Clustering Guided Domain-Specific Pretrained Foundation Model for Very High-Resolution Arctic Remote Sensing

This study introduces a novel Arctic-focused remote sensing foundation model (RSFM) by combining diversity-aware regional-scale image curation with masked autoencoder (MAE) self-supervised pretraining of a Vision Transformer (ViT) encoder for very-high-spatial-resolution (VHSR) satellite image analysis. Spectral and acquisition-metadata descriptors were used in a scalable affinity-propagation clustering workflow to select approximately 3 million chips from 267 TB of Vantor VHSR imagery This curation strategy was designed to reduce oversampling of visually repetitive or low-information areas while preserving broad scene diversity across the study domain. We pretrained a ViT-Large encoder on the curated corpus using a domain-adapted MAE reconstruction objective, producing Arctic-specific transformer weights for downstream feature mapping. The pretrained encoder was integrated into an existing location-aware detection and segmentation framework and evaluated across four hand-labeled Arctic datasets. Compared to ImageNet-initialized ViT-Large baseline, Arctic MAE pretraining produced consistent improvements in foreground mean F1 scores of 0.87, 0.72, 0.93, and 0.87, for infrastructure, IWP, RTS, and TCNs, with approximately 5-8 percentage increase. The proposed model also outperformed Prithvi-EO-2.0 in all downstream comparisons, with the smallest gain corresponding to at least a 15 percentage improvement mean F1, suggesting that domain-specific self-supervised pretraining on curated Arctic VHSR imagery provides more transferable representations for fine-scale Arctic mapping than a general-purpose Earth observation foundation model. These results demonstrate that optimizing the pretraining data distribution at regional scale, while keeping the architecture and MAE objective fixed, can produce a reusable Arctic-domain encoder for multiple VHSR remote sensing applications.

Reusing Fusion-Time Spectral Reliability for Adaptive Fusion and Expert Routing in RGB-Infrared Object Detection

RGB-infrared detectors typically discard the statistics generated during cross-modal fusion, leaving downstream modules unaware of whether the current interaction is reliable. We propose to extract a parameter-free, 7-dimensional spectral reliability descriptor -- summarizing band energy, amplitude ratio, phase consistency, and cross-modal correlation -- and to reuse it beyond the fusion stage. The descriptor drives both Spectral Reliability Fusion (SRF), which gates a spectral residual against a conservative spatial base, and Reliability-Conditioned Expert Routing (RCER), which combines the descriptor with pooled content to steer sparse post-fusion experts. Under matched ablations, descriptor-aware gating improves mAP50 over content-only adaptive gating; a $2{\times}2$ factorial analysis further shows that descriptor-conditioned routing provides the larger marginal gain over expert architecture alone at near-equal parameter count. Under six synthetic degradations on DroneVehicle, average retention rises to 95.0%, versus 92.0% for content-only MoE and 87.9% for concatenation, with the largest gain under modality drop; the same model also improves mAP50 by +5.2/+5.3 on the natural day/night split. These results suggest that preserving fusion-time reliability as an explicit signal benefits both adaptive fusion and post-fusion conditional computation.

Environment-Robust Representation Learning with Empirical Bayes

We consider multi-environment prediction problems. We assume the environments change the distribution of a latent variable, while the mechanisms generating observed covariates and targets remain stable conditional on that variable. For example, hospitals or clinical cohorts may differ in the prevalence of latent patient states, even though the relationships between those states, physiological measurements, and outcomes remain unchanged. Given a dataset from multiple environments, we formulate a Bayesian model for such problems and derive the corresponding variational objective. We show that this objective decomposes into per-environment terms and an additional cross-environment balancing term induced by the model's structure. We use an empirical Bayes method to set the prior and incorporate it into the objective. Based on this objective, we develop an amortized variational algorithm for posterior approximation, and use the resulting learned latent variables to form predictions in new environments.We study our approach through simulations and real-world studies of astronomical source identification, microbiome-based disease detection, and ICU sepsis prediction. Across these settings, our method outperforms previous approaches for prediction in new environments.

