Distribution System State Estimation (DSSE) plays an increasingly-important role in modern power grids due to the integration of distributed energy resources (DERs). The inherent characteristics of distribution systems make classical estimation methods struggle, and recent advancements in data-driven learning methods, although promising, exhibit systematic failure in generalization and scalability that limits their applicability. In this work, we propose MambaDSSE, a model-free data-driven framework that incorporates Koopman-theoretic probabilistic filtering with a selective state-space model that learn to infer the underlying time-varying behavior of the system from data. We evaluate the model across a variety of test systems and scenarios, and demonstrate that the proposed method outperforms machine learning baselines on scalability, resilience to DER penetration levels, and robustness to data sampling rate irregularities. We further highlight the Mamba-based SSM's ability to capture long range dependencies from data, improving performance on the DSSE task.

Orthogonal time frequency space (OTFS) modulation offers superior robustness to high-mobility channels compared to conventional orthogonal frequency-division multiplexing (OFDM) waveforms. However, its explicit delay-Doppler (DD) domain representation incurs substantial signal processing complexity, especially with increased DD domain grid sizes. To address this challenge, we present a scalable, real-time Zak-OTFS receiver architecture on GPUs through hardware--algorithm co-design that exploits DD-domain channel sparsity. Our design leverages compact matrix operations for key processing stages, a branchless iterative equalizer, and a structured sparse channel matrix of the DD domain channel matrix to significantly reduce computational and memory overhead. These optimizations enable low-latency processing that consistently meets the 99.9-th percentile real-time processing deadline. The proposed system achieves up to 906.52 Mbps throughput with a DD grid size of (16384,32) using 16QAM modulation over 245.76 MHz bandwidth. Extensive evaluations under a Vehicular-A channel model demonstrate strong scalability and robust performance across CPU (Intel Xeon) and multiple GPU platforms (NVIDIA Jetson Orin, RTX 6000 Ada, A100, and H200), highlighting the effectiveness of compute-aware Zak-OTFS receiver design for next-generation (NextG) high-mobility communication systems.

This paper proposes a new, robust method to solve the inverse kinematics (IK) of multi-segment continuum manipulators. Conventional Jacobian-based solvers, especially when initialized from neutral/rest configurations, often exhibit slow convergence and, in certain conditions, may fail to converge (deadlock). The Virtual-Variable-Length (VVL) method proposed here introduces fictitious variations of segments' length during the solution iteration, conferring virtual axial degrees of freedom that alleviate adverse behaviors and constraints, thus enabling or accelerating convergence. Comprehensive numerical experiments were conducted to compare the VVL method against benchmark Jacobian-based and Damped Least Square IK solvers. Across more than $1.8\times 10^6$ randomized trials covering manipulators with two to seven segments, the proposed approach achieved up to a 20$\%$ increase in convergence success rate over the benchmark and a 40-80$\%$ reduction in average iteration count under equivalent accuracy thresholds ($10^{-4}-10^{-8}$). While deadlocks are not restricted to workspace boundaries and may occur at arbitrary poses, our empirical study identifies boundary-proximal configurations as a frequent cause of failed convergence and the VVL method mitigates such occurrences over a statistical sample of test cases.

Model uncertainty of inverter-based resources (IBRs) presents significant challenges for power system control and stability. This work studies secondary frequency regulation in inverter-based power systems using a Data-driven Koopman Predictive Control (DKPC) framework. The method employs Koopman theory to lift the nonlinear system dynamics into a higher-dimensional space where they can be approximated as linear. Based on Willems' fundamental lemma, a behavioral model is constructed directly from lifted input-output data. A receding-horizon predictive control formulation is then provided that operates entirely using observed data, without requiring a parametric model, while satisfying explicit constraints on the control input and system output. The proposed approach is particularly suited for IBRs with complex or uncertain dynamics. Numerical results demonstrate its effectiveness for frequency control as benchmarked against the Data-enabled Predictive Control (DeePC). The trade-off between tracking performance and control effort is illustrated through tuning of the weighting parameters.

