Loco-manipulation of quadrupedal robots has broadened robotic applications, but using legs as manipulators often compromises locomotion, while mounting arms complicates the system. To mitigate this issue, we introduce bipedalism for quadrupedal robots, thus freeing the front legs for versatile interactions with the environment. We propose a risk-adaptive distributional Reinforcement Learning (RL) framework designed for quadrupedal robots walking on their hind legs, balancing worst-case conservativeness with optimal performance in this inherently unstable task. During training, the adaptive risk preference is dynamically adjusted based on the uncertainty of the return, measured by the coefficient of variation of the estimated return distribution. Extensive experiments in simulation show our method's superior performance over baselines. Real-world deployment on a Unitree Go2 robot further demonstrates the versatility of our policy, enabling tasks like cart pushing, obstacle probing, and payload transport, while showcasing robustness against challenging dynamics and external disturbances.

Scientific and data science applications are becoming increasingly complex, with growing computational and memory demands. Modern high performance computing (HPC) systems provide high parallelism and heterogeneity across nodes, devices, and cores. To achieve good performance, effective scheduling and load balancing techniques are essential. Parallel programming frameworks such as OpenMP now offer a variety of advanced scheduling algorithms to support diverse applications and platforms. This creates an instance of the scheduling algorithm selection problem, which involves identifying the most suitable algorithm for a given combination of workload and system characteristics. In this work, we explore learning-based approaches for selecting scheduling algorithms in OpenMP. We propose and evaluate expert-based and reinforcement learning (RL)-based methods, and conduct a detailed performance analysis across six applications and three systems. Our results show that RL methods are capable of learning high-performing scheduling decisions, although they require significant exploration, with the choice of reward function playing a key role. Expert-based methods, in contrast, rely on prior knowledge and involve less exploration, though they may not always identify the optimal algorithm for a specific application-system pair. By combining expert knowledge with RL-based learning, we achieve improved performance and greater adaptability. Overall, this work demonstrates that dynamic selection of scheduling algorithms during execution is both viable and beneficial for OpenMP applications. The approach can also be extended to MPI-based programs, enabling optimization of scheduling decisions across multiple levels of parallelism.

--Log anomaly detection (LogAD) is crucial for identifying failures and threats in large-scale computing and cyberin-frastructure systems. However, most existing LogAD approaches suffer from key limitations: they depend on slow and error-prone log parsing, employ tightly coupled end-to-end pipelines, often require supervision for improved detection performance, and rely on flawed single-pass evaluation protocols that fail to reflect the temporal dynamics of real-world online detection. These issues significantly hinder scalability, adaptability, and the practical deployment of solutions. These descriptors inform lightweight, modular detectors, including KDE, GMM, OCSVM, and a new adaptation of DeepSVDD, which enables efficient and accurate anomaly scoring without relying on structured formats or log representation retraining. T o support realistic deployment scenarios, we also propose a principled chunk-based evaluation protocol that mimics online log ingestion, alleviates the performance overestimation and dataset undercoverage issues of prior single-pass evaluations, and enables reproducible benchmarking across datasets with varying anomaly densities. Using this setup, we conduct over 125,000 experiments across three real-world datasets (HDFS, BGL, Thunderbird), six pre-trained embedding models, four detectors, and multiple training and log sampling configurations. Logs are essential artifacts in computing systems, recording the operational behavior of applications, kernels, and user activities. This work was supported in part by the NSF research grant #2137603, #2112606, #2117439, and #2320952. These authors contributed equally to this work. With the recent surge in language models and generative AI, a growing body of work [4]-[9] has begun leveraging AI techniques to capture semantic patterns in log sequences, aiming to enable more effective LogAD.

Large language models (LLMs) often exhibit societal biases in their outputs, prompting ethical concerns regarding fairness and harm. In this work, we propose KLAAD (KL-Attention Alignment Debiasing), an attention-based debiasing framework that implicitly aligns attention distributions between stereotypical and anti-stereotypical sentence pairs without directly modifying model weights. KLAAD introduces a composite training objective combining Cross-Entropy, KL divergence, and Triplet losses, guiding the model to consistently attend across biased and unbiased contexts while preserving fluency and coherence. Experimental evaluation of KLAAD demonstrates improved bias mitigation on both the BBQ and BOLD benchmarks, with minimal impact on language modeling quality. The results indicate that attention-level alignment offers a principled solution for mitigating bias in generative language models.

The deployment of mobile LoRa gateways using low-cost single-channel hardware presents a significant challenge in maintaining reliable communication due to the lack of dynamic configuration support. In traditional LoRaWAN networks, Adaptive Data Rate (ADR) mechanisms optimize communication parameters in real time. However, such features are typically supported only by expensive multi-channel gateways. This study proposes a cost-effective and energy-efficient solution by statically selecting the optimal Spreading Factor (SF) using a two-phase algorithm. The method first applies rule-based exclusion to eliminate SFs that violate constraints related to distance, data rate, link margin, and regulatory limits. Remaining candidates are then evaluated using a weighted scoring model incorporating Time-on-Air, energy consumption, data rate, and link robustness. The proposed algorithm was validated through extensive field tests and NS-3 simulations under line-of-sight conditions. Results demonstrate that the selected SF matched the optimal SF in over 92% of cases across 672 simulated scenarios, confirming the algorithm's effectiveness. This approach offers a scalable alternative to dynamic protocols, enabling reliable mobile LoRa deployments in cost-sensitive environments such as agriculture and rural sensing applications.

