The ability of LLM agents to plan and invoke tools exposes them to new safety risks, making a comprehensive red-teaming system crucial for discovering vulnerabilities and ensuring their safe deployment. We present SIRAJ: a generic red-teaming framework for arbitrary black-box LLM agents. We employ a dynamic two-step process that starts with an agent definition and generates diverse seed test cases that cover various risk outcomes, tool-use trajectories, and risk sources. Then, it iteratively constructs and refines model-based adversarial attacks based on the execution trajectories of former attempts. To optimize the red-teaming cost, we present a model distillation approach that leverages structured forms of a teacher model's reasoning to train smaller models that are equally effective. Across diverse evaluation agent settings, our seed test case generation approach yields 2 -- 2.5x boost to the coverage of risk outcomes and tool-calling trajectories. Our distilled 8B red-teamer model improves attack success rate by 100%, surpassing the 671B Deepseek-R1 model. Our ablations and analyses validate the effectiveness of the iterative framework, structured reasoning, and the generalization of our red-teamer models.

This work has been submitted to the IEEE for possible publication. Abstract-- We present a novel approach to localizing radioactive material by cooperating Micro Aerial V ehicles (MA Vs). The detector's exceptionally low weight (40 g) opens up new possibilities of radiation detection by a team of cooperating agile MA Vs. We propose a new fundamental concept of fusing the Compton camera measurements to estimate the position of the radiation source in real time even from extremely sparse measurements. The data readout and processing are performed directly onboard and the results are used in a dynamic feedback to drive the motion of the vehicles. The MA Vs are stabilized in a tightly cooperating swarm to maximize the information gained by the Compton cameras, rapidly locate the radiation source, and even track a moving radiation source. I. INTRODUCTION Nuclear environments represent a domain particularly well suited for the deployment of mobile robots [1]-[3]. The primary driving force is to reduce human exposure to harmful radiation, and to facilitate access to areas that are difficult to reach by conventional means.

Survival analysis is a task to model the time until an event of interest occurs, widely used in clinical and biomedical research. A key challenge is to model patient heterogeneity while also adapting risk predictions to both individual characteristics and temporal dynamics. We propose a dual mixture-of-experts (MoE) framework for discrete-time survival analysis. Our approach combines a feature-encoder MoE for subgroup-aware representation learning with a hazard MoE that leverages patient features and time embeddings to capture temporal dynamics. This dual-MoE design flexibly integrates with existing deep learning based survival pipelines. On METABRIC and GBSG breast cancer datasets, our method consistently improves performance, boosting the time-dependent C-index up to 0.04 on the test sets, and yields further gains when incorporated into the Consurv framework.

Humans can naturally identify, reason about, and explain anomalies in their environment. In computer vision, this long-standing challenge remains limited to industrial defects or unrealistic, synthetically generated anomalies, failing to capture the richness and unpredictability of real-world anomalies. In this work, we introduce CAVE, the first benchmark of real-world visual anomalies. CAVE supports three open-ended tasks: anomaly description, explanation, and justification; with fine-grained annotations for visual grounding and categorizing anomalies based on their visual manifestations, their complexity, severity, and commonness. These annotations draw inspiration from cognitive science research on how humans identify and resolve anomalies, providing a comprehensive framework for evaluating Vision-Language Models (VLMs) in detecting and understanding anomalies. We show that state-of-the-art VLMs struggle with visual anomaly perception and commonsense reasoning, even with advanced prompting strategies. By offering a realistic and cognitively grounded benchmark, CAVE serves as a valuable resource for advancing research in anomaly detection and commonsense reasoning in VLMs.

