Species Distribution Models (SDMs) play a vital role in biodiversity research, conservation planning, and ecological niche modeling by predicting species distributions based on environmental conditions. The selection of predictors is crucial, strongly impacting both model accuracy and how well the predictions reflect ecological patterns. To ensure meaningful insights, input variables must be carefully chosen to match the study objectives and the ecological requirements of the target species. However, existing SDMs, including both traditional and deep learning-based approaches, often lack key capabilities for variable selection: (i) flexibility to choose relevant predictors at inference without retraining; (ii) robustness to handle missing predictor values without compromising accuracy; and (iii) explainability to interpret and accurately quantify each predictor's contribution. To overcome these limitations, we introduce MaskSDM, a novel deep learning-based SDM that enables flexible predictor selection by employing a masked training strategy. This approach allows the model to make predictions with arbitrary subsets of input variables while remaining robust to missing data. It also provides a clearer understanding of how adding or removing a given predictor affects model performance and predictions. Additionally, MaskSDM leverages Shapley values for precise predictor contribution assessments, improving upon traditional approximations. We evaluate MaskSDM on the global sPlotOpen dataset, modeling the distributions of 12,738 plant species. Our results show that MaskSDM outperforms imputation-based methods and approximates models trained on specific subsets of variables. These findings underscore MaskSDM's potential to increase the applicability and adoption of SDMs, laying the groundwork for developing foundation models in SDMs that can be readily applied to diverse ecological applications.

Instruction following is a critical ability for Large Language Models to perform downstream tasks. The standard approach to instruction alignment has relied on a specific phase of model tuning over curated instruction datasets, optionally complemented with an alignment step over human preferences. Recent work has shown the potential of in-context learning (ICL) alternatives to guide base models towards instruction following. This type of approach is particularly relevant to extend instruction following across languages and models of varying sizes adapted to different types of usage. In this work we compare ICL and instruction fine-tuning in English, French and Spanish, on Small Language Models, and provide experimental results on applying Direct Preference Optimisation (DPO) over base models. Our results show that scenarios involving multilingual and smaller models result in downgraded ICL instruction following performance, only partially mitigated by DPO alignment. This study aims to further our understanding of current strengths and limitations of alternative methods for instruction following.

Artificial Intelligence (AI) weather prediction (AIWP) models often produce "blurry" precipitation forecasts that overestimate drizzle and underestimate extremes. This study provides a novel solution to tackle this problem -- integrating terrain-following coordinates with global mass and energy conservation schemes into AIWP models. Forecast experiments are conducted to evaluate the effectiveness of this solution using FuXi, an example AIWP model, adapted to 1.0-degree grid spacing data. Verification results show large performance gains. The conservation schemes are found to reduce drizzle bias, whereas using terrain-following coordinates improves the estimation of extreme events and precipitation intensity spectra. Furthermore, a case study reveals that terrain-following coordinates capture near-surface winds better over mountains, offering AIWP models more accurate information on understanding the dynamics of precipitation processes. The proposed solution of this study can benefit a wide range of AIWP models and bring insights into how atmospheric domain knowledge can support the development of AIWP models.

Large Language Models (LLMs) have revolutionized various Natural Language Generation (NLG) tasks, including Argument Summarization (ArgSum), a key subfield of Argument Mining (AM). This paper investigates the integration of state-of-the-art LLMs into ArgSum, including for its evaluation. In particular, we propose a novel prompt-based evaluation scheme, and validate it through a novel human benchmark dataset. Our work makes three main contributions: (i) the integration of LLMs into existing ArgSum frameworks, (ii) the development of a new LLM-based ArgSum system, benchmarked against prior methods, and (iii) the introduction of an advanced LLM-based evaluation scheme. We demonstrate that the use of LLMs substantially improves both the generation and evaluation of argument summaries, achieving state-of-the-art results and advancing the field of ArgSum.

Ensuring the safety of autonomous vehicles necessitates comprehensive simulation of multi-sensor data, encompassing inputs from both cameras and LiDAR sensors, across various dynamic driving scenarios. Neural rendering techniques, which utilize collected raw sensor data to simulate these dynamic environments, have emerged as a leading methodology. While NeRF-based approaches can uniformly represent scenes for rendering data from both camera and LiDAR, they are hindered by slow rendering speeds due to dense sampling. Conversely, Gaussian Splatting-based methods employ Gaussian primitives for scene representation and achieve rapid rendering through rasterization. However, these rasterization-based techniques struggle to accurately model non-linear optical sensors. This limitation restricts their applicability to sensors beyond pinhole cameras. To address these challenges and enable unified representation of dynamic driving scenarios using Gaussian primitives, this study proposes a novel hybrid approach. Our method utilizes rasterization for rendering image data while employing Gaussian ray-tracing for LiDAR data rendering. Experimental results on public datasets demonstrate that our approach outperforms current state-of-the-art methods. This work presents a unified and efficient solution for realistic simulation of camera and LiDAR data in autonomous driving scenarios using Gaussian primitives, offering significant advancements in both rendering quality and computational efficiency.

