To perform versatile mobile manipulation tasks in human-centered environments, the ability to efficiently transfer learned tasks and experiences from one robot to another or across different environments is key. In this paper, we present MAkEable, a versatile uni- and multi-manual mobile manipulation framework that facilitates the transfer of capabilities and knowledge across different tasks, environments, and robots. Our framework integrates an affordance-based task description into the memory-centric cognitive architecture of the ARMAR humanoid robot family, which supports the sharing of experiences and demonstrations for transfer learning. By representing mobile manipulation actions through affordances, i.e., interaction possibilities of the robot with its environment, we provide a unifying framework for the autonomous uni- and multi-manual manipulation of known and unknown objects in various environments. We demonstrate the applicability of the framework in real-world experiments for multiple robots, tasks, and environments. This includes grasping known and unknown objects, object placing, bimanual object grasping, memory-enabled skill transfer in a drawer opening scenario across two different humanoid robots, and a pouring task learned from human demonstration.
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The increasing demand for underwater vehicles highlights the necessity for robust localization solutions in inspection missions. In this work, we present a novel real-time sonar-based underwater global positioning algorithm for AUVs (Autonomous Underwater Vehicles) designed for environments with a sparse distribution of human-made assets. Our approach exploits two synergistic data interpretation frontends applied to the same stream of sonar data acquired by a multibeam Forward-Looking Sonar (FSD). These observations are fused within a Particle Filter (PF) either to weigh more particles that belong to high-likelihood regions or to solve symmetric ambiguities. Preliminary experiments carried out on a simulated environment resembling a real underwater plant provided promising results. This work represents a starting point towards future developments of the method and consequent exhaustive evaluations also in real-world scenarios.
Heterogeneous graphs are ubiquitous to model complex data. There are urgent needs on powerful heterogeneous graph neural networks to effectively support important applications. We identify a potential semantic mixing issue in existing message passing processes, where the representations of the neighbors of a node $v$ are forced to be transformed to the feature space of $v$ for aggregation, though the neighbors are in different types. That is, the semantics in different node types are entangled together into node $v$'s representation. To address the issue, we propose SlotGAT with separate message passing processes in slots, one for each node type, to maintain the representations in their own node-type feature spaces. Moreover, in a slot-based message passing layer, we design an attention mechanism for effective slot-wise message aggregation. Further, we develop a slot attention technique after the last layer of SlotGAT, to learn the importance of different slots in downstream tasks. Our analysis indicates that the slots in SlotGAT can preserve different semantics in various feature spaces. The superiority of SlotGAT is evaluated against 13 baselines on 6 datasets for node classification and link prediction. Our code is at //github.com/scottjiao/SlotGAT_ICML23/.
Large Language Models (LLMs) have witnessed rapid growth in emerging challenges and capabilities of language understanding, generation, and reasoning. Despite their remarkable performance in natural language processing-based applications, LLMs are susceptible to undesirable and erratic behaviors, including hallucinations, unreliable reasoning, and the generation of harmful content. These flawed behaviors undermine trust in LLMs and pose significant hurdles to their adoption in real-world applications, such as legal assistance and medical diagnosis, where precision, reliability, and ethical considerations are paramount. These could also lead to user dissatisfaction, which is currently inadequately assessed and captured. Therefore, to effectively and transparently assess users' satisfaction and trust in their interactions with LLMs, we design and develop LLMChain, a decentralized blockchain-based reputation system that combines automatic evaluation with human feedback to assign contextual reputation scores that accurately reflect LLM's behavior. LLMChain not only helps users and entities identify the most trustworthy LLM for their specific needs, but also provides LLM developers with valuable information to refine and improve their models. To our knowledge, this is the first time that a blockchain-based distributed framework for sharing and evaluating LLMs has been introduced. Implemented using emerging tools, LLMChain is evaluated across two benchmark datasets, showcasing its effectiveness and scalability in assessing seven different LLMs.
Autonomous wheeled-legged robots have the potential to transform logistics systems, improving operational efficiency and adaptability in urban environments. Navigating urban environments, however, poses unique challenges for robots, necessitating innovative solutions for locomotion and navigation. These challenges include the need for adaptive locomotion across varied terrains and the ability to navigate efficiently around complex dynamic obstacles. This work introduces a fully integrated system comprising adaptive locomotion control, mobility-aware local navigation planning, and large-scale path planning within the city. Using model-free reinforcement learning (RL) techniques and privileged learning, we develop a versatile locomotion controller. This controller achieves efficient and robust locomotion over various rough terrains, facilitated by smooth transitions between walking and driving modes. It is tightly integrated with a learned navigation controller through a hierarchical RL framework, enabling effective navigation through challenging terrain and various obstacles at high speed. Our controllers are integrated into a large-scale urban navigation system and validated by autonomous, kilometer-scale navigation missions conducted in Zurich, Switzerland, and Seville, Spain. These missions demonstrate the system's robustness and adaptability, underscoring the importance of integrated control systems in achieving seamless navigation in complex environments. Our findings support the feasibility of wheeled-legged robots and hierarchical RL for autonomous navigation, with implications for last-mile delivery and beyond.
Rate split multiple access (RSMA) has been proven as an effective communication scheme for 5G and beyond, especially in vehicular scenarios. However, RSMA requires complicated iterative algorithms for proper resource allocation, which cannot fulfill the stringent latency requirement in resource constrained vehicles. Although data driven approaches can alleviate this issue, they suffer from poor generalizability and scarce training data. In this paper, we propose a fractional programming (FP) based deep unfolding (DU) approach to address resource allocation problem for a weighted sum rate optimization in RSMA. By carefully designing the penalty function, we couple the variable update with projected gradient descent algorithm (PGD). Following the structure of PGD, we embed few learnable parameters in each layer of the DU network. Through extensive simulation, we have shown that the proposed model-based neural networks has similar performance as optimal results given by traditional algorithm but with much lower computational complexity, less training data, and higher resilience to test set data and out-of-distribution (OOD) data.
