We introduce ResPlan, a large-scale dataset of 17,000 detailed, structurally rich, and realistic residential floor plans, created to advance spatial AI research. Each plan includes precise annotations of architectural elements (walls, doors, windows, balconies) and functional spaces (such as kitchens, bedrooms, and bathrooms). ResPlan addresses key limitations of existing datasets such as RPLAN (Wu et al., 2019) and MSD (van Engelenburg et al., 2024) by offering enhanced visual fidelity and greater structural diversity, reflecting realistic and non-idealized residential layouts. Designed as a versatile, general-purpose resource, ResPlan supports a wide range of applications including robotics, reinforcement learning, generative AI, virtual and augmented reality, simulations, and game development. Plans are provided in both geometric and graph-based formats, enabling direct integration into simulation engines and fast 3D conversion. A key contribution is an open-source pipeline for geometry cleaning, alignment, and annotation refinement. Additionally, ResPlan includes structured representations of room connectivity, supporting graph-based spatial reasoning tasks. Finally, we present comparative analyses with existing benchmarks and outline several open benchmark tasks enabled by ResPlan. Ultimately, ResPlan offers a significant advance in scale, realism, and usability, providing a robust foundation for developing and benchmarking next-generation spatial intelligence systems.
Outside of urban hubs, autonomous cars and trucks have to master driving on intercity highways. Safe, long-distance highway travel at speeds exceeding 100 km/h demands perception distances of at least 250 m, which is about five times the 50-100m typically addressed in city driving, to allow sufficient planning and braking margins. Increasing the perception ranges also allows to extend autonomy from light two-ton passenger vehicles to large-scale forty-ton trucks, which need a longer planning horizon due to their high inertia. However, most existing perception approaches focus on shorter ranges and rely on Bird's Eye View (BEV) representations, which incur quadratic increases in memory and compute costs as distance grows. To overcome this limitation, we built on top of a sparse representation and introduced an efficient 3D encoding of multi-modal and temporal features, along with a novel self-supervised pre-training scheme that enables large-scale learning from unlabeled camera-LiDAR data. Our approach extends perception distances to 250 meters and achieves an 26.6% improvement in mAP in object detection and a decrease of 30.5% in Chamfer Distance in LiDAR forecasting compared to existing methods, reaching distances up to 250 meters. Project Page: https://light.princeton.edu/lrs4fusion/
The Human-Robot Interaction (HRI) community often highlights the social context of an interaction as a key consideration when designing, implementing, and evaluating robot behavior. Unfortunately, researchers use the term "social context" in varied ways. This can lead to miscommunication, making it challenging to draw connections between related work on understanding and modeling the social contexts of human-robot interactions. To address this gap, we survey the HRI literature for existing definitions and uses of the term "social context". Then, we propose a conceptual model for describing the social context of a human-robot interaction. We apply this model to existing work, and we discuss a range of attributes of social contexts that can help researchers plan for interactions, develop behavior models for robots, and gain insights after interactions have taken place. We conclude with a discussion of open research questions in relation to understanding and modeling the social contexts of human-robot interactions.
We introduce a Multi-User Contextual Cascading Bandit model, a new combinatorial bandit framework that captures realistic online advertising scenarios where multiple users interact with sequentially displayed items simultaneously. Unlike classical contextual bandits, MCCB integrates three key structural elements: (i) cascading feedback based on sequential arm exposure, (ii) parallel context sessions enabling selective exploration, and (iii) heterogeneous arm-level rewards. We first propose Upper Confidence Bound with Backward Planning (UCBBP), a UCB-style algorithm tailored to this setting, and prove that it achieves a regret bound of $\widetilde{O}(\sqrt{THN})$ over $T$ episodes, $H$ session steps, and $N$ contexts per episode. Motivated by the fact that many users interact with the system simultaneously, we introduce a second algorithm, termed Active Upper Confidence Bound with Backward Planning (AUCBBP), which shows a strict efficiency improvement in context scaling, i.e., user scaling, with a regret bound of $\widetilde{O}(\sqrt{T+HN})$. We validate our theoretical findings via numerical experiments, demonstrating the empirical effectiveness of both algorithms under various settings.
