Diffusion large language models (dLLMs) are compelling alternatives to autoregressive (AR) models because their denoising models operate over the entire sequence. The global planning and iterative refinement features of dLLMs are particularly useful for code generation. However, current training and inference mechanisms for dLLMs in coding are still under-explored. To demystify the decoding behavior of dLLMs and unlock their potential for coding, we systematically investigate their denoising processes and reinforcement learning (RL) methods. We train a 7B dLLM, \textbf{DiffuCoder}, on 130B tokens of code. Using this model as a testbed, we analyze its decoding behavior, revealing how it differs from that of AR models: (1) dLLMs can decide how causal their generation should be without relying on semi-AR decoding, and (2) increasing the sampling temperature diversifies not only token choices but also their generation order. This diversity creates a rich search space for RL rollouts. For RL training, to reduce the variance of token log-likelihood estimates and maintain training efficiency, we propose \textbf{coupled-GRPO}, a novel sampling scheme that constructs complementary mask noise for completions used in training. In our experiments, coupled-GRPO significantly improves DiffuCoder's performance on code generation benchmarks (+4.4\% on EvalPlus) and reduces reliance on AR causal during decoding. Our work provides deeper insight into the machinery of dLLM generation and offers an effective, diffusion-native RL training framework. https://github.com/apple/ml-diffucoder.
This paper addresses the problem of collaborative navigation in an unknown environment, where two robots, referred to in the sequel as the Seeker and the Supporter, traverse the space simultaneously. The Supporter assists the Seeker by transmitting a compressed representation of its local map under bandwidth constraints to support the Seeker's path-planning task. We introduce a bit-rate metric based on the expected binary codeword length to quantify communication cost. Using this metric, we formulate the compression design problem as a rate-distortion optimization problem that determines when to communicate, which regions of the map should be included in the compressed representation, and at what resolution (i.e., quantization level) they should be encoded. Our formulation allows different map regions to be encoded at varying quantization levels based on their relevance to the Seeker's path-planning task. We demonstrate that the resulting optimization problem is convex, and admits a closed-form solution known in the information theory literature as reverse water-filling, enabling efficient, low-computation, and real-time implementation. Additionally, we show that the Seeker can infer the compression decisions of the Supporter independently, requiring only the encoded map content and not the encoding policy itself to be transmitted, thereby reducing communication overhead. Simulation results indicate that our method effectively constructs compressed, task-relevant map representations, both in content and resolution, that guide the Seeker's planning decisions even under tight bandwidth limitations.
Periodontitis, a chronic inflammatory disease causing alveolar bone loss, significantly affects oral health and quality of life. Accurate assessment of bone loss severity and pattern is critical for diagnosis and treatment planning. In this study, we propose a novel AI-based deep learning framework to automatically detect and quantify alveolar bone loss and its patterns using intraoral periapical (IOPA) radiographs. Our method combines YOLOv8 for tooth detection with Keypoint R-CNN models to identify anatomical landmarks, enabling precise calculation of bone loss severity. Additionally, YOLOv8x-seg models segment bone levels and tooth masks to determine bone loss patterns (horizontal vs. angular) via geometric analysis. Evaluated on a large, expertly annotated dataset of 1000 radiographs, our approach achieved high accuracy in detecting bone loss severity (intra-class correlation coefficient up to 0.80) and bone loss pattern classification (accuracy 87%). This automated system offers a rapid, objective, and reproducible tool for periodontal assessment, reducing reliance on subjective manual evaluation. By integrating AI into dental radiographic analysis, our framework has the potential to improve early diagnosis and personalized treatment planning for periodontitis, ultimately enhancing patient care and clinical outcomes.
