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While much work has been done recently in the realm of model-based control of soft robots and soft-rigid hybrids, most works examine robots that have an inherently serial structure. While these systems have been prevalent in the literature, there is an increasing trend toward designing soft-rigid hybrids with intrinsically coupled elasticity between various degrees of freedom. In this work, we seek to address the issues of modeling and controlling such structures, particularly when underactuated. We introduce several simple models for elastic coupling, typical of those seen in these systems. We then propose a controller that compensates for the elasticity, and we prove its stability with Lyapunov methods without relying on the elastic dominance assumption. This controller is applicable to the general class of underactuated soft robots. After evaluating the controller in simulated cases, we then develop a simple hardware platform to evaluate both the models and the controller. Finally, using the hardware, we demonstrate a novel use case for underactuated, elastically coupled systems in "sensorless" force control.

We conjecture that hidden state vectors corresponding to individual input tokens encode information sufficient to accurately predict several tokens ahead. More concretely, in this paper we ask: Given a hidden (internal) representation of a single token at position $t$ in an input, can we reliably anticipate the tokens that will appear at positions $\geq t + 2$? To test this, we measure linear approximation and causal intervention methods in GPT-J-6B to evaluate the degree to which individual hidden states in the network contain signal rich enough to predict future hidden states and, ultimately, token outputs. We find that, at some layers, we can approximate a model's output with more than 48% accuracy with respect to its prediction of subsequent tokens through a single hidden state. Finally we present a "Future Lens" visualization that uses these methods to create a new view of transformer states.

Although randomized controlled trials (RCTs) are a cornerstone of comparative effectiveness, they typically have much smaller sample size than observational studies because of financial and ethical considerations. Therefore there is interest in using plentiful historical data (either observational data or prior trials) to reduce trial sizes. Previous estimators developed for this purpose rely on unrealistic assumptions, without which the added data can bias the treatment effect estimate. Recent work proposed an alternative method (prognostic covariate adjustment) that imposes no additional assumptions and increases efficiency in trial analyses. The idea is to use historical data to learn a prognostic model: a regression of the outcome onto the covariates. The predictions from this model, generated from the RCT subjects' baseline variables, are then used as a covariate in a linear regression analysis of the trial data. In this work, we extend prognostic adjustment to trial analyses with nonparametric efficient estimators, which are more powerful than linear regression. We provide theory that explains why prognostic adjustment improves small-sample point estimation and inference without any possibility of bias. Simulations corroborate the theory: efficient estimators using prognostic adjustment compared to without provides greater power (i.e., smaller standard errors) when the trial is small. Population shifts between historical and trial data attenuate benefits but do not introduce bias. We showcase our estimator using clinical trial data provided by Novo Nordisk A/S that evaluates insulin therapy for individuals with type II diabetes.

We address potential synergy among flexible demands and how they may earn more collectively than individually by forming a coalition and bidding to the reserve market. We consider frequency-supporting ancillary service markets, particularly the manual Frequency Restoration Reserve (mFRR) market. The coalition of flexible demands provides more reliable mFRR services, where in comparison to individual demands, is penalized less for their potential failure and is paid more for their successful activation. This synergy effect is quantified as a function of the number of homogeneous assets in the coalition. A subsequent payment allocation mechanism using Shapley values is proposed to distribute the total earnings of the coalition among demands, while incentivizing them to remain in the coalition. For our numerical study, we use real price data from the Danish mFRR market in 2022.

Resource reservation is a fundamental mechanism for ensuring quality of service in time-sensitive networks, which can be decentralized by using reservation protocols. In the Ethernet technology Time-Sensitive Networking, this has been proposed in conjunction with the Credit-Based Shaper. For the reservation, the standards assume a maximum worst-case latency bound at each hop. However, we will show through formal analysis and simulation that these worst-case latency bounds are not safe. To face this, we propose an extension to the current standards to allow the reservation of time-sensitive traffic with reliable latency guarantees. The effectiveness of our approach is demonstrated through simulations of both synthetic and industrial networks. Finally, by providing additional information about neighboring devices, we could further increase the maximum reservable traffic by up to 20% in our test cases.

Despite recent attention and exploration of depth for various tasks, it is still an unexplored modality for weakly-supervised object detection (WSOD). We propose an amplifier method for enhancing the performance of WSOD by integrating depth information. Our approach can be applied to any WSOD method based on multiple-instance learning, without necessitating additional annotations or inducing large computational expenses. Our proposed method employs a monocular depth estimation technique to obtain hallucinated depth information, which is then incorporated into a Siamese WSOD network using contrastive loss and fusion. By analyzing the relationship between language context and depth, we calculate depth priors to identify the bounding box proposals that may contain an object of interest. These depth priors are then utilized to update the list of pseudo ground-truth boxes, or adjust the confidence of per-box predictions. Our proposed method is evaluated on six datasets (COCO, PASCAL VOC, Conceptual Captions, Clipart1k, Watercolor2k, and Comic2k) by implementing it on top of two state-of-the-art WSOD methods, and we demonstrate a substantial enhancement in performance.

