Abstract--This paper presents an optimal trajectory generation method for 3D overhead cranes by leveraging differential flatness. This framework enables the direct inclusion of complex physical and dynamic constraints, such as nonlinear friction and collision avoidance for both payload and rope. Our approach allows for aggressive movements by constraining payload swing only at the final point. A comparative simulation study validates our approach, demonstrating that neglecting dry friction leads to actuator saturation and collisions. The results show that friction modeling is a fundamental requirement for fast and safe crane trajectories.

Time series forecasting and anomaly detection are common tasks for practitioners in industries such as retail, manufacturing, advertising and energy. Two unique challenges stand out: (1) efficiently and accurately forecasting time series or detecting anomalies in large volumes automatically; and (2) ensuring interpretability of results to effectively incorporate business insights. We present ARIMA_PLUS, a novel framework to overcome these two challenges by a unique combination of (a) accurate and interpretable time series models and (b) scalable and fully managed system infrastructure. The model has a sequential and modular structure to handle different components of the time series, including holiday effects, seasonality, trend, and anomalies, which enables high interpretability of the results. Novel enhancements are made to each module, and a unified framework is established to address both forecasting and anomaly detection tasks simultaneously. In terms of accuracy, its comprehensive benchmark on the 42 public datasets in the Monash forecasting repository shows superior performance over not only well-established statistical alternatives (such as ETS, ARIMA, TBATS, Prophet) but also newer neural network models (such as DeepAR, N-BEATS, PatchTST, TimeMixer). In terms of infrastructure, it is directly built into the query engine of BigQuery in Google Cloud. It uses a simple SQL interface and automates tedious technicalities such as data cleaning and model selection. It automatically scales with managed cloud computational and storage resources, making it possible to forecast 100 million time series using only 1.5 hours with a throughput of more than 18000 time series per second. In terms of interpretability, we present several case studies to demonstrate time series insights it generates and customizability it offers.

Multimodal large language models (MLLMs) have shown impressive capabilities in vision-language tasks such as reasoning segmentation, where models generate segmentation masks based on textual queries. While prior work has primarily focused on perturbing image inputs, semantically equivalent textual paraphrases-crucial in real-world applications where users express the same intent in varied ways-remain underexplored. To address this gap, we introduce a novel adversarial paraphrasing task: generating grammatically correct paraphrases that preserve the original query meaning while degrading segmentation performance. To evaluate the quality of adversarial paraphrases, we develop a comprehensive automatic evaluation protocol validated with human studies. Furthermore, we introduce SPARTA-a black-box, sentence-level optimization method that operates in the low-dimensional semantic latent space of a text autoencoder, guided by reinforcement learning. SPARTA achieves significantly higher success rates, outperforming prior methods by up to 2x on both the ReasonSeg and LLMSeg-40k datasets. We use SPARTA and competitive baselines to assess the robustness of advanced reasoning segmentation models. We reveal that they remain vulnerable to adversarial paraphrasing-even under strict semantic and grammatical constraints. All code and data will be released publicly upon acceptance.

Since real-world legal experiments are often costly or infeasible, simulating legal societies with Artificial Intelligence (AI) systems provides an effective alternative for verifying and developing legal theory, as well as supporting legal administration. Large Language Models (LLMs), with their world knowledge and role-playing capabilities, are strong candidates to serve as the foundation for legal society simulation. However, the application of LLMs to simulate legal systems remains underexplored. In this work, we introduce Law in Silico, an LLM-based agent framework for simulating legal scenarios with individual decision-making and institutional mechanisms of legislation, adjudication, and enforcement. Our experiments, which compare simulated crime rates with real-world data, demonstrate that LLM-based agents can largely reproduce macro-level crime trends and provide insights that align with real-world observations. At the same time, micro-level simulations reveal that a well-functioning, transparent, and adaptive legal system offers better protection of the rights of vulnerable individuals.

Large language models are increasingly used for Islamic guidance, but risk misquoting texts, misapplying jurisprudence, or producing culturally inconsistent responses. We pilot an evaluation of GPT-4o, Ansari AI, and Fanar on prompts from authentic Islamic blogs. Our dual-agent framework uses a quantitative agent for citation verification and six-dimensional scoring (e.g., Structure, Islamic Consistency, Citations) and a qualitative agent for five-dimensional side-by-side comparison (e.g., Tone, Depth, Originality). GPT-4o scored highest in Islamic Accuracy (3.93) and Citation (3.38), Ansari AI followed (3.68, 3.32), and Fanar lagged (2.76, 1.82). Despite relatively strong performance, models still fall short in reliably producing accurate Islamic content and citations -- a paramount requirement in faith-sensitive writing. GPT-4o had the highest mean quantitative score (3.90/5), while Ansari AI led qualitative pairwise wins (116/200). Fanar, though trailing, introduces innovations for Islamic and Arabic contexts. This study underscores the need for community-driven benchmarks centering Muslim perspectives, offering an early step toward more reliable AI in Islamic knowledge and other high-stakes domains such as medicine, law, and journalism.

