High-definition 3D city maps underpin smart transportation, digital twins, and autonomous driving, where object level change detection across bi temporal LiDAR enables HD map maintenance, construction monitoring, and reliable localization. Classical DSM differencing and image based methods are sensitive to small vertical bias, ground slope, and viewpoint mismatch and yield cellwise outputs without object identity. Point based neural models and voxel encodings demand large memory, assume near perfect pre alignment, degrade thin structures, and seldom enforce class consistent association, which leaves split or merge cases unresolved and ignores uncertainty. We propose an object centric, uncertainty aware pipeline for city scale LiDAR that aligns epochs with multi resolution NDT followed by point to plane ICP, normalizes height, and derives a per location level of detection from registration covariance and surface roughness to calibrate decisions and suppress spurious changes. Geometry only proxies seed cross epoch associations that are refined by semantic and instance segmentation and a class constrained bipartite assignment with augmented dummies to handle splits and merges while preserving per class counts. Tiled processing bounds memory without eroding narrow ground changes, and instance level decisions combine 3D overlap, normal direction displacement, and height and volume differences with a histogram distance, all gated by the local level of detection to remain stable under partial overlap and sampling variation. On 15 representative Subiaco blocks the method attains 95.2% accuracy, 90.4% mF1, and 82.6% mIoU, exceeding Triplet KPConv by 0.2 percentage points in accuracy, 0.2 in mF1, and 0.8 in mIoU, with the largest gain on Decreased where IoU reaches 74.8% and improves by 7.6 points.

Abstract--The complexity of large-scale 6G-and-beyond networks demands innovative approaches for multi-objective optimization over vast search spaces, a task often intractable. Quantum computing (QC) emerges as a promising technology for efficient large-scale optimization. We present our vision of leveraging QC to tackle key classes of problems in future mobile networks. By analyzing and identifying common features, particularly their graph-centric representation, we propose a unified strategy involving QC algorithms. Specifically, we outline a methodology for optimization using quantum annealing as well as quantum reinforcement learning. Additionally, we discuss the main challenges that QC algorithms and hardware must overcome to effectively optimize future networks. Quantum computing (QC) has rapidly emerged as a promising field, with its unparalleled potential to tackle problems typically intractable for classical computers. Quantum bits (qubits) leverage the principles of superposition, interference and entanglement to accelerate computations and open the door to previously unimaginable algorithms. This fundamental characteristic allows quantum computers to perform complex calculations at speeds exponentially faster than their classical counterparts in certain domains, enabling breakthroughs in fields such as cryptography, materials science, and artificial intelligence (AI). Developments in QC pave the way for novel solutions to intractable optimization problems and are expected to play a disruptive role in multiple industries.

While deploying large language models on edge devices promises low-latency and privacy-preserving AI services, it is hindered by limited device resources. Although pipeline parallelism facilitates distributed inference, existing approaches often ignore the cold-start latency caused by on-demand model loading. In this paper, we propose a latency-aware scheduling framework that overlaps model loading with computation and communication to minimize total inference latency. Based on device and model parameters, the framework dynamically adjusts layer partitioning and allocation to effectively hide loading time, thereby eliminating as many idle periods as possible. We formulate the problem as a Mixed-Integer Non-Linear Program and design an efficient dynamic programming algorithm to optimize model partitioning and device assignment. Experimental results show that the proposed method significantly reduces cold-start latency compared to baseline strategies.

Lately, Personalized Federated Learning (PFL) has emerged as a prevalent paradigm to deliver personalized models by collaboratively training while simultaneously adapting to each client's local applications. Existing PFL methods typically face a significant challenge due to the ubiquitous data heterogeneity (i.e., non-IID data) across clients, which severely hinders convergence and degrades performance. We identify that the root issue lies in the long-standing reliance on gradient-based updates, which are inherently sensitive to non-IID data. To fundamentally address this issue and bridge the research gap, in this paper, we propose a Heterogeneity-invariant Personalized Federated learning scheme, named FedHiP, through analytical (i.e., closed-form) solutions to avoid gradient-based updates. Specifically, we exploit the trend of self-supervised pre-training, leveraging a foundation model as a frozen backbone for gradient-free feature extraction. Following the feature extractor, we further develop an analytic classifier for gradient-free training. To support both collective generalization and individual personalization, our FedHiP scheme incorporates three phases: analytic local training, analytic global aggregation, and analytic local personalization. The closed-form solutions of our FedHiP scheme enable its ideal property of heterogeneity invariance, meaning that each personalized model remains identical regardless of how non-IID the data are distributed across all other clients. Extensive experiments on benchmark datasets validate the superiority of our FedHiP scheme, outperforming the state-of-the-art baselines by at least 5.79%-20.97% in accuracy.

