Autonomous vehicles (AV) offer a cost-effective solution for scientific missions such as underwater tracking. Recently, reinforcement learning (RL) has emerged as a powerful method for controlling AVs in complex marine environments. However, scaling these techniques to a fleet--essential for multi-target tracking or targets with rapid, unpredictable motion--presents significant computational challenges. Multi-Agent Reinforcement Learning (MARL) is notoriously sample-inefficient, and while high-fidelity simulators like Gazebo's LRAUV provide 100x faster-than-real-time single-robot simulations, they offer no significant speedup for multi-vehicle scenarios, making MARL training impractical. To address these limitations, we propose an iterative distillation method that transfers high-fidelity simulations into a simplified, GPU-accelerated environment while preserving high-level dynamics. This approach achieves up to a 30,000x speedup over Gazebo through parallelization, enabling efficient training via end-to-end GPU acceleration. Additionally, we introduce a novel Transformer-based architecture (TransfMAPPO) that learns multi-agent policies invariant to the number of agents and targets, significantly improving sample efficiency. Following large-scale curriculum learning conducted entirely on GPU, we perform extensive evaluations in Gazebo, demonstrating that our method maintains tracking errors below 5 meters over extended durations, even in the presence of multiple fast-moving targets. This work bridges the gap between large-scale MARL training and high-fidelity deployment, providing a scalable framework for autonomous fleet control in real-world sea missions.

With the rapid proliferation of large language models and vision-language models, AI agents have evolved from isolated, task-specific systems into autonomous, interactive entities capable of perceiving, reasoning, and acting without human intervention. As these agents proliferate across virtual and physical environments, from virtual assistants to embodied robots, the need for a unified, agent-centric infrastructure becomes paramount. In this survey, we introduce the Internet of Agents (IoA) as a foundational framework that enables seamless interconnection, dynamic discovery, and collaborative orchestration among heterogeneous agents at scale. We begin by presenting a general IoA architecture, highlighting its hierarchical organization, distinguishing features relative to the traditional Internet, and emerging applications. Next, we analyze the key operational enablers of IoA, including capability notification and discovery, adaptive communication protocols, dynamic task matching, consensus and conflict-resolution mechanisms, and incentive models. Finally, we identify open research directions toward building resilient and trustworthy IoA ecosystems.

Mixture-of-Experts (MoE) models have become a widely-adopted solution to continue scaling model sizes without a corresponding linear increase in compute. During MoE model training, each input token is dynamically routed to a subset of experts -- sparsely-activated feed-forward networks -- within each transformer layer. The distribution of tokens assigned to each expert varies widely and rapidly over the course of training. To handle the wide load imbalance across experts, current systems are forced to either drop tokens assigned to popular experts, degrading convergence, or frequently rebalance resources allocated to each expert based on popularity, incurring high state migration overheads. To break this performance-accuracy tradeoff, we introduce SYMI, an adaptive MoE training system. The key insight of SYMI is to decouple the placement of expert parameters from their large optimizer state. SYMI statically partitions the optimizer of each expert across all training nodes. Meanwhile, SYMI dynamically adjusts the placement of expert parameters by repurposing existing weight updates, avoiding migration overheads. In doing so, SYMI right-sizes the GPU resources allocated to each expert, on a per-iteration basis, with minimal overhead. Compared to state-of-the-art MoE training systems, DeepSpeed and FlexMoE, SYMI is able to achieve a 30.5% and 25.9% faster time-to-convergence, respectively.

The fusion of Synthetic Aperture Radar (SAR) and RGB imagery for land cover classification remains challenging due to modality heterogeneity and underexploited spectral complementarity. Existing approaches often fail to decouple shared structural features from modality-complementary radiometric attributes, resulting in feature conflicts and information loss. To address this, we propose Phase-Amplitude Decoupling (PAD), a frequency-aware framework that separates phase (modality-shared) and amplitude (modality-complementary) components in the Fourier domain. This design reinforces shared structures while preserving complementary characteristics, thereby enhancing fusion quality. Unlike previous methods that overlook the distinct physical properties encoded in frequency spectra, PAD explicitly introduces amplitude-phase decoupling for multi-modal fusion. Specifically, PAD comprises two key components: 1) Phase Spectrum Correction (PSC), which aligns cross-modal phase features via convolution-guided scaling to improve geometric consistency; and 2) Amplitude Spectrum Fusion (ASF), which dynamically integrates high- and low-frequency patterns using frequency-adaptive multilayer perceptrons, effectively exploiting SAR's morphological sensitivity and RGB's spectral richness. Extensive experiments on WHU-OPT-SAR and DDHR-SK demonstrate state-of-the-art performance. This work establishes a new paradigm for physics-aware multi-modal fusion in remote sensing. The code will be available at https://github.com/RanFeng2/PAD.

We present FLUKE (Framework for LingUistically-driven and tasK-agnostic robustness Evaluation), a framework for assessing model robustness through systematic minimal variations of test data. FLUKE introduces controlled variations across linguistic levels -- from orthography to dialect and style -- and leverages large language models (LLMs) with human validation to generate modifications. We demonstrate FLUKE's utility by evaluating both fine-tuned models and LLMs across six diverse NLP tasks (four classification and two generation tasks), and reveal that (1) the impact of linguistic variations is highly task-dependent, with some tests being critical for certain tasks but irrelevant for others; (2) LLMs still exhibit significant brittleness to certain linguistic variations, with reasoning LLMs surprisingly showing less robustness on some tasks compared to base models; (3) models are overall more brittle to natural, fluent modifications such as syntax or style changes (and especially to negation), compared to corruption-style tests such as letter flipping; (4) the ability of a model to use a linguistic feature in generation does not correlate to its robustness to this feature on downstream tasks. These findings highlight the importance of systematic robustness testing for understanding model behaviors.

