Our contributions are: (1) We develop a generalized framework to optimize non-differentiable ranking-based functions byextending theerror-drivenoptimization ofAPLoss.(2)Weprovethat

Performance is evaluated by measuring top-1 accuracy.

This article presents HOTFLoc++, an end-to-end framework for LiDAR place recognition, re-ranking, and 6-DoF metric localisation in forests. Leveraging an octree-based transformer, our approach extracts hierarchical local descriptors at multiple granularities to increase robustness to clutter, self-similarity, and viewpoint changes in challenging scenarios, including ground-to-ground and ground-to-aerial in forest and urban environments. We propose a learnable multi-scale geometric verification module to reduce re-ranking failures in the presence of degraded single-scale correspondences. Our coarse-to-fine registration approach achieves comparable or lower localisation errors to baselines, with runtime improvements of two orders of magnitude over RANSAC for dense point clouds. Experimental results on public datasets show the superiority of our approach compared to state-of-the-art methods, achieving an average Recall@1 of 90.7% on CS-Wild-Places: an improvement of 29.6 percentage points over baselines, while maintaining high performance on single-source benchmarks with an average Recall@1 of 91.7% and 96.0% on Wild-Places and MulRan, respectively. Our method achieves under 2 m and 5 degrees error for 97.2% of 6-DoF registration attempts, with our multi-scale re-ranking module reducing localisation errors by ~2$\times$ on average. The code will be available upon acceptance.

The increasing deployment of Large Language Model (LLM) agents for complex software engineering tasks has created a need to understand their problem-solving behaviours beyond simple success metrics. While these agents demonstrate impressive capabilities in automated issue resolution, their decision-making processes remain largely opaque. This paper presents an empirical study of agent trajectories, namely the execution traces capturing the steps agents take when attempting to resolve software issues. We analyse trajectories from three state-of-the-art code agents (OpenHands, SWE-agent, and Prometheus) on the SWE-Bench benchmark, examining both successful and failed attempts. Our investigation reveals several key insights into agent behaviour. First, we identify how distinct problem-solving strategies, such as defensive programming and context gathering, enable success in different scenarios. Second, we find that failed trajectories are consistently longer and exhibit higher variance than successful ones, with failure patterns differing significantly between agents. Third, our fault localisation analysis shows that while most trajectories correctly identify problematic files (72-81\% even in failures), success depends more on achieving approximate rather than exact code modifications. These and other findings unveiled by our study, provide a foundation for understanding agent behaviour through trajectory analysis, contributing to the development of more robust and interpretable autonomous software engineering systems.

Despite their mechanical sophistication, surgical robots remain blind to their surroundings. This lack of spatial awareness causes collisions, system recoveries, and workflow disruptions, issues that will intensify with the introduction of distributed robots with independent interacting arms. Existing tracking systems rely on bulky infrared cameras and reflective markers, providing only limited views of the surgical scene and adding hardware burden in crowded operating rooms. We present a marker-free proprioception method that enables precise localisation of surgical robots under their sterile draping despite associated obstruction of visual cues. Our method solely relies on lightweight stereo-RGB cameras and novel transformer-based deep learning models. It builds on the largest multi-centre spatial robotic surgery dataset to date (1.4M self-annotated images from human cadaveric and preclinical in vivo studies). By tracking the entire robot and surgical scene, rather than individual markers, our approach provides a holistic view robust to occlusions, supporting surgical scene understanding and context-aware control. We demonstrate an example of potential clinical benefits during in vivo breathing compensation with access to tissue dynamics, unobservable under state of the art tracking, and accurately locate in multi-robot systems for future intelligent interaction. In addition, and compared with existing systems, our method eliminates markers and improves tracking visibility by 25%. To our knowledge, this is the first demonstration of marker-free proprioception for fully draped surgical robots, reducing setup complexity, enhancing safety, and paving the way toward modular and autonomous robotic surgery.

