Monitoring propeller failures is vital to maintain the safe and reliable operation of quadrotor UAVs. The simulation-to-reality UAV fault diagnosis technique offer a secure and economical approach to identify faults in propellers. However, classifiers trained with simulated data perform poorly in real flights due to the wind disturbance in outdoor scenarios. In this work, we propose an uncertainty-based fault classifier (UFC) to address the challenge of sim-to-real UAV fault diagnosis in windy scenarios. It uses the ensemble of difference-based deep convolutional neural networks (EDDCNN) to reduce model variance and bias. Moreover, it employs an uncertainty-based decision framework to filter out uncertain predictions. Experimental results demonstrate that the UFC can achieve 100% fault-diagnosis accuracy with a data usage rate of 33.6% in the windy outdoor scenario.
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Estimating a prediction function is a fundamental component of many data analyses. The Super Learner ensemble, a particular implementation of stacking, has desirable theoretical properties and has been used successfully in many applications. Dimension reduction can be accomplished by using variable screening algorithms, including the lasso, within the ensemble prior to fitting other prediction algorithms. However, the performance of a Super Learner using the lasso for dimension reduction has not been fully explored in cases where the lasso is known to perform poorly. We provide empirical results that suggest that a diverse set of candidate screening algorithms should be used to protect against poor performance of any one screen, similar to the guidance for choosing a library of prediction algorithms for the Super Learner.
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/xwinks/LLM_articulated_object_manipulation}{here}.
We present a hierarchical Bayesian pipeline, BP3M, that measures positions, parallaxes, and proper motions (PMs) for cross-matched sources between Hubble~Space~Telescope (HST) images and Gaia -- even for sparse fields ($N_*<10$ per image) -- expanding from the recent GaiaHub tool. This technique uses Gaia-measured astrometry as priors to predict the locations of sources in HST images, and is therefore able to put the HST images onto a global reference frame without the use of background galaxies/QSOs. Testing our publicly-available code in the Fornax and Draco dSphs, we measure accurate PMs that are a median of 8-13 times more precise than Gaia DR3 alone for $20.5<G<21~\mathrm{mag}$. We are able to explore the effect of observation strategies on BP3M astrometry using synthetic data, finding an optimal strategy to improve parallax and position precision at no cost to the PM uncertainty. Using 1619 HST images in the sparse COSMOS field (median 9 Gaia sources per HST image), we measure BP3M PMs for 2640 unique sources in the $16<G<21.5~\mathrm{mag}$ range, 25% of which have no Gaia PMs; the median BP3M PM uncertainty for $20.25<G<20.75~\mathrm{mag}$ sources is $0.44~$mas/yr compared to $1.03~$mas/yr from Gaia, while the median BP3M PM uncertainty for sources without Gaia-measured PMs ($20.75<G<21.5~\mathrm{mag}$) is $1.16~$mas/yr. The statistics that underpin the BP3M pipeline are a generalized way of combining position measurements from different images, epochs, and telescopes, which allows information to be shared between surveys and archives to achieve higher astrometric precision than that from each catalog alone.
The expressivity of Graph Neural Networks (GNNs) can be entirely characterized by appropriate fragments of the first-order logic. Namely, any query of the two variable fragment of graded modal logic (GC2) interpreted over labeled graphs can be expressed using a GNN whose size depends only on the depth of the query. As pointed out by [Barcelo & Al., 2020, Grohe, 2021], this description holds for a family of activation functions, leaving the possibility for a hierarchy of logics expressible by GNNs depending on the chosen activation function. In this article, we show that such hierarchy indeed exists by proving that GC2 queries cannot be expressed by GNNs with polynomial activation functions. This implies a separation between polynomial and popular non-polynomial activations (such as ReLUs, sigmoid and hyperbolic tan and others) and answers an open question formulated by [Grohe, 2021].
The evaluation of the fidelity of eXplainable Artificial Intelligence (XAI) methods to their underlying models is a challenging task, primarily due to the absence of a ground truth for explanations. However, assessing fidelity is a necessary step for ensuring a correct XAI methodology. In this study, we conduct a fair and objective comparison of the current state-of-the-art XAI methods by introducing three novel image datasets with reliable ground truth for explanations. The primary objective of this comparison is to identify methods with low fidelity and eliminate them from further research, thereby promoting the development of more trustworthy and effective XAI techniques. Our results demonstrate that XAI methods based on the backpropagation of output information to input yield higher accuracy and reliability compared to methods relying on sensitivity analysis or Class Activation Maps (CAM). However, the backpropagation method tends to generate more noisy saliency maps. These findings have significant implications for the advancement of XAI methods, enabling the elimination of erroneous explanations and fostering the development of more robust and reliable XAI.
