We study the variational optimization of entangled probe states for quantum sensing tasks involving the estimation of a structured linear function of local phase parameters. Specifically, we consider scenarios where each qubit in a spin-1/2 array accumulates a phase phi_i = alpha_i * theta, with a known weight vector alpha, reducing the task to single-parameter estimation of theta. Using parameterized quantum circuits composed of dipolar-interacting gates and global rotations, we optimize probe states with respect to the Classical Fisher Information (CFI) using a gradient-free evolutionary strategy. We benchmark the optimized circuits for two relevant cases: (i) uniform encoding, where all qubits contribute equally to the phase function, and (ii) a custom encoding where a central qubit dominates the weight vector. In both cases, the optimized probe states approach the respective entanglement-enhanced (EE) limits dictated by the encoding structure. Our results demonstrate the power of variational approaches for tailoring metrologically useful entanglement to specific estimation tasks in quantum sensor networks.
The emergence of Multimodal Large Language Models (MLLMs) has driven significant advances in Graphical User Interface (GUI) agent capabilities. Nevertheless, existing GUI agent training and inference techniques still suffer from a dilemma for reasoning designs, ineffective reward, and visual noise. To address these issues, we introduce UI-AGILE, a comprehensive framework enhancing GUI agents at both the training and inference stages. For training, we propose a suite of improvements to the Supervised Fine-Tuning (SFT) process: 1) a Continuous Reward function to incentivize high-precision grounding; 2) a "Simple Thinking" reward to balance planning with speed and grounding accuracy; and 3) a Cropping-based Resampling strategy to mitigate the sparse reward problem and improve learning on complex tasks. For inference, we present Decomposed Grounding with Selection, a novel method that dramatically improves grounding accuracy on high-resolution displays by breaking the image into smaller, manageable parts. Experiments show that UI-AGILE achieves the state-of-the-art performance on two benchmarks ScreenSpot-Pro and ScreenSpot-v2. For instance, using both our proposed training and inference enhancement methods brings 23% grounding accuracy improvement over the best baseline on ScreenSpot-Pro.
We propose a framework that enables autonomous vehicles (AVs) to proactively shape the intentions and behaviors of interacting human drivers. The framework employs a leader-follower game model with an adaptive role mechanism to predict human interaction intentions and behaviors. It then utilizes a branch model predictive control (MPC) algorithm to plan the AV trajectory, persuading the human to adopt the desired intention. The proposed framework is demonstrated in an intersection scenario. Simulation results illustrate the effectiveness of the framework for generating persuasive AV trajectories despite uncertainties.
We present a quantum algorithm for solving perfect mazes by casting the pathfinding task as a structured search problem. Building on Grover's amplitude amplification, the algorithm encodes all candidate paths in superposition and evaluates their proximity to the goal using a reversible fitness operator based on quantum arithmetic. A Grover-compatible oracle marks high-fitness states, and an adaptive cutoff strategy refines the search iteratively. We provide formal definitions, unitary constructions, and convergence guarantees, along with a resource analysis showing efficient scaling with maze size and path length. The framework serves as a foundation for quantum-hybrid pathfinding and planning. The full algorithmic pipeline is specified from encoding to amplification, including oracle design and fitness evaluation. The approach is readily extensible to other search domains, including navigation over tree-like or acyclic graphs.
Airborne mobile Integrated Sensing and Communication (ISAC) base stations have garnered significant attention recently, with ISAC technology being a crucial application for 6G networks. Since ISAC can sense potential mobile communication users, this paper studies an effective scheme for a multi-UAV network tailored for emergency communication. In this paper, we develop a temporal-assisted frame structure utilizing integrated omnidirectional and directional beampattern to facilitate efficient and frequent searching, with extended Kalman filtering (EKF) as an aid to beam alignment. Further, we address an optimization problem to maximize the total achievable rate per slot by jointly designing UAV beamforming, load management, and UAV direction planning, all while adhering to the constraints of the predicted beam coverage. Given the problem NP-hard, we introduce three robust mechanisms for its resolution: an enhanced distributed Successive Convex Approximation (SCA)-Iterative Rank Minimization (IRM) algorithm, an coalition game approach, and a Fermat point search method. In particular, the proposed SCA-IRM algorithm decomposes the original complex optimization problem into several sub-problems and assigns them equally to each UAV, so as to realize distributed computing and improve computational efficiency. Our proposed simulations demonstrate the improved system performance in terms of communication rate, fairness, and sensing accuracy, providing design guidelines of UAV-assisted emergency communication networking.
