Controlling marine vehicles in challenging environments is a complex task due to the presence of nonlinear hydrodynamics and uncertain external disturbances. Despite nonlinear model predictive control (MPC) showing potential in addressing these issues, its practical implementation is often constrained by computational limitations. In this paper, we propose an efficient controller for trajectory tracking of marine vehicles by employing a convex error-state MPC on the Lie group. By leveraging the inherent geometric properties of the Lie group, we can construct globally valid error dynamics and formulate a quadratic programming-based optimization problem. Our proposed MPC demonstrates effectiveness in trajectory tracking through extensive-numerical simulations, including scenarios involving ocean currents. Notably, our method substantially reduces computation time compared to nonlinear MPC, making it well-suited for real-time control applications with long prediction horizons or involving small marine vehicles.
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Understanding terrain topology at long-range is crucial for the success of off-road robotic missions, especially when navigating at high-speeds. LiDAR sensors, which are currently heavily relied upon for geometric mapping, provide sparse measurements when mapping at greater distances. To address this challenge, we present a novel learning-based approach capable of predicting terrain elevation maps at long-range using only onboard egocentric images in real-time. Our proposed method is comprised of three main elements. First, a transformer-based encoder is introduced that learns cross-view associations between the egocentric views and prior bird-eye-view elevation map predictions. Second, an orientation-aware positional encoding is proposed to incorporate the 3D vehicle pose information over complex unstructured terrain with multi-view visual image features. Lastly, a history-augmented learn-able map embedding is proposed to achieve better temporal consistency between elevation map predictions to facilitate the downstream navigational tasks. We experimentally validate the applicability of our proposed approach for autonomous offroad robotic navigation in complex and unstructured terrain using real-world offroad driving data. Furthermore, the method is qualitatively and quantitatively compared against the current state-of-the-art methods. Extensive field experiments demonstrate that our method surpasses baseline models in accurately predicting terrain elevation while effectively capturing the overall terrain topology at long-ranges. Finally, ablation studies are conducted to highlight and understand the effect of key components of the proposed approach and validate their suitability to improve offroad robotic navigation capabilities.
Sequential neural posterior estimation (SNPE) techniques have been recently proposed for dealing with simulation-based models with intractable likelihoods. They are devoted to learning the posterior from adaptively proposed simulations using neural network-based conditional density estimators. As a SNPE technique, the automatic posterior transformation (APT) method proposed by Greenberg et al. (2019) performs notably and scales to high dimensional data. However, the APT method bears the computation of an expectation of the logarithm of an intractable normalizing constant, i.e., a nested expectation. Although atomic APT was proposed to solve this by discretizing the normalizing constant, it remains challenging to analyze the convergence of learning. In this paper, we propose a nested APT method to estimate the involved nested expectation instead. This facilitates establishing the convergence analysis. Since the nested estimators for the loss function and its gradient are biased, we make use of unbiased multi-level Monte Carlo (MLMC) estimators for debiasing. To further reduce the excessive variance of the unbiased estimators, this paper also develops some truncated MLMC estimators by taking account of the trade-off between the bias and the average cost. Numerical experiments for approximating complex posteriors with multimodal in moderate dimensions are provided.
This work proposes a receding horizon coverage control approach which allows multiple autonomous aerial agents to work cooperatively in order cover the total surface area of a 3D object of interest. The cooperative coverage problem which is posed in this work as an optimal control problem, jointly optimizes the agents' kinematic and camera control inputs, while considering coupling constraints amongst the team of agents which aim at minimizing the duplication of work. To generate look-ahead coverage trajectories over a finite planning horizon, the proposed approach integrates visibility constraints into the proposed coverage controller in order to determine the visible part of the object with respect to the agents' future states. In particular, we show how non-linear and non-convex visibility determination constraints can be transformed into logical constraints which can easily be embedded into a mixed integer optimization program.
Autonomous underwater vehicles are specialized platforms engineered for deep underwater operations. Critical to their functionality is autonomous navigation, typically relying on an inertial navigation system and a Doppler velocity log. In real-world scenarios, incomplete Doppler velocity log measurements occur, resulting in positioning errors and mission aborts. To cope with such situations, a model and learning approaches were derived. This paper presents a comparative analysis of two cutting-edge deep learning methodologies, namely LiBeamsNet and MissBeamNet, alongside a model-based average estimator. These approaches are evaluated for their efficacy in regressing missing Doppler velocity log beams when two beams are unavailable. In our study, we used data recorded by a DVL mounted on an autonomous underwater vehicle operated in the Mediterranean Sea. We found that both deep learning architectures outperformed model-based approaches by over 16% in velocity prediction accuracy.
