--In this work, we describe a multi-object grasping benchmark to evaluate the grasping and manipulation capabilities of robotic systems in both pile and surface scenarios. The benchmark introduces three robot multi-object grasping benchmarking protocols designed to challenge different aspects of robotic manipulation. These protocols are: 1) the Only-Pick-Once protocol, which assesses the robot's ability to efficiently pick multiple objects in a single attempt; 2) the Accurate pick-trnsferring protocol, which evaluates the robot's capacity to selectively grasp and transport a specific number of objects from a cluttered environment; and 3) the Pick-transferring-all protocol, which challenges the robot to clear an entire scene by sequentially grasping and transferring all available objects. These protocols are intended to be adopted by the broader robotics research community, providing a standardized method to assess and compare robotic systems' performance in multi-object grasping tasks. We establish baselines for these protocols using standard planning and perception algorithms on a Barrett hand, Robotiq parallel jar gripper, and the Pisa/IIT Softhand-2, which is a soft underactuated robotic hand. We discuss the results in relation to human performance in similar tasks we well. The authors are from the Robot Perception and Action Lab (RP AL) of Computer Science and Engineering Department, University of South Florida, Tampa, FL 33620, USA. The authors are with the Research Center "E. The author is with is with Rutgers University, New Brunswick, NJ 08901, USA. Related work was finished when Zihe Y e was a Master's student in the RP AL lab at USF. The author is with the Department of Excellence in Robotics & AI, Mechanical Intelligence Institute, Scuola Superiore Sant'Anna, Pisa, Italy.

Cancer cachexia is a common metabolic disorder characterized by severe muscle atrophy which is associated with poor prognosis and quality of life. Monitoring skeletal muscle area (SMA) longitudinally through computed tomography (CT) scans, an imaging modality routinely acquired in cancer care, is an effective way to identify and track this condition. However, existing tools often lack full automation and exhibit inconsistent accuracy, limiting their potential for integration into clinical workflows. To address these challenges, we developed SMAART-AI (Skeletal Muscle Assessment-Automated and Reliable Tool-based on AI), an end-to-end automated pipeline powered by deep learning models (nnU-Net 2D) trained on mid-third lumbar level CT images with 5-fold cross-validation, ensuring generalizability and robustness. SMAART-AI incorporates an uncertainty-based mechanism to flag high-error SMA predictions for expert review, enhancing reliability. We combined the SMA, skeletal muscle index, BMI, and clinical data to train a multi-layer perceptron (MLP) model designed to predict cachexia at the time of cancer diagnosis. Tested on the gastroesophageal cancer dataset, SMAART-AI achieved a Dice score of 97.80% +/- 0.93%, with SMA estimated across all four datasets in this study at a median absolute error of 2.48% compared to manual annotations with SliceOmatic. Uncertainty metrics-variance, entropy, and coefficient of variation-strongly correlated with SMA prediction errors (0.83, 0.76, and 0.73 respectively). The MLP model predicts cachexia with 79% precision, providing clinicians with a reliable tool for early diagnosis and intervention. By combining automation, accuracy, and uncertainty awareness, SMAART-AI bridges the gap between research and clinical application, offering a transformative approach to managing cancer cachexia.

Modern neural network architectures have achieved remarkable accuracies but remain highly dependent on their training data, often lacking interpretability in their learned mappings. While effective on large datasets, they tend to overfit on smaller ones. Probabilistic neural networks, such as those utilizing variational inference, address this limitation by incorporating uncertainty estimation through weight distributions rather than point estimates. However, standard variational inference often relies on a single-density approximation, which can lead to poor posterior estimates and hinder model performance. We propose Boosted Bayesian Neural Networks (BBNN), a novel approach that enhances neural network weight distribution approximations using Boosting Variational Inference (BVI). By iteratively constructing a mixture of densities, BVI expands the approximating family, enabling a more expressive posterior that leads to improved generalization and uncertainty estimation. While this approach increases computational complexity, it significantly enhances accuracy an essential tradeoff, particularly in high-stakes applications such as medical diagnostics, where false negatives can have severe consequences. Our experimental results demonstrate that BBNN achieves ~5% higher accuracy compared to conventional neural networks while providing superior uncertainty quantification. This improvement highlights the effectiveness of leveraging a mixture-based variational family to better approximate the posterior distribution, ultimately advancing probabilistic deep learning.

