We present 4KAgent, a unified agentic super-resolution generalist system designed to universally upscale any image to 4K resolution (and even higher, if applied iteratively). Our system can transform images from extremely low resolutions with severe degradations, for example, highly distorted inputs at 256x256, into crystal-clear, photorealistic 4K outputs. 4KAgent comprises three core components: (1) Profiling, a module that customizes the 4KAgent pipeline based on bespoke use cases; (2) A Perception Agent, which leverages vision-language models alongside image quality assessment experts to analyze the input image and make a tailored restoration plan; and (3) A Restoration Agent, which executes the plan, following a recursive execution-reflection paradigm, guided by a quality-driven mixture-of-expert policy to select the optimal output for each step. Additionally, 4KAgent embeds a specialized face restoration pipeline, significantly enhancing facial details in portrait and selfie photos. We rigorously evaluate our 4KAgent across 11 distinct task categories encompassing a total of 26 diverse benchmarks, setting new state-of-the-art on a broad spectrum of imaging domains. Our evaluations cover natural images, portrait photos, AI-generated content, satellite imagery, fluorescence microscopy, and medical imaging like fundoscopy, ultrasound, and X-ray, demonstrating superior performance in terms of both perceptual (e.g., NIQE, MUSIQ) and fidelity (e.g., PSNR) metrics. By establishing a novel agentic paradigm for low-level vision tasks, we aim to catalyze broader interest and innovation within vision-centric autonomous agents across diverse research communities. We will release all the code, models, and results at: https://4kagent.github.io.
The widely anticipated outburst of recurrent nova T Coronae Borealis (T CrB), which is near the end of its 80-year cycle, provides an excellent opportunity to search for neutrinos from novae. Novae are an energetic class of transients, which have been studied for hundreds of years. Because many of them are located nearby, novae provide an excellent astrophysical laboratory to study shock-powered emission in our own backyard. Several recent novae have previously been detected in GeV gamma rays, and the 2021 outburst of RS Ophiuchi was detected up to TeV energies, with evidence for a hadronic origin of the observed emission. Previous searches for GeV-TeV neutrinos from novae, predicted to occur alongside their gamma-ray emission, have been performed using data from the IceCube Neutrino Observatory. However, no significant neutrino signals from novae have yet been observed. We present plans for follow-up of T CrB in real time with IceCube, using datasets spanning GeV to PeV neutrino energies. Due to its closer distance and higher optical flux, which has been well measured in two historical eruptions, the expected neutrino signal from T CrB is several times stronger than that from RS Ophiuchi. Furthermore, T CrB is located in the Northern sky at a declination where IceCube's sensitivity is an additional factor of a few better than at the location of RS Ophiuchi, which is beneficial to this search.
ColdADC is a custom ASIC digitizer implemented in 65 nm CMOS technology using specialized techniques for long-term reliability in cryogenic environments. ColdADC was developed for use in the DUNE Far Detector complex, which will consist of four liquid argon time projection chambers. Each contains 17 kilotons liquid argon as the target material in order to measure neutrino oscillations. Approximately 40,000 ColdADC ASICs will be installed for DUNE in the first two large detectors and will be operated at cryogenic temperatures during the experiment without replacement. The lifetime of the ColdADC is a critical parameter affecting the data quality and physics sensitivity of the experiment. A measurement of the lifetime of the ColdADC was carried out, and the results shown in this paper assure orders of magnitude longer lifetime of the ColdADC than the planned operation time of the detectors.
We consider the problem of decomposing a piecewise constant function on the circle into a sum of indicator functions of closed circular disks in the plane, whose number and location are not a priori known. This represents a situation where an agent moving on the circle is able to sense its proximity to some landmarks, and the goal is to estimate the number of these landmarks and their possible locations -- which can in turn enable control tasks such as motion planning and obstacle avoidance. Moreover, the exact values of the function at its discontinuities (which correspond to disk boundaries for the individual indicator functions) are not assumed to be known to the agent. We introduce suitable notions of robustness and degrees of freedom to single out those decompositions that are more desirable, or more likely, given this non-precise data collected by the agent. We provide a characterization of robust decompositions and give a procedure for generating all such decompositions. When the given function admits a robust decomposition, we compute the number of possible robust decompositions and derive bounds for the number of decompositions maximizing the degrees of freedom.
