller for an industrial rougher flotation bank at the Aitik mine. In contrast to the dense linear-quadratic (LQ) controller gains currently operating at the concentrator, our approach enforces a sparsity pattern that is consistent with the interaction structure of the flotation bank and accounts for the worst-case expected inflow disturbances during tuning, while optimizing controller performance through the Integral Absolute Error (IAE) index. The non-zero elements of the sparse gain matrices are optimized using a coordinate search algorithm that handles bound constraints and preserves closed-loop stability. The resulting sparse controller achieves improved load disturbance rejection in the flotation cells compared to the LQ controller. These improvements are consistently observed in both linear and nonlinear simulations. In addition, the imposed structure, results in gain matrices that are easier to adjust and interpret. Importantly, the sparse controllers generated for the Aitik mine are directly suitable for industrial deployment and offer an effective alternative to the existing dense LQ design.

Long-form recordings (LFRs) of child-centered audio are ecologically valid sources for studying early language development, but three problems limit their use. First, LFR corpora are collected across sites with heterogeneous formats and consent structures, making cross-corpus use non-trivial. Second, without standardized benchmarks, assessing whether tools generalize across languages and conditions is hard. Third, ML workflows rarely respect privacy constraints governing sensitive child speech. This paper presents a framework addressing all three: a standardized collection of 27 child-centered datasets built with open-source tools (S1); a replicable pipeline for four speech-processing benchmarks (S2); and ELSI, a role-based ecosystem embedding ethical governance into the ML workflow (S3). We demonstrate the framework via a voice type classification case study and show the three solutions are mutually dependent.

Weakly supervised segmentation of co-occurring neuroimaging lesion subclasses remains challenging due to overlapping activations, noisy pseudo-labels, and the absence of explicit inter-class exclusivity constraints. We propose BiMEx-MS (Binary-guided Mutually Exclusive Multiclass Segmentation), a framework that decomposes multiclass segmentation into whole-lesion localization and exclusive class assignment: a binary localization module provides a class-frequency-agnostic structural prior confining multiclass predictions within the detected lesion domain, while a multi-exit classification architecture with supervised contrastive pretraining produces multi-scale class-discriminative activation maps aggregated via a class-specific attention network. Inter-class exclusivity is enforced through a tri-partite loss comprising per-class separation, inter-class orthogonality, and binary-multiclass spatial consensus, followed by hierarchical morphological pseudo-label refinement. Evaluated across brain tumor MRI (BraTS 2020, BraTS 2023 SSA) and intracranial hemorrhage CT (RSNA-ICH to BHSD) against sixteen weakly supervised baselines, BiMEx-MS achieves Edema HD95 of 29.56 mm (the only method below 40 mm) and subdural hemorrhage Dice of 0.704, with gains consistently largest on boundary metrics and rare subtypes. Cross-dataset generalization, backbone ablations across six architectures, and uncertainty quantification confirm that structural guidance rather than model capacity drives performance. Code: this https URL.

Bird species classification from field recordings remains challenging due to overlapping vocalizations and incomplete species labels. We study source separation as a preprocessing for bird species classification to improve multi-species detection. Specifically, we employ an ensemble of two separators, FTRNN and TF-Locoformer, both trained with mixture invariant training (MixIT). To address the false positive gain caused by separation errors in separated outputs, we propose mixture-constrained max pooling (MCM), which clips the predicted probability from each separated channel based on the corresponding species probability in the original mixture. The classifier is applied to each separated output and the original mixture independently, and MCM aggregates the predictions into a final per-species probability. Experiments on two real-world datasets show that the ensemble outperforms individual separators and MCM outperforms standard max pooling across multiple metrics, and reveal that separation leads to both true positive gain for present species and false positive gain for absent species.

Near-field integrated sensing and communication (ISAC) can deliver the high spatial resolution and transmission capability with the shared spectrum and hardware. Due to the partial overlap between communication scatterers and radar targets, the sensing information can provide valuable priors to enhance the channel estimation while fusing the two heterogeneous modalities remain challenging. To address this problem, a Cross-Attention Transformer based Channel Estimation Neural Network (CAT-CENet) is developed, which includes a communication pilot branch generating the the Key and Value features and a sensing information branch generating the Query feature. By elaborating the three-module structure, CAT-CENet can focus on features of overlapped targets automatically without need of identifying them in advance. The modality contribution is theoretically analyzed based on the Shapley value to verify the cross-attention gain achieved by CAT-CENet. Simulation results show that CAT-CENet outperforms the state-of-the-art schemes, especially with the higher overlapping proportion, and is robust to the model pruning.

Sixth-generation (6G) wireless networks are expected to serve as AI-native infrastructure, transmitting meaning rather than mere bits -- a shift that makes semantic communication the central paradigm for next-generation connectivity. Deep learning-based semantic encoders show compelling gains in bandwidth efficiency; however, their dependence on large transformer models with hundreds of millions of parameters is at odds with the sub-millisecond latency, microjoule energy budgets, and kilobyte memory footprints of the constrained IoT and edge devices that will dominate 6G endpoints. Tiny language models (t-LMs) -- compact, quantised, task-specialised models deployable on microcontrollers, mobile system-on-chips, and edge accelerators -- are the enabling technology for closing this gap. This review provides a unified treatment of (i) the theoretical foundations of semantic information, covering semantic entropy, channel capacity, and rate-distortion theory; (ii) a two-axis taxonomy of t-LM-based semantic communication systems across five architecture classes and six compression paradigms; (iii) a survey of model compression techniques -- quantisation, pruning, knowledge distillation, low-rank adaptation, split computing, and neural architecture search -- through the lens of semantic quality preservation; and (iv) semantic-aware resource allocation frameworks for 6G multi-user networks. Evidence across the surveyed literature shows that compression can reduce semantic encoder size by up to 99.98% while preserving task accuracy, that split computing achieves device-side encoders with as few as 640 parameters, and that knowledge graph integration cuts transmission energy by 65%. Seven open challenges are identified, spanning theoretical gaps, system design, knowledge-base management, post-quantum security, and hardware co-design, with a 3GPP standardisation roadmap toward IMT-2030.

Supervisory control synthesis leverages the nonblocking property to show liveness of the supervised system. This property is particularly weak when system models include fault behavior, reconfiguration, or multiple control goals. To capture a more suitable nonblocking property for such system models, this paper introduces modal and multimodal nonblocking. These novel nonblocking variants impose a restriction on the states visited on the path towards a marked state. Synthesis algorithms are presented to construct modal and multimodal nonblocking supervisors. The novel nonblocking variants are illustrated with three intuitive examples, inspired by real synthesis problems encountered while applying supervisory control synthesis to safety-critical water infrastructures. A comparison is made between the novel nonblocking variants and established nonblocking variants to show that they are distinct. Additionally, where possible, conditions are formulated under which one variant implies the other.

Real-time cardiac cine MRI enables visualization of the beating heart during free breathing, but severe undersampling and motion make reconstruction highly challenging. A central challenge for reconstruction is incorporating powerful priors of cardiac anatomy while remaining computationally efficient. We propose Piecewise Dynamic Diffusion Regularization (PDDR), a reconstruction method that integrates a spatiotemporal diffusion model as a generative prior within a variational reconstruction framework for cine MRI. The model employs dedicated spatial layers to encode anatomical structure and temporal layers to capture cardiac motion learned from gated cine data. PDDR leverages the dynamic prior in a piecewise manner, enabling the efficient use of spatiotemporal diffusion models for processing of long real-time sequences. Experiments on retrospectively accelerated and prospective real-time cine MRI demonstrate that PDDR outperforms classical, unsupervised, and diffusion-based methods, delivering high-quality reconstructions with substantially reduced computation time compared to state-of-the-art baselines. These results highlight PDDR as a practical and scalable solution for free-breathing, real-time cardiac MRI. Code is available at this https URL.

Eco-friendly energy management for artificial intelligence data centers (AIDCs) is crucial because of the significant increase in energy consumption-induced carbon emissions from AIDCs resulting from the rapid expansion of AI applications. This paper proposes a hierarchical carbon-aware multi-agent reinforcement learning (CA-MARL) framework for robust and efficient operations of AIDCs under uncertainties while ensuring low-carbon operation of power distribution systems. The framework comprises a workload manager (WM) agent and multiple local AIDC agents trained using a multi-agent transformer method, corresponding to a global AIDC aggregator and a local AIDC operator, respectively. Leveraging AIDC operation data along with nodal carbon intensity (NCI) calculated from the carbon emission flow-integrated distribution system operator problem, the WM agent spatially allocates AI training and inference jobs among all AIDCs. Based on the jobs allocated from the WM agent and NCI information, each AIDC agent schedules economical and eco-friendly operations of the AIDC by performing the following tasks: i) temporal shifting of training jobs, ii) spatial allocation of training graphics processing unit (GPU) blocks and inference GPUs within the AIDC, and iii) control of the supply air temperature of the cooling system. The effectiveness of the proposed framework was assessed using an IEEE 33-node power distribution system.

Medical acoustic signals such as respiratory sounds, cardiac auscultations, and cough audio carry rich diagnostic information, yet no existing benchmark evaluates multimodal reasoning over their spectrogram representations. We address both gaps with CaReCoS, a benchmark pairing clinically grounded questions with mel-spectrogram images derived from seven medical audio datasets. Evaluating 9 state-of-the-art vision and omni models, we find that all struggle with fine-grained acoustic features encoded in spectrograms: no model reliably combines visual pattern recognition with medical knowledge, achieving a maximum accuracy of 51.2%, underscoring the need for training on medical sound visualizations.

This paper introduces a novel direct data-driven control framework based on Natural Gradient Descent (NGD) to design interpretable and robust closed-loop policies without requiring explicit model identification. We propose two data-driven NGD formulations that incorporate the closed-loop covariance matrix through the Fisher Information Matrix (FIM), allowing gradient updates to be preconditioned according to the system's intrinsic uncertainty. Leveraging two distinct data-based parameterizations of the closed-loop system, our method enables stability-guaranteed policy synthesis directly from data. We provide theoretical guarantees for contraction and convergence using semidefinite programs (SDPs) and validate our framework in both simulations and on hardware on a ROSbot XL platform. The results demonstrate intuitive features compared to linear-quadratic regulator (LQR) and standard data-driven baselines, particularly in terms of convergence speed, robustness, and control interpretability. This work bridges the gap between trajectory-oriented natural gradient methods and practical data-driven control design.

Jamming and spoofing threaten wireless and satellite navigation by disrupting or manipulating radio frequency (RF) signals, undermining availability, integrity, and trust. Robust interference monitoring (i.e., detection, classification, characterization, and direction finding) is therefore essential to identify and localize anomalous signals. While machine learning (ML) promises improved performance in complex environments, its development and validation depend on large-scale datasets that capture realistic signal and channel variability. Collecting such data in the real world is difficult because intentional jamming is illegal and ground-truth attribution is confounded by propagation, hardware, and environmental effects. To address this gap, we create and publish S-ICDF, a large-scale indoor interference dataset generated with Sionna, a GPU-accelerated simulation library for physical-layer wireless communications. S-ICDF covers 102 interference configurations, including diverse antenna array patterns, bandwidths, and simulation settings such as noise level and reflection depth. We further provide baseline results by benchmarking S-ICDF with classical estimation and direction finding (DF) methods (MUSIC, ESPRIT, and CAPON) and with modern ML approaches. The dataset is publicly available at: this https URL

Standard chance-constrained spacecraft guidance typically relies on the assumption that uncertainties in vehicle states obey Gaussian statistics. In frontier applications such as the cislunar environment or deep space flybys, the dynamics can be particularly nonlinear, and time between measurements can be long, leading to the need to make decisions whose outcomes produce non-Gaussian distributions. This paper demonstrates a non-Gaussian confidence boundary technique for stochastic guidance in such applications. Our approach is to consider the true confidence contour as a perturbation of the one predicted from covariance, then to derive perturbed boundary geometry from computed higher-order statistical moments. Applying this technique to so-called "banana-shaped distributions", found in orbital mechanics problems, enables a simple parameterization of the confidence contour using the skew and kurtosis tensors. This parameterization is then applied to a stochastic and nonlinear impulsive spacecraft maneuver targeting problem, with special treatment of a relevant non-convex constraint.

Channel estimation in extra-large multiple-input multiple-output systems is challenging due to near-field propagation, where the array response depends on both the angle and distance of the propagation paths. Existing near-field channel estimation methods typically rely either on fixed angle-distance grids, which suffer from grid mismatch effects, or on multi-stage refinement procedures with increased computational complexity. To address these limitations, this paper proposes the \textit{dictionary-learning iterative soft-thresholding algorithm (DL-ISTA)}, a method for joint near-field dictionary learning and channel estimation based on the iterative soft-thresholding algorithm. The proposed method jointly estimates the sparse channel coefficients and the continuous angle-distance parameters through alternating optimization, thereby avoiding discretization errors associated with fixed grids. To promote robust convergence, the angle-distance parameters are initialized using Sobol sequences, which provide uniform coverage of the parameter space. Numerical results show that DL-ISTA outperforms a baseline with comparable computational complexity and attains comparable or better accuracy than a substantially more complex benchmark.

Ambient Internet-of-Things backscatter devices at known locations can act as low-cost passive anchors by creating geometrically anchored reflected paths in cellular networks. Unlike reconfigurable intelligent surfaces, practical backscatter devices are independently controlled and lack a common phase reference; their modulation signatures may be known, but their reflection gains and residual phases are generally uncalibrated. We study how much localization information survives this incomplete per-device calibration in uplink non-line-of-sight (NLOS) positioning, where the direct NLOS path and the backscatter-assisted paths share an unknown scatterer. Treating the common channel gain, the relative backscatter response, and the residual device phases as nuisance parameters, we derive closed-form equivalent Fisher information matrices for calibrated, partially calibrated, and fully uncalibrated operation. The analysis shows that unknown device phases remove carrier-phase information from the backscatter-assisted paths, whereas joint uncertainty in the common gain and relative response leaves the direct NLOS path with only bandwidth-dependent delay information. The resulting position-domain bounds show that device count alone is insufficient: the passive anchors must also observe the common scatterer from sufficiently diverse directions. For joint single-snapshot identification of the user equipment and scatterer, at least two devices in two dimensions and three in three dimensions are necessary. The results identify deployment implications for Ambient Internet-of-Things positioning and show which calibration losses also apply to separable subpanel-based reconfigurable-surface architectures.

Channel charting (CC) enables data-driven user localization in wireless networks by embedding channel state information (CSI) into low-dimensional representations. In multi-cell scenarios, each base station independently learns a local chart via neural encoders, leading to misaligned representation spaces across overlapping coverage areas. This lack of consistency hinders network-level tasks such as user tracking, handover prediction, and resource allocation. To address this issue, we propose a principled framework for multi-site channel charting based on topological signal processing. We model the collection of local charts as a network sheaf, which encodes consistency constraints across the network and enables the coherent integration of locally learned representations into a shared global structure. This formulation introduces an interpretable inductive bias that promotes alignment across base stations while preserving local geometric fidelity. Building on this model, we develop a multi-site channel charting architecture and an alternating optimization algorithm that jointly updates neural encoders and inter-site orthogonal transport maps, with theoretical guarantees on consistency. Experimental results validate the effectiveness of the proposed approach, demonstrating improved cross-site alignment without degrading the quality of local embeddings.

Monitoring electromechanical oscillations is crucial for maintaining the stability of modern power systems, particularly in the presence of increasing penetrations of inverter-based resources (IBRs), which introduce new dynamic behaviors. In this work, we propose a hierarchical multiscale framework based on the SINDy-SENDAI algorithm to characterize the transient dynamics captured by wide-area measurements. The proposed deep learning architecture robustly separates low- and high-frequency components embedded in sensor data and incorporates a Sparse Identification of Nonlinear Dynamical Systems (SINDy) module in the latent space to identify parsimonious governing equations. In contrast to conventional deep learning approaches that often produce black-box models with limited interpretability, the proposed framework learns an explicit dynamical representation, enabling physical interpretation, stability assessment, and forecasting of electromechanical oscillations. Given the societal importance of modern power systems, the proposed approach is specifically designed to satisfy key requirements for practical deployment, namely robustness, interpretability, and stable performance under diverse operating conditions. The framework is first validated on the two-area Kundur test system using conventional modal analysis as ground truth and subsequently demonstrated on two real-world datasets: the 2016 Iberian oscillatory event and the 2021 ambient measurements from the southern Italian power grid. The results show that SINDy-SENDAI consistently outperforms the state-of-the-art Hankel-DMD method and that the learned latent dynamics are sufficiently informative to accurately reconstruct and predict the behavior of the full system in the original state space.

This letter analyzes the performance of on-off digital noise (OODN) modulation under multi-user scenarios. While prior works have addressed single-link operation, the impact of co-channel interference remains unexplored. We consider $K$ synchronous OODN interferers over AWGN and fading channels and derive a unified analytical framework for the bit error probability (BEP). The optimal likelihood-ratio detection threshold is obtained, along with a closed-form expression for the resulting irreducible error floor, which climbs geometrically with the number of co-channel interferers and yields a simple admission-control rule on network density. The analysis is extended to $\kappa$-$\mu$ fading, covering practical millimeter-wave channels with dominant line-of-sight components. Results, corroborated by Monte Carlo simulation, show that the floor is governed by the on-off interference and the non-coherent detector rather than by the noise waveform.

In contested environments, autonomous vehicles may need to plan around adversarial pursuers whose launch locations are unknown. This paper presents an interception-driven inverse-reachability framework for inferring a feasible pursuer launch region directly from observed interception events for a single pursuer. Each interception induces a geometric constraint on the unknown launch location, and intersecting these constraints yields a bounded set guaranteed to contain the true origin under maximum-capability assumptions. Mapping this inferred set through the pursuer reachable region produces deterministic engagement zones with an explicit worst-case safety interpretation. A probabilistic extension models uncertainty in the pursuer launch location and yields graded engagement-risk fields for risk-aware planning. To accelerate localization, we introduce an information-driven planner for sacrificial agents that selects trajectories to maximize expected contraction of the feasible launch region. Monte Carlo simulations show that the proposed framework rapidly reduces launch-location uncertainty and enables substantially shorter safe trajectories after only a small number of sacrificial deployments.

Point cloud compression relies on techniques to compress both geometry and attributes. Motion-based approaches for dynamic solid point cloud geometry compression within the geometry-based point cloud compression (G-PCC) framework have achieved significant reductions in geometry rate. However, motion-based techniques for attribute compression remain underexplored, making it challenging to achieve significant reductions in the temporal redundancy of attributes. Firstly, this paper proposes a geometry-based inter-coding scheme to compress the attributes of dynamic solid point clouds. Secondly, a graph-based motion-estimation scheme for point-cloud attribute compression is proposed. Thirdly, an interpolation-free fractional-voxel motion estimation method is proposed to refine motion accuracy to fractional-voxel precision. Our experimental results on the MPEG point cloud dataset show that the proposed scheme outperforms G-PCC, GeS-TM, and V-PCC in lossless and lossy geometry conditions. We achieve average bitrate savings of $55.3\%$, $42.3\%$, and $16.5\%$ over G-PCC, GeS-TM, and V-PCC, respectively, under lossy-geometry conditions.

Imaging signatures are quantitative features extracted from medical images that provide clinically meaningful information for tumor diagnosis, characterization, prognosis, and treatment planning. Although deep learning has shown great potential for imaging signature discovery, its limited interpretability remains a major barrier to clinical adoption. Existing approaches often achieve high predictive performance but provide little biological insight into the identified signatures. We propose a unified framework for interpretable imaging signature discovery by integrating deep learning based segmentation, explainable classification, and radiomic analysis. A robust segmentation model is first used to accurately delineate tumors, followed by a Grad-CAM guided pipeline that identifies diagnostically important regions as candidate imaging signatures. A mutual information based adaptive thresholding strategy enables patient-specific signature extraction. The resulting signatures are validated using a downstream deep learning classification model, while radiomic features extracted from the signature regions are evaluated with traditional machine learning models and interpreted using SHAP to identify the most discriminative biomarkers. The proposed framework is evaluated on the public BUSI breast ultrasound, KiTS renal CT, and BraTS brain tumor datasets, as well as a private UF Health renal CT cohort. Compared with conventional whole-tumor radiomics, the proposed signature-based approach achieves improved discriminative performance while providing greater biological interpretability. By converting deep learning attention into reproducible quantitative imaging biomarkers, this framework offers an interpretable and reproducible solution for non-invasive tumor characterization and imaging biomarker discovery.

Purpose: Surface electromyography (sEMG) can enable direct muscle activity measurement to support the recovery assessment of individuals with neurological and musculoskeletal disorders. Despite this, its broader adoption of sEMG has been limited given its sensitivity to changes in electrode location across sessions. To address this challenge and enable multi-session sEMG, this work develops a novel high-density sEMG (HDsEMG) algorithm to quantify changes in electrode location and mitigate its effects on common time and frequency domain sEMG features. Methods: 11 healthy participants performed isometric and dynamic exercises with HDsEMG on four lower limb muscles. These were repeated four times, reapplying arrays at shifted locations. The error between spatially-mapped HDsEMG metrics was then minimised to estimate the change in array location, with this compared against ground truth 3D scans. Lastly, relative feature differences across locations were computed at select electrodes to assess the degree to which inter-session sEMG effects were mitigated. Results: Electrode location estimates were improved over the assumption their location remained unchanged in 81.7% of cases, 37.6% identified within 1 cm of the ground truth. Feature differences computed between closest electrodes across locations per ground truth and algorithm estimates were statistically similar. Conversely, feature differences for the same electrode across locations were significantly greater, increasing the mean difference for the isometric max envelope amplitude from 15.9% with the algorithm to 21.1% without. Conclusions: The algorithm's application reduced inter-session feature differences arising from changes in electrode location. This can facilitate more direct cross-session feature comparisons, representing a promising step toward robust sEMG measurement for musculoskeletal and neurological recovery tracking.

Recovering sparse signals from their subsampled Fourier representation is an important problem in communications, radar, and imaging. In this letter, we focus on reconstructing sparse 2D signals (matrices) under the constraint that only a fixed number of entries can be sampled from each channel, e.g., a row or a column in the Fourier domain. For a specified per-channel readout budget, we derive a lower bound on the mutual coherence of the corresponding compressed sensing matrix. We show that our bound is larger than the classical Welch bound, due to a limited readout budget. We also construct deterministic subsampling patterns that attain this bound for a class of matrix dimensions and readout budgets, and benchmark them against random subsampling through simulations.

By a convergent set is meant a set of stochastic matrices where every infinite product of matrices from every compact subset converges to a rank one matrix. Well-known examples include the set of all scrambling matrices, the set of all stochastic matrices with all diagonal entries positive and a rooted graph, the set of all Sarymsakov matrices, and the set of doubly stochastic matrices with positive diagonal entries and a weakly connected graph. It is known that every infinite product from each compact set of every convergent set converges to its limit exponentially fast, but not much is known about the rate of convergence when not all matrices involved are scrambling matrices. This paper deals with bounding the rate of convergence in convergent sets using submultiplicative seminorms. It is shown that only in some convergent sets all matrices are contractions in the same seminorm, and in particular that this method cannot be used to determine the convergence rate for the class of matrices with positive diagonal entries and a rooted graph. As a second contribution, it is shown that for every compact convergent set and every submultiplicative seminorm, there is a finite number $k$ such that all products of $k$ matrices from the set are contractions in the seminorm. Finally, several open questions are posed for future research.

Evolving wireless networks call for architectures that unify sensing, communication, and wireless power transfer. Although integrated sensing and communication (ISAC) and simultaneous wireless information and power transfer (SWIPT) have validated dual-function transmission, the combination of integrated sensing, secure communication, and power transfer (ISSCPT) remains largely unexplored, in part due to the tight coupling among design variables. To address this coupling and expand spatial degrees of freedom, we turn to intelligent metasurfaces: while a conventional reconfigurable intelligent surface (cRIS) reflects only to one side and thus limits coverage and flexibility, a simultaneously transmitting and reflecting RIS (STAR-RIS) enables full-space wave control, making it a natural vehicle for power-efficient ISSCPT. We study a STAR-RIS-assisted ISSCPT system and pose a central question: How much transmit power is required to operate such a system? We formulate a transmit-power minimization problem that jointly optimizes transmit and receive beamforming and the STAR-RIS configuration, and solve it via alternating optimization with successive convex approximation, second-order cone programming, and eigenvalue decomposition. Simulations show that the proposed STAR-RIS-assisted design outperforms cRIS and no-RIS baselines, and quantify the additional transmit power required by ISSCPT relative to ISAC and secure SWIPT, clarifying security-sensing-power tradeoffs in metasurface-assisted systems.

Purpose: Early screening for eye diseases is critical in low- and middle-income countries where access to care is limited. We investigate whether a confidence-guided, multi-image diabetic retinopathy diagnosis framework can integrate image filtering with confidence-aware predictions for reliable screening at capture. Methods: We develop a multi-image fusion method that aggregates retinal views to improve confidence and balanced accuracy. Our method uses confidence to identify unreliable predictions, prompting retakes when needed. We compare: (1) a cascaded image-quality and disease diagnosis pipeline using a single image per patient, (2) confidence-based prediction, and (3) our confidence-based multi-image fusion pipeline. All methods are evaluated using a RETFoundGreen backbone on the mBRSET (n = 1,234) and BRSET (n = 7,599) datasets. Results: At 70% coverage, our method achieves 91% balanced accuracy on mBRSET and 97% on BRSET, improvements of ~12% and ~6%, respectively, over cascade filtering. The image-quality cascade reaches sensitivities of 61% on mBRSET and 86% on BRSET, whereas our framework reaches 94% and 96%, respectively, at 50% coverage. Conclusions: Human-annotated quality labels are weakly associated with diagnostic performance, and confidence-based filtering consistently outperforms image quality-based cascaded pipelines. Translational Relevance: Using confidence-based multi-image fusion, patients receive more reliable predictions, reducing incorrect diagnoses during screening. The lightweight backbone and single inference pass per image make the framework compatible with low-latency mobile screening systems in resource-limited settings.

Training automatic speech recognition (ASR) models for low-resource languages is challenging due to limited data and highly variable supervision quality. In particular, Pacific Indigenous speech corpora often exhibit heterogeneous acoustic conditions, transcript inconsistencies, and varying degrees of acoustic-text alignment reliability, making standard fine-tuning approaches sensitive to noisy or misleading supervision signals. In this work, we propose QuaSR, a simple yet effective weighting framework that combines data-side reliability with model-side learnability to improve ASR adaptation. Specifically, we estimate data reliability from acoustic, transcription, and alignment, while measuring learnability using training loss from the model. These two complementary signals are integrated into a unified sample utility score to produce training weights for the samples. We also evaluated across four Pacific Indigenous languages, which shows that the proposed utility scores reliably correlate with adaptation performance. Furthermore, QuaSR consistently improves ASR adaptation over standard fine-tuning and alternative data selection strategies, highlighting a new way to leverage difficulty scores for low-resource speech learning.

Traditional emotional voice conversion (EVC) conditions generation on explicit target emotions like labels or references, defining the target affective state but omitting the direction or nature of the transition. We introduce instruction-guided relative emotional voice conversion, a task where natural-language instructions specify source-conditioned affective transformations (e.g., "make the speech slightly calmer" or "sound noticeably more confident") instead of fixed targets. To support this task, we construct TRACE-Instruct, a dataset of relative emotion instructions covering categorical transitions, intensity modifications, and open-ended affective changes. We propose TRACE-EVC, a zero-shot framework built around Emo-Compass, a module that models each conversion as a source-anchored rectified flow. Rather than conditioning on an explicit target, it predicts the direction and degree of the affective change. Experiments demonstrate that TRACE-EVC accurately follows relative emotion instructions while preserving speaker identity, linguistic content, and speech quality, and remains competitive with conventional EVC systems on standard categorical emotion conversion.

CHILDES is a large-scale child speech corpus containing long-form recordings of naturalistic child-adult interactions, making it a valuable resource for studying child speech and language development. However, utterance-level timestamps provided in this corpus are often noisy, incomplete, or misaligned with the audio. As a result, utterances cannot always be reliably localized within long recordings, which limits the direct use of these data for training and evaluating speech models. In this work, we propose BEACON (Boundary Estimation via Alignment CONsensus), an ensemble timestamp-curation framework that refines utterance-level timestamps by aggregating knowledge from multiple off-the-shelf ASR models. Specifically, each model's word-level timestamp predictions are first aligned to provided human transcripts, and the final utterance time boundaries are determined by a consensus voting strategy. The framework is corpus-agnostic and applies to any long-form recording paired with a trusted transcript whose timestamps are unreliable or missing, offering a general recipe for timestamp curation. Leveraging this pipeline, we curate and release a 413-hour general-purpose child-speech dataset with corrected utterance-level timestamps, together with a 283-hour quality-controlled subset for ASR training. Fine-tuning on this subset yields up to an average 19.5% relative WER reduction on four out-of-domain child-speech benchmarks.

Pedestrian walking is a fundamental activity of daily living and a key component of first and last-mile urban mobility. The rapid adoption of e-scooters has increased pedestrian-vehicle interactions on shared sidewalks and crossings, raising collision risks. However, most previous studies have relied on trajectory-based observations, providing limited insight into biomechanical gait responses. This study investigated pedestrian gait adaptations during simulated e-scooter interactions using immersive virtual reality (VR) and markerless pose estimation. Twelve healthy male university students (21-23 years) completed four VR walking scenarios: normal walking, e-scooter encounters at 10-25 km/h, crossing encounters, and near-crash encounters. Sagittal-plane videos were analyzed using the OpenPose 25-point model. Step length, gait cycle time, walking velocity, stance and swing phases, and lower-limb joint trajectories were extracted using Kinovea and custom JSON-based analysis tools. Statistical analyses included ANOVA, MANOVA, and non-parametric tests Crossing and near-crash scenarios significantly reduced step length (p<0.001), from 226.5 cm during normal walking to 204.7 cm during near-crash simulations. Although gait velocity and timing were not significantly affected, participants consistently exhibited shorter stance phases, longer swing phases, and restricted knee motion during stressful encounters, indicating reflexive gait adaptations to perceived collision risk. These findings demonstrate that immersive VR combined with markerless pose estimation effectively quantifies pedestrian biomechanical responses to micro-mobility interactions. Gait adaptations identified in this study may serve as sensitive indicators of collision risk and support the development of proactive pedestrian safety measures and intelligent micro-mobility control systems.

