Bird

Aerial grasping is a remarkable capability exhibited by predatory birds, allowing them to capture prey through highly coordinated maneuvers in flight. Inspired by this capability, researchers have developed various formulations to reproduce such maneuvers through trajectory optimization. However, two limitations remain in practice. First, the resulting optimization problem is highly nonconvex and sensitive to initialization, making high-quality solutions difficult to obtain under a limited computational budget. Second, prescribed numerical objectives are human-designed abstractions that describe successful grasping through a limited set of mathematically tractable quantities and may not fully capture what determines task success. We investigate how learning can address these limitations within an analytical planner. Accordingly, a trajectory prior is first learned from optimized motions and then evolved through a CEM-based process that evaluates sampled initializations with the deployed optimizer and retains favorable ones as new supervision. An Execution-Aware Critic learns from contact, lift, and completion outcomes to assess whether the optimized trajectories are likely to succeed in physical execution. Its frozen energy can further serve as a differentiable grasping cost, allowing execution data to directly shape trajectory generation. Simulation and real-world experiments demonstrate improved optimization reliability, trajectory consistency, and grasping performance.

How do elephant trunks generate complex postures without relying solely on fine segmental activation? We propose that part of this complexity arises from a low-dimensional geometric shortcut: dual-helicity coupling between opposite-handed oblique muscles. In a simplified soft-robotic prototype, varying only two geometric parameters generates a broad library of elephant-like postures, suggesting a dual-layer control architecture with implications for continuum robot design and biological hypotheses.

What did an ancestral bird species sound like? Existing ancestral state reconstruction methods can infer low-dimensional traits such as morphological characters at internal nodes of a phylogenetic tree, but no one has tried to produce rich perceptual signals such as audio. Some of the challenges include inferred representations that are either too low-dimensional to decode or lie in non-generative feature spaces, so no method to date can produce ancestral audio. We introduce the first framework that generates plausible ancestral vocalizations. Our pipeline encodes bird recordings into a VAE latent space, learns a low-dimensional trait projection aligned with phylogenetic distances, performs ancestral inference in this trait space, and recovers decodable latents through an anchored inverse lift before emitting novel waveforms for each ancestral node. Because the entire pipeline stays within a decodable latent space, every internal node receives a genuinely new audio output representing plausible intermediate ancestral sounds unavailable to retrieval-based alternatives. Experiments on two phylogenetically distant bird clades, 21-species Tyrannidae and 19-species Paridae, show that our method is the only approach that simultaneously achieves genuine generation, phylogenetic consistency, and naturalistic audio quality across both datasets.

Speculative decoding is critical for accelerating LLM inference. However, the speedup is fragile: drafters are typically trained against a narrow distribution for a single target model, and their acceptance rate collapses under workload shifts. This is a striking inversion of modern LLM development, where target models are valued precisely for the broad generalization they acquire through large-scale pretraining. We argue that the natural remedy, pretraining, has been hard to apply to drafters because existing recipes are target-specific: the drafter consumes the target's hidden states and is distilled on the target's logits, so pretraining must be repeated for each target. We introduce Osprey, which instead bootstraps drafters from off-the-shelf pretrained small language models, treating broad pretraining as a reusable, target-agnostic asset and reducing per-target work to a lightweight adaptation step. Realizing this requires overcoming two challenges: small LMs are far deeper than a latency-bound drafter can afford, and their pretrained computation must remain intact while the drafter learns to ingest target hidden states and emit tokens in the target's vocabulary. Osprey addresses both by pruning to a shallow backbone, restoring its language-modeling capability with target-agnostic next-token pretraining, and adapting it to each target through vocabulary alignment, zero-initialized QKV expansion, and distillation from the target model's output distribution. Empirically, a single pretrained Osprey backbone transfers across targets and improves mean acceptance length by 16.1% for Qwen3-8B, 21.2% for Llama-3.3-70B-Instruct, and 22.7% for the 229B MiniMax-M2.5 (with 17.5% higher tokens per second), with the largest gains on out-of-domain and multilingual data. Our code is available at https://github.com/LeanModels/Osprey.

Three properties determine whether a differentiable simulator can drive gradient-based optimization through contact: simulation accuracy, gradient reliability, and per-iteration cost. Tape-based engines such as MJX and Newton Semi-Implicit require timesteps small enough to keep contacts numerically tractable, and their backpropagation memory grows linearly with the number of timesteps T. Surrogate models bound memory by approximating contact away, but the resulting gradients lose the geometry the optimization depends on. We present Ostrich, a GPU-accelerated rigid-body simulator that resolves hard contacts and friction with non-smooth Newton iteration at large timesteps (h ~ 0.1 s), and differentiates the converged residual via the implicit function theorem, reusing the forward Schur complement to compute the adjoint at O(1) memory per timestep. On real-robot trajectories over a pallet obstacle, Ostrich holds MuJoCo's sim-to-real accuracy up to a 50x larger timestep. Its gradients converge from random initializations where MJX descends slowly and Newton Semi-Implicit stalls; a warm iteration runs 211x faster than MJX's and 4.7x faster than Semi-Implicit's. On the same scene Ostrich differentiates 8,192 parallel worlds on a single 24 GB GPU, sustaining 29x checkpointed MJX's optimization throughput; without checkpointing both baselines exhaust memory at far fewer worlds. We close with a gradient-based trajectory optimization demonstration over triangle-mesh terrain across a 10 s horizon, a setting where prior engines either restrict to primitive geometry or face the convergence and memory limits shown above.

Taxonomy induction aims to organize concept sets into coherent hierarchical structures. Recent LLM-based methods can induce taxonomies directly from flat term lists, avoiding the need for corpora, but degrade sharply as concept sets scale up. We argue that this degradation stems not only from context length limitations, but also from structural failures in hierarchical reasoning. To address this, we adopt a divide-and-merge paradigm that partitions concepts into smaller subsets, induces local taxonomies, and merges them into a global hierarchy. However, we identify two structural failure modes inherent to this paradigm: Structural Fragmentation, where partitioning weakens local hierarchical signals, and Parent Displacement, where locally plausible relations are misplaced in the global hierarchy. To address both, we propose SPARROW, a scalable taxonomy induction framework that combines structure-preserving spectral partitioning to retain hierarchical connectivity within each block, and constraint-guided incremental fusion that treats block-level relations as structural constraints rather than ground truth for global placement. Experiments on large-scale benchmarks show that SPARROW consistently achieves the strongest global structural quality across backbones. The code is available at https://github.com/rebeccazyr/SPARROW.

At the water-land interface, amphibious fishes encounter wet flowable substrates made of granular solid-water mixtures, which can stay solid or flow like a fluid. As these substrates become wetter or drier, their yield strength (at which solid-fluid transition occurs) and cohesion (how sticky they are) both change, challenging locomotion. Despite substantial understanding of tetrapod locomotion on flowable substrates (mostly dry sand), we know little about how amphibious fishes cope with wet flowable substrates of various wetness. Here, we studied mudskippers on clay mud of controlled, variable wetness over the range where solid-fluid transition occurs. As mud became wetter, its strength decreased by 100-fold, leading the animal to sink deeper, with larger areas of body and fins contacting mud. By contrast, mud stuck most easily at intermediate wetness. The increased sinkage and contact and stickiness change caused more mud to stick to and pull against the animal on wetter mud. We also tested dry mud, which stuck to animal fins as its mucus dried. Despite these challenges, the mudskipper predominately used a conserved crutching gait on all except the wettest mud tested, with a modest performance reduction. When normal crutching became less effective, the animal assisted it with tail thrusting, by bending and straightening it to push downward and backward to generate additional thrust and lift, or even thrusting the tail to jump. These observations suggest that mudskipper's crutching motor program is well adapted to its native muddy substrates but inflexible, with most novelty in tail use.