--Edge Digital Twins (EDTs) are crucial for monitoring and control of Power Electronics Systems (PES). However, existing modeling approaches struggle to consistently capture continuously evolving hybrid dynamics that are inherent in PES, degrading Sim-to-Real generalization on resource-constrained edge devices. To address these challenges, this paper proposes a Physics-Embedded Neural ODEs (PENODE) that (i) embeds the hybrid operating mechanism as an event automaton to explicitly govern discrete switching and (ii) injects known governing ODE components directly into the neural parameterization of unmodeled dynamics. This unified design yields a differentiable end-to-end trainable architecture that preserves physical interpretability while reducing redundancy, and it supports a cloud-to-edge toolchain for efficient FPGA deployment. Experimental results demonstrate that PENODE achieves significantly higher accuracy in benchmarks in white-box, gray-box, and black-box scenarios, with a 75% reduction in neuron count, validating that the proposed PENODE maintains physical interpretability, efficient edge deployment, and real-time control enhancement. OWER electronics systems (PES) are the fundamental to drive efficient energy conversion [1] but require precise and real-time monitoring and predictive analysis due to the ultra-high standards for reliability and performance [2]. Digital Twin (DT), a high-fidelity virtual counterpart of a physical asset, presents a promising solution [3]. However, it is difficult to implement cloud-or-server-based DTs with high communication latency and limited bandwidth in PES because the PES dynamics differ significantly from power grids [4].

Abstract--In the field of multi-sensor fusion for simultaneous localization and mapping (SLAM), monocular cameras and IMU s are widely used to build simple and effective visual-inerti al systems. However, limited research has explored the integr ation of motor-encoder devices to enhance SLAM performance. By incorporating such devices, it is possible to significantly improve active capability and field of view (FOV) with minimal additi onal cost and structural complexity. This paper proposes a novel visual-inertial-encoder tightly coupled odometry (VIEO) based on a ViDAR (Video Detection and Ranging) device. A ViDAR calibration method is introduced to ensure accurate initia lization for VIEO. In addition, a platform motion decoupled active SLAM method based on deep reinforcement learning (DRL) is proposed. Experimental data demonstrate that the proposed Vi-DAR and the VIEO algorithm significantly increase cross-fra me co-visibility relationships compared to its correspondin g visual-inertial odometry (VIO) algorithm, improving state estima tion accuracy. The proposed methodolog y sheds fresh insights into both the updated platform design and decoupled approach of active SLAM systems in complex environments. N recent years, visual odometry (VO) and visual-inertial odometry (VIO) have made significant advancements. This work was supported in part by the Beijing Natural Scienc e Foundation under Grant 2022MQ05, in part by the CIE-Tencent Robotics X R hino-Bird Focused Research Program under Grant 2022-07, and in part by the National Natural Science Foundation of China under Grant 62203015, G rant 62303020, Grant 62303021, and Grant 62273351. Zhanhua Xin, Zhihao Wang, Shihan Kong, Y an Xiong, and Junzhi Y u are with the State Key Laboratory for Turbulence and Complex Systems, Department of Advanced Manufacturing and Robotics, C ollege of Engineering, Peking University, Beijing 100871, China (email: xinzhan-hua@stu.pku.edu.cn;

--Clustering ensemble has emerged as an important research topic in the field of machine learning. Although numerous methods have been proposed to improve clustering quality, most existing approaches overlook the need for interpretability in high-stakes applications. In domains such as medical diagnosis and financial risk assessment, algorithms must not only be accurate but also interpretable to ensure transparent and trustworthy decision-making. Therefore, to fill the gap of lack of interpretable algorithms in the field of clustering ensemble, we propose the first interpretable clustering ensemble algorithm in the literature. By treating base partitions as categorical variables, our method constructs a decision tree in the original feature space and use the statistical association test to guide the tree building process. Experimental results demonstrate that our algorithm achieves comparable performance to state-of-the-art (SOT A) clustering ensemble methods while maintaining an additional feature of interpretability. T o the best of our knowledge, this is the first interpretable algorithm specifically designed for clustering ensemble, offering a new perspective for future research in interpretable clustering. LUSTERING analysis [1] is an unsupervised learning issue in the field of data mining, which aims to partition data into different clusters by exploring its intrinsic structure.