Accurate prognosis of non-small cell lung cancer (NSCLC) patients undergoing immunotherapy is essential for personalized treatment planning, enabling informed patient decisions, and improving both treatment outcomes and quality of life. However, the lack of large, relevant datasets and effective multi-modal feature fusion strategies pose significant challenges in this domain. To address these challenges, we present a large-scale dataset and introduce a novel framework for multi-modal feature fusion aimed at enhancing the accuracy of survival prediction. The dataset comprises 3D CT images and corresponding clinical records from NSCLC patients treated with immune checkpoint inhibitors (ICI), along with progression-free survival (PFS) and overall survival (OS) data. We further propose a cross-modality masked learning approach for medical feature fusion, consisting of two distinct branches, each tailored to its respective modality: a Slice-Depth Transformer for extracting 3D features from CT images and a graph-based Transformer for learning node features and relationships among clinical variables in tabular data. The fusion process is guided by a masked modality learning strategy, wherein the model utilizes the intact modality to reconstruct missing components. This mechanism improves the integration of modality-specific features, fostering more effective inter-modality relationships and feature interactions. Our approach demonstrates superior performance in multi-modal integration for NSCLC survival prediction, surpassing existing methods and setting a new benchmark for prognostic models in this context.
A common class of algorithms for informative path planning (IPP) follows boustrophedon ("as the ox turns") patterns, which aim to achieve uniform area coverage. However, IPP is often applied in scenarios where anomalies, such as plant diseases, pollution, or hurricane damage, appear in clusters. In such cases, prioritizing the exploration of anomalous regions over uniform coverage is beneficial. This work introduces a class of algorithms referred to as bounom\=odes ("as the ox grazes"), which alternates between uniform boustrophedon sampling and targeted exploration of detected anomaly clusters. While uniform sampling can be designed using geometric principles, close exploration of clusters depends on the spatial distribution of anomalies and must be learned. In our implementation, the close exploration behavior is learned using deep reinforcement learning algorithms. Experimental evaluations demonstrate that the proposed approach outperforms several established baselines.
Purpose: This work presents the development and pilot implementation of a comprehensive remote dosimetry audit for Ir-192 High Dose Rate interstitial brachytherapy, integrating experimental and computational dosimetry procedures into a unified workflow. TG43 and Model Based Dose Calculations Algorithms (MBDCAs) are both considered. Methods: A compact, water-equivalent phantom was designed to hold two catheters, ten Optically Stimulated Luminescent Dosimeters (OSLDs) and two radiochromic films, enabling point and 2D dose measurements. A user-selected treatment plan was created using a clinical Treatment Planning System (TPS), tailored to the optimal dose range of the dosimeters. A computational dosimetry audit test was also performed via Monte Carlo (MC) simulations, enabling independent 3D dose calculations for the same plan and phantom geometry. All dosimetry results were compared to TPS calculations (TG43 and an MBDCA) using the Gamma Index (GI) test, dose difference maps, and dose-volume histogram comparisons, wherever applicable. The protocol was designed to minimize clinical workload. Results: This study was completed within ten days of phantom delivery to the clinic. If necessary, measurements were corrected using appropriate correction factors determined through side studies. GI passing criteria were adapted to the uncertainty of each dosimetry system. Excellent agreement was found between MBDCA and experimental or MC results. Within the volume of interest, TG43 systematically overestimated dose compared to MC (median difference: 2.16%), attributed to missing scatter and phantom material. Conclusion: Despite the labor-intensive workflow, this protocol supports remote Ir-192 audits with acceptable uncertainties. Combining experimental and computational methods enhances the robustness of the audit. This hybrid approach shows clear advantages for rigorous dosimetry auditing programs.
