The increasing use of machine learning in learning analytics (LA) has raised significant concerns around algorithmic fairness and privacy. Synthetic data has emerged as a dual-purpose tool, enhancing privacy and improving fairness in LA models. However, prior research suggests an inverse relationship between fairness and privacy, making it challenging to optimize both. This study investigates which synthetic data generators can best balance privacy and fairness, and whether pre-processing fairness algorithms, typically applied to real datasets, are effective on synthetic data. Our results highlight that the DEbiasing CAusal Fairness (DECAF) algorithm achieves the best balance between privacy and fairness. However, DECAF suffers in utility, as reflected in its predictive accuracy. Notably, we found that applying pre-processing fairness algorithms to synthetic data improves fairness even more than when applied to real data. These findings suggest that combining synthetic data generation with fairness pre-processing offers a promising approach to creating fairer LA models.

Early detection of chronic and Non-Communicable Diseases (NCDs) is crucial for effective treatment during the initial stages. This study explores the application of wearable devices and Artificial Intelligence (AI) in order to predict weight loss changes in overweight and obese individuals. Using wearable data from a 1-month trial involving around 100 subjects from the AI4FoodDB database, including biomarkers, vital signs, and behavioral data, we identify key differences between those achieving weight loss (>= 2% of their initial weight) and those who do not. Feature selection techniques and classification algorithms reveal promising results, with the Gradient Boosting classifier achieving 84.44% Area Under the Curve (AUC). The integration of multiple data sources (e.g., vital signs, physical and sleep activity, etc.) enhances performance, suggesting the potential of wearable devices and AI in personalized healthcare.

We develop a learning-theoretic framework for understanding Chain of Thought (CoT). We model CoT as the interaction between an answer map and a chain rule that generates intermediate questions autoregressively, and define the reasoning risk of a hypothesis under this interaction. Our first result is a tight canonical decomposition of this risk into two terms with opposing roles: an oracle-trajectory risk (OTR), which captures the benefit of CoT and reduces to a target-domain risk in a domain adaptation problem, and a trajectory-mismatch risk (TMR), which captures the cost of CoT through error accumulation along mismatched reasoning trajectories. We then show that this cost is unavoidable without structure: if any one of the loss, the hypothesis answer map, or the chain rule lacks stability, the TMR can be arbitrarily large even when the OTR is zero and the hypothesis is uniformly close to the ground truth. Conversely, under stability, we prove a tight upper bound on the TMR governed by an exact amplification factor that identifies bounded, linear, and exponential error-growth regimes. Together, these results give a precise theory of when CoT helps, when it hurts, and what controls the transition between the two.

Current 3D-aware pretraining methods for embodied perception and manipulation are largely built on differentiable rendering frameworks, producing either fully implicit neural fields or fully explicit geometric primitives. Implicit representations, while expressive, lack explicit structural cues, whereas explicit ones preserve geometry but suffer from resolution limits and weak generalization. To address these limitations, we propose a novel pretraining framework that learns a hybrid representation-structural latent points. Specifically, we insert a point-wise latent variational autoencoder into the latent space of a point-cloud autoencoder, jointly regularizing point-wise features and coordinates toward a Gaussian prior. The resulting compact latent preserves coarse structural tendencies, which do not encode precise geometry but capture richer rough shape and semantic information, effectively combining the expressiveness of implicit representations with the structural priors of explicit ones. In addition, informed by shared design choices in prior work, we develop a streamlined, efficient 3DGS-based rendering pipeline that is deliberately kept lightweight, improving efficiency while leaving greater representational capacity to the front-end latent module. Extensive evaluations on RLBench, ManiSkill2, and a real-robot platform demonstrate consistent gains in task success, sample efficiency, and robustness to viewpoint and scene variations over strong baselines. Ablation studies further confirm that each component of our framework is critical to overall performance.

