Abstract--This work addresses the collaborative multi-robot autonomous online exploration problem, particularly focusing on distributed exploration planning for dynamically balanced exploration area partition and task allocation among a team of mobile robots operating in obstacle-dense non-convex environments. We present a novel topological map structure that simultaneously characterizes both spatial connectivity and global exploration completeness of the environment. The topological map is updated incrementally to utilize known spatial information for updating reachable spaces, while exploration targets are planned in a receding horizon fashion under global coverage guidance. A distributed weighted topological graph V oronoi algorithm is introduced implementing balanced graph space partitions of the fused topological maps. Theoretical guarantees are provided for distributed consensus convergence and equitable graph space partitions with constant bounds. A local planner optimizes the visitation sequence of exploration targets within the balanced partitioned graph space to minimize travel distance, while generating safe, smooth, and dynamically feasible motion trajectories. Comprehensive benchmarking against state-of-the-art methods demonstrates significant improvements in exploration efficiency, completeness, and workload balance across the robot team. Autonomous exploration via multi-robot systems, which leverages robotic systems to map unknown environments cooperatively, is a critical capability for applications such as inspection, search-and-rescue, and disaster response [1], [2], [3]. Multi-robot systems offer substantial advantages, including accelerated exploration and enhanced fault tolerance. Despite their potential, developing robust and efficient multi-robot exploration systems remains challenging due to suboptimal task allocation, and inefficient coordination strategies. Previous collaborative exploration approaches often rely on centralized controllers [4], [5], which are impractical in real-world scenarios with unreliable or range-limited connectivity. Decentralized coordination methods have been proposed to mitigate these issues [6], [7], [8] yet many multi-robot exploration approaches still suffer from critical inefficiencies.

Low-bit floating-point (FP) formats, such as FP8, provide significant acceleration and memory savings in model training thanks to native hardware support on modern GPUs and NPUs. However, we analyze that FP8 quantization offers speedup primarily for large-dimensional matrix multiplications, while inherent quantization overheads diminish speedup when applied to low-rank adaptation (LoRA), which uses small-dimensional matrices for efficient fine-tuning of large language models (LLMs). To address this limitation, we propose FALQON, a novel framework that eliminates the quantization overhead from separate LoRA computational paths by directly merging LoRA adapters into an FP8-quantized backbone during fine-tuning. Furthermore, we reformulate the forward and backward computations for merged adapters to significantly reduce quantization overhead, and introduce a row-wise proxy update mechanism that efficiently integrates substantial updates into the quantized backbone. Experimental evaluations demonstrate that FALQON achieves approximately a 3$\times$ training speedup over existing quantized LoRA methods with a similar level of accuracy, providing a practical solution for efficient large-scale model fine-tuning. Moreover, FALQON's end-to-end FP8 workflow removes the need for post-training quantization, facilitating efficient deployment. Code is available at https://github.com/iamkanghyunchoi/falqon.

Electrodermal activity (EDA), the primary signal for stress detection, requires costly hardware often unavailable in real-world wearables. In this paper, we propose PULSE, a framework that utilizes EDA exclusively during self-supervised pretraining, while enabling inference without EDA but with more readily available modalities such as ECG, BVP, ACC, and TEMP. Our approach separates encoder outputs into shared and private embeddings. We align "shared" embeddings across modalities and fuse them into a modality-invariant representation. The "private" embeddings carry modality-specific information to support the reconstruction objective. Pretraining is followed by knowledge transfer where a frozen EDA teacher transfers sympathetic-arousal representations into student encoders. On WESAD, our method achieves strong stress-detection performance, showing that representations of privileged EDA can be transferred to low-cost sensors to improve accuracy while reducing hardware cost.

Proteins are traditionally optimized through the costly construction and measurement of many mutants. Active Learning-assisted Directed Evolution (ALDE) alleviates that cost by predicting the best improvements and iteratively testing mutants to inform predictions. However, existing ALDE methods face a critical limitation: selecting the highest-predicted mutants in each round yields homogeneous training data insufficient for accurate prediction models in subsequent rounds. Here we present FolDE, an ALDE method designed to maximize end-of-campaign success. In simulations across 20 protein targets, FolDE discovers 23% more top 10% mutants than the best baseline ALDE method (p=0.005) and is 55% more likely to find top 1% mutants. FolDE achieves this primarily through naturalness-based warm-starting, which augments limited activity measurements with protein language model outputs to improve activity prediction. We also introduce a constant-liar batch selector, which improves batch diversity; this is important in multi-mutation campaigns but had limited effect in our benchmarks. The complete workflow is freely available as open-source software, making efficient protein optimization accessible to any laboratory.

Recent advancements in deep learning and the availability of high-quality real-world driving datasets have propelled end-to-end autonomous driving. Despite this progress, relying solely on real-world data limits the variety of driving scenarios for training. Synthetic scenario generation has emerged as a promising solution to enrich the diversity of training data; however, its application within E2E AD models remains largely unexplored. This is primarily due to the absence of a designated ego vehicle and the associated sensor inputs, such as camera or LiDAR, typically provided in real-world scenarios. To address this gap, we introduce SynAD, the first framework designed to enhance real-world E2E AD models using synthetic data. Our method designates the agent with the most comprehensive driving information as the ego vehicle in a multi-agent synthetic scenario. We further project path-level scenarios onto maps and employ a newly developed Map-to-BEV Network to derive bird's-eye-view features without relying on sensor inputs. Finally, we devise a training strategy that effectively integrates these map-based synthetic data with real driving data. Experimental results demonstrate that SynAD effectively integrates all components and notably enhances safety performance. By bridging synthetic scenario generation and E2E AD, SynAD paves the way for more comprehensive and robust autonomous driving models.

