In recent years, consumer-grade UAVs have been widely adopted by first responders. In general, they are operated manually, which requires trained pilots, especially in unknown GNSS-denied environments and in the vicinity of structures. Autonomous flight can facilitate the application of UAVs and reduce operator strain. However, autonomous systems usually require special programming interfaces, custom sensor setups, and strong onboard computers, which limits a broader deployment. We present a system for autonomous flight using lightweight consumer-grade DJI drones. They are controlled by an Android app for state estimation and obstacle avoidance directly running on the UAV's remote control. Our ground control station enables a single operator to configure and supervise multiple heterogeneous UAVs at once. Furthermore, it combines the observations of all UAVs into a joint 3D environment model for improved situational awareness.

Eye gaze offers valuable cues about attention, short-term intent, and future actions, making it a powerful signal for modeling egocentric behavior. In this work, we propose a gaze-regularized framework that enhances VLMs for two key egocentric understanding tasks: fine-grained future event prediction and current activity understanding. Unlike prior approaches that rely solely on visual inputs or use gaze as an auxiliary input signal , our method uses gaze only during training. We introduce a gaze-regularized attention mechanism that aligns model focus with human visual gaze. This design is flexible and modular, allowing it to generalize across multiple VLM architectures that utilize attention. Experimental results show that our approach improves semantic prediction scores by up to 11 for future event prediction and around 7 for current activity understanding, compared to the corresponding baseline models trained without gaze regularization. These results highlight the value of gaze-guided training in improving the accuracy and robustness of egocentric VLMs. Overall, this work establishes a foundation for using human gaze to enhance the predictive capabilities of VLMs in real-world scenarios like assistive robots and human-machine collaboration. Code and additional information is available at: https://github.com/anupampani/Gaze-VLM

Robust yield curve estimation is crucial in fixed-income markets for accurate instrument pricing, effective risk management, and informed trading strategies. Traditional approaches, including the bootstrapping method and parametric Nelson-Siegel models, often struggle with overfitting or instability issues, especially when underlying bonds are sparse, bond prices are volatile, or contain hard-to-remove noise. In this paper, we propose a neural networkbased framework for robust yield curve estimation tailored to small mortgage bond markets. Our model estimates the yield curve independently for each day and introduces a new loss function to enforce smoothness and stability, addressing challenges associated with limited and noisy data. Empirical results on Swedish mortgage bonds demonstrate that our approach delivers more robust and stable yield curve estimates compared to existing methods such as Nelson-Siegel-Svensson (NSS) and Kernel-Ridge (KR). Furthermore, the framework allows for the integration of domain-specific constraints, such as alignment with risk-free benchmarks, enabling practitioners to balance the trade-off between smoothness and accuracy according to their needs.

Recently, Foursquare released a global dataset with more than 100 million points of interest (POIs), each representing a real-world business on its platform. However, many entries lack complete metadata such as addresses or categories, and some correspond to non-existent or fictional locations. In contrast, OpenStreetMap (OSM) offers a rich, user-contributed POI dataset with detailed and frequently updated metadata, though it does not formally verify whether a POI represents an actual business. In this data paper, we present a methodology that integrates the strengths of both datasets: Foursquare as a comprehensive baseline of commercial POIs and OSM as a source of enriched metadata. The combined dataset totals approximately 1 TB. While this full version is not publicly released, we provide filtered releases with adjustable thresholds that reduce storage needs and make the data practical to download and use across domains. We also provide step-by-step instructions to reproduce the full 631 GB build. Record linkage is achieved by computing name similarity scores and spatial distances between Foursquare and OSM POIs. These measures identify and retain high-confidence matches that correspond to real businesses in Foursquare, have representations in OSM, and show strong name similarity. Finally, we use this filtered dataset to construct a graph-based representation of POIs enriched with attributes from both sources, enabling advanced spatial analyses and a range of downstream applications.

Recent efforts like TripCraft and TravelPlanner have advanced the use of Large Language Models ( LLMs) for personalized, constraint aware travel itinerary generation. Yet, real travel often faces disruptions. To address this, we present TripTide, the first benchmark evaluating LLM's ability to revise itineraries under realistic disruptions. TripTide models key dimensions such as disruption severity and traveler tolerance, enabling nuanced assessment of LLM adaptability to events like flight cancellations, weather closures, or overbooked attractions. We conduct a threefold evaluation. First, we introduce automatic metrics including Preservation of Intent (how well the revised plan maintains feasibility and goals), Responsiveness (promptness and appropriateness of disruption handling), and Adaptability (semantic, spatial, and sequential divergence between original and revised plans). Second, we apply an LLM-as-a-judge approach to automatically assess revision quality. Third, we perform manual expert evaluation to verify whether revisions preserve semantic, spatial, sequential, and responsive aspects. Our experiments show that LLMs maintain strong sequential consistency and semantic stability, while spatial deviations are larger for shorter trips but decrease with longer ones, indicating that extended plans encourage better geographic coherence. However, disruption-handling ability declines as plan length increases, highlighting limits in LLM robustness. TripTide establishes a benchmark for evaluating adaptability, personalization, and resilience in LLM-based travel planning under real-world uncertainty.