Planning through crowded environments under uncertain obstacle motions remains difficult, as stochastic interactions often induce overly conservative behavior or reduced efficiency. To address this challenge, we propose an end-to-end risk adaptation framework for crowd navigation under obstacle-motion uncertainty modeled by a Gaussian mixture model. The framework combines reinforcement learning~(RL) with a differentiable quadratic-program safety layer based on Conditional Value-at-Risk~(CVaR) barrier functions, jointly learning nominal control input, risk level, and safety margin and enforcing explicit probabilistic safety constraints. This design enables context-aware adaptation, promoting efficient behavior while invoking caution only when necessary. We conduct extensive evaluations in dynamic, uncertain, and crowded environments across varying obstacle densities and robot models, and further assess generalization under three out-of-distribution cases. Comparisons across optimization-based, RL-based, and integrated RL and optimization methods are provided, and the proposed method is shown to deliver the strongest overall performance in safety, efficiency, and generalization under uncertainty.

Standard clinical Natural Language Processing (NLP) benchmarks often yield inflated metrics by forcing deterministic classification on ambiguous instances, thereby obscuring the clinical risks of overconfident predictions. To bridge this gap, we propose a risk-aware hybrid selective classification framework, evaluated on early Human Immunodeficiency Virus suspicion identification in Spanish clinical notes. Our dual-verification approach explicitly decouples aleatoric uncertainty through Mondrian conformal prediction and epistemic uncertainty using a Multi-Centroid Mahalanobis Distance veto. Empirical evaluations reveal that standard uncertainty metrics and baseline classifiers are structurally insufficient for safe medical triage, suffering severe coverage collapse when forced to operate under strict reliability constraints. In contrast, by demanding that clinical narratives pass both probabilistic and geometric safeguards, the proposed framework successfully isolates a highly trustworthy operational domain.

Super-Resolution (SR) has advanced rapidly in recent years, with diffusion-based models achieving unprecedented fidelity at the cost of introducing new types of visual artifacts. While existing Image Quality Assessment (IQA) methods provide holistic quality scores, they lack interpretability and fail to distinguish between different artifact types arising from modern SR approaches. To address this gap, we introduce SR-Ground, a large-scale dataset specifically designed for fine-grained artifact segmentation in super-resolved images. The dataset comprises images processed by a diverse set of state-of-the-art SR models, with pixel-level annotations for multiple artifact categories. We conduct a large-scale crowdsourcing study involving 1,062 participants to validate and refine automatically generated segmentations, resulting in a high-quality dataset of 63,000 images spanning 6 distinct artifact types. We demonstrate that training IQA models with grounding capabilities on SR-Ground significantly improves performance on downstream tasks. Furthermore, we introduce a fine-tuning pipeline that leverages our grounding model to reduce perceptible artifacts in SR outputs, showcasing the practical utility of our dataset.

As robot fleets become more heterogeneous, including humanoids, rovers, quadrupeds, and drones, selecting the right robot for a task becomes a core systems problem. We study robot skill prediction: mapping a natural-language task description to the physical capabilities required to execute it, such as fly, wheels, legs, surface water, under water and hands. Since labelled data that maps natural-language task descriptions to robot's physical capabilities does not exist, we construct a synthetic task-to-skill dataset using LLM-assisted generation and targeted label auditing. Trained on this data, a ~133M-parameter ensemble of two fine-tuned sentence encoders (mpnet + MiniLM) reaches 83.5% task-to-skill matching on a stratified 200 task dataset, outperforming Kimi K2 (1T MoE) at 72.0%, GPT-OSS-120B at 71.5%, and Llama-4-Scout-17B at 69.0% under the same zero-shot prompt. These results suggest that, for fixed robot skill taxonomies, small specialized models trained on synthetic data can outperform much larger general-purpose LLMs for fleet-level task routing.

