Connected and autonomous vehicles across land, water, and air must often operate in dynamic, unpredictable environments with limited communication, no centralized control, and partial observability. These real-world constraints pose significant challenges for coordination, particularly when vehicles pursue individual objectives. To address this, we propose a decentralized Multi-Agent Reinforcement Learning (MARL) framework that enables vehicles, acting as agents, to communicate selectively based on local goals and observations. This goal-aware communication strategy allows agents to share only relevant information, enhancing collaboration while respecting visibility limitations. We validate our approach in complex multi-agent navigation tasks featuring obstacles and dynamic agent populations. Results show that our method significantly improves task success rates and reduces time-to-goal compared to non-cooperative baselines. Moreover, task performance remains stable as the number of agents increases, demonstrating scalability. These findings highlight the potential of decentralized, goal-driven MARL to support effective coordination in realistic multi-vehicle systems operating across diverse domains.

Abstract-- Robotic exploration in extreme environments--such as caves, oceans, and planetary surfaces--poses significant challenges, particularly in locomotion across diverse terrains. Conventional wheeled or legged robots often struggle in these contexts due to surface variability. This paper presents ARCSnake V2, an amphibious, screw-propelled, snake-like robot designed for teleoperated or autonomous locomotion across land, granular media, and aquatic environments. ARCSnake V2 combines the high mobility of hyper-redundant snake robots with the terrain versatility of Archimedean screw propulsion. Key contributions include a water-sealed mechanical design with serially linked screw and joint actuation, an integrated buoyancy control system, and teleoperation via a kinematically-matched handheld controller . The robot's design and control architecture enable multiple locomotion modes--screwing, wheeling, and sidewinding--with smooth transitions between them. Robotic exploration in extreme environments, such as caves, oceans and planetary surfaces, poses significant challenges for the diverse set of terrains [1].

This study introduces a hybrid neuro-symbolic framework that achieves deterministic detection of statutory inconsistency in complex law. We use the U.S. Internal Revenue Code (IRC) as a case study because its complexity makes it a fertile domain for identifying conflicts. Our research offers a solution for detecting inconsistent provisions by combining Large Language Models (LLMs) with symbolic logic. LLM-based methods can support compliance, fairness, and statutory drafting, yet tax-specific applications remain sparse. A key challenge is that such models struggle with hierarchical processing and deep structured reasoning, especially over long text. This research addresses these gaps through experiments using GPT-4o, GPT-5, and Prolog. GPT-4o was first used to translate Section 121 into Prolog rules and refine them in SWISH. These rules were then incorporated into prompts to test whether Prolog-augmented prompting improved GPT-4o's inconsistency detection. GPT-4o, whether prompted with natural language alone or with Prolog augmentation, detected the inconsistency in only one of three strategies (33 percent accuracy), but its reasoning quality differed: natural-language prompting achieved 100 percent rule coverage, while Prolog-augmented prompting achieved 66 percent, indicating more incomplete statutory analysis. In contrast to probabilistic prompting, the hybrid Prolog model produced deterministic and reproducible results. Guided by GPT-5 for refinement, the model formalized the IRC section's competing interpretations and successfully detected an inconsistency zone. Validation tests confirm that the Prolog implementation is accurate, internally consistent, deterministic, and capable of autonomously identifying inconsistencies. These findings show that LLM-assisted formalization, anchored in symbolic logic, enables transparent and reliable statutory inconsistency detection.

Abstract--Federated Learning (FL) is a powerful paradigm for distributed learning, but its increasing complexity leads to significant energy consumption from client-side computations for training models. In particular, the challenge is critical in energy-harvesting FL (EHFL) systems where participation availability of each device oscillates due to limited energy. T o address this, we propose FedBacys, a battery-aware EHFL framework using cyclic client participation based on users' battery levels. By clustering clients and scheduling them sequentially, Fed-Bacys minimizes redundant computations, reduces system-wide energy usage, and improves learning stability. We also introduce FedBacys-Odd, a more energy-efficient variant that allows clients to participate selectively, further reducing energy costs without compromising performance. We provide a convergence analysis for our framework and demonstrate its superior energy efficiency and robustness compared to existing algorithms through numerical experiments. Federated learning (FL) [2] is a distributed optimization framework that has seen rapid growth due to its ability to enable privacy-preserving collaborative learning. As intelligent services are increasingly deployed on battery-powered edge devices, ensuring sustainable FL has become critical [3].

In this paper, we propose the concept of AIO-RAN-NTN, a unified all-in-one Radio Access Network (RAN) for Non-Terrestrial Networks (NTNs), built on an open architecture that leverages open interfaces and artificial intelligence (AI)-based functionalities. This approach advances interoperability, flexibility, and intelligence in next-generation telecommunications. First, we provide a concise overview of the state-of-the-art architectures for Open-RAN and AI-RAN, highlighting key network functions and infrastructure elements. Next, we introduce our integrated AIO-RAN-NTN blueprint, emphasizing how internal and air interfaces from AIO-RAN and the 3rd Generation Partnership Project (3GPP) can be applied to emerging environments such as NTNs. To examine the impact of mobility on AIO-RAN, we implement a testbed transmission using the OpenAirInterface platform for a standalone (SA) New Radio (NR) 5G system. We then train an AI model on realistic data to forecast key performance indicators (KPIs). Our experiments demonstrate that the AIO-based SA architecture is sensitive to mobility, even at low speeds, but this limitation can be mitigated through AI-driven KPI forecasting.

