Few-Shot Adaptation to Non-Stationary Environments via Latent Trend Embedding for Robotics

Robotic systems operating in real-world environments often suffer from concept shift, where the input-output relationship changes due to latent environmental factors that are not directly observable. Conventional adaptation methods update model parameters, which may cause catastrophic forgetting and incur high computational cost. This paper proposes a latent Trend ID-based framework for few-shot adaptation in non-stationary environments. Instead of modifying model weights, a low-dimensional environmental state, referred to as the Trend ID, is estimated via backpropagation while the model parameters remain fixed. To prevent overfitting caused by per-sample latent variables, we introduce temporal regularization and a state transition model that enforces smooth evolution of the latent space. Experiments on a quantitative food grasping task demonstrate that the learned Trend IDs are distributed across distinct regions of the latent space with temporally consistent trajectories, and that few-shot adaptation to unseen environments is achieved without modifying model parameters. The proposed framework provides a scalable and interpretable solution for robotics applications operating across diverse and evolving environments.

Covert Communications Without Pre-Sharing of Side Information and Channel Estimation Over Quasi-Static Fading Channels

We propose a new covert communication scheme that operates without pre-sharing side information and channel estimation, utilizing a Gaussian-distributed Grassmann constellation for noncoherent detection. By designing constant-amplitude symbols on the Grassmann manifold and multiplying them by random variables, we generate signals that follow an arbitrary probability distribution, such as Gaussian or skew-normal distributions. The mathematical property of the manifold enables the transmitter's random variables to remain unshared with the receiver, and the elimination of pilot symbols that could compromise covertness. The proposed scheme achieved higher covertness and achievable rates compared to conventional coherent Gaussian signaling schemes, without any penalty in terms of complexity.