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In this paper, we present Misaka, a visualized swarm testbed for smart grid algorithm evaluation, also an extendable open-source open-hardware platform for developing tabletop tangible swarm interfaces. The platform consists of a collection of custom-designed 3 omni-directional wheels robots each 10 cm in diameter, high accuracy localization through a microdot pattern overlaid on top of the activity sheets, and a software framework for application development and control, while remaining affordable (per unit cost about 30 USD at the prototype stage). We illustrate the potential of tabletop swarm user interfaces through a set of smart grid algorithm application scenarios developed with Misaka.

In this paper we argue that conventional unitary-invariant measures of recommender system (RS) performance based on measuring differences between predicted ratings and actual user ratings fail to assess fundamental RS properties. More specifically, posing the optimization problem as one of predicting exact user ratings provides only an indirect suboptimal approximation for what RS applications typically need, which is an ability to accurately predict user preferences. We argue that scalar measures such as RMSE and MAE with respect to differences between actual and predicted ratings are only proxies for measuring RS ability to accurately estimate user preferences. We propose what we consider to be a measure that is more fundamentally appropriate for assessing RS performance, rank-preference consistency, which simply counts the number of prediction pairs that are inconsistent with the user's expressed product preferences. For example, if an RS predicts the user will prefer product A over product B, but the user's withheld ratings indicate s/he prefers product B over A, then rank-preference consistency has been violated. Our test results conclusively demonstrate that methods tailored to optimize arbitrary measures such as RMSE are not generally effective at accurately predicting user preferences. Thus, we conclude that conventional methods used for assessing RS performance are arbitrary and misleading.

This paper presents a solution to address carbon emission mitigation for end-to-end edge computing systems, including the computing at battery-powered edge devices and servers, as well as the communications between them. We design and implement, CarbonCP, a context-adaptive, carbon-aware, and uncertainty-aware AI inference framework built upon conformal prediction theory, which balances operational carbon emissions, end-to-end latency, and battery consumption of edge devices through DNN partitioning under varying system processing contexts and carbon intensity. Our experimental results demonstrate that CarbonCP is effective in substantially reducing operational carbon emissions, up to 58.8%, while maintaining key user-centric performance metrics with only 9.9% error rate.

In this paper, we propose a novel approach to address the problem of camera and radar sensor fusion for 3D object detection in autonomous vehicle perception systems. Our approach builds on recent advances in deep learning and leverages the strengths of both sensors to improve object detection performance. Precisely, we extract 2D features from camera images using a state-of-the-art deep learning architecture and then apply a novel Cross-Domain Spatial Matching (CDSM) transformation method to convert these features into 3D space. We then fuse them with extracted radar data using a complementary fusion strategy to produce a final 3D object representation. To demonstrate the effectiveness of our approach, we evaluate it on the NuScenes dataset. We compare our approach to both single-sensor performance and current state-of-the-art fusion methods. Our results show that the proposed approach achieves superior performance over single-sensor solutions and could directly compete with other top-level fusion methods.

In this paper, we address the problem of enclosing an arbitrarily moving target in three dimensions by a single pursuer, which is an unmanned aerial vehicle (UAV), for maximum coverage while also ensuring the pursuer's safety by preventing collisions with the target. The proposed guidance strategy steers the pursuer to a safe region of space surrounding the target, allowing it to maintain a certain distance from the latter while offering greater flexibility in positioning and converging to any orbit within this safe zone. Our approach is distinguished by the use of nonholonomic constraints to model vehicles with accelerations serving as control inputs and coupled engagement kinematics to craft the pursuer's guidance law meticulously. Furthermore, we leverage the concept of the Lyapunov Barrier Function as a powerful tool to constrain the distance between the pursuer and the target within asymmetric bounds, thereby ensuring the pursuer's safety within the predefined region. To validate the efficacy and robustness of our algorithm, we conduct experimental tests by implementing a high-fidelity quadrotor model within Software-in-the-loop (SITL) simulations, encompassing various challenging target maneuver scenarios. The results obtained showcase the resilience of the proposed guidance law, effectively handling arbitrarily maneuvering targets, vehicle/autopilot dynamics, and external disturbances. Our method consistently delivers stable global enclosing behaviors, even in response to aggressive target maneuvers, and requires only relative information for successful execution.

