Depth perception is crucial for spatial understanding and has traditionally been achieved through stereoscopic imaging. However, the precision of depth estimation using stereoscopic methods depends on the accurate calibration of binocular vision sensors. Monocular cameras, while more accessible, often suffer from reduced accuracy, especially under challenging imaging conditions. Optical sensors, too, face limitations in adverse environments, leading researchers to explore radar technology as a reliable alternative. Although radar provides coarse but accurate signals, its integration with fine-grained monocular camera data remains underexplored. In this research, we propose DepthSense, a novel radar-assisted monocular depth enhancement approach. DepthSense employs an encoder-decoder architecture, a Radar Residual Network, feature fusion with a spatial attention mechanism, and an ordinal regression layer to deliver precise depth estimations. We conducted extensive experiments on the nuScenes dataset to validate the effectiveness of DepthSense. Our methodology not only surpasses existing approaches in quantitative performance but also reduces parameter complexity and inference times. Our findings demonstrate that DepthSense represents a significant advancement over traditional stereo methods, offering a robust and efficient solution for depth estimation in autonomous driving. By leveraging the complementary strengths of radar and monocular camera data, DepthSense sets a new benchmark in the field, paving the way for more reliable and accurate spatial perception systems.

Abstract--Full-stack autonomous driving perception modules usually consist of data-driven models based on multiple sensor modalities. However, these models might be biased to the sensor setup used for data acquisition. This bias can seriously impair the perception models' transferability to new sensor setups, which continuously occur due to the market's competitive nature. We envision sensor data abstraction as an interface between sensor data and machine learning applications for highly automated vehicles (HAD). For this purpose, we review the primary sensor modalities, camera, lidar, and radar, published in autonomous-driving related datasets, examine single sensor abstraction and abstraction of sensor setups, and identify critical paths towards an abstraction of sensor data from multiple perception configurations.

Off-policy evaluation (OPE) estimates the value of a contextual bandit policy prior to deployment. As such, OPE plays a critical role in ensuring safety in high-stakes domains such as healthcare. However, standard OPE approaches are limited by the size and coverage of the behavior dataset. While previous work has explored using expert-labeled counterfactual annotations to enhance dataset coverage, obtaining such annotations is expensive, limiting the scalability of prior approaches. We propose leveraging large language models (LLMs) to generate counterfactual annotations for OPE in medical domains. Our method uses domain knowledge to guide LLMs in predicting how key clinical features evolve under alternate treatments. These predicted features can then be transformed using known reward functions to create counterfactual annotations. We first evaluate the ability of several LLMs to predict clinical features across two patient subsets in MIMIC-IV, finding that state-of-the-art LLMs achieve comparable performance. Building on this capacity to predict clinical features, we generate LLM-based counterfactual annotations and incorporate them into an OPE estimator. Our empirical results analyze the benefits of counterfactual annotations under varying degrees of shift between the behavior and target policies. We find that in most cases, the LLM-based counterfactual annotations significantly improve OPE estimates up to a point. We provide an entropy-based metric to identify when additional annotations cease to be useful. Our results demonstrate that LLM-based counterfactual annotations offer a scalable approach for addressing coverage limitations in healthcare datasets, enabling safer deployment of decision-making policies in clinical settings.

Large language models offer opportunities to simulate multi-party deliberation, but realistic modeling remains limited by a lack of speaker-attributed data. Transcripts produced via automatic speech recognition (ASR) assign anonymous speaker labels (e.g., Speaker_1), preventing models from capturing consistent human behavior. This work introduces a reproducible pipeline to transform public Zoom recordings into speaker-attributed transcripts with metadata like persona profiles and pragmatic action tags (e.g., [propose_motion]). We release three local government deliberation datasets: Appellate Court hearings, School Board meetings, and Municipal Council sessions. Fine-tuning LLMs to model specific participants using this "action-aware" data produces a 67% reduction in perplexity and nearly doubles classifier-based performance metrics for speaker fidelity and realism. Turing-style human evaluations show our simulations are often indistinguishable from real deliberations, providing a practical and scalable method for complex realistic civic simulations.

Procedural activities, ranging from routine cooking to complex surgical operations, are highly structured as a set of actions conducted in a specific temporal order. Despite their success on static images and short clips, current self-supervised learning methods often overlook the procedural nature that underpins such activities. We expose the lack of procedural awareness in current SSL methods with a motivating experiment: models pretrained on forward and time-reversed sequences produce highly similar features, confirming that their representations are blind to the underlying procedural order. To address this shortcoming, we propose PL-Stitch, a self-supervised framework that harnesses the inherent temporal order of video frames as a powerful supervisory signal. Our approach integrates two novel probabilistic objectives based on the Plackett-Luce (PL) model. The primary PL objective trains the model to sort sampled frames chronologically, compelling it to learn the global workflow progression. The secondary objective, a spatio-temporal jigsaw loss, complements the learning by capturing fine-grained, cross-frame object correlations. Our approach consistently achieves superior performance across five surgical and cooking benchmarks. Specifically, PL-Stitch yields significant gains in surgical phase recognition (e.g., +11.4 pp k-NN accuracy on Cholec80) and cooking action segmentation (e.g., +5.7 pp linear probing accuracy on Breakfast), demonstrating its effectiveness for procedural video representation learning.

