W e contend that embodied learning is fundamentally a life-cycle problem rather than a single-stage optimization. Systems that optimize only one link (data collection, simulation, learning, or deployment) rarely sustain improvement or generalize beyond narrow settings. W e introduce Arcadia, a closed-loop framework that operational-izes embodied lifelong learning by tightly coupling four stages: (1) Self-evolving exploration and grounding for autonomous data acquisition in physical environments, (2) Generative scene reconstruction and augmentation for realistic and extensible scene creation, (3) a Shared embodied representation architecture that unifies navigation and manipulation within a single multimodal backbone, and (4) Sim-from-real evaluation and evolution that closes the feedback loop through simulation-based adaptation. This coupling is non-decomposable: removing any stage breaks the improvement loop and reverts to one-shot training. Arcadia delivers consistent gains on navigation and manipulation benchmarks and transfers robustly to physical robots, indicating that a tightly coupled lifecycle: continuous real-world data acquisition, generative simulation update, and shared-representation learning, supports lifelong improvement and end-to-end generalization. W e release standardized interfaces enabling reproducible evaluation and cross-model comparison in reusable environments, positioning Arcadia as a scalable foundation for general-purpose embodied agents.

We propose a technique to assist in converting a reference layout of an analog circuit into the procedural layout generator by efficiently reusing available generators for sub-cell creation. The proposed convolutional neural network (CNN) model automatically detects sub-cells that can be generated by available generator scripts in the library, and suggests using them in the hierarchically correct places of the generator software. In experiments, the CNN model examined sub-cells of a high-speed wireline receiver that has a total of 4,885 sub-cell instances including different 145 sub-cell designs. The CNN model classified the sub-cell instances into 51 generatable and one not-generatable classes. One not-generatable class indicates that no available generator can generate the classified sub-cell. The CNN model achieved 99.3% precision in examining the 145 different sub-cell designs. The CNN model greatly reduced the examination time to 18 seconds from 88 minutes required in manual examination. Also, the proposed CNN model could correctly classify unfamiliar sub-cells that are very different from the training dataset.

Autonomous robots are increasingly deployed in dynamic and unstructured environments, where they must plan and execute complex tasks under uncertainty. Classical planning approaches, typically modeled in PDDL and solved with heuristic search, provide a principled foundation for task planning (Edelkamp and Schr odl, 2011; Geffner and Bonet, 2013). However, these methods rely on explicit domain models that enumerate preconditions and effects of actions. In practice, such models often omit implicit commonsense knowledge, for example, that a container must be upright before pouring, or that water must be boiled before making tea. The absence of such knowledge can lead to plans that are logically correct but physically invalid. Cognitive robotics research seeks to bridge symbolic reasoning with robot perception and control (Ghallab et al., 2004). While significant progress has been made in integrating planning with motion control and execution, robots still lack the ability to autonomously infer commonsense constraints that humans consider obvious. Large Language Models (LLMs), trained on massive corpora of human knowledge, present a promising avenue for addressing this gap. LLMs can generate likely preconditions, subgoals, and contextual constraints from natural language task descriptions, potentially enriching classical planning models. 1

This study introduces PEFT -DML, a parameter-efficient deep metric learning framework for robust multi-modal 3D object detection in autonomous driving. Unlike conventional models that assume fixed sensor availability, PEFT -DML maps diverse modalities (LiDAR, radar, camera, IMU, GNSS) into a shared latent space, enabling reliable detection even under sensor dropout or unseen modality-class combinations. By integrating Low-Rank Adaptation (LoRA) and adapter layers, PEFT -DML achieves significant training efficiency while enhancing robustness to fast motion, weather variability, and domain shifts. Experiments on benchmarks nuScenes demonstrate superior accuracy.

Deep Neural Networks (DNNs) continue to grow in complexity with Large Language Models (LLMs) incorporating vast numbers of parameters. Handling these parameters efficiently in traditional accelerators is limited by data-transmission bottlenecks, motivating Compute-in-Memory (CiM) architectures that integrate computation within or near memory to reduce data movement. Recent work has explored CiM designs using Floating-Point (FP) and Integer (INT) operations. FP computations typically deliver higher output quality due to their wider dynamic range and precision, benefiting precision-sensitive Generative AI applications. These include models such as LLMs, thus driving advancements in FP-CiM accelerators. However, the vulnerability of FP-CiM to hardware faults remains underexplored, posing a major reliability concern in mission-critical settings. To address this gap, we systematically analyze hardware fault effects in FP-CiM by introducing bit-flip faults at key computational stages, including digital multipliers, CiM memory cells, and digital adder trees. Experiments with Convolutional Neural Networks (CNNs) such as AlexNet and state-of-the-art LLMs including LLaMA-3.2-1B and Qwen-0.3B-Base reveal how faults at each stage affect inference accuracy. Notably, a single adder fault can reduce LLM accuracy to 0%. Based on these insights, we propose a fault-resilient design, SafeCiM, that mitigates fault impact far better than a naive FP-CiM with a pre-alignment stage. For example, with 4096 MAC units, SafeCiM reduces accuracy degradation by up to 49x for a single adder fault compared to the baseline FP-CiM architecture.