In recent years, humanity has begun to experien ce the catastrophic effects of climate change as economic sectors (such as agriculture) struggle with unpredictable and extreme weather events. Artificial Intelligence (AI) should help us handle these climate challenges but its most promising solutions are not good at dealing with climate - disrupted data; specifically, machine learning methods that work from historical data - distributions, are not good at handling out - of - distribution, outlier events. In this paper, we propose a novel data augmentation method, that treats the predictive problems around climate change as being, in part, due to class - imbalance issues; that is, prediction from historical datasets is difficult because, by definition, they lack sufficient minority - class instances of "climate outlier events". This novel data augmentation method -- called Counterfactual - Based SMOTE (CFA - SMOTE) -- combines an instance - based counterfactual method from Explainable AI (XAI) with the well - known class - imbalance method, SMOTE. CFA - SMOTE creates synthetic dat a - points representing outlier, climate - events that augment the dataset to improve predictive performance. We report comparative experiments using this CFA - SMOTE method, comparing it to benchmark counterfactual and class - imbalance methods under different co nditions (i.e., class - imbalance ratios). The focal climate - change domain used relies on predicting grass growth on Irish dairy farms, during Europe - wide drought and forage crisis of 2018.

Self-supervised learning (SSL) offers a promising approach for learning electroencephalography (EEG) representations from unlabeled data, reducing the need for expensive annotations for clinical applications like sleep staging and seizure detection. While current EEG SSL methods predominantly use masked reconstruction strategies like masked autoencoders (MAE) that capture local temporal patterns, position prediction pretraining remains underexplored despite its potential to learn long-range dependencies in neural signals. We introduce PAirwise Relative Shift or PARS pretraining, a novel pretext task that predicts relative temporal shifts between randomly sampled EEG window pairs. Unlike reconstruction-based methods that focus on local pattern recovery, PARS encourages encoders to capture relative temporal composition and long-range dependencies inherent in neural signals. Through comprehensive evaluation on various EEG decoding tasks, we demonstrate that PARS-pretrained transformers consistently outperform existing pretraining strategies in label-efficient and transfer learning settings, establishing a new paradigm for self-supervised EEG representation learning.

Ultrasound-based risk stratification of thyroid nodules is a critical clinical task, but it suffers from high inter-observer variability. While many deep learning (DL) models function as "black boxes," we propose a fully automated, two-stage framework for interpretable malignancy prediction. Our method achieves interpretability by forcing the model to focus only on clinically relevant regions. First, a TransUNet model automatically segments the thyroid nodule. The resulting mask is then used to create a region of interest around the nodule, and this localised image is fed directly into a ResNet-18 classifier. We evaluated our framework using 5-fold cross-validation on a clinical dataset of 349 images, where it achieved a high F1-score of 0.852 for predicting malignancy. To validate its performance, we compared it against a strong baseline using a Random Forest classifier with hand-crafted morphological features, which achieved an F1-score of 0.829. The superior performance of our DL framework suggests that the implicit visual features learned from the localised nodule are more predictive than explicit shape features alone. This is the first fully automated end-to-end pipeline for both detecting thyroid nodules on ultrasound images and predicting their malignancy.

Electronic health record (EHR) data present tremendous opportunities for advancing survival analysis through deep learning, yet reproducibility remains severely constrained by inconsistent preprocessing methodologies. We present SurvBench, a comprehensive, open-source preprocessing pipeline that transforms raw PhysioNet datasets into standardised, model-ready tensors for multi-modal survival analysis. SurvBench provides data loaders for three major critical care databases, MIMIC-IV, eICU, and MC-MED, supporting diverse modalities including time-series vitals, static demographics, ICD diagnosis codes, and radiology reports. The pipeline implements rigorous data quality controls, patient-level splitting to prevent data leakage, explicit missingness tracking, and standardised temporal aggregation. SurvBench handles both single-risk (e.g., in-hospital mortality) and competing-risks scenarios (e.g., multiple discharge outcomes). The outputs are compatible with pycox library packages and implementations of standard statistical and deep learning models. By providing reproducible, configuration-driven preprocessing with comprehensive documentation, SurvBench addresses the "preprocessing gap" that has hindered fair comparison of deep learning survival models, enabling researchers to focus on methodological innovation rather than data engineering.

Large language model agents for data analysis typically generate and execute code directly on databases. However, when applied to sensitive data, this approach poses significant security risks. To address this issue, we propose a security-motivated alternative: restrict LLMs from direct code generation and data access, and require them to interact with data exclusively through a predefined set of secure, verified tools. Although recent tool-use benchmarks exist, they primarily target tool selection and simple execution rather than the compositional, multi-step reasoning needed for complex data analysis. To reduce this gap, we introduce Indirect Data Engagement (InData), a dataset designed to assess LLMs' multi-step tool-based reasoning ability. InData includes data analysis questions at three difficulty levels--Easy, Medium, and Hard--capturing increasing reasoning complexity. We benchmark 15 open-source LLMs on InData and find that while large models (e.g., gpt-oss-120b) achieve high accuracy on Easy tasks (97.3%), performance drops sharply on Hard tasks (69.6%). These results show that current LLMs still lack robust multi-step tool-based reasoning ability. With InData, we take a step toward enabling the development and evaluation of LLMs with stronger multi-step tool-use capabilities. We will publicly release the dataset and code.