Rules files (e.g., AGENTSmd, CLAUDEmd) are the primary mechanism for human-agent alignment when developers vibe code. However, they remain passive: it is not immediately apparent when rules are being used or followed, or how to improve them. To transform rules from passive text into active controls, we introduce ZORO, an interactive interface that integrates directly with a coding agent and anchors rules to every step of the coding process. After an agent generates an initial plan, ZORO enriches the plan with rules, enforces the rules during implementation by requiring the agent prove that each rule was followed, and allows users to provide in-situ feedback when they are unsatisfied with a rule application to evolve the ruleset. A technical evaluation shows that coding agents follow rules more with ZORO than without. A user study demonstrates a change in people's behavior and cognitive strategies when rules are at the forefront of vibe coding. We discuss how making rules active in agentic systems unlocks broader opportunities for human-agent alignment in coding settings and beyond.
We present Riccati-ZORO, an algorithm for tube-based optimal control problems (OCP). Tube OCPs predict a tube of trajectories to capture predictive uncertainty. The tube induces a constraint tightening via additional backoff terms. This backoff can significantly affect the performance, and thus implicitly defines a cost of uncertainty. Optimizing the feedback law used to predict the tube can significantly reduce the backoffs, but its online computation is challenging. Riccati-ZORO jointly optimizes the nominal trajectory and uncertainty tube based on a heuristic uncertainty cost design. The algorithm alternates between two subproblems: (i) a nominal OCP with fixed backoffs, (ii) an unconstrained tube OCP, which optimizes the feedback gains for a fixed nominal trajectory. For the tube optimization, we propose a cost function informed by the proximity of the nominal trajectory to constraints, prioritizing reduction of the corresponding backoffs. These ideas are developed for ellipsoidal tubes under linear state feedback. In this case, the decomposition into the two subproblems substantially reduces the computational complexity with respect to the state dimension from $\mathcal{O}(n_x
We consider the problem of minimizing a high-dimensional objective function, which may include a regularization term, using (possibly noisy) evaluations of the function. Such optimization is also called derivative-free, zeroth-order, or black-box optimization. We propose a new $\textbf{Z}$eroth-$\textbf{O}$rder $\textbf{R}$egularized $\textbf{O}$ptimization method, dubbed ZORO. When the underlying gradient is approximately sparse at an iterate, ZORO needs very few objective function evaluations to obtain a new iterate that decreases the objective function. We achieve this with an adaptive, randomized gradient estimator, followed by an inexact proximal-gradient scheme. Under a novel approximately sparse gradient assumption and various different convex settings, we show the (theoretical and empirical) convergence rate of ZORO is only logarithmically dependent on the problem dimension. Numerical experiments show that ZORO outperforms the existing methods with similar assumptions, on both synthetic and real datasets.
This paper presents a novel model predictive control (MPC) approach for autonomous pick-and-place between moving platforms with a hook-equipped aerial manipulator. First, for accurate and rapid modeling of the complex dynamics, a digital twin model of the quadcopter equipped with a hook-based gripper, implemented in MuJoCo, is constructed and used as the predictive model for the MPC. To handle uncertainties of the predictive model (e.g. due to aerodynamics and uncertain payloads), a robust adaptive MPC approach is proposed. By systematic integration of zero-order robust optimization (zoRO) based uncertainty propagation and an extended Kalman filter (EKF) for parameter estimation, the MPC algorithm ensures robust constraint satisfaction, high performance, and computational efficiency. The effectiveness of the proposed method is evaluated in complex simulated scenarios and in real-world flight experiments.
Seismology faces fundamental challenges in state forecasting and reconstruction (e.g., earthquake early warning and ground motion prediction) and managing the parametric variability of source locations, mechanisms, and Earth models (e.g., subsurface structure and topography effects). Addressing these with simulations is hindered by their massive scale, both in synthetic data volumes and numerical complexity, while real-data efforts are constrained by models that inadequately reflect the Earth's complexity and by sparse sensor measurements from the field. Recent machine learning (ML) efforts offer promise, but progress is obscured by a lack of proper characterization, fair reporting, and rigorous comparisons. To address this, we introduce a Common Task Framework (CTF) for ML for seismic wavefields, demonstrated here on three distinct wavefield datasets. Our CTF features a curated set of datasets at various scales (global, crustal, and local) and task-specific metrics spanning forecasting, reconstruction, and generalization under realistic constraints such as noise and limited data. Inspired by CTFs in fields like natural language processing, this framework provides a structured and
Machine learning (ML) is transforming modeling and control in the physical, engineering, and biological sciences. However, rapid development has outpaced the creation of standardized, objective benchmarks - leading to weak baselines, reporting bias, and inconsistent evaluations across methods. This undermines reproducibility, misguides resource allocation, and obscures scientific progress. To address this, we propose a Common Task Framework (CTF) for scientific machine learning. The CTF features a curated set of datasets and task-specific metrics spanning forecasting, state reconstruction, and generalization under realistic constraints, including noise and limited data. Inspired by the success of CTFs in fields like natural language processing and computer vision, our framework provides a structured, rigorous foundation for head-to-head evaluation of diverse algorithms. As a first step, we benchmark methods on two canonical nonlinear systems: Kuramoto-Sivashinsky and Lorenz. These results illustrate the utility of the CTF in revealing method strengths, limitations, and suitability for specific classes of problems and diverse objectives. Next, we are launching a competition around a
SHallow REcurrent Decoders (SHRED) provide a deep learning strategy for modeling high-dimensional dynamical systems and/or spatiotemporal data from dynamical system snapshot observations. PySHRED is a Python package that implements SHRED and several of its major extensions, including for robust sensing, reduced order modeling and physics discovery. In this paper, we introduce the version 1.0 release of PySHRED, which includes data preprocessors and a number of cutting-edge SHRED methods specifically designed to handle real-world data that may be noisy, multi-scale, parameterized, prohibitively high-dimensional, and strongly nonlinear. The package is easy to install, thoroughly-documented, supplemented with extensive code examples, and modularly-structured to support future additions. The entire codebase is released under the MIT license and is available at https://github.com/pyshred-dev/pyshred.