This work presents a novel framework for learning robust control Lyapunov functions and stabilizing controllers for nonlinear dynamical systems subject to additive disturbances upper bounded by a state-dependent function. We leverage recent advances in Lipschitz neural networks to jointly learn both the Lyapunov functions and state-feedback controllers. We establish explicit bounds on the Hessian and third-order derivatives of these neural networks in the spectral norm, and introduce a GPU-friendly branch-and-bound algorithm that utilizes higher-order bounds to significantly accelerate the verification of the Lyapunov conditions. Finally, we validate the proposed approach through extensive simulations on six different dynamical systems.

The geometric size and regularity of detonation cells are key physical parameters for characterizing detonation waves. Traditional manual measurement of soot foils is time-consuming and subjective, while existing computer vision techniques often exhibit poor generalization on real experimental images with high noise, blurred boundaries, and severe overlapping. To address this, we propose a novel method for automated recognition and high-order feature extraction of detonation cells based on deep learning instance segmentation (Mask R-CNN). By constructing a custom heterogeneous dataset (numerical simulations and physical experiments) and integrating transfer learning, the model achieves accurate pixel-level mask prediction within highly noisy flow fields. Results indicate high pixel-level agreement in benchmark validations and strong robustness against noise in complex real-world soot foils. Predicted average cell sizes agree well with manual measurements, yielding relative errors under 2% and 3.5% for regular and irregular conditions, respectively. Sensitivity ablation experiments confirm the model's scale adaptability and guided the establishment of a standardized preprocessing paradigm for appropriate image patching. Overcoming the limitation of extracting only global average sizes, this model achieves automated tracking of the transient spatial evolution of cell sizes along the propagation direction. Furthermore, it quantitatively extracts high-order regularity features, such as the irregularity index (RI) and standard deviation of cell deflection angles, demonstrating consistency with theoretical expectations. The proposed method enhances the efficiency and objectivity of statistical analysis, providing a powerful data extraction tool for experimental and numerical soot foils.

Classical training-free denoisers such as BM3D and non-local means owe much of their strength to search: content-dependent block matching whose memory traffic and data-dependent control flow parallelize poorly and preclude fixed-latency implementations. Learned denoisers reach the highest quality, but they need training data, degrade outside their training domain (which we also observe), and carry per-pixel compute budgets that effectively require a GPU. We present GALOSH (Generalized Anscombe LOcal SHrinkage), a redesign of training-free denoising that removes the search entirely and aims at multi-domain coverage, speed, and quality at once: a blind per-image Poisson-Gaussian noise fit, a generalized Anscombe transform, a two-pass local Walsh-Hadamard shrinkage of luminance, and a luminance-guided local regression of chrominance -- two deliberately different operators for the two perceptually different noise components, each with its own strength control. Every stage is local, data-independent, and regular -- the same computation graph for every pixel of every image. One core serves two domains: raw Bayer mosaics and sRGB/YUV images. On four real-noise benchmarks (SIDD Medium and RawNIND, raw and sRGB) GALOSH is consistently the strongest among the tested blind, training-free methods -- surpassing BM3D- and NLM-family baselines even when those are given an oracle noise level -- and approaches trained networks on raw data while remaining below in-domain trained networks at high ISO in sRGB. Being search-free makes it fast: 7x-650x faster than the DL baselines on the same GPU at full benchmark size, and the only strong method in the comparison that also runs practically on plain CPUs. The fixed, data-independent structure is designed to map naturally onto fixed-point and streaming hardware, supported by an operation-count analysis and a working INT16 fixed-point realization.

This paper investigates handover-aware trajectory planning for cellular-connected UAVs executing mission-centric tasks under ultra-reliable low-latency communication (URLLC) constraints. Signal temporal logic (STL) provides a formal specification layer for translating mission semantics into time-bounded trajectory requirements, while finite-blocklength URLLC feasibility characterizes reliable command-and-control (C2) links with serving base stations (BSs). We formulate a joint planning problem that optimizes the UAV trajectory, STL mission satisfaction, serving-BS association, and handover behavior. To solve this mixed discrete-continuous problem, we adopt and integrate a Logic Network Flow (LNF) based STL reformulation with Bézier-parameterized motion, disk-shaped URLLC service regions, and binary association variables, so that the resulting mixed-integer quadratically constrained formulation can be solved by standard branch-and-bound solvers. Numerical simulations over a library of STL missions show that the proposed planner can execute different mission specifications under the same cellular map while maintaining URLLC feasibility. The results further reveal how mission timing, handover-aware association, and finite-blocklength stringency jointly affect trajectory shape, serving margin, and computational complexity.

Audio foundation models are widely adopted as general-purpose feature extractors, yet the internal structure of their learned representations remains insufficiently understood. In this work, we analyze CLAP audio embeddings through a probing framework, studying the encoding of three fundamental perceptual dimensions: reverberation (RT60), loudness (LUFS), and spectral content, measured via spectral centroid (SC) and relative pitch (RP). Probes of increasing complexity are trained to predict each attribute from frozen embeddings across five datasets spanning noise, speech, monophonic musical notes, and music mixtures. Our primary finding is that all of these attributes are reliably recoverable from the CLAP embedding space across the examined datasets. Within this global picture, two encoding regimes emerge: RT60, LUFS, and RP are approximately linearly encoded, while SC requires non-linear probes. Both regimes generalize across eight additional audio foundation models, with the notable exception that amplitude-invariant architectures discard loudness entirely by construction. The identified linear feature directions are geometrically consistent across datasets for RT60 and LUFS, while highly domain-specific for RP. Finally, we provide a qualitative demonstration of cross-modal consistency, showing that text embeddings of acoustic descriptors align geometrically with the identified RT60 feature direction.

Research on low-altitude integrated sensing and communication (ISAC) requires aligned multimodal data that jointly describe wireless propagation, visual appearance, unmanned aerial vehicle (UAV) motion, light detection and ranging (LiDAR) perception, and radar sensing under common trajectories and timestamps. To address this need, a low-altitude multimodal base dataset, named LAMBDA, is introduced. LAMBDA is characterized by high fidelity, modality diversity, scenario richness, and configuration flexibility. It is generated through a high-fidelity digital-twin pipeline with detailed scene geometry, refined material assignment, and electromagnetic modeling of UAVs. LAMBDA provides synchronized RGB images, depth maps, LiDAR point clouds, inertial measurement unit states, UAV poses, channel state information (CSI), and radar-synthesis resources across matched low-altitude operating conditions, shared coordinate systems, and synchronized frame indices. The dataset covers urban, suburban, and campus scenes, multi-UAV/multi-base-station settings, nighttime conditions, and sunny, rainy, snowy, and foggy weather variations. Its CSI and radar resources support user-defined antenna-array sizes, bandwidths, subcarrier spacings, chirp parameters, and plane-wave or spherical-wavefront channel synthesis. The reliability and usability of LAMBDA are assessed through quality control, weather and multimodal visualization, and two UAV ISAC-related use cases: RGB-aided beam prediction and RGB-LiDAR-based UAV localization.

This paper addresses the solution of nonlinear dynamic optimization problems that compute optimal manipulated input profiles to enforce desired output profiles. Such trajectory optimization problems commonly arise in chemical process applications, for example, batch processes where optimal temperature or feeding profiles (in case of fed-batch processes) are calculated to enforce time-varying product quality profiles, tightly controlling the reaction rate or rate of heat generation. We propose deep neural operators that approximate function to function mappings as surrogates for the solution of such dynamic optimization problems. We specifically employ deep operator networks (DeepONets) and Fourier-enhanced DeepONets in a batch polymerization reactor case study for which number-average and weight-average molecular weight profiles, together with a final conversion target, are enforced through an optimal temperature program. Our results show that the Fourier-enhanced DeepONet architecture performs very well in approximating the solution of the dynamic optimization problem for different instances, achieving a lower prediction error compared to the standard DeepONet architecture and standard feedforward neural networks.

Integrated sensing, communication, and computation (ISCC) has recently emerged as a unified framework for enabling edge intelligence. However, existing ISCC designs predominantly rely on single-modal sensing, which is inherently vulnerable to occlusions, environmental uncertainties, and modality-specific failures, leading to degraded robustness in real-world deployments. This motivates the need for multi-modal ISCC, yet its design remains insufficiently explored. Compared with the single-modal case, multi-modal ISCC is more challenging because heterogeneous modalities enlarge data dimensionality and tighten communication/computation/energy budgets, while inter-modal correlations further complicate performance characterization. To address these challenges, we propose a task-oriented multi-modal ISCC framework that integrates device-side feature extraction with edge-side joint multi-modal inference. A central component of our approach is the maximal coding rate reduction (MCR^2) criterion, which enables each device to learn compact and discriminative task-relevant features, offering clear advantages over conventional cross-entropy-based extractors. We further leverage MCR^2 as a principled metric for edge-side sensing evaluation. On this basis, we formulate a sensing accuracy maximization problem under delay and resource constraints and develop an efficient block coordinate descent (BCD) algorithm after transforming the problem into a more tractable equivalent form. Focusing on a human activity recognition task, we conduct extensive experiments on publicly available datasets to evaluate the performance of the proposed ISCC framework. The results demonstrate that our approach consistently outperforms three baseline schemes under limited resource conditions.

The rapid advancement of multi-band wireless communication systems has driven demand for compact, high-performance multi-band bandpass filters (BPFs) capable of isolating specific frequency bands within a wider spectrum. This paper reviews the current state-of-the-art in multi-band filter design and implementation techniques and presents the design, simulation, and characterisation of a prototype triple-band bandpass filter to validate one of the investigated techniques. A triple-band BPF operating at 2.1 GHz, 2.2 GHz, and 2.3 GHz is designed using Keysight ADS software and implemented on Rogers RT/Duroid 6010LM substrate (dielectric constant = 10.7, loss tangent = 0.0023, thickness = 1.27 mm). The design employs nine square open-loop resonators three per passband with a characteristic impedance of 50 {\Omega} and a fractional bandwidth of 6%. Simulation results demonstrate insertion losses of 0.674 dB, 0.976 dB, and 1.314 dB, and return losses of 16.785 dB, 33.609 dB, and 17.162 dB across the three passbands respectively. The 2.2 GHz centre frequency is achieved with high precision, confirming the effectiveness of the square open-loop resonator transformation technique for compact multi-band filter design in modern wireless communication systems.

Whole-body fluorodeoxyglucose positron emission tomography combined with computed tomography is widely used in cancer care, but manual lesion delineation is slow, subjective, and difficult to scale. We present GLOW-FDG, an open-source artificial intelligence model for whole-body cancer lesion segmentation in fluorodeoxyglucose positron emission tomography and computed tomography. The model was trained on 1,563 scans spanning multiple cancer types and evaluated on 185 external scans from independent institutions. Across breast cancer, nonmetastatic and oligometastatic lung cancer, head and neck cancer, and metastatic melanoma, GLOW-FDG consistently outperformed publicly available benchmark models in lesion detection, while reducing false positives and maintaining strong segmentation accuracy. Quantification of total tumor burden and total lesion glycolysis was robust across cohorts, and performance approached the variability observed between expert radiation oncologists. These results support GLOW-FDG as a generalizable tool for automated cancer segmentation and quantitative imaging biomarker extraction in whole-body imaging.

Model predictive control (MPC) of building HVAC systems needs thermal models that answer a causal question: what indoor temperature, energy use, and comfort will result if a control action is applied? Time-series foundation models (TSFMs) can forecast passive building trajectories with strong zero-shot skill, but high factual accuracy does not imply valid response to control interventions. We show that an observational grey-box model with the best passive accuracy predicts cooling effects with the wrong sign, and that adding control and weather covariates to a TSFM does not fix intervention response. We introduce ThermoForce, a control-ready interventional thermal world model that keeps a TSFM frozen as a passive free-response prior and learns a compact, physics-structured forced-response operator for the causal effect of HVAC actuation. The operator is monotone in the control input by construction, is identified from one to three days of control excitation, and composes with the free response into a counterfactual-capable world model. Across paired EnergyPlus heating and cooling interventions, ThermoForce attains the lowest intervention-effect error and correct effect sign where covariate-TSFM, observational grey-box, and distillation baselines fail. Embedded in MPC on the BOPTEST benchmark, it reduces thermal discomfort by 33--84\% relative to the native controller across three two-week windows while simultaneously reducing energy, using a frozen backbone, 195 trainable parameters, and CPU-only computation. ThermoForce reframes foundation models for building control: passive prediction and forced intervention response must be structurally separated for a model to be control-ready.

Diabetic retinopathy (DR) is a leading cause of vision impairment worldwide, highlighting the need for accurate and accessible screening tools. Optical Coherence Tomography (OCT) provides high-resolution structural information of the retina, whereas OCT angiography (OCTA) offers complementary vascular information that is highly relevant for DR diagnosis. In this study, we propose a cross-modal fusion of OCT B-scans with single-channel en face OCTA using a bidirectional cross-modal attention network for automated DR classification. Two independent datasets, OCT500 and UIC, comprising 730 subjects in total, were utilized to evaluate performance under within-dataset, combined-dataset, and cross-dataset generalization settings. A ConvNeXt V2 model trained solely on OCT images served as the unimodal baseline. In addition to ground-truth (GT) OCTA, we explored the use of translated (TR) OCTA generated from OCT scans, eliminating the requirement for dedicated OCTA hardware. Experimental results demonstrate that cross-modal fusion consistently outperforms unimodal OCT classification across all evaluation scenarios. Fusion with GT OCTA improved classification accuracy and discriminative performance, while TR OCTA achieved comparable or superior results in most settings. Furthermore, TR OCTA improved sensitivity and cross-dataset generalization, indicating enhanced robustness to domain shifts. These findings demonstrate that attention-based OCT-OCTA en face fusion provides clinically meaningful improvements for DR detection and suggest that computationally generated OCTA can serve as a practical, low-cost alternative to hardware-acquired OCTA, enabling broader deployment of high-performance retinal screening systems in resource-limited clinical environments.

Advanced neural technologies in speech synthesis and voice conversion (VC) have introduced severe risks to personal privacy, necessitating robust Speaker Anonymization Systems (SAS). Existing SAS approaches modify voice characteristics in the hand-crafted feature space or speaker embedding space, often struggling to provide sufficient identity variance across generated voices. In this paper, we propose NouveauVoice, a novel pseudo-speaker generation framework based on a Hierarchical Deep Variational Autoencoder (NVAE). Integrated as a standalone plug-in module on top of state-of-the-art architectures (FACodec and CosyVoice2), our approach leverages tractable sampling and the Evidence Lower Bound (ELBO) objective to synthesize highly expressive pseudo-speaker embeddings with significantly enhanced speaker diversity. Evaluating our framework under a protocol similar to the VoicePrivacy Challenge alongside Maximum Mean Discrepancy (MMD) analysis, we demonstrate that NouveauVoice achieves strong identity concealment, yielding an Equal Error Rate (EER) exceeding 38% against an automatic speaker verification attacker model. Our system shows a reasonable trade-off between strict anonymity, rich pseudo-speaker diversity, and downstream speech utility, such as intelligibility and emotional expressiveness.

Physical sensing and actuation noise floors should inform how much belief resolution a decision-making system can reliably use. We introduce Finite Reliability Representations (FRR), a framework for covering belief spaces by reliability cells: regions within which the optimal action-value function Q*(b,u) varies by at most a tolerance epsilon, uniformly over actions. The framework is formulated on beliefs rather than states and uses a cover rather than an equivalence quotient, because approximate decision-closeness is not transitive in general. A central technical point is that noisy Bayesian updates should not be treated as globally contractive on arbitrary beliefs. We therefore separate three objects: the fixed-observation filter map, the predictive observation law, and the controlled belief-transition kernel. For nonlinear continuous-state systems, FRR is obtained under a reachable-set Lipschitz modulus for the belief-transition kernel. For finite-state POMDPs, the same construction becomes exact on the belief simplex: prediction is linear, Bayesian correction is a normalized positive linear map, sensor noise enters through observation-distribution distinguishability, and actuation uncertainty enters through an action-execution channel. Under the corresponding action-value Lipschitz condition, an FRR cover supports a cell-constant policy whose suboptimality is bounded by 2 epsilon/(1 - gamma). We also introduce reliability entropy, the logarithm of the minimal number of reliability cells, as a measure of certified decision-relevant belief complexity. The framework distinguishes representation sufficiency from fundamental performance floors imposed by sensing, process, and actuation noise. It applies to finite POMDPs, linear-Gaussian filters, locally linearized nonlinear filters, and particle-filter implementations through analytic or empirical certification of reliability cells.

Autoregressive (AR) text-to-speech (TTS) models generate discrete speech tokens sequentially, which makes inference slow and can degrade robustness by propagating local errors and hallucinations. This limitation stems from their left-to-right AR commitment: each token must be determined before future speech-token context is available. However, such ordering is not an inherent requirement for TTS, as the full input text is available before synthesis. In this paper, we introduce DELTA-TTS, a lightweight LoRA-based adaptation framework that converts a pretrained AR TTS model into a discrete diffusion language model (dLLM) for confidence-ordered speech-token decoding. To better capture the local structure of speech, DELTA-TTS incorporates a convolution module that injects local acoustic context, together with a $1/t$-weighted training objective and a time-shifted inference schedule that defer low-confidence positions to later steps. Trained on only $585$ hours of LibriTTS, DELTA-TTS achieves a $\textbf{1.75}\%$ WER on Seed-TTS test-en, outperforming its AR backbone while generating tokens $\textbf{3.3}\times$ faster. Further analysis shows that DELTA-TTS produces sharper text--speech alignment, increases overall decoding confidence, and mitigates hallucinations observed in AR generation.

Federated learning (FL) is severely hindered by statistical heterogeneity due to variations in scanners, acquisition protocols, and patient populations. Such non-IID data induces client drift during local optimization, leading to unstable convergence and suboptimal global models when parameter-based aggregation is applied. We propose a prototype-based, influence-aware federated learning framework (FedProIn) that uses multiple learnable class prototypes to capture shared semantic structures across heterogeneous clients. We introduce feature divergence loss and prototype contrastive loss to mitigate client drift by decomposing it into feature drift and prototype drift. In addition, we propose a normalized influence aggregation strategy that adaptively weights client prototypes according to their contribution to the global representation, reducing the impact of biased or low-quality updates. Experimental results on two publicly available medical datasets, HAM10000 and Matek-19, demonstrate that FedProIn achieves accuracies of (83.5% IID, 81.1% non-IID) on HAM10000 and (96.2% IID, 95.8% non-IID) on Matek-19, respectively, outperforming existing baselines in both conditions. Our code is available at this https URL.

An uplink multiuser pinching-antenna system (PASS) is considered, where multiple dielectric waveguides are deployed at the base station and one pinching antenna (PA) is activated on each waveguide. For practical implementation, each PA is restricted to a finite number of preconfigured locations. The resulting uplink sum-rate maximization problem is represented as a layered tree search. Three algorithms are then developed: a greedy search (GS), a beam search (BeS), and an optimal branch-and-bound (BnB) search. In GS, the locally best branch is selected through efficient matrix-inverse updates. In BeS, several promising partial paths are retained to provide a tunable performance-complexity tradeoff. In BnB, noncompetitive subtrees are pruned through a monotonic transformed objective without loss of optimality. Substantial gains over a conventional fixed array are demonstrated by numerical results. Near-optimal performance is also achieved by GS and moderate-width BeS at a lower computational co t than BnB.

This paper proposes Scenario-Based Data-Enabled Predictive Control (Scenario-DeePC), which integrates the scenario optimization framework into Data-enabled Predictive Control (DeePC) to provide probabilistic guarantees on constraint satisfaction under uncertainty. In contrast to existing methods, the uncertainty is characterized directly from data by constructing empirical disturbance scenarios from observed prediction errors, keeping the method fully consistent with the data-driven philosophy of DeePC and free of distributional assumptions. We establish the supporting theory, including a distribution-free probabilistic guarantee on constraint satisfaction and recursive feasibility of the receding-horizon scheme. An adaptive extension collects scenarios online, enabling the controller to adjust to changing noise characteristics, disturbances, and operating-point-dependent model mismatches. The approach is demonstrated on a linear Boeing 747 model and a nonlinear two-tank system, showing a significant reduction in constraint violations compared to standard DeePC, while maintaining comparable tracking performance in nominal conditions and improving tracking accuracy in the nonlinear setting.

Non-line-of-sight (NLOS) imaging is an emerging technique with transformative potential, enabling the visualization of hidden objects through indirect light reflection. This paper presents a NLOS imaging method operating in the near-infrared (NIR) wavelengths, specifically employing a raster scanning technique with a pan-tilt device. The NIR laser, operating at a wavelength of 808 nm and an output power of 500 mW, illuminates a hidden target occluded by an obstacle. The imaging process involves three bounces: the laser beam first strikes a relay wall, then reflects off the hidden target, returns to the relay wall, and subsequently reaches the NIR camera. This study systematically evaluates the effectiveness of the proposed method across three distinct targets, demonstrating the capability to recover high-quality images from non-line-of-sight scenarios. The obtained images of the hidden targets are compared with their ground truth images, and the error in the obtained images is assessed based on the criteria of Mean Squared Error (MSE) and Root Mean Square Error (RMSE).

Neural speech codec has attracted extensive attention for high-quality reconstruction at low-bitrate. However, real-world noise severely degrades its performance and hinders high-quality clean speech reconstruction. To tackle this problem, we propose FocalSE, a novel speech enhancement method that performs feature denoising, noise feature separation and noise recognition in the continuous embedding space of neural speech codecs. Specifically, we develop focal modulation-based compression and decompression to capture global context and local mutual information, and generate focal masks to recover clean feature embeddings. We then separate noise embeddings from noisy embeddings to improve denoising performance. Finally, we use ResNet1D-18 to recognize noise categories for better separation effectiveness. Extensive experiments on two standard datasets, LibriTTS and ESC50, demonstrate that our method outperforms state-of-the-art approaches under low-bitrate and low-SNR conditions.

In MRI, dense receiver coil arrays with a high number of coil elements are used to efficiently detect and encode the signal. Further increasing the number of coils is hampered by electrical cabling and massive electronics that introduce electromagnetic coupling, integration complexity and even safety constraints. Here we introduce the novel Light Coils concept, a fully optical MRI receive architecture in which data transmission, front-end power delivery, and coil detuning are all implemented optically, thereby reducing the massive galvanic cabling to a few optical fibers. For signal encoding, Mach-Zehnder modulators (MZM) are used to convert the MR signal from each coil onto a C-band optical carrier. The preamplifiers are driven via a power-over-fiber (PoF) system that uses a high-efficiency photovoltaic (PV) cell for optical-to-electrical power conversion. A pulse-sequence-triggered optical path controls active detuning. Jointly optimizing modulator bias, optical power and front-end gain under realistic receiver chain conditions, Light Coils can match the signal-to-noise ratio (SNR) of conventional RF coil systems with galvanic cables at MZM input powers of 5-10mW and photonic power converter inputs of 80-100mW. At a clinical 3T MRI system, we show in vivo human brain imaging with a single-channel Light Coil element with an image quality and SNR comparable to a conventional coaxial readout using the identical coil element. Extending the concept to a four-channel array using dense wavelength-division multiplexing over a single fiber, we demonstrate wavelength-selective routing with inter-channel optical isolation exceeding 28dB, reduced noise correlation compared with the galvanic reference, and parallel imaging. These results establish a scalable route towards lightweight, modular, and potentially ultra-dense MRI receive arrays based on integrated photonics and power-over-fiber.

AI-RAN aims to unify artificial intelligence and radio access network workloads on a shared compute substrate. While this paradigm has so far been demonstrated primarily on Graphics Processing Units (GPUs), it remains unclear whether Neural Processing Units (NPUs), which are AI accelerators optimized for inference, can also support wireless baseband processing. Here, we provide the first affirmative answer by resolving the fundamental mismatch between baseband workloads and NPU architecture. A computational isomorphism exists: matrix and vector engines NPUs dedicate to inference inherently cover physical-layer operations. Yet NPU architectures are natively shaped for dense-tensor AI inference, not baseband. This architectural mismatch surfaces as opposing optimization objectives: traditional baseband minimizes arithmetic operations, whereas NPU performance demands maximizing engine utilization. We close this gap by reconstructing communication algorithms onto AI compute primitives, prioritizing engine utilization over arithmetic count. We validate this with a complete OFDM transceiver on an Ascend 310B1 edge NPU, demonstrating end-to-end over-the-air transmission via USRP X300 at 3.0 GHz.

With the development of low altitude intelligent systems, multiple unmanned aerial vehicles (UAVs) can collaboratively execute more complex tasks. Conventional task allocation methods usually regard tasks and UAVs as isolated entities, making it difficult to capture task dependencies and UAV communication relationships. To address this issue, this paper proposes a dual heterogeneous graph learning based UAV task allocation method. A directed task graph is constructed to represent task dependencies and encode task resource requirements, while an undirected UAV communication graph is built to model communication relationships and encode UAV resource states. The task allocation problem is formulated as a structural matching problem between the task graph and the UAV communication graph. A graph attention network based feature extraction method is introduced to learn structural representations from both graphs through message passing. A cross attention mechanism is further integrated with proximal policy optimization to optimize the matching between task nodes and UAV nodes for task allocation. Simulation results demonstrate that the proposed method achieves a higher task completion rate and shorter task completion time than benchmark methods under different evaluation settings. Furthermore, a UAV sensing and computing application is developed on the AirSim simulation platform. A large language model is employed to convert natural language task requirements into a structured task graph for autonomous UAV task execution, demonstrating the potential of the proposed framework for natural language driven UAV mission planning and execution.

Artificial intelligence (AI) and machine learning (ML)-based channel estimators silently degrade when propagation conditions drift from their training distributions. This letter proposes a model-agnostic cognitive digital twin (CDT) framework that combines a variational autoencoder (VAE) with latent activation monitoring to detect distribution drift and autonomously execute \textsc{continue}, \textsc{update}, or \textsc{retire} lifecycle actions without requiring ground-truth channel knowledge. The proposed framework is fully compatible with the AI-native lifecycle management envisioned in 3rd Generation Partnership Project (3GPP). Simulations over various channels demonstrate accurate drift detection and robust channel estimation, consistently outperforming conventional offline-trained deep learning estimators under moderate and severe channel drift.

We develop a unified, certified lower bound on the time-to-boundary margin M for transient stability of interconnected dissipative systems under slow parameter drift. The companion work establishes M as the first-passage time of the joint state-parameter motion to the synchronism boundary and proves M = CCT exactly on the one-machine-infinite-bus reduction, while leaving the multimachine certified margin open. Here a composite (mixed-region) Lyapunov function, formed by absorbing the restoring intra-group coupling into group energy functions and treating only the residual cross-cut coupling through the comparison principle, yields a positively invariant inner estimate of the region of attraction whenever an associated test matrix is a nonsingular M-matrix. The certified region breathes with the drift: its size is governed by a single critical synchronising stiffness k_c (lambda), and as k_c -> 0 at the boundary the region breathes shut and the certified margin M_low <= M_true vanishes. We give a nonlinear sector form of the construction, a domain-neutral resilience-fragility reading in which the coupling that certifies order is the one whose growth certifies collapse, and a constructive control corollary establishing a sharp dichotomy between damping injection and structural action. The mechanism is demonstrated identically on the WSCC nine-bus power system and on an inertial Kuramoto network, whose normalised breathing curves collapse, to leading order, onto a single profile. We present this collapse as numerical evidence for a conjectured universal form; a normal-form proof is identified as the precise open step.

The dominant trend in voice anti-spoofing fuses self-supervised (SSL) backbones (e.g., WavLM) with handcrafted features, yet such fusion typically lacks transparency in cue-to-layer interactions, and simple concatenation limits cross-modal learning. We propose MOSAIC (Multi-token Oriented Speech Anti-spoofing via Integrated Cross-attention), an interpretable multi-token cross-attention framework that splits a 152-dimensional biophonetic feature vector into six semantic-group query tokens (Praat, phase, LFCC mean/std, sub-band mean/std) and attends them over thirteen mean-std pooled WavLM-Large transformer layers as keys/values. The resulting 6x13 attention matrix visualizes cue-to-layer alignment; a z-score analysis of the per-token activations shows that biophonetic/phase tokens activate more on bona fide speech while spectral/channel tokens activate more on spoofed speech -- yielding per-cue, per-layer attribution that extends prior fusion approaches. Trained jointly with focal loss, a dual LA/PA domain-adversarial classifier, and a bona-fide-only VAE regularizer, MOSAIC attains EER 1.93% / 1.98% on ASVspoof 2019 LA / PA -- a single unified model that approaches the PA-specialized SOTA (LFCC-CMR, 1.34%) while remaining competitive on LA -- and 9.28% / 6.21% / 40.09% on ASVspoof 2021 LA / DF / PA.

Backstepping for nonlinear PDEs yields exact feedback linearizing laws in the form of infinite Volterra series -- elegant in theory, but with challenges for implementation. This paper shows that even very low-order truncations of such controllers, no longer exactly linearizing, retain the stabilizing power. The key insight is that higher-order terms become negligible near the origin, so stability is recovered for any fixed truncation order by restricting the initial condition size. We establish spatial sup-norm results: finite-time practical stability and asymptotic stability characterized by a class-$\mathcal{KL}$ estimate. The region-of-attraction estimate grows with the truncation order and shrinks with the growth rate of the nonlinearity. The analysis overcomes the lack of pointwise kernel bounds and resolves well-posedness of the nonlinear closed loop, showing that surprisingly simple approximations already capture the essence of nonlinear PDE feedback linearization.

Volterra series feedback linearizes a class of nonlinear hyperbolic PDEs but produces a controller that, even after truncation, demands solving a tower of plant-specific kernel PDEs and evaluating nested integrals. We prove the truncated controller is jointly Lipschitz in plant and state, and learn it as a single neural operator from plant nonlinearity and state to boundary control. Once trained, no kernel is ever solved again, for any plant in the trained class. The closed loop is practically stable in class-$\mathcal{KL}$ form, with a residual ball scaling linearly with training accuracy.