Geographic experiments are a gold-standard for measuring incremental return on ad spend (iROAS) at scale, yet their design is challenging: the unit count is small, heterogeneity is large, and the optimal Supergeo partitioning problem is NP-hard. We introduce Adaptive Supergeo Design (ASD), a two-stage framework that renders Supergeo designs practical for thousands of markets. A bespoke graph-neural network first learns geo-embeddings and proposes a concise candidate set of 'supergeos'; a CP-SAT solver then selects a partition that balances both baseline outcomes and pre-treatment covariates believed to modify the treatment effect. We prove that ASD's objective value is within (1+epsilon) of the global optimum under mild community-structure assumptions. In simulations with up to 1,000 Designated Market Areas ASD completes in minutes on standard hardware, retains every media dollar, and cuts iROAS bias substantively relative to existing methods. ASD therefore turns geo-lift testing into a routine, scalable component of media planning while preserving statistical rigour.
The ability to update information acquired through various means online during task execution is crucial for a general-purpose service robot. This information includes geometric and semantic data. While SLAM handles geometric updates on 2D maps or 3D point clouds, online updates of semantic information remain unexplored. We attribute the challenge to the online scene graph representation, for its utility and scalability. Building on previous works regarding offline scene graph representations, we study online graph representations of semantic information in this work. We introduce SPARK: Spatial Perception and Robot Knowledge Integration. This framework extracts semantic information from environment-embedded cues and updates the scene graph accordingly, which is then used for subsequent task planning. We demonstrate that graph representations of spatial relationships enhance the robot system's ability to perform tasks in dynamic environments and adapt to unconventional spatial cues, like gestures.
This paper presents a novel approach for robot navigation in environments containing deformable obstacles. By integrating Learning from Demonstration (LfD) with Dynamical Systems (DS), we enable adaptive and efficient navigation in complex environments where obstacles consist of both soft and hard regions. We introduce a dynamic modulation matrix within the DS framework, allowing the system to distinguish between traversable soft regions and impassable hard areas in real-time, ensuring safe and flexible trajectory planning. We validate our method through extensive simulations and robot experiments, demonstrating its ability to navigate deformable environments. Additionally, the approach provides control over both trajectory and velocity when interacting with deformable objects, including at intersections, while maintaining adherence to the original DS trajectory and dynamically adapting to obstacles for smooth and reliable navigation.
Resilience has raised interest in transport planning as rare phenomena, such as fuel supply crises, have recently shown their potential to destabilize transport systems. However, the proposed methods for planning resilience in transit systems fail to consider the impact that bus frequency has on user accessibility. To address this gap, this paper proposes a bus allocation method aimed at maximizing accessibility in impact scenarios - where some bus routes have their frequency reduced - making use of a genetic algorithm. The method is applied in the city of S\~ao Paulo and the results show that evolving the system foreseeing moderate impacts not only contributes to reducing the negative effects of lower route frequency, but also improves its efficiency in normal conditions, showing the importance of the contribution of this research to the planning of efficient systems.
In Social Robot Navigation, autonomous agents need to resolve many sequential interactions with other agents. State-of-the art planners can efficiently resolve the next, imminent interaction cooperatively and do not focus on longer planning horizons. This makes it hard to maneuver scenarios where the agent needs to select a good strategy to find gaps or channels in the crowd. We propose to decompose trajectory planning into two separate steps: Conflict avoidance for finding good, macroscopic trajectories, and cooperative collision avoidance (CCA) for resolving the next interaction optimally. We propose the Probabilistic Gap Planner (PGP) as a conflict avoidance planner. PGP modifies an established probabilistic collision risk model to include a general assumption of cooperativity. PGP biases the short-term CCA planner to head towards gaps in the crowd. In extensive simulations with crowds of varying density, we show that using PGP in addition to state-of-the-art CCA planners improves the agents' performance: On average, agents keep more space to others, create less tension, and cause fewer collisions. This typically comes at the expense of slightly longer paths. PGP runs in real-time on WaPOCHI mobile robot by Honda R&D.
