Probabilistic Virtual Fixtures (VFs) enable the adaptive selection of the most suitable haptic feedback for each phase of a task, based on learned or perceived uncertainty. While keeping the human in the loop remains essential, for instance, to ensure high precision, partial automation of certain task phases is critical for productivity. We present a unified framework for probabilistic VFs that seamlessly switches between manual fixtures, semi-automated fixtures (with the human handling precise tasks), and full autonomy. We introduce a novel probabilistic Dynamical System-based VF for coarse guidance, enabling the robot to autonomously complete certain task phases while keeping the human operator in the loop. For tasks requiring precise guidance, we extend probabilistic position-based trajectory fixtures with automation allowing for seamless human interaction as well as geometry-awareness and optimal impedance gains. For manual tasks requiring very precise guidance, we also extend visual servoing fixtures with the same geometry-awareness and impedance behavior. We validate our approach experimentally on different robots, showcasing multiple operation modes and the ease of programming fixtures.

Modern security analytics are increasingly powered by deep learning models, but their performance often degrades as threat landscapes evolve and data representations shift. While continual learning (CL) offers a promising paradigm to maintain model effectiveness, many approaches rely on full retraining or data replay, which are infeasible in data-sensitive environments. Moreover, existing methods remain inadequate for security-critical scenarios, facing two coupled challenges in knowledge transfer: preserving prior knowledge without old data and integrating new knowledge with minimal interference. We propose RETROFIT, a data retrospective-free continual learning method that achieves bounded forgetting for effective knowledge transfer. Our key idea is to consolidate previously trained and newly fine-tuned models, serving as teachers of old and new knowledge, through parameter-level merging that eliminates the need for historical data. To mitigate interference, we apply low-rank and sparse updates that confine parameter changes to independent subspaces, while a knowledge arbitration dynamically balances the teacher contributions guided by model confidence. Our evaluation on two representative applications demonstrates that RETROFIT consistently mitigates forgetting while maintaining adaptability. In malware detection under temporal drift, it substantially improves the retention score, from 20.2% to 38.6% over CL baselines, and exceeds the oracle upper bound on new data. In binary summarization across decompilation levels, where analyzing stripped binaries is especially challenging, RETROFIT achieves around twice the BLEU score of transfer learning used in prior work and surpasses all baselines in cross-representation generalization.

We present SLEAN (Simple Lightweight Ensemble Analysis Network), a deterministic framework for coordinating multiple LLM providers through text-based prompt orchestration. Unlike complex multi-agent systems requiring specialized infrastructure, SLEAN operates as a simple prompt bridge between LLMs using .txt templates, requiring no deep technical knowledge for deployment. The three-phase protocol formed by independent analysis, cross-critique, and arbitration, filters harmful AI-generated code suggestions before production deployment, addressing how AI-assisted debugging increasingly produces modifications that introduce unnecessary complexity, break existing functionality, or address problems. Evaluating 15 software bugs, we analyzed 69 AI-generated fix propositions. SLEAN's filtering accepted 22 fixes (31.9%, 95% CI 20.9-42.9%) while rejecting 47 that would have been harmful if applied verbatim. The arbitration process reduced code change surface by 83-90% relative to raw AI outputs, enforcing minimal causal edits over scope-expanding modifications. Minimal Type 2 inputs proved more efficient than detailed Type 1 inputs, requiring 2.85 versus 3.56 propositions per accepted fix (35.1% versus 28.1% acceptance, about a 20% efficiency gain). Agreement between AI systems showed weak correlation with fix quality: high convergence (at least 80%) occurred in 4 of 15 cases and improved acceptance by only 2.4% points; arbitration appeared only at exactly 10% convergence in 2 of 15 cases, although low convergence alone did not necessitate arbitration. The file-driven, provider-agnostic architecture enables deployment without specialized coding expertise, making it applicable to security auditing, code review, document verification, and other domains requiring reliable multi-provider synthesis with end-to-end auditability.

Large language models (LLMs)-empowered autonomous agents are transforming both digital and physical environments by enabling adaptive, multi-agent collaboration. While these agents offer significant opportunities across domains such as finance, healthcare, and smart manufacturing, their unpredictable behaviors and heterogeneous capabilities pose substantial governance and accountability challenges. In this paper, we propose a blockchain-enabled layered architecture for regulatory agent collaboration, comprising an agent layer, a blockchain data layer, and a regulatory application layer. Within this framework, we design three key modules: (i) an agent behavior tracing and arbitration module for automated accountability, (ii) a dynamic reputation evaluation module for trust assessment in collaborative scenarios, and (iii) a malicious behavior forecasting module for early detection of adversarial activities. Our approach establishes a systematic foundation for trustworthy, resilient, and scalable regulatory mechanisms in large-scale agent ecosystems. Finally, we discuss the future research directions for blockchain-enabled regulatory frameworks in multi-agent systems.

Retrieval Augmented Generation (RAG) enables Large Language Models (LLMs) to generalize to new information by decoupling reasoning capabilities from static knowledge bases. Traditional RAG enhancements have explored vertical scaling -- assigning subtasks to specialized modules -- and horizontal scaling -- replicating tasks across multiple agents -- to improve performance. However, real-world applications impose diverse Service Level Agreements (SLAs) and Quality of Service (QoS) requirements, involving trade-offs among objectives such as reducing cost, ensuring answer quality, and adhering to specific operational constraints. In this work, we present a systems-oriented approach to multi-agent RAG tailored for real-world Question Answering (QA) applications. By integrating task-specific non-functional requirements -- such as answer quality, cost, and latency -- into the system, we enable dynamic reconfiguration to meet diverse SLAs. Our method maps these Service Level Objectives (SLOs) to system-level parameters, allowing the generation of optimal results within specified resource constraints. We conduct a case study in the QA domain, demonstrating how dynamic re-orchestration of a multi-agent RAG system can effectively manage the trade-off between answer quality and cost. By adjusting the system based on query intent and operational conditions, we systematically balance performance and resource utilization. This approach allows the system to meet SLOs for various query types, showcasing its practicality for real-world applications.

