ROSBag MCP Server: Analyzing Robot Data with LLMs for Agentic Embodied AI Applications

Agentic AI systems and Physical or Embodied AI systems have been two key research verticals at the forefront of Artificial Intelligence and Robotics, with Model Context Protocol (MCP) increasingly becoming a key component and enabler of agentic applications. However, the literature at the intersection of these verticals, i.e., Agentic Embodied AI, remains scarce. This paper introduces an MCP server for analyzing ROS and ROS 2 bags, allowing for analyzing, visualizing and processing robot data with natural language through LLMs and VLMs. We describe specific tooling built with robotics domain knowledge, with our initial release focused on mobile robotics and supporting natively the analysis of trajectories, laser scan data, transforms, or time series data. This is in addition to providing an interface to standard ROS 2 CLI tools ("ros2 bag list" or "ros2 bag info"), as well as the ability to filter bags with a subset of topics or trimmed in time. Coupled with the MCP server, we provide a lightweight UI that allows the benchmarking of the tooling with different LLMs, both proprietary (Anthropic, OpenAI) and open-source (through Groq). Our experimental results include the analysis of tool calling capabilities of eight different state-of-the-art LLM/VLM models, both proprietary and open-source, large and small. Our experiments indicate that there is a large divide in tool calling capabilities, with Kimi K2 and Claude Sonnet 4 demonstrating clearly superior performance. We also conclude that there are multiple factors affecting the success rates, from the tool description schema to the number of arguments, as well as the number of tools available to the models. The code is available with a permissive license at https://github.com/binabik-ai/mcp-rosbags.

Leveraging Generic Time Series Foundation Models for EEG Classification

Foundation models for time series are emerging as powerful general-purpose backbones, yet their potential for domain-specific biomedical signals such as electroencephalography (EEG) remains rather unexplored. In this work, we investigate the applicability a recently proposed time series classification foundation model, to a different EEG tasks such as motor imagery classification and sleep stage prediction. We test two pretraining regimes: (a) pretraining on heterogeneous real-world time series from multiple domains, and (b) pretraining on purely synthetic data. We find that both variants yield strong performance, consistently outperforming EEGNet, a widely used convolutional baseline, and CBraMod, the most recent EEG-specific foundation model. These results suggest that generalist time series foundation models, even when pretrained on data of non-neural origin or on synthetic signals, can transfer effectively to EEG. Our findings highlight the promise of leveraging cross-domain pretrained models for brain signal analysis, suggesting that EEG may benefit from advances in the broader time series literature.

MapSAM2: Adapting SAM2 for Automatic Segmentation of Historical Map Images and Time Series

Historical maps are unique and valuable archives that document geographic features across different time periods. However, automated analysis of historical map images remains a significant challenge due to their wide stylistic variability and the scarcity of annotated training data. Constructing linked spatio-temporal datasets from historical map time series is even more time-consuming and labor-intensive, as it requires synthesizing information from multiple maps. Such datasets are essential for applications such as dating buildings, analyzing the development of road networks and settlements, studying environmental changes etc. We present MapSAM2, a unified framework for automatically segmenting both historical map images and time series. Built on a visual foundation model, MapSAM2 adapts to diverse segmentation tasks with few-shot fine-tuning. Our key innovation is to treat both historical map images and time series as videos. For images, we process a set of tiles as a video, enabling the memory attention mechanism to incorporate contextual cues from similar tiles, leading to improved geometric accuracy, particularly for areal features. For time series, we introduce the annotated Siegfried Building Time Series Dataset and, to reduce annotation costs, propose generating pseudo time series from single-year maps by simulating common temporal transformations. Experimental results show that MapSAM2 learns temporal associations effectively and can accurately segment and link buildings in time series under limited supervision or using pseudo videos. We will release both our dataset and code to support future research.

