Beamforming is a key technology in millimeter-wave (mmWave) communications that improves signal transmission by optimizing directionality and intensity. However, conventional channel estimation methods, such as pilot signals or beam sweeping, often fail to adapt to rapidly changing communication environments. To address this limitation, multimodal sensing-aided beam prediction has gained significant attention, using various sensing data from devices such as LiDAR, radar, GPS, and RGB images to predict user locations or network conditions. Despite its promising potential, the adoption of multimodal sensing-aided beam prediction is hindered by high computational complexity, high costs, and limited datasets. Thus, in this paper, a novel resource-efficient learning framework is introduced for beam prediction, which leverages a custom-designed cross-modal relational knowledge distillation (CRKD) algorithm specifically tailored for beam prediction tasks, to transfer knowledge from a multimodal network to a radar-only student model, achieving high accuracy with reduced computational cost. To enable multimodal learning with realistic data, a novel multimodal simulation framework is developed while integrating sensor data generated from the autonomous driving simulator CARLA with MATLAB-based mmWave channel modeling, and reflecting real-world conditions. The proposed CRKD achieves its objective by distilling relational information across different feature spaces, which enhances beam prediction performance without relying on expensive sensor data. Simulation results demonstrate that CRKD efficiently distills multimodal knowledge, allowing a radar-only model to achieve $94.62%$ of the teacher performance. In particular, this is achieved with just $10%$ of the teacher network's parameters, thereby significantly reducing computational complexity and dependence on multimodal sensor data.

Large Language Models (LLMs), such as GPT-4 and DeepSeek, have been applied to a wide range of domains in software engineering. However, their potential in the context of High-Performance Computing (HPC) much remains to be explored. This paper evaluates how well DeepSeek, a recent LLM, performs in generating a set of HPC benchmark codes: a conjugate gradient solver, the parallel heat equation, parallel matrix multiplication, DGEMM, and the STREAM triad operation. We analyze DeepSeek's code generation capabilities for traditional HPC languages like Cpp, Fortran, Julia and Python. The evaluation includes testing for code correctness, performance, and scaling across different configurations and matrix sizes. We also provide a detailed comparison between DeepSeek and another widely used tool: GPT-4. Our results demonstrate that while DeepSeek generates functional code for HPC tasks, it lags behind GPT-4, in terms of scalability and execution efficiency of the generated code.

The growing scale of power systems and the increasing uncertainty introduced by renewable energy sources necessitates novel optimization techniques that are significantly faster and more accurate than existing methods. The AC Optimal Power Flow (AC-OPF) problem, a core component of power grid optimization, is often approximated using linearized DC Optimal Power Flow (DC-OPF) models for computational tractability, albeit at the cost of suboptimal and inefficient decisions. To address these limitations, we propose a novel deep learning-based framework for network equivalency that enhances DC-OPF to more closely mimic the behavior of AC-OPF. The approach utilizes recent advances in differentiable optimization, incorporating a neural network trained to predict adjusted nodal shunt conductances and branch susceptances in order to account for nonlinear power flow behavior. The model can be trained end-to-end using modern deep learning frameworks by leveraging the implicit function theorem. Results demonstrate the framework's ability to significantly improve prediction accuracy.

