Jerk-constrained trajectories offer a wide range of advantages that collectively improve the performance of robotic systems, including increased energy efficiency, durability, and safety. In this paper, we present a novel approach to jerk-constrained time-optimal trajectory planning (TOTP), which follows a specified path while satisfying up to third-order constraints to ensure safety and smooth motion. One significant challenge in jerk-constrained TOTP is a non-convex formulation arising from the inclusion of third-order constraints. Approximating inequality constraints can be particularly challenging because the resulting solutions may violate the actual constraints. We address this problem by leveraging convexity within the proposed formulation to form conservative inequality constraints. We then obtain the desired trajectories by solving an $\boldsymbol n$-dimensional Sequential Linear Program (SLP) iteratively until convergence. Lastly, we evaluate in a real robot the performance of trajectories generated with and without jerk limits in terms of peak power, torque efficiency, and tracking capability.
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We address data-driven learning of the infinitesimal generator of stochastic diffusion processes, essential for understanding numerical simulations of natural and physical systems. The unbounded nature of the generator poses significant challenges, rendering conventional analysis techniques for Hilbert-Schmidt operators ineffective. To overcome this, we introduce a novel framework based on the energy functional for these stochastic processes. Our approach integrates physical priors through an energy-based risk metric in both full and partial knowledge settings. We evaluate the statistical performance of a reduced-rank estimator in reproducing kernel Hilbert spaces (RKHS) in the partial knowledge setting. Notably, our approach provides learning bounds independent of the state space dimension and ensures non-spurious spectral estimation. Additionally, we elucidate how the distortion between the intrinsic energy-induced metric of the stochastic diffusion and the RKHS metric used for generator estimation impacts the spectral learning bounds.
With the advent of supercomputers, multi-processor environments and parallel-in-time (PinT) algorithms offer ways to solve initial value problems for ordinary and partial differential equations (ODEs and PDEs) over long time intervals, a task often unfeasible with sequential solvers within realistic time frames. A recent approach, GParareal, combines Gaussian Processes with traditional PinT methodology (Parareal) to achieve faster parallel speed-ups. The method is known to outperform Parareal for low-dimensional ODEs and a limited number of computer cores. Here, we present Nearest Neighbors GParareal (nnGParareal), a novel data-enriched PinT integration algorithm. nnGParareal builds upon GParareal by improving its scalability properties for higher-dimensional systems and increased processor count. Through data reduction, the model complexity is reduced from cubic to log-linear in the sample size, yielding a fast and automated procedure to integrate initial value problems over long time intervals. First, we provide both an upper bound for the error and theoretical details on the speed-up benefits. Then, we empirically illustrate the superior performance of nnGParareal, compared to GParareal and Parareal, on nine different systems with unique features (e.g., stiff, chaotic, high-dimensional, or challenging-to-learn systems).
To support maintenance and servicing of industrial machines, service processes are even today often performed manually and analogously, although supportive technologies such as augmented reality, virtual reality and digital platforms already exist. In many cases, neither technicians on-site nor remote experts have all the essential information and options for suitable actions available. Existing service products and platforms do not cover all the required functions in practice in order to map end-to-end processes. PLASMA is a concept for a Cloud-based remote maintenance platform designed to meet these demands. But for a real-life implementation of PLASMA, security measures are essential as we show in this paper.
Current advancements in technology have focused the attention of the quantum computing community toward exploring the potential of near-term devices whose computing power surpasses that of classical computers in practical applications. An unresolved central question revolves around whether the inherent noise in these devices can be overcome or whether any potential quantum advantage would be limited. There is no doubt that crosstalk is one of the main sources of noise in noisy intermediate-scale quantum (NISQ) systems, and it poses a fundamental challenge to hardware designs. Crosstalk between parallel instructions can corrupt quantum states and cause incorrect program execution. In this study, we present a necessary analysis of the crosstalk error effect on NISQ devices. Our approach is extremely straightforward and practical to estimate the crosstalk error of various multi-qubit devices. In particular, we combine the randomized benchmarking (RB) and simultaneous randomized benchmarking (SRB) protocol to estimate the crosstalk error from the correlation controlled-NOT (CNOT) gate. We demonstrate this protocol experimentally on 5-, 7-, \& 16-qubit devices. Our results demonstrate the crosstalk error model of three different IBM quantum devices over the experimental week and compare the error variation against the machine, number of qubits, quantum volume, processor, and topology. We then confirm the improvement in the circuit fidelity on different benchmarks by up to 3.06x via inserting an instruction barrier, as compared with an IBM quantum noisy device which offers near-optimal crosstalk mitigation in practice. Finally, we discuss the current system limitation, its tradeoff on fidelity and depth, noise beyond the NISQ system, and mitigation opportunities to ensure that the quantum operation can perform its quantum magic undisturbed.
Existing debiasing techniques are typically training-based or require access to the model's internals and output distributions, so they are inaccessible to end-users looking to adapt LLM outputs for their particular needs. In this study, we examine whether structured prompting techniques can offer opportunities for fair text generation. We evaluate a comprehensive end-user-focused iterative framework of debiasing that applies System 2 thinking processes for prompts to induce logical, reflective, and critical text generation, with single, multi-step, instruction, and role-based variants. By systematically evaluating many LLMs across many datasets and different prompting strategies, we show that the more complex System 2-based Implicative Prompts significantly improve over other techniques demonstrating lower mean bias in the outputs with competitive performance on the downstream tasks. Our work offers research directions for the design and the potential of end-user-focused evaluative frameworks for LLM use.