Graphical User Interface (GUI) agents powered by Large Vision-Language Models (LVLMs) have emerged as a revolutionary approach to automating human-machine interactions, capable of autonomously operating personal devices (e.g., mobile phones) or applications within the device to perform complex real-world tasks in a human-like manner. However, their close integration with personal devices raises significant security concerns, with many threats, including backdoor attacks, remaining largely unexplored. This work reveals that the visual grounding of GUI agent-mapping textual plans to GUI elements-can introduce vulnerabilities, enabling new types of backdoor attacks. With backdoor attack targeting visual grounding, the agent's behavior can be compromised even when given correct task-solving plans. To validate this vulnerability, we propose VisualTrap, a method that can hijack the grounding by misleading the agent to locate textual plans to trigger locations instead of the intended targets. VisualTrap uses the common method of injecting poisoned data for attacks, and does so during the pre-training of visual grounding to ensure practical feasibility of attacking. Empirical results show that VisualTrap can effectively hijack visual grounding with as little as 5% poisoned data and highly stealthy visual triggers (invisible to the human eye); and the attack can be generalized to downstream tasks, even after clean fine-tuning. Moreover, the injected trigger can remain effective across different GUI environments, e.g., being trained on mobile/web and generalizing to desktop environments. These findings underscore the urgent need for further research on backdoor attack risks in GUI agents.
Manifold optimization (MO) is a powerful mathematical framework that can be applied to solving complex optimization problems with objective functions (OFs) and constraints on complex geometric structures, which is particularly useful in advanced power systems. We explore the application of MO techniques, which offer a robust framework for solving complex, non-convex optimization problems in electrical power distribution systems (EPDS) and electrical power transmission systems (EPTS), particularly for power flow analysis. This paper introduces the principles of MO and demonstrates its advantages over conventional methods by applying it to power flow optimization. For EPDS, a cost function derived from a backward-forward sweep (BFS) algorithm is optimized using the Manopt toolbox, yielding high accuracy and competitive computational times on 14-bus, 33-bus, and 69-bus systems when compared to established solvers. Similarly, for EPTS, MO applied via Manopt to 3-bus and 4-bus systems effectively solves power flow equations, matching traditional methods such as Newton-Raphson in performance. The study highlights that tools such as Manopt can mitigate implementation complexities, positioning MO as an efficient and accessible tool for power system analysis and potentially broader planning applications. The paper provides a comprehensive tutorial on MO, detailing its theoretical foundations, practical methodologies, and specific applications in power systems, particularly in power flow optimization.
The visualization of volumetric medical data is crucial for enhancing diagnostic accuracy and improving surgical planning and education. Cinematic rendering techniques significantly enrich this process by providing high-quality visualizations that convey intricate anatomical details, thereby facilitating better understanding and decision-making in medical contexts. However, the high computing cost and low rendering speed limit the requirement of interactive visualization in practical applications. In this paper, we introduce ClipGS, an innovative Gaussian splatting framework with the clipping plane supported, for interactive cinematic visualization of volumetric medical data. To address the challenges posed by dynamic interactions, we propose a learnable truncation scheme that automatically adjusts the visibility of Gaussian primitives in response to the clipping plane. Besides, we also design an adaptive adjustment model to dynamically adjust the deformation of Gaussians and refine the rendering performance. We validate our method on five volumetric medical data (including CT and anatomical slice data), and reach an average 36.635 PSNR rendering quality with 156 FPS and 16.1 MB model size, outperforming state-of-the-art methods in rendering quality and efficiency.
Learning from sparse labels is a challenge commonplace in the medical domain. This is due to numerous factors, such as annotation cost, and is especially true for newly introduced tasks. When dense pixel-level annotations are needed, this becomes even more unfeasible. However, being able to learn from just a few annotations at the pixel-level, while extremely difficult and underutilized, can drive progress in studies where perfect annotations are not immediately available. This work tackles the challenge of learning the dense prediction task of keypoint localization from a few point annotations in the context of 2d carcinosis keypoint localization from laparoscopic video frames for diagnostic planning of advanced ovarian cancer patients. To enable this, we formulate the problem as a sparse heatmap regression from a few point annotations per image and propose a new loss function, called Crag and Tail loss, for efficient learning. Our proposed loss function effectively leverages positive sparse labels while minimizing the impact of false negatives or missed annotations. Through an extensive ablation study, we demonstrate the effectiveness of our approach in achieving accurate dense localization of carcinosis keypoints, highlighting its potential to advance research in scenarios where dense annotations are challenging to obtain.
