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Ultra-wideband (UWB) positioning has emerged as a low-cost and dependable localization solution for multiple use cases, from mobile robots to asset tracking within the Industrial IoT. The technology is mature and the scientific literature contains multiple datasets and methods for localization based on fixed UWB nodes. At the same time, research in UWB-based relative localization and infrastructure-free localization is gaining traction, further domains. tools and datasets in this domain are scarce. Therefore, we introduce in this paper a novel dataset for benchmarking infrastructure-free relative localization targeting the domain of multi-robot systems. Compared to previous datasets, we analyze the performance of different relative localization approaches for a much wider variety of scenarios with varying numbers of fixed and mobile nodes. A motion capture system provides ground truth data, are multi-modal and include inertial or odometry measurements for benchmarking sensor fusion methods. Additionally, the dataset contains measurements of ranging accuracy based on the relative orientation of antennas and a comprehensive set of measurements for ranging between a single pair of nodes. Our experimental analysis shows that high accuracy can be localization, but the variability of the ranging error is significant across different settings and setups.

Industrial visual inspection aims at detecting surface defects in products during the manufacturing process. Although existing anomaly detection models have shown great performance on many public benchmarks, their limited adjustability and ability to detect logical anomalies hinder their broader use in real-world settings. To this end, in this paper, we propose a novel component-aware anomaly detection framework (ComAD) which can simultaneously achieve adjustable and logical anomaly detection for industrial scenarios. Specifically, we propose to segment images into multiple components based on a lightweight and nearly training-free unsupervised semantic segmentation model. Then, we design an interpretable logical anomaly detection model through modeling the metrological features of each component and their relationships. Despite its simplicity, our framework achieves state-of-the-art performance on image-level logical anomaly detection. Meanwhile, segmenting a product image into multiple components provides a novel perspective for industrial visual inspection, demonstrating great potential in model customization, noise resistance, and anomaly classification. The code will be available at //github.com/liutongkun/ComAD.

Previous research in speech enhancement has mostly focused on modeling time or time-frequency domain information alone, with little consideration given to the potential benefits of simultaneously modeling both domains. Since these domains contain complementary information, combining them may improve the performance of the model. In this letter, we propose a new approach to simultaneously model time and time-frequency domain information in a single model. We begin with the DPT-FSNet (causal version) model as a baseline and modify the encoder structure by replacing the original encoder with three separate encoders, each dedicated to modeling time-domain, real-imaginary, and magnitude information, respectively. Additionally, we introduce a feature fusion module both before and after the dual-path processing blocks to better leverage information from the different domains. The outcomes of our experiments reveal that the proposed approach achieves superior performance compared to existing state-of-the-art causal models, while preserving a relatively compact model size and low computational complexity.

This two-part paper develops a paradigmatic theory and detailed methods of the joint electricity market design using reinforcement-learning (RL)-based simulation. In Part 2, this theory is further demonstrated by elaborating detailed methods of designing an electricity spot market (ESM), together with a reserved capacity product (RC) in the ancillary service market (ASM) and a virtual bidding (VB) product in the financial market (FM). Following the theory proposed in Part 1, firstly, market design options in the joint market are specified. Then, the Markov game model is developed, in which we show how to incorporate market design options and uncertain risks in model formulation. A multi-agent policy proximal optimization (MAPPO) algorithm is elaborated, as a practical implementation of the generalized market simulation method developed in Part 1. Finally, the case study demonstrates how to pick the best market design options by using some of the market operation performance indicators proposed in Part 1, based on the simulation results generated by implementing the MAPPO algorithm. The impacts of different market design options on market participants' bidding strategy preference are also discussed.

3D spatial perception is the problem of building and maintaining an actionable and persistent representation of the environment in real-time using sensor data and prior knowledge. Despite the fast-paced progress in robot perception, most existing methods either build purely geometric maps (as in traditional SLAM) or flat metric-semantic maps that do not scale to large environments or large dictionaries of semantic labels. The first part of this paper is concerned with representations: we show that scalable representations for spatial perception need to be hierarchical in nature. Hierarchical representations are efficient to store, and lead to layered graphs with small treewidth, which enable provably efficient inference. We then introduce an example of hierarchical representation for indoor environments, namely a 3D scene graph, and discuss its structure and properties. The second part of the paper focuses on algorithms to incrementally construct a 3D scene graph as the robot explores the environment. Our algorithms combine 3D geometry, topology (to cluster the places into rooms), and geometric deep learning (e.g., to classify the type of rooms the robot is moving across). The third part of the paper focuses on algorithms to maintain and correct 3D scene graphs during long-term operation. We propose hierarchical descriptors for loop closure detection and describe how to correct a scene graph in response to loop closures, by solving a 3D scene graph optimization problem. We conclude the paper by combining the proposed perception algorithms into Hydra, a real-time spatial perception system that builds a 3D scene graph from visual-inertial data in real-time. We showcase Hydra's performance in photo-realistic simulations and real data collected by a Clearpath Jackal robots and a Unitree A1 robot. We release an open-source implementation of Hydra at //github.com/MIT-SPARK/Hydra.

