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Spiking Neural Networks (SNNs) offer a biologically inspired foundation for low-power, event-driven intelligence, yet their direct on-chip supervised training remains a key hardware challenge. This paper presents a multiplication-free, spike-time-based learning algorithm specifically designed for efficient FPGA realization. The proposed approach eliminates floating-point arithmetic and explicit gradient storage, enabling a fully event-driven, digital training pipeline. Implemented on a Xilinx Artix-7 FPGA, the architecture achieves high operating speed and minimal resource usage while maintaining competitive accuracy. These results demonstrate that the learning algorithm effectively maps onto reconfigurable hardware, achieving both computational and energy efficiency. Software simulations further validate scalability, with 96.5% and 84.8% accuracy on MNIST and Fashion-MNIST. With its spike-driven and multiplier-free operation, the proposed framework delivers a practical and scalable hardware solution for real-time, on-chip SNN learning in edge environments.

Deploying proprietary Deep Neural Networks (DNNs) on commodity edge devices demands hardware-backed Digital Rights Management (DRM) capable of withstanding both software-level and physical adversaries. In Unified Memory Architecture (UMA) systems, the host CPU and Neural Processing Unit (NPU) share physical DRAM, leaving plaintext model weights directly readable by a compromised OS kernel. Existing defenses fail in this constrained setting: trusted execution environments monopolize scarce memory with permanently reserved regions, while full-memory encryption operates at page granularity. This forces the system to fetch massive 4 KB memory pages for sub-page tensor tiles, severely crippling bandwidth. We present Tessera, a reference architecture for inline, cache-line granularity weight decryption on UMA edge accelerators. The design intercepts 64-byte AXI bursts, computing AES-256-CTR keystreams in parallel with DRAM fetches. This streams plaintext directly into isolated NPU SRAM, creating a transient memory footprint confined to the active tile and eliminating the need for permanent memory carve-outs. Measurements across three distinct SoC platforms demonstrate that this parallelization hides cryptographic latency behind standard DRAM fetch times, a condition that holds even under worst-case timing variations. Consequently, Tessera is projected to achieve 98.4% of the theoretical memory bandwidth ceiling (a mere 1.6% overhead). Across standard vision and language models, page-level memory encryption suffers up to a 32x bandwidth penalty, whereas Tessera maintains an optimal 1x footprint for all layer geometries. Finally, Tessera neutralizes major UMA-specific attack vectors -- including physical DRAM extraction, rogue DMA, and compute hijacking -- and formally prevents plaintext leakage across sparse tensors.

Large language model-based agents have recently emerged as powerful approaches for solving dynamic and multi-step tasks. Most existing agents employ planning mechanisms to guide long-term actions in dynamic environments. However, current planning approaches face a fundamental limitation that they operate at a fixed granularity level. Specifically, they either provide excessive detail for simple tasks or insufficient detail for complex ones, failing to achieve an optimal balance between simplicity and complexity. Drawing inspiration from the principle of \textit{progressive refinement} in cognitive science, we propose \textbf{AdaPlan-H}, a self-adaptive hierarchical planning mechanism that mimics human planning strategies. Our method initiates with a coarse-grained macro plan and progressively refines it based on task complexity. It generates self-adaptive hierarchical plans tailored to the varying difficulty levels of different tasks, which can be optimized by imitation learning and capability enhancement. Experimental results demonstrate that our method significantly improves task execution success rates while mitigating overplanning at the planning level, providing a flexible and efficient solution for multi-step complex decision-making tasks. To contribute to the community, our code and data will be made publicly available at https://github.com/import-myself/AHP.

Accurate molecular representations are critical for drug discovery, and a central challenge lies in capturing the chemical environment of molecular fragments, as key interactions, such as H-bond and π stacking, occur only under specific local conditions. Most existing approaches represent molecules as atom-level graphs; however, atom-level representations can hardly express higher-order chemical context (e.g., stereochemistry, lone pairs, conjugation). Fragment-based methods (e.g., principal subgraph, predefined functional groups) fail to preserve essential information such as chirality, aromaticity, and ionic states. This work addresses these limitations from two aspects. (i) OverlapBPE tokenization. We propose a novel data-driven molecule tokenization method. Unlike existing approaches, our method allows overlapping fragments, reflecting the inherently fuzzy boundaries of small-molecule substructures and, together with enriched chemical information at the token level, thereby preserving a more complete chemical context. (ii) h-MINT model. OverlapBPE induces many-to-many atom-fragment mappings, which necessitate a new hierarchical architecture. We therefore develop a hierarchical molecular interaction network capable of jointly modeling interactions at both atom and fragment levels. By supporting fragment overlaps, the model naturally accommodates the many-to-many atom-fragment mappings introduced by the OverlapBPE scheme. Extensive evaluation against state-of-the-art methods shows our method improves binding affinity prediction by 2-4% Pearson/Spearman correlation on PDBBind and LBA, enhances virtual screening by 1-3% in key metrics on DUD-E and LIT-PCBA, and achieves the best overall HTS performance on PubChem assays. Further analysis demonstrates that our method effectively captures interactive information while maintaining good generalization.