Self-supervised learning for time-series representation aims to reduce reliance on labeled data while maintaining strong downstream performance, yet many existing approaches incur high computational costs or rely on assumptions that do not hold across diverse temporal dynamics. In this work, we introduce Divide and Contrast (Di-COT), an unsupervised framework that avoids data augmentation and multiple encoder passes by contrasting informative substructures within a window rather than individual timesteps. Di-COT stochastically partitions each window into a small number of overlapping sub-blocks per iteration, enabling efficient and meaningful contrast while mitigating false positives during temporal transitions. To further improve scalability, we adopt a contrastive objective whose computation depends on the batch size and the number of sub-blocks, making loss computation independent of sequence length. Extensive experiments on six large-scale real-world datasets, as well as the UCR and UEA benchmarks, demonstrate that Di-COT learns semantically structured and transferable representations, achieving state-of-the-art performance on classification, clustering, $k$NN, and cross-dataset transfer, while substantially reducing training time. The source code is publicly available at https://github.com/sfi-norwai/Di-COT.

LLM agents have shown strong performance across a wide range of complex tasks, including interactive environments that require long-horizon decision making. But these agents cannot learn on the fly at test time. Self-evolving agents address this by accumulating memory and reflection across episodes rather than requiring model-weight updates. However, these agents often suffer from exploration collapse: as memory grows, behavior concentrates around familiar high-reward routines, reducing the chance of discovering better alternatives. To address this problem, we propose Autonomous Policy EXploration (APEX), which builds and maintains an explicit strategy space through a strategy map-a directed acyclic graph of milestones with prerequisite dependency edges. In APEX, Fork Discovery expands the map with evidence-grounded unexplored directions, while Policy Selection balances exploration and exploitation during planning. Evaluated on nine Jericho text-adventure games and WebArena, a realistic web interaction benchmark, APEX outperforms all baselines. Extensive ablations validate each component's contribution and demonstrate robustness across diverse settings, demonstrating APEX's effectiveness for sustained exploration in self-evolving agents.

Cardiac motion over a cardiac cycle is crucial for quantifying regional function and is strongly affected by cardiovascular diseases. Since temporally dense mesh sequences are difficult to obtain in practice, we focus on leveraging the more accessible end-diastolic frame to infer a full-cycle sequence. Due to strong regional and disease-specific differences, traditional methods often oversmooth the data by relying on generative models that are optimized for global patterns. To address this problem, we propose Region-Aware and Phenotype-Adaptive Bi-Ventricular Cardiac Motion Synthesis (RePCM) for single frame Bi-ventricular mesh motion completion. In Stage I, a reconstruction network learns vertex wise motion descriptors and clustering yields a data driven functional partition, providing an explicit motion derived region structure. In Stage II, a Region-Specific Injection Module enforces masked, synchronized region exchange within a conditional VAE, preserving localized specific dynamics and restricting cross-region mixing. A Phenotype-Adaptive Mixture-of-Experts prior conditioned on ED shape uses anatomy-guided cues to model latent motion trends and capture inter-disease variability. Experiments on three datasets covering different cardiovascular diseases show consistent gains in geometric and functional metrics and improved preservation of region specific dynamics.

Large language models (LLMs) are increasingly used for writing assistance in small contact languages, yet it is unclear whether they respect community norms around lexical borrowing and neology. We introduce LexNeo-Bench, a 3{,}050-instance token-level benchmark derived from LuxBorrow, a large-scale Luxembourgish news corpus, where target tokens are labelled as native or as French, German, or English borrowings. Using this benchmark, we probe three multilingual LLMs across 34 prompt settings on two tasks: borrowing type classification and a binary lexical-innovation proxy (borrowing versus native). Without external context, models perform only slightly above chance on borrowing classification, so we construct a linguistic knowledge graph that encodes donor language, morphological patterns, and lexical analogues, and inject instance-specific subgraphs into the prompt. Knowledge-graph prompts raise borrowing classification accuracy from 25 -- 35\% up to 71 -- 81\% and largely close the gap between small and large models, while leaving neology detection difficult and sensitive to few-shot design. Our results show that lexicon-aware prompting is highly beneficial for robust borrowing judgments in low-resource contact languages and that lexical resources can serve as structured context for LLM evaluation. This study was carried out within the ENEOLI COST Action and examines borrowing as a form of lexical innovation in multilingual Luxembourgish data.

