Recent advancements in open-world robot manipulation have been largely driven by vision-language models (VLMs). While these models exhibit strong generalization ability in high-level planning, they struggle to predict low-level robot controls due to limited physical-world understanding. To address this issue, we propose a model predictive control framework for open-world manipulation that combines the semantic reasoning capabilities of VLMs with physically-grounded, interactive digital twins of the real-world environments. By constructing and simulating the digital twins, our approach generates feasible motion trajectories, simulates corresponding outcomes, and prompts the VLM with future observations to evaluate and select the most suitable outcome based on language instructions of the task. To further enhance the capability of pre-trained VLMs in understanding complex scenes for robotic control, we leverage the flexible rendering capabilities of the digital twin to synthesize the scene at various novel, unoccluded viewpoints. We validate our approach on a diverse set of complex manipulation tasks, demonstrating superior performance compared to baseline methods for language-conditioned robotic control using VLMs.
Recent advancements in Vision-Language-Action (VLA) models have shown promise for end-to-end autonomous driving by leveraging world knowledge and reasoning capabilities. However, current VLA models often struggle with physically infeasible action outputs, complex model structures, or unnecessarily long reasoning. In this paper, we propose AutoVLA, a novel VLA model that unifies reasoning and action generation within a single autoregressive generation model for end-to-end autonomous driving. AutoVLA performs semantic reasoning and trajectory planning directly from raw visual inputs and language instructions. We tokenize continuous trajectories into discrete, feasible actions, enabling direct integration into the language model. For training, we employ supervised fine-tuning to equip the model with dual thinking modes: fast thinking (trajectory-only) and slow thinking (enhanced with chain-of-thought reasoning). To further enhance planning performance and efficiency, we introduce a reinforcement fine-tuning method based on Group Relative Policy Optimization (GRPO), reducing unnecessary reasoning in straightforward scenarios. Extensive experiments across real-world and simulated datasets and benchmarks, including nuPlan, nuScenes, Waymo, and CARLA, demonstrate the competitive performance of AutoVLA in both open-loop and closed-loop settings. Qualitative results showcase the adaptive reasoning and accurate planning capabilities of AutoVLA in diverse scenarios.
Neighborhood finders and nearest neighbor queries are fundamental parts of sampling based motion planning algorithms. Using different distance metrics or otherwise changing the definition of a neighborhood produces different algorithms with unique empiric and theoretical properties. In \cite{l-pa-06} LaValle suggests a neighborhood finder for the Rapidly-exploring Random Tree RRT algorithm \cite{l-rrtnt-98} which finds the nearest neighbor of the sampled point on the swath of the tree, that is on the set of all of the points on the tree edges, using a hierarchical data structure. In this paper we implement such a neighborhood finder and show, theoretically and experimentally, that this results in more efficient algorithms, and suggest a variant of the Rapidly-exploring Random Graph RRG algorithm \cite{f-isaom-10} that better exploits the exploration properties of the newly described subroutine for finding narrow passages.
Sideways information passing is a well-known technique for mitigating the impact of large build sides in a database query plan. As currently implemented in production systems, sideways information passing enables only a uni-directional information flow, as opposed to instance-optimal algorithms, such as Yannakakis'. On the other hand, the latter require an additional pass over the input, which hinders adoption in production systems. In this paper, we make a step towards enabling single-pass bi-directional information passing during query execution. We achieve this by statically analyzing between which tables the information flow is blocked and by leveraging precomputed join-induced fingerprint columns on FK-tables. On the JOB benchmark, Parachute improves DuckDB v1.2's end-to-end execution time without and with semi-join filtering by 1.54x and 1.24x, respectively, when allowed to use 15% extra space.
This paper investigates how an autonomous agent can transmit information through its motion in an adversarial setting. We consider scenarios where an agent must reach its goal while deceiving an intelligent observer about its destination. We model this interaction as a dynamic Bayesian game between a mobile Attacker with a privately known goal and a Defender who infers the Attacker's intent to allocate defensive resources effectively. We use Perfect Bayesian Nash Equilibrium (PBNE) as our solution concept and propose a computationally efficient approach to find it. In the resulting equilibrium, the Defender employs a simple Markovian strategy, while the Attacker strategically balances deception and goal efficiency by stochastically mixing shortest and non-shortest paths to manipulate the Defender's beliefs. Numerical experiments demonstrate the advantages of our PBNE-based strategies over existing methods based on one-sided optimization.