Deep reinforcement learning has shown remarkable success in continuous control tasks, yet often requires extensive training data, struggles with complex, long-horizon planning, and fails to maintain safety constraints during operation. Meanwhile, Model Predictive Control (MPC) offers explainability and constraint satisfaction, but typically yields only locally optimal solutions and demands careful cost function design. This paper introduces the Q-guided STein variational model predictive Actor-Critic (Q-STAC), a novel framework that bridges these approaches by integrating Bayesian MPC with actor-critic reinforcement learning through constrained Stein Variational Gradient Descent (SVGD). Our method optimizes control sequences directly using learned Q-values as objectives, eliminating the need for explicit cost function design while leveraging known system dynamics to enhance sample efficiency and ensure control signals remain within safe boundaries. Extensive experiments on 2D navigation and robotic manipulation tasks demonstrate that Q-STAC achieves superior sample efficiency, robustness, and optimality compared to state-of-the-art algorithms, while maintaining the high expressiveness of policy distributions. Experiment videos are available on our website: https://sites.google.com/view/q-stac
Classical sampling-based motion planners like the RRTs suffer from inefficiencies, particularly in cluttered or high-dimensional spaces, due to their reliance on undirected, random sampling. This paper introduces the Episodic RRT, a novel hybrid planning framework that replaces the primitive of a random point with a learned, multi-step "exploratory episode" generated by a Deep Reinforcement Learning agent. By making the DRL agent the engine of exploration, ERRT transforms the search process from a diffuse, volumetric expansion into a directed, branch-like growth. This paradigm shift yields key advantages: it counters the curse of dimensionality with focused exploration, minimizes expensive collision checks by proactively proposing locally valid paths, and improves connectivity by generating inherently connected path segments. We demonstrate through extensive empirical evaluation across 2D, 3D, and 6D environments that ERRT and its variants consistently and significantly outperform their classical counterparts. In a challenging 6D robotic arm scenario, ERRT achieves a 98% success rate compared to 19% for RRT, is up to 107x faster, reduces collision checks by over 99.6%, and finds initial paths that are nearly 50% shorter. Furthermore, its asymptotically optimal variant, ERRT*, demonstrates vastly superior anytime performance, refining solutions to near-optimality up to 29x faster than standard RRT* in 3D environments. Code: https://xinyuwuu.github.io/Episodic_RRT/.
Facility location is fundamental in operations research, mechanism design, and algorithmic game theory, with applications ranging from urban infrastructure planning to distributed systems. Recent research in this area has focused on augmenting classic strategyproof mechanisms with predictions to achieve an improved performance guarantee against the uncertainty under the strategic environment. Previous work has been devoted to address the trade-off obstacle of balancing the consistency (near-optimality under accurate predictions) and robustness (bounded inefficiency under poor predictions) primarily in the unweighted setting, assuming that all agents have the same importance. However, this assumption may not be true in some practical scenarios, leading to research of weighted facility location problems. The major contribution of the current work is to provide a prediction augmented algorithmic framework for balancing the consistency and robustness over strategic agents with non-uniform weights. In particular, through a reduction technique that identifies a subset of \emph{representative} instances and maps the other given locations to the representative ones, we prove that there exists a \emph{strategyproof} mechanism achieving a bounded consistency guarantee of $\frac{\sqrt{(1+c)^2W^2_{\min}+(1-c)^2W^2_{\max}}}{(1+c)W_{\min}}$ and a bounded robustness guarantee of $\frac{\sqrt{(1-c)^2W^2_{\min}+(1+c)^2W^2_{\max}}}{(1-c)W_{\min}}$ in weighted settings, where $c$ can be viewed as a parameter to make a trade-off between the consistency and robustness and $W_{\min}$ and $W_{\max}$ denote the minimum and maximum agents' weight. We also proved that there is no strategyproof deterministic mechanism that reach $1$-consistency and $O\left( n \cdot \frac{W_{\max}}{W_{\min}} \right)$-robustness in weighted FLP, even with fully predictions of all agents.
