New papers on fairness, safety, alignment and governance.

Mobile robots operating in human-populated environments must navigate complex, multi-room spaces while ensuring safety, i.e., generating collision-free motion. In this study, we present a sensor-based model predictive control (MPC) scheme designed for safe crowd navigation in such non-convex environments. The proposed framework decomposes the free space into a set of overlapping convex regions to construct a topological graph, enabling a high-level planner to compute optimal sequences of travers

Background : Deep neural networks increasingly power language, vision, and decision systems, yet many deployments require explanations that are faithful, compositional, and governance-ready. Symbolic techniques promise these properties, but the literature mixes post-hoc extraction, knowledge injection, and intrinsically hybrid designs without a unifying view. Objectives : We provide a systematic review and synthesis of symbolic explainable AI (XAI) for deep learning (January 2017– June 2025), or

As part of TU Delft Rhizome 2.0 and Moonshot projects, focusing on the development of extraterrestrial habitats in lava tubes, the robotic mapping of an analogue lava tube in Sicily has been studied with the future goal of assessing its suitability for building construction. The main objective of the research was to survey a lava tube and acquire a novel dataset for future research, while also analyzing the collected data to evaluate possible future lava tube exploration scenarios for the Moon a

IntroductionAlzheimer’s disease (AD) is a progressive neurodegenerative disorder with the gradual loss of cognitive functions and neuronal degeneration. Early and accurate diagnosis is essential for timely therapeutic intervention and improved patient management. However, effectively integrating complementary multimodal information for reliable AD classification remains a significant challenge.MethodsThis study proposes TriFusion-ADFormer, a multimodal deep learning framework for multiclass clas

Forecasting corporate earnings growth is fundamental to investment, credit, and regulatory decision-making. Existing forecasting approaches either rely on restrictive linear assumptions or provide limited interpretability, making them less suitable for high-stakes financial applications. This study proposes a transparent and causally informed framework for predicting future corporate earnings growth from financial statement data. We present TRuE-XAI (Transparent, Rule-based, and Explainable Arti

Knowledge-based visual question answering requires models to connect question-relevant visual evidence with external knowledge for accurate reasoning. However, existing approaches still face two critical challenges: insufficient alignment between visual content and question intent, which leads to missing or irrelevant evidence, and ambiguity in entity-level semantics, especially for fine-grained or knowledge-intensive concepts. To address these issues, we propose an inference-time evidence augme

Corporate boards increasingly bear formal fiduciary responsibility for overseeing AI-driven strategic and sustainability decisions, yet their practical capacity to exercise such oversight substantively remains poorly documented. This study investigates whether a measurable AI governance capability gap exists between board-level and executive-level AI competence and examines the implications of this gap for the integrity of AI-driven ESG reporting. A pilot study (n = 26) of board members and seni

Face recognition systems are widely used in surveillance, biometric authentication, access control, and digital identity verification; however, supervision sensitivity, evaluation stability, and performance consistency across datasets remain insufficiently understood. This study investigates the behavior of convolutional, transformer-based, and hybrid face recognition architectures under both Softmax and ArcFace supervision using five-fold subject-disjoint cross-validation on the Labeled Faces i

Randomized features provide a scalable approximation to kernel machines, but their performance depends strongly on the choice of feature distribution. We propose a particle-based method that learns this distribution by optimizing kernel-target alignment while regularizing particles with a Riesz/Coulomb repulsive potential. The resulting Hamiltonian yields diverse, task-adaptive random features and admits a mean-field description through a McKean--Vlasov equation. We instantiate the method in lin

Multi-turn long-horizon planning is critical for foundation model agents, yet how to fundamentally improve it remains unclear. Existing models are trained on uncontrollable and opaque Internet data, making it difficult to identify how planning ability is acquired, shaped, and integrated. To address this challenge, we introduce a unified and controlled multi-turn environment that enables precise control. It allows systematically study long-horizon planning across three stages. (1) Planning abilit

Reliable visual document understanding requires a model to attribute each answer to the evidence regions that support it. Recent benchmarks and systems express this step through a coordinate interface: the model outputs the coordinates of bounding boxes that mark the evidence regions in the document. Under this interface, vision-language models often fail to identify the right regions even when the answer is correct, a failure known as Attribution Hallucination. We present a study that investiga

On-policy distillation (OPD) adapts diffusion models by querying a teacher along trajectories generated by the current student, but how it should behave under classifier-free guidance (CFG), a default component of modern diffusion systems, remains poorly understood. Existing OPD methods naturally extend velocity matching to the CFG-composed prediction, directly matching teacher and student guided velocities. We show that this objective is under-identified at the branch level: positive- and negat

Progress in video generation keeps narrowing the visual gap between AI-generated and professionally produced footage, yet most benchmarks still draw prompts from web sources or LLM templates and score them with untrained, generic multimodal models. More fundamentally, their evaluation taxonomies remain rudimentary (overall visual quality, coarse text alignment and temporal smoothness) rather than the professional Cinematic Language criteria by which films are actually made and judged, so they as

