Abstract--Anthropomorphic underactuated hands are valued for their structural simplicity and inherent adaptability. However, the uncertainty arising from interdependent joint motions makes it challenging to capture various grasp states during hand-object interaction without increasing structural complexity through multiple embedded sensors. This motivates the need for an approach that can extract rich grasp-state information from a single sensing source while preserving the simplicity of underactuation. This study proposes an anthropomorphic underactuated hand that achieves comprehensive grasp state estimation, using only tendon-based proprioception provided by series elastic actuators (SEAs). Our approach is enabled by the design of a compact SEA with high accuracy and reliability that can be seamlessly integrated into sensorless fingers. By coupling accurate proprioceptive measurements with potential energy-based modeling, the system estimates multiple key grasp state variables, including contact timing, joint angles, relative object stiffness, and external disturbances. Finger-level experimental validations and extensive hand-level grasp functionality demonstrations confirmed the effectiveness of the proposed approach. NTHROPOMORPHIC robotic hands have been widely adopted to replicate the functionality of the human hand. Among various actuation strategies, underactuated hands are extensively employed due to their structural simplicity and adaptability to diverse object geometries [1], [2].

Arbitrary-scale image super-resolution aims to upsample images to any desired resolution, offering greater flexibility than traditional fixed-scale super-resolution. Recent approaches in this domain utilize regression-based or generative models, but many of them are a single-stage upsampling process, which may be challenging to learn across a wide, continuous distribution of scaling factors. Progressive upsampling strategies have shown promise in mitigating this issue, yet their integration with diffusion models for flexible upscaling remains underexplored. Here, we present CasArbi, a novel self-cascaded diffusion framework for arbitrary-scale image super-resolution. CasArbi meets the varying scaling demands by breaking them down into smaller sequential factors and progressively enhancing the image resolution at each step with seamless transitions for arbitrary scales. Our novel coordinate-guided residual diffusion model allows for the learning of continuous image representations while enabling efficient diffusion sampling. Extensive experiments demonstrate that our CasArbi outperforms prior arts in both perceptual and distortion performance metrics across diverse arbitrary-scale super-resolution benchmarks.

This study investigated the multimodal perception of large language models (LLMs), focusing on their ability to capture human-like perceptual strength ratings across sensory modalities. Utilizing perceptual strength ratings as a benchmark, the research compared GPT-3.5, GPT-4, GPT-4o, and GPT-4o-mini, highlighting the influence of multimodal inputs on grounding and linguistic reasoning. While GPT-4 and GPT-4o demonstrated strong alignment with human evaluations and significant advancements over smaller models, qualitative analyses revealed distinct differences in processing patterns, such as multisensory overrating and reliance on loose semantic associations. Despite integrating multimodal capabilities, GPT-4o did not exhibit superior grounding compared to GPT-4, raising questions about their role in improving human-like grounding. These findings underscore how LLMs' reliance on linguistic patterns can both approximate and diverge from human embodied cognition, revealing limitations in replicating sensory experiences.

Physics-Informed Neural Networks (PINNs) have emerged as a promising approach for solving Partial Differential Equations (PDEs) by incorporating physical constraints into deep learning models. However, standard PINNs often require a large number of training samples to achieve high accuracy, leading to increased computational costs. To address this issue, we propose Active Learning-Driven PINNs (AL-PINN), which integrates Uncertainty Quantification (UQ) and Active Learning (AL) strategies to optimize sample selection dynamically. AL-PINN utilizes Monte Carlo Dropout to estimate epistemic uncertainty in the model predictions, enabling the adaptive selection of high-uncertainty regions for additional training. This approach significantly enhances learning efficiency by focusing computational resources on the most informative data points. We evaluate AL-PINN on benchmark PDE problems with known analytical solutions and real-world WeatherBench climate data. Our results demonstrate that AL-PINN achieves comparable or superior accuracy compared to traditional PINNs while reducing the number of required training samples. The proposed framework is particularly beneficial for scientific and engineering applications where data collection is expensive or limited, such as climate modeling, medical simulations, and material science. Our findings highlight the potential of active learning in accelerating PINN-based PDE solvers while maintaining high accuracy and computational efficiency.

