-- Accurate multi - horizon retail forecasts are critical for inventory and promotions. We present a novel study of weekly Walmart sales (45 stores, 2010 - 2012) using a Temporal Fusion Transformer (TFT) that fuses static store identifiers with time - varying exoge nous signals (holidays, CPI, fuel price, temperature). The pipeline produces 1 - 5 - week - ahead probabilistic forecasts via QuantileLoss, yielding calibrated 90% prediction intervals and interpretability through variable - selection networks, static enr ichment, and temporal attention. On a fixed 2012 hold - out dataset, TFT achieves an RMSE of $ 57.9k USD per store - week and an R of 0.9875. Across 5 - fold chronological cross - validation, the averages are RMSE = $ 64.6k USD and R = 0.9844, outperforming XGB, CNN, LSTM, and CNN - LSTM baseline models .

Accurate prediction of the remaining useful life (RUL) of industrial machinery is essential for reducing downtime and optimizing maintenance schedules. Existing approaches, such as long short-term memory (LSTM) networks and convolutional neural networks (CNNs), often struggle to model both global temporal dependencies and fine-grained degradation trends in multivariate sensor data. We propose a hybrid model, FTT-GRU, which combines a Fast Temporal Transformer (FTT) -- a lightweight Transformer variant using linearized attention via fast Fourier transform (FFT) -- with a gated recurrent unit (GRU) layer for sequential modeling. To the best of our knowledge, this is the first application of an FTT with a GRU for RUL prediction on NASA CMAPSS, enabling simultaneous capture of global and local degradation patterns in a compact architecture. On CMAPSS FD001, FTT-GRU attains RMSE 30.76, MAE 18.97, and $R^2=0.45$, with 1.12 ms CPU latency at batch=1. Relative to the best published deep baseline (TCN--Attention), it improves RMSE by 1.16\% and MAE by 4.00\%. Training curves averaged over $k=3$ runs show smooth convergence with narrow 95\% confidence bands, and ablations (GRU-only, FTT-only) support the contribution of both components. These results demonstrate that a compact Transformer-RNN hybrid delivers accurate and efficient RUL predictions on CMAPSS, making it suitable for real-time industrial prognostics.

Abstract--Legged robots can sense terrain through force interactions during locomotion, offering more reliable traversability estimates than remote sensing and serving as scouts for guiding wheeled rovers in challenging environments. However, even legged scouts face challenges when traversing highly deformable or unstable terrain. We present Safe Active Exploration for Granular T errain (SAEGT), a navigation framework that enables legged robots to safely explore unknown granular environments using proprioceptive sensing, particularly where visual input fails to capture terrain deformability. SAEGT estimates the safe region and frontier region online from leg-terrain interactions using Gaussian Process regression for traversability assessment, with a reactive controller for real-time safe exploration and navigation. SAEGT demonstrated its ability to safely explore and navigate toward a specified goal using only proprioceptively estimated traversability in simulation.

ABSTRACT Legged rovers provide enhanced mobility compared to wheeled platforms, enabling navigation on steep and irregular planetary terrains. However, traditional legged locomotion might be energetically inefficient and potentially dangerous to the rover on loose and inclined surfaces, such as crater walls and cave slopes. This paper introduces a preliminary study that compares the Cost of Transport (CoT) of walking and torso-based sliding locomotion for quadruped robots across different slopes, friction conditions and speed levels. By identifying intersections between walking and sliding CoT curves, we aim to define threshold conditions that may trigger transitions between the two strategies. The methodology combines physics-based simulations in Isaac Sim with particle interaction validation in ANSYS-Rocky. Our results represent an initial step towards adaptive locomotion strategies for planetary legged rovers.

Robotic models are useful for independently varying specific features, but most quadrupedal robots differ so greatly from animal morphologies that they have minimal biomechanical relevance. Commercially available quadrupedal robots are also prohibitively expensive for biological research programs and difficult to customize. Here, we present a low-cost quadrupedal robot with modular legs that can match a wide range of animal morphologies for biomechanical hypothesis testing. The Robot Of Theseus (TROT) costs approximately $4000 to build out of 3D printed parts and standard off-the-shelf supplies. Each limb consists of 2 or 3 rigid links; the proximal joint can be rotated to become a knee or elbow. Telescoping mechanisms vary the length of each limb link. The open-source software accommodates user-defined gaits and morphology changes. Effective leg length, or crouch, is determined by the four-bar linkage actuating each joint. The backdrivable motors can vary virtual spring stiffness and range of motion. Full descriptions of the TROT hardware and software are freely available online. We demonstrate the use of TROT to compare locomotion among extant, extinct, and theoretical morphologies. In addition to biomechanical hypothesis testing, we envision a variety of different applications for this low-cost, modular, legged robotic platform, including developing novel control strategies, clearing land mines, or remote exploration. All CAD and code is available for download on the TROT project page.

