Air pollution remains a leading global health and environmental risk, particularly in regions vulnerable to episodic air pollution spikes due to wildfires, urban haze and dust storms. Accurate forecasting of particulate matter (PM) concentrations is essential to enable timely public health warnings and interventions, yet existing models often underestimate rare but hazardous pollution events. Here, we present SynCast, a high-resolution neural forecasting model that integrates meteorological and air composition data to improve predictions of both average and extreme pollution levels. Built on a regionally adapted transformer backbone and enhanced with a diffusion-based stochastic refinement module, SynCast captures the nonlinear dynamics driving PM spikes more accurately than existing approaches. Leveraging on harmonized ERA5 and CAMS datasets, our model shows substantial gains in forecasting fidelity across multiple PM variables (PM$_1$, PM$_{2.5}$, PM$_{10}$), especially under extreme conditions. We demonstrate that conventional loss functions underrepresent distributional tails (rare pollution events) and show that SynCast, guided by domain-aware objectives and extreme value theory, significantly enhances performance in highly impacted regions without compromising global accuracy. This approach provides a scalable foundation for next-generation air quality early warning systems and supports climate-health risk mitigation in vulnerable regions.

Text-to-image diffusion models rely on text embeddings from a pre-trained text encoder, but these embeddings remain fixed across all diffusion timesteps, limiting their adaptability to the generative process. We propose Diffusion Adaptive Text Embedding (DATE), which dynamically updates text embeddings at each diffusion timestep based on intermediate perturbed data. We formulate an optimization problem and derive an update rule that refines the text embeddings at each sampling step to improve alignment and preference between the mean predicted image and the text. This allows DATE to dynamically adapts the text conditions to the reverse-diffused images throughout diffusion sampling without requiring additional model training. Through theoretical analysis and empirical results, we show that DATE maintains the generative capability of the model while providing superior text-image alignment over fixed text embeddings across various tasks, including multi-concept generation and text-guided image editing. Our code is available at https://github.com/aailab-kaist/DATE.

We present a neuromuscular speech interface that translates electromyographic (EMG) signals collected from orofacial muscles during speech articulation directly into audio. We show that self-supervised speech (SS) representations exhibit a strong linear relationship with the electrical power of muscle action potentials: SS features can be linearly mapped to EMG power with a correlation of $r = 0.85$. Moreover, EMG power vectors corresponding to different articulatory gestures form structured and separable clusters in feature space. This relationship: $\text{SS features}$ $\xrightarrow{\texttt{linear mapping}}$ $\text{EMG power}$ $\xrightarrow{\texttt{gesture-specific clustering}}$ $\text{articulatory movements}$, highlights that SS models implicitly encode articulatory mechanisms. Leveraging this property, we directly map EMG signals to SS feature space and synthesize speech, enabling end-to-end EMG-to-speech generation without explicit articulatory models and vocoder training.

Abstract--This paper presents a soft robot finger capable of adaptive-twist deformation to grasp objects by wrapping them. For a soft hand to grasp and pick-up one object from densely contained multiple objects, a soft finger requires the adaptive-twist deformation function in both in-plane and out-of-plane directions. The function allows the finger to be inserted deeply into a limited gap among objects. Once inserted, the soft finger requires appropriate control of grasping force normal to contact surface, thereby maintaining the twisted deformation. In this paper, we refer to this type of grasping as grasping by wrapping. T o achieve these two functions by a single actuation source, we propose a variable stiffness mechanism that can adaptively change the stiffness as the pressure is higher . We conduct a finite element analysis (FEA) on the proposed mechanism and determine its design parameter based on the FEA result. Using the developed soft finger, we report basic experimental results and demonstrations on grasping various objects. There is great demand for task automation across industries, especially in the agricultural and food industries, because of constantly shrinking work-age population.

With the rapid proliferation of digital media, the need for efficient and transparent safeguards against unsafe content is more critical than ever. Traditional image guardrail models, constrained by predefined categories, often misclassify content due to their pure feature-based learning without semantic reasoning. Moreover, these models struggle to adapt to emerging threats, requiring costly retraining for new threats. To address these limitations, we introduce SafeVision, a novel image guardrail that integrates human-like reasoning to enhance adaptability and transparency. Our approach incorporates an effective data collection and generation framework, a policy-following training pipeline, and a customized loss function. We also propose a diverse QA generation and training strategy to enhance learning effectiveness. SafeVision dynamically aligns with evolving safety policies at inference time, eliminating the need for retraining while ensuring precise risk assessments and explanations. Recognizing the limitations of existing unsafe image benchmarks, which either lack granularity or cover limited risks, we introduce VisionHarm, a high-quality dataset comprising two subsets: VisionHarm Third-party (VisionHarm-T) and VisionHarm Comprehensive(VisionHarm-C), spanning diverse harmful categories. Through extensive experiments, we show that SafeVision achieves state-of-the-art performance on different benchmarks. SafeVision outperforms GPT-4o by 8.6% on VisionHarm-T and by 15.5% on VisionHarm-C, while being over 16x faster. SafeVision sets a comprehensive, policy-following, and explainable image guardrail with dynamic adaptation to emerging threats.