The OWL 2 EL profile is used in some of the largest production ontologies, including the Gene Ontology and SNOMED CT. Existing neuro-symbolic (NeSy) learning methods accept propositional theories or Datalog, and reasoning-shortcut (RS) awareness has not been investigated in ontology settings. We present Moose, a method that compiles an $\mathcal{EL}^{++}$ TBox and finite ABox to a Sentential Decision Diagram (SDD). The SDD acts as a differentiable weighted-model-counting layer, and we add closure clauses outside the $\mathcal{EL}^{++}$ profile on declared exhaustive families to overcome the limited expressivity of $\mathcal{EL}^{++}$ under partial supervision. We show termination, soundness, completeness, and polynomial intermediate sizes, and validate the proofs in Lean. We then define the first formal partial-supervision latent-concept-learning task over an OWL EL ontology, i.e., learning per-individual classifiers for latent concepts from observed ABox literals, and evaluate Moose on MNIST-with-ontology and Pizzaïolo. Moose improves over propositional-NeSy, fuzzy-logic, and ontology embedding baselines, and presents the first reasoning-shortcut analysis in an OWL EL setting.

Reinforcement-learning (RL) post-training equips multimodal large reasoning models (MLRMs) with exploratory chains of thought (CoT), substantially improving visual reasoning. However, we find that this capability introduces a distinct privacy vulnerability: even when a sensitive fact is successfully unlearned from the final answer, the model may still reproduce it in its reasoning trace. This leakage is substantially more pronounced in natively RL-trained MLRMs than in their non -reasoning base models, revealing a privacy risk that existing unlearning methods are not designed to address. We show that RL-induced exploration leaves sensitive content with a distinctive token-level entropy signature that is largely absent from base models. Based on this observation, we propose LEMUR, a fully training-free, inference-time unlearning framework for natively RL-trained multimodal models. LEMUR uses entropy dynamics as a control signal to identify when sensitive reasoning begins and when sanitization should stop. During this interval, it redirects the reasoning trajectory through entropy-modulated visual-anchor latent injection, replacing committed tokens with sanitized, probability-weighted embeddings re-grounded in the input image. Across diverse MLRMs, LEMUR consistently outperforms existing unlearning met hods in suppressing both reasoning-trace and answer leakage, while better preserving non-sensitive utility and output fluency. These results demonstrate that RL-induced entropy dynamics provide a distinctive signal for privacy leakage and that exploiting this signal enables effective training-free unlearning for reasoning-capable multimodal models.

Neural scaling laws are foundational for language model development, yet standard formulations systematically under- and overestimate loss at data-scarce and overtraining extremes. This failure originates in the underlying assumption that model size and training data impact the loss independently. To address this, we introduce the Skaling law, a generalized functional form that couples model capacity and data through a single interaction exponent. This simple extension reduces the Mean Absolute Percentage Error (MAPE) by 1.5-3x across both interpolation and extrapolation regimes. When paired with a sparse grid strategy restricted to low-compute regimes, the Skaling law achieves accurate full-grid extrapolation using approximately 10x less compute than uniform sweeps. By enabling reliable performance prediction from small-scale experiments, the Skaling law provides a more robust and resource-efficient framework for allocating compute budgets in next-generation model training.

Aerial drone surveys increasingly support wildlife population estimation, yet a useful census is more than a count: population dynamics are defined by species composition, sex ratios and age structure, that is, by which species are present and how a herd splits into adult males, adult females and juveniles. We use red deer ($\textit{Cervus elaphus}$) as a test case, because managers act on these dynamics and because the visible cue defining adult males, the antlers, is seasonally variable. Surveys are flown nadir, high enough not to disturb the animals, so each deer occupies only a small, low-resolution patch. The two recording modalities fail in opposite conditions: in color a deer under canopy blends into the ground, while in thermal it becomes a bright blob that loses fine detail. Rather than trust either modality alone, we fuse them at every stage using self-supervised DINOv3 features. Our pipeline tracks animals in both modalities, treats an animal as confirmed only when the two cameras agree, keeps only the clear, non-occluded frames, and assigns species and sex by a vote across them; life stage is read separately from geo-referenced body size, since at survey resolution a juvenile often only differs from an adult female in size. Across four flights spanning the antler season the fused pipeline correctly classifies 25 of the 26 detected individuals (7 of 8 adult males, all 16 adult females and 2 juveniles), against 20 of 26 for either sensor alone. Multimodal species classification reaches 96.0%, while for sex classification fusing the two sensors matters most: the combined RGB+thermal model is the most robust across environments and seasons. Automating the demographic classification turns a drone flight from a count into a repeatable reading of herd structure, so the sex ratios and age structure that managers already act on can be gathered as often as a survey can be flown.

Models trained by empirical risk minimization on data containing spurious correlations achieve high average accuracy while failing on subpopulations where the correlation does not hold. Existing methods for identifying the affected samples without group annotations rely on signals from early training, which requires locating the epoch at which to intervene, a hyperparameter typically selected using group-labeled validation data. We show that a usable signal is available after convergence, when loss no longer distinguishes the two populations. Samples consistent with the spurious correlation are classified by a shared rule, while the remaining samples are fit through configurations specific to individual inputs and are correspondingly more fragile. Applying a fixed perturbation to a converged model's inputs flips the predictions of the latter far more often than the former. The resulting procedure requires two forward passes per training sample, no group annotations at any stage, and no early-stopping epoch. Using the detected samples to rebalance training raises worst-group accuracy on Waterbirds from 57.3% to 80.8%, against 85.8% with ground-truth group labels.

Training-free speculative decoding drafts by matching an exact suffix of the context against a pool of earlier context. That lookup misses correct drafts already in the pool, most visibly on tool-calling traffic, where a request repeats almost everything but the few values minted for it, and where one rejected token discards the correct continuation behind it. We diagnose the failure position by position across ten benchmarks and find it to be a problem of addressing rather than of coverage: on our densest tool-calling benchmark, about half of what the strongest exact-match drafter misses is present in the pool yet unreachable by exact matching. We therefore propose a second, semantic draft source: the same pool, re-keyed by the hidden state the verifier has already computed at each committed token, together with a merge that lets it ride inside an existing lexical drafter's tree. In three published drafters, at matched pool and budget, it lifts accepted length by 24-29%. Oilbird reaches 4.4x autoregressive decoding speed on API-Bank, against 3.9x for the strongest training-free baseline in our harness and 2.0x for EAGLE-3.

Reinforcement Learning (RL) systems are typically trained using a single, well-specified scalar reward function. However, real-world decision-making tasks often involve multiple, competing objectives, such as performance versus efficiency, where ground-truth reward functions are difficult to specify or inaccessible. While Multi-Objective RL (MORL) addresses such trade-offs by modeling rewards as vectors, existing approaches typically assume access to a well-specified reward function for each objective, inheriting the same challenges faced by single-objective RL. Meanwhile, Preference-based RL (PbRL) has shown great potential in solving complex tasks without access to a pre-defined reward function through reward learning from human feedback, yet has largely been studied in single-objective settings. In this work, we bridge this gap with LEMUR: Learning to Align with Multi-Objective Reinforcement Learning with Preference feedback, a novel framework where an agent interactively learns from the preferences of multiple humans to learn optimal multi-objective policies. Our approach jointly learns policies and multiple objective-specific reward models from human feedback, enabling agents to effectively balance competing objectives during learning. We evaluate LEMUR on a variety of benchmark multi-objective tasks, and empirical results demonstrate its superior performance over baseline methods. Our method presents a promising direction for solving multi-objective decision-making tasks without pre-defined reward functions.

