We present a novel under-actuated gripper with two 3-joint fingers, which realizes force feedback control by the deep learning technique- Long Short-Term Memory (LSTM) model, without any force sensor. First, a five-linkage mechanism stacked by double four-linkages is designed as a finger to automatically achieve the transformation between parallel and enveloping grasping modes. This enables the creation of a low-cost under-actuated gripper comprising a single actuator and two 3-phalange fingers. Second, we devise theoretical models of kinematics and power transmission based on the proposed gripper, accurately obtaining fingertip positions and contact forces. Through coupling and decoupling of five-linkage mechanisms, the proposed gripper offers the expected capabilities of grasping payload/force/stability and objects with large dimension ranges. Third, to realize the force control, an LSTM model is proposed to determine the grasping mode for synthesizing force-feedback control policies that exploit contact sensing after outlining the uncertainty of currents using a statistical method. Finally, a series of experiments are implemented to measure quantitative indicators, such as the payload, grasping force, force sensing, grasping stability and the dimension ranges of objects to be grasped. Additionally, the grasping performance of the proposed gripper is verified experimentally to guarantee the high versatility and robustness of the proposed gripper.

Wybot's solar skimmer does a surprisingly good job of grabbing leaves off the surface of the pool, but its loud operation and poor power management knock it down a peg. Solar-powered pool skimmers flit along the surface of your pool operating under the idea that if they can scoop up debris before it sinks, you won't need to clean the bottom of the pool. It sounds logical, but in practice, most pool skimmers don't do the absolute best of jobs--there's only so much surface area a skimmer can cover before leaves get waterlogged and sink to the depths. But robotic skimmers are better than nothing, especially if you don't have a good in-wall skimmer. The Wybot F1 Pool Skimmer was much more effective at capturing floating leaves than any skimmer I've used to date.

-- Quadrotor Morpho-Transition, or the act of transitioning from air to ground through mid-air transformation, involves complex aerodynamic interactions and a need to operate near actuator saturation, complicating controller design. In recent work, morpho-transition has been studied from a model-based control perspective, but these approaches remain limited due to unmodeled dynamics and the requirement for planning through contacts. Here, we train an end-to-end Reinforcement Learning (RL) controller to learn a morpho-transition policy and demonstrate successful transfer to hardware. We find that the RL control policy achieves agile landing, but only transfers to hardware if motor dynamics and observation delays are taken into account. On the other hand, a baseline MPC controller transfers out-of-the-box without knowledge of the actuator dynamics and delays, at the cost of reduced recovery from disturbances in the event of unknown actuator failures. Our work opens the way for more robust control of agile in-flight quadrotor maneuvers that require mid-air transformation. Ground aerial robotic systems are ideally poised to increase the reliability and scope of autonomous robotic missions.

--The reliability of machine learning (ML) software systems is heavily influenced by changes in data over time. For that reason, ML systems require regular maintenance, typically based on model retraining. However, retraining requires significant computational demand, which makes it energy-intensive and raises concerns about its environmental impact. T o understand which retraining techniques should be considered when designing sustainable ML applications, in this work, we study the energy consumption of common retraining techniques. Since the accuracy of ML systems is also essential, we compare retraining techniques in terms of both energy efficiency and accuracy. We showcase that retraining with only the most recent data, compared to all available data, reduces energy consumption by up to 25%, being a sustainable alternative to the status quo. Furthermore, our findings show that retraining a model only when there is evidence that updates are necessary, rather than on a fixed schedule, can reduce energy consumption by up to 40%, provided a reliable data change detector is in place. Our findings pave the way for better recommendations for ML practitioners, guiding them toward more energy-efficient retraining techniques when designing sustainable ML software systems. The increasing adoption of Machine Learning (ML) and Artificial Intelligence (AI) within organizations has resulted in the development of more ML/AI software systems [1]. Although ML/AI brings plenty of business value, it is known that the accuracy of ML applications decreases over time [2]. Thus, ML developers must monitor and maintain their ML systems in production. One reason for this phenomenon is the fact that ML applications are highly dependent on the data on which they have been trained. Real-world data usually changes over time [3] - a phenomenon often referred to as concept drift [4] - which can significantly impact the normal operation of ML systems [5]. Therefore, appropriate maintenance techniques are required for the design of ML software systems. One common approach to maintaining these systems is to periodically update these applications by retraining the underlying ML models with the latest version of the data [6], [7]. On another note, the process of training machine learning models has raised substantial concerns about the carbon footprint of ML applications [8], [9].

Cross-validation (CV) is a common method to tune machine learning methods and can be used for model selection in regression as well. Because of the structured nature of small, traditional experimental designs, the literature has warned against using CV in their analysis. The striking increase in the use of machine learning, and thus CV, in the analysis of experimental designs, has led us to empirically study the effectiveness of CV compared to other methods of selecting models in designed experiments, including the little bootstrap. We consider both response surface settings where prediction is of primary interest, as well as screening where factor selection is most important. Overall, we provide evidence that the use of leave-one-out cross-validation (LOOCV) in the analysis of small, structured is often useful. More general $k$-fold CV may also be competitive but its performance is uneven.