We consider a stopping problem and its application to the decision-making process regarding the optimal timing of organ transplantation for individual patients. At each decision period, the patient state is inspected and a decision is made whether to transplant. If the organ is transplanted, the process terminates; otherwise, the process continues until a transplant happens or the patient dies. Under suitable conditions, we show that there exists a control limit optimal policy. We propose a smoothed perturbation analysis (SPA) estimator for the gradient of the total expected discounted reward with respect to the control limit. Moreover, we show that the SPA estimator is asymptotically unbiased.

We review the literature on individual patient organ acceptance decision making by presenting a Markov Decision Process (MDP) model to formulate the organ acceptance decision process as a stochastic control problem. Under the umbrella of the MDP framework, we classify and summarize the major research streams and contributions. In particular, we focus on control limit-type policies, which are shown to be optimal under certain conditions and easy to implement in practice. Finally, we briefly discuss open problems and directions for future research.

3GPP Release 19 has initiated the standardization of integrated sensing and communications (ISAC), including a channel model for monostatic sensing, evaluation scenarios, and performance assessment methodologies. These common assumptions provide an important basis for ISAC evaluation, but reproducible end-to-end studies still require a transparent sensing implementation. This paper evaluates 5G New Radio (NR) base station (gNB)-based monostatic sensing for the Unmanned Aerial Vehicle (UAV) use case using a 5G NR downlink Cyclic Prefix-Orthogonal Frequency Division Multiplexing (CP-OFDM) waveform and positioning reference signals (PRS), following 3GPP Urban Macro-Aerial Vehicle (UMa-AV) scenario assumptions. We present an end-to-end processing chain for multi-target detection and 3D localization, achieving more than 70% detection probability with less than 5% false alarm rate, in the considered scenario. For correctly detected targets, localization errors are on the order of a few meters, with a 90th-percentile error of 4m and 6m in the vertical and horizontal directions, respectively. To support reproducible baseline studies and further research, we release the simulator 5GNRad, which reproduces our evaluation

The multiplex network paradigm has been instrumental in revealing many unexpected phenomena and dynamical regimes in complex interacting systems. Nevertheless, most of the current research focuses on undirected multiplex structures, whereas real-world systems predominantly involve directed interactions. Here, we present an analytical framework for attaining optimal synchronization in directed multiplex networks composed of phase oscillators, considering both frustrated and non-frustrated regimes. A multiplex synchrony alignment function (MSAF) is introduced for this purpose, whose formulation integrates structural properties and dynamical characteristics of the individual directed layers. Using this function, we derive two classes of frequency distributions: one that yields perfect synchronization at a prescribed coupling strength in the presence of phase-lag, and another that optimizes synchronization over a broad range of coupling strengths. Numerical simulations on various directed duplex topologies demonstrate that both frequency sets substantially outperform conventional distributions. We also explore network optimization through a directed link rewiring strategy aimed at minimizing the MSAF, along with a swapping algorithm for optimally assigning fixed frequencies on both layers of a given directed duplex network. Examination of synchrony-optimized directed networks uncovers three notable correlations: a positive relationship between frequency and out-degree, a negative correlation between neighboring frequencies, and an anti-correlation between mirror node frequencies across directed layers.

Many communication and control problems are cast as multi-objective Markov decision processes (MOMDPs). The complete solution to an MOMDP is the Pareto front. Much of the literature approximates this front via scalarization into single-objective MDPs. Recent work has begun to characterize the full front in discounted or simple bi-objective settings by exploiting its geometry. In this work, we characterize the exact front in average-cost MOMDPs. We show that the front is a continuous, piecewise-linear surface lying on the boundary of a convex polytope. Each vertex corresponds to a deterministic policy, and adjacent vertices differ in exactly one state. Each edge is realized as a convex combination of the policies at its endpoints, with the mixing coefficient given in closed form. We apply these results to a remote state estimation problem, where each vertex on the front corresponds to a threshold policy. The exact Pareto front and solutions to certain non-convex MDPs can be obtained without explicitly solving any MDP.