Recent EEG-to-image retrieval models have achieved strong performance in identifying viewed images from semantically diverse candidates. Yet such success does not reveal what visual information supports the match. A model may readily identify a cheetah among tools, plants, and vehicles, but can it still distinguish the viewed cheetah from the same scene with the cheetah replaced by a dog? Motivated by this question, we introduce EEG-EditBench, a diagnostic benchmark that examines this question through controlled edits of object identity, attributes, background, and object presence. Built from the 200 THINGS-EEG2 test images, EEG-EditBench contains 2,137 quality-controlled edits and evaluates eight representative EEG visual decoding models. Our results show that strong standard retrieval does not consistently transfer to edit-based evaluation, with fine-grained attribute changes presenting the greatest challenge. EEG-EditBench reveals model behavior hidden by aggregate retrieval accuracy and provides a controlled basis for studying what visual information EEG-image models preserve. The code and complete dataset are publicly available.

Passive acoustic monitoring of tropical biodiversity is bottlenecked by the storage and battery cost of continuously recording soundscapes in which bird vocalisations typically occupy less than 10% of the audio. Autonomous recording units built on low-power microcontrollers (typically ARM Cortex-M with $\leq$256 kB of RAM) address this by triggering only on likely-positive segments, but the on-device options are unsatisfying: coarse frequency-energy triggers such as Goertzel filters flood SD cards with false positives at $\sim$71% precision, whereas neural detectors developed for temperate single-species tasks are either too large to deploy or transfer poorly to species-rich tropical settings. We present DrongoNet, a family of three INT8 CNN detectors sized for this envelope and validated on a 50,000-clip, 1,677-species Southeast Asian tropical dataset (SEABAD). The headline model, DrongoNet-Micro (919 parameters, 6.26 kB, 0.9810 AUC, 98.3% mean recall at τ = 0.35), is a drop-in replacement for the Goertzel trigger used in commodity field recorders: at α = 0.10 tropical prevalence it captures 8 pp more bird vocalisations than Goertzel and extends a 32 GB card from $\sim$28 to $\sim$45 days of monitoring. DrongoNet-Nano (5.09 kB) bounds the ultra-low-flash extreme; DrongoNet-Edge (33.06 kB, 0.9991 AUC) targets Linux SBCs. On SEABAD, Micro matches a retrained TinyChirp CNN-Mel baseline within 0.1 pp AUC at 28$\times$ fewer parameters, confirming that the family is deployment-agnostic across mel-spectrogram bird corpora but requires per-environment retraining. Full INT8 quantisation costs $<$0.12% AUC across all three variants.

LLM coding agents operate by constructing trajectories that accumulate reasoning, tool calls, and results to enable multi-step decision-making. However, the conventional append-only trajectory architecture found in practice tightly couples file-read actions with their observations, capturing snapshots that become permanently fixed in the chronological history. As files change through agent edits or concurrent human modifications, these snapshots become stale, causing reasoning errors and causing agents to redundantly re-read files, with each re-read appending yet another copy to the trajectory. To mitigate this, we propose CORVUS, a novel trajectory architecture that decouples file-read actions from their observations by maintaining a synchronized registry of relevant files and injecting only their current contents at each reasoning cycle. This structural change produces significantly lighter-weight trajectories that remain synchronized with the actual codebase state by construction, eliminating redundant file copies and stale snapshots that bloat conventional trajectories. We evaluated CORVUS on SWE- POLYBENCH_VERIFIED and SWE-BENCH PRO across four LLMs, achieving 9-50% reduction in average input tokens per task, 15-32% shorter final prompts, and up to 37% fewer reasoning cycles while maintaining comparable pass rates.

Efficient, collision-free, and time-optimal motion planning is a fundamental requirement for autonomous forestry cranes operating under hydraulic pump-flow constraints. The Via-Point-based Stochastic Trajectory Optimization (VP-STO) algorithm has demonstrated near-time-optimal hybrid motion planning in this domain, but requires a fixed terminal joint configuration specified prior to optimization. For kinematically redundant manipulators such as forestry cranes, this pre-commitment to a single inverse kinematics solution restricts the planner's ability to exploit redundancy, particularly under the nonlinear, globally coupled pump-flow constraint where admissible joint velocities depend on their combined hydraulic demand. This paper presents TSC-VP-STO, a task-space-constrained extension of VP-STO that replaces the strict terminal joint-space constraint with a task-space constraint, jointly optimizing the trajectory and the redundant degrees of freedom of the terminal configuration. This enables the planner to adapt end configurations to the environment-dependent motion and hydraulic flow allocation, yielding more balanced pump utilization and shorter trajectory durations. We formalize the approach through a configuration space decomposition and derive a concrete reachability constraint for the forestry crane kinematics. Experimental evaluations across multiple planning targets and via-point configurations demonstrates a reduction on trajectory durations by 12-15% on average and improved pump-flow utilization compared to the baseline VP-STO. The practical applicability of TSC-VP-STO is validated through real-world deployment on a forestry crane, including a full log-loading cycle.

The bird's eye view (BEV) has emerged as a pivotal approach for environmental perception in autonomous driving, providing a unified spatial representation for vehicles. Nevertheless, despite BEV's significance in addressing the challenges inherent to autonomous driving, effectively fusing data from multiple camera sensors and operating in complex external driving environments remains a considerable challenge. To mitigate this issue, we recast the BEV segmentation problem within a variational inference framework. In this paper, we propose a novel transformer-based variational flow transformation network for BEV segmentation, denoted as TVB. Our architecture implicitly learns the mapping from multiple camera views to a unified canonical BEV map during training by exploiting posterior BEV supervision. TVB employs a conditional variational auto encoder (CVAE) as its backbone and produces multiple BEV map candidates. To augment the realism of the generated BEV maps, we integrate normalizing flows into the map generation process, enabling the construction of more complex and expressive probability distributions. Furthermore, we design a BEV-attention fusion (BAF) module that harnesses attention mechanisms to adaptively integrate the multiple candidate BEV maps. Experimental results, evaluated on both the nuScenes and OPV2Vdatasets, demonstrate that our proposed method achieves superior performance in multi-camera view BEV segmentation and lane environment perception.

The elephant trunk is a dexterous and versatile manipulator whose performance is still unmatched in robotics. In previous works, modularity was prioritized and relatively small-scale continuum robots were built. We take the natural proboscis of the Loxodonta africana species as a model and propose a different design approach which favors structural continuity and dynamic properties that plausibly emulate those of the natural trunk, while conferring high adaptability to the environment and humans. Instead of targeting prescribed behaviors, we show that a biomimetic design based on the macroscopic properties of the natural system enables elephant-like movements and grasping. We build by 3D printing an 85 cm long, compliant, tapered, volumetrically tessellated continuum arm, which is combined with tendon-driven actuation mimicking the longitudinal and oblique muscles of the natural model. We demonstrate whole-body grasping of objects having different shapes and dimensions and discuss a comparison to the biological trunk highlighting aspects of both biology and robotics.