In this paper, we introduce VisioPath, a novel framework combining vision-language models (VLMs) with model predictive control (MPC) to enable safe autonomous driving in dynamic traffic environments. The proposed approach leverages a bird's-eye view video processing pipeline and zero-shot VLM capabilities to obtain structured information about surrounding vehicles, including their positions, dimensions, and velocities. Using this rich perception output, we construct elliptical collision-avoidance potential fields around other traffic participants, which are seamlessly integrated into a finite-horizon optimal control problem for trajectory planning. The resulting trajectory optimization is solved via differential dynamic programming with an adaptive regularization scheme and is embedded in an event-triggered MPC loop. To ensure collision-free motion, a safety verification layer is incorporated in the framework that provides an assessment of potential unsafe trajectories. Extensive simulations in Simulation of Urban Mobility (SUMO) demonstrate that VisioPath outperforms conventional MPC baselines across multiple metrics. By combining modern AI-driven perception with the rigorous foundation of optimal control, VisioPath represents a significant step forward in safe trajectory planning for complex traffic systems.
While additive manufacturing has opened interesting avenues to reimagine manufacturing as a service (MaaS) platform, transmission of design files from client to manufacturer over networks opens up many cybersecurity challenges. Securing client's intellectual property (IP) especially from cyber-attacks emerges as a major challenge. Earlier works introduced streaming, instead of sharing process plan (G-code) files, as a possible solution. However, executing client's G-codes on manufacturer's machines exposes them to potential malicious G-codes. This paper proposes a viable approach when the client and manufacturer do not trust each other and both the client and manufacturer want to preserve their IP of designs and manufacturing process respectively. The proposed approach is based on segmenting and streaming design (STL) files and employing a novel machine-specific STL to G-code translator at the manufacturer's site in real-time for printing. This approach secures design and manufacturing process IPs as demonstrated in a real-world implementation.
Medical evacuation is one of the United States Army's most storied and critical mission sets, responsible for efficiently and expediently evacuating the battlefield ill and injured. Medical evacuation planning involves designing a robust network of medical platforms and facilities capable of moving and treating large numbers of casualties. Until now, there has not been a medium to simulate these networks in a classroom setting and evaluate both offline planning and online decision-making performance. This work describes the Medical Evacuation Wargaming Initiative (MEWI), a three-dimensional multiplayer simulation developed in Unity that replicates battlefield constraints and uncertainties. MEWI accurately models patient interactions at casualty collection points, ambulance exchange points, medical treatment facilities, and evacuation platforms. Two operational scenarios are introduced: an amphibious island assault in the Pacific and a Eurasian conflict across a sprawling road and river network. These scenarios pit students against the clock to save as many casualties as possible while adhering to doctrinal lessons learned during didactic training. We visualize performance data collected from two iterations of the MEWI Pacific scenario executed in the United States Army's Medical Evacuation Doctrine Course. We consider post-wargame Likert survey data from student participants and external observer notes to identify key planning decision points, document medical evacuation lessons learned, and quantify general utility. Results indicate that MEWI participation substantially improves uptake of medical evacuation lessons learned and co-operative decision-making. MEWI is a substantial step forward in the field of high-fidelity training tools for medical education, and our study findings offer critical insights into improving medical evacuation education and operations across the joint force.
Sensing of parameters is an important aspect in all disciplines, with applications ranging from fundamental science to medicine. Quantum sensing and metrology is an emerging field that lies at the cross-roads of quantum physics, quantum technology, and the discipline in which the parameter estimation is to be performed. While miniaturization of devices often requires quantum mechanics to be utilized for understanding and planning of a parameter estimation, quantum-enhanced sensing is also possible that uses paradigmatic quantum characteristics like quantum coherence and quantum entanglement to go beyond the so-called standard quantum limit. The current review hopes to bring together the concepts related to quantum sensing as realized in ensemble systems, like spin ensembles, light-matter systems, and Bose-Einstein condensates, and lattice systems, like those which can be modelled by the Bose- and Fermi-Hubbard models, and quantum spin models.
