The Spiking Neural Network (SNN) has drawn increasing attention for its energy-efficient, event-driven processing and biological plausibility. To train SNNs via backpropagation, surrogate gradients are used to approximate the non-differentiable spike function, but they only maintain nonzero derivatives within a narrow range of membrane potentials near the firing threshold, referred to as the surrogate gradient support width gamma. We identify a major challenge, termed the dilemma of gamma: a relatively large gamma leads to overactivation, characterized by excessive neuron firing, which in turn increases energy consumption, whereas a small gamma causes vanishing gradients and weakens temporal dependencies. To address this, we propose a temporal Inhibitory Leaky Integrate-and-Fire (ILIF) neuron model, inspired by biological inhibitory mechanisms. This model incorporates interconnected inhibitory units for membrane potential and current, effectively mitigating overactivation while preserving gradient propagation. Theoretical analysis demonstrates ILIF effectiveness in overcoming the gamma dilemma, and extensive experiments on multiple datasets show that ILIF improves energy efficiency by reducing firing rates, stabilizes training, and enhances accuracy. The code is available at github.com/kaisun1/ILIF.

-- Motion planning problems for physically-coupled multi-robot systems in cluttered environments are challenging due to their high dimensionality. We propose Physically-coupled discontinuity-bounded Conflict-Based Search (pc-dbCBS), an anytime kinodynamic motion planner, that extends discontinuity-bounded CBS to rigidly-coupled systems. Our approach proposes a tri-level conflict detection and resolution framework that includes the physical coupling between the robots. Moreover, pc-dbCBS alternates iteratively between state space representations, thereby preserving probabilistic completeness and asymptotic optimality while relying only on single-robot motion primitives. Across 25 simulated and six real-world problems involving multirotors carrying a cable-suspended payload and differential-drive robots linked by rigid rods, pc-dbCBS solves up to 92% more instances than a state-of-the-art baseline and plans trajectories that are 50-60% faster while reducing planning time by an order of magnitude. Physically-coupled systems, such as multirotors collabora-tively transporting cable-suspended payloads [1] or multiple mobile manipulators transporting objects [2], are increasingly used in real-world tasks requiring coordinated interaction. These systems are particularly valuable in environments such as construction sites for carrying tools or materials and in precision tasks requiring synchronized motion. The robot coupling introduces additional challenges, as the planned motions must respect both inter-robot dependencies and the system's dynamic constraints. There has been a significant focus on controlling such systems [3, 4] and only limited work on planning feasible motions in cluttered environments that require team formation changes. Moreover, existing planners produce motions that are rather slow and fail to exploit the agility of the underlying single-robot systems.

The growing adoption of Electric Buses (EBs) represents a significant step toward sustainable development. By utilizing Internet of Things (IoT) systems, charging stations can autonomously determine charging schedules based on real-time data. However, optimizing EB charging schedules remains a critical challenge due to uncertainties in travel time, energy consumption, and fluctuating electricity prices. Moreover, to address real-world complexities, charging policies must make decisions efficiently across multiple time scales and remain scalable for large EB fleets. In this paper, we propose a Hierarchical Deep Reinforcement Learning (HDRL) approach that reformulates the original Markov Decision Process (MDP) into two augmented MDPs. To solve these MDPs and enable multi-timescale decision-making, we introduce a novel HDRL algorithm, namely Double Actor-Critic Multi-Agent Proximal Policy Optimization Enhancement (DAC-MAPPO-E). Scalability challenges of the Double Actor-Critic (DAC) algorithm for large-scale EB fleets are addressed through enhancements at both decision levels. At the high level, we redesign the decentralized actor network and integrate an attention mechanism to extract relevant global state information for each EB, decreasing the size of neural networks. At the low level, the Multi-Agent Proximal Policy Optimization (MAPPO) algorithm is incorporated into the DAC framework, enabling decentralized and coordinated charging power decisions, reducing computational complexity and enhancing convergence speed. Extensive experiments with real-world data demonstrate the superior performance and scalability of DAC-MAPPO-E in optimizing EB fleet charging schedules.

This paper presents a study on using different offline reinforcement learning algorithms for microgrid voltage regulation with solar power penetration. When environment interaction is unviable due to technical or safety reasons, the proposed approach can still obtain an applicable model through offline-style training on a previously collected dataset, lowering the negative impact of lacking online environment interactions. Experiment results on the IEEE 33-bus system demonstrate the feasibility and effectiveness of the proposed approach on different offline datasets, including the one with merely low-quality experience.

--Neural displacement priors (NDP) can reduce the drift in inertial odometry and provide uncertainty estimates that can be readily fused with off-the-shelf filters. However, they fail to generalize to different IMU sampling rates and trajectory profiles, which limits their robustness in diverse settings. T o address this challenge, we replace the traditional NDP inputs comprising raw IMU data with Lie events that are robust to input rate changes and have favorable invariances when observed under different trajectory profiles. Unlike raw IMU data sampled at fixed rates, Lie events are sampled whenever the norm of the IMU pre-integration change, mapped to the Lie algebra of the SE (3) group, exceeds a threshold. Inspired by event-based vision, we generalize the notion of level-crossing on 1D signals to level-crossings on the Lie algebra and generalize binary polarities to normalized Lie polarities within this algebra. We show that training NDPs on Lie events incorporating these polarities reduces the trajectory error of off-the-shelf downstream inertial odometry methods by up to 21% with only minimal preprocessing. We conjecture that many more sensors than IMUs or cameras can benefit from an event-based sampling paradigm and that this work makes an important first step in this direction. Open source code can be found here: https://github.com/ Visual inertial odometry (VIO) has become a staple of modern localization and navigation systems powering a diverse range of applications including Augmented and Virtual Reality (AR/VR) [9], autonomous driving, and robotics [17]. In short, it works by integrating accelerometer and gyroscope measurements from an inertial measurement unit (IMU) and correcting the resulting drift with observations from a standard frame camera [17]. However, the usefulness of these visual observations is often limited by the quality of the captured camera frames, which degrades significantly, especially in challenging lighting conditions and high-speed motion scenarios. In seeking to overcome these limitations, a promising alternative has emerged, namely using neural displacement priors (NDPs).