Existing NAS benchmarks (e.g., NAS-Bench, NATS-Bench) cover only narrow, task-specific regions of the architectural design space and lack cross-domain or deployment-aware evaluation. LEMUR 2 introduces a large-scale, extensible framework unifying generative, evaluative, and deployment pipelines to unlock neural-network diversity. It comprises over 14,000 distinct architectures and more than 750,000 structured training records documenting model performance, hyperparameters, and task outcomes. These models were produced through AST-based code mutation, genetic and reinforcement-learning evolution, generation of fractal architectures, and synthesis guided by a Large Language Model (LLM). This includes deep models generated with the retrieval-augmented system NN-RAG, which derived and used architectural motifs from over 900 PyTorch modules extracted from public repositories. LEMUR 2 further employs NN-VR and NN-Lite pipelines for automated deployment and latency benchmarking on heterogeneous mobile and Unity-based VR platforms, providing real-device performance metadata. It spans multimodal tasks, image captioning, text-to-image synthesis, and language modeling, supporting cross-domain analysis of architectural transferability. By linking diverse architectures, tasks, and deployment data, LEMUR 2 provides the data foundation for LLM fine-tuning and coupling diverse architectural origins with large-scale, cross-platform empirical validation. This dataset defines a new basis for reproducible and data-driven AI design, advancing the emerging paradigm of LLM-driven AutoML and architectural generalization across modalities and hardware.

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

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

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

Agentic systems enhance their capabilities by invoking external tools and maintaining persistent memory. However, these external dependencies introduce novel attack surfaces. Recent tool and memory poisoning attacks show that maliciously crafted tool descriptors and poisoned memory can covertly bias agent behavior. These threats reflect a deeper issue: the lack of verifiable continuity in the agent's contextual state for planning and execution. We present ElephantAgent, a protocol that enforces Contextual State Continuity to defend against contextual state poisoning. Inspired by prior state-continuity mechanisms (e.g., Nimble), ElephantAgent extends this protection to the evolving contextual state of agentic systems. We define the contextual state as the bounded, security-critical subset of the agent's entire context (e.g., tool state and memory). Before processing each query, ElephantAgent recomputes the digest of the local contextual state and verifies it against the latest authorized digest. Using replicated trusted hardware, ElephantAgent maintains a linearizable ledger of authorized contextual state transitions and detects out-of-band state tampering. To handle in-band semantic abuse, ElephantAgent additionally provides Historical Traceability, enabling conditional post-hoc audit and recovery to a known-good prior state.

Animal re-identification (ReID) in camera-trap surveys remains challenging due to low image quality, strong variation in illumination and viewpoint, and highly imbalanced numbers of observations per individual. As a result, current ReID performance is often insufficient for fully automated use, and practical workflows typically depend on expert review of algorithmically proposed candidate matches. Moreover, most existing approaches focus almost exclusively on visual cues and overlook auxiliary information routinely available in field studies, such as image timestamps and camera-trap locations. We introduce Spotted, a location-informed, human-in-the-loop animal ReID framework that integrates visual similarity with spatio-temporal feasibility priors derived from camera locations, thereby reducing the amount of required expert review. Our method (i) computes an image-model-agnostic feasibility score based on the minimum travel speed required for two detections to correspond to the same individual, (ii) uses these feasibility cues as pseudo-supervision to train a lightweight head on top of a frozen visual foundation model, and (iii) fuses adapted visual similarity with spatio-temporal feasibility to obtain a robust pairwise matching score. We additionally integrate an active pair sampling strategy to accelerate annotation by initially prioritizing uncertain predictions. We evaluate Spotted on three challenging camera-trap ReID datasets comprised of spotted hyenas and leopards, which we release as part of this work. Our model improves average top-5 identification accuracy by 9pp, 2pp and 9pp over the best baseline on our LeopardID102, SpottedHyenaID109 and SpottedHyenaID415 datasets, respectively. Further, we show that our human-in-the-loop strategy reduces the number of queried comparisons by up to 69pp while achieving equivalent positive matches.

Black-box optimization is a fundamental science and engineering tool that makes it possible to optimize objectives without gradient information. Unfortunately, as it often requires many function evaluations, it can be challenging when each one is costly. This is especially true when the evaluation function is noisy or failure-prone, and when high-performing solutions are confined to thin, curved, or disconnected regions of the search space. Existing methods leveraging generative models to navigate these subspaces are built to sample from reward-aligned distributions. As a result, they require a large number of evaluations to align their sampler effectively, making them impractical in low-budget settings. We propose SPARROW, an algorithm that completely decouples the generative prior from the reward signal. SPARROW can use any sampler with a known corruption process and trained on unevaluated data, as a fixed, structured proposal operator. Optimization proceeds by rank-based guidance over an archive of evaluated candidates. SPARROW can navigate complex geometries, handle unreliable reward signals, and perform effective optimization under very low evaluation budgets. We provide asymptotic convergence guarantees over the sampler support and demonstrate strong empirical performance on problems with unreliable rewards and geometrically complex landscapes.

This study presents a comprehensive analysis of bird diversity across Sri Lanka by integrating spatial, temporal, and environmental data. Bird observation records were combined with environmental variables, including weather conditions, air pollution, the Normalized Difference Vegetation Index (NDVI), land cover, elevation, and Artificial Light At Night (ALAN), and rigorously preprocessed to ensure data quality. Spatial analyses were conducted on multiple grid scales (2 km, 5 km, 10 km) to evaluate patterns in species richness while minimizing sampling bias through spatial thinning. Temporal trends were assessed using effort-corrected metrics including rarefied richness and occupancy rates to account for variations in observation effort over time. Environmental drivers of bird diversity were examined using multivariate statistical models, including Poisson Generalized Linear Models (GLMs) and correlation analyses, to identify key associations between ecological factors and species richness. Additionally, community structure, dominance patterns, and beta diversity were analyzed to understand variations in species composition across regions and time. The study found that land-cover type is a stronger predictor of bird diversity than individual continuous variables such as NDVI or temperature alone. Urbanization, measured by ALAN, exhibits nuanced scale-dependent effects, supporting high abundances of a few generalist species while reducing overall richness. The findings provide actionable insights into the patterns and drivers of avian diversity in Sri Lanka, offering a scalable and reproducible framework for biodiversity research and conservation planning.

Drone light shows are redefining aerial entertainment, yet their widespread adoption is bottlenecked by labor-intensive, manual animation. While generative AI promises an automated alternative, current frameworks fail to provide photorealism with fluid, dynamic motion. To address this limitation, we introduce SWAN, an end-to-end pipeline that synthesizes photorealistic, large-scale, and collision-free drone choreographies directly from text prompts. SWAN converts text into realistic reference videos and translates these pixel-space dynamics into physical swarm kinematics using a novel, adaptive point-tracking algorithm. Unlike existing trackers, this method maintains spatial coherence through severe occlusions and rapid topological shifts. A dedicated planner then allocates these trajectories to individual drones, while a subsequent safety filter ensures collision-free execution. We demonstrate scalability by safely orchestrating simulated 2,000-drone formations and validate physical feasibility on a dense real-world swarm of 49 quadcopters, operating everything entirely on standard consumer hardware. Combined, this work demonstrates how generative AI can be leveraged to automate multi-robot choreography design, providing an accessible new framework for drone light shows.

This paper describes an automatic method for adjusting or tuning models of multi-agent motion. Simulating the motion of bird flocks, human crowds, vehicle traffic, and other multi-agent systems is a widely used technique. These simulations model the behavior of a single group member (bird, human, or vehicle). The group behaviors (flock, crowd, traffic) emerge from interactions between group members. These models typically have many numerical control parameters. Even if each parameter is intuitive in isolation, their interaction can be complex and nonlinear. It is challenging to determine which parameters to adjust for the desired change in group behavior. Changing one aspect of group behavior often causes other aspects to change, leading to a tedious process of incremental changes. This work takes an inverse design approach. The desired group behavior is measured with a user-defined objective(/fitness/loss) function and optimized with a genetic algorithm. The objective function used here for basic flocking rewards proper spacing with neighbors, flying near a desired speed, and avoiding obstacles. Interestingly, the vivid alignment seen in bird flocks appears to emerge from maintaining proper spacing between flockmates.