Using fault-tolerant constructions, computations performed with unreliable components can simulate their noiseless counterparts though the introduction of a modest amount of redundancy. Given the modest overhead required to achieve fault-tolerance, and the fact that increasing the reliability of basic components often comes at a cost, are there situations where fault-tolerance may be more economical? We present a general framework to account for this overhead cost in order to effectively compare fault-tolerant to non-fault-tolerant approaches for computation, in the limit of small logical error rates. Using this detailed accounting, we determine explicit boundaries at which fault-tolerant designs become more efficient than designs that achieve comparable reliability through direct consumption of resources. We find that the fault-tolerant construction is always preferred in the limit of high reliability in cases where the resources required to construct a basic unit grows faster than $\log(1 / \epsilon)$ asymptotically for small $\epsilon$.
We study stability properties of the expected utility function in Bayesian optimal experimental design. We provide a framework for this problem in a non-parametric setting and prove a convergence rate of the expected utility with respect to a likelihood perturbation. This rate is uniform over the design space and its sharpness in the general setting is demonstrated by proving a lower bound in a special case. To make the problem more concrete we proceed by considering non-linear Bayesian inverse problems with Gaussian likelihood and prove that the assumptions set out for the general case are satisfied and regain the stability of the expected utility with respect to perturbations to the observation map. Theoretical convergence rates are demonstrated numerically in three different examples.
Generating high-quality and person-generic visual dubbing remains a challenge. Recent innovation has seen the advent of a two-stage paradigm, decoupling the rendering and lip synchronization process facilitated by intermediate representation as a conduit. Still, previous methodologies rely on rough landmarks or are confined to a single speaker, thus limiting their performance. In this paper, we propose DiffDub: Diffusion-based dubbing. We first craft the Diffusion auto-encoder by an inpainting renderer incorporating a mask to delineate editable zones and unaltered regions. This allows for seamless filling of the lower-face region while preserving the remaining parts. Throughout our experiments, we encountered several challenges. Primarily, the semantic encoder lacks robustness, constricting its ability to capture high-level features. Besides, the modeling ignored facial positioning, causing mouth or nose jitters across frames. To tackle these issues, we employ versatile strategies, including data augmentation and supplementary eye guidance. Moreover, we encapsulated a conformer-based reference encoder and motion generator fortified by a cross-attention mechanism. This enables our model to learn person-specific textures with varying references and reduces reliance on paired audio-visual data. Our rigorous experiments comprehensively highlight that our ground-breaking approach outpaces existing methods with considerable margins and delivers seamless, intelligible videos in person-generic and multilingual scenarios.
Large-sample Bayesian analogs exist for many frequentist methods, but are less well-known for the widely-used 'sandwich' or 'robust' variance estimates. We review existing approaches to Bayesian analogs of sandwich variance estimates and propose a new analog, as the Bayes rule under a form of balanced loss function, that combines elements of standard parametric inference with fidelity of the data to the model. Our development is general, for essentially any regression setting with independent outcomes. Being the large-sample equivalent of its frequentist counterpart, we show by simulation that Bayesian robust standard error estimates can faithfully quantify the variability of parameter estimates even under model misspecification -- thus retaining the major attraction of the original frequentist version. We demonstrate our Bayesian analog of standard error estimates when studying the association between age and systolic blood pressure in NHANES.
The emergence of AI tools in cybersecurity creates many opportunities and uncertainties. A focus group with advanced graduate students in cybersecurity revealed the potential depth and breadth of the challenges and opportunities. The salient issues are access to open source or free tools, documentation, curricular diversity, and clear articulation of ethical principles for AI cybersecurity education. Confronting the "black box" mentality in AI cybersecurity work is also of the greatest importance, doubled by deeper and prior education in foundational AI work. Systems thinking and effective communication were considered relevant areas of educational improvement. Future AI educators and practitioners need to address these issues by implementing rigorous technical training curricula, clear documentation, and frameworks for ethically monitoring AI combined with critical and system's thinking and communication skills.
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