Kolmogorov-Arnold Networks (KANs) have garnered significant attention for their promise of improved parameter efficiency and explainability compared to traditional Deep Neural Networks (DNNs). KANs' key innovation lies in the use of learnable non-linear activation functions, which are parametrized as splines. Splines are expressed as a linear combination of basis functions (B-splines). B-splines prove particularly challenging to accelerate due to their recursive definition. Systolic Array (SA)based architectures have shown great promise as DNN accelerators thanks to their energy efficiency and low latency. However, their suitability and efficiency in accelerating KANs have never been assessed. Thus, in this work, we explore the use of SA architecture to accelerate the KAN inference. We show that, while SAs can be used to accelerate part of the KAN inference, their utilization can be reduced to 30%. Hence, we propose KAN-SAs, a novel SA-based accelerator that leverages intrinsic properties of B-splines to enable efficient KAN inference. By including a nonrecursive B-spline implementation and leveraging the intrinsic KAN sparsity, KAN-SAs enhances conventional SAs, enabling efficient KAN inference, in addition to conventional DNNs. KAN-SAs achieves up to 100% SA utilization and up to 50% clock cycles reduction compared to conventional SAs of equivalent area, as shown by hardware synthesis results on a 28nm FD-SOI technology. We also evaluate different configurations of the accelerator on various KAN applications, confirming the improved efficiency of KAN inference provided by KAN-SAs.

Conventional reinforcement learning (RL) approaches often struggle to learn effective policies under sparse reward conditions, necessitating the manual design of complex, task-specific reward functions. To address this limitation, reinforcement learning from human feedback (RLHF) has emerged as a promising strategy that complements hand-crafted rewards with human-derived evaluation signals. However, most existing RLHF methods depend on explicit feedback mechanisms such as button presses or preference labels, which disrupt the natural interaction process and impose a substantial cognitive load on the user. We propose a novel reinforcement learning from implicit human feedback (RLIHF) framework that utilizes non-invasive elec-troencephalography (EEG) signals, specifically error-related potentials (ErrPs), to provide continuous, implicit feedback without requiring explicit user intervention. The proposed method adopts a pre-trained decoder to trans-i form raw EEG signals into probabilistic reward components, enabling effective policy learning even in the presence of sparse external rewards. We evaluate our approach in a simulation environment built on the MuJoCo physics engine, using a Kinova Gen2 robotic arm to perform a complex pick-and-place task that requires avoiding obstacles while manipulating target objects. The results show that agents trained with decoded EEG feedback achieve performance comparable to those trained with dense, manually designed rewards.

Building on advancements in Large Language Models (LLMs), we can tackle complex analytical and mathematical reasoning tasks requiring nuanced contextual understanding. A prime example of such complex tasks is modelling resource allocation optimization in networks, which extends beyond translating natural language inputs into mathematical equations or Linear Programming (LP), Integer Linear Programming (ILP), and Mixed-Integer Linear Programming (MILP) models. However, existing benchmarks and datasets cannot address the complexities of such problems with dynamic environments, interdependent variables, and heterogeneous constraints. To address this gap, we introduce NL4RA, a curated dataset comprising 50 resource allocation optimization problems formulated as LP, ILP, and MILP. We then evaluate the performance of well-known open-source LLMs with varying parameter counts. To enhance existing LLM based methods, we introduce LM4Opt RA, a multi candidate framework that applies diverse prompting strategies such as direct, few shot, and chain of thought, combined with a structured ranking mechanism to improve accuracy. We identified discrepancies between human judgments and automated scoring such as ROUGE, BLEU, or BERT scores. However, human evaluation is time-consuming and requires specialized expertise, making it impractical for a fully automated end-to-end framework. To quantify the difference between LLM-generated responses and ground truth, we introduce LLM-Assisted Mathematical Evaluation (LAME), an automated metric designed for mathematical formulations. Using LM4Opt-RA, Llama-3.1-70B achieved a LAME score of 0.8007, outperforming other models by a significant margin, followed closely by Llama-3.1-8B. While baseline LLMs demonstrate considerable promise, they still lag behind human expertise; our proposed method surpasses these baselines regarding LAME and other metrics.