Fluid antenna systems (FAS) provide extra position agile spatial diversity for integrated sensing and communication (ISAC), by jointly optimizing the port selection and precoding. However, this optimization is challenging in air ground networks due to the intricate dual objective Pareto frontier, complex self-interference, and prohibitive channel state information overhead. To overcome these bottlenecks, this work proposes a novel grey box multi objective Bayesian optimization framework to address the joint design of discrete port selection and ISAC precoding. Unlike black box methods, this architecture explicitly leverages known physical system models to learn unknown channel constituents, dramatically reducing sample complexity. To navigate high dimensional combinatorial spaces, an adaptive trust region mechanism powered by expected hypervolume improvement (EHI) acquisition is implemented. Furthermore, the framework incorporates a spatio-temporal tracking strategy to handle the continuous mobility of users and targets, robustly capturing the drifting optimum in time varying environments. Simulations demonstrate that this framework achieves significantly faster convergence and discovers superior Pareto optimal configurations, validating its efficiency for dynamic real time FAS-ISAC deployments.

Classical Distributed Model Predictive Control (DiMPC) requires multiple iterations to achieve convergence, leading to high computational and communication burdens. This work focuses on the improvement of an iteration-free distributed MPC methodology that minimizes computational effort and communication load. The aforementioned methodology leverages multiparametric programming to compute explicit control laws offline for each subsystem, enabling real-time control without iterative data exchanges between subsystems. Extending our previous work on iteration-free DiMPC, here we introduce a FAcet-based Critical region Exploration Technique for iteration-free DiMPC (FACET-DiMPC) that further reduces computational complexity by leveraging facet properties to do targeted critical region exploration. Simulation results demonstrate that the developed method achieves comparable control performance to centralized methods, while significantly reducing communication overhead and computation time. In particular, the proposed methodology offers substantial efficiency gains in terms of the average computation time reduction of 98% compared to classic iterative DiMPC methods and 42% compared to iteration-free DiMPC methods, making it well-suited for real-time control applications with tight latency and computation constraints.

This paper considers output reachability analysis for linear time-invariant systems with unknown state-space matrices and unknown observation map, given only noisy input-output measurements. The Cayley--Hamilton theorem is applied to eliminate the latent state algebraically, producing an autoregressive input-output model whose parameter uncertainty is enclosed in a matrix zonotope. Set-valued propagation of this model yields output reachable sets with deterministic containment guarantees under a bounded aggregated residual assumption. The conservatism inherent in the lifted matrix-zonotope product is then mitigated by a decoder-only Transformer trained on labels obtained through directional contraction of the formal envelope via an exterior non-reachability certificate. Split conformal prediction restores distribution-free coverage at both per-step and trajectory levels without access to the true reachable-set hull. The framework is validated on a five-dimensional system with multiple unknown observation matrices.

We show that dynamic coordination of distributed energy resources (DERs) can increase the capacity of low- and medium-voltage grids, improve reliability and power quality, and reduce solar curtailment. We develop three approaches to compute hosting capacity on a representative distribution grid with realistic scenarios. A deterministic iterative method provides insight into how dynamic operation and DER interactions enhance capacity and affect power flows, demonstrating clear gains over static methods even with low-to-moderate levels of storage and flexible demand. A stochastic programming approach jointly optimizes DER siting and sizing, showing that nodal colocation and complementary effects expand the feasible region of solar, heat pump, and battery penetrations by over 22X. This enables up to 200% solar, 100% battery, and 90% heat pump penetration. Batteries emerge as the most critical technology, followed by heat pumps and electric vehicles. A Monte Carlo-based extension shows that uncertainty significantly impacts hosting capacity and grid metrics, with 46% higher volatility under dynamic operation.

Data-driven reachability analysis provides guaranteed outer approximations of reachable sets from input-state measurements, yet each propagation step requires a matrix-zonotope multiplication whose cost grows with the horizon length, limiting scalability. We observe that data-driven propagation is inherently step-size sensitive, in the sense that set-valued operators at different discretization resolutions yield non-equivalent reachable sets at the same physical time, a property absent in model-based propagation. Exploiting this multi-resolution structure, we propose Interpolated Reachability Analysis (IRA), which computes a sparse chain of coarse anchor sets sequentially and reconstructs fine-resolution intermediate sets in parallel across coarse intervals. We derive a fully data-driven coarse-noise over-approximation that removes the need for continuous-time system knowledge, prove deterministic outer-approximation guarantees for all interpolated sets, and establish conditional tightness relative to the fine-resolution chain. To replace the remaining matrix-zonotope multiplications in the fine phase, we further develop Transformer-Accelerated IRA (TA-IRA), where an encoder-decoder Transformer is calibrated via split conformal prediction to provide finite-sample pointwise and path-wise coverage certificates. Numerical experiments on a five-dimensional linear system confirm the theoretical guarantees and demonstrate significant computational savings.