Abstract--The utility of tabular data for tasks ranging from model training to large-scale data analysis is often constrained by privacy concerns or regulatory hurdles. While existing data generation methods, particularly those based on Generative Adversarial Networks (GANs), have shown promise, they frequently struggle with capturing complex causal relationship, maintaining data utility, and providing provable privacy guarantees suitable for enterprise deployment. We introduce CA-GAN, a novel generative framework specifically engineered to address these challenges for real-world tabular datasets. CA-GAN utilizes a two-step approach: causal graph extraction to learn a robust, comprehensive causal relationship in the data's manifold, followed by a custom Conditional WGAN-GP (Wasserstein GAN with Gradient Penalty) that operates exclusively as per the structure of nodes in the causal graph. More importantly, the generator is trained with a new Reinforcement Learning-based objective that aligns the causal graphs constructed from real and fake data, ensuring the causal awareness in both training and sampling phases. We demonstrate CA-GAN superiority over six SOT A methods across 14 tabular datasets. Our evaluations, focused on core data engineering metrics: causal preservation, utility preservation, and privacy preservation. Our method offers a practical, high-performance solution for data engineers seeking to create high-quality, privacy-compliant synthetic datasets to benchmark database systems, accelerate software development, and facilitate secure data-driven research. Tabular data is one of the most common data types in various fields such as healthcare and finance.

We introduce GraphNet, a dataset of 2.7K real-world deep learning computational graphs with rich metadata, spanning six major task categories across multiple deep learning frameworks. To evaluate tensor compiler performance on these samples, we propose the benchmark metric Speedup Score S(t), which jointly considers runtime speedup and execution correctness under tunable tolerance levels, offering a reliable measure of general optimization capability. Furthermore, we extend S(t) to the Error-aware Speedup Score ES(t), which incorporates error information and helps compiler developers identify key performance bottlenecks. In this report, we benchmark the default tensor compilers, CINN for PaddlePaddle and TorchInductor for PyTorch, on computer vision (CV) and natural language processing (NLP) samples to demonstrate the practicality of GraphNet. The full construction pipeline with graph extraction and compiler evaluation tools is available at https://github.com/PaddlePaddle/GraphNet .

Abstract--Boundary V ector Cells (BVCs) are a class of neurons in the brains of vertebrates that encode environmental boundaries at specific distances and allocentric directions, playing a central role in forming place fields in the hippocampus. Most computational BVC models are restricted to two-dimensional (2D) environments, making them prone to spatial ambiguities in the presence of horizontal symmetries in the environment. T o address this limitation, we incorporate vertical angular sensitivity into the BVC framework, thereby enabling robust boundary detection in three dimensions, and leading to significantly more accurate spatial localization in a biologically-inspired robot model. The proposed model processes LiDAR data to capture vertical contours, thereby disambiguating locations that would be indistinguishable under a purely 2D representation. Experimental results show that in environments with minimal vertical variation, the proposed 3D model matches the performance of a 2D baseline; yet, as 3D complexity increases, it yields substantially more distinct place fields and markedly reduces spatial aliasing. These findings show that adding a vertical dimension to BVC-based localization can significantly enhance navigation and mapping in real-world 3D spaces while retaining performance parity in simpler, near-planar scenarios. The hippocampus has been studied extensively for its role in enabling mammals to represent, localize, and navigate in new and familiar environments based on location-sensitive Place Cells.

Spatio-Temporal Multivariate time series Forecast (STMF) uses the time series of $n$ spatially distributed variables in a period of recent past to forecast their values in a period of near future. It has important applications in spatio-temporal sensing forecast such as road traffic prediction and air pollution prediction. Recent papers have addressed a practical problem of missing variables in the model input, which arises in the sensing applications where the number $m$ of sensors is far less than the number $n$ of locations to be monitored, due to budget constraints. We observe that the state of the art assumes that the $m$ variables (i.e., locations with sensors) in the model input are pre-determined and the important problem of how to choose the $m$ variables in the input has never been studied. This paper fills the gap by studying a new problem of STMF with chosen variables, which optimally selects $m$-out-of-$n$ variables for the model input in order to maximize the forecast accuracy. We propose a unified framework that jointly performs variable selection and model optimization for both forecast accuracy and model efficiency. It consists of three novel technical components: (1) masked variable-parameter pruning, which progressively prunes less informative variables and attention parameters through quantile-based masking; (2) prioritized variable-parameter replay, which replays low-loss past samples to preserve learned knowledge for model stability; (3) dynamic extrapolation mechanism, which propagates information from variables selected for the input to all other variables via learnable spatial embeddings and adjacency information. Experiments on five real-world datasets show that our work significantly outperforms the state-of-the-art baselines in both accuracy and efficiency, demonstrating the effectiveness of joint variable selection and model optimization.

Humans leverage shared conversational context to become increasingly successful and efficient at communicating over time. One manifestation of this is the formation of ad hoc linguistic conventions, which allow people to coordinate on short, less costly utterances that are understood using shared conversational context. We present a method to train large multimodal models to form conventions, enabling efficient communication. Our approach uses simulated reference games between models, and requires no additional human-produced data. In repeated reference games involving photographs and tangram images, our method enables models to communicate efficiently with people: reducing the message length by up to 41% while increasing success by 15% over the course of the interaction. Human listeners respond faster when interacting with our model that forms conventions. We also show that training based on success or cost alone is insufficient - both are necessary to elicit convention formation.