This report presents our solution for the ICRA 2026 GOOSE 2D Fine-Grained Semantic Segmentation Challenge, which requires parsing unstructured outdoor scenes from four camera platforms into 56 fine-grained categories. Our approach pairs foundation vision encoders (including DINOv3, SigLIP2, and InternImage) with a Mask2Former decoder, and trains them with a strong recipe including long training schedules, exponential moving average, a larger crop size, and multi-scale plus flip test-time augmentation. The three encoders, chosen for their complementary pretraining objectives, are combined into a pretraining-diverse ensemble through per-class validation-IoU weighting. Evaluated on the official GOOSE test set, our submission achieves 75.40% composite mIoU and wins the second place of the challenge. Our study further shows that the encoder's pretraining recipe, rather than its parameter count or the decoder design, is the dominant factor for accuracy on this benchmark.

Woody breast (WB) is a myopathy in modern broiler chickens that causes the breast muscle to become unusually stiff and fibrous, leading to decreased meat quality and significant economic losses. State-of-the-art automated WB detection relies on a side-view imaging system to analyze the bending behavior of a single fillet as it falls off a conveyor belt. While highly accurate, this approach is constrained by its single-fillet field of view, creating throughput bottlenecks on commercial processing lines. In this paper, we address this limitation via a novel multi-fillet detection architecture utilizing a top-down camera configuration. To validate our approach, we first develop a high-fidelity digital twin of an industrial conveyor system. Next, we synthesize a diverse dataset of 3D fillet meshes and model their viscoelastic bending dynamics using a physics-based simulation engine. Lastly, a continuous 2D shape deformation score is extracted from the top-down perspective as the simulated fillets traverse the roller precipice. Experimental results demonstrate that the top-down shape score effectively captures the contour changes of the fillets as it bends, providing a robust and scalable alternative to a side-view imaging system for simultaneous multi-fillet WB evaluation.

When humans see a bird, they recognize far more than just "bird" -- they see a head, wings, and talons, a structured assembly of reusable parts that can be identified across every bird they have ever seen. We ask whether a self-supervised visual model can discover the same compositional structure on its own. To this end, we propose RATS (Register Attention Transformers), which decomposes the classification token into N learnable register tokens that route patch information through an L->N->N->L bottleneck via a three-step compress-communicate-broadcast attention. The N registers are partitioned across the H attention heads, so that registers assigned to different heads do not interact with each other. Without auxiliary losses or part annotations, each register spontaneously specializes into a proto-semantic region whose emerging structure resembles object parts. RATS surpasses all baselines by +12 mIoU on average across five segmentation benchmarks, with consistent gains on ADE20K (+1.11 mIoU) and COCO (+0.2 AP^m). Its register dictionary further exhibits part-level consistency and semantic proximity across related categories. Our results suggest that RATS may provide a useful architectural prior for structured and interpretable visual representation learning.

Passive acoustic monitoring enables large-scale observation of wildlife, but most bioacoustic classifiers only predict species presence in a time window without localizing vocalizations precisely in time or frequency, limiting downstream analyses. We formulate bird vocalization detection as an object detection task on spectrograms and train YOLO11 models to localize bird calls in dense tropical soundscapes from Singapore. We additionally introduce an open-source browser-based annotation tool and propose Intersection over Minimum (IoMin), an evaluation metric that better handles ambiguous acoustic boundaries than standard IoU and is better suited to the problem at hand. The best YOLO model nearly doubles baseline performance on in-distribution soundscapes from Singapore (81.8% vs. 42.1% IoMin@50 F1-score) while still outperforming the baseline on unseen out-of-distribution recordings from Hawaii (58.6% vs. 48.6%). These results suggest that object detection frameworks are a promising approach to time-frequency localization of animal vocalizations in complex soundscapes.

Despite being powerful, reinforcement learning with verifiable rewards (RLVR) induces extremely long COT, making it computationally expensive. Since RLVR per-step cost is dominated by long-context rollout generation, sparse attention offers a promising way to accelerate dense rollout. However, sparse rollouts require a delicate stability-efficiency tradeoff: overly aggressive sparsity causes collapse, while overly lenient sparsity gives insufficient speedup. In this work, we study this tradeoff through sparse-to-dense actor-policy mismatch. We first observe that sparse rollout collapse is not driven by uniform degradation across tokens: most sparse tokens align perfectly with dense even under aggressive sparsity. Motivated by this, we hypothesize that sparse rollout training remains stable if the lower tail of per-token actor-policy mismatch stays above a critical threshold throughout the trajectory. We introduce a dynamic sparsity schedule that keeps this tail statistic constant during generation and validate our hypothesis. Across Qwen3 thinking-family models, keeping the tail mismatch statistic near a consistent threshold generally enables stable training. We then use a cost model to find the sparsity schedule for maximum speedup under this mismatch threshold, achieving 2.2x, 2.4x, and 2.0x rollout speedups when training Qwen3-1.7B, Qwen3-4B, and Qwen3-8B. Empirically, we show the thresholds generalize to a larger model (Qwen3-14B) and another RL domain (coding). Finally, our analysis naturally motivates DistillSparse: lightweight LoRA-based distillation on sparse rollout lets more aggressive sparsity reach the same sparse-to-dense mismatch threshold, yielding higher speedup.

Bioacoustic datasets from tropical regions remain limited, in part due to the absence of reproducible workflows for aggregating recordings from public archives. We present \textbf{MyGardenBird}, a curated dataset of bird vocalisations representing twelve common species across Peninsular Malaysia and the Indo-Malayan region. Recordings were sourced from Xeno-canto and processed through species-level filtering, manual spectrogram segmentation, and quality control checks. The primary release comprises 7,200 manually validated audio clips (16 kHz, 16-bit PCM mono WAV), balanced at 600 three-second clips per species (6.0 hours total) derived from 1,381 distinct recordings. Metadata includes geospatial coordinates, vocalisation categories, and signal-to-noise ratio (SNR) values (range: 0.83--59.18 dB; mean: 15.80 dB). A supplementary 44.1 kHz version is also provided. To mitigate data leakage, dataset partitions are defined at the source-recording level. Baseline classification experiments using convolutional neural networks on Mel-spectrograms achieved test accuracies of 92--96%, indicating strong interspecies separability. Limitations include reliance on single-annotator curation; however, validation with BirdNET confirmed label consistency. MyGardenBird is openly available at https://doi.org/10.5281/zenodo.20306877 under a CC BY-NC-SA 4.0 licence. Complete preprocessing code accompanies the release to support reproducibility and future expansion.

Enabling Vision-Language Models (VLMs) to perform spatial reasoning remains challenging. Existing approaches treat VLMs as passive observers, which is difficult for real-world applications. Moreover, reinforcement learning methods rely on sparse rewards, limiting their effectiveness for complex reasoning tasks. Inspired by pigeons' building and exploiting cognitive maps for navigation, we propose a novel agentic pipeline for spatial reasoning. First, we introduce a new \emph{dynamic cognitive map} parameterizing scene layout as object positions and orientations, serving as persistent memory for new observations. Second, we propose a novel \emph{Spatial Assertion Codes (SAC)}, Python expressions programmatically describing spatial relationships. By collaborating with the dynamic cognitive map, SAC enables verification of intermediate reasoning steps, providing dense reward signals. We optimize the model via supervised and reinforcement finetuning. Experiments on the MindCube benchmark demonstrate state-of-the-art performance with \emph{80.5%} overall accuracy, outperforming the best current method by \emph{29.5} accuracy points (a relative improvement of \emph{53.2%}) on the challenging \textsc{Rotation} subset. Our code and data are open-sourced at https://github.com/dw-dengwei/active-spatial-reasoning.git.

