Soft robotics has emerged as a transformative technology in Search and Rescue (SAR) operations, addressing challenges in navigating complex, hazardous environments that often limit traditional rigid robots. This paper critically examines advancements in soft robotic technologies tailored for SAR applications, focusing on their unique capabilities in adaptability, safety, and efficiency. By leveraging bio-inspired designs, flexible materials, and advanced locomotion mechanisms, such as crawling, rolling, and shape morphing, soft robots demonstrate exceptional potential in disaster scenarios. However, significant barriers persist, including material durability, power inefficiency, sensor integration, and control complexity. This comprehensive review highlights the current state of soft robotics in SAR, discusses simulation methodologies and hardware validations, and introduces performance metrics essential for their evaluation. By bridging the gap between theoretical advancements and practical deployment, this study underscores the potential of soft robotic systems to revolutionize SAR missions and advocates for continued interdisciplinary innovation to overcome existing limitations.

Building surrogate models with uncertainty quantification capabilities is essential for many engineering applications where randomness, such as variability in material properties, is unavoidable. Polynomial Chaos Expansion (PCE) is widely recognized as a to-go method for constructing stochastic solutions in both intrusive and non-intrusive ways. Its application becomes challenging, however, with complex or high-dimensional processes, as achieving accuracy requires higher-order polynomials, which can increase computational demands and or the risk of overfitting. Furthermore, PCE requires specialized treatments to manage random variables that are not independent, and these treatments may be problem-dependent or may fail with increasing complexity. In this work, we adopt the spectral expansion formalism used in PCE; however, we replace the classical polynomial basis functions with neural network (NN) basis functions to leverage their expressivity. To achieve this, we propose an algorithm that identifies NN-parameterized basis functions in a purely data-driven manner, without any prior assumptions about the joint distribution of the random variables involved, whether independent or dependent. The proposed algorithm identifies each NN-parameterized basis function sequentially, ensuring they are orthogonal with respect to the data distribution. The basis functions are constructed directly on the joint stochastic variables without requiring a tensor product structure. This approach may offer greater flexibility for complex stochastic models, while simplifying implementation compared to the tensor product structures typically used in PCE to handle random vectors. We demonstrate the effectiveness of the proposed scheme through several numerical examples of varying complexity and provide comparisons with classical PCE.

Matt Garman took the helm at Amazon Web Services (AWS), the cloud computing arm of the U.S. tech giant, in June, but he joined the business around 19 years ago as an intern. He went on to become AWS's first product manager and helped to build and launch many of its core services, before eventually becoming the CEO last year. Like many other tech companies, AWS, which is Amazon's most profitable unit, is betting big on AI. In April 2023, the company launched Amazon Bedrock, which gives cloud customers access to foundation models built by AI companies including Anthropic and Mistral. At its re:Invent conference in Las Vegas in December, the AWS made a series of announcements, including a new generation of foundation AI models, called Nova. It also said that it's building one of the world's most powerful AI supercomputers with Anthropic, which it has a strategic partnership with, using a giant cluster of AWS's Trainium 2 training chips. TIME spoke with Garman a few days after the re:Invent conference, about his AI ambitions, how he's thinking about ensuring the technology is safe, and how the company is balancing its energy needs with its emissions targets.

The foundation model enables general-purpose problem-solving and enjoys desirable rapid adaptation due to its adopted cross-task generalization paradigms, e.g., pretraining, meta-training, and finetuning. Recent advances in these paradigms show the crucial role of challenging tasks' prioritized sampling in enhancing adaptation robustness. However, ranking task difficulties exhausts massive task queries to evaluate, thus computation and annotation intensive, which is typically unaffordable in practice. This work underscores the criticality of both adaptation robustness and learning efficiency, especially in scenarios where tasks are risky or costly to evaluate, e.g., policy evaluations in Markov decision processes (MDPs) or inference with large models. To this end, we present Model Predictive Task Sampling (MPTS) to establish connections between the task space and adaptation risk landscape to form a theoretical guideline in robust active task sampling. MPTS characterizes the task episodic information with a generative model and directly predicts task-specific adaptation risk values from posterior inference. The developed risk learner can amortize expensive evaluation and provably approximately rank task difficulties in the pursuit of task robust adaptation. MPTS can be seamlessly integrated into zero-shot, few-shot, and many-shot learning paradigms. Extensive experimental results are conducted to exhibit the superiority of the proposed framework, remarkably increasing task adaptation robustness and retaining learning efficiency in contrast to existing state-of-the-art (SOTA) methods. The code is available at the project site https://github.com/thu-rllab/MPTS.