Abstract-- T endon-actuated concentric tube mechanisms combine the advantages of tendon-driven continuum robots and concentric tube robots while addressing their respective limitations. They overcome the restricted degrees of freedom often seen in tendon-driven designs, and mitigate issues such as snapping instability associated with concentric tube robots. However, a complete and general mechanical model for these systems remains an open problem. The model allows each tube to twist and elongate while enforcing a shared centerline for bending. We validate the proposed framework through experiments with two-tube and three-tube assemblies under various tendon routing configurations, achieving tip prediction errors < 4% of the robot's total length. We further demonstrate the model's generality by applying it to existing robots in the field, where maximum tip deviations remain around 5% of the total length. This model provides a foundation for accurate shape estimation and control of advanced tendon-actuated concentric tube robots. Minimally invasive surgical interventions have revolutionized modern medicine by reducing patient trauma, shortening recovery times, and improving procedural outcomes. However, accessing deep-seated anatomical targets, such as the spine, brain, or vasculature, poses significant challenges due to the confined, and deformable nature of biological tissues. While highly accurate in structured environments, traditional rigid-link robotic systems often lack the flexibility and compliance required to safely navigate these constrained anatomical spaces.

There have been a couple of studies showing that attempting to erase multilingual knowledge using only English data is insufficient for multilingual LLMs. However, their analyses remain highly performance-oriented. In this paper, we switch the point of view to evaluation, and address an additional blind spot which reveals itself when the multilingual LLM is fully finetuned with parallel multilingual dataset before unlearning. Here, language confusion occurs whereby a model responds in language different from that of the input prompt. Language confusion is a problematic phenomenon in unlearning, causing the standard reference-based metrics to fail. We tackle this phenomenon in three steps: (1) introduce N-gram-based Language-Mix (N-Mix) score to quantitatively show the language confusion is pervasive and consistent in multilingual LLMs, (2) demonstrate that reference-based metrics result in false negatives when N-Mix score is high, and(3) suggest the need of new type of unlearning evaluation that can directly assess the content of the generated sentences. We call this type of metrics as semantic-based metric.

Chess provides an ideal testbed for evaluating the reasoning, modeling, and abstraction capabilities of large language models (LLMs), as it has well-defined structure and objective ground truth while admitting a wide spectrum of skill levels. However, existing evaluations of LLM ability in chess are ad hoc and narrow in scope, making it difficult to accurately measure LLM chess understanding and how it varies with scale, post-training methodologies, or architecture choices. We present ChessQA, a comprehensive benchmark that assesses LLM chess understanding across five task categories (Structural, Motifs, Short Tactics, Position Judgment, and Semantic), which approximately correspond to the ascending abstractions that players master as they accumulate chess knowledge, from understanding basic rules and learning tactical motifs to correctly calculating tactics, evaluating positions, and semantically describing high-level concepts. In this way, ChessQA captures a more comprehensive picture of chess ability and understanding, going significantly beyond the simple move quality evaluations done previously, and offers a controlled, consistent setting for diagnosis and comparison. Furthermore, ChessQA is inherently dynamic, with prompts, answer keys, and construction scripts that can evolve as models improve. Evaluating a range of contemporary LLMs, we find persistent weaknesses across all five categories and provide results and error analyses by category. We will release the code, periodically refreshed datasets, and a public leaderboard to support further research.

We present a connectome-informed LLM framework that encodes dynamic fMRI connectivity as temporal sequences, applies robust normalization, and maps these data into a representation suitable for a frozen pre-trained LLM for clinical prediction. Applied to early Alzheimer's detection, our method achieves sensitive prediction with error rates well below clinically recognized margins, with implications for timely Alzheimer's intervention.

We describe a theory and implementation of an intuitionistic decentralized framework for causal discovery using judo calculus, which is formally defined as j-stable causal inference using j-do-calculus in a topos of sheaves. In real-world applications -- from biology to medicine and social science -- causal effects depend on regime (age, country, dose, genotype, or lab protocol). Our proposed judo calculus formalizes this context dependence formally as local truth: a causal claim is proven true on a cover of regimes, not everywhere at once. The Lawvere-Tierney modal operator j chooses which regimes are relevant; j-stability means the claim holds constructively and consistently across that family. We describe an algorithmic and implementation framework for judo calculus, combining it with standard score-based, constraint-based, and gradient-based causal discovery methods. We describe experimental results on a range of domains, from synthetic to real-world datasets from biology and economics. Our experimental results show the computational efficiency gained by the decentralized nature of sheaf-theoretic causal discovery, as well as improved performance over classical causal discovery methods.