Control Barrier Functions (CBFs) have emerged as a powerful tool in the design of safety-critical controllers for nonlinear systems. In modern applications, complex systems often involve the feedback interconnection of subsystems evolving at different timescales, e.g., two parts from different physical domains (e.g., the electrical and mechanical parts of robotic systems) or a physical plant and an (optimization or control) algorithm. In these scenarios, safety constraints often involve only a portion of the overall system. Inspired by singular perturbations for stability analysis, we develop a formal procedure to lift a safety certificate designed on a reduced-order model to the overall feedback-interconnected system. Specifically, we show that under a sufficient timescale separation between slow and fast dynamics, a composite CBF can be designed to certify the forward invariance of the safe set for the interconnected system. As a result, the online safety filter only needs to be solved for the lower-dimensional, reduced-order model. We numerically test the proposed approach on: (i) a robotic arm with joint motor dynamics, and (ii) a physical plant driven by an optimization algorithm.

Medical imaging aims to recover underlying tissue properties, using inexact (simplified/linearized) imaging models and often from inaccurate and incomplete measurements. Analytical reconstruction methods rely on hand-crafted regularization, sensitive to noise assumptions and parameter tuning. Among deep learning alternatives, plug-and-play (PnP) approaches learn regularization while incorporating imaging physics during inference, outperforming purely data-driven methods. The performance of all these approaches, however, still strongly depends on measurement quality and imaging model accuracy. In this work, we propose DenOiS, a framework that denoises both input observations and resulting solution in their respective domains. It consists of an observation refinement strategy that corrects degraded measurements while compensating for imaging model simplifications, and a diffusion-based PnP reconstruction approach that remains robust under missing measurements. DenOiS enables generalization to real data from training only in simulations, resulting in high-fidelity image reconstruction with noisy observations and inexact imaging models. We demonstrate this for speed-of-sound imaging as a challenging setting of quantitative ultrasound image reconstruction.

Speech representations from self-supervised speech models (S3Ms) are known to be sensitive to phonemic contrasts, but their sensitivity to prosodic contrasts has not been directly measured. The ABX discrimination task has been used to measure phonemic contrast in S3M representations via minimal pairs. We introduce prosodic ABX, an extension of this framework to evaluate prosodic contrast with only a handful of examples and no explicit labels. Also, we build and release a dataset of English and Japanese minimal pairs and use it along with a Mandarin dataset to evaluate contrast in English stress, Japanese pitch accent, and Mandarin tone. Finally, we show that model and layer rankings are often preserved across several experimental conditions, making it practical for low-resource settings.

This paper presents a state- and control-dependent moving-horizon estimation (SCD-MHE) algorithm for nonlinear discrete-time systems. Within this framework, a pseudo-linear representation of nonlinear dynamics is leveraged utilizing state- and control-dependent coefficients, where the solution to a moving-horizon estimation problem is iteratively refined. At each discrete time step, a quadratic program is executed over a sliding window of historical measurements. Moreover, system matrices are consecutively updated based upon prior iterates to capture nonlinear regimes. In contrast to the extended Kalman filter (EKF) and the unscented Kalman filter (UKF), nonlinearities and bounds are accommodated within a structured optimization framework, thereby circumventing the reliance on local Jacobian matrices. Furthermore, theoretical analysis is presented to establish the convergence of the iterative sequence, and bounded estimation errors are mathematically guaranteed under uniform observability conditions. Finally, comparative numerical experiments utilizing a quadrotor vertical kinematics system demonstrate that the SCD-MHE achieves superior estimation accuracy relative to the EKF, the UKF, and a fully nonlinear moving-horizon estimator, while reducing per-step computational latency by over an order of magnitude.