Explainable AI (XAI) is important for deploying machine learning systems in domains where stakes are very high and where transparency, trust and accountability are critical. Although black box models like deep neural networks often perform with high efficiency, interpreting their decisions remains as a difficult task. This paper proposes a reusable end-to-end XAI framework that is the combination of prediction, explanation generation, evaluation and converting these explanations into natural language text of explanation which can be easily understood by the non-technical stakeholders as well. This framework initially trains deep neural network for both classification and regression tasks. Local and global explanations are generated using XAI algorithms, including Local Interpretable Model-agnostic Explanation (LIME) and SHapley Additive exPlanations (SHAP) respectively. To evaluate these explanations, we use fidelity and stability metrics to know how accurately and consistently explanations reflect the model behavior. The generated explanation includes feature importance scores, prediction specific attributes, and then transformed into a structured input to the Large Language Model (LLM), which generates a natural language explanation through which everyone can understand the explanations generated by XAI algorithms. This framework is tested on power system fault dataset detection dataset and building energy labels dataset. For fault detection, the neural network model achieved 99% accuracy with ROC-AUC score of 1.00. For building energy prediction, model achieves R2 score of 0.67. These findings say that the proposed approach produces a stable and faithful explanations while improving the interpretability of black box model to everyone with the help of LLMs.

Binary change detection in remote sensing requires both complete changed-region localization and accurate boundary delineation. We present MambaRefine-CD, a region-boundary temporal refinement framework built on a shared MambaVision encoder. The proposed D-RBI module constructs temporal evidence from paired features, absolute differences, and signed differences, then separates it into region and Sobel-conditioned boundary streams. Region features are enhanced with CRAM-lite and decoded by an adaptive receptive-field FPN, while the finest boundary stream guides a bounded residual refinement of the coarse prediction. Experiments on DSIFN-CD and WHU-CD show strong changed-class F1 and IoU under verified evaluation settings, and ablations support the contribution of signed temporal evidence and the full region-boundary refinement pipeline.

Low-Earth-orbit (LEO) relay networks deliver finite objects -- sensing tiles, telemetry blocks, model updates, and checkpoints -- over intermittent inter-satellite and space-to-ground contact plans. Partial delivery is insufficient when the complete object misses its deadline. When an object is split across candidate paths, a path-private evaluation can count the same contact service more than once and silently under-count completion. We develop a residual-service-aware delivery layer that consumes candidate paths from contact-plan route generation and tests whether the complete object can be delivered before its deadline under per-edge first-in-first-out residual service. Under controlled shared-contact contention, path-private evaluation under-counts completion by up to 154 s and can report finite completion for a fixed plan with no residual-service completion. For edge-disjoint complementary contacts, the layer reduces to fixed-path service; we derive a sufficient service-budget condition under which two-way striping strictly enlarges the feasible payload region. We verify a restricted exhaustive reference, characterize runtime over a 20-180-satellite procedural contact model, and show that bounded two-way striping reduces mean and median gaps to the restricted reference by about 40%, while P90 and worst-case gaps remain unchanged.

Power-constrained 25kV AC railway sections, particularly under degraded feeding, are protected today by blunt, section-wide power limits that penalise every train irrespective of whether it contributes to the binding condition. This paper presents a real-time, location-aware controller that restores the electrical feasibility of a feeding section with minimal impact on the timetable: it curtails only the trains that bind, where and when they bind, evaluating feasibility and per-train available power online with a solver-free estimate as an in-loop surrogate for the full power flow. Because the estimate is accurate on average but slightly optimistic at the binding instants, the controller screens with a small voltage margin, and a full multi-conductor power-flow solver confirms the restored feasibility. The resulting selective-curtailment policy is delivered through a cloud-to-edge connected driver advisory system. On a representative GB 25kV corridor under outage feeding, solver-selected to be infeasible uncontrolled yet restorable, the controller is compared against the uncontrolled case, the incumbent static limit, and an offline genetic-algorithm optimum, with every feasibility figure solver-validated. The static limit restores feasibility at a large journey-time cost by throttling the whole section; the location-aware controller restores the same feasibility at one thirtieth of that cost by advising a single train, and matches the offline optimum's solution in about a second and a half against the optimiser's minute. Aggregate peak demand is unmoved, because the active constraint is local far-field voltage rather than gross demand. All claims are relative to the baselines on a representative corridor; a specific-route deployment study is future work.

Non-invasive blood glucose estimation from wearable physiological signals remains difficult because longitudinal photoplethysmography (PPG) data are subject to distribution drift, whereas reference capillary blood glucose labels are sparse and costly to acquire. We propose a \rev{deep-learning-based} dynamic incremental learning (DIL) framework that combines a mutual entropy-optimized replay-based dynamic clustering module (MERDC) with an uncertainty-quantified proxy gradient bridging agent (PGBA) for label-efficient adaptation to unlabeled PPG streams. To support this setting, we further establish a longitudinal benchmark dataset comprising PPG, reference capillary blood glucose, and cuff blood pressure measurements from 183 participants collected over 285 days, and we make this resource available to the research community. Under 5-fold subject-independent validation, the proposed method achieves a mean absolute error (MAE) of $0.64 \pm 0.01$ millimoles per liter (mmol/L) and a root mean square error (RMSE) of $1.29 \pm 0.10$ mmol/L, with $97.69 \pm 1.63\%$ of estimates falling within Clarke zones A+B. Aggregation-level analyses further support the robustness of the observed error distribution beyond window-level evaluation. \rev{These results provide a proof-of-concept for adaptive non-invasive glucose estimation in wearable physiological sensing and establish a longitudinal benchmark for subsequent research.

Linear spatial filters (beamformers) enable robust, generalizable and interpretable speech enhancement with performance guarantees under ideal parameterization. Modern beamformers are often parameterized by deep neural networks, whose performance degrades in dynamic scenarios with multiple moving speakers of unknown directions. We propose a data-driven beamforming pipeline, which only requires an estimate of the target's initial direction. Building on a higher-order ambisonics representation, we show that neural temporal-spectral processing can be decoupled from linear spatial processing, and thereby achieve generalizable and array-agnostic enhancement. By incorporating autoregression into a frame-wise causal framework, we maintain consistent performance throughout fast speaker motion and long recordings. Evaluation on synthetic data demonstrates robust enhancement under challenging conditions with closely spaced and crossing speakers. Real-world recordings in a dynamic office meeting scenario complement these findings and show generalizability across varying ambisonics orders.

The modulating function method is an algebraic framework that, thus far, has been used for state and parameter estimation, as well as fault detection, of linear, fractional-order, distributed, and some nonlinear systems. At the core of the method lies the modulating function, which can either be selected directly or be obtained as a solution to an auxiliary system. By introducing the notion of dual modulating functions and dual modulations using auxiliary systems and duality, this paper shows that this framework is not only an estimation framework, but also a controller design framework for LTV systems. In particular, necessary and sufficient conditions for the existence of the associated control laws are introduced; the well-known state feedback law is obtained as a particular case of the dual modulation approach, along with output feedback, LTI sliding mode control, the reachability gramian, and the state-transition matrix; and a new fixed-time control law is proposed for both LTI and LTV systems, including an estimate of the transient behavior. Moreover, numerical simulations of the newly proposed control law are performed, indicating similar performance levels to a benchmark LQR even when handling unmatched disturbances.

Hyperscale data centers and other large concentrated loads can impose substantial new demand on existing transmission networks. If import corridors lack sufficient transfer capability, operators may need to curtail load, delay interconnection, or reinforce the network to maintain reliable service. An energy storage system (ESS) deployed as a storage-as-transmission asset (SATA) offers a non-wires alternative by providing operator-directed support to constrained import corridors. However, the operating-level reliability value of SATA dispatch remains insufficiently quantified. This paper evaluates operator-directed SATA using a day-ahead DC optimal power flow that co-optimizes generation, ESS dispatch, and load curtailment across Monte Carlo scenarios of demand and generator availability. Operating reliability is assessed using expected energy not served (EENS), loss-of-load hours (LOLH), and the conditional value at risk (CVaR) of daily unserved energy. Congestion-price and flow-sensitivity metrics are used to identify the limiting corridor and storage location. The interconnection is then screened to determine whether SATA is suitable, reinforcement is required, or storage would provide little transmission value. Results show that operator-directed SATA reduces average unserved energy, loss-of-load exposure, and tail risk compared with deploying the same ESS for pure arbitrage. These results demonstrate that the operating designation of storage is a primary driver of its transmission value.

Water electrolysis plants, hyperscale data centers, and aluminum potlines represent gigawatts of demand-side flexibility for bulk power system balancing, operational planning, and procurement services. Such loads are scheduled through per-interval power bounds and horizon energy windows, whereas co-located battery energy storage systems (BESS) operate under state-of-charge dynamics. The two formulations share no common mathematical structure, and the joint procurement value of co-located loads and storage goes unrealized as a result. This paper establishes the connection between the two formulations through a virtual storage (VS) equivalence. Every feasible large-load trajectory under power-bound and energy-window constraints is a valid charge trajectory of a VS device that operates at unity accounting efficiency in the grid power balance. Production and service-level costs lie outside this abstraction and enter the dispatch through curtailment opportunity costs. For a portfolio co-located with a BESS, aggregation reduces the constraint count from O(NT) to O(T) and yields a co-dispatch price for both resources. Validation on the IEEE RTS-GMLC with three representative load classes shows that virtual storage delivers the dominant share of joint procurement savings. In the tested case, savings are additive because the two resources dispatch to non-overlapping intervals, and the curtailment shadow price tracks the peak-price band onset rather than the daily peak price.

Home Energy Management Systems (HEMS) can reduce residential electricity costs and support demand response, but adoption is limited by the difficulty of translating household preferences into technical scheduling constraints. This paper evaluates whether large language model (LLM) agents can provide a practical natural-language interface for multi-appliance home energy scheduling. We present a tool-calling ReAct agent that uses live half-hourly Octopus Agile prices, weather forecasts, photovoltaic generation estimates, household usage data, and a retrieval-augmented knowledge base to schedule flexible loads against a mixed-integer linear programming (MILP) ground truth. Three commercial models, GPT-4o-mini, Gemini 2.5 Flash, and Claude Sonnet 4.6, are benchmarked across tariff days, constraint-conflict scenarios, weather-aware solar co-optimization, and week-long deployment. With native function calling, all models achieve 100% scheduling success and near-MILP optimality, while text-parsed action interfaces sharply reduce reliability. Constraint testing shows that cost-optimal and safety-optimal models differ: Claude is strongest under infeasibility and power-cap conflicts, while GPT-4o-mini is most efficient. Over a simulated week, agents capture 96.7-98.0% of oracle savings, projecting approximately GBP 1,270 annual savings over an off-peak timer baseline. Code and a live demonstration are available at this https URL and this https URL.

This report presents our solutions to the QoMEX 2026 Grand Challenge on Video Quality Assessment for Asymmetric Encoded Videos, comprising a full-reference (FR) model, CompressedVQA-AEV-FR, and a no-reference (NR) model, CompressedVQA-AEV-NR. The FR approach leverages a Swin-B backbone to extract multi-stage similarity statistics between reference and distorted videos for quality prediction. For the NR setting, our model employs complementary frame-level encoders based on SigLIP2 and Swin-B, followed by temporal mean pooling and cross-fold ensembling to estimate perceptual quality without reference data. Our CompressedVQA-AEV-FR achieves first place in the FR track of QoMEX 2026 Grand Challenge, while CompressedVQA-AEV-NR secures fourth place in the NR track, demonstrating the effectiveness of our proposed models. The code is available at this https URL.

Spatial consistency is a fundamental physical property of wireless channels that reflects the smooth evolution of the channel between spatial locations. At the cluster level, it requires similar multipath components (MPCs) remain grouped into the same clusters as the transceivers move, enabling consistent cluster tracking. Cluster-level spatial consistency is essential for realistic cluster-based channel models, especially for potential 6G techniques such as massive MIMO, integrated sensing and communication, and terahertz (THz) communication. However, existing clustering and tracking methods do not fully exploit spatial correlations of MPCs. In tracking-after-clustering, clustering and tracking are decoupled, while joint clustering-and-tracking mainly relies on cluster centers from the previous snapshot. In this work, we propose a Mahalanobis-distance-based simultaneous clustering and tracking (MD-SCT) algorithm to capture the joint distribution of clustered MPCs in the delay, angular and spatial domains. Under Mahalanobis distance, MPCs in successive snapshots are associated with existing clusters, thereby inherently tracking while clustering. The algorithm is further applied in the sub-THz band. Performance is evaluated using mean square successive difference and gradient change rate. The results demonstrate that the proposed algorithm yields smoother cluster evolution. This improves the reliability of clustered channels for spatial consistency modeling in 6G.

Inverse Synthetic Aperture Radar (ISAR) imaging of UAV swarms presents significant challenges due to the coherent superposition of backscattered signals from multiple closely spaced targets. This work explores the extension of the Fast Reweighted Atomic Norm Denoising (FRAND) algorithm to this multi-target scenario. We develop a comprehensive mathematical framework that reformulates the atomic norm minimization problem for swarm imaging, incorporating weighted regularization and efficient optimization via the TwoDimensional Alternating Direction Method of Multipliers (2DADMM). The proposed method handles both sparse aperture conditions and additive white Gaussian noise while maintaining computational efficiency. We simulate an ISAR system receiving composite echoes from UAV swarms, each modeled with distinct scattering centers. The results demonstrate that FRAND effectively disentangles the mixed signals and generates high-resolution range-Doppler profiles for individual UAVs, outperforming traditional methods like Multiple Signal Classification (MUSIC) and Cadzow in low Signal-to-Noise Ratio (SNR) conditions. Quantitative evaluation using MeanSquare Error (MSE) criteria confirms the superiority of the proposed approach. This study establishes the strong potential of atomic norm minimization for complex multi-target radar imaging applications.

This study proposes a precipitation control framework integrating a realistic Numerical Weather Prediction (NWP) model with model predictive control (MPC). At each control instant in MPC, a finite-difference sensitivity matrix is constructed from the NWP model and used as a local linear model of how perturbations to the atmospheric state affect future precipitation. A sparse convex optimization problem is then solved to compute the control input, which is implemented as a perturbation to the atmospheric state. To reduce computational cost in sensitivity analysis, multiple grid points in the NWP model are treated collectively as a single block, and a uniform perturbation is applied to all points within each block. Moreover, a tailored convex optimization problem is introduced to effectively control the accumulated precipitation at the end of a weather event, using a prediction horizon much shorter than the entire event duration while promoting spatially sparse atmospheric perturbations. To evaluate the proposed MPC method, four control methods are compared: (i) initial-only open-loop optimal control (IO-OL), (ii) full-horizon open-loop optimal control (FH-OL), (iii) shrinking-horizon optimal control (SHOC) with a fixed terminal time, and (iv) single-move MPC with a fixed prediction-horizon length. Numerical experiments on a warm bubble benchmark demonstrate that MPC achieves precipitation reduction comparable to SHOC while reducing the total computational time relative to FH-OL and SHOC. Moreover, despite using a linear prediction model, MPC successfully achieves a challenging level of precipitation reduction, even when open-loop optimal control methods, namely, IO-OL and FH-OL, fail because of nonlinear atmospheric evolution. These findings suggest that MPC is a promising control framework for NWP-based precipitation reduction in complex weather events.

Fluid Antennas (FAs)-assisted Unmanned Aerial Vehicle (UAV) networks leverage the FA position adaptivity and flexible beamforming to overcome the limitations of Fixed-Positioned Antennas (FPAs) in dynamic UAV channels and Multi-User (MU) interference. This letter investigates a dual FA-assisted UAV network for MU-Multiple-Input-Multiple-Output (MIMO) downlink communications, aiming to maximize the average achievable rate through the joint optimization of UAV trajectory, the transmit/receive FA positions, and beamforming. The formulated problem is highly coupled and non-convex. Accordingly, an efficient Alternating Optimization (AO)-based algorithm is developed for decomposed subproblems, yielding a suboptimal solution. Numerical results demonstrate significant performance gains of 120% and 110% over conventional FPA-based and existing FA-based baselines, respectively.

In frequency-division duplexing systems, the performance gains of pinching-antenna systems (PASS) critically depend on accurate channel state information (CSI) at the base station. However, PASS CSI exhibits structured correlations over the waveguide-antenna grid and pronounced heterogeneity across users, making conventional fixed feedback mappings difficult to generalize. To address this challenge, this letter proposes an end-to-end CSI feedback scheme over a noisy uplink feedback link based on deep joint source-channel coding, termed Shift-based Mixture-of-Experts (Shift-MoE). Specifically, Shift-MoE leverages channel-grouped one-step shift operations to capture grid dependencies without global attention, and employs a gated multilayer perceptron mixture-of-experts module to adapt to heterogeneous CSI statistics across users. Numerical results demonstrate that the proposed Shift-MoE consistently outperforms representative learning-based CSI feedback baselines in normalized mean squared error and remains effective under different system parameter settings.

We systematically investigate neural speech enhancement systems, ranging from very small ($\sim$10\,k parameters) to medium-large ($\sim$2-5\,M parameters), which specialize to acoustic conditions using contextual information such as speaker identity, noise type, speaker gender, spoken language, and SNR. By fine-tuning generalist models on specific data subsets, we find that specializing to a speaker's identity consistently yields the largest gains in estimated speech intelligibility and quality. In contrast, specializing to SNR, noise type, or gender offers only marginal benefits. Crucially, we show that a small model specialized to both a specific speaker and a specific noise type can match or exceed the performance of a generalist model ten times its size. Further, cross-lingual tests reveal that models specialized to a target language outperform multilingual generalists, suggesting that language is a salient feature for specialization. These findings highlight the potential of small, adaptive models for resource-constrained applications like hearing aids, which specialize on-the-fly to contextual information.

With the increasing adoption of deep learning for applications such as image compression, improvements in the rate-distortion trade-off have been achieved at the cost of increasingly larger and more opaque ''black-box'' models. Autoencoders are among the most widely used architectures for this task; however, without a clear understanding of their internal behavior, these models tend to grow in complexity to achieve more performance gains. In this paper, we investigate whether universal behaviors can be detected from the internal operations of bias-free autoencoders through Jacobian analysis. If such behaviors exist, they may be extracted to design low-complexity image compression models inspired by high-complexity deep learning architectures.

This paper addresses bistatic snapshot radio SLAM, in which a user equipment (UE) with unknown 6-D pose and clock bias is localized and environmental landmarks are reconstructed from a single multipath channel snapshot. Under mixed line-of-sight (LoS)/non-line-of-sight (NLoS) propagation, existing robust snapshot SLAM methods are mainly developed or validated in planar/2-D settings and often use path-amplitude or path-loss information for LoS handling, which makes them sensitive to calibration errors and propagation-model mismatch. We propose an amplitude-independent robust radio SLAM method built on a uniffed angle-delay formulation for LoS and single-bounce NLoS inlier paths. In the coarse stage, the method estimates the UE state and selects geometrically consistent inliers directly from angle-delay measurements, without amplitudebased LoS preclassiffcation or path-wise latent variables; the formulation is further extended to general 3-D/6-D pose estimation through twist-swing two-stage traversal initialization and local reffnement on SO(3). A subsequent Jacobian-row-equilibrated iteratively reweighted least-squares (IRLS) reffnement, combined with quasi-Akaike information criterion (QAIC) model comparison, detects the LoS path and jointly reffnes the UE state and scattering points. We also analyze formulation-speciffc local-rank properties and their minimal-set implications under unknown path identity. Simulations show that the proposed method remains competitive with calibrated amplitude-dependent baselines and is more robust to path-loss-model mismatch.

Magnetic Induction (MI) communication is effective in underground tunnels for emergency rescue vehicle due to the small-size antenna. It can highly benefit from a cooperative decode-and-forward (DF) relay to achieve a higher data rate. However, its channel gain is extremely position-and-orientation-selective. The unreachable space increases the complexity of the antenna deployment. To find the best antenna position and orientation (PO) of the relay achieving the higher data rate, this paper formulates the optimization problem of the relay MI antenna PO with tunnel constraints. To solve the problem more quickly, we propose to use geometric modeling to eliminate the tunnel constraints and develop a random-search algorithm achieving a fast convergence and excellent global search ability. Simulations show that the proposed algorithm can quickly converge to one optimum which signifies a noticeable improvement of data rate for vehicle MI systems with weak signals.

We address energy-efficiency (EE) maximization in a multiuser (MU) multiple-input single-output (MISO) downlink system assisted by a hybrid reconfigurable intelligent surface(RIS), where each element can be dynamically configured to operate in either active or passive mode depending on whether its power amplifier is engaged. Practical hardware effects are explicitly incorporated, including base station (BS) and RIS power budgets, active-element amplifier gain limits, amplification noise, and binary phase control. To solve the problem, we develop an alternating-optimization framework in which the BS beamforming subproblem is handled via zero-forcing with closed-form power allocation, while the RIS subproblem is addressed using a model-driven deep unfolding approach. Numerical results show that the proposed method achieves faster convergence and higher EE than the considered benchmark schemes. In particular, it attains about 30% higher EE than the procedure without deep unfolding. Furthermore, our simulations demonstrate at least 10% EE improvement over the fully active RIS configuration and up to threefold EE gains compared with the fully passive RIS design. The results also show that most of the achievable EE gain can be captured by activating only a small fraction of RIS elements and allocating only a small portion of the dynamic power budget to the RIS.

The problem of simultaneous placement of distributed generators and DSTATCOMs in radial distribution networks (RDNs) is a combinatorial mixed-integer optimization problem whose scalability with growing decision dimensionality has been insufficiently explored. A cross-scale analysis of seven metaheuristic algorithms, GWO, SCA, PSO, WOA, GA, HHO and SMA, is conducted on the IEEE 33-bus, 69-bus, and 136-bus systems at three problem dimensions \( d = 4, 8, 12 \), with 30 independent runs per configuration being validated through Wilcoxon and Friedman tests. Mean-performance statistics are extended with a Catastrophic Failure Rate (CFR) metric. The main result will be that dimensional scaling serves as a behavioral discriminator. The Friedman \( \chi^2 \) rises with the dimensionality, reaching its maximum value of \( \chi^2 = 143.79 \) in the 136-bus at \( d = 12 \) that corresponds to the progressive phase separation of the algorithms into two clusters of high and low performance. GA is the best performer in terms of the lowest rank in all the configurations. SCA has low variance but convergence to increasingly sub-optimal solutions. HHO exhibits catastrophic instability at all scales. Perhaps most strikingly, GA and PSO obtain a \( 3.3\% \) CFR on the 136-bus at \( d = 12 \) while the 33-bus at identical dimensionality has a \( 73\%-83\% \) CFR, showing that topology influences the reliability in a manner that is not captured by single-system measures.

Adaptive Loop Filtering is an important tool for suppressing compression artifacts in modern video codecs. In the enhanced compression model (ECM), a software test model used for experimenting with video coding tools beyond Versatile Video Coding, fixed filters are trained offline and achieve high signal adaptivity via a fine-grained gradient-based classifier, resulting in a large number of fixed filters that introduce redundancy and increased implementation complexity. Reducing this redundancy without compromising artifact suppression, therefore, remains a key challenge. This paper proposes an alternative graph-based fixed-filtering framework for adaptive loop filtering. By using a graph to encode pixel-intensity relationships, our approach captures local structural information more effectively than gradient-based classification alone. Fixed filters are learned as polynomial graph filters, enabling structurally similar local patterns to share common filtering behavior. Experimental results demonstrate that the proposed approach achieves a comparable performance to the ECM baseline while reducing the number of required filters by an order of magnitude.

This paper addresses the problem of designing recommendation systems for social networks and e-commerce platforms from a control-theoretic perspective. We formulate recommendation design as an infinite-horizon state-feedback optimal control problem whose performance index rewards alignment/engagement while penalizing polarization, large deviations from an uncontrolled baseline, recommendation mismatch, control effort, and exposure disagreement across neighboring users. We derive explicit spectral conditions under which the reduced quadratic stage cost is strictly positive-definite, and we show that the failure of these conditions makes the resulting recommendation design exhibit pathological behaviors, such as unstable free modes, non-attainment of the infimum, or failure of the stationary affine synthesis.

A method for analysing the stability of dynamical systems is proposed, based on the introduction of a weighted phase volume and time rescaling by a positive function. The advantage of the method is the ability to set the contraction properties of the phase volume by choosing the weighting function and the scaling factor, while preserving the topology of the phase portrait. Integral dissipativity conditions are derived, leading to new definitions of integral stability, asymptotic stability, and exponential stability. For quadratic weighting functions, covering and inner ellipsoids are constructed, providing geometric estimates of reachable sets. The connection between the proposed approach and classical Lyapunov stability is established. The efficiency of the method is demonstrated through numerical examples.

Capacity expansion is a key tool for planning future energy systems. However, weather-dependent generation and long-duration storage result in problem sizes that exceed the computational limits of conventional interior-point solvers, making it impossible to plan renewable systems that are cost-efficient and reliable across a wide range of weather conditions. To tackle such large problems, this paper introduces the double interior-point regularization (DIP-set) for Benders Decomposition, combining the advantages of traversing the interior of the solution space while remaining close to a reference solution. We benchmark the method on a power-sector problem and an energy-system problem, varying problem size and the level of foresight during operations. Results demonstrate that DIP-set outperforms competing regularizations in all test cases. The speed-up increases with size, reaching 30-50% for the largest problems, which are the most critical for planning renewable systems and are too large for state-of-the-art methods. The key benefit of DIP-set is its ability to mitigate the sharp decrease in convergence as BD approaches the optimal solution.

Model training for Device-Free Localization (DFL) and Radio-Frequency (RF) sensing systems heavily relies on large-scale datasets, which are costly and time-consuming to obtain through measurements across different environments and sensing configurations. Lightweight yet physically consistent propagation models are therefore critical for efficient generation of realistic RF sensing data. This paper presents an RF sensing prediction approach for indoor environments based on a Body of Revolution (BoR) human model. A fast 2.5-Dimensional Finite Element Method (2.5-D FEM) is proposed for computing the scattering fields of a human-like BoR model under the excitation of a vertical polarized dipole. Through comparisons, the proposed BoR model is shown to preserve scattering characteristics close to 3-D human bodies while yielding a smaller computational cost compared to a simple cylindrical model. A measurement-driven background-field modeling approach is further introduced for practical indoor applications, accounting for the complex propagation effects of indoor environments implicitly. Comparing with measurements of a typical indoor DFL scenario, the proposed approach achieves approximately 85% prediction accuracy and reproduces the spatial Received Signal Strength Indicator (RSSI) variations observed in practice, proving its potential for RF sensing prediction and large-scale database generation at a fraction of the computational cost required for full-wave simulations.

Characteristic timing patterns are reflected in the acoustic speech signal, encompassing both vocal tract configuration and acoustic excitation. Previous studies have demonstrated that speech inversion (SI) systems can recover these timing patterns from speech, including oral tract variables (tongue and lip constrictions) and source information such as periodic and aperiodic energies and fundamental frequency. In this study, we develop an SI system that simultaneously estimates oral tract variables and three source information parameters trained on co-recorded American English speech audio and articulatory kinematics and investigate cross-linguistic generalizability by evaluating performance on previously unseen languages. Pearson product-moment correlation scores of 0.83 and 0.74 were achieved on untrained French and Russian respectively, across oral tract variables and source information when comparing estimated data with ground-truth measurements.

Benders decomposition solves optimization problems by separating the first-stage master problem from one or more second-stage sub-problems. While the standard Benders decomposition solves all sub-problems in each iteration, solving only selected sub-problems still guarantees convergence and can reduce solution time, but raises the question of how to select. In this work, we introduce surrogate-based prioritization of sub-problems. The method leverages surrogates to estimate the sub-problems' objectives, assess the current error of the cutting-plane estimator, and then prioritize the sub-problem with the largest error. We implement surrogate-based prioritization within sequential and asynchronous Benders decomposition. Both these algorithms also leverage the surrogate to trigger convergence checks and implement regularization. Benchmarks for an energy planning problem with a few large sub-problems show that the applied prioritization strategy works. The reduction in solution time correlates with the surrogate's accuracy. In our case, geometric interpolation-based surrogates are more accurate than machine learning methods. As a result, prioritization consistently and significantly outperforms the standard algorithm in sequential Benders decomposition. The speed-up increases with the number of scenarios, reaching 33\% with four scenarios and 55% with ten scenarios. In the case of asynchronous parallelization, the impact on performance is less clear, and the average speed-up from prioritization is 19%.

Accurate channel estimation for pulse-shaped AFDM systems over doubly selective channels with fractional normalized delay and Doppler remains challenging. This paper proposes a low-complexity ambiguity-function-assisted newtonized channel (AFNC) estimation method. Specifically, we first present a closed-form input-output relation for pulse-shaped affine frequency division multiplexing (AFDM) under fractional normalized delay and Doppler. As a further step, we demonstrate that the input-output relation admits a low-complexity representation by offline precomputing and storing the discretized ambiguity function of the shaping pulse, followed by tailored cyclic-shift and stacking operations. Building on this representation, AFNC performs fractional delay-Doppler channel estimation through Newtonized refinement, where the required Jacobian and Hessian updates are computed efficiently using the low-complexity input-output representation. Simulation results confirm the effectiveness of the proposed approach.

Integrated sensing and communication (ISAC) in high-mobility channels requires waveform and beamforming designs that are robust to delay-Doppler dispersion. With this in mind, in this paper we study a monostatic multiuser multiple-input multiple-output (MIMO) affine frequency division multiplexing (AFDM) downlink system. We develop a discrete affine Fourier transform (DAFT)-domain model that preserves Doppler-induced inter-bin coupling and derive a data-aided delay-Doppler detector. The expected matched-bin detector signal-to-noise ratio (SNR) is shown to be proportional to a transmit-covariance beampattern, which leads to a detector-SNR-based sector-illumination constraint. The resulting sensing-constrained weighted sum-rate maximization problem is solved using a combined weighted minimum mean squared error (WMMSE) and majorization-minimization (MM) formulation. Simulations show that the proposed AFDM design outperforms its orthogonal frequency division multiplexing (OFDM) counterpart in terms of the rate-sensing tradeoff, robustness to Doppler, and delay-Doppler sensing quality.

Advanced control methods have proven effective for controlling cavity pressure, a key determinant of part-quality attributes, in the plastics injection molding process. However, the abstract nature of the resulting control laws makes them difficult to interpret in a production environment, thereby limiting adoption in industrial applications. Additionally, controller optimization poses a severe challenge due to the diversity of mold geometries and materials. We propose a method to automatically optimize interpretable controllers during manufacturing while being cycle-efficient and risk-aware. The approach uses a Physics-Inspired Neural Mixture-of-Local-Experts model of the injection molding dynamics and augments its simulated closed-loop costs with a residual Gaussian Process, enabling Local Bayesian Optimization of controller parameters. We benchmark the algorithm against Vanilla Bayesian Optimization (BO) in simulation, using three controllers with parameter counts ranging from 1 to 30. Using the local method, we identify controller parameters that yield costs comparable to or lower than those of global BO over 20 optimization iterations, while mitigating high-cost excursions during tuning.

