Decision-making under uncertainty in energy management is complicated by unknown parameters hindering optimal strategies, particularly in Battery Energy Storage System (BESS) operations. Predict-Then-Optimise (PTO) approaches treat forecasting and optimisation as separate processes, allowing prediction errors to cascade into suboptimal decisions as models minimise forecasting errors rather than optimising downstream tasks. The emerging Decision-Focused Learning (DFL) methods overcome this limitation by integrating prediction and optimisation; however, they are relatively new and have been tested primarily on synthetic datasets or small-scale problems, with limited evidence of their practical viability. Real-world BESS applications present additional challenges, including greater variability and data scarcity due to collection constraints and operational limitations. Because of these challenges, this work leverages Automated Feature Engineering (AFE) to extract richer representations and improve the nascent approach of DFL. We propose an AFE-DFL framework suitable for small datasets that forecasts electricity prices and demand while optimising BESS operations to minimise costs. We validate its effectiveness on a novel real-world UK property dataset. The evaluation compares DFL methods against PTO, with and without AFE. The results show that, on average, DFL yields lower operating costs than PTO and adding AFE further improves the performance of DFL methods by 22.9-56.5% compared to the same models without AFE. These findings provide empirical evidence for DFL's practical viability in real-world settings, indicating that domain-specific AFE enhances DFL and reduces reliance on domain expertise for BESS optimisation, yielding economic benefits with broader implications for energy management systems facing similar challenges.

We introduce a general, scalable computational framework for multi-axis 3D printing based on implicit neural fields (INFs) that unifies all stages of toolpath generation and global collision-free motion planning. In our pipeline, input models are represented as signed distance fields, with fabrication objectives such as support-free printing, surface finish quality, and extrusion control being directly encoded in the optimization of an implicit guidance field. This unified approach enables toolpath optimization across both surface and interior domains, allowing shell and infill paths to be generated via implicit field interpolation. The printing sequence and multi-axis motion are then jointly optimized over a continuous quaternion field. Our continuous formulation constructs the evolving printing object as a time-varying SDF, supporting differentiable global collision handling throughout INF-based motion planning. Compared to explicit-representation-based methods, INF-3DP achieves up to two orders of magnitude speedup and significantly reduces waypoint-to-surface error. We validate our framework on diverse, complex models and demonstrate its efficiency with physical fabrication experiments using a robot-assisted multi-axis system.

Identifying a causal model of an IT system is fundamental to many branches of systems engineering and operation. Such a model can be used to predict the effects of control actions, optimize operations, diagnose failures, detect intrusions, etc., which is central to achieving the longstanding goal of automating network and system management tasks. Traditionally, causal models have been designed and maintained by domain experts. This, however, proves increasingly challenging with the growing complexity and dynamism of modern IT systems. In this paper, we present the first principled method for online, data-driven identification of an IT system in the form of a causal model. The method, which we call active causal learning, estimates causal functions that capture the dependencies among system variables in an iterative fashion using Gaussian process regression based on system measurements, which are collected through a rollout-based intervention policy. We prove that this method is optimal in the Bayesian sense and that it produces effective interventions. Experimental validation on a testbed shows that our method enables accurate identification of a causal system model while inducing low interference with system operations.

Efficient management of aircraft MRO hangars requires the integration of spatial layout with time-continuous scheduling to minimize operational costs. We propose a continuous-time mixed-integer linear program that jointly optimizes aircraft placement and timing, overcoming the scalability limits of prior formulations. A comprehensive study benchmarks the model against a constructive heuristic, probes large-scale performance, and quantifies its sensitivity to temporal congestion. The model achieves orders-of-magnitude speedups on benchmarks from the literature, solving a long-standing congested instance in 0.11 seconds, and finds proven optimal solutions for instances with up to 40 aircraft. Within a one-hour limit for large-scale problems, the model finds solutions with small optimality gaps for instances up to 80 aircraft and provides strong bounds for problems with up to 160 aircraft. Optimized plans consistently increase hangar throughput (e.g., +33% serviced aircraft vs. a heuristic on instance RND-N030-I03), leading to lower delay penalties and higher asset utilization. These findings establish that exact optimization has become computationally viable for large-scale hangar planning, providing a validated tool that balances solution quality and computation time for strategic and operational decisions.

Balance control is important for human and bipedal robotic systems. While dynamic balance during locomotion has received considerable attention, quantitative understanding of static balance and falling remains limited. This work presents a hierarchical control pipeline for simulating human balance via a comprehensive whole-body musculoskeletal system. We identified spatiotemporal dynamics of balancing during stable standing, revealed the impact of muscle injury on balancing behavior, and generated fall contact patterns that aligned with clinical data. Furthermore, our simulated hip exoskeleton assistance demonstrated improvement in balance maintenance and reduced muscle effort under perturbation. This work offers unique muscle-level insights into human balance dynamics that are challenging to capture experimentally. It could provide a foundation for developing targeted interventions for individuals with balance impairments and support the advancement of humanoid robotic systems.