This paper presents a disturbance-aware framework that embeds robustness into minimum-lap-time trajectory optimization for motorsport. Two formulations are introduced. (i) Open-loop, horizon-based covariance propagation uses worst-case uncertainty growth over a finite window to tighten tire-friction and track-limit constraints. (ii) Closed-loop, covariance-aware planning incorporates a time-varying LQR feedback law in the optimizer, providing a feedback-consistent estimate of disturbance attenuation and enabling sharper yet reliable constraint tightening. Both methods yield reference trajectories for human or artificial drivers: in autonomous applications the modelled controller can replicate the on-board implementation, while for human driving accuracy increases with the extent to which the driver can be approximated by the assumed time-varying LQR policy. Computational tests on a representative Barcelona-Catalunya sector show that both schemes meet the prescribed safety probability, yet the closed-loop variant incurs smaller lap-time penalties than the more conservative open-loop solution, while the nominal (non-robust) trajectory remains infeasible under the same uncertainties. By accounting for uncertainty growth and feedback action during planning, the proposed framework delivers trajectories that are both performance-optimal and probabilistically safe, advancing minimum-time optimization toward real-world deployment in high-performance motorsport and autonomous racing.
Earthworms are key drivers of soil function, influencing organic matter turnover, nutrient cycling, and soil structure. Understanding the environmental controls on their distribution is essential for predicting the impacts of land use and climate change on soil ecosystems. While local studies have identified abiotic drivers of earthworm communities, broad-scale spatial patterns remain underexplored. We developed a multi-species, multi-task deep learning model to jointly predict the distribution of 77 earthworm species across metropolitan France, using historical (1960-1970) and contemporary (1990-2020) records. The model integrates climate, soil, and land cover variables to estimate habitat suitability. We applied SHapley Additive exPlanations (SHAP) to identify key environmental drivers and used species clustering to reveal ecological response groups. The joint model achieved high predictive performance (TSS >= 0.7) and improved predictions for rare species compared to traditional species distribution models. Shared feature extraction across species allowed for more robust identification of common and contrasting environmental responses. Precipitation variability, temperature seasonality, and land cover emerged as dominant predictors of earthworm distribution. Species clustering revealed distinct ecological strategies tied to climatic and land use gradients. Our study advances both the methodological and ecological understanding of soil biodiversity. We demonstrate the utility of interpretable deep learning approaches for large-scale soil fauna modeling and provide new insights into earthworm habitat specialization. These findings support improved soil biodiversity monitoring and conservation planning in the face of global environmental change.
Cone-beam CT (CBCT) is widely used in clinical radiotherapy for image-guided treatment, improving setup accuracy, adaptive planning, and motion management. However, slow gantry rotation limits performance by introducing motion artifacts, blurring, and increased dose. This work aims to develop a clinically feasible method for reconstructing high-quality CBCT volumes from consecutive limited-angle acquisitions, addressing imaging challenges in time- or dose-constrained settings. We propose a limited-angle (LA) geometry-integrated cycle-domain (LA-GICD) framework for CBCT reconstruction, comprising two denoising diffusion probabilistic models (DDPMs) connected via analytic cone-beam forward and back projectors. A Projection-DDPM completes missing projections, followed by back-projection, and an Image-DDPM refines the volume. This dual-domain design leverages complementary priors from projection and image spaces to achieve high-quality reconstructions from limited-angle (<= 90 degrees) scans. Performance was evaluated against full-angle reconstruction. Four board-certified medical physicists conducted assessments. A total of 78 planning CTs in common CBCT geometries were used for training and evaluation. The method achieved a mean absolute error of 35.5 HU, SSIM of 0.84, and PSNR of 29.8 dB, with visibly reduced artifacts and improved soft-tissue clarity. LA-GICD's geometry-aware dual-domain learning, embedded in analytic forward/backward operators, enabled artifact-free, high-contrast reconstructions from a single 90-degree scan, reducing acquisition time and dose four-fold. LA-GICD improves limited-angle CBCT reconstruction with strong data fidelity and anatomical realism. It offers a practical solution for short-arc acquisitions, enhancing CBCT use in radiotherapy by providing clinically applicable images with reduced scan time and dose for more accurate, personalized treatments.