Patient-specific bone models are essential for designing surgical guides and preoperative planning, as they enable the visualization of intricate anatomical structures. However, traditional CT-based approaches for creating bone models are limited to preoperative use due to the low flexibility and high radiation exposure of CT and time-consuming manual delineation. Here, we introduce Semi-Supervised Reconstruction with Knowledge Distillation (SSR-KD), a fast and accurate AI framework to reconstruct high-quality bone models from biplanar X-rays in 30 seconds, with an average error under 1.0 mm, eliminating the dependence on CT and manual work. Additionally, high tibial osteotomy simulation was performed by experts on reconstructed bone models, demonstrating that bone models reconstructed from biplanar X-rays have comparable clinical applicability to those annotated from CT. Overall, our approach accelerates the process, reduces radiation exposure, enables intraoperative guidance, and significantly improves the practicality of bone models, offering transformative applications in orthopedics.
Introduction: The rise in public medical imaging datasets has raised concerns about patient reidentification from head CT scans. However, existing defacing algorithms often remove or distort Organs at Risk (OARs) and Planning Target Volumes (PTVs) in head and neck cancer (HNC) patients, and ignore DICOM-RT Structure Set and Dose data. Therefore, we developed and validated a novel automated defacing algorithm that preserves these critical structures while removing identifiable features from HNC CTs and DICOM-RT data. Methods: Eye contours were used as landmarks to automate the removal of CT pixels above the inferior-most eye slice and anterior to the eye midpoint. Pixels within PTVs were retained if they intersected with the removed region. The body contour and dose map were reshaped to reflect the defaced image. We validated our approach on 829 HNC CTs from 622 patients. Privacy protection was evaluated by applying the FaceNet512 facial recognition algorithm before and after defacing on 3D-rendered CT pairs from 70 patients. Research utility was assessed by examining the impact of defacing on autocontouring performance using LimbusAI and analyzing PTV locations relative to the defaced regions. Results: Before defacing, FaceNet512 matched 97% of patients' CTs. After defacing, this rate dropped to 4%. LimbusAI effectively autocontoured organs in the defaced CTs, with perfect Dice scores of 1 for OARs below the defaced region, and excellent scores exceeding 0.95 for OARs on the same slices as the crop. We found that 86% of PTVs were entirely below the cropped region, 9.1% were on the same slice as the crop without overlap, and only 4.9% extended into the cropped area. Conclusions: We developed a novel defacing algorithm that anonymizes HNC CT scans and related DICOM-RT data while preserving essential structures, enabling the sharing of HNC imaging datasets for Big Data and AI.
Reinforcement learning (RL) has demonstrated great potential in robotic operations. However, its data-intensive nature and reliance on the Markov Decision Process (MDP) assumption limit its practical deployment in real-world scenarios involving complex dynamics and long-term temporal dependencies, such as multi-robot manipulation. Decision Transformers (DTs) have emerged as a promising offline alternative by leveraging causal transformers for sequence modeling in RL tasks. However, their applications to multi-robot manipulations still remain underexplored. To address this gap, we propose a novel framework, Symbolically-Guided Decision Transformer (SGDT), which integrates a neuro-symbolic mechanism with a causal transformer to enable deployable multi-robot collaboration. In the proposed SGDT framework, a neuro-symbolic planner generates a high-level task-oriented plan composed of symbolic subgoals. Guided by these subgoals, a goal-conditioned decision transformer (GCDT) performs low-level sequential decision-making for multi-robot manipulation. This hierarchical architecture enables structured, interpretable, and generalizable decision making in complex multi-robot collaboration tasks. We evaluate the performance of SGDT across a range of task scenarios, including zero-shot and few-shot scenarios. To our knowledge, this is the first work to explore DT-based technology for multi-robot manipulation.