Indoor environments lack the spatial intelligence infrastructure that GPS provides outdoors; first responders arriving at unfamiliar buildings typically have no machine-readable map of safety equipment. Prior work on 3D semantic segmentation for public safety identified two barriers: scarcity of labeled indoor training data and poor recognition of small safety-critical features by native point-cloud methods. This paper presents INSIGHT, a zero-target-domain-annotation pipeline that projects 2D image understanding into 3D metric space via registered RGB-D data. Two interchangeable vision stacks share a common 3D back end: a SAM3 foundation-model stack for text-prompted segmentation, and a traditional CV stack (open-set detection, VQA, OCR) whose intermediate outputs are independently inspectable. Evaluated on all seven subareas of Stanford 2D-3D-S (70{,}496 images), the pipeline produces Pointcept-schema-compatible labeled point clouds and ISO19164-compliant scene graphs with ${\sim}10^{4}{\times}$ compression; role-filtered payloads transmit in ${<}15$,s at 1,Mbps over FirstNet Band14. We report per-point labeling accuracy on 7 shared classes, detection sensitivity for 15 safety-critical classes absent from public 3D benchmarks alongside code-capped deployable estimates, and inter-pipeline complementarity, demonstrating that 2D-to-3D semantic transfer addresses the labeled-data bottleneck while scene graphs provide building intelligence compact enough for field deployment.

Urban flooding affects lives and infrastructure worldwide. Mapping inundation in complex urban environments from satellite imagery remains challenging due to limited spatial resolution, infrequent acquisitions, and cloud cover. We present Urban Flood Observations (UFO), a global, hand-labeled dataset of post-flood inundation in diverse urban settings. UFO comprises 215 image chips (1024 by 1024 pixels) from 14 flood events between 2017 and 2021, derived from 3 m PlanetScope imagery. Each chip is annotated with two classes: 'inundated' (all visible surface water, including floodwater and pre-existing water bodies (permanent or seasonal)) and 'non-inundated'. To demonstrate the dataset's utility, we trained a segmentation model using leave-one-event-out cross-validation, achieving a mean Intersection over Union (IoU) of 77.3. We also used UFO to evaluate two widely used surface water products, the Sentinel-1-based NASA IMPACT model and Google's 10 m Dynamic World water class, which yielded IoUs of 44.1 and 48.1, respectively. UFO is publicly available to support the development and validation of urban inundation mapping methods.

We propose a simple yet effective alternative to reward normalization in policy gradient reinforcement learning by integrating a 1D Kalman filter for online reward estimation. Instead of relying on fixed heuristics, our method recursively estimates the latent reward mean, smoothing high-variance returns and adapting to non-stationary environments. This approach incurs minimal overhead and requires no modification to existing policy architectures. Experiments on \textit{LunarLander} and \textit{CartPole} demonstrate that Kalman-filtered rewards significantly accelerate convergence and reduce training variance compared to standard normalization techniques. Code is available at https://github.com/Sumxiaa/Kalman_Normalization.

Despite remarkable progress in Vision--Language--Action (VLA) models, a central bottleneck remains underexamined: the data infrastructure that underlies embodied learning. In this survey, we argue that future advances in VLA will depend less on model architecture and more on the co-design of high-fidelity data engines and structured evaluation protocols. To this end, we present a systematic, data-centric analysis of VLA research organized around three pillars: datasets, benchmarks, and data engines. For datasets, we categorize real-world and synthetic corpora along embodiment diversity, modality composition, and action space formulation, revealing a persistent fidelity-cost trade-off that fundamentally constrains large-scale collection. For benchmarks, we analyze task complexity and environment structure jointly, exposing structural gaps in compositional generalization and long-horizon reasoning evaluation that existing protocols fail to address. For data engines, we examine simulation-based, video-reconstruction, and automated task-generation paradigms, identifying their shared limitations in physical grounding and sim-to-real transfer. Synthesizing these analyses, we distill four open challenges: representation alignment, multimodal supervision, reasoning assessment, and scalable data generation. Addressing them, we argue, requires treating data infrastructure as a first-class research problem rather than a background concern.