Legged robots are increasingly being adopted in industries such as oil, gas, mining, nuclear, and agriculture. However, new challenges exist when moving into natural, less-structured environments, such as forestry applications. This paper presents a prototype system for autonomous, under-canopy forest inventory with legged platforms. Motivated by the robustness and mobility of modern legged robots, we introduce a system architecture which enabled a quadruped platform to autonomously navigate and map forest plots. Our solution involves a complete navigation stack for state estimation, mission planning, and tree detection and trait estimation. We report the performance of the system from trials executed over one and a half years in forests in three European countries. Our results with the ANYmal robot demonstrate that we can survey plots up to 1 ha plot under 30 min, while also identifying trees with typical DBH accuracy of 2cm. The findings of this project are presented as five lessons and challenges. Particularly, we discuss the maturity of hardware development, state estimation limitations, open problems in forest navigation, future avenues for robotic forest inventory, and more general challenges to assess autonomous systems. By sharing these lessons and challenges, we offer insight and new directions for future research on legged robots, navigation systems, and applications in natural environments. Additional videos can be found in https://dynamic.robots.ox.ac.uk/projects/legged-robots
Efficient, collision-free motion planning is essential for automating large-scale manipulators like timber cranes. They come with unique challenges such as hydraulic actuation constraints and passive joints-factors that are seldom addressed by current motion planning methods. This paper introduces a novel approach for time-optimal, collision-free hybrid motion planning for a hydraulically actuated timber crane with passive joints. We enhance the via-point-based stochastic trajectory optimization (VP-STO) algorithm to include pump flow rate constraints and develop a novel collision cost formulation to improve robustness. The effectiveness of the enhanced VP-STO as an optimal single-query global planner is validated by comparison with an informed RRT* algorithm using a time-optimal path parameterization (TOPP). The overall hybrid motion planning is formed by combination with a gradient-based local planner that is designed to follow the global planner's reference and to systematically consider the passive joint dynamics for both collision avoidance and sway damping.
The growing use of mobile robots in sectors such as automotive, agriculture, and rescue operations reflects progress in robotics and autonomy. In unmanned aerial vehicles (UAVs), most research emphasizes visual SLAM, sensor fusion, and path planning. However, applying UAVs to search and rescue missions in disaster zones remains underexplored, especially for autonomous navigation. This report develops methods for real-time and secure UAV maneuvering in complex 3D environments, crucial during forest fires. Building upon past research, it focuses on designing navigation algorithms for unfamiliar and hazardous environments, aiming to improve rescue efficiency and safety through UAV-based early warning and rapid response. The work unfolds in phases. First, a 2D fusion navigation strategy is explored, initially for mobile robots, enabling safe movement in dynamic settings. This sets the stage for advanced features such as adaptive obstacle handling and decision-making enhancements. Next, a novel 3D reactive navigation strategy is introduced for collision-free movement in forest fire simulations, addressing the unique challenges of UAV operations in such scenarios. Finally, the report proposes a unified control approach that integrates UAVs and unmanned ground vehicles (UGVs) for coordinated rescue missions in forest environments. Each phase presents challenges, proposes control models, and validates them with mathematical and simulation-based evidence. The study offers practical value and academic insights for improving the role of UAVs in natural disaster rescue operations.
Forecasting attracts a lot of research attention in the electricity value chain. However, most studies concentrate on short-term forecasting of generation or consumption with a focus on systems and less on individual consumers. Even more neglected is the topic of long-term forecasting of individual power consumption. Here, we provide an in-depth comparative evaluation of data-driven methods for generating synthetic time series data tailored to energy consumption long-term forecasting. High-fidelity synthetic data is crucial for a wide range of applications, including state estimations in energy systems or power grid planning. In this study, we assess and compare the performance of multiple state-of-the-art but less common techniques: a hybrid Wasserstein Generative Adversarial Network (WGAN), Denoising Diffusion Probabilistic Model (DDPM), Hidden Markov Model (HMM), and Masked Autoregressive Bernstein polynomial normalizing Flows (MABF). We analyze the ability of each method to replicate the temporal dynamics, long-range dependencies, and probabilistic transitions characteristic of individual energy consumption profiles. Our comparative evaluation highlights the strengths and limitations of: WGAN, DDPM, HMM and MABF aiding in selecting the most suitable approach for state estimations and other energy-related tasks. Our generation and analysis framework aims to enhance the accuracy and reliability of synthetic power consumption data while generating data that fulfills criteria like anonymisation - preserving privacy concerns mitigating risks of specific profiling of single customers. This study utilizes an open-source dataset from households in Germany with 15min time resolution. The generated synthetic power profiles can readily be used in applications like state estimations or consumption forecasting.
