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We introduce Lucid-XR, a generative data engine for creating diverse and realistic-looking multi-modal data to train real-world robotic systems. At the core of Lucid-XR is vuer, a web-based physics simulation environment that runs directly on the XR headset, enabling internet-scale access to immersive, latency-free virtual interactions without requiring specialized equipment. The complete system integrates on-device physics simulation with human-to-robot pose retargeting. Data collected is further amplified by a physics-guided video generation pipeline steerable via natural language specifications. We demonstrate zero-shot transfer of robot visual policies to unseen, cluttered, and badly lit evaluation environments, after training entirely on Lucid-XR's synthetic data. We include examples across dexterous manipulation tasks that involve soft materials, loosely bound particles, and rigid body contact. Project website: https://lucidxr.github.io

Sparse autoencoders (SAEs) offer a natural path toward comparable explanations across different representation spaces. However, current SAEs are trained per modality, producing dictionaries whose features are not directly understandable and whose explanations do not transfer across domains. In this study, we introduce LUCID (Learning Unified vision-language sparse Codes for Interpretable concept Discovery), a unified vision-language sparse autoencoder that learns a shared latent dictionary for image patch and text token representations, while reserving private capacity for modality-specific details. We achieve feature alignment by coupling the shared codes with a learned optimal transport matching objective without the need of labeling. LUCID yields interpretable shared features that support patch-level grounding, establish cross-modal neuron correspondence, and enhance robustness against the concept clustering problem in similarity-based evaluation. Leveraging the alignment properties, we develop an automated dictionary interpretation pipeline based on term clustering without manual observations. Our analysis reveals that LUCID's shared features capture diverse semantic categories

Sparse-view CT reduces radiation dose and scanning time by acquiring fewer projection views, but angular undersampling makes reconstruction severely ill-posed, causing streak artifacts, structural blurring, and loss of fine details. Existing supervised methods are often tied to specific sampling settings, whereas generative methods may introduce anatomically inconsistent hallucination-like structures under severe undersampling. We propose Lucid, a sparsity-adaptive, consistency-guided reconstruction framework based on a Flow Matching generative prior for sparse-view CT. Lucid is trained only on high-quality CT images to learn a continuous transport between a Gaussian distribution and the high-quality CT image distribution, independent of view sampling. During inference, the sampling sparsity level is explicitly incorporated to adapt the generative trajectory of a single pretrained model. Specifically, Lucid constructs a degradation-matched initial state by sparsity-weighted fusion of the sparse-view FBP image and Gaussian noise, performs sparsity-modulated Flow Matching updates, and applies projection-domain data-consistency correction after each prior update. Experiments under mul

Ensuring the safety of AI-enabled systems, particularly in high-stakes domains such as autonomous driving and healthcare, has become increasingly critical. Traditional formal verification tools fall short when faced with systems that embed both opaque, black-box AI components and complex stochastic dynamics. To address these challenges, we introduce LUCID (Learning-enabled Uncertainty-aware Certification of stochastIc Dynamical systems), a verification engine for certifying safety of black-box stochastic dynamical systems from a finite dataset of random state transitions. As such, LUCID is the first known tool capable of establishing quantified safety guarantees for such systems. Thanks to its modular architecture and extensive documentation, LUCID is designed for easy extensibility. LUCID employs a data-driven methodology rooted in control barrier certificates, which are learned directly from system transition data, to ensure formal safety guarantees. We use conditional mean embeddings to embed data into a reproducing kernel Hilbert space (RKHS), where an RKHS ambiguity set is constructed that can be inflated to robustify the result to out-of-distribution behavior. A key innovatio

Photography is the art of painting with light, yet nighttime scenes are shaped by competing degradations: intense flares obscure scene structure, while photon-limited regions collapse into noise. Conventional approaches address these factors in isolation, overlooking the fact that these degradations are fundamentally entangled. To bridge this gap, we introduce LUCID, a unified framework that reframes nighttime restoration as a continuous and controllable process rather than a fixed correction. We decompose nighttime restoration into two cooperative components: a flare disentanglement module that lifts the 'curtain' of optical artifacts to provide reliable structural guidance, and a diffusion-driven module that leverages generative priors to reconstruct clean and well-exposed imagery. Crucially, LUCID introduces explicit controllability through a novel four-mode training strategy, enabling users to steer the restoration process via classifier-free guidance (CFG) and allowing selective control over light sources and their associated flare and ghosting artifacts, while also supporting high dynamic range (HDR) reconstruction through continuous exposure control. Extensive experiments de

The most widely-adopted robot learning pipelines today learn skills from robot demonstrations or structured human data, which are expensive to collect and tied to specific embodiments. In contrast, unstructured human videos provide a scalable alternative. They contain diverse manipulation demonstrations across objects, scenes, and strategies, but are not directly connected to robot action. We propose LUCID, a two-stage framework that learns task intent from unstructured human videos drawn from internet-scale datasets and learns robot control in massively-parallel simulation. The intent model predicts short-horizon intent (what should happen next in the scene) from the current observation in closed loop. An embodiment-specific sensorimotor policy converts this intent into robot actions. The intent interface is shared across controllers, so the same intent model can be applied to different embodiments, from our primary dexterous hand to a parallel-jaw gripper. We evaluate LUCID on five real-world manipulation tasks: stirring, wiping, and binning supervised by only internet video, with zero-shot transfer to novel scenes and object instances; and push-T and cable routing supervised by