Rapid and reliable incident detection is critical for reducing crash-related fatalities, injuries, and congestion. However, conventional methods, such as closed-circuit television, dashcam footage, and sensor-based detection, separate detection from verification, suffer from limited flexibility, and require dense infrastructure or high penetration rates, restricting adaptability and scalability to shifting incident hotspots. To overcome these challenges, we developed DARTS, a drone-based, AI-powered real-time traffic incident detection system. DARTS integrates drones' high mobility and aerial perspective for adaptive surveillance, thermal imaging for better low-visibility performance and privacy protection, and a lightweight deep learning framework for real-time vehicle trajectory extraction and incident detection. The system achieved 99% detection accuracy on a self-collected dataset and supports simultaneous online visual verification, severity assessment, and incident-induced congestion propagation monitoring via a web-based interface. In a field test on Interstate 75 in Florida, DARTS detected and verified a rear-end collision 12 minutes earlier than the local transportation management center and monitored incident-induced congestion propagation, suggesting potential to support faster emergency response and enable proactive traffic control to reduce congestion and secondary crash risk. Crucially, DARTS's flexible deployment architecture reduces dependence on frequent physical patrols, indicating potential scalability and cost-effectiveness for use in remote areas and resource-constrained settings. This study presents a promising step toward a more flexible and integrated real-time traffic incident detection system, with significant implications for the operational efficiency and responsiveness of modern transportation management.

We study the problem of infrequent exploration in linear bandits, addressing a significant yet overlooked gap between fully adaptive exploratory methods (e.g., UCB and Thompson Sampling), which explore potentially at every time step, and purely greedy approaches, which require stringent diversity assumptions to succeed. Continuous exploration can be impractical or unethical in safety-critical or costly domains, while purely greedy strategies typically fail without adequate contextual diversity. To bridge these extremes, we introduce a simple and practical framework, INFEX, explicitly designed for infrequent exploration. INFEX executes a base exploratory policy according to a given schedule while predominantly choosing greedy actions in between. Despite its simplicity, our theoretical analysis demonstrates that INFEX achieves instance-dependent regret matching standard provably efficient algorithms, provided the exploration frequency exceeds a logarithmic threshold. Additionally, INFEX is a general, modular framework that allows seamless integration of any fully adaptive exploration method, enabling wide applicability and ease of adoption. By restricting intensive exploratory computations to infrequent intervals, our approach can also enhance computational efficiency. Empirical evaluations confirm our theoretical findings, showing state-of-the-art regret performance and runtime improvements over existing methods.

Robotic systems operating at the edge require efficient online learning algorithms that can continuously adapt to changing environments while processing streaming sensory data. Traditional backpropagation, while effective, conflicts with biological plausibility principles and may be suboptimal for continuous adaptation scenarios. The Predictive Coding (PC) framework offers a biologically plausible alternative with local, Hebbian-like update rules, making it suitable for neuromorphic hardware implementation. However, PC's main limitation is its computational overhead due to multiple inference iterations during training. We present Predictive Coding Network with Temporal Amortization (PCN-TA), which preserves latent states across temporal frames. By leveraging temporal correlations, PCN-TA significantly reduces computational demands while maintaining learning performance. Our experiments on the COIL-20 robotic perception dataset demonstrate that PCN-TA achieves 10% fewer weight updates compared to backpropagation and requires 50% fewer inference steps than baseline PC networks. These efficiency gains directly translate to reduced computational overhead for moving another step toward edge deployment and real-time adaptation support in resource-constrained robotic systems. The biologically-inspired nature of our approach also makes it a promising candidate for future neuromorphic hardware implementations, enabling efficient online learning at the edge.

Differentiating through constrained optimization problems is increasingly central to learning, control, and large-scale decision-making systems, yet practical integration remains challenging due to solver specialization and interface mismatches. This paper presents a general and streamlined framework-an updated DiffOpt.jl-that unifies modeling and differentiation within the Julia optimization stack. The framework computes forward - and reverse-mode solution and objective sensitivities for smooth, potentially nonconvex programs by differentiating the KKT system under standard regularity assumptions. A first-class, JuMP-native parameter-centric API allows users to declare named parameters and obtain derivatives directly with respect to them - even when a parameter appears in multiple constraints and objectives - eliminating brittle bookkeeping from coefficient-level interfaces. We illustrate these capabilities on convex and nonconvex models, including economic dispatch, mean-variance portfolio selection with conic risk constraints, and nonlinear robot inverse kinematics. Two companion studies further demonstrate impact at scale: gradient-based iterative methods for strategic bidding in energy markets and Sobolev-style training of end-to-end optimization proxies using solver-accurate sensitivities. Together, these results demonstrate that differentiable optimization can be deployed as a routine tool for experimentation, learning, calibration, and design-without deviating from standard JuMP modeling practices and while retaining access to a broad ecosystem of solvers.

