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Aerial robots have garnered significant attention due to their potential applications in various industries, such as inspection, search and rescue, and drone delivery. Successful missions often depend on the ability of these robots to grasp and land effectively. This paper presents a novel modular soft gripper design tailored explicitly for aerial grasping and landing operations. The proposed modular pneumatic soft gripper incorporates a feed-forward proportional controller to regulate pressure, enabling compliant gripping capabilities. The modular connectors of the soft fingers offer two configurations for the 4-tip soft gripper, H-base (cylindrical) and X-base (spherical), allowing adaptability to different target objects. Additionally, the gripper can serve as a soft landing gear when deflated, eliminating the need for an extra landing gear. This design reduces weight, simplifies aerial manipulation control, and enhances flight efficiency. We demonstrate the efficacy of indoor aerial grasping and achieve a maximum payload of 217 g using the proposed soft aerial vehicle and its H-base pneumatic soft gripper (808 g).

Deformable image registration plays a crucial role in medical imaging, aiding in disease diagnosis and image-guided interventions. Traditional iterative methods are slow, while deep learning (DL) accelerates solutions but faces usability and precision challenges. This study introduces a pyramid network with the enhanced motion decomposition Transformer (ModeTv2) operator, showcasing superior pairwise optimization (PO) akin to traditional methods. We re-implement ModeT operator with CUDA extensions to enhance its computational efficiency. We further propose RegHead module which refines deformation fields, improves the realism of deformation and reduces parameters. By adopting the PO, the proposed network balances accuracy, efficiency, and generalizability. Extensive experiments on two public brain MRI datasets and one abdominal CT dataset demonstrate the network's suitability for PO, providing a DL model with enhanced usability and interpretability. The code is publicly available.

We explore a spectral initialization method that plays a central role in contemporary research on signal estimation in nonconvex scenarios. In a noiseless phase retrieval framework, we precisely analyze the method's performance in the high-dimensional limit when sensing vectors follow a multivariate Gaussian distribution for two rotationally invariant models of the covariance matrix C. In the first model C is a projector on a lower dimensional space while in the second it is a Wishart matrix. Our analytical results extend the well-established case when C is the identity matrix. Our examination shows that the introduction of biased spatial directions leads to a substantial improvement in the spectral method's effectiveness, particularly when the number of measurements is less than the signal's dimension. This extension also consistently reveals a phase transition phenomenon dependent on the ratio between sample size and signal dimension. Surprisingly, both of these models share the same threshold value.

We propose a data-driven control method for systems with aleatoric uncertainty, for example, robot fleets with variations between agents. Our method leverages shared trajectory data to increase the robustness of the designed controller and thus facilitate transfer to new variations without the need for prior parameter and uncertainty estimations. In contrast to existing work on experience transfer for performance, our approach focuses on robustness and uses data collected from multiple realizations to guarantee generalization to unseen ones. Our method is based on scenario optimization combined with recent formulations for direct data-driven control. We derive lower bounds on the amount of data required to achieve quadratic stability for probabilistic systems with aleatoric uncertainty and demonstrate the benefits of our data-driven method through a numerical example. We find that the learned controllers generalize well to high variations in the dynamics even when based on only a few short open-loop trajectories. Robust experience transfer enables the design of safe and robust controllers that work out of the box without any additional learning during deployment.

Communication robots have the potential to contribute to effective human-XAI interaction as an interface that goes beyond textual or graphical explanations. One of their strengths is that they can use physical and vocal expressions to add detailed nuances to explanations. However, it is not clear how a robot can apply such expressions, or in particular, how we can develop a strategy to adaptively use such expressions depending on the task and user in dynamic interactions. To address this question, this paper proposes DynEmph, a method for a communication robot to decide where to emphasize XAI-generated explanations with physical expressions. It predicts the effect of emphasizing certain points on a user and aims to minimize the expected difference between predicted user decisions and AI-suggested ones. DynEmph features a strategy for deciding where to emphasize in a data-driven manner, relieving engineers from the need to manually design a strategy. We further conducted experiments to investigate how emphasis selection strategies affect the performance of user decisions. The results suggest that, while a naive strategy (emphasizing explanations for an AI's most probable class) does not necessarily work better, DynEmph effectively guides users to better decisions under the condition that the performance of the AI suggestion is high.

