Accurate motion control in the face of disturbances within complex environments remains a major challenge in robotics. Classical model-based approaches often struggle with nonlinearities and unstructured disturbances, while RL-based methods can be fragile when encountering unseen scenarios. In this paper, we propose a novel framework, Neural Internal Model Control, which integrates model-based control with RL-based control to enhance robustness. Our framework streamlines the predictive model by applying Newton-Euler equations for rigid-body dynamics, eliminating the need to capture complex high-dimensional nonlinearities. This internal model combines model-free RL algorithms with predictive error feedback. Such a design enables a closed-loop control structure to enhance the robustness and generalizability of the control system. We demonstrate the effectiveness of our framework on both quadrotors and quadrupedal robots, achieving superior performance compared to state-of-the-art methods. Furthermore, real-world deployment on a quadrotor with rope-suspended payloads highlights the framework's robustness in sim-to-real transfer. Our code is released at https://github.com/thu-uav/NeuralIMC.

This white paper, developed through close collaboration between IBM Research and UIUC researchers within the IIDAI Institute, envisions transforming hybrid cloud systems to meet the growing complexity of AI workloads through innovative, full-stack co-design approaches, emphasizing usability, manageability, affordability, adaptability, efficiency, and scalability. By integrating cutting-edge technologies such as generative and agentic AI, cross-layer automation and optimization, unified control plane, and composable and adaptive system architecture, the proposed framework addresses critical challenges in energy efficiency, performance, and cost-effectiveness. Incorporating quantum computing as it matures will enable quantum-accelerated simulations for materials science, climate modeling, and other high-impact domains. Collaborative efforts between academia and industry are central to this vision, driving advancements in foundation models for material design and climate solutions, scalable multimodal data processing, and enhanced physics-based AI emulators for applications like weather forecasting and carbon sequestration. Research priorities include advancing AI agentic systems, LLM as an Abstraction (LLMaaA), AI model optimization and unified abstractions across heterogeneous infrastructure, end-to-end edge-cloud transformation, efficient programming model, middleware and platform, secure infrastructure, application-adaptive cloud systems, and new quantum-classical collaborative workflows. These ideas and solutions encompass both theoretical and practical research questions, requiring coordinated input and support from the research community. This joint initiative aims to establish hybrid clouds as secure, efficient, and sustainable platforms, fostering breakthroughs in AI-driven applications and scientific discovery across academia, industry, and society.

The deployment of robotic systems in real world environments requires the ability to quickly produce paths through cluttered, non-convex spaces. These planned trajectories must be both kinematically feasible (i.e., collision free) and dynamically feasible (i.e., satisfy the underlying system dynamics), necessitating a consideration of both the free space and the dynamics of the robot in the path planning phase. In this work, we explore the application of reachable Bezier polytopes as an efficient tool for generating trajectories satisfying both kinematic and dynamic requirements. Furthermore, we demonstrate that by offloading specific computation tasks to the GPU, such an algorithm can meet tight real time requirements. We propose a layered control architecture that efficiently produces collision free and dynamically feasible paths for nonlinear control systems, and demonstrate the framework on the tasks of 3D hopping in a cluttered environment.

During training, weight matrices in machine learning architectures are updated using stochastic gradient descent or variations thereof. In this contribution we employ concepts of random matrix theory to analyse the resulting stochastic matrix dynamics. We first demonstrate that the dynamics can generically be described using Dyson Brownian motion, leading to e.g. eigenvalue repulsion. The level of stochasticity is shown to depend on the ratio of the learning rate and the mini-batch size, explaining the empirically observed linear scaling rule. We verify this linear scaling in the restricted Boltzmann machine. Subsequently we study weight matrix dynamics in transformers (a nano-GPT), following the evolution from a Marchenko-Pastur distribution for eigenvalues at initialisation to a combination with additional structure at the end of learning.

The multi-armed bandit problem (MAB) is a classic framework in sequential decision making, capturing the exploration-exploitation trade off faced in many real-world domains, for example, recommendation systems [Gentile et al., 2014, Li et al., 2010, Li et al., 2016], clinical trials [Durand et al., 2018, Wang, 1991], online advertising [Tao et al., 2018], adaptive routing [Awerbuch and Kleinberg, 2008] and so on. An instance of MAB problem consists of a set of possible choices called arms. The learning agent sequentially chooses an arm and receives a reward related to the chosen arm. The goal of the agent is to either maximize the cumulative reward (equivalently, minimize the regret) over the time, referred as regret minimization problem [Bubeck et al., 2012, Cesa-Bianchi et al., 2013, Lattimore and Szepesvári, 2020] or, to identify the best arm within a specified constraint. The latter variant is known as the best-arm identification or pure exploration problem, which is studied in two different settings based on the specific constraint: (1) fixed-budget [Audibert and Bubeck, 2010, Bubeck et al., 2009, Karnin et al., 2013] and (2) fixed-confidence [Chen et al., 2017, Garivier and Kaufmann, 2016, Mannor and Tsitsiklis, 2004]. While the fixed-budget setting aims to identify the best arm with smallest error probability within the allocated time budget, the goal in fixed-confidence setup is to identify the best arm with the given confidence level using minimum arm pulls. In this paper, we study fixed-budget best-arm identification in stochastic linear bandit (SLB) [Auer, 2002, Abbasi-Yadkori et al., 2011].