The key-value (KV) cache dominates memory bandwidth and footprint in long-context autoregressive inference. Recent rotation-preconditioned codecs (TurboQuant, PolarQuant) show that a structured random rotation followed by a per-coordinate scalar quantizer matched to an analytically tractable marginal is a near-optimal recipe for KV compression. OCTOPUS advances this paradigm through joint quantization of rotated coordinate triplets. Each triplet's direction is mapped to a square via an octahedral parameterization, and the two resulting coordinates and the triplet norm are Lloyd-Max quantized against implementation-matched marginals. Optimizing the per-triplet squared error gives a strictly non-uniform bit allocation depending only on the total dimensionality of the keys. We find the finite-dimensional quality optimum with sweeps to be constant on every real decoder we test. The codec is data-oblivious, online, and deterministic given a seed. Across text, video, and audio, OCTOPUS matches or beats every prior rotation codec at every reported bit width and metric, with a lead that grows as bits drop for extreme compression. Furthermore, a fused Triton implementation reconstructs keys on the fly without materializing the uncompressed key, so the codec adds no decode-time bandwidth or latency over the existing dequantization. Project Page: https://octopus-quant.github.io/

We address the problem of making a pre-trained reinforcement learning (RL) policy safety-aware by incorporating cost constraints without retraining it from scratch. While costs could be numerically encoded, we assume a more general setting is when costs are provided as preferences. Given a reward-optimized policy and a small dataset of preferred (low-cost) and dispreferred (high-cost) trajectories, our goal is to fine-tune the policy to generate low-cost behaviors while retaining high rewards. Unlike standard RLHF in language models, where preferences are defined over responses to the same prompt, our setting involves trajectory-level preferences in continuous control environments. We introduce PREFINE: Preference-based Implicit Reward and Cost Fine-Tuning for Safety Alignment which is a preference-based fine-tuning method that adapts Direct Preference Optimization (DPO), which is now widely used for LLM fine-tuning, to the sequential decision making setting. PREFINE constructs policy-sampled counterfactual trajectories to establish meaningful preference contrasts and jointly optimizes for reward retention and safety alignment. Empirically, PREFINE reduces constraint violations and catastrophic failures by over 60% while maintaining original reward behavior. PREFINE produces policies that achieve low-cost, high-reward performance with significantly improved data and computational efficiency compared to full offline RL or imitation learning, bridging preference alignment and safe policy adaptation in continuous domains.

The rapid evolution of generative AI, from GANs to modern diffusion models, has resulted in increasingly subtle discriminative clues. These fine-grained signals are often overshadowed by dominant, high-fidelity image content (e.g., the main subject), limiting the reliability of existing detectors that predominantly rely on global representations. To address this challenge, we propose the Peak-Guided Calibration (PGC) framework. PGC introduces a novel strategy that aggregates salient features via a peak-focusing mechanism. Specifically, by employing a peak-sensitive aggregation that accentuates the most discriminative local clues, PGC leverages these critical signals to calibrate the global decision. This approach recovers subtle patterns that would otherwise be submerged in the global context. Furthermore, to better simulate real-world threats, we introduce the CommGen15 dataset, a challenging benchmark comprising samples from 15 commercial models. Extensive experiments demonstrate that PGC achieves state-of-the-art performance. Specifically, it improves mean accuracy by +12.3% on our CommGen15 dataset, and sets new records on standard benchmarks, including GenImage (+2.1%), AIGI (+3.5%), and UniversalFakeDetect (+1.7%). Code is available at https://github.com/xiaoyu6868/PGC.

