Redundant manipulators are broadly used in safety tasks that require precise execution. However, some actual factors, such as assembly defects and mechanical wear, inevitably introduce uncertainties in their physical parameters. Due to the insufficient excitation, existing methods fail to achieve high-accuracy physical parameter identification, which seriously affects the accurate operation of multiple safety tasks. Considering that quadratic programming (QP) can integrate desired behaviors with constraints into a unified optimization framework and can be solved online in real time, this paper formulates the collision-free trajectory tracking of redundant manipulators with uncertain structure as a QP problem, which describes the trajectory tracking, obstacle avoidance and joint motion limits simultaneously. To tackle the above issues, we first develop an online physical parameters identification method called regularization and zeroing neural dynamics (RZND) by using the state information of the manipulator, which realizes highly accurate physical parameters identification and real-time Jacobian matrix updates. On the basis of this, a multi-task quadruple projection neural network (MT-QPNN) solver is proposed by applying projection operators to handle the joint constraints, and further the trajectory tracking and obstacle avoidance tasks of the redundant manipulator are well achieved. Relative experiments verify that the presented RZND method and MT-QPNN solver can accurately identify physical parameters and enable collision-free tracking with superior performance.
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Conventional threat detection methodologies encounter substantial limitations in real-world complex network settings, owing to their dependence on single-dimensional analysis, vulnerability to adversarial perturbations, and propensity for overfitting. This study introduces an adversarial training optimization framework that incorporates hierarchical label encoding and prompt learning, designed to enhance model robustness and generalization in threat detection. The framework first establishes a hierarchical structure of attack scenarios and types, leveraging a graph attention network to encode semantic and structural dependencies among labels. Subsequently, the classification task is reformulated as a masked language modeling problem through prompt learning, enabling effective semantic alignment. Furthermore, a novel adversarial training mechanism is proposed, which utilizes local hierarchical information as a potent regularization signal. Within a game-theoretic architecture comprising a generator, an encoder, and a discriminator, the encoder is steered to integrate authentic hierarchical priors and produce high-fidelity oracle representations. This process encourages the generator to implicitly assimilate sample-specific hierarchical knowledge during adversarial learning, thereby improving the model's resilience to noisy inputs and its capacity to detect infrequent attacks. Evaluation results show that this method achieves an accuracy of 0.9972–1.0000 in complex mixed scenarios for scenario detection and 0.9987–0.9999 for attack category detection, while exhibiting strong robustness against interference.
FlashAttention improves efficiency through tiling, but its online softmax still relies on floating-point arithmetic for numerical stability, making full quantization difficult. We identify three main obstacles to integer-only FlashAttention: (1) scale explosion during tile-wise accumulation, (2) inefficient shift-based exponential operations on GPUs, and (3) quantization granularity constraints requiring uniform scales for integer comparison. To address these challenges, we propose QFlash, an end-to-end integer FlashAttention design that performs softmax entirely in the integer domain and runs as a single Triton kernel. On seven attention workloads from ViT, DeiT, and Swin models, QFlash achieves up to 6.73x speedup over I-ViT and up to 8.69x speedup on Swin, while reducing energy consumption by 18.8% compared to FP16 FlashAttention, without sacrificing Top-1 accuracy on ViT/DeiT and remaining competitive on Swin under per-tensor quantization. Our code is publicly available at https://github.com/EfficientCompLab/qflash.
Generalized vehicle trajectory prediction across diverse junctions, including urban intersections and roundabouts, remains a fundamental task in Cooperative Vehicle–Infrastructure Systems (CVIS). This study faces two key challenges: (1) Generalize across junctions with heterogeneous map semantics and traffic behavioral patterns, where the former arises from differences in road topologies and traffic regulations, and the latter reflects diverse behavioral intentions of road users; (2) Scenario-adaptive interaction modeling, where single-modality trajectory learning captures local spatio-temporal correlation, but lacks map constraint and direction-aware interaction contexts. To overcome these challenges, we propose G-VTM, a generalized vision-trajectory model. G-VTM models fine-grained behavioral patterns and relative spatial interaction from trajectory modality. At the vision modality, G-VTM captures global map semantics while modeling scenario- and direction-aware interaction based on intuitive visual perception. Experiments on multiple real-world datasets collected by unmanned aerial vehicles (UAVs) demonstrate that our method achieves strong generalized performance under heterogeneous traffic conditions. The code is provided at https://github. com/zxyhaclyon/G-VTM.