SERVIMON: AI-Driven Predictive Maintenance and Real-Time Monitoring for Astronomical Observatories

Objective: ServiMon is designed to offer a scalable and intelligent pipeline for data collection and auditing to monitor distributed astronomical systems such as the ASTRI Mini-Array. The system enhances quality control, predictive maintenance, and real-time anomaly detection for telescope operations. Methods: ServiMon integrates cloud-native technologies-including Prometheus, Grafana, Cassandra, Kafka, and InfluxDB-for telemetry collection and processing. It employs machine learning algorithms, notably Isolation Forest, to detect anomalies in Cassandra performance metrics. Key indicators such as read/write latency, throughput, and memory usage are continuously monitored, stored as time-series data, and preprocessed for feature engineering. Anomalies detected by the model are logged in InfluxDB v2 and accessed via Flux for real-time monitoring and visualization. Results: AI-based anomaly detection increases system resilience by identifying performance degradation at an early stage, minimizing downtime, and optimizing telescope operations. Additionally, ServiMon supports astrostatistical analysis by correlating telemetry with observational data, thus enhancing scientific data quality. AI-generated alerts also improve real-time monitoring, enabling proactive system management. Conclusion: ServiMon's scalable framework proves effective for predictive maintenance and real-time monitoring of astronomical infrastructures. By leveraging cloud and edge computing, it is adaptable to future large-scale experiments, optimizing both performance and cost. The combination of machine learning and big data analytics makes ServiMon a robust and flexible solution for modern and next-generation observational astronomy.

Mask-to-Height: A YOLOv11-Based Architecture for Joint Building Instance Segmentation and Height Classification from Satellite Imagery

Accurate building instance segmentation and height classification are critical for urban planning, 3D city modeling, and infrastructure monitoring. This paper presents a detailed analysis of YOLOv11, the recent advancement in the YOLO series of deep learning models, focusing on its application to joint building extraction and discrete height classification from satellite imagery. YOLOv11 builds on the strengths of earlier YOLO models by introducing a more efficient architecture that better combines features at different scales, improves object localization accuracy, and enhances performance in complex urban scenes. Using the DFC2023 Track 2 dataset -- which includes over 125,000 annotated buildings across 12 cities -- we evaluate YOLOv11's performance using metrics such as precision, recall, F1 score, and mean average precision (mAP). Our findings demonstrate that YOLOv11 achieves strong instance segmentation performance with 60.4\% mAP@50 and 38.3\% mAP@50--95 while maintaining robust classification accuracy across five predefined height tiers. The model excels in handling occlusions, complex building shapes, and class imbalance, particularly for rare high-rise structures. Comparative analysis confirms that YOLOv11 outperforms earlier multitask frameworks in both detection accuracy and inference speed, making it well-suited for real-time, large-scale urban mapping. This research highlights YOLOv11's potential to advance semantic urban reconstruction through streamlined categorical height modeling, offering actionable insights for future developments in remote sensing and geospatial intelligence.

MAP4TS: A Multi-Aspect Prompting Framework for Time-Series Forecasting with Large Language Models

Recent advances have investigated the use of pretrained large language models (LLMs) for time-series forecasting by aligning numerical inputs with LLM embedding spaces. However, existing multimodal approaches often overlook the distinct statistical properties and temporal dependencies that are fundamental to time-series data. To bridge this gap, we propose MAP4TS, a novel Multi-Aspect Prompting Framework that explicitly incorporates classical time-series analysis into the prompt design. Our framework introduces four specialized prompt components: a Global Domain Prompt that conveys dataset-level context, a Local Domain Prompt that encodes recent trends and series-specific behaviors, and a pair of Statistical and Temporal Prompts that embed handcrafted insights derived from autocorrelation (ACF), partial autocorrelation (PACF), and Fourier analysis. Multi-Aspect Prompts are combined with raw time-series embeddings and passed through a cross-modality alignment module to produce unified representations, which are then processed by an LLM and projected for final forecasting. Extensive experiments across eight diverse datasets show that MAP4TS consistently outperforms state-of-the-art LLM-based methods. Our ablation studies further reveal that prompt-aware designs significantly enhance performance stability and that GPT-2 backbones, when paired with structured prompts, outperform larger models like LLaMA in long-term forecasting tasks.

Lightweight Ac Arc Fault Diagnosis via Fourier Transform Inspired Multi-frequency Neural Network

Lightweight online detection of series arc faults is critically needed in residential and industrial power systems to prevent electrical fires. Existing diagnostic methods struggle to achieve both rapid response and robust accuracy under resource-constrained conditions. To overcome the challenge, this work suggests leveraging a multi-frequency neural network named MFNN, embedding prior physical knowledge into the network. Inspired by arcing current curve and the Fourier decomposition analysis, we create an adaptive activation function with super-expressiveness, termed EAS, and a novel network architecture with branch networks to help MFNN extract features with multiple frequencies. In our experiments, eight advanced arc fault diagnosis models across an experimental dataset with multiple sampling times and multi-level noise are used to demonstrate the superiority of MFNN. The corresponding experiments show: 1) The MFNN outperforms other models in arc fault location, befitting from signal decomposition of branch networks. 2) The noise immunity of MFNN is much better than that of other models, achieving 14.51% over LCNN and 16.3% over BLS in test accuracy when SNR=-9. 3) EAS and the network architecture contribute to the excellent performance of MFNN.