Procedural noise is a fundamental component of computer graphics pipelines, offering a flexible way to generate textures that exhibit "natural" random variation. Many different types of noise exist, each produced by a separate algorithm. In this paper, we present a single generative model which can learn to generate multiple types of noise as well as blend between them. In addition, it is capable of producing spatially-varying noise blends despite not having access to such data for training. These features are enabled by training a denoising diffusion model using a novel combination of data augmentation and network conditioning techniques. Like procedural noise generators, the model's behavior is controllable via interpretable parameters and a source of randomness. We use our model to produce a variety of visually compelling noise textures. We also present an application of our model to improving inverse procedural material design; using our model in place of fixed-type noise nodes in a procedural material graph results in higher-fidelity material reconstructions without needing to know the type of noise in advance.

When a robot executes a task, it is necessary to model the relationship among its body, target objects, tools, and environment, and to control its body to realize the target state. However, it is difficult to model them using classical methods if the relationship is complex. In addition, when the relationship changes with time, it is necessary to deal with the temporal changes of the model. In this study, we have developed Deep Predictive Model with Parametric Bias (DPMPB) as a more human-like adaptive intelligence to deal with these modeling difficulties and temporal model changes. We categorize and summarize the theory of DPMPB and various task experiments on the actual robots, and discuss the effectiveness of DPMPB.

In this work, we aim to learn a unified vision-based policy for a multi-fingered robot hand to manipulate different objects in diverse poses. Though prior work has demonstrated that human videos can benefit policy learning, performance improvement has been limited by physically implausible trajectories extracted from videos. Moreover, reliance on privileged object information such as ground-truth object states further limits the applicability in realistic scenarios. To address these limitations, we propose a new framework ViViDex to improve vision-based policy learning from human videos. It first uses reinforcement learning with trajectory guided rewards to train state-based policies for each video, obtaining both visually natural and physically plausible trajectories from the video. We then rollout successful episodes from state-based policies and train a unified visual policy without using any privileged information. A coordinate transformation method is proposed to significantly boost the performance. We evaluate our method on three dexterous manipulation tasks and demonstrate a large improvement over state-of-the-art algorithms.

Link prediction is a very fundamental task on graphs. Inspired by traditional path-based methods, in this paper we propose a general and flexible representation learning framework based on paths for link prediction. Specifically, we define the representation of a pair of nodes as the generalized sum of all path representations, with each path representation as the generalized product of the edge representations in the path. Motivated by the Bellman-Ford algorithm for solving the shortest path problem, we show that the proposed path formulation can be efficiently solved by the generalized Bellman-Ford algorithm. To further improve the capacity of the path formulation, we propose the Neural Bellman-Ford Network (NBFNet), a general graph neural network framework that solves the path formulation with learned operators in the generalized Bellman-Ford algorithm. The NBFNet parameterizes the generalized Bellman-Ford algorithm with 3 neural components, namely INDICATOR, MESSAGE and AGGREGATE functions, which corresponds to the boundary condition, multiplication operator, and summation operator respectively. The NBFNet is very general, covers many traditional path-based methods, and can be applied to both homogeneous graphs and multi-relational graphs (e.g., knowledge graphs) in both transductive and inductive settings. Experiments on both homogeneous graphs and knowledge graphs show that the proposed NBFNet outperforms existing methods by a large margin in both transductive and inductive settings, achieving new state-of-the-art results.

In this paper, we present a new method for detecting road users in an urban environment which leads to an improvement in multiple object tracking. Our method takes as an input a foreground image and improves the object detection and segmentation. This new image can be used as an input to trackers that use foreground blobs from background subtraction. The first step is to create foreground images for all the frames in an urban video. Then, starting from the original blobs of the foreground image, we merge the blobs that are close to one another and that have similar optical flow. The next step is extracting the edges of the different objects to detect multiple objects that might be very close (and be merged in the same blob) and to adjust the size of the original blobs. At the same time, we use the optical flow to detect occlusion of objects that are moving in opposite directions. Finally, we make a decision on which information we keep in order to construct a new foreground image with blobs that can be used for tracking. The system is validated on four videos of an urban traffic dataset. Our method improves the recall and precision metrics for the object detection task compared to the vanilla background subtraction method and improves the CLEAR MOT metrics in the tracking tasks for most videos.