Accurate and efficient climate simulations are crucial for understanding Earth's evolving climate. However, current general circulation models (GCMs) face challenges in capturing unresolved physical processes, such as cloud and convection. A common solution is to adopt cloud resolving models, that provide more accurate results than the standard subgrid parametrisation schemes typically used in GCMs. However, cloud resolving models, also referred to as super paramtetrizations, remain computationally prohibitive. Hybrid modeling, which integrates deep learning with equation-based GCMs, offers a promising alternative but often struggles with long-term stability and accuracy issues. In this work, we find that water vapor oversaturation during condensation is a key factor compromising the stability of hybrid models. To address this, we introduce CondensNet, a novel neural network architecture that embeds a self-adaptive physical constraint to correct unphysical condensation processes. CondensNet effectively mitigates water vapor oversaturation, enhancing simulation stability while maintaining accuracy and improving computational efficiency compared to super parameterization schemes. We integrate CondensNet into a GCM to form PCNN-GCM (Physics-Constrained Neural Network GCM), a hybrid deep learning framework designed for long-term stable climate simulations in real-world conditions, including ocean and land. PCNN-GCM represents a significant milestone in hybrid climate modeling, as it shows a novel way to incorporate physical constraints adaptively, paving the way for accurate, lightweight, and stable long-term climate simulations.

Large language models (LLMs) have significantly advanced human language understanding and generation, with pretraining data quality and organization being crucial to their performance. Multi-stage pretraining is a promising approach, but existing methods often lack quantitative criteria for data partitioning and instead rely on intuitive heuristics. In this paper, we propose the novel Four-quadRAnt Multi-stage prEtraining strategy (FRAME), guided by the established principle of organizing the pretraining process into four stages to achieve significant loss reductions four times. This principle is grounded in two key findings: first, training on high Perplexity (PPL) data followed by low PPL data, and second, training on low PPL difference (PD) data followed by high PD data, both causing the loss to drop significantly twice and performance enhancements. By partitioning data into four quadrants and strategically organizing them, FRAME achieves a remarkable 16.8% average improvement over random across MMLU and CMMLU for the 3B model, effectively boosting LLM performance.

The recent development of powerful AI systems has highlighted the need for robust risk management frameworks in the AI industry. Although companies have begun to implement safety frameworks, current approaches often lack the systematic rigor found in other high-risk industries. This paper presents a comprehensive risk management framework for the development of frontier AI that bridges this gap by integrating established risk management principles with emerging AI-specific practices. The framework consists of four key components: (1) risk identification (through literature review, open-ended red-teaming, and risk modeling), (2) risk analysis and evaluation using quantitative metrics and clearly defined thresholds, (3) risk treatment through mitigation measures such as containment, deployment controls, and assurance processes, and (4) risk governance establishing clear organizational structures and accountability. Drawing from best practices in mature industries such as aviation or nuclear power, while accounting for AI's unique challenges, this framework provides AI developers with actionable guidelines for implementing robust risk management. The paper details how each component should be implemented throughout the life-cycle of the AI system - from planning through deployment - and emphasizes the importance and feasibility of conducting risk management work prior to the final training run to minimize the burden associated with it.

Task specification for robotic manipulation in open-world environments is challenging, requiring flexible and adaptive objectives that align with human intentions and can evolve through iterative feedback. We introduce Iterative Keypoint Reward (IKER), a visually grounded, Python-based reward function that serves as a dynamic task specification. Our framework leverages VLMs to generate and refine these reward functions for multi-step manipulation tasks. Given RGB-D observations and free-form language instructions, we sample keypoints in the scene and generate a reward function conditioned on these keypoints. IKER operates on the spatial relationships between keypoints, leveraging commonsense priors about the desired behaviors, and enabling precise SE(3) control. We reconstruct real-world scenes in simulation and use the generated rewards to train reinforcement learning (RL) policies, which are then deployed into the real world-forming a real-to-sim-to-real loop. Our approach demonstrates notable capabilities across diverse scenarios, including both prehensile and non-prehensile tasks, showcasing multi-step task execution, spontaneous error recovery, and on-the-fly strategy adjustments. The results highlight IKER's effectiveness in enabling robots to perform multi-step tasks in dynamic environments through iterative reward shaping.

Bathymetry, the study of underwater topography, relies on sonar mapping of submerged structures. These measurements, critical for infrastructure health monitoring, often require expensive instrumentation. The high financial risk associated with sensor damage or vessel loss creates a reluctance to deploy uncrewed surface vessels (USVs) for bathymetry. However, the crewed-boat bathymetry operations, are costly, pose hazards to personnel, and frequently fail to achieve the stable conditions necessary for bathymetry data collection, especially under high currents. Further research is essential to advance autonomous control, navigation, and data processing technologies, with a particular focus on bathymetry. There is a notable lack of accessible hardware platforms that allow for integrated research in both bathymetry-focused autonomous control and navigation, as well as data evaluation and processing. This paper addresses this gap through the design and implementation of two complementary USV systems tailored for uncrewed bathymetry research. This includes a low-cost USV for Navigation And Control research (NAC-USV) and a second, high-end USV equipped with a high-resolution multi-beam sonar and the associated hardware for Bathymetry data quality Evaluation and Post-processing research (BEP-USV). The NAC-USV facilitates the investigation of autonomous, fail-safe navigation and control, emphasizing the stability requirements for high-quality bathymetry data collection while minimizing the risk to equipment. The BEP-USV, which mirrors the NAC-USV hardware, is then used for additional control validation and in-depth exploration of bathymetry data evaluation and post-processing methodologies. We detail the design and implementation of both systems, and open source the design. Furthermore, we demonstrate the system's effectiveness in a range of operational scenarios.