We study the complexity of sampling, rounding, and integrating arbitrary logconcave functions. Our new approach provides the first complexity improvements in nearly two decades for general logconcave functions for all three problems, and matches the best-known complexities for the special case of uniform distributions on convex bodies. For the sampling problem, our output guarantees are significantly stronger than previously known, and lead to a streamlined analysis of statistical estimation based on dependent random samples.

We propose and analyze a class of adaptive sampling algorithms for multimodal distributions on a bounded domain, which share a structural resemblance to the classic overdamped Langevin dynamics. We first demonstrate that this class of linear dynamics with adaptive diffusion coefficients and vector fields can be interpreted and analyzed as weighted Wasserstein gradient flows of the Kullback--Leibler (KL) divergence between the current distribution and the target Gibbs distribution, which directly leads to the exponential convergence of both the KL and $\chi^2$ divergences, with rates depending on the weighted Wasserstein metric and the Gibbs potential. We then show that a derivative-free version of the dynamics can be used for sampling without gradient information of the Gibbs potential and that for Gibbs distributions with nonconvex potentials, this approach could achieve significantly faster convergence than the classical overdamped Langevin dynamics. A comparison of the mean transition times between local minima of a nonconvex potential further highlights the better efficiency of the derivative-free dynamics in sampling.

Natural Language Inference (NLI) is a task within Natural Language Processing (NLP) that holds value for various AI applications. However, there have been limited studies on Natural Language Inference in Vietnamese that explore the concept of joint models. Therefore, we conducted experiments using various combinations of contextualized language models (CLM) and neural networks. We use CLM to create contextualized work presentations and use Neural Networks for classification. Furthermore, we have evaluated the strengths and weaknesses of each joint model and identified the model failure points in the Vietnamese context. The highest F1 score in this experiment, up to 82.78% in the benchmark dataset (ViNLI). By conducting experiments with various models, the most considerable size of the CLM is XLM-R (355M). That combination has consistently demonstrated superior performance compared to fine-tuning strong pre-trained language models like PhoBERT (+6.58%), mBERT (+19.08%), and XLM-R (+0.94%) in terms of F1-score. This article aims to introduce a novel approach or model that attains improved performance for Vietnamese NLI. Overall, we find that the joint approach of CLM and neural networks is simple yet capable of achieving high-quality performance, which makes it suitable for applications that require efficient resource utilization.

The advancement of insect-computer hybrid robots holds significant promise for navigating complex terrains and enhancing robotics applications. This study introduced an automatic assembly method for insect-computer hybrid robots, which was accomplished by mounting backpack with precise implantation of custom-designed bipolar electrodes. We developed a stimulation protocol for the intersegmental membrane between pronotum and mesothorax of the Madagascar hissing cockroach, allowing for bipolar electrodes' automatic implantation using a robotic arm. The assembly process was integrated with a deep learning-based vision system to accurately identify the implantation site, and a dedicated structure to fix the insect (68 s for the whole assembly process). The automatically assembled hybrid robots demonstrated steering control (over 70 degrees for 0.4 s stimulation) and deceleration control (68.2% speed reduction for 0.4 s stimulation), matching the performance of manually assembled systems. Furthermore, a multi-agent system consisting of 4 hybrid robots successfully covered obstructed outdoor terrain (80.25% for 10 minutes 31 seconds), highlighting the feasibility of mass-producing these systems for practical applications. The proposed automatic assembly strategy reduced preparation time for the insect-computer hybrid robots while maintaining their precise control, laying a foundation for scalable production and deployment in real-world applications.

Since generative artificial intelligence (AI) tools such as OpenAI's ChatGPT became widely available, researchers have used them in the writing process. The consensus of the academic publishing community is that such usage must be declared in the published article. Academ-AI documents examples of suspected undeclared AI usage in the academic literature, discernible primarily due to the appearance in research papers of idiosyncratic verbiage characteristic of large language model (LLM)-based chatbots. This analysis of the first 500 examples collected reveals that the problem is widespread, penetrating the journals and conference proceedings of highly respected publishers. Undeclared AI seems to appear in journals with higher citation metrics and higher article processing charges (APCs), precisely those outlets that should theoretically have the resources and expertise to avoid such oversights. An extremely small minority of cases are corrected post publication, and the corrections are often insufficient to rectify the problem. The 500 examples analyzed here likely represent a small fraction of the undeclared AI present in the academic literature, much of which may be undetectable. Publishers must enforce their policies against undeclared AI usage in cases that are detectable; this is the best defense currently available to the academic publishing community against the proliferation of undisclosed AI.