Under the slogan of trustworthy AI, much of contemporary AI research is focused on designing AI systems and usage practices that inspire human trust and, thus, enhance adoption of AI systems. However, a person affected by an AI system may not be convinced by AI system design alone -- neither should they, if the AI system is embedded in a social context that gives good reason to believe that it is used in tension with a person's interest. In such cases, distrust in the system may be justified and necessary to build meaningful trust in the first place. We propose the term "healthy distrust" to describe such a justified, careful stance towards certain AI usage practices. We investigate prior notions of trust and distrust in computer science, sociology, history, psychology, and philosophy, outline a remaining gap that healthy distrust might fill and conceptualize healthy distrust as a crucial part for AI usage that respects human autonomy.

This paper presents a risk-aware safe reinforcement learning (RL) control design for stochastic discrete-time linear systems. Rather than using a safety certifier to myopically intervene with the RL controller, a risk-informed safe controller is also learned besides the RL controller, and the RL and safe controllers are combined together. Several advantages come along with this approach: 1) High-confidence safety can be certified without relying on a high-fidelity system model and using limited data available, 2) Myopic interventions and convergence to an undesired equilibrium can be avoided by deciding on the contribution of two stabilizing controllers, and 3) highly efficient and computationally tractable solutions can be provided by optimizing over a scalar decision variable and linear programming polyhedral sets. To learn safe controllers with a large invariant set, piecewise affine controllers are learned instead of linear controllers. To this end, the closed-loop system is first represented using collected data, a decision variable, and noise. The effect of the decision variable on the variance of the safe violation of the closed-loop system is formalized. The decision variable is then designed such that the probability of safety violation for the learned closed-loop system is minimized. It is shown that this control-oriented approach reduces the data requirements and can also reduce the variance of safety violations. Finally, to integrate the safe and RL controllers, a new data-driven interpolation technique is introduced. This method aims to maintain the RL agent's optimal implementation while ensuring its safety within environments characterized by noise. The study concludes with a simulation example that serves to validate the theoretical results.

While substantial research has been devoted to optimizing model performance, convergence rates, and communication efficiency, the energy implications of federated learning (FL) within Artificial Intelligence of Things (AIoT) scenarios are often overlooked in the existing literature. This study examines the energy consumed during the FL process, focusing on three main energy-intensive processes: pre-processing, communication, and local learning, all contributing to the overall energy footprint. We rely on the observation that device/client selection is crucial for speeding up the convergence of model training in a distributed AIoT setting and propose two clustering-informed methods. These clustering solutions are designed to group AIoT devices with similar label distributions, resulting in clusters composed of nearly heterogeneous devices. Hence, our methods alleviate the heterogeneity often encountered in real-world distributed learning applications. Throughout extensive numerical experimentation, we demonstrate that our clustering strategies typically achieve high convergence rates while maintaining low energy consumption when compared to other recent approaches available in the literature.

French company EDF is currently building a giant new nuclear plant at Hinkley Point in Somerset and a decision to build another one at Sizewell in Suffolk is pending. "Why are data centre providers turning to nuclear? They will need a lot of energy, reliably," Mr Chisholm told the BBC. "Replication of Hinkley Point C, alongside the roll out of SMRs, can power Britain's digital economy." SMRs refers to small modular reactors which are the size of a football stadium as opposed to the size of a whole town, like Sizewell or Hinkley.

Developing inverse design methods for functional materials with specific properties is critical to advancing fields like renewable energy, catalysis, energy storage, and carbon capture. Generative models based on diffusion principles can directly produce new materials that meet performance constraints, thereby significantly accelerating the material design process. However, existing methods for generating and predicting crystal structures often remain limited by low success rates. In this work, we propose a novel inverse material design generative framework called InvDesFlow-AL, which is based on active learning strategies. This framework can iteratively optimize the material generation process to gradually guide it towards desired performance characteristics. In terms of crystal structure prediction, the InvDesFlow-AL model achieves an RMSE of 0.0423 Å, representing an 32.96% improvement in performance compared to exsisting generative models. Additionally, InvDesFlow-AL has been successfully validated in the design of low-formation-energy and low-Ehull materials. It can systematically generate materials with progressively lower formation energies while continuously expanding the exploration across diverse chemical spaces. These results fully demonstrate the effectiveness of the proposed active learning-driven generative model in accelerating material discovery and inverse design. To further prove the effectiveness of this method, we took the search for BCS superconductors under ambient pressure as an example explored by InvDesFlow-AL. As a result, we successfully identified Li\(_2\)AuH\(_6\) as a conventional BCS superconductor with an ultra-high transition temperature of 140 K. This discovery provides strong empirical support for the application of inverse design in materials science.