The presence of autonomous systems is growing at a fast pace and it is impacting many aspects of our lives. Designed to learn and act independently, these systems operate and perform decision-making without human intervention. However, they lack the ability to incorporate users' ethical preferences, which are unique for each individual in society and are required to personalize the decision-making processes. This reduces user trust and prevents autonomous systems from behaving according to the moral beliefs of their end-users. When multiple systems interact with differing ethical preferences, they must negotiate to reach an agreement that satisfies the ethical beliefs of all the parties involved and adjust their behavior consequently. To address this challenge, this paper proposes RobEthiChor, an approach that enables autonomous systems to incorporate user ethical preferences and contextual factors into their decision-making through ethics-based negotiation. RobEthiChor features a domain-agnostic reference architecture for designing autonomous systems capable of ethic-based negotiating. The paper also presents RobEthiChor-Ros, an implementation of RobEthiChor within the Robot Operating System (ROS), which can be deployed on robots to provide them with ethics-based negotiation capabilities. To evaluate our approach, we deployed RobEthiChor-Ros on real robots and ran scenarios where a pair of robots negotiate upon resource contention. Experimental results demonstrate the feasibility and effectiveness of the system in realizing ethics-based negotiation. RobEthiChor allowed robots to reach an agreement in more than 73% of the scenarios with an acceptable negotiation time (0.67s on average). Experiments also demonstrate that the negotiation approach implemented in RobEthiChor is scalable.

Scientific knowledge is growing rapidly, making it difficult to track progress and high-level conceptual links across broad disciplines. While tools like citation networks and search engines help retrieve related papers, they lack the abstraction needed to capture the needed to represent the density and structure of activity across subfields. We motivate SCIENCE HIERARCHOGRAPHY, the goal of organizing scientific literature into a high-quality hierarchical structure that spans multiple levels of abstraction -- from broad domains to specific studies. Such a representation can provide insights into which fields are well-explored and which are under-explored. To achieve this goal, we develop a hybrid approach that combines efficient embedding-based clustering with LLM-based prompting, striking a balance between scalability and semantic precision. Compared to LLM-heavy methods like iterative tree construction, our approach achieves superior quality-speed trade-offs. Our hierarchies capture different dimensions of research contributions, reflecting the interdisciplinary and multifaceted nature of modern science. We evaluate its utility by measuring how effectively an LLM-based agent can navigate the hierarchy to locate target papers. Results show that our method improves interpretability and offers an alternative pathway for exploring scientific literature beyond traditional search methods. Code, data and demo are available: https://github.com/JHU-CLSP/science-hierarchography

Site-specific disease management (SSDM) in crops has advanced rapidly through machine and deep learning (ML and DL) for real-time computer vision. Research evolved from handcrafted feature extraction to large-scale automated feature learning. With foundation models (FMs), crop disease datasets are now processed in fundamentally new ways. Unlike traditional neural networks, FMs integrate visual and textual data, interpret symptoms in text, reason about symptom-management relationships, and support interactive QA for growers and educators. Adaptive and imitation learning in robotics further enables field-based disease management. This review screened approx. 40 articles on FM applications for SSDM, focusing on large-language models (LLMs) and vision-language models (VLMs), and discussing their role in adaptive learning (AL), reinforcement learning (RL), and digital twin frameworks for targeted spraying. Key findings: (a) FMs are gaining traction with surging literature in 2023-24; (b) VLMs outpace LLMs, with a 5-10x increase in publications; (c) RL and AL are still nascent for smart spraying; (d) digital twins with RL can simulate targeted spraying virtually; (e) addressing the sim-to-real gap is critical for real-world deployment; (f) human-robot collaboration remains limited, especially in human-in-the-loop approaches where robots detect early symptoms and humans validate uncertain cases; (g) multi-modal FMs with real-time feedback will drive next-gen SSDM. For updates, resources, and contributions, visit, https://github.com/nitin-dominic/AgriPathogenDatabase, to submit papers, code, or datasets.

Hallucination remains one of the key obstacles to the reliable deployment of large language models (LLMs), particularly in real-world applications. Among various mitigation strategies, Retrieval-Augmented Generation (RAG) and reasoning enhancement have emerged as two of the most effective and widely adopted approaches, marking a shift from merely suppressing hallucinations to balancing creativity and reliability. However, their synergistic potential and underlying mechanisms for hallucination mitigation have not yet been systematically examined. This survey adopts an application-oriented perspective of capability enhancement to analyze how RAG, reasoning enhancement, and their integration in Agentic Systems mitigate hallucinations. We propose a taxonomy distinguishing knowledge-based and logic-based hallucinations, systematically examine how RAG and reasoning address each, and present a unified framework supported by real-world applications, evaluations, and benchmarks.

