Large Language Models (LLMs), such as GPT-4 and DeepSeek, have been applied to a wide range of domains in software engineering. However, their potential in the context of High-Performance Computing (HPC) much remains to be explored. This paper evaluates how well DeepSeek, a recent LLM, performs in generating a set of HPC benchmark codes: a conjugate gradient solver, the parallel heat equation, parallel matrix multiplication, DGEMM, and the STREAM triad operation. We analyze DeepSeek's code generation capabilities for traditional HPC languages like Cpp, Fortran, Julia and Python. The evaluation includes testing for code correctness, performance, and scaling across different configurations and matrix sizes. We also provide a detailed comparison between DeepSeek and another widely used tool: GPT-4. Our results demonstrate that while DeepSeek generates functional code for HPC tasks, it lags behind GPT-4, in terms of scalability and execution efficiency of the generated code.

In this paper, we present a novel theoretical framework for online adaptation of Control Barrier Function (CBF) parameters, i.e., of the class K functions included in the CBF condition, under input constraints. We introduce the concept of locally validated CBF parameters, which are adapted online to guarantee finite-horizon safety, based on conditions derived from Nagumo's theorem and tangent cone analysis. To identify these parameters online, we integrate a learning-based approach with an uncertainty-aware verification process that account for both epistemic and aleatoric uncertainties inherent in neural network predictions. Our method is demonstrated on a VTOL quadplane model during challenging transition and landing maneuvers, showcasing enhanced performance while maintaining safety.

Vector fields are advantageous in handling nonholonomic motion planning as they provide reference orientation for robots. However, additionally incorporating curvature constraints becomes challenging, due to the interconnection between the design of the curvature-bounded vector field and the tracking controller under underactuation. In this paper, we present a novel framework to co-develop the vector field and the control laws, guiding the nonholonomic robot to the target configuration with curvature-bounded trajectory. First, we formulate the problem by introducing the target positive limit set, which allows the robot to converge to or pass through the target configuration, depending on different dynamics and tasks. Next, we construct a curvature-constrained vector field (CVF) via blending and distributing basic flow fields in workspace and propose the saturated control laws with a dynamic gain, under which the tracking error's magnitude decreases even when saturation occurs. Under the control laws, kinematically constrained nonholonomic robots are guaranteed to track the reference CVF and converge to the target positive limit set with bounded trajectory curvature. Numerical simulations show that the proposed CVF method outperforms other vector-field-based algorithms. Experiments on Ackermann UGVs and semi-physical fixed-wing UAVs demonstrate that the method can be effectively implemented in real-world scenarios.

The growing scale of power systems and the increasing uncertainty introduced by renewable energy sources necessitates novel optimization techniques that are significantly faster and more accurate than existing methods. The AC Optimal Power Flow (AC-OPF) problem, a core component of power grid optimization, is often approximated using linearized DC Optimal Power Flow (DC-OPF) models for computational tractability, albeit at the cost of suboptimal and inefficient decisions. To address these limitations, we propose a novel deep learning-based framework for network equivalency that enhances DC-OPF to more closely mimic the behavior of AC-OPF. The approach utilizes recent advances in differentiable optimization, incorporating a neural network trained to predict adjusted nodal shunt conductances and branch susceptances in order to account for nonlinear power flow behavior. The model can be trained end-to-end using modern deep learning frameworks by leveraging the implicit function theorem. Results demonstrate the framework's ability to significantly improve prediction accuracy.

Abstract-- Human-swarm interaction (HSI) is an active research challenge in the realms of swarm robotics and human-factors engineering. Here we apply a cognitive systems engineering perspective and introduce a neuro-inspired joint-systems theory of HSI. The mindset defines predictions for adaptive, robust and scalable HSI dynamics and therefore has the potential to inform human-swarm loop design. For the real world application of swarm robotics, human operators are required to be part of the system loop. Reasons are (1) the swarm's inability to achieve mission goals independently [1], (2) human out of loop phenomena [2] as well as (3) legal and ethical concerns [3].

The independent control of multiple magnetic microrobots under a shared global signal presents critical challenges in biomedical applications such as targeted drug delivery and microsurgeries. Most existing systems only allow all agents to move synchronously, limiting their use in applications that require differentiated actuation. This research aims to design a controller capable of regulating the radial distance between micro-agents using only the angle ψof a global magnetic field as the actuation parameter, demonstrating potential for practical applications. The proposed cascade control approach enables faster and more precise adjustment of the inter-agent distance than a proportional controller, while maintaining smooth transitions and avoiding abrupt changes in the orientation of the magnetic field, making it suitable for real-world implementation. A bibliographic review was conducted to develop the physical model, considering magnetic dipole-dipole interactions and velocities in viscous media. A PID controller was implemented to regulate the radial distance, followed by a PD controller in cascade to smooth changes in field orientation. These controllers were simulated in MATLAB, showing that the PID controller reduced convergence time to the desired radius by about 40%. When adding the second controller, the combined PID+PD scheme achieved smooth angular trajectories within similar timeframes, with fluctuations of only \pm 5^\circ. These results validate the feasibility of controlling the radial distance of two microrobots using a shared magnetic field in a fast and precise manner, without abrupt variations in the control angle. However, the model is limited to a 2D environment and two agents, suggesting future research to extend the controller to 3D systems and multiple agents.

