Machine learning has matured to the point where we often take key design decisions for granted.

The inconsistency issue in the Visual-Inertial Navigation System (VINS) is a long-standing and fundamental challenge. While existing studies primarily attribute the inconsistency to observability mismatch, these analyses are often based on simplified theoretical formulations that consider only prediction and SLAM correction. Such formulations fail to cover the non-standard estimation steps, such as MSCKF correction and delayed initialization, which are critical for practical VINS estimators. Furthermore, the lack of a comprehensive understanding of how inconsistency dynamically emerges across estimation steps has hindered the development of precise and efficient solutions. As a result, current approaches often face a trade-off between estimator accuracy, consistency, and implementation complexity. To address these limitations, this paper proposes a novel analysis framework termed Unobservable Subspace Evolution (USE), which systematically characterizes how the unobservable subspace evolves throughout the entire estimation pipeline by explicitly tracking changes in its evaluation points. This perspective sheds new light on how individual estimation steps contribute to inconsistency. Our analysis reveals that observability misalignment induced by certain steps is the antecedent of observability mismatch. Guided by this insight, we propose a simple yet effective solution paradigm, Unobservable Subspace Alignment (USA), which eliminates inconsistency by selectively intervening only in those estimation steps that induce misalignment. We design two USA methods: transformation-based and re-evaluation-based, both offering accurate and computationally lightweight solutions. Extensive simulations and real-world experiments validate the effectiveness of the proposed methods.

Survivors of childhood cancer need lifelong monitoring for side effects from radiotherapy. However, longitudinal data from routine monitoring is often infrequently and irregularly sampled, and subject to inaccuracies. Due to this, measurements are often studied in isolation, or simple relationships (e.g., linear) are used to impute missing timepoints. In this study, we investigated the potential role of Gaussian Processes (GP) modelling to make population-based and individual predictions, using insulin-like growth factor 1 (IGF-1) measurements as a test case. With training data of 23 patients with a median (range) of 4 (1-16) timepoints we identified a trend within the range of literature reported values. In addition, with 8 test cases, individual predictions were made with an average root mean squared error of 31.9 (10.1 - 62.3) ng/ml and 27.4 (0.02 - 66.1) ng/ml for two approaches. GP modelling may overcome limitations of routine longitudinal data and facilitate analysis of late effects of radiotherapy.

A popular approach for estimating the predictive uncertainty of neural networks is to define a prior distribution over the network parameters, infer an approximate posterior distribution, and use it to make stochastic predictions.

We present an automated evaluation system for assessing COBOL-to-Java code translation within IBM's watsonx Code Assistant for Z (WCA4Z). The system addresses key challenges in evaluating LLM-based translators, including model opacity and the complexity of translation quality assessment. Our approach combines analytic checkers with LLM-as-a-judge (LaaJ) techniques to deliver scalable, multi-faceted evaluations. The system supports continuous integration workflows, enables large-scale benchmarking, and reduces reliance on manual review. We describe the system architecture, evaluation strategies, and reporting mechanisms that provide actionable insights for developers and project managers, facilitating the evolution of high-quality, modernized codebases.

Accurate positioning is crucial in the construction industry, where labor shortages highlight the need for automation. Robotic systems with long kinematic chains are required to reach complex workspaces, including floors, walls, and ceilings. These requirements significantly impact positioning accuracy due to effects such as deflection and backlash in various parts along the kinematic chain. In this work, we introduce a novel approach that integrates deflection and backlash compensation models with high-accuracy accelerometers, significantly enhancing position accuracy. Our method employs a modular framework based on a factor graph formulation to estimate the state of the kinematic chain, leveraging acceleration measurements to inform the model. Extensive testing on publicly released datasets, reflecting real-world construction disturbances, demonstrates the advantages of our approach. The proposed method reduces the $95\%$ error threshold in the xy-plane by $50\%$ compared to the state-of-the-art Virtual Joint Method, and by $31\%$ when incorporating base tilt compensation.

Neural operators (NOs) employ deep neural networks to learn mappings between infinite-dimensional function spaces. Deep operator network (DeepONet), a popular NO architecture, has demonstrated success in the real-time prediction of complex dynamics across various scientific and engineering applications. In this work, we introduce a random sampling technique to be adopted during the training of DeepONet, aimed at improving the generalization ability of the model, while significantly reducing the computational time. The proposed approach targets the trunk network of the DeepONet model that outputs the basis functions corresponding to the spatiotemporal locations of the bounded domain on which the physical system is defined. Traditionally, while constructing the loss function, DeepONet training considers a uniform grid of spatiotemporal points at which all the output functions are evaluated for each iteration. This approach leads to a larger batch size, resulting in poor generalization and increased memory demands, due to the limitations of the stochastic gradient descent (SGD) optimizer. The proposed random sampling over the inputs of the trunk net mitigates these challenges, improving generalization and reducing memory requirements during training, resulting in significant computational gains. We validate our hypothesis through three benchmark examples, demonstrating substantial reductions in training time while achieving comparable or lower overall test errors relative to the traditional training approach. Our results indicate that incorporating randomization in the trunk network inputs during training enhances the efficiency and robustness of DeepONet, offering a promising avenue for improving the framework's performance in modeling complex physical systems.