This paper addresses a multi-robot planning problem in environments with partially unknown semantics. The environment is assumed to have known geometric structure (e.g., walls) and to be occupied by static labeled landmarks with uncertain positions and classes. This modeling approach gives rise to an uncertain semantic map generated by semantic SLAM algorithms. Our goal is to design control policies for robots equipped with noisy perception systems so that they can accomplish collaborative tasks captured by global temporal logic specifications. To specify missions that account for environmental and perceptual uncertainty, we employ a fragment of Linear Temporal Logic (LTL), called co-safe LTL, defined over perception-based atomic predicates modeling probabilistic satisfaction requirements. The perception-based LTL planning problem gives rise to an optimal control problem, solved by a novel sampling-based algorithm, that generates open-loop control policies that are updated online to adapt to a continuously learned semantic map. We provide extensive experiments to demonstrate the efficiency of the proposed planning architecture.
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This paper addresses the problem of copying an unknown assembly of primitives with known shape and appearance using information extracted from a single photograph by an off-the-shelf procedure for object detection and pose estimation. The proposed algorithm uses a simple combination of physical stability constraints, convex optimization and Monte Carlo tree search to plan assemblies as sequences of pick-and-place operations represented by STRIPS operators. It is efficient and, most importantly, robust to the errors in object detection and pose estimation unavoidable in any real robotic system. The proposed approach is demonstrated with thorough experiments on a UR5 manipulator.
Automated vehicles require the ability to cooperate with humans for smooth integration into today's traffic. While the concept of cooperation is well known, developing a robust and efficient cooperative trajectory planning method is still a challenge. One aspect of this challenge is the uncertainty surrounding the state of the environment due to limited sensor accuracy. This uncertainty can be represented by a Partially Observable Markov Decision Process. Our work addresses this problem by extending an existing cooperative trajectory planning approach based on Monte Carlo Tree Search for continuous action spaces. It does so by explicitly modeling uncertainties in the form of a root belief state, from which start states for trees are sampled. After the trees have been constructed with Monte Carlo Tree Search, their results are aggregated into return distributions using kernel regression. We apply two risk metrics for the final selection, namely a Lower Confidence Bound and a Conditional Value at Risk. It can be demonstrated that the integration of risk metrics in the final selection policy consistently outperforms a baseline in uncertain environments, generating considerably safer trajectories.
The recent success in StyleGAN demonstrates that pre-trained StyleGAN latent space is useful for realistic video generation. However, the generated motion in the video is usually not semantically meaningful due to the difficulty of determining the direction and magnitude in the StyleGAN latent space. In this paper, we propose a framework to generate realistic videos by leveraging multimodal (sound-image-text) embedding space. As sound provides the temporal contexts of the scene, our framework learns to generate a video that is semantically consistent with sound. First, our sound inversion module maps the audio directly into the StyleGAN latent space. We then incorporate the CLIP-based multimodal embedding space to further provide the audio-visual relationships. Finally, the proposed frame generator learns to find the trajectory in the latent space which is coherent with the corresponding sound and generates a video in a hierarchical manner. We provide the new high-resolution landscape video dataset (audio-visual pair) for the sound-guided video generation task. The experiments show that our model outperforms the state-of-the-art methods in terms of video quality. We further show several applications including image and video editing to verify the effectiveness of our method.
Free-space-oriented roadmaps typically generate a series of convex geometric primitives, which constitute the safe region for motion planning. However, a static environment is assumed for this kind of roadmap. This assumption makes it unable to deal with dynamic obstacles and limits its applications. In this paper, we present a dynamic free-space roadmap, which provides feasible spaces and a navigation graph for safe quadrotor motion planning. Our roadmap is constructed by continuously seeding and extracting free regions in the environment. In order to adapt our map to environments with dynamic obstacles, we incrementally decompose the polyhedra intersecting with obstacles into obstacle-free regions, while the graph is also updated by our well-designed mechanism. Extensive simulations and real-world experiments demonstrate that our method is practically applicable and efficient.
The link prediction task on knowledge graphs without explicit negative triples in the training data motivates the usage of rank-based metrics. Here, we review existing rank-based metrics and propose desiderata for improved metrics to address lack of interpretability and comparability of existing metrics to datasets of different sizes and properties. We introduce a simple theoretical framework for rank-based metrics upon which we investigate two avenues for improvements to existing metrics via alternative aggregation functions and concepts from probability theory. We finally propose several new rank-based metrics that are more easily interpreted and compared accompanied by a demonstration of their usage in a benchmarking of knowledge graph embedding models.
