Dynamic locomotion in legged robots is close to industrial collaboration, but a lack of standardized testing obstructs commercialization. The issues are not merely political, theoretical, or algorithmic but also physical, indicating limited studies and comprehension regarding standard testing infrastructure and equipment. For decades, the approaches we have been testing legged robots were rarely standardizable with hand-pushing, foot-kicking, rope-dragging, stick-poking, and ball-swinging. This paper aims to bridge the gap by proposing the use of the linear impactor, a well-established tool in other standardized testing disciplines, to serve as an adaptive, repeatable, and fair disturbance rejection testing equipment for legged robots. A pneumatic linear impactor is also adopted for the case study involving the humanoid robot Digit. Three locomotion controllers are examined, including a commercial one, using a walking-in-place task against frontal impacts. The statistically best controller was able to withstand the impact momentum (26.376 kg$\cdot$m/s) on par with a reported average effective momentum from straight punches by Olympic boxers (26.506 kg$\cdot$m/s). Moreover, the case study highlights other anti-intuitive observations, demonstrations, and implications that, to the best of the authors' knowledge, are first-of-its-kind revealed in real-world testing of legged robots.

We investigate the applicability of machine learning technologies to the development of parsimonious, interpretable, catchment-scale hydrologic models using directed-graph architectures based on the mass-conserving perceptron (MCP) as the fundamental computational unit. Here, we focus on architectural complexity (depth) at a single location, rather than universal applicability (breadth) across large samples of catchments. The goal is to discover a minimal representation (numbers of cell-states and flow paths) that represents the dominant processes that can explain the input-state-output behaviors of a given catchment, with particular emphasis given to simulating the full range (high, medium, and low) of flow dynamics. We find that a HyMod-like architecture with three cell-states and two major flow pathways achieves such a representation at our study location, but that the additional incorporation of an input-bypass mechanism significantly improves the timing and shape of the hydrograph, while the inclusion of bi-directional groundwater mass exchanges significantly enhances the simulation of baseflow. Overall, our results demonstrate the importance of using multiple diagnostic metrics for model evaluation, while highlighting the need for designing training metrics that are better suited to extracting information across the full range of flow dynamics. Further, they set the stage for interpretable regional-scale MCP-based hydrological modeling (using large sample data) by using neural architecture search to determine appropriate minimal representations for catchments in different hydroclimatic regimes.

Integrated sensing and communication (ISAC), and intelligent reflecting surface (IRS) are envisioned as revolutionary technologies to enhance spectral and energy efficiencies for next wireless system generations. For the first time, this paper focuses on the channel estimation problem in an IRS-assisted ISAC system. This problem is challenging due to the lack of signal processing capacity in passive IRS, as well as the presence of mutual interference between sensing and communication (SAC) signals in ISAC systems. A three-stage approach is proposed to decouple the estimation problem into sub-ones, including the estimation of the direct SAC channels in the first stage, reflected communication channel in the second stage, and reflected sensing channel in the third stage. The proposed three-stage approach is based on a deep-learning framework, which involves two different convolutional neural network (CNN) architectures to estimate the channels at the full-duplex ISAC base station. Furthermore, two types of input-output pairs to train the CNNs are carefully designed, which affect the estimation performance under various signal-to-noise ratio conditions and system parameters. Simulation results validate the superiority of the proposed estimation approach compared to the least-squares baseline scheme, and its computational complexity is also analyzed.

Multi-user integrated sensing and communication (ISAC) assisted by intelligent reflecting surface (IRS) has been recently investigated to provide a high spectral and energy efficiency transmission. This paper proposes a practical channel estimation approach for the first time to an IRS-assisted multiuser ISAC system. The estimation problem in such a system is challenging since the sensing and communication (SAC) signals interfere with each other, and the passive IRS lacks signal processing ability. A two-stage approach is proposed to transfer the overall estimation problem into sub-ones, successively including the direct and reflected channels estimation. Based on this scheme, the ISAC base station (BS) estimates all the SAC channels associated with the target and uplink users, while each downlink user estimates the downlink communication channels individually. Considering a low-cost demand of the ISAC BS and downlink users, the proposed two-stage approach is realized by an efficient neural network (NN) framework that contains two different extreme learning machine (ELM) structures to estimate the above SAC channels. Moreover, two types of input-output pairs to train the ELMs are carefully devised, which impact the estimation accuracy and computational complexity under different system parameters. Simulation results reveal a substantial performance improvement achieved by the proposed ELM-based approach over the least-squares and NN-based benchmarks, with reduced training complexity and faster training speed.