We study a resource-constrained variant of the Random Disambiguation Path (RDP) problem, a generalization of the Stochastic Obstacle Scene (SOS) problem, in which a navigating agent must reach a target in a spatial environment populated with uncertain obstacles. Each ambiguous obstacle may be disambiguated at a (possibly) heterogeneous resource cost, subject to a global disambiguation budget. We formulate this constrained planning problem as a Weight-Constrained Shortest Path Problem (WCSPP) with risk-adjusted edge costs that incorporate probabilistic blockage and traversal penalties. To solve it, we propose a novel algorithmic framework-COLOGR-combining Lagrangian relaxation with a two-phase vertex elimination (TPVE) procedure. The method prunes infeasible and suboptimal paths while provably preserving the optimal solution, and leverages dual bounds to guide efficient search. We establish correctness, feasibility guarantees, and surrogate optimality under mild assumptions. Our analysis also demonstrates that COLOGR frequently achieves zero duality gap and offers improved computational complexity over prior constrained path-planning methods. Extensive simulation experiments validate the algorithm's robustness across varying obstacle densities, sensor accuracies, and risk models, consistently outperforming greedy baselines and approaching offline-optimal benchmarks. The proposed framework is broadly applicable to stochastic network design, mobility planning, and constrained decision-making under uncertainty.
We present preliminary results for IceCat-2, the second public catalog of IceCube Alert Tracks, which plans to build and improve upon the first release, IceCat-1. The initial catalog, last updated in October 2023, included all real-time alerts issued since 2016, as well as events observed by IceCube since the start of full-detector data collection in 2011 that would have triggered an alert if the program had been in place at that time. IceCat-2 plans to expand on this by incorporating all additional alerts since IceCat-1, and reprocessing all events with significantly improved reconstruction algorithms. A key advancement in IceCat-2 will come from an updated reconstruction technique introduced by the IceCube Collaboration in September 2024. This approach substantially enhances the angular resolution of muon track alerts, while also improving statistical coverage. With respect to IceCat-1, the 50%(90%) angular uncertainty on track alerts is expected to be reduced by a factor of approximately 5(4). These refined reconstructions will allow us to revisit possible correlations between past alerts and sources in gamma-ray and X-ray catalogs. The enhanced precision may uncover new astrophysical associations with known astrophysical sources, offering deeper insight into potential cosmic ray accelerators.
The creation of 3D assets with explicit, editable part structures is crucial for advancing interactive applications, yet most generative methods produce only monolithic shapes, limiting their utility. We introduce OmniPart, a novel framework for part-aware 3D object generation designed to achieve high semantic decoupling among components while maintaining robust structural cohesion. OmniPart uniquely decouples this complex task into two synergistic stages: (1) an autoregressive structure planning module generates a controllable, variable-length sequence of 3D part bounding boxes, critically guided by flexible 2D part masks that allow for intuitive control over part decomposition without requiring direct correspondences or semantic labels; and (2) a spatially-conditioned rectified flow model, efficiently adapted from a pre-trained holistic 3D generator, synthesizes all 3D parts simultaneously and consistently within the planned layout. Our approach supports user-defined part granularity, precise localization, and enables diverse downstream applications. Extensive experiments demonstrate that OmniPart achieves state-of-the-art performance, paving the way for more interpretable, editable, and versatile 3D content.
In disaster response or surveillance operations, quickly identifying areas needing urgent attention is critical, but deploying response teams to every location is inefficient or often impossible. Effective performance in this domain requires coordinating a multi-robot inspection team to prioritize inspecting locations more likely to need immediate response, while also minimizing travel time. This is particularly challenging because robots must directly observe the locations to determine which ones require additional attention. This work introduces a multi-robot planning framework for coordinated time-critical multi-robot search under uncertainty. Our approach uses a graph neural network to estimate the likelihood of PoIs needing attention from noisy sensor data and then uses those predictions to guide a multi-robot model-based planner to determine the cost-effective plan. Simulated experiments demonstrate that our planner improves performance at least by 16.3\%, 26.7\%, and 26.2\% for 1, 3, and 5 robots, respectively, compared to non-learned and learned baselines. We also validate our approach on real-world platforms using quad-copters.
The diffuse Galactic neutrino flux is produced by cosmic rays interacting with the interstellar medium. The measurement of this flux can help to understand the distribution of cosmic rays in the Galaxy. The first observation of this neutrino flux was published in 2023 by the IceCube Collaboration. Here, plans for a new analysis combining different event topologies are presented. IceCube measures events in two main topologies. Tracks, originating in charged current $\nu_\mu$ interactions, provide a better angular resolution. In contrast, cascades, from most other possible interactions, provide a better energy resolution and are able to observe the Southern sky (and therefore the Galactic Center) despite the huge background of atmospheric muons. Combining both event topologies in one analysis exploits all these advantages. Sensitivities and model discrimination power of a combined measurement using a forward folding binned likelihood fit are discussed here.
