Tactile perception is a crucial sensing modality in robotics, particularly in scenarios that require precise manipulation and safe interaction with other objects. Previous research in this area has focused extensively on tactile perception of contact poses as this is an important capability needed for tasks such as traversing an object's surface or edge, manipulating an object, or pushing an object along a predetermined path. Another important capability needed for tasks such as object tracking and manipulation is estimation of post-contact shear but this has received much less attention. Indeed, post-contact shear has often been considered a "nuisance variable" and is removed if possible because it can have an adverse effect on other types of tactile perception such as contact pose estimation. This paper proposes a tactile robotic system that can simultaneously estimate both the contact pose and post-contact shear, and use this information to control its interaction with other objects. Moreover, our new system is capable of interacting with other objects in a smooth and continuous manner, unlike the stepwise, position-controlled systems we have used in the past. We demonstrate the capabilities of our new system using several different controller configurations, on tasks including object tracking, surface following, single-arm object pushing, and dual-arm object pushing.
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We introduce an extension of first-order logic that comes equipped with additional predicates for reasoning about an abstract state. Sequents in the logic comprise a main formula together with pre- and postconditions in the style of Hoare logic, and the axioms and rules of the logic ensure that the assertions about the state compose in the correct way. The main result of the paper is a realizability interpretation of our logic that extracts programs into a mixed functional/imperative language. All programs expressible in this language act on the state in a sequential manner, and we make this intuition precise by interpreting them in a semantic metatheory using the state monad. Our basic framework is very general, and our intention is that it can be instantiated and extended in a variety of different ways. We outline in detail one such extension: A monadic version of Heyting arithmetic with a wellfounded while rule, and conclude by outlining several other directions for future work.
The expected Euler characteristic (EEC) method is an integral-geometric method used to approximate the tail probability of the maximum of a random field on a manifold. Noting that the largest eigenvalue of a real-symmetric or Hermitian matrix is the maximum of the quadratic form of a unit vector, we provide EEC approximation formulas for the tail probability of the largest eigenvalue of orthogonally invariant random matrices of a large class. For this purpose, we propose a version of a skew-orthogonal polynomial by adding a side condition such that it is uniquely defined, and describe the EEC formulas in terms of the (skew-)orthogonal polynomials. In addition, for the classical random matrices (Gaussian, Wishart, and multivariate beta matrices), we analyze the limiting behavior of the EEC approximation as the matrix size goes to infinity under the so-called edge-asymptotic normalization. It is shown that the limit of the EEC formula approximates well the Tracy-Widom distributions in the upper tail area, as does the EEC formula when the matrix size is finite.
Uniform error estimates of a bi-fidelity method for a kinetic-fluid coupled model with random initial inputs in the fine particle regime are proved in this paper. Such a model is a system coupling the incompressible Navier-Stokes equations to the Vlasov-Fokker-Planck equations for a mixture of the flows with distinct particle sizes. The main analytic tool is the hypocoercivity analysis for the multi-phase Navier-Stokes-Vlasov-Fokker-Planck system with uncertainties, considering solutions in a perturbative setting near the global equilibrium. This allows us to obtain the error estimates in both kinetic and hydrodynamic regimes.
Humans can produce complex whole-body motions when interacting with their surroundings, by planning, executing and combining individual limb movements. We investigated this fundamental aspect of motor control in the setting of autonomous robotic operations. We approach this problem by hierarchical generative modelling equipped with multi-level planning-for autonomous task completion-that mimics the deep temporal architecture of human motor control. Here, temporal depth refers to the nested time scales at which successive levels of a forward or generative model unfold, for example, delivering an object requires a global plan to contextualise the fast coordination of multiple local movements of limbs. This separation of temporal scales also motivates robotics and control. Specifically, to achieve versatile sensorimotor control, it is advantageous to hierarchically structure the planning and low-level motor control of individual limbs. We use numerical and physical simulation to conduct experiments and to establish the efficacy of this formulation. Using a hierarchical generative model, we show how a humanoid robot can autonomously complete a complex task that necessitates a holistic use of locomotion, manipulation, and grasping. Specifically, we demonstrate the ability of a humanoid robot that can retrieve and transport a box, open and walk through a door to reach the destination, approach and kick a football, while showing robust performance in presence of body damage and ground irregularities. Our findings demonstrated the effectiveness of using human-inspired motor control algorithms, and our method provides a viable hierarchical architecture for the autonomous completion of challenging goal-directed tasks.
