Hongyu Zhu, Tina Samizadeh, Rute C. Sofia fortiss - research Institute of the Free State of Bavaria associated with the Technical University of Munich (TUM) Abstract--Autonomous Mobile Robots (AMRs) increasingly adopt containerized micro-services across the Edge-Cloud continuum. While Kubernetes is the de-facto orchestrator for such systems, its assumptions--stable networks, homogeneous resources, and ample compute capacity do not fully hold in mobile, resource-constrained robotic environments. The paper describes a case-study on smart-manufacturing AMR and performs an initial comparison between CODECO orchestration and standard Kubernetes using a controlled Kubernetes-in-Docker (KinD) environment. Metrics include pod deployment and deletion times, CPU and memory usage, and inter-pod data rates. The observed results indicate that CODECO offers reduced CPU consumption and more stable communication patterns, at the cost of modest memory overhead ( 10-15%) and slightly increased pod lifecycle latency due to secure overlay initialization. Kubernetes provides declarative configuration, automated scaling, and robust availability mechanisms that make it highly effective in cloud data-centers. However, its design assumptions, namely, the existence of relatively stable networks, abundant compute resources, and largely static infrastructure, do not fully hold in Edge-Edge and Edge-Cloud environments. In such settings, resources can be constrained and heterogeneous.

Point defects govern many important functional properties of two - dimensional ( 2D) materials. However, resolving the three - dimensional (3D) arrangement of these defects in multi - layer 2D materials remains a fundamental challenge, hindering rational defect engineering . Our approach reconstructs the 3D coordinates of vacancies across hundreds of thousands of lattice sites, generating robust statistical insight into their dist ribution that can be correlated with specinullic synthesis pathways. This large - scale data enables us to classify a hierarchy of defect structures -- from isolated vacancies to nanopores -- revealing their preferred formation and interaction mechanisms, as corroborated by molecular dynamics simulations . This work provides a generalizable framework for understanding and ultimately controlling point defects across large volumes, paving the way for the rational design of defect - engineered functional 2D materials. Keywords: 2D materials, point defects, autonomous materials science, electron microscopy, machine learning 2 Two - dimensional (2D) materials have become a major nullield of modern research in materials science after the discovery of graphene in 2004 . The challenge of characterizing point defects is signinullicantly amplinullied in few - layered 2D materials. For instance, MXenes -- a class of 2D transition metal carbides, carbonitrides, and nitrides -- consist of nanosheets containing two to nullive layers of metal ato ms, which complicates defect analysis compared to single - layer materials .

To ensure that Machine Learning (ML) models can perform a robust detection and classification of cyberattacks, it is essential to train them with high-quality datasets with relevant features. However, it can be difficult to accurately represent the complex traffic patterns of an attack, especially in Internet-of-Things (IoT) networks. This paper studies the impact that seemingly similar features created by different network traffic flow exporters can have on the generalization and robustness of ML models. In addition to the original CSV files of the Bot-IoT, IoT-23, and CICIoT23 datasets, the raw network packets of their PCAP files were analysed with the HERA tool, generating new labelled flows and extracting consistent features for new CSV versions. To assess the usefulness of these new flows for intrusion detection, they were compared with the original versions and were used to fine-tune multiple models. Overall, the results indicate that directly analysing and preprocessing PCAP files, instead of just using the commonly available CSV files, enables the computation of more relevant features to train bagging and gradient boosting decision tree ensembles. It is important to continue improving feature extraction and feature selection processes to make different datasets more compatible and enable a trustworthy evaluation and comparison of the ML models used in cybersecurity solutions.

Binary Decision Diagrams (BDDs) are instrumental in many electronic design automation (EDA) tasks thanks to their compact representation of Boolean functions. In BDD-based reversible-circuit synthesis, which is critical for quantum computing, the chosen variable ordering governs the number of BDD nodes and thus the key metrics of resource consumption, such as Quantum Cost. Because finding an optimal variable ordering for BDDs is an NP-complete problem, existing heuristics often degrade as circuit complexity grows. We introduce BDD2Seq, a graph-to-sequence framework that couples a Graph Neural Network encoder with a Pointer-Network decoder and Diverse Beam Search to predict high-quality orderings. By treating the circuit netlist as a graph, BDD2Seq learns structural dependencies that conventional heuristics overlooked, yielding smaller BDDs and faster synthesis. Extensive experiments on three public benchmarks show that BDD2Seq achieves around 1.4 times lower Quantum Cost and 3.7 times faster synthesis than modern heuristic algorithms. To the best of our knowledge, this is the first work to tackle the variable-ordering problem in BDD-based reversible-circuit synthesis with a graph-based generative model and diversity-promoting decoding.

The transition from human-centric to agent-centric software development practices is disrupting existing knowledge sharing environments for software developers. Traditional peer-to-peer repositories and developer communities for shared technical knowledge and best practice have witnessed dramatic drops in participation in a short period of time. At the same time, agentic functional equivalents are yet to emerge leaving AI agents, which already generate a significant proportion of all new software code produced, without access to repositories of valuable shared learning. In this paper, we introduce Spark, a novel shared agentic memory architecture which is designed to emulate the collective intelligence and know-how of human developer communities. Spark enables AI coding agents to both contribute to and draw from a persistent and continuously evolving experiential memory. Agents operating in the same general problem space use the Spark shared memory as a repository of new knowledge to achieve collective continual learning. We evaluate Spark as a coach for AI coding agents performing software development tasks. We demonstrate that recommendations made by Spark improve the quality of code generated by generic code generation models at varying sizes and capability tiers. Boosted by Spark, a small open-weights model with 30 billion parameters was able to match the code quality afforded by a much larger state-of-the-art model. Separately, we measure the intrinsic quality of recommendations generated by Spark against a wide range of criteria inspired by software development best practice, and achieve helpfulness levels of up to 98.2% in the top two (out of five) qualitative helpfulness bands.