Turkey's e-Government Gateway (e-Devlet) serves over 68 million registered users with more than 9,200 government services, and is increasingly integrating artificial intelligence into citizen-facing applications such as chatbot assistants and eligibility assessments. However, no structured technical governance infrastructure currently connects high-level AI policy frameworks, such as the EU AI Act, OECD AI Principles, and Turkey's own National AI Strategy, to the operational reality of deploying AI within a centralized e-government platform. We propose GovAI-Pipe, a four-layer governance pipeline designed using Design Science Research methodology that maps the AI model lifecycle to governance checkpoints: (1) pre-deployment validation for bias testing, explainability, and privacy impact assessment; (2) deployment governance for risk-tier classification and approval workflows; (3) runtime monitoring for drift detection, fairness tracking, and human-in-the-loop escalation; and (4) post-incident governance for audit trails, rollback, and citizen redress. Each layer is anchored to specific provisions of the EU AI Act, the GDPR data protection framework, and the National AI Strategy. We demonstrate the framework through two high-risk e-Devlet use cases, showing how GovAI-Pipe operationalizes governance principles as auditable, technical pipeline components.

Understanding how cortical activity represents natural whole-body behaviors in primates remains challenging. Limited by the diversity of movements and inaccessibility of large-scale neural representation of whole-body kinematics, previous motor decoding studies focused on constrained tasks and limited limb movements. Here, we present a neural-behavioral recording and modeling framework for freely moving monkeys, combining large-scale epidural cortical signals from distributed sensory- and motor-related areas with synchronized multi-view motion capture through a custom-made data collection platform. We reconstructed whole-body monkey kinematics and learned a compact behavior prior using an autoregressive encoder-decoder model. Conditioned on neural signals, the model decoded accurate and realistic whole-body movement without explicit physical constraints. Our results provide a novel proof-of-concept approach for decoding natural whole-body movements in primates using large-scale intracranial neural activity.

The biological spine of quadrupeds enables sagittal flexion/extension, lateral bending, and axial rotation, playing a crucial role in highly agile and dexterous locomotion. While numerous studies have integrated active spinal joints into quadrupedal robots to enhance agility, most designs simplify control complexity by reducing spinal degrees of freedom (DOF), failing to achieve the spatial tri-axial rotation characteristic of biological spines. Consequently, replicating a multi-DOF biomimetic spine and effectively leveraging it to empower the agile locomotion of quadrupedal robots remains a significant research challenge. In this study, we present S-Cheetah, a quadrupedal robot featuring a 3-DOF bio-inspired serial active spine capable of biomimetic spatial tri-axial rotation. To empower the robot to fully utilize this active spine, we developed a specialized reinforcement learning framework to actively promote the engagement of the introduced spine and maximize the robot's locomotive capabilities by integrating an acceleration curriculum learning strategy with tailored reward functions, such as a gallop gait reward, a spine undulation reward, and a spine steering reward. Experimental results demonstrate that S-Cheetah can achieve a peak speed of 6.9 m/s using the rotary G2 gallop gait and an in-place turning rate of 7.2 rad/s. Besides, the system exhibits an emergent, feline-inspired aerial self-righting capability, allowing it to land stably on four feet from arbitrary orientations during free fall. Finally, through extensive evaluations across diverse locomotion tasks, we prove that the introduction of the proposed 3-DOF spine comprehensively enhances the locomotive agility of quadrupedal robots. Project website: himmy-robotics.github.io/scheetah

Global biodiversity is declining at unprecedented rates, yet the tools available to monitor and protect ecosystems remain limited by constraints in power, connectivity, and accessibility. We present SPARROW, a hardware and software open-source platform that integrates solar energy, edge artificial intelligence, and satellite communication to enable continuous, autonomous biodiversity monitoring in remote environments. Each SPARROW node combines a low-power Graphics Processing Unit (GPU) with modular visual, acoustic, and environmental sensors, performing on-device deep learning inference and transmitting summarized results through Low-Earth-Orbit (LEO) satellite or Global System for Mobile Communications (GSM) networks. We deployed SPARROW across tropical, temperate, and montane ecosystems in Colombia, Peru, Tanzania, and the United States, where it sustained 24/7 operation under variable environmental conditions and collected more than two million images and acoustic recordings in the first 190 days. The system demonstrated robust real-time classification and adaptive power management, achieving full autonomy without on-site human intervention. By integrating renewable energy, on-edge AI, and open-source design, SPARROW lowers the technical and financial barriers to ecological monitoring and establishes a scalable foundation for a distributed, intelligent network of sensors, an emerging "Internet of Living Things" for planetary biodiversity monitoring.

Automated monitoring of animal welfare has largely targeted negative indicators, leaving positive welfare behaviours such as play underexplored. To address this gap, we present PlayClass, a pipeline for play-behaviour classification in poultry from top-down pen video. The pipeline leverages long-duration tracking with SAM 3 via YOLO-guided chunk boundaries to minimise identity errors in point-based prompting, and frozen embeddings from image and video foundation models for play action classification. Although handcrafted motion features from tracked masks alone achieved competitive accuracy, V-JEPA 2.1 consistently outperformed all other backbones across model scales, reaching 77.0 macro-averaged F$_1$ when combined with handcrafted features. Despite this result, the dataset remains challenging due to play sub-types sharing similar kinematic profiles with non-play and inter-bird occlusion. Overall, our work provides encouraging evidence towards automated frameworks for play behaviour classification in poultry.

Large language model (LLM) serving creates environmental impacts beyond carbon and water, including ecosystem damage through biodiversity-related pathways. We present BIRDS, a framework for Biodiversity Impact of Request-Driven LLM Serving. BIRDS defines request-level functional units, quantifies operational and embodied biodiversity impact, and introduces Quality-Normalized Biodiversity Impact (QNBI) to jointly analyze ecological impact and response quality. Across diverse workloads, models, GPUs, and regions, BIRDS reveals that biodiversity impact accumulates at scale and exposes actionable quality-aware serving tradeoffs.

Autonomous driving perception demands accurate and efficient processing of three-dimensional sensor data under strict power constraints. Traditional convolutional neural networks achieve strong detection accuracy but are computationally intensive, limiting their suitability for deployment on resource-constrained neuromorphic platforms. Spiking neural networks offer a compelling alternative through event-driven sparse computation, yet their application to complex real-world perception tasks such as three-dimensional object detection remains limited. In this work, we propose an end-to-end spiking encoder-decoder network for object detection in bird's eye view representations of LiDAR point clouds, trained using surrogate gradient backpropagation. We train two variants: a membrane potential variant that reads continuous neuron state at the output stage for maximum accuracy, achieving $92.05$/$87.04$/$86.51$ AP at $\mathrm{IoU}\!=\!0.5$ (Easy/Moderate/Hard), and, a fully binary spiking variant that operates exclusively on spike trains at every layer for direct neuromorphic deployment. We evaluate four input spike encoding strategies and demonstrate that allowing the network to learn spike representations directly from data outperforms hand-crafted Poisson, latency, and z-axis encoding schemes on the KITTI benchmark, where sequential frames are unavailable and the BEV input is presented repeatedly across timesteps as a proxy for temporal streaming. A block-wise energy analysis demonstrates a $3.33\times$ reduction in synaptic operation energy over an equivalent CNN under conservative loop-based operation. Together, these results demonstrate the viability of spiking neural networks for accurate and energy-efficient neuromorphic perception in autonomous driving.

