In this study, we present an optimization framework for efficient motion priority design between automated and teleoperated robots in an industrial recovery scenario. Although robots have recently become increasingly common in industrial sites, there are still challenges in achieving human-robot collaboration/cooperation (HRC), where human workers and robots are engaged in collaborative and cooperative tasks in a shared workspace. For example, the corresponding factory cell must be suspended for safety when an industrial robot drops an assembling part in the workspace. After that, a human worker is allowed to enter the robot workspace to address the robot recovery. This process causes non-continuous manufacturing, which leads to a productivity reduction. Recently, robotic teleoperation technology has emerged as a promising solution to enable people to perform tasks remotely and safely. This technology can be used in the recovery process in manufacturing failure scenarios. Our proposition involves the design of an appropriate priority function that aids in collision avoidance between the manufacturing and recovery robots and facilitates continuous processes with minimal production loss within an acceptable risk level. This paper presents a framework, including an HRC simulator and an optimization formulation, for finding optimal parameters of the priority function. Through quantitative and qualitative experiments, we address the proof of our novel concept and demonstrate its feasibility.
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The goal of RoboCup is to make research in the area of robotics measurable over time, and grow a community that works together to solve increasingly difficult challenges over the years. The most ambitious of these challenges it to be able to play against the human world champions in soccer in 2050. To better understand what members of the RoboCup community believes to be the state of the art and the main challenges in the next decade and towards the 2050 game, we developed a survey and distributed it to members of different experience level and background within the community. We present data from 39 responses. Results highlighted that locomotion, awareness and decision-making, and robustness of robots are among those considered of high importance for the community, while human-robot interaction and natural language processing and generation are rated of low in importance and difficulty.
In this research, we introduce a novel methodology for the index tracking problem with sparse portfolios by leveraging topological data analysis (TDA). Utilizing persistence homology to measure the riskiness of assets, we introduce a topological method for data-driven learning of the parameters for regularization terms. Specifically, the Vietoris-Rips filtration method is utilized to capture the intricate topological features of asset movements, providing a robust framework for portfolio tracking. Our approach has the advantage of accommodating both $\ell_1$ and $\ell_2$ penalty terms without the requirement for expensive estimation procedures. We empirically validate the performance of our methodology against state-of-the-art sparse index tracking techniques, such as Elastic-Net and SLOPE, using a dataset that covers 23 years of S&P500 index and its constituent data. Our out-of-sample results show that this computationally efficient technique surpasses conventional methods across risk metrics, risk-adjusted performance, and trading expenses in varied market conditions. Furthermore, in turbulent markets, it not only maintains but also enhances tracking performance.
This study proposes an innovative model-based modular approach (MMA) to dynamically optimize order matching and vehicle relocation in a ride-hailing platform. MMA utilizes a two-layer and modular modeling structure. The upper layer determines the spatial transfer patterns of vehicle flow within the system to maximize the total revenue of the current and future stages. With the guidance provided by the upper layer, the lower layer performs rapid vehicle-to-order matching and vehicle relocation. MMA is interpretable, and equipped with the customized and polynomial-time algorithm, which, as an online order-matching and vehicle-relocation algorithm, can scale past thousands of vehicles. We theoretically prove that the proposed algorithm can achieve the global optimum in stylized networks, while the numerical experiments based on both the toy network and realistic dataset demonstrate that MMA is capable of achieving superior systematic performance compared to batch matching and reinforcement-learning based methods. Moreover, its modular and lightweight modeling structure further enables it to achieve a high level of robustness against demand variation while maintaining a relatively low computational cost.
There is a growing literature on design-based methods to estimate average treatment effects (ATEs) for randomized controlled trials (RCTs) for full sample analyses. This article extends these methods to estimate ATEs for discrete subgroups defined by pre-treatment variables, with an application to an RCT testing subgroup effects for a school voucher experiment in New York City. We consider ratio estimators for subgroup effects using regression methods, allowing for model covariates to improve precision, and prove a finite population central limit theorem. We discuss extensions to blocked and clustered RCT designs, and to other common estimators with random treatment-control sample sizes (or weights): post-stratification estimators, weighted estimators that adjust for data nonresponse, and estimators for Bernoulli trials. We also develop simple variance estimators that share features with robust estimators. Simulations show that the design-based subgroup estimators yield confidence interval coverage near nominal levels, even for small subgroups.