FULL PAPER Motion Generation for Food Topping Challenge 2024: Serving Salmon Roe Bowl and Picking Fried Chicken Koki Inami a, Masashi Konosu a, Koki Yamane a, Nozomu Masuya a, Yunhan Li a, Yu-Han Shu a, Hiroshi Sato a, Shinnosuke Homma a, and Sho Sakaino b a Intelligent and Mechanical Interaction Systems, Degree Programs in Systems and Information and Engineering, Graduate School of Science and Technology, University of Tsukuba, Japan; b Department of Intelligent Interaction Technologies, Institute of Systems and Information Engineering, University of Tsukuba, Japan; ARTICLE HISTORY Compiled May 1, 2025 ABSTRACT Although robots have been introduced in many industries, food production robots are yet to be widely employed because the food industry requires not only delicate movements to handle food but also complex movements that adapt to the environment. Force control is important for handling delicate objects such as food. In addition, achieving complex movements is possible by making robot motions based on human teachings. Four-channel bilateral control is proposed, which enables the simultaneous teaching of position and force information. Moreover, methods have been developed to reproduce motions obtained through human teachings and generate adaptive motions using learning. We demonstrated the effectiveness of these methods for food handling tasks in the Food Topping Challenge at the 2024 IEEE International Conference on Robotics and Automation (ICRA 2024). For the task of serving salmon roe on rice, we achieved the best performance because of the high reproducibility and quick motion of the proposed method. Further, for the task of picking fried chicken, we successfully picked the most pieces of fried chicken among all participating teams. This paper describes the implementation and performance of these methods. KEYWORDS Bilateral control; motion-copying system; imitation learning; 1. Introduction Robot automation has progressed in recent years, especially in the manufacturing industry because robots excel at precise repetitive movements in a well-equipped environment. However, their use in the food industry has been limited because of the complexity of the work and the need to generate movements that adapt to the work environment.

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS Flying through cluttered and dynamic environments with LiDAR Huajie Wu, Wenyi Liu, Y unfan Ren, Zheng Liu, Hairuo Wei, Fangcheng Zhu, Haotian Li, and Fu Zhang Abstract --Navigating unmanned aerial vehicles (UAVs) through cluttered and dynamic environments remains a significant challenge, particularly when dealing with fast-moving or sudden-appearing obstacles. This paper introduces a complete LiDAR-based system designed to enable UAVs to avoid various moving obstacles in complex environments. Benefiting the high computational efficiency of perception and planning, the system can operate in real time using onboard computing resources with low latency. For dynamic environment perception, we have integrated our previous work, M-detector, into the system. M-detector ensures that moving objects of different sizes, colors, and types are reliably detected. For dynamic environment planning, we incorporate dynamic object predictions into the integrated planning and control (IPC) framework, namely DynIPC. This integration allows the UAV to utilize predictions about dynamic obstacles to effectively evade them. We validate our proposed system through both simulations and real-world experiments. In simulation tests, our system outperforms state-of-the-art baselines across several metrics, including success rate, time consumption, average flight time, and maximum velocity. Index Terms --LiDAR-based UAV, dynamic obstacle avoidance, cluttered and dynamic environment I. I NTRODUCTION I N recent years, the development of lightweight and high-precision sensors, such as Light Detection and Ranging sensors (LiDAR), event cameras, and depth cameras, has significantly advanced the autonomous flight capabilities of unmanned aerial vehicles (UA Vs) or drones. This technological progress has facilitated the widespread application of drones across various industries, including agricultural spraying [1], product delivery [2], inspection [3], and search and rescue [4]. These applications have notably enhanced production efficiency, reduced costs, and driven economic growth within these sectors.

With the rapid development of artificial intelligence technologies and wearable devices, egocentric vision understanding has emerged as a new and challenging research direction, gradually attracting widespread attention from both academia and industry. Egocentric vision captures visual and multimodal data through cameras or sensors worn on the human body, offering a unique perspective that simulates human visual experiences. This paper provides a comprehensive survey of the research on egocentric vision understanding, systematically analyzing the components of egocentric scenes and categorizing the tasks into four main areas: subject understanding, object understanding, environment understanding, and hybrid understanding. We explore in detail the sub-tasks within each category. We also summarize the main challenges and trends currently existing in the field. Furthermore, this paper presents an overview of high-quality egocentric vision datasets, offering valuable resources for future research. By summarizing the latest advancements, we anticipate the broad applications of egocentric vision technologies in fields such as augmented reality, virtual reality, and embodied intelligence, and propose future research directions based on the latest developments in the field.