The boundary-constrained floor plan generation problem aims to generate the topological and geometric properties of a set of rooms within a given boundary. Recently, learning-based methods have made significant progress in generating realistic floor plans. However, these methods involve a workflow of converting vector data into raster images, using image-based generative models, and then converting the results back into vector data. This process is complex and redundant, often resulting in information loss. Raster images, unlike vector data, cannot scale without losing detail and precision. To address these issues, we propose a novel deep learning framework called DiffPlanner for boundary-constrained floor plan generation, which operates entirely in vector space. Our framework is a Transformer-based conditional diffusion model that integrates an alignment mechanism in training, aligning the optimization trajectory of the model with the iterative design processes of designers. This enables our model to handle complex vector data, better fit the distribution of the predicted targets, accomplish the challenging task of floor plan layout design, and achieve user-controllable generation. We conduct quantitative comparisons, qualitative evaluations, ablation experiments, and perceptual studies to evaluate our method. Extensive experiments demonstrate that DiffPlanner surpasses existing state-of-the-art methods in generating floor plans and bubble diagrams in the creative stages, offering more controllability to users and producing higher-quality results that closely match the ground truths.
Quantum mechanics (QM) and General relativity (GR), also known as the theory of gravity, are the two pillars of modern physics. A matter-wave interferometer with a massive particle can test numerous fundamental ideas, including the spatial superposition principle - a foundational concept in QM - in completely new regimes, as well as the interface between QM and GR, e.g., testing the quantization of gravity. Consequently, there exists an intensive effort to realize such an interferometer. While several paths are being pursued, we focus on utilizing nanodiamonds (NDs) as our particle, and a spin embedded in the ND together with Stern-Gerlach forces, to achieve a closed loop in space-time. There is a growing community of groups pursuing this path [1]. We are posting this technical note (as part of a series of seven such notes) to highlight our plans and solutions concerning various challenges in this ambitious endeavor, hoping this will support this growing community. Here, we present a theoretical study concerning the impact of rotations of the ND on the interferometric contrast. We have previously shown that for a first-generation Stern-Gerlach interferometer with an ND composed of 10^7 atoms, it is sufficient to cool the center of mass to milli-Kelvin temperatures. In this work, we similarly show that rotation does not have to be cooled to the ground state, and cooling to hundreds of rotational phonons is good enough. We describe and simulate parametric feedback cooling of librational modes of a charged ND levitated in a Paul trap. The cooling is performed by modulating the electric field of the trap. We examine the dependence of the efficiency of cooling on the electric potential and the shape of the object. We show that the required libration temperatures should be within reach in the very near future. We would be happy to make more details available upon request.
Quantum mechanics (QM) and General relativity (GR), also known as the theory of gravity, are the two pillars of modern physics. A matter-wave interferometer with a massive particle can test numerous fundamental ideas, including the spatial superposition principle - a foundational concept in QM - in previously unexplored regimes. It also opens the possibility of probing the interface between QM and GR, such as testing the quantization of gravity. Consequently, there exists an intensive effort to realize such an interferometer. While several approaches are being explored, we focus on utilizing nanodiamonds with embedded spins as test particles which, in combination with Stern-Gerlach forces, enable the realization of a closed-loop matter-wave interferometer in space-time. There is a growing community of groups pursuing this path [1]. We are posting this technical note (as part of a series of seven such notes), to highlight our plans and solutions concerning various challenges in this ambitious endeavor, hoping this will support this growing community. Here we discuss the design considerations for a high-precision enhanced-coherence nanodiamond source, review the fabrication processes used to produce nanodiamond pillars measuring 40 x 65 x 80 nm, summarize the characterization work completed to date, and conclude with an outlook on the remaining steps needed to finalize the source fabrication. We would be happy to make available more details upon request.
This paper presents a control framework designed to enhance the stability and robustness of legged robots in the presence of uncertainties, including model uncertainties, external disturbances, and faults. The framework enables the full-state feedback estimator to estimate and compensate for uncertainties in whole-body dynamics of the legged robots. First, we propose a novel moving horizon extended state observer (MH-ESO) to estimate uncertainties and mitigate noise in legged systems, which can be integrated into the framework for disturbance compensation. Second, we introduce a three-level whole-body disturbance rejection control framework (T-WB-DRC). Unlike the previous two-level approach, this three-level framework considers both the plan based on whole-body dynamics without uncertainties and the plan based on dynamics with uncertainties, significantly improving payload transportation, external disturbance rejection, and fault tolerance. Third, simulations of both humanoid and quadruped robots in the Gazebo simulator demonstrate the effectiveness and versatility of T-WB-DRC. Finally, extensive experimental trials on a quadruped robot validate the robustness and stability of the system when using T-WB-DRC under various disturbance conditions.