Abstract--Chest X-ray (CXR) plays a pivotal role in clinical diagnosis, and a variety of task-specific and foundation models have been developed for automatic CXR interpretation. However, these models often struggle to adapt to new diagnostic tasks and complex reasoning scenarios. Recently, LLM-based agent models have emerged as a promising paradigm for CXR analysis, enhancing model's capability through tool coordination, multi-step reasoning, and team collaboration, etc. However, existing agents often rely on a single diagnostic pipeline and lack mechanisms for assessing tools' reliability, limiting their adaptability and credibility. T o this end, we propose CXRAgent, a director-orchestrated, multi-stage agent for CXR interpretation, where a central director coordinates the following stages: (1) T ool Invocation: The agent strategically orchestrates a set of CXR-analysis tools, with outputs normalized and verified by the Evidence-driven V alidator (EDV), which grounds diagnostic outputs with visual evidence to support reliable downstream diagnosis; (2) Diagnostic Planning: Guided by task requirements and intermediate findings, the agent formulates a targeted diagnostic plan. It then assembles an expert team accordingly, defining member roles and coordinating their interactions to enable adaptive and collaborative reasoning; (3) Collaborative Decision-making: The agent integrates insights from the expert team with accumulated contextual memories, synthesizing them into an evidence-backed diagnostic conclusion. Experiments on various CXR interpretation tasks show that CXRAgent delivers strong performance, providing visual evidence and generalizes well to clinical tasks of different complexity. Code and data are valuable at this link. HEST X-ray (CXR) is among the most widely used imaging modalities in clinical practice due to their affordability, rapid acquisition, and diagnostic utility across a wide range of thoracic conditions. This work has been submitted to the IEEE for possible publication.

Pre-trained large language models (LLMs) are becoming useful for various tasks. To improve their performance on certain tasks, it is necessary to fine-tune them on specific data corpora (e.g., medical reports, business data). These specialized data corpora may contain sensitive data (e.g., personal or confidential data) that will be memorized by the model and likely to be regurgitated during its subsequent use. This memorization of sensitive information by the model poses a significant privacy or confidentiality issue. To remove this memorization and sanitize the model without requiring costly additional fine-tuning on a secured data corpus, we propose SANI. SANI is an unlearning approach to sanitize language models. It relies on both an erasure and repair phases that 1) reset certain neurons in the last layers of the model to disrupt the memorization of fine-grained information, and then 2) fine-tune the model while avoiding memorizing sensitive information. We comprehensively evaluate SANI to sanitize both a model fine-tuned and specialized with medical data by removing directly and indirectly identifiers from the memorization of the model, and a standard pre-trained model by removing specific terms defined as confidential information from the model. Results show that with only few additional epochs of unlearning, the model is sanitized and the number of regurgitations is drastically reduced. This approach can be particularly useful for hospitals or other industries that have already spent significant resources training models on large datasets and wish to sanitize them before sharing.

Biological circuits have evolved to incorporate multiple modules that perform similar functions. In the fly olfactory circuit, both lateral inhibition (LI) and neuronal spike frequency adaptation (SFA) are thought to enhance pattern separation for odor learning. However, it remains unclear whether these mechanisms play redundant or distinct roles in this process. In this study, we present a computational model of the fly olfactory circuit to investigate odor discrimination under varying noise conditions that simulate complex environments. Our results show that LI primarily enhances odor discrimination in low- and medium-noise scenarios, but this benefit diminishes and may reverse under higher-noise conditions. In contrast, SFA consistently improves discrimination across all noise levels. LI is preferentially engaged in low- and medium-noise environments, whereas SFA dominates in high-noise settings. When combined, these two sparsification mechanisms enable optimal discrimination performance. This work demonstrates that seemingly redundant modules in biological circuits can, in fact, be essential for achieving optimal learning in complex contexts.

Regret in stochastic multi-armed bandits traditionally measures the difference between the highest reward and either the arithmetic mean of accumulated rewards or the final reward. These conventional metrics often fail to address fairness among agents receiving rewards, particularly in settings where rewards are distributed across a population, such as patients in clinical trials. To address this, a recent body of work has introduced Nash regret, which evaluates performance via the geometric mean of accumulated rewards, aligning with the Nash social welfare function known for satisfying fairness axioms. To minimize Nash regret, existing approaches require specialized algorithm designs and strong assumptions, such as multiplicative concentration inequalities and bounded, non-negative rewards, making them unsuitable for even Gaussian reward distributions. We demonstrate that an initial uniform exploration phase followed by a standard Upper Confidence Bound (UCB) algorithm achieves near-optimal Nash regret, while relying only on additive Hoeffding bounds, and naturally extending to sub-Gaussian rewards. Furthermore, we generalize the algorithm to a broad class of fairness metrics called the $p$-mean regret, proving (nearly) optimal regret bounds uniformly across all $p$ values. This is in contrast to prior work, which made extremely restrictive assumptions on the bandit instances and even then achieved suboptimal regret bounds.

Large language models (LLMs) have demonstrated high performance on tasks expressed in natural language, particularly in zero- or few-shot settings. These are typically framed as supervised (e.g., classification) or unsupervised (e.g., clustering) problems. However, limited work evaluates LLMs as agents in reinforcement learning (RL) tasks (e.g., playing games), where learning occurs through interaction with an environment and a reward system. While prior work focused on representing tasks that rely on a language representation, we study structured, non-linguistic reasoning - such as interpreting positions in a grid world. We therefore introduce PARL (Prompt-based Agent for Reinforcement Learning), a method that uses LLMs as RL agents through prompting, without any fine-tuning. PARL encodes actions, states, and rewards in the prompt, enabling the model to learn through trial-and-error interaction. We evaluate PARL on three standard RL tasks that do not entirely rely on natural language. We show that it can match or outperform traditional RL agents in simple environments by leveraging pretrained knowledge. However, we identify performance limitations in tasks that require complex mathematical operations or decoding states and actions.