Contrastive learning has become a dominant paradigm for learning time series representations from large-scale unlabeled data. However, current methods are often adapted from computer vision and rely on random time-domain augmentations (e.g., jittering and cropping). Such augmentations can unpredictably disrupt the natural frequency structure of signals, leading to representations failing to capture crucial patterns in the data. To address this, we propose a framework of Frequency-Aware Augmentation and Alignment for Time Series Contrastive Learning (FACL), which comprises two key innovations. First, FACL employs a novel frequency-structured augmentation mechanism based on wavelet transforms. The mechanism constructs controlled and interpretable contrastive views by the structured attenuation and recombination of specific wavelet components. Second, FACL introduces a multi-level contrastive objective that incorporates a subspace alignment strategy. This objective explicitly aligns representations within their corresponding frequency subspaces. Experiments across six forecasting and four classification benchmarks show that FACL achieves superior performance compared to recent baselines. Ablation studies and model analysis highlight the contribution of each component in FACL. Furthermore, low-sample semi-supervised learning experiments confirm the robustness and generalization of FACL.
Algorithms for Context Engineering in LLM Inference: Optimization of Placement, Compression, and Scheduling
PDF ↗Scaling long-context and agentic LLMs is increasingly limited by memory capacity and bandwidth rather than FLOPs. I propose an algorithmic framework for context engineering that models placement, compression, and scheduling as coupled optimization problems with explicit accuracy-efficiency trade-offs. Concretely, I aim to develop (1) salience-aware retention/eviction policies with provable approximation guarantees relative to an ideal oracle; (2) tier-dependent compression schemes that bound error propagation across memory levels; and (3) probabilistic prefetch/scheduling that controls tail latency. I will evaluate on long-context language modeling and reasoning benchmarks, isolating each component via ablations and comparing against heuristic baselines under controlled bandwidth/capacity regimes. Results target improved throughput and energy metrics at near-baseline quality, advancing principled, hardware-aware inference without requiring custom hardware.
The management and annotation of complex, multi-modal scientific data remains a major obstacle for AI-driven research due to poor reusability and scalability of current solutions. We propose SciDataMAS, a novel LLM-powered multi-agent system (MAS), which automate scientific data management through a structured data lake with provenance-based organization and an adaptive metadata taxonomy. The system uses specialized workflows for automated dataset creation, data insertion and retrieval. Experiments show the system's proficiency, with modern LLMs like GPT-5 successfully generating rich metadata schemas and filling them with high accuracy. This work provides a foundational step towards fully automated, reusable, and scalable scientific data organization which may lead to generation and accumulation by scientific community well annotated AI-ready datasets.
The computational cost of large language models (LLMs) is a primary obstacle to sustainable deployment. Static resource allocation is inefficient, as not all inputs require the same depth of processing. We propose a framework for adaptive, compute-efficient learning via conceptual criticality, which dynamically tailors computation to the assessed difficulty of an input. A lightweight criticality prediction module es- timates conceptual complexity on a continuous scale, and this score governs the LLM’s inference pathway, selectively activating token pruning, layer skipping, and quantization. Simple inputs are processed with minimal FLOPs and la- tency, while complex inputs use the model’s full capacity to preserve accuracy. We benchmark our framework and in- troduce metrics to quantify sensitivity to input criticality and per-sample computational savings. Results demonstrate an improved accuracy-efficiency trade-off, paving the way for more resource-aware systems.
Global biodiversity is declining at unprecedented rates, yet traditional monitoring at the necessary scales remains costly and biased toward what can be seen. Sound offers a complementary lens: many species are detected more reliably by their vocalizations, microphones are inexpensive and unobtrusive, and they can cover greater spatial and temporal scales. These advantages have made passive acoustic monitoring a fast-growing paradigm, yet robust, generalizable sound distinction in complex soundscapes remain a central obstacle. My thesis addresses this by combining data-driven human-inspired representation learning with knowledge-guided unsupervised learning to prioritize hierarchical organization and structure discovery prior to labelling. Human-in-the-loop oversight is incorporated as targeted verification under uncertainty, drawing on active learning and weak supervision to direct effort where it has the highest value.
