-- This paper introduces the Compliant Explicit Reference Governor (C-ERG), an extension of the Explicit Reference Governor that allows the robot to operate safely while in contact with the environment. The C-ERG is an intermediate layer that can be placed between a high-level planner and a low-level controller: its role is to enforce operational constraints and to enable the smooth transition between free-motion and contact operations. The C-ERG ensures safety by limiting the total energy available to the robotic arm at the time of contact. In the absence of contact, however, the C-ERG does not penalize the system performance. The emerging trend in the modern industry is to prioritize flexibility [1]. Until recently, robotics has been dominated by sampling-based motion planning which places an emphasis on "collision-free" paths to avoid harming itself or anything in its path [2].

Wenjie LI 1, 2, Sibo Zhu 1, 2, Zhijian Li 1, 2, and Hanlin Wang 1, 2 Abstract -- This paper introduces a novel oversampling technique designed to improve classification performance on imbalanced datasets. The proposed method enhances the traditional SMOTE algorithm by incorporating convex combination and kernel-based weighting to generate synthetic samples that better represent the minority class. Through experiments on multiple real-world datasets, we demonstrate that the new technique outperforms existing methods in terms of F1-score, G-mean, and AUC, providing a robust solution for handling imbalanced datasets in classification tasks. I NTRODUCTION Imbalanced datasets are a pervasive issue in the domain of classification, where the distribution of classes is skewed, with one class (often referred to as the minority class) being significantly underrepresented compared to the other (the majority class). The imbalance issue is especially problematic in classification tasks, as traditional machine learning algorithms are generally designed to maximize overall accuracy, leading them to favor the majority class. Consequently, it results in a bias where the model performs well on the majority class but poorly on the minority class, which is often the class of greater interest [1].

Recently, the reasoning capabilities of large reasoning models (LRMs), such as DeepSeek-R1, have seen significant advancements through the slow thinking process. Despite these achievements, the substantial computational demands of LRMs present considerable challenges. In contrast, small reasoning models (SRMs), often distilled from larger ones, offer greater efficiency and can exhibit distinct capabilities and cognitive trajectories compared to LRMs. This work surveys around 170 recently published papers on SRMs for tackling various complex reasoning tasks. We review the current landscape of SRMs and analyze diverse training and inference techniques related to SRMs. Furthermore, we provide a comprehensive review of SRMs for domain-specific applications and discuss possible future research directions. This survey serves as an essential reference for researchers to leverage or develop SRMs for advanced reasoning functionalities with high efficiency.

The increasing size and complexity of machine learning (ML) models have driven the growing need for custom hardware accelerators capable of efficiently supporting ML workloads. However, the design of such accelerators remains a time-consuming process, heavily relying on engineers to manually ensure design interpretability through clear documentation and effective communication. Recent advances in large language models (LLMs) offer a promising opportunity to automate these design interpretability tasks, particularly the generation of natural language descriptions for register-transfer level (RTL) code, what we refer to as "RTL-to-NL tasks." In this paper, we examine how design interpretability, particularly in RTL-to-NL tasks, influences the efficiency of the hardware design process. We review existing work adapting LLMs for these tasks, highlight key challenges that remain unaddressed, including those related to data, computation, and model development, and identify opportunities to address them. By doing so, we aim to guide future research in leveraging ML to automate RTL-to-NL tasks and improve hardware design interpretability, thereby accelerating the hardware design process and meeting the increasing demand for custom hardware accelerators in machine learning and beyond.

The scientific discourse surrounding Chronic Lyme Disease (CLD) and Post-Treatment Lyme Disease Syndrome (PTLDS) has evolved over the past twenty-five years into a complex and polarised debate, shaped by shifting research priorities, institutional influences, and competing explanatory models. This study presents the first large-scale, systematic examination of this discourse using an innovative hybrid AI-driven methodology, combining large language models with structured human validation to analyse thousands of scholarly abstracts spanning 25 years. By integrating Large Language Models (LLMs) with expert oversight, we developed a quantitative framework for tracking epistemic shifts in contested medical fields, with applications to other content analysis domains. Our analysis revealed a progressive transition from infection-based models of Lyme disease to immune-mediated explanations for persistent symptoms. This study offers new empirical insights into the structural and epistemic forces shaping Lyme disease research, providing a scalable and replicable methodology for analysing discourse, while underscoring the value of AI-assisted methodologies in social science and medical research.

The exponential growth of academic literature creates urgent demands for comprehensive survey papers, yet manual writing remains time-consuming and labor-intensive. Recent advances in large language models (LLMs) and retrieval-augmented generation (RAG) facilitate studies in synthesizing survey papers from multiple references, but most existing works restrict users to title-only inputs and fixed outputs, neglecting the personalized process of survey paper writing. In this paper, we introduce InteractiveSurvey - an LLM-based personalized and interactive survey paper generation system. InteractiveSurvey can generate structured, multi-modal survey papers with reference categorizations from multiple reference papers through both online retrieval and user uploads. More importantly, users can customize and refine intermediate components continuously during generation, including reference categorization, outline, and survey content through an intuitive interface. Evaluations of content quality, time efficiency, and user studies show that InteractiveSurvey is an easy-to-use survey generation system that outperforms most LLMs and existing methods in output content quality while remaining highly time-efficient.

