Continual lifelong learning is essential to many applications.

Spiking neural networks (SNNs) represent a promising approach to developing artificial neural networks that are both energy-efficient and biologically plausible.However, applying SNNs to sequential tasks, such as text classification and time-series forecasting, has been hindered by the challenge of creating an effective and hardware-friendly spike-form positional encoding (PE) strategy.Drawing inspiration from the central pattern generators (CPGs) in the human brain, which produce rhythmic patterned outputs without requiring rhythmic inputs, we propose a novel PE technique for SNNs, termed CPG-PE.We demonstrate that the commonly used sinusoidal PE is mathematically a specific solution to the membrane potential dynamics of a particular CPG.Moreover, extensive experiments across various domains, including time-series forecasting, natural language processing, and image classification, show that SNNs with CPG-PE outperform their conventional counterparts.Additionally, we perform analysis experiments to elucidate the mechanism through which SNNs encode positional information and to explore the function of CPGs in the human brain.This investigation may offer valuable insights into the fundamental principles of neural computation.

The optimal design of robotic actuators is a critical area of research, yet limited attention has been given to optimizing gearbox parameters and automating actuator CAD. This paper introduces COMPAct: Computational Optimization and Automated Modular Design of Planetary Actuators, a framework that systematically identifies optimal gearbox parameters for a given motor across four gearbox types, single-stage planetary gearbox (SSPG), compound planetary gearbox (CPG), Wolfrom planetary gearbox (WPG), and double-stage planetary gearbox (DSPG). The framework minimizes mass and actuator width while maximizing efficiency, and further automates actuator CAD generation to enable direct 3D printing without manual redesign. Using this framework, optimal gearbox designs are explored over a wide range of gear ratios, providing insights into the suitability of different gearbox types across various gear ratio ranges. In addition, the framework is used to generate CAD models of all four gearbox types with varying gear ratios and motors. Two actuator types are fabricated and experimentally evaluated through power efficiency, no-load backlash, and transmission stiffness tests. Experimental results indicate that the SSPG actuator achieves a mechanical efficiency of 60-80 %, a no-load backlash of 0.59 deg, and a transmission stiffness of 242.7 Nm/rad, while the CPG actuator demonstrates 60 % efficiency, 2.6 deg backlash, and a stiffness of 201.6 Nm/rad. Code available at: https://anonymous.4open.science/r/COMPAct-SubNum-3408 Video: https://youtu.be/99zOKgxsDho

Continual lifelong learning is essential to many applications.

HealthBench, a benchmark designed to measure the capabilities of AI systems for health better (Arora et al., 2025), has advanced medical language model evaluation through physician-crafted dialogues and transparent rubrics. However, its reliance on expert opinion, rather than high-tier clinical evidence, risks codifying regional biases and individual clinician idiosyncrasies, further compounded by potential biases in automated grading systems. These limitations are particularly magnified in low- and middle-income settings, where issues like sparse neglected tropical disease coverage and region-specific guideline mismatches are prevalent. The unique challenges of the African context, including data scarcity, inadequate infrastructure, and nascent regulatory frameworks, underscore the urgent need for more globally relevant and equitable benchmarks. To address these shortcomings, we propose anchoring reward functions in version-controlled Clinical Practice Guidelines (CPGs) that incorporate systematic reviews and GRADE evidence ratings. Our roadmap outlines "evidence-robust" reinforcement learning via rubric-to-guideline linkage, evidence-weighted scoring, and contextual override logic, complemented by a focus on ethical considerations and the integration of delayed outcome feedback. By re-grounding rewards in rigorously vetted CPGs, while preserving HealthBench's transparency and physician engagement, we aim to foster medical language models that are not only linguistically polished but also clinically trustworthy, ethically sound, and globally relevant.

Spiking neural networks (SNNs) represent a promising approach to developing artificial neural networks that are both energy-efficient and biologically plausible.However, applying SNNs to sequential tasks, such as text classification and time-series forecasting, has been hindered by the challenge of creating an effective and hardware-friendly spike-form positional encoding (PE) strategy.Drawing inspiration from the central pattern generators (CPGs) in the human brain, which produce rhythmic patterned outputs without requiring rhythmic inputs, we propose a novel PE technique for SNNs, termed CPG-PE.We demonstrate that the commonly used sinusoidal PE is mathematically a specific solution to the membrane potential dynamics of a particular CPG.Moreover, extensive experiments across various domains, including time-series forecasting, natural language processing, and image classification, show that SNNs with CPG-PE outperform their conventional counterparts.Additionally, we perform analysis experiments to elucidate the mechanism through which SNNs encode positional information and to explore the function of CPGs in the human brain.This investigation may offer valuable insights into the fundamental principles of neural computation.

