The global household robots market size was valued at 10.3bn ( 7.7bn) in 2023 and is anticipated to hit 24.5bn by 2028, meaning such devices are an increasingly common sight in people's homes. Anyone who has watched a robot vacuum cleaner in action may argue these ideas are a little far-fetched, given that current machines sometimes struggle with the challenges presented by rugs and shoelaces while carrying out their core function. However, scientists from the University of Bath and the University of Calgary in Canada, have set out to prove that cleaners - and similar devices, such as lawnmowers - could be reprogrammed and modified relatively easily. Their study identified 100 functions the robots could possibly perform with simple adjustments. Other proposed tasks suggested by the scientists include a reprogrammed robot that carried the groceries from the car to the kitchen.

Requirements Engineering (RE) is essential for developing complex and regulated software projects. Given the challenges in transforming stakeholder inputs into consistent software designs, Qualitative Data Analysis (QDA) provides a systematic approach to handling free-form data. However, traditional QDA methods are time-consuming and heavily reliant on manual effort. In this paper, we explore the use of Large Language Models (LLMs), including GPT-4, Mistral, and LLaMA-2, to improve QDA tasks in RE. Our study evaluates LLMs' performance in inductive (zero-shot) and deductive (one-shot, few-shot) annotation tasks, revealing that GPT-4 achieves substantial agreement with human analysts in deductive settings, with Cohen's Kappa scores exceeding 0.7, while zero-shot performance remains limited. Detailed, context-rich prompts significantly improve annotation accuracy and consistency, particularly in deductive scenarios, and GPT-4 demonstrates high reliability across repeated runs. These findings highlight the potential of LLMs to support QDA in RE by reducing manual effort while maintaining annotation quality. The structured labels automatically provide traceability of requirements and can be directly utilized as classes in domain models, facilitating systematic software design.

Bug reports contain the information developers need to triage and fix software bugs. However, unclear, incomplete, or ambiguous information may lead to delays and excessive manual effort spent on bug triage and resolution. In this paper, we explore whether Instruction fine-tuned Large Language Models (LLMs) can automatically transform casual, unstructured bug reports into high-quality, structured bug reports adhering to a standard template. We evaluate three open-source instruction-tuned LLMs (\emph{Qwen 2.5, Mistral, and Llama 3.2}) against ChatGPT-4o, measuring performance on established metrics such as CTQRS, ROUGE, METEOR, and SBERT. Our experiments show that fine-tuned Qwen 2.5 achieves a CTQRS score of \textbf{77%}, outperforming both fine-tuned Mistral (\textbf{71%}), Llama 3.2 (\textbf{63%}) and ChatGPT in 3-shot learning (\textbf{75%}). Further analysis reveals that Llama 3.2 shows higher accuracy of detecting missing fields particularly Expected Behavior and Actual Behavior, while Qwen 2.5 demonstrates superior performance in capturing Steps-to-Reproduce, with an F1 score of 76%. Additional testing of the models on other popular projects (e.g., Eclipse, GCC) demonstrates that our approach generalizes well, achieving up to \textbf{70%} CTQRS in unseen projects' bug reports. These findings highlight the potential of instruction fine-tuning in automating structured bug report generation, reducing manual effort for developers and streamlining the software maintenance process.

Objective: Electronic health records (EHR) are widely available to complement administrative data-based disease surveillance and healthcare performance evaluation. Defining conditions from EHR is labour-intensive and requires extensive manual labelling of disease outcomes. This study developed an efficient strategy based on advanced large language models to identify multiple conditions from EHR clinical notes. Methods: We linked a cardiac registry cohort in 2015 with an EHR system in Alberta, Canada. We developed a pipeline that leveraged a generative large language model (LLM) to analyze, understand, and interpret EHR notes by prompts based on specific diagnosis, treatment management, and clinical guidelines. The pipeline was applied to detect acute myocardial infarction (AMI), diabetes, and hypertension. The performance was compared against clinician-validated diagnoses as the reference standard and widely adopted International Classification of Diseases (ICD) codes-based methods. Results: The study cohort accounted for 3,088 patients and 551,095 clinical notes. The prevalence was 55.4%, 27.7%, 65.9% and for AMI, diabetes, and hypertension, respectively. The performance of the LLM-based pipeline for detecting conditions varied: AMI had 88% sensitivity, 63% specificity, and 77% positive predictive value (PPV); diabetes had 91% sensitivity, 86% specificity, and 71% PPV; and hypertension had 94% sensitivity, 32% specificity, and 72% PPV. Compared with ICD codes, the LLM-based method demonstrated improved sensitivity and negative predictive value across all conditions. The monthly percentage trends from the detected cases by LLM and reference standard showed consistent patterns.

Real-time reinforcement learning (RL) introduces several challenges. First, policies are constrained to a fixed number of actions per second due to hardware limitations. Second, the environment may change while the network is still computing an action, leading to observational delay. The first issue can partly be addressed with pipelining, leading to higher throughput and potentially better policies. However, the second issue remains: if each neuron operates in parallel with an execution time of $\tau$, an $N$-layer feed-forward network experiences observation delay of $\tau N$. Reducing the number of layers can decrease this delay, but at the cost of the network's expressivity. In this work, we explore the trade-off between minimizing delay and network's expressivity. We present a theoretically motivated solution that leverages temporal skip connections combined with history-augmented observations. We evaluate several architectures and show that those incorporating temporal skip connections achieve strong performance across various neuron execution times, reinforcement learning algorithms, and environments, including four Mujoco tasks and all MinAtar games. Moreover, we demonstrate parallel neuron computation can accelerate inference by 6-350% on standard hardware. Our investigation into temporal skip connections and parallel computations paves the way for more efficient RL agents in real-time setting.