Modern power systems are increasingly dominated by Inverter-Based Resources (IBR), most of which work in Grid-following (GFL) mode. This implies that they do not directly control their terminal voltage, so the static voltage stability at these buses may be compromised, especially under constant-power-factor operation that lacks voltage-adaptive reactive support. In addition, weather-driven IBR are often installed in electrically remote areas with low Short-Circuit Ratio (SCR), further exacerbating voltage issues. To address this challenge, grid-forming control can be utilized to enhance low-SCR buses, while GFL-IBR could be explicitly required to provide voltage support through grid codes. As an alternative, a market mechanism could be devised that incentivizes relevant generators to proactively adjust their operating points as a service to maintain voltage stability, while the theoretical framework for such a market has not been developed. To fill this gap, this work adopts a second-order cone-based static voltage stability constraint for GFL-IBR buses within a unit commitment problem, and proposes a mechanism to assign shadow prices to this ancillary service. To determine appropriate price values under non-convex conditions, different pricing schemes are assessed. Using a modified IEEE 30-bus system, we demonstrate that both the dispatchable and restricted pricing methods can yield revenue-adequate service prices, though the former may deliver less efficient price signals and the latter may require well-defined uplift payments. This implies that, given differentiated pricing mechanisms and price signals, operators need to select a suitable pricing method in accordance with actual system conditions and market rules.

This paper investigates the optimal placement of a millimeter-wave (mmWave) base station (BS) within a realistic U-shaped environment with non-convex topology. The problem is challenging and NP-hard due to the non-convex topology and the non-convex objective functions which are the sum-rate maximization and max-min fairness, the latter being additionally non-smooth. To address this challenge, the BS placement is formulated as a Markov Decision Process (MDP). Then, we propose two deep reinforcement learning (DRL) techniques: First, the deployment area is discretized into a grid and optimized using a Deep Q-Network (DQN). Second, the U-shaped region is partitioned into continuous subspaces, where a Deep Deterministic Policy Gradient (DDPG) agent is dedicated to each subspace then the best BS placement is selected among partitions. Results demonstrate that optimal placement achieves full coverage and yields a Jain index of 0.99. Furthermore, the proposed partitioned multi-space DDPG achieves better solution than DQN with lower complexity.

Speaker embeddings, or x-vectors, are widely used to represent speaker identity and speaker-related attributes, but existing embedding extractors are typically descriptive rather than generative: they map an observed speech segment to an x-vector, which is then used for downstream applications. We introduce ProPS, Prompted Profile Synthesis, a framework for generating distributions of speaker embeddings conditioned on natural language prompts such as "a thirties male speaker with an Indian accent". ProPS converts human-written profile descriptions into sentence embeddings and uses a mixture density network trained on a large-scale dataset to predict a Gaussian mixture model in the x-vector space. The model is trained by maximizing the likelihood that real speaker embeddings match the requested profile, and its generated distributions are evaluated by negative log-likelihood on held-out x-vectors and by attribute classification accuracies on sampled synthetic x-vectors. Experiments show that ProPS produces profile-conditioned distributions and generates x-vectors that preserve requested speaker attributes such as age, gender, accent, and prosodic characteristics. This design enables controllable speaker-profile synthesis for speech generation systems like Text-To-Speech (TTS) or Voice Conversion (VC) while anchoring generated distributions in observed speaker-embedding structure.

Schizophrenia is a debilitating neuropsychiatric disorder characterized by profound cortical network dysregulation, for which objective, clinically translatable EEG based biomarkers remain underdeveloped. Existing automated classification pipelines rely predominantly on static power spectral density features inherently blind to amplitude modulation dynamics and cross-frequency coupling, phenomena central to schizophrenia pathophysiology, while adopting epoch level cross validation strategies that introduce temporal data leakage, artificially inflate reported performance. This study introduces a mathematically principled diagnostic framework integrating the multi-order Wavelet Scattering Transform(WST), strict Leave One Subject Out (LOSO) cross-validation, and SHAP explainability for simultaneous EEG classification and biomarker discovery. Hierarchical WST coefficients capturing multi-scale amplitude modulation structure were extracted from resting state multichannel EEG. Subject-level ANOVA with Benjamini Hochberg false discovery rate correction identified significant biomarkers, with Random Forest and SVM classifiers evaluated under strict LOSO cross validation and subject-level majority voting. Second-order scattering coefficients encoding cross frequency coupling dominated the discriminative biomarker set, with gamma-band features most prevalent, demonstrating that temporal amplitude modulation constitutes the primary electrophysiological signature of schizophrenia. Electrode P3 was identified as the single most discriminative site. Under rigorous subject independent evaluation, the Random Forest achieved 90.48% accuracy (AUC = 0.9339; sensitivity = 95.56%). The proposed WST framework establishes a rigorous, interpretable standard for EEG-driven psychiatric biomarker discovery that can also be applicable in the detection of schizophrenia subtypes in the future.

Deep learning models for diabetic foot ulcer (DFU) segmentation routinely report high accuracy, but they are almost always trained and tested on the same dataset, leaving their behaviour on data from a different clinical source largely unmeasured. We benchmark three representative segmentation architectures -- U-Net and DeepLabV3+ (convolutional) and SegFormer-B2 (Transformer) -- under an identical, leakage-screened protocol: training on the combined FUSeg/AZH wound data and evaluating, without fine-tuning, on two independent external datasets (DFUC2022 and Medetec). All models achieve strong in-domain performance (Dice 0.80--0.83) but degrade substantially across datasets. The degradation is, however, architecture-dependent: SegFormer-B2 generalizes best on both external sets (DFUC2022 Dice 0.557, Medetec Dice 0.786), outperforming both convolutional models, while the more complex DeepLabV3+ generalizes worse than the simpler U-Net. Per-image failure analysis on 2,160 images across both external test sets confirms that SegFormer-B2 produces the fewest catastrophic failures on DFUC2022 (31.1%), compared with U-Net (38.5%) and DeepLabV3+ (43.0%). The consistent ranking across two independent external sources, confirmed by Wilcoxon signed-rank tests (p < 0.001 on both datasets), indicates that architecture family, not model complexity, drives cross-hospital generalization.

Time series foundation models (TSFMs) have shown strong zero-shot forecasting performance, but their generalization in covariate-driven, non-stationary settings is underexplored. Electricity price forecasting (EPF) presents a challenging testbed due to complex temporal dependencies, distributional shifts, and strong reliance on structural and contextual information. We propose a two-dataset-benchmarking framework for EPF to mitigate contamination risk and enable fair evaluation of TSFMs. We examine key aspects of EPF including point and probabilistic forecasting performance, tail behavior, price spikes, and comparisons against domain-specific methods. We find that TSFMs are highly competitive and often outperform general-purpose baselines. Yet, their performance depends critically on covariate support, and they do not consistently surpass domain-specific methods tailored to EPF. Interestingly, simple ensembles of TSFMs and domain-specific methods appear to have significant potential, suggesting that the two approaches capture complementary predictive information.

Modern automotive software architectures comprise large sets of mixed-criticality functions executing on shared multi-core platforms with strict real-time and end-to-end timing requirements. Sensor-to-actuator data propagation in such systems is typically expressed via cause-effect chains with worst-case data-age budgets. Job-level dependencies (JLDs) have been introduced to provide a schedule-agnostic mechanism for bounding the data age independently of the underlying scheduler. The state-of-the-art methods for synthesizing JLDs, however, do not check whether the produced JLDs are enforceable under a concrete scheduling policy or jointly schedulable at the system level. In this paper we propose the first machine-learning-based JLD synthesis method, built around a two-level Graph Neural Network with temperature-controlled sampling that learns the structural patterns connecting cause-effect chain configurations to their JLD solutions. Since learned outputs may not be correct by construction, we embed the GNN in a novel Generate-and-Verify architecture in which a safe DP data-age checker, together with a per-chain EDF feasibility checker and a system-level demand-bound test, accept or reject each candidate. We show that the ML-based generator substantially outperforms the original greedy heuristic while achieving orders-of-magnitude lower synthesis time, demonstrating that learned structural priors can effectively replace exponential propagation-tree enumeration on this class of real-time scheduling problems.

This paper develops an Optimality-Informed Neural Network (OINN) approach for the energy-optimal, free-final-time powered descent of a lunar lander from any initial position, velocity, and mass within a bounded operating envelope to a fixed landing site with zero terminal velocity. Building on a recent framework that jointly embeds Pontryagin's minimum principle and the Hamilton-Jacobi-Bellman equation for general nonlinear optimal control, the proposed OINN approach specializes that idea to a lunar landing problem with free time of flight and fixed terminal state. Every boundary and transversality condition is hard-encoded into the network architecture by construction, the closed-form Pontryagin-optimal thrust magnitude and direction law is substituted directly rather than learned, and the remaining state, costate, and an auxiliary value-function output are trained against a physics-residual loss formed entirely from the necessary conditions of optimality, with no precomputed optimal trajectories required. A preliminary theoretical analysis is explored, establishing a stochastic-optimization stationarity guarantee for the offline training procedure, an explicit bound translating the achieved training residual into bounds on touchdown position, touchdown velocity, and flight-time error, and a fixed, input-independent onboard computational and memory cost suitable for real-time deployment. Numerical simulations evaluate the trained policy, with no retraining, against an independently solved indirect-method boundary-value problem at six representative initial states spanning the operating envelope and against eighty additional Monte Carlo simulation runs, demonstrating close agreement with the indirect-method solution and consistently small dynamics and transversality residuals throughout the envelope.

This paper presents a guidance framework for lunar powered descent and landing that combines sequential convex programming (SCP) with real-time online model identification. A nonconvex energy-optimal landing problem is developed and then reformulated into a sequence of convex second-order cone programs (SOCPs) through a change of variables, successive linearization, and a lossless second-order cone relaxation of the thrust direction constraint. An online identification layer, built from a recursive least squares (RLS) filter with exponential forgetting and an exponential moving average (EMA) smoother, estimates unknown gravitational, thrust-scale, and mass-gauging perturbations from noisy navigation measurements and injects a corrected bias term into the dynamics constraint of each convex subproblem at every guidance cycle. Building on this architecture and my prior work in this area, a baseline SCP algorithm and a receding-horizon online SCP algorithm with model identification are developed. Also, I try to explore some theoretical foundations, establishing the losslessness of the convex relaxation, the mean-square stability and convergence of the identification filters, the guaranteed convergence of the SCP iteration, and explicit convergence radius and convergence rate results. Numerical simulations across four perturbation scenarios of increasing complexity are implemented in MATLAB using YALMIP and the ECOS solver. The results show that the proposed online algorithm consistently reduces landing position and velocity error and better tracks the true propellant consumption relative to an uncorrected nominal trajectory, while retaining the predictable convergence and real-time computational properties of convex optimization.

Tactile sensing is central to how robotic systems interact with the real world, yet current solutions face a tradeoff between sensing area and system complexity. This work investigates metallic ultrasound waveguides as distributed tactile sensors fully interrogated from a single proximal transducer. Using cylindrical indenters, we characterized the acoustic response to single and multi-point contacts with varying forces and contact materials. For single point indentation, the applied force was well captured by a linear relationship with the ratio of the reflection to transmission coefficients (F = a * R/T) across all nine tested materials (R2 >= 0.95). The calibration slope, a, correlated strongly with the material's effective contact modulus (log--log Pearson r=-0.98). The reflected energy partition was found to be a load-independent parameter related to the contacting material's properties, enabling material classification independent of force. For the two-indenter experiment, both contact forces were recovered from the waveguide signal and were in close agreement with reference load cell measurements (contact 1, R2 = 0.97; contact 2, R2=0.95). The approach was extended to two-dimensional metallic sheets, confirming both contact localization and material-dependent effects. Overall, these results validate metallic waveguides as a robust platform for distributed tactile sensing, providing contact localization, force estimation, and material-class discrimination for the contacting body.

Analog in-memory computing (IMC) has emerged as a promising approach for accelerating matrix operations by exploiting the intrinsic physics of memory arrays. To date, however, most IMC architectures have focused on linear algebra workloads in which computation is encoded in the equilibrium state of a physical system. Extending these principles to nonlinear optimization remains challenging and typically relies on iterative algorithms composed of repeated linear operations. Here, we introduce a continuous-time nonlinear closed-loop IMC architecture for box-constrained zero-forcing (BCZF) decoding in massive multiple-input multiple-output (MIMO) systems. The proposed architecture embeds the decoding problem directly within the dynamics of a nonlinear feedback network of memory arrays and supply-limited operational amplifiers, allowing solutions to emerge through continuous-time physical optimization. We derive a compact analytical model of the circuit and show that its trajectories minimize an equivalent energy function. Experimental emulation using a fabricated IMC chip confirms the predicted dynamics under realistic hardware nonidealities for up to 16x16 MIMO systems. To overcome the finite precision of analog hardware, we extend mixed-precision iterative refinement from linear algebra to nonlinear continuous-time optimization, enabling reliable detection of high-order modulation formats including 256-QAM. Benchmark projections indicate operation from ultra-low-energy approximate decoding to high-accuracy massive MIMO detection. Together, these results extend closed-loop IMC from equilibrium-based linear algebra to continuous-time nonlinear optimization and establish a pathway toward efficient physical accelerators for high-accuracy wireless communications.

This paper introduces the voltage stability kernel (VSK), a cofactor-based bus-wise representation of voltage stability in lossy power systems. The VSK is defined as the vector of principal cofactors of the voltage stability Laplacian (VSL), a reduced Jacobian that retains voltage source internal angles while eliminating the other variables. We show that the VSK constitutes the left kernel of the VSL, which is typically nonsymmetric in lossy power systems. We also define the voltage stability margin (VSM) as the sum of all VSK components and show that it is equal to the product of all eigenvalues of the VSL except the trivial zero eigenvalue due to phase-shift symmetry. Thus, the VSK provides a bus-wise decomposition of the VSM. Furthermore, the VSK offers an algebraic interpretation of CPF calculations with a fixed slack bus. The singularity of the Jacobian in CPF calculations obtained by deleting the slack-bus row and column is characterized by the vanishing of the VSK component selected by the slack bus. In contrast, the static bifurcation is characterized by the vanishing of the VSM. Since these two conditions are generally different, our theory explains why a CPF nose point does not necessarily correspond to a static bifurcation in lossy cases.

Automatic Speech Recognition (ASR) and Dialect Identification (DID) are crucial for Indian languages, many of which are low-resource and exhibit significant dialectal differences. Existing methods often optimize ASR or DID individually, resulting in performance trade-offs. In this work, we propose a multimodal framework that jointly improves ASR and DID. Our method employs a Bottleneck Encoder to extract dialectal features from Conformer-based speech representations and a RoBERTa encoder to process ASR-generated CTC embeddings. A gating mechanism merges these features, followed by an attention encoder to refine the representations. The learned embeddings are concatenated with Conformer outputs to enhance ASR features. Evaluated on eight Indian languages with thirty-three dialects, our method achieves an average DID accuracy of 81.63% and average CER and WER of 4.65% and 17.73%, respectively. These results highlight the effectiveness of our method for joint ASR-DID modeling.

In this paper, we investigate the dual-function radar-communication (DFRC) design for massive multiple-input multiple-output (MIMO) systems equipped with 1-bit digital-to-analog converters (DACs) at the transmitter and 1-bit analog-to-digital converters (ADCs) at the receiver, motivated by the need for low-cost and power-efficient implementations of massive MIMO systems. We consider a downlink scenario where the transmit signal matrix is optimized to enhance sensing performance while satisfying communication quality of service (QoS) requirements. Specifically, the objective is to minimize the 1-bit Cramér-Rao bound (CRB) for estimating the azimuth angle of a point-like target under symbol-level constructive interference (CI) constraints. We conduct an asymptotic analysis of the 1-bit Fisher information, revealing its nonmonotonicity with the signal-to-noise ratio (SNR), and introduce amplitude constraints to exclude regions where the objective function value is clearly suboptimal and facilitate convergence to high-quality solutions. The resulting problem is a nonconvex optimization challenge with coupled binary and linear constraints. We transform the discrete problem into a continuous constrained one, characterize its global and local minima, and tackle it via the augmented Lagrangian method (ALM) and a spectral projected gradient (SPG) method combined with nonmonotone line search. The solution is further refined via local search and cutting-plane techniques. Extensive numerical experiments verify our analysis, showing that the proposed approach exhibits promising DFRC performance compared to benchmark schemes.

Magnetic particle imaging (MPI) enables real-time, radiation-free tracking of magnetic nanoparticle-coated instruments, making it highly suitable for interventional procedures. This study proposes a harmonic-aware transformer framework that directly predicts catheter tip positions from raw MPI voltage signals, eliminating the need for image reconstruction and reducing computational latency. The framework incorporates frequency-domain preprocessing to isolate the 2nd to 8th drive-field harmonics, enhancing the signal-to-noise ratio while preserving motion-relevant features. A transformer architecture with six encoder layers and eight attention heads is employed to learn spatio-temporal dependencies across the three receive axes (x, y, z) for accurate three-dimensional position estimation. The model is trained on simulated MPI signals and evaluated on real in vitro datasets under standard, bending, and heartbeat-like motion conditions. The proposed method achieves sub-millimeter localization accuracy, with a minimum L2 error of 0.103 +/- 0.092 mm and mean absolute errors (MAEs) of 0.039 +/- 0.046 mm, 0.054 +/- 0.049 mm, and 0.060 +/- 0.044 mm along the (x, y, z) axes, respectively, for the bending dataset. Across all datasets, the MAE ranges from 0.165 mm to 0.655 mm, demonstrating consistent performance. The optimized inference achieves a latency of 0.55 ms per frame and a throughput of approximately 1800 frames per second, confirming real-time capability. Compared with conventional MPI-guided approaches relying on image reconstruction, the proposed framework provides improved accuracy, reduced latency, and enhanced robustness under complex motion conditions. These results highlight the potential of harmonic-aware transformer models as efficient and scalable solutions for real-time catheter localization in interventional MPI.

Semi-supervised semantic segmentation (SSSS) has long turned on one question, which pseudo-labels to trust, and answered it with ever more careful confidence filtering. Foundation backbones change the regime: with a DINOv2 teacher a strict threshold already retains a measured 98%-clean pseudo-label set, so the accuracy that remains lives not in the filter but in how the embedding space is structured by class. We propose PixCon, a clean-positive pixel-contrastive framework. PixCon maintains a per-class memory bank that admits only labeled pixels the student already classifies correctly, guaranteeing a contamination-free positive set ($\rho_F=0$) by construction, unlike prior contrastive SSSS banks (ReCo, U$^2$PL) built from confidence-filtered pseudo-labels. It is a single branch over a consistency backbone, adds no inference-time parameters, and needs no bank-specific threshold. A first-order analysis of the supervised-InfoNCE gradient explains why contamination hurts: its false-positive term scales as $\rho_F/(1-\rho_F)$, which we measure (0.018 on Pascal, 0.106 on ADE20K) rather than assume. Across Pascal VOC, Cityscapes, and ADE20K, PixCon matches or improves a strong DINOv2-based UniMatch V2 baseline in a compute-matched one-switch protocol: it improves every Pascal-1/8 seed (a per-seed gain of about +0.2 mIoU) and its three-seed mean reaches 87.90, the published UniMatch V2-B figure. Because contamination is already rare under foundation-model teachers, our analysis indicates the $\rho_F=0$ guarantee acts chiefly as robustness as teachers weaken, while the accuracy gain comes from cleaner positive supervision, making clean-positive contrast a robust, low-cost default for foundation-model SSSS.

Global navigation systems require state estimation algorithms that handle Earth's curvature, Earth's rotation, and gravitational variations. These factors can typically be neglected in local navigation algorithms for robots, drones, etc. In classical error-state Kalman Filtering (ESKF) the error state dynamics are trajectory-dependent. Invariant ESKFs utilize Lie Group symmetries to represent the error, which can render error propagation trajectory-independent for group-affine systems. Choosing between a standard filter (where position and velocity errors are defined additively in the navigation frame), a left-invariant filter (where errors are represented in the body frame) and a right-invariant filter (where errors are represented in the navigation/world frame) depends on system dynamics and sensor configuration. This note presents the mathematical formulas for four classical and invariant ESKFs for globally applicable aided inertial navigation systems. It is intended to serve as a systematic reference for comparison and implementation.

Unknown linear time-varying (LTV) systems require the control policy to adapt from online closed-loop data as dynamics evolve. Existing methods usually update the policy by solving a one-shot optimization problem, which can be computationally demanding and sensitive to noisy model estimates. In this paper, we propose a policy gradient adaptive control (PGAC) method for LTV system control with unknown model parameters. Specifically, PGAC integrates online policy optimization into feedback by updating the state-feedback policy with one-step gradient descent of the linear quadratic regulator cost at each time instant. This incremental update is computationally light and naturally limits policy variations caused by noisy data. To explicitly compute the policy gradient online, we estimate local models from recent closed-loop trajectories using normalized sliding-window least-squares. We provide stability and convergence certificates of PGAC for two classes of LTV systems. For slowly time-varying systems, we prove that the closed-loop system achieves practical exponential stability without a dwell-time condition. For piecewise-constant LTV systems, we establish practical stability through a dwell-time contraction argument. We also provide average frozen-time optimality-gap bounds of the policy sequence for both classes. Finally, we validate the effectiveness of our method via numerical case studies of both LTV and nonlinear systems.

Integrated sensing and communication (ISAC) enables intelligent wireless infrastructure but raises growing regulatory concern as fine-grained personal trajectory histories become a byproduct of sensing. General Data Protection Regulation (GDPR) Articles 5(1)(c) and 5(1)(f) require that personal data be limited to what is necessary and protected through appropriate technical measures against unauthorised reconstruction. This paper addresses both requirements through a Fisher information density (FID)-constrained trajectory sharing scheme for robot collision avoidance, where sensing estimates are perturbed according to local information content before sharing. Experiments on real pedestrian traces show that FID-controlled sharing achieves a strictly better privacy-utility tradeoff than fixed-error perturbation: at matched missed-conflict rates, reconstruction leakage and sustained exposure lengths are consistently lower, establishing information-aware perturbation as a principled technical measure aligned with GDPR data minimisation and integrity requirements.

Reliable analysis of bird vocalisations in passive acoustic monitoring requires models handling multiple, imbalanced annotation targets. We extend BirdCallNet for joint species and call-type classification on the long-tailed WiWa dataset and investigate how task-loss balancing interacts with pretrained representations and adaptation depth. We evaluate four bird-domain encoders, ConvNeXtBS, EAT, BirdMAE, and ProtoCLR, with separate species and call-type heads under linear probing, attentive probing, and full fine-tuning. A manually tuned fixed objective is compared with homoscedastic uncertainty weighting and Dynamic Weight Averaging across all three adaptation regimes, while GradNorm is evaluated only under full fine-tuning. Results indicate that the factorised multi-task formulation yields the most consistent improvements over the combined single-task baseline for call-type recognition, while its effect on species recognition depends on the adaptation regime. Full fine-tuning is not consistently optimal: ConvNeXtBS achieves the highest mean species performance under linear probing, whereas BirdMAE provides the strongest call-type performance under attentive probing. Adaptive weighting benefits species recognition more consistently than call-type recognition. Uncertainty weighting is particularly effective for species recognition under attentive probing, whereas Dynamic Weight Averaging is generally stronger for the same task under full fine-tuning. GradNorm achieves competitive call-type performance for selected backbones but consistently underperforms other weighting strategies for species recognition and incurs higher computational and memory costs. Overall, the preferred loss-balancing strategy depends on the backbone, adaptation regime, and target task, while frozen-backbone adaptation can provide a more favourable performance-efficiency trade-off than end-to-end fine-tuning.

Closed-loop (or feedback) error-state Kalman filters with their relatives and offspring are the state-of-the-art in modern aided inertial navigation research. Estimated inertial navigation system (INS) errors are continually fed back to the INS to correct the nominal system state before subsequent predictions. Conversely, in safety-critical aeronautical applications, open-loop (or feedforward) systems are an undisputed standard, where the inertial mechanization is strictly decoupled to allow for operational independence and fault isolation of computing units. We assess the performance impacts of this architectural choice beyond qualitative system-safety justifications using a standard inertial mechanization in geodetic coordinates and direct position aiding. Simulations using a variety of inertial sensor error characteristics, ranging from consumer to navigation grade systems, showcase the trade-off between smooth information fusion for high-end IMUs using an open-loop filter and the inherent long-term stability of the closed-loop architecture.

Accurate channel estimation in orthogonal frequency division multiplexing (OFDM) systems remains challenging when demodulation reference signal (DMRS) observations are sparse and noisy, and when DMRS configurations vary across deployment scenarios. This paper proposes DANCE (Diffusion-based Noise-Adaptive Null-space Channel Estimation), a diffusion-based channel estimator for OFDM systems. We formulate DMRS-aided channel estimation as a sparse linear inverse problem whose measurement operator is induced by the pilot pattern. The resulting range-null space decomposition separates the measurement-constrained range-space component from the unobserved null-space component, which is reconstructed through a learned diffusion prior. To avoid directly imposing noisy pilot samples as exact constraints, DANCE introduces a noise-adaptive posterior correction into the reverse diffusion process. The correction coefficient and the residual sampling variance are jointly calibrated according to the observation noise level, thereby reducing pilot-noise injection while retaining useful measurement information. We further design a conditional U-Net denoiser for complex-valued OFDM channel grids, where the real and imaginary components are represented as separate feature channels and downsampling is performed only along the subcarrier dimension. Simulations based on 5G NR tapped delay line (TDL) and clustered delay line (CDL) channel models show that DANCE achieves consistently lower normalized mean squared error (NMSE) than conventional estimators and diffusion-based posterior sampling methods under different signal-to-noise ratios, DMRS configurations, Doppler frequency shifts, and train-test distribution mismatches.

Optimal power flow (OPF) solved by an interior-point method (IPM) requires repeatedly solving Newton linear systems. When variational quantum linear solvers (VQLS) are used, each IPM iteration involves an additional nested inner variational optimization loop, which can significantly slow the overall quantum-assisted IPM convergence. To address this challenge, this paper proposes a dual-level trainable quantum IPM framework for OPF that leverages early solver-generated trajectories rather than relying on single-point prediction. The key observation is that early IPM iterates provide informative primal-dual, slack, and barrier-variable evolution about the path to optimality, while early VQLS parameter updates provide useful information about the later variational search. At the quantum-solver level, a trainable parameter model uses a short prefix of the VQLS parameter trajectory to project the remaining variational search toward a lower-cost region. At the OPF-solver level, a second trainable model uses early primal-dual IPM iterates to project a later central path state, which is restored to an admissible point before IPM refinement continues. Simulation studies show that the proposed approach reduces the number of variational updates by up to $95\%$ while maintaining OPF objective values close to the classical IPM reference. A 2-bus demonstration on real quantum hardware is also included to validate the implementation of the proposed workflow.

Integrated sensing and communications (ISAC), empowered by dynamic metasurface antennas (DMAs), has emerged as a promising paradigm for next-generation wireless networks. However, existing DMA-based designs commonly rely on the frequency-flat response model for DMA elements, which is accurate only in narrowband scenarios and can cause significant phase and magnitude mismatches in wideband and ultra-wideband systems. This paper investigates a DMA-based wideband ISAC system under a frequency-selective Lorentzian response model, which accurately captures the frequency-dependent behavior of DMA elements. We aim to jointly balance the aggregate signal-to-interference-plus-noise ratio (SINR) of communication users and the signal-to-noise ratio (SNR) of the radar target. To this end, we first develop an alternating optimization framework based on projected gradient ascent (PGA), deriving closed-form gradients of the objective function with respect to the digital beamforming vectors, resonance frequencies, and damping factors under the frequency-selective Lorentzian DMA model. We then propose an unfolded PGA architecture that preserves the interpretability of model-based optimization while learning key hyperparameters to accelerate convergence. Simulation results show that the frequency-selective Lorentzian model improves performance by approximately 20\% over its frequency-flat approximation. Moreover, deep-unfolded PGA achieves up to 20-fold faster convergence and improves the objective value by up to 7\% compared with PGA-based benchmarks.

Benchmarking immersive media coding solutions, especially in the standardization context, requires reliable and reproducible subjective quality assessment (QA) procedures, along with objective quality metrics that remain accurate across different distortion types. This paper presents a standardized workflow for light field QA, developed and deployed in the context of JPEG Pleno standardization activities, which integrates benchmark generation, a hybrid subjective evaluation, and objective metric analysis into a common workflow. The benchmark is designed to encompass not only traditional coding-only artifacts but also distortions that arise in processing pipelines in which light field encoding is accompanied with view synthesis and reconstruction techniques. A hybrid subjective method is proposed enabling fine-grained assessment by combining reference-anchored quality rating with targeted pairwise refinement in perceptually ambiguous regions. The reliability of subjective scores is verified using statistical consistency analyses between observers of two cohorts. Finally, a large set of objective metrics is systematically evaluated in terms of global prediction accuracy, local agreement in ambiguous quality regions, and robustness across distortion families. The results show that several metrics achieve strong agreement for coding-only stimuli, but their performance consistently drops when view synthesis distortions are included. The analysis further highlights the importance of view-pooling strategy in the design of future light field quality metrics. The work provides a reproducible and standardization-ready framework for fine-grained light field QA, while identifying key limitations of current objective metrics under emerging coding pipelines. The subjectively annotated dataset is publicly available at this https URL.

How much does a vocalization change over the course of development? We propose trajectory variance, a per-vocalization plasticity score that answers this question without type labels. A displacement model learns to predict age-conditioned shifts in autoencoder latent space; the variance of its predictions across target ages quantifies how much each vocalization would change if produced at different developmental stages. Evaluated on three zebra finches (183K-274K vocalizations, 40-101 days post-hatch), trajectory variance separates learned song syllables from innate calls (Cohen's d = 0.29-0.57, AUC = 0.58-0.67, after controlling for duration), while no nonparametric baseline achieves consistent separation. Trajectory variance also correlates with spectral flatness across all three birds (r = -0.48 to -0.75): more plastic vocalizations tend to have more tonal, structured spectra.

