Feature Transformation (FT) crafts new features from original ones via mathematical operations to enhance dataset expressiveness for downstream models. However, existing FT methods exhibit critical limitations: discrete search struggles with enormous combinatorial spaces, impeding practical use; and continuous search, being highly sensitive to initialization and step sizes, often becomes trapped in local optima, restricting global exploration. To overcome these limitations, DIFFT redefines FT as a reward-guided generative task. It first learns a compact and expressive latent space for feature sets using a Variational Auto-Encoder (VAE). A Latent Diffusion Model (LDM) then navigates this space to generate high-quality feature embeddings, its trajectory guided by a performance evaluator towards task-specific optima. This synthesis of global distribution learning (from LDM) and targeted optimization (reward guidance) produces potent embeddings, which a novel semi-autoregressive decoder efficiently converts into structured, discrete features, preserving intra-feature dependencies while allowing parallel inter-feature generation. Extensive experiments on 14 benchmark datasets show DIFFT consistently outperforms state-of-the-art baselines in predictive accuracy and robustness, with significantly lower training and inference times.

Drones have become essential in various applications, but conventional quadrotors face limitations in confined spaces and complex tasks. Deformable drones, which can adapt their shape in real-time, offer a promising solution to overcome these challenges, while also enhancing maneuverability and enabling novel tasks like object grasping. This paper presents a novel approach to autonomous motion planning and control for deformable quadrotors. We introduce a shape-adaptive trajectory planner that incorporates deformation dynamics into path generation, using a scalable kinodynamic A* search to handle deformation parameters in complex environments. The backend spatio-temporal optimization is capable of generating optimally smooth trajectories that incorporate shape deformation. Additionally, we propose an enhanced control strategy that compensates for external forces and torque disturbances, achieving a 37.3\% reduction in trajectory tracking error compared to our previous work. Our approach is validated through simulations and real-world experiments, demonstrating its effectiveness in narrow-gap traversal and multi-modal deformable tasks.

Large language models (LLMs) have recently achieved remarkable results in complex multi-step tasks, such as mathematical reasoning and agentic software engineering. However, they often struggle to maintain consistent performance across multiple solution attempts. One effective approach to narrow the gap between average-case and best-case performance is guided test-time search, which explores multiple solution paths to identify the most promising one. Unfortunately, effective search techniques (e.g. MCTS) are often unsuitable for non-serializable RL environments, such as Docker containers, where intermediate environment states cannot be easily saved and restored. We investigate two complementary search strategies applicable to such environments: 1-step lookahead and trajectory selection, both guided by a learned action-value function estimator. On the SWE-bench Verified benchmark, a key testbed for agentic software engineering, we find these methods to double the average success rate of a fine-tuned Qwen-72B model, achieving 40.8%, the new state-of-the-art for open-weights models. Additionally, we show that these techniques are transferable to more advanced closed models, yielding similar improvements with GPT-4o.

In robotic planetary surface exploration, strategic mobility planning is an important task that involves finding candidate long-distance routes on orbital maps and identifying segments with uncertain traversability. Then, expert human operators establish safe, adaptive traverse plans based on the actual navigation difficulties encountered in these uncertain areas. In this paper, we formalize this challenge as a new, risk-averse variant of the Canadian Traveller Problem (CTP) tailored to global planetary mobility. The objective is to find a traverse policy minimizing a conditional value-at-risk (CVaR) criterion, which is a risk measure with an intuitive interpretation. We propose a novel search algorithm that finds exact CVaR-optimal policies. Our approach leverages well-established optimal AND-OR search techniques intended for (risk-agnostic) expectation minimization and extends these methods to the risk-averse domain. We validate our approach through simulated long-distance planetary surface traverses; we employ real orbital maps of the Martian surface to construct problem instances and use terrain maps to express traversal probabilities in uncertain regions. Our results illustrate different adaptive decision-making schemes depending on the level of risk aversion. Additionally, our problem setup allows accounting for traversability correlations between similar areas of the environment. In such a case, we empirically demonstrate how information-seeking detours can mitigate risk.

Neural Architecture Search (NAS) is a powerful tool for automating architecture design. One-Shot NAS techniques, such as DARTS, have gained substantial popularity due to their combination of search efficiency with simplicity of implementation. By design, One-Shot methods have high GPU memory requirements during the search. To mitigate this issue, we propose to prune the search space in an efficient automatic manner to reduce memory consumption and search time while preserving the search accuracy. Specifically, we utilise Zero-Shot NAS to efficiently remove low-performing architectures from the search space before applying One-Shot NAS to the pruned search space. Experimental results on the DARTS search space show that our approach reduces memory consumption by 81% compared to the baseline One-Shot setup while achieving the same level of accuracy.