Training deep neural networks (DNNs) from noisy labels is an important and challenging task. However, most existing approaches focus on the corrupted labels and ignore the importance of inherent data structure. To bridge the gap between noisy labels and data, inspired by the concept of potential energy in physics, we propose a novel Potential Energy based Mixture Model (PEMM) for noise-labels learning. We innovate a distance-based classifier with the potential energy regularization on its class centers. Embedding our proposed classifier with existing deep learning backbones, we can have robust networks with better feature representations. They can preserve intrinsic structures from the data, resulting in a superior noisy tolerance. We conducted extensive experiments to analyze the efficiency of our proposed model on several real-world datasets. Quantitative results show that it can achieve state-of-the-art performance.
Jamming devices pose a significant threat by disrupting signals from the global navigation satellite system (GNSS), compromising the robustness of accurate positioning. Detecting anomalies in frequency snapshots is crucial to counteract these interferences effectively. The ability to adapt to diverse, unseen interference characteristics is essential for ensuring the reliability of GNSS in real-world applications. In this paper, we propose a few-shot learning (FSL) approach to adapt to new interference classes. Our method employs quadruplet selection for the model to learn representations using various positive and negative interference classes. Furthermore, our quadruplet variant selects pairs based on the aleatoric and epistemic uncertainty to differentiate between similar classes. We recorded a dataset at a motorway with eight interference classes on which our FSL method with quadruplet loss outperforms other FSL techniques in jammer classification accuracy with 97.66%. Dataset available at: //gitlab.cc-asp.fraunhofer.de/darcy_gnss/FIOT_highway
This paper studies the controller synthesis problem for nonlinear control systems under linear temporal logic (LTL) specifications using zonotope techniques. A local-to-global control strategy is proposed for the desired specification expressed as an LTL formula. First, a novel approach is developed to divide the state space into finite zonotopes and constrained zonotopes, which are called cells and allowed to intersect with the neighbor cells. Second, from the intersection relation, a graph among all cells is generated to verify the realization of the accepting path for the LTL formula. The realization verification determines if there is a need for the control design, and also results in finite local LTL formulas. Third, once the accepting path is realized, a novel abstraction-based method is derived for the controller design. In particular, we only focus on the cells from the realization verification and approximate each cell thanks to properties of zonotopes. Based on local symbolic models and local LTL formulas, an iterative synthesis algorithm is proposed to design all local abstract controllers, whose existence and combination establish the global controller for the LTL formula. Finally, the proposed framework is illustrated via a path planning problem of mobile robots.
Context: The rapid evolution of Large Language Models (LLMs) has sparked significant interest in leveraging their capabilities for automating code review processes. Prior studies often focus on developing LLMs for code review automation, yet require expensive resources, which is infeasible for organizations with limited budgets and resources. Thus, fine-tuning and prompt engineering are the two common approaches to leveraging LLMs for code review automation. Objective: We aim to investigate the performance of LLMs-based code review automation based on two contexts, i.e., when LLMs are leveraged by fine-tuning and prompting. Fine-tuning involves training the model on a specific code review dataset, while prompting involves providing explicit instructions to guide the model's generation process without requiring a specific code review dataset. Method: We leverage model fine-tuning and inference techniques (i.e., zero-shot learning, few-shot learning and persona) on LLMs-based code review automation. In total, we investigate 12 variations of two LLMs-based code review automation (i.e., GPT- 3.5 and Magicoder), and compare them with the Guo et al.'s approach and three existing code review automation approaches. Results: The fine-tuning of GPT 3.5 with zero-shot learning helps GPT-3.5 to achieve 73.17% -74.23% higher EM than the Guo et al.'s approach. In addition, when GPT-3.5 is not fine-tuned, GPT-3.5 with few-shot learning achieves 46.38% - 659.09% higher EM than GPT-3.5 with zero-shot learning. Conclusions: Based on our results, we recommend that (1) LLMs for code review automation should be fine-tuned to achieve the highest performance; and (2) when data is not sufficient for model fine-tuning (e.g., a cold-start problem), few-shot learning without a persona should be used for LLMs for code review automation.
InteractE: Improving Convolution-based Knowledge Graph Embeddings by Increasing Feature Interactions
Most existing knowledge graphs suffer from incompleteness, which can be alleviated by inferring missing links based on known facts. One popular way to accomplish this is to generate low-dimensional embeddings of entities and relations, and use these to make inferences. ConvE, a recently proposed approach, applies convolutional filters on 2D reshapings of entity and relation embeddings in order to capture rich interactions between their components. However, the number of interactions that ConvE can capture is limited. In this paper, we analyze how increasing the number of these interactions affects link prediction performance, and utilize our observations to propose InteractE. InteractE is based on three key ideas -- feature permutation, a novel feature reshaping, and circular convolution. Through extensive experiments, we find that InteractE outperforms state-of-the-art convolutional link prediction baselines on FB15k-237. Further, InteractE achieves an MRR score that is 9%, 7.5%, and 23% better than ConvE on the FB15k-237, WN18RR and YAGO3-10 datasets respectively. The results validate our central hypothesis -- that increasing feature interaction is beneficial to link prediction performance. We make the source code of InteractE available to encourage reproducible research.
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