Federated learning (FL) enables independent data owners to train models collaboratively without centralizing raw data. However, identifying collaborators, preparing training tasks, and coordinating execution and incentives hinder its practical adoption by organizations without specialized expertise. We present Cortex-FL, an agent-native FL system that enables users to express learning objectives in natural language and delegate the collaboration required to train a model. Agents translate these objectives into shared tasks, discover collaborators, and negotiate participation agreements, connecting collaboration formation with distributed training and incentive management. The architecture separates agent coordination from local execution authority, allowing owners to delegate coordination while retaining control over their data, computation, and financial commitments. We demonstrate the complete workflow on a four-node deployment, in which a model requested in natural language proceeds through collaboration formation, contract-governed training, verified model delivery, and x402 settlement on a blockchain testnet.
For perceptive humanoid locomotion, the relevance of terrain geometry depends on the robot's body state and how both evolve under its actions. Existing work has advanced terrain-aware sensory fusion and cross-modal prediction, improving how visual and proprioceptive information is combined and related. However, feature aggregation alone does not specify which cross-modal relationships should be learned, while prediction between simultaneous observations does not explicitly constrain their action-dependent evolution. We present Spatiotemporal Training with Explicit Prediction (STEP), a one-stage framework that jointly supervises cross-modal relationships and action-dependent state evolution within a shared control representation. Multiple learned queries aggregate depth and proprioceptive tokens into a compact policy state. Bidirectional masked prediction uses each visible modality to predict latent features of the omitted modality, explicitly supervising terrain-body relationships. An action-conditioned predictor maps the current policy state and executed action to the next fused state, with an exponential-moving-average target defined directly in the policy representation space. Simulation comparisons show overall improvements in terrain traversal over evaluated fusion alternatives and ablations, while depth-dropout and delay experiments demonstrate the benefits of both predictive objectives under degraded visual input. Deployed on a 23-DoF Noetix E1 humanoid with onboard sensing, STEP succeeds in 98 of 100 hardware trials across stairs, a 40\,cm platform, a 70\,cm gap, stepping stones, and backward stair traversal without rearward terrain visibility.
Science often advances when researchers pivot from one discipline to another and import new ideas. However, for established researchers, such pivots are associated with fewer publications and citations. Here, we investigate pivoting at the beginning of a research career--doctoral admissions--when the benefits of importing ideas might outweigh the switching costs. Analyzing 171,347 PhD applications at a large research university from 2013 to 2023, we measured the semantic distance between each applicant's prior degree and target program. Applicants who pivot further had lower undergraduate grades and, controlling for academic and demographic predictors, lower admission chances: the average pivot corresponds to a 5.3% lower admission probability (0.80 percentage points). Among enrollees, the average pivoter takes longer to graduate than non-pivoters, with a 10.7% lower graduation hazard, and similar publication and citation counts on average and at the tails. Our results suggest that pivoting at the outset of research careers, even if it benefits research communities, comes with significant costs to individuals.