AI-powered code assistants are widely used to generate code completions, significantly boosting developer productivity. However, these tools typically present suggestions without explaining their rationale, leaving their decision-making process inscrutable. This opacity hinders developers' ability to critically evaluate the output, form accurate mental models, and build calibrated trust in the system. To address this, we introduce CopilotLens, a novel interactive framework that reframes code completion from a simple suggestion into a transparent, explainable event. CopilotLens operates as an explanation layer that reveals the AI agent's "thought process" through a dynamic two-level interface, surfacing everything from its reconstructed high-level plans to the specific codebase context influencing the code. This paper presents the design and rationale of CopilotLens, offering a concrete framework for building future agentic code assistants that prioritize clarity of reasoning over speed of suggestion, thereby fostering deeper comprehension and more robust human-AI collaboration.
We investigate the stability of vector recovery from random linear measurements which have been either clipped or folded. This is motivated by applications where measurement devices detect inputs outside of their effective range. As examples of our main results, we prove sharp lower bounds on the recovery constant for both the declipping and unfolding problems whenever samples are taken according to a uniform distribution on the sphere. Moreover, we show such estimates under (almost) the best possible conditions on both the number of samples and the distribution of the data. We then prove that all of the above results have suitable (effectively) sparse counterparts. In the special case that one restricts the stability analysis to vectors which belong to the unit sphere of $\mathbb{R}^n$, we show that the problem of declipping directly extends the one-bit compressed sensing results of Oymak-Recht and Plan-Vershynin.
Operations in disaster response, search \& rescue, and military missions that involve multiple agents demand automated processes to support the planning of the courses of action (COA). Moreover, traverse-affecting changes in the environment (rain, snow, blockades, etc.) may impact the expected performance of a COA, making it desirable to have a pool of COAs that are diverse in task distributions across agents. Further, variations in agent capabilities, which could be human crews and/or autonomous systems, present practical opportunities and computational challenges to the planning process. This paper presents a new theoretical formulation and computational framework to generate such diverse pools of COAs for operations with soft variations in agent-task compatibility. Key to the problem formulation is a graph abstraction of the task space and the pool of COAs itself to quantify its diversity. Formulating the COAs as a centralized multi-robot task allocation problem, a genetic algorithm is used for (order-ignoring) allocations of tasks to each agent that jointly maximize diversity within the COA pool and overall compatibility of the agent-task mappings. A graph neural network is trained using a policy gradient approach to then perform single agent task sequencing in each COA, which maximizes completion rates adaptive to task features. Our tests of the COA generation process in a simulated environment demonstrate significant performance gain over a random walk baseline, small optimality gap in task sequencing, and execution time of about 50 minutes to plan up to 20 COAs for 5 agent/100 task operations.
Augmentative and alternative communication (AAC) is a field of research and practice that works with people who have a communication disability. One form AAC can take is a high-tech tool, such as a software-based communication system. Like all user interfaces, these systems must be designed and it is critical to include AAC users in the design process for their systems. A participatory design approach can include AAC users in the design process, but modifications may be necessary to make these methods more accessible. We present a two-part design process we are investigating for improving the participatory design for high-tech AAC systems. We discuss our plans to refine the accessibility of this process based on participant feedback.