Over the past few decades, continuous quaternion-based attitude control has been proven highly effective for driving rotational systems that can be modeled as rigid bodies, such as satellites and drones. However, methods rooted in this approach do not enforce the existence of a unique closed-loop (CL) equilibrium attitude-error quaternion (AEQ); and, for rotational errors about the attitude-error Euler axis larger than πrad, their proportional-control effect diminishes as the system state moves away from the stable equilibrium of the CL rotational dynamics. In this paper, we introduce a new type of attitude control law that more effectively leverages the attitude-error Euler axis-angle information to guarantee a unique CL equilibrium AEQ and to provide greater flexibility in the use of proportional-control efforts. Furthermore, using two different control laws as examples-through the construction of a strict Lyapunov function for the CL dynamics-we demonstrate that the resulting unique equilibrium of the CL rotational system can be enforced to be uniformly asymptotically stable. To assess and demonstrate the functionality and performance of the proposed approach, we performed numerical simulations and executed dozens of real-time tumble-recovery maneuvers using a small quadrotor. These simulations and flight tests compellingly demonstrate that the proposed axis-angle-based method achieves superior flight performance-compared with that obtained using a high-performance quaternion-based controller-in terms of stabilization time.

BRAIN-IT: IMAGE RECONSTRUCTION FROM FMRI VIA BRAIN-INTERACTION TRANSFORMER Roman Beliy, Amit Zalcher, Jonathan Kogman, Navve Wasserman, Michal Irani Department of Computer Science and Applied Mathematics The Weizmann Institute of Science roman.beliy@weizmann.ac.il ABSTRACT Reconstructing images seen by people from their fMRI brain recordings provides a non-invasive window into the human brain. Despite recent progress enabled by diffusion models, current methods often lack faithfulness to the actual seen images. These functional-clusters are shared by all subjects, serving as building blocks for integrating information both within and across brains. All model components are shared by all clusters & subjects, allowing efficient training with a limited amount of data. To guide the image reconstruction, BIT predicts two complementary localized patch-level image features: (i) high-level semantic features which steer the diffusion model toward the correct semantic content of the image; and (ii) low-level structural features which help to initialize the diffusion process with the correct coarse layout of the image. BIT's design enables direct flow of information from brain-voxel clusters to localized image features. Through these principles, our method achieves image reconstructions from fMRI that faithfully reconstruct the seen images, and surpass current SotA approaches both visually and by standard objective metrics. Moreover, with only 1-hour of fMRI data from a new subject, we achieve results comparable to current methods trained on full 40-hour recordings. 1 INTRODUCTION Reconstructing visual experiences from brain activity (fMRI-to-image reconstruction) is a key challenge with broad implications for both neuroscience and brain-computer interfaces (Milekovic, 2018; Naci et al., 2012). Such reconstructions may provide a window into visual perception in the brain, enable the study of visual imagery (Cichy et al., 2012; Pearson et al., 2015), reveal dream content (Horikawa et al., 2013; Horikawa & Kamitani, 2017), and even assist in assessing disorders of consciousness (Monti et al., 2010; Owen et al., 2006). In a typical image decoding setting, subjects view natural images while their brain activity is being recorded using functional Magnetic Resonance Imaging (fMRI). This produces paired data of images and their corresponding fMRI scans. The task is then to reconstruct the perceived image from new (test) fMRI signals. Early work in this domain mapped fMRI signals to handcrafted image features (Kay et al., 2008; Naselaris et al., 2009; Nishimoto et al., 2011), which were then used for image reconstruction. Subsequent studies employed deep learning methods (Beliy et al., 2019; Lin et al., 2019; Shen et al., 2019).