Programmable Locking Cells (PLC) for Modular Robots with High Stiffness Tunability and Morphological Adaptability

Robotic systems operating in unstructured environments require the ability to switch between compliant and rigid states to perform diverse tasks such as adaptive grasping, high-force manipulation, shape holding, and navigation in constrained spaces, among others. However, many existing variable stiffness solutions rely on complex actuation schemes, continuous input power, or monolithic designs, limiting their modularity and scalability. This paper presents the Programmable Locking Cell (PLC)-a modular, tendon-driven unit that achieves discrete stiffness modulation through mechanically interlocked joints actuated by cable tension. Each unit transitions between compliant and firm states via structural engagement, and the assembled system exhibits high stiffness variation-up to 950% per unit-without susceptibility to damage under high payload in the firm state. Multiple PLC units can be assembled into reconfigurable robotic structures with spatially programmable stiffness. We validate the design through two functional prototypes: (1) a variable-stiffness gripper capable of adaptive grasping, firm holding, and in-hand manipulation; and (2) a pipe-traversing robot composed of serial PLC units that achieves shape adaptability and stiffness control in confined environments. These results demonstrate the PLC as a scalable, structure-centric mechanism for programmable stiffness and motion, enabling robotic systems with reconfigurable morphology and task-adaptive interaction.

FedTeddi: Temporal Drift and Divergence Aware Scheduling for Timely Federated Edge Learning

Federated edge learning (FEEL) enables collaborative model training across distributed clients over wireless networks without exposing raw data. While most existing studies assume static datasets, in real-world scenarios clients may continuously collect data with time-varying and non-independent and identically distributed (non-i.i.d.) characteristics. A critical challenge is how to adapt models in a timely yet efficient manner to such evolving data. In this paper, we propose FedTeddi, a temporal-drift-and-divergence-aware scheduling algorithm that facilitates fast convergence of FEEL under dynamic data evolution and communication resource limits. We first quantify the temporal dynamics and non-i.i.d. characteristics of data using temporal drift and collective divergence, respectively, and represent them as the Earth Mover's Distance (EMD) of class distributions for classification tasks. We then propose a novel optimization objective and develop a joint scheduling and bandwidth allocation algorithm, enabling the FEEL system to learn from new data quickly without forgetting previous knowledge. Experimental results show that our algorithm achieves higher test accuracy and faster convergence compared to benchmark methods, improving the rate of convergence by 58.4% on CIFAR-10 and 49.2% on CIFAR-100 compared to random scheduling.

Any-Step Density Ratio Estimation via Interval-Annealed Secant Alignment

Estimating density ratios is a fundamental problem in machine learning, but existing methods often trade off accuracy for efficiency. We propose \textit{Interval-annealed Secant Alignment Density Ratio Estimation (ISA-DRE)}, a framework that enables accurate, any-step estimation without numerical integration. Instead of modeling infinitesimal tangents as in prior methods, ISA-DRE learns a global secant function, defined as the expectation of all tangents over an interval, with provably lower variance, making it more suitable for neural approximation. This is made possible by the \emph{Secant Alignment Identity}, a self-consistency condition that formally connects the secant with its underlying tangent representations. To mitigate instability during early training, we introduce \emph{Contraction Interval Annealing}, a curriculum strategy that gradually expands the alignment interval during training. This process induces a contraction mapping, which improves convergence and training stability. Empirically, ISA-DRE achieves competitive accuracy with significantly fewer function evaluations compared to prior methods, resulting in much faster inference and making it well suited for real-time and interactive applications.