Purpose: Central venous catheterization (CVC) is a critical medical procedure for vascular access, hemodynamic monitoring, and life-saving interventions. Its success remains challenging due to the need for continuous ultrasound-guided visualization of a target vessel and approaching needle, which is further complicated by anatomical variability and operator dependency. Errors in needle placement can lead to life-threatening complications. While robotic systems offer a potential solution, achieving full autonomy remains challenging. In this work, we propose an end-to-end robotic-ultrasound-guided CVC pipeline, from scan initialization to needle insertion. Methods: We introduce a deep-learning model to identify clinically relevant anatomical landmarks from a depth image of the patient's neck, obtained using RGB-D camera, to autonomously define the scanning region and paths. Then, a robot motion planning framework is proposed to scan, segment, reconstruct, and localize vessels (veins and arteries), followed by the identification of the optimal insertion zone. Finally, a needle guidance module plans the insertion under ultrasound guidance with operator's feedback. This pipeline was validated on a high-fidelity commercial phantom across 10 simulated clinical scenarios. Results: The proposed pipeline achieved 10 out of 10 successful needle placements on the first attempt. Vessels were reconstructed with a mean error of 2.15 \textit{mm}, and autonomous needle insertion was performed with an error less than or close to 1 \textit{mm}. Conclusion: To our knowledge, this is the first robotic CVC system demonstrated on a high-fidelity phantom with integrated planning, scanning, and insertion. Experimental results show its potential for clinical translation.
Which factors determine AI propensity for military intervention? While the use of AI in war games and military planning is growing exponentially, the simple analysis of key drivers embedded in the models has not yet been done. This paper does a simple conjoint experiment proposing a model to decide on military intervention in 640 vignettes where each was run for 100 times allowing to explore AI decision on military intervention systematically. The analysis finds that largest predictors of AI decision to intervene are high domestic support and high probability of success. Costs such as international condemnation, military deaths, civilian deaths, and negative economic effect are statistically significant, but their effect is around half of domestic support and probability of victory. Closing window of opportunity only reaches statistical significance in interaction with other factors. The results are remarkably consistent across scenarios and across different models (OpenAI GPT, Anthropic Claude, Google Gemini) suggesting a pattern in AI decision-making.
Considerable levels of phase imbalance in low voltage (LV) distribution networks imply that grid assets are suboptimally utilized and can cause additional losses, equipment failure and degradation. With the ongoing energy transition, the installation of additional single-phase distributed energy resources may further increase the phase imbalance if no countermeasures are taken. Phase reconfiguration is a cost-effective solution to reduce imbalance. However, dynamic reconfiguration, through real-time phase swapping of loads using remotely controlled switches, is often impractical because these switches are too costly for widespread installation at LV users. Approaching phase reconfiguration as a planning problem, i.e. static reconfiguration, is an underaddressed but promising alternative. Effective static approaches that allow appropriate imbalance objectives are currently lacking. This paper presents reliable and expressive static phase reconfiguration methods that grid operators can easily integrate into routine maintenance for effective phase balancing. We present and compare three static methods, an exact mixed-integer nonlinear formulation (MINLP), a mixed-integer quadratic approximation (MIQP), and a genetic algorithm (GA), each supporting different imbalance objectives. The MIQP approach, despite using proxy objectives, efficiently mitigates the different types of imbalance considered, and outperforms both MINLP and GA in scalability and consistency.
