In many robotic systems where dynamics are best modeled as stochastic systems due to factors such as sensing noise and environmental disturbances, it is challenging for conventional methods such as Hamilton-Jacobi reachability and control barrier functions to provide a holistic measure of safety. We derive a linear operator governing the dynamic programming principle for safety probability, and find that its dominant eigenpair provides information about safety for both individual states and the overall closed-loop system. The proposed learning framework, called EigenSafe, jointly learns this dominant eigenpair and a safe backup policy in an offline manner. The learned eigenfunction is then used to construct a safety filter that detects potentially unsafe situations and falls back to the backup policy. The framework is validated in three simulated stochastic safety-critical control tasks.

Accurate battery modeling is essential for reliable state estimation in modern applications, such as predicting the remaining discharge time and remaining discharge energy in battery management systems. Existing approaches face several limitations: model-based methods require a large number of parameters; data-driven methods rely heavily on labeled datasets; and current physics-informed neural networks (PINNs) often lack aging adaptation, or still depend on many parameters, or continuously regenerate states. In this work, we propose SeqBattNet, a discrete-state PINN with built-in aging adaptation for battery modeling, to predict terminal voltage during the discharge process. SeqBattNet consists of two components: (i) an encoder, implemented as the proposed HRM-GRU deep learning module, which generates cycle-specific aging adaptation parameters; and (ii) a decoder, based on the equivalent circuit model (ECM) combined with deep learning, which uses these parameters together with the input current to predict voltage. The model requires only three basic battery parameters and, when trained on data from a single cell, still achieves robust performance. Extensive evaluations across three benchmark datasets (TRI, RT-Batt, and NASA) demonstrate that SeqBattNet significantly outperforms classical sequence models and PINN baselines, achieving consistently lower RMSE while maintaining computational efficiency.

In professional settings, translation is guided by communicative goals and client needs, often formalized as specifications. While existing evaluation frameworks acknowledge the importance of such specifications, these specifications are often treated only implicitly in machine translation (MT) research. Drawing on translation studies, we provide a theoretical rationale for why specifications matter in professional translation, as well as a practical guide to implementing specification-aware MT and evaluation. Building on this foundation, we apply our framework to the translation of investor relations texts from 33 publicly listed companies. In our experiment, we compare five translation types, including official human translations and prompt-based outputs from large language models (LLMs), using expert error analysis, user preference rankings, and an automatic metric. The results show that LLM translations guided by specifications consistently outperformed official human translations in human evaluations, highlighting a gap between perceived and expected quality. These findings demonstrate that integrating specifications into MT workflows, with human oversight, can improve translation quality in ways aligned with professional practice.

Abstract-- While 3D Gaussian Splatting (3DGS) has revolutionized photorealistic rendering, its vast ecosystem of assets remains incompatible with high-performance LiDAR simulation, a critical tool for robotics and autonomous driving. Our method converts any pretrained 3DGS model into a high-fidelity, watertight mesh without requiring LiDAR-specific supervision or architectural alterations. We pair this with a highly optimized, GPU-accelerated ray-casting module that simulates LiDAR returns at over 500 FPS. We validate our approach on indoor and outdoor scenes, demonstrating exceptional geometric fidelity; By enabling the direct reuse of 3DGS assets for geometrically accurate depth sensing, our framework extends their utility beyond visualization and unlocks new capabilities for scalable, multi-modal simulation. I. INTRODUCTION LiDAR is a cornerstone modality for 3D perception, underpinning autonomous driving, localization, odometry, mapping, and indoor navigation [1], [2], [3], [4], [5]. To mitigate the prohibitive expense and logistical challenges of curating large-scale real-world datasets, simulation offers a controllable and reproducible source of data for training and benchmarking perception algorithms.

Abstract-- Robotics and automation are key enablers to increase throughput in ongoing conservation efforts across various threatened ecosystems. Cataloguing, digitisation, husbandry, and similar activities require the ability to interact with delicate, fragile samples without damaging them. Additionally, learning-based solutions to these tasks require the ability to safely acquire data to train manipulation policies through, e.g., reinforcement learning. T o address these twin needs, we introduce a novel method to print free-form, highly sensorised soft'physical twins'. We present an automated design workflow to create complex and customisable 3D soft sensing structures on demand from 3D scans or models. Compared to the state of the art, our soft liquid metal sensors faithfully recreate complex natural geometries and display excellent sensing properties suitable for validating performance in delicate manipulation tasks. We demonstrate the application of our physical twins as'sensing corals': high-fidelity, 3D printed replicas of scanned corals that eliminate the need for live coral experimentation, whilst increasing data quality, offering an ethical and scalable pathway for advancing autonomous coral handling and soft manipulation broadly. Through extensive bench-top manipulation and underwater grasping experiments, we show that our sensing coral is able to detect grasps under 0.5 N, effectively capturing the delicate interactions and light contact forces required for coral handling. Finally, we showcase the value of our physical twins across two demonstrations: (i) automated coral labelling for lab identification and (ii) robotic coral aquaculture. Sensing physical twins such as ours can provide richer grasping feedback than conventional sensors providing experimental validation of prior to deployment in handling fragile and delicate items.