Current approaches to lifelong personalization operationalize relevance through semantic proximity, causing them to miss essential user information from topically unrelated interactions. To address this gap, we introduce LUCid, a benchmark designed to measure situational user-centric relevance in personalization. The benchmark consists of 1,936 realistic queries paired with interaction histories from up to 500 sessions. Across multiple architectures, our experiments show significant performance collapse when relevant context must be surfaced from semantically distant history: retrieval recall drops to near zero on the hardest instances, and response alignment remains near 50% even for state-of-the-art models such as Gemini-3-Flash, GPT-5.4, and Claude Haiku. These results expose a fundamental mismatch between the notion of relevance encoded by current systems and the situational relevance required for personalization, with direct implications for robustness and safety when critical user attributes remain undetected. LUCid enables the systematic evaluation of whether current models can surface situationally-relevant user information from previous interactions, and serves as a step t

(1) Background: Tinnitus is the perception of phantom sound in the absence of a corresponding external source. Previous studies reported that the presence of tinnitus is notably absent during dreams. This study aimed at replicating previous findings regarding tinnitus-free dreams, while also gaining a deeper understanding of tinnitus manifestations during dreams and after awakening. (2) Methods: For this observational study, 195 tinnitus patients answered an online survey on the mutual-help community Siopi. (3) Results: 160 patients could recall their dreams. Among them, 92.5% state they do not hear their tinnitus while dreaming. The rest (7.5%) report higher tinnitus burden, higher stress and more often exhibit objective tinnitus and/or tinnitus related to peripheral auditory pathology and/or drug intake. 13% of the participants frequently experience lucid dreams. Among them, 36% could perceive their tinnitus during lucid dreams, and this was strongly associated with the concomitant perception of external sounds during lucid dreaming. While the majority of patients report perceiving their tinnitus instantly upon awakening, during nocturnal awakenings, 18% declared they could be aw

Softmax-based dot-product attention is a cornerstone of Transformer architectures, enabling remarkable capabilities such as in-context learning. However, as context lengths increase, a fundamental limitation of the softmax function emerges: it tends to diffuse probability mass to irrelevant tokens degrading performance in long-sequence scenarios. Furthermore, attempts to sharpen focus by lowering softmax temperature hinder learnability due to vanishing gradients. We introduce LUCID Attention, an architectural modification that applies a preconditioner to the attention probabilities. This preconditioner, derived from exponentiated key-key similarities, minimizes overlap between the keys in a Reproducing Kernel Hilbert Space, thus allowing the query to focus on important keys among large number of keys accurately with same computational complexity as standard attention. Additionally, LUCID's preconditioning-based approach to retrieval bypasses the need for low temperature and the learnability problems associated with it. We validate our approach by training ~1 billion parameter language models evaluated on up to 128K tokens. Our results demonstrate significant gains on long-context r

Pure Lucid programs are concurrent with very fine granularity. Sequential Threads (STs) are functions introduced to enlarge the grain size; they are passed from server to workers by Communication Procedures (CPs) in the General Intensional Programming System (GIPSY). A JLucid program combines Java code for the STs with Lucid code for parallel control. Thus first, in this thesis, we describe the way in which the new JLucid compiler generates STs and CPs. JLucid also introduces array support. Further exploration goes through the additional transformations that the Lucid family of languages has undergone to enable the use of Java objects and their members, in the Generic Intensional Programming Language (GIPL), and Indexical Lucid: first, in the form of JLucid allowing the use of pseudo-objects, and then through the specifically-designed the Objective Lucid language. The syntax and semantic definitions of Objective Lucid and the meaning of Java objects within an intensional program are provided with discussions and examples. Finally, there are many useful scientific and utility routines written in many imperative programming languages other than Java, for example in C, C++, Fortran, P

Given multi-category point sets from different place-types, our goal is to develop a spatially-lucid classifier that can distinguish between two classes based on the arrangements of their points. This problem is important for many applications, such as oncology, for analyzing immune-tumor relationships and designing new immunotherapies. It is challenging due to spatial variability and interpretability needs. Previously proposed techniques require dense training data or have limited ability to handle significant spatial variability within a single place-type. Most importantly, these deep neural network (DNN) approaches are not designed to work in non-Euclidean space, particularly point sets. Existing non-Euclidean DNN methods are limited to one-size-fits-all approaches. We explore a spatial ensemble framework that explicitly uses different training strategies, including weighted-distance learning rate and spatial domain adaptation, on various place-types for spatially-lucid classification. Experimental results on real-world datasets (e.g., MxIF oncology data) show that the proposed framework provides higher prediction accuracy than baseline methods.