Electroencephalography (EEG) provides a non-invasive window into neural dynamics at high temporal resolution and plays a pivotal role in clinical neuroscience research. Despite this potential, prevailing computational approaches to EEG analysis remain largely confined to task-specific classification objectives or coarse-grained pattern recognition, offering limited support for clinically meaningful interpretation. To address these limitations, we introduce NeuroNarrator, the first generalist EEG-to-text foundation model designed to translate electrophysiological segments into precise clinical narratives. A cornerstone of this framework is the curation of NeuroCorpus-160K, the first harmonized large-scale resource pairing over 160,000 EEG segments with structured, clinically grounded natural-language descriptions. Our architecture first aligns temporal EEG waveforms with spatial topographic maps via a rigorous contrastive objective, establishing spectro-spatially grounded representations. Building on this grounding, we condition a Large Language Model through a state-space-inspired formulation that integrates historical temporal and spectral context to support coherent clinical narrative generation. This approach establishes a principled bridge between continuous signal dynamics and discrete clinical language, enabling interpretable narrative generation that facilitates expert interpretation and supports clinical reporting workflows. Extensive evaluations across diverse benchmarks and zero-shot transfer tasks highlight NeuroNarrator's capacity to integrate temporal, spectral, and spatial dynamics, positioning it as a foundational framework for time-frequency-aware, open-ended clinical interpretation of electrophysiological data.

The Electric Autonomous Dial-a-Ride Problem (E-ADARP) involves routing and scheduling electric autonomous vehicles under battery capacity and partial recharging constraints, aiming to minimize total travel cost and excess ride time. In practice, operational data for time and state-of-charge (SoC) are often available only at a coarse granularity. This raises a natural question: can discretization be exploited to improve computational performance by enabling alternative formulation structures? To investigate this question, we develop three formulations reflecting different levels of discretization. The first is an improved event-based formulation (IEBF) with arc-flow SoC variables for the continuous-parameter E-ADARP, serving as a strengthened baseline. The latter two are fragment-based formulations designed for discretized inputs. The second is a time-space fragment-based formulation with continuous SoC arc-flow variables (TSFFCS), which discretizes time while keeping SoC continuous. The third is a battery-time-space fragment-based formulation (BTSFF), which discretizes both time and SoC. Here, an event denotes a tuple consisting of a location and a set of onboard customers, while a fragment denotes a partial path. Computational results show that IEBF improves upon the existing event-based formulation for the original E-ADARP. Under discretized settings, TSFFCS tends to outperform IEBF, particularly when recharging is frequent and time discretization is relatively coarse, indicating that time discretization can improve computational performance across a wide range of settings. In contrast, BTSFF rarely outperforms TSFFCS unless the number of reachable SoC levels is limited, suggesting that explicit SoC discretization is beneficial only in relatively restricted settings.

This work introduces SkinGenBench, a systematic biomedical imaging benchmark that investigates how preprocessing complexity interacts with generative model choice for synthetic dermoscopic image augmentation and downstream melanoma diagnosis. Using a curated dataset of $14,116$ dermoscopic images from HAM10000 and MILK10K across five lesion classes, we evaluate the two representative generative paradigms: StyleGAN2-ADA and Denoising Diffusion Probabilistic Models (DDPMs) under basic geometric augmentation and advanced artifact removal pipelines. Synthetic melanoma images are assessed using established perceptual and distributional metrics (FID, KID, IS), feature space analysis, and their impact on diagnostic performance across five downstream classifiers. Experimental results demonstrate that generative architecture choice has a stronger influence on both image fidelity and diagnostic utility than preprocessing complexity. StyleGAN2-ADA consistently produced synthetic images more closely aligned with real data distributions, achieving the lowest FID ($\approx 65.5$) and KID ($\approx 0.05$), while diffusion models generated higher variance samples at the cost of reduced perceptual fidelity and class anchoring. Advanced artifact removal yielded only marginal improvements in generative metrics and provided limited downstream diagnostic gains, suggesting possible suppression of clinically relevant texture cues. In contrast, synthetic data augmentation substantially improved melanoma detection with $8$-$15$\% absolute gains in melanoma F1-score, and ViT-B/16 achieving F1 $\approx 0.88$ and ROC-AUC $\approx 0.98$, representing an improvement of approximately $14\%$ over non-augmented baselines. Our code can be found at https://github.com/adarsh-crafts/SkinGenBench