On-robot Reinforcement Learning is a promising approach to train embodiment-aware policies for legged robots. However, the computational constraints of real-time learning on robots pose a significant challenge. We present a framework for efficiently learning quadruped locomotion in just 8 minutes of raw real-time training utilizing the sample efficiency and minimal computational overhead of the new off-policy algorithm CrossQ. We investigate two control architectures: Predicting joint target positions for agile, high-speed locomotion and Central Pattern Generators for stable, natural gaits. While prior work focused on learning simple forward gaits, our framework extends on-robot learning to omnidirectional locomotion. We demonstrate the robustness of our approach in different indoor and outdoor environments.

The updated recommendations on diagnostic procedures and treatment pathways for a medical condition are documented as graphical flows in Clinical Practice Guidelines (CPGs). For effective use of the CPGs in helping medical professionals in the treatment decision process, it is necessary to fully capture the guideline knowledge, particularly the contexts and their relationships in the graph. While several existing works have utilized these guidelines to create rule bases for Clinical Decision Support Systems, limited work has been done toward directly capturing the full medical knowledge contained in CPGs. This work proposes an approach to create a contextually enriched, faithful digital representation of National Comprehensive Cancer Network (NCCN) Cancer CPGs in the form of graphs using automated extraction and node & relationship classification. We also implement semantic enrichment of the model by using Large Language Models (LLMs) for node classification, achieving an accuracy of 80.86% and 88.47% with zero-shot learning and few-shot learning, respectively. Additionally, we introduce a methodology for answering natural language questions with constraints to guideline text by leveraging LLMs to extract the relevant subgraph from the guideline knowledge base. By generating natural language answers based on subgraph paths and semantic information, we mitigate the risk of incorrect answers and hallucination associated with LLMs, ensuring factual accuracy in medical domain Question Answering.

Typical legged locomotion controllers are designed or trained offline. This is in contrast to many animals, which are able to locomote at birth, and rapidly improve their locomotion skills with few real-world interactions. Such motor control is possible through oscillatory neural networks located in the spinal cord of vertebrates, known as Central Pattern Generators (CPGs). Models of the CPG have been widely used to generate locomotion skills in robotics, but can require extensive hand-tuning or offline optimization of inter-connected parameters with genetic algorithms. In this paper, we present a framework for the \textit{online} optimization of the CPG parameters through Bayesian Optimization. We show that our framework can rapidly optimize and adapt to varying velocity commands and changes in the terrain, for example to varying coefficients of friction, terrain slope angles, and added mass payloads placed on the robot. We study the effects of sensory feedback on the CPG, and find that both force feedback in the phase equations, as well as posture control (Virtual Model Control) are both beneficial for robot stability and energy efficiency. In hardware experiments on the Unitree Go1, we show rapid optimization (in under 3 minutes) and adaptation of energy-efficient gaits to varying target velocities in a variety of scenarios: varying coefficients of friction, added payloads up to 15 kg, and variable slopes up to 10 degrees. See demo at: https://youtu.be/4qq5leCI2AI

This paper introduces a new wheel-legged robot and develops motion controllers based on central pattern generators (CPGs) for the robot to navigate over a range of terrains. A transformable leg-wheel design is considered and characterized in terms of key locomotion characteristics as a function of the design. Kinematic analysis is conducted based on a generalized four-bar mechanism driven by a coaxial hub arrangement. The analysis is used to inform the design of a central pattern generator to control the robot by mapping oscillator states to wheel-leg trajectories and implementing differential steering within the oscillator network. Three oscillator models are used as the basis of the CPGs, and their performance is compared over a range of inputs. The CPG-based controller is used to drive the developed robot prototype on level ground and over obstacles. Additional simulated tests are performed for uneven terrain negotiation and obstacle climbing. Results demonstrate the effectiveness of CPG control in transformable wheel-legged robots.