--Spiking Neural Networks (SNNs) are computational models inspired by the structure and dynamics of biological neuronal networks. Their event-driven nature enables them to achieve high energy efficiency, particularly when deployed on neuromorphic hardware platforms. Unlike conventional Artificial Neural Networks (ANNs), which primarily rely on layered architectures, SNNs naturally support a wide range of connectivity patterns, from traditional layered structures to small-world graphs characterized by locally dense and globally sparse connections. In this work, we introduce NeuroCoreX, an FPGA-based emulator designed for the flexible co-design and testing of SNNs. NeuroCoreX supports all-to-all connectivity, providing the capability to implement diverse network topologies without architectural restrictions. It features a biologically motivated local learning mechanism based on Spike-Timing-Dependent Plasticity (STDP). The neuron model implemented within NeuroCoreX is the Leaky Integrate-and-Fire (LIF) model, with current-based synapses facilitating spike integration and transmission . A Universal Asynchronous Receiver-Transmitter (UART) interface is provided for programming and configuring the network parameters, including neuron, synapse, and learning rule settings. NeuroCoreX is released as an open-source framework, aiming to accelerate research and development in energy-efficient, biologically inspired computing. One of the primary goals of neuromorphic computing is to emulate the structure and dynamics of biological neuronal networks, achieving both brain-like energy efficiency and high computational accuracy.

Sequential Resource Allocation with situational constraints presents a significant challenge in real-world applications, where resource demands and priorities are context-dependent. This paper introduces a novel framework, SCRL, to address this problem. We formalize situational constraints as logic implications and develop a new algorithm that dynamically penalizes constraint violations. To handle situational constraints effectively, we propose a probabilistic selection mechanism to overcome limitations of traditional constraint reinforcement learning (CRL) approaches. We evaluate SCRL across two scenarios: medical resource allocation during a pandemic and pesticide distribution in agriculture. Experiments demonstrate that SCRL outperforms existing baselines in satisfying constraints while maintaining high resource efficiency, showcasing its potential for real-world, context-sensitive decision-making tasks.

Optimizing urban freight logistics is critical for developing sustainable, low-carbon cities. Traditional methods often rely on manual coordination of simulation tools, optimization solvers, and expert-driven workflows, limiting their efficiency and scalability. This paper presents an agentic system architecture that leverages the model context protocol (MCP) to orchestrate multi-agent collaboration among scientific tools for autonomous, simulation-informed optimization in urban logistics. The system integrates generative AI agents with domain-specific engines - such as Gurobi for optimization and AnyLogic for agent-based simulation - forming a generative digital twin capable of reasoning, planning, and acting across multimodal freight networks. By incorporating integrated chatbots, retrieval-augmented generation, and structured memory, the framework enables agents to interpret user intent from natural language conversations, retrieve relevant datasets and models, coordinate solvers and simulators, and execute complex workflows. We demonstrate this approach through a freight decarbonization case study, showcasing how MCP enables modular, interoperable, and adaptive agent behavior across diverse toolchains. The results reveal that our system transforms digital twins from static visualizations into autonomous, decision-capable systems, advancing the frontiers of urban operations research. By enabling context-aware, generative agents to operate scientific tools automatically and collaboratively, this framework supports more intelligent, accessible, and dynamic decision-making in transportation planning and smart city management.

In this document, we discuss a multi-step approach to automated construction of a knowledge graph, for structuring and representing domain-specific knowledge from large document corpora. We apply our method to build the first knowledge graph of nuclear fusion energy, a highly specialized field characterized by vast scope and heterogeneity. This is an ideal benchmark to test the key features of our pipeline, including automatic named entity recognition and entity resolution. We show how pre-trained large language models can be used to address these challenges and we evaluate their performance against Zipf's law, which characterizes human-generated natural language. Additionally, we develop a knowledge-graph retrieval-augmented generation system that combines large language models with a multi-prompt approach. This system provides contextually relevant answers to natural-language queries, including complex multi-hop questions that require reasoning across interconnected entities.

Accurately predicting sea-surface temperature weeks to months into the future is an important step toward long term weather forecasting. Standard atmosphere-ocean coupled numerical models provide accurate sea-surface forecasts on the scale of a few days to a few weeks, but many important weather systems require greater foresight. In this paper we propose machine-learning approaches sea-surface temperature forecasting that are accurate on the scale of dozens of weeks. Our approach is based in Koopman operator theory, a useful tool for dynamical systems modelling. With this approach, we predict sea surface temperature in the Gulf of Mexico up to 180 days into the future based on a present image of thermal conditions and three years of historical training data. We evaluate the combination of a basic Koopman method with a convolutional autoencoder, and a newly proposed "consistent Koopman" method, in various permutations. We show that the Koopman approach consistently outperforms baselines, and we discuss the utility of our additional assumptions and methods in this sea-surface temperature domain.