We present a control framework for robot-assisted dressing that augments low-level hazard response with runtime monitoring and formal verification. A parametric discrete-time Markov chain (pDTMC) models the dressing process, while Bayesian inference dynamically updates this pDTMC's transition probabilities based on sensory and user feedback. Safety constraints from hazard analysis are expressed in probabilistic computation tree logic, and symbolically verified using a probabilistic model checker. We evaluate reachability, cost, and reward trade-offs for garment-snag mitigation and escalation, enabling real-time adaptation. Our approach provides a formal yet lightweight foundation for safety-aware, explainable robotic assistance.

Recent advances in large pre-trained models showed promising results in few-shot learning. However, their generalization ability on two-dimensional Out-of-Distribution (OoD) data, i.e., correlation shift and diversity shift, has not been thoroughly investigated. Researches have shown that even with a significant amount of training data, few methods can achieve better performance than the standard empirical risk minimization method (ERM) in OoD generalization. This few-shot OoD generalization dilemma emerges as a challenging direction in deep neural network generalization research, where the performance suffers from overfitting on few-shot examples and OoD generalization errors. In this paper, leveraging a broader supervision source, we explore a novel Bayesian cross-modal image-text alignment learning method (Bayes-CAL) to address this issue. Specifically, the model is designed as only text representations are fine-tuned via a Bayesian modelling approach with gradient orthogonalization loss and invariant risk minimization (IRM) loss. The Bayesian approach is essentially introduced to avoid overfitting the base classes observed during training and improve generalization to broader unseen classes. The dedicated loss is introduced to achieve better image-text alignment by disentangling the causal and non-casual parts of image features. Numerical experiments demonstrate that Bayes-CAL achieved state-of-the-art OoD generalization performances on two-dimensional distribution shifts. Moreover, compared with CLIP-like models, Bayes-CAL yields more stable generalization performances on unseen classes. Our code is available at https://github.com/LinLLLL/BayesCAL.

This paper presents a Bayesian estimation framework for Wiener models, focusing on learning nonlinear output functions under known linear state dynamics. We derive a closed-form optimal affine estimator for the unknown parameters, characterized by the so-called "dynamic basis statistics" (DBS). Several features of the proposed estimator are studied, including Bayesian unbiasedness, closed-form posterior statistics, error monotonicity in trajectory length, and consistency condition (also known as persistent excitation). In the special case of Fourier basis functions, we demonstrate that the closed-form description is computationally available, as the Fourier DBS enjoys explicit expressions. Furthermore, we identify an inherent inconsistency in the Fourier bases for single-trajectory measurements, regardless of the input excitation. Leveraging the closed-form estimation error, we develop an active learning algorithm synthesizing input signals to minimize estimation error.

Transformers have become a standard architecture in machine learning, demonstrating strong in-context learning (ICL) abilities that allow them to learn from the prompt at inference time. However, uncertainty quantification for ICL remains an open challenge, particularly in noisy regression tasks. This paper investigates whether ICL can be leveraged for distribution-free uncertainty estimation, proposing a method based on conformal prediction to construct prediction intervals with guaranteed coverage. While traditional conformal methods are computationally expensive due to repeated model fitting, we exploit ICL to efficiently generate confidence intervals in a single forward pass. Our empirical analysis compares this approach against ridge regression-based conformal methods, showing that conformal prediction with in-context learning (CP with ICL) achieves robust and scalable uncertainty estimates. Additionally, we evaluate its performance under distribution shifts and establish scaling laws to guide model training. These findings bridge ICL and conformal prediction, providing a theoretically grounded and new framework for uncertainty quantification in transformer-based models.

Automation of robotic systems for servicing in cislunar space is becoming extremely important as the number of satellites in orbit increases. Safety is critical in performing satellite maintenance, so the control techniques utilized must be trusted in addition to being highly efficient. In this work, Genetic Fuzzy Trees are combined with the widely used LQR control scheme via Thales' TrUE AI Toolkit to create a trusted and efficient controller for a two-degree-of-freedom planar robotic manipulator that would theoretically be used to perform satellite maintenance. It was found that Genetic Fuzzy-LQR is 18.5% more performant than optimal LQR on average, and that it is incredibly robust to uncertainty.

The Topics over Time (ToT) model captures thematic changes in timestamped datasets by explicitly modeling publication dates jointly with word co-occurrence patterns. However, ToT was not approached in a fully Bayesian fashion, a flaw that makes it susceptible to stability problems. To address this issue, we propose a fully Bayesian Topics over Time (BToT) model via the introduction of a conjugate prior to the Beta distribution. This prior acts as a regularization that prevents the online version of the algorithm from unstable updates when a topic is poorly represented in a mini-batch. The characteristics of this prior to the Beta distribution are studied here for the first time. Still, this model suffers from a difference in scale between the single-time observations and the multiplicity of words per document. A variation of BToT, Weighted Bayesian Topics over Time (WBToT), is proposed as a solution. In WBToT, publication dates are repeated a certain number of times per document, which balances the relative influence of words and timestamps along the inference process. We have tested our models on two datasets: a collection of over 200 years of US state-of-the-union (SOTU) addresses and a large-scale COVID-19 Twitter corpus of 10 million tweets. The results show that WBToT captures events better than Latent Dirichlet Allocation and other SOTA topic models like BERTopic: the median absolute deviation of the topic presence over time is reduced by $51\%$ and $34\%$, respectively. Our experiments also demonstrate the superior coherence of WBToT over BToT, which highlights the importance of balancing the time and word modalities. Finally, we illustrate the stability of the online optimization algorithm in WBToT, which allows the application of WBToT to problems that are intractable for standard ToT.

