Extrinsic Calibration represents the cornerstone of autonomous driving. Its accuracy plays a crucial role in the perception pipeline, as any errors can have implications for the safety of the vehicle. Modern sensor systems collect different types of data from the environment, making it harder to align the data. To this end, we propose a target-based extrinsic calibration system tailored for a multi-LiDAR and multi-camera sensor suite. This system enables cross-calibration between LiDARs and cameras with limited prior knowledge using a custom ChArUco board and a tailored nonlinear optimization method. We test the system with real-world data gathered in a warehouse. Results demonstrated the effectiveness of the proposed method, highlighting the feasibility of a unique pipeline tailored for various types of sensors.

The disconnect between AI-generated molecules with desirable properties and their synthetic feasibility remains a critical bottleneck in computational discovery of drugs and materials. While generative AI has accelerated the proposal of candidate molecules, many of these structures prove challenging or impossible to synthesize using established chemical reactions. Here, we introduce SynTwins, a novel retrosynthesis-guided molecule design framework that finds synthetically accessible molecular analogs by emulating expert chemists' strategies in three steps: retrosynthesis, searching similar building blocks, and virtual synthesis. Using a search algorithm instead of a stochastic data-driven generator, SynTwins outperforms state-of-the-art machine learning models at exploring synthetically accessible analogs while maintaining high structural similarity to original target molecules. Furthermore, when integrated into existing molecular property-optimization frameworks, our hybrid approach produces synthetically feasible analogs with minimal loss in property scores. Our comprehensive benchmarking across diverse molecular datasets demonstrates that SynTwins effectively bridges the gap between computational design and experimental synthesis, providing a practical solution for accelerating the discovery of synthesizable molecules with desired properties for a wide range of applications.

Federated learning (FL) collaboratively trains artificial intelligence (AI) models to ensure user data privacy. Sharing only model updates generated from local training on client data with the server enhances user data privacy. However, model performance may suffer due to data and system heterogeneity among clients in FL scenarios. Previous studies have proposed model optimization, fine-tuning, and personalization to achieve improved model performance. Despite these efforts, models resulting from FL scenarios often exhibit catastrophic forgetting, which increases the communication and computational costs of clients for model optimization and raises energy consumption. To address these challenges, we propose a reference model-based fine-tuning method for federated learning that overcomes catastrophic forgetting in each round. Our method is derived from Bayesian parameter-efficient transfer learning and includes an proximal term. It employs a reference model that incorporates previous model parameters and reviews previous global features in the model optimization step to mitigate catastrophic forgetting. As a result, our method achieves higher model performance and lower communication and computational costs for clients than existing methods.

Autonomous agentic AI systems powered by vision-language models (VLMs) are rapidly advancing toward real-world deployment, yet their cross-modal reasoning capabilities introduce new attack surfaces for adversarial manipulation that exploit semantic reasoning across modalities. Existing adversarial attacks typically rely on visible pixel perturbations or require privileged model or environment access, making them impractical for stealthy, real-world exploitation. We introduce TRAP, a novel generative adversarial framework that manipulates the agent's decision-making using diffusion-based semantic injections into the vision-language embedding space. Our method combines negative prompt-based degradation with positive semantic optimization, guided by a Siamese semantic network and layout-aware spatial masking. Without requiring access to model internals, TRAP produces visually natural images yet induces consistent selection biases in agentic AI systems. We evaluate TRAP on the Microsoft Common Objects in Context (COCO) dataset, building multi-candidate decision scenarios. Across these scenarios, TRAP consistently induces decision-level preference redirection on leading models, including LLaVA-34B, Gemma3, GPT-4o, and Mistral-3.2, significantly outperforming existing baselines such as SPSA, Bandit, and standard diffusion approaches. These findings expose a critical, generalized vulnerability: autonomous agents can be consistently misled through visually subtle, semantically-guided cross-modal manipulations. Overall, our results show the need for defense strategies beyond pixel-level robustness to address semantic vulnerabilities in cross-modal decision-making. The code for TRAP is accessible on GitHub at https://github.com/uiuc-focal-lab/TRAP.

Inference queries have been routinely issued to graph machine learning models such as graph neural networks (GNNs) for various network analytical tasks. Nevertheless, GNN outputs are often hard to interpret comprehensively. Existing methods typically conform to individual pre-defined explainability measures (such as fidelity), which often leads to biased, ``one-side'' interpretations. This paper introduces skyline explanation, a new paradigm that interprets GNN outputs by simultaneously optimizing multiple explainability measures of users' interests. (1) We propose skyline explanations as a Pareto set of explanatory subgraphs that dominate others over multiple explanatory measures. We formulate skyline explanation as a multi-criteria optimization problem, and establish its hardness results. (2) We design efficient algorithms with an onion-peeling approach, which strategically prioritizes nodes and removes unpromising edges to incrementally assemble skyline explanations. (3) We also develop an algorithm to diversify the skyline explanations to enrich the comprehensive interpretation. (4) We introduce efficient parallel algorithms with load-balancing strategies to scale skyline explanation for large-scale GNN-based inference. Using real-world and synthetic graphs, we experimentally verify our algorithms' effectiveness and scalability.