The Flexible Job-Shop Scheduling Problem (FJSSP) is an NP-hard combinatorial optimization problem, with several application domains, especially for manufacturing purposes. The objective is to efficiently schedule multiple operations on dissimilar machines. These operations are gathered into jobs, and operations pertaining to the same job need to be scheduled sequentially. Different methods have been previously tested to solve this problem, such as Constraint Solving, Tabu Search, Genetic Algorithms, or Monte Carlo Tree Search (MCTS). We propose a novel algorithm derived from the Generalized Nested Rollout Policy Adaptation, developed to solve the FJSSP. We report encouraging experimental results, as our algorithm performs better than other MCTS-based approaches, even if makespans obtained on large instances are still far from known upper bounds.

Complex Query Answering (CQA) aims to retrieve answer sets for complex logical formulas from incomplete knowledge graphs, which is a crucial yet challenging task in knowledge graph reasoning. While neuro-symbolic search utilized neural link predictions achieve superior accuracy, they encounter significant complexity bottlenecks: (i) Data complexity typically scales quadratically with the number of entities in the knowledge graph, and (ii) Query complexity becomes NP-hard for cyclic queries. Consequently, these approaches struggle to effectively scale to larger knowledge graphs and more complex queries. To address these challenges, we propose an efficient and scalable symbolic search framework. First, we propose two constraint strategies to compute neural logical indices to reduce the domain of variables, thereby decreasing the data complexity of symbolic search. Additionally, we introduce an approximate algorithm based on local search to tackle the NP query complexity of cyclic queries. Experiments on various CQA benchmarks demonstrate that our framework reduces the computational load of symbolic methods by 90\% while maintaining nearly the same performance, thus alleviating both efficiency and scalability issues.

We propose Windowed Inference for Non-blank Detection (WIND), a novel strategy that significantly accelerates RNN-T inference without compromising model accuracy. During model inference, instead of processing frames sequentially, WIND processes multiple frames simultaneously within a window in parallel, allowing the model to quickly locate non-blank predictions during decoding, resulting in significant speed-ups. We implement WIND for greedy decoding, batched greedy decoding with label-looping techniques, and also propose a novel beam-search decoding method. Experiments on multiple datasets with different conditions show that our method, when operating in greedy modes, speeds up as much as 2.4X compared to the baseline sequential approach while maintaining identical Word Error Rate (WER) performance. Our beam-search algorithm achieves slightly better accuracy than alternative methods, with significantly improved speed.

Inference-time scaling has emerged as a powerful alternative to parameter scaling for improving language model performance on complex reasoning tasks. While existing methods have shown strong performance gains under fixed compute budgets, there has been little focus on optimally utilizing that budget during inference. In this work, we introduce A*-decoding, a search-based inference-time strategy that builds on the A* search algorithm to optimally utilize a fixed compute budget by prioritizing high-quality reasoning paths during generation. We frame language model decoding as a structured search in a state space of partial solutions, applying the A* transition model to identify promising continuations guided by an external process supervision signal. In our experiments, A*-decoding reaches the performance levels of strong inference scaling baselines like best-of-N and particle filtering while using up to 3x fewer tokens and 30% fewer PRM passes under equivalent compute budgets. On the MATH500 and AIME 2024 benchmarks, A*-decoding enables Llama-3.2-1B-Instruct to match the performance of the 70x larger Llama-3.1-70B-Instruct, and allows Qwen3-1.7B to reach o1-like reasoning accuracy. These results highlight the power of structured search in decoding, offering an alternative to brute-force sampling or scale-driven gains. Our work demonstrates how thoughtful inference-time strategies can enhance reasoning in SLMs, pointing toward future advances in more efficient and scalable language model deployment.

Breakthroughs, discoveries, and DIY tips sent every weekday. Mitsubishi's bragging rights for designing the world's fastest Rubik's cube-solving robot have officially been stolen by a team of undergrads in Indiana. Earlier this month, Purdue University announced four collaborators in its Elmore Family School of Electrical and Computer Engineering (ECE) successfully designed and built a bot that not only set the new Guinness World Record--it absolutely demolished the multinational company's previous time. Meet Purdubik's Cube: a machine capable of completing a randomly shuffled Rubik's cube in just 0.103 seconds. At 1-2 times faster than the blink of a human eye, the feat is difficult to see, much less comprehend.