SentGuard: Sentence-Level Streaming Guardrails for Large Language Models

Large language models increasingly stream long, reasoning-intensive responses in real time, making when to moderate as critical as whether to moderate. Existing guardrails fall into two unsatisfactory extremes: response-level methods delay intervention until the full output is generated, whereas token-level methods act on incomplete semantics, often producing unstable decisions and excessive guard invocations. To address this challenge, we propose SentGuard, a sentence-level streaming guardrail that operates in parallel with generation. A lightweight waiting buffer groups streamed tokens into sentence chunks and releases only verified chunks to the user, introducing a small offset that enables SentGuard to assess the current prefix while the target LLM decodes subsequent content. To support this, we construct StreamSafe, a benchmark with structured per-sentence annotations across 8 harm categories, capturing the evolution of safety risks across both reasoning and response segments. We further train SentGuard with a coarse-to-fine objective to detect unsafe intent as soon as it emerges at sentence boundaries. Experiments on 5 safety benchmarks show that SentGuard outperforms existing baselines, detecting 90.5% of unsafe cases within two sentences while maintaining a low streaming false-positive rate of 7.41%.

Identifying Gems from Roman RAPIDly

The Nancy Grace Roman Space Telescope (Roman), set for launch as early as September 2026, will conduct wide-field infrared imaging surveys with unprecedented spatial resolution and cadence, enabling the discovery of millions of astronomical transients. Hence, it is necessary to have automated pipelines for generating alerts in place so that the telescope can begin discovering reliable transients and variable objects soon after it is launched. However, no real Roman data currently exist, making the development of such pipelines difficult. In this work, we present a machine learning model $RuBR$ and a general methodology for distinguishing genuine transient and variable detections from spurious (bogus) detections within the RAPID pipeline. In particular, we present three models using this methodology: $RuBR_{comb}$ trained and tested on combined locally injected and OpenUniverse2024 transients, $RuBR_{loc}$ trained on locally injected transients and tested on OpenUniverse2024 transients, and $RuBR_{DA}$ that combines locally injected transients with a fraction of OpenUniverse2024 transients in domain-adaptation mode for training. This paves the way for strategies to adapt the $RuBR_{comb}$ model to real observations in the absence of any ground-truth labels during the early phases of the Roman mission. While the image differencing pipeline continues to be improved, our experimental results demonstrate the effectiveness of the proposed approach and its promise for robust real-bogus classification in the Roman era.

Attention-Guided Autoencoder Fusion for Insulator Defect Detection Using UAV Transmission-Line Imaging

Automated defect detection in high-voltage transmission-line insulators remains challenging due to severe class imbalance, large scale variation, and the small spatial extent of defect instances in Unmanned Aerial Vehicle (UAV) imagery. To address these challenges, this paper proposes AE-YOLO, an Attention-Guided AutoEncoder-Enhanced YOLO framework for robust insulator defect detection. The architecture integrates lightweight bottleneck autoencoders within a Feature Pyramid Network-Path Aggregation Network (FPN-PAN) neck. This preserves anomaly-sensitive information during multi-scale feature fusion. Convolutional Block Attention Modules (CBAM) are used throughout the backbone, enhancing feature discrimination and suppressing background interference. The framework also introduces a variance-maximizing autoencoder regularization strategy, which encourages diverse, defect-discriminative latent representations. The network trains using a unified objective that combines focal loss, Complete IoU (CIoU) loss, and autoencoder regularization to address foreground-background imbalance and improve localization accuracy. During inference, Weighted Boxes Fusion (WBF) combines predictions from YOLOv8, YOLOv10, and YOLO11. An autoencoder-guided confidence boosting mechanism improves sensitivity to rare defect categories. Experiments on the Insulator-Defect Detection dataset show that AE-YOLO with an EfficientNetV2 backbone achieves 95.10 percent mAP at 0.5, 96.40 percent precision, and 93.80 percent recall. This performance surpasses the strongest YOLO-family baseline by 5.0 points in mAP at 0.5 and 6.7 points in recall. These results confirm the effectiveness and adaptability of the framework. The model is a practical and scalable solution for UAV-based transmission-line inspection and defect monitoring.