Graph neural networks (GNNs) excel at predictive tasks on graph-structured data but often lack the ability to incorporate symbolic domain knowledge and perform general reasoning. Relational Bayesian Networks (RBNs), in contrast, enable fully generative probabilistic modeling over graph-like structures and support rich symbolic knowledge and probabilistic inference. This paper presents a neuro-symbolic framework that seamlessly integrates GNNs into RBNs, combining the learning strength of GNNs with the flexible reasoning capabilities of RBNs. We develop two implementations of this integration: one compiles GNNs directly into the native RBN language, while the other maintains the GNN as an external component. Both approaches preserve the semantics and computational properties of GNNs while fully aligning with the RBN modeling paradigm. We also propose a maximum a-posteriori (MAP) inference method for these neuro-symbolic models. To demonstrate the framework's versatility, we apply it to two distinct problems. First, we transform a GNN for node classification into a collective classification model that explicitly models homo- and heterophilic label patterns, substantially improving accuracy. Second, we introduce a multi-objective network optimization problem in environmental planning, where MAP inference supports complex decision-making. Both applications include new publicly available benchmark datasets. This work introduces a powerful and coherent neuro-symbolic approach to graph data, bridging learning and reasoning in ways that enable novel applications and improved performance across diverse tasks.
In multi-agent environments, effective interaction hinges on understanding the beliefs and intentions of other agents. While prior work on goal recognition has largely treated the observer as a passive reasoner, Active Goal Recognition (AGR) focuses on strategically gathering information to reduce uncertainty. We adopt a probabilistic framework for Active Goal Recognition and propose an integrated solution that combines a joint belief update mechanism with a Monte Carlo Tree Search (MCTS) algorithm, allowing the observer to plan efficiently and infer the actor's hidden goal without requiring domain-specific knowledge. Through comprehensive empirical evaluation in a grid-based domain, we show that our joint belief update significantly outperforms passive goal recognition, and that our domain-independent MCTS performs comparably to our strong domain-specific greedy baseline. These results establish our solution as a practical and robust framework for goal inference, advancing the field toward more interactive and adaptive multi-agent systems.
Stellar flares and coronal mass ejections (CMEs) can strip planetary atmospheres, reducing the potential habitability of terrestrial planets. While flares have been observed for decades, stellar CMEs remain elusive. Extreme ultraviolet (EUV) emissions are sensitive to both flares and CME-induced coronal dimming. We assess the detectability of stellar CME-induced EUV dimming events by adapting a known "Sun-as-a-star" dimming technique -- validated by the Solar Dynamics Observatory's EUV Variability Experiment (EVE) -- to stellar conditions. We adapt the solar data to reflect a range of stellar intensities, accounting for intrinsic brightness, distance, and interstellar medium (ISM) attenuation. We generate synthetic light curves for two different missions: the legacy EUV Explorer (EUVE) and the proposed ESCAPE mission. Our results indicate that dimming detections are well within reach. EUVE's broadband imager was capable of detecting stellar CMEs -- albeit with limited spectral (temperature) resolution -- but that was not part of the observing plan. EUVE's spectroscopic survey lacked sufficient sensitivity for CME detections. Optimizing modern instrument design for this task would make the observation fully feasible. In this work, we present a tool to explore the stellar-CME detection parameter space. Our tool shows that an instrument with performance similar to ESCAPE, setting a 600-second integration period, and integrating the spectra into bands, any star with an X-ray flux $\geq 2.51 \times 10^{-12}$ergs$^{-1}$~cm$^{-2}$ should have a $\geq 3\sigma$ detection even for a modest few-percent dimming profile, regardless of ISM attenuation. Such measurements would be crucial for understanding the space weather environments of exoplanet host stars and, ultimately, for evaluating planetary habitability.