Autonomous vehicle navigation in unstructured environments, such as forests and mountainous regions, presents significant challenges due to irregular terrain and complex road conditions. This work provides a comparative evaluation of mainstream and well-established path planning algorithms applied to weighted pixel-level road networks derived from high-resolution satellite imagery and airborne LiDAR data. For 2D road-map navigation, where the weights reflect road conditions and terrain difficulty, A*, Dijkstra, RRT*, and a Novel Improved Ant Colony Optimization Algorithm (NIACO) are tested on the DeepGlobe satellite dataset. For 3D road-map path planning, 3D A*, 3D Dijkstra, RRT-Connect, and NIACO are evaluated using the Hamilton airborne LiDAR dataset, which provides detailed elevation information. All algorithms are assessed under identical start and end point conditions, focusing on path cost, computation time, and memory consumption. Results demonstrate that Dijkstra consistently offers the most stable and efficient performance in both 2D and 3D scenarios, particularly when operating on dense, pixel-level geospatial road-maps. These findings highlight the reliability of Dijkstra-based planning for static terrain navigation and establish a foundation for future research on dynamic path planning under complex environmental constraints.
Graphical user interface (GUI) agents autonomously operate across platforms (e.g., Linux) to complete tasks by interacting with visual elements. Specifically, a user instruction is decomposed into a sequence of action proposals, each corresponding to an interaction with the GUI. After each action, the agent observes the updated GUI environment to plan the next step. However, two main challenges arise: i) resolving ambiguity in task planning (i.e., the action proposal sequence), where selecting an appropriate plan is non-trivial, as many valid ones may exist; ii) accurately grounding actions in complex and high-resolution interfaces, i.e., precisely interacting with visual targets. This paper investigates the two aforementioned challenges with our GUI Test-time Scaling Agent, namely GTA1. First, to select the most appropriate action proposal, we introduce a test-time scaling method. At each step, we sample multiple candidate action proposals and leverage a judge model to evaluate and select the most suitable one. It trades off computation for better decision quality by concurrent sampling, shortening task execution steps, and improving overall performance. Second, we propose a model that achieves improved accuracy when grounding the selected action proposal to its corresponding visual elements. Our key insight is that reinforcement learning (RL) facilitates visual grounding through inherent objective alignments, rewarding successful clicks on interface elements. Experimentally, our method establishes state-of-the-art performance across diverse benchmarks. For example, GTA1-7B achieves 50.1%, 92.4%, and 67.7% accuracies on Screenspot-Pro, Screenspot-V2, and OSWorld-G, respectively. When paired with a planner applying our test-time scaling strategy, it exhibits state-of-the-art agentic performance (e.g., 45.2% task success rate on OSWorld). We open-source our code and models here.
The rapid transformation of the labor market, driven by technological advancements and the digital economy, requires continuous competence development and constant adaptation. In this context, traditional competence management systems lack interoperability, adaptability, and semantic understanding, making it difficult to align individual competencies with labor market needs and training programs. This paper proposes an ontology-based framework for competence management, enabling a structured representation of competencies, occupations, and training programs. By leveraging ontological models and semantic reasoning, this framework aims to enhance the automation of competence-to-job matching, the personalization of learning recommendations, and career planning. This study discusses the design, implementation, and potential applications of the framework, focusing on competence training programs, job searching, and finding competent individuals.
Pediatric medical imaging presents unique challenges due to significant anatomical and developmental differences compared to adults. Direct application of segmentation models trained on adult data often yields suboptimal performance, particularly for small or rapidly evolving structures. To address these challenges, several strategies leveraging the nnU-Net framework have been proposed, differing along four key axes: (i) the fingerprint dataset (adult, pediatric, or a combination thereof) from which the Training Plan -including the network architecture-is derived; (ii) the Learning Set (adult, pediatric, or mixed), (iii) Data Augmentation parameters, and (iv) the Transfer learning method (finetuning versus continual learning). In this work, we introduce PSAT (Pediatric Segmentation Approaches via Adult Augmentations and Transfer learning), a systematic study that investigates the impact of these axes on segmentation performance. We benchmark the derived strategies on two pediatric CT datasets and compare them with state-of-theart methods, including a commercial radiotherapy solution. PSAT highlights key pitfalls and provides actionable insights for improving pediatric segmentation. Our experiments reveal that a training plan based on an adult fingerprint dataset is misaligned with pediatric anatomy-resulting in significant performance degradation, especially when segmenting fine structures-and that continual learning strategies mitigate institutional shifts, thus enhancing generalization across diverse pediatric datasets. The code is available at https://github.com/ICANS-Strasbourg/PSAT.