Mobile robots equipped with multiple light detection and ranging (LiDARs) and capable of recognizing their surroundings are increasing due to the minitualization and cost reduction of LiDAR. This paper proposes a target-less extrinsic calibration method of multiple LiDARs with non-overlapping field of view (FoV). The proposed method uses accumulated point clouds of floor plane and objects while in motion. It enables accurate calibration with challenging configuration of LiDARs that directed towards the floor plane, caused by biased feature values. Additionally, the method includes a noise removal module that considers the scanning pattern to address bleeding points, which are noises of significant source of error in point cloud alignment using high-density LiDARs. Evaluations through simulation demonstrate that the proposed method achieved higher accuracy extrinsic calibration with two and four LiDARs than conventional methods, regardless type of objects. Furthermore, the experiments using a real mobile robot has shown that our proposed noise removal module can eliminate noise more precisely than conventional methods, and the estimated extrinsic parameters have successfully created consistent 3D maps.

Effective multi-robot teams require the ability to move to goals in complex environments in order to address real-world applications such as search and rescue. Multi-robot teams should be able to operate in a completely decentralized manner, with individual robot team members being capable of acting without explicit communication between neighbors. In this paper, we propose a novel game theoretic model that enables decentralized and communication-free navigation to a goal position. Robots each play their own distributed game by estimating the behavior of their local teammates in order to identify behaviors that move them in the direction of the goal, while also avoiding obstacles and maintaining team cohesion without collisions. We prove theoretically that generated actions approach a Nash equilibrium, which also corresponds to an optimal strategy identified for each robot. We show through extensive simulations that our approach enables decentralized and communication-free navigation by a multi-robot system to a goal position, and is able to avoid obstacles and collisions, maintain connectivity, and respond robustly to sensor noise.

The new era of technology has brought us to the point where it is convenient for people to share their opinions over an abundance of platforms. These platforms have a provision for the users to express themselves in multiple forms of representations, including text, images, videos, and audio. This, however, makes it difficult for users to obtain all the key information about a topic, making the task of automatic multi-modal summarization (MMS) essential. In this paper, we present a comprehensive survey of the existing research in the area of MMS.

Heterogeneous graph neural networks (HGNNs) as an emerging technique have shown superior capacity of dealing with heterogeneous information network (HIN). However, most HGNNs follow a semi-supervised learning manner, which notably limits their wide use in reality since labels are usually scarce in real applications. Recently, contrastive learning, a self-supervised method, becomes one of the most exciting learning paradigms and shows great potential when there are no labels. In this paper, we study the problem of self-supervised HGNNs and propose a novel co-contrastive learning mechanism for HGNNs, named HeCo. Different from traditional contrastive learning which only focuses on contrasting positive and negative samples, HeCo employs cross-viewcontrastive mechanism. Specifically, two views of a HIN (network schema and meta-path views) are proposed to learn node embeddings, so as to capture both of local and high-order structures simultaneously. Then the cross-view contrastive learning, as well as a view mask mechanism, is proposed, which is able to extract the positive and negative embeddings from two views. This enables the two views to collaboratively supervise each other and finally learn high-level node embeddings. Moreover, two extensions of HeCo are designed to generate harder negative samples with high quality, which further boosts the performance of HeCo. Extensive experiments conducted on a variety of real-world networks show the superior performance of the proposed methods over the state-of-the-arts.

Recommender systems play a crucial role in mitigating the problem of information overload by suggesting users' personalized items or services. The vast majority of traditional recommender systems consider the recommendation procedure as a static process and make recommendations following a fixed strategy. In this paper, we propose a novel recommender system with the capability of continuously improving its strategies during the interactions with users. We model the sequential interactions between users and a recommender system as a Markov Decision Process (MDP) and leverage Reinforcement Learning (RL) to automatically learn the optimal strategies via recommending trial-and-error items and receiving reinforcements of these items from users' feedbacks. In particular, we introduce an online user-agent interacting environment simulator, which can pre-train and evaluate model parameters offline before applying the model online. Moreover, we validate the importance of list-wise recommendations during the interactions between users and agent, and develop a novel approach to incorporate them into the proposed framework LIRD for list-wide recommendations. The experimental results based on a real-world e-commerce dataset demonstrate the effectiveness of the proposed framework.