Conventional reinforcement learning (RL) approaches often struggle to learn effective policies under sparse reward conditions, necessitating the manual design of complex, task-specific reward functions. To address this limitation, reinforcement learning from human feedback (RLHF) has emerged as a promising strategy that complements hand-crafted rewards with human-derived evaluation signals. However, most existing RLHF methods depend on explicit feedback mechanisms such as button presses or preference labels, which disrupt the natural interaction process and impose a substantial cognitive load on the user. We propose a novel reinforcement learning from implicit human feedback (RLIHF) framework that utilizes non-invasive elec-troencephalography (EEG) signals, specifically error-related potentials (ErrPs), to provide continuous, implicit feedback without requiring explicit user intervention. The proposed method adopts a pre-trained decoder to trans-i form raw EEG signals into probabilistic reward components, enabling effective policy learning even in the presence of sparse external rewards. We evaluate our approach in a simulation environment built on the MuJoCo physics engine, using a Kinova Gen2 robotic arm to perform a complex pick-and-place task that requires avoiding obstacles while manipulating target objects. The results show that agents trained with decoded EEG feedback achieve performance comparable to those trained with dense, manually designed rewards.

Reinforcement Learning (RL) faces significant challenges in adaptive healthcare interventions, such as dementia care, where data is scarce, decisions require interpretability, and underlying patient-state dynamic are complex and causal in nature. In this work, we present a novel framework called Causal structure-aware Reinforcement Learning (CRL) that explicitly integrates causal discovery and reasoning into policy optimization. This method enables an agent to learn and exploit a directed acyclic graph (DAG) that describes the causal dependencies between human behavioral states and robot actions, facilitating more efficient, interpretable, and robust decision-making. We validate our approach in a simulated robot-assisted cognitive care scenario, where the agent interacts with a virtual patient exhibiting dynamic emotional, cognitive, and engagement states. The experimental results show that CRL agents outperform conventional model-free RL baselines by achieving higher cumulative rewards, maintaining desirable patient states more consistently, and exhibiting interpretable, clinically-aligned behavior. We further demonstrate that CRL's performance advantage remains robust across different weighting strategies and hyperparameter settings. In addition, we demonstrate a lightweight LLM-based deployment: a fixed policy is embedded into a system prompt that maps inferred states to actions, producing consistent, supportive dialogue without LLM finetuning. Our work illustrates the promise of causal reinforcement learning for human-robot interaction applications, where interpretability, adaptiveness, and data efficiency are paramount.

This paper investigates the automation of qualitative data analysis, focusing on inductive coding using large language models (LLMs). Unlike traditional approaches that rely on deductive methods with predefined labels, this research investigates the inductive process where labels emerge from the data. The study evaluates the performance of six open-source LLMs compared to human experts. As part of the evaluation, experts rated the perceived difficulty of the quotes they coded. The results reveal a peculiar dichotomy: human coders consistently perform well when labeling complex sentences but struggle with simpler ones, while LLMs exhibit the opposite trend. Additionally, the study explores systematic deviations in both human and LLM generated labels by comparing them to the golden standard from the test set. While human annotations may sometimes differ from the golden standard, they are often rated more favorably by other humans. In contrast, some LLMs demonstrate closer alignment with the true labels but receive lower evaluations from experts.

Modern networks support network slicing, which partitions physical infrastructure into virtual slices tailored to different service requirements (for example, high bandwidth or low latency). Optimally allocating users to slices is a constrained optimization problem that traditionally requires complex algorithms. In this paper, we explore the use of Large Language Models (LLMs) to tackle radio resource allocation for network slicing. We focus on two approaches: (1) using an LLM in a zero-shot setting to directly assign user service requests to slices, and (2) formulating an integer programming model where the LLM provides semantic insight by estimating similarity between requests. Our experiments show that an LLM, even with zero-shot prompting, can produce a reasonable first draft of slice assignments, although it may violate some capacity or latency constraints. We then incorporate the LLM's understanding of service requirements into an optimization solver to generate an improved allocation. The results demonstrate that LLM-guided grouping of requests, based on minimal textual input, achieves performance comparable to traditional methods that use detailed numerical data, in terms of resource utilization and slice isolation. While the LLM alone does not perfectly satisfy all constraints, it significantly reduces the search space and, when combined with exact solvers, provides a promising approach for efficient 5G network slicing resource allocation.