Dexterous robotic hands enable versatile interactions due to the flexibility and adaptability of multi-fingered designs, allowing for a wide range of task-specific grasp configurations in diverse environments. However, to fully exploit the capabilities of dexterous hands, access to diverse and high-quality grasp data is essential -- whether for developing grasp prediction models from point clouds, training manipulation policies, or supporting high-level task planning with broader action options. Existing approaches for dataset generation typically rely on sampling-based algorithms or simplified force-closure analysis, which tend to converge to power grasps and often exhibit limited diversity. In this work, we propose a method to synthesize large-scale, diverse, and physically feasible grasps that extend beyond simple power grasps to include refined manipulations, such as pinches and tri-finger precision grasps. We introduce a rigorous, differentiable energy formulation of force closure, implicitly defined through a Quadratic Program (QP). Additionally, we present an adjusted optimization method (MALA*) that improves performance by dynamically rejecting gradient steps based on the distribution of energy values across all samples. We extensively evaluate our approach and demonstrate significant improvements in both grasp diversity and the stability of final grasp predictions. Finally, we provide a new, large-scale grasp dataset for 5,700 objects from DexGraspNet, comprising five different grippers and three distinct grasp types. Dataset and Code:https://graspqp.github.io/

Federated learning (FL) has emerged as a powerful paradigm for collaborative model training across distributed clients while preserving data privacy. However, existing FL algorithms predominantly focus on unconstrained optimization problems with exact gradient information, limiting its applicability in scenarios where only noisy function evaluations are accessible or where model parameters are constrained. To address these challenges, we propose a novel zeroth-order projection-based algorithm on Riemannian manifolds for FL. By leveraging the projection operator, we introduce a computationally efficient zeroth-order Riemannian gradient estimator. Unlike existing estimators, ours requires only a simple Euclidean random perturbation, eliminating the need to sample random vectors in the tangent space, thus reducing computational cost. Theoretically, we first prove the approximation properties of the estimator and then establish the sublinear convergence of the proposed algorithm, matching the rate of its first-order counterpart. Numerically, we first assess the efficiency of our estimator using kernel principal component analysis. Furthermore, we apply the proposed algorithm to two real-world scenarios: zeroth-order attacks on deep neural networks and low-rank neural network training to validate the theoretical findings.

Edge-cloud collaborative computing (ECCC) has emerged as a pivotal paradigm for addressing the computational demands of modern intelligent applications, integrating cloud resources with edge devices to enable efficient, low-latency processing. Recent advancements in AI, particularly deep learning and large language models (LLMs), have dramatically enhanced the capabilities of these distributed systems, yet introduce significant challenges in model deployment and resource management. In this survey, we comprehensive examine the intersection of distributed intelligence and model optimization within edge-cloud environments, providing a structured tutorial on fundamental architectures, enabling technologies, and emerging applications. Additionally, we systematically analyze model optimization approaches, including compression, adaptation, and neural architecture search, alongside AI-driven resource management strategies that balance performance, energy efficiency, and latency requirements. We further explore critical aspects of privacy protection and security enhancement within ECCC systems and examines practical deployments through diverse applications, spanning autonomous driving, healthcare, and industrial automation. Performance analysis and benchmarking techniques are also thoroughly explored to establish evaluation standards for these complex systems. Furthermore, the review identifies critical research directions including LLMs deployment, 6G integration, neuromorphic computing, and quantum computing, offering a roadmap for addressing persistent challenges in heterogeneity management, real-time processing, and scalability. By bridging theoretical advancements and practical deployments, this survey offers researchers and practitioners a holistic perspective on leveraging AI to optimize distributed computing environments, fostering innovation in next-generation intelligent systems.

Configuration optimization remains a critical bottleneck in machine learning, requiring coordinated tuning across model architecture, training strategy, feature engineering, and hy-perparameters. Traditional approaches treat these dimensions independently and lack interpretability, while recent automated methods struggle with dynamic adaptability and semantic reasoning about optimization decisions. We introduce Language-Guided Tuning (LGT), a novel framework that employs multi-agent Large Language Models to intelligently optimize configurations through natural language reasoning. We apply textual gradients - qualitative feedback signals that complement numerical optimization by providing semantic understanding of training dynamics and configuration interdependencies. LGT coordinates three specialized agents: an Advisor that proposes configuration changes, an Evaluator that assesses progress, and an Optimizer that refines the decision-making process, creating a self-improving feedback loop. Through comprehensive evaluation on six diverse datasets, LGT demonstrates substantial improvements over traditional optimization methods, achieving performance gains while maintaining high interpretability.

--This paper addresses two critical challenges in analog In-Memory Computing (IMC) systems that limit their scalability and deployability: the computational unreliability caused by stuck-at faults (SAFs) and the high compilation overhead of existing fault-mitigation algorithms, namely Fault-Free (FF). T o overcome these limitations, we first propose a novel multi-bit weight representation technique, termed row-column hybrid grouping, which generalizes conventional column grouping by introducing redundancy across both rows and columns. This structural redundancy enhances fault tolerance and can be effectively combined with existing fault-mitigation solutions. Further acceleration is achieved through theoretical insights that identify fault patterns amenable to trivial solutions, significantly reducing computation. Experimental results on convolutional networks and small language models demonstrate the effectiveness of our approach, achieving up to 8%p improvement in accuracy, 150 faster compilation, and 2 energy efficiency gain compared to existing baselines. The In-Memory Computing (IMC) paradigm marks a trans-formative shift toward non-von Neumann architectures by allowing data processing to occur directly within the memory array [1]-[4], thereby minimizing the overhead associated with off-chip data movement [5]. Among various implementations, analog IMC systems based on Resistive Random Access Memory (ReRAM) crossbar arrays have emerged as a particularly promising solution. These systems perform energy-efficient matrix-vector multiplication (MVM) [3], [4], a core operation that forms the computational backbone of modern deep learning systems. As such, analog IMC has become a focal point in DNN acceleration and efficient AI research, spearheading cutting-edge investigations in approximate computing, heterogeneous computing, and alternative learning paradigms. To perform MVM in the analog domain, the weights are stored as conductance values in ReRAM cells; input features are applied as voltages to the word lines, and the resulting bit-line currents naturally multiply-and-accumulate following Ohm's and Kirchhoff's laws [6], [7].

Graphical models are a very useful tool to describe and understand natural phenomena, from gene expression to climate change and social interactions. The topological structure of these graphs/networks is a fundamental part of the analysis, and in many cases the main goal of the study. However, little work has been done on incorporating prior topological knowledge onto the estimation of the underlying graphical models from sample data. In this work we propose extensions to the basic joint regression model for network estimation, which explicitly incorporate graph-topological constraints into the corresponding optimization approach. The first proposed extension includes an eigenvector centrality constraint, thereby promoting this important prior topological property. The second developed extension promotes the formation of certain motifs, triangle-shaped ones in particular, which are known to exist for example in genetic regulatory networks. The presentation of the underlying formulations, which serve as examples of the introduction of topological constraints in network estimation, is complemented with examples in diverse datasets demonstrating the importance of incorporating such critical prior knowledge.

Ensuring safety is a key aspect in sequential decision making problems, such as robotics or process control.

Bayesian optimization is a methodology to optimize black-box functions.