Shape-Prior-Based Point Cloud Completion for Single-Stage Fully Sparse 3D Object Detection

Single-stage fully sparse 3D object detectors rely on point clouds data to detect objects in autonomous driving scenarios. However, the sparsity and incompleteness of point clouds significantly limit the performance of 3D object detection. To address this issue, this paper proposes a point clouds completion method specifically designed for single-stage fully sparse detectors. The entire shape-prior-based completion process consists of two consecutive steps. In the first step, we design a novel Instance Selection module, which is capable of identifying point clouds corresponding to foreground objects even when the baseline model does not generate proposals, while effectively ignoring the point clouds of background regions. In the second step, we introduce a novel Alignment-Based Point Completion module, which aligns the point clouds of foreground objects with prototypes in terms of both their centers and orientations. Subsequently, points are selected from the prototype to fill in the missing parts of the foreground object. We evaluated our method on two single-stage fully sparse detectors using the KITTI dataset. The experimental results demonstrate that the proposed method significantly improves the detection performance, confirming its effectiveness and generalizability.

The Violation Situation Pattern: A Knowledge-Graph Pattern for Compliance Violations

Compliance pipelines detect violations as transient query results and do not keep the violation itself as a persistent graph object with review state, affected entities, or audit history. The Violation Situation Pattern (VSP) closes this gap. Building on the Situation pattern of Gangemi and Mika, VSP reifies each detected violation as a graph node with a rule identifier, a temporal validity interval, a lifecycle state, and evidence links to the entities involved. Lifecycle transitions are stored as immutable, PROV-O-aligned events, so audit history is a graph traversal. We instantiate VSP in a legal entity and contract lifecycle property graph and operationalize four deontic rules (V1 unauthorized signature, V2 expired mandate, V3 missing confidentiality clause, V4 missing breach-notification clause) through an FCL->Cypher->MERGE pipeline. We check V1 and V2 against BODACC corporate-officer publications, evaluate V4 on 73 GDPRhub enforcement decisions, and run a SHACL cross-formalism check on V3 and V4. The central finding is rule-body independence: extending V4 from clause-presence to deadline checking raises F1 from 0.312 to 0.602, while the pattern's identity, lifecycle, and evidence semantics stay the same. This separates a pattern contribution from a detector contribution, so detection logic can evolve without invalidating accumulated audit history.

Make Your VLA More Robust Without More Data By Interleaving Motion Planning

Vision-Language-Action (VLA) models have shown remarkable progress for mobile manipulation, but their performance on long-horizon tasks remains poor. These tasks are especially challenging because (1) progress toward high-level goals must be maintained across extended sequences of spatially distributed subtasks, and (2) early execution errors compound rapidly over the task horizon. These challenges persist despite finetuning on large human teleoperated mobile manipulation data, indicating that more data alone may not resolve the problem. To address these challenges, we propose MPVI: Motion Planner / VLA Interleaving, a framework that integrates model-based motion planning with VLAs to improve robustness without further training. The proposed integration enables localization and navigation to distant or occluded target objects through cluttered scenes using open-vocabulary object detection, frontier exploration and motion planning. However, such integration is non-trivial, requiring reliable switching between modules; we show one way forward via VLM-based completion checking with proprioceptive triggers. We evaluate our approach on the BEHAVIOR-1K benchmark and demonstrate 113% improvement in task progress over a top end-to-end VLA baseline. Additional details are available at the project page: https://mpvi.netlify.app/.

Toward Gripper-Integrated Active Electrosense for Pre-Contact Sensing in Underwater Soft Grippers

Underwater manipulation often occurs under degraded visibility due to turbidity, glare, and gripper occlusion, limiting the reliability of vision-based perception during approach and grasping. In such settings, soft grippers are well suited for compliant interaction, but they typically lack an onboard pre-contact cue that can guide approach and closure when vision is unreliable. This extended abstract explores active electrosense as a lightweight sensing modality that can provide a proximity-like signal prior to contact by measuring perturbations of an applied electric field in conductive media. We instrument an octopus-inspired gripper with a discrete electrode layout and record multi-channel sensing voltages using off-the-shelf hardware. Simulation and tank experiments with a suspended conductive sphere show structured, object-dependent changes in the multi-electrode voltage readout relative to empty-water baselines, with detectability varying across excitation of 5 to 20 V and frequencies from 1 mHz to 1 kHz. These findings motivate systematic investigation of gripper-integrated electrosense as a complementary pre-contact cue for underwater soft manipulation.