Retrosynthesis planning remains a central challenge in molecular discovery due to the vast and complex chemical reaction space. While traditional template-based methods offer tractability, they suffer from poor scalability and limited generalization, and template-free generative approaches risk generating invalid reactions. In this work, we propose TempRe, a generative framework that reformulates template-based approaches as sequence generation, enabling scalable, flexible, and chemically plausible retrosynthesis. We evaluated TempRe across single-step and multi-step retrosynthesis tasks, demonstrating its superiority over both template classification and SMILES-based generation methods. On the PaRoutes multi-step benchmark, TempRe achieves strong top-k route accuracy. Furthermore, we extend TempRe to direct multi-step synthesis route generation, providing a lightweight and efficient alternative to conventional single-step and search-based approaches. These results highlight the potential of template generative modeling as a powerful paradigm in computer-aided synthesis planning.
Especially in regions with high solar irradiation, photocatalysis presents a promising low-cost "green" hydrogen production option. Thus, this paper analyzes impacts of increasing photocatalysis shares on the European energy system using an open-source energy system optimization model covering the electricity, industry, and heating sectors with high spatial and temporal resolution. Photocatalysis deployment is investigated at various market shares by exogenously altering photocatalysis costs. The results show that integrating photocatalysis necessitates systematic adjustments since it lacks the flexible load attributes of water electrolysis. Therefore, a significant geographic shift in hydrogen production and demand from the Northwest to South Europe is expected in the case of large-scale photocatalysis adoption. Despite these challenges, installed photocatalysis shows costs within the photocatalysis cost projections. Thus, photocatalysis could contribute to a critical diversification of hydrogen production, easing material demands for other renewable technologies. Nevertheless, it requires strategic planning to avoid lock-ins and to maximize its potential.
Understanding the formation, propagation, and breakdown of the main vortex ring (VR) is essential for characterizing left ventricular (LV) hemodynamics, as its dynamics have been linked to the onset and progression of cardiovascular diseases. In this study, two idealized LV geometries, a semi-ellipsoidal chamber and a more rounded configuration, are analyzed using computational fluid dynamics (CFD) simulations under physiological conditions, with the aim of investigating the fluid mechanisms that govern VR evolution during diastole. Modal decomposition techniques, specifically proper orthogonal decomposition (POD) and higher order dynamic mode decomposition (HODMD), are employed to identify dominant coherent structures and track their temporal behavior. To the authors' knowledge, this is the first time such an analysis is conducted with the explicit goal of unraveling the physics of vortex ring dynamics in idealized ventricular chambers. The comparative approach reveals that geometric morphology plays a central role in modulating the flow: in one case, early interaction between the VR and the ventricular wall, driven by the chamber's shape, triggers strong nonlinear interactions and a more intricate dynamic evolution. In the other, the vortex ring propagates more freely toward the apex before dissipating, resulting in a more organized flow pattern and simpler spectral content. These findings advance the understanding of flow-based indicators relevant to early diagnosis and treatment planning in cardiovascular disease. Moreover, they illustrate how the choice of ventricular geometry can influence not only the simulated hemodynamics, but also the effectiveness of data-driven analysis tools, depending on the clinical context under study.