This paper introduces a model for coordinating prosumers with heterogeneous distributed energy resources (DERs), participating in the local energy market (LEM) that interacts with the market-clearing entity. The proposed LEM scheme utilizes a data-driven, model-free reinforcement learning approach based on the multi-agent deep deterministic policy gradient (MADDPG) framework, enabling prosumers to make real-time decisions on whether to buy, sell, or refrain from any action while facilitating efficient coordination for optimal energy trading in a dynamic market. In addition, we investigate a price manipulation strategy using a variational auto encoder-generative adversarial network (VAE-GAN) model, which allows utilities to adjust price signals in a way that induces financial losses for the prosumers. Our results show that under adversarial pricing, heterogeneous prosumer groups, particularly those lacking generation capabilities, incur financial losses. The same outcome holds across LEMs of different sizes. As the market size increases, trading stabilizes and fairness improves through emergent cooperation among agents.

Diffusion-based deep generative models have emerged as powerful tools for inverse materials design. Yet, many existing approaches overlook essential chemical constraints such as oxidation state balance, which can lead to chemically invalid structures. Here we introduce CrysVCD (Crystal generator with Valence-Constrained Design), a modular framework that integrates chemical rules directly into the generative process. CrysVCD first employs a transformer-based elemental language model to generate valence-balanced compositions, followed by a diffusion model to generate crystal structures. The valence constraint enables orders-of-magnitude more efficient chemical valence checking, compared to pure data-driven approaches with post-screening. When fine-tuned on stability metrics, CrysVCD achieves 85% thermodynamic stability and 68% phonon stability. Moreover, CrysVCD supports conditional generation of functional materials, enabling discovery of candidates such as high thermal conductivity semiconductors and high-$κ$ dielectric compounds. Designed as a general-purpose plugin, CrysVCD can be integrated into diverse generative pipeline to promote chemical validity, offering a reliable, scientifically grounded path for materials discovery.

The microphysical properties of ice crystals are important because they significantly alter the radiative properties and spatiotemporal distributions of clouds, which in turn strongly affect Earth's climate. However, it is challenging to measure key properties of ice crystals, such as mass or morphological features. Here, we present a framework for predicting three-dimensional (3D) microphysical properties of ice crystals from in situ two-dimensional (2D) imagery. First, we computationally generate synthetic ice crystals using 3D modeling software along with geometric parameters estimated from the 2021 Ice Cryo-Encapsulation Balloon (ICEBall) field campaign. Then, we use synthetic crystals to train machine learning (ML) models to predict effective density ($ρ_{e}$), effective surface area ($A_e$), and number of bullets ($N_b$) from synthetic rosette imagery. When tested on unseen synthetic images, we find that our ML models can predict microphysical properties with high accuracy. For $ρ_{e}$ and $A_e$, respectively, our best-performing single view models achieved $R^2$ values of 0.99 and 0.98. For $N_b$, our best single view model achieved a balanced accuracy and F1 score of 0.91. We also quantify the marginal prediction improvements from incorporating a second view. A stereo view ResNet-18 model reduced RMSE by 40% for both $ρ_e$ and $A_e$, relative to a single view ResNet-18 model. For $N_b$, we find that a stereo view ResNet-18 model improved the F1 score by 8%. This work provides a novel ML-driven framework for estimating ice microphysical properties from in situ imagery, which will allow for downstream constraints on microphysical parameterizations, such as the mass-size relationship.

Due to the remarkable capabilities and growing impact of large language models (LLMs), they have been deeply integrated into many aspects of society. Thus, ensuring their alignment with human values and intentions has emerged as a critical challenge. This survey provides a comprehensive overview of practical alignment techniques, training protocols, and empirical findings in LLM alignment. We analyze the development of alignment methods across diverse paradigms, characterizing the fundamental trade-offs between core alignment objectives. Our analysis shows that while supervised fine-tuning enables basic instruction-following, preference-based methods offer more flexibility for aligning with nuanced human intent. We discuss state-of-the-art techniques, including Direct Preference Optimization (DPO), Constitutional AI, brain-inspired methods, and alignment uncertainty quantification (AUQ), highlighting their approaches to balancing quality and efficiency. We review existing evaluation frameworks and benchmarking datasets, emphasizing limitations such as reward misspecification, distributional robustness, and scalable oversight. We summarize strategies adopted by leading AI labs to illustrate the current state of practice. We conclude by outlining open problems in oversight, value pluralism, robustness, and continuous alignment. This survey aims to inform both researchers and practitioners navigating the evolving landscape of LLM alignment.

This paper presents MCP4EDA, the first Model Context Protocol server that enables Large Language Models (LLMs) to control and optimize the complete open-source RTL-to-GDSII design flow through natural language interaction. The system integrates Yosys synthesis, Icarus Verilog simulation, OpenLane place-and-route, GTKWave analysis, and KLayout visualization into a unified LLM-accessible interface, enabling designers to execute complex multi-tool EDA workflows conversationally via AI assistants such as Claude Desktop and Cursor IDE. The principal contribution is a backend-aware synthesis optimization methodology wherein LLMs analyze actual post-layout timing, power, and area metrics from OpenLane results to iteratively refine synthesis TCL scripts, establishing a closed-loop optimization system that bridges the traditional gap between synthesis estimates and physical implementation reality. In contrast to conventional flows that rely on wire-load models, this methodology leverages real backend performance data to guide synthesis parameter tuning, optimization sequence selection, and constraint refinement, with the LLM functioning as an intelligent design space exploration agent. Experimental evaluation on representative digital designs demonstrates 15-30% improvements in timing closure and 10-20% area reduction compared to default synthesis flows, establishing MCP4EDA as the first practical LLM-controlled end-to-end open-source EDA automation system. The code and demo are avaiable at: http://www.agent4eda.com/