Failure attribution, i.e., identifying the responsible agent and decisive step of a failure, is particularly challenging in LLM-based multi-agent systems (MAS) due to their natural-language reasoning, nondeterministic outputs, and intricate interaction dynamics. A reliable benchmark is therefore essential to guide and evaluate attribution techniques. Yet existing benchmarks rely on partially observable traces that capture only agent outputs, omitting the inputs and context that developers actually use when debugging. We argue that failure attribution should be studied under full execution observability, aligning with real-world developer-facing scenarios where complete traces, rather than only outputs, are accessible for diagnosis. To this end, we introduce TraceElephant, a benchmark designed for failure attribution with full execution traces and reproducible environments. We then systematically evaluate failure attribution techniques across various configurations. Specifically, full traces improve attribution accuracy by up to 76% over a partial-observation counterpart, confirming that missing inputs obscure many failure causes. TraceElephant provides a foundation for follow-up failure attribution research, promoting evaluation practices that reflect real-world debugging and supporting the development of more transparent MASs.

The increasing adoption of AI systems in hiring has raised concerns about algorithmic bias and accountability, prompting regulatory responses including the EU AI Act, NYC Local Law 144, and Colorado's AI Act. While existing research examines bias through technical or regulatory lenses, both perspectives overlook a fundamental challenge: modern AI hiring systems operate within complex supply chains where responsibility fragments across data vendors, model developers, platform providers, and deploying organizations. This paper investigates how these dependency chains complicate bias evaluation and accountability attribution. Drawing on literature review and regulatory analysis, we demonstrate that fragmented responsibilities create two critical problems. First, bias emerges from component interactions rather than isolated elements, yet proprietary configurations prevent integrated evaluation. A resume parser may function without bias independently but contribute to discrimination when integrated with specific ranking algorithms and filtering thresholds. Second, information asymmetries mean deploying organizations bear legal responsibility without technical visibility into vendor-supplied algorithms, while vendors control implementations without meaningful disclosure requirements. Each stakeholder may believe they are compliant; nevertheless, the integrated system may produce biased outcomes. Analysis of implementation ambiguities reveals these challenges in practice. We propose multi-layered interventions including system-level audits, vendor guidelines, continuous monitoring mechanisms, and documentation across dependency chains. Our findings reveal that effective governance requires coordinated action across technical, organizational, and regulatory domains to establish meaningful accountability in distributed development environments.

Shapley values are a cornerstone of explainable AI, yet their proliferation into competing formulations has created a fragmented landscape with little consensus on practical deployment. While theoretical differences are well-documented, evaluation remains reliant on quantitative proxies whose alignment with human utility is unverified. In this work, we use a unified amortized framework to isolate semantic differences between eight Shapley variants under the low-latency constraints of operational risk workflows. We conduct a large-scale empirical evaluation across four risk datasets and a realistic fraud-detection environment involving professional analysts and 3,735 case reviews. Our results reveal a fundamental misalignment: standard quantitative metrics, such as sparsity and faithfulness, are decoupled from human-perceived clarity and decision utility. Furthermore, while no formulation improved objective analyst performance, explanations consistently increased decision confidence, signaling a critical risk of automation bias in high-stakes settings. These findings suggest that current evaluation proxies are insufficient for predicting downstream human impact, and we provide evidence-based guidance for selecting formulations and metrics in operational decision systems.

This study investigates the structural organisation of Dante's Divina Commedia through a symbolic representation based on vowel-consonant (V/C) encoding. Modelling the resulting sequence as a four-state Markov chain yields a parsimonious index of graphemic memory, capturing local persistence and alternation patterns. Across the poem, this index shows a slight but consistent increase from the Inferno to the Paradiso, indicating a directional shift in local dependency structure. Trigram analysis identifies a restricted set of recurrent configurations acting as graphemic probes, linking Markov patterns to lexical environments and orthographic phenomena such as apostrophised forms. A complementary classification analysis identifies cantica-specific lexical anchors, showing that local symbolic dependencies reflect both the separation among the three cantiche and a continuous progression across the poem. The results provide an interpretable framework connecting local symbolic structure with higher-level textual organisation.