Abstract-- The complex nonlinear dynamics of hydraulic excavators, such as time delays and control coupling, pose significant challenges to achieving high-precision trajectory tracking. Traditional control methods often fall short in such applications due to their inability to effectively handle these nonlinearities, while commonly used learning-based methods require extensive interactions with the environment, leading to inefficiency. T o address these issues, we introduce EfficientTrack, a trajectory tracking method that integrates model-based learning to manage nonlinear dynamics and leverages closed-loop dynamics to improve learning efficiency, ultimately minimizing tracking errors. Comparative experiments in simulation demonstrate that our method outperforms existing learning-based approaches, achieving the highest tracking precision and smoothness with the fewest interactions. Real-world experiments further show that our method remains effective under load conditions and possesses the ability for continual learning, highlighting its practical applicability. Excavators are primarily used in earthworks, mining, and construction projects, playing a vital role in tasks such as digging, loading, trenching, and leveling [1], [2], [3].

We present the first language-model-driven agentic artificial intelligence (AI) system to autonomously execute multi-stage physics experiments on a production synchrotron light source. Implemented at the Advanced Light Source particle accelerator, the system translates natural language user prompts into structured execution plans that combine archive data retrieval, control-system channel resolution, automated script generation, controlled machine interaction, and analysis. In a representative machine physics task, we show that preparation time was reduced by two orders of magnitude relative to manual scripting even for a system expert, while operator-standard safety constraints were strictly upheld. Core architectural features, plan-first orchestration, bounded tool access, and dynamic capability selection, enable transparent, auditable execution with fully reproducible artifacts. These results establish a blueprint for the safe integration of agentic AI into accelerator experiments and demanding machine physics studies, as well as routine operations, with direct portability across accelerators worldwide and, more broadly, to other large-scale scientific infrastructures.

Abstract--Pre-training strategies play a critical role in advancing the performance of transformer-based models for 3D point cloud tasks. In this paper, we introduce Point-RTD (Replaced T oken Denoising), a novel pretraining strategy designed to improve token robustness through a corruption-reconstruction framework. Unlike traditional mask-based reconstruction tasks that hide data segments for later prediction, Point-RTD corrupts point cloud tokens and leverages a discriminator-generator architecture for denoising. This shift enables more effective learning of structural priors and significantly enhances model performance and efficiency. On the ShapeNet dataset, Point-RTD reduces reconstruction error by over 93% compared to PointMAE, and achieves more than 14 lower Chamfer Distance on the test set. Point clouds have become an essential data representation in various fields such as remote sensing, autonomous driving, and robotics [1].

Time series data is a prevalent form of data found in various fields. It consists of a series of measurements taken over time. Forecasting is a crucial application of time series models, where future values are predicted based on historical data. Accurate forecasting is essential for making well-informed decisions across industries. When it comes to electric vehicles (EVs), precise predictions play a key role in planning infrastructure development, load balancing, and energy management. This study introduces a BI-LSTM embedding denoising autoencoder model (BDM) designed to address time series problems, focusing on short-term EV charging load prediction. The performance of the proposed model is evaluated by comparing it with benchmark models like Transformer, CNN, RNN, LSTM, and GRU. Based on the results of the study, the proposed model outperforms the benchmark models in four of the five-time steps, demonstrating its effectiveness for time series forecasting. This research makes a significant contribution to enhancing time series forecasting, thereby improving decision-making processes.

To address the intermittency of renewable energy source (RES) generation, scenario forecasting offers a series of stochastic realizations for predictive objects with superior flexibility and direct views. Based on a long time-series perspective, this paper explores uncertainties in the realms of renewable power and deep learning. Then, an uncertainty-aware model is meticulously designed for renewable scenario forecasting, which leverages an attention mechanism and generative adversarial networks (GANs) to precisely capture complex spatial-temporal dynamics. To improve the interpretability of uncertain behavior in RES generation, Bayesian deep learning and adaptive instance normalization (AdaIN) are incorporated to simulate typical patterns and variations. Additionally, the integration of meteorological information, forecasts, and historical trajectories in the processing layer improves the synergistic forecasting capability for multiscale periodic regularities. Numerical experiments and case analyses demonstrate that the proposed approach provides an appropriate interpretation for renewable uncertainty representation, including both aleatoric and epistemic uncertainties, and shows superior performance over state-of-the-art methods.