The rise of deep learning in natural language processing has fostered the creation of text to structured query language models composed of an encoder and a decoder. Researchers have experimented with various intermediate processing like schema linking, table type aware, value extract. To generate accurate SQL results for the user question. However error analysis performed on the failed cases on these systems shows, 29 percentage of the errors would be because the system was unable to understand the values expressed by the user in their question. This challenge affects the generation of accurate SQL queries, especially when dealing with domain-specific terms and specific value conditions, where traditional methods struggle to maintain consistency and precision. To overcome these obstacles, proposed two intermediations like implementing data balancing technique and over sampling domain-specific queries which would refine the model architecture to enhance value recognition and fine tuning the model for domain-specific questions. This proposed solution achieved 10.98 percentage improvement in accuracy of the model performance compared to the state of the art model tested on WikiSQL dataset. to convert the user question accurately to SQL queries. Applying oversampling technique on the domain-specific questions shown a significant improvement as compared with traditional approaches.

Multimodal Retrieval-Augmented Generation (MRAG) enhances large language models (LLMs) by integrating multimodal data (text, images, videos) into retrieval and generation processes, overcoming the limitations of text-only Retrieval-Augmented Generation (RAG). While RAG improves response accuracy by incorporating external textual knowledge, MRAG extends this framework to include multimodal retrieval and generation, leveraging contextual information from diverse data types. This approach reduces hallucinations and enhances question-answering systems by grounding responses in factual, multimodal knowledge. Recent studies show MRAG outperforms traditional RAG, especially in scenarios requiring both visual and textual understanding. This survey reviews MRAG's essential components, datasets, evaluation methods, and limitations, providing insights into its construction and improvement. It also identifies challenges and future research directions, highlighting MRAG's potential to revolutionize multimodal information retrieval and generation. By offering a comprehensive perspective, this work encourages further exploration into this promising paradigm.

ExpertRAG is a novel theoretical framework that integrates Mixture-of-Experts (MoE) architectures with Retrieval Augmented Generation (RAG) to advance the efficiency and accuracy of knowledge-intensive language modeling. We propose a dynamic retrieval gating mechanism coupled with expert routing, enabling the model to selectively consult an external knowledge store or rely on specialized internal experts based on the query's needs. The paper lays out the theoretical foundations of ExpertRAG, including a probabilistic formulation that treats retrieval and expert selection as latent decisions, and mathematical justifications for its efficiency in both computation and knowledge utilization. We derive formulae to quantify the expected computational cost savings from selective retrieval and the capacity gains from sparse expert utilization. A comparative analysis positions ExpertRAG against standard RAG (with always-on retrieval) and pure MoE models (e.g., Switch Transformer, Mixtral) to highlight its unique balance between parametric knowledge and non-parametric retrieval. We also outline an experimental validation strategy, proposing benchmarks and evaluation protocols to test ExpertRAG's performance on factual recall, generalization, and inference efficiency. The proposed framework, although presented theoretically, is supported by insights from prior work in RAG and MoE, and is poised to provide more factual, efficient, and adaptive generation by leveraging the best of both paradigms. In summary, ExpertRAG contributes a new perspective on scaling and augmenting language models, backed by a thorough analysis and a roadmap for empirical validation.

Sequential recommendation is an extensively explored approach to capturing users' evolving preferences based on past interactions, aimed at predicting their next likely choice. Despite significant advancements in this domain, including methods based on RNNs and self-attention, challenges like limited supervised signals and noisy data caused by unintentional clicks persist. To address these challenges, some studies have incorporated unsupervised learning by leveraging local item contexts within individual sequences. However, these methods often overlook the intricate associations between items across multiple sequences and are susceptible to noise in item co-occurrence patterns. In this context, we introduce a novel framework, Global Unsupervised Data-Augmentation (UDA4SR), which adopts a graph contrastive learning perspective to generate more robust item embeddings for sequential recommendation. Our approach begins by integrating Generative Adversarial Networks (GANs) for data augmentation, which serves as the first step to enhance the diversity and richness of the training data. Then, we build a Global Item Relationship Graph (GIG) based on all user interaction sequences. Subsequently, we employ graph contrastive learning on the refined graph to enhance item embeddings by capturing complex global associations. To model users' dynamic and diverse interests more effectively, we enhance the CapsNet module with a novel target-attention mechanism. Extensive experiments show that UDA4SR significantly outperforms state-of-the-art approaches.