Designing Verilog modules requires meticulous attention to correctness, efficiency, and adherence to design specifications. However, manually writing Verilog code remains a complex and time-consuming task that demands both expert knowledge and iterative refinement. Leveraging recent advancements in large language models (LLMs) and their structured text generation capabilities, we propose VeriMind, an agentic LLM framework for Verilog code generation that significantly automates and optimizes the synthesis process. Unlike traditional LLM-based code generators, VeriMind employs a structured reasoning approach: given a user-provided prompt describing design requirements, the system first formulates a detailed train of thought before the final Verilog code is generated. This multi-step methodology enhances interpretability, accuracy, and adaptability in hardware design. In addition, we introduce a novel evaluation metric-pass@ARC-which combines the conventional pass@k measure with Average Refinement Cycles (ARC) to capture both success rate and the efficiency of iterative refinement. Experimental results on diverse hardware design tasks demonstrated that our approach achieved up to $8.3\%$ improvement on pass@k metric and $8.1\%$ on pass@ARC metric. These findings underscore the transformative potential of agentic LLMs in automated hardware design, RTL development, and digital system synthesis.

Cancer cachexia is a multifactorial syndrome characterized by progressive muscle wasting, metabolic dysfunction, and systemic inflammation, leading to reduced quality of life and increased mortality. Despite extensive research, no single definitive biomarker exists, as cachexia-related indicators such as serum biomarkers, skeletal muscle measurements, and metabolic abnormalities often overlap with other conditions. Existing composite indices, including the Cancer Cachexia Index (CXI), Modified CXI (mCXI), and Cachexia Score (CASCO), integrate multiple biomarkers but lack standardized thresholds, limiting their clinical utility. This study proposes a multimodal AI-based biomarker for early cancer cachexia detection, leveraging open-source large language models (LLMs) and foundation models trained on medical data. The approach integrates heterogeneous patient data, including demographics, disease status, lab reports, radiological imaging (CT scans), and clinical notes, using a machine learning framework that can handle missing data. Unlike previous AI-based models trained on curated datasets, this method utilizes routinely collected clinical data, enhancing real-world applicability. Additionally, the model incorporates confidence estimation, allowing the identification of cases requiring expert review for precise clinical interpretation. Preliminary findings demonstrate that integrating multiple data modalities improves cachexia prediction accuracy at the time of cancer diagnosis. The AI-based biomarker dynamically adapts to patient-specific factors such as age, race, ethnicity, weight, cancer type, and stage, avoiding the limitations of fixed-threshold biomarkers. This multimodal AI biomarker provides a scalable and clinically viable solution for early cancer cachexia detection, facilitating personalized interventions and potentially improving treatment outcomes and patient survival.

Modern robotic systems, deployed across domains from industrial automation to domestic assistance, face a critical challenge: executing tasks with precision and adaptability in dynamic, unpredictable environments. To address this, we propose STAR (Smart Task Adaptation and Recovery), a novel framework that synergizes Foundation Models (FMs) with dynamically expanding Knowledge Graphs (KGs) to enable resilient task planning and autonomous failure recovery. While FMs offer remarkable generalization and contextual reasoning, their limitations, including computational inefficiency, hallucinations, and output inconsistencies hinder reliable deployment. STAR mitigates these issues by embedding learned knowledge into structured, reusable KGs, which streamline information retrieval, reduce redundant FM computations, and provide precise, scenario-specific insights. The framework leverages FM-driven reasoning to diagnose failures, generate context-aware recovery strategies, and execute corrective actions without human intervention or system restarts. Unlike conventional approaches that rely on rigid protocols, STAR dynamically expands its KG with experiential knowledge, ensuring continuous adaptation to novel scenarios. To evaluate the effectiveness of this approach, we developed a comprehensive dataset that includes various robotic tasks and failure scenarios. Through extensive experimentation, STAR demonstrated an 86% task planning accuracy and 78% recovery success rate, showing significant improvements over baseline methods. The framework's ability to continuously learn from experience while maintaining structured knowledge representation makes it particularly suitable for long-term deployment in real-world applications.

