In the field of Learning from Demonstration (LfD), enabling robots to generalize learned manipulation skills to novel scenarios for long-horizon tasks remains challenging. Specifically, it is still difficult for robots to adapt the learned skills to new environments with different task and motion requirements, especially in long-horizon, multi-stage scenarios with intricate constraints. This paper proposes a novel hierarchical framework, called BT-TL-DMPs, that integrates Behavior Tree (BT), Temporal Logic (TL), and Dynamical Movement Primitives (DMPs) to address this problem. Within this framework, Signal Temporal Logic (STL) is employed to formally specify complex, long-horizon task requirements and constraints. These STL specifications are systematically transformed to generate reactive and modular BTs for high-level decision-making task structure. An STL-constrained DMP optimization method is proposed to optimize the DMP forcing term, allowing the learned motion primitives to adapt flexibly while satisfying intricate spatiotemporal requirements and, crucially, preserving the essential dynamics learned from demonstrations. The framework is validated through simulations demonstrating generalization capabilities under various STL constraints and real-world experiments on several long-horizon robotic manipulation tasks. The results demonstrate that the proposed framework effectively bridges the symbolic-motion gap, enabling more reliable and generalizable autonomous manipulation for complex robotic tasks.

--Low-latency localization is critical in cellular networks to support real-time applications requiring precise positioning. In this paper, we propose a distributed machine learning (ML) framework for fingerprint-based localization tailored to cell-free massive multiple-input multiple-output (MIMO) systems, an emerging architecture for 6G networks. The proposed framework enables each access point (AP) to independently train a Gaussian process regression model using local angle-of-arrival and received signal strength fingerprints. These models provide probabilistic position estimates for the user equipment (UE), which are then fused by the UE with minimal computational overhead to derive a final location estimate. This decentralized approach eliminates the need for fronthaul communication between the APs and the central processing unit (CPU), thereby reducing latency. Additionally, distributing computational tasks across the APs alleviates the processing burden on the CPU compared to traditional centralized localization schemes. Simulation results demonstrate that the proposed distributed framework achieves localization accuracy comparable to centralized methods, despite lacking the benefits of centralized data aggregation. Moreover, it effectively reduces uncertainty of the location estimates, as evidenced by the 95% covariance ellipse. The results highlight the potential of distributed ML for enabling low-latency, high-accuracy localization in future 6G networks. The next-generation 6G mobile communication is expected to revolutionize wireless communication systems, with integrated sensing and communication (ISAC) playing a key role in enabling advanced connectivity.

The recent advancement of artificial intelligence, especially machine learning (ML), has significantly impacted software engineering research, including bug report analysis. ML aims to automate the understanding, extraction, and correlation of information from bug reports. Despite its growing importance, there has been no comprehensive review in this area. In this paper, we present a systematic literature review covering 1,825 papers, selecting 204 for detailed analysis. We derive seven key findings: 1) Extensive use of CNN, LSTM, and $k$NN for bug report analysis, with advanced models like BERT underutilized due to their complexity. 2) Word2Vec and TF-IDF are popular for feature representation, with a rise in deep learning approaches. 3) Stop word removal is the most common preprocessing, with structural methods rising after 2020. 4) Eclipse and Mozilla are the most frequently evaluated software projects. 5) Bug categorization is the most common task, followed by bug localization and severity prediction. 6) There is increasing attention on specific bugs like non-functional and performance bugs. 7) Common evaluation metrics are F1-score, Recall, Precision, and Accuracy, with $k$-fold cross-validation preferred for model evaluation. 8) Many studies lack robust statistical tests. We also identify six promising future research directions to provide useful insights for practitioners.

We present SemiOccam, an image recognition network that leverages semi-supervised learning in a highly efficient manner. Existing works often rely on complex training techniques and architectures, requiring hundreds of GPU hours for training, while their generalization ability with extremely limited labeled data remains to be improved. To address these limitations, we construct a hierarchical mixture density classification mechanism by optimizing mutual information between feature representations and target classes, compressing redundant information while retaining crucial discriminative components. Experimental results demonstrate that our method achieves state-of-the-art performance on three commonly used datasets, with accuracy exceeding 95% on two of them using only 4 labeled samples per class, and its simple architecture keeps training time at the minute level. Notably, this paper reveals a long-overlooked data leakage issue in the STL-10 dataset for semi-supervised learning and removes duplicates to ensure reliable experimental results. We release the deduplicated CleanSTL-10 dataset to facilitate fair and reproducible research. Code available at https://github.com/Shu1L0n9/SemiOccam.

