The controller enables the robot to perform smooth and natural skateboarding motions, with reliable mode identification and transitions under disturbances. Abstract --This paper introduces Discrete-time Hybrid Automata Learning (DHAL), a framework using on-policy Reinforcement Learning to identify and execute mode-switching without trajectory segmentation or event function learning. Hybrid dynamical systems, which include continuous flow and discrete mode switching, can model robotics tasks like legged robot locomotion. Model-based methods usually depend on predefined gaits, while model-free approaches lack explicit mode-switching knowledge. Current methods identify discrete modes via segmentation before regressing continuous flow, but learning high-dimensional complex rigid body dynamics without trajectory labels or segmentation is a challenging open problem. Our approach incorporates a beta policy distribution and a multi-critic architecture to model contact-guided motions, exemplified by a challenging quadrupedal robot skateboard task. I. INTRODUCTION Legged robots are often regarded as the ideal embodiment of robotic systems, designed to perform a wide range of tasks and navigate diverse destinations. Many of these tasks, such as skateboarding and boxing, are inherently contact-guided, involving complex sequences of contact events [1]. Designing and executing such contact-guided control is highly non-trivial due to two major challenges: (1) the hybrid dynamics system problem arising from the abrupt transitions introduced by contact events [2], and (2) the sparsity of contact events, which poses significant difficulties for both model-based and model-free control strategies. In model-based control, Hybrid Automata has been proposed as a powerful framework to model systems with both discrete and continuous dynamics [3, 4]. This framework has been widely applied to behavior planning [5] and legged locomotion. However, due to the combinatorial nature of hybrid dynamics, finding optimal policies for hybrid systems through model-based optimization is computationally challenging, especially for tasks with high-dimensional state and action spaces. Model-free RL requires minimal assumptions and can be applied to a diverse range of tasks across different dynamic systems [6, 7]. However, RL policies, often represented by deep neural networks, lack interpretability and fail to explicitly model hybrid dynamics [8].

Management of sensing resources is a non-trivial problem for future military air assets with future systems deploying heterogeneous sensors to generate information of the battlespace. Machine learning techniques including deep reinforcement learning (DRL) have been identified as promising approaches, but require high-fidelity training environments and feature extractors to generate information for the agent. This paper presents a deep reinforcement learning training approach, utilising the Stone Soup tracking framework as a feature extractor to train an agent for a sensor management task. A general framework for embedding Stone Soup tracker components within a Gymnasium environment is presented, enabling fast and configurable tracker deployments for RL training using Stable Baselines3. The approach is demonstrated in a sensor management task where an agent is trained to search and track a region of airspace utilising track lists generated from Stone Soup trackers. A sample implementation using three neural network architectures in a search-and-track scenario demonstrates the approach and shows that RL agents can outperform simple sensor search and track policies when trained within the Gymnasium and Stone Soup environment.

Generalized Bayesian Inference (GBI) provides a flexible framework for updating prior distributions using various loss functions instead of the traditional likelihoods, thereby enhancing the model robustness to model misspecification. However, GBI often suffers the problem associated with intractable likelihoods. Kernelized Stein Discrepancy (KSD), as utilized in a recent study, addresses this challenge by relying only on the gradient of the log-likelihood. Despite this innovation, KSD-Bayes suffers from critical pathologies, including insensitivity to well-separated modes in multimodal posteriors. To address this limitation, we propose a weighted KSD method that retains computational efficiency while effectively capturing multimodal structures. Our method improves the GBI framework for handling intractable multimodal posteriors while maintaining key theoretical properties such as posterior consistency and asymptotic normality. Experimental results demonstrate that our method substantially improves mode sensitivity compared to standard KSD-Bayes, while retaining robust performance in unimodal settings and in the presence of outliers.

Understanding consumer choice is fundamental to marketing and management research, as firms increasingly seek to personalize offerings and optimize customer engagement. Traditional choice modeling frameworks, such as multinomial logit (MNL) and mixed logit models, impose rigid parametric assumptions that limit their ability to capture the complexity of consumer decision-making. This study introduces the Mixture of Experts (MoE) framework as a machine learning-driven alternative that dynamically segments consumers based on latent behavioral patterns. By leveraging probabilistic gating functions and specialized expert networks, MoE provides a flexible, nonparametric approach to modeling heterogeneous preferences. Empirical validation using large-scale retail data demonstrates that MoE significantly enhances predictive accuracy over traditional econometric models, capturing nonlinear consumer responses to price variations, brand preferences, and product attributes. The findings underscore MoEs potential to improve demand forecasting, optimize targeted marketing strategies, and refine segmentation practices. By offering a more granular and adaptive framework, this study bridges the gap between data-driven machine learning approaches and marketing theory, advocating for the integration of AI techniques in managerial decision-making and strategic consumer insights.

Its noninvasive nature and sensitivity to absorption related to tissue biomolecular content and scattering change, associated with subcellular morphology, make it an extremely powerful tool to analyse tissue composition, microstructure or oxygenation status, offering promising performance in applications such as cancer diagnostics and surgical guidance [1, 30, 85, 121]. DRS signals are measured by delivering a typically white light source into the tissue and detecting diffusely reflected signals at a certain distance from the source, where the distance between the emitting and receiving fibres determines the tissue depth probed. Depending on the application and clinical objective, multiple illumination or detection fibres can be used to obtain more quantitative information and probe different depths. The light delivery and collection from tissue are often handled using optical fibres or fibre bundles. When incident on the tissue, the light undergoes scattering and absorption processes, which alter the light intensity across the measured spectrum [75, 121].

