Abstract-- This paper presents a novel framework for estimating the position and orientation of flexible manipulators undergoing vertical motion using multiple inertial measurement units (IMUs), optimized and calibrated with ground truth data. The flexible links are modeled as a series of rigid segments, with joint angles estimated from accelerometer and gyroscope measurements acquired by cost-effective IMUs. A complementary filter is employed to fuse the measurements, with its parameters optimized through particle swarm optimization (PSO) to mitigate noise and delay. T o further improve estimation accuracy, residual errors in position and orientation are compensated using radial basis function neural networks (RBFNN). Experimental results validate the effectiveness of the proposed intelligent multi-IMU kinematic estimation method, achieving root mean square errors (RMSE) of 0.00021 m, 0.00041 m, and 0.00024 rad for y, z, and θ, respectively.

Abstract--Genetic programming (GP) has demonstrated strong effectiveness in evolving tree-structured heuristics for complex optimization problems. Y et, in dynamic and large-scale scenarios, the most effective heuristics are often highly complex, hindering interpretability, slowing convergence, and limiting transferability across tasks. T o address these challenges, we present EvoSpeak, a novel framework that integrates GP with large language models (LLMs) to enhance the efficiency, transparency, and adaptability of heuristic evolution. EvoSpeak learns from high-quality GP heuristics, extracts knowledge, and leverages this knowledge to (i) generate warm-start populations that accelerate convergence, (ii) translate opaque GP trees into concise natural-language explanations that foster interpretability and trust, and (iii) enable knowledge transfer and preference-aware heuristic generation across related tasks. We verify the effectiveness of EvoSpeak through extensive experiments on dynamic flexible job shop scheduling (DFJSS), under both single-and multi-objective formulations. The results demonstrate that EvoSpeak produces more effective heuristics, improves evolutionary efficiency, and delivers human-readable reports that enhance usability. EURISTICS are indispensable tools for solving complex decision-making and optimization problems, with applications spanning scheduling [1], routing [2], and resource allocation [3]. They are designed to provide adaptive, domain-specific solutions that balance solution quality and computational efficiency, enabling practitioners to make near-optimal decisions in real time. Among the diverse methodologies for heuristic design, Genetic Programming (GP) [4] has emerged as a particularly powerful paradigm, capable of evolving interpretable symbolic rules that adapt to different problem structures [5]. GP-generated heuristics often rival, and sometimes surpass, learning-based methods such as neural combinatorial optimization [6], especially in terms of transparency and adaptability. Meng Xu is with the Singapore Institute of Manufacturing Technology, Agency for Science, Technology and Research, Singapore (e-mail: xu_meng@simtech.a-star.edu.sg). Jiao Liu is with the College of Computing & Data Science, Nanyang Technological University, Singapore (e-mail: jiao.liu@ntu.edu.sg). Y ew Soon Ong is with the College of Computing and Data Science, Nanyang Technological University, and the Centre for Frontier AI Research, Institute of High Performance Computing, Agency for Science, Technology and Research, Singapore (e-mail: asysong@ntu.edu.sg). Despite these advantages, the practical deployment of GPevolved heuristics faces two persistent challenges: complexity and transferability.

These have the opposite properties, with DRL having good sample efficiency and poor stability, while ES being vice versa.

We thank the reviewers for the constructive feedback. Code will be made public. Fig. (a, b, c) best viewed in zoom. See R3.1 for comparison between random selection and genetic algorithms. Our proposed RPS-Net consistently performs better across all budgets.

For example, in hardware design optimization, we need to find the designs that trade-off performance, energy, and area overhead using expensive computational simulations.

The understanding and modeling of complex physical phenomena through dynamical systems has historically driven scientific progress, as it provides the tools for predicting the behavior of different systems under diverse conditions through time. The discovery of dynamical systems has been indispensable in engineering, as it allows for the analysis and prediction of complex behaviors for computational modeling, diagnostics, prognostics, and control of engineered systems. Joining recent efforts that harness the power of symbolic regression in this domain, we propose a novel framework for the end-to-end discovery of ordinary differential equations (ODEs), termed Grammar-based ODE Discovery Engine (GODE). The proposed methodology combines formal grammars with dimensionality reduction and stochastic search for efficiently navigating high-dimensional combinatorial spaces. Grammars allow us to seed domain knowledge and structure for both constraining, as well as, exploring the space of candidate expressions. GODE proves to be more sample- and parameter-efficient than state-of-the-art transformer-based models and to discover more accurate and parsimonious ODE expressions than both genetic programming- and other grammar-based methods for more complex inference tasks, such as the discovery of structural dynamics. Thus, we introduce a tool that could play a catalytic role in dynamics discovery tasks, including modeling, system identification, and monitoring tasks.

Neural Information Processing Systems http://nips.cc/

Perception is often described as a predictive process based on an optimal inference with respect to a generative model. We study here the principled construction of a generative model specifically crafted to probe motion perception. In that context, we first provide an axiomatic, biologically-driven derivation of the model. This model synthesizes random dynamic textures which are defined by stationary Gaussian distributions obtained by the random aggregation of warped patterns. Importantly, we show that this model can equivalently be described as a stochastic partial differential equation. Using this characterization of motion in images, it allows us to recast motion-energy models into a principled Bayesian inference framework. Finally, we apply these textures in order to psychophysically probe speed perception in humans. In this framework, while the likelihood is derived from the generative model, the prior is estimated from the observed results and accounts for the perceptual bias in a principled fashion.

Results from these preliminary experiments were not reported in the paper but we report the results here in the supplementary materials. The standard bounding boxes were used as provided with the ImageNet dataset. If images had 0 bounding boxes, they were discarded for this dataset. See Section 2 in the main paper and consult Bashivan et al. (2019) for full details on the sampling procedure and chosen parameters. Code from Bashivan et al. (2019) was open-sourced at Biological measurements (Gattass et al. (1981, 1988)) have demonstrated that in primates, the As described in the paper, we employed two baseline models ('ResNet' and'coarse fixations') and two The'ResNet' baseline model directly feeds the full image through a standard ResNet architecture (32x32 for CIFAR10 or 320x320 for ImageNet).