Training effective AI agents for multi-turn interactions requires high-quality data that captures realistic human-agent dynamics, yet such data is scarce and expensive to collect manually. We introduce APIGen-MT, a two-phase framework that generates verifiable and diverse multi-turn agent data. In the first phase, our agentic pipeline produces detailed task blueprints with ground-truth actions, leveraging a committee of LLM reviewers and iterative feedback loops. These blueprints are then transformed into complete interaction trajectories through simulated human-agent interplay. We train a family of models -- the xLAM-2-fc-r series with sizes ranging from 1B to 70B parameters. Our models outperform frontier models such as GPT-4o and Claude 3.5 on $τ$-bench and BFCL benchmarks, with the smaller models surpassing their larger counterparts, particularly in multi-turn settings, while maintaining superior consistency across multiple trials. Comprehensive experiments demonstrate that our verified blueprint-to-details approach yields high-quality training data, enabling the development of more reliable, efficient, and capable agents. We open-source 5K synthetic data trajectories and the trained xLAM-2-fc-r models to advance research in AI agents. Models at https://huggingface.co/collections/Salesforce/xlam-2-67ef5be12949d8dcdae354c4; Dataset at https://huggingface.co/datasets/Salesforce/APIGen-MT-5k and Website at https://apigen-mt.github.io

Temporal causal representation learning is a powerful tool for uncovering complex patterns in observational studies, which are often represented as low-dimensional time series. However, in many real-world applications, data are high-dimensional with varying input lengths and naturally take the form of irregular tensors. To analyze such data, irregular tensor decomposition is critical for extracting meaningful clusters that capture essential information. In this paper, we focus on modeling causal representation learning based on the transformed information. First, we present a novel causal formulation for a set of latent clusters. We then propose CaRTeD, a joint learning framework that integrates temporal causal representation learning with irregular tensor decomposition. Notably, our framework provides a blueprint for downstream tasks using the learned tensor factors, such as modeling latent structures and extracting causal information, and offers a more flexible regularization design to enhance tensor decomposition. Theoretically, we show that our algorithm converges to a stationary point. More importantly, our results fill the gap in theoretical guarantees for the convergence of state-of-the-art irregular tensor decomposition. Experimental results on synthetic and real-world electronic health record (EHR) datasets (MIMIC-III), with extensive benchmarks from both phenotyping and network recovery perspectives, demonstrate that our proposed method outperforms state-of-the-art techniques and enhances the explainability of causal representations.

We develop a semi-amortized, policy-based, approach to Bayesian experimental design (BED) called Stepwise Deep Adaptive Design (Step-DAD). Like existing, fully amortized, policy-based BED approaches, Step-DAD trains a design policy upfront before the experiment. However, rather than keeping this policy fixed, Step-DAD periodically updates it as data is gathered, refining it to the particular experimental instance. This test-time adaptation improves both the flexibility and the robustness of the design strategy compared with existing approaches. Empirically, Step-DAD consistently demonstrates superior decision-making and robustness compared with current state-of-the-art BED methods.

Autonomous motion planning is critical for efficient and safe underwater manipulation in dynamic marine environments. Current motion planning methods often fail to effectively utilize prior motion experiences and adapt to real-time uncertainties inherent in underwater settings. In this paper, we introduce an Adaptive Heuristic Motion Planner framework that integrates a Heuristic Motion Space (HMS) with Bayesian Networks to enhance motion planning for autonomous underwater manipulation. Our approach employs the Probabilistic Roadmap (PRM) algorithm within HMS to optimize paths by minimizing a composite cost function that accounts for distance, uncertainty, energy consumption, and execution time. By leveraging HMS, our framework significantly reduces the search space, thereby boosting computational performance and enabling real-time planning capabilities. Bayesian Networks are utilized to dynamically update uncertainty estimates based on real-time sensor data and environmental conditions, thereby refining the joint probability of path success. Through extensive simulations and real-world test scenarios, we showcase the advantages of our method in terms of enhanced performance and robustness. This probabilistic approach significantly advances the capability of autonomous underwater robots, ensuring optimized motion planning in the face of dynamic marine challenges.

This study proposes the Cognitive Pairwise Comparison Classification Model Selection (CPC-CMS) framework for document-level sentiment analysis. The CPC, based on expert knowledge judgment, is used to calculate the weights of evaluation criteria, including accuracy, precision, recall, F1-score, specificity, Matthews Correlation Coefficient (MCC), Cohen's Kappa (Kappa), and efficiency. Naive Bayes, Linear Support Vector Classification (LSVC), Random Forest, Logistic Regression, Extreme Gradient Boosting (XGBoost), Long Short-Term Memory (LSTM), and A Lite Bidirectional Encoder Representations from Transformers (ALBERT) are chosen as classification baseline models. A weighted decision matrix consisting of classification evaluation scores with respect to criteria weights, is formed to select the best classification model for a classification problem. Three open datasets of social media are used to demonstrate the feasibility of the proposed CPC-CMS. Based on our simulation, for evaluation results excluding the time factor, ALBERT is the best for the three datasets; if time consumption is included, no single model always performs better than the other models. The CPC-CMS can be applied to the other classification applications in different areas.

Recent work has shown that dynamic programming (DP) methods for finding static CVaR-optimal policies in Markov Decision Processes (MDPs) can fail when based on the dual formulation, yet the root cause for the failure has remained unclear. We expand on these findings by shifting focus from policy optimization to the seemingly simpler task of policy evaluation. We show that evaluating the static CVaR of a given policy can be framed as two distinct minimization problems. For their solutions to match, a set of ``risk-assignment consistency constraints'' must be satisfied, and we demonstrate that the intersection of the constraints being empty is the source of previously observed evaluation errors. Quantifying the evaluation error as the CVaR evaluation gap, we then demonstrate that the issues observed when optimizing over the dual-based CVaR DP are explained by the returned policy having a non-zero CVaR evaluation gap. We then leverage our proposed risk-assignment perspective to prove that the search for a single, uniformly optimal policy via on the dual CVaR decomposition is fundamentally limited, identifying an MDP where no single policy can be optimal across all initial risk levels.