Predicting port congestion is crucial for maintaining reliable global supply chains. Accurate forecasts enableimprovedshipment planning, reducedelaysand costs, and optimizeinventoryanddistributionstrategies, thereby ensuring timely deliveries and enhancing supply chain resilience. To achieve accurate predictions, analyzing vessel behavior and their stay times at specific port terminals is essential, focusing particularly on berth scheduling under various conditions. Crucially, the model must capture and learn the underlying priorities and patterns of berth scheduling. Berth scheduling and planning are influenced by a range of factors, including incoming vessel size, waiting times, and the status of vessels within the port terminal. By observing historical Automatic Identification System (AIS) positions of vessels, we reconstruct berth schedules, which are subsequently utilized to determine the reward function via Inverse Reinforcement Learning (IRL). For this purpose, we modeled a specific terminal at the Port of New York/New Jersey and developed Temporal-IRL. This Temporal-IRL model learns berth scheduling to predict vessel sequencing at the terminal and estimate vessel port stay, encompassing both waiting and berthing times, to forecast port congestion. Utilizing data from Maher Terminal spanning January 2015 to September 2023, we trained and tested the model, achieving demonstrably excellent results.
We report the following calculations for a recently proposed bosonic dark matter WIMP with well-defined interactions: (1)~the mass as determined by fitting to the relic abundance; (2)~the current annihilation cross-section for indirect detection; (3)~cross-sections for pair production accompanied by jets in proton colliders with center-of-mass energies ranging from 13 to 100 TeV; (4)~for the high-luminosity LHC, and planned 100 TeV proton collider, detailed plots of experimentally accessible quantities before and after optimal cuts; (5)~cross-sections, and plots of experimentally accessible quantities, for production in e$^+$e$^-$ or muon colliders with center-of-mass energies up to 10 TeV; (6)~cross-section per nucleon for direct detection. The conclusions are given in the text, including the principal prediction that (with optimal cuts) this particle should be detectable at the high-luminosity LHC, perhaps after only two years with an integrated luminosity of 500 fb$^{-1}$.
External factors, including urban canyons and adversarial interference, can lead to Global Positioning System (GPS) inaccuracies that vary as a function of the position in the environment. This study addresses the challenge of estimating a static, spatially-varying error function using a team of robots. We introduce a State Bias Estimation Algorithm (SBE) whose purpose is to estimate the GPS biases. The central idea is to use sensed estimates of the range and bearing to the other robots in the team to estimate changes in bias across the environment. A set of drones moves in a 2D environment, each sampling data from GPS, range, and bearing sensors. The biases calculated by the SBE at estimated positions are used to train a Gaussian Process Regression (GPR) model. We use a Sparse Gaussian process-based Informative Path Planning (IPP) algorithm that identifies high-value regions of the environment for data collection. The swarm plans paths that maximize information gain in each iteration, further refining their understanding of the environment's positional bias landscape. We evaluated SBE and IPP in simulation and compared the IPP methodology to an open-loop strategy.
The resilience of critical infrastructure networks (CINs) after disruptions, such as those caused by natural hazards, depends on both the speed of restoration and the extent to which operational functionality can be regained. Allocating resources for restoration is a combinatorial optimal planning problem that involves determining which crews will repair specific network nodes and in what order. This paper presents a novel graph-based formulation that merges two interconnected graphs, representing crew and transportation nodes and power grid nodes, into a single heterogeneous graph. To enable efficient planning, graph reinforcement learning (GRL) is integrated with bigraph matching. GRL is utilized to design the incentive function for assigning crews to repair tasks based on the graph-abstracted state of the environment, ensuring generalization across damage scenarios. Two learning techniques are employed: a graph neural network trained using Proximal Policy Optimization and another trained via Neuroevolution. The learned incentive functions inform a bipartite graph that links crews to repair tasks, enabling weighted maximum matching for crew-to-task allocations. An efficient simulation environment that pre-computes optimal node-to-node path plans is used to train the proposed restoration planning methods. An IEEE 8500-bus power distribution test network coupled with a 21 square km transportation network is used as the case study, with scenarios varying in terms of numbers of damaged nodes, depots, and crews. Results demonstrate the approach's generalizability and scalability across scenarios, with learned policies providing 3-fold better performance than random policies, while also outperforming optimization-based solutions in both computation time (by several orders of magnitude) and power restored.