CLIP has demonstrated strong generalization in visual domains through natural language supervision, even for video action recognition. However, most existing approaches that adapt CLIP for action recognition have primarily focused on temporal modeling, often overlooking spatial perception. In real-world scenarios, visual challenges such as low-light environments or egocentric viewpoints can severely impair spatial understanding, an essential precursor for effective temporal reasoning. To address this limitation, we propose Efficient Visual Prompting for CLIP (EV-CLIP), an efficient adaptation framework designed for few-shot video action recognition across diverse scenes and viewpoints. EV-CLIP introduces two visual prompts: mask prompts, which guide the model's attention to action-relevant regions by reweighting pixels, and context prompts, which perform lightweight temporal modeling by compressing frame-wise features into a compact representation. For a comprehensive evaluation, we curate five benchmark datasets and analyze domain shifts to quantify the influence of diverse visual and semantic factors on action recognition. Experimental results demonstrate that EV-CLIP outperforms existing parameter-efficient methods in overall performance. Moreover, its efficiency remains independent of the backbone scale, making it well-suited for deployment in real-world, resource-constrained scenarios. The code is available at https://github.com/AI-CV-Lab/EV-CLIP.

As the demand to integrate Artificial Intelligence into high-stakes environments continues to grow, explaining the reasoning behind neural-network predictions has shifted from a theoretical curiosity to a strict operational requirement. Our work is motivated by the explanations of autoregressive neural predictions on dynamic physical fields, as in weather forecasting. Gradient-based feature attribution methods are widely used to explain the predictions on such data, in particular due to their scalability to high-dimensional inputs. It is also interesting to remark that gradient-based techniques such as SmoothGrad are now standard on images to robustify the explanations using pointwise averages of the attribution maps obtained from several noised inputs. Our goal is to efficiently adapt this aggregation strategy to dynamic physical fields. To do so, our first contribution is to identify a fundamental failure mode when averaging perturbed attribution maps on dynamic physical fields: stochastic input perturbations do not induce stationary amplitude noise in attribution maps, but instead cause a geometric displacement of the attributions. Consequently, pointwise averaging blurs these spatially misaligned features. To tackle this issue, we introduce WassersteinGrad, which extracts a geometric consensus of perturbed attribution maps by computing their entropic Wasserstein barycenter. The results, obtained on regional weather data and a meteorologist-validated neural model, demonstrate promising explainability properties of WassersteinGrad over gradient-based baselines across both single-step and autoregressive forecasting settings.

Large language models (LLMs) often fail to meet the pedagogical needs of K-12 English learners in non-native contexts due to a proficiency mismatch. To address this widespread challenge, we introduce a proficiency-aligned framework that adapts LLM outputs to learner abilities, using China's national curriculum (CSE) as a representative case. Our framework enables precise control over lexical complexity through a four-tier grading system, supported by a comprehensive suite of new resources: graded vocabulary lists and a multi-turn dialogue corpus. Our core technical contribution is the \textbf{DDPO} algorithm,Diversity Driven Policy Optimization, a multi-turn GRPO-based approach designed to preserve dialogue diversity while holistically optimizing dialogue quality. This method significantly outperforms conventional approaches, achieving low out-of-vocabulary rates and high diversity while enhancing conversational naturalness and pedagogical value. While grounded in the CSE, our framework is designed for flexibility and can be readily adapted to other educational standards. Our models, data, and code will all be open-sourced, providing a scalable platform for personalized English speaking practice that effectively addresses the unique challenges faced by K-12 learners in non-immersive environments.

Autonomous systems increasingly operate under partial observability where execution-relevant state is never fully accessible. Existing governance mechanisms -- trusted execution environments, oracle-signed state proofs, cryptographic attestation -- enforce the integrity of computation and state projections. We show this is structurally insufficient: an authenticated projection of state is necessary but never sufficient for execution validity. We introduce the Reconstructive Authority Model (RAM), which separates integrity from coverage. RAM defines a reconstruction gate that reasons over an explicit coverage envelope -- comprising proven state, declared assumptions, and an acknowledged unobservable residual -- and permits execution only when coverage is adequate for the action class. When coverage is insufficient, RAM narrows privileges dynamically or fails closed. Attestation proves trust in measurement; RAM proves adequacy of what is measured. We formalize RAM, prove necessity via two theorems (attestation insufficiency and RAM necessity) and three corollaries, and present a hybrid RAM+Attestation architecture with privilege-narrowing. Synthetic experiments (N=100,000, seed=42) show RAM achieves zero invalid execution rates at all coverage levels. Attestation-based systems exhibit IER=0.423 at low coverage and IER=0.233 even at full coverage, the latter arising from undefined-state handling failures undetectable by integrity checks alone. This reframes execution validity as a coverage reconstruction problem, distinct from and complementary to integrity guarantees provided by attestation.