Since the introduction of Generative AI (GenAI) in 2022, its ability to simulate human intelligence and generate content has sparked both enthusiasm and concern. While much of the criticism focuses on AI's potential to perpetuate bias, create emotional dissonance, displace jobs, and raise ethical questions, these concerns often overlook the practical benefits of AI, particularly in legal contexts. This article examines the integration of AI into arbitration, arguing that the Federal Arbitration Act (FAA) allows parties to contractually choose AI-driven arbitration, despite traditional reservations. The article makes three key contributions: (1) It shifts the focus from debates over AI's personhood to the practical aspects of incorporating AI into arbitration, asserting that AI can effectively serve as an arbitrator if both parties agree; (2) It positions arbitration as an ideal starting point for broader AI adoption in the legal field, given its flexibility and the autonomy it grants parties to define their standards of fairness; and (3) It outlines future research directions, emphasizing the importance of empirically comparing AI and human arbitration, which could lead to the development of distinct systems. By advocating for the use of AI in arbitration, this article underscores the importance of respecting contractual autonomy and creating an environment that allows AI's potential to be fully realized. Drawing on the insights of Judge Richard Posner, the article argues that the ethical obligations of AI in arbitration should be understood within the context of its technological strengths and the voluntary nature of arbitration agreements. Ultimately, it calls for a balanced, open-minded approach to AI in arbitration, recognizing its potential to enhance the efficiency, fairness, and flexibility of dispute resolution.

Shared control can ease and enhance a human operator's ability to teleoperate robots, particularly for intricate tasks demanding fine control over multiple degrees of freedom. However, the arbitration process dictating how much autonomous assistance to administer in shared control can confuse novice operators and impede their understanding of the robot's behavior. To overcome these adverse side-effects, we propose a novel formulation of shared control that enables operators to tailor the arbitration to their unique capabilities and preferences. Unlike prior approaches to customizable shared control where users could indirectly modify the latent parameters of the arbitration function by issuing a feedback command, we instead make these parameters observable and directly editable via a virtual reality (VR) interface. We present our user-customizable shared control method for a teleoperation task in SE(3), known as the buzz wire game. A user study is conducted with participants teleoperating a robotic arm in VR to complete the game. The experiment spanned two weeks per subject to investigate longitudinal trends. Our findings reveal that users allowed to interactively tune the arbitration parameters across trials generalize well to adaptations in the task, exhibiting improvements in precision and fluency over direct teleoperation and conventional shared control.

Windowing is a common technique in EEG machine learning classification and other time series tasks. However, a challenge arises when employing this technique: computational expense inhibits learning global relationships across an entire recording or set of recordings. Furthermore, the labels inherited by windows from their parent recordings may not accurately reflect the content of that window in isolation. To resolve these issues, we introduce a multi-stage model architecture, incorporating meta-learning principles tailored to time-windowed data aggregation. We further tested two distinct strategies to alleviate these issues: lengthening the window and utilizing overlapping to augment data. Our methods, when tested on the Temple University Hospital Abnormal EEG Corpus (TUAB), dramatically boosted the benchmark accuracy from 89.8 percent to 99.0 percent. This breakthrough performance surpasses prior performance projections for this dataset and paves the way for clinical applications of machine learning solutions to EEG interpretation challenges. On a broader and more varied dataset from the Temple University Hospital EEG Corpus (TUEG), we attained an accuracy of 86.7%, nearing the assumed performance ceiling set by variable inter-rater agreement on such datasets.

A key task in clinical EEG interpretation is to classify a recording or session as normal or abnormal. In machine learning approaches to this task, recordings are typically divided into shorter windows for practical reasons, and these windows inherit the label of their parent recording. We hypothesised that window labels derived in this manner can be misleading for example, windows without evident abnormalities can be labelled `abnormal' disrupting the learning process and degrading performance. We explored two separable approaches to mitigate this problem: increasing the window length and introducing a second-stage model to arbitrate between the window-specific predictions within a recording. Evaluating these methods on the Temple University Hospital Abnormal EEG Corpus, we significantly improved state-of-the-art average accuracy from 89.8 percent to 93.3 percent. This result defies previous estimates of the upper limit for performance on this dataset and represents a major step towards clinical translation of machine learning approaches to this problem.

In its defense, Tesla lawyers said that "mere failure to realize a long-term, aspirational goal is not fraud." That argument is contained in a motion to dismiss the case that was filed last week in U.S. District Court in San Francisco. The main plaintiff is Briggs Matsko, a resident of Rancho Murieta, Calif. If the case goes forward, it could lead to deposition of Tesla employees who helped develop the technology and reveal what Musk knew and didn't know about its true capabilities when he made numerous forecasts over the years -- including the prediction that there would be a million Tesla robotaxis on the road by the end of 2020, that customers could make $30,000 a year hiring them out, and that their cars would appreciate in value. Tesla lawyers are attempting to prevent that information from going public.