Low-cost indoor mobile robots have gained popularity with the increasing adoption of automation in homes and commercial spaces. However, existing lidar and camera-based solutions have limitations such as poor performance in visually obscured environments, high computational overhead for data processing, and high costs for lidars. In contrast, mmWave radar sensors offer a cost-effective and lightweight alternative, providing accurate ranging regardless of visibility. However, existing radar-based localization suffers from sparse point cloud generation, noise, and false detections. Thus, in this work, we introduce RaGNNarok, a real-time, lightweight, and generalizable graph neural network (GNN)-based framework to enhance radar point clouds, even in complex and dynamic environments. With an inference time of just 7.3 ms on the low-cost Raspberry Pi 5, RaGNNarok runs efficiently even on such resource-constrained devices, requiring no additional computational resources. We evaluate its performance across key tasks, including localization, SLAM, and autonomous navigation, in three different environments. Our results demonstrate strong reliability and generalizability, making RaGNNarok a robust solution for low-cost indoor mobile robots.

HealthBench consists of 5,000 multi-turn conversations between a model and an individual user or healthcare professional. Responses are evaluated using conversation-specific rubrics created by 262 physicians. Unlike previous multiple-choice or short-answer benchmarks, Health-Bench enables realistic, open-ended evaluation through 48,562 unique rubric criteria spanning several health contexts (e.g., emergencies, transforming clinical data, global health) and behavioral dimensions (e.g., accuracy, instruction following, communication). HealthBench performance over the last two years reflects steady initial progress (compare GPT-3.5 Turbo's 16% to GPT-4o's 32%) and more rapid recent improvements (o3 scores 60%). Smaller models have especially improved: GPT-4.1 nano outperforms GPT-4o and is 25 times cheaper. We additionally release two HealthBench variations: HealthBench Consensus, which includes 34 particularly important dimensions of model behavior validated via physician consensus, and HealthBench Hard, where the current top score is 32%. We hope that HealthBench grounds progress towards model development and applications that benefit human health.

Online reporting platforms have enabled citizens around the world to collectively share their opinions and report in real time on events impacting their local communities. Systematically organizing (e.g., categorizing by attributes) and geotagging large amounts of crowdsourced information is crucial to ensuring that accurate and meaningful insights can be drawn from this data and used by policy makers to bring about positive change. These tasks, however, typically require extensive manual annotation efforts. In this paper we present Uchaguzi-2022, a dataset of 14k categorized and geotagged citizen reports related to the 2022 Kenyan General Election containing mentions of election-related issues such as official misconduct, vote count irregularities, and acts of violence. We use this dataset to investigate whether language models can assist in scalably categorizing and geotagging reports, thus highlighting its potential application in the AI for Social Good space.

Machine translation (MT) is routinely evaluated using various segment-level similarity metrics against one or more reference translations. At the same time, reference translations acquired in the standard way are often criticized for their flaws of various types. For several high-resourced language pairs, MT quality reaches levels comparable to the quality of the reference translation (Freitag et al. 2022; Hassan et al. 2018) and sometimes MT even significantly surpasses humans in a particular evaluation setting (Popel et al. 2020). Given this, one could conclude that state-of-the-art MT has reached the point where reference-based evaluation is no longer reliable and we have to resort to other methods (such as targeted expert evaluation of particular outputs), even if they are costly, subjective and possibly impossible to automate. The narrow goal of the presented work is to allow for an "extension of the expiry date" for reference-based evaluation methods. In a broader perspective, we want to formulate a methodology for creating reference translations which avoid the often-observed deficiencies of "standard" or "professional" reference translations, be it multiple interfering phenomena, inappropriate expressions, ignorance of topic-focus articulation (information structure) or other abundant shortcomings in the translation, indicating their authors' insensitivity to the topic itself, but above all to the source and target language. To this end, we introduce so-called optimal reference translations (ORT), which are intended to represent optimal (ideal or excellent) human translations (should they be the subject of a translation quality evaluation).

Prediction is a classic challenge in spatial statistics and the inclusion of spatial covariates can greatly improve predictive performance when incorporated into a model with latent spatial effects. It is desirable to develop flexible regression models that allow for nonlinearities and interactions in the covariate structure. Machine learning models have been suggested in the spatial context, allowing for spatial dependence in the residuals, but fail to provide reliable uncertainty estimates. In this paper, we investigate a novel combination of a Gaussian process spatial model and a Bayesian Additive Regression Tree (BART) model. The computational burden of the approach is reduced by combining Markov chain Monte Carlo (MCMC) with the Integrated Nested Laplace Approximation (INLA) technique. We study the performance of the method via simulations and use the model to predict anthropometric responses, collected via household cluster samples in Kenya.

Synergetic use of sensors for soil moisture retrieval is attracting considerable interest due to the different advantages of different sensors. Active, passive, and optic data integration could be a comprehensive solution for exploiting the advantages of different sensors aimed at preparing soil moisture maps. Typically, pixel-based methods are used for multi-sensor fusion. Since, different applications need different scales of soil moisture maps, pixel-based approaches are limited for this purpose. Object-based image analysis employing an image object instead of a pixel could help us to meet this need. This paper proposes a segment-based image fusion framework to evaluate the possibility of preparing a multi-scale soil moisture map through integrated Sentinel-1, Sentinel-2, and Soil Moisture Active Passive (SMAP) data. The results confirmed that the proposed methodology was able to improve soil moisture estimation in different scales up to 20% better compared to pixel-based fusion approach.

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The paper deals with the problem of an analysis of complex sentences in Czech on the basis of manually annotated data. The availability of a specialized corpus explicitly describing mutual relationships between segments and clauses in Czech complex sentences, together with the availability of a thoroughly syntactically annotated corpus, the Prague Dependency Treebank, provide a solid background for linguistic investigation. The paper presents quantitative, linguistic and structural observations which provide a number of clues for building an algorithm for analyzing a structure of complex sentences in the future.