Automated train operation on existing railway infrastructure requires robust camera-based perception, yet the railway domain lacks public benchmark suites with standardized evaluation protocols that would enable reproducible comparison of approaches. We present RAIL-BENCH, the first perception benchmark suite for the railway domain. It comprises five challenges - rail track detection, object detection, vegetation segmentation, multi-object tracking, and monocular visual odometry - each tailored to the specific characteristics of railway environments. RAIL-BENCH provides curated training and test datasets drawn from diverse real-world scenarios, evaluation metrics, and public scoreboards (https://www.mrt.kit.edu/railbench). For the rail track detection challenge we introduce LineAP, a novel segment-based average precision metric that evaluates the geometric accuracy of polyline predictions independently of instance-level grouping, addressing key limitations of existing line detection metrics.

Indoor positioning is an essential technology for a wide range of applications in GNSS-denied environments, including indoor navigation and IoT systems. Combining convolutional neural networks (CNNs) and magnetic field-based features offers a low-cost, infrastructure-free solution for precise positioning. While magnetic fingerprints are a promising approach for indoor positioning, models trained on raw 3D magnetometer data are highly sensitive to device orientation. We address this by using two rotation invariant features derived from the 3D magnetic field: the norm (Mn) and the projection onto the gravity axis (Mg). We train a lightweight 7-layer dilated CNN (MagNetS/XL) on magnetic sequences to directly regress (x, y) positions. Using the MagPie dataset (three buildings, handheld trajectories), we systematically evaluate fixed and random rotations of test and/or train data. Raw 3D inputs (Mx, My , Mz) exhibit isotropic error increases under fixed 90° rotations and further degrade with growing random rotations. In contrast, 2D (Mn, Mg) inputs maintain rotation invariant accuracy and surpass the 3D inputs once rotation exceeds building-specific thresholds for three reference buildings: 0° for Loomis (large), 5° for Talbot (medium), and 6° for CSL (small). MagNetXL achieves or exceeds state-of-the-art accuracy on the MagPie dataset, and MagNetS delivers similar performance with roughly one third of the parameters, favoring mobile deployment. These results show that the robustness gained from rotation invariant inputs outweighs the loss of input dimensionality in realistic usage, allowing mapping and localization without orientation alignment or added infrastructure.

Heat exposure connects the built environment and public health, directly shaping the livability and sustainability of urban areas. Understanding the spatial heterogeneity of heat exposure and its drivers is vital for climate-adaptive urban planning. However, most planning-oriented studies rely on land surface temperature (LST), and whether LST adequately represents human heat exposure and how it differs from physiologically relevant heat stress remains insufficiently examined. Here, using Landsat-retrieved 30-m LST and GPU-accelerated 1-m universal thermal climate index (UTCI) in Singapore, this study establishes a comprehensive "Modeling-Comparing-Assessing" framework to systematically evaluate the spatial and mechanistic differences between these two metrics. We further investigate their pronounced non-stationary and threshold-based relationships with urban factors using a novel geographically weighted XGBoost (GW-XGBoost) and generalized additive model (GAM) workflow. Our results reveal substantial differences in the spatial patterns of LST and UTCI, along with marked spatial heterogeneity in how 2D and 3D urban factors impact these thermal metrics, as demonstrated by explainable GW-XGBoost models (test R2 = 0.855 for LST and 0.905 for UTCI). Crucially, spatially explicit SHAP shows that sky view factor plays a central role in explaining UTCI variability but exhibits a comparatively marginal independent contribution to LST, indicating that LST inadequately captures shading-driven and radiative processes governing actual human heat stress. Moreover, SHAP-GAM analysis indicates that higher albedo is associated with increased UTCI. These findings provide model-informed planning implications for integrating physiologically relevant thermal indices to support targeted heat risk management and human-centric urban planning.

