"Technology happens because it is possible," OpenAI CEO, Sam Altman, told the New York Times in 2019, consciously paraphrasing Robert Oppenheimer, the father of the atomic bomb. Another widespread techie conviction is that the first human-level AI – also known as artificial general intelligence (AGI) – will lead to one of two futures: a post-scarcity techno-utopia or the annihilation of humanity. For countless other species, the arrival of humans spelled doom. We weren't tougher, faster or stronger – just smarter and better coordinated. In many cases, extinction was an accidental byproduct of some other goal we had.

Autonomous motion planning is critical for efficient and safe underwater manipulation in dynamic marine environments. Current motion planning methods often fail to effectively utilize prior motion experiences and adapt to real-time uncertainties inherent in underwater settings. In this paper, we introduce an Adaptive Heuristic Motion Planner framework that integrates a Heuristic Motion Space (HMS) with Bayesian Networks to enhance motion planning for autonomous underwater manipulation. Our approach employs the Probabilistic Roadmap (PRM) algorithm within HMS to optimize paths by minimizing a composite cost function that accounts for distance, uncertainty, energy consumption, and execution time. By leveraging HMS, our framework significantly reduces the search space, thereby boosting computational performance and enabling real-time planning capabilities. Bayesian Networks are utilized to dynamically update uncertainty estimates based on real-time sensor data and environmental conditions, thereby refining the joint probability of path success. Through extensive simulations and real-world test scenarios, we showcase the advantages of our method in terms of enhanced performance and robustness. This probabilistic approach significantly advances the capability of autonomous underwater robots, ensuring optimized motion planning in the face of dynamic marine challenges.

The convergence of artificial intelligence and edge computing has spurred growing interest in enabling intelligent services directly on resource-constrained devices. While traditional deep learning models require significant computational resources and centralized data management, the resulting latency, bandwidth consumption, and privacy concerns have exposed critical limitations in cloud-centric paradigms. Brain-inspired computing, particularly Spiking Neural Networks (SNNs), offers a promising alternative by emulating biological neuronal dynamics to achieve low-power, event-driven computation. This survey provides a comprehensive overview of Edge Intelligence based on SNNs (EdgeSNNs), examining their potential to address the challenges of on-device learning, inference, and security in edge scenarios. We present a systematic taxonomy of EdgeSNN foundations, encompassing neuron models, learning algorithms, and supporting hardware platforms. Three representative practical considerations of EdgeSNN are discussed in depth: on-device inference using lightweight SNN models, resource-aware training and updating under non-stationary data conditions, and secure and privacy-preserving issues. Furthermore, we highlight the limitations of evaluating EdgeSNNs on conventional hardware and introduce a dual-track benchmarking strategy to support fair comparisons and hardware-aware optimization. Through this study, we aim to bridge the gap between brain-inspired learning and practical edge deployment, offering insights into current advancements, open challenges, and future research directions. To the best of our knowledge, this is the first dedicated and comprehensive survey on EdgeSNNs, providing an essential reference for researchers and practitioners working at the intersection of neuromorphic computing and edge intelligence.

Multi-objective reinforcement learning (MORL) is a structured approach for optimizing tasks with multiple objectives. However, it often relies on pre-defined reward functions, which can be hard to design for balancing conflicting goals and may lead to oversimplification. Preferences can serve as more flexible and intuitive decision-making guidance, eliminating the need for complicated reward design. This paper introduces preference-based MORL (Pb-MORL), which formalizes the integration of preferences into the MORL framework. We theoretically prove that preferences can derive policies across the entire Pareto frontier. To guide policy optimization using preferences, our method constructs a multi-objective reward model that aligns with the given preferences. We further provide theoretical proof to show that optimizing this reward model is equivalent to training the Pareto optimal policy. Extensive experiments in benchmark multi-objective tasks, a multi-energy management task, and an autonomous driving task on a multi-line highway show that our method performs competitively, surpassing the oracle method, which uses the ground truth reward function. This highlights its potential for practical applications in complex real-world systems.

Coherent X-ray scattering techniques are critical for investigating the fundamental structural properties of materials at the nanoscale. While advancements have made these experiments more accessible, real-time analysis remains a significant bottleneck, often hindered by artifacts and computational demands. In scanning X-ray nanodiffraction microscopy, which is widely used to spatially resolve structural heterogeneities, this challenge is compounded by the convolution of the divergent beam with the sample's local structure. To address this, we introduce DONUT (Diffraction with Optics for Nanobeam by Unsupervised Training), a physics-aware neural network designed for the rapid and automated analysis of nanobeam diffraction data. By incorporating a differentiable geometric diffraction model directly into its architecture, DONUT learns to predict crystal lattice strain and orientation in real-time. Crucially, this is achieved without reliance on labeled datasets or pre-training, overcoming a fundamental limitation for supervised machine learning in X-ray science. We demonstrate experimentally that DONUT accurately extracts all features within the data over 200 times more efficiently than conventional fitting methods.