Motion prediction for intelligent vehicles typically focuses on estimating the most probable future evolutions of a traffic scenario. Estimating the gap acceptance, i.e., whether a vehicle merges or crosses before another vehicle with the right of way, is often handled implicitly in the prediction. However, an infrastructure-based maneuver planning can assign artificial priorities between cooperative vehicles, so it needs to evaluate many more potential scenarios. Additionally, the prediction horizon has to be long enough to assess the impact of a maneuver. We, therefore, present a novel long-term prediction approach handling the gap acceptance estimation and the velocity prediction in two separate stages. Thereby, the behavior of regular vehicles as well as priority assignments of cooperative vehicles can be considered. We train both stages on real-world traffic observations to achieve realistic prediction results. Our method has a competitive accuracy and is fast enough to predict a multitude of scenarios in a short time, making it suitable to be used in a maneuver planning framework.
E-commerce platforms rely on structured product descriptions, in the form of attribute/value pairs to enable features such as faceted product search and product comparison. However, vendors on these platforms often provide unstructured product descriptions consisting of a title and a textual description. To process such offers, e-commerce platforms must extract attribute/value pairs from the unstructured descriptions. State-of-the-art attribute/value extraction methods based on pre-trained language models (PLMs), such as BERT, face two drawbacks (i) the methods require significant amounts of task-specific training data and (ii) the fine-tuned models have problems to generalize to attribute values that were not part of the training data. We explore the potential of using large language models (LLMs) as a more training data-efficient and more robust alternative to existing attribute/value extraction methods. We propose different prompt templates for instructing LLMs about the target schema of the extraction, covering both zero-shot and few-shot scenarios. In the zero-shot scenario, textual and JSON-based approaches for representing information about the target attributes are compared. In the scenario with training data, we investigate (i) the provision of example attribute values, (ii) the selection of in-context demonstrations, (iii) shuffled ensembling to prevent position bias, and (iv) fine-tuning the LLM. The prompt templates are evaluated in combination with hosted LLMs, such as GPT-3.5 and GPT-4, and open-source LLMs based on Llama2 which can be run locally. The best average F1-score of 86% was reached by GPT-4 using an ensemble of shuffled prompts that combine attribute names, attribute descriptions, example values, and demonstrations. Given the same amount of training data, this prompt/model combination outperforms the best PLM baseline by an average of 6% F1.
Recent semantic communication methods explore effective ways to expand the communication paradigm and improve the system performance of the communication systems. Nonetheless, the common problem of these methods is that the essence of semantics is not explicitly pointed out and directly utilized. A new epistemology suggests that synonymy, which is revealed as the fundamental feature of semantics, guides the establishment of the semantic information theory from a novel viewpoint. Building on this theoretical basis, this paper proposes a semantic arithmetic coding (SAC) method for semantic lossless compression using intuitive semantic synonymy. By constructing reasonable synonymous mappings and performing arithmetic coding procedures over synonymous sets, SAC can achieve higher compression efficiency for meaning-contained source sequences at the semantic level and thereby approximate the semantic entropy limits. Experimental results on edge texture map compression show an evident improvement in coding efficiency using SAC without semantic losses, compared to traditional arithmetic coding, which demonstrates its effectiveness.
Randomized controlled trials (RCTs) serve as the cornerstone for understanding causal effects, yet extending inferences to target populations presents challenges due to effect heterogeneity and underrepresentation. Our paper addresses the critical issue of identifying and characterizing underrepresented subgroups in RCTs, proposing a novel framework for refining target populations to improve generalizability. We introduce an optimization-based approach, Rashomon Set of Optimal Trees (ROOT), to characterize underrepresented groups. ROOT optimizes the target subpopulation distribution by minimizing the variance of the target average treatment effect estimate, ensuring more precise treatment effect estimations. Notably, ROOT generates interpretable characteristics of the underrepresented population, aiding researchers in effective communication. Our approach demonstrates improved precision and interpretability compared to alternatives, as illustrated with synthetic data experiments. We apply our methodology to extend inferences from the Starting Treatment with Agonist Replacement Therapies (START) trial -- investigating the effectiveness of medication for opioid use disorder -- to the real-world population represented by the Treatment Episode Dataset: Admissions (TEDS-A). By refining target populations using ROOT, our framework offers a systematic approach to enhance decision-making accuracy and inform future trials in diverse populations.
Leveraging sensing modalities across diverse spatial and temporal resolutions can improve performance of robotic manipulation tasks. Multi-spatial resolution sensing provides hierarchical information captured at different spatial scales and enables both coarse and precise motions. Simultaneously multi-temporal resolution sensing enables the agent to exhibit high reactivity and real-time control. In this work, we propose a framework, MResT (Multi-Resolution Transformer), for learning generalizable language-conditioned multi-task policies that utilize sensing at different spatial and temporal resolutions using networks of varying capacities to effectively perform real time control of precise and reactive tasks. We leverage off-the-shelf pretrained vision-language models to operate on low-frequency global features along with small non-pretrained models to adapt to high frequency local feedback. Through extensive experiments in 3 domains (coarse, precise and dynamic manipulation tasks), we show that our approach significantly improves (2X on average) over recent multi-task baselines. Further, our approach generalizes well to visual and geometric variations in target objects and to varying interaction forces.
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.
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