Embeddings serve as condensed vector representations for real-world entities, finding applications in Natural Language Processing (NLP), Computer Vision, and Data Management across diverse downstream tasks. Here, we introduce novel specialized embeddings optimized, and explicitly tailored to encode the intricacies of complex 2-D context in tables, featuring horizontal, vertical hierarchical metadata, and nesting. To accomplish that we define the Bi-dimensional tabular coordinates, separate horizontal, vertical metadata and data contexts by introducing a new visibility matrix, encode units and nesting through the embeddings specifically optimized for mimicking intricacies of such complex structured data. Through evaluation on 5 large-scale structured datasets and 3 popular downstream tasks, we observed that our solution outperforms the state-of-the-art models with the significant MAP delta of up to 0.28. GPT-4 LLM+RAG slightly outperforms us with MRR delta of up to 0.1, while we outperform it with the MAP delta of up to 0.42.

The Lane Keeping Assist (LKA) system has become a standard feature in recent car models. While marketed as providing auto-steering capabilities, the system's operational characteristics and safety performance remain underexplored, primarily due to a lack of real-world testing and comprehensive data. To fill this gap, we extensively tested mainstream LKA systems from leading U.S. automakers in Tampa, Florida. Using an innovative method, we collected a comprehensive dataset that includes full Controller Area Network (CAN) messages with LKA attributes, as well as video, perception, and lateral trajectory data from a high-quality front-facing camera equipped with advanced vision detection and trajectory planning algorithms. Our tests spanned diverse, challenging conditions, including complex road geometry, adverse weather, degraded lane markings, and their combinations. A vision language model (VLM) further annotated the videos to capture weather, lighting, and traffic features. Based on this dataset, we present an empirical overview of LKA's operational features and safety performance. Key findings indicate: (i) LKA is vulnerable to faint markings and low pavement contrast; (ii) it struggles in lane transitions (merges, diverges, intersections), often causing unintended departures or disengagements; (iii) steering torque limitations lead to frequent deviations on sharp turns, posing safety risks; and (iv) LKA systems consistently maintain rigid lane-centering, lacking adaptability on tight curves or near large vehicles such as trucks. We conclude by demonstrating how this dataset can guide both infrastructure planning and self-driving technology. In view of LKA's limitations, we recommend improvements in road geometry and pavement maintenance. Additionally, we illustrate how the dataset supports the development of human-like LKA systems via VLM fine-tuning and Chain of Thought reasoning.

Recent privacy regulations (e.g., GDPR) grant data subjects the `Right to Be Forgotten' (RTBF) and mandate companies to fulfill data erasure requests from data subjects. However, companies encounter great challenges in complying with the RTBF regulations, particularly when asked to erase specific training data from their well-trained predictive models. While researchers have introduced machine unlearning methods aimed at fast data erasure, these approaches often overlook maintaining model performance (e.g., accuracy), which can lead to financial losses and non-compliance with RTBF obligations. This work develops a holistic machine learning-to-unlearning framework, called Ensemble-based iTerative Information Distillation (ETID), to achieve efficient data erasure while preserving the business value of predictive models. ETID incorporates a new ensemble learning method to build an accurate predictive model that can facilitate handling data erasure requests. ETID also introduces an innovative distillation-based unlearning method tailored to the constructed ensemble model to enable efficient and effective data erasure. Extensive experiments demonstrate that ETID outperforms various state-of-the-art methods and can deliver high-quality unlearned models with efficiency. We also highlight ETID's potential as a crucial tool for fostering a legitimate and thriving market for data and predictive services.

Energy-based learning algorithms, such as predictive coding (PC), have garnered significant attention in the machine learning community due to their theoretical properties, such as local operations and biologically plausible mechanisms for error correction. In this work, we rigorously analyze the stability, robustness, and convergence of PC through the lens of dynamical systems theory. We show that, first, PC is Lyapunov stable under mild assumptions on its loss and residual energy functions, which implies intrinsic robustness to small random perturbations due to its well-defined energy-minimizing dynamics. Second, we formally establish that the PC updates approximate quasi-Newton methods by incorporating higher-order curvature information, which makes them more stable and able to converge with fewer iterations compared to models trained via backpropagation (BP). Furthermore, using this dynamical framework, we provide new theoretical bounds on the similarity between PC and other algorithms, i.e., BP and target propagation (TP), by precisely characterizing the role of higher-order derivatives. These bounds, derived through detailed analysis of the Hessian structures, show that PC is significantly closer to quasi-Newton updates than TP, providing a deeper understanding of the stability and efficiency of PC compared to conventional learning methods.