Due to the computational complexity of evaluating interatomic forces from first principles, the creation of interatomic machine learning force fields has become a highly active field of research. However, the generation of training datasets of sufficient size and sample diversity itself comes with a computational burden that can make this approach impractical for modeling rare events or systems with a large configuration space. Fine-tuning foundation models that have been pre-trained on large-scale material or molecular databases offers a promising opportunity to reduce the amount of training data necessary to reach a desired level of accuracy. However, even if this approach requires less training data overall, creating a suitable training dataset can still be a very challenging problem, especially for systems with rare events and for end-users who don't have an extensive background in machine learning. In on-the-fly learning, the creation of a training dataset can be largely automated by using model uncertainty during the simulation to decide if the model is accurate enough or if a structure should be recalculated with classical methods and used to update the model. A key challenge for applying this form of active learning to the fine-tuning of foundation models is how to assess the uncertainty of those models during the fine-tuning process, even though most foundation models lack any form of uncertainty quantification. In this paper, we overcome this challenge by introducing a fine-tuning approach based on Bayesian neural network methods and a subsequent on-the-fly workflow that automatically fine-tunes the model while maintaining a pre-specified accuracy and can detect rare events such as transition states and sample them at an increased rate relative to their occurrence.

Real-time trajectory planning for unmanned aerial vehicles (UAVs) in dynamic environments remains a key challenge due to high computational demands and the need for fast, adaptive responses. Traditional Particle Swarm Optimization (PSO) methods, while effective for offline planning, often struggle with premature convergence and latency in real-time scenarios. To overcome these limitations, we propose PE-PSO, an enhanced PSO-based online trajectory planner. The method introduces a persistent exploration mechanism to preserve swarm diversity and an entropy-based parameter adjustment strategy to dynamically adapt optimization behavior. UAV trajectories are modeled using B-spline curves, which ensure path smoothness while reducing optimization complexity. To extend this capability to UAV swarms, we develop a multi-agent framework that combines genetic algorithm (GA)-based task allocation with distributed PE-PSO, supporting scalable and coordinated trajectory generation. The distributed architecture allows for parallel computation and decentralized control, enabling effective cooperation among agents while maintaining real-time performance. Comprehensive simulations demonstrate that the proposed framework outperforms conventional PSO and other swarm-based planners across several metrics, including trajectory quality, energy efficiency, obstacle avoidance, and computation time. These results confirm the effectiveness and applicability of PE-PSO in real-time multi-UAV operations under complex environmental conditions.

A large variety of geospatial data layers is available around the world ranging from remotely-sensed raster data like satellite imagery, digital elevation models, predicted land cover maps, and human-annotated data, to data derived from environmental sensors such as air temperature or wind speed data. A large majority of machine learning models trained on satellite imagery (SatML), however, are designed primarily for optical input modalities such as multi-spectral satellite imagery. To better understand the value of using other input modalities alongside optical imagery in supervised learning settings, we generate augmented versions of SatML benchmark tasks by appending additional geographic data layers to datasets spanning classification, regression, and segmentation. Using these augmented datasets, we find that fusing additional geographic inputs with optical imagery can significantly improve SatML model performance. Benefits are largest in settings where labeled data are limited and in geographic out-of-sample settings, suggesting that multi-modal inputs may be especially valuable for data-efficiency and out-of-sample performance of SatML models. Surprisingly, we find that hard-coded fusion strategies outperform learned variants, with interesting implications for future work.

Large Language Models (LLMs) are gaining popularity for hardware design automation, particularly through Register Transfer Level (RTL) code generation. In this work, we examine the current literature on RTL generation using LLMs and identify key requirements for training and fine-tuning datasets. We construct a robust Verilog dataset through an automated three-pronged process involving database (DB) creation and management with PostgreSQL, data collection from code hosting sites like OpenCores and GitHub, and data preprocessing to verify the codes' syntax, run logic synthesis, and extract relevant module metadata. We implement a scalable and efficient DB infrastructure to support analysis and detail our preprocessing pipeline to enforce high-quality data before DB insertion. The resulting dataset comprises 20,392 Verilog samples, 751 MB of Verilog code data, which is the largest high-quality Verilog dataset for LLM fine-tuning to our knowledge. We further evaluate the dataset, address associated challenges, and explore potential applications for future research and development in LLM-based hardware generation.

W e present a novel multimodal multitask network and associated training algorithm. The method is capable of ingesting data from approximately 12 different modalities namely image, video, audio, text, depth, point cloud, time series, tabular, graph, X-ray, infrared, IMU, and hyper-spectral. The proposed approach utilizes modality specialized tokenizers, a shared transformer architecture, and cross-attention mechanisms to project the data from different modalities into a unified embedding space. It addresses multimodal and multitask scenarios by incorporating modality-specific task heads for different tasks in respective modalities. W e propose a novel pretraining strategy with iterative modality switching to initialize the network, and a training algorithm which trades off fully joint training over all modalities, with training on pairs of modalities at a time. W e provide comprehensive evaluation across 25 datasets from 12 modalities and show state of the art performances, demonstrating the effectiveness of the proposed architecture, pretraining strategy and adapted multitask training.