This paper addresses the problem of safety-critical control of autonomous robots, considering the ubiquitous uncertainties arising from unmodeled dynamics and noisy sensors. To take into account these uncertainties, probabilistic state estimators are often deployed to obtain a belief over possible states. Namely, Particle Filters (PFs) can handle arbitrary non-Gaussian distributions in the robot's state. In this work, we define the belief state and belief dynamics for continuous-discrete PFs and construct safe sets in the underlying belief space. We design a controller that provably keeps the robot's belief state within this safe set. As a result, we ensure that the risk of the unknown robot's state violating a safety specification, such as avoiding a dangerous area, is bounded. We provide an open-source implementation as a ROS2 package and evaluate the solution in simulations and hardware experiments involving high-dimensional belief spaces.
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Generalizable articulated object manipulation is essential for home-assistant robots. Recent efforts focus on imitation learning from demonstrations or reinforcement learning in simulation, however, due to the prohibitive costs of real-world data collection and precise object simulation, it still remains challenging for these works to achieve broad adaptability across diverse articulated objects. Recently, many works have tried to utilize the strong in-context learning ability of Large Language Models (LLMs) to achieve generalizable robotic manipulation, but most of these researches focus on high-level task planning, sidelining low-level robotic control. In this work, building on the idea that the kinematic structure of the object determines how we can manipulate it, we propose a kinematic-aware prompting framework that prompts LLMs with kinematic knowledge of objects to generate low-level motion trajectory waypoints, supporting various object manipulation. To effectively prompt LLMs with the kinematic structure of different objects, we design a unified kinematic knowledge parser, which represents various articulated objects as a unified textual description containing kinematic joints and contact location. Building upon this unified description, a kinematic-aware planner model is proposed to generate precise 3D manipulation waypoints via a designed kinematic-aware chain-of-thoughts prompting method. Our evaluation spanned 48 instances across 16 distinct categories, revealing that our framework not only outperforms traditional methods on 8 seen categories but also shows a powerful zero-shot capability for 8 unseen articulated object categories. Moreover, the real-world experiments on 7 different object categories prove our framework's adaptability in practical scenarios. Code is released at \href{//github.com/GeWu-Lab/LLM_articulated_object_manipulation/tree/main}{here}.
Remote sensing and artificial intelligence are pivotal technologies of precision agriculture nowadays. The efficient retrieval of large-scale field imagery combined with machine learning techniques shows success in various tasks like phenotyping, weeding, cropping, and disease control. This work will introduce a machine learning framework for automatized large-scale plant-specific trait annotation for the use case disease severity scoring for Cercospora Leaf Spot (CLS) in sugar beet. With concepts of Deep Label Distribution Learning (DLDL), special loss functions, and a tailored model architecture, we develop an efficient Vision Transformer based model for disease severity scoring called SugarViT. One novelty in this work is the combination of remote sensing data with environmental parameters of the experimental sites for disease severity prediction. Although the model is evaluated on this special use case, it is held as generic as possible to also be applicable to various image-based classification and regression tasks. With our framework, it is even possible to learn models on multi-objective problems as we show by a pretraining on environmental metadata.
Modern policy optimization methods in reinforcement learning, such as TRPO and PPO, owe their success to the use of parameterized policies. However, while theoretical guarantees have been established for this class of algorithms, especially in the tabular setting, the use of general parameterization schemes remains mostly unjustified. In this work, we introduce a novel framework for policy optimization based on mirror descent that naturally accommodates general parameterizations. The policy class induced by our scheme recovers known classes, e.g., softmax, and generates new ones depending on the choice of mirror map. Using our framework, we obtain the first result that guarantees linear convergence for a policy-gradient-based method involving general parameterization. To demonstrate the ability of our framework to accommodate general parameterization schemes, we provide its sample complexity when using shallow neural networks, show that it represents an improvement upon the previous best results, and empirically validate the effectiveness of our theoretical claims on classic control tasks.
This paper considers the problems of detecting a change point and estimating the location in the correlation matrices of a sequence of high-dimensional vectors, where the dimension is large enough to be comparable to the sample size or even much larger. A new break test is proposed based on signflip parallel analysis to detect the existence of change points. Furthermore, a two-step approach combining a signflip permutation dimension reduction step and a CUSUM statistic is proposed to estimate the change point's location and recover the support of changes. The consistency of the estimator is constructed. Simulation examples and real data applications illustrate the superior empirical performance of the proposed methods. Especially, the proposed methods outperform existing ones for non-Gaussian data and the change point in the extreme tail of a sequence and become more accurate as the dimension p increases. Supplementary materials for this article are available online.