In recent years, network slicing has embraced artificial intelligence (AI) models to manage the growing complexity of communication networks. In such a situation, AI-driven zero-touch network automation should present a high degree of flexibility and viability, especially when deployed in live production networks. However, centralized controllers suffer from high data communication overhead due to the vast amount of user data, and most network slices are reluctant to share private data. In federated learning systems, selecting trustworthy clients to participate in training is critical for ensuring system performance and reliability. The present paper proposes a new approach to client selection by leveraging an XAI method to guarantee scalable and fast operation of federated learning based analytic engines that implement slice-level resource provisioning at the RAN-Edge in a non-IID scenario. Attributions from XAI are used to guide the selection of devices participating in training. This approach enhances network trustworthiness for users and addresses the black-box nature of neural network models. The simulations conducted outperformed the standard approach in terms of both convergence time and computational cost, while also demonstrating high scalability.

We consider the problem of optimal control for partially observed dynamical systems. Despite its prevalence in practical applications, there are still very few algorithms available, which take uncertainties in the current state estimates and future observations into account. In other words, most current approaches separate state estimation from the optimal control problem. In this paper, we extend the popular ensemble Kalman filter to receding horizon optimal control problems in the spirit of nonlinear model predictive control. We provide an interacting particle approximation to the forward-backward stochastic differential equations arising from Pontryagin's maximum principle with the forward stochastic differential equation provided by the time-continuous ensemble Kalman-Bucy filter equations. The receding horizon control laws are approximated as linear and are continuously updated as in nonlinear model predictive control. We illustrate the performance of the proposed methodology for an inverted pendulum example.

The use of soft and compliant manipulators in marine environments represents a promising paradigm shift for subsea inspection, with devices better suited to tasks owing to their ability to safely conform to items during contact. However, limitations driven by material characteristics often restrict the reach of such devices, with the complexity of obtaining state estimations making control non-trivial. Here, a detailed analysis of a 1m long compliant manipulator prototype for subsea inspection tasks is presented, including its mechanical design, state estimation technique, closed-loop control strategies, and experimental performance evaluation in underwater conditions. Results indicate that both the configuration-space and task-space controllers implemented are capable of positioning the end effector to desired locations, with deviations of <5% of the manipulator length spatially and to within 5^{o} of the desired configuration angles. The manipulator was also tested when subjected to various disturbances, such as loads of up to 300g and random point disturbances, and was proven to be able to limit displacement and restore the desired configuration. This work is a significant step towards the implementation of compliant manipulators in real-world subsea environments, proving their potential as an alternative to classical rigid-link designs.

This study presents an emotion-aware navigation framework -- EmoBipedNav -- using deep reinforcement learning (DRL) for bipedal robots walking in socially interactive environments. The inherent locomotion constraints of bipedal robots challenge their safe maneuvering capabilities in dynamic environments. When combined with the intricacies of social environments, including pedestrian interactions and social cues, such as emotions, these challenges become even more pronounced. To address these coupled problems, we propose a two-stage pipeline that considers both bipedal locomotion constraints and complex social environments. Specifically, social navigation scenarios are represented using sequential LiDAR grid maps (LGMs), from which we extract latent features, including collision regions, emotion-related discomfort zones, social interactions, and the spatio-temporal dynamics of evolving environments. The extracted features are directly mapped to the actions of reduced-order models (ROMs) through a DRL architecture. Furthermore, the proposed framework incorporates full-order dynamics and locomotion constraints during training, effectively accounting for tracking errors and restrictions of the locomotion controller while planning the trajectory with ROMs. Comprehensive experiments demonstrate that our approach exceeds both model-based planners and DRL-based baselines. The hardware videos and open-source code are available at https://gatech-lidar.github.io/emobipednav.github.io/.

Forecasting the volatility of financial assets is essential for various financial applications. This paper addresses the challenging task of forecasting the volatility of financial assets with limited historical data, such as new issues or spin-offs, by proposing a multi-source transfer learning approach. Specifically, we exploit complementary source data of assets with a substantial historical data record by selecting source time series instances that are most similar to the limited target data of the new issue/spin-off. Based on these instances and the target data, we estimate linear and non-linear realized volatility models and compare their forecasting performance to forecasts of models trained exclusively on the target data, and models trained on the entire source and target data. The results show that our transfer learning approach outperforms the alternative models and that the integration of complementary data is also beneficial immediately after the initial trading day of the new issue/spin-off.