Even when decoding with temperature $T=0$, large language models (LLMs) can produce divergent outputs for identical inputs. Recent work by Thinking Machines Lab highlights implementation-level sources of nondeterminism, including batch-size variation, kernel non-invariance, and floating-point non-associativity. In this short note we formalize this behavior by introducing the notion of \emph{background temperature} $T_{\mathrm{bg}}$, the effective temperature induced by an implementation-dependent perturbation process observed even when nominal $T=0$. We provide clean definitions, show how $T_{\mathrm{bg}}$ relates to a stochastic perturbation governed by the inference environment $I$, and propose an empirical protocol to estimate $T_{bg}$ via the equivalent temperature $T_n(I)$ of an ideal reference system. We conclude with a set of pilot experiments run on a representative pool from the major LLM providers that demonstrate the idea and outline implications for reproducibility, evaluation, and deployment.

Recent advances in distilling expensive diffusion models into efficient few-step generators show significant promise. However, these methods typically demand substantial computational resources and extended training periods, limiting accessibility for resource-constrained researchers, and existing supplementary loss functions have notable limitations. Regression loss requires pre-generating large datasets before training and limits the student model to the teacher's performance, while GAN-based losses suffer from training instability and require careful tuning. In this paper, we propose Embedding Loss (EL), a novel supplementary loss function that complements existing diffusion distillation methods to enhance generation quality and accelerate training with smaller batch sizes. Leveraging feature embeddings from a diverse set of randomly initialized networks, EL effectively aligns the feature distributions between the distilled few-step generator and the original data. By computing Maximum Mean Discrepancy (MMD) in the embedded feature space, EL ensures robust distribution matching, thereby preserving sample fidelity and diversity during distillation. Within distribution matching distillation frameworks, EL demonstrates strong empirical performance for one-step generators. On the CIFAR-10 dataset, our approach achieves state-of-the-art FID values of 1.475 for unconditional generation and 1.380 for conditional generation. Beyond CIFAR-10, we further validate EL across multiple benchmarks and distillation methods, including ImageNet, AFHQ-v2, and FFHQ datasets, using DMD, DI, and CM distillation frameworks, demonstrating consistent improvements over existing one-step distillation methods. Our method also reduces training iterations by up to 80%, offering a more practical and scalable solution for deploying diffusion-based generative models in resource-constrained environments.

Monocular visual odometry (VO) is a fundamental computer vision problem with applications in autonomous navigation, augmented reality and more. While deep learning-based methods have recently shown superior accuracy compared to traditional geometric pipelines, particularly in environments where handcrafted features struggle due to poor structure or lighting conditions, most rely on deterministic regression, which lacks the uncertainty awareness required for robust applications. We propose PoseFM, the first framework to reformulate monocular frame-to-frame VO as a generative task using Flow Matching (FM). By leveraging FM, we model camera motion as a distribution rather than a point estimate, learning to transform noise into realistic pose predictions via continuous-time ODEs. This approach provides a principled mechanism for uncertainty estimation and enables robust motion inference under challenging visual conditions. In our evaluations, PoseFM achieves strong performance on TartanAir, KITTI and TUM-RGBD benchmarks, achieving the lowest absolute trajectory error (ATE) on some of the trajectories and overall being competitive with the best frame-to-frame monocular VO methods. Code and model checkpoints will be made available at https://github.com/helsinki-sda-group/posefm.

Handling the dynamic environments is a significant research challenge in Visual Simultaneous Localization and Mapping (SLAM). Recent research combines 3D Gaussian Splatting (3DGS) with SLAM to achieve both robust camera pose estimation and photorealistic renderings. However, using SLAM to efficiently reconstruct both static and dynamic regions remains challenging. In this work, we propose an efficient framework for dynamic 3DGS SLAM guided by optical flow. Using the input depth and prior optical flow, we first propose a category-agnostic motion mask generation strategy by fitting a camera ego-motion model to decompose the optical flow. This module separates dynamic and static Gaussians and simultaneously provides flow-guided camera pose initialization. We boost the training speed of dynamic 3DGS by explicitly modeling their temporal centers at keyframes. These centers are propagated using 3D scene flow priors and are dynamically initialized with an adaptive insertion strategy. Alongside this, we model the temporal opacity and rotation using a Gaussian Mixture Model (GMM) to adaptively learn the complex dynamics. The empirical results demonstrate our state-of-the-art performance in tracking, dynamic reconstruction, and training efficiency.