This paper proposes an algorithm to efficiently solve multistage stochastic programs with block separable recourse where each recourse problem is a multistage stochastic program with stage-wise independent uncertainty. The algorithm first decomposes the full problem into a reduced master problem and subproblems using Adaptive Benders decomposition. The subproblems are then solved by an enhanced SDDP. The enhancement includes (1) valid bounds at each iteration, (2) a path exploration rule, (3) cut sharing among subproblems, and (4) guaranteed {\delta}-optimal convergence. The cuts for the subproblems are then shared by calling adaptive oracles. The key contribution of the paper is the first algorithm for solving this class of problems. The algorithm is demonstrated on a power system investment planning problem with multi-timescale uncertainty. The case study results show that (1) the proposed algorithm can efficiently solve this type of problem, (2) deterministic wind modelling underestimate the objective function, and (3) stochastic modelling of wind leads to different investment decisions.
The long-standing claim of dark matter detection by the DAMA experiment remains a crucial open question in astroparticle physics. A key step towards its independent verification is the development of NaI(Tl)-based detectors with improved sensitivity at low energies. The majority of NaI(Tl)-based experiments rely on conventional photomultiplier tubes (PMTs) as single photon detectors, which present technological limitations in terms of light collection, intrinsic radioactivity and a high noise contribution at keV energies. ASTAROTH is an R&D project developing a NaI(Tl)-based detector where the scintillation light is read out by silicon photomultipliers (SiPM) matrices. SiPMs exhibit high photon detection efficiency, negligible radioactivity, and, most importantly, a dark noise nearly two orders of magnitude lower than PMTs, when operated at cryogenic temperature. To this end, ASTAROTH features a custom-designed cryostat based on a bath of cryogenic fluid, able to safely operate the detector and the read-out electronics down to about 80K. We report the first experimental characterization of 360 g NaI(Tl) detector read out by a large area (5 cm x 5 cm) SiPM matrix. The photoelectron yield obtained with a preliminary configuration is 7.2 photoelectrons/keV, which is rather promising, also in light of several planned developments. The signal-to-noise ratio and the energy threshold attainable with SiPMs is expected to improve the sensitivity for dark matter searches beyond the reach of current-generation PMT-based detectors. This result is the first proof of the viability of this technology and sets a milestone toward the design of future large-scale experiments.
With the rapid advancement of autonomous driving technology, vehicle-to-everything (V2X) communication has emerged as a key enabler for extending perception range and enhancing driving safety by providing visibility beyond the line of sight. However, integrating multi-source sensor data from both ego-vehicles and infrastructure under real-world constraints, such as limited communication bandwidth and dynamic environments, presents significant technical challenges. To facilitate research in this area, we organized the End-to-End Autonomous Driving through V2X Cooperation Challenge, which features two tracks: cooperative temporal perception and cooperative end-to-end planning. Built on the UniV2X framework and the V2X-Seq-SPD dataset, the challenge attracted participation from over 30 teams worldwide and established a unified benchmark for evaluating cooperative driving systems. This paper describes the design and outcomes of the challenge, highlights key research problems including bandwidth-aware fusion, robust multi-agent planning, and heterogeneous sensor integration, and analyzes emerging technical trends among top-performing solutions. By addressing practical constraints in communication and data fusion, the challenge contributes to the development of scalable and reliable V2X-cooperative autonomous driving systems.
In this work, we study how vision-language models (VLMs) can be utilized to enhance the safety for the autonomous driving system, including perception, situational understanding, and path planning. However, existing research has largely overlooked the evaluation of these models in traffic safety-critical driving scenarios. To bridge this gap, we create the benchmark (SafeDrive228K) and propose a new baseline based on VLM with knowledge graph-based retrieval-augmented generation (SafeDriveRAG) for visual question answering (VQA). Specifically, we introduce SafeDrive228K, the first large-scale multimodal question-answering benchmark comprising 228K examples across 18 sub-tasks. This benchmark encompasses a diverse range of traffic safety queries, from traffic accidents and corner cases to common safety knowledge, enabling a thorough assessment of the comprehension and reasoning abilities of the models. Furthermore, we propose a plug-and-play multimodal knowledge graph-based retrieval-augmented generation approach that employs a novel multi-scale subgraph retrieval algorithm for efficient information retrieval. By incorporating traffic safety guidelines collected from the Internet, this framework further enhances the model's capacity to handle safety-critical situations. Finally, we conduct comprehensive evaluations on five mainstream VLMs to assess their reliability in safety-sensitive driving tasks. Experimental results demonstrate that integrating RAG significantly improves performance, achieving a +4.73% gain in Traffic Accidents tasks, +8.79% in Corner Cases tasks and +14.57% in Traffic Safety Commonsense across five mainstream VLMs, underscoring the potential of our proposed benchmark and methodology for advancing research in traffic safety. Our source code and data are available at https://github.com/Lumos0507/SafeDriveRAG.