In this work, we present an approach to construct a video-based robot policy capable of reliably executing diverse tasks across different robots and environments from few video demonstrations without using any action annotations. Our method leverages images as a task-agnostic representation, encoding both the state and action information, and text as a general representation for specifying robot goals. By synthesizing videos that ``hallucinate'' robot executing actions and in combination with dense correspondences between frames, our approach can infer the closed-formed action to execute to an environment without the need of any explicit action labels. This unique capability allows us to train the policy solely based on RGB videos and deploy learned policies to various robotic tasks. We demonstrate the efficacy of our approach in learning policies on table-top manipulation and navigation tasks. Additionally, we contribute an open-source framework for efficient video modeling, enabling the training of high-fidelity policy models with four GPUs within a single day.
In this paper, we tackle two challenges in multimodal learning for visual recognition: 1) when missing-modality occurs either during training or testing in real-world situations; and 2) when the computation resources are not available to finetune on heavy transformer models. To this end, we propose to utilize prompt learning and mitigate the above two challenges together. Specifically, our modality-missing-aware prompts can be plugged into multimodal transformers to handle general missing-modality cases, while only requiring less than 1% learnable parameters compared to training the entire model. We further explore the effect of different prompt configurations and analyze the robustness to missing modality. Extensive experiments are conducted to show the effectiveness of our prompt learning framework that improves the performance under various missing-modality cases, while alleviating the requirement of heavy model re-training. Code is available.
We describe ACE0, a lightweight platform for evaluating the suitability and viability of AI methods for behaviour discovery in multiagent simulations. Specifically, ACE0 was designed to explore AI methods for multi-agent simulations used in operations research studies related to new technologies such as autonomous aircraft. Simulation environments used in production are often high-fidelity, complex, require significant domain knowledge and as a result have high R&D costs. Minimal and lightweight simulation environments can help researchers and engineers evaluate the viability of new AI technologies for behaviour discovery in a more agile and potentially cost effective manner. In this paper we describe the motivation for the development of ACE0.We provide a technical overview of the system architecture, describe a case study of behaviour discovery in the aerospace domain, and provide a qualitative evaluation of the system. The evaluation includes a brief description of collaborative research projects with academic partners, exploring different AI behaviour discovery methods.
Data augmentation, the artificial creation of training data for machine learning by transformations, is a widely studied research field across machine learning disciplines. While it is useful for increasing the generalization capabilities of a model, it can also address many other challenges and problems, from overcoming a limited amount of training data over regularizing the objective to limiting the amount data used to protect privacy. Based on a precise description of the goals and applications of data augmentation (C1) and a taxonomy for existing works (C2), this survey is concerned with data augmentation methods for textual classification and aims to achieve a concise and comprehensive overview for researchers and practitioners (C3). Derived from the taxonomy, we divided more than 100 methods into 12 different groupings and provide state-of-the-art references expounding which methods are highly promising (C4). Finally, research perspectives that may constitute a building block for future work are given (C5).
In this paper, we propose a deep reinforcement learning framework called GCOMB to learn algorithms that can solve combinatorial problems over large graphs. GCOMB mimics the greedy algorithm in the original problem and incrementally constructs a solution. The proposed framework utilizes Graph Convolutional Network (GCN) to generate node embeddings that predicts the potential nodes in the solution set from the entire node set. These embeddings enable an efficient training process to learn the greedy policy via Q-learning. Through extensive evaluation on several real and synthetic datasets containing up to a million nodes, we establish that GCOMB is up to 41% better than the state of the art, up to seven times faster than the greedy algorithm, robust and scalable to large dynamic networks.
In this paper, we propose the joint learning attention and recurrent neural network (RNN) models for multi-label classification. While approaches based on the use of either model exist (e.g., for the task of image captioning), training such existing network architectures typically require pre-defined label sequences. For multi-label classification, it would be desirable to have a robust inference process, so that the prediction error would not propagate and thus affect the performance. Our proposed model uniquely integrates attention and Long Short Term Memory (LSTM) models, which not only addresses the above problem but also allows one to identify visual objects of interests with varying sizes without the prior knowledge of particular label ordering. More importantly, label co-occurrence information can be jointly exploited by our LSTM model. Finally, by advancing the technique of beam search, prediction of multiple labels can be efficiently achieved by our proposed network model.
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