Radiology plays an integral role in modern medicine, yet rising imaging volumes have far outpaced workforce growth. Foundation models offer a path toward assisting with the full spectrum of radiology tasks, but existing medical models remain limited: they process volumetric CT and MRI as low-fidelity 2D slices, discard critical grayscale contrast information, and lack evaluation frameworks that reflect real clinical practice. We introduce Pillar-0, a radiology foundation model pretrained on 42,990 abdomen-pelvis CTs, 86,411 chest CTs, 14,348 head CTs, and 11,543 breast MRIs from a large academic center, together with RATE, a scalable framework that extracts structured labels for 366 radiologic findings with near-perfect accuracy using LLMs. Across internal test sets of 14,230 abdomen-pelvis CTs, 10,646 chest CTs, 4,906 head CTs, and 1,585 breast MRIs, Pillar-0 establishes a new performance frontier, achieving mean AUROCs of 86.4, 88.0, 90.1, and 82.9, outperforming MedGemma (Google), MedImageInsight (Microsoft), Lingshu (Alibaba), and Merlin (Stanford) by 7.8-15.8 AUROC points and ranking best in 87.2\% (319/366) tasks. Pillar-0 similarly outperforms all baselines in an external validation on the Stanford Abdominal CT dataset, including Merlin (82.2 vs 80.6 AUROC). Pillar-0 extends to tasks beyond its pretraining, such as long-horizon lung cancer risk prediction, where it improves upon the state-of-the-art Sybil by 3.0 C-index points on NLST, and generalizes with gains of 5.9 (MGH) and 1.9 (CGMH). In brain hemorrhage detection, Pillar-0 obtained a >95 AUROC when using only 1/20th of the data of the next most sample efficient baseline. Pillar-0 and RATE together provide an open, clinically rigorous foundation for building high-performance radiology systems, enabling applications that were previously infeasible due to computational, data, and evaluation constraints.

While recent world models generate highly realistic videos, their ability to perform robot path planning remains unclear and unquantified. We introduce Target-Bench, the first benchmark specifically designed to evaluate world models on mapless path planning toward semantic targets in real-world environments. Target-Bench provides 450 robot-collected video sequences spanning 45 semantic categories with SLAM-based ground truth trajectories. Our evaluation pipeline recovers camera motion from generated videos and measures planning performance using five complementary metrics that quantify target-reaching capability, trajectory accuracy, and directional consistency. We evaluate state-of-the-art models including Sora 2, Veo 3.1, and the Wan series. The best off-the-shelf model (Wan2.2-Flash) achieves only 0.299 overall score, revealing significant limitations in current world models for robotic planning tasks. We show that fine-tuning an open-source 5B-parameter model on only 325 scenarios from our dataset achieves 0.345 overall score -- an improvement of more than 400% over its base version (0.066) and 15% higher than the best off-the-shelf model. We will open-source the code and dataset.

Digital computers are power-hungry and largely intolerant of damaged components, making them potentially difficult tools for energy-limited autonomous agents in uncertain environments. Recently developed Contrastive Local Learning Networks (CLLNs) -- analog networks of self-adjusting nonlinear resistors -- are inherently low-power and robust to physical damage, but were constructed to perform supervised learning. In this work we demonstrate success on two simple RL problems using Q-learning adapted for simulated CLLNs. Doing so makes explicit the components (beyond the network being trained) required to enact various tools in the RL toolbox, some of which (policy function and value function) are more natural in this system than others (replay buffer). We discuss assumptions such as the physical safety that digital hardware requires, CLLNs can forgo, and biological systems cannot rely on, and highlight secondary goals that are important in biology and trainable in CLLNs, but make little sense in digital computers.

Deterministic Lateral Displacement (DLD) devices are widely used in microfluidics for label-free, size-based separation of particles and cells, with particular promise in isolating circulating tumor cells (CTCs) for early cancer diagnostics. This study focuses on the optimization of DLD design parameters, such as row shift fraction, post size, and gap distance, to enhance the selective isolation of lung cancer cells based on their physical properties. To overcome the challenges of rare CTC detection and reduce reliance on computationally intensive simulations, machine learning models including gradient boosting, k-nearest neighbors, random forest, and multilayer perceptron (MLP) regressors are employed. Trained on a large, numerically validated dataset, these models predict particle trajectories and identify optimal device configurations, enabling high-throughput and cost-effective DLD design. Beyond trajectory prediction, the models aid in isolating critical design variables, offering a systematic, data-driven framework for automated DLD optimization. This integrative approach advances the development of scalable and precise microfluidic systems for cancer diagnostics, contributing to the broader goals of early detection and personalized medicine.

We present a novel, regulator-driven approach for post hoc safety evaluation of learning-based, black-box autonomous mobile robots, ensuring ongoing compliance with evolving, human-defined safety rules. In our iterative workflow, human safety requirements are translated by regulators into Signal Temporal Logic (STL) specifications. Rollout traces from the black-box model are externally verified for compliance, yielding quantitative safety metrics, Total Robustness Value (TRV) and Largest Robustness Value (LRV), which measure average and worst-case specification adherence. These metrics inform targeted retraining and iterative improvement by model designers. We apply our method across two different applications: a virtual driving scenario and an autonomous mobile robot navigating a complex environment, and observe statistically significant improvements across both scenarios. In the virtual driving scenario, we see a 177% increase in traces adhering to the simulation speed limit, a 1138% increase in traces minimizing off-road driving, and a 16% increase in traces successfully reaching the goal within the time limit. In the autonomous navigation scenario, there is a 300% increase in traces avoiding sharp turns, a 200% increase in traces reaching the goal within the time limit, and a 49% increase in traces minimizing time spent near obstacles. Finally, we validate our approach on a TurtleBot3 robot in the real world, and demonstrate improved obstacle navigation with safety buffers.