As artificial intelligence (AI) becomes increasingly integrated into daily life, higher education must move beyond code-centric instruction to foster holistic AI literacy. We present a novel pedagogical approach that integrates embodied, unplugged activities into a university-level Introduction to AI course. Inspired by the effectiveness of CS Unplugged in K-12 education, our physical, collaborative activities gave students a first-person perspective on AI decision-making. Through interactive games modeling Search Algorithms, Markov Decision Processes, Q-learning, and Hidden Markov Models, students built an intuition for complex AI concepts and more easily transitioned to mathematical formalizations and code implementations. We present four unplugged AI activities, describe how to bridge from unplugged activities to plugged coding tasks, reflect on implementation challenges, and propose refinements. We suggest that unplugged activities can effectively bridge conceptual reasoning and technical skill-building in university-level AI education.
Poaching poses significant threats to biodiversity. A valuable step in reducing poaching is to forecast poacher behavior, which can inform patrol deployment and other conservation interventions. Existing poaching prediction methods based on linear models or decision trees lack the expressivity to capture complex, nonlinear spatiotemporal patterns. Recent advances in generative modeling, particularly flow matching, offer a more flexible alternative. However, training such models on real-world poaching data faces two central obstacles: imperfect detection of poaching events and limited data. To address imperfect detection, we integrate flow matching with an occupancy-based detection model and train the flow in latent space to infer the underlying occupancy state. To mitigate data scarcity, we adopt a composite flow initialized from a linear-model prediction rather than random noise which is the standard in diffusion models, injecting prior knowledge and improving generalization. Evaluations on datasets from two national parks in Uganda show consistent gains in predictive accuracy.
PRIMP: PRobabilistically-Informed Motion Primitives for Efficient Affordance Learning from Demonstration (Abstract Reprint)
PDF ↗This paper proposes a learning-from-demonstration (LfD) method using probability densities on the workspaces of robot manipulators. The method, named PRobabilistically-Informed Motion Primitives (PRIMP), learns the probability distribution of the end effector trajectories in the 6D workspace that includes both positions and orientations. It is able to adapt to new situations such as novel via points with uncertainty and a change of viewing frame. The method itself is robot-agnostic, in that the learned distribution can be transferred to another robot with the adaptation to its workspace density. Workspace-STOMP, a new version of the existing STOMP motion planner, is also introduced, which can be used as a post-process to improve the performance of PRIMP and any other reachability-based LfD method. The combination of PRIMP and Workspace-STOMP can further help the robot avoid novel obstacles that are not present during the demonstration process. The proposed methods are evaluated with several sets of benchmark experiments. PRIMP runs more than 5 times faster than existing state-of-the-art methods while generalizing trajectories more than twice as close to both the demonstrations and novel desired poses. They are then combined with our lab’s robot imagination method that learns object affordances, illustrating the applicability to learn tool use through physical experiments.
Oracle Bone Script, East Asia's earliest mature writing system from over 3,500 years ago, encodes ancient cognition through visual metaphors, yet remains largely undeciphered and inaccessible, severing modern society from its cultural roots. Traditional AI methods, while accurate in classification, treat glyphs as opaque data, neglecting their pictographic essence and failing to foster public understanding—exacerbating a heritage crisis amid linguistic evolution. We pioneer a paradigm shift toward AI-driven cultural democratization, introducing OracleVis, the first human-validated multimodal dataset of glyph-image-explanation triplets, curated through expert collaborations to overcome data scarcity, bias, and incompleteness in archaeological sources. Building on this, OBS-VM, an explainability-centric multimodal large language model fine-tuned on Qwen2-VL-7B, models pictographic reasoning by balancing semantic fidelity with interpretive transparency, transforming black-box predictions into cognition-aligned narratives. Rigorous evaluations, including benchmarks and a user study with 24 non-experts, reveal our system's superiority: it outperforms GPT-4o in pictographic rationality (3.79 vs. 3.58 in human evaluation) and achieves a 35.3% relative improvement in recognition accuracy, while interactive learning boosts knowledge gains (+5.5 vs. +1.7), interest (+1.9 vs. +0.4), and confidence (+2.0 vs. +0.3) over static methods. This work illuminates AI's potential to bridge ancient wisdom and contemporary audiences, redefining heritage preservation as an inclusive, socially impactful endeavor that turns cultural alienation into enlightened engagement.