Recent research increasingly integrates machine learning (ML) into predictive maintenance (PdM) to reduce operational and maintenance costs in data-rich operational settings. However, uncertainty due to model misspecification continues to limit widespread industrial adoption. This paper proposes a PdM framework in which sensor-driven prognostics inform decision-making under economic trade-offs within a finite decision space. We investigate two key questions: (1) Does higher predictive accuracy necessarily lead to better maintenance decisions? (2) If not, how can the impact of prediction errors on downstream maintenance decisions be mitigated? We first demonstrate that in the traditional estimate-then-optimize (ETO) framework, errors in probabilistic prediction can result in inconsistent and suboptimal maintenance decisions. To address this, we propose an integrated estimate-optimize (IEO) framework that jointly tunes predictive models while directly optimizing for maintenance outcomes. We establish theoretical finite-sample guarantees on decision consistency under standard assumptions. Specifically, we develop a stochastic perturbation gradient descent algorithm suitable for small run-to-failure datasets. Empirical evaluations on a turbofan maintenance case study show that the IEO framework reduces average maintenance regret up to 22% compared to ETO. This study provides a principled approach to managing prediction errors in data-driven PdM. By aligning prognostic model training with maintenance objectives, the IEO framework improves robustness under model misspecification and improves decision quality. The improvement is particularly pronounced when the decision-making policy is misaligned with the decision-maker's target. These findings support more reliable maintenance planning in uncertain operational environments.
Humans and animals show remarkable learning efficiency, adapting to new environments with minimal experience. This capability is not well captured by standard reinforcement learning algorithms that rely on incremental value updates. Rapid adaptation likely depends on episodic memory -- the ability to retrieve specific past experiences to guide decisions in novel contexts. Transformers provide a useful setting for studying these questions because of their ability to learn rapidly in-context and because their key-value architecture resembles episodic memory systems in the brain. We train a transformer to in-context reinforcement learn in a distribution of planning tasks inspired by rodent behavior. We then characterize the learning algorithms that emerge in the model. We first find that representation learning is supported by in-context structure learning and cross-context alignment, where representations are aligned across environments with different sensory stimuli. We next demonstrate that the reinforcement learning strategies developed by the model are not interpretable as standard model-free or model-based planning. Instead, we show that in-context reinforcement learning is supported by caching intermediate computations within the model's memory tokens, which are then accessed at decision time. Overall, we find that memory may serve as a computational resource, storing both raw experience and cached computations to support flexible behavior. Furthermore, the representations developed in the model resemble computations associated with the hippocampal-entorhinal system in the brain, suggesting that our findings may be relevant for natural cognition. Taken together, our work offers a mechanistic hypothesis for the rapid adaptation that underlies in-context learning in artificial and natural settings.
When humans and robotic agents coexist in an environment, scene understanding becomes crucial for the agents to carry out various downstream tasks like navigation and planning. Hence, an agent must be capable of localizing and identifying actions performed by the human. Current research lacks reliable datasets for performing scene understanding within indoor environments where humans are also a part of the scene. Scene Graphs enable us to generate a structured representation of a scene or an image to perform visual scene understanding. To tackle this, we present HOIverse a synthetic dataset at the intersection of scene graph and human-object interaction, consisting of accurate and dense relationship ground truths between humans and surrounding objects along with corresponding RGB images, segmentation masks, depth images and human keypoints. We compute parametric relations between various pairs of objects and human-object pairs, resulting in an accurate and unambiguous relation definitions. In addition, we benchmark our dataset on state-of-the-art scene graph generation models to predict parametric relations and human-object interactions. Through this dataset, we aim to accelerate research in the field of scene understanding involving people.
