This is a different kind of post. Less philosophy, more mud and conduit. My partner and I are building a thing in the woods behind our house. It’s called Orpheus — an autonomous research station that monitors wildlife, identifies bird species, tracks corvid vocalizations, counts visitors, makes pretty charts, monitors the weather, and eventually talks back. The hardware: an NVIDIA Jetson Orin NX, four cameras, four research-grade microphones, a hand-built weatherproof enclosure, and a 12-foot mast in Clare […]

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In practical data-driven applications on electrical equipment fault diagnosis, training data can be poisoned by sensor failures, which can severely degrade the performance of machine learning (ML) models. However, once the ML model has been trained, removing the influence of such harmful data is challenging, as full retraining is both computationally intensive and time-consuming. To address this challenge, this paper proposes a SISA (Sharded, Isolated, Sliced, and Aggregated)-based machine unlearning (MU) framework for power transformer inter-turn short-circuit fault […]

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arXiv:2504.14094v3 Announce Type: replace-cross Abstract: Concept-based Models aim to improve interpretability by predicting high-level intermediate concepts, representing a promising approach for deployment in high-risk scenarios. However, they are known to suffer from information leakage, whereby models exploit unintended information encoded within the learned concepts. We introduce an information-theoretic framework to rigorously characterise and quantify leakage, and define two complementary measures: the concepts-task leakage (CTL) and interconcept leakage (ICL) scores. We show that these measures are strongly predictive of […]

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Reinforcement Learning (RL) has shown promise in various robotics applications, yet its deployment on real systems is still limited due to safety and operational constraints. The safe RL field has gained considerable attention in recent years, which focuses on imposing safety constraints throughout the learning process. However, real systems often require more complex constraints than just safety, such as periodic recharging or time-bounded visits to specific regions. Imposing such spatio-temporal tasks during learning still remains a challenge. Signal […]

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arXiv:2410.14843v3 Announce Type: replace Abstract: Vanilla variational inference finds an optimal approximation to the Bayesian posterior distribution, but even the exact Bayesian posterior is often not meaningful under model misspecification. We propose predictive variational inference (PVI): a general inference framework that seeks and samples from an optimal posterior density such that the resulting posterior predictive distribution is as close to the true data generating process as possible, while this closeness is measured by multiple scoring rules. By optimizing […]

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arXiv:2602.23525v1 Announce Type: new Abstract: This review article was first published in 2008 as chapter 11 in the book “Fast Fourier Transforms,” edited by C. S. Burrus, for the Connexions project at Rice University, which is sadly no longer online. It gives a high-level overview of some of the engineering considerations that arise in high-performance implementations of fast Fourier trasnforms (FFTs). It explains why optimized FFTs are very different from textbook “radix-2 Cooley-Tukey” FFT algorithms, in order to […]

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arXiv:2602.09173v1 Announce Type: new Abstract: Recent progress in reinforcement learning with verifiable rewards (RLVR) shows that small, specialized language models (SLMs) can exhibit structured reasoning without relying on large monolithic LLMs. We introduce soft hidden-state collaboration, where multiple heterogeneous frozen SLM experts are integrated through their internal representations via a trainable attention interface. Experiments on Reasoning Gym and GSM8K show that this latent integration is competitive with strong single-model RLVR baselines. Ablations further reveal a dual mechanism of […]

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