Animal re-identification (Re-ID) has recently gained substantial attention in the AI research community due to its high impact on biodiversity monitoring and unique research challenges arising from environmental factors. The subtle distinguishing patterns like stripes or spots, handling new species and the inherent open-set nature make the problem even harder. To address these complexities, foundation models trained on labeled, large-scale and multi-species animal Re-ID datasets have recently been introduced to enable zero-shot Re-ID. However, our benchmarking reveals significant gaps in their zero-shot Re-ID performance for both known and unknown species. While this highlights the need for collecting labeled data in new domains, exhaustive annotation for Re-ID is laborious and requires domain expertise. Our analyses also show that existing unsupervised (USL) and active learning (AL) Re-ID methods underperform for animal Re-ID. To address these limitations, we introduce a novel AL Re-ID framework that leverages complementary clustering methods to uncover and target structurally ambiguous regions in the embedding space for mining pairs of samples that are both informative and broadly representative. Oracle feedback on these pairs, in the form of must-link and cannot-link constraints, facilitates a simple annotation interface, which naturally integrates with existing USL methods through our proposed constrained clustering refinement algorithm. Through extensive experiments, we demonstrate that, by utilizing only 0.033% of all possible annotations, our approach consistently outperforms existing foundational, USL and AL baselines. Specifically, we report an average improvement of 10.49%, 11.19% and 3.99% (mAP) on 13 wildlife datasets over foundational, USL and AL methods, respectively, while attaining state-of-the-art performance on each dataset. Furthermore, we also show an improvement of 11.09%, 8.2% and 2.06% (AUC ROC) for unknown individuals in an open-world setting. We also present results on 2 publicly available person Re-ID datasets, showing average gains of 7.96% and 2.86% (mAP) over existing USL and AL Re-ID methods.
Navigating new indoor spaces and interacting with the environment presents many challenges for people who are blind or have low vision (BLV). To address these challenges, we prototyped a smartphone-based conversational assistant that helps BLV people navigate and interact with their environment. The prototype utilizes a cognitive architecture to integrate three different technologies: (i) augmented-reality spatial anchors for high-precision localization and access to static information about the environment; (ii) real-time object/people detection for information about the environment and obstacle avoidance; and (iii) a conversational agent}that uses large language models (LLMs) for information extraction, conversational interaction, and turn-by-turn navigation. We assess the impact of different technologies on human performance by measuring user task time and errors. We found that conversational interaction holistically integrates the different technologies to deliver a better user experience while significantly reducing task completion time.
Assistive robotics is an important subarea of robotics that focuses on the well-being of people with disabilities. A robotic guide dog is an assistive quadruped robot for assisting visually impaired people in obstacle avoidance and navigation. Enabling language capabilities on robotic guide dogs goes beyond naively adding an existing dialog system onto a mobile robot. The novel challenges include grounding language to the dynamically changing environment and improving spatial awareness for the human handler. To address those challenges, we develop a novel dialog system for robotic guide dogs that uses large language models to verbalize both navigational plans and scenes. The goal is to enable verbal communication for collaborative decision-making within the handler-robot team. In experiments, we performed a human study to evaluate different verbalization strategies, and a simulation study to evaluate the efficiency and accuracy in navigation tasks.