Understanding and predicting video content is essential for planning and reasoning in dynamic environments. Despite advancements, unsupervised learning of object representations and dynamics remains challenging. We present VideoPCDNet, an unsupervised framework for object-centric video decomposition and prediction. Our model uses frequency-domain phase correlation techniques to recursively parse videos into object components, which are represented as transformed versions of learned object prototypes, enabling accurate and interpretable tracking. By explicitly modeling object motion through a combination of frequency domain operations and lightweight learned modules, VideoPCDNet enables accurate unsupervised object tracking and prediction of future video frames. In our experiments, we demonstrate that VideoPCDNet outperforms multiple object-centric baseline models for unsupervised tracking and prediction on several synthetic datasets, while learning interpretable object and motion representations.
Artifacts in kilo-Voltage CT (kVCT) imaging degrade image quality, impacting clinical decisions. We propose a deep learning framework for metal artifact reduction (MAR) and domain transformation from kVCT to Mega-Voltage CT (MVCT). The proposed framework, ReMAR-DS, utilizes an encoder-decoder architecture with enhanced feature recalibration, effectively reducing artifacts while preserving anatomical structures. This ensures that only relevant information is utilized in the reconstruction process. By infusing recalibrated features from the encoder block, the model focuses on relevant spatial regions (e.g., areas with artifacts) and highlights key features across channels (e.g., anatomical structures), leading to improved reconstruction of artifact-corrupted regions. Unlike traditional MAR methods, our approach bridges the gap between high-resolution kVCT and artifact-resistant MVCT, enhancing radiotherapy planning. It produces high-quality MVCT-like reconstructions, validated through qualitative and quantitative evaluations. Clinically, this enables oncologists to rely on kVCT alone, reducing repeated high-dose MVCT scans and lowering radiation exposure for cancer patients.
Improving effective treatment plans in carbon ion therapy, especially for targeting radioresistant tumors located in deep seated regions while sparing normal tissues, depends on a precise and computationally efficient dose calculation model. Although dose calculations are mostly performed using Monte Carlo simulations, the large amount of computational effort required for these simulations hinders their use in clinical practice. To address this gap, we propose, for the first time in the literature, an analytical model for the depth dose distribution of carbon ion beams by adapting and extending Bortfeld proton dose model. The Bortfeld model was modified and expanded by introducing additional terms and parameters to account for the energy deposition and fragmentation effects characteristic of carbon ions. Our model was implemented in MATLAB software to calculate depth-dose distributions of carbon ion beams across the clinical energy range of 100-430 MeV/u. The calculated results for carbon ion energies of 280 MeV/u and 430 MeV/u were compared with Monte Carlo simulation results from TOPAS to assess the precision of our model. It is observed that the results of the proposed model are in good agreement with those of several analytical and experimental studies for clinical carbon ion beams within the therapeutic energy range of 100-400 MeV/u. At 280 MeV/u, the analytical model result exhibited strong consistency with the depth dose curve produced by TOPAS Monte Carlo simulations. However, noticeable discrepancies appeared at higher energies, such as 430 MeV/u, particularly in the Bragg peak height and the dose falloff. In the clinically useful energy range, our model could potentially be an effective tool in carbon ion therapy as an alternative to complex Monte Carlo simulations. It will enable fast dose assessment with accuracy and in real time, thus improving workflow efficiency.
