We revisit the problem of private online learning, in which a learner receives a sequence of $T$ data points and has to respond at each time-step a hypothesis. It is required that the entire stream of output hypotheses should satisfy differential privacy. Prior work of Golowich and Livni [2021] established that every concept class $\mathcal{H}$ with finite Littlestone dimension $d$ is privately online learnable in the realizable setting. In particular, they proposed an algorithm that achieves an $O_{d}(\log T)$ mistake bound against an oblivious adversary. However, their approach yields a suboptimal $\tilde{O}_{d}(\sqrt{T})$ bound against an adaptive adversary. In this work, we present a new algorithm with a mistake bound of $O_{d}(\log T)$ against an adaptive adversary, closing this gap. We further investigate the problem in the agnostic setting, which is more general than the realizable setting as it does not impose any assumptions on the data. We give an algorithm that obtains a sublinear regret of $\tilde{O}_d(\sqrt{T})$ for generic Littlestone classes, demonstrating that they are also privately online learnable in the agnostic setting.

Robotic tails can enhance the stability and maneuverability of mobile robots, but current designs face a trade-off between the power of rigid systems and the safety of soft ones. Rigid tails generate large inertial effects but pose risks in unstructured environments, while soft tails lack sufficient speed and force. We present a Biomimetic Vertebraic Soft Robotic (BVSR) tail that resolves this challenge through a compliant pneumatic body reinforced by a passively jointed vertebral column inspired by musculoskeletal structures. This hybrid design decouples load-bearing and actuation, enabling high-pressure actuation (up to 6 bar) for superior dynamics while preserving compliance. A dedicated kinematic and dynamic model incorporating vertebral constraints is developed and validated experimentally. The BVSR tail achieves angular velocities above 670°/s and generates inertial forces and torques up to 5.58 N and 1.21 Nm, indicating over 200% improvement compared to non-vertebraic designs. Demonstrations on rapid cart stabilization, obstacle negotiation, high-speed steering, and quadruped integration confirm its versatility and practical utility for agile robotic platforms.

Urban land-use allocation represents a complex multi-objective optimization problem critical for sustainable urban development policy. This paper presents novel computational intelligence approaches for optimizing land-use allocation in mixed-use areas, addressing inherent trade-offs between land-use compatibility and economic objectives. We develop multiple optimization algorithms, including custom variants integrating differential evolution with multi-objective genetic algorithms. Key contributions include: (1) CR+DES algorithm leveraging scaled difference vectors for enhanced exploration, (2) systematic constraint relaxation strategy improving solution quality while maintaining feasibility, and (3) statistical validation using Kruskal-Wallis tests with compact letter displays. Applied to a real-world case study with 1,290 plots, CR+DES achieves 3.16\% improvement in land-use compatibility compared to state-of-the-art methods, while MSBX+MO excels in price optimization with 3.3\% improvement. Statistical analysis confirms algorithms incorporating difference vectors significantly outperform traditional approaches across multiple metrics. The constraint relaxation technique enables broader solution space exploration while maintaining practical constraints. These findings provide urban planners and policymakers with evidence-based computational tools for balancing competing objectives in land-use allocation, supporting more effective urban development policies in rapidly urbanizing regions.

Sense of agency is one factor that influences people's preferences for robot assistance and a phenomenon from cognitive science that represents the experience of control over one's environment. However, in assistive robotics literature, we often see paradigms that optimize measures like task success and cognitive load, rather than sense of agency. In fact, prior work has found that participants sometimes express a preference for paradigms, such as direct teleoperation, which do not perform well with those other metrics but give more control to the user. In this work, we focus on a subset of assistance paradigms for manipulation called shared autonomy in which the system combines control signals from the user and the automated control. We run a study to evaluate sense of agency and show that higher robot autonomy during assistance leads to improved task performance but a decreased sense of agency, indicating a potential trade-off between task performance and sense of agency. From our findings, we discuss the relation between sense of agency and optimality, and we consider a proxy metric for a component of sense of agency which might enable us to build systems that monitor and maintain sense of agency in real time.