Modeling and evaluation of automated vehicles (AVs) in mixed-autonomy traffic is essential prior to their safe and efficient deployment. This is especially important at urban junctions where complex multi-agent interactions occur. Current approaches for modeling vehicular maneuvers and interactions at urban junctions have limitations in formulating non-cooperative interactions and vehicle dynamics within a unified mathematical framework. Previous studies either assume predefined paths or rely on cooperation and central controllability, limiting their realism and applicability in mixed-autonomy traffic. This paper addresses these limitations by proposing a modeling framework for trajectory planning and decentralized vehicular control at urban junctions. The framework employs a bi-level structure where the upper level generates kinematically feasible reference trajectories using an efficient graph search algorithm with a custom heuristic function, while the lower level employs a predictive controller for trajectory tracking and optimization. Unlike existing approaches, our framework does not require central controllability or knowledge sharing among vehicles. The vehicle kinematics are explicitly incorporated at both levels, and acceleration and steering angle are used as control variables. This intuitive formulation facilitates analysis of traffic efficiency, environmental impacts, and motion comfort. The framework's decentralized structure accommodates operational and stochastic elements, such as vehicles' detection range, perception uncertainties, and reaction delay, making the model suitable for safety analysis. Numerical and simulation experiments across diverse scenarios demonstrate the framework's capability in modeling accurate and realistic vehicular maneuvers and interactions at various urban junctions, including unsignalized intersections and roundabouts.
Human demonstration data is often ambiguous and incomplete, motivating imitation learning approaches that also exhibit reliable planning behavior. A common paradigm to perform planning-from-demonstration involves learning a reward function via Inverse Reinforcement Learning (IRL) then deploying this reward via Model Predictive Control (MPC). Towards unifying these methods, we derive a replacement of the policy in IRL with a planning-based agent. With connections to Adversarial Imitation Learning, this formulation enables end-to-end interactive learning of planners from observation-only demonstrations. In addition to benefits in interpretability, complexity, and safety, we study and observe significant improvements on sample efficiency, out-of-distribution generalization, and robustness. The study includes evaluations in both simulated control benchmarks and real-world navigation experiments using few-to-single observation-only demonstrations.
A drone trajectory planner should be able to dynamically adjust the safety-efficiency trade-off according to varying mission requirements in unknown environments. Although traditional polynomial-based planners offer computational efficiency and smooth trajectory generation, they require expert knowledge to tune multiple parameters to adjust this trade-off. Moreover, even with careful tuning, the resulting adjustment may fail to achieve the desired trade-off. Similarly, although reinforcement learning-based planners are adaptable in unknown environments, they do not explicitly address the safety-efficiency trade-off. To overcome this limitation, we introduce a Decision Transformer-based trajectory planner that leverages a single parameter, Return-to-Go (RTG), as a \emph{temperature parameter} to dynamically adjust the safety-efficiency trade-off. In our framework, since RTG intuitively measures the safety and efficiency of a trajectory, RTG tuning does not require expert knowledge. We validate our approach using Gazebo simulations in both structured grid and unstructured random environments. The experimental results demonstrate that our planner can dynamically adjust the safety-efficiency trade-off by simply tuning the RTG parameter. Furthermore, our planner outperforms existing baseline methods across various RTG settings, generating safer trajectories when tuned for safety and more efficient trajectories when tuned for efficiency. Real-world experiments further confirm the reliability and practicality of our proposed planner.