We consider a swarm array of autonomous relays that seek to cooperatively forward a desired signal to a fusion center with the maximum possible fidelity while canceling out a number of interferers. We present a distributed algorithm for computing the optimal zero-forcing beamforming weights at the relays without requiring prior channel knowledge. Crucially, our algorithm is {\it scale-free} in the sense that the computational and bandwidth overheads are completely independent of the size of the array. We build on recent work that introduced the concept of a Collective Array that enables such {\it scale-free} computation by imposing a constraint that the array must always function as a {\it swarm} i.e. array elements can only ever communicate with external nodes collectively and never individually. While this is a very severe restriction, we show that it allows useful computations such as zero-forcing beamforming while being robust to noise and channel time-variations.

Adaptive token processing has emerged as a promising approach for improving the efficiency of semantic communication systems. However, existing semantic communication frameworks largely overlook token-level multiple access and the impact of semantic interference among simultaneously transmitted semantic tokens. In this paper, we propose Adaptive Token Selection and Token-Domain Multiple Access (ATS-ToDMA), a novel cross-modal semantic communication framework that jointly performs semantic token selection, interference-aware scheduling, and semantic-aware power allocation. The proposed framework introduces a Semantic Signal-to-Interference-plus-Noise Ratio (SSINR) metric that captures the combined effects of channel impairments and semantic interference arising from token similarity. A transformer-based scheduler is developed to allocate selected semantic tokens across token-domain transmission slots while mitigating both intra-modal and cross-modal semantic interference. To characterize the behavior of the proposed system, analytical bounds on semantic interference and feasible token occupancy are derived, together with a closed-form approximation for semantic-aware power allocation. Simulation results demonstrate significant gains in semantic throughput and semantic decoding accuracy while reducing aggregate semantic interference and transmit power compared with OMA, Semantic NOMA, Random-TS, and Greedy ATS benchmarks.

In many multisensor systems, measurements from different sensors are subject to unknown relative time delays. Accurate state estimation requires that delays be accounted for and, when possible, calibrated online. We consider the case of aided navigation, where measurements from a single aiding sensor are subject to an unknown but constant delay relative to the inertial measurement stream, and study the identifiability of the resulting system. Critically, identifiability depends not only on the temporal structure of the measurements, but also on the shape of the vehicle trajectory: some trajectories are sufficiently informative to support unique recovery of the delay and the navigation state, while others are not. Using the special Galilean group, we characterize these uninformative (or degenerate) trajectories and relate them to a continuous symmetry of the delayed measurement model, providing geometric insight into identifiability failures. We show that the class of trajectories for which identifiability fails is larger than previously reported, and connect our characterization to the familiar linearized, Jacobian-based analysis. Although our development is motivated by aided navigation, the underlying ideas apply more broadly to estimation problems on Lie groups with delayed measurements.

Microbial keratitis requires rapid pathogen identification to guide treatment, but culture- and PCR-based diagnostics are slow and resource-intensive. We developed a triple-phase multimodal framework for bacterial-versus-fungal keratitis classification using slit-lamp photographs acquired under blue-light, sclerotic-scatter, and white-light illumination, together with clinical metadata. The model combines cross-modality contrastive learning, modality-specific fine-tuning, and feature-level multimodal ensemble learning for patient-level prediction. We evaluated the framework on a multicenter dataset of 1,645 patients and 17,158 images from India and the United States. The model achieved 85.84% accuracy, 84.46% average F1-score, and 0.885 AUC. Site-specific evaluation showed that pooled results were overly optimistic, whereas resampling- and balance-based re-evaluation provided a more realistic assessment of cross-site generalization. Under all settings, our framework remained the top-performing approach. Upon acceptance, the code will be released and dataset access will be provided subject to University of Michigan data-sharing clearance.

Deep learning (DL) has shown strong performance in medical image classification, but its trustworthy deployment remains challenging in safety-critical clinical settings, where prediction errors under perturbations may lead to severe consequences. Existing studies mainly focus on adversarial robustness (AR) from a worst-case perspective; however, such settings may be less representative of real medical applications. In this work, we investigate probabilistic robustness (PR) as a more practical measure of model trustworthiness. To this end, we construct a set of natural corruption settings for medical image classification and systematically evaluate commonly used DL models on MedMNIST v2 dataset. Our study provides a statistically grounded perspective on assessing the trustworthiness of DL models, thereby supporting their more trustworthy deployment in medical imaging applications.

Stability is often assumed in learning and identification, yet it is rarely characterized directly from input--output data. We show that an input--output family admits a stable finite-dimensional state-linear realization iff it has finite Hankel-rank and its response decays uniformly with time; for state-linear realizable maps this decay is necessarily exponential. We extend these results to state-affine, LPV, and linear switched systems via suitable input-forgetting notions, and relate forgetting to decay of impulse responses (sub-Markov parameters). In all cases, the decay/forgetting rate determines the decay rate of every minimal realization.

A unified multiplex virtual staining model enables scalable and non-destructive multiplex analysis from H&E slides while promoting parameter efficiency, shared pathological knowledge, and consistent cross-biomarker representations. However, in clinical practice, data for new biomarkers are typically acquired sequentially over time. Fine-tuning on such temporally arriving data leads to severe performance degradation on previously learned biomarkers, as sequential optimization disrupts the structured relationships among biomarker representations in the latent space. To address this issue, we propose ContiStain, an IHC multi-domain relational distillation framework for continual virtual staining. We first (i) construct a domain-aware structured feature space using a mixture-of-experts (MoE) feature extractor to reduce representation interference across biomarker domains. Based on this stabilized feature space, we then (ii) propose a relation-preserving distillation strategy that explicitly enforces the consistency of cross-domain token-level cosine similarity matrices between learned biomarker domains during continual adaptation. By maintaining cross-domain structural coherence, ContiStain mitigates forgetting while retaining adaptability to new domains. Experiments on the MIST dataset under a four-domain sequential virtual IHC staining setting show improved stability, reducing FID and ConchFID by 11.1 and 60.9 compared to sequential fine-tuning, enabling scalable and robust multi-domain virtual staining. Code is released at this https URL.

Accent normalization (AN) seeks to convert non-native (L2) accented speech into standard (L1) speech while preserving speaker identity. The current techniques either require naturally recorded parallel L1-L2 speech for training, or suffer from quality degradation when supervised by synthesized targets. In this paper, we present TokAN, a token-based accent normalization framework that operates on self-supervised discrete speech tokens extracted from a L1-L2 jointly trained vector-quantization (VQ) tokenizer, without the need of synthetic supervisory speech. An autoregressive encoder-decoder model performs token-to-token conversion, translating L2-accented token sequences into the tokens of standard voice. We also introduce reinforcement learning (RL) post-training based on Group Relative Policy Optimization (GRPO), using word error rate and accent classifier confidence as complementary rewards. A non-autoregressive flow-matching synthesizer recovers the Mel-spectrogram from the converted tokens, conditioned on the source speaker embedding. We also develop a flow-matching duration predictor that supports total-duration-aware synthesis, making TokAN applicable to duration-critical tasks such as voice dubbing and live casting. Experiments on seven English accents demonstrate that TokAN reduced the word error rate from 12.40% to 9.89% after supervised fine-tuning, and further to 9.23% after RL post-training, consistently outperforming frame-to-frame, direct flow-matching, and prompt-based token-conversion baselines in terms of accent reduction and intelligibility.

We present an L1-optimal control problem class with linear nonnegative costs subject to multiplicative Itô diffusion processes with elementwise linear input constraints. Forward invariance of the positive orthant is established for the considered stochastic dynamics, and a simulation method consistent with this invariance property is proposed. Both finite-horizon and discounted infinite-horizon stochastic L1-optimal control problems are considered. These problems admit explicit solutions characterized by a vector-valued ordinary differential equation in the finite-horizon case and by an algebraic equation in the infinite-horizon case. Notably, the optimal value function and feedback policy coincide with those of the corresponding deterministic problem, demonstrating robustness to multiplicative stochastic uncertainty. A portfolio example illustrates our results.

We establish finite-sample closed-loop stability guarantees for Model Predictive Path Integral (MPPI) control applied to discrete-time Linear Time-Invariant (LTI) systems with additive Gaussian process disturbances. The key observation is that, for unconstrained LTI/quadratic systems with the DARE terminal cost, the exact finite-horizon MPC law has the same first control action as the infinite-horizon LQR law for every planning horizon. Thus, finite-sample MPPI can be analyzed as a stochastic perturbation of LQR. First, we show that the MPPI control law approximates the LQR feedback with high probability. The approximation error decomposes into a Monte Carlo term that decreases with the sample count and an infinite-sample temperature bias that persists at finite temperature but vanishes as the temperature is reduced. The resulting constants are written in terms of the horizon-dependent stacked cost matrices, making explicit that the finite-sample certificate is parametrized by the selected planning horizon. Second, we use a Lyapunov perturbation argument to prove practical exponential stability in expectation. On sample paths that remain in a compact Lyapunov sublevel set over a finite operating horizon, the expected state norm decays exponentially up to three residual floors: a process-noise floor, an MPPI approximation floor, and a confidence floor from the per-step sampling failure probability. The sufficient sample threshold is explicit and computable from the DARE solution, LQR stability margin, MPPI sampling parameters, temperature, and planning horizon. In the joint limit of infinite samples and vanishing temperature bias, the result recovers the stochastic LQR stability bound.

Unsupervised syllabic tokenization aims to learn discrete syllabic tokens that capture latent linguistic content-related structure from raw speech. Recent syllabic tokenization methods employ teacher-student distillation of the pretrained HuBERT to organize latent speech frame representations into syllabic segments. However, when trained with an utterance-level cross-entropy objective, the model predicts speaker identity rather than linguistic content, thereby compromising the purity of syllabic tokens. To address this problem, we propose a speaker-disentangled syllabic tokenizer that regresses speaker-perturbed student representations toward clean teacher targets within fixed-length chunks. Experimental results demonstrate that our proposed method achieves state-of-the-art performance in syllable boundary detection and syllabic segment clustering. Moreover, a speech language model trained on our syllabic tokens achieves a 7% relative improvement in syntactic and semantic understanding over the phone-level SpiRit-LM.

We study a receding horizon game in which multiple agents drive linear systems subject to additive disturbances, private state and input constraints, and shared coupling constraints. We propose a robust game-theoretic control framework that combines tube-based constraint tightening with a finite-horizon generalized Nash equilibrium problem (GNEP), equipped with a discrete algebraic Riccati equation (DARE)-based terminal cost and a decoupled positively invariant terminal set. The framework guarantees recursive feasibility for every bounded disturbance realization. Exploiting the potential-game structure induced by tracking costs, we further establish asymptotic convergence of each agent's nominal state to a steady-state variational generalized Nash equilibrium (vGNE), and show that each agent's actual state converges to a neighborhood of the vGNE determined by the minimal robust positively invariant set.

Future sixth generation (6G) communications are expected to support robotic control tasks in applications such as industrial automation and emergency response, where sensors, computing units, and robots are interconnected via nervous system-like networks to form sensing-communication-computing-control (SC3) closed loops. However, the limited battery capacities of devices within these SC3 loops constrain operational duration and degrade control efficiency, particularly in remote or post-disaster scenarios. To address this challenge, wireless power transfer (WPT) can be leveraged to provide continuous energy supply for SC3 closed loops. In this paper, we investigate a wireless-powered SC3 system, where a satellite transfers energy via radio frequency (RF) signals to support the communication and computing processes of multiple SC3 closed loops. By accounting for the intricate coupling among computing, communication, and energy transfer, we propose a holistic design framework to enhance overall control performance. Specifically, we adopt the linear quadratic regulator (LQR) cost as the performance metric and formulate a sum LQR cost minimization problem. The uplink/downlink transmit power, bandwidth allocation, computing capability, communication/computing time allocation, and WPT power allocation are jointly optimized. We recast the problem into a more tractable form and develop an iterative algorithm to solve it. For the special case of a single loop, we further analyze the properties of optimal solutions in energy-limited scenarios to provide insights for practical parameter configuration. Simulation results demonstrate the performance gains of the proposed scheme.

Tensor probabilistic independent component analysis (TPICA) is a popular approach to analyzing functional magnetic resonance imaging (fMRI) data, which draws its popularity from its ability to enrich the advantages of the statistics-based ICA with the awareness of the multi-way nature of these data, brought about and exploited via a deterministic 3-way (time $\times$ space $\times$ subjects) tensor decomposition (Canonical Polyadic Decomposition (CPD)) model. It has, however, received critique concerning its robustness in realistic fMRI unmixing scenarios, notably those involving sources that are strongly overlapped in space. Such cases may not meet the assumption of statistical independence required in ICA. They can instead be better described as independent vectors (or subspaces) of dependent components, pointing to the adoption of alternative statistical approaches, notably independent vector analysis (IVA). On the other hand, on the deterministic side, CPD is often restrictive and is outperformed by the more flexible block-term decomposition (BTD) model, also in the fMRI source unmixing context. Given the above, plus strong evidence of links between IVA and BTD, it is deemed worthwhile to consider the possibilities of generalizing TPICA to a BTD-based ``TPIVA" extension, which would more successfully combine the power of statistics and tensor decomposition. This could also entail a generalization of the BTD model, where (non)collinearity would be replaced by statistical (in)dependence. This note aims to outline the state-of-the-art and the above ideas in more detail, serving as a preliminary, motivating step in this research direction.

Audio-conditioned generators now produce synthetic sound effects from real recordings, so the real and synthetic versions of an event increasingly coexist in sound libraries and in the corpora used to train audio models -- yet no benchmark measures whether a representation can match a synthetic clip to the specific real recording it was generated from. I introduce Doppelganger, a benchmark for matching sound effects across the synthetic-real boundary, pairing 10,420 real clips across 34 everyday sound events each with an audio-conditioned synthetic twin, alongside a controlled 7-class corpus. Off-the-shelf audio encoders do not cross the boundary cleanly. Making the embedding ignore the boundary the standard way -- training it on sound-event labels -- works on familiar sounds but backfires on new ones, dropping below the untrained encoder. Training on the pairs instead -- a clip and its own synthetic twin -- generalizes. On sound events held out of training, it recovers the exact real source about 80% of the time (up from 61% untrained; chance 0.03%), whereas no objective meaningfully improves category-level recognition on those unseen events. The learned matching is specific to one generator -- it survives changes to that generator's settings but not a switch to a different generator, and collapses for the text-only generators tested. A human annotation baseline (49 listeners) lands well above chance but below the models on the same trials. Synthetic twins fool people into calling them real about 29% of the time, yet a generator-specific detector separates these audio-conditioned twins from real recordings perfectly.

This state-of-the-art report provides an overview of controllable 3D human avatar creation. We describe current 3D avatar systems, which typically consist of three stages: (i) learning priors of human appearance and motion, (ii) creating a personalized avatar, and (iii) animating the avatar. To limit the scope, we focus on the prior learning and avatar creation stages. We define current avatar representations and introduce a taxonomy that categorizes existing work along multiple axes, including body regions and employed priors. We review methods for full-body and head avatars, as well as layered representations that decompose the body into components such as hands, hair, and garments. Finally, we outline common underlying principles, reference key literature for newcomers, and discuss open challenges and future research directions.

The assessment of planktonic standing stocks and microorganism structures is critical for understanding upper ocean biological processes. Currently, autonomous underwater vehicles (AUVs) equipped with in-situ optical imaging and artificial intelligence (AI) methods offer a promising solution for persistent surveillance, mapping and monitoring of planktonic life. However, current AI methods often lack robustness in dynamic, unstructured environments, where environmental noise and non-biological artifacts lead to frequent misclassifications. Standard convolutional neural network (CNN) classifiers often struggle with such conditions, leading to misclassifications that require time-consuming manual validation by marine biologists. To address this issue, we propose a novel robustness verification framework for in-situ plankton classifiers based on reachability analysis. We also introduce a continuous-time neural ordinary differential equation (neural ODE) classification model leveraging the high-resolution imaging capabilities of the SilCam particle imager. In this paper, we demonstrate the effectiveness of the proposed framework by formally verifying the robustness of the neural ODE model against environmental perturbations. We demonstrate that our verification framework acts as an automated filter providing formal guarantees of model stability against ambiguous data, thereby improving the reliability of autonomous sampling and reducing the post-processing workload.

Low-precision neural networks are attractive for resource-constrained hardware, but fixed-point arithmetic introduces failure modes that are often hidden by idealised quantisation models. In particular, two's-complement overflow wrapping can corrupt hidden activations by changing both their magnitude and sign, leading to unstable numerical error propagation and severe accuracy degradation. This paper proposes a Lyapunov-stabilised quantisation framework for low-precision neural networks operating under hardware-style wrapping arithmetic. The hidden-state energy is monitored through a layerwise Lyapunov function, and a monotone projection is applied to enforce bounded and non-increasing state evolution across depth. The method is evaluated on MNIST using a compact patch-based transformer under post-training quantisation and quantisation-aware training with fixed-point bit-widths from 4 to 16 bits. Monte Carlo results show that unconstrained wrapped quantisation-aware training collapses to near-chance accuracy across 6-16 bits, with activation overflow rates exceeding 11%. In contrast, the proposed monotone Lyapunov projection suppresses activation overflow to below 0.012% and restores stable low-precision learning, achieving 86.55% accuracy at 12 bits. These results demonstrate that Lyapunov-based state control can act as a hardware-aware stabilisation mechanism for reliable fixed-point neural inference and training.

We develop a repair-oriented inspection and maintenance decision framework for water distribution networks. This work is motivated by utilities operating in data-sparse environments, such as in remote locations like the U.S. Virgin Islands, where data collection about network state and underground pipeline outages is limited to above-ground and easy to access information (e.g., water tank levels and pump operations). We formulate the problem as a discounted Markov decision process and integrate it with high-fidelity hydraulic simulation. The model captures latent system dynamics without requiring pipe-level sensing. The results reveal state-dependent optimal policies and heterogeneous failure characteristics across pipes, including rare but high-impact behaviors. We further show that certain observable system states uniquely correspond to specific pipe failures, enabling a form of virtual sensing. These findings demonstrate that system-level dynamics can support inspection planning and maintenance decisions under uncertainty in resource-constrained settings.

Aerial robots are increasingly moving from remote observation toward physical interaction with objects, surfaces, structures, loads, and surrounding flows. This review argues that aerial manipulation cannot be understood as classical manipulation simply mounted on a flying base. Because flying agents remain aloft through continuous momentum and energy exchange with the surrounding medium, support, locomotion, stabilization, and task-directed interaction are intrinsically coupled. Building on broad views of manipulation as intentional environmental regulation through physical interaction, we propose a medium-aware interpretation of aerial manipulation in which interaction may be mediated by contact, by the surrounding fluid, or by both. The review organizes biological and robotic examples into a repertoire of interaction modes and a capability ladder, then develops an actuation-geometric viewpoint in which redundancy induces task-equivalent fibers. Internal motion along these fibers can trade energy for active readiness, aerodynamic promptness, and passive medium coupling. This perspective clarifies why aerial manipulation is difficult, why biological flyers remain broader than robotic systems, and how future platforms may command forces while also shaping how the medium acts back on them.

Clandestine tunneling beneath oil and gas pipelines enables fuel theft, smuggling, and sabotage, yet conventional monitoring detects damage only after a pipeline has been compromised. Ground-penetrating radar (GPR) can image such tunnels non-invasively, but manual radargram interpretation does not scale to continuous corridor surveillance, and supervised detectors require tunnel examples that are scarce in practice. We present a fully unsupervised detection pipeline trained exclusively on normal subsurface radargrams collected at a purpose-built field site containing three buried tunnels at 1.5-3 m depth. A denoising convolutional autoencoder learns the structure of anomaly-free ground; at inference, tunnels are flagged by reconstruction error. Our central contribution is a depth-restricted top-k anomaly score, which pools the highest reconstruction errors only within the depth band where tunnels can physically occur. This physically motivated rule raises AUC from 0.986 to 0.994 and cuts missed detections from 74 to 17 of 634 tunnel windows, relative to whole-image scoring, without any retraining or labels. We further show that the optimal top-k fraction interacts with the depth restriction - 1% pooling is best on full images, 5% once scoring is depth-restricted - and that spatial voting across overlapping survey windows helps weak per-image detectors but offers no benefit once the scoring rule is strong. The final system attains AUC 0.994, F1 0.975, recall 0.973, and precision 0.976 on 1,600 field test windows spanning 55 survey lines, at a 1.6% false-alarm rate, using no tunnel labels for training, scoring, or threshold calibration.

Full-duplex spoken dialogue models are trained on conversational speech in which each speaker is represented as a separate stream, but existing large-scale public speech corpora are mostly monaural, making them unsuited for SDLM training. We present DuplexChat, an open-source corpus for full-duplex spoken dialogue models, and DuplexChat-Pipe, a pipeline for constructing speaker-separated full-duplex dialogue speech from public podcast feeds. DuplexChat-Pipe filters language-specific podcast feeds, retrieves and cleans episode audio, extracts diarization-guided two-speaker dialogue clips, and applies speech separation and restoration to produce one channel per speaker. Running this pipeline yields a speaker-separated spoken dialogue corpus covering 282,634 hours of English and 132,723 hours of Japanese. Analysis results on DuplexChat show that it contains turn-taking dynamics present in human dialogues.

In this paper, we present a modular open radio access network (O-RAN) consisting of the 5G Core, a central (O-CU) and distributed unit (O-DU) by Software Radio Systems (SRS) and an O-RAN radio unit (O-RU), MODRAD-SC, by Massive Beams (MB). OCUDU provides an open source 5G-compliant O-CU and O-DU solution developed by SRS, while MB's radio unit is a fully O-RAN compliant category A O-RU. According to O-RAN split 7.2a, OCUDU performs higher layer functions up to the high physical (PHY) layer, while the O-RU handles low PHY and RF functions. This results in an O-RAN-compliant 5G gNodeB. In an alternative configuration, OCUDU and MODRAD-SC operate in a software-defined radio fashion corresponding to split 8, facilitating non-real-time experiments among others. In both cases, the system provides full control over O-CU, O-DU, and O-RU. In addition, we will discuss the possibility to attach an analog beamformer to the O-RU, enabling hybrid digital-analog beamforming. The flexibility and modularity offered by OCUDU and MODRAD-SC enable the practical realization of a multitude of applications, ranging from 5G demonstrators to pre-6G experiments. The system addresses the requirements of academia and industry and is well-suited as an easy-to-use platform for experimental and practical deployments.

Adverse driving conditions, such as bad weather, remain a principal barrier to autonomous driving because they degrade two things at once: what the vehicle can perceive and what it can physically do. Human drivers cope by anticipation, reasoning about the scene and re-budgeting speed, following distance, and steering before grip or sight is lost, whereas current autonomous driving systems at best react after the fact. This paper proposes VLM-CASE, a framework that gives an autonomous vehicle this anticipatory capacity while keeping its motion bounded by a formal safety model at all times. A vision-language model (VLM), fine-tuned with low-rank adaptation (LoRA), reasons about the scene from the front-camera image and reports the road surface and visibility conditions. This output parametrizes a context-adaptive safety envelope (CASE), derived from physical limits and the guarantees of responsibility-sensitive safety, that couples braking and steering through a shared friction budget. A model predictive controller then drives freely within the envelope, while the VLM runs asynchronously so it never blocks the real-time control loop. We validate the framework in closed-loop CARLA simulation on tasks that demand both lateral and longitudinal control, across a range of weather, road-surface, and lighting conditions. The resulting controller, VLM-CASE-MPC, completes all trials, outperforming a conventional MPC baseline and a state-of-the-art VLM-integrated controller. Ablations confirm that the gains come from context adaptation, with the friction and visibility adaptations proving complementary. Furthermore, the framework is controller-agnostic and pairs with almost any low-level controller, offering a promising direction for safe autonomous driving. The dataset and supplementary materials for VLM-CASE are available at this https URL.

Audio intelligence involves understanding, reasoning about, and generating both audio and speech. In this work, we introduce Nemotron-Labs-Audex-30B-A3B (Audex), a unified audio-text LLM built on Nemotron-Cascade-2-30B-A3B, a strong text-only MoE LLM. Audex adopts a simple unified design with a single Transformer decoder: audio inputs are encoded and projected into the text embedding space, while text tokens and quantized audio output tokens are treated uniformly during generation. This architecture enables strong audio-text fusion, seamless multimodal generation, and compatibility with standard LLM training and inference infrastructure. For training, we meticulously curate audio-text datasets comprising 157.4B audio tokens and 320.5B text tokens. We apply multi-stage supervised training on these datasets, followed by text-only Cascade RL and multi-domain on-policy distillation. Audex delivers state-of-the-art audio understanding, speech recognition and translation, text-to-speech, audio generation, and speech-to-speech generation, while preserving very compelling reasoning, alignment, knowledge, long-context, and agentic capabilities of its text-only LLM backbone with marginal or no regression. We release the model checkpoints to facilitate open research.

Streaming speech-to-speech language models aim to answer spoken queries directly with synthetic speech. However, standard speech and text benchmarks do not capture whether these systems behave naturally in conversations, where timing, turn-taking, prosody, interpersonal stance, language and dialect consistency, and relationship-aware appropriateness jointly shape perceived quality. We introduce SPEARBench, a benchmark for evaluating naturalness in speech-to-speech language models from question-answer interactions. SPEARBench constructs controlled dialogue prompts from the Seamless Interaction corpus, runs inference across multiple models, and evaluates generated answers using a multidimensional protocol that covers response latency, interruptions, speech quality, ASR robustness, language and dialect consistency, emotional naturalness, interpersonal stance, and explainable distributional baselines. The benchmark includes original human answers as a reference condition and reports results for several contemporary models. Results show that current models can achieve high signal-level quality and low ASR error while still differing from human conversational behavior in latency, overlap, dialect preservation, emotional adaptation, and interpersonal stance dynamics.

The probabilistic linguistic term has been proposed to deal with probability distributions in provided linguistic evaluations. However, because it has some fundamental defects, it is often difficult for decision-makers to get reasonable information of linguistic evaluations for group decision making. In addition, weight information plays a significant role in dynamic information fusion and decision making process. However, there are few research methods to determine the dynamic attribute weight with time. In this paper, I propose the concept of double fuzzy probability interval linguistic term set (DFPILTS). Firstly, fuzzy semantic integration, DFPILTS definition, its preference relationship, some basic algorithms and aggregation operators are defined. Then, a fuzzy linguistic Markov matrix with its network is developed. Then, a weight determination method based on distance measure and information entropy to reducing the inconsistency of DFPILPR and obtain collective priority vector based on group consensus is developed. Finally, an aggregation-based approach is developed, and an optimal investment case from a financial risk is used to illustrate the application of DFPILTS and decision method in multi-criteria decision making.

Super-Resolution (SR) is a time-hallowed image processing problem that aims to improve the quality of a Low-Resolution (LR) sample up to the standard of its High-Resolution (HR) counterpart. We aim to address this by introducing Super-Resolution Generator (SuRGe), a fully-convolutional Generative Adversarial Network (GAN)-based architecture for SR. We show that distinct convolutional features obtained at increasing depths of a GAN generator can be optimally combined by a set of learnable convex weights to improve the quality of generated SR samples. In the process, we employ the Jensen-Shannon and the Gromov-Wasserstein losses respectively between the SR-HR and LR-SR pairs of distributions to further aid the generator of SuRGe to better exploit the available information in an attempt to improve SR. Moreover, we train the discriminator of SuRGe with the Wasserstein loss with gradient penalty, to primarily prevent mode collapse. The proposed SuRGe, as an end-to-end GAN workflow tailor-made for super-resolution, offers improved performance while maintaining low inference time. The efficacy of SuRGe is substantiated by its superior performance compared to 28 state-of-the-art contenders on 10 benchmark datasets.

This paper presents a novel Koopman composition operator representation framework for control systems in reproducing kernel Hilbert spaces (RKHSs) that is free of explicit dictionary or input parametrizations. By establishing fundamental equivalences between different model representations, we are able to close the gap of control system operator learning and infinite-dimensional regression, enabling various empirical estimators and the connection to the well-understood learning theory in RKHSs under one unified framework. Consequently, our proposed framework allows for arbitrarily accurate finite-rank approximations in infinite-dimensional spaces and leads to finite-dimensional predictors without a priori restrictions to a finite span of functions or inputs. To enable applications to high-dimensional control systems, we improve the scalability of our proposed control Koopman operator estimates by utilizing sketching techniques. Numerical experiments demonstrate superior prediction accuracy compared to bilinear EDMD, especially in high dimensions. Finally, we show that our learned models are readily interfaced with linear-parameter-varying techniques for model predictive control.

Conventional multi-stage cell tracking approaches rely heavily on detection or segmentation in each frame as a prerequisite, requiring substantial resources for high-quality segmentation masks and increasing the overall prediction time. To address these limitations, we propose CAP, a novel end-to-end one-stage framework that reimagines cell tracking by treating Cell as Point. Unlike traditional methods, CAP eliminates the need for explicit detection or segmentation, instead jointly tracking cells for sequences in one stage by leveraging the inherent correlations among their trajectories. This simplification reduces both labeling requirements and pipeline complexity. However, directly processing the entire sequence in one stage poses challenges related to data imbalance in capturing cell division events and long sequence inference. To solve these challenges, CAP introduces two key innovations: (1) adaptive event-guided (AEG) sampling, which prioritizes cell division events to mitigate the occurrence imbalance of cell events, and (2) the rolling-as-window (RAW) inference strategy, which ensures continuous and stable tracking of newly emerging cells over extended sequences. By removing the dependency on segmentation-based preprocessing while addressing the challenges of imbalanced occurrence of cell events and long-sequence tracking, CAP demonstrates promising cell tracking performance and is 8 to 32 times more efficient than existing methods. The code and model checkpoints are available at this https URL.

Future wireless communication systems are envisioned to support ultra-reliable and low-latency communication (URLLC), which will enable new applications such as compute offloading, wireless real-time control, and reliable monitoring. Distributed multiple-input multiple-output (D-MIMO) is one of the most promising technologies for delivering URLLC. This paper classifies obstructions and derives a channel model from a D-MIMO measurement campaign carried out at a carrier frequency of 3.75 GHz with a bandwidth of 35 MHz using twelve fully coherent distributed dipole antennas in an industrial environment. Channel characteristics are investigated, including statistical measures such as small-scale fading, large-scale fading, delay spread, and transition rates between line-of-sight and obstructed line-of-sight conditions for the different antenna elements, laying the foundations for an accurate channel model for D-MIMO systems in industrial environments. Furthermore, to ensure spatial consistent simulation results the correlations of large-scale fading between antennas are modeled using Gaussian random fields. Lastly, tail distributions are included to enable proper evaluations of reliability and rare events. Based on the results, a channel model for D-MIMO in industrial environments is presented together with a recipe for its implementation.