A self-contained calibration procedure that can be performed automatically without additional external sensors or tools is a significant advantage, especially for complex robotic systems. Here, we show that the kinematics of a multi-fingered robotic hand can be precisely calibrated only by moving the tips of the fingers pairwise into contact. The only prerequisite for this is sensitive contact detection, e.g., by torque-sensing in the joints (as in our DLR-Hand II) or tactile skin. The measurement function for a given joint configuration is the distance between the modeled fingertip geometries, but the actual measurement is always zero. In an in-depth analysis, we prove that this contact-based calibration determines all quantities needed for manipulating objects with the hand, i.e., the difference vectors of the fingertips, and that it is as sensitive as a calibration using an external visual tracking system and markers. We describe the complete calibration scheme, including the selection of optimal sample joint configurations and search motions for the contacts despite the initial kinematic uncertainties. In a real-world calibration experiment for the torque-controlled four-fingered DLR-Hand II, the maximal error of 17.7mm can be reduced to only 3.7mm.

In the pursuit of accurate experimental and computational data while minimizing effort, there is a constant need for high-fidelity results. However, achieving such results often requires significant computational resources. To address this challenge, this paper proposes a deep operator learning-based framework that requires a limited high-fidelity dataset for training. We introduce a novel physics-guided, bi-fidelity, Fourier-featured Deep Operator Network (DeepONet) framework that effectively combines low and high-fidelity datasets, leveraging the strengths of each. In our methodology, we began by designing a physics-guided Fourier-featured DeepONet, drawing inspiration from the intrinsic physical behavior of the target solution. Subsequently, we train this network to primarily learn the low-fidelity solution, utilizing an extensive dataset. This process ensures a comprehensive grasp of the foundational solution patterns. Following this foundational learning, the low-fidelity deep operator network's output is enhanced using a physics-guided Fourier-featured residual deep operator network. This network refines the initial low-fidelity output, achieving the high-fidelity solution by employing a small high-fidelity dataset for training. Notably, in our framework, we employ the Fourier feature network as the Trunk network for the DeepONets, given its proficiency in capturing and learning the oscillatory nature of the target solution with high precision. We validate our approach using a well-known 2D benchmark cylinder problem, which aims to predict the time trajectories of lift and drag coefficients. The results highlight that the physics-guided Fourier-featured deep operator network, serving as a foundational building block of our framework, possesses superior predictive capability for the lift and drag coefficients compared to its data-driven counterparts.

Our goal is to perform out-of-distribution (OOD) detection, i.e., to detect when a robot is operating in environments drawn from a different distribution than the ones used to train the robot. We leverage Probably Approximately Correct (PAC)-Bayes theory to train a policy with a guaranteed bound on performance on the training distribution. Our idea for OOD detection relies on the following intuition: violation of the performance bound on test environments provides evidence that the robot is operating OOD. We formalize this via statistical techniques based on p-values and concentration inequalities. The approach provides guaranteed confidence bounds on OOD detection including bounds on both the false positive and false negative rates of the detector and is task-driven and only sensitive to changes that impact the robot's performance. We demonstrate our approach in simulation and hardware for a grasping task using objects with unfamiliar shapes or poses and a drone performing vision-based obstacle avoidance in environments with wind disturbances and varied obstacle densities. Our examples demonstrate that we can perform task-driven OOD detection within just a handful of trials.

Face recognition technology has advanced significantly in recent years due largely to the availability of large and increasingly complex training datasets for use in deep learning models. These datasets, however, typically comprise images scraped from news sites or social media platforms and, therefore, have limited utility in more advanced security, forensics, and military applications. These applications require lower resolution, longer ranges, and elevated viewpoints. To meet these critical needs, we collected and curated the first and second subsets of a large multi-modal biometric dataset designed for use in the research and development (R&D) of biometric recognition technologies under extremely challenging conditions. Thus far, the dataset includes more than 350,000 still images and over 1,300 hours of video footage of approximately 1,000 subjects. To collect this data, we used Nikon DSLR cameras, a variety of commercial surveillance cameras, specialized long-rage R&D cameras, and Group 1 and Group 2 UAV platforms. The goal is to support the development of algorithms capable of accurately recognizing people at ranges up to 1,000 m and from high angles of elevation. These advances will include improvements to the state of the art in face recognition and will support new research in the area of whole-body recognition using methods based on gait and anthropometry. This paper describes methods used to collect and curate the dataset, and the dataset's characteristics at the current stage.