Discrete autoregressive (AR) text-to-image (T2I) models pair a VQ tokenizer with an AR policy, and current post-training pipelines optimize only the policy while keeping the VQ decoder frozen. Recent diffusion T2I work, exemplified by REPA-E, has shown that the VAE itself constitutes a key alignment bottleneck, yet no analogous investigation exists for discrete AR models. We show that policy-only optimization induces Latent Covariate Shift: as the policy evolves, the resulting token distribution diverges from the ground-truth distribution on which the decoder was trained, such that reward scores improve while decoded image quality degrades. To address this mismatch, we propose RankE, the first end-to-end post-training framework for discrete T2I generation. Rather than optimizing the policy against a fixed decoder, RankE co-evolves both components through alternating optimization: each module maximizes a ranking-based alignment objective while being regularized by a stability-preserving anchor suited to its parameter space. This co-evolution breaks the fidelity--alignment trade-off that plagues frozen-decoder approaches: on LlamaGen-XL (775M), standard RL improves CLIP but degrades FID, whereas RankE improves both simultaneously (FID 15.21, CLIP 33.76 on MS-COCO 30K). Consistent gains on Janus-Pro (1B) confirm that decoder co-evolution reliably converts reward optimization into pixel-space quality improvements.

Kinodynamic planning for car-like vehicles on uneven terrain requires simultaneously optimizing competing objectives such as path efficiency and pose stability. This work presents an adaptive epsilon-constraint method integrated into a Model Predictive Control (MPC) framework, where the epsilon bounds are dynamically adjusted based on terrain descriptors to explore the Pareto front in real time. To capture vehicle-terrain dynamics, we develop a semi-parametric model combining analytical vehicle dynamics with a Sparse Gaussian Process (SGP) trained on the same terrain descriptors. The proposed epsilon-MPC is evaluated against MPPI and GAKD baselines, achieving a 94% navigation success rate while reducing maximum orientation deviation by 24% and improving multi-objective trade-off quality by 23%.

Interpretability in object detection provides crucial confidence support for clinical auxiliary diagnosis. However, in tiny bacteria detection, traditional explanation methods often suffer from blurred foreground boundaries and diffuse feature attribution due to the extreme sparsity of target morphological features and severe interference from complex backgrounds. Such limitations hinder the provision of logically coherent morphological evidence. To bridge this gap, we propose a novel eXplainable AI (XAI) framework, SAM-Sode. The framework innovatively transforms initial feature attribution maps into geometry-aware prompts, leveraging the prior knowledge of the foundation model (SAM3) to achieve spatial refinement and morphological reconstruction of the explanatory mappings. Furthermore, we introduce a dual-constraint mechanism based on physical significance and geometric alignment to perform instance-level denoising, generating coherent explanations that better align with human expert intuition. Experimental results on our self-constructed bacteria dataset with complex circuit backgrounds (containing 2,524 images) and other public datasets demonstrate that the proposed method effectively suppresses background redundancy and significantly enhances the decision-making transparency of tiny object detection.

Large language models show strong potential for automated code generation, but lack guarantees for correctness, quality, safety, and domain-specific constraints. For instance in robotics, where code generation is increasingly being used for planning and executing actions, awareness of the environment and physical constraints is critical. To facilitate the adaption of code-generating LLMs to diverse requirements, including domain-specific ones, we present a reinforcement learning framework that fine-tunes pre-trained LLMs using proximal policy optimization. Our customizable execution-aware reward formula captures and optimizes syntax, functional correctness, code style, security, and simulator executability. A token-level reward mapping mechanism enables effective credit assignment from execution outcomes to generated tokens. The framework is evaluated on general-purpose code generation (MBPP/MBPP+) and robotic program synthesis (RoboEval). The results show substantial improvements in functional correctness and simulator executability, including an absolute pass@1 increase of 19% on MBPP and a reduction in execution failures by 51% on RoboEval. These findings demonstrate that structured reinforcement learning can effectively align language models to correct program generation and domain-specific requirements.

