Indoor localization systems commonly rely on fingerprinting, which requires extensive survey efforts to obtain location-tagged signal data, limiting their real-world deployability. Recent approaches that attempt to reduce this overhead either suffer from low representation ability, mode collapse issues, or require the effort of collecting data at all target locations. We present LocaGen, a novel spatial augmentation framework that significantly reduces fingerprinting overhead by generating high-quality synthetic data at completely unseen locations. LocaGen leverages a conditional diffusion model guided by a novel spatially aware optimization strategy to synthesize realistic fingerprints at unseen locations using only a subset of seen locations. To further improve our diffusion model performance, LocaGen augments seen location data based on domain-specific heuristics and strategically selects the seen and unseen locations using a novel density-based approach that ensures robust coverage. Our extensive evaluation on a real-world WiFi fingerprinting dataset shows that LocaGen maintains the same localization accuracy even with 30% of the locations unseen and achieves up to 28% improvement in accuracy over state-of-the-art augmentation methods.

Predicting individuals' next locations is a core task in human mobility modelling, with wide-ranging implications for urban planning, transportation, public policy and personalised mobility services. Traditional approaches largely depend on location embeddings learned from historical mobility patterns, limiting their ability to encode explicit spatial information, integrate rich urban semantic context, and accommodate previously unseen locations. To address these challenges, we explore the application of CaLLiPer -- a multimodal representation learning framework that fuses spatial coordinates and semantic features of points of interest through contrastive learning -- for location embedding in individual mobility prediction. CaLLiPer's embeddings are spatially explicit, semantically enriched, and inductive by design, enabling robust prediction performance even in scenarios involving emerging locations. Through extensive experiments on four public mobility datasets under both conventional and inductive settings, we demonstrate that CaLLiPer consistently outperforms strong baselines, particularly excelling in inductive scenarios. Our findings highlight the potential of multimodal, inductive location embeddings to advance the capabilities of human mobility prediction systems. We also release the code and data (https://github.com/xlwang233/Into-the-Unknown) to foster reproducibility and future research.

Grasping compliant objects is difficult for robots - applying too little force may cause the grasp to fail, while too much force may lead to object damage. A robot needs to apply the right amount of force to quickly and confidently grasp the objects so that it can perform the required task. Although some methods have been proposed to tackle this issue, performance assessment is still a problem for directly measuring object property changes and possible damage. To fill the gap, a new concept is introduced in this paper to assess compliant robotic grasping using instrumented objects. A proof-of-concept design is proposed to measure the force applied on a cuboid object from a first-object perspective. The design can detect multiple contact locations and applied forces on its surface by using multiple embedded 3D Hall sensors to detect deformation relative to embedded magnets. The contact estimation is achieved by interpreting the Hall-effect signals using neural networks. In comprehensive experiments, the design achieved good performance in estimating contacts from each single face of the cuboid and decent performance in detecting contacts from multiple faces when being used to evaluate grasping from a parallel jaw gripper, demonstrating the effectiveness of the design and the feasibility of the concept.

Spatial autocorrelation and spatial heterogeneity widely exist in spatial data, which make the traditional machine learning model perform badly. Spatial domain generalization is a spatial extension of domain generalization, which can generalize to unseen spatial domains in continuous 2D space. Specifically, it learns a model under varying data distributions that generalizes to unseen domains. Although tremendous success has been achieved in domain generalization, there exist very few works on spatial domain generalization. The advancement of this area is challenged by: 1) Difficulty in characterizing spatial heterogeneity, and 2) Difficulty in obtaining predictive models for unseen locations without training data. To address these challenges, this paper proposes a generic framework for spatial domain generalization. Specifically, We develop the spatial interpolation graph neural network that handles spatial data as a graph and learns the spatial embedding on each node and their relationships. The spatial interpolation graph neural network infers the spatial embedding of an unseen location during the test phase. Then the spatial embedding of the target location is used to decode the parameters of the downstream-task model directly on the target location. Finally, extensive experiments on thirteen real-world datasets demonstrate the proposed method's strength.

Spatial autocorrelation and spatial heterogeneity widely exist in spatial data, which make the traditional machine learning model perform badly. Spatial domain generalization is a spatial extension of domain generalization, which can generalize to unseen spatial domains in continuous 2D space. Specifically, it learns a model under varying data distributions that generalizes to unseen domains. Although tremendous success has been achieved in domain generalization, there exist very few works on spatial domain generalization. The advancement of this area is challenged by: 1) Difficulty in characterizing spatial heterogeneity, and 2) Difficulty in obtaining predictive models for unseen locations without training data.