Recent advances in generative models have led to their application in password guessing, with the aim of replicating the complexity, structure, and patterns of human-created passwords. Despite their potential, inconsistencies and inadequate evaluation methodologies in prior research have hindered meaningful comparisons and a comprehensive, unbiased understanding of their capabilities. This paper introduces MAYA, a unified, customizable, plug-and-play benchmarking framework designed to facilitate the systematic characterization and benchmarking of generative password-guessing models in the context of trawling attacks. Using MAYA, we conduct a comprehensive assessment of six state-of-the-art approaches, which we re-implemented and adapted to ensure standardization. Our evaluation spans eight real-world password datasets and covers an exhaustive set of advanced testing scenarios, totaling over 15,000 compute hours. Our findings indicate that these models effectively capture different aspects of human password distribution and exhibit strong generalization capabilities. However, their effectiveness varies significantly with long and complex passwords. Through our evaluation, sequential models consistently outperform other generative architectures and traditional password-guessing tools, demonstrating unique capabilities in generating accurate and complex guesses. Moreover, the diverse password distributions learned by the models enable a multi-model attack that outperforms the best individual model. By releasing MAYA, we aim to foster further research, providing the community with a new tool to consistently and reliably benchmark generative password-guessing models. Our framework is publicly available at https://github.com/williamcorrias/MAYA-Password-Benchmarking.

Processing visual data often involves small adjustments or sequences of changes, e.g., image filtering, surface smoothing, and animation. While established graphics techniques like normal mapping and video compression exploit redundancy to encode such small changes efficiently, the problem of encoding small changes to neural fields -- neural network parameterizations of visual or physical functions -- has received less attention. We propose a parameter-efficient strategy for updating neural fields using low-rank adaptations (LoRA). LoRA, a method from the parameter-efficient fine-tuning LLM community, encodes small updates to pre-trained models with minimal computational overhead. We adapt LoRA for instance-specific neural fields, avoiding the need for large pre-trained models and yielding lightweight updates. We validate our approach with experiments in image filtering, geometry editing, video compression, and energy-based editing, demonstrating its effectiveness and versatility for representing neural field updates.

Mean-field game theory relies on approximating games that are intractible to model due to a very large to infinite population of players. While these kinds of games can be solved analytically via the associated system of partial derivatives, this approach is not model-free, can lead to the loss of the existence or uniqueness of solutions, and may suffer from modelling bias. To reduce the dependency between the model and the game, we introduce neural mean-field games: a combination of mean-field game theory and deep learning in the form of neural stochastic differential equations. The resulting model is data-driven, lightweight, and can learn extensive strategic interactions that are hard to capture using mean-field theory alone. In addition, the model is based on automatic differentiation, making it more robust and objective than approaches based on finite differences. We highlight the efficiency and flexibility of our approach by solving two mean-field games that vary in their complexity, observability, and the presence of noise. Lastly, we illustrate the model's robustness by simulating viral dynamics based on real-world data. Here, we demonstrate that the model's ability to learn from real-world data helps to accurately model the evolution of an epidemic outbreak. Using these results, we show that the model is flexible, generalizable, and requires few observations to learn the distribution underlying the data.

As 3D ground truth data is hard to come by at scale, previous methods have sought to learn from abundant 2D videos in a self-supervised manner . Typically, this involves the use of differentiable mesh rendering, which is effective but faces limitations. T o improve on this, we propose SHeaP (Self-supervised Head Geometry Predictor Learned via 2D Gaussians). Given a source image, we predict a 3DMM mesh and a set of Gaussians that are rigged to this mesh. W e then reanimate this rigged head avatar to match a target frame, and backpropagate photometric losses to both the 3DMM and Gaussian prediction networks. W e find that using Gaussians for rendering substantially improves the effectiveness of this self-supervised approach. Training solely on 2D data, our method surpasses existing self-supervised approaches in geometric evaluations on the NoW benchmark for neutral faces and a new benchmark for non-neutral expressions. Our method also produces highly expressive meshes, outperforming state-of-the-art in emotion classification.

Class activation mapping (CAM) is a widely adopted class of saliency methods used to explain the behavior of convolutional neural networks (CNNs). These methods generate heatmaps that highlight the parts of the input most relevant to the CNN output. Various CAM methods have been proposed, each distinguished by the expressions used to derive heatmaps. In general, users look for heatmaps with specific properties that reflect different aspects of CNN functionality. These may include similarity to ground truth, robustness, equivariance, and more. Although existing CAM methods implicitly encode some of these properties in their expressions, they do not allow for variability in heatmap generation following the user's intent or domain knowledge. In this paper, we address this limitation by introducing SyCAM, a metric-based approach for synthesizing CAM expressions. Given a predefined evaluation metric for saliency maps, SyCAM automatically generates CAM expressions optimized for that metric. We specifically explore a syntax-guided synthesis instantiation of SyCAM, where CAM expressions are derived based on predefined syntactic constraints and the given metric. Using several established evaluation metrics, we demonstrate the efficacy and flexibility of our approach in generating targeted heatmaps. We compare SyCAM with other well-known CAM methods on three prominent models: ResNet50, VGG16, and VGG19.