Large language model (LLM) inference often suffers from high decoding latency and limited scalability across heterogeneous edge-cloud environments. Existing speculative decoding (SD) techniques accelerate token generation but remain confined to single-node execution. We propose DSD, a distributed speculative decoding framework that extends SD to multi-device deployments through coordinated draft-target execution. Given the lack of prior work on simulating this paradigm, we first introduce DSD-Sim, a discrete-event simulator that captures network, batching, and scheduling dynamics. Building on insights from DSD-Sim, we further design an Adaptive Window Control (AWC) policy that dynamically adjusts speculation window size to optimize throughput. Experiments across diverse workloads show that DSD achieves up to 1.1x speedup and 9.7% higher throughput over existing SD baselines, enabling agile and scalable LLM serving across edge and cloud.

Vision-Language-Action (VLA) models are vulnerable to adversarial attacks, yet universal and transferable attacks remain underexplored, as most existing patches overfit to a single model and fail in black-box settings. To address this gap, we present a systematic study of universal, transferable adversarial patches against VLA-driven robots under unknown architectures, finetuned variants, and sim-to-real shifts. We introduce UPA-RFAS (Universal Patch Attack via Robust Feature, Attention, and Semantics), a unified framework that learns a single physical patch in a shared feature space while promoting cross-model transfer. UPA-RFAS combines (i) a feature-space objective with an $\ell_1$ deviation prior and repulsive InfoNCE loss to induce transferable representation shifts, (ii) a robustness-augmented two-phase min-max procedure where an inner loop learns invisible sample-wise perturbations and an outer loop optimizes the universal patch against this hardened neighborhood, and (iii) two VLA-specific losses: Patch Attention Dominance to hijack text$\to$vision attention and Patch Semantic Misalignment to induce image-text mismatch without labels. Experiments across diverse VLA models, manipulation suites, and physical executions show that UPA-RFAS consistently transfers across models, tasks, and viewpoints, exposing a practical patch-based attack surface and establishing a strong baseline for future defenses.

Referring Multi-Object Tracking (RMOT) aims to achieve precise object detection and tracking through natural language instructions, representing a fundamental capability for intelligent robotic systems. However, current RMOT research remains mostly confined to ground-level scenarios, which constrains their ability to capture broad-scale scene contexts and perform comprehensive tracking and path planning. In contrast, Unmanned Aerial Vehicles (UAVs) leverage their expansive aerial perspectives and superior maneuverability to enable wide-area surveillance. Moreover, UAVs have emerged as critical platforms for Embodied Intelligence, which has given rise to an unprecedented demand for intelligent aerial systems capable of natural language interaction. To this end, we introduce AerialMind, the first large-scale RMOT benchmark in UAV scenarios, which aims to bridge this research gap. To facilitate its construction, we develop an innovative semi-automated collaborative agent-based labeling assistant (COALA) framework that significantly reduces labor costs while maintaining annotation quality. Furthermore, we propose HawkEyeTrack (HETrack), a novel method that collaboratively enhances vision-language representation learning and improves the perception of UAV scenarios. Comprehensive experiments validated the challenging nature of our dataset and the effectiveness of our method.

Schema matching is a critical task in data integration, particularly in the medical domain where disparate Electronic Health Record (EHR) systems must be aligned to standard models like OMOP CDM. While Large Language Models (LLMs) have shown promise in schema matching, they suffer from hallucination and lack of up-to-date domain knowledge. Knowledge Graphs (KGs) offer a solution by providing structured, verifiable knowledge. However, existing KG-augmented LLM approaches often rely on inefficient complex multi-hop queries or storage-intensive vector-based retrieval methods. This paper introduces SMoG (Schema Matching on Graph), a novel framework that leverages iterative execution of simple 1-hop SP ARQL queries, inspired by successful strategies in Knowledge Graph Question Answering (KGQA). SMoG enhances explainability and reliability by generating human-verifiable query paths while significantly reducing storage requirements by directly querying SP ARQL endpoints. Experimental results on real-world medical datasets demonstrate that SMoG achieves performance comparable to state-of-the-art baselines, validating its effectiveness and efficiency in KG-augmented schema matching.

Automatically detecting abnormal events in videos is crucial for modern autonomous systems, yet existing Video Anomaly Detection (VAD) benchmarks lack the scene diversity, balanced anomaly coverage, and temporal complexity needed to reliably assess real-world performance. Meanwhile, the community is increasingly moving toward Video Anomaly Understanding (VAU), which requires deeper semantic and causal reasoning but remains difficult to benchmark due to the heavy manual annotation effort it demands. In this paper, we introduce Pistachio, a new VAD/VAU benchmark constructed entirely through a controlled, generation-based pipeline. By leveraging recent advances in video generation models, Pistachio provides precise control over scenes, anomaly types, and temporal narratives, effectively eliminating the biases and limitations of Internet-collected datasets. Our pipeline integrates scene-conditioned anomaly assignment, multi-step storyline generation, and a temporally consistent long-form synthesis strategy that produces coherent 41-second videos with minimal human intervention. Extensive experiments demonstrate the scale, diversity, and complexity of Pistachio, revealing new challenges for existing methods and motivating future research on dynamic and multi-event anomaly understanding.