Rmd: Robust Modal Decomposition with Constrained Bandwidth

Modal decomposition techniques, such as Empirical Mode Decomposition (EMD), Variational Mode Decomposition (VMD), and Singular Spectrum Analysis (SSA), have advanced time-frequency signal analysis since the early 21st century. These methods are generally classified into two categories: numerical optimization-based methods (EMD, VMD) and spectral decomposition methods (SSA) that consider the physical meaning of signals. The former can produce spurious modes due to the lack of physical constraints, while the latter is more sensitive to noise and struggles with nonlinear signals. Despite continuous improvements in these methods, a modal decomposition approach that effectively combines the strengths of both categories remains elusive. This paper thus proposes a Robust Modal Decomposition (RMD) method with constrained bandwidth, which preserves the intrinsic structure of the signal by mapping the time series into its trajectory-GRAM matrix in phase space. Moreover, the method incorporates bandwidth constraints during the decomposition process, enhancing noise resistance. Extensive experiments on synthetic and real-world datasets, including millimeter-wave radar echoes, electrocardiogram (ECG), phonocardiogram (PCG), and bearing fault detection data, demonstrate the method's effectiveness and versatility. All code and dataset samples are available on GitHub: https://github.com/Einstein-sworder/RMD.

Unsupervised Anomaly Prediction with N-BEATS and Graph Neural Network in Multi-variate Semiconductor Process Time Series

Semiconductor manufacturing is an extremely complex and precision-driven process, characterized by thousands of interdependent parameters collected across diverse tools and process steps. Multi-variate time-series analysis has emerged as a critical field for real-time monitoring and fault detection in such environments. However, anomaly prediction in semiconductor fabrication presents several critical challenges, including high dimensionality of sensor data and severe class imbalance due to the rarity of true faults. Furthermore, the complex interdependencies between variables complicate both anomaly prediction and root-cause-analysis. This paper proposes two novel approaches to advance the field from anomaly detection to anomaly prediction, an essential step toward enabling real-time process correction and proactive fault prevention. The proposed anomaly prediction framework contains two main stages: (a) training a forecasting model on a dataset assumed to contain no anomalies, and (b) performing forecast on unseen time series data. The forecast is compared with the forecast of the trained signal. Deviations beyond a predefined threshold are flagged as anomalies. The two approaches differ in the forecasting model employed. The first assumes independence between variables by utilizing the N-BEATS model for univariate time series forecasting. The second lifts this assumption by utilizing a Graph Neural Network (GNN) to capture inter-variable relationships. Both models demonstrate strong forecasting performance up to a horizon of 20 time points and maintain stable anomaly prediction up to 50 time points. The GNN consistently outperforms the N-BEATS model while requiring significantly fewer trainable parameters and lower computational cost. These results position the GNN as promising solution for online anomaly forecasting to be deployed in manufacturing environments.

Benchmarking Catastrophic Forgetting Mitigation Methods in Federated Time Series Forecasting

Catastrophic forgetting (CF) poses a persistent challenge in continual learning (CL), especially within federated learning (FL) environments characterized by non-i.i.d. time series data. While existing research has largely focused on classification tasks in vision domains, the regression-based forecasting setting prevalent in IoT and edge applications remains underexplored. In this paper, we present the first benchmarking framework tailored to investigate CF in federated continual time series forecasting. Using the Beijing Multi-site Air Quality dataset across 12 decentralized clients, we systematically evaluate several CF mitigation strategies, including Replay, Elastic Weight Consolidation, Learning without Forgetting, and Synaptic Intelligence. Key contributions include: (i) introducing a new benchmark for CF in time series FL, (ii) conducting a comprehensive comparative analysis of state-of-the-art methods, and (iii) releasing a reproducible open-source framework. This work provides essential tools and insights for advancing continual learning in federated time-series forecasting systems.