Evaluating reasoning ability in Large Language Models (LLMs) is important for advancing artificial intelligence, as it transcends mere linguistic task performance. It involves understanding whether these models truly understand information, perform inferences, and are able to draw conclusions in a logical and valid way. This study compare logical and abstract reasoning skills of several LLMs - including GPT, Claude, DeepSeek, Gemini, Grok, Llama, Mistral, Perplexity, and Sabi a - using a set of eight custom-designed reasoning questions. The LLM results are benchmarked against human performance on the same tasks, revealing significant differences and indicating areas where LLMs struggle with deduction.

The effectiveness of instruction-tuned Large Language Models (LLMs) is often limited in low-resource linguistic settings due to a lack of high-quality training data. We introduce LuxIT, a novel, monolingual instruction tuning dataset for Luxembourgish developed to mitigate this challenge. We synthesize the dataset from a corpus of native Luxembourgish texts, utilizing DeepSeek-R1-0528, chosen for its shown proficiency in Luxembourgish. Following generation, we apply a quality assurance process, employing an LLM-as-a-judge approach. To investigate the practical utility of the dataset, we fine-tune several smaller-scale LLMs on LuxIT. Subsequent benchmarking against their base models on Luxembourgish language proficiency examinations, however, yields mixed results, with performance varying significantly across different models. LuxIT represents a critical contribution to Luxembourgish natural language processing and offers a replicable monolingual methodology, though our findings highlight the need for further research to optimize its application.

Reinforcement learning (RL) in sparse-reward environments remains a significant challenge due to the lack of informative feedback. We propose a simple yet effective method that uses a small number of successful demonstrations to initialize the value function of an RL agent. By precomputing value estimates from offline demonstrations and using them as targets for early learning, our approach provides the agent with a useful prior over promising actions. The agent then refines these estimates through standard online interaction. This hybrid offline-to-online paradigm significantly reduces the exploration burden and improves sample efficiency in sparse-reward settings. Experiments on benchmark tasks demonstrate that our method accelerates convergence and outperforms standard baselines, even with minimal or suboptimal demonstration data.

Binarized Neural Networks (BNNs) deployed on memristive crossbar arrays provide energy-efficient solutions for edge computing but are susceptible to physical attacks due to memristor nonvolatility. Recently, Rajendran et al. (IEEE Embedded Systems Letter 2025) proposed a Physical Unclonable Function (PUF)-based scheme to secure BNNs against theft attacks. Specifically, the weight and bias matrices of the BNN layers were secured by swapping columns based on device's PUF key bits. In this paper, we demonstrate that this scheme to secure BNNs is vulnerable to PUF-key recovery attack. As a consequence of our attack, we recover the secret weight and bias matrices of the BNN. Our approach is motivated by differential cryptanalysis and reconstructs the PUF key bit-by-bit by observing the change in model accuracy, and eventually recovering the BNN model parameters. Evaluated on a BNN trained on the MNIST dataset, our attack could recover 85% of the PUF key, and recover the BNN model up to 93% classification accuracy compared to the original model's 96% accuracy. Our attack is very efficient and it takes a couple of minutes to recovery the PUF key and the model parameters.

Retrieval-Augmented Generation (RAG) struggles on long, structured financial filings where relevant evidence is sparse and cross-referenced. This paper presents a systematic investigation of advanced metadata-driven Retrieval-Augmented Generation (RAG) techniques, proposing and evaluating a novel, multi-stage RAG architecture that leverages LLM-generated metadata. We introduce a sophisticated indexing pipeline to create contextually rich document chunks and benchmark a spectrum of enhancements, including pre-retrieval filtering, post-retrieval reranking, and enriched embeddings, benchmarked on the FinanceBench dataset. Our results reveal that while a powerful reranker is essential for precision, the most significant performance gains come from embedding chunk metadata directly with text ("contextual chunks"). Our proposed optimal architecture combines LLM-driven pre-retrieval optimizations with these contextual embeddings to achieve superior performance. Additionally, we present a custom metadata reranker that offers a compelling, cost-effective alternative to commercial solutions, highlighting a practical trade-off between peak performance and operational efficiency. This study provides a blueprint for building robust, metadata-aware RAG systems for financial document analysis.