Drone racing requires high-speed navigation through three-dimensional paths, posing significant challenges in control engineering. Existing control methods lack a feedback control framework that simultaneously addresses nonlinear drone dynamics and multi-agent competitive interactions, such as overtaking or obstructing opponents. To overcome this limitation, this study proposes a game-theoretic control framework, the nonlinear receding-horizon differential game (NRHDG), for competitive drone racing. NRHDG accounts explicitly for adversarial behavior by predicting and countering an opponent's worst-case behavior in real time. It extends standard nonlinear model predictive control (NMPC), which typically assumes a fixed opponent model. First, we develop a novel path-following formulation based on projection-point dynamics, eliminating the need for computationally expensive distance minimization during online control. Second, we propose a potential function that enables each drone to dynamically switch between overtaking and obstructing maneuvers, depending on the race situation. Third, we establish new performance metrics to evaluate NRHDG against NMPC across racing scenarios. Simulation results demonstrate that NRHDG outperforms NMPC in both overtaking and obstructing performance. Specifically, for randomly generated initial conditions and different levels of speed advantage for the rear-start drone, the 95\% confidence intervals for the arc-length-based mean performance differences excluded zero, indicating statistically significant advantages of NRHDG over NMPC in both overtaking and obstructing.

Current CT report generation frameworks predominantly rely on global feature representations, often failing to capture region-specific details and potentially missing certain abnormalities. To overcome this limitation, we propose MedRegion-CT, a region-focused multimodal large language model framework featuring three key innovations. First, we revisit the SlowFast strategy to jointly model global and fine-grained information and adapt it to the medical domain via a Region-based SlowFast Tokenizer that extracts tokens guided by clinically meaningful regions. Second, generated pseudo-masks guide the model to attend to diagnostically important anatomical regions, facilitating a systematic understanding of the overall scan context. Third, quantitative lesion information, including size, diameter, and spatial location, is encoded as structured textual prompts, enabling context-aware and clinically informed report generation. To enable rigorous evaluation, we validate our framework on multi-institutional structured report generation benchmarks. Experimental results demonstrate that MedRegion-CT achieves state-of-the-art performance, outperforming existing approaches in both linguistic quality and clinical accuracy. All code is publicly available at: this https URL.

To meet the increasingly demanding quality-of-service requirements of the next-generation multi-carrier mobile networks, it is essential to design multi-functional signalling schemes facilitating efficient, flexible, and reliable communication and sensing in complex wireless environments. As a compelling candidate, we advocate chirp signalling, beneficially amalgamating sequences (e.g., Zadoff-Chu sequences) with waveforms (e.g., chirp spread spectrum and frequency-modulated continuous wave (FMCW) radar), given their resilience against doubly selective channels. Besides chirp sequences, a wide range of chirp waveforms is considered, ranging from FMCW to affine frequency-division multiplexing (AFDM), to create a promising chirp multicarrier waveform. This study also highlights the advantages of such waveforms in supporting reliable high-mobility communications, plus integrated sensing and communications (ISAC). Finally, we outline several emerging research directions for chirp signalling designs.

Objective: Sparse Bayesian learning provides an effective framework to solve high-dimensional problems in brain signal decoding. However, conventional likelihoods regarding data distributions, such as Gaussian or Bernoulli, are potentially inadequate for handling the noisy recordings of brain activity. Hence, this work aims to formulate a robust sparse Bayesian learning framework to address noisy high-dimensional brain activity decoding. Methods: Motivated by the commendable robustness of the minimum error entropy learning criterion for addressing non-Gaussian signals, this study reformulated the sparse Bayesian learning framework under a generalized Bayesian paradigm, in which the model parameter is regulated with the minimum error entropy loss rather than a conventional likelihood function. Results: Our developed SBL-MEE algorithm was evaluated with two real-world brain decoding tasks of regression and classification scenarios, respectively. Experimental results demonstrated that our approach not only realizes superior brain decoding performance than existing methods, but also presents more physiologically interpretable decoder patterns. Conclusion: Although minimum error entropy is not constructed from an arbitrary probabilistic distribution, it is effective to establish noise-robust inference in sparse Bayesian learning method. Significance: This work provides a powerful tool to improve brain activity decoding capability, particularly regarding the noisy high-dimensional setting, thus promoting biomedical engineering applications such as brain-computer interface.

Feedback Linearisation (FBL) is a widely used technique that applies feedback laws to transform input-affine nonlinear control systems into linear control systems, allowing for the use of linear controller design methods such as pole placement. However, for problems with state constraints, controlling the linear system induced by FBL can be more challenging than controlling the original system. This is because simple state constraints in the original nonlinear system become complex nonlinear constraints in the FBL induced linearised system, thereby diminishing the advantages of linearisation. To avoid increasing the complexity of state constraints under FBL, this paper introduces a method to first augment system dynamics to capture state constraints before applying FBL. We show that our proposed augmentation method leads to ill-defined relative degrees at state constraint boundaries. However, we show that ill-defined relative degrees can be overcome by using a switching FBL controller. Numerical experiments illustrate the capabilities of this method for handling state constraints within the FBL framework.

The rapid growth of artificial intelligence (AI) is driving an unprecedented increase in the electricity demand of AI data centers, raising emerging challenges for electric power grids. Understanding the characteristics of AI data center loads and their interactions with the grid is therefore critical for ensuring both reliable power system operation and sustainable AI development. This paper provides a comprehensive review and vision of this evolving landscape. Specifically, this paper (i) presents an overview of AI data center infrastructure and its key components, (ii) examines the key characteristics and patterns of electricity demand across the stages of model preparation, training, fine-tuning, and inference, (iii) analyzes the critical challenges that AI data center loads pose to power systems across three interrelated timescales, including long-term planning and interconnection, short-term operation and electricity markets, and real-time dynamics and stability, and (iv) discusses potential solutions from the perspectives of the grid, AI data centers, and AI end-users to address these challenges. By synthesizing current knowledge and outlining future directions, this review aims to guide research and development in support of the joint advancement of AI data centers and power systems toward reliable, efficient, and sustainable operation.

Diffusion models have emerged as powerful generative priors for solving inverse imaging problems. However, their practical deployment is hindered by the substantial computational cost of slow, multi-step sampling. Although Consistency Models (CMs) address this limitation by enabling high-quality generation in only one or a few steps, their direct application to inverse problems has remained largely unexplored. This paper introduces a modified consistency sampling framework specifically designed for inverse problems. The proposed approach regulates the sampler's stochasticity through a measurement-consistency mechanism that leverages the degradation operator, thereby enforcing fidelity to the observed data while preserving the computational efficiency of consistency-based generation. Comprehensive experiments on the Fashion-MNIST and LSUN Bedroom datasets demonstrate consistent improvements across both perceptual and pixel-level metrics, including the Fréchet Inception Distance (FID), Kernel Inception Distance (KID), peak signal-to-noise ratio (PSNR), and structural similarity index measure (SSIM), compared with baseline consistency and diffusion-based sampling methods. The proposed method achieves competitive or superior reconstruction quality with only a small number of sampling steps.

This paper investigates a fluid antenna system (FAS) where a single-antenna transmitter communicates with a receiver equipped with a fluid antenna (FA) over Rician fading channels. Two channel models are considered to incorporate the correlation among the ports into the fading gains, namely: i) the widely used physical reference port model, implemented by considering the first physical port as the reference port; and ii) the more accurate virtual reference port model, considering a common port correlation coefficient and implemented by assuming the presence of a virtual reference port. Assuming that multiple ports among the M available FA ports can be activated, the receiver selects the best K with the highest instantaneous signal-to-noise ratio (SNR) and combines the received signals at the selected ports using maximum ratio combining. For both port models, the statistics of the post-combining SNRs are derived using a characteristic function approach, which allows to analyze the outage probabilities (OPs) of the FAS. Additional closed-form lower bounds on the OPs and the asymptotic OPs at high SNR are derived, revealing the diversity order of the FAS to be M. Numerical results validate the analytical framework and demonstrate the interplay of key system parameters on the performance of the considered MRC-based FAS. Specifically, the inaccuracy of the physical reference port model becomes increasingly evident as M, K, and the average SNR of the FAS increase.

Propellant sloshing is a well-known, but not completely mastered phenomenon in space vehicles. It is particularly critical in both microgravity environments - such as interplanetary spacecraft requiring high pointing stability - and high-g conditions, as encountered during launch, re-entry, and landing. In both cases, sloshing can significantly affect vehicle performance and stability, and must often be explicitly considered in the design of the guidance, navigation, and control (GNC) subsystem. For stability analysis and control design, the most common approach to modeling sloshing is through an equivalent mechanical representation, where the moving propellant is treated as a mechanical system interacting with the rigid (or flexible) spacecraft. Pendulum-based models and mass-spring-damper systems are widely used by control analysts to assess sloshing-induced perturbations on vehicles subjected to persistent non-gravitational acceleration along one of their body axes. In this work, we present a rigorous mathematical formulation of pendulum dynamics, starting from a single spherical pendulum attached to a rigid spacecraft. We derive the nonlinear equations of motion for this 8-degree-of-freedom multi-body system, and then extend the formulation to include multiple pendulums, representing multiple sloshing modes within a tank and/or multiple tanks on the same vehicle. Furthermore, we derive the corresponding linearized equations of motion, explicitly accounting for a nominal longitudinal force acting on the vehicle - consistent with the high-g sloshing regime - expressed in either the inertial or body frame. Finally, we demonstrate the mathematical equivalence between the pendulum and mass-spring-damper models and validate the proposed models through time-domain simulation and frequency-domain analysis.

Brain tumors induce complex structural deformations that obscure the patient' s original neuroanatomy, making it difficult to distinguish tumor-induced changes from inherent anatomical variability. Reconstructing a subject-specific pseudo-healthy brain can provide a critical reference for such analysis, but this task is inherently counterfactual, as paired pre-tumor scans and explicit healthy guidance are unavailable. We propose BrainNormalizer, a diffusion-based framework for subject-specific pseudo-healthy brain MRI reconstruction that enables anatomy-informed reconstruction without requiring paired data or explicit healthy references. The framework learns anatomical priors and edge-based structural conditioning through a two-stage training strategy consisting of inpainting-based diffusion fine-tuning and ControlNet-based edge conditioning. At inference, counterfactual pseudo-healthy reconstruction is achieved through a deliberate misalignment strategy, where tumorous inputs are paired with non-tumorous prompts and mirrored contralateral edge maps. This allows subject-specific anatomical guidance to be constructed from the patient's own anatomy, enabling anatomically consistent pseudo-healthy reconstruction that preserves individual structural characteristics. Experiments on the BraTS2020 dataset demonstrate that BrainNormalizer achieves improved distributional realism, symmetry-based structural consistency, and reduced false positive detection compared to existing methods. These results indicate that the proposed framework provides a principled approach for subject-specific counterfactual reconstruction and supports downstream analysis of tumor-induced deformation.

Vehicle platooning is an important technology in modern transportation systems, offering significant improvements in highway traffic efficiency and fuel economy. Achieving coordinated behavior among vehicles in a platoon depends on wireless communication. However, packet losses in wireless communication can create critical safety issues when they occur together with sudden braking. In this paper, we propose a rigorous simulation-based method for studying such safety issues by analyzing the minimum inter-vehicle distance over time across control parameters that guarantee string stability. In particular, our method computes the exact distance at simulation time instants and guarantees that the change in distance between consecutive simulation time instants remains bounded. Therefore, the distances obtained at simulation times are representative of the continuous-time behavior, and the distances between those times can be accurately approximated. Our derivation relies on a lifted state representation and differential inequalities. For the proposed simulation method, we provide two approaches for selecting simulation times to ensure that the error in distance approximation remains within a given bound. We then extend our method to fuel-efficiency analysis, with guaranteed error bounds for calculating the average fuel savings of vehicles. Through an example involving a highway scenario with a merging lane, we demonstrate that among string-stable control parameter settings for a vehicle platoon, some perform better in terms of safety under simultaneous packet losses and sudden braking. We also identify control parameters that result in tradeoffs between safety and average fuel savings in a vehicle platoon.

This paper proposes the framework of an efficient gig-work management system. A gig-work management system recommends one-off tasks with information about task hours and wages to gig-workers. To enable effective management, this paper develops a model of gig-workers' decision-making. Then, based on the model, we formulate an optimization problem to determine the optimal task hours and wages. The formulated problem belongs to the class of chance-constrained model predictive control (CC-MPC) problems. To efficiently solve the CC-MPC problem, we develop an approximate solution algorithm with guaranteed confidence levels. Finally, we develop gig-worker models based on data collected through crowdsourcing.

Driven by the ongoing energy transition, shared mobility providers are emerging actors in power systems aiming to shift combustion-based vehicles towards electric ones. Meanwhile Energy Communities are deployed to promote investment in distributed renewable production and enhance the local usage of it. The complementarity in their electrical demand, enhanced by a coordinated operational planning, can help both actors reduce the electricity supply cost. Considering this original collaboration, this paper presents a Mixed-Integer Quadratic Programming problem which jointly optimizes the EC members and EVs flexibility usage to take advantage of the local production. Besides economic benefits comparison, authors analyses the impact of grid tariffs and bi-directional charging on the distribution network. Results from a Belgian mobility case study show that coordination can help reducing the yearly cost up to 15.6% compared to their stand-alone situation and that it may reduce by 30.8% the stress on the substation transformer when subject to peak penalties from the grid operator.

Autonomous driving requires reliable collision avoidance in dynamic environments. Nonlinear Model Predictive Controllers (NMPCs) are suitable for this task, but struggle in time-critical scenarios requiring high frequency. To meet this demand, optimization problems are often simplified via linearization, narrowing the horizon window, or reduced temporal nodes, each compromising accuracy or reliability. This work presents the first general convex obstacle avoidance formulation, enabled by a novel approach to integrating logic. This facilitates the incorporation of an obstacle avoidance formulation into convex MPC schemes, enabling a convex optimization framework with substantially improved computational efficiency relative to conventional nonconvex methods. A key property of the formulation is that obstacle avoidance remains effective even when obstacles lie outside the prediction horizon, allowing shorter horizons for real-time deployment. In scenarios where nonconvex formulations are unavoidable, the proposed method meets or exceeds the performance of representative nonconvex alternatives. The method is evaluated in autonomous vehicle applications, where system dynamics are highly nonlinear.

Network-based Global Navigation Satellite Systems (GNSS) underpin critical infrastructure and autonomous systems, yet typically rely on centralized processing hubs that limit scalability, resilience, and latency. Here we report a global-scale, decentralized GNSS architecture spanning hundreds of ground stations. By modeling the receiver network as a time-varying graph, we employ a deep linear neural network approach to learn topology-aware mixing schedules that optimize information exchange. This enables a gradient tracking diffusion strategy wherein stations execute local inference and exchange succinct messages to achieve two concurrent objectives: centimeter-level self-localization and network-wide consensus on satellite correction products. The consensus products are broadcast to user receivers as corrections, supporting precise point positioning (PPP) and precise point positioning-real-time kinematic (PPP-RTK). Numerical results demonstrate that our method matches the accuracy of centralized baselines while significantly outperforming existing decentralized methods in convergence speed and communication overhead. By reframing decentralized GNSS as a networked signal processing problem, our results pave the way for integrating decentralized optimization, consensus-based inference, and graph-aware learning as effective tools in operational satellite navigation.

This study examines long-term CO$_2$ emission trajectories across five major economies: Nigeria, the United States, China, Brazil, and Russia, by integrating national energy-mix characteristics with time-series forecasting models. Annual emissions from 2000-2023 were analyzed alongside energy production data to classify countries into fossil-dependent, transition-phase, or renewable-accelerated profiles. Three forecasting models (ARIMA, SARIMA, and Holt-Winters exponential smoothing) were evaluated using MAE, RMSE, MAPE, and R$^2$ metrics. Results show that Holt-Winters provided the most accurate forecasts for Nigeria, the United States, China, and Brazil, while SARIMA performed best for Russia due to its relatively stable emissions. Long-term projections from 2024 to 2060 indicate divergent decarbonization pathways. Brazil aligns most closely with a low-emission future owing to its renewable-dominant energy system, whereas Nigeria continues on an upward emissions trajectory driven by fossil dependence. The United States and China maintain moderate declines but require accelerated mitigation to reach their respective net-zero commitments. Russia's emissions remain largely flat under current conditions. These findings highlight the strong influence of energy structures on national decarbonization prospects and underscore the need for targeted energy policy reforms to align with global climate objectives.

Integrated sensing and communication (ISAC) is envisioned to be one of the key usage scenarios for the sixth generation (6G) mobile communication networks. While significant progresses have been achieved for the theoretical studies, the further advancement of ISAC is hampered by the lack of accessible, open-source, and real-time experimental platforms. To address this gap, we introduce OpenISAC, a versatile and high-performance open-source platform for real-time ISAC experimentation. OpenISAC utilizes orthogonal frequency division multiplexing (OFDM) waveform and implements crucial sensing functionalities, including both monostatic and bistatic delay-Doppler sensing. A key feature of our platform is a novel over-the-air (OTA) synchronization mechanism that enables robust bistatic operations without requiring a wired connection between nodes. The platform is built entirely on open-source software, leveraging the universal software radio peripheral (USRP) hardware driver (UHD) library, thus eliminating the need for any commercial licenses. It supports a wide range of software-defined radios, from the cost-effective USRP B200 series to the high-performance X400 series. The physical layer modulator and demodulator are implemented with C++ for high-speed processing, while the sensing data is streamed to a Python environment, providing a user-friendly interface for rapid prototyping and validation of sensing signal processing algorithms. With flexible parameter selection and real-time communication and sensing operation, OpenISAC serves as a powerful and accessible tool for the academic and research communities to explore and innovate within the field of OFDM-ISAC.

Deep learning has substantially advanced medical image segmentation, yet achieving robust generalization across diverse imaging modalities and anatomical structures remains a major challenge. A key contributor to this limitation lies in how existing architectures, ranging from CNNs to Transformers and their hybrids, primarily encode spatial information while overlooking frequency-domain representations that capture rich structural and textural cues. Although recent studies have begun exploring spectral information at the feature level, supervision-level integration of frequency cues-crucial for fine-grained object localization-remains largely untapped. To this end, we propose Phi-SegNet, a CNN-based architecture that incorporates phase-aware information at both architectural and optimization levels. The network integrates Bi-Feature Mask Former (BFMF) modules that blend neighboring encoder features to reduce semantic gaps, and Reverse Fourier Attention (RFA) blocks that refine decoder outputs using phase-regularized features. A dedicated phase-aware loss aligns these features with structural priors, forming a closed feedback loop that emphasizes boundary precision. Evaluated on five public datasets spanning X-ray, US, histopathology, MRI, and colonoscopy, Phi-SegNet consistently achieved state-of-the-art performance, with an average relative improvement of 1.54+/-1.26% in IoU and 0.98+/-0.71% in F1-score over the next best-performing model. In cross-dataset generalization scenarios involving unseen datasets from the known domain, it also exhibits robust and superior performance, highlighting its adaptability and modality-agnostic design. These findings demonstrate the potential of leveraging spectral priors in both feature representation and supervision, paving the way for generalized segmentation frameworks that excel in fine-grained object localization. Our code is available on GitHub.

Passive radar systems have received tremendous attention over the past few decades, due to their low cost and ability to remain covert during operation. Such systems rely on a so-called Illuminator-of-Opportunity (IO), for example, a commercial TV station. We consider a network of Receiving Nodes (RN) without spatial resolution capability, which receives the direct signal and reflections from both stationary objects (clutter) and possible targets. After suitable preprocessing, the RNs transmit information to a Fusion Center (FC) that performs the final target detection, localization and tracking. Several methods for target localization have been proposed in the literature, and our focus is on the seminal Extensive Cancellation Algorithm (ECA). In this approach, each RN collects information about target parameters, while canceling interference using a projection. This is done by exploiting a separate Reference Channel (RC), which captures the IO signal without interference apart from receiver noise. We derive the statistical properties of the ECA parameter estimates under the assumption of a high Signal-to-Noise Ratio (SNR), and we give a sufficient condition for the SNR in the RC to enable statistically efficient estimates. The theoretical results are corroborated through computer simulations, which indicate that the theory agrees well with empirical results under practical operating conditions. The contributions of this paper can be used, for example, to design experimental setups for feasibility studies and to inform system design for achieving a desired localization accuracy.

We propose a cross-attention Transformer for joint decoding of uplink OFDM signals received by multiple coordinated access points. A shared per-receiver encoder learns the time-frequency structure of each grid, and a token-wise cross-attention module fuses the receivers to produce soft log-likelihood ratios for a standard channel decoder without explicit channel estimates. Trained with a bit-metric objective, the model adapts its fusion to per-receiver reliability and remains robust under degraded links, strong frequency selectivity, and sparse pilots. Over realistic Wi-Fi channels, it outperforms classical pipelines and strong neural baselines, often matching or surpassing a local perfect-CSI reference while remaining compact and computationally efficient on commodity hardware, making it suitable for next-generation coordinated Wi-Fi receivers.

Generative models, particularly Diffusion Models (DM), have shown strong potential for Computed Tomography (CT) reconstruction serving as expressive priors for solving ill-posed inverse problems. However, diffusion-based reconstruction relies on Stochastic Differential Equations (SDEs) for forward diffusion and reverse denoising, where such stochasticity can interfere with repeated data consistency corrections in CT reconstruction. Since CT reconstruction is often time-critical in clinical and interventional scenarios, improving reconstruction efficiency is essential. In contrast, Flow Matching (FM) models sampling as a deterministic Ordinary Differential Equation (ODE), yielding smooth trajectories without stochastic noise injection. This deterministic formulation is naturally compatible with repeated data consistency operations. Furthermore, we observe that FM-predicted velocity fields exhibit strong correlations across adjacent steps. Motivated by this, we propose an FM-based CT reconstruction framework (FMCT) and an efficient variant (EFMCT) that reuses previously predicted velocity fields over consecutive steps to substantially reduce the number of Neural network Function Evaluations (NFEs), thereby improving inference efficiency. We provide theoretical analysis showing that the error introduced by velocity reuse is bounded when combined with data consistency operations. Extensive experiments demonstrate that FMCT/EFMCT achieve competitive reconstruction quality while significantly improving computational efficiency compared with diffusion-based methods. The codebase is open-sourced at this https URL.

Local energy markets empower prosumers in distribution grids to form coalitions for collective self-consumption. An open question is to analyze the scale and composition of local energy market coalitions formed by strategic prosumers in distribution grids. This analysis must account for grid constraints, stochasticity of load and generation, as well as the interaction between possibly multiple local energy markets in the distribution grid. In this work, we present a cooperative game theoretic framework to study distribution grid partitioning into local energy markets under uncertain prosumption, grid constraints, and coalitional externalities. We formulate the optimal stable partitioning problem to balance the interests of the grid operator with that of strategic prosumers. Under deterministic load and generation, we show that the largest market coalition is the optimal stable partition. Under high levels of grid congestion, we show that individual self-consumption corresponds to the optimal stable partition. For the general case of stochastic prosumption and moderate grid congestion levels, we provide an algorithm to evaluate the optimal stable partition. We validate our algorithm and theory using numerical experiments on benchmark and real world distribution grids. Our results help in understanding the impact of prosumption uncertainty and grid constraints on coalition formation.

In realistic pursuit-evasion scenarios, abrupt target maneuvers generate unavoidable periods of elevated uncertainty that result in estimation delays. Such delays can degrade interception performance to the point of causing a miss. Existing delayed-information guidance laws fail to provide a complete remedy, as they typically assume constant and known delays. Moreover, in practice they are fed by filtered estimates, contrary to these laws' foundational assumptions. We present an overarching strategy for tracking and interception that explicitly accounts for time-varying estimation delays. We first devise a guidance law that incorporates two time-varying delays, thereby generalizing prior deterministic formulations. This law is driven by a particle-based fixed-lag smoother that provides it with appropriately delayed state estimates. Furthermore, using semi-Markov modeling of the target's maneuvers, the delays are estimated in real-time, enabling adaptive adjustment of the guidance inputs during engagement. The resulting framework consistently conjoins estimation, delay modeling, and guidance. Its effectiveness and superior robustness over existing delayed-information guidance laws are demonstrated via an extensive Monte Carlo study.

We design and evaluate an edge-side measurement procedure for auditing service tiering and quota-based throttling in Starlink. Using a 232.8-hour plan-hopping campaign on a UK residential terminal, we align 1 Hz terminal telemetry with host-side probes to obtain portal-labeled traces spanning priority, post-quota throttling, stay-active operation, and residential service. These regimes manifest as distinct signatures in goodput, PoP RTT, and an internal-to-user ratio \(R=C_{\mathrm{int}}/T_{\mathrm{user}}\). We further show that high-speed \(R\) is stable over 30-minute sub-windows, that low-rate clusters have no aligned persistent obstruction or PoP-loss signature, and that clean high-speed dips do not move \(R\) into the low-rate band. A lightweight rule on windowed medians separates high-speed from low-rate operation on this trace without operator visibility.

We introduce Matcha, a fast method for rotational pose estimation in three-dimensional alignment, and combine it with FFT-based translation updates for full pose estimation. Classical matched filtering evaluates cross-correlation over a large discretized transformation space; we instead treat rotational alignment as a continuous optimization problem on SO(3). Matcha starts from a bandlimited Wigner-D expansion of the rotational correlation, which enables rapid objective evaluation together with analytic gradients and Hessians. A low-bandwidth SOFFT search provides robust candidate rotations, which are then refined by frequency marching: the angular bandwidth is progressively increased, and candidates are updated by Newton steps at each level. This confines exhaustive search to a single low-frequency stage while allowing the final accuracy to be determined by continuous refinement rather than by the grid spacing. We prove a deterministic conditional guarantee showing that, under reasonable assumptions, Matcha returns a near-optimal solution for the final bandlimited objective. On synthetic rotation-estimation benchmarks, Matcha attains sub-degree accuracy while substantially reducing runtime relative to exhaustive SO(3) search. Integrated into a RELION-5 subtomogram-averaging workflow, it matches the baseline reconstruction quality on the tested dataset, reaching the same Nyquist-limited local resolution while reducing rotational pose-refinement time by more than an order of magnitude.

Distribution grid analyses include tasks such as network information retrieval, power-flow analysis, hosting-capacity assessment, DER planning, and state estimation. Completing these tasks often requires long-horizon, stateful workflows in which an engineer retrieves data, loads a feeder, runs simulations, evaluates results, and exports outputs. The growing volume of these analyses is outpacing the limited engineering workforce, causing suboptimal outcomes and delays. Large Language Model (LLM)-orchestrated agents can help, but they often struggle for two reasons: (i) they lack algorithms to determine the right context for an unseen grid task, and (ii) they cannot verify proposed actions against the environment state beforehand and instead rely on feedback after execution. We propose PowerDAG, an agentic artificial intelligence (AI) system that formalizes workflows as directed acyclic graphs (DAGs) and addresses current gaps in this formalism through two mechanisms, adaptive retrieval and Just-in-Time supervision. To dynamically retrieve relevant context, it curates and ranks expert exemplars using an adaptive score-decay cutoff that matches the query complexity. For supervision, it evaluates prerequisites before every tool call. If an agent proposes an invalid action, the supervisor blocks execution, preserves the environment, and returns a corrective advisory. We evaluate PowerDAG on 150 held-out queries from a 200-record expert-verified benchmark that covers 10 of the most commonly performed distribution-grid analyses, comparing 6 agentic systems across 10 LLMs for a total of 9,000 runs. PowerDAG reaches a success rate of 98.0% with GPT-5.5, 97.3% with Gemini 3.1 Pro, and 92.7% with Qwen3.6-27B, improving success rates by 6 to 50 percentage points over baselines.

In this paper we propose a detectability condition for nonlinear continuous-time systems with irregular/infrequent output measurements, namely a sample-based version of incremental integral input/output-to-state stability (i-iIOSS). We provide a sufficient condition for an i-iIOSS system to be sample-based i-iIOSS. This condition is also exploited to analyze the relationship between sample-based i-iIOSS and sample-based observability for linear systems, such that previously established sampling strategies for linear systems can be used to guarantee sample-based i-iIOSS. Furthermore, we present a sample-based moving horizon estimation scheme, for which robust stability can be shown. Finally, we illustrate the applicability of the proposed estimation scheme through a biomedical simulation example.

Regenerating singing voices with altered lyrics while preserving melody consistency remains challenging, as existing methods either offer limited controllability or require laborious manual alignment. We propose YingMusic-Singer, a fully diffusion-based model enabling melody-controllable singing voice synthesis with flexible lyric manipulation. The model takes three inputs: an optional timbre reference, a melody-providing singing clip, and modified lyrics, without manual alignment. Trained with curriculum learning and Group Relative Policy Optimization, YingMusic-Singer achieves stronger melody preservation and lyric adherence than Vevo2, the most comparable baseline supporting melody control without manual alignment. We also introduce LyricEditBench, the first benchmark for melody-preserving lyric modification evaluation. The code, weights, benchmark, and demos are publicly available at this https URL.

Carrier frequency offset estimation (CFOE) is a critical stage in modern coherent optical communication systems. Although conventional all-digital techniques perform reliably in typical fiber-optic communication links, CFOE can become a major bottleneck in low-symbol-rate scenarios with large carrier frequency offsets (CFOs) approaching the signal bandwidth and severe additive noise levels. These conditions are particularly prevalent in links between optical ground stations (OGSs) and low Earth orbit (LEO) satellites, where Doppler-induced frequency shifts of several gigahertz and atmospheric attenuation can significantly degrade CFOE performance and can render conventional methods ineffective. In this paper, we propose a robust non-data-aided (NDA) scheme designed for wide-range CFOE. The proposed coarse CFOE (C-CFOE) algorithm partially compensates the CFO, enabling the operation of a subsequent fine CFOE stage. By applying low-complexity operations to the spectrum of the received signal, we recast the frequency estimation task as a segmented linear regression (SLR) problem. Numerical simulations in stress-test scenarios involving large CFOs, low SNR, and low symbol rates show that the proposed approach achieves good estimation accuracy and robust convergence. Offline experimental validation further confirms the practical feasibility of the method.

