In this letter, we demonstrate that previously proposed improved state parameterizations for soft and continuum robots are specific cases of Clarke coordinates. By explicitly deriving these improved parameterizations from a generalized Clarke transformation matrix, we unify various approaches into one comprehensive mathematical framework. This unified representation provides clarity regarding their relationships and generalizes them beyond existing constraints, including arbitrary joint numbers, joint distributions, and underlying modeling assumptions. This unification consolidates prior insights and establishes Clarke coordinates as a foundational tool, enabling systematic knowledge transfer across different subfields within soft and continuum robotics.

With the rapid evolution of Large Language Models (LLMs) and their large-scale experimentation in cloud-computing spaces, the challenge of guaranteeing their security and efficiency in a failure scenario has become a main issue. To ensure the reliability and availability of large-scale language models in cloud computing scenarios, such as frequent resource failures, network problems, and computational overheads, this study proposes a novel adaptive fault tolerance mechanism. It builds upon known fault-tolerant mechanisms, such as checkpointing, redundancy, and state transposition, introducing dynamic resource allocation and prediction of failure based on real-time performance metrics. The hybrid model integrates data driven deep learning-based anomaly detection technique underlining the contribution of cloud orchestration middleware for predictive prevention of system failures. Additionally, the model integrates adaptive checkpointing and recovery strategies that dynamically adapt according to load and system state to minimize the influence on the performance of the model and minimize downtime. The experimental results demonstrate that the designed model considerably enhances the fault tolerance in large-scale cloud surroundings, and decreases the system downtime by $\mathbf{30\%}$, and has a better modeling availability than the classical fault tolerance mechanism.

End-to-end autonomous driving research currently faces a critical challenge in bridging the gap between open-loop training and closed-loop deployment. Current approaches are trained to predict trajectories in an open-loop environment, which struggle with quick reactions to other agents in closed-loop environments and risk generating kinematically infeasible plans due to the gap between open-loop training and closed-loop driving. In this paper, we introduce Hydra-NeXt, a novel multi-branch planning framework that unifies trajectory prediction, control prediction, and a trajectory refinement network in one model. Unlike current open-loop trajectory prediction models that only handle general-case planning, Hydra-NeXt further utilizes a control decoder to focus on short-term actions, which enables faster responses to dynamic situations and reactive agents. Moreover, we propose the Trajectory Refinement module to augment and refine the planning decisions by effectively adhering to kinematic constraints in closed-loop environments. This unified approach bridges the gap between open-loop training and closed-loop driving, demonstrating superior performance of 65.89 Driving Score (DS) and 48.20% Success Rate (SR) on the Bench2Drive dataset without relying on external experts for data collection. Hydra-NeXt surpasses the previous state-of-the-art by 22.98 DS and 17.49 SR, marking a significant advancement in autonomous driving. Code will be available at https://github.com/woxihuanjiangguo/Hydra-NeXt.

Ensuring safe and effective use of AI requires understanding and anticipating its performance on novel tasks, from advanced scientific challenges to transformed workplace activities. So far, benchmarking has guided progress in AI, but it has offered limited explanatory and predictive power for general-purpose AI systems, given the low transferability across diverse tasks. In this paper, we introduce general scales for AI evaluation that can explain what common AI benchmarks really measure, extract ability profiles of AI systems, and predict their performance for new task instances, in- and out-of-distribution. Our fully-automated methodology builds on 18 newly-crafted rubrics that place instance demands on general scales that do not saturate. Illustrated for 15 large language models and 63 tasks, high explanatory power is unleashed from inspecting the demand and ability profiles, bringing insights on the sensitivity and specificity exhibited by different benchmarks, and how knowledge, metacognition and reasoning are affected by model size, chain-of-thought and distillation. Surprisingly, high predictive power at the instance level becomes possible using these demand levels, providing superior estimates over black-box baseline predictors based on embeddings or finetuning, especially in out-of-distribution settings (new tasks and new benchmarks). The scales, rubrics, battery, techniques and results presented here represent a major step for AI evaluation, underpinning the reliable deployment of AI in the years ahead. (Collaborative platform: https://kinds-of-intelligence-cfi.github.io/ADELE.)

Despite their effectiveness, models in time series classification necessitate transformers are computationally expensive, effective optimization strategies for energyefficient making them less viable for real-time and edge-based deployment. Our study presents a systematic applications due to their high energy consumption investigation of optimization techniques, focusing and memory footprint. Furthermore, the growing on structured pruning and quantization methods carbon footprint associated with transformer training for transformer architectures. Through extensive and inference has raised significant concerns regarding experimentation on three distinct datasets (RefrigerationDevices, sustainability and deployment feasibility in ElectricDevices, and PLAID), we resource-constrained environments [22]. With the exponentially quantitatively evaluate model performance and energy increasing usage of AI, the carbon footprint efficiency across different transformer configurations. of massive models has been a topic of increasing Our experimental results demonstrate that worry. At the same time, deep learning model's runaway static quantization reduces energy consumption by scaling, such as huge transformers and diffusion 29.14% while maintaining classification performance, models, has induced unmatched computation costs, and L1 pruning achieves a 63% improvement in inference which are enormous and require a lot of power to operate speed with minimal accuracy degradation. Our and train, directly contributing to the increase findings provide valuable insights into the effectiveness in global carbon emissions.