Matrices are built and designed by applying procedures from lower order matrices. Matrix tensor products, direct sums or multiplication of matrices are such procedures and a matrix built from these is said to be a {\em separable} matrix. A {\em non-separable} matrix is a matrix which is not separable and is often referred to as {\em an entangled matrix}. The matrices built may retain properties of the lower order matrices or may also acquire new desired properties not inherent in the constituents. Here design methods for non-separable matrices of required types are derived. These can retain properties of lower order matrices or have new desirable properties. Infinite series of required non-separable matrices are constructible by the general methods. Non-separable matrices are required for applications and other uses; they can capture the structure in a unique way and thus perform much better than separable matrices. General new methods are developed with which to construct {\em multidimensional entangled paraunitary matrices}; these have applications for wavelet and filter bank design. The constructions are in addition used to design new systems of non-separable unitary matrices; these have applications in quantum information theory. Some consequences include the design of full diversity constellations of unitary matrices, which are used in MIMO systems, and methods to design infinite series of special types of Hadamard matrices.
This paper addresses the problem of providing robust estimators under a functional logistic regression model. Logistic regression is a popular tool in classification problems with two populations. As in functional linear regression, regularization tools are needed to compute estimators for the functional slope. The traditional methods are based on dimension reduction or penalization combined with maximum likelihood or quasi--likelihood techniques and for that reason, they may be affected by misclassified points especially if they are associated to functional covariates with atypical behaviour. The proposal given in this paper adapts some of the best practices used when the covariates are finite--dimensional to provide reliable estimations. Under regularity conditions, consistency of the resulting estimators and rates of convergence for the predictions are derived. A numerical study illustrates the finite sample performance of the proposed method and reveals its stability under different contamination scenarios. A real data example is also presented.
Making inference with spatial extremal dependence models can be computationally burdensome since they involve intractable and/or censored likelihoods. Building on recent advances in likelihood-free inference with neural Bayes estimators, that is, neural networks that approximate Bayes estimators, we develop highly efficient estimators for censored peaks-over-threshold models that encode censoring information in the neural network architecture. Our new method provides a paradigm shift that challenges traditional censored likelihood-based inference methods for spatial extremal dependence models. Our simulation studies highlight significant gains in both computational and statistical efficiency, relative to competing likelihood-based approaches, when applying our novel estimators to make inference with popular extremal dependence models, such as max-stable, $r$-Pareto, and random scale mixture process models. We also illustrate that it is possible to train a single neural Bayes estimator for a general censoring level, precluding the need to retrain the network when the censoring level is changed. We illustrate the efficacy of our estimators by making fast inference on hundreds-of-thousands of high-dimensional spatial extremal dependence models to assess extreme particulate matter 2.5 microns or less in diameter (PM2.5) concentration over the whole of Saudi Arabia.
The simulation of supersonic or hypersonic flows often suffers from numerical shock instabilities if the flow field contains strong shocks, limiting the further application of shock-capturing schemes. In this paper, we develop the unified matrix stability analysis method for schemes with three-point stencils and present MSAT, an open-source tool to quantitatively analyze the shock instability problem. Based on the finite-volume approach on the structured grid, MSAT can be employed to investigate the mechanism of the shock instability problem, evaluate the robustness of numerical schemes, and then help to develop robust schemes. Also, MSAT has the ability to analyze the practical simulation of supersonic or hypersonic flows, evaluate whether it will suffer from shock instabilities, and then assist in selecting appropriate numerical schemes accordingly. As a result, MSAT is a helpful tool that can investigate the shock instability problem and help to cure it.
Medical studies for chronic disease are often interested in the relation between longitudinal risk factor profiles and individuals' later life disease outcomes. These profiles may typically be subject to intermediate structural changes due to treatment or environmental influences. Analysis of such studies may be handled by the joint model framework. However, current joint modeling does not consider structural changes in the residual variability of the risk profile nor consider the influence of subject-specific residual variability on the time-to-event outcome. In the present paper, we extend the joint model framework to address these two heterogeneous intra-individual variabilities. A Bayesian approach is used to estimate the unknown parameters and simulation studies are conducted to investigate the performance of the method. The proposed joint model is applied to the Framingham Heart Study to investigate the influence of anti-hypertensive medication on the systolic blood pressure variability together with its effect on the risk of developing cardiovascular disease. We show that anti-hypertensive medication is associated with elevated systolic blood pressure variability and increased variability elevates risk of developing cardiovascular disease.
Most state-of-the-art machine learning techniques revolve around the optimisation of loss functions. Defining appropriate loss functions is therefore critical to successfully solving problems in this field. We present a survey of the most commonly used loss functions for a wide range of different applications, divided into classification, regression, ranking, sample generation and energy based modelling. Overall, we introduce 33 different loss functions and we organise them into an intuitive taxonomy. Each loss function is given a theoretical backing and we describe where it is best used. This survey aims to provide a reference of the most essential loss functions for both beginner and advanced machine learning practitioners.
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