Optimal AP clustering and power allocation are critical in user-centric cell-free massive MIMO systems. Existing deep learning models lack flexibility to handle dynamic network configurations. Furthermore, many approaches overlook pilot contamination and suffer from high computational complexity. In this paper, we propose a lightweight transformer model that overcomes these limitations by jointly predicting AP clusters and powers solely from spatial coordinates of user devices and AP. Our model is architecture-agnostic to users load, handles both clustering and power allocation without channel estimation overhead, and eliminates pilot contamination by assigning users to AP within a pilot reuse constraint. We also incorporate a customized linear attention mechanism to capture user-AP interactions efficiently and enable linear scalability with respect to the number of users. Numerical results confirm the model's effectiveness in maximizing the minimum spectral efficiency and providing near-optimal performance while ensuring adaptability and scalability in dynamic scenarios.

Video Large Language Models (Video-LLMs) are improving rapidly, yet current Video Question Answering (VideoQA) benchmarks often admit single-cue shortcuts, under-testing reasoning that must integrate evidence across time. We introduce HERBench, a benchmark designed to make multi-evidence integration unavoidable: each question requires at least three non-overlapping cues drawn from distinct video segments. HERBench contains 26,806 five-way multiple-choice questions across 12 compositional tasks. To make evidential demand measurable, we introduce the Minimum Required Frame-Set (MRFS), the smallest number of frames a model must fuse to answer correctly, and show that HERBench imposes higher evidential demand than prior benchmarks. Evaluating 13 state-of-the-art Video-LLMs yields only 31-42% accuracy, only modestly above the 20\% random-guess baseline. We disentangle this failure into two critical bottlenecks: (1) a retrieval deficit, where frame selectors overlook key evidence, and (2) a fusion deficit, where models fail to integrate information even when all necessary evidence is provided. HERBench thus provides a principled benchmark for studying robust multi-evidence video understanding.

In this paper, we propose a suboptimal and reduced-order Model Predictive Control (MPC) architecture for discrete-time feedback-interconnected systems. The numerical MPC solver: (i) acts suboptimally, performing only a finite number of optimization iterations at each sampling instant, and (ii) relies only on a reduced-order model that neglects part of the system dynamics, either due to unmodeled effects or the presence of a low-level compensator. We prove that the closed-loop system resulting from the interconnection of the suboptimal and reduced-order MPC optimizer with the full-order plant has a globally exponentially stable equilibrium point. Specifically, we employ timescale separation arguments to characterize the interaction between the components of the feedback-interconnected system. The analysis relies on an appropriately tuned timescale parameter accounting for how fast the system dynamics are sampled. The theoretical results are validated through numerical simulations on a mechatronic system consisting of a pendulum actuated by a DC motor.

Video comprises the vast majority of bits that are generated daily, and is the primary signal driving current innovations in robotics, remote sensing, and wearable technology. Yet, the most powerful video understanding models are too expensive for the resource-constrained platforms used in these applications. One approach is to offload inference to the cloud; this gives access to GPUs capable of processing high-resolution videos in real time. But even with reliable, high-bandwidth communication channels, the combined latency of video encoding, model inference, and round-trip communication prohibits use for certain real-time applications. The alternative is to use fully local inference; but this places extreme constraints on computational and power costs, requiring smaller models and lower resolution, leading to degraded accuracy. To address these challenges, we propose Dedelayed, a real-time inference system that divides computation between a remote model operating on delayed video frames and a local model with access to the current frame. The remote model is trained to make predictions on anticipated future frames, which the local model incorporates into its prediction for the current frame. The local and remote models are jointly optimized with an autoencoder that limits the transmission bitrate required by the available downlink communication channel. We evaluate Dedelayed on the task of real-time streaming video segmentation using the BDD100k driving dataset. For a round trip delay of 100 ms, Dedelayed improves performance by 6.4 mIoU compared to fully local inference and 9.8 mIoU compared to remote inference -- an equivalent improvement to using a model ten times larger. We release our training code, pretrained models, and python library at https://github.com/InterDigitalInc/dedelayed .