According to many researchers, conceptual model (CM) development is a hard task, and system requirements are difficult to collect, causing many miscommunication problems. CMs require more than modeling ability alone - they first require an understanding of the targeted domain that the model attempts to represent. Accordingly, a preconceptual modeling (pre-CM) stage is intended to address ontological issues before typical CM development is initiated. It involves defining a portion of reality when entities and processes are differentiated and integrated as unified wholes. This pre-CM phase forms the focus of research in this paper. The purpose is not show how to model; rather, it is to demonstrate how to establish a metaphysical basis of the involved portion of reality. To demonstrate such a venture, we employ the so-called thinging machine (TM) modeling that has been proposed as a high-level CM. A TM model integrates staticity and dynamism grounded in a fundamental construct called a thimac (things/machine). It involves two modes of reality, existence (events) and subsistence (regions - roughly, specifications of things and processes). Currently, the dominant approach in CM has evolved to limit its scope of application to develop ontological categorization (types of things). In the TM approach, pre-CM metaphysics is viewed as a part and parcel of CM itself. The general research problem is how to map TM constructs to what is out there in the targeted domain. Discussions involve the nature of thimacs (things and processes) and subsistence and existence as they are superimposed over each other in reality. Specifically, we make two claims, (a) the perceptibility of regions as a phenomenon and (b) the distinctiveness of existence as a construct for events. The results contribute to further the understanding of TM modeling in addition to introducing some metaphysical insights.
Safe maneuvering capability is critical for mobile robots in complex environments. However, robotic system dynamics are often time-varying, uncertain, or even unknown during the motion planning and control process. Therefore, many existing model-based reinforcement learning (RL) methods could not achieve satisfactory reliability in guaranteeing safety. To address this challenge, we propose a two-level Vector Field-guided Learning Predictive Control (VF-LPC) approach that guarantees safe maneuverability. The first level, the guiding level, generates safe desired trajectories using the designed kinodynamic guiding vector field, enabling safe motion in obstacle-dense environments. The second level, the Integrated Motion Planning and Control (IMPC) level, first uses the deep Koopman operator to learn a nominal dynamics model offline and then updates the model uncertainties online using sparse Gaussian processes (GPs). The learned dynamics and game-based safe barrier function are then incorporated into the learning predictive control framework to generate near-optimal control sequences. We conducted tests to compare the performance of VF-LPC with existing advanced planning methods in an obstacle-dense environment. The simulation results show that it can generate feasible trajectories quickly. Then, VF-LPC is evaluated against motion planning methods that employ model predictive control (MPC) and RL in high-fidelity CarSim software. The results show that VF-LPC outperforms them under metrics of completion time, route length, and average solution time. We also carried out path-tracking control tests on a racing road to validate the model uncertainties learning capability. Finally, we conducted real-world experiments on a Hongqi E-HS3 vehicle, further validating the VF-LPC approach's effectiveness.
Double descent presents a counter-intuitive aspect within the machine learning domain, and researchers have observed its manifestation in various models and tasks. While some theoretical explanations have been proposed for this phenomenon in specific contexts, an accepted theory for its occurring mechanism in deep learning remains yet to be established. In this study, we revisited the phenomenon of double descent and discussed the conditions of its occurrence. This paper introduces the concept of class-activation matrices and a methodology for estimating the effective complexity of functions, on which we unveil that over-parameterized models exhibit more distinct and simpler class patterns in hidden activations compared to under-parameterized ones. We further looked into the interpolation of noisy labelled data among clean representations and demonstrated overfitting w.r.t. expressive capacity. By comprehensively analysing hypotheses and presenting corresponding empirical evidence that either validates or contradicts these hypotheses, we aim to provide fresh insights into the phenomenon of double descent and benign over-parameterization and facilitate future explorations. By comprehensively studying different hypotheses and the corresponding empirical evidence either supports or challenges these hypotheses, our goal is to offer new insights into the phenomena of double descent and benign over-parameterization, thereby enabling further explorations in the field. The source code is available at //github.com/Yufei-Gu-451/sparse-generalization.git.
Care-giving and assistive robotics, driven by advancements in AI, offer promising solutions to meet the growing demand for care, particularly in the context of increasing numbers of individuals requiring assistance. This creates a pressing need for efficient and safe assistive devices, particularly in light of heightened demand due to war-related injuries. While cost has been a barrier to accessibility, technological progress is able to democratize these solutions. Safety remains a paramount concern, especially given the intricate interactions between assistive robots and humans. This study explores the application of reinforcement learning (RL) and imitation learning, in improving policy design for assistive robots. The proposed approach makes the risky policies safer without additional environmental interactions. Through experimentation using simulated environments, the enhancement of the conventional RL approaches in tasks related to assistive robotics is demonstrated.
In pace with developments in the research field of artificial intelligence, knowledge graphs (KGs) have attracted a surge of interest from both academia and industry. As a representation of semantic relations between entities, KGs have proven to be particularly relevant for natural language processing (NLP), experiencing a rapid spread and wide adoption within recent years. Given the increasing amount of research work in this area, several KG-related approaches have been surveyed in the NLP research community. However, a comprehensive study that categorizes established topics and reviews the maturity of individual research streams remains absent to this day. Contributing to closing this gap, we systematically analyzed 507 papers from the literature on KGs in NLP. Our survey encompasses a multifaceted review of tasks, research types, and contributions. As a result, we present a structured overview of the research landscape, provide a taxonomy of tasks, summarize our findings, and highlight directions for future work.
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