Spurred by recent advances in Large Language Models (LLMs), virtual assistants are poised to take a leap forward in terms of their dialogue capabilities. Yet a major bottleneck to achieving genuinely transformative task-oriented dialogue capabilities remains the scarcity of high quality data. Existing datasets, while impressive in scale, have limited domain coverage and contain few genuinely challenging conversational phenomena; those which are present are typically unlabelled, making it difficult to assess the strengths and weaknesses of models without time-consuming and costly human evaluation. Moreover, creating high quality dialogue data has until now required considerable human input, limiting both the scale of these datasets and the ability to rapidly bootstrap data for a new target domain. We aim to overcome these issues with LUCID, a modularised and highly automated LLM-driven data generation system that produces realistic, diverse and challenging dialogues. We use LUCID to generate a seed dataset of 4,277 conversations across 100 intents to demonstrate its capabilities, with a human review finding consistently high quality labels in the generated data.

Containerization has emerged as a revolutionary technology in the software development and deployment industry. Containers offer a portable and lightweight solution that allows for packaging applications and their dependencies systematically and efficiently. In addition, containers offer faster deployment and near-native performance with isolation and security drawbacks compared to Virtual Machines. To address the security issues, scanning tools that scan containers for preexisting vulnerabilities have been developed, but they suffer from false positives. Moreover, using different scanning tools to scan the same container provides different results, which leads to inconsistencies and confusion. Limited work has been done to address these issues. This paper provides a fully functional and extensible framework named LUCID that can reduce false positives and inconsistencies provided by multiple scanning tools. We use a database-centric approach and perform query-based analysis, to pinpoint the causes for inconsistencies. Our results show that our framework can reduce inconsistencies by 70%. The framework has been tested on both Intel64/AMD64 and ARM architecture. We also create a Dyna

Most group fairness notions detect unethical biases by computing statistical parity metrics on a model's output. However, this approach suffers from several shortcomings, such as philosophical disagreement, mutual incompatibility, and lack of interpretability. These shortcomings have spurred the research on complementary bias detection methods that offer additional transparency into the sources of discrimination and are agnostic towards an a priori decision on the definition of fairness and choice of protected features. A recent proposal in this direction is LUCID (Locating Unfairness through Canonical Inverse Design), where canonical sets are generated by performing gradient descent on the input space, revealing a model's desired input given a preferred output. This information about the model's mechanisms, i.e., which feature values are essential to obtain specific outputs, allows exposing potential unethical biases in its internal logic. Here, we present LUCID-GAN, which generates canonical inputs via a conditional generative model instead of gradient-based inverse design. LUCID-GAN has several benefits, including that it applies to non-differentiable models, ensures that canoni

Lucid programs are data-flow programs and can be visually represented as data flow graphs (DFGs) and composed visually. Forensic Lucid, a Lucid dialect, is a language to specify and reason about cyberforensic cases. It includes the encoding of the evidence (representing the context of evaluation) and the crime scene modeling in order to validate claims against the model and perform event reconstruction, potentially within large swaths of digital evidence. To aid investigators to model the scene and evaluate it, instead of typing a Forensic Lucid program, we propose to expand the design and implementation of the Lucid DFG programming onto Forensic Lucid case modeling and specification to enhance the usability of the language and the system and its behavior. We briefly discuss the related work on visual programming an DFG modeling in an attempt to define and select one approach or a composition of approaches for Forensic Lucid based on various criteria such as previous implementation, wide use, formal backing in terms of semantics and translation. In the end, we solicit the readers' constructive, opinions, feedback, comments, and recommendations within the context of this short discu

This work is multifold. We review the historical literature on the Lucid programming language, its dialects, intensional logic, intensional programming, the implementing systems, and context-oriented and context-aware computing and so on that provide a contextual framework for the converging Core Lucid standard programming model. We are designing a standard specification of a baseline Lucid virtual machine for generic execution of Lucid programs. The resulting Core Lucid language would inherit the properties of generalization attempts of GIPL (1999-2013) and TransLucid (2008-2013) for all future and recent Lucid implementing systems to follow. We also maintain this work across local research group in order to foster deeper collaboration, maintain a list of recent and historical bibliography and a reference manual and reading list for students. We form a (for now informal) SIGLUCID group to keep track of this standard and historical records with eventual long-term goal through iterative revisions for this work to become a book or an encyclopedia of the referenced topics, and perhaps, an RFC. We first begin small with this initial set of notes.

Programmable switch hardware makes it possible to move fine-grained control logic inside the network data plane, improving performance for a wide range of applications. However, applications with integrated control are inherently hard to write in existing data-plane programming languages such as P4. This paper presents Lucid, a language that raises the level of abstraction for putting control functionality in the data plane. Lucid introduces abstractions that make it easy to write sophisticated data-plane applications with interleaved packet-handling and control logic, specialized type and syntax systems that prevent programmer bugs related to data-plane state, and an open-sourced compiler that translates Lucid programs into P4 optimized for the Intel Tofino. These features make Lucid general and easy to use, as we demonstrate by writing a suite of ten different data-plane applications in Lucid. Working prototypes take well under an hour to write, even for a programmer without prior Tofino experience, have around 10x fewer lines of code compared to P4, and compile efficiently to real hardware. In a stateful firewall written in Lucid, we find that moving control from a switch's CPU