Integrated sensing and communication (ISAC) and intelligent reflecting surface (IRS) are viewed as promising technologies for future generations of wireless networks. This paper investigates the channel estimation problem in an IRS-assisted ISAC system. A deep-learning framework is proposed to estimate the sensing and communication (S&C) channels in such a system. Considering different propagation environments of the S&C channels, two deep neural network (DNN) architectures are designed to realize this framework. The first DNN is devised at the ISAC base station for estimating the sensing channel, while the second DNN architecture is assigned to each downlink user equipment to estimate its communication channel. Moreover, the input-output pairs to train the DNNs are carefully designed. Simulation results show the superiority of the proposed estimation approach compared to the benchmark scheme under various signal-to-noise ratio conditions and system parameters.

Machine learning techniques are now integral to the advancement of intelligent urban services, playing a crucial role in elevating the efficiency, sustainability, and livability of urban environments. The recent emergence of foundation models such as ChatGPT marks a revolutionary shift in the fields of machine learning and artificial intelligence. Their unparalleled capabilities in contextual understanding, problem solving, and adaptability across a wide range of tasks suggest that integrating these models into urban domains could have a transformative impact on the development of smart cities. Despite growing interest in Urban Foundation Models~(UFMs), this burgeoning field faces challenges such as a lack of clear definitions, systematic reviews, and universalizable solutions. To this end, this paper first introduces the concept of UFM and discusses the unique challenges involved in building them. We then propose a data-centric taxonomy that categorizes current UFM-related works, based on urban data modalities and types. Furthermore, to foster advancement in this field, we present a promising framework aimed at the prospective realization of UFMs, designed to overcome the identified challenges. Additionally, we explore the application landscape of UFMs, detailing their potential impact in various urban contexts. Relevant papers and open-source resources have been collated and are continuously updated at https://github.com/usail-hkust/Awesome-Urban-Foundation-Models.

This report examines a novel risk associated with current (and projected) AI tools. Making effective decisions about future actions requires us to reason under uncertainty (RUU), and doing so is essential to many critical real world problems. Overfaced by this challenge, there is growing demand for AI tools like LLMs to assist decision-makers. Having evidenced this demand and the incentives behind it, we expose a growing risk: we 1) do not currently sufficiently understand LLM capabilities in this regard, and 2) have no guarantees of performance given fundamental computational explosiveness and deep uncertainty constraints on accuracy. This report provides an exposition of what makes RUU so challenging for both humans and machines, and relates these difficulties to prospective AI timelines and capabilities. Having established this current potential misuse risk, we go on to expose how this seemingly additive risk (more misuse additively contributed to potential harm) in fact has multiplicative properties. Specifically, we detail how this misuse risk connects to a wider network of underlying structural risks (e.g., shifting incentives, limited transparency, and feedback loops) to produce non-linear harms. We go on to provide a solutions roadmap that targets multiple leverage points in the structure of the problem. This includes recommendations for all involved actors (prospective users, developers, and policy-makers) and enfolds insights from areas including Decision-making Under Deep Uncertainty and complex systems theory. We argue this report serves not only to raise awareness (and subsequently mitigate/correct) of a current, novel AI risk, but also awareness of the underlying class of structural risks by illustrating how their interconnected nature poses twin-dangers of camouflaging their presence, whilst amplifying their potential effects.

Large Language Models (LLMs) have demonstrated extraordinary capabilities and contributed to multiple fields, such as generating and summarizing text, language translation, and question-answering. Nowadays, LLM is becoming a very popular tool in computerized language processing tasks, with the capability to analyze complicated linguistic patterns and provide relevant and appropriate responses depending on the context. While offering significant advantages, these models are also vulnerable to security and privacy attacks, such as jailbreaking attacks, data poisoning attacks, and Personally Identifiable Information (PII) leakage attacks. This survey provides a thorough review of the security and privacy challenges of LLMs for both training data and users, along with the application-based risks in various domains, such as transportation, education, and healthcare. We assess the extent of LLM vulnerabilities, investigate emerging security and privacy attacks for LLMs, and review the potential defense mechanisms. Additionally, the survey outlines existing research gaps in this domain and highlights future research directions.

We demonstrate that large language models can produce reasonable numerical ratings of the logical consistency of claims. We also outline a mathematical approach based on sheaf theory for lifting such ratings to hypertexts such as laws, jurisprudence, and social media and evaluating their consistency globally. This approach is a promising avenue to increasing consistency in and of government, as well as to combating mis- and disinformation and related ills.

Algorithms for sparse matrix completion are used in recommender systems to predict user preferences to items such as news, movies, or songs [1]. The same methods can be successfully applied in other fields, for instance in systems biology to predict gene-disease associations or in computational systems pharmacology to predict adverse drug reactions [2] and to repurpose FDA approved drugs [3]. Matrix completion is the task of filling out missing entries in an observed sparse matrix. A low rank solution to matrix completion problem can be obtained via matrix factorization, a technique that approximates the input sparse matrix as a product of two lower dimensional matrices of users' and items' latent vectors [4]. Despite efforts to develop more sophisticated techniques, such as the methods based on artificial neural networks [5], matrix factorization remains the method of choice in recommender systems due to its efficiency and high accuracy [6].