This full research paper investigates the impact of generative AI (GenAI) on the learner experience, with a focus on how learners engage with and utilize the information it provides. In e-learning environments, learners often need to navigate a complex information space on their own. This challenge is further compounded in interdisciplinary fields like bioinformatics, due to the varied prior knowledge and backgrounds. In this paper, we studied how GenAI influences information search in bioinformatics research: (1) How do interactions with a GenAI chatbot influence learner orienteering behaviors?; and (2) How do learners identify information scent in GenAI chatbot responses? We adopted an autoethnographic approach to investigate these questions. GenAI was found to support orienteering once a learning plan was established, but it was counterproductive prior to that. Moreover, traditionally value-rich information sources such as bullet points and related terms proved less effective when applied to GenAI responses. Information scents were primarily recognized through the presence or absence of prior knowledge of the domain. These findings suggest that GenAI should be adopted into e-learning environments with caution, particularly in interdisciplinary learning contexts.
Purpose: This study explores the feasibility of dose-escalated proton beam therapy (dPBT) for Locally Advanced Pancreatic Cancer (LAPC) patients by modeling common patient scenarios using current clinically-adopted practices. Methods: Five patient datasets were used as simulation phantoms, each with six tumour sizes, to systematically simulate treatment scenarios typical in LAPC patients. Using the Raystation treatment planning system, robustly-optimised dPBT and stereotactic ablative radiotherapy (SABR) treatment plans were created with a 5 mm margin allowing for intra- and inter-fraction anatomical changes. following clinically-adopted protocols. Safe dose-escalation feasibility is assessed with dose metrics, tumour control (TCP) and normal tissue complication probabilities (NTCP) for average and worst-case intra-fraction motion scenarios. Significance testing was performed using a paired student's t-test. Results: Dose-escalation feasibility is largely dependent on tumour size and proximity to critical structures. Minimal therapeutic benefit was observed for patients with greater than 4.5 cm tumours, however for tumours less than or equal to 4.5 cm dPBT TCPs of 45-90% compared to SABR TCPs of 10-40% (p<0.05). The worst-case scenario dPBT TCP was comparable to SABR. Hypofractioned dPBT further improved this result to greater than 90% (p<0.05) for tumours less than or equal to 4.5 cm. Conclusion: Safe dPBT is feasible for patients with targets up to the median size and see a significant therapeutic benefit compared to the current standard of care in SABR. A patient-specific approach should be taken based on tumour size and surrounding anatomy.
This work presents the first application of the state-of-the-art Koenig-D'Amico reachable set theory solver to cislunar, chaotic relative motion in the Circular-Restricted Three-Body Problem (CR3BP). The relative motion dynamics of two spacecraft, a chief and a deputy, in the CR3BP are formulated as a Linear Time-Variant (LTV) system, allowing the solver to find an optimal impulsive control maneuver plan. This methodology demonstrates robust and accurate control performance for both small and large reconfigurations over different CR3BP orbits and control windows. These capabilities are enhanced by a Model Predictive Control (MPC) architecture to reject all sources of control, navigation, and dynamic error. The performance of the proposed approach is validated by unit testing, Monte Carlo simulations, and comparisons to baseline models for spacecraft relative motion. Overall, this work demonstrates an optimal control methodology with the computational efficiency to be used on-board spacecraft, enabling the safe, effective, and efficient operation of Distributed Space Systems in cislunar space.