These issues are particularly problematic in drone applications where robust and accurate state estimation is critical for safe autonomous operation. In this work, we present ICD-Net, a novel framework that enhances visual-inertial SLAM performance by learning to process raw inertial measurements and generating displacement estimates with associated uncertainty quantification. Rather than relying on analytical inertial sensor models that struggle with real-world sensor imperfections, our method directly extracts displacement maps from sensor data while simultaneously predicting measurement covariances that reflect estimation confidence. We integrate ICD-Net outputs as additional residual constraints into the VINS-Fusion optimization framework (a visual-inertial SLAM approach), where the predicted uncertainties appropriately weight the neural network contributions relative to traditional visual and inertial terms. The learned displacement constraints provide complementary information that compensates for various sources of errors in the SLAM pipeline. Our approach can be used under both normal operating conditions and in situations of camera inconsistency or visual degradation. Experimental evaluation of challenging high-speed drone sequences demonstrated that our approach significantly improved trajectory estimation accuracy compared to standard VINS-Fusion, with more than 38% improvement in mean APE and uncertainty estimates proving crucial for maintaining system robustness. Our method shows that neural network enhancement can effectively address multiple sources of SLAM degradation while maintaining real-time performance requirements.

Vision-and-Language Navigation (VLN) is a multi-modal, cooperative task requiring agents to interpret human instructions, navigate 3D environments, and communicate effectively under ambiguity. This paper presents a comprehensive review of recent VLN advancements in robotics and outlines promising directions to improve multi-robot coordination. Despite progress, current models struggle with bidirectional communication, ambiguity resolution, and collaborative decision-making in the multi-agent systems. We review approximately 200 relevant articles to provide an in-depth understanding of the current landscape. Through this survey, we aim to provide a thorough resource that inspires further research at the intersection of VLN and robotics. We advocate that the future VLN systems should support proactive clarification, real-time feedback, and contextual reasoning through advanced natural language understanding (NLU) techniques. Additionally, decentralized decision-making frameworks with dynamic role assignment are essential for scalable, efficient multi-robot collaboration. These innovations can significantly enhance human-robot interaction (HRI) and enable real-world deployment in domains such as healthcare, logistics, and disaster response.

Generative robotic motion planning requires not only the synthesis of smooth and collision-free trajectories but also feasibility across diverse tasks and dynamic constraints. Prior planning methods, both traditional and generative, often struggle to incorporate high-level semantics with low-level constraints, especially the nexus between task configurations and motion controllability. In this work, we present XFlowMP, a task-conditioned generative motion planner that models robot trajectory evolution as entropic flows bridging stochastic noises and expert demonstrations via Schrodinger bridges given the inquiry task configuration. Specifically, our method leverages Schrodinger bridges as a conditional flow matching coupled with a score function to learn motion fields with high-order dynamics while encoding start-goal configurations, enabling the generation of collision-free and dynamically-feasible motions. Through evaluations, XFlowMP achieves up to 53.79% lower maximum mean discrepancy, 36.36% smoother motions, and 39.88% lower energy consumption while comparing to the next-best baseline on the RobotPointMass benchmark, and also reducing short-horizon planning time by 11.72%. On long-horizon motions in the LASA Handwriting dataset, our method maintains the trajectories with 1.26% lower maximum mean discrepancy, 3.96% smoother, and 31.97% lower energy. We further demonstrate the practicality of our method on the Kinova Gen3 manipulator, executing planning motions and confirming its robustness in real-world settings.

The emergence of multi-modal foundation models has markedly transformed the technology for autonomous driving, shifting away from conventional and mostly hand-crafted design choices towards unified, foundation-model-based approaches, capable of directly inferring motion trajectories from raw sensory inputs. This new class of methods can also incorporate natural language as an additional modality, with Vision-Language-Action (VLA) models serving as a representative example. In this review, we provide a comprehensive examination of such methods through a unifying taxonomy to critically evaluate their architectural design choices, methodological strengths, and their inherent capabilities and limitations. Our survey covers 37 recently proposed approaches that span the landscape of trajectory planning with foundation models. Furthermore, we assess these approaches with respect to the openness of their source code and datasets, offering valuable information to practitioners and researchers. We provide an accompanying webpage that catalogs the methods based on our taxonomy, available at: https://github.com/fiveai/FMs-for-driving-trajectories