We introduce a multiple criteria Bayesian preference learning framework incorporating behavioral cues for decision aiding. The framework integrates pairwise comparisons, response time, and attention duration to deepen insights into decision-making processes. The approach employs an additive value function model and utilizes a Bayesian framework to derive the posterior distribution of potential ranking models by defining the likelihood of observed preference data and specifying a prior on the preference structure. This distribution highlights each model's ability to reconstruct Decision-Makers' holistic pairwise comparisons. By leveraging both response time as a proxy for cognitive effort and alternative discriminability as well as attention duration as an indicator of criterion importance, the proposed model surpasses traditional methods by uncovering richer behavioral patterns. We report the results of a laboratory experiment on mobile phone contract selection involving 30 real subjects using a dedicated application with time-, eye-, and mouse-tracking components. We validate the novel method's ability to reconstruct complete preferences. The detailed ablation studies reveal time- and attention-related behavioral patterns, confirming that integrating comprehensive data leads to developing models that better align with the DM's actual preferences.

Causal inference aids researchers in discovering cause-and-effect relationships, leading to scientific insights. Accurate causal estimation requires identifying confounding variables to avoid false discoveries. Pearl's causal model uses causal DAGs to identify confounding variables, but incorrect DAGs can lead to unreliable causal conclusions. However, for high dimensional data, the causal DAGs are often complex beyond human verifiability. Graph summarization is a logical next step, but current methods for general-purpose graph summarization are inadequate for causal DAG summarization. This paper addresses these challenges by proposing a causal graph summarization objective that balances graph simplification for better understanding while retaining essential causal information for reliable inference. We develop an efficient greedy algorithm and show that summary causal DAGs can be directly used for inference and are more robust to misspecification of assumptions, enhancing robustness for causal inference. Experimenting with six real-life datasets, we compared our algorithm to three existing solutions, showing its effectiveness in handling high-dimensional data and its ability to generate summary DAGs that ensure both reliable causal inference and robustness against misspecifications.

Differentially private (DP) machine learning often relies on the availability of public data for tasks like privacy-utility trade-off estimation, hyperparameter tuning, and pretraining. While public data assumptions may be reasonable in text and image domains, they are less likely to hold for tabular data due to tabular data heterogeneity across domains. We propose leveraging powerful priors to address this limitation; specifically, we synthesize realistic tabular data directly from schema-level specifications - such as variable names, types, and permissible ranges - without ever accessing sensitive records. To that end, this work introduces the notion of "surrogate" public data - datasets generated independently of sensitive data, which consume no privacy loss budget and are constructed solely from publicly available schema or metadata. Surrogate public data are intended to encode plausible statistical assumptions (informed by publicly available information) into a dataset with many downstream uses in private mechanisms. We automate the process of generating surrogate public data with large language models (LLMs); in particular, we propose two methods: direct record generation as CSV files, and automated structural causal model (SCM) construction for sampling records. Through extensive experiments, we demonstrate that surrogate public tabular data can effectively replace traditional public data when pretraining differentially private tabular classifiers. To a lesser extent, surrogate public data are also useful for hyperparameter tuning of DP synthetic data generators, and for estimating the privacy-utility tradeoff.

As machine learning evolves, domain generalization (DG) and domain adaptation (DA) have become crucial for enhancing model robustness across diverse environments. Contrastive Language-Image Pretraining (CLIP) plays a significant role in these tasks, offering powerful zero-shot capabilities that allow models to perform effectively in unseen domains. However, there remains a significant gap in the literature, as no comprehensive survey currently exists that systematically explores the applications of CLIP in DG and DA, highlighting the necessity for this review. This survey presents a comprehensive review of CLIP's applications in DG and DA. In DG, we categorize methods into optimizing prompt learning for task alignment and leveraging CLIP as a backbone for effective feature extraction, both enhancing model adaptability. For DA, we examine both source-available methods utilizing labeled source data and source-free approaches primarily based on target domain data, emphasizing knowledge transfer mechanisms and strategies for improved performance across diverse contexts. Key challenges, including overfitting, domain diversity, and computational efficiency, are addressed, alongside future research opportunities to advance robustness and efficiency in practical applications. By synthesizing existing literature and pinpointing critical gaps, this survey provides valuable insights for researchers and practitioners, proposing directions for effectively leveraging CLIP to enhance methodologies in domain generalization and adaptation. Ultimately, this work aims to foster innovation and collaboration in the quest for more resilient machine learning models that can perform reliably across diverse real-world scenarios. A more up-to-date version of the papers is maintained at: https://github.com/jindongli-Ai/Survey_on_CLIP-Powered_Domain_Generalization_and_Adaptation.