In proton therapy of low-grade glioma (LGG) patients, contrast-enhancing brain lesions (CEBLs) on magnetic resonance imaging are considered predictive of late radiation-induced lesions. From the observation that CEBLs tend to concentrate in regions of increased dose-averaged linear energy transfer (LET) and proximal to the ventricular system, the probability of lesion origin (POLO) model has been established as a multivariate logistic regression model for the voxel-wise probability prediction of the CEBL origin. To date, leveraging the predictive power of the POLO model for treatment planning relies on hand tuning the dose and LET distribution to minimize the resulting probability predictions. In this paper, we therefore propose automated POLO model-based treatment planning by directly integrating POLO calculation and optimization into plan optimization for LGG patients. We introduce an extension of the original POLO model including a volumetric correction factor, and a model-based optimization scheme featuring a linear reformulation of the model together with feasible optimization functions based on the predicted POLO values. The developed framework is implemented in the open-source treatment planning toolkit matRad. Our framework can generate clinically acceptable treatment plans while automatically taking into account outcome predictions from the POLO model. It also supports the definition of customized POLO model-based objective and constraint functions. Optimization results from a sample LGG patient show that the POLO model-based outcome predictions can be minimized under expected shifts in dose, LET, and POLO distributions, while sustaining target coverage ($\Delta_{\text{PTV}} \text{d95}_{RBE,fx}\approx{0.03}$, $\Delta_{\text{GTV}} \text{d95}_{RBE,fx}\approx{0.001}$), even at large NTCP reductions of $\Delta{\text{NTCP}}\approx{26}\%$.
The mining sector increasingly adopts digital tools to improve operational efficiency, safety, and data-driven decision-making. One of the key challenges remains the reliable acquisition of high-resolution, geo-referenced spatial information to support core activities such as extraction planning and on-site monitoring. This work presents an integrated system architecture that combines UAV-based sensing, LiDAR terrain modeling, and deep learning-based object detection to generate spatially accurate information for open-pit mining environments. The proposed pipeline includes geo-referencing, 3D reconstruction, and object localization, enabling structured spatial outputs to be integrated into an industrial digital twin platform. Unlike traditional static surveying methods, the system offers higher coverage and automation potential, with modular components suitable for deployment in real-world industrial contexts. While the current implementation operates in post-flight batch mode, it lays the foundation for real-time extensions. The system contributes to the development of AI-enhanced remote sensing in mining by demonstrating a scalable and field-validated geospatial data workflow that supports situational awareness and infrastructure safety.
Dual-arm cooperative manipulation holds great promise for tackling complex real-world tasks that demand seamless coordination and adaptive dynamics. Despite substantial progress in learning-based motion planning, most approaches struggle to generalize across diverse manipulation tasks and adapt to dynamic, unstructured environments, particularly in scenarios involving interactions between two objects such as assembly, tool use, and bimanual grasping. To address these challenges, we introduce a novel VLM-Assisted Siamese Flow Diffusion (VLM-SFD) framework for efficient imitation learning in dual-arm cooperative manipulation. The proposed VLM-SFD framework exhibits outstanding adaptability, significantly enhancing the ability to rapidly adapt and generalize to diverse real-world tasks from only a minimal number of human demonstrations. Specifically, we propose a Siamese Flow Diffusion Network (SFDNet) employs a dual-encoder-decoder Siamese architecture to embed two target objects into a shared latent space, while a diffusion-based conditioning process-conditioned by task instructions-generates two-stream object-centric motion flows that guide dual-arm coordination. We further design a dynamic task assignment strategy that seamlessly maps the predicted 2D motion flows into 3D space and incorporates a pre-trained vision-language model (VLM) to adaptively assign the optimal motion to each robotic arm over time. Experiments validate the effectiveness of the proposed method, demonstrating its ability to generalize to diverse manipulation tasks while maintaining high efficiency and adaptability. The code and demo videos are publicly available on our project website https://sites.google.com/view/vlm-sfd/.