This paper introduces ClearerVoice-Studio, an open-source, AI-powered speech processing toolkit designed to bridge cutting-edge research and practical application. Unlike broad platforms like SpeechBrain and ESPnet, ClearerVoice-Studio focuses on interconnected speech tasks of speech enhancement, separation, super-resolution, and multimodal target speaker extraction. A key advantage is its state-of-the-art pretrained models, including FRCRN with 3 million uses and MossFormer with 2.5 million uses, optimized for real-world scenarios. It also offers model optimization tools, multi-format audio support, the SpeechScore evaluation toolkit, and user-friendly interfaces, catering to researchers, developers, and end-users. Its rapid adoption attracting 3000 GitHub stars and 239 forks highlights its academic and industrial impact. This paper details ClearerVoice-Studio's capabilities, architectures, training strategies, benchmarks, community impact, and future plan. Source code is available at https://github.com/modelscope/ClearerVoice-Studio.
Downscaling is essential for generating the high-resolution climate data needed for local planning, but traditional methods remain computationally demanding. Recent years have seen impressive results from AI downscaling models, particularly diffusion models, which have attracted attention due to their ability to generate ensembles and overcome the smoothing problem common in other AI methods. However, these models typically remain computationally intensive. We introduce a Hierarchical Diffusion Downscaling (HDD) model, which introduces an easily-extensible hierarchical sampling process to the diffusion framework. A coarse-to-fine hierarchy is imposed via a simple downsampling scheme. HDD achieves competitive accuracy on ERA5 reanalysis datasets and CMIP6 models, significantly reducing computational load by running on up to half as many pixels with competitive results. Additionally, a single model trained at 0.25{\deg} resolution transfers seamlessly across multiple CMIP6 models with much coarser resolution. HDD thus offers a lightweight alternative for probabilistic climate downscaling, facilitating affordable large-ensemble high-resolution climate projections. See a full code implementation at: https://github.com/HDD-Hierarchical-Diffusion-Downscaling/HDD-Hierarchical-Diffusion-Downscaling.
Despite the notable success of current Parameter-Efficient Fine-Tuning (PEFT) methods across various domains, their effectiveness on medical datasets falls short of expectations. This limitation arises from two key factors: (1) medical images exhibit extensive anatomical variation and low contrast, necessitating a large receptive field to capture critical features, and (2) existing PEFT methods do not explicitly address the enhancement of receptive fields. To overcome these challenges, we propose the Large Kernel Adapter (LKA), designed to expand the receptive field while maintaining parameter efficiency. The proposed LKA consists of three key components: down-projection, channel-wise large kernel convolution, and up-projection. Through extensive experiments on various datasets and pre-trained models, we demonstrate that the incorporation of a larger kernel size is pivotal in enhancing the adaptation of pre-trained models for medical image analysis. Our proposed LKA outperforms 11 commonly used PEFT methods, surpassing the state-of-the-art by 3.5% in top-1 accuracy across five medical datasets.
Radiotherapy (RT) is a critical cancer treatment, with volumetric modulated arc therapy (VMAT) being a commonly used technique that enhances dose conformity by dynamically adjusting multileaf collimator (MLC) positions and monitor units (MU) throughout gantry rotation. Adaptive radiotherapy requires frequent modifications to treatment plans to account for anatomical variations, necessitating time-efficient solutions. Deep learning offers a promising solution to automate this process. To this end, we propose a two-stage, physics-guided deep learning pipeline for radiotherapy planning. In the first stage, our network is trained with direct supervision on treatment plan parameters, consisting of MLC and MU values. In the second stage, we incorporate an additional supervision signal derived from the predicted 3D dose distribution, integrating physics-based guidance into the training process. We train and evaluate our approach on 133 prostate cancer patients treated with a uniform 2-arc VMAT protocol delivering a dose of 62 Gy to the planning target volume (PTV). Our results demonstrate that the proposed approach, implemented using both 3D U-Net and UNETR architectures, consistently produces treatment plans that closely match clinical ground truths. Our method achieves a mean difference of D95% = 0.42 +/- 1.83 Gy and V95% = -0.22 +/- 1.87% at the PTV while generating dose distributions that reduce radiation exposure to organs at risk. These findings highlight the potential of physics-guided deep learning in RT planning.