As space exploration extends into cislunar space and further towards Mars, understanding the relativistic effects on clocks on Mars, particularly in relation to multibody gravitational influences, becomes increasingly important for accurate clock synchronization. This study estimates clock rates on Mars and compares them to those on the Moon and Earth. We find that, on average, clocks on Mars tick faster than those on the Earth's geoid by 477 microseconds per day, with a variation of 226 microseconds per day over a Martian year. Additionally, there is an amplitude modulation of approximately 40 microseconds per day over seven synodic cycles. We also introduce a formalism for addressing the effects of solar tides on the Earth-Moon system for predicting clock rates on the Moon and Mars more accurately when compared to using only Keplerian orbit approximations. Our analysis quantifies the relativistic proper time offsets among Martian, lunar, and terrestrial clocks, highlighting important implications for mission planning and the implementation of timekeeping systems on Mars.
Planned and ongoing campaigns for the acquisition of high-quality local measurements of the Galactic magnetic field (GMF) at interstellar cloud locations have generated intense interest in the use of such measurements to accurately backtrack Ultra High-Energy Cosmic Rays (UHECR) through the Milky Way, a crucial aspect of charged-particle astronomy. However, the inherent sparsity of these measurements raises concerns regarding the feasibility of this approach. We assessed the achievable accuracy of UHECR backtracking using mock sparse local GMF data derived from the Jansson & Farrar 2012 (JF12) GMF model and mock UHECR events. We created mock UHECR datasets that trace back within a 3 degree angular range from the galaxy M82 (a hypothesized UHECR source), and we investigated the impact on such backtracking attempts of varying GMF measurement sparsity and of varying GMF strength, which we emulated by rescaling the strength of the ordered components of the JF12 model. We found that: (a) for an average GMF strength of $1\mu G$, satisfactory backtracking results for magnetic rigidities of $10^{20}$ eV can be obtained even with very sparse measurements ($ \sim 1600$ pc); (b) when the average GMF strength is significantly increased ($\sim$ factor of 10) the accuracy of backtracking breaks down at measurement spacings of 400 pc. These findings emphasize on one hand that sparsity is not an automatic deal-breaker for the utility of local GMF measurements in UHECR backtracking. On the other hand, we also confirm that important challenges remain on the path from sparse local GMF measurements to precise charge-particle astronomy, especially in directions of high-strength ordered magnetic fields. This underscores the importance of using all available complementary magnetic field measurements and sophisticated reconstruction techniques to enable accurate backtracking of UHECR.
We show that, in a consistent model of a stabilized extra-dimensional theory, the radion can serve as a natural portal between ordinary matter and WIMP dark matter. With an effective coupling scale of the Kaluza-Klein theory of 20-100 TeV, the radion portal can produce the observed relic abundance through resonant annihilation for dark matter masses up to a TeV. Existing and planned direct dark matter detection experiments cannot constrain this model. However, indirect detection limits exclude dark matter masses between 5 and 80 GeV, where the radion mediator primarily decays into b-quarks.
Detecting vehicles in aerial imagery is a critical task with applications in traffic monitoring, urban planning, and defense intelligence. Deep learning methods have provided state-of-the-art (SOTA) results for this application. However, a significant challenge arises when models trained on data from one geographic region fail to generalize effectively to other areas. Variability in factors such as environmental conditions, urban layouts, road networks, vehicle types, and image acquisition parameters (e.g., resolution, lighting, and angle) leads to domain shifts that degrade model performance. This paper proposes a novel method that uses generative AI to synthesize high-quality aerial images and their labels, improving detector training through data augmentation. Our key contribution is the development of a multi-stage, multi-modal knowledge transfer framework utilizing fine-tuned latent diffusion models (LDMs) to mitigate the distribution gap between the source and target environments. Extensive experiments across diverse aerial imagery domains show consistent performance improvements in AP50 over supervised learning on source domain data, weakly supervised adaptation methods, unsupervised domain adaptation methods, and open-set object detectors by 4-23%, 6-10%, 7-40%, and more than 50%, respectively. Furthermore, we introduce two newly annotated aerial datasets from New Zealand and Utah to support further research in this field. Project page is available at: https://humansensinglab.github.io/AGenDA
We propose a formal model of reasoning limitations in large neural net models for language, grounded in the depth of their neural architecture. By treating neural networks as linear operators over logic predicate space we show that each layer can encode at most one additional level of logical reasoning. We prove that a neural network of depth a particular depth cannot faithfully represent predicates in a one higher order logic, such as simple counting over complex predicates, implying a strict upper bound on logical expressiveness. This structure induces a nontrivial null space during tokenization and embedding, excluding higher-order predicates from representability. Our framework offers a natural explanation for phenomena such as hallucination, repetition, and limited planning, while also providing a foundation for understanding how approximations to higher-order logic may emerge. These results motivate architectural extensions and interpretability strategies in future development of language models.