Kinodynamic planning of articulated vehicles in cluttered environments faces additional challenges arising from high-dimensional state space and complex system dynamics. Built upon [1],[2], this work proposes the DE-AGT algorithm that grows a tree using pre-computed motion primitives (MPs) and A* heuristics. The first feature of DE-AGT is a delayed expansion of MPs. In particular, the MPs are divided into different modes, which are ranked online. With the MP classification and prioritization, DE-AGT expands the most promising mode of MPs first, which eliminates unnecessary computation and finds solutions faster. To obtain the cost-to-go heuristic for nonholonomic articulated vehicles, we rely on supervised learning and train neural networks for fast and accurate cost-to-go prediction. The learned heuristic is used for online mode ranking and node selection. Another feature of DE-AGT is the improved goal-reaching. Exactly reaching a goal state usually requires a constant connection checking with the goal by solving steering problems -- non-trivial and time-consuming for articulated vehicles. The proposed termination scheme overcomes this challenge by tightly integrating a light-weight trajectory tracking controller with the search process. DE-AGT is implemented for autonomous parking of a general car-like tractor with 3-trailer. Simulation results show an average of 10x acceleration compared to a previous method.
Accurate calibration of sensor extrinsic parameters for ground robotic systems (i.e., relative poses) is crucial for ensuring spatial alignment and achieving high-performance perception. However, existing calibration methods typically require complex and often human-operated processes to collect data. Moreover, most frameworks neglect acoustic sensors, thereby limiting the associated systems' auditory perception capabilities. To alleviate these issues, we propose an observability-aware active calibration method for ground robots with multimodal sensors, including a microphone array, a LiDAR (exteroceptive sensors), and wheel encoders (proprioceptive sensors). Unlike traditional approaches, our method enables active trajectory optimization for online data collection and calibration, contributing to the development of more intelligent robotic systems. Specifically, we leverage the Fisher information matrix (FIM) to quantify parameter observability and adopt its minimum eigenvalue as an optimization metric for trajectory generation via B-spline curves. Through planning and replanning of robot trajectory online, the method enhances the observability of multi-sensor extrinsic parameters. The effectiveness and advantages of our method have been demonstrated through numerical simulations and real-world experiments. For the benefit of the community, we have also open-sourced our code and data at https://github.com/AISLAB-sustech/Multisensor-Calibration.
Mobility patterns play a critical role in a wide range of societal challenges, from epidemic modeling and emergency response to transportation planning and regional development. Yet, access to high-quality, timely, and openly available mobility data remains limited. In response, the Spanish Ministry of Transportation and Sustainable Mobility has released daily mobility datasets based on anonymized mobile phone data, covering districts, municipalities, and greater urban areas from February 2020 to June 2021 and again from January 2022 onward. This paper presents pySpainMobility, a Python package that simplifies access to these datasets and their associated study areas through a standardized, well-documented interface. By lowering the technical barrier to working with large-scale mobility data, the package enables reproducible analysis and supports applications across research, policy, and operational domains. The library is available at https://github.com/pySpainMobility.
Over the past two decades, several governments in developing and developed countries have started their journey toward digital transformation. However, the pace and maturity of digital technologies and strategies are different between public services. Current literature indicates that research on the digital transformation of urban planning is still developing. Therefore, the aim of this study is to understand the influencing factors and key challenges for the digital transformation of urban planning in Australia. The study adopts the inter-organisational theory and Planning Support Science (PSScience) under the Technological, Organisational, and External Environmental (TOE) framework. It involves a multiple case study, administered semi-structured interviews with thirteen IT and urban planning experts across Victoria and New South Wales governments and private industries. The study findings indicate that the main challenges for digital transformation of the Australian urban planning system are related to organisational and external environmental factors. Furthermore, a digital maturity model is absent in the Australian urban planning industry. This study offers important implications to research and practice related to digital transformation in urban planning.
We study online decision making problems under resource constraints, where both reward and cost functions are drawn from distributions that may change adversarially over time. We focus on two canonical settings: $(i)$ online resource allocation where rewards and costs are observed before action selection, and $(ii)$ online learning with resource constraints where they are observed after action selection, under full feedback or bandit feedback. It is well known that achieving sublinear regret in these settings is impossible when reward and cost distributions may change arbitrarily over time. To address this challenge, we analyze a framework in which the learner is guided by a spending plan--a sequence prescribing expected resource usage across rounds. We design general (primal-)dual methods that achieve sublinear regret with respect to baselines that follow the spending plan. Crucially, the performance of our algorithms improves when the spending plan ensures a well-balanced distribution of the budget across rounds. We additionally provide a robust variant of our methods to handle worst-case scenarios where the spending plan is highly imbalanced. To conclude, we study the regret of our algorithms when competing against benchmarks that deviate from the prescribed spending plan.