Large Language Model (LLM) agents have demonstrated remarkable generalization capabilities across multi-domain tasks. Existing agent tuning approaches typically employ supervised finetuning on entire expert trajectories. However, behavior-cloning of full trajectories can introduce expert bias and weaken generalization to states not covered by the expert data. Additionally, critical steps, such as planning, complex reasoning for intermediate subtasks, and strategic decision-making, are essential to success in agent tasks, so learning these steps is the key to improving LLM agents. For more effective and efficient agent tuning, we propose ATLaS that identifies the critical steps in expert trajectories and finetunes LLMs solely on these steps with reduced costs. By steering the training's focus to a few critical steps, our method mitigates the risk of overfitting entire trajectories and promotes generalization across different environments and tasks. In extensive experiments, an LLM finetuned on only 30% critical steps selected by ATLaS outperforms the LLM finetuned on all steps and recent open-source LLM agents. ATLaS maintains and improves base LLM skills as generalist agents interacting with diverse environments.

Autonomous robot person-following (RPF) systems are crucial for personal assistance and security but suffer from target loss due to occlusions in dynamic, unknown environments. Current methods rely on pre-built maps and assume static environments, limiting their effectiveness in real-world settings. There is a critical gap in re-finding targets under topographic (e.g., walls, corners) and dynamic (e.g., moving pedestrians) occlusions. In this paper, we propose a novel heuristic-guided search framework that dynamically builds environmental maps while following the target and resolves various occlusions by prioritizing high-probability areas for locating the target. For topographic occlusions, a belief-guided search field is constructed and used to evaluate the likelihood of the target's presence, while for dynamic occlusions, a fluid-field approach allows the robot to adaptively follow or overtake moving occluders. Past motion cues and environmental observations refine the search decision over time. Our results demonstrate that the proposed method outperforms existing approaches in terms of search efficiency and success rates, both in simulations and real-world tests. Our target search method enhances the adaptability and reliability of RPF systems in unknown and dynamic environments to support their use in real-world applications. Our code, video, experimental results and appendix are available at https://medlartea.github.io/rpf-search/.

This study uses various models to address network traffic classification, categorizing traffic into web, browsing, IPSec, backup, and email . We collected a comprehensive dataset from Arbor Edge Defender (AED) devices, comprising of 30,959 observations and 19 features. Multiple models were evaluated, including Naive Bayes, Decision Tree, Random Forest, Gradient Boosting, XGBoost, Deep Neural Networks (DNN), Transformer, and two Large Language Models (LLMs) including GPT - 4o and Gemini with zero - and few - shot learning. Transformer and XGBoost showed the best performance, achieving the highest accuracy of 98.95 and 97.56%, respectively . GPT - 4o and Gemini showed promising results with few - shot learning, improving accuracy significantly from initial zero - shot performance. While Gemini Few - Shot and GPT - 4 o Few - Shot performed well in categories like Web and Email, misclassifications occurred in more complex categories like IPSec and Backup. The study highlights the importance of model selection, fine - tuning, and the balance between training data siz e and model complexity for achieving reliable classification results.

OV AMOS: A Framework for Open-V ocabulary Multi-Object Search in Unknown Environments Qianwei Wang*, Yifan Xu*, Vineet Kamat, and Carol Menassa Abstract -- Object search is a fundamental task for robots deployed in indoor building environments, yet challenges arise due to observation instability, especially for open-vocabulary models. While foundation models (LLMs/VLMs) enable reasoning about object locations even without direct visibility, the ability to recover from failures and replan remains crucial. T o address these challenges, we propose a framework integrating VLM-based reasoning, frontier-based exploration, and a Partially Observable Markov Decision Process (POMDP) framework to solve the MOS problem in novel environments. VLM enhances search efficiency by inferring object-environment relationships, frontier-based exploration guides navigation in unknown spaces, and POMDP models observation uncertainty, allowing recovery from failures in occlusion and cluttered environments. We evaluate our framework on 120 simulated scenarios across several Habitat-Matterport3D (HM3D) scenes and a real-world robot experiment in a 50-square-meter office, demonstrating significant improvements in both efficiency and success rate over baseline methods. I NTRODUCTION Multi-Object Search (MOS) is a crucial task in robotics [1]. Consider a scenario where in a workplace setting, a robot may need to retrieve multiple objects to complete a task, such as gathering necessary documents, tools, or equipment for an assembly process.

Uncertainty in LiDAR sensor-based object detection arises from environmental variability and sensor performance limitations. Representing these uncertainties is essential for ensuring the Safety of the Intended Functionality (SOTIF), which focuses on preventing hazards in automated driving scenarios. This paper presents a systematic approach to identifying, classifying, and representing uncertainties in LiDAR-based object detection within a SOTIF-related scenario. Dempster-Shafer Theory (DST) is employed to construct a Frame of Discernment (FoD) to represent detection outcomes. Conditional Basic Probability Assignments (BPAs) are applied based on dependencies among identified uncertainty sources. Yager's Rule of Combination is used to resolve conflicting evidence from multiple sources, providing a structured framework to evaluate uncertainties' effects on detection accuracy. The study applies variance-based sensitivity analysis (VBSA) to quantify and prioritize uncertainties, detailing their specific impact on detection performance.