While ML model training and inference are both GPU-intensive, CPU-based data processing is often the bottleneck. Distributed data processing systems based on the batch or stream processing models assume homogeneous resource requirements. They excel at CPU-based computation but either under-utilize heterogeneous resources or impose high overheads on failure and reconfiguration. We introduce the streaming batch model, a hybrid of the two models that enables efficient and fault-tolerant heterogeneous execution. The key idea is to execute one partition at a time to allow lineage-based recovery with dynamic resource allocation. This enables memory-efficient pipelining across heterogeneous resources, similar to stream processing, but also offers the elasticity and fault tolerance properties of batch processing. We present Ray Data, an implementation of the streaming batch model that improves throughput on heterogeneous batch inference pipelines by 3--8$\times$ compared to traditional batch and stream processing systems. When training Stable Diffusion, Ray Data matches the throughput of single-node ML data loaders while additionally leveraging distributed heterogeneous clusters to further improve training throughput by 31%.

Despite exceptional capabilities in knowledge-intensive tasks, Large Language Models (LLMs) face a critical gap in understanding how they internalize new knowledge, particularly how to structurally embed acquired knowledge in their neural computations. We address this issue through the lens of knowledge circuit evolution, identifying computational subgraphs that facilitate knowledge storage and processing. Our systematic analysis of circuit evolution throughout continual pre-training reveals several key findings: (1) the acquisition of new knowledge is influenced by its relevance to pre-existing knowledge; (2) the evolution of knowledge circuits exhibits a distinct phase shift from formation to optimization; (3) the evolution of knowledge circuits follows a deep-to-shallow pattern. These insights not only advance our theoretical understanding of the mechanisms of new knowledge acquisition in LLMs, but also provide potential implications for improving continual pre-training strategies to enhance model performance. Code and data will be available at https://github.com/zjunlp/DynamicKnowledgeCircuits.

LLMs have immense potential for generating plans, transforming an initial world state into a desired goal state. A large body of research has explored the use of LLMs for various planning tasks, from web navigation to travel planning and database querying. However, many of these systems are tailored to specific problems, making it challenging to compare them or determine the best approach for new tasks. There is also a lack of clear and consistent evaluation criteria. Our survey aims to offer a comprehensive overview of current LLM planners to fill this gap. It builds on foundational work by Kartam and Wilkins (1990) and examines six key performance criteria: completeness, executability, optimality, representation, generalization, and efficiency. For each, we provide a thorough analysis of representative works and highlight their strengths and weaknesses. Our paper also identifies crucial future directions, making it a valuable resource for both practitioners and newcomers interested in leveraging LLM planning to support agentic workflows.

Optimization techniques have become increasingly critical due to the ever-growing model complexity and data scale. In particular, teleportation has emerged as a promising approach, which accelerates convergence of gradient descent-based methods by navigating within the loss invariant level set to identify parameters with advantageous geometric properties. Existing teleportation algorithms have primarily demonstrated their effectiveness in optimizing Multi-Layer Perceptrons (MLPs), but their extension to more advanced architectures, such as Convolutional Neural Networks (CNNs) and Transformers, remains challenging. Moreover, they often impose significant computational demands, limiting their applicability to complex architectures. To this end, we introduce an algorithm that projects the gradient of the teleportation objective function onto the input null space, effectively preserving the teleportation within the loss invariant level set and reducing computational cost. Our approach is readily generalizable from MLPs to CNNs, transformers, and potentially other advanced architectures. We validate the effectiveness of our algorithm across various benchmark datasets and optimizers, demonstrating its broad applicability.

Recent advancements in Natural Language Processing have significantly improved the extraction of structured semantic representations from unstructured text, especially through Frame Semantic Role Labeling (FSRL). Despite this progress, the potential of Retrieval-Augmented Generation (RAG) models for frame detection remains under-explored. In this paper, we present the first RAG-based approach for frame detection called RCIF (Retrieve Candidates and Identify Frames). RCIF is also the first approach to operate without the need for explicit target span and comprises three main stages: (1) generation of frame embeddings from various representations ; (2) retrieval of candidate frames given an input text; and (3) identification of the most suitable frames. We conducted extensive experiments across multiple configurations, including zero-shot, few-shot, and fine-tuning settings. Our results show that our retrieval component significantly reduces the complexity of the task by narrowing the search space thus allowing the frame identifier to refine and complete the set of candidates. Our approach achieves state-of-the-art performance on FrameNet 1.5 and 1.7, demonstrating its robustness in scenarios where only raw text is provided. Furthermore, we leverage the structured representation obtained through this method as a proxy to enhance generalization across lexical variations in the task of translating natural language questions into SPARQL queries.

In an era where data-driven decision-making and computational efficiency are paramount, optimization plays a foundational role in advancing fields such as mathematics, computer science, operations research, machine learning, and beyond. From refining machine learning models to improving resource allocation and designing efficient algorithms, optimization techniques serve as essential tools for tackling complex problems. This book aims to provide both an introductory guide and a comprehensive reference, equipping readers with the necessary knowledge to understand and apply optimization methods within their respective fields. Our primary goal is to demystify the inner workings of optimization algorithms, including black-box and stochastic optimizers, by offering both formal and intuitive explanations. Starting from fundamental mathematical principles, we derive key results to ensure that readers not only learn how these techniques work but also understand when and why to apply them effectively. By striking a careful balance between theoretical depth and practical application, this book serves a broad audience, from students and researchers to practitioners seeking robust optimization strategies.