A Survey on Cloud-Edge-Terminal Collaborative Intelligence in AIoT Networks

The proliferation of Internet of things (IoT) devices in smart cities, transportation, healthcare, and industrial applications, coupled with the explosive growth of AI-driven services, has increased demands for efficient distributed computing architectures and networks, driving cloud-edge-terminal collaborative intelligence (CETCI) as a fundamental paradigm within the artificial intelligence of things (AIoT) community. With advancements in deep learning, large language models (LLMs), and edge computing, CETCI has made significant progress with emerging AIoT applications, moving beyond isolated layer optimization to deployable collaborative intelligence systems for AIoT (CISAIOT), a practical research focus in AI, distributed computing, and communications. This survey describes foundational architectures, enabling technologies, and scenarios of CETCI paradigms, offering a tutorial-style review for CISAIOT beginners. We systematically analyze architectural components spanning cloud, edge, and terminal layers, examining core technologies including network virtualization, container orchestration, and software-defined networking, while presenting categorizations of collaboration paradigms that cover task offloading, resource allocation, and optimization across heterogeneous infrastructures. Furthermore, we explain intelligent collaboration learning frameworks by reviewing advances in federated learning, distributed deep learning, edge-cloud model evolution, and reinforcement learning-based methods. Finally, we discuss challenges (e.g., scalability, heterogeneity, interoperability) and future trends (e.g., 6G+, agents, quantum computing, digital twin), highlighting how integration of distributed computing and communication can address open issues and guide development of robust, efficient, and secure collaborative AIoT systems.

How Do LLM-Generated Texts Impact Term-Based Retrieval Models?

As more content generated by large language models (LLMs) floods into the Internet, information retrieval (IR) systems now face the challenge of distinguishing and handling a blend of human-authored and machine-generated texts. Recent studies suggest that neural retrievers may exhibit a preferential inclination toward LLM-generated content, while classic term-based retrievers like BM25 tend to favor human-written documents. This paper investigates the influence of LLM-generated content on term-based retrieval models, which are valued for their efficiency and robust generalization across domains. Our linguistic analysis reveals that LLM-generated texts exhibit smoother high-frequency and steeper low-frequency Zipf slopes, higher term specificity, and greater document-level diversity. These traits are aligned with LLMs being trained to optimize reader experience through diverse and precise expressions. Our study further explores whether term-based retrieval models demonstrate source bias, concluding that these models prioritize documents whose term distributions closely correspond to those of the queries, rather than displaying an inherent source bias. This work provides a foundation for understanding and addressing potential biases in term-based IR systems managing mixed-source content.

Breaking the Exploration Bottleneck: Rubric-Scaffolded Reinforcement Learning for General LLM Reasoning

Recent advances in Large Language Models (LLMs) have underscored the potential of Reinforcement Learning (RL) to facilitate the emergence of reasoning capabilities. Despite the encouraging results, a fundamental dilemma persists as RL improvement relies on learning from high-quality samples, yet the exploration for such samples remains bounded by the inherent limitations of LLMs. This, in effect, creates an undesirable cycle in which what cannot be explored cannot be learned. In this work, we propose Rubric-Scaffolded Reinforcement Learning (RuscaRL), a novel instructional scaffolding framework designed to break the exploration bottleneck for general LLM reasoning. Specifically, RuscaRL introduces checklist-style rubrics as (1) explicit scaffolding for exploration during rollout generation, where different rubrics are provided as external guidance within task instructions to steer diverse high-quality responses. This guidance is gradually decayed over time, encouraging the model to internalize the underlying reasoning patterns; (2) verifiable rewards for exploitation during model training, where we can obtain robust LLM-as-a-Judge scores using rubrics as references, enabling effective RL on general reasoning tasks. Extensive experiments demonstrate the superiority of the proposed RuscaRL across various benchmarks, effectively expanding reasoning boundaries under the best-of-N evaluation. Notably, RuscaRL significantly boosts Qwen-2.5-7B-Instruct from 23.6 to 50.3 on HealthBench-500, surpassing GPT-4.1. Furthermore, our fine-tuned variant on Qwen3-30B-A3B-Instruct achieves 61.1 on HealthBench-500, outperforming leading LLMs including OpenAI-o3.

Semantic Caching for Low-Cost LLM Serving: From Offline Learning to Online Adaptation

Large Language Models (LLMs) are revolutionizing how users interact with information systems, yet their high inference cost poses serious scalability and sustainability challenges. Caching inference responses, allowing them to be retrieved without another forward pass through the LLM, has emerged as one possible solution. Traditional exact-match caching, however, overlooks the semantic similarity between queries, leading to unnecessary recomputation. Semantic caching addresses this by retrieving responses based on semantic similarity, but introduces a fundamentally different cache eviction problem: one must account for mismatch costs between incoming queries and cached responses. Moreover, key system parameters, such as query arrival probabilities and serving costs, are often unknown and must be learned over time. Existing semantic caching methods are largely ad-hoc, lacking theoretical foundations and unable to adapt to real-world uncertainty. In this paper, we present a principled, learning-based framework for semantic cache eviction under unknown query and cost distributions. We formulate both offline optimization and online learning variants of the problem, and develop provably efficient algorithms with state-of-the-art guarantees. We also evaluate our framework on a synthetic dataset, showing that our proposed algorithms perform matching or superior performance compared with baselines.