The rapid advancement of perovskite solar cells (PSCs) has led to an exponential growth in research publications, creating an urgent need for efficient knowledge management and reasoning systems in this domain. We present a comprehensive knowledge-enhanced system for PSCs that integrates three key components. First, we develop Perovskite-KG, a domain-specific knowledge graph constructed from 1,517 research papers, containing 23,789 entities and 22,272 relationships. Second, we create two complementary datasets: Perovskite-Chat, comprising 55,101 high-quality question-answer pairs generated through a novel multi-agent framework, and Perovskite-Reasoning, containing 2,217 carefully curated materials science problems. Third, we introduce two specialized large language models: Perovskite-Chat-LLM for domain-specific knowledge assistance and Perovskite-Reasoning-LLM for scientific reasoning tasks. Experimental results demonstrate that our system significantly outperforms existing models in both domain-specific knowledge retrieval and scientific reasoning tasks, providing researchers with effective tools for literature review, experimental design, and complex problem-solving in PSC research.

Despite recent advances in learning-based controllers for legged robots, deployments in human-centric environments remain limited by safety concerns. Most of these approaches use position-based control, where policies output target joint angles that must be processed by a low-level controller (e.g., PD or impedance controllers) to compute joint torques. Although impressive results have been achieved in controlled real-world scenarios, these methods often struggle with compliance and adaptability when encountering environments or disturbances unseen during training, potentially resulting in extreme or unsafe behaviors. Inspired by how animals achieve smooth and adaptive movements by controlling muscle extension and contraction, torque-based policies offer a promising alternative by enabling precise and direct control of the actuators in torque space. In principle, this approach facilitates more effective interactions with the environment, resulting in safer and more adaptable behaviors. However, challenges such as a highly nonlinear state space and inefficient exploration during training have hindered their broader adoption. To address these limitations, we propose SATA, a bio-inspired framework that mimics key biomechanical principles and adaptive learning mechanisms observed in animal locomotion. Our approach effectively addresses the inherent challenges of learning torque-based policies by significantly improving early-stage exploration, leading to high-performance final policies. Remarkably, our method achieves zero-shot sim-to-real transfer. Our experimental results indicate that SATA demonstrates remarkable compliance and safety, even in challenging environments such as soft/slippery terrain or narrow passages, and under significant external disturbances, highlighting its potential for practical deployments in human-centric and safety-critical scenarios.

Link prediction (LP) is an important problem in network science and machine learning research. The state-of-the-art LP methods are usually evaluated in a uniform setup, ignoring several factors associated with the data and application specific needs. We identify a number of such factors, such as, network-type, problem-type, geodesic distance between the end nodes and its distribution over the classes, nature and applicability of LP methods, class imbalance and its impact on early retrieval, evaluation metric, etc., and present an experimental setup which allows us to evaluate LP methods in a rigorous and controlled manner. We perform extensive experiments with a variety of LP methods over real network datasets in this controlled setup, and gather valuable insights on the interactions of these factors with the performance of LP through an array of carefully designed hypotheses. Following the insights, we provide recommendations to be followed as best practice for evaluating LP methods.

Time series forecasting (TSF) is an essential branch of machine learning with various applications. Most methods for TSF focus on constructing different networks to extract better information and improve performance. However, practical application data contain different internal mechanisms, resulting in a mixture of multiple patterns. That is, the model's ability to fit different patterns is different and generates different errors. In order to solve this problem, we propose an end-to-end framework, namely probability pattern-guided time series forecasting (PPGF). PPGF reformulates the TSF problem as a forecasting task guided by probabilistic pattern classification. Firstly, we propose the grouping strategy to approach forecasting problems as classification and alleviate the impact of data imbalance on classification. Secondly, we predict in the corresponding class interval to guarantee the consistency of classification and forecasting. In addition, True Class Probability (TCP) is introduced to pay more attention to the difficult samples to improve the classification accuracy. Detailedly, PPGF classifies the different patterns to determine which one the target value may belong to and estimates it accurately in the corresponding interval. To demonstrate the effectiveness of the proposed framework, we conduct extensive experiments on real-world datasets, and PPGF achieves significant performance improvements over several baseline methods. Furthermore, the effectiveness of TCP and the necessity of consistency between classification and forecasting are proved in the experiments. All data and codes are available online: https://github.com/syrGitHub/PPGF.

Authors: Yifan Xu Abstract: Conventional wind power prediction methods often struggle to provide accurate and reliable predictions in the presence of sudden changes in wind speed and power output. To address this challenge, this study proposes an integrated algorithm that combines a wind speed mutation identification algorithm, an optimized similar period matching algorithm and a wind power prediction algorithm. By exploiting the convergence properties of meteorological events, the method significantly improves the accuracy of wind power prediction under sudden meteorological changes. Firstly, a novel adaptive model based on variational mode decomposition, the VMD-IC model, is developed for identifying and labelling key turning points in the historical wind power data, representing abrupt meteorological environments. At the same time, this paper proposes Ramp Factor (RF) indicators and wind speed similarity coefficient to optimize the definition algorithm of the current wind power ramp event (WPRE). After innovating the definition of climbing and denoising algorithm, this paper uses the Informer deep learning algorithm to output the first two models as well as multimodal data such as NWP numerical weather forecasts to achieve accurate wind forecasts. The experimental results of the ablation study confirm the effectiveness and reliability of the proposed wind slope identification method. Compared with existing methods, the proposed model exhibits excellent performance and provides valuable guidance for the safe and cost-effective operation of power systems.