Scientific machine learning is an emerging field that broadly describes the combination of scientific computing and machine learning to address challenges in science and engineering. Within the context of differential equations, this has produced highly influential methods, such as neural ordinary differential equations (NODEs). Recent works extend this line of research to consider neural differential-algebraic systems of equations (DAEs), where some unknown relationships within the DAE are learned from data. Training neural DAEs, similarly to neural ODEs, is computationally expensive, as it requires the solution of a DAE for every parameter update. Further, the rigorous consideration of algebraic constraints is difficult within common deep learning training algorithms such as stochastic gradient descent. In this work, we apply the simultaneous approach to neural DAE problems, resulting in a fully discretized nonlinear optimization problem, which is solved to local optimality and simultaneously obtains the neural network parameters and the solution to the corresponding DAE. We extend recent work demonstrating the simultaneous approach for neural ODEs, by presenting a general framework to solve neural DAEs, with explicit consideration of hybrid models, where some components of the DAE are known, e.g. physics-informed constraints. Furthermore, we present a general strategy for improving the performance and convergence of the nonlinear programming solver, based on solving an auxiliary problem for initialization and approximating Hessian terms. We achieve promising results in terms of accuracy, model generalizability and computational cost, across different problem settings such as sparse data, unobserved states and multiple trajectories. Lastly, we provide several promising future directions to improve the scalability and robustness of our approach.

Deep-space habitats (DSHs) are safety-critical systems that must operate autonomously for long periods, often beyond the reach of ground-based maintenance or expert intervention. Monitoring system health and anticipating failures are therefore essential. Prognostics based on remaining useful life (RUL) prediction support this goal by estimating how long a subsystem can operate before failure. Critical DSH subsystems, including environmental control and life support, power generation, and thermal control, are monitored by many sensors and can degrade through multiple failure modes. These failure modes are often unknown, and informative sensors may vary across modes, making accurate RUL prediction challenging when historical failure data are unlabeled. We propose an unsupervised prognostics framework for RUL prediction that jointly identifies latent failure modes and selects informative sensors using unlabeled run-to-failure data. The framework consists of two phases: an offline phase, where system failure times are modeled using a mixture of Gaussian regressions and an Expectation-Maximization algorithm to cluster degradation trajectories and select mode-specific sensors, and an online phase for real-time diagnosis and RUL prediction using low-dimensional features and a weighted functional regression model. The approach is validated on simulated DSH telemetry data and the NASA C-MAPSS benchmark, demonstrating improved prediction accuracy and interpretability.

Lasso problems arise in many areas, including signal processing, machine learning, and control, and are closely connected to sparse coding mechanisms observed in neuroscience. A continuous-time ordinary differential equation (ODE) representation of the Lasso problem not only enables its solution on analog computers but also provides a framework for interpreting neurophysiological phenomena. This article proposes a fixed-time-stable ODE representation of the Lasso problem by first transforming it into a smooth nonnegative quadratic program (QP) and then designing a projection-free Newton-based ODE representation of the Lasso problem by first transforming it into a smooth nonnegative quadratic program (QP) and then designing a projection-free Newton-based fixed-time-stable ODE system for solving the corresponding Karush-Kuhn-Tucker (KKT) conditions. Moreover, the settling time of the ODE is independent of the problem data and can be arbitrarily prescribed. Numerical experiments verify that the trajectory reaches the optimal solution within the prescribed time.

Self-supervised speech models learn effective representations of spoken language, which have been shown to reflect various aspects of linguistic structure. But when does such structure emerge in model training? We study the encoding of a wide range of linguistic structures, across layers and intermediate checkpoints of six Wav2Vec2 and HuBERT models trained on spoken Dutch. We find that different levels of linguistic structure show notably distinct layerwise patterns as well as learning trajectories, which can partially be explained by differences in their degree of abstraction from the acoustic signal and the timescale at which information from the input is integrated. Moreover, we find that the level at which pre-training objectives are defined strongly affects both the layerwise organization and the learning trajectories of linguistic structures, with greater parallelism induced by higher-order prediction tasks (i.e. iteratively refined pseudo-labels).

In this work, we extend our systematic capacity region perspective to multi-junction traffic networks, focussing on the special case of an urban corridor network. In particular, we train and evaluate centralized, fully decentralized, and parameter-sharing decentralized RL controllers, and compare their capacity regions and ATTs together with a classical baseline MaxPressure controller. Further, we show how the parametersharing controller may be generalised to be deployed on a larger network than it was originally trained on. In this setting, we show some initial findings that suggest that even though the junctions are not formally coordinated, traffic may self organise into `green waves'.