Electroencephalography (EEG) is extensively employed in medical diagnostics and brain-computer interface (BCI) applications due to its non-invasive nature and high temporal resolution. However, EEG analysis faces significant challenges, including noise, nonstationarity, and inter-subject variability, which hinder its clinical utility. Traditional neural networks often lack integration with biophysical knowledge, limiting their interpretability, robustness, and potential for medical translation. To address these limitations, this study introduces NeuroPhysNet, a novel Physics-Informed Neural Network (PINN) framework tailored for EEG signal analysis and motor imagery classification in medical contexts. NeuroPhysNet incorporates the FitzHugh-Nagumo model, embedding neurodynamical principles to constrain predictions and enhance model robustness. Evaluated on the BCIC-IV-2a dataset, the framework achieved superior accuracy and generalization compared to conventional methods, especially in data-limited and cross-subject scenarios, which are common in clinical settings. By effectively integrating biophysical insights with data-driven techniques, NeuroPhysNet not only advances BCI applications but also holds significant promise for enhancing the precision and reliability of clinical diagnostics, such as motor disorder assessments and neurorehabilitation planning.
Flooding remains a major global challenge, worsened by climate change and urbanization, demanding advanced solutions for effective disaster management. While traditional 2D flood mapping techniques provide limited insights, 3D flood mapping, powered by deep learning (DL), offers enhanced capabilities by integrating flood extent and depth. This paper presents a comprehensive survey of deep learning-based 3D flood mapping, emphasizing its advancements over 2D maps by integrating flood extent and depth for effective disaster management and urban planning. The survey categorizes deep learning techniques into task decomposition and end-to-end approaches, applicable to both static and dynamic flood features. We compare key DL architectures, highlighting their respective roles in enhancing prediction accuracy and computational efficiency. Additionally, this work explores diverse data sources such as digital elevation models, satellite imagery, rainfall, and simulated data, outlining their roles in 3D flood mapping. The applications reviewed range from real-time flood prediction to long-term urban planning and risk assessment. However, significant challenges persist, including data scarcity, model interpretability, and integration with traditional hydrodynamic models. This survey concludes by suggesting future directions to address these limitations, focusing on enhanced datasets, improved models, and policy implications for flood management. This survey aims to guide researchers and practitioners in leveraging DL techniques for more robust and reliable 3D flood mapping, fostering improved flood management strategies.
We study the Logistic Contextual Slate Bandit problem, where, at each round, an agent selects a slate of $N$ items from an exponentially large set (of size $2^{\Omega(N)}$) of candidate slates provided by the environment. A single binary reward, determined by a logistic model, is observed for the chosen slate. Our objective is to develop algorithms that maximize cumulative reward over $T$ rounds while maintaining low per-round computational costs. We propose two algorithms, Slate-GLM-OFU and Slate-GLM-TS, that accomplish this goal. These algorithms achieve $N^{O(1)}$ per-round time complexity via local planning (independent slot selections), and low regret through global learning (joint parameter estimation). We provide theoretical and empirical evidence supporting these claims. Under a well-studied diversity assumption, we prove that Slate-GLM-OFU incurs only $\tilde{O}(\sqrt{T})$ regret. Extensive experiments across a wide range of synthetic settings demonstrate that our algorithms consistently outperform state-of-the-art baselines, achieving both the lowest regret and the fastest runtime. Furthermore, we apply our algorithm to select in-context examples in prompts of Language Models for solving binary classification tasks such as sentiment analysis. Our approach achieves competitive test accuracy, making it a viable alternative in practical scenarios.
Data scarcity in African agriculture hampers machine learning (ML) model performance, limiting innovations in precision agriculture. The Synthetic Agriculture Data for Africa (SAGDA) library, a Python-based open-source toolkit, addresses this gap by generating, augmenting, and validating synthetic agricultural datasets. We present SAGDA's design and development practices, highlighting its core functions: generate, model, augment, validate, visualize, optimize, and simulate, as well as their roles in applications of ML for agriculture. Two use cases are detailed: yield prediction enhanced via data augmentation, and multi-objective NPK (nitrogen, phosphorus, potassium) fertilizer recommendation. We conclude with future plans for expanding SAGDA's capabilities, underscoring the vital role of open-source, data-driven practices for African agriculture.