Recent advancements in image customization exhibit a wide range of application prospects due to stronger customization capabilities. However, since we humans are more sensitive to faces, a significant challenge remains in preserving consistent identity while avoiding identity confusion with multi-reference images, limiting the identity scalability of customization models. To address this, we present UMO, a Unified Multi-identity Optimization framework, designed to maintain high-fidelity identity preservation and alleviate identity confusion with scalability. With "multi-to-multi matching" paradigm, UMO reformulates multi-identity generation as a global assignment optimization problem and unleashes multi-identity consistency for existing image customization methods generally through reinforcement learning on diffusion models. To facilitate the training of UMO, we develop a scalable customization dataset with multi-reference images, consisting of both synthesised and real parts. Additionally, we propose a new metric to measure identity confusion. Extensive experiments demonstrate that UMO not only improves identity consistency significantly, but also reduces identity confusion on several image customization methods, setting a new state-of-the-art among open-source methods along the dimension of identity preserving. Code and model: https://github.com/bytedance/UMO

We analyze Decentralized Online Optimization algorithms using the Performance Estimation Problem approach which allows, to automatically compute exact worst-case performance of optimization algorithms. Our analysis shows that several available performance guarantees are very conservative, sometimes by multiple orders of magnitude, and can lead to misguided choices of algorithm. Moreover, at least in terms of worst-case performance, some algorithms appear not to benefit from inter-agent communications for a significant period of time. We show how to improve classical methods by tuning their step-sizes, and find that we can save up to 20% on their actual worst-case performance regret.

Here, we show emergent tactile behaviors resulting from the proposed contact-aware Fisher information maximization method that results in human-like tactile behaviors for learning (a) mass and weight, (b) friction and textures, (c) stiffness, and (d) shape [20]. Abstract--Contact dynamics hold immense amounts of information that can improve a robot's ability to characterize and learn about objects in their environment through interactions. However, collecting information-rich contact data is challenging due to its inherent sparsity and non-smooth nature, requiring an active approach to maximize the utility of contacts for learning. In this work, we investigate an optimal experimental design approach to synthesize robot behaviors that produce contact-rich data for learning. Our approach derives a contact-aware Fisher information measure that characterizes information-rich contact behaviors that improve parameter learning. We observe emergent robot behaviors that are able to excite contact interactions that efficiently learns object parameters across a range of parameter learning examples. Last, we demonstrate the utility of contact-awareness for learning parameters through contact-seeking behaviors on several robotic experiments. Contact dynamics are commonly used in robotics to manipulate the robot itself, e.g., through locomotion, or manipulate objects in its environment. However, the utility of contacts goes beyond just manipulation, and instead, contact can be seen as a medium to transmit information that can help a robot learn about its environment. In fact, prior work has demonstrated the information-richness of contact as a means to improve parameter estimation problems [8, 21, 27]. The underlying challenge is enabling robot behaviors that can actively acquire contact data for learning.

Abstract--Directed evolution is an iterative laboratory process of designing proteins with improved function by iteratively synthesizing new protein variants and evaluating their desired property with expensive and time-consuming biochemical screening. Machine learning methods can help select informative or promising variants for screening to increase their quality and reduce the amount of necessary screening. In this paper, we present a novel method for machine-learning-assisted directed evolution of proteins which combines Bayesian optimization with informative representation of protein variants extracted from a pre-trained protein language model. We demonstrate that the new representation based on the sequence embeddings significantly improves the performance of Bayesian optimization yielding better results with the same number of conducted screening in total. At the same time, our method outperforms the state-of-the-art machine-learning-assisted directed evolution methods with regression objective. Protein engineering (PE) is the process of designing proteins with desired properties, such as improved stability, catalytic function, or specific binding affinity [1]. PE can be leveraged in industrial applications, environmental applications, medicine, nanobiotechnology, and other fields [1]. Because the functional properties of proteins are determined by their sequence of amino acids [2], the task of PE translates to finding a sequence of amino acids with the desired properties/function.

Abstract-- We consider the problem of repetitive scenario design where one has to solve repeatedly a scenario design problem and can adjust the sample size (number of scenarios) to obtain a desired level of risk (constraint violation probability). We propose an approach to learn on the fly the optimal sample size based on observed data consisting in previous scenario solutions and their risk level. Our approach consists in learning a function that represents the pdf (probability density function) of the risk as a function of the sample size. Once this function is known, retrieving the optimal sample size is straightforward. We prove the soundness and convergence of our approach to obtain the optimal sample size for the class of fixed-complexity scenario problems, which generalizes fully-supported convex scenario programs that have been studied extensively in the scenario optimization literature. We also demonstrate the practical efficiency of our approach on a series of challenging repetitive scenario design problems, including non-fixed-complexity problems, nonconvex constraints and time-varying distributions.