Optimizing portfolio performance is a fundamental challenge in financial modeling, requiring the integration of advanced clustering techniques and data-driven optimization strategies. This paper introduces a comparative backtesting approach that combines clustering-based portfolio segmentation and Sharpe ratio-based optimization to enhance investment decision-making. First, we segment a diverse set of financial assets into clusters based on their historical log-returns using K-Means clustering. This segmentation enables the grouping of assets with similar return characteristics, facilitating targeted portfolio construction. Next, for each cluster, we apply a Sharpe ratio-based optimization model to derive optimal weights that maximize risk-adjusted returns. Unlike traditional mean-variance optimization, this approach directly incorporates the trade-off between returns and volatility, resulting in a more balanced allocation of resources within each cluster. The proposed framework is evaluated through a backtesting study using historical data spanning multiple asset classes. Optimized portfolios for each cluster are constructed and their cumulative returns are compared over time against a traditional equal-weighted benchmark portfolio.

Solar vehicles, which simultaneously produce and consume energy, require meticulous energy management. However, potential users often feel uncertain about their operation compared to conventional vehicles. This study presents a simulator designed to help users understand long-distance travel in solar vehicles and recognize the importance of proper energy management. By utilizing Google Maps data and weather information, the simulator replicates real-world driving conditions and provides a dashboard displaying vehicle status, updated hourly based on user-inputted speed. Users can explore various speed policy scenarios and receive recommendations for optimal driving strategies. The simulator's effectiveness was validated using the route of the World Solar Challenge (WSC). This research enables users to monitor energy dynamics before a journey, enhancing their understanding of energy management and informing appropriate speed decisions.

The current evaluation of Large Language Models (LLMs) predominantly relies on benchmarks focusing on their embedded knowledge by testing through multiple-choice questions (MCQs), a format inherently suited for automated evaluation. Our study extends this evaluation to explore LLMs' pragmatic competence--a facet previously underexamined before the advent of sophisticated LLMs, specifically in the context of Korean. We employ two distinct evaluation setups: the conventional MCQ format, adapted for automatic evaluation, and Open-Ended Questions (OEQs), assessed by human experts, to examine LLMs' narrative response capabilities without predefined options. Our findings reveal that GPT-4 excels, scoring 81.11 and 85.69 in the MCQ and OEQ setups, respectively, with HyperCLOVA X, an LLM optimized for Korean, closely following, especially in the OEQ setup, demonstrating a score of 81.56 with a marginal difference of 4.13 points compared to GPT-4. Furthermore, while few-shot learning strategies generally enhance LLM performance, Chain-of-Thought (CoT) prompting introduces a bias toward literal interpretations, hindering accurate pragmatic inference. Considering the growing expectation for LLMs to understand and produce language that aligns with human communicative norms, our findings emphasize the importance for advancing LLMs' abilities to grasp and convey sophisticated meanings beyond mere literal interpretations.

Mirror descent is an elegant optimization technique that leverages a dual space of parametric models to perform gradient descent. While originally developed for convex optimization, it has increasingly been applied in the field of machine learning. In this study, we propose a novel approach for utilizing mirror descent to initialize the parameters of neural networks. Specifically, we demonstrate that by using the Hopfield model as a prototype for neural networks, mirror descent can effectively train the model with significantly improved performance compared to traditional gradient descent methods that rely on random parameter initialization. Our findings highlight the potential of mirror descent as a promising initialization technique for enhancing the optimization of machine learning models.

Long-term care service for old people is in great demand in most of the aging societies. The number of nursing homes residents is increasing while the number of care providers is limited. Due to the care worker shortage, care to vulnerable older residents cannot be fully tailored to the unique needs and preference of each individual. This may bring negative impacts on health outcomes and quality of life among institutionalized older people. To improve care quality through personalized care planning and delivery with limited care workforce, we propose a new care planning model assisted by artificial intelligence. We apply bandit algorithms which optimize the clinical decision for care planning by adapting to the sequential feedback from the past decisions. We evaluate the proposed model on empirical data acquired from the Systems for Person-centered Elder Care (SPEC) study, a ICT-enhanced care management program.

We propose a new high-performance activation function, Moderate Adaptive Linear Units (MoLU), for the deep neural network. The MoLU is a simple, beautiful and powerful activation function that can be a good main activation function among hundreds of activation functions. Because the MoLU is made up of the elementary functions, not only it is a infinite diffeomorphism (i.e. smooth and infinitely differentiable over whole domains), but also it decreases training time.