A TISS with various transformer models that consider ordering.

However, the data at each location may be insufficient to train a robust model.

Existing approaches for learning representations of time-series keep the temporal arrangement of the time-steps intact with the presumption that the original order is the most optimal for learning. However, non-adjacent sections of real-world time-series may have strong dependencies. Accordingly, we raise the question: Is there an alternative arrangement for time-series which could enable more effective representation learning? To address this, we propose a simple plug-and-play neural network layer called Segment, Shuffle, and Stitch (S3) designed to improve representation learning in time-series models. S3 works by creating non-overlapping segments from the original sequence and shuffling them in a learned manner that is optimal for the task at hand. It then re-attaches the shuffled segments back together and performs a learned weighted sum with the original input to capture both the newly shuffled sequence along with the original sequence. S3 is modular and can be stacked to achieve different levels of granularity, and can be added to many forms of neural architectures including CNNs or Transformers with negligible computation overhead. Through extensive experiments on several datasets and state-of-the-art baselines, we show that incorporating S3 results in significant improvements for the tasks of time-series classification, forecasting, and anomaly detection, improving performance on certain datasets by up to 68\%. We also show that S3 makes the learning more stable with a smoother training loss curve and loss landscape compared to the original baseline.

Federated learning is a distributed learning paradigm where multiple agents, each only with access to local data, jointly learn a global model. There has recently been an explosion of research aiming not only to improve the accuracy rates of federated learning, but also provide certain guarantees around social good properties such as total error. One branch of this research has taken a game-theoretic approach, and in particular, prior work has viewed federated learning as a hedonic game, where error-minimizing players arrange themselves into federating coalitions. This past work proves the existence of stable coalition partitions, but leaves open a wide range of questions, including how far from optimal these stable solutions are. In this work, we motivate and define a notion of optimality given by the average error rates among federating agents (players).

We consider binary classification restricted to a class of continuous piecewise linear functions whose decision boundaries are (possibly nonconvex) starshaped polyhedral sets, supported on a fixed polyhedral simplicial fan. We investigate the expressivity of these function classes and describe the combinatorial and geometric structure of the loss landscape, most prominently the sublevel sets, for two loss-functions: the 0/1-loss (discrete loss) and a log-likelihood loss function. In particular, we give explicit bounds on the VC dimension of this model, and concretely describe the sublevel sets of the discrete loss as chambers in a hyperplane arrangement. For the log-likelihood loss, we give sufficient conditions for the optimum to be unique, and describe the geometry of the optimum when varying the rate parameter of the underlying exponential probability distribution.

In text-driven 3D scene generation, object layout serves as a crucial intermediate representation that bridges high-level language instructions with detailed geometric output. It not only provides a structural blueprint for ensuring physical plausibility but also supports semantic controllability and interactive editing. However, the learning capabilities of current 3D indoor layout generation models are constrained by the limited scale, diversity, and annotation quality of existing datasets. To address this, we introduce M3DLayout, a large-scale, multi-source dataset for 3D indoor layout generation. M3DLayout comprises 21,367 layouts and over 433k object instances, integrating three distinct sources: real-world scans, professional CAD designs, and procedurally generated scenes. Each layout is paired with detailed structured text describing global scene summaries, relational placements of large furniture, and fine-grained arrangements of smaller items. This diverse and richly annotated resource enables models to learn complex spatial and semantic patterns across a wide variety of indoor environments. To assess the potential of M3DLayout, we establish a benchmark using both a text-conditioned diffusion model and a text-conditioned autoregressive model. Experimental results demonstrate that our dataset provides a solid foundation for training layout generation models. Its multi-source composition enhances diversity, notably through the Inf3DLayout subset which provides rich small-object information, enabling the generation of more complex and detailed scenes. We hope that M3DLayout can serve as a valuable resource for advancing research in text-driven 3D scene synthesis. All dataset and code will be made public upon acceptance.

In this work, we propose an evaluation protocol for examining the performance of robotic manipulation policies in cluttered scenes. Contrary to prior works, we approach evaluation from a psychophysical perspective, therefore we use a unified measure of clutter that accounts for environmental factors as well as the distractors quantity, characteristics, and arrangement. Using this measure, we systematically construct evaluation scenarios in both hyper-realistic simulation and real-world and conduct extensive experimentation on manipulation policies, in particular vision-language-action (VLA) models. Our experiments highlight the significant impact of scene clutter, lowering the performance of the policies, by as much as 34% and show that despite achieving similar average performance across the tasks, different VLA policies have unique vulnerabilities and a relatively low agreement on success scenarios. We further show that our clutter measure is an effective indicator of performance degradation and analyze the impact of distractors in terms of their quantity and occluding influence. At the end, we show that finetuning on enhanced data, although effective, does not equally remedy all negative impacts of clutter on performance.

There Is Only One AI Company. As Nvidia, OpenAI, Google, and Microsoft forge partnerships and deals, the AI industry is looking more like one interconnected machine. What does that mean for all of us? It all began, as many things do, with Elon Musk . In the early 2010s he realized that AI was on a track to become perhaps the most powerful technology of all time.

This paper presents Funabot-Upper, a wearable haptic suit that enables users to perceive 14 upper-body motions, including those of the trunk, shoulder, elbow, and wrist. Inducing kinesthetic perception through wearable haptic devices has attracted attention, and various devices have been developed in the past. However, these have been limited to verifications on single body parts, and few have applied the same method to multiple body parts as well. In our previous study, we developed a technology that uses the contraction of artificial muscles to deform clothing in three dimensions. Using this technology, we developed a haptic suit that induces kinesthetic perception of 7 motions in multiple upper body. However, perceptual mixing caused by stimulating multiple human muscles has occurred between the shoulder and the elbow. In this paper, we established a new, simplified design policy and developed a novel haptic suit that induces kinesthetic perceptions in the trunk, shoulder, elbow, and wrist by stimulating joints and muscles independently. We experimentally demonstrated the induced kinesthetic perception and examined the relationship between stimulation and perceived kinesthetic perception under the new design policy. Experiments confirmed that Funabot-Upper successfully induces kinesthetic perception across multiple joints while reducing perceptual mixing observed in previous designs. The new suit improved recognition accuracy from 68.8% to 94.6% compared to the previous Funabot-Suit, demonstrating its superiority and potential for future haptic applications.

In table 3, we demonstrate the prompt for textualized recaptioning.