High-dimensional functional time series (HDFTS) are often characterized by nonlinear trends and high spatial dimensions. Such data poses unique challenges for modeling and forecasting due to the nonlinearity, nonstationarity, and high dimensionality. We propose a novel probabilistic functional neural network (ProFnet) to address these challenges. ProFnet integrates the strengths of feedforward and deep neural networks with probabilistic modeling. The model generates probabilistic forecasts using Monte Carlo sampling and also enables the quantification of uncertainty in predictions. While capturing both temporal and spatial dependencies across multiple regions, ProFnet offers a scalable and unified solution for large datasets. Applications to Japan's mortality rates demonstrate superior performance. This approach enhances predictive accuracy and provides interpretable uncertainty estimates, making it a valuable tool for forecasting complex high-dimensional functional data and HDFTS.

The ability to extract compact, meaningful summaries from large-scale and multimodal data is critical for numerous applications, ranging from video analytics to medical reports. Prior methods in cross-modal summarization have often suffered from high computational overheads and limited interpretability. In this paper, we propose a \textit{Cross-Modal State-Space Graph Reasoning} (\textbf{CSS-GR}) framework that incorporates a state-space model with graph-based message passing, inspired by prior work on efficient state-space models. Unlike existing approaches relying on purely sequential models, our method constructs a graph that captures inter- and intra-modal relationships, allowing more holistic reasoning over both textual and visual streams. We demonstrate that our approach significantly improves summarization quality and interpretability while maintaining computational efficiency, as validated on standard multimodal summarization benchmarks. We also provide a thorough ablation study to highlight the contributions of each component.

This paper presents an autonomous exploration framework. It is designed for indoor ground mobile robots that utilize laser Simultaneous Localization and Mapping (SLAM), ensuring process completeness and precise mapping results. For frontier search, the local-global sampling architecture based on multiple Rapidly Exploring Random Trees (RRTs) is employed. Traversability checks during RRT expansion and global RRT pruning upon map updates eliminate unreachable frontiers, reducing potential collisions and deadlocks. Adaptive sampling density adjustments, informed by obstacle distribution, enhance exploration coverage potential. For frontier point navigation, a stepwise consistent motion strategy is adopted, wherein the robot strictly drives straight on approximately equidistant line segments in the polyline path and rotates in place at segment junctions. This simplified, decoupled motion pattern improves scan-matching stability and mitigates map drift. For process control, the framework serializes frontier point selection and navigation, avoiding oscillation caused by frequent goal changes in conventional parallelized processes. The waypoint retracing mechanism is introduced to generate repeated observations, triggering loop closure detection and backend optimization in graph-based SLAM, thereby improving map consistency and precision. Experiments in both simulation and real-world scenarios validate the effectiveness of the framework. It achieves improved mapping coverage and precision in more challenging environments compared to baseline 2D exploration algorithms. It also shows robustness in supporting resource-constrained robot platforms and maintaining mapping consistency across various LiDAR field-of-view (FoV) configurations.

Artificial intelligence (AI) is increasingly being used for medical imaging tasks. However, there can be biases in the resulting models, particularly when they were trained using imbalanced training datasets. One such example has been the strong race bias effect in cardiac magnetic resonance (CMR) image segmentation models. Although this phenomenon has been reported in a number of publications, little is known about the effectiveness of bias mitigation algorithms in this domain. We aim to investigate the impact of common bias mitigation methods to address bias between Black and White subjects in AI-based CMR segmentation models. Specifically, we use oversampling, importance reweighing and Group DRO as well as combinations of these techniques to mitigate the race bias. Furthermore, motivated by recent findings on the root causes of AI-based CMR segmentation bias, we evaluate the same methods using models trained and evaluated on cropped CMR images. We find that bias can be mitigated using oversampling, significantly improving performance for the underrepresented Black subjects whilst not significantly reducing the majority White subjects' performance. Group DRO also improves performance for Black subjects but not significantly, while reweighing decreases performance for Black subjects. Using a combination of oversampling and Group DRO also improves performance for Black subjects but not significantly. Using cropped images increases performance for both races and reduces the bias, whilst adding oversampling as a bias mitigation technique with cropped images reduces the bias further.

Despite advances in Automatic Speech Recognition (ASR), transcription errors persist and require manual correction. Confidence scores, which indicate the certainty of ASR results, could assist users in identifying and correcting errors. This study evaluates the reliability of confidence scores for error detection through a comprehensive analysis of end-to-end ASR models and a user study with 36 participants. The results show that while confidence scores correlate with transcription accuracy, their error detection performance is limited. Classifiers frequently miss errors or generate many false positives, undermining their practical utility. Confidence-based error detection neither improved correction efficiency nor was perceived as helpful by participants. These findings highlight the limitations of confidence scores and the need for more sophisticated approaches to improve user interaction and explainability of ASR results.