The expensive annotation cost is notoriously known as the main constraint for the development of the point cloud semantic segmentation technique. Active learning methods endeavor to reduce such cost by selecting and labeling only a subset of the point clouds, yet previous attempts ignore the spatial-structural diversity of the selected samples, inducing the model to select clustered candidates with similar shapes in a local area while missing other representative ones in the global environment. In this paper, we propose a new 3D region-based active learning method to tackle this problem. Dubbed SSDR-AL, our method groups the original point clouds into superpoints and incrementally selects the most informative and representative ones for label acquisition. We achieve the selection mechanism via a graph reasoning network that considers both the spatial and structural diversities of superpoints. To deploy SSDR-AL in a more practical scenario, we design a noise-aware iterative labeling strategy to confront the "noisy annotation" problem introduced by the previous "dominant labeling" strategy in superpoints. Extensive experiments on two point cloud benchmarks demonstrate the effectiveness of SSDR-AL in the semantic segmentation task. Particularly, SSDR-AL significantly outperforms the baseline method and reduces the annotation cost by up to 63.0% and 24.0% when achieving 90% performance of fully supervised learning, respectively.
Efficient and robust task planning for a human-robot collaboration (HRC) system remains challenging. The human-aware task planner needs to assign jobs to both robots and human workers so that they can work collaboratively to achieve better time efficiency. However, the complexity of the tasks and the stochastic nature of the human collaborators bring challenges to such task planning. To reduce the complexity of the planning problem, we utilize the hierarchical task model, which explicitly captures the sequential and parallel relationships of the task. We model human movements with the sigma-lognormal functions to account for human-induced uncertainties. A human action model adaptation scheme is applied during run-time, and it provides a measure for modeling the human-induced uncertainties. We propose a sampling-based method to estimate human job completion time uncertainties. Next, we propose a robust task planner, which formulates the planning problem as a robust optimization problem by considering the task structure and the uncertainties. We conduct simulations of a robot arm collaborating with a human worker in an electronics assembly setting. The results show that our proposed planner can reduce task completion time when human-induced uncertainties occur compared to the baseline planner.
Many forms of dependence manifest themselves over time, with behavior of variables in dynamical systems as a paradigmatic example. This paper studies temporal dependence in dynamical systems from a logical perspective, by extending a minimal modal base logic of static functional dependencies. We define a logic for dynamical systems with single time steps, provide a complete axiomatic proof calculus, and show the decidability of the satisfiability problem for a substantial fragment. The system comes in two guises: modal and first-order, that naturally complement each other. Next, we consider a timed semantics for our logic, as an intermediate between state spaces and temporal universes for the unfoldings of a dynamical system. We prove completeness and decidability by combining techniques from dynamic-epistemic logic and modal logic of functional dependencies with complex terms for objects. Also, we extend these results to the timed logic with functional symbols and term identity. Finally, we conclude with a brief outlook on how the system proposed here connects with richer temporal logics of system behavior, and with dynamic topological logic.
Automotive radar provides reliable environmental perception in all-weather conditions with affordable cost, but it hardly supplies semantic and geometry information due to the sparsity of radar detection points. With the development of automotive radar technologies in recent years, instance segmentation becomes possible by using automotive radar. Its data contain contexts such as radar cross section and micro-Doppler effects, and sometimes can provide detection when the field of view is obscured. The outcome from instance segmentation could be potentially used as the input of trackers for tracking targets. The existing methods often utilize a clustering-based classification framework, which fits the need of real-time processing but has limited performance due to minimum information provided by sparse radar detection points. In this paper, we propose an efficient method based on clustering of estimated semantic information to achieve instance segmentation for the sparse radar detection points. In addition, we show that the performance of the proposed approach can be further enhanced by incorporating the visual multi-layer perceptron. The effectiveness of the proposed method is verified by experimental results on the popular RadarScenes dataset, achieving 89.53% mean coverage and 86.97% mean average precision with the IoU threshold of 0.5, which is superior to other approaches in the literature. More significantly, the consumed memory is around 1MB, and the inference time is less than 40ms, indicating that our proposed algorithm is storage and time efficient. These two criteria ensure the practicality of the proposed method in real-world systems.
We develop a simple and unified framework for nonlinear variable selection that incorporates model uncertainty and is compatible with a wide range of machine learning models (e.g., tree ensembles, kernel methods and neural network). In particular, for a learned nonlinear model $f(\mathbf{x})$, we consider quantifying the importance of an input variable $\mathbf{x}^j$ using the integrated gradient measure $\psi_j = \Vert \frac{\partial}{\partial \mathbf{x}^j} f(\mathbf{x})\Vert^2_2$. We then (1) provide a principled approach for quantifying variable selection uncertainty by deriving its posterior distribution, and (2) show that the approach is generalizable even to non-differentiable models such as tree ensembles. Rigorous Bayesian nonparametric theorems are derived to guarantee the posterior consistency and asymptotic uncertainty of the proposed approach. Extensive simulation confirms that the proposed algorithm outperforms existing classic and recent variable selection methods.
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