The rapid evolution of video generation has enabled models to simulate complex physical dynamics and long-horizon causalities, positioning them as potential world simulators. However, a critical gap still remains between the theoretical capacity for world simulation and the heavy computational costs of spatiotemporal modeling. To address this, we comprehensively and systematically review video generation frameworks and techniques that consider efficiency as a crucial requirement for practical world modeling. We introduce a novel taxonomy in three dimensions: efficient modeling paradigms, efficient network architectures, and efficient inference algorithms. We further show that bridging this efficiency gap directly empowers interactive applications such as autonomous driving, embodied AI, and game simulation. Finally, we identify emerging research frontiers in efficient video-based world modeling, arguing that efficiency is a fundamental prerequisite for evolving video generators into general-purpose, real-time, and robust world simulators. A curated GitHub repository of the reviewed literature can be found at this https URL.

Classical proportional--integral--derivative (PID) control remains widely used in industrial control systems, while model predictive control (MPC) is actively studied to achieve higher performance for systems with nonlinear dynamics. Model predictive path integral (MPPI) control is a sampling-based MPC method that optimizes control inputs without gradient calculations and can handle non-differentiable models and objective functions. However, conventional MPPI directly samples control-input sequences, which can produce large temporal input increments and causes the optimization dimension to grow with the prediction horizon. This study proposes MPPI--PID control, which uses MPPI to optimize PID gains online instead of directly optimizing the control-input sequences. By replacing high-dimensional input-sequence optimization with low-dimensional gain-space optimization while retaining the PID structure, the proposed formulation improves sampling efficiency and promotes smoother control inputs. Theoretical analyses are provided for a unified path-integral update, the relation between optimization dimension and effective sample size, and the temporal correlation of input perturbations induced by the PID structure. The method is evaluated on a learning-based path following of a mini forklift using a residual-learning dynamics model that combines a physical model and a neural network identified from real-machine driving data. Numerical results show that MPPI--PID improves tracking performance over fixed-gain PID, yields smaller input increments than conventional MPPI, and maintains favorable performance under reduced sampling budgets.

Integrated Sensing and Communications (ISAC) enables trajectory sharing that enhances beamforming, resource allocation, and cooperative perception, yet raises fundamental privacy concerns under the General Data Protection Regulation (GDPR) data minimisation principle. This paper proposes a Fisher Information Density (FID)-constrained trajectory sharing framework that enforces a local lower bound on estimation uncertainty, providing hard, quantifiable privacy guarantees by construction. Unlike fixed-noise approaches, the proposed method bounds the Privacy Leak Ratio (PLR) regardless of sensing power or adversarial post-processing, ensuring that no trajectory segment can be reconstructed beyond a prescribed accuracy threshold. Simulations on the OpenTraj dataset demonstrate that the framework keeps the average PLR below 20-25% and the maximum leakage segment duration under 2-2.5 s, while preserving data utility for downstream tasks such as movement prediction. The resulting criterion is interpretable, model-agnostic, and compatible with GDPR-compliant ISAC system design.

Integrated sensing and communication (ISAC) is widely regarded as one of the key enabling technologies for future sixth-generation (6G) wireless communication systems. In this work, we investigate a bistatic ISAC system in the presence of a disco reconfigurable intelligent surface (DRIS), whose random and time-varying reflection coefficients emulate a "disco ball." The introduction of the DRIS breaks the underlying assumption in existing ISAC systems that the sensing and communication channels remain static or quasi-static within the channel coherence time. We first develop a bistatic system model incorporating the DRIS and characterize all involved wireless channels. Then, an ISAC waveform design that balances sensing and communication performance is proposed by formulating a Pareto optimization problem, where the trade-off is controlled through a tunable factor. Communication and sensing performance in the bistatic ISAC system are quantified by the signal-to-interference-plus-noise ratio (SINR) and the Cramer-Rao lower bound (CRLB), respectively. To quantify the impact of the DRIS on the bistatic ISAC system, we derive the statistical characteristics of DRIS-induced active channel aging (ACA) channels for communications and the cascaded DRIS-based sensing channel. Then, we establish a theoretical lower bound on the SINR and closed-form CRLB expressions in the presence of a DRIS. The analysis reveals several distinctive properties of the DRIS in bistatic ISAC systems. In particular, the DRIS degrades communication performance significantly due to the introduction of ACA interference. In contrast, with respect to sensing performance, the DRIS decreases the estimation accuracy of the angle of departure (AoD) while concurrently enhancing that of the angle of arrival (AoA). Numerical results validate the derived theoretical analysis and confirm these DRIS-induced behaviors.

Compact, high-performance components in millimeter-wave (mmWave) communication systems demand new acoustic filter technology at increasingly higher frequencies. Among various promising mmWave platforms, first-order antisymmetric (A1) mode laterally excited bulk acoustic resonators (XBARs) in thin-film lithium niobate (LiNbO3) have perhaps the most impressive linear performance. Despite these advances, there are few reports of nonlinear characterization of LiNbO3 filters at mmWaves. Here, we address this gap by developing a new nonlinear methodology for high-frequency filters. The result is a methodology for performing power-dependent S-parameters and third-order intermodulation (IMD3) measurements. To test our methodology, we fabricated filters on transferred single-crystal LiNbO3 films on sapphire (Al2O3) and silicon (Si) substrates with amorphous silicon (aSi) sacrificial layer. At 21.8 GHz, the filters on Al2O3 demonstrated an insertion loss of 1.48 dB, a 3 dB fractional bandwidth (FBW) of 17.7%, and in-band third-order input intercept points (IIP3) of 50.8 dBm. At 21.6 GHz, the filters on silicon demonstrated an insertion loss of 2.47 dB, a 3 dB FBW of 18.6%, and in-band IIP3 of 46.5 dBm. The nonlinear results conclusively show that thermal stability and passband distortion improved on the Al2O3 substrate, confirming that substrate selection plays a pivotal role in mitigating nonlinearity in acoustic front-end modules.

Recent advances in reasoning models have driven significant progress in text and multimodal domains, yet audio reasoning remains relatively limited. Only a few Large Audio Language Models (LALMs) incorporate explicit Chain-of-Thought (CoT) reasoning, and their capabilities are often inconsistent and insufficient for complex tasks. To bridge this gap, we introduce Audio-Cogito, a fully open-source solution for deep audio reasoning. We develop Cogito-pipe for high-quality audio reasoning data curation, producing 545k reasoning samples. Based on this dataset, we adopt a self-distillation strategy for model fine-tuning. Experiments on the MMAR benchmark, the only audio benchmark evaluating the CoT process, show that our model achieves the best performance among open-source models and matches or surpasses certain closed-source models in specific metrics. Our approach also ranks among the top-tier systems in the Interspeech 2026 Audio Reasoning Challenge.

We consider a class of quadratic systems, primarily motivated by incompressible fluid flows, where the nonlinearities are generalized lossless: they do not produce or dissipate energy, as measured by a generalized quadratic metric. Our goal is to compute trapping regions, which are forward invariant sets that certify ultimate boundedness. The key contribution is a novel parameterization of the generalized lossless condition that enables optimization of trapping regions for a broader class of quadratic systems. We also formulate the conditions for ellipsoidal trapping regions, whereas spherical regions have been the focus of prior works. We provide three numerical examples, which demonstrate the improvements offered by the proposed approach relative to existing methods.

Large Audio-Language Models (LALMs) are increasingly integrated into daily applications, yet their generative biases remain underexplored. Existing speech fairness benchmarks rely on synthetic speech and Multiple-Choice Questions (MCQs), both offering a fragmented view of fairness. We propose VIBE, a framework that evaluates generative bias through open-ended tasks such as personalized recommendations, using human-recorded speech. Unlike MCQs, our method allows stereotypical associations to manifest organically without predefined options, making it easily extensible to new tasks. Evaluating 12 state-of-the-art LALMs reveals systematic biases in realistic scenarios. Both gender and accent cues trigger statistically significant distributional shifts, and bias magnitude is strongly task-dependent.

Federated inference enhances LLM performance in edge computing through weighted averaging of distributed model predictions. However, autoregressive LLM inference requires frequent full-model forward passes across workers, severely limiting decoding throughput. Distributed deployment further aggravates this due to a communication bottleneck: each worker must transmit full token probability distributions per draft token, dominating end-to-end latency. To address these challenges, we introduce speculative decoding to enable parallel LLM processing and propose a top-K compressed transmission scheme with two server-side reconstruction strategies. We theoretically analyze the robustness of our method in terms of local reconstruction error, aggregation bias, and acceptance-rate bias, and derive corresponding bounds. Experiments demonstrate that our scheme achieves high generation fidelity while significantly reducing communication overhead.

The average symbol error probability (SEP) of a phase-quantized single-input multiple-output system with M-ary phase-shift keying modulation and maximum ratio combining (MRC) is analyzed under correlated Rayleigh fading and additive white Gaussian noise. Building on our prior framework for independent and identically distributed Rayleigh fading, we extend the analysis to the spatially correlated case by introducing an asymptotically equivalent MRC combiner that enables tractable SEP characterization. Using this approach, we derive closed-form expressions at high signal-to-noise ratio (SNR) that explicitly characterize the diversity and coding gains as functions of the receive correlation structure, phase-quantization resolution, and modulation order, up to a scaling factor bounded between 1 and 2. The results show that channel correlation primarily degrades the coding gain, leading to an SNR penalty, while the diversity gain is preserved when the channel covariance matrix is full-rank. The analytical findings are validated through Monte Carlo simulations, demonstrating a tight match across a wide SNR range.

In this paper, we design feedback control laws for soft robots modelled using the Cosserat rod, which is spatially discretised using the Piecewise Constant Strain (PCS) approach. The PCS approach transforms the nonlinear PDEs describing the Cosserat rod to a system of nonlinear ODEs. This simplification results in a model describing soft robots which is similar to the serial rigid-link manipulators. We design feedback control laws for the quasi-static PCS model by using external wrenches as control inputs. The control laws are designed based on state-feedback linearisation in strain and task spaces. An extensive set of numerical results demonstrates the performance of the control laws for end-effector trajectory tracking and shape control of soft robots.

Preserving speech intelligibility is a minimum requirement for speech codecs in communication. Recently, very low-bitrate neural codecs have gained interest for replacing classical codecs, reinforcing the need to evaluate whether intelligibility is preserved in realistic scenarios. In this paper, we evaluate the intelligibility and listening effort of classical and neural speech codecs in clean and noisy conditions. Further, we assess the impact of speech enhancement (SE) before coding, simulating a possible audio processing pipeline. The results show that classical codecs are more noise robust than neural codecs. Further, SE can lead to significant intelligibility and listening effort improvements for codecs otherwise negatively affected by noise. Listening effort reveals nuanced differences when intelligibility is saturated. Lastly, objective intelligibility based on automatic speech recognition is highly correlated with subjective intelligibility scores averaged per condition.

This paper develops a multi-port S-parameter framework for the analysis and optimization of stacked intelligent metasurfaces (SIMs) with unilateral active interconnections. By modeling each unit cell as a non-reciprocal two-port network, the resulting SIM exhibits a feed-forward structure that enables a recursive, cascade-like representation of the end-to-end transfer function while preserving electromagnetic accuracy. Based on this model, we derive an efficient gradient-based optimization algorithm with reduced computational complexity compared to conventional reciprocal SIM architectures. Numerical results, obtained from full-wave simulations, illustrate the trade-offs among inter-layer spacing, active gain, and SIM size in terms of channel diagonalization and achievable spectral efficiency.

Prenatal germinal matrix-intraventricular hemorrhage (GMH-IVH) is a leading cause of infant mortality and neurodevelopmental impairment, yet its manual diagnosis and lesion segmentation on fetal brain MRI are labor-intensive and error-prone. Although supervised deep learning offers potential for automation, it typically requires large amounts of annotated GMH-IVH data, which are challenging to obtain for such a rare condition (0.5-0.9 per 1000 pregnancies). To address these problems, an annotation-free deep learning framework, FreeHemoSeg, was developed for automated detection and segmentation of GMH-IVH without any real patient annotations. Instead of learning from expert labels, FreeHemoSeg was trained on pseudo GMH-IVH images synthesized from normal fetal data guided by medical priors. The framework was evaluated in a retrospective multicentre study of 1,674 stacks of 2D T2-weighted MRI from 558 pregnant women, using data from one hospital for internal training and validation and two hospitals for external validation. FreeHemoSeg achieved the highest diagnostic and segmentation performance in both internal validation (AUROC: 0.959; AUPR: 0.928; sensitivity: 0.914; specificity: 0.966; DSC: 0.559) and external validation (AUROC: 0.930; AUPR: 0.884; sensitivity: 0.824; specificity: 0.943; DSC: 0.512), outperforming a supervised model trained on limited empirical data and unsupervised anomaly detection methods. Moreover, FreeHemoSeg assistance improved radiologists' sensitivity (from 0.882 to 0.941-1.000) and diagnostic confidence, while reducing interpretation time by 16.0-52.7%. We anticipate its immediate utility in supporting earlier diagnosis, prognostic counselling, and perinatal planning for fetal GMH-IVH. Code: this https URL.

Global navigation satellite system (GNSS) interference poses a serious threat to reliable positioning, especially in indoor and multipath-rich environments where source localization is highly challenging. In this paper, we formulate GNSS interference localization as an active sensing problem and propose a reinforcement learning (RL) framework in which an agent sequentially explores the environment to infer the position of an emitter source from radio frequency (RF) observations acquired with a 2x2 patch antenna. The localization task is modeled as a partially observable decision process, since single-snapshot measurements are often ambiguous under multipath propagation and changing channel conditions. To address this, the proposed framework combines high-dimensional RF sensing with deep RL and recurrent policy learning. We investigate both value-based and policy-based approaches, namely Deep Q-Networks (DQN) and Proximal Policy Optimization (PPO), and study their behavior under domain shift. The approach is evaluated on a simulated dataset generated with the Sionna ray-tracing module, which provides realistic propagation effects and diverse environment configurations. Experimental results show that the proposed method achieves a localization success rate of 80.1, demonstrating the potential of RL for adaptive GNSS interference localization. Overall, the results highlight simulation-assisted training as a promising direction for robust interference localization in challenging propagation environments.

Continuous variable-rate compression is highly demanded in real-world applications, but remains underexplored in scalable image coding for humans and machines. In this paper, we propose a training-free variable-rate scalable image coding framework. By adaptively adjusting quantization step sizes based on predicted scale values, the proposed method enables independent and continuous bitrate control for the machine and enhancement layers while preserving important latent information in each layer. Experimental results demonstrate the effectiveness of the proposed method and highlight the importance of bitrate allocation between the two layers.

Continuous-recording surveillance systems face a storage problem that codec tuning alone cannot fully solve: even at aggressive CRF settings, a static-camera scene spends most of its bits re-encoding a background that has not changed. We present BLUE, a pre-encode compositor that exploits this structure by maintaining a persistent seed frame of the background and substituting background pixels with seed pixels before the encoder runs. The encoder then emits near-free SKIP macroblocks for the frozen background, while live pixels in foreground regions are carried unchanged at full quality. We evaluate BLUE on all 308 annotated short subclips from the VIRAT Ground Surveillance Release 2.0 dataset using a six-point CRF sweep with both x264 and x265. At CRF 28, BLUE reduces file size by a mean of 34.6% (x264) / 39.4% (x265) on 95.8% / 99.4% of clips respectively. Foreground-region PSNR, computed only over VIRAT object-annotation bounding boxes, is preserved or improved on 60.7% of clips (+0.36 dB mean, +5.48 dB maximum). Full-frame perceptual quality (VMAF) drops by a median of 6.75-8.59 points; we quantify and disclose this trade-off explicitly. A lightweight deployment gate measuring the compositor's own VMAF on a 2-second prefix identifies the 40% of clips where even full-frame quality degradation is near-imperceptible (Delta VMAF <= -2.9), enabling a selective-activation strategy that retains both the storage benefit and acceptable perceptual fidelity.

While modern ASR systems achieve low error rates on high-resource benchmarks, such performance often overestimates real-world robustness. Existing evaluations address challenges in isolation, lacking a unified benchmark for domain terminology, age variation, dialects, accents, and low-resource languages, particularly across the Middle East and Southeast Asia, representing over one billion under-evaluated speakers. To address this gap, we introduce GigaSpeechBench, a comprehensive multilingual and multidimensional in-the-wild ASR & AST benchmark comprising 680 hours of human-annotated speech. It features five modules: (1) 12 low-resource Middle Eastern and Southeast Asian languages, plus challenging Japanese and Korean; (2) 6 Chinese dialects; (3) 6 English accents; (4) dense terminology across 12 vertical domains for Chinese and English; and (5) older adult and child speech. We further provide human-annotated Chinese and English translations for 11 languages to support AST evaluation. Extensive evaluations of leading foundation models and commercial APIs reveal significant performance degradation in these challenging settings, exposing critical evaluation blind spots.

We consider the problem of finite-time identification of linear dynamical systems from $T$ samples of a single trajectory. Recent results have predominantly focused on the setup where either no structural assumption is made on the system matrix $A^* \in \mathbb{R}^{n \times n}$, or specific structural assumptions (e.g. sparsity) are made on $A^*$. We assume prior structural information on $A^*$ is available, which can be captured in the form of a convex set $\mathcal{K}$ containing $A^*$. For the solution of the ensuing constrained least squares estimator, we derive non-asymptotic error bounds in the Frobenius norm that depend on the local size of $\mathcal{K}$ at $A^*$. To illustrate the usefulness of these results, we instantiate them for four examples, namely when (i) $A^*$ is sparse and $\mathcal{K}$ is a suitably scaled $\ell_1$ ball; (ii) $\mathcal{K}$ is a subspace; (iii) $\mathcal{K}$ consists of matrices each of which is formed by sampling a bivariate convex function on a uniform $n \times n$ grid (convex regression); (iv) $\mathcal{K}$ consists of matrices each row of which is formed by uniform sampling (with step size $1/T$) of a univariate Lipschitz function. In all these situations, we show that $A^*$ can be reliably estimated for values of $T$ much smaller than what is needed for the unconstrained setting.

Cardiac arrhythmia, a condition characterized by irregular heartbeats, often serves as an early indication of various heart ailments. With the advent of deep learning, numerous innovative models have been introduced for diagnosing arrhythmias using Electrocardiogram (ECG) signals. However, recent studies solely focus on the performance of models, neglecting the interpretation of their results. This leads to a considerable lack of transparency, posing a significant risk in the actual diagnostic process. To solve this problem, this paper introduces MambaCapsule, a deep neural networks for ECG arrhythmias classification, which increases the explainability of the model while enhancing the this http URL model utilizes Mamba for feature extraction and Capsule networks for prediction, providing not only a confidence score but also signal features. Akin to the processing mechanism of human brain, the model learns signal features and their relationship between them by reconstructing ECG signals in the predicted selection. The model evaluation was conducted on MIT-BIH and PTB dataset, following the AAMI standard. MambaCapsule has achieved a total accuracy of 99.54% and 99.59% on the test sets respectively. These results demonstrate the promising performance of under the standard test protocol.

Reinforcement learning policies parametrized by deep neural networks have achieved strong performance for continuous control, yet even small input perturbations may lead to unpredictable behavior. This sensitivity limits their use in safety-critical domains, where robustness guarantees are required. Our work addresses this gap between state-of-the-art adversarial training methods and formal verification to train verifiably robust agents. Previous works train networks with individual adversarial perturbations, making them only robust against the specific adversarial attacks used. In contrast, our approach propagates entire perturbed input sets, enclosing all possible adversarial attacks within a single network pass. We leverage this to explicitly penalize the size of the output set (minimizing closed-loop uncertainty) and thereby make the actor robust against all possible attacks. This is realized by the use of set-based policy gradients, where each output within the set has a different gradient, thereby balancing the accuracy and robustness of the network. Doing so, we achieve formal verifiability across different verification frameworks for up to 9 times larger input perturbations compared to standard reinforcement learning and improve certified worst-case performance.

There have been several studies on automatically generating piano covers, and recent advancements in deep learning have enabled the creation of more sophisticated covers. However, existing automatic piano cover models still have room for improvement in terms of expressiveness and fidelity to the original. To address these issues, we propose a learning algorithm called AMT-APC, which leverages the capabilities of automatic music transcription models. By utilizing the strengths of well-established automatic music transcription models, we aim to improve the accuracy of piano cover generation. Our experiments demonstrate that the AMT-APC model reproduces original tracks more accurately than any existing models.

We propose the use of latent space generative world models to address the covariate shift problem in autonomous driving. A world model is a neural network capable of predicting an agent's next state given past states and actions. By leveraging a world model during training, the driving policy effectively mitigates covariate shift without requiring an excessive amount of training data. During end-to-end training, our policy learns how to recover from errors by aligning with states observed in human demonstrations, so that at runtime it can recover from perturbations outside the training distribution. Additionally, we introduce a novel transformer-based perception encoder that employs multi-view cross-attention and a learned scene query. We present qualitative and quantitative results, demonstrating significant improvements upon prior state of the art in closed-loop testing in the CARLA simulator, as well as showing the ability to handle perturbations in both CARLA and NVIDIA's DRIVE Sim.

Bioacoustic data from Passive Acoustic Monitoring (PAM) generates large datasets where obtaining detailed auditing and labelling is often impractical, resulting in weak annotations (e.g., presence/absence of species over several minutes of recording). In order to effectively capture the complex temporal patterns and key features of long audio segments, we propose a framework comprising dataset standardisation, feature extraction, and classification via Temporal Convolutional Networks (TCN). This approach eliminates the necessity for setting heuristic decision rules or creating time-consuming strong labels. To demonstrate the effectiveness of our approach, we use sperm whale (\textit{Physeter macrocephalus}) click trains in 4-minute recordings as a case study, from a dataset comprising diverse sources and deployment conditions to maximise generalisability. Our TCN classifiers achieve recall rates exceeding 0.83 at a 0.13 false positive rate, comparable to agreement rates between expert annotators. We compare two methods of feature extraction, Variational AutoEncoders (VAEs) and traditional handpicking of features, and found them to yield similar performance results, with the VAE-based classifiers seeing a more stable performance across datasets and recording conditions. These results offer a way forward in leveraging numerous existing annotated bioacoustic datasets to train automatic classification models, effectively overcoming previous limitations associated with weak labels.

Audio-Language Models (ALMs), trained on paired audio-text data, are designed to process, understand, and reason about audio-centric multimodal content. Unlike traditional supervised approaches that use predefined labels, ALMs leverage natural language supervision to better handle complex real-world audio scenes with multiple overlapping events. While demonstrating impressive zero-shot and task generalization capabilities, there is still a notable lack of systematic surveys that comprehensively organize and analyze developments. In this paper, we present the first systematic review of ALMs with three main contributions: (1) comprehensive coverage of ALM works across speech, music, and sound from a general audio perspective; (2) a unified taxonomy of ALM foundations, including model architectures and training objectives; (3) establishment of a research landscape capturing mutual promotion and constraints among different research aspects, aiding in summarizing evaluations, limitations, concerns and promising directions. Our review contributes to helping researchers understand the development of existing technologies and future trends, while also providing valuable references for implementation in practical applications.

In this paper, we introduce token communications (TokCom), a large model-driven framework to leverage cross-modal context information in generative semantic communications (GenSC). TokCom is a new paradigm, motivated by the recent success of generative foundation models and multimodal large language models (GFM/MLLMs), where the communication units are tokens, enabling efficient transformer-based token processing at the transmitter and receiver. In this paper, we introduce the potential opportunities and challenges of leveraging context in GenSC, explore how to integrate GFM/MLLMs-based token processing into semantic communication systems to leverage cross-modal context effectively at affordable complexity, present the key principles for efficient TokCom at various layers in future wireless networks. In a typical image semantic communication setup, we demonstrate a significant improvement of the bandwidth efficiency, achieved by TokCom by leveraging the context information among tokens. Finally, the potential research directions are identified to facilitate adoption of TokCom in future wireless networks.

Early and accurate glaucoma detection is critical to prevent irreversible vision loss, yet existing AI methods often rely on unimodal inputs and lack interpretability. We present GlaBoost, a multimodal gradient boosting framework that unifies three complementary signals for glaucoma risk prediction: fundus image embeddings from a pretrained convolutional encoder,free-text neuroretinal rim assessments encoded by a transformer-based language model, and structured ophthalmic biomarkers. These modalities are fused into a single representation and classified by an enhanced XGBoost this http URL two real-world annotated datasets, GlaBoost consistently outperforms unimodal and generic multimodal baselines. Feature importance analysis highlights the cup-to-disc ratio, rim thinning, and the ISNT rule as the dominant predictors, yielding clinically consistent and interpretable decisions. GlaBoost offers a transparent and scalable foundation for multimodal decision support in ophthalmology.

Cross-organizational collaboration in Model-Based Systems Engineering (MBSE) faces many challenges in achieving semantic alignment across independently developed system models. SysML v2 introduces enhanced structural modularity and formal semantics, offering a stronger foundation for interoperable modeling. Meanwhile, GPT-based Large Language Models (LLMs) provide new capabilities for assisting model understanding and integration. This paper proposes a structured, prompt-driven approach for LLM-assisted semantic alignment of SysML v2 models. The core contribution lies in the iterative development of an alignment approach and interaction prompts, incorporating model extraction, semantic matching, and verification. The approach leverages SysML v2 constructs such as alias, import, and metadata extensions to support traceable, soft alignment integration. It is demonstrated with a GPT-based LLM through an example of a measurement system. Benefits and limitations are discussed.

This paper proposes a two-stage distributed variational quantum eigensolver (DVQE) software for solving quadratic unconstrained binary optimization (QUBO) problems and bounded constrained quadratic programming (QP) problems. The proposed DVQE solver supports both monolithic and distributed quantum-circuit execution and evaluates QUBO objectives directly from measured bitstrings. To improve variational training, DVQE uses a two-stage procedure that combines metaheuristic warm-start initialization with sampling-based variational refinement. The software supports several metaheuristic approaches as warm-start strategies. To extend QUBO-based quantum optimization to constrained continuous problems, this paper also develops a sequential QP to QUBO framework, called QQP. QQP first scales the bounded continuous variables to a normalized box and then handles equality and inequality constraints using a Powell-Hestenes-Rockafellar (PHR) augmented-Lagrangian formulation. Under a fixed PHR active region, the constrained augmented-Lagrangian subproblem becomes an ordinary bounded quadratic problem. QQP then solves this bounded quadratic problem through repeated local one-bit QUBO reformulations, where each binary variable represents a local up/down move of one continuous variable inside a trust region. In this way, QQP converts a constrained continuous QP into a sequence of QUBO subproblems without introducing slack variables. Each local QUBO subproblem can be solved using either a classical QUBO backend or the proposed DVQE solver. Numerical experiments evaluate the proposed software on QUBO and QP test problems. The results show that the distributed DVQE framework can recover high-quality QUBO solutions, and that the QQP framework can solve bounded constrained QP instances with small optimality, feasibility, and solution gaps.

Reliable detection of bearing faults is essential for maintaining the safety and operational efficiency of rotating machinery. While recent advances in machine learning (ML), particularly deep learning, have shown strong performance in controlled settings, many studies fail to generalize to real-world applications due to methodological flaws, most notably data leakage. This paper investigates the issue of data leakage in vibration-based bearing fault diagnosis and its impact on model evaluation. We demonstrate that common dataset partitioning strategies, such as segment-wise and condition-wise splits, introduce spurious correlations that inflate performance metrics. To address this, we propose a rigorous, leakage-free evaluation methodology centered on bearing-wise data partitioning, ensuring no overlap between the physical components used for training and testing. Additionally, we reformulate the classification task as a multi-label problem, enabling the detection of co-occurring fault types and the use of prevalence-independent metrics based on the ROC curve. Beyond preventing leakage, we also examine the effect of dataset diversity on generalization, showing that the number of unique training bearings is a decisive factor for achieving robust performance. We evaluate our methodology on four widely adopted datasets: Case Western Reserve University (CWRU), Paderborn University (PU), University of Ottawa (UORED-VAFCLS) and Hanoi University of Science and Technology (HUST bearing). This study highlights the importance of leakage-aware evaluation protocols and provides practical guidelines for dataset partitioning, model selection, and validation, fostering the development of more trustworthy ML systems for industrial fault diagnosis applications.

Motivated by the convergence of terrestrial cellular networks and satellite communications, this article considers an adaptation of offset quadrature phase shift keying (OQPSK), traditionally used with single-carrier waveforms in satellite systems, to discrete Fourier transform spread orthogonal frequency-division multiplexed (DFT-s-OFDM), as employed in the uplink of terrestrial systems. First, analytical signal-to-interference-plus-noise (SINR) expressions are derived for DFT-s-OFDM with frequency-domain spectral shaping (FDSS) carrying independently distributed pi/2-BPSK or QAM symbols and received with single-tap equalization, as in 5G. Next, a correlation-induced spectral shaping technique, termed repeated-and-offset QPSK (RO-QPSK), is introduced, relying solely on bit-level processing prior to conventional QPSK modulation. Specifically, the input bits are Manchester encoded (repeated and flipped) with an offset between the in-phase and quadrature branches, resulting in order-one OQPSK-like modulation. The induced correlation between consecutive QPSK symbols produces a Hann-shaped transmit spectrum yielding a peak-to-average power ratio (PAPR) on the order of 2 dB without explicit FDSS. At the receiver, the repetition structure is exploited through post-DFT-despreading symbol combining, and the corresponding end-to-end SINR with this transmitter-receiver pair is derived in closed form. Theoretical analysis and simulation results show that RO-QPSK provides performance gains in narrowband and moderately frequency-selective channels, as encountered in satellite communications, while remaining on par with conventional 5G uplink schemes in other scenarios. The combination of RO-QPSK with FDSS is also investigated, enabling further PAPR reduction while maintaining comparable link-level performance.