Reinforcement learning (RL) has recently become a powerful yet resource-intensive approach for post-training large language models (LLMs). Incorporating curriculum learning (CL) into RL has been shown to significantly improve training efficiency, particularly in reasoning tasks. However, existing CL methods face substantial challenges in multi-objective RL (MORL) settings, including: (1) difficulty in evaluating model capabilities online, (2) challenges in assessing sample importance under diverse objectives, and (3) inherent trade-offs between online training and offline inference in dynamically designing the curriculum. To address these issues, we propose a Multi-Reward space guided Adaptive Curriculum Learning framework (MRACL), which is the first to incorporate curriculum learning into multi-objective RL. MRACL first constructs a multi-dimensional reward space via offline inference to establish initial reward profiles for each training sample. During training, based on reward space, it estimates the evolving model capabilities by computing the centroid of the space and calculates the sample priority score through its capability distance, optimization direction, and historical evolution, which enables adaptive selection of the most informative training samples at each step, independent of the specific RL algorithm. After each RL training iteration, the reward space is dynamically updated to reflect the model's evolving capabilities and the shifting distribution of sample priorities. Experiments on multi-objective alignment tasks demonstrate that MRACL achieves 1.62× faster convergence compared to state-of-the-art curriculum methods and 2.55× faster than non-curriculum methods. Furthermore, it consistently outperforms all baselines in both win rate and rule-based evaluation. We further provide an in-depth analysis of the key factors contributing to \modelname's effectiveness, along with its advantages, scenarios, and generalization across diverse settings.
Deep learning (DL) models are increasingly deployed in safety-critical applications such as face recognition, autonomous driving, and medical diagnosis. Despite their impressive accuracy, they remain vulnerable to adversarial examples - subtle perturbations that can cause incorrect predictions, i.e., the robustness issues. While adversarial training improves robustness against known attacks, it often fails to generalize to unseen or stronger threats, revealing a critical gap in robustness generalization. In this work, we propose a dual-model fuzzing framework to enhance generalized robustness in DL models. Central to our method is a lightweight metric, the Lagrangian Information Bottleneck (LIB), which guides entropy-based mutation toward semantically meaningful and high-risk regions of the input space. The executor uses a resistant model and a more error-prone vulnerable model; their prediction consistency forms the basis of agreement mining, a label-free oracle for isolating decision-boundary samples. To ensure fuzzing effectiveness, we further introduce a task-driven seed selection strategy (e.g., SSIM for vision) that filters out low-quality inputs. We implement a prototype, TWINFUZZ, and evaluate it on six benchmark datasets and nine DL models. Compared with state-of-the-art testing approaches, TWINFUZZ achieves superior improvements in both training-specific and generalized robustness.
Designing effective algorithmic components remains a fundamental obstacle in tackling NP-hard combinatorial optimization problems (COPs), where solvers often rely on carefully hand-crafted strategies. Despite recent advances in using large language models (LLMs) to synthesize high-quality components, most approaches restrict the search to a single element—commonly a heuristic scoring function—thus missing broader opportunities for innovation. We introduce a broader formulation of solver design as a multi-strategy optimization problem, which seeks to jointly improve a set of interdependent components under a unified objective. To address this, we propose MOTIF—Multi-strategy Optimization via Turn-based Interactive Framework—a novel framework based on Monte Carlo Tree Search that facilitates turn-based optimization between two LLM agents. At each turn, an agent improves one component by leveraging the history of both its own and its opponent’s prior updates, promoting both competitive pressure and emergent cooperation. This structured interaction broadens the search landscape and encourages the discovery of diverse, high-performing solutions. Experiments across multiple COP domains show that MOTIF consistently outperforms state-of-the-art methods, highlighting the promise of turn-based, multi-agent prompting for fully automated solver design.
The Euclidean Shortest Path Problem (ESPP) is a classic problem which requires finding the shortest path in a Euclidean plane with polygonal obstacles. The state-of-the-art solution, Euclidean Hub Labeling (EHL), offers ultra-fast query performance but comes with significant memory overhead, requiring up to tens of gigabytes of storage on large maps, limiting its use in memory-constrained environments like mobile phones. Additionally, EHL's memory usage can only be determined after index construction, and while it provides a memory-runtime tradeoff, it does not fully optimize memory utilization. In this work, we introduce an improved version of EHL, called EHL*, which overcomes these limitations. A key contribution of EHL* is its ability to create an index that adheres to a specified memory budget while optimizing query runtime performance. Moreover, EHL* can leverage pre-known query distributions, a common scenario in many real-world applications, to further enhance runtime efficiency. Our results show that EHL* can reduce memory usage by up to 10-20 times without much impact on query runtime performance compared to EHL, making it a highly effective solution for optimal pathfinding in memory-constrained environments. We also present a theoretical analysis comparing EHL* with EHL, providing insights into their indexing and query processing cost.