Retrieval-augmented generation (RAG) methods encounter difficulties when addressing complex questions like multi-hop queries. While iterative retrieval methods improve performance by gathering additional information, current approaches often rely on multiple calls of large language models (LLMs). In this paper, we introduce EfficientRAG, an efficient retriever for multi-hop question answering. EfficientRAG iteratively generates new queries without the need for LLM calls at each iteration and filters out irrelevant information. Experimental results demonstrate that EfficientRAG surpasses existing RAG methods on three open-domain multi-hop question-answering datasets.

The early and accurate diagnosis of sepsis is critical for enhancing patient outcomes. This study aims to use heart rate variability (HRV) features to develop an effective predictive model for sepsis detection. Critical HRV features are identified through feature engineering methods, including statistical bootstrapping and the Boruta algorithm, after which XGBoost and Random Forest classifiers are trained with differential hyperparameter settings. In addition, ensemble models are constructed to pool the prediction probabilities of high-recall and high-precision classifiers and improve model performance. Finally, a neural network model is trained on the HRV features, achieving an F1 score of 0.805, a precision of 0.851, and a recall of 0.763. The best-performing machine learning model is compared to this neural network through an interpretability analysis, where Local Interpretable Model-agnostic Explanations are implemented to determine decision-making criterion based on numerical ranges and thresholds for specific features. This study not only highlights the efficacy of HRV in automated sepsis diagnosis but also increases the transparency of black box outputs, maximizing clinical applicability.

In this research, an effort is made to address microgrid systems' operational challenges, characterized by power oscillations that eventually contribute to grid instability. An integrated strategy is proposed, leveraging the strengths of convolutional and Gated Recurrent Unit (GRU) layers. This approach is aimed at effectively extracting temporal data from energy datasets to improve the precision of microgrid behavior forecasts. Additionally, an attention layer is employed to underscore significant features within the time-series data, optimizing the forecasting process. The framework is anchored by a Multi-Layer Perceptron (MLP) model, which is tasked with comprehensive load forecasting and the identification of abnormal grid behaviors. Our methodology underwent rigorous evaluation using the Micro-grid Tariff Assessment Tool dataset, with Root Mean Square Error (RMSE), Mean Absolute Error (MAE), and the coefficient of determination (r2-score) serving as the primary metrics. The approach demonstrated exemplary performance, evidenced by a MAE of 0.39, RMSE of 0.28, and an r2-score of 98.89\% in load forecasting, along with near-perfect zero state prediction accuracy (approximately 99.9\%). Significantly outperforming conventional machine learning models such as support vector regression and random forest regression, our model's streamlined architecture is particularly suitable for real-time applications, thereby facilitating more effective and reliable microgrid management.

There are multiple applications to automatically count people and specify their gender at work, exhibitions, malls, sales, and industrial usage. Although current speech detection methods are supposed to operate well, in most situations, in addition to genders, the number of current speakers is unknown and the classification methods are not suitable due to many possible classes. In this study, we focus on a long-short-term memory convolutional neural network (LSTM-CNN) to extract time and / or frequency-dependent features of the sound data to estimate the number / gender of simultaneous active speakers at each frame in noisy environments. Considering the maximum number of speakers as 10, we have utilized 19000 audio samples with diverse combinations of males, females, and background noise in public cities, industrial situations, malls, exhibitions, workplaces, and nature for learning purposes. This proof of concept shows promising performance with training/validation MSE values of about 0.019/0.017 in detecting count and gender.

Over the years, space scientists have collected terabytes of Mars data from satellites and rovers. One important set of features identified in Mars orbital images is pitted cones, which are interpreted to be mud volcanoes believed to form in regions that were once saturated in water (i.e., a lake or ocean). Identifying pitted cones globally on Mars would be of great importance, but expert geologists are unable to sort through the massive orbital image archives to identify all examples. However, this task is well suited for computer vision. Although several computer vision datasets exist for various Mars-related tasks, there is currently no open-source dataset available for cone detection/segmentation. Furthermore, previous studies trained models using data from a single region, which limits their applicability for global detection and mapping. Motivated by this, we introduce ConeQuest, the first expert-annotated public dataset to identify cones on Mars. ConeQuest consists of >13k samples from 3 different regions of Mars. We propose two benchmark tasks using ConeQuest: (i) Spatial Generalization and (ii) Cone-size Generalization. We finetune and evaluate widely-used segmentation models on both benchmark tasks. Results indicate that cone segmentation is a challenging open problem not solved by existing segmentation models, which achieve an average IoU of 52.52% and 42.55% on in-distribution data for tasks (i) and (ii), respectively. We believe this new benchmark dataset will facilitate the development of more accurate and robust models for cone segmentation. Data and code are available at https://github.com/kerner-lab/ConeQuest.