The fifth-generation (5G) of cellular communications is expected to be deployed in the next years to support a wide range of services with different demands of peak data rates, latency and quality of experience (QoE). To support higher data rates and latency requirements third-generation partnership project (3GPP) has introduced numerology and bandwidth parts (BWPs), via new radio (NR) for service-tailored resource allocation. Legacy 4G networks have generated extensive data, which combined with crowd-sourced LTE infrastructure insights, enables identification of high-traffic 5G deployment area (5GDA) for planning new services. Given the mission-critical nature of 5G services, QoE is a big challenge for MNOs to guarantee peak data rates for a defined percentage of time. This work studies the fundamentals of 5G network planning methods that reconciles coverage-capacity trade-offs through balanced radio network dimensioning (RND), leveraging pragmatic NR modeling, and data-driven strategies to minimize deployment costs and reduce cost-per-bit.
Consumer agency in the digital age is increasingly constrained by systemic barriers and algorithmic manipulation, raising concerns about the authenticity of consumption choices. Nowadays, financial decisions are shaped by external pressures like obligatory consumption, algorithmic persuasion, and unstable work schedules that erode financial autonomy. Obligatory consumption (like hidden fees) is intensified by digital ecosystems. Algorithmic tactics like personalized recommendations lead to impulsive purchases. Unstable work schedules also undermine financial planning. Thus, it is important to study how these factors impact consumption agency. To do so, we examine formal models grounded in discounted consumption with constraints that bound agency. We construct analytical scenarios in which consumers face obligatory payments, algorithm-influenced impulsive expenses, or unpredictable income due to temporal instability. Using this framework, we demonstrate that even rational, utility-maximizing agents can experience early financial ruin when agency is limited across structural, behavioral, or temporal dimensions and how diminished autonomy impacts long-term financial well-being. Our central argument is that consumer agency must be treated as a value (not a given) requiring active cultivation, especially in digital ecosystems. The connection between our formal modeling and this argument allows us to indicate that limitations on agency (whether structural, behavioral, or temporal) can be rigorously linked to measurable risks like financial instability. This connection is also a basis for normative claims about consumption as a value, by anchoring them in a formally grounded analysis of consumer behavior. As solutions, we study systemic interventions and consumer education to support value deliberation and informed choices. We formally demonstrate how these measures strengthen agency.
Task and motion planning under Signal Temporal Logic constraints is known to be NP-hard. A common class of approaches formulates these hybrid problems, which involve discrete task scheduling and continuous motion planning, as mixed-integer programs (MIP). However, in applications for bipedal locomotion, introduction of non-convex constraints such as kinematic reachability and footstep rotation exacerbates the computational complexity of MIPs. In this work, we present a method based on Benders Decomposition to address scenarios where solving the entire monolithic optimization problem is prohibitively intractable. Benders Decomposition proposes an iterative cutting-plane technique that partitions the problem into a master problem to prototype a plan that meets the task specification, and a series of subproblems for kinematics and dynamics feasibility checks. Our experiments demonstrate that this method achieves faster planning compared to alternative algorithms for solving the resulting optimization program with nonlinear constraints.
