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The capability to autonomously track a non-cooperative target is a key technological requirement for micro aerial vehicles. In this paper, we propose an output feedback control scheme based on deep reinforcement learning for controlling a micro aerial vehicle to persistently track a flying target while maintaining visual contact. The proposed method leverages relative position data for control, relaxing the assumption of having access to full state information which is typical of related approaches in literature. Moreover, we exploit classical robustness indicators in the learning process through domain randomization to increase the robustness of the learned policy. Experimental results validate the proposed approach for target tracking, demonstrating high performance and robustness with respect to mass mismatches and control delays. The resulting nonlinear controller significantly outperforms a standard model-based design in numerous off-nominal scenarios.

Text-to-image diffusion techniques have shown exceptional capability of producing high-quality images from text descriptions. This indicates that there exists a strong correlation between the visual and textual domains. In addition, text-image discriminative models such as CLIP excel in image labelling from text prompts, thanks to the rich and diverse information available from open concepts. In this paper, we leverage these technical advances to solve a challenging problem in computer vision: camouflaged instance segmentation. Specifically, we propose a method built upon a state-of-the-art diffusion model, empowered by open-vocabulary to learn multi-scale textual-visual features for camouflaged object representations. Such cross-domain representations are desirable in segmenting camouflaged objects where visual cues are subtle to distinguish the objects from the background, especially in segmenting novel objects which are not seen in training. We also develop technically supportive components to effectively fuse cross-domain features and engage relevant features towards respective foreground objects. We validate our method and compare it with existing ones on several benchmark datasets of camouflaged instance segmentation and generic open-vocabulary instance segmentation. Experimental results confirm the advances of our method over existing ones. We will publish our code and pre-trained models to support future research.

Safe operations of UAVs are of paramount importance for various mission-critical and safety-critical UAV applications. In context of airborne target tracking and following, UAVs need to track a flying target avoiding collision and also closely follow its trajectory. The safety situation becomes critical and more complex when the flying target is non-cooperative and has erratic movements. This paper proposes a method for collision avoidance in an autonomous fast moving dynamic quadrotor UAV tracking and following another target UAV. This is achieved by designing a safety controller that minimally modifies the control input from a trajectory tracking controller and guarantees safety. This method enables pairing our proposed safety controller with already existing flight controllers. Our safety controller uses a control barrier function based quadratic program (CBF-QP) to produce an optimal control input enabling safe operation while also follow the trajectory of the target closely. We implement our solution on AirSim simulator over PX4 flight controller and with numerical results, we validate our approach through several simulation experiments with multiple scenarios and trajectories.

Making decisions is a great challenge in distributed autonomous environments due to enormous state spaces and uncertainty. Many online planning algorithms rely on statistical sampling to avoid searching the whole state space, while still being able to make acceptable decisions. However, planning often has to be performed under strict computational constraints making online planning in multi-agent systems highly limited, which could lead to poor system performance, especially in stochastic domains. In this paper, we propose Emergent Value function Approximation for Distributed Environments (EVADE), an approach to integrate global experience into multi-agent online planning in stochastic domains to consider global effects during local planning. For this purpose, a value function is approximated online based on the emergent system behaviour by using methods of reinforcement learning. We empirically evaluated EVADE with two statistical multi-agent online planning algorithms in a highly complex and stochastic smart factory environment, where multiple agents need to process various items at a shared set of machines. Our experiments show that EVADE can effectively improve the performance of multi-agent online planning while offering efficiency w.r.t. the breadth and depth of the planning process.

Humanoid robots will be able to assist humans in their daily life, in particular due to their versatile action capabilities. However, while these robots need a certain degree of autonomy to learn and explore, they also should respect various constraints, for access control and beyond. We explore the novel field of incorporating privacy, security, and access control constraints with robot task planning approaches. We report preliminary results on the classical symbolic approach, deep-learned neural networks, and modern ideas using large language models as knowledge base. From analyzing their trade-offs, we conclude that a hybrid approach is necessary, and thereby present a new use case for the emerging field of neuro-symbolic artificial intelligence.