Salamander-like quadruped robots are designed inspired by the skeletal structure of their biological counterparts. However, existing controllers cannot fully exploit these morphological features and largely rely on predefined gait patterns or joint trajectories, which prevents the generation of diverse and flexible locomotion and limits their applicability in real-world scenarios. In this paper, we propose a learning framework that enables the robot to acquire a diverse repertoire of omnidirectional gaits without reference motions. Each body part is controlled by a phase variable capable of forward and backward evolution, with a phase coverage reward to promote the exploration of the leg phase space. Additionally, morphological symmetry of the robot is incorporated via data augmentation, improving sample efficiency and enforcing both motion-level and task-level symmetry in learned behaviors. Extensive experiments show that the robot successfully acquires 22 omnidirectional gaits exhibiting both dynamic and symmetric movements, demonstrating the effectiveness of the proposed learning framework.

Large Language Models (LLMs) are increasingly being adopted as tools for learning; however, most tools remain text-only, limiting their usefulness for domains where visualizations are essential, such as mathematics. Recent work shows that LLMs are capable of generating code that compiles to educational figures, but a major bottleneck remains: scalable evaluation of these diagrams. We address this by proposing DiagramIR: an automatic and scalable evaluation pipeline for geometric figures. Our method relies on intermediate representations (IRs) of LaTeX TikZ code. We compare our pipeline to other evaluation baselines such as LLM-as-a-Judge, showing that our approach has higher agreement with human raters. This evaluation approach also enables smaller models like GPT-4.1-Mini to perform comparably to larger models such as GPT-5 at a 10x lower inference cost, which is important for deploying accessible and scalable education technologies.

Learning-based inertial odometry has achieved remarkable progress in pedestrian navigation. However, extending these methods to quadruped robots remains challenging due to their distinct and highly dynamic motion patterns. Models that perform well on pedestrian data often experience severe degradation when deployed on legged platforms. To tackle this challenge, we introduce X-IONet, a cross-platform inertial odometry framework that operates solely using a single Inertial Measurement Unit (IMU). X-IONet incorporates a rule-based expert selection module to classify motion platforms and route IMU sequences to platform-specific expert networks. The displacement prediction network features a dual-stage attention architecture that jointly models long-range temporal dependencies and inter-axis correlations, enabling accurate motion representation. It outputs both displacement and associated uncertainty, which are further fused through an Extended Kalman Filter (EKF) for robust state estimation. Extensive experiments on public pedestrian datasets and a self-collected quadruped robot dataset demonstrate that X-IONet achieves state-of-the-art performance, reducing Absolute Trajectory Error (ATE) by 14.3% and Relative Trajectory Error (RTE) by 11.4% on pedestrian data, and by 52.8% and 41.3% on quadruped robot data. These results highlight the effectiveness of X-IONet in advancing accurate and robust inertial navigation across both human and legged robot platforms.

The open-pit mine scheduling problem (OPMSP) is a complex, computationally expensive process in long-term mine planning, constrained by operational and geological dependencies. Traditional deterministic approaches often ignore geological uncertainty, leading to suboptimal and potentially infeasible production schedules. Chance constraints allow modeling of stochastic components by ensuring probabilistic constraints are satisfied with high probability. This paper presents a bi-objective formulation of the OPMSP that simultaneously maximizes expected net present value and minimizes scheduling risk, independent of the confidence level required for the constraint. Solutions are represented using integer encoding, inherently satisfying reserve constraints. We introduce a domain-specific greedy randomized initialization and a precedence-aware period-swap mutation operator. We integrate these operators into three multi-objective evolutionary algorithms: the global simple evolutionary multi-objective optimizer (GSEMO), a mutation-only variant of multi-objective evolutionary algorithm based on decomposition (MOEA/D), and non-dominated sorting genetic algorithm II (NSGA-II). We compare our bi-objective formulation against the single-objective approach, which depends on a specific confidence level, by analyzing mine deposits consisting of up to 112 687 blocks. Results demonstrate that the proposed bi-objective formulation yields more robust and balanced trade-offs between economic value and risk compared to single-objective, confidence-dependent approach.

While Retrieval-Augmented Generation (RAG) methods commonly draw information from unstructured documents, the emerging paradigm of GraphRAG aims to leverage structured data such as knowledge graphs. Most existing GraphRAG efforts focus on Resource Description Framework (RDF) knowledge graphs, relying on triple representations and SP ARQL queries. However, the potential of Cypher and Labeled Property Graph (LPG) databases to serve as scalable and effective reasoning engines within GraphRAG pipelines remains underexplored in current research literature. To fill this gap, we propose Multi-Agent GraphRAG, a modular LLM agentic system for text-to-Cypher query generation serving as a natural language interface to LPG-based graph data. Our proof-of-concept system features an LLMbased workflow for automated Cypher queries generation and execution, using Memgraph as the graph database backend. Iterative content-aware correction and normalization, reinforced by an aggregated feedback loop, ensures both semantic and syntactic refinement of generated queries. We evaluate our system on the CypherBench graph dataset covering several general domains with diverse types of queries. In addition, we demonstrate performance of the proposed workflow on a property graph derived from the IFC (Industry Foundation Classes) data, representing a digital twin of a building. This highlights how such an approach can bridge AI with real-world applications at scale, enabling industrial digital automation use cases.