As Large Language Models (LLMs) continue to evolve, practitioners face increasing options for enhancing inference-time performance without model retraining, including budget tuning and multi-step techniques like self-reflection. While these methods improve output quality, they create complex trade-offs among accuracy, cost, and latency that remain poorly understood across different domains. This paper systematically compares self-reflection and budget tuning across mathematical reasoning and translation tasks. We evaluate prominent LLMs, including Anthropic Claude, Amazon Nova, and Mistral families, along with other models under varying reflection depths and compute budgets to derive Pareto optimal performance frontiers. Our analysis reveals substantial domain dependent variation in self-reflection effectiveness, with performance gains up to 220\% in mathematical reasoning. We further investigate how reflection round depth and feedback mechanism quality influence performance across model families. To validate our findings in a real-world setting, we deploy a self-reflection enhanced marketing content localisation system at Lounge by Zalando, where it shows market-dependent effectiveness, reinforcing the importance of domain specific evaluation when deploying these techniques. Our results provide actionable guidance for selecting optimal inference strategies given specific domains and resource constraints. We open source our self-reflection implementation for reproducibility at https://github.com/aws-samples/sample-genai-reflection-for-bedrock.

Data restoration from degraded observations, of sparsity hypotheses, is an active field of study. Traditional iterative optimization methods are now complemented by deep learning techniques. The development of unfolded methods benefits from both families. We carry out a comparative study of three architectures on parameterized chromatographic signal databases, highlighting the performance of these approaches, especially when employing metrics adapted to physico-chemical peak signal characterization.

Autonomous navigation in unfamiliar environments requires robots to simultaneously explore, localise, and plan under uncertainty, without relying on predefined maps or extensive training. We present a biologically inspired, Active Inference-based framework, Active Inference MAPping and Planning (AIMAPP). This model unifies mapping, localisation, and decision-making within a single generative model. Inspired by hippocampal navigation, it uses topological reasoning, place-cell encoding, and episodic memory to guide behaviour. The agent builds and updates a sparse topological map online, learns state transitions dynamically, and plans actions by minimising Expected Free Energy. This allows it to balance goal-directed and exploratory behaviours. We implemented a ROS-compatible navigation system that is sensor and robot-agnostic, capable of integrating with diverse hardware configurations. It operates in a fully self-supervised manner, is resilient to drift, and supports both exploration and goal-directed navigation without any pre-training. We demonstrate robust performance in large-scale real and simulated environments against state-of-the-art planning models, highlighting the system's adaptability to ambiguous observations, environmental changes, and sensor noise. The model offers a biologically inspired, modular solution to scalable, self-supervised navigation in unstructured settings. AIMAPP is available at https://github.com/decide-ugent/AIMAPP.

By building and updating internal cognitive maps, animals exhibit extraordinary navigation abilities in complex, dynamic environments. Inspired by these biological mechanisms, we present a real time robotic navigation system grounded in the Active Inference Framework (AIF). Our model incrementally constructs a topological map, infers the agent's location, and plans actions by minimising expected uncertainty and fulfilling perceptual goals without any prior training. Integrated into the ROS2 ecosystem, we validate its adaptability and efficiency across both 2D and 3D environments (simulated and real world), demonstrating competitive performance with traditional and state of the art exploration approaches while offering a biologically inspired navigation approach.

Bone health studies are crucial in medical practice for the early detection and treatment of Osteopenia and Osteoporosis. Clinicians usually make a diagnosis based on densitometry (DEXA scans) and other patient history. The applications of AI in this field are an ongoing research. Most of the successful methods for this task include Deep Learning models that rely on vision alone (DEXA / X-ray imagery) geared towards high prediction accuracy, where ex-plainability is disregarded and largely based on the post hoc assessment of input contributions. W e propose ProtoMedX, a multi-modal model that uses both DEXA scans of the lumbar spine and patient records. ProtoMedX's prototype-based architecture is explainable by design, crucial for medical applications, especially in the context of the upcoming EU AI Act, as it allows explicit analysis of the model's decisions, especially the ones that are incorrect. ProtoMedX demonstrates state-of-the-art performance in bone health classification while also providing explanations that can be visually understood by clinicians. Using our dataset of 4,160 real NHS patients, the proposed ProtoMedX achieves 87.58% accuracy in vision-only tasks and 89.8% in its multi-modal variant, both approaches surpassing existing published methods.