Creating written products is essential to modern life, including writings about one's identity and personal experiences. However, writing is often a difficult activity that requires extensive effort to frame the central ideas, the pursued approach to communicate the central ideas, e.g., using analogies, metaphors, or other possible means, the needed presentation structure, and the actual verbal expression. Large Language Models, a recently emerged approach in Machine Learning, can offer a significant help in reducing the effort and improving the quality of written products. This paper proposes a new computational approach to explore prompts that given as inputs to a Large Language Models can generate cues to improve the considered written products. Two case studies on improving write-ups, one based on an analogy and one on a metaphor, are also presented in the paper.

In modern computer networks where sophisticated cyber attacks occur daily, a timely cyber risk assessment becomes paramount. Attack Graph (AG) represents the best-suited solution to model and analyze multi-step attacks on computer networks, although they suffer from poor scalability due to their combinatorial complexity. This paper introduces an analysis-driven framework for AG generation. It enables real-time attack path analysis before the completion of the AG generation with a quantifiable statistical significance. We further accelerate the AG generation by steering it with the analysis query and supporting a novel workflow in which the analyst can query the system anytime. To show the capabilities of the proposed framework, we perform an extensive quantitative validation and we present a realistic case study on networks of unprecedented size. It demonstrates the advantages of our approach in terms of scalability and fitting to common attack path analyses.

Robot manipulation relies on accurately predicting contact points and end-effector directions to ensure successful operation. However, learning-based robot manipulation, trained on a limited category within a simulator, often struggles to achieve generalizability, especially when confronted with extensive categories. Therefore, we introduce an innovative approach for robot manipulation that leverages the robust reasoning capabilities of Multimodal Large Language Models (MLLMs) to enhance the stability and generalization of manipulation. By fine-tuning the injected adapters, we preserve the inherent common sense and reasoning ability of the MLLMs while equipping them with the ability for manipulation. The fundamental insight lies in the introduced fine-tuning paradigm, encompassing object category understanding, affordance prior reasoning, and object-centric pose prediction to stimulate the reasoning ability of MLLM in manipulation. During inference, our approach utilizes an RGB image and text prompt to predict the end effector's pose in chain of thoughts. After the initial contact is established, an active impedance adaptation policy is introduced to plan the upcoming waypoints in a closed-loop manner. Moreover, in real world, we design a test-time adaptation (TTA) strategy for manipulation to enable the model better adapt to the current real-world scene configuration. Experiments in simulator and real-world show the promising performance of ManipLLM. More details and demonstrations can be found at //sites.google.com/view/manipllm.

Randomized controlled trials generate experimental variation that can credibly identify causal effects, but often suffer from limited scale, while observational datasets are large, but often violate desired identification assumptions. To improve estimation efficiency, I propose a method that leverages imperfect instruments - pretreatment covariates that satisfy the relevance condition but may violate the exclusion restriction. I show that these imperfect instruments can be used to derive moment restrictions that, in combination with the experimental data, improve estimation efficiency. I outline estimators for implementing this strategy, and show that my methods can reduce variance by up to 50%; therefore, only half of the experimental sample is required to attain the same statistical precision. I apply my method to a search listing dataset from Expedia that studies the causal effect of search rankings on clicks, and show that the method can substantially improve the precision.

Human-in-the-loop aims to train an accurate prediction model with minimum cost by integrating human knowledge and experience. Humans can provide training data for machine learning applications and directly accomplish some tasks that are hard for computers in the pipeline with the help of machine-based approaches. In this paper, we survey existing works on human-in-the-loop from a data perspective and classify them into three categories with a progressive relationship: (1) the work of improving model performance from data processing, (2) the work of improving model performance through interventional model training, and (3) the design of the system independent human-in-the-loop. Using the above categorization, we summarize major approaches in the field, along with their technical strengths/ weaknesses, we have simple classification and discussion in natural language processing, computer vision, and others. Besides, we provide some open challenges and opportunities. This survey intends to provide a high-level summarization for human-in-the-loop and motivates interested readers to consider approaches for designing effective human-in-the-loop solutions.