This paper investigates how post-editors of literary texts react and respond to the way metaphors have been translated by Neu ral Machine Translation (NMT) and Large Language Models (LLMs). The results show that one in three metaphors in the output were changed by the post-editors, demonstrating that the translation of fig urative language is indeed problematic in literary MT (LitMT). The responses indi cate that the post-editors were aware of overly literal translations, though mostly for multiword expressions. Moreover, at times they found it difficult to determine whether solutions were acceptable. They rated the overall quality of the MT out put as quite poor and stated that the post editing was more work and more effort than it would have been translating from scratch. This supports previous studies ar guing that post-editing constrains transla tors in their creativity and diminishes their sense of text ownership.

This work presents \textsc{ChunkFT}, a memory-efficient fine-tuning framework that reformulates full-parameter fine-tuning around a dynamically activated working set. \textsc{ChunkFT} enables gradient computation for arbitrary sub-tensors without modifying the network architecture, providing an algorithmic foundation for optimizing arbitrary sub-networks while avoiding standard dense gradient computation. We provide a theoretical convergence analysis of \textsc{ChunkFT} in the deterministic setting. Empirically, we apply \textsc{ChunkFT} to fine-tune Llama 3-8B and Llama 3-70B using a single RTX 4090-24GB GPU and 2$\times$ H800-80GB GPUs, respectively. Full-parameter fine-tuning of a 7B model with a 1K input length requires only 13.72GB of GPU memory. The results demonstrate the effectiveness of \textsc{ChunkFT} in memory usage, running time, and optimization quality. Moreover, downstream evaluations on language understanding, mathematical reasoning, and MT-Bench show that \textsc{ChunkFT} consistently outperforms existing memory-efficient baselines. Notably, \textsc{ChunkFT} achieves performance comparable to, and in some cases exceeding, full-parameter fine-tuning. Our repository is on https://github.com/misonsky/chunk.

Ternary Vision Transformers offer substantial model compression, however state-of-the-art methods only ternarize the encoder layers, leaving patch embeddings, LayerNorm parameters, and classifier heads in full precision. In compact models targeting resource-constrained processors, such as microcontrollers, these remaining full-precision components determine the total memory footprint, severely limiting deployment efficiency and on-device feasibility. In this work, we introduce a fully ternarized Vision Transformer in which \emph{all} weight matrices and normalization parameters are ternarized (FTerViT). To this end, we introduce two novel operators : TernaryBitConv2d with per-channel scaling for patch embedding and TernaryLayerNorm. FTerViT is trained using knowledge distillation, followed by a lightweight quantization-aware recovery phase. Our ternary W2A8 DeiT-III-S at 384$\times$384 resolution achieves 82.43\% ImageNet-1K top-1 at 6.09\,MB (${\sim}$15$\times$ compression, $-$2.42\,pp vs.\ FP32), outperforming prior ternary ViTs methods up to 8 pp. Finally, we demonstrate the first implementation of ternary vision transformers on a dual cores XTensa LX7 microcontroller inside the ESP32-S3 system-on-chip. By deploying FTerViT-Small (based on DeiT-III-Small at 224$\times$224 resolution, 5.81\,MB), we achieve 79.64\% ImageNet-1K top-1 accuracy.