Private lunar missions are faced with the challenge of robust autonomous navigation while operating under stringent constraints on mass, power, and computational resources. This work proposes a motion-field inversion framework that uses optical flow and rangefinder-based depth estimation as a lightweight CPU-based solution for egomotion estimation during lunar descent. We extend classical optical flow formulations by integrating them with depth modeling strategies tailored to the geometry for lunar/planetary approach, descent, and landing--specifically, planar and spherical terrain approximations parameterized by a laser rangefinder. Motion field inversion is performed through a least-squares framework, using sparse optical flow features extracted via the pyramidal Lucas-Kanade algorithm. We verify our approach using synthetically generated lunar images over the challenging terrain of the lunar south pole, using CPU budgets compatible with small lunar landers. The results demonstrate accurate velocity estimation from approach to landing, with sub-10% error for complex terrain and on the order of 1% for more typical terrain, as well as performances suitable for real-time applications. This framework shows promise for enabling robust, lightweight on-board navigation for small lunar missions.

We explore a Digital Twin-Based Approach for Smart Manufacturing to improve Sustainability, Efficiency, and Cost-Effectiveness for a steel production plant. Our system is based on a micro-service edge-compute platform that ingests real-time sensor data from the process into a digital twin over a converged network infrastructure. We implement agile machine learning-based control loops in the digital twin to optimize induction furnace heating, enhance operational quality, and reduce process waste. Key to our approach is a Deep Reinforcement learning-based agent used in our machine learning operation (MLOps) driven system to autonomously correlate the system state with its digital twin to identify correction actions that aim to optimize power settings for the plant. We present the theoretical basis, architectural details, and practical implications of our approach to reduce manufacturing waste and increase production quality. We design the system for flexibility so that our scalable event-driven architecture can be adapted to various industrial applications. With this research, we propose a pivotal step towards the transformation of traditional processes into intelligent systems, aligning with sustainability goals and emphasizing the role of MLOps in shaping the future of data-driven manufacturing.

With the rapid advancement of large language models (LLMs), aligning them with human values for safety and ethics has become a critical challenge. This problem is especially challenging when multiple, potentially conflicting human values must be considered and balanced. Although several variants of existing alignment methods (such as Reinforcement Learning from Human Feedback (RLHF) and Direct Preference Optimization (DPO)) have been proposed to address multi-value alignment, they suffer from notable limitations: 1) they are often unstable and inefficient in multi-value optimization; and 2) they fail to effectively handle value conflicts. As a result, these approaches typically struggle to achieve optimal trade-offs when aligning multiple values. To address this challenge, we propose a novel framework called Multi-V alue Alignment (MV A). It mitigates alignment degradation caused by parameter interference among diverse human values by minimizing their mutual information. Furthermore, we propose a value extrapolation strategy to efficiently explore the Pareto frontier, thereby constructing a set of LLMs with diverse value preferences. Extensive experiments demonstrate that MV A consistently outperforms existing baselines in aligning LLMs with multiple human values.

Existing curved-layer-based process planning methods for multi-axis manufacturing address collisions only indirectly and generate toolpaths in a post-processing step, leaving toolpath geometry uncontrolled during optimization. We present an implicit neural field-based framework for multi-axis process planning that overcomes these limitations by embedding both layer generation and toolpath design within a single differentiable pipeline. Using sinusoidally activated neural networks to represent layers and toolpaths as implicit fields, our method enables direct evaluation of field values and derivatives at any spatial point, thereby allowing explicit collision avoidance and joint optimization of manufacturing layers and toolpaths. We further investigate how network hyperparameters and objective definitions influence singularity behavior and topology transitions, offering built-in mechanisms for regularization and stability control. The proposed approach is demonstrated on examples in both additive and subtractive manufacturing, validating its generality and effectiveness.

These proceedings include the Late-Breaking Abstracts accepted for the Evo* 2025 Conference, hosted in Trieste (Italy), from April 23th to 25th. These extended abstracts were presented through short talks at the conference, providing an overview of ongoing research and initial results on the application of diverse Evolutionary Computation strategies and other Nature-Inspired methodologies to practical problem domains. Collectively, these contributions point to encouraging directions for future work, underscoring the potential of nature-inspired approaches-- especially Evolutionary Algorithms -- for advancing research and enabling new applications.