We address the problem of efficiently organizing search over very large trees, which arises in many applications ranging from autonomous driving to aerial vehicles. Here, we are motivated by off-road autonomy, where real-time planning is essential. Classical approaches use graphs of motion primitives and exploit dominance to mitigate the curse of dimensionality and prune expansions efficiently. However, for complex dynamics, repeatedly solving two-point boundary-value problems makes graph construction too slow for fast kinodynamic planning. Hybrid A* (HA*) addressed this challenge by searching over a tree of motion primitives and introducing approximate pruning using a grid-based dominance check. However, choosing the grid resolution is difficult: too coarse risks failure, while too fine leads to excessive expansions and slow planning. We propose Incremental Generalized Hybrid A* (IGHA*), an anytime tree-search framework that dynamically organizes vertex expansions without rigid pruning. IGHA* provably matches or outperforms HA*. For both on-road kinematic and off-road kinodynamic planning queries for a car-like robot, variants of IGHA* use 6x fewer expansions to the best solution compared to an optimized version of HA*. In simulated off-road experiments in a high fidelity simulator, IGHA* outperforms HA*M when both are used in the loop with a model predictive controller. We demonstrate real-time performance both in simulation and on a small-scale off-road vehicle, enabling fast, robust planning under complex dynamics. Code: https://github.com/personalrobotics/IGHAStar
We introduce a scalable, interpretable computer-vision framework for quantifying aesthetic outcomes of facial plastic surgery using frontal photographs. Our pipeline leverages automated landmark detection, geometric facial symmetry computation, deep-learning-based age estimation, and nasal morphology analysis. To perform this study, we first assemble the largest curated dataset of paired pre- and post-operative facial images to date, encompassing 7,160 photographs from 1,259 patients. This dataset includes a dedicated rhinoplasty-only subset consisting of 732 images from 366 patients, 96.2% of whom showed improvement in at least one of the three nasal measurements with statistically significant group-level change. Among these patients, the greatest statistically significant improvements (p < 0.001) occurred in the alar width to face width ratio (77.0%), nose length to face height ratio (41.5%), and alar width to intercanthal ratio (39.3%). Among the broader frontal-view cohort, comprising 989 rigorously filtered subjects, 71.3% exhibited significant enhancements in global facial symmetry or perceived age (p < 0.01). Importantly, our analysis shows that patient identity remains consistent post-operatively, with True Match Rates of 99.5% and 99.6% at a False Match Rate of 0.01% for the rhinoplasty-specific and general patient cohorts, respectively. Additionally, we analyze inter-practitioner variability in improvement rates. By providing reproducible, quantitative benchmarks and a novel dataset, our pipeline facilitates data-driven surgical planning, patient counseling, and objective outcome evaluation across practices.
This paper proposes a simulation-based framework for assessing and improving the performance of a pension fund management scheme. This framework is modular and allows the definition of customized performance metrics that are used to assess and iteratively improve asset and liability management policies. We illustrate our framework with a simple implementation that showcases the power of including adaptable features. We show that it is possible to dissipate longevity and volatility risks by permitting adaptability in asset allocation and payout levels. The numerical results show that by including a small amount of flexibility, there can be a substantial reduction in the cost to run the pension plan as well as a substantial decrease in the probability of defaulting.
Extended outages in distributed systems (DSs) dominated by distributed energy resources (DERs) require innovative strategies to efficiently and securely deploy black start (BS) resources. To address the need, this paper proposes a two-stage stochastic resource allocation method within synchronizing dynamic microgrids (MGs) for black start (SDMG-BS), enabling risk-averse and adaptive restoration across various scenarios while ensuring frequency security. Virtual synchronous generator (VSG)-controlled grid-forming inverters (GFMIs) equipped with primary frequency governors (PFGs) are modeled as BS resources. Their frequency response is characterized by three transient indices, which are deployed as frequency dynamic constraints on load pick-up events to ensure frequency stability during the BS process. SDMG-BS framework facilitates location-independent synchronization among restored MGs and with the transmission grid (TG) with the help of smart switches (SSWs). The model incorporates scenario-based stochastic programming to address multi-source uncertainties, including season-dependent operational conditions and unpredictable TG outage durations, ensuring a resilient allocation plan. The proposed approach is validated on a modified IEEE 123-node feeder with three study cases designed across sixteen uncertainty scenarios.