Robust and stochastic optimal control problem (OCP) formulations allow a systematic treatment of uncertainty, but are typically associated with a high computational cost. The recently proposed zero-order robust optimization (zoRO) algorithm mitigates the computational cost of uncertainty-aware MPC by propagating the uncertainties outside of the MPC problem. This paper details the combination of zoRO with the real-time iteration (RTI) scheme and presents an efficient open-source implementation in acados, utilizing BLASFEO for the linear algebra operations. In addition to the scaling advantages posed by the zoRO algorithm, the efficient implementation drastically reduces the computational overhead, and, combined with an RTI scheme, enables the use of tube-based MPC for a wider range of applications. The flexibility, usability and effectiveness of the proposed implementation is demonstrated on two examples. On the practical example of a differential drive robot, the proposed implementation results in a tenfold reduction of computation time with respect to the previously available zoRO implementation.
SHallow REcurrent Decoders (SHRED) are effective for system identification and forecasting from sparse sensor measurements. Such models are light-weight and computationally efficient, allowing them to be trained on consumer laptops. SHRED-based models rely on Recurrent Neural Networks (RNNs) and a simple Multi-Layer Perceptron (MLP) for the temporal encoding and spatial decoding respectively. Despite the relatively simple structure of SHRED, they are able to predict chaotic dynamical systems on different physical, spatial, and temporal scales directly from a sparse set of sensor measurements. In this work, we modify SHRED by leveraging transformers (T-SHRED) embedded with symbolic regression for the temporal encoding, circumventing auto-regressive long-term forecasting for physical data. This is achieved through a new sparse identification of nonlinear dynamics (SINDy) attention mechanism into T-SHRED to impose sparsity regularization on the latent space, which also allows for immediate symbolic interpretation. Symbolic regression improves model interpretability by learning and regularizing the dynamics of the latent space during training. We analyze the performance of T-SHRED on t
This paper presents an implementation of robust model predictive control (MPC) for collision-free reference trajectory tracking for mobile robots. The presented approach considers the robot motion to be subject to process noise bounded by ellipsoidal sets. In order to efficiently handle the evolution of the disturbance ellipsoids within the MPC, the zero-order robust optimization (zoRO) scheme is applied. The idea is to fix the disturbance ellipsoids within one optimization iteration and solve the problem repeatedly with updated disturbance ellipsoid trajectories. The zero-order approach is suboptimal in general. However, we show that it does not impair convergence to the reference trajectory in the absence of obstacles. The experiments on an industrial mobile robot prototype demonstrate the performance of the controller.
The detection and identification of toxic comments are conducive to creating a civilized and harmonious Internet environment. In this experiment, we collected various data sets related to toxic comments. Because of the characteristics of comment data, we perform data cleaning and feature extraction operations on it from different angles to obtain different toxic comment training sets. In terms of model construction, we used the training set to train the models based on TFIDF and finetuned the Bert model separately. Finally, we encapsulated the code into software to score toxic comments in real-time.
Researchers have created an AI-based simulation that makes it much faster to model how neutron star mergers produce many of the universe's heaviest elements。 The new tool could improve predictions of these powerful explosions while helping scientists better connect observations in space with experiments on Earth
A new study suggests Earth may have been sending tiny hitchhikers to Venus for billions of years。 Researchers found that asteroid impacts could launch microbes into space, where some might survive the journey and end up suspended in Venus' clouds。 If future missions detect life there, there's a surprising chance it didn't originate on Venus at all—
Astronomers have released the largest gravitational wave catalog ever, revealing 161 new black hole collisions and pushing the total number of detections to 390。 Among the highlights are the clearest gravitational wave signal ever recorded, the most accurate location of a black hole merger, and growing evidence that some black holes are the product
Physicists have developed a new optical centrifuge that can precisely spin molecules inside a superfluid for the first time。 The advance could help unravel some of the biggest mysteries of quantum liquids and reveal how superfluidity breaks down at the atomic scale