High energy consumption remains a key challenge in high-performance computing (HPC) systems, which often feature hundreds or thousands of nodes drawing substantial power even in idle or standby modes. Although powering down unused nodes can improve energy efficiency, choosing the wrong time to do so can degrade quality of service by delaying job execution. Machine learning, in particular reinforcement learning (RL), has shown promise in determining optimal times to switch nodes on or off. In this study, we enhance the performance of a deep reinforcement learning (DRL) agent for HPC power management by integrating curriculum learning (CL), a training approach that introduces tasks with gradually increasing difficulty. Using the Batsim-py simulation framework, we compare the proposed CL-based agent to both a baseline DRL method (without CL) and the conventional fixed-time timeout strategy. Experimental results confirm that an easy-to-hard curriculum outperforms other training orders in terms of reducing wasted energy usage. The best agent achieves a 3.73% energy reduction over the baseline DRL method and a 4.66% improvement compared to the best timeout configuration (shutdown every 15 minutes of idle time). In addition, it reduces average job waiting time by 9.24% and maintains a higher job-filling rate, indicating more effective resource utilization. Sensitivity tests across various switch-on durations, power levels, and cluster sizes further reveal the agent's adaptability to changing system parameters without retraining. These findings demonstrate that curriculum learning can significantly improve DRL-based power management in HPC, balancing energy savings, quality of service, and robustness to diverse configurations.

Modeling the evolution of physical systems is critical to many applications in science and engineering. As the evolution of these systems is governed by partial differential equations (PDEs), there are a number of computational simulations which resolve these systems with high accuracy. However, as these simulations incur high computational costs, they are infeasible to be employed for large-scale analysis. A popular alternative to simulators are neural network surrogates which are trained in a data-driven manner and are much more computationally efficient. However, these surrogate models suffer from high rollout error when used autoregressively, especially when confronted with training data paucity. Existing work proposes to improve surrogate rollout error by either including physical loss terms directly in the optimization of the model or incorporating computational simulators as'differentiable layers' in the neural network. Both of these approaches have their challenges, with physical loss functions suffering from slow convergence for stiff PDEs and simulator layers requiring gradients which are not always available, especially in legacy simulators. We propose the Hybrid PDE Predictor with Reinforcement Learning (HyPER) model: a modelagnostic, RL based, cost-aware model which combines a neural surrogate, RL decision model, and a physics simulator (with or without gradients) to reduce surrogate rollout error significantly. In addition to reducing in-distribution rollout error by 47%-78%, HyPER learns an intelligent policy that is adaptable to changing physical conditions and resistant to noise corruption. Scientific simulations have been the workhorse enabling novel discoveries across many scientific disciplines. However, executing fine-grained simulations of a scientific process of interest is a costly undertaking requiring large computational resources and long execution times.

While magnetic micro-robots have demonstrated significant potential across various applications, including drug delivery and microsurgery, the open issue of precise navigation and control in complex fluid environments is crucial for in vivo implementation. This paper introduces a novel flow-aware navigation and control strategy for magnetic micro-robots that explicitly accounts for the impact of fluid flow on their movement. First, the proposed method employs a Physics-Informed U-Net (PI-UNet) to refine the numerically predicted fluid velocity using local observations. Then, the predicted velocity is incorporated in a flow-aware A* path planning algorithm, ensuring efficient navigation while mitigating flow-induced disturbances. Finally, a control scheme is developed to compensate for the predicted fluid velocity, thereby optimizing the micro-robot's performance. A series of simulation studies and real-world experiments are conducted to validate the efficacy of the proposed approach. This method enhances both planning accuracy and control precision, expanding the potential applications of magnetic micro-robots in fluid-affected environments typical of many medical scenarios.

The Physics-Constrained DeepONet (PC-DeepONet), an architecture that incorporates fundamental physics knowledge into the data-driven DeepONet model, is presented in this study. This methodology is exemplified through surrogate modeling of fluid dynamics over a curved backward-facing step, a benchmark problem in computational fluid dynamics. The model was trained on computational fluid dynamics data generated for a range of parameterized geometries. The PC-DeepONet was able to learn the mapping from the parameters describing the geometry to the velocity and pressure fields. While the DeepONet is solely data-driven, the PC-DeepONet imposes the divergence constraint from the continuity equation onto the network. The PC-DeepONet demonstrates higher accuracy than the data-driven baseline, especially when trained on sparse data. Both models attain convergence with a small dataset of 50 samples and require only 50 iterations for convergence, highlighting the efficiency of neural operators in learning the dynamics governed by partial differential equations.

Earthquake detection is essential for earthquake early warning (EEW) systems. Traditional methods struggle with low signal-to-noise ratios and single-station reliance, limiting their effectiveness. We propose a Spatio-Temporal Graph Convolutional Network (GCN) using Spectral Structure Learning Convolution (Spectral SLC) to model static and dynamic relationships across seismic stations. Our approach processes multi-station waveform data and generates station-specific detection probabilities. Experiments show superior performance over a conventional GCN baseline in terms of true positive rate (TPR) and false positive rate (FPR), highlighting its potential for robust multi-station earthquake detection. The code repository for this study is available at https://github.com/SuchanunP/eq_detector.