Simulating Human-Like Learning Dynamics with LLM-Empowered Agents

Capturing human learning behavior based on deep learning methods has become a major research focus in both psychology and intelligent systems. Recent approaches rely on controlled experiments or rule-based models to explore cognitive processes. However, they struggle to capture learning dynamics, track progress over time, or provide explainability. To address these challenges, we introduce LearnerAgent, a novel multi-agent framework based on Large Language Models (LLMs) to simulate a realistic teaching environment. To explore human-like learning dynamics, we construct learners with psychologically grounded profiles-such as Deep, Surface, and Lazy-as well as a persona-free General Learner to inspect the base LLM's default behavior. Through weekly knowledge acquisition, monthly strategic choices, periodic tests, and peer interaction, we can track the dynamic learning progress of individual learners over a full-year journey. Our findings are fourfold: 1) Longitudinal analysis reveals that only Deep Learner achieves sustained cognitive growth. Our specially designed "trap questions" effectively diagnose Surface Learner's shallow knowledge. 2) The behavioral and cognitive patterns of distinct learners align closely with their psychological profiles. 3) Learners' self-concept scores evolve realistically, with the General Learner developing surprisingly high self-efficacy despite its cognitive limitations. 4) Critically, the default profile of base LLM is a "diligent but brittle Surface Learner"-an agent that mimics the behaviors of a good student but lacks true, generalizable understanding. Extensive simulation experiments demonstrate that LearnerAgent aligns well with real scenarios, yielding more insightful findings about LLMs' behavior.

COPO: Consistency-Aware Policy Optimization

Reinforcement learning has significantly enhanced the reasoning capabilities of Large Language Models (LLMs) in complex problem-solving tasks. Recently, the introduction of DeepSeek R1 has inspired a surge of interest in leveraging rule-based rewards as a low-cost alternative for computing advantage functions and guiding policy optimization. However, a common challenge observed across many replication and extension efforts is that when multiple sampled responses under a single prompt converge to identical outcomes, whether correct or incorrect, the group-based advantage degenerates to zero. This leads to vanishing gradients and renders the corresponding samples ineffective for learning, ultimately limiting training efficiency and downstream performance. To address this issue, we propose a consistency-aware policy optimization framework that introduces a structured global reward based on outcome consistency, the global loss based on it ensures that, even when model outputs show high intra-group consistency, the training process still receives meaningful learning signals, which encourages the generation of correct and self-consistent reasoning paths from a global perspective. Furthermore, we incorporate an entropy-based soft blending mechanism that adaptively balances local advantage estimation with global optimization, enabling dynamic transitions between exploration and convergence throughout training. Our method introduces several key innovations in both reward design and optimization strategy. We validate its effectiveness through substantial performance gains on multiple mathematical reasoning benchmarks, highlighting the proposed framework's robustness and general applicability. Code of this work has been released at https://github.com/hijih/copo-code.git.

StreamUni: Achieving Streaming Speech Translation with a Unified Large Speech-Language Model

Streaming speech translation (StreamST) requires determining appropriate timing, known as policy, to generate translations while continuously receiving source speech inputs, balancing low latency with high translation quality. However, existing StreamST methods typically operate on sentence-level speech segments, referred to as simultaneous speech translation (SimulST). In practice, they require collaboration with segmentation models to accomplish StreamST, where the truncated speech segments constrain SimulST models to make policy decisions and generate translations based on limited contextual information. Moreover, SimulST models struggle to learn effective policies due to the complexity of speech inputs and cross-lingual generation. To address these challenges, we propose StreamUni, which achieves StreamST through a unified Large Speech-Language Model (LSLM). Specifically, StreamUni incorporates speech Chain-of-Thought (CoT) in guiding the LSLM to generate multi-stage outputs. Leveraging these multi-stage outputs, StreamUni simultaneously accomplishes speech segmentation, policy decision, and translation generation, completing StreamST without requiring massive policy-specific training. Additionally, we propose a streaming CoT training method that enhances low-latency policy decisions and generation capabilities using limited CoT data. Experiments demonstrate that our approach achieves state-of-the-art performance on StreamST tasks.