Graph Neural Networks (GNNs) excel in graph mining tasks thanks to their message-passing mechanism, which aligns with the homophily assumption. However, connected nodes can also exhibit inconsistent behaviors, termed heterophilic patterns, sparking interest in heterophilic GNNs (HTGNNs). Although the messagepassing mechanism seems unsuitable for heterophilic graphs owing to the propagation of dissimilar messages, it is still popular in HTGNNs and consistently achieves notable success. Some efforts have investigated such an interesting phenomenon, but are limited in the data perspective. The model-perspective understanding remains largely unexplored, which is conducive to guiding the designs of HTGNNs.

Tendon-driven continuum robots offer intrinsically safe and contact-rich interactions owing to their kinematic redundancy and structural compliance. However, their perception often depends on external sensors, which increase hardware complexity and limit scalability. This work introduces a unified multi-dynamics modeling framework for tendon-driven continuum robotic systems, exemplified by a spiral-inspired robot named Spirob. The framework integrates motor electrical dynamics, motor-winch dynamics, and continuum robot dynamics into a coherent system model. Within this framework, motor signals such as current and angular displacement are modeled to expose the electromechanical signatures of external interactions, enabling perception grounded in intrinsic dynamics. The model captures and validates key physical behaviors of the real system, including actuation hysteresis and self-contact at motion limits. Building on this foundation, the framework is applied to environmental interaction: first for passive contact detection, verified experimentally against simulation data; then for active contact sensing, where control and perception strategies from simulation are successfully applied to the real robot; and finally for object size estimation, where a policy learned in simulation is directly deployed on hardware. The results demonstrate that the proposed framework provides a physically grounded way to interpret interaction signatures from intrinsic motor signals in tendon-driven continuum robots.

We got a clear sense of where more clarification would be helpful. To what solution do neural nets (trained w. GD on this network simulates the unnormalized exponentiated gradient algorithm (EGU). Previously it was thought that GD cannot take advantage of the sparsity of the solution. What is the surprising insight?

The classical multidimensional scaling (cMDS) algorithm is a widespread method to do this.

Large Language Models (LLMs) have achieved remarkable success in code generation tasks, powering various applications like code completion, debugging, and programming assistance. However, existing benchmarks such as HumanEval, MBPP, and BigCodeBench primarily evaluate LLMs on English-only prompts, overlooking the real-world scenario where multilingual developers often use code-mixed language while interacting with LLMs. To address this gap, we introduce CodeMixBench, a novel benchmark designed to evaluate the robustness of LLMs on code generation from code-mixed prompts. Built upon BigCodeBench, CodeMixBench introduces controlled code-mixing (CMD) into the natural language parts of prompts across three language pairs: Hinglish (Hindi-English), Spanish-English, and Chinese Pinyin-English. We comprehensively evaluate a diverse set of open-source code generation models ranging from 1.5B to 15B parameters. Our results show that code-mixed prompts consistently degrade Pass@1 performance compared to their English-only counterparts, with performance drops increasing under higher CMD levels for smaller models. CodeMixBench provides a realistic evaluation framework for studying multilingual code generation and highlights new challenges and directions for building robust code generation models that generalize well across diverse linguistic settings.

Learning Bipedal Locomotion on Gear-Driven Humanoid Robot Using Foot-Mounted IMUs Sotaro Katayama 1, Y uta Koda 2, Norio Nagatsuka 2, and Masaya Kinoshita 1 Abstract -- Sim-to-real reinforcement learning (RL) for humanoid robots with high-gear ratio actuators remains challenging due to complex actuator dynamics and the absence of torque sensors. T o address this, we propose a novel RL framework leveraging foot-mounted inertial measurement units (IMUs). Instead of pursuing detailed actuator modeling and system identification, we utilize foot-mounted IMU measurements to enhance rapid stabilization capabilities over challenging terrains. Additionally, we propose symmetric data augmentation dedicated to the proposed observation space and random network distillation to enhance bipedal locomotion learning over rough terrain. The experimental results demonstrate that our method improves rapid stabilization capabilities over non-rigid surfaces and sudden environmental transitions. I. INTRODUCTION Bipedal and humanoid robots have fascinated people for decades. One of their anticipated roles is to replace human workers. Humanoid robots, which have morphologies similar to humans, are expected to navigate environments accessible to humans and perform tasks that humans can accomplish.

Achieving athletic loco-manipulation on robots requires moving beyond traditional tracking rewards - which simply guide the robot along a reference trajectory - to task rewards that drive truly dynamic, goal-oriented behaviors. Commands such as "throw the ball as far as you can" or "lift the weight as quickly as possible" compel the robot to exhibit the agility and power inherent in athletic performance. However, training solely with task rewards introduces two major challenges: these rewards are prone to exploitation (reward hacking), and the exploration process can lack sufficient direction. To address these issues, we propose a two-stage training pipeline. First, we introduce the Unsupervised Actuator Net (UAN), which leverages real-world data to bridge the sim-to-real gap for complex actuation mechanisms without requiring access to torque sensing. UAN mitigates reward hacking by ensuring that the learned behaviors remain robust and transferable. Second, we use a pre-training and fine-tuning strategy that leverages reference trajectories as initial hints to guide exploration. With these innovations, our robot athlete learns to lift, throw, and drag with remarkable fidelity from simulation to reality.

Deep reinforcement learning (DRL) has revolutionised quadruped robot locomotion, but existing control frameworks struggle to generalise beyond their training-induced observational scope, resulting in limited adaptability. In contrast, animals achieve exceptional adaptability through gait transition strategies, diverse gait utilisation, and seamless adjustment to immediate environmental demands. Inspired by these capabilities, we present a novel DRL framework that incorporates key attributes of animal locomotion: gait transition strategies, pseudo gait procedural memory, and adaptive motion adjustments. This approach enables our framework to achieve unparalleled adaptability, demonstrated through blind zero-shot deployment on complex terrains and recovery from critically unstable states. Our findings offer valuable insights into the biomechanics of animal locomotion, paving the way for robust, adaptable robotic systems.

Time-Lock Puzzles (TLPs) have been developed to securely transmit sensitive information into the future without relying on a trusted third party. Multi-instance TLP is a scalable variant of TLP that enables a server to efficiently find solutions to different puzzles provided by a client at once. Nevertheless, existing multi-instance TLPs lack support for (verifiable) homomorphic computation. To address this limitation, we introduce the "Multi-Instance partially Homomorphic TLP" (MH-TLP), a multi-instance TLP supporting efficient verifiable homomorphic linear combinations of puzzles belonging to a client. It ensures anyone can verify the correctness of computations and solutions. Building on MH-TLP, we further propose the "Multi-instance Multi-client verifiable partially Homomorphic TLP" (MMH-TLP). It not only supports all the features of MH-TLP but also allows for verifiable homomorphic linear combinations of puzzles from different clients. Our schemes refrain from using asymmetric-key cryptography for verification and, unlike most homomorphic TLPs, do not require a trusted third party. A comprehensive cost analysis demonstrates that our schemes scale linearly with the number of clients and puzzles.