Behavioral phenotyping of genetic animal models currently requires labor-intensive manual feature engineering that limits reproducibility and scalability. We present GEESE, an end-to-end deep learning framework that learns behavioral representations directly from 3D pose dynamics without hand-crafted features. Using a pretrained time series foundation model, we encode movement sequences into a behavioral manifold that supports both behavior classification and genotype prediction. Evaluated across three autism-associated genetic models (CNTNAP2, CHD8, FMR1), our deep learning approach surpasses hand-crafted feature baselines in both tasks, revealing that learned representations capture genotype-specific behavioral signatures. The framework generalizes across genetic backgrounds, and an all-cohort model identifies both genetic background and genotype from movement patterns alone. We further provide HONK, an interactive intelligent tool enabling researchers without programming expertise to perform behavioral phenotyping from pose data through natural language interaction.

Running language models in the browser presents a unique opportunity to build efficient, private, and portable AI applications, but requires contending with constrained memory availability and heterogeneous hardware targets. To realize this opportunity, we present Llamas on the Web (LlamaWeb), a WebGPU backend for llama$.$cpp that enables memory-efficient and performance-portable LLM inference across a wide range of model weight formats in the browser. Our design significantly reduces memory overhead through static memory planning and efficient model loading, addresses cross-device variability through a tunable kernel library, and introduces templated GPU kernels that support performant implementations of numerous quantization formats, enabling broad model support and extensibility to new formats. We evaluate LlamaWeb on 16 devices from 8 vendors, collecting data from 10 language models and four model weight formats. We compare LlamaWeb against existing browser-based LLM frameworks and find that LlamaWeb requires 29-33% less memory across several combinations of device, browser, and operating system. We also evaluate LlamaWeb's performance against these frameworks and find that it increases decode throughput by 45-69% across four GPUs from separate vendors. In addition, we compare LlamaWeb's performance against other llama$.$cpp backends, where it is competitive with and even beats vendor-specific backend performance on some devices.

Passive acoustic monitoring enables continuous, non-invasive biodiversity assessment across diverse ecosystems. The scale of these datasets has driven the adoption of machine learning, with supervised approaches showing strong performance. However, supervised methods require time-resolved annotated datasets, which remain scarce, especially in complex tropical soundscapes. We present PteroSet, a curated dataset of strongly annotated Neotropical bird vocalizations recorded in Puerto Asis (Putumayo) and Pivijay (Magdalena), Colombia, between 2023 and 2025. The dataset comprises 563 recordings (73.62 h) and 15,372 time-frequency annotations, including 6,702 events identified to the species level across 168 species. We release the annotations in a COCO-inspired JSON schema that unifies audio files, taxonomic categories, and labels for machine learning workflows. Beyond providing annotated data, PteroSet serves as a realistic benchmark that highlights key characteristics of tropical soundscapes, including acoustic co-occurrence and domain shift across recording sites. We provide a deep learning baseline for binary bird detection, demonstrating PteroSet's usability and the challenges it presents.

Evaluations of unlearning on reasoning models sometimes show a bypass pattern. The answer side looks unlearned, but the model's own thinking trace keeps emitting the forgotten content, and the gap is taken as evidence that the weights still remember. We audit this reading on DeepSeek-R1-Distill-Qwen-7B with LoRA-memorized fictional authors and NPO unlearning, conditioned on a six-token canary head. On one seed, swapping the thinking trace for a short non-canary prefill on the same weights drops the answer rate by as much as the bypass gap itself, whether the prefill mimics the training template or not. On a second seed the bypass gap shrinks rather than vanishing, and the prefill swap reverses direction and brings the answer rate to ceiling. A positive parser-split bypass gap thus does not by itself identify hidden weight-level memorization, and does not rule it out either. On a different distillate the same metric flips sign because the parser cannot find the closing tag. We recommend a decode-time template swap as a cheap sanity check alongside the canonical audit.

The scaling laws guiding modern model training were calibrated for a single regime: data-rich, single-epoch pretraining. The dominant such scaling law form, Chinchilla's $L = E + A/N^α+ B/D^β$, has three structural limitations outside that regime: it diverges as unique data shrinks instead of saturating at the uninformed baseline; it cannot represent overfitting when capacity exceeds the data; and it conflates total examples seen with unique examples available. We propose a closed-form extension, $L(N, D, T) = E + (L_0 - E)\,h/(1+h)$ with $h = a/N^α+ b/T^β+ c\,N^γ/D^δ$, that decomposes loss into undercapacity, undertraining, and overfitting terms. It saturates between the irreducible loss $E$ and an uninformed baseline $L_0$ fixed by the loss type, and reduces to Chinchilla in the data-rich, single-epoch limit. We validate it on four multi-epoch experiments spanning four architecture families (MLPs, ResNets, Fourier neural operators, and transformers) across vision, scientific ML, and language domains, and refit it to five published LLM scaling-law grids. Extrapolating to higher compute and larger unique data than seen at fit time, our form achieves state-of-the-art RMSE on every published LLM grid we evaluate and on most cells of our constructed experiments. Once calibrated, the form admits a cost-aware allocation that recovers Chinchilla's optimum when data is free and shifts toward smaller corpora and more epochs as data grows expensive.

Model collapse, the degradation in performance that arises when generative models are trained on the outputs of prior models, is an increasing concern as artificially generated content proliferates. Related critiques of large language models have highlighted their tendency to reproduce frequent patterns in training data, their reliance on vast datasets, and their substantial environmental cost. Together, these factors contribute to data degradation, the reinforcement of cultural biases, and inefficient resource use. In this position paper we aim to combine these views and argue that model collapse threatens current efforts to democratize AI. By reducing training efficiency and skewing data distributions away from the tails of their support, model collapse disproportionately impacts low-resource and marginalized communities. We examine both the environmental and cultural implications of this phenomenon, situate our position within recent position papers on model collapse, and conclude with a call to action. Finally, we outline initial directions for mitigating these effects.

Passive Acoustic Monitoring (PAM) is an efficient and non-invasive method for surveying ecosystems at a reduced cost. Typically, autonomous recorders allow the acquisition of vast bioacoustic datasets which are then analyzed. However, power consumption and data storage are both scarce and limit the duration of acquisition campaigns. To address this issue, we propose a smart PAM system which allows the in-situ analysis of the soundscape by embedding a classifier directly onto an AudioMoth microcontroller. Specifically, we propose an optimized yet simple 1D Convolutional Neural Network (1D-CNN) to classify the raw audio. The model focuses on the specific call of Scopoli Shearwater seabirds (endangered species) and is trained on a real-world dataset with a classification accuracy of 91% (balanced accuracy of 89%). We also propose a process to optimize the model to fit the severe resource constraints of the AudioMoth, achieving a ~10kB RAM memory footprint and 20ms inference time. Finally, we present an open-source tutorial of our model optimization and export strategy which can be used for embedding models beyond the scope of our study. Our modified version of the AudioMoth firmware adds two functions: (F1) which selectively records data when the target species has been detected and (F2) which logs the continuous classification results in real time. This work intends to facilitate the conception of intelligent sensors, enhancing the efficiency and scalability of bioacoustic monitoring campaigns.