Most tabular-data generators match marginal statistics yet ignore causal structure, leading downstream models to learn spurious or unfair patterns. We present TabSCM, a mixed-type generator that preserves those causal dependencies. Starting from a Completed Partially Directed Acyclic Graph (CPDAG) found by any causal structure discovery algorithm, TabSCM (i) orients edges to a DAG, (ii) fits root-node marginals with KDE or categorical frequencies, and (iii) learns topologically ordered structural assignments. Such assignments are achieved using conditional diffusion models for continuous variables as child nodes and gradient-boosted trees for categorical ones. Ancestral sampling yields semantically valid records and enables exact counterfactual queries. On seven public datasets, encompassing healthcare, finance, housing, environment, TabSCM matches or surpasses state-of-the-art GAN, diffusion, and LLM baselines in statistical fidelity, downstream utility, and privacy risk, while also cutting rule-violation rates and providing causally meaningful and robust conditional interventions. Because generation is decomposed into explicit equations, it runs up to 583$\times$ faster than diffusion-only models and exposes interpretable knobs for fairness auditing and policy simulation, making TabSCM a practical choice for realism, explainability, and causal soundness.

Urban transportation systems face growing safety challenges that require scalable intelligence for emerging smart mobility infrastructures. While recent advances in foundation models and large-scale multimodal datasets have strengthened perception and reasoning in intelligent transportation systems (ITS), existing research remains largely centered on microscopic autonomous driving (AD), with limited attention to city-scale traffic analysis. In particular, open-ended safety-oriented visual question answering (VQA) and corresponding foundation models for reasoning over heterogeneous roadside camera observations remain underexplored. To address this gap, we introduce the Land Transportation Dataset (LTD), a large-scale open-source vision-language dataset for open-ended reasoning in urban traffic environments. LTD contains 11.6K high-quality VQA pairs collected from heterogeneous roadside cameras, spanning diverse road geometries, traffic participants, illumination conditions, and adverse weather. The dataset integrates three complementary tasks: fine-grained multi-object grounding, multi-image camera selection, and multi-image risk analysis, requiring joint reasoning over minimally correlated views to infer hazardous objects, contributing factors, and risky road directions. To ensure annotation fidelity, we combine multi-model vision-language generation with cross-validation and human-in-the-loop refinement. Building upon LTD, we further propose UniVLT, a transportation foundation model trained via curriculum-based knowledge transfer to unify microscopic AD reasoning and macroscopic traffic analysis within a single architecture. Extensive experiments on LTD and multiple AD benchmarks demonstrate that UniVLT achieves SOTA performance on open-ended reasoning tasks across diverse domains, while exposing limitations of existing foundation models in complex multi-view traffic scenarios.

Ensuring safety for black-box hybrid dynamical systems presents significant challenges due to their instantaneous state jumps and unknown explicit nonlinear dynamics. Existing solutions for strict safety constraint satisfaction, like control barrier functions (CBFs) and reachability analysis, rely on direct knowledge of the dynamics. Similarly, safe reinforcement learning (RL) approaches often rely on known system dynamics or merely discourage safety violations through reward shaping. In this work, we want to learn RL policies which provably satisfy affine state constraints in closed loop for black-box hybrid dynamical systems with affine reset maps. Our key insight is forcing the RL policy to be affine and repulsive near the constraint boundaries for the unknown nonlinear dynamics of the system, providing guarantees that the trajectories will not violate the constraint. We further account for constraint violation due to instantaneous state jumps that occur due to impacts or reset maps in the hybrid system by introducing a second repulsive affine region before the reset that prevents post-reset states from violating the constraint. We derive sufficient conditions under which these policies satisfy safety constraints in closed loop. We also compare our approach with state-of-the-art reward shaping and learned-CBF methods on hybrid dynamical systems like the constrained pendulum and paddle juggler environments. In both scenarios, we show that our methodology learns higher quality policies while always satisfying the safety constraints.