Optimizing urban freight logistics is critical for developing sustainable, low-carbon cities. Traditional methods often rely on manual coordination of simulation tools, optimization solvers, and expert-driven workflows, limiting their efficiency and scalability. This paper presents an agentic system architecture that leverages the model context protocol (MCP) to orchestrate multi-agent collaboration among scientific tools for autonomous, simulation-informed optimization in urban logistics. The system integrates generative AI agents with domain-specific engines - such as Gurobi for optimization and AnyLogic for agent-based simulation - forming a generative digital twin capable of reasoning, planning, and acting across multimodal freight networks. By incorporating integrated chatbots, retrieval-augmented generation, and structured memory, the framework enables agents to interpret user intent from natural language conversations, retrieve relevant datasets and models, coordinate solvers and simulators, and execute complex workflows. We demonstrate this approach through a freight decarbonization case study, showcasing how MCP enables modular, interoperable, and adaptive agent behavior across diverse toolchains. The results reveal that our system transforms digital twins from static visualizations into autonomous, decision-capable systems, advancing the frontiers of urban operations research. By enabling context-aware, generative agents to operate scientific tools automatically and collaboratively, this framework supports more intelligent, accessible, and dynamic decision-making in transportation planning and smart city management.
In this study, we explore the potential of using TianQin missions to probe the local gravitational effects of dark matter. The TianQin project plans to launch satellites at both low and high orbits. High-precision orbit determination is expected to assist in the Earth's gravity or gravitational waves detection. By comparing the derived masses in low and high orbits, it is possible to constrain the amount of dark matter between the two spheres, hence placing a local constraint on dark matter's gravity effect. Our results show the capability of TianQin in detecting the density of dark matter around Earth, with an ultimate sensitivity to a value of $10^{-8}\,\,{\rm kg\,\,m^{-3}}$. This detection limit surpasses the estimated bounds for the solar system and the observation results for our Galaxy by approximately 7 and 14 orders of magnitude, respectively.
This paper proposes an optimization framework that addresses both cycling degradation and calendar aging of batteries for autonomous mobile robot (AMR) to minimize battery degradation while ensuring task completion. A rectangle method of piecewise linear approximation is employed to linearize the bilinear optimization problem. We conduct a case study to validate the efficiency of the proposed framework in achieving an optimal path planning for AMRs while reducing battery aging.
Accurate prediction of crop yield is critical for supporting food security, agricultural planning, and economic decision-making. However, yield forecasting remains a significant challenge due to the complex and nonlinear relationships between weather variables and crop production, as well as spatial heterogeneity across agricultural regions. We propose DSNet, a deep neural network architecture that integrates functional and scalar predictors with spatially varying coefficients and spatial random effects. The method is designed to flexibly model spatially indexed functional data, such as daily temperature curves, and their relationship to variability in the response, while accounting for spatial correlation. DSNet mitigates the curse of dimensionality through a low-rank structure inspired by the spatially varying functional index model (SVFIM). Through comprehensive simulations, we demonstrate that DSNet outperforms state-of-the-art functional regression models for spatial data, when the functional predictors exhibit complex structure and their relationship with the response varies spatially in a potentially nonstationary manner. Application to corn yield data from the U.S. Midwest demonstrates that DSNet achieves superior predictive accuracy compared to both leading machine learning approaches and parametric statistical models. These results highlight the model's robustness and its potential applicability to other weather-sensitive crops.
Mobile edge computing (MEC) enhances the performance of 5G networks by enabling low-latency, high-speed services through deploying data units of the base station on edge servers located near mobile users. However, determining the optimal capacity of these servers while dynamically offloading tasks and allocating computing resources to meet uncertain user demands presents significant challenges. This paper focuses on the design and planning of edge servers with the dual objectives of minimizing capacity requirements and reducing service latency for 5G services. To handle the complexity of uncertain user demands, we formulate the problem as a two-stage stochastic model, which can be linearized into a mixed-integer linear programming (MILP) problem. We propose a novel approach called accelerated Benders decomposition (ABD) to solve the problem at a large network scale. Numerical experiments demonstrate that ABD achieves the optimal solution of MILP while significantly reducing computation time.