Social infrastructure plays a critical role in shaping neighborhood well-being by fostering social and cultural interaction, enabling service provision, and encouraging exposure to diverse environments. Despite the growing knowledge of its spatial accessibility, time use at social infrastructure places is underexplored due to the lack of a spatially resolved national dataset. We address this gap by developing scalable Social-Infrastructure Time Use measures (STU) that capture length and depth of engagement, activity diversity, and spatial inequality, supported by first-of-their-kind datasets spanning multiple geographic scales from census tracts to metropolitan areas. Our datasets leverage anonymized and aggregated foot traffic data collected between 2019 and 2024 across 49 continental U.S. states. The data description reveals variances in STU across time, space, and differing neighborhood sociodemographic characteristics. Validation demonstrates generally robust population representation, consistent with established national survey findings while revealing more nuanced patterns. Future analyses could link STU with public health outcomes and environmental factors to inform targeted interventions aimed at enhancing population well-being and guiding social infrastructure planning and usage.
Human digital twins (HDTs) are dynamic, data-driven virtual representations of individuals, continuously updated with multimodal data to simulate, monitor, and predict health trajectories. By integrating clinical, physiological, behavioral, and environmental inputs, HDTs enable personalized diagnostics, treatment planning, and anomaly detection. This paper reviews current approaches to HDT modeling, with a focus on statistical and machine learning techniques, including recent advances in anomaly detection and failure prediction. It also discusses data integration, computational methods, and ethical, technological, and regulatory challenges in deploying HDTs for precision healthcare.
In classical AI, perception relies on learning state-based representations, while planning, which can be thought of as temporal reasoning over action sequences, is typically achieved through search. We study whether such reasoning can instead emerge from representations that capture both perceptual and temporal structure. We show that standard temporal contrastive learning, despite its popularity, often fails to capture temporal structure due to its reliance on spurious features. To address this, we introduce Combinatorial Representations for Temporal Reasoning (CRTR), a method that uses a negative sampling scheme to provably remove these spurious features and facilitate temporal reasoning. CRTR achieves strong results on domains with complex temporal structure, such as Sokoban and Rubik's Cube. In particular, for the Rubik's Cube, CRTR learns representations that generalize across all initial states and allow it to solve the puzzle using fewer search steps than BestFS, though with longer solutions. To our knowledge, this is the first method that efficiently solves arbitrary Cube states using only learned representations, without relying on an external search algorithm.
Robotic manipulation, a key frontier in robotics and embodied AI, requires precise motor control and multimodal understanding, yet traditional rule-based methods fail to scale or generalize in unstructured, novel environments. In recent years, Vision-Language-Action (VLA) models, built upon Large Vision-Language Models (VLMs) pretrained on vast image-text datasets, have emerged as a transformative paradigm. This survey provides the first systematic, taxonomy-oriented review of large VLM-based VLA models for robotic manipulation. We begin by clearly defining large VLM-based VLA models and delineating two principal architectural paradigms: (1) monolithic models, encompassing single-system and dual-system designs with differing levels of integration; and (2) hierarchical models, which explicitly decouple planning from execution via interpretable intermediate representations. Building on this foundation, we present an in-depth examination of large VLM-based VLA models: (1) integration with advanced domains, including reinforcement learning, training-free optimization, learning from human videos, and world model integration; (2) synthesis of distinctive characteristics, consolidating architectural traits, operational strengths, and the datasets and benchmarks that support their development; (3) identification of promising directions, including memory mechanisms, 4D perception, efficient adaptation, multi-agent cooperation, and other emerging capabilities. This survey consolidates recent advances to resolve inconsistencies in existing taxonomies, mitigate research fragmentation, and fill a critical gap through the systematic integration of studies at the intersection of large VLMs and robotic manipulation. We provide a regularly updated project page to document ongoing progress: https://github.com/JiuTian-VL/Large-VLM-based-VLA-for-Robotic-Manipulation.
Modern causal language models, followed by rapid developments in discrete diffusion models, can now produce a wide variety of interesting and useful content. However, these families of models are predominantly trained to output tokens with a fixed (left-to-right) or random order, which may deviate from the logical order in which tokens are generated originally. In this paper, we observe that current causal and diffusion models encounter difficulties in problems that require adaptive token generation orders to solve tractably, which we characterize with the $\mathcal{V}$-information framework. Motivated by this, we propose Reinforced Context Order Recovery (ReCOR), a reinforcement-learning-based framework to extract adaptive, data-dependent token generation orders from text data without annotations. Self-supervised by token prediction statistics, ReCOR estimates the hardness of predicting every unfilled token and adaptively selects the next token during both training and inference. Experiments on challenging reasoning and planning datasets demonstrate the superior performance of ReCOR compared with baselines, sometimes outperforming oracle models supervised with the ground-truth order.