We show that pretrained acoustic embeddings classify elephant vocalisations at a level approaching that of end-to-end supervised neural networks, without any fine-tuning of the embedding model. This result is of practical importance because annotated bioacoustic data are scarce and costly to obtain, leaving conventional supervised approaches prone to overfitting and to poor generalisation under domain shift. A broad range of embedding models drawn from general audio, speech, and bioacoustic domains is evaluated, all of which are either out-of-domain (containing no bioacoustic data) or out-of-species (containing no elephant call data). The embedding networks themselves remain fixed; only the lightweight downstream classifiers, which include a linear model and several small neural networks, are trained. Among the models considered, Perch 2.0 achieves the best cross-validated classification performance, attaining AUCs of 0.849 on African bush elephant (Loxodonta africana) calls and 0.936 on Asian elephant (Elephas maximus) calls, with Perch 1.0 close behind. The best-performing system is within 2.2 % of an end-to-end supervised elephant call classification system. A layerwise analysis of pretrained transformer encoders, considered as embedding models, shows that intermediate representations outperform final-layer outputs. The second layer of both wav2vec2.0 and HuBERT encodes sufficient information for effective elephant call classification; truncation at this layer therefore preserves classification performance whilst retaining only approximately 10 % of the parameters of the full network. Such compact embedding networks are well suited to on-device processing where computational resources are limited.

Automated vehicles (AVs) are commonly programmed to yield unconditionally to pedestrians in the interest of safety. However, this design choice can give rise to the Freezing Robot Problem in which pedestrians learn to assert priority at every interaction, causing vehicles to stall and make no progress. The game theoretic Sequential Chicken model has shown that, like human drivers, AVs can resolve this problem by trading credible threats of very small risks of collision or larger risks of less severe invasion of personal space against the value of time due to yielding delays. This paper presents the first demonstration and evaluation of this approach using a real AV with human subjects and shows that pedestrian behavior under experimentally constrained safety conditions can be well fitted by Sequential Chicken, with a low time value of collision, suggestive of their planning to avoid proxemic personal space penalties as well as actual collisions.

Human-elephant conflict (HEC) is rising across India as habitat loss and expanding human settlements force elephants into closer contact with people. While the ecological drivers of conflict are well-studied, how the news media portrays them remains largely unexplored. This work presents the first large-scale computational analysis of media framing of HEC in India, examining 1,968 full-length news articles consisting of 28,986 sentences, from a major English-language outlet published between January 2022 and September 2025. Using a multi-model sentiment framework that combines long-context transformers, large language models, and a domain-specific Negative Elephant Portrayal Lexicon, we quantify sentiment, extract rationale sentences, and identify linguistic patterns that contribute to negative portrayals of elephants. Our findings reveal a dominance of fear-inducing and aggression-related language. Since the media framing can shape public attitudes toward wildlife and conservation policy, such narratives risk reinforcing public hostility and undermining coexistence efforts. By providing a transparent, scalable methodology and releasing all resources through an anonymized repository, this study highlights how Web-scale text analysis can support responsible wildlife reporting and promote socially beneficial media practices.

Automated wildlife monitoring from aerial imagery is vital for conservation but remains limited by two persistent challenges: the difficulty of detecting small, rare species and the high cost of large-scale expert annotation. Prairie dogs exemplify this problem -- they are ecologically important yet appear tiny, sparsely distributed, and visually indistinct from their surroundings, posing a severe challenge for conventional detection models. To overcome these limitations, we present RareSpot+, a detection framework that integrates multi-scale consistency learning, context-aware augmentation, and geospatially guided active learning to address these issues. A novel multi-scale consistency loss aligns intermediate feature maps across detection heads, enhancing localization of small (approx. 30 pixels wide) objects without architectural changes, while context-aware augmentation improves robustness by synthesizing hard, ecologically plausible examples. A geospatial active learning module exploits domain-specific spatial priors linking prairie dogs and burrows, together with test-time augmentation and a meta-uncertainty model, to reduce redundant labeling. On a 2 km^2 aerial dataset, RareSpot+ improves detection over the baseline mAP@50 by +35.2% (absolute +0.13). Cross-dataset tests on HerdNet, AED, and several other wildlife benchmarks demonstrate robust detector-level transferability. The active learning module further boosts prairie dog AP by 14.5% using an annotation budget of just 1.7% of the unlabeled tiles. Beyond detection, RareSpot+ enables spatial ecological analyses such as clustering and co-occurrence, linking vision-based detection with quantitative ecology.

We present Six Llamas, a comparative study examining whether large language models fine-tuned on distinct religious corpora encode systematically different patterns of ethical reasoning. Six variants of Meta-Llama-3.1-8B are constructed: one unmodified control and five LoRA-adapted models trained exclusively on the sacred and theological texts of Christianity, Islam, Judaism, Hinduism, or Buddhism. All six models are probed with an identical battery of 17 standardized ethical prompts spanning moral dilemmas, game-theoretic scenarios, public policy questions, and moral-psychological self-assessments. To assess robustness and reproducibility, we implement a multi-temperature sampling design spanning ten temperature settings. We compute response consistency metrics, pairwise inter-model agreement rates, temperature sensitivity coefficients across four prompt domains, and run-to-run stability analyses. Findings show that LoRA-adapted models produce ethical reasoning patterns that are (a) systematically differentiated from the base model, (b) consistent with the moral logics of their training traditions, (c) structured along interpretable dimensions in moral-philosophical space, (d) core ethical positions remain stable across temperature variations for high-consensus dilemmas. The Trolley Problem achieves 100% consistency across all models and temperatures, while (e) tradition-specific divergence intensifies at higher temperatures in morally contested domains, and (f) the base model exhibits the highest overall response consistency (mean 88.3%), suggesting LoRA adaptation introduces both tradition-specific signal and increased sampling sensitivity. The study offers a proof-of-concept for the condensate comparative method using differentially trained language models as instruments for cultural and ethical analysis and identifies specific criteria for falsification and planned extensions.

Proteins carry out biological functions through the coordinated action of groups of residues organized into structural arrangements. These arrangements, which we refer to as protein units, exist at an intermediate scale, being larger than individual residues yet smaller than entire proteins. A deeper understanding of protein function can be achieved by identifying these units and their associations with function. However, existing approaches either focus on residue-level signals, rely on curated annotations, or segment protein structures without incorporating functional information, thereby limiting interpretable analysis of structure-function relationships. We introduce PUFFIN, a data-driven framework for discovering protein units by jointly learning structural partitioning and functional supervision. PUFFIN represents proteins as residue-level structure graphs and applies a graph neural network with a structure-aware pooling mechanism that partitions each protein into multi-residue units, with functional supervision that shapes the partition. We show that the learned units are structurally coherent, exhibit organized associations with molecular function, and show meaningful correspondence with curated InterPro annotations. Together, these results demonstrate that PUFFIN provides an interpretable framework for analyzing structure-function relationships using learned protein units and their statistical function associations. We made our source code available at https://github.com/boun-tabi-lifelu/puffin.

Large language models still struggle with faithfulness and hallucinations despite their remarkable reasoning abilities. In Knowledge Graph Question Answering (KGQA), semantic parsing-based approaches address the limitations by understanding constraints in a user's question and converting them into a logical form to execute on a knowledge graph. However, existing KGQA benchmarks and methods are biased toward positive and calculation constraints. Negative constraints are neglected, although they frequently appear in real-world questions. In this paper, we introduce a new task, NEgative-conSTrained (NEST) KGQA, where each question contains at least one negative constraint, and a corresponding dataset, NestKGQA. We also design PyLF, a Python-formatted logical form, since existing logical forms are hardly suitable to express negation clearly while maintaining readability. Furthermore, NEST questions naturally contain multiple constraints. To mitigate their semantic complexity, we present a novel framework named CUCKOO, specialized to multiple-constrained questions and ensuring semantic executability. CUCKOO first generates a constraint-aware logical form draft and performs schema-guided semantic matching. It then selectively applies self-directed refinement only when executing improper logical forms yields an empty result, reducing cost while improving robustness. Experimental results demonstrate that CUCKOO consistently outperforms baselines on both conventional KGQA and NEST-KGQA benchmarks under few-shot settings.