Agentic search enables large language models to solve knowledge-intensive tasks by interleaving multi-step reasoning with retrieval, yet optimizing this with outcome-based reinforcement learning (RL) provides only sparse supervision. Knowledge distillation can supply denser guidance, and advanced proprietary models with their strong reasoning capabilities are promising teachers. While distilling from proprietary models can densify this supervisory signal, conventional logit-matching is precluded

Multimodal large language models (MLLMs) hold immense potential to revolutionize clinical practice, yet deploying them in the medical domain is fundamentally a vision-centric challenge: models must absorb knowledge from heterogeneous 2D and 3D medical images, and evaluation protocols must align with radiologists' clinical practice and provide an accurate, fine-grained and factualness-driven assessment. In this paper, we introduce ClinFusion, a vision-centric MLLM designed for holistic medical un

Multimodal foundation models learned to see and to speak by consuming the whole internet. Embodied agents admit no such shortcut, since they require data that couple observations with physical states and actions. These signals can be provided, to varying degrees, by multiple data sources. In this work, we organize the embodied data ecosystem as a "pyramid" spanning five complementary sources: real-robot data, UMI-style data, egocentric and exocentric data, simulation data, and general vision-lan

Relevance is a query-dependent estimate of whether a document or excerpt contains useful evidence. Existing retrieval agents use relevance to select top-k content, but document relevance alone cannot localize, compose, or verify the evidence required by complex questions. Direct Corpus Interaction (DCI) enables such fine-grained operations through grep-style exploration, but its relevance-agnostic search can expose useful clues late and delay convergence. Recent advances use relevance to narrow

Long-term memory systems store what a user says in an external store and retrieve it when a related query arrives. This interface rests on an assumption so natural that it is rarely stated: a memory that is needed will resemble the query that needs it. World knowledge breaks the assumption. A tree-nut allergy should change the answer to a macaron request through their almond-flour ingredient, yet the two texts share no cue a retriever can see. We call this failure mode the implicit-association b

The alignment of Small Language Models (SLMs) in the 70--500M parameter range using reinforcement learning is often considered unstable, though the underlying failure mechanisms have not been systematically investigated. In the State-of-the-Art (SOTA) research, fifteen (model, corpus) configurations were trained using Proximal Policy Optimization (PPO). The experiments included Pythia-70M, 160M, 410M and SmolLM2-135M, 360M on the TinyStories, CNN/DailyMail, and Wikitext-103 corpora. Three reprod

Many recent robot policies pursue stronger control by using large pretrained vision-language models (VLMs) as the action backbone. We introduce WorldDiT, a unified diffusion transformer architecture that couples action generation with visual world modeling and achieves strong performance without a large pretrained VLM action backbone. During training, a single diffusion transformer generates continuous action chunks and predicts normalized RGB patch targets from future camera frames. Across four

Biomedical image analysis spans diverse modalities and tasks, yet real-world deployment is hindered by severe distribution shifts across scanners, protocols, and patient populations. High-performing models consequently require repeated domain-specific fine-tuning, which is a costly cycle that becomes impractical when labels are scarce or privacy constraints limit data sharing. We propose OPERA (Offline Policy-guided Expert Routing and Adaptation), a multi-agent ensemble framework that addresses

Modern coding agents are usually evaluated by whether they eventually produce a correct patch, but patch generation depends on an earlier context-acquisition stage: finding the repository files needed for the task. We introduce Agent Retrieval Bench, a file-level benchmark for this upstream retrieval problem. Samples are built from real coding-workflow signals and evaluated against frozen base-commit repositories, with relevance defined by what an agent needs next rather than direct query-file s

Modern multi-agent knowledge systems increasingly accumulate knowledge through chains of autonomous transformations rather than direct retrieval. Existing provenance work records what happened - execution traces, tool calls, evidence links - and source-reliability estimation is long established (truth discovery, reputation systems). What is missing is an operational framework that attaches graded, per-domain transmitter reliability to claim-level transmission chains, with completeness semantics,

Identifying therapeutic target genes from single-cell RNA sequencing (scRNA-seq) data remains a fundamental challenge in translational biology. Unlike bulk assays, scRNA-seq captures heterogeneous cellular states and rare subpopulations, but this same heterogeneity makes target discovery highly sensitive to analytical choices throughout the pipeline, including preprocessing, cell population selection, differential expression analysis, and downstream biological interpretation. As a result, existi

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In many real-world scenarios, encountering continual shifts in domain during inference is very common. Consequently, continual test-time adaptation (CTTA) techniques leveraging a teacher-student framework have gained prominence, allowing models to adapt continuously even after deployment. In such a framework, a weight-averaged mean teacher is used to produce pseudo-labels from test data for self-training. The mean teacher gets updated as an exponential moving average of the student parameters us