This paper considers the adaptation of the e-coaching concept at times of emergencies and disasters, through aiding the e-coaching with intelligent tools for monitoring humans' affective state. The states such as anxiety, panic, avoidance, and stress, if properly detected, can be mitigated using the e-coaching tactic and strategy. In this work, we focus on a stress monitoring assistant tool developed on machine learning techniques. We provide the results of an experimental study using the proposed method.
Cooperatively utilizing both ego-vehicle and infrastructure sensor data can significantly enhance autonomous driving perception abilities. However, the uncertain temporal asynchrony and limited communication conditions can lead to fusion misalignment and constrain the exploitation of infrastructure data. To address these issues in vehicle-infrastructure cooperative 3D (VIC3D) object detection, we propose the Feature Flow Net (FFNet), a novel cooperative detection framework. FFNet is a flow-based feature fusion framework that uses a feature flow prediction module to predict future features and compensate for asynchrony. Instead of transmitting feature maps extracted from still-images, FFNet transmits feature flow, leveraging the temporal coherence of sequential infrastructure frames. Furthermore, we introduce a self-supervised training approach that enables FFNet to generate feature flow with feature prediction ability from raw infrastructure sequences. Experimental results demonstrate that our proposed method outperforms existing cooperative detection methods while only requiring about 1/100 of the transmission cost of raw data and covers all latency in one model on the DAIR-V2X dataset. The code is available at \href{//github.com/haibao-yu/FFNet-VIC3D}{//github.com/haibao-yu/FFNet-VIC3D}.
This paper studies inference in randomized controlled trials with multiple treatments, where treatment status is determined according to a "matched tuples" design. Here, by a matched tuples design, we mean an experimental design where units are sampled i.i.d. from the population of interest, grouped into "homogeneous" blocks with cardinality equal to the number of treatments, and finally, within each block, each treatment is assigned exactly once uniformly at random. We first study estimation and inference for matched tuples designs in the general setting where the parameter of interest is a vector of linear contrasts over the collection of average potential outcomes for each treatment. Parameters of this form include standard average treatment effects used to compare one treatment relative to another, but also include parameters which may be of interest in the analysis of factorial designs. We first establish conditions under which a sample analogue estimator is asymptotically normal and construct a consistent estimator of its corresponding asymptotic variance. Combining these results establishes the asymptotic exactness of tests based on these estimators. In contrast, we show that, for two common testing procedures based on t-tests constructed from linear regressions, one test is generally conservative while the other generally invalid. We go on to apply our results to study the asymptotic properties of what we call "fully-blocked" 2^K factorial designs, which are simply matched tuples designs applied to a full factorial experiment. Leveraging our previous results, we establish that our estimator achieves a lower asymptotic variance under the fully-blocked design than that under any stratified factorial design which stratifies the experimental sample into a finite number of "large" strata. A simulation study and empirical application illustrate the practical relevance of our results.
Most deep learning-based models for speech enhancement have mainly focused on estimating the magnitude of spectrogram while reusing the phase from noisy speech for reconstruction. This is due to the difficulty of estimating the phase of clean speech. To improve speech enhancement performance, we tackle the phase estimation problem in three ways. First, we propose Deep Complex U-Net, an advanced U-Net structured model incorporating well-defined complex-valued building blocks to deal with complex-valued spectrograms. Second, we propose a polar coordinate-wise complex-valued masking method to reflect the distribution of complex ideal ratio masks. Third, we define a novel loss function, weighted source-to-distortion ratio (wSDR) loss, which is designed to directly correlate with a quantitative evaluation measure. Our model was evaluated on a mixture of the Voice Bank corpus and DEMAND database, which has been widely used by many deep learning models for speech enhancement. Ablation experiments were conducted on the mixed dataset showing that all three proposed approaches are empirically valid. Experimental results show that the proposed method achieves state-of-the-art performance in all metrics, outperforming previous approaches by a large margin.
Detecting carried objects is one of the requirements for developing systems to reason about activities involving people and objects. We present an approach to detect carried objects from a single video frame with a novel method that incorporates features from multiple scales. Initially, a foreground mask in a video frame is segmented into multi-scale superpixels. Then the human-like regions in the segmented area are identified by matching a set of extracted features from superpixels against learned features in a codebook. A carried object probability map is generated using the complement of the matching probabilities of superpixels to human-like regions and background information. A group of superpixels with high carried object probability and strong edge support is then merged to obtain the shape of the carried object. We applied our method to two challenging datasets, and results show that our method is competitive with or better than the state-of-the-art.
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.
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