Credit card fraud detection is fundamentally challenged by extreme class imbalance, where fraudulent transactions are rare yet operationally critical. This imbalance often biases supervised learners toward the legitimate class, leading to high overall accuracy but weaker fraud-class recall and F1-score. This paper introduces Q-SYNTH, a hybrid classical--quantum generative adversarial framework in which a parameterized quantum circuit serves as the generator and a classical neural network serves as the discriminator. Q-SYNTH is designed for minority-class fraud synthesis in tabular data and is evaluated along two dimensions: statistical fidelity to real fraud samples and downstream performance for fraud detection. To this end, generated samples are assessed using distributional similarity measures based on Kolmogorov-Smirnov statistics and Wasserstein distances, real-vs-synthetic detectability measured by AUC-ROC, and downstream classification performance across both quantum and classical classifiers. Under the reported protocol, Q-SYNTH reduces marginal distribution mismatch relative to a classical GAN baseline while maintaining competitive downstream fraud-detection performance. Although SMOTE achieves the strongest feature-wise similarity and the classical GAN attains the highest downstream performance in several settings, Q-SYNTH offers a favorable compromise between distributional fidelity and downstream performance, supporting the feasibility of hybrid quantum augmentation for imbalanced fraud detection.

The discovery of first integrals is of fundamental scientific importance for understanding conservation laws in dynamical systems. However, existing symbolic computation tools and Large Language Models (LLMs) remain limited on this task because high-quality training data are scarce and successful solutions often depend on mathematical intuition. This paper presents FISolver, an LLM-based solver developed to address this challenge. First, we introduce a "Backward Generation" algorithm that systematically builds large-scale datasets of (differential equation, first integral) pairs by deriving differential equations from sampled integrals, thereby alleviating the data scarcity bottleneck. Second, we apply supervised fine-tuning to a compact mathematical model and further improve its performance through reinforcement learning with a Levenshtein Distance-based shaped reward. In addition, we design data synthesis and blending strategies that support effective adaptation to difficult problem families from sparse examples. Experiments show that FISolver, while requiring substantially lower computational cost, significantly outperforms larger mathematical LLMs and commercial solvers such as Mathematica on challenging benchmarks, indicating a new data-driven route for automated discovery of first integrals.

In modern warfare, drones are becoming an essential part of intelligence gathering and carrying out precise attacks in different kinds of hostile environments. Their ability to operate in real-time and hostile environments from a safe distance makes them invaluable for surveillance and military operations. The KIIT-MiTA dataset is comprised of images of different military scenarios taken from drones, and these provide a foundation for detecting military objects, but it does not take into account the various types of real-world scenarios. With that in mind, to evaluate how the models are performing under varying conditions, four different types of datasets are created: Gray Scale, Thermal Vision, Night Vision, and Obscura Vision. These simulate the real-world environments such as low visibility, heat-based imagery, and nighttime conditions. The YOLOv11-small model is trained and used to detect objects across diverse settings. This research boosts the performance and reliability of drone-based operations by contributing to the development of advanced detection systems in both defensive and offensive missions.

Mental health has become a global priority, leading to a massive administrative burden in the coding of clinical diagnoses. This study proposes the automation of psychiatric diagnostic analysis by mapping free-text descriptions to the International Classification of Diseases (ICD) using Natural Language Processing (NLP) and Machine Learning (ML) techniques. Utilizing a specialized dataset of 145,513 Spanish psychiatric descriptions, various text representation paradigms were evaluated, ranging from classical frequency-based models (BoW, TF-IDF) to state-of-the-art Large Language Models (LLMs) such as e5\_large, BioLORD, and Llama-3-8B. Results indicate that transformer-based embeddings consistently outperform traditional methods by capturing implicit semantic cues and nuanced medical terminology. The e5\_large model, through end-to-end fine-tuning, achieved the highest performance with a $F1_{micro}$ score of 0.866. This research demonstrates that adapting LLMs to specific clinical nomenclature is essential for overcoming the challenges of ``long-tail'' label distributions and the inherent ambiguity of psychiatric discourse.