On-policy distillation (OPD) trains a student on its own trajectories while a teacher supplies dense token-level likelihoods at student-visited prefixes. These likelihoods are often read locally: agreement appears safe to imitate, whereas disagreement appears to identify an error. We show that both readings are confounded by the outcome of the completed trajectory. We introduce an outcome-resolved diagnostic that crosses pointwise teacher-student divergence with final-answer correctness, separat

Differential privacy provides formal privacy guarantees for training neural networks on sensitive data, while Bayesian deep learning offers a principled framework for uncertainty-aware prediction. Combining these two objectives remains challenging, as privacy noise can interact with the stochasticity introduced by Bayesian posterior sampling. In this work, we investigate differentially private variational Bayesian learning through the Improved Variational Online Newton (IVON) optimizer. We intro

This paper presents GEMCo, a releasable, human-written proxy for inaccessible counselling data: 86 complete German e-mail counselling conversations (728 messages), expert-authored cases and counsellor sessions with trained role-players. It is validated against a held-out reference of 124 real counselling conversations. The proxy and the real conversations are measured against each other in counsellor strategies and client emotions. The gap is detectable but small. A generative validation support

Designing effective reward functions for model-free reinforcement learning under non-holonomic constraints remains a persistent challenge, often resulting in severe local minima such as policy paralysis or over-conservative hazard avoidance. In this work, we present a parameterized reward shaping framework featuring coverage-gated alignment feedback, drive-direction switch regularization, and an aligned episode termination mechanism evaluated on an autonomous parallel parking task. Crucially, we

Safe quadrotor navigation in cluttered and dynamic environments depends not only on instantaneous geometric perception, but more critically on anticipating collision risks induced by relative motion. Conventional modular pipelines frequently suffer from perception latency, while end-to-end learning methods relying on implicit scalar rewards often struggle to extract reliable spatio-temporal features without physics-grounded supervision. To address this, we propose an anticipatory risk-guided rei

Despite recent advances in large language models (LLMs), their ability to generate empathetic mental health counseling responses in low-resource languages remains largely unexplored. To address this gap, we curate 625 authentic mental health cases from three complementary sources: (1) publicly available Facebook posts discussing mental health concerns, (2) transcripts from the Bangladeshi television program "Ami Akhon Ki Korbo", and (3) anonymized student questionnaire responses covering diverse

Political audits of large language models (LLMs) usually reduce each to one point on a political compass. But that resting point barely matters in deployment: a model must land somewhere, and what counts is how far, and in which directions, its answers can be steered. That steering runs through the system prompt: the personalization layer a platform sets, or one induced from a user's history, not necessarily written by hand. We run a dispersion-first stress test of prompt-based controllability a

Safety-aligned large language models are trained to refuse harmful requests, yet embedding the same requests in particular scenarios can bypass their safeguards. Existing red-teaming methods empirically identify effective scenarios through observed attack outcomes, but why particular scenarios weaken refusal remains mechanistically unclear. Meanwhile, mechanistic interpretability studies have characterized both refusal directions and jailbreak-associated features, without explaining the relation

In just a few years, generative artificial intelligence (GenAI or GAI) has distinctly impacted numerous facets of human activity, particularly in how information is processed and transformed into knowledge. As centers for knowledge (co)creation and appropriation, universities face the opportunity and challenge of navigating a de facto integration of this promising yet disruptive technology. This study examines how instructors and students form their common-sense understanding of GenAI and endors

As constrained learning becomes increasingly common, models are trained under explicit feasibility requirements to enforce fairness, safety, robustness, regulariza- tion, and physics or logic constraints. Understanding how training samples in- fluence the model solution (e.g., learned parameters) is crucial for interpretability and robustness. The classical influence function (IF) estimates sample contribu- tions via local sensitivity analysis, measuring how the solution changes when a specific

As constrained learning becomes increasingly common, models are trained under explicit feasibility requirements to enforce fairness, safety, robustness, regulariza- tion, and physics or logic constraints. Understanding how training samples in- fluence the model solution (e.g., learned parameters) is crucial for interpretability and robustness. The classical influence function (IF) estimates sample contribu- tions via local sensitivity analysis, measuring how the solution changes when a specific

Creative AI is moving from single-step asset generation toward long-horizon multimodal production. Although recent generative models can synthesize high-quality images, videos, audio clips, UI elements, storyboards, slides, and other creative assets, real-world creative work requires more than isolated prompt-output interactions. It involves references, drafts, alternatives, edits, failed attempts, version relations, tool actions, evaluation signals, and human feedback, which together form an ev

Recent generative models are moving beyond silent video or standalone audio synthesis toward the joint generation of synchronized audio and video. Despite this progress, jointly generating audio and video with fine-grained cross-modal correspondence remains challenging due to their fundamental structural differences. Most existing methods use audio and video VAEs trained separately. As a result, the two latent spaces lack cross-modal alignment, leaving the downstream generative model to learn cr