We introduce the Collection Space Navigator (CSN), a browser-based visualization tool to explore, research, and curate large collections of visual digital artifacts that are associated with multidimensional data, such as vector embeddings or tables of metadata. Media objects such as images are often encoded as numerical vectors, for e.g. based on metadata or using machine learning to embed image information. Yet, while such procedures are widespread for a range of applications, it remains a challenge to explore, analyze, and understand the resulting multidimensional spaces in a more comprehensive manner. Dimensionality reduction techniques such as t-SNE or UMAP often serve to project high-dimensional data into low dimensional visualizations, yet require interpretation themselves as the remaining dimensions are typically abstract. Here, the Collection Space Navigator provides a customizable interface that combines two-dimensional projections with a set of configurable multidimensional filters. As a result, the user is able to view and investigate collections, by zooming and scaling, by transforming between projections, by filtering dimensions via range sliders, and advanced text filters. Insights that are gained during the interaction can be fed back into the original data via ad hoc exports of filtered metadata and projections. This paper comes with a functional showcase demo using a large digitized collection of classical Western art. The Collection Space Navigator is open source. Users can reconfigure the interface to fit their own data and research needs, including projections and filter controls. The CSN is ready to serve a broad community.

Developing the next generation of household robot helpers requires combining locomotion and interaction capabilities, which is generally referred to as mobile manipulation (MoMa). MoMa tasks are difficult due to the large action space of the robot and the common multi-objective nature of the task, e.g., efficiently reaching a goal while avoiding obstacles. Current approaches often segregate tasks into navigation without manipulation and stationary manipulation without locomotion by manually matching parts of the action space to MoMa sub-objectives (e.g. base actions for locomotion objectives and arm actions for manipulation). This solution prevents simultaneous combinations of locomotion and interaction degrees of freedom and requires human domain knowledge for both partitioning the action space and matching the action parts to the sub-objectives. In this paper, we introduce Causal MoMa, a new framework to train policies for typical MoMa tasks that makes use of the most favorable subspace of the robot's action space to address each sub-objective. Causal MoMa automatically discovers the causal dependencies between actions and terms of the reward function and exploits these dependencies in a causal policy learning procedure that reduces gradient variance compared to previous state-of-the-art policy gradient algorithms, improving convergence and results. We evaluate the performance of Causal MoMa on three types of simulated robots across different MoMa tasks and demonstrate success in transferring the policies trained in simulation directly to a real robot, where our agent is able to follow moving goals and react to dynamic obstacles while simultaneously and synergistically controlling the whole-body: base, arm, and head. More information at //sites.google.com/view/causal-moma.

Motion deblurring is a critical ill-posed problem that is important in many vision-based robotics applications. The recently proposed event-based double integral (EDI) provides a theoretical framework for solving the deblurring problem with the event camera and generating clear images at high frame-rate. However, the original EDI is mainly designed for offline computation and does not support real-time requirement in many robotics applications. In this paper, we propose the fast EDI, an efficient implementation of EDI that can achieve real-time online computation on single-core CPU devices, which is common for physical robotic platforms used in practice. In experiments, our method can handle event rates at as high as 13 million event per second in a wide variety of challenging lighting conditions. We demonstrate the benefit on multiple downstream real-time applications, including localization, visual tag detection, and feature matching.

The development of autonomous agents which can interact with other agents to accomplish a given task is a core area of research in artificial intelligence and machine learning. Towards this goal, the Autonomous Agents Research Group develops novel machine learning algorithms for autonomous systems control, with a specific focus on deep reinforcement learning and multi-agent reinforcement learning. Research problems include scalable learning of coordinated agent policies and inter-agent communication; reasoning about the behaviours, goals, and composition of other agents from limited observations; and sample-efficient learning based on intrinsic motivation, curriculum learning, causal inference, and representation learning. This article provides a broad overview of the ongoing research portfolio of the group and discusses open problems for future directions.

Deep learning has revolutionized speech recognition, image recognition, and natural language processing since 2010, each involving a single modality in the input signal. However, many applications in artificial intelligence involve more than one modality. It is therefore of broad interest to study the more difficult and complex problem of modeling and learning across multiple modalities. In this paper, a technical review of the models and learning methods for multimodal intelligence is provided. The main focus is the combination of vision and natural language, which has become an important area in both computer vision and natural language processing research communities. This review provides a comprehensive analysis of recent work on multimodal deep learning from three new angles - learning multimodal representations, the fusion of multimodal signals at various levels, and multimodal applications. On multimodal representation learning, we review the key concept of embedding, which unifies the multimodal signals into the same vector space and thus enables cross-modality signal processing. We also review the properties of the many types of embedding constructed and learned for general downstream tasks. On multimodal fusion, this review focuses on special architectures for the integration of the representation of unimodal signals for a particular task. On applications, selected areas of a broad interest in current literature are covered, including caption generation, text-to-image generation, and visual question answering. We believe this review can facilitate future studies in the emerging field of multimodal intelligence for the community.