This paper presents a new ontology that implements the well-known Deontic Traditional Scheme in RDFs and SPARQL, fit to handle irresolvable conflicts, i.e., situations in which two or more statements prescribe conflicting obligations, prohibitions, or permissions, with none of them being "stronger" than the other one(s). In our view, this paper marks a significant advancement in standard theoretical research in formal Deontic Logic. Most contemporary approaches in this field are confined to the propositional level, mainly focus on the notion of obligation, and lack implementations. The proposed framework is encoded in RDF, which is not only a first-order language but also the most widely used knowledge representation language, as it forms the foundation of the Semantic Web. Moreover, the proposed computational ontology formalizes all deontic modalities defined in the Deontic Traditional Scheme, without specifically focusing on obligations, and offers constructs to model and reason with various types of irresolvable conflicts, violations, and the interaction between deontic modalities and contextual constraints in a given state of affairs. To the best of our knowledge, no existing approach in the literature addresses all these aspects within a unified integrated framework. All examples presented and discussed in this paper, together with Java code and clear instructions to re-execute them locally, are available at https://github.com/liviorobaldo/conflict-tolerantDeonticTraditionalScheme

Recent advancements in automatic code generation using large language model (LLM) agent have brought us closer to the future of automated software development. However, existing single-agent approaches face limitations in generating and improving large-scale, complex codebases due to constraints in context length. To tackle this challenge, we propose Self-Organized multi-Agent framework (SoA), a novel multi-agent framework that enables the scalable and efficient generation and optimization of large-scale code. In SoA, self-organized agents operate independently to generate and modify code components while seamlessly collaborating to construct the overall codebase. A key feature of our framework is the automatic multiplication of agents based on problem complexity, allowing for dynamic scalability. This enables the overall code volume to be increased indefinitely according to the number of agents, while the amount of code managed by each agent remains constant. We evaluate SoA on the HumanEval benchmark and demonstrate that, compared to a single-agent system, each agent in SoA handles significantly less code, yet the overall generated code is substantially greater. Moreover, SoA surpasses the powerful single-agent baseline by 5% in terms of Pass@1 accuracy.

Robotic systems that are intended to augment human capabilities commonly require the use of semi-autonomous control and artificial sensing, while at the same time aiming to empower the user to make decisions and take actions. This work identifies principles and techniques from the literature that can help to resolve this apparent contradiction. It is postulated that augmentative robots must function as tools that have partial agency, as collaborative agents that provide conditional transparency, and ideally, serve as extensions of the human body.

We present SemOpenAlex, an extensive RDF knowledge graph that contains over 26 billion triples about scientific publications and their associated entities, such as authors, institutions, journals, and concepts. SemOpenAlex is licensed under CC0, providing free and open access to the data. We offer the data through multiple channels, including RDF dump files, a SPARQL endpoint, and as a data source in the Linked Open Data cloud, complete with resolvable URIs and links to other data sources. Moreover, we provide embeddings for knowledge graph entities using high-performance computing. SemOpenAlex enables a broad range of use-case scenarios, such as exploratory semantic search via our website, large-scale scientific impact quantification, and other forms of scholarly big data analytics within and across scientific disciplines. Additionally, it enables academic recommender systems, such as recommending collaborators, publications, and venues, including explainability capabilities. Finally, SemOpenAlex can serve for RDF query optimization benchmarks, creating scholarly knowledge-guided language models, and as a hub for semantic scientific publishing.

It has been proposed that the order in which words are prepared for production depends on the speaker's language. When producing the translation equivalent of the small cat, speakers of German or Dutch select the gender-marked determiner at a relatively early stage of production. Speakers of French or Italian postpone the encoding of a determiner or adjective until the phonological form of the noun is available. Hence, even though the words are produced in the same order (e.g., die kleine Katze in German, le petit chat in French), they are not planned in the same order and might require different amounts of advanced planning prior to production onset. This distinction between early and late selection languages was proposed to account for the observation that speakers of Germanic and Slavic languages, but not of Romance languages, are slower to name pictures in the context of a distractor word of a different gender. Meta-analyses are conducted to provide the first direct test of this cross-linguistic difference and to test a prediction of the late selection hypothesis. They confirm the existence of the gender congruency effect in German/Slavic languages and its absence in Romance languages when target and distractor words are presented simultaneously. They do not allow confirming the hypothesis that in the latter languages, a similar effect emerges when the presentation of the distractor is delayed. Overall, these analyses confirm the cross-linguistic difference but show that the evidence available to date is not sufficient to confirm or reject the late selection hypothesis as an explanation of this difference. We highlight specific directions for future research.

This paper is about the surprising interaction of a foundational result from model theory about stability of theories, which seems to be inherently about the infinite, with algorithmic stability in learning. Specifically, we develop a complete algorithmic analogue of Shelah's celebrated Unstable Formula Theorem, with algorithmic properties taking the place of the infinite. This draws on several new theorems as well as much recent work. In particular we introduce a new ``Probably Eventually Correct'' learning model, of independent interest, and characterize Littlestone (stable) classes in terms of this model; and we describe Littlestone classes via approximations, by analogy to definability of types in model theory.