In recent years, there has been growing interest in developing robots and autonomous systems that can interact with human in a more natural and intuitive way. One of the key challenges in achieving this goal is to enable these systems to manipulate objects and tools in a manner that is similar to that of humans. In this paper, we propose a novel approach for learning human-style manipulation skills by using adversarial motion priors, which we name HMAMP. The approach leverages adversarial networks to model the complex dynamics of tool and object manipulation, as well as the aim of the manipulation task. The discriminator is trained using a combination of real-world data and simulation data executed by the agent, which is designed to train a policy that generates realistic motion trajectories that match the statistical properties of human motion. We evaluated HMAMP on one challenging manipulation task: hammering, and the results indicate that HMAMP is capable of learning human-style manipulation skills that outperform current baseline methods. Additionally, we demonstrate that HMAMP has potential for real-world applications by performing real robot arm hammering tasks. In general, HMAMP represents a significant step towards developing robots and autonomous systems that can interact with humans in a more natural and intuitive way, by learning to manipulate tools and objects in a manner similar to how humans do.

Our study contributes to the scheduling and combinatorial optimization literature with new heuristics discovered by leveraging the power of Large Language Models (LLMs). We focus on the single-machine total tardiness (SMTT) problem, which aims to minimize total tardiness by sequencing n jobs on a single processor without preemption, given processing times and due dates. We develop and benchmark two novel LLM-discovered heuristics, the EDD Challenger (EDDC) and MDD Challenger (MDDC), inspired by the well-known Earliest Due Date (EDD) and Modified Due Date (MDD) rules. In contrast to prior studies that employed simpler rule-based heuristics, we evaluate our LLM-discovered algorithms using rigorous criteria, including optimality gaps and solution time derived from a mixed-integer programming (MIP) formulation of SMTT. We compare their performance against state-of-the-art heuristics and exact methods across various job sizes (20, 100, 200, and 500 jobs). For instances with more than 100 jobs, exact methods such as MIP and dynamic programming become computationally intractable. Up to 500 jobs, EDDC improves upon the classic EDD rule and another widely used algorithm in the literature. MDDC consistently outperforms traditional heuristics and remains competitive with exact approaches, particularly on larger and more complex instances. This study shows that human-LLM collaboration can produce scalable, high-performing heuristics for NP-hard constrained combinatorial optimization, even under limited resources when effectively configured.

This survey comprehensively reviews the evolving field of multi-robot collaborative Simultaneous Localization and Mapping (SLAM) using 3D Gaussian Splatting (3DGS). As an explicit scene representation, 3DGS has enabled unprecedented real-time, high-fidelity rendering, ideal for robotics. However, its use in multi-robot systems introduces significant challenges in maintaining global consistency, managing communication, and fusing data from heterogeneous sources. We systematically categorize approaches by their architecture -- centralized, distributed -- and analyze core components like multi-agent consistency and alignment, communication-efficient, Gaussian representation, semantic distillation, fusion and pose optimization, and real-time scalability. In addition, a summary of critical datasets and evaluation metrics is provided to contextualize performance. Finally, we identify key open challenges and chart future research directions, including lifelong mapping, semantic association and mapping, multi-model for robustness, and bridging the Sim2Real gap.

We present a novel agent-based approach for the automated claim matching task with instruction-following LLMs. We propose a two-step pipeline that first generates prompts with LLMs, to then perform claim matching as a binary classification task with LLMs. We demonstrate that LLM-generated prompts can outperform SOTA with human-generated prompts, and that smaller LLMs can do as well as larger ones in the generation process, allowing to save computational resources. We also demonstrate the effectiveness of using different LLMs for each step of the pipeline, i.e. using an LLM for prompt generation, and another for claim matching. Our investigation into the prompt generation process in turn reveals insights into the LLMs' understanding of claim matching.

Agentic AI systems powered by large language models (LLMs) and endowed with planning, tool use, memory, and autonomy, are emerging as powerful, flexible platforms for automation. Their ability to autonomously execute tasks across web, software, and physical environments creates new and amplified security risks, distinct from both traditional AI safety and conventional software security. This survey outlines a taxonomy of threats specific to agentic AI, reviews recent benchmarks and evaluation methodologies, and discusses defense strategies from both technical and governance perspectives. We synthesize current research and highlight open challenges, aiming to support the development of secure-by-design agent systems.

As large language models (LLMs) continue to scale in size, the computational overhead has become a major bottleneck for task-specific fine-tuning. While low-rank adaptation (LoRA) effectively curtails this cost by confining the weight updates to a low-dimensional subspace, such a restriction can hinder effectiveness and slow convergence. This contribution deals with these limitations by accumulating progressively a high-rank weight update from consecutive low-rank increments. Specifically, the per update optimal low-rank matrix is identified to minimize the loss function and closely approximate full fine-tuning. To endow efficient and seamless optimization without restarting, this optimal choice is formed by appropriately scaling the columns of the original low-rank matrix. Rigorous performance guarantees reveal that the optimal scaling can be found analytically. Extensive numerical tests with popular LLMs scaling up to 12 billion parameters demonstrate a consistent performance gain and fast convergence relative to state-of-the-art LoRA variants on diverse tasks including natural language understanding, commonsense reasoning, and mathematical problem solving.