Demand forecasting is essential for strategic planning in competitive environments, enabling resource optimization and improved responsiveness to market dynamics. However, multivariate time series modeling faces challenges due to data complexity, uncertainty, and frequent regime shifts. Traditional evaluation metrics can introduce biases and limit generalization. This work compares two custom evaluation functions: FMAE (Focused Mean Absolute Error), focused on minimizing absolute errors, and HEF (Hierarchical Evaluation Function), designed to weight global metrics and penalize large deviations. Experiments were conducted under different data splits (91:9, 80:20, 70:30) using three optimizers (Grid Search, PSO, Optuna), assessing fit, relative accuracy, robustness, and computational efficiency. Results show that HEF consistently outperforms FMAE in global metrics (R2, Relative Accuracy, RMSE, RMSSE), enhancing model robustness and explanatory power. These findings were confirmed via visualizations and statistical tests. Conversely, FMAE offers advantages in local metrics (MAE, MASE) and execution time, making it suitable for short-term scenarios. The study highlights a methodological trade-off: HEF is ideal for strategic planning, while FMAE is better suited for operational efficiency. A replicable framework is proposed for optimizing predictive models in dynamic environments.
This paper introduces the BOW Planner, a scalable motion planning algorithm designed to navigate robots through complex environments using constrained Bayesian optimization (CBO). Unlike traditional methods, which often struggle with kinodynamic constraints such as velocity and acceleration limits, the BOW Planner excels by concentrating on a planning window of reachable velocities and employing CBO to sample control inputs efficiently. This approach enables the planner to manage high-dimensional objective functions and stringent safety constraints with minimal sampling, ensuring rapid and secure trajectory generation. Theoretical analysis confirms the algorithm's asymptotic convergence to near-optimal solutions, while extensive evaluations in cluttered and constrained settings reveal substantial improvements in computation times, trajectory lengths, and solution times compared to existing techniques. Successfully deployed across various real-world robotic systems, the BOW Planner demonstrates its practical significance through exceptional sample efficiency, safety-aware optimization, and rapid planning capabilities, making it a valuable tool for advancing robotic applications. The BOW Planner is released as an open-source package and videos of real-world and simulated experiments are available at https://bow-web.github.io.
Cardiovascular diseases (CVDs) remain the foremost cause of mortality worldwide, a burden worsened by a severe deficit of healthcare workers. Artificial intelligence (AI) agents have shown potential to alleviate this gap via automated early detection and proactive screening, yet their clinical application remains limited by: 1) prompt-based clinical role assignment that relies on intrinsic model capabilities without domain-specific tool support; or 2) rigid sequential workflows, whereas clinical care often requires adaptive reasoning that orders specific tests and, based on their results, guides personalised next steps; 3) general and static knowledge bases without continuous learning capability; and 4) fixed unimodal or bimodal inputs and lack of on-demand visual outputs when further clarification is needed. In response, a multimodal framework, CardAIc-Agents, was proposed to augment models with external tools and adaptively support diverse cardiac tasks. Specifically, a CardiacRAG agent generated general plans from updatable cardiac knowledge, while the chief agent integrated tools to autonomously execute these plans and deliver decisions. To enable adaptive and case-specific customization, a stepwise update strategy was proposed to dynamically refine plans based on preceding execution results, once the task was assessed as complex. In addition, a multidisciplinary discussion tool was introduced to interpret challenging cases, thereby supporting further adaptation. When clinicians raised concerns, visual review panels were provided to assist final validation. Experiments across three datasets showed the efficiency of CardAIc-Agents compared to mainstream Vision-Language Models (VLMs), state-of-the-art agentic systems, and fine-tuned VLMs.