Classical robot ethics is often framed around obedience, including Asimov's laws. This framing is insufficient for contemporary AI systems, which are increasingly adaptive, generative, embodied, and embedded in physical, psychological, and social environments. This paper proposes conditional mutualism under governance as a framework for human-AI coexistence: a co-evolutionary relationship in which humans and AI systems develop, specialize, and coordinate under institutional conditions that preserve reciprocity, reversibility, psychological safety, and social legitimacy. We synthesize concepts from computability, machine learning, foundation models, embodied AI, alignment, human-robot interaction, ecological mutualism, coevolution, and polycentric governance. We then formalize coexistence as a multiplex dynamical system across physical, psychological, and social layers, with reciprocal supply-demand coupling, conflict penalties, developmental freedom, and governance regularization. The model gives conditions for existence, uniqueness, and global asymptotic stability of equilibria. We complement the analytical results with deterministic ODE simulations, basin sweeps, sensitivity analyses, governance-regime comparisons, shock tests, and local stability checks. The simulations indicate that governed mutualism reaches a high coexistence index with negligible domination, whereas insufficient or excessive governance can produce domination, weak-benefit lock-in, or suppressed developmental freedom. The results suggest that human-AI coexistence should be designed as a co-evolutionary governance problem rather than as a static obedience problem.

Large language models (LLMs) often need to balance their internal parametric knowledge with external information, such as user beliefs and content from retrieved documents, in real-world scenarios like RAG or chat-based systems. A model's ability to reliably process these sources is key to system safety. Previous studies on knowledge conflict and sycophancy are limited to a binary conflict paradigm, primarily exploring conflicts between parametric knowledge and either a document or a user, but ignoring the interactive environment where all three sources exist simultaneously. To fill this gap, we propose a three-source interaction framework and systematically evaluate 27 LLMs from 3 families on 2 datasets. Our findings reveal general patterns: most models rely more on document assertions than user assertions, and this preference is reinforced by post-training. Furthermore, our behavioral analysis shows that most models are impressionable, unable to effectively discriminate between helpful and harmful external information. To address this, we demonstrate that fine-tuning on diverse source interaction data can significantly increase a model's discrimination abilities. In short, our work paves the way for developing trustworthy LLMs that can effectively and reliably integrate multiple sources of information. Code is available at https://github.com/shuowl/llm-source-balancing.

GBM is a highly aggressive primary malignancy in adults, necessitating personalized therapeutic strategies due to its inherent molecular heterogeneity. MGMT promoter methylation is a pivotal prognostic biomarker for anticipating response to temozolomide-based chemotherapy. Although various AI frameworks have been developed for non-invasive MGMT prediction, spatial heterogeneity of methylation status and the high-dimensional and correlated nature of MRI data frequently constrain discriminative feature learning and generalizability of classical models. To circumvent these limitations, a specialized IA-QCNN architecture is proposed, based on the principles of quantum mechanics, including superposition and entanglement, and enabling more efficient representation learning in high-dimensional Hilbert space. The framework establishes a methodological bridge between GBM radiogenomics and quantum deep learning by integrating energy-based slice selection, importance-aware weighting, ring-topology quantum convolution, and folding-based pooling layers. When the model predicts MGMT promoter methylation status using both mpMRI and T1Gd images, experimental results demonstrate that the IA-QCNN achieves high accuracy despite its low number of trainable parameters while effectively minimizing the overfitting problem observed in classical models. Quantitative analyses reveal that the T1Gd modality possesses higher discriminative power than mpMRI, establishing a clinically significant sequence preference. Furthermore, the model exhibits exceptional robustness in hybrid noise environments, effectively utilizing noise as a regularization mechanism to enhance predictive performance. Consequently, the specialized IA-QCNN architecture provides a robust and computationally efficient alternative to classical approaches in the analysis of heterogeneous radiogenomic data.

Evaluating robotics policies across thousands of environments and thousands of tasks is infeasible with existing approaches. This motivates the need for a new methodology for scalable robotics policy evaluation. In this paper, we propose dWorldEval, which uses a discrete diffusion world model as a scalable evaluation proxy for robotics policies. Specifically, dWorldEval maps all modalities - including vision, language, and robotic actions - into a unified token space, modeling them via a single transformer-based denoising network. In this paper, we propose dWorldEval, using a discrete diffusion world model as a scalable evaluation proxy for robotics policy. Specifically, it maps all modalities, including vision, language, and robotics action into a unified token space, then denoises them with a single transformer network. Building on this architecture, we employ a sparse keyframe memory to maintain spatiotemporal consistency. We also introduce a progress token that indicates the degree of task completion. At inference, the model jointly predicts future observations and progress token, allowing automatically determine success when the progress reaches 1. Extensive experiments demonstrate that dWorldEval significantly outperforms previous approaches, i.e., WorldEval, Ctrl-World, and WorldGym, on LIBERO, RoboTwin, and multiple real-robot tasks. It paves the way for a new architectural paradigm in building world simulators for robotics evaluation at scale.