Automating leaf manipulation in agricultural settings faces significant challenges, including the variability of plant morphologies and deformable leaves. We propose a novel hybrid geometric-neural approach for autonomous leaf grasping that combines traditional computer vision with neural networks through self-supervised learning. Our method integrates YOLOv8 for instance segmentation and RAFT-Stereo for 3D depth estimation to build rich leaf representations, which feed into both a geometric feature scoring pipeline and a neural refinement module (GraspPointCNN). The key innovation is our confidence-weighted fusion mechanism that dynamically balances the contribution of each approach based on prediction certainty. Our self-supervised framework uses the geometric pipeline as an expert teacher to automatically generate training data. Experiments demonstrate that our approach achieves an 88.0% success rate in controlled environments and 84.7% in real greenhouse conditions, significantly outperforming both purely geometric (75.3%) and neural (60.2%) methods. This work establishes a new paradigm for agricultural robotics where domain expertise is seamlessly integrated with machine learning capabilities, providing a foundation for fully automated crop monitoring systems.

While transformer-based models achieve strong performance on text classification, we explore whether masking input tokens can further enhance their effectiveness. We propose token masking regularization, a simple yet theoretically motivated method that randomly replaces input tokens with a special [MASK] token at probability p. This introduces stochastic perturbations during training, leading to implicit gradient averaging that encourages the model to capture deeper inter-token dependencies. Experiments on language identification and sentiment analysis -- across diverse models (mBERT, Qwen2.5-0.5B, TinyLlama-1.1B) -- show consistent improvements over standard regularization techniques. We identify task-specific optimal masking rates, with p = 0.1 as a strong general default. We attribute the gains to two key effects: (1) input perturbation reduces overfitting, and (2) gradient-level smoothing acts as implicit ensembling.

In critical applications, including search-and-rescue in degraded environments, blockages can be prevalent and prevent the effective deployment of certain sensing modalities, particularly vision, due to occlusion and the constrained range of view of onboard camera sensors. To enable robots to tackle these challenges, we propose a new approach, Proprioceptive Obstacle Detection and Estimation while navigating in clutter PROBE, which instead relies only on the robot's proprioception to infer the presence or absence of occluded rectangular obstacles while predicting their dimensions and poses in SE(2). The proposed approach is a Transformer neural network that receives as input a history of applied torques and sensed whole-body movements of the robot and returns a parameterized representation of the obstacles in the environment. The effectiveness of PROBE is evaluated on simulated environments in Isaac Gym and with a real Unitree Go1 quadruped robot.

Advanced healthcare predictions offer significant improvements in patient outcomes by leveraging predictive analytics. Existing works primarily utilize various views of Electronic Health Record (EHR) data, such as diagnoses, lab tests, or clinical notes, for model training. These methods typically assume the availability of complete EHR views and that the designed model could fully leverage the potential of each view. However, in practice, random missing views and view laziness present two significant challenges that hinder further improvements in multi-view utilization. To address these challenges, we introduce Diffmv, an innovative diffusion-based generative framework designed to advance the exploitation of multiple views of EHR data. Specifically, to address random missing views, we integrate various views of EHR data into a unified diffusion-denoising framework, enriched with diverse contextual conditions to facilitate progressive alignment and view transformation. To mitigate view laziness, we propose a novel reweighting strategy that assesses the relative advantages of each view, promoting a balanced utilization of various data views within the model. Our proposed strategy achieves superior performance across multiple health prediction tasks derived from three popular datasets, including multi-view and multi-modality scenarios.

Port berthing sites are regions of high interest for monitoring and optimizing port operations. Data sourced from the Automatic Identification System (AIS) can be superimposed on berths enabling their real-time monitoring and revealing long-term utilization patterns. Ultimately, insights from multiple berths can uncover bottlenecks, and lead to the optimization of the underlying supply chain of the port and beyond. However, publicly available documentation of port berths, even when available, is frequently incomplete - e.g. there may be missing berths or inaccuracies such as incorrect boundary boxes - necessitating a more robust, data-driven approach to port berth localization. In this context, we propose an unsupervised spatial modeling method that leverages AIS data clustering and hyperparameter optimization to identify berthing sites. Trained on one month of freely available AIS data and evaluated across ports of varying sizes, our models significantly outperform competing methods, achieving a mean Bhattacharyya distance of 0.85 when comparing Gaussian Mixture Models (GMMs) trained on separate data splits, compared to 13.56 for the best existing method. Qualitative comparison with satellite images and existing berth labels further supports the superiority of our method, revealing more precise berth boundaries and improved spatial resolution across diverse port environments.