Coordinating the motion of multiple agents in constrained environments is a fundamental challenge in robotics, motion planning, and scheduling. A motivating example involves $n$ robotic arms, each represented as a line segment. The objective is to rotate each arm to its vertical orientation, one at a time (clockwise or counterclockwise), without collisions nor rotating any arm more than once. This scenario is an example of the more general $k$-Compatible Ordering problem, where $n$ agents, each capable of $k$ state-changing actions, must transition to specific target states under constraints encoded as a set $\mathcal{G}$ of $k$ pairs of directed graphs. We show that $k$-Compatible Ordering is $\mathsf{NP}$-complete, even when $\mathcal{G}$ is planar, degenerate, or acyclic. On the positive side, we provide polynomial-time algorithms for cases such as when $k = 1$ or $\mathcal{G}$ has bounded treewidth. We also introduce generalized variants supporting multiple state-changing actions per agent, broadening the applicability of our framework. These results extend to a wide range of scheduling, reconfiguration, and motion planning applications in constrained environments.
Recent advances in masked diffusion models (MDMs) have established them as powerful non-autoregressive alternatives for sequence generation. Nevertheless, our preliminary experiments reveal that the generation quality of MDMs is still highly sensitive to the choice of decoding strategy. In particular, widely adopted uncertainty-based samplers suffer from two key limitations: a lack of global trajectory control and a pronounced bias toward trivial tokens in the early stages of decoding. These shortcomings restrict the full potential of MDMs. In this work, we introduce Position-Aware Confidence-Calibrated Sampling (PC-Sampler), a novel decoding strategy that unifies global trajectory planning with content-aware informativeness maximization. PC-Sampler incorporates a position-aware weighting mechanism to regulate the decoding path and a calibrated confidence score to suppress the premature selection of trivial tokens. Extensive experiments on three advanced MDMs across seven challenging benchmarks-including logical reasoning and planning tasks-demonstrate that PC-Sampler consistently outperforms existing MDM decoding strategies by more than 10% on average, significantly narrowing the performance gap with state-of-the-art autoregressive models. All codes are available at https://github.com/NEUIR/PC-Sampler.
Urban greenery is often linked to better health, yet findings from past research have been inconsistent. One reason is that official greenery metrics measure the amount or nearness of greenery but ignore how often people actually may potentially see or use it in daily life. To address this gap, we introduced a new classification that separates on-road greenery, which people see while walking through streets, from off-road greenery, which requires planned visits. We did so by combining aerial imagery of Greater London and greenery data from OpenStreetMap with quantified greenery from over 100,000 Google Street View images and accessibility estimates based on 160,000 road segments. We linked these measures to 7.45 billion medical prescriptions issued by the National Health Service and processed through our methodology. These prescriptions cover five conditions: diabetes, hypertension, asthma, depression, and anxiety, as well as opioid use. As hypothesized, we found that green on-road was more strongly linked to better health than four widely used official measures. For example, hypertension prescriptions dropped by 3.68% in wards with on-road greenery above the median citywide level compared to those below it. If all below-median wards reached the citywide median in on-road greenery, prescription costs could fall by up to {\pounds}3.15 million each year. These results suggest that greenery seen in daily life may be more relevant than public yet secluded greenery, and that official metrics commonly used in the literature have important limitations.
Daily tasks require us to use our whole body to manipulate objects, for instance when our hands are unavailable. We consider the issue of providing humanoid robots with the ability to autonomously perform similar whole-body manipulation tasks. In this context, the infinite possibilities for where and how contact can occur on the robot and object surfaces hinder the scalability of existing planning methods, which predominantly rely on discrete sampling. Given the continuous nature of contact surfaces, gradient-based optimization offers a more suitable approach for finding solutions. However, a key remaining challenge is the lack of an efficient representation of robot surfaces. In this work, we propose (i) a representation of robot and object surfaces that enables closed-form computation of proximity points, and (ii) a cost design that effectively guides whole-body manipulation planning. Our experiments demonstrate that the proposed framework can solve problems unaddressed by existing methods, and achieves a 77% improvement in planning time over the state of the art. We also validate the suitability of our approach on real hardware through the whole-body manipulation of boxes by a humanoid robot.