LiDAR Inertial Odometry (LIO) is a critical component for many mobile robots that need to navigate without relying on external positioning (e.g., GPS). Platforms that operate autonomously in different environments and with heterogeneous LiDAR sensors require a LIO approach that can adapt to these different scenarios without human intervention. Existing LIO approaches can typically provide reliable and accurate odometry in scenarios with similar environments and sensors when suitably tuned. However, many approaches struggle to retain robust odometry across heterogeneous environments and sensors while using a consistent configuration. This paper presents EllipseLIO, a real-time LIO approach that generalises between scenarios by using methods for LiDAR scan filtering and registration that adapt to the sensor capabilities and environment without requiring scenario-specific tuning. Experiments with EllipseLIO and state-of-the-art LIO approaches on five datasets with diverse and challenging scenarios demonstrate that EllipseLIO is the best-performing approach overall. It achieves a 38% lower odometry error on average than the second-best approach and is the only approach that does not diverge in any experiment. An open-source version of EllipseLIO will be available at github.com/v4rl-ucy/ellipselio.

As the number of model parameters increases, parameter-efficient fine-tuning (PEFT) has become the go-to choice for tailoring pre-trained large language models. Low-rank Adaptation (LoRA) uses a low-rank update method to simulate full parameter fine-tuning, which is widely used to reduce resource requirements. However, decreasing the rank encounters challenges with limited representational capacity. Theory suggests that LoRA fine-tuning with rank r converges toward the top r singular values of the pre-trained weight matrix. As the rank increases, more principal singular directions are preserved, which generally improves the model's performance. However, a larger rank also introduces more trainable parameters, leading to higher computational cost. To overcome this dilemma, we propose SMoA, a \textbf{S}pectrum \textbf{Mo}dulation \textbf{A}dapter that enlarges the accessible family of spectrum-aware updates under a smaller parameter budget. SMoA partitions the layer into multiple aligned spectral blocks and applies one in-block Hadamard-modulated low-rank branch to each diagonal block, yielding broader coverage of pretrained spectral directions. We provide theoretical analysis and empirical results on multiple tasks. In our experiments, SMoA improves average performance in the current lower-budget setting over LoRA and competitive LoRA-style baselines.

Smoothed implicit contact dynamics enables gradient-based planning and control for contact-rich tasks without predefined mode sequences. However, safety-critical control remains challenging because implicit contact dynamics makes safety-filter design nontrivial. The smoothing parameter $κ$ relaxes contact complementarity constraints, which makes the dynamics smooth but affects the contact force. This paper provides a method for bounding the actual contact force despite the use of relaxed complementarity constraints. We show that constraint violations can be non-monotonic in $κ$. Smaller $κ$ reduces force-approximation error, but it does not necessarily improve safety performance. To address this issue, we introduce boundary-focused rollouts to screen $κ$ by comparing the safety margin with the approximation error. We then develop a discrete-time control barrier function (CBF) framework based on a first-order Taylor approximation of the implicitly defined contact force. To account for possible force under-prediction, we augment the resulting safety constraint with a fixed robust margin. Simulations on four contact-rich systems show that the proposed method eliminates force violations observed under a standard CBF.

In this paper, we explore spatial-aware humanoid whole-body manipulation task. Compared with tabletop settings, this task poses two key challenges: 1) Spatial understanding is challenging in complex 3D environments with diverse spatial relations. 2) Action generation is difficult to generalize, as limited and costly real-robot data restricts data-driven models generalization. To address these challenges, we propose a generalizable humanoid loco-manipulation framework that leverages the spatial perception and action generation capabilities of multi-agent large models. Specifically, our framework includes two components: Active Spatial Brain for active spatial perception and decision-making, and Generalizable Action Cerebellum for executable robot action generation. The first component actively perceives the spatial scene and makes decisions on task planning and subtask decomposition. The second component generate executable robot actions based on the decisions made by the first module without needs of task-specific real robot data. To benchmark our framework, we design a set of spatial manipulation tasks from two perspectives: evaluating spatial perception and understanding, and assessing real-robot task performance. The results demonstrate strong performance on both aspects across diverse tasks and environments.