This paper aims to investigate the distributed stochastic optimization problems on compact embedded submanifolds (in the Euclidean space) where the local cost functions are weakly-convex. To address the manifold structure, we propose a distributed Riemannian stochastic proximal algorithm framework by utilizing the retraction and Riemannian consensus protocol, and analyze three specific algorithms: the distributed Riemannian stochastic subgradient, proximal point, and prox-linear algorithms. When the initial points satisfy certain conditions, we show that the iterates generated by this framework converge to a nearly stationary point in expectation while achieving consensus. We further establish the convergence rate of the algorithm framework as $\mathcal{O}(\frac{1+\kappa_g}{\sqrt{k}})$ where $k$ denotes the number of iterations and $\kappa_g$ shows the impact of manifold geometry on the algorithm performance. Finally, numerical experiments are implemented to demonstrate the theoretical results and show the empirical performance.

In this paper, a learning framework is introduced which incorporates principles of probabilistic inference, variational optimization, and geometry-preserving operations inspired by quantum transformations. The central innovation of this quantum-inspired variational convolution (QiVC) lies in its quantum-inspired rotated ensemble (QiRE) mechanism. QiRE performs differentiable low-dimensional subspace rotations of convolutional weights. By drawing a mathematical analogy from unitary evolution, this approach enables structured uncertainty modeling that respects the intrinsic geometry of the parameter space. To demonstrate its practical potential, the concept is instantiated in a QiVC-based convolutional network (QiVC-Net) and evaluated in the context of biosignal classification, focusing on phonocardiogram (PCG) recordings. The proposed QiVC-Net integrates an architecture in which the QiVC layer does not introduce additional parameters, instead performing an ensemble rotation of the convolutional weights through a structured mechanism ensuring robustness without added highly computational burden. Experiments on two benchmark datasets, PhysioNet CinC 2016 and PhysioNet CirCor DigiScope 2022, show that QiVC-Net achieves state-of-the-art performance, reaching accuracies of 97.84% and 97.89%, respectively. These findings highlight the versatility of the QiVC framework and its promise for advancing uncertainty-aware modeling in real-world biomedical signal analysis. The implementation of the QiVConv layer is available in GitHub for public use.

Nonnegative matrix factorization (NMF) is a linear dimensionality reduction technique for nonnegative data, with applications such as hyperspectral unmixing and topic modeling. NMF is a difficult problem in general (NP-hard), and its solutions are typically not unique. To address these two issues, additional constraints or assumptions are often used. In particular, separability assumes that the basis vectors in the NMF are equal to some columns of the input matrix. In that case, the problem is referred to as separable NMF (SNMF) and can be solved in polynomial-time with robustness guarantees, while identifying a unique solution. However, in real-world scenarios, due to noise or variability, multiple data points may lie near the basis vectors, which SNMF does not leverage. In this work, we rely on the smooth separability assumption, which assumes that each basis vector is close to multiple data points. We explore the properties of the corresponding problem, referred to as smooth SNMF (SSNMF), and examine how it relates to SNMF and orthogonal NMF. We then propose a convex model for SSNMF and show that it provably recovers the sought-after factors, even in the presence of noise. We finally adapt an existing fast gradient method to solve this convex model for SSNMF, and show that it compares favorably with state-of-the-art methods on both synthetic and hyperspectral datasets.

Multi-agent reinforcement learning (MARL) has shown promise for large-scale network control, yet existing methods face two major limitations. First, they typically rely on an exponential decay property of agent interactions on far-away nodes, which can be exploited to develop more efficient and tractable MARL algorithms. When this exponential decay property does not hold, these algorithms do not account for long-range interactions such as epidemic outbreaks or cascading power failures. Second, existing approaches lack network generalizability, or the ability to generalize to networks of different topological structure and scale than those seen during training. In this work, we first present a mean-field stability analysis and empirical study investigating the conditions for long-range network interactions. These results motivate our primary contribution: STACCA (Shared Transformer Actor-Critic with Counterfactual Advantage), a transformer-based MARL framework that addresses both long-range interactions and network generalizability. STACCA employs a centralized Graph Transformer Critic to model long-range dependencies and provide system-level feedback, while its shared Graph Transformer Actor learns a generalizable policy capable of adapting across diverse network topologies. To improve credit assignment during training, STACCA integrates a novel counterfactual advantage estimator that is compatible with state-value critic estimates. We evaluate STACCA on epidemic containment and rumor-spreading network control tasks, demonstrating improved performance and network generalizability. These results highlight the potential of transformer-based MARL architectures to achieve generalizable control in large-scale networked systems.

Collective motion inspired by animal groups offers powerful design principles for autonomous aerial swarms. We present a bio-inspired 3D flocking algorithm in which each drone interacts only with a minimal set of influential neighbors, relying solely on local alignment and attraction cues. By systematically tuning these two interaction gains, we map a phase diagram revealing sharp transitions between swarming and schooling, as well as a critical region where susceptibility, polarization fluctuations, and reorganization capacity peak. Outdoor experiments with a swarm of ten drones, combined with simulations using a calibrated flight-dynamics model, show that operating near this transition enhances responsiveness to external disturbances. When confronted with an intruder, the swarm performs rapid collective turns, transient expansions, and reliably recovers high alignment within seconds. These results demonstrate that minimal local-interaction rules are sufficient to generate multiple collective phases and that simple gain modulation offers an efficient mechanism to adjust stability, flexibility, and resilience in drone swarms.

Distracted driving is a major cause of traffic collisions, calling for robust and scalable detection methods. Vision-language models (VLMs) enable strong zero-shot image classification, but existing VLM-based distracted driver detectors often underperform in real-world conditions. We identify subject-specific appearance variations (e.g., clothing, age, and gender) as a key bottleneck: VLMs entangle these factors with behavior cues, leading to decisions driven by who the driver is rather than what the driver is doing. To address this, we propose a subject decoupling framework that extracts a driver appearance embedding and removes its influence from the image embedding prior to zero-shot classification, thereby emphasizing distraction-relevant evidence. We further orthogonalize text embeddings via metric projection onto Stiefel manifold to improve separability while staying close to the original semantics. Experiments demonstrate consistent gains over prior baselines, indicating the promise of our approach for practical road-safety applications. Code is available at this https URL

Emergency department (ED) overcrowding and patient boarding represent critical systemic challenges that compromise care quality. We propose a threshold-based admission policy that redirects non-urgent patients to alternative care pathways, such as telemedicine, during peak congestion. The ED is modeled as a two-class $M/M/c$ preemptive-priority queuing system, where high-acuity patients are prioritized and low-acuity patients are subject to state-dependent redirection. Analyzed via a level-dependent Quasi-Birth-Death (QBD) process, the model determines the optimal threshold by maximizing a long-run time-averaged objective function comprising redirection-affected revenue and costs associated with patient balking and system occupancy. Structural analysis establishes monotone comparative statics relating the optimal threshold to all model parameters analytically. Numerical analysis using national healthcare data reveals that optimal policies are highly context-dependent. While rural EDs generally optimize at lower redirection thresholds, urban EDs exhibit performance peaks at moderate thresholds. Results indicate that our optimal policy yields significant performance gains of up to $4.84\%$ in rural settings and $5.90\%$ in urban environments. This research provides a mathematically rigorous framework for balancing clinical priority with operational efficiency across diverse ED settings.

As highly automated driving is transitioning from single-vehicle closed-access testing to commercial deployments of public ride-hailing in selected areas (e.g., Waymo), automated driving and connected cooperative intelligent transport systems (C-ITS) remain active fields of research. Even though simulation is omnipresent in the development and validation life cycle of automated and connected driving technology, the complex nature of public road traffic and software that masters it still requires real-world integration and testing with actual vehicles. Dedicated vehicles for research and development allow testing and validation of software and hardware components under real-world conditions early on. They also enable collecting and publishing real-world datasets that let others conduct research without vehicle access, and support early demonstration of futuristic use cases. In this paper, we present karl., our new research vehicle for automated and connected driving. Apart from major corporations, few institutions worldwide have access to their own L4-capable research vehicles, restricting their ability to carry out independent research. This paper aims to help bridge that gap by sharing the reasoning, design choices, and technical details that went into making karl. a flexible and powerful platform for research, engineering, and validation in the context of automated and connected driving. More impressions of karl. are available at this https URL.

This paper presents a detailed convergence and performance analysis of a recently developed approximate Newton-type fully distributed optimization method for \(L\)-smooth, \(\mu\)-strongly convex local loss functions, called Network-GIANT (inspired by the Federated learning algorithm GIANT possessing mixed linear-quadratic convergence properties). Network-GIANT has been empirically seen to achieve faster linear convergence properties compared to its gradient-based counterparts, and several other existing second order distributed algorithms, while having the same communication complexity (per iteration) as its first order distributed counterparts. We first explicitly characterize a \emph{global linear convergence rate} for Network-GIANT, which can be computed as the spectral radius of a $3 \times 3$ matrix dependent on $L$, $\mu$, and the spectral norm ($\sigma$) of the consensus matrix of the underlying undirected graph. We provide an explicit bound on the step size parameter $\eta$, below which this spectral radius is guaranteed to be less than $1$. Furthermore, we derive a mixed linear-quadratic inequality based upper bound for the optimality gap norm, and provide a rigorous proof of a local asymptotic convergence rate of \(1 - \eta \big(1 - \frac{\gamma}{\mu}\big)\) given the Hessian approximation error $\gamma < \mu$, which formally explains the faster convergence rate of Network-GIANT. Numerical experiments are carried out with a reduced CovType dataset for binary logistic regression over a variety of graphs, including heterogeneous data distributions, to illustrate the above theoretical results.

Confounding pathology with normal anatomical variation remains a significant challenge in unsupervised medical-image anomaly detection, resulting in numerous false positives. To enhance integration of healthy variation, we augment the latent representation of a CNN autoencoder with contextual similarities within a normal cohort through batch-wise hypergraph estimation and a shared-weights graph convolution layer, producing a population-aware embedding. On a heterogeneous brain-tumor dataset of 2D MRI scans, the method improves separability between healthy and pathological samples, achieving an AUC-ROC of 0.90 (95% CI 0.84-0.95, 5.7% absolute gain), and a 16% absolute improvement in average precision (0.78 AP, 95% CI 0.66-0.89), thereby lowering false-positive rates. Moreover, both anomaly detection and downstream tumor versus no-tumor classification performance improve with the size of the mini-batch context captured in the augmented representation, suggesting a tunable lever for integrating healthy variation.

Safe navigation of autonomous robots remains one of the core challenges in the field, especially in dynamic and uncertain environments. One prevalent approach is safety filtering based on control barrier functions (CBFs), which are easy to deploy but difficult to design. Motivated by the shortcomings of existing learning- and model-based methods, we propose a simple yet effective neural CBF design method for safe robot navigation in dynamic environments. We employ the idea of a composite CBF, where multiple neural CBFs are combined into a single CBF. Individual CBFs are trained using data generated offline via the Hamilton-Jacobi reachability framework to approximate the optimal safe set for single moving obstacles. Additionally, we use a residual neural architecture, ensuring that the estimated safe set does not intersect with the corresponding failure set. The method is extensively evaluated in simulation experiments for a ground robot and a quadrotor, comparing it against several baseline methods. The proposed method improves success rates by up to 18\% over the strongest baseline, while maintaining comparable or lower path lengths and motion times. The method is also demonstrated in hardware experiments for both types of robots.

Offshore inspection and maintenance have increasingly been using legged robots for routine sensing, yet many useful interventions still require physical interaction with tools, containers, and task-relevant objects. Employing robots for these tasks can reduce operators' exposure in confined, elevated, or potentially explosive areas. This paper presents a language-guided grasping pipeline for a legged mobile manipulator operating under partial observation. An operator defines the target, the system grounds it in RGB with open-vocabulary detection and promptable segmentation, extracts an object-centric RGB-D point cloud, improves sparse geometry through depth compensation and point-cloud completion, and selects a 6-DoF grasp using collision, clearance, reachability, and approach constraints. The system is implemented on a quadruped robot with an arm and evaluated in two cluttered tabletop scenes motivated by small-object retrieval during inspection and maintenance. Across paired trials, the proposed pipeline achieved 9/10 successful grasps, compared with 3/10 for a view-dependent deployment baseline. In this controlled setting, object-centric completion and execution-aware selection reduced approach collisions and improved the reliability of language-guided grasping for supervised field manipulation.

Robust single-vessel tracking from fixed coastal platforms is hindered by modality-specific degradations: cameras suffer from illumination and visual clutter, while LiDAR performance drops with range and intermittent returns. We present a particle-filter tracker that supports sequential measurement-level camera-LiDAR fusion and an information-gain (entropy-reduction) adaptive sensing policy that selects the most informative sensing modality at each fusion time bin. The approach is validated in a real maritime deployment at the Cyprus Marine and Maritime Institute Smart Marina Testbed (Ayia Napa Marina, Cyprus), using a shore-mounted 3D LiDAR and an elevated fixed camera to track a rigid inflatable boat with onboard GNSS ground truth. We compare LiDAR-only, camera-only, All sensors, and adaptive configurations. Results show LiDAR dominates near-field accuracy, the camera sustains longer-range coverage when LiDAR becomes unavailable, and the adaptive policy achieves a favorable accuracy-continuity trade-off by switching modalities based on information gain. The adaptive configuration therefore provides a practical sensor-selection baseline for resilient and resource-aware maritime surveillance.

Wide-area IoT sensor networks require efficient data collection mechanisms when sensors are dispersed over large regions with limited communication infrastructure. Unmanned aerial vehicle (UAV)-mounted Mobile Base Stations (MBSs) provide a flexible solution; however, their limited onboard energy and the strict energy budgets of sensors necessitate carefully optimized tour planning. In this paper, we introduce the Mobile Base Station Optimal Tour (MOT) problem, which seeks a minimum-cost, non-revisiting tour over a subset of candidate stops such that the union of their coverage regions ensures complete sensor data collection under a global sensor energy constraint. The tour also avoids restricted areas. We formally model the MOT problem as a combinatorial optimization problem, which is NP-hard. Owing to its computational intractability, we develop a polynomial-time greedy heuristic that considers minimizing MBS travel cost covering all IoT sensors while avoiding restricted areas. Using simulations, we obtain tours with low cost, complete sensor coverage, and faster execution. The proposed framework provides both theoretical insight into the structural complexity of MBS-assisted data collection and a practical algorithmic solution for large-scale IoT deployments.

In the limited feedback downlink multiple-input single-output (MISO) non-orthogonal multiple access (NOMA) system, both the effective channel gain and the channel direction need to be quantized. The quantization error affects the feasible region of NOMA and the rate loss compared with the case of full channel state information (CSI). In this work, we analyze these effects and obtain an upper bound for the rate loss. Numerical results show that the sum rate of the limited feedback MISO-NOMA system approaches that of the full CSI as the number of feedback bits increases.

Electroencephalography (EEG) foundation models have shown strong potential for learning generalizable representations from large-scale neural data, yet their clinical deployment is hindered by distribution shifts across clinical settings, devices, and populations. Test-time adaptation (TTA) offers a promising solution by enabling models to adapt to unlabeled target data during inference without access to source data, a valuable property in healthcare settings constrained by privacy regulations and limited labeled data. However, its effectiveness for EEG remains largely underexplored. In this work, we introduce NeuroAdapt-Bench, a systematic benchmark for evaluating test-time adaptation methods on EEG foundation models under realistic distribution shifts. We evaluate representative TTA approaches from other domains across multiple pretrained foundation models, diverse downstream tasks, and heterogeneous datasets spanning in-distribution, out-of-distribution, and extreme modality shifts (e.g., Ear-EEG). Our results show that standard TTA methods yield inconsistent gains and often degrade performance, with gradient-based approaches particularly prone to heavy degradation. In contrast, optimization-free methods demonstrate greater stability and more reliable improvements. These findings highlight the limitations of existing TTA techniques in EEG, provide guidance for future development, and underscore the need for domain-specific adaptation strategies.

In today's day and age, we face a challenge in detecting deepfake images because of the fast evolution of modern generative models and the poor generalization capability of existing methods. In this paper, we use an ensemble of fine-tuned vision transformers like DINOv2, AIMv2 and OpenCLIP's ViT-L/14 to create generalizable method to detect deepfakes. We use the DF-Wild dataset released as part of the IEEE SP Cup 2025, because it uses a challenging and diverse set of manipulations and generation techniques. We started our experiments with CNN classifiers trained on spatial features. Experimental results show that our ensemble outperforms individual models and strong CNN baselines, achieving an AUC of 96.77% and an Equal Error Rate (EER) of just 9% on the DF-Wild test set, beating the state-of-the-art deepfake detection algorithm Effort by 7.05% and 8% in AUC and EER respectively. This was the winning solution for SP Cup, presented at ICASSP 2025.

Existing Indic ASR benchmarks often use scripted, clean speech and leaderboard driven evaluation that encourages dataset specific overfitting. In addition, strict single reference WER penalizes natural spelling variation in Indian languages, including non standardized spellings of code-mixed English origin words. To address these limitations, we introduce Voice of India, a closed source benchmark built from unscripted telephonic conversations covering 15 major Indian languages across 139 regional clusters. The dataset contains 306230 utterances, totaling 536 hours of speech from 36691 speakers with transcripts accounting for spelling variations. We also analyze performance geographically at the district level, revealing disparities. Finally, we provide detailed analysis across factors such as audio quality, speaking rate, gender, and device type, highlighting where current ASR systems struggle and offering insights for improving real world Indic ASR systems.

Direct satellite uplink is severely constrained by limited link budgets, which hinder the exploitation of wideband resources, and ultimately limit the throughout. This paper presents a pilot-less coded modulation scheme based on sparse superposition coding (SSC) to enable efficient wideband usage in coverage-limited scenarios. This scheme leverages the structured Zadoff-Chu quasi-orthogonal (ZC-QO) dictionary to support scalable transmission. To address decoding complexity, the SSC transmitted signal embeds root index information via indicator sequences, allowing the receiver to restrict the decoding search space. In addition, a multi-codeword transmission framework with repetition and stop-feedback is developed, enabling reliable communication and better resource utilization. Simulation results show that the proposed scheme achieves throughput gains compared to a more conventional narrow-band multi-dimensional constellation-based approach.

Optimal wireless transmitter placement is a central task in radio-network planning, and exhaustive search becomes prohibitively expensive at scale. This paper studies the single-transmitter setting under a learned propagation model, enabling exhaustive per-pixel assessment at scale in a regime where measurement-based labeling is infeasible and ray-tracing-based labeling is computationally out of reach. We introduce a dataset of 167525 urban scenarios (RadioMapSeer-Deployment) with dual ground-truth labels for coverage-optimal and power-optimal transmitter locations. Benchmark analysis reveals an asymmetric coverage-power trade-off: coverage-optimal placement sacrifices 13.86% of received-power, whereas power-optimal placement sacrifices 5.50% of coverage; the best balanced placement lies at $\bar{d}=2.60$ from the ideal point (100%,100%). We evaluate two learning formulations: indirect heatmap-based models predicting received-power radio maps, and direct score-map models predicting the objective landscape over feasible transmitter locations. Within the heatmap family, discriminative models deliver one-shot predictions 1350-2400$\times$ faster than exhaustive search, while diffusion models additionally support multi-sample inference that improves single-objective performance and, by reusing the same sample pool under a balanced criterion, recovers strong balanced placements without explicit multi-objective training. Dual score-map strategies combining power and coverage score-maps match the exhaustive balanced optimum ($\bar{d}=2.60$) and remain close to it across smaller candidate budgets, at 14-22$\times$ speedups including the cost of evaluating shortlisted candidates. Dual score-map methods are strongest overall, whereas heatmap formulations remain attractive for their physically meaningful intermediate maps and, in the diffusion setting, for inference-time search.

Electricity price signals in modern power systems exhibit complex dependence structures that render forecasting inherently challenging. Our analysis of real-world pricing signals from the California Independent System Operator (CAISO) reveals complex temporal group effects, whereby the influence of explanatory variables on electricity prices persists across consecutive blocks of time due to underlying economic and operational drivers. In response, we propose a multivariate statistical method based on a Group Lasso formulation to forecast the vector of day-ahead electricity prices, by leveraging multi-feature temporal group effects. Our approach is evaluated on two full years of electricity prices from CAISO, demonstrating considerable improvements in point and probabilistic forecast metrics compared to a wide array of statistical and deep learning methods. Theoretical and empirical analyses confirm the effectiveness of the proposed approach in modeling realistic group effects, maintaining both interpretability and low computational complexity. When retrospectively evaluated on test data from a recent international electricity price forecasting challenge, the proposed method ranked in second place, despite having access to significantly less information than competing approaches. Finally, the proposed method is independently validated against two operational electricity price forecasting systems in CAISO, demonstrating competitive predictive performance and practical relevance.

Safe physical human-robot interaction (pHRI) is fundamentally a problem of interaction dynamics: the robot must track a commanded motion, yield under human forces, respect actuator and joint limits, and stay predictable under persistent contact. Classical impedance control shapes this through a virtual spring-damper, but a sustained force produces the bias $e_\infty=-K_d^{-1}F_h$, trading accuracy for safety. We propose a predictive framework that makes interaction dynamics explicit through a linear double-integrator backbone: an operational-space feedforward cancels gravity and Coriolis terms and normalizes the task inertia, leaving a configuration-independent state-transition matrix with robot dependence isolated in the input matrix. This converts nonlinear torque-controlled pHRI into a linear constrained-control problem, so offset-free tracking, actuator feasibility, sampled-data joint-limit safety, and passivity filtering follow with explicit assumptions. The online realization is a 30-variable convex QP at 100 Hz with a precomputed free-response matrix and a Kalman filter that rejects persistent forces without steady-state error; null-space barrier, one-step joint-limit CBF, and energy-tank filters add conditional safety and task-channel passivity. In MuJoCo simulation of a 7-DOF Franka FR3, the controller attains sub-0.05 mm steady-state error under a sustained 15 N force versus 44.8 mm for classical impedance, sub-millimeter tracking on four 3-D circles, and robustness to measurement noise and 30% inertial mismatch.

Accurate and computationally efficient vehicle models are essential for motion planning of autonomous vehicles, where positional accuracy directly affects trajectory feasibility and safety. However, the positional accuracy has not been systematically evaluated against real measurements. Therefore, this paper compares the short-horizon positional accuracy of three single-track vehicle models against vehicle measurements across various driving maneuvers. Model parameters are identified through dedicated experiments with the instrumented test vehicle. Rather than identifying a single best model, this work aims to provide insight into the trade-offs between model complexity, parameterization quality, and positional accuracy for informed model selection in Model Predictive Control applications.

Dexterous manipulation is fundamentally a problem of interaction dynamics: the hand must track precise finger trajectories, regulate the contact force exchanged with grasped objects, respect actuation and safety limits, and remain predictable when contact persists -- objectives in tension for any fixed-gain controller. A sustained contact torque $\tau_{\text{ext}}$ through a joint stiffness $K_d$ produces the structural bias $e_\infty=\tau_{\text{ext}}/K_d$, so stiffening for accuracy sacrifices contact safety while softening yields by design. We make these interaction dynamics explicit and actuator-agnostic through a constant-$A_d$ double-integrator backbone, instantiating the offset-free architecture established for physical human-robot interaction (pHRI) and preserving its modeling assumptions on the reduced residual dynamics. An algebraic feedforward reduces the tendon transmission -- hydraulic, cable, pneumatic, twisted-string, or series-elastic -- to a constant-coefficient double integrator, so the QP cost inverse is precomputed offline and a 10-step receding-horizon QP runs at 500\,Hz under contact-force (ISO/TS 15066), actuation, and jerk constraints. An encoder-only augmented-Kalman disturbance state drives steady-state error to zero under constant contact loads in the nominal detectable case. In simulation, a hydraulically actuated finger -- the worked example, adding pressure and cavitation constraints -- attains 0.6\,mrad RMS, 0.1\,mrad steady-state, and 7.3\,mrad peak deflection under 1.5\,Nm contact: 153$\times$, 1500$\times$, and 21$\times$ better than classical impedance. The realized first-move stiffness (18$\to$323\,Nm/rad with update rate) is independently verified, and the architecture scales to a 16-DOF LEAP Hand MuJoCo model, recovering from 2.5\,N grasp disturbances within 0.7\,s.

Kernel density estimation depends largely on one choice, the smoothing bandwidth. We treat bandwidth selection and density estimation in the characteristic-function domain, where the cyclic group-averaged covariance of the binned data has the squared empirical characteristic function as its spectrum: the true characteristic function sits over a sampling-noise floor of $1/n$, and the bandwidth is the spectral cutoff where the two meet. Several methods follow. An automatic selector strips the floor and minimizes a frequency-domain error criterion, matching the rule of thumb on smooth densities and approaching the best fixed bandwidth on multimodal ones. An adaptive estimator generalizes the fixed kernel to the per-frequency optimal Wiener taper, matching or surpassing the best fixed bandwidth on most standard densities, including sharply peaked and comb-like cases where fixed bandwidths fail; deconvolution under known measurement error follows in the same domain. Because the Wiener estimator resolves sharp structure but does not fit smooth bases as economically as a mixture, a Gaussian mixture is combined with it two ways, a piecewise partition and a superposition of a smooth base and a band-limited residual, the default. A data-driven floor read from the spectrum replaces the assumed $1/n$ floor and stays robust on heaped and rounded data. On the Marron-Wand benchmark scored by exact integrated squared error, the advantage emerges with sample size, a bias-variance tradeoff: the spectral estimators carry low bias but pay in variance, so a corrected Botev plug-in leads at $n=100$ while the Wiener filter and superposition take the top two ranks at $n=5000$. The methods are validated on six real datasets (CRSP returns, NHANES self-reports, CMS dimuon and SDSS spectra, a random-beacon stream, and UNSW-NB15 traffic) and on a synthetic-data quality check. All experiments are reproducible.

We study finite-horizon queue peaks in generalized switches, a standard stochastic-network model in which many queues share constrained service resources. Arrivals may be dependent, nonstationary, and responsive to the system history; the only load condition is uniform interior slack, meaning the conditional mean arrival vector stays in a fixed contraction of the capacity region. We show that this slack reshapes the finite-time peak law for drift-minimizing scheduling policies such as MaxWeight. The square-root envelope that is sharp without slack persists only up to a geometry-dependent threshold; beyond that threshold, the running maximum grows only logarithmically with the horizon, both with high probability and in expectation. The mechanism is self-normalization: in the current queue direction, the projected fluctuation scale is normalized by the stabilizing drift scale. This removes capacity geometry from the logarithmic coefficient, while geometry remains in the threshold. Matching lower bounds show that both the logarithmic term and a geometric threshold are unavoidable. When finite-time state-space collapse is available, the threshold can be sharpened using local bottleneck geometry. For generalized input-queued switches, we obtain finite-time peak bounds with tight logarithmic coefficients. Simulations illustrate the two-phase envelope, local geometric refinements, and variance-sensitive improvements predicted by the theory.

Dynamical systems are fundamental to modeling the natural world, yet modeling them involves a persistent trade-off: manually prescribed mechanistic models are interpretable by design but often overly simplistic and misspecified; in contrast, flexible data-driven neural methods lack physical insight. Hybrid modeling aims for the best of both worlds by combining a prescribed or symbolic, physics-based component with a flexible neural network. A critical challenge, however, is that the neural component may relearn mechanistic parts, yielding redundant and uninterpretable models, especially when the symbolic structure itself is discovered from data. Existing methods based on standard $L^2$ regularization rely on a projection argument that breaks when the symbolic component is learned through sparse discovery, allowing the neural augmentation to overlap with symbolic structure. We introduce \textbf{OrthoReg} (Orthogonal Regularization), which directly penalizes overlap between the symbolic and neural components, preventing symbolic structure from being absorbed by the neural residual. This yields a complementary decomposition: the symbolic part captures what the library can express, and the neural part captures what remains. On benchmark dynamical systems with partial library mismatch, OrthoReg improves symbolic recovery and out-of-distribution behavior.

World models are increasingly used in embodied intelligence and generative simulation, yet their scope remains ambiguous across communities. This tutorial presents a design-space view of world models as action-conditioned predictive models that estimate the future evolution of task-relevant observations or states. We categorize existing methods into observation-space and state-space world models, comparing their trade-offs in visual fidelity, spatial structure, physical interpretability, and control usability. We further introduce world action models, which connect predicted futures with executable robot actions, and summarize four representative paradigms: imagine-then-execute, video-feature-conditioned action prediction, joint video-action modeling, and auxiliary video prediction for policy learning. The goal of this tutorial is to clarify the conceptual scope of world (action) models and provide a structured taxonomy for embodied prediction and control.

We study how to predict the downstream closed-loop performance of a learned latent world model from validation-time diagnostics alone. Choosing the right checkpoint from a world-model training run is difficult: validation loss and multi-step prediction RMSE keep improving long after closed-loop performance has collapsed. We present a suite of structural validation-time diagnostics drawn from optimal-control theory and apply them to Gymnasium's LunarLander v3, which features shaped rewards. We train an RSSM [5, 4] world model on it and treat per checkpoint CEM-MPC return as the oracle for closed-loop quality. By evaluating 40 metrics against this oracle, we find that the strongest single predictor is the Reward Observability Fraction (ROF), which measures the reward predictor's dependence on the observable subspace. We combine ROF with three structural regularizers into a single-number offline checkpoint selection score, the Composite Reward Observability Fraction (CROF). The CROF-selected world model trains a model-based A2C policy that beats a fairly evaluated model-free A2C baseline by ~24.5 return points while using ~65x fewer real-environment interactions, and the same world model also drives a strong zero-shot CEM-MPC policy. Code and data: this https URL.

Motivated by the challenge of stabilizing a general unknown linear dynamical system (LDS) from observations, we study the natural prerequisite of online prediction. Our goal is to achieve sublinear regret with a memory footprint that adapts to the intrinsic complexity of the dynamics rather than the full hidden-state dimension. We focus on the practically central regime of systems with low instability complexity -- eigenvalues outside the real stable interval that do not decay rapidly, together with non-semisimple modes -- potentially embedded in an otherwise stable real spectrum of much higher dimension; we write $k$ for this count. This regime is the primary setting in which stabilization is plausible: we show that many systems with high instability complexity cannot be stabilized without exponentially large controls. Thus, prediction is meaningful for stabilization precisely when the instability complexity is small. Within this regime, we introduce a unified online algorithm that handles every LDS (including non-diagonalizable systems with complex or exploding modes) with a learnable parameter count of $\widetilde{O}(k)$. Finally, we prove a lower bound showing that $k$ is a valid complexity measure: any filter-based predictor needs at least $k$ filters. Experiments corroborate our theory: on a high-dimensional system, our predictor sharply outperforms prior methods at an equal parameter budget.