We prove that the Benamou-Brenier formulation of the Optimal Transport problem and the Kantorovich formulation are equivalent on a sub-Riemannian connected and complete manifold $M$ without boundary and with no abnormal geodesics, when the problems are considered between two measures of compact supports. Furthermore, we prove the existence of a minimizer for the Benamou-Brenier formulation and link it to the optimal transport plan.
Currently, large partially observable Markov decision processes (POMDPs) are often solved by sampling-based online methods which interleave planning and execution phases. However, a pre-computed offline policy is more desirable in POMDP applications with time or energy constraints. But previous offline algorithms are not able to scale up to large POMDPs. In this article, we propose a new sampling-based algorithm, the partially observable Monte-Carlo graph search (POMCGS) to solve large POMDPs offline. Different from many online POMDP methods, which progressively develop a tree while performing (Monte-Carlo) simulations, POMCGS folds this search tree on the fly to construct a policy graph, so that computations can be drastically reduced, and users can analyze and validate the policy prior to embedding and executing it. Moreover, POMCGS, together with action progressive widening and observation clustering methods provided in this article, is able to address certain continuous POMDPs. Through experiments, we demonstrate that POMCGS can generate policies on the most challenging POMDPs, which cannot be computed by previous offline algorithms, and these policies' values are competitive compared with the state-of-the-art online POMDP algorithms.
Ensuring reliable model performance across diverse domains is a critical challenge in computational pathology. A particular source of variability in Whole-Slide Images is introduced by differences in digital scanners, thus calling for better scanner generalization. This is critical for the real-world adoption of computational pathology, where the scanning devices may differ per institution or hospital, and the model should not be dependent on scanner-induced details, which can ultimately affect the patient's diagnosis and treatment planning. However, past efforts have primarily focused on standard domain generalization settings, evaluating on unseen scanners during training, without directly evaluating consistency across scanners for the same tissue. To overcome this limitation, we introduce SCORPION, a new dataset explicitly designed to evaluate model reliability under scanner variability. SCORPION includes 480 tissue samples, each scanned with 5 scanners, yielding 2,400 spatially aligned patches. This scanner-paired design allows for the isolation of scanner-induced variability, enabling a rigorous evaluation of model consistency while controlling for differences in tissue composition. Furthermore, we propose SimCons, a flexible framework that combines augmentation-based domain generalization techniques with a consistency loss to explicitly address scanner generalization. We empirically show that SimCons improves model consistency on varying scanners without compromising task-specific performance. By releasing the SCORPION dataset and proposing SimCons, we provide the research community with a crucial resource for evaluating and improving model consistency across diverse scanners, setting a new standard for reliability testing.
This work proposes a novel hybrid approach for vision-only navigation of mobile robots, which combines advances of both deep learning approaches and classical model-based planning algorithms. Today, purely data-driven end-to-end models are dominant solutions to this problem. Despite advantages such as flexibility and adaptability, the requirement of a large amount of training data and limited interpretability are the main bottlenecks for their practical applications. To address these limitations, we propose a hierarchical system that utilizes recent advances in model predictive control, traversability estimation, visual place recognition, and pose estimation, employing topological graphs as a representation of the target environment. Using such a combination, we provide a scalable system with a higher level of interpretability compared to end-to-end approaches. Extensive real-world experiments show the efficiency of the proposed method.