As modern software systems expand in scale and complexity, the challenges associated with their modeling and formulation grow increasingly intricate. Traditional approaches often fall short in effectively addressing these complexities, particularly in tasks such as design pattern detection for maintenance and assessment, as well as code refactoring for optimization and long-term sustainability. This growing inadequacy underscores the need for a paradigm shift in how such challenges are approached and resolved. This paper presents Analytical Software Engineering (ASE), a novel design paradigm aimed at balancing abstraction, tool accessibility, compatibility, and scalability. ASE enables effective modeling and resolution of complex software engineering problems. The paradigm is evaluated through two frameworks Behavioral-Structural Sequences (BSS) and Optimized Design Refactoring (ODR), both developed in accordance with ASE principles. BSS offers a compact, language-agnostic representation of codebases to facilitate precise design pattern detection. ODR unifies artifact and solution representations to optimize code refactoring via heuristic algorithms while eliminating iterative computational overhead. By providing a structured approach to software design challenges, ASE lays the groundwork for future research in encoding and analyzing complex software metrics.

A key requirement of any generalist robot system deployed in the real-world is the ability to perform tasks across visually diverse environments. High-dimensional inputs like RGB images offer rich information but also introduce complexity due to the curse of dimensionality. Given the enormous diversity of real-world visual data, accounting for every possible variation within a fixed dataset is intractable. Extracting the underlying structural knowledge of the world from visual data while being robust to semantically irrelevant visual perturbations remains an open question. The robot learning field has largely relied on one of several trends, one of which is to train agents in simulation, where visual complexity can be controlled and large-scale synthetic and diverse data can be generated efficiently through GPU-accelerated simulators [1, 2, 3]. However, transferring policies trained in simulation to the real world is hindered by the "Sim2Real" gap caused by mismatches in fidelity and unmodeled dynamics. Domain randomization is the leading strategy to close this gap by varying the simulation parameters such that real-world conditions fall within the distribution of the training data. Domain randomization has proven effective in both simulated benchmarks and real-world robotic tasks when the data diversity is sufficiently large [4, 5, 6]. A seemingly unrelated but conceptually similar approach to visual generalization in the age of foundation models has been to train large Figure 1: Behavior cloning with disentangled representations and associative latent dynamics achieves zero-shot generalization to various real world perturbations, such as changes in ambient lighting ( left), object color ( middle-left), directed lighting ( middle-right), and the presence of dis-tractor objects ( right).

The use of deep learning (DL) on Internet of Things (IoT) and mobile devices offers numerous advantages over cloud-based processing. However, such devices face substantial energy constraints to prolong battery-life, or may even operate intermittently via energy-harvesting. Consequently, \textit{energy-aware} approaches for optimizing DL inference and training on such resource-constrained devices have garnered recent interest. We present an overview of such approaches, outlining their methodologies, implications for energy consumption and system-level efficiency, and their limitations in terms of supported network types, hardware platforms, and application scenarios. We hope our review offers a clear synthesis of the evolving energy-aware DL landscape and serves as a foundation for future research in energy-constrained computing.

Interactive Fiction games (IF games) are where players interact through natural language commands. While recent advances in Artificial Intelligence agents have reignited interest in IF games as a domain for studying decision-making, existing approaches prioritize task-specific performance metrics over human-like comprehension of narrative context and gameplay logic. This work presents a cognitively inspired framework that guides Large Language Models (LLMs) to learn and play IF games systematically. Our proposed **L**earning to **P**lay **L**ike **H**umans (LPLH) framework integrates three key components: (1) structured map building to capture spatial and narrative relationships, (2) action learning to identify context-appropriate commands, and (3) feedback-driven experience analysis to refine decision-making over time. By aligning LLMs-based agents' behavior with narrative intent and commonsense constraints, LPLH moves beyond purely exploratory strategies to deliver more interpretable, human-like performance. Crucially, this approach draws on cognitive science principles to more closely simulate how human players read, interpret, and respond within narrative worlds. As a result, LPLH reframes the IF games challenge as a learning problem for LLMs-based agents, offering a new path toward robust, context-aware gameplay in complex text-based environments.

Instruction data selection aims to identify a high-quality subset from the training set that matches or exceeds the performance of the full dataset on target tasks. Existing methods focus on the instruction-to-response mapping, but neglect the human preference for diverse responses. In this paper, we propose Preference-oriented Data Selection method (ProDS) that scores training samples based on their alignment with preferences observed in the target set. Our key innovation lies in shifting the data selection criteria from merely estimating features for accurate response generation to explicitly aligning training samples with human preferences in target tasks. Specifically, direct preference optimization (DPO) is employed to estimate human preferences across diverse responses. Besides, a bidirectional preference synthesis strategy is designed to score training samples according to both positive preferences and negative preferences. Extensive experimental results demonstrate our superiority to existing task-agnostic and targeted methods.