High-precision molecular experiments testing the Standard Model of particle physics require an accurate understanding of the molecular structure at the hyperfine level, both for the control of the molecules and for the interpretation of the results. In this work, we calculate the hyperfine structure constants for the excited states $^2\Pi_{1/2}$ and $^2\Pi_{3/2}$ of $^{137}$BaF due to the $^{137}$Ba nucleus. We use the 4-component relativistic Fock-space coupled-cluster method, extrapolating our results to the complete basis set limit. We investigate the effect of the basis sets and electron correlation, and estimate the uncertainty in our final results. Our results are used in the interpretation of the experimental spectroscopy of the hyperfine and rovibrational spectra of BaF, and the planning of laser-cooling schemes for future parity-violating anapole moment measurements [1].
This work presents a formal framework for quantifying the internal dependencies between functional subsystems within artificial agents whose belief states are composed of structured linguistic fragments. Building on the Semantic Manifold framework, which organizes belief content into functional sectors and stratifies them across hierarchical levels of abstraction, we introduce a system of sectoral coupling constants that characterize how one cognitive sector influences another within a fixed level of abstraction. The complete set of these constants forms an agent-specific coupling profile that governs internal information flow, shaping the agent's overall processing tendencies and cognitive style. We provide a detailed taxonomy of these intra-level coupling roles, covering domains such as perceptual integration, memory access and formation, planning, meta-cognition, execution control, and affective modulation. We also explore how these coupling profiles generate feedback loops, systemic dynamics, and emergent signatures of cognitive behavior. Methodologies for inferring these profiles from behavioral or internal agent data are outlined, along with a discussion of how these couplings evolve across abstraction levels. This framework contributes a mechanistic and interpretable approach to modeling complex cognition, with applications in AI system design, alignment diagnostics, and the analysis of emergent agent behavior.
While gluon fusion dominates Higgs pair production at the LHC, vector boson fusion (VBF) offers a unique window into Beyond the Standard Model (BSM) physics through its distinctive kinematic features and direct sensitivity to Higgs-vector boson interactions. We perform a comprehensive analysis of double Higgs production via VBF in the Standard Model Effective Field Theory (SMEFT), systematically investigating how dimension-6 and dimension-8 bosonic operators - particularly those involving field derivatives - can enhance the production rate. We identify the most relevant Wilson coefficients (WCs) affecting the trilinear Higgs coupling ($hhh$) and Higgs-vector boson interactions ($hVV$, $hhVV$). Using constraints from global fits and interpolating fit results for unconstrained WCs with Naive Dimensional Analysis, we assess their effects on the $VV \to hh$ ($V = W,Z$) scattering amplitudes and cross-sections. Our analysis includes a study of EFT convergence and validity in models with scalar extensions of the SM. Numerical simulations for the planned High-Luminosity LHC experiment (HL-LHC) in general reveal only a modest and challenging to detect enhancement of the VBF di-Higgs production rate over the SM prediction. However, we show that in optimistic scenarios, such a process could be observed at the HL-LHC. In certain cases, when the enhancement is dominated by the dimension-6 or dimension-8 operators containing field derivatives (and thus leading to stronger energy-dependent effects), this channel becomes competitive with di-Higgs production via gluon fusion. This work highlights the role of VBF di-Higgs production as a complementary channel for probing anomalous Higgs couplings and their impact on BSM physics.
In autonomous underwater missions, the successful completion of predefined paths mainly depends on the ability of underwater vehicles to recognise their surroundings. In this study, we apply the concept of Fast Interval Type-2 Fuzzy Extreme Learning Machine (FIT2-FELM) to train a Takagi-Sugeno-Kang IT2 Fuzzy Inference System (TSK IT2-FIS) for on-board sonar data classification using an underwater vehicle called BlueROV2. The TSK IT2-FIS is integrated into a Hierarchical Navigation Strategy (HNS) as the main navigation engine to infer local motions and provide the BlueROV2 with full autonomy to follow an obstacle-free trajectory in a water container of 2.5m x 2.5m x 3.5m. Compared to traditional navigation architectures, using the proposed method, we observe a robust path following behaviour in the presence of uncertainty and noise. We found that the proposed approach provides the BlueROV with a more complete sensory picture about its surroundings while real-time navigation planning is performed by the concurrent execution of two or more tasks.
In this paper we extend the well-known L-Shaped method to solve two-stage stochastic programming problems with decision-dependent uncertainty. The method is based on a novel, unifying, formulation and